+ python -m lidar_slam --no-model /working/c25c745b-27eb-4d15-8486-e0e515b02da3 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/c25c745b-27eb-4d15-8486-e0e515b02da3 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 0.017105681 Adjusted end_distance from 9.223372036854776e+18 to 417.627105681 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017105681 meters 0.10625713824626479 Centerline is valid? [0, False] SLAMing on 0.077105681 meters 0.10527927227361125 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.05 [[ 0.99609051 -0.06483977 -0.05999578 0.07186421] [ 0.0614085 0.99646257 -0.05737022 0.00949937] [ 0.06350342 0.05346168 0.99654863 -0.05380332] [ 0. 0. 0. 1. ]] SLAMing on 0.137105681 meters 0.14643119661835607 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.05 [[ 0.98821529 -0.13439718 -0.07326616 0.15870443] [ 0.13628279 0.99043984 0.0213524 0.01424555] [ 0.06969602 -0.03108569 0.99708382 -0.05214535] [ 0. 0. 0. 1. ]] SLAMing on 0.197105681 meters 0.14765501681692184 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:-0.05 [[ 0.9872521 -0.14680333 -0.0614985 0.21180715] [ 0.15194754 0.9843209 0.08957855 0.00967198] [ 0.04738383 -0.09778115 0.99407928 -0.04777356] [ 0. 0. 0. 1. ]] SLAMing on 0.257105681 meters 0.18701532181689987 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.03 [[ 0.99150104 -0.1162288 -0.05845136 0.24189686] [ 0.11832352 0.99240166 0.03374156 -0.02302836] [ 0.05408549 -0.04037096 0.99771987 -0.02934845] [ 0. 0. 0. 1. ]] SLAMing on 0.317105681 meters 0.1708238710058475 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.00 [[ 0.99497054 -0.08498125 -0.05302644 0.28245659] [ 0.08696142 0.99555296 0.03622176 -0.08551553] [ 0.04971246 -0.04065084 0.99793596 -0.00395514] [ 0. 0. 0. 1. ]] SLAMing on 0.37710568099999997 meters 0.1838380939744337 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.12, Z:0.01 [[ 0.99770998 -0.05152744 -0.04381454 0.28434828] [ 0.05240087 0.9984449 0.01902466 -0.11980293] [ 0.04276611 -0.02127701 0.99885852 0.01027559] [ 0. 0. 0. 1. ]] SLAMing on 0.43710568099999997 meters 0.17797320271184167 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99301427 -0.08656612 -0.08018083 0.31080403] [ 0.08791695 0.99603678 0.01346637 -0.09317439] [ 0.07869732 -0.02042155 0.99668937 0.0045165 ] [ 0. 0. 0. 1. ]] SLAMing on 0.49710568099999997 meters 0.15885965434742239 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.14, Z:0.00 [[ 9.95032919e-01 -4.28875171e-02 -8.98340206e-02 3.46390832e-01] [ 4.33604108e-02 9.99053985e-01 3.31824461e-03 -1.35345663e-01] [ 8.96067249e-02 -7.19700265e-03 9.95951223e-01 2.58008697e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.557105681 meters 0.15790754156688594 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.01 [[ 0.99151272 -0.06077632 -0.11492943 0.37117888] [ 0.06368682 0.99773135 0.02182077 -0.20401781] [ 0.1133425 -0.02895506 0.99313397 -0.01471063] [ 0. 0. 0. 1. ]] SLAMing on 0.617105681 meters 0.13487609861169012 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.24, Z:-0.01 [[ 0.99648613 -0.02280947 -0.08059231 0.35869176] [ 0.02341428 0.99970428 0.00656741 -0.23616048] [ 0.08041868 -0.00843134 0.99672551 -0.00662026] [ 0. 0. 0. 1. ]] SLAMing on 0.6771056809999999 meters 0.12410589540087995 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.00 [[ 0.99663611 -0.05021046 -0.06477173 0.33754352] [ 0.04986193 0.99873168 -0.00698715 -0.16905164] [ 0.0650404 0.003734 0.99787565 -0.00241337] [ 0. 0. 0. 1. ]] SLAMing on 0.737105681 meters 0.12376127566246907 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.01, Z:-0.00 [[ 0.99786377 -0.04694027 -0.04543676 0.31893877] [ 0.04502649 0.99809134 -0.04226458 -0.0050286 ] [ 0.04733395 0.04012844 0.99807275 -0.00158371] [ 0. 0. 0. 1. ]] SLAMing on 0.797105681 meters 0.1321747763121058 Centerline is valid? [False, False] Translation: X:0.42, Y:0.18, Z:-0.06 [[ 0.9970271 -0.04737968 -0.06076288 0.41629436] [ 0.04914185 0.9984037 0.02784112 0.17608878] [ 0.05934678 -0.03074435 0.99776387 -0.0601668 ] [ 0. 0. 0. 1. ]] SLAMing on 0.857105681 meters 0.03715581504949335 Centerline is valid? [False, True] Translation: X:0.32, Y:0.08, Z:-0.01 [[ 9.99714844e-01 5.65096465e-04 -2.38728275e-02 3.24514214e-01] [-1.58982817e-03 9.99076927e-01 -4.29274657e-02 8.19187891e-02] [ 2.38265330e-02 4.29531784e-02 9.98792932e-01 -1.03839368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9171056809999999 meters 0.03858510765373015 Centerline is valid? [True, True] Translation: X:0.39, Y:0.04, Z:-0.02 [[ 9.97303614e-01 -6.69990548e-02 -2.99437511e-02 3.88202989e-01] [ 6.69959193e-02 9.97752633e-01 -1.10910977e-03 3.75744810e-02] [ 2.99507659e-02 -8.99989956e-04 9.99550970e-01 -2.40447845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.977105681 meters 0.08515311216265757 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.00, Z:-0.09 [[ 0.98765498 -0.13851725 -0.07314781 0.45602492] [ 0.13869193 0.99033186 -0.00271053 -0.00376835] [ 0.07281607 -0.00746794 0.99731743 -0.09422931] [ 0. 0. 0. 1. ]] SLAMing on 1.0371056810000001 meters 0.0281846196795371 Centerline is valid? [True, True] Translation: X:0.51, Y:0.01, Z:-0.05 [[ 0.99864105 -0.01401134 -0.05019705 0.5124021 ] [ 0.01393552 0.99990117 -0.0018601 0.01440347] [ 0.05021815 0.00115805 0.9987376 -0.05159228] [ 0. 0. 0. 1. ]] SLAMing on 1.0971056810000002 meters 0.03412188645568767 Centerline is valid? [True, True] Translation: X:0.57, Y:0.08, Z:-0.04 [[ 0.99901259 0.00620226 -0.04399295 0.56912074] [-0.00628001 0.99997895 -0.00162922 0.07718807] [ 0.04398192 0.00190389 0.99903051 -0.03619382] [ 0. 0. 0. 1. ]] SLAMing on 1.157105681 meters 0.035547678604647935 Centerline is valid? [True, True] Translation: X:0.63, Y:0.09, Z:-0.06 [[ 0.99775827 0.00712214 -0.06654099 0.63171527] [-0.00730226 0.9999703 -0.00246409 0.09093942] [ 0.06652147 0.00294447 0.99778065 -0.06482937] [ 0. 0. 0. 1. ]] SLAMing on 1.217105681 meters 0.027479318506420453 Centerline is valid? [True, True] Translation: X:0.69, Y:0.07, Z:-0.03 [[ 0.99866094 -0.00359938 -0.05160795 0.6880716 ] [ 0.0035056 0.99999204 -0.00190753 0.07382683] [ 0.0516144 0.00172406 0.9986656 -0.03296153] [ 0. 0. 0. 1. ]] SLAMing on 1.277105681 meters 0.02237007560315244 Centerline is valid? [True, True] Translation: X:0.75, Y:0.02, Z:-0.02 [[ 9.97925667e-01 -4.31252252e-02 -4.77972551e-02 7.48517464e-01] [ 4.30897253e-02 9.99069633e-01 -1.77332361e-03 1.99493774e-02] [ 4.78292611e-02 -2.89925452e-04 9.98855484e-01 -2.45007176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.337105681 meters 0.030564030832025326 Centerline is valid? [True, True] Translation: X:0.81, Y:0.07, Z:-0.01 [[ 0.9989684 -0.0025552 -0.04533874 0.8058812 ] [ 0.00248124 0.9999955 -0.00168734 0.06868465] [ 0.04534284 0.0015731 0.99897025 -0.00714989] [ 0. 0. 0. 1. ]] SLAMing on 1.397105681 meters 0.023125463397673553 Centerline is valid? [True, True] Translation: X:0.87, Y:0.05, Z:-0.03 [[ 0.99787902 -0.017886 -0.06259033 0.86982507] [ 0.01777522 0.9998393 -0.00232633 0.04792245] [ 0.06262188 0.00120884 0.99803659 -0.02889386] [ 0. 0. 0. 1. ]] SLAMing on 1.457105681 meters 0.021598402789199382 Centerline is valid? [True, True] Translation: X:0.93, Y:0.05, Z:0.00 [[ 9.98254268e-01 -3.65202489e-02 -4.64186098e-02 9.27554211e-01] [ 3.64794845e-02 9.99332913e-01 -1.72529199e-03 4.99531461e-02] [ 4.64506527e-02 2.89531379e-05 9.98920585e-01 2.27862070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.517105681 meters 0.031785901166068685 Centerline is valid? [True, True] Translation: X:0.99, Y:0.11, Z:-0.02 [[ 0.99810254 0.00379691 -0.06145657 0.98825819] [-0.00394475 0.99998961 -0.0022844 0.10596658] [ 0.06144726 0.00252249 0.99810714 -0.01981132] [ 0. 0. 0. 1. ]] SLAMing on 1.5771056810000001 meters 0.021043857385317798 Centerline is valid? [True, True] Translation: X:1.05, Y:0.05, Z:0.01 [[ 9.98353519e-01 -2.77096012e-02 -5.02237963e-02 1.04827347e+00] [ 2.76508079e-02 9.99615903e-01 -1.86518503e-03 5.36479497e-02] [ 5.02561890e-02 4.73385495e-04 9.98736247e-01 7.49728864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.637105681 meters 0.022092684349683936 Centerline is valid? [True, True] Translation: X:1.11, Y:0.04, Z:-0.01 [[ 0.99616803 -0.06386929 -0.05974922 1.11332148] [ 0.06385003 0.99795701 -0.00223346 0.04471815] [ 0.0597698 -0.00159008 0.99821092 -0.01122555] [ 0. 0. 0. 1. ]] SLAMing on 1.697105681 meters 0.01991661235772497 Centerline is valid? [True, True] Translation: X:1.17, Y:0.11, Z:-0.01 [[ 0.99825745 -0.01080216 -0.05801178 1.17355369] [ 0.010696 0.99994051 -0.00214021 0.10661532] [ 0.05803145 0.00151598 0.9983136 -0.00780918] [ 0. 0. 0. 1. ]] SLAMing on 1.757105681 meters 0.018617673561930403 Centerline is valid? [True, True] Translation: X:1.23, Y:0.07, Z:-0.01 [[ 9.96501945e-01 -5.05621775e-02 -6.65382546e-02 1.23417329e+00] [ 5.05115477e-02 9.98720486e-01 -2.44411211e-03 7.07596218e-02] [ 6.65766976e-02 -9.25387749e-04 9.97780881e-01 -7.82974204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.817105681 meters 0.022305016625737317 Centerline is valid? [True, True] Translation: X:1.29, Y:0.07, Z:0.01 [[ 0.99663163 -0.06023975 -0.05564685 1.2935623 ] [ 0.06021913 0.99818308 -0.00204876 0.07083026] [ 0.05566916 -0.00130914 0.99844841 0.00957479] [ 0. 0. 0. 1. ]] SLAMing on 1.877105681 meters 0.019521004211970613 Centerline is valid? [True, True] Translation: X:1.35, Y:0.11, Z:0.00 [[ 9.97508598e-01 -3.26756747e-02 -6.25211730e-02 1.35341309e+00] [ 3.25955893e-02 9.99465975e-01 -2.30073267e-03 1.08734750e-01] [ 6.25629631e-02 2.57086149e-04 9.98040986e-01 3.99835206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.937105681 meters 0.021829878494246873 Centerline is valid? [True, True] Translation: X:1.42, Y:0.08, Z:0.01 [[ 0.99762159 -0.01382796 -0.06752735 1.4167178 ] [ 0.01369131 0.99990318 -0.00248602 0.07784902] [ 0.06755519 0.00155557 0.99771433 0.00728069] [ 0. 0. 0. 1. ]] SLAMing on 1.997105681 meters 0.0209586526701979 Centerline is valid? [True, True] Translation: X:1.48, Y:0.05, Z:0.01 [[ 9.97568057e-01 -3.05376433e-02 -6.26531970e-02 1.47614941e+00] [ 3.04535893e-02 9.99533544e-01 -2.29630562e-03 4.86599469e-02] [ 6.26940958e-02 3.82706406e-04 9.98032717e-01 1.27193231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.057105681 meters 0.029624786700317707 Centerline is valid? [True, True] Translation: X:1.53, Y:0.11, Z:0.03 [[ 0.9979821 0.01172427 -0.06240413 1.53394597] [-0.01189072 0.99992667 -0.00229649 0.10969686] [ 0.06237263 0.00303388 0.99804832 0.02555468] [ 0. 0. 0. 1. ]] SLAMing on 2.117105681 meters 0.032825177079134495 Centerline is valid? [True, True] Translation: X:1.60, Y:0.09, Z:0.01 [[ 0.99738186 0.01336107 -0.07106967 1.59520991] [-0.01358058 0.99990438 -0.00260631 0.08730699] [ 0.07102806 0.00356466 0.99746795 0.01070459] [ 0. 0. 0. 1. ]] SLAMing on 2.177105681 meters 0.035606909433095586 Centerline is valid? [True, True] Translation: X:1.66, Y:0.07, Z:0.01 [[ 0.99688717 0.01990404 -0.07628764 1.65611069] [-0.02017854 0.99979239 -0.00282907 0.067399 ] [ 0.07621549 0.00435964 0.99708184 0.01367859] [ 0. 0. 0. 1. ]] SLAMing on 2.2371056809999996 meters 0.022690515867116203 Centerline is valid? [True, True] Translation: X:1.72, Y:0.02, Z:0.02 [[ 9.97052145e-01 -2.53519676e-02 -7.24175219e-02 1.71760421e+00] [ 2.52235465e-02 9.99678223e-01 -2.68745439e-03 2.19793452e-02] [ 7.24623519e-02 8.52905429e-04 9.97370784e-01 2.21452902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2971056809999997 meters 0.02232881650384156 Centerline is valid? [True, True] Translation: X:1.78, Y:0.04, Z:0.03 [[ 9.97278215e-01 -1.89575311e-02 -7.12514845e-02 1.77683029e+00] [ 1.88169334e-02 9.99819450e-01 -2.64402282e-03 3.72200495e-02] [ 7.12887442e-02 1.29609192e-03 9.97454879e-01 2.52945029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3571056809999997 meters 0.021270946669499437 Centerline is valid? [True, True] Translation: X:1.84, Y:0.04, Z:0.03 [[ 9.96433588e-01 -3.73083997e-02 -7.56847979e-02 1.83614398e+00] [ 3.72022457e-02 9.99303799e-01 -2.81243340e-03 4.43946084e-02] [ 7.57370335e-02 -1.32413434e-05 9.97127826e-01 2.93048399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.417105681 meters 0.022618461668059264 Centerline is valid? [True, True] Translation: X:1.89, Y:0.09, Z:0.04 [[ 9.97504098e-01 -1.48977418e-02 -6.90190612e-02 1.89388668e+00] [ 1.47556083e-02 9.99887831e-01 -2.56872555e-03 9.35564519e-02] [ 6.90495875e-02 1.54389604e-03 9.97612034e-01 4.33024003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.477105681 meters 0.03541417690983056 Centerline is valid? [True, True] Translation: X:1.95, Y:0.13, Z:0.05 [[ 0.99700136 0.01808209 -0.07524184 1.95280592] [-0.01834468 0.9998278 -0.00280021 0.13436479] [ 0.07517825 0.0041721 0.99716138 0.04576457] [ 0. 0. 0. 1. ]] SLAMing on 2.537105681 meters 0.03455356533145299 Centerline is valid? [True, True] Translation: X:2.01, Y:0.11, Z:0.04 [[ 0.99619585 0.01425724 -0.08596832 2.01457197] [-0.01458596 0.99988851 -0.00319678 0.11470492] [ 0.08591316 0.00443855 0.99629274 0.03753224] [ 0. 0. 0. 1. ]] SLAMing on 2.597105681 meters 0.02069063881262336 Centerline is valid? [True, True] Translation: X:2.08, Y:0.06, Z:0.05 [[ 9.96568485e-01 -2.82006131e-02 -7.78201786e-02 2.07572880e+00] [ 2.80603344e-02 9.99602037e-01 -2.89571897e-03 6.43086521e-02] [ 7.78708701e-02 7.02122029e-04 9.96963206e-01 5.36237335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6571056809999996 meters 0.024892048810767196 Centerline is valid? [True, True] Translation: X:2.13, Y:0.03, Z:0.07 [[ 9.95588297e-01 -5.73844965e-02 -7.42358552e-02 2.13499711e+00] [ 5.73377884e-02 9.98351015e-01 -2.76199736e-03 3.21525368e-02] [ 7.42719373e-02 -1.50670750e-03 9.97236887e-01 6.93504468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7171056809999996 meters 0.029424283165537274 Centerline is valid? [True, True] Translation: X:2.20, Y:0.02, Z:0.07 [[ 0.99417668 -0.07757612 -0.07479753 2.19633661] [ 0.07758531 0.99698182 -0.00278723 0.02096808] [ 0.074788 -0.00303219 0.99719485 0.07179481] [ 0. 0. 0. 1. ]] SLAMing on 2.7771056809999997 meters 0.02479595770559155 Centerline is valid? [True, True] Translation: X:2.26, Y:0.06, Z:0.07 [[ 9.94812689e-01 -6.39709464e-02 -7.90912905e-02 2.25582696e+00] [ 6.39384130e-02 9.97949497e-01 -2.94633283e-03 5.71336261e-02] [ 7.91175932e-02 -2.12592231e-03 9.96863023e-01 7.47766462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8371056809999997 meters 0.02297917470923946 Centerline is valid? [True, True] Translation: X:2.32, Y:0.08, Z:0.08 [[ 9.95208273e-01 -5.50961580e-02 -8.07768929e-02 2.31623633e+00] [ 5.50331835e-02 9.98479997e-01 -3.00744624e-03 8.35999042e-02] [ 8.08198105e-02 -1.45237419e-03 9.96727670e-01 7.61922290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8971056809999998 meters 0.021374223537444132 Centerline is valid? [True, True] Translation: X:2.38, Y:0.11, Z:0.09 [[ 9.95883745e-01 -4.93733650e-02 -7.60120867e-02 2.37544060e+00] [ 4.93010228e-02 9.98779959e-01 -2.82902603e-03 1.10872921e-01] [ 7.60590273e-02 -9.30092580e-04 9.97102883e-01 9.34334987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.957105681 meters 0.020955744923213695 Centerline is valid? [True, True] Translation: X:2.44, Y:0.14, Z:0.09 [[ 9.96172303e-01 -2.97736063e-02 -8.21843998e-02 2.43671304e+00] [ 2.96228938e-02 9.99556484e-01 -3.05282905e-03 1.39516487e-01] [ 8.22388434e-02 6.06604005e-04 9.96612465e-01 9.27661480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.017105681 meters 0.021088902695809715 Centerline is valid? [True, True] Translation: X:2.50, Y:0.13, Z:0.09 [[ 9.95280840e-01 -4.82685465e-02 -8.41795484e-02 2.49718308e+00] [ 4.81769109e-02 9.98833943e-01 -3.12078556e-03 1.26271056e-01] [ 8.42320260e-02 -9.49452526e-04 9.96445716e-01 9.21316845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.077105681 meters 0.030708969908444288 Centerline is valid? [True, True] Translation: X:2.56, Y:0.09, Z:0.10 [[ 0.99315423 -0.07894496 -0.0860951 2.55826288] [ 0.07896366 0.99687238 -0.00319375 0.09378872] [ 0.08607796 -0.0036265 0.9962818 0.09554538] [ 0. 0. 0. 1. ]] SLAMing on 3.137105681 meters 0.032173651100373776 Centerline is valid? [True, True] Translation: X:2.62, Y:0.09, Z:0.10 [[ 0.99263053 -0.0844929 -0.08686529 2.61908052] [ 0.08453307 0.99641546 -0.00322262 0.09225293] [ 0.08682621 -0.00414411 0.99621485 0.10281707] [ 0. 0. 0. 1. ]] SLAMing on 3.1971056809999996 meters 0.03550041676280998 Centerline is valid? [True, True] Translation: X:2.68, Y:0.09, Z:0.10 [[ 0.99159899 -0.09342954 -0.08945595 2.68057238] [ 0.09350852 0.99561295 -0.00331675 0.09300638] [ 0.08937339 -0.00507601 0.99598526 0.10428133] [ 0. 0. 0. 1. ]] SLAMing on 3.2571056809999996 meters 0.042651055191806134 Centerline is valid? [True, True] Translation: X:2.74, Y:0.09, Z:0.10 [[ 0.99000727 -0.10665599 -0.09225023 2.74149183] [ 0.10679738 0.99427493 -0.00341675 0.08705221] [ 0.0920865 -0.00646948 0.99572999 0.102809 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3171056809999997 meters 0.04366925696444044 Centerline is valid? [True, True] Translation: X:2.80, Y:0.10, Z:0.12 [[ 0.99039778 -0.10732301 -0.08714357 2.80157876] [ 0.10745165 0.99420507 -0.00322689 0.09585191] [ 0.0869849 -0.00616782 0.99619054 0.12117207] [ 0. 0. 0. 1. ]] SLAMing on 3.3771056809999997 meters 0.031209322303865965 Centerline is valid? [True, True] Translation: X:2.86, Y:0.13, Z:0.13 [[ 0.99316189 -0.08390486 -0.08117528 2.86020825] [ 0.08394024 0.99646633 -0.00298278 0.13126954] [ 0.0811387 -0.00385149 0.99669538 0.13146894] [ 0. 0. 0. 1. ]] SLAMing on 3.437105681 meters 0.019514359048799942 Centerline is valid? [True, True] Translation: X:2.92, Y:0.20, Z:0.15 [[ 9.97009439e-01 -2.75578396e-02 -7.21993304e-02 2.91758680e+00] [ 2.74379243e-02 9.99619990e-01 -2.65234831e-03 1.99341250e-01] [ 7.22449870e-02 6.63416535e-04 9.97386696e-01 1.46513655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.497105681 meters 0.02511041470368358 Centerline is valid? [True, True] Translation: X:2.98, Y:0.24, Z:0.15 [[ 9.97071016e-01 9.75073317e-04 -7.64750884e-02 2.97739371e+00] [-1.19334252e-03 9.99995344e-01 -2.80847619e-03 2.41165217e-01] [ 7.64719939e-02 2.89151118e-03 9.97067537e-01 1.47175009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.557105681 meters 0.021022830151654067 Centerline is valid? [True, True] Translation: X:3.04, Y:0.23, Z:0.15 [[ 9.96968700e-01 -1.32936168e-02 -7.66595794e-02 3.03760010e+00] [ 1.31165587e-02 9.99910018e-01 -2.81272339e-03 2.33127239e-01] [ 7.66900727e-02 1.79868731e-03 9.97053357e-01 1.48579042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6171056809999995 meters 0.016145272641632565 Centerline is valid? [True, True] Translation: X:3.10, Y:0.20, Z:0.16 [[ 9.96286501e-01 -3.88905688e-02 -7.68162188e-02 3.09694733e+00] [ 3.87885071e-02 9.99243461e-01 -2.82076547e-03 2.04765236e-01] [ 7.68678056e-02 -1.69295890e-04 9.97041279e-01 1.56983702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6771056809999996 meters 0.02253147661818806 Centerline is valid? [True, True] Translation: X:3.16, Y:0.17, Z:0.16 [[ 9.94997890e-01 -6.17590170e-02 -7.85176596e-02 3.15854480e+00] [ 6.17229875e-02 9.98089140e-01 -2.88803648e-03 1.70755372e-01] [ 7.85459857e-02 -1.97275431e-03 9.96908540e-01 1.58402404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7371056809999996 meters 0.01864790944503982 Centerline is valid? [True, True] Translation: X:3.22, Y:0.17, Z:0.17 [[ 9.96066556e-01 -4.84848387e-02 -7.41662739e-02 3.21944309e+00] [ 4.84159004e-02 9.98823537e-01 -2.72817979e-03 1.65684722e-01] [ 7.42112954e-02 -8.73378283e-04 9.97242158e-01 1.68461607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7971056809999997 meters 0.018487397117838842 Centerline is valid? [True, True] Translation: X:3.28, Y:0.18, Z:0.18 [[ 9.97332269e-01 -1.86367511e-02 -7.05763197e-02 3.27939310e+00] [ 1.84998345e-02 9.99825501e-01 -2.59317919e-03 1.78014934e-01] [ 7.06123327e-02 1.28061105e-03 9.97503012e-01 1.81170534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8571056809999997 meters 0.018401873613565996 Centerline is valid? [True, True] Translation: X:3.34, Y:0.17, Z:0.18 [[ 9.97079421e-01 -1.92224705e-02 -7.39129512e-02 3.33965389e+00] [ 1.90742219e-02 9.99814395e-01 -2.71114195e-03 1.65285188e-01] [ 7.39513474e-02 1.29339181e-03 9.97261012e-01 1.82608670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.917105681 meters 0.01646429764768973 Centerline is valid? [True, True] Translation: X:3.40, Y:0.13, Z:0.18 [[ 9.96466449e-01 -3.76078513e-02 -7.51016957e-02 3.40143134e+00] [ 3.75066069e-02 9.99292572e-01 -2.75854040e-03 1.30218051e-01] [ 7.51523095e-02 -6.80168149e-05 9.97172064e-01 1.82576394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.977105681 meters 0.020956124667962563 Centerline is valid? [True, True] Translation: X:3.46, Y:0.10, Z:0.19 [[ 9.95226322e-01 -5.98379714e-02 -7.70972507e-02 3.46261181e+00] [ 5.97977801e-02 9.98206495e-01 -2.83183860e-03 9.52889863e-02] [ 7.71284279e-02 -1.79192413e-03 9.97019556e-01 1.85920429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037105681 meters 0.029529765974551835 Centerline is valid? [True, True] Translation: X:3.52, Y:0.06, Z:0.18 [[ 9.93287031e-01 -8.29656713e-02 -8.06075201e-02 3.52495104e+00] [ 8.29975497e-02 9.96545353e-01 -2.96082137e-03 5.97169205e-02] [ 8.05746961e-02 -3.74928119e-03 9.96741522e-01 1.84901398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.097105681 meters 0.030330476570390834 Centerline is valid? [True, True] Translation: X:3.59, Y:0.06, Z:0.19 [[ 9.93157874e-01 -8.06490284e-02 -8.44581060e-02 3.58503710e+00] [ 8.06757745e-02 9.96735571e-01 -3.10182938e-03 5.66586106e-02] [ 8.44325580e-02 -3.73311684e-03 9.96422203e-01 1.89383750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157105681 meters 0.019715315497885966 Centerline is valid? [True, True] Translation: X:3.64, Y:0.09, Z:0.20 [[ 9.95550830e-01 -5.34199517e-02 -7.76199312e-02 3.64254309e+00] [ 5.33599321e-02 9.98571281e-01 -2.84855918e-03 9.26196237e-02] [ 7.76612040e-02 -1.30590880e-03 9.96978953e-01 2.01591845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2171056810000005 meters 0.01729858829145091 Centerline is valid? [True, True] Translation: X:3.70, Y:0.14, Z:0.21 [[ 9.97053396e-01 -2.44223705e-02 -7.27191404e-02 3.70305444e+00] [ 2.42922762e-02 9.99701326e-01 -2.67301997e-03 1.39518359e-01] [ 7.27627025e-02 8.98630195e-04 9.97348877e-01 2.14370680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277105681 meters 0.018583025358660677 Centerline is valid? [True, True] Translation: X:3.76, Y:0.16, Z:0.21 [[ 9.96921818e-01 -1.85110641e-02 -7.61854865e-02 3.76270193e+00] [ 1.83520257e-02 9.99827703e-01 -2.78714389e-03 1.63378056e-01] [ 7.62239529e-02 1.38040656e-03 9.97089767e-01 2.13497569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.337105681000001 meters 0.016646632492876186 Centerline is valid? [True, True] Translation: X:3.82, Y:0.15, Z:0.23 [[ 9.97004020e-01 -3.78093023e-02 -6.74791823e-02 3.82096372e+00] [ 3.77288554e-02 9.99284969e-01 -2.46664177e-03 1.52347615e-01] [ 6.75241946e-02 -8.66605533e-05 9.97717633e-01 2.27103668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397105681 meters 0.01768591764286715 Centerline is valid? [True, True] Translation: X:3.88, Y:0.15, Z:0.24 [[ 9.96648805e-01 -4.73674270e-02 -6.66894797e-02 3.88279178e+00] [ 4.73095420e-02 9.98877277e-01 -2.44788361e-03 1.51659221e-01] [ 6.67305558e-02 -7.15368458e-04 9.97770776e-01 2.39027120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457105681 meters 0.01692348096852818 Centerline is valid? [True, True] Translation: X:3.95, Y:0.17, Z:0.24 [[ 9.97537143e-01 -2.87691004e-02 -6.39686347e-02 3.94501399e+00] [ 2.86779555e-02 9.99585957e-01 -2.34275794e-03 1.69874896e-01] [ 6.40095480e-02 5.02498408e-04 9.97949160e-01 2.39422110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517105681 meters 0.017786545522517384 Centerline is valid? [True, True] Translation: X:4.01, Y:0.18, Z:0.24 [[ 9.96881480e-01 -2.02549289e-02 -7.62695988e-02 4.00567037e+00] [ 2.01011064e-02 9.99794076e-01 -2.78403591e-03 1.83598771e-01] [ 7.63102835e-02 1.24225052e-03 9.97083345e-01 2.35714900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577105681 meters 0.016179554226503676 Centerline is valid? [True, True] Translation: X:4.07, Y:0.17, Z:0.24 [[ 9.96387067e-01 -2.89421878e-02 -7.98446118e-02 4.06591662e+00] [ 2.88016035e-02 9.99580906e-01 -2.91207059e-03 1.70900007e-01] [ 7.98954311e-02 6.01896624e-04 9.96803069e-01 2.35143914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637105681 meters 0.01667909644125251 Centerline is valid? [True, True] Translation: X:4.13, Y:0.17, Z:0.24 [[ 9.96272334e-01 -2.51043856e-02 -8.25300292e-02 4.12622385e+00] [ 2.49406877e-02 9.99684389e-01 -3.01399638e-03 1.65962094e-01] [ 8.25796463e-02 9.44405531e-04 9.96584021e-01 2.39172115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697105681 meters 0.01807950580825443 Centerline is valid? [True, True] Translation: X:4.19, Y:0.16, Z:0.24 [[ 9.96158815e-01 -2.15385548e-02 -8.48746427e-02 4.18534090e+00] [ 2.13525922e-02 9.99767207e-01 -3.09830878e-03 1.62782685e-01] [ 8.49216176e-02 1.27411397e-03 9.96386820e-01 2.42167107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7571056810000005 meters 0.017515815522713966 Centerline is valid? [True, True] Translation: X:4.24, Y:0.14, Z:0.25 [[ 9.96582324e-01 -2.45024474e-02 -7.88878988e-02 4.24281226e+00] [ 2.43493444e-02 9.99699298e-01 -2.90225996e-03 1.44537192e-01] [ 7.89352895e-02 9.71472361e-04 9.96879269e-01 2.53116472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817105681 meters 0.017518969259069445 Centerline is valid? [True, True] Translation: X:4.30, Y:0.14, Z:0.27 [[ 9.96893238e-01 -2.45186813e-02 -7.48512235e-02 4.30132241e+00] [ 2.43786309e-02 9.99698920e-01 -2.78428267e-03 1.38828358e-01] [ 7.48969542e-02 9.50862222e-04 9.97190825e-01 2.68377480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877105681 meters 0.018943729668496025 Centerline is valid? [True, True] Translation: X:4.36, Y:0.13, Z:0.28 [[ 9.97421930e-01 -1.96803605e-02 -6.90085296e-02 4.36123959e+00] [ 1.95495294e-02 9.99805585e-01 -2.57077007e-03 1.29876985e-01] [ 6.90457070e-02 1.21505817e-03 9.97612758e-01 2.80612811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937105681 meters 0.02961389126517353 Centerline is valid? [True, True] Translation: X:4.42, Y:0.14, Z:0.27 [[ 9.97127440e-01 7.16064718e-03 -7.54028731e-02 4.42186677e+00] [-7.39346414e-03 9.99968723e-01 -2.80894812e-03 1.36960471e-01] [ 7.53804008e-02 3.35836768e-03 9.97149195e-01 2.74344322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997105681 meters 0.033527693114714714 Centerline is valid? [True, True] Translation: X:4.48, Y:0.14, Z:0.28 [[ 9.96698617e-01 1.60906091e-02 -7.95798954e-02 4.48210877e+00] [-1.63783814e-02 9.99861470e-01 -2.96469483e-03 1.37992751e-01] [ 7.95211674e-02 4.25829712e-03 9.96824082e-01 2.77607744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057105681 meters 0.03938412206232219 Centerline is valid? [True, True] Translation: X:4.54, Y:0.14, Z:0.27 [[ 9.95752313e-01 2.39493991e-02 -8.89030768e-02 4.54243098e+00] [-2.43400722e-02 9.99698248e-01 -3.31271780e-03 1.36570557e-01] [ 8.87969125e-02 5.46255371e-03 9.96034773e-01 2.66692933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117105681 meters 0.041200415229014034 Centerline is valid? [True, True] Translation: X:4.60, Y:0.13, Z:0.27 [[ 9.95337690e-01 2.78690206e-02 -9.23374242e-02 4.60308785e+00] [-2.83067741e-02 9.99593384e-01 -3.43425780e-03 1.29561491e-01] [ 9.22041689e-02 6.03202083e-03 9.95721852e-01 2.70501890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1771056810000005 meters 0.03743274487258685 Centerline is valid? [True, True] Translation: X:4.66, Y:0.10, Z:0.27 [[ 9.95455330e-01 1.52357247e-02 -9.40029663e-02 4.66348756e+00] [-1.56334867e-02 9.99871677e-01 -3.49635791e-03 1.01642667e-01] [ 9.39376340e-02 4.95006224e-03 9.95565778e-01 2.70698638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237105681 meters 0.023579070300711845 Centerline is valid? [True, True] Translation: X:4.72, Y:0.05, Z:0.28 [[ 9.95658141e-01 -5.87809368e-03 -9.28994865e-02 4.72481811e+00] [ 5.58094235e-03 9.99978447e-01 -3.45810635e-03 5.13947611e-02] [ 9.29178113e-02 2.92462506e-03 9.95669487e-01 2.79035562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297105681 meters 0.022098790793528 Centerline is valid? [True, True] Translation: X:4.78, Y:0.02, Z:0.30 [[ 9.96616784e-01 -8.55554253e-03 -8.17422036e-02 4.78332228e+00] [ 8.33475231e-03 9.99960639e-01 -3.04190146e-03 2.46563762e-02] [ 8.17650112e-02 2.35030903e-03 9.96648864e-01 3.01641969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357105681 meters 0.024424386602722604 Centerline is valid? [True, True] Translation: X:4.84, Y:0.02, Z:0.32 [[ 9.97290449e-01 -5.00198146e-03 -7.33944163e-02 4.84024229e+00] [ 4.81278959e-03 9.99984625e-01 -2.75437114e-03 1.75648194e-02] [ 7.34070652e-02 2.39367615e-03 9.97299189e-01 3.21362625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417105681 meters 0.024520317636798697 Centerline is valid? [True, True] Translation: X:4.90, Y:0.00, Z:0.32 [[ 9.96850178e-01 -4.65016994e-03 -7.91713274e-02 4.90073394e+00] [ 4.42820765e-03 9.99985758e-01 -2.97890833e-03 4.26949082e-03] [ 7.91840523e-02 2.61893822e-03 9.96856573e-01 3.15984752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477105681 meters 0.033369744747725534 Centerline is valid? [True, True] Translation: X:4.96, Y:0.02, Z:0.31 [[ 9.96025561e-01 1.06901890e-02 -8.84239854e-02 4.96057280e+00] [-1.10302089e-02 9.99933528e-01 -3.35759072e-03 1.78858663e-02] [ 8.83822144e-02 4.31958121e-03 9.96077269e-01 3.14196037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537105681 meters 0.042442272028463075 Centerline is valid? [True, True] Translation: X:5.02, Y:0.04, Z:0.32 [[ 9.95517795e-01 2.91168035e-02 -8.99807314e-02 5.02070329e+00] [-2.95439538e-02 9.99557636e-01 -3.41860300e-03 3.66737137e-02] [ 8.98413883e-02 6.06166668e-03 9.95937639e-01 3.17105153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597105681 meters 0.04521571558492347 Centerline is valid? [True, True] Translation: X:5.08, Y:0.04, Z:0.32 [[ 9.95409794e-01 2.78444835e-02 -9.15643353e-02 5.07773968e+00] [-2.82815880e-02 9.99593940e-01 -3.47944131e-03 4.27385607e-02] [ 9.14302714e-02 6.05305477e-03 9.95793084e-01 3.22426273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657105681 meters 0.04629348997399758 Centerline is valid? [True, True] Translation: X:5.14, Y:0.05, Z:0.32 [[ 9.94821817e-01 3.23434158e-02 -9.63506883e-02 5.13773009e+00] [-3.28497105e-02 9.99453555e-01 -3.67269651e-03 5.02400685e-02] [ 9.61792504e-02 6.81877083e-03 9.95340673e-01 3.21212058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7171056810000005 meters 0.05046284191175644 Centerline is valid? [True, True] Translation: X:5.20, Y:0.06, Z:0.32 [[ 9.94393833e-01 3.75214364e-02 -9.88587209e-02 5.19811613e+00] [-3.80800775e-02 9.99267581e-01 -3.76941215e-03 6.36802671e-02] [ 9.86448812e-02 7.51282795e-03 9.95094340e-01 3.21478039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777105681 meters 0.035983750462973835 Centerline is valid? [True, True] Translation: X:5.26, Y:0.05, Z:0.34 [[ 9.95571000e-01 1.58659210e-02 -9.26642135e-02 5.25810901e+00] [-1.62631813e-02 9.99861502e-01 -3.53348982e-03 4.62565391e-02] [ 9.25953177e-02 5.02485490e-03 9.95691146e-01 3.37336565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837105681 meters 0.024824952660496665 Centerline is valid? [True, True] Translation: X:5.32, Y:0.03, Z:0.36 [[ 9.96369821e-01 -6.44044957e-03 -8.48863940e-02 5.31673595e+00] [ 6.18790352e-03 9.99975613e-01 -3.23788262e-03 2.89846574e-02] [ 8.49051772e-02 2.70085971e-03 9.96385375e-01 3.57072814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897105681 meters 0.017541149307875818 Centerline is valid? [True, True] Translation: X:5.38, Y:0.02, Z:0.37 [[ 9.96719584e-01 -2.36322900e-02 -7.74053389e-02 5.37634676e+00] [ 2.34739986e-02 9.99720082e-01 -2.95432858e-03 1.67121790e-02] [ 7.74534894e-02 1.12762433e-03 9.96995329e-01 3.69857944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957105681 meters 0.015807745111413585 Centerline is valid? [True, True] Translation: X:5.43, Y:0.01, Z:0.37 [[ 9.95964371e-01 -4.13727317e-02 -7.96446454e-02 5.43489087e+00] [ 4.12617553e-02 9.99143748e-01 -3.03935142e-03 1.15102728e-02] [ 7.97021958e-02 -2.59192152e-04 9.96818686e-01 3.74502734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017105681 meters 0.019481750578101965 Centerline is valid? [True, True] Translation: X:5.49, Y:0.01, Z:0.37 [[ 9.94626161e-01 -5.66335164e-02 -8.66685923e-02 5.49443841e+00] [ 5.65590728e-02 9.98393747e-01 -3.31625552e-03 8.20465614e-03] [ 8.67171918e-02 -1.60346073e-03 9.96231679e-01 3.69232477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077105681 meters 0.027951019520142055 Centerline is valid? [True, True] Translation: X:5.55, Y:0.01, Z:0.38 [[ 9.93251335e-01 -7.52540637e-02 -8.82531076e-02 5.55404963e+00] [ 7.52495411e-02 9.97158995e-01 -3.38298982e-03 7.35325885e-03] [ 8.82569638e-02 -3.28084669e-03 9.96092337e-01 3.75023165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137105681 meters 0.031003646727895327 Centerline is valid? [True, True] Translation: X:5.61, Y:0.02, Z:0.39 [[ 9.93258429e-01 -8.00052941e-02 -8.38859080e-02 5.61307283e+00] [ 8.00179287e-02 9.96788234e-01 -3.21691231e-03 2.42949486e-02] [ 8.38738561e-02 -3.51715133e-03 9.96470173e-01 3.87480189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197105681 meters 0.02215339830903255 Centerline is valid? [True, True] Translation: X:5.67, Y:0.07, Z:0.39 [[ 9.94512365e-01 -6.19361223e-02 -8.43153216e-02 5.67220697e+00] [ 6.18840518e-02 9.98078107e-01 -3.23349357e-03 7.24360514e-02] [ 8.43535466e-02 -2.00202439e-03 9.96433877e-01 3.93963621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2571056810000005 meters 0.019234647933744763 Centerline is valid? [True, True] Translation: X:5.73, Y:0.11, Z:0.40 [[ 9.95002494e-01 -5.29389949e-02 -8.46610874e-02 5.73262797e+00] [ 5.28541409e-02 9.98596971e-01 -3.24491448e-03 1.14179237e-01] [ 8.47140879e-02 -1.24599104e-03 9.96404522e-01 3.95349698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317105681 meters 0.022307675076961287 Centerline is valid? [True, True] Translation: X:5.79, Y:0.13, Z:0.40 [[ 9.94380211e-01 -6.10934683e-02 -8.64614554e-02 5.79224190e+00] [ 6.10363055e-02 9.98130068e-01 -3.30706169e-03 1.32360751e-01] [ 8.65018183e-02 -1.98881111e-03 9.96249708e-01 3.95055170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377105681 meters 0.027035846973438898 Centerline is valid? [True, True] Translation: X:5.85, Y:0.15, Z:0.41 [[ 9.93304152e-01 -7.58473944e-02 -8.71437547e-02 5.85146227e+00] [ 7.58458841e-02 9.97113981e-01 -3.33317917e-03 1.52226461e-01] [ 8.71450692e-02 -3.29863441e-03 9.96190171e-01 4.06469297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437105681 meters 0.02475609892391117 Centerline is valid? [True, True] Translation: X:5.91, Y:0.17, Z:0.41 [[ 9.93881810e-01 -7.23416284e-02 -8.34603927e-02 5.91150950e+00] [ 7.23279315e-02 9.97375799e-01 -3.19162122e-03 1.71425749e-01] [ 8.34722629e-02 -2.86442330e-03 9.96505984e-01 4.12077400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497105681 meters 0.018202729605051534 Centerline is valid? [True, True] Translation: X:5.97, Y:0.20, Z:0.41 [[ 9.94744417e-01 -5.25279331e-02 -8.78883477e-02 5.97132944e+00] [ 5.24359388e-02 9.98618648e-01 -3.35671636e-03 2.02446039e-01] [ 8.79432643e-02 -1.26943316e-03 9.96124676e-01 4.13280491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557105681 meters 0.020775274215440075 Centerline is valid? [True, True] Translation: X:6.03, Y:0.25, Z:0.41 [[ 9.95652473e-01 -1.55717028e-02 -9.18350375e-02 6.03128694e+00] [ 1.53144415e-02 9.99876582e-01 -3.50540900e-03 2.49598123e-01] [ 9.18782886e-02 2.08376683e-03 9.95768064e-01 4.10139189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617105681 meters 0.02639511988825365 Centerline is valid? [True, True] Translation: X:6.09, Y:0.27, Z:0.41 [[ 9.95619492e-01 -1.34142739e-03 -9.34881128e-02 6.09099937e+00] [ 1.01281649e-03 9.99993142e-01 -3.56236043e-03 2.70944513e-01] [ 9.34922503e-02 3.45206918e-03 9.95614023e-01 4.13546559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6771056810000005 meters 0.024230080866377145 Centerline is valid? [True, True] Translation: X:6.15, Y:0.27, Z:0.42 [[ 9.95602461e-01 -6.27799357e-03 -9.34683137e-02 6.15011437e+00] [ 5.97108133e-03 9.99975826e-01 -3.56290297e-03 2.68392743e-01] [ 9.34884221e-02 2.98912807e-03 9.95615880e-01 4.16287045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737105681 meters 0.01977310318256387 Centerline is valid? [True, True] Translation: X:6.21, Y:0.25, Z:0.41 [[ 9.94642131e-01 -2.11608610e-02 -1.01189171e-01 6.21209324e+00] [ 2.08746384e-02 9.99774546e-01 -3.88673363e-03 2.52639165e-01] [ 1.01248604e-01 1.75362167e-03 9.94859611e-01 4.10562718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797105681 meters 0.017463448206957447 Centerline is valid? [True, True] Translation: X:6.27, Y:0.24, Z:0.43 [[ 9.94672429e-01 -3.07890060e-02 -9.83808689e-02 6.27081450e+00] [ 3.05653548e-02 9.99525623e-01 -3.78005013e-03 2.40748388e-01] [ 9.84505833e-02 7.52865476e-04 9.95141656e-01 4.26956578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857105681 meters 0.017952544561037717 Centerline is valid? [True, True] Translation: X:6.33, Y:0.23, Z:0.43 [[ 9.95300533e-01 -2.71222480e-02 -9.29582274e-02 6.32878846e+00] [ 2.69061956e-02 9.99631563e-01 -3.57692257e-03 2.33186017e-01] [ 9.30209924e-02 1.05896070e-03 9.95663585e-01 4.34664325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917105681 meters 0.017944578619408378 Centerline is valid? [True, True] Translation: X:6.39, Y:0.23, Z:0.44 [[ 9.95103566e-01 -3.01708664e-02 -9.41202006e-02 6.38642565e+00] [ 2.99598216e-02 9.99544422e-01 -3.65485694e-03 2.28345130e-01] [ 9.41875917e-02 8.17136751e-04 9.95554132e-01 4.36464749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977105681 meters 0.01767078925001838 Centerline is valid? [True, True] Translation: X:6.45, Y:0.20, Z:0.44 [[ 9.94593603e-01 -4.63375571e-02 -9.29322144e-02 6.44649030e+00] [ 4.62011487e-02 9.98925598e-01 -3.61989664e-03 2.04871428e-01] [ 9.30001051e-02 -6.93249020e-04 9.95665858e-01 4.37637257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037105681 meters 0.029761091353952475 Centerline is valid? [True, True] Translation: X:6.51, Y:0.16, Z:0.45 [[ 9.92396355e-01 -8.29675997e-02 -9.09167345e-02 6.50723570e+00] [ 8.29873881e-02 9.96544206e-01 -3.56919237e-03 1.63421202e-01] [ 9.08986724e-02 -4.00288883e-03 9.95852102e-01 4.50947595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097105681 meters 0.03756712716837985 Centerline is valid? [True, True] Translation: X:6.57, Y:0.14, Z:0.45 [[ 9.90954437e-01 -9.77887653e-02 -9.19057136e-02 6.56717364e+00] [ 9.78722062e-02 9.95192445e-01 -3.60960480e-03 1.40892854e-01] [ 9.18168506e-02 -5.41806107e-03 9.95761171e-01 4.53645587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157105681 meters 0.038338564944451606 Centerline is valid? [True, True] Translation: X:6.63, Y:0.14, Z:0.46 [[ 9.91640166e-01 -9.55122110e-02 -8.67594332e-02 6.62823703e+00] [ 9.55782153e-02 9.95416108e-01 -3.40246690e-03 1.39714688e-01] [ 8.66867145e-02 -4.91828895e-03 9.96223481e-01 4.64583988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217105681 meters 0.03528815179208341 Centerline is valid? [True, True] Translation: X:6.69, Y:0.16, Z:0.47 [[ 9.92132196e-01 -9.07243823e-02 -8.62716155e-02 6.68794240e+00] [ 9.07721049e-02 9.95865963e-01 -3.37766520e-03 1.56542916e-01] [ 8.62214021e-02 -4.47996574e-03 9.96265928e-01 4.71844261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277105681 meters 0.03418538327232071 Centerline is valid? [True, True] Translation: X:6.75, Y:0.17, Z:0.47 [[ 9.91700106e-01 -9.21730668e-02 -8.96383052e-02 6.75000962e+00] [ 9.22307335e-02 9.95731485e-01 -3.50739090e-03 1.68474398e-01] [ 8.95789697e-02 -4.78912671e-03 9.95968209e-01 4.69715275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337105681 meters 0.031098952890848755 Centerline is valid? [True, True] Translation: X:6.81, Y:0.18, Z:0.48 [[ 9.92128366e-01 -8.89338948e-02 -8.81593274e-02 6.81088904e+00] [ 8.89775928e-02 9.96027681e-01 -3.44180508e-03 1.83450058e-01] [ 8.81152236e-02 -4.42949229e-03 9.96100440e-01 4.78392141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397105681 meters 0.024619033805317925 Centerline is valid? [True, True] Translation: X:6.87, Y:0.21, Z:0.48 [[ 9.92690697e-01 -7.39942399e-02 -9.53416589e-02 6.87025220e+00] [ 7.39774303e-02 9.97252993e-01 -3.71579844e-03 2.11932527e-01] [ 9.53547024e-02 -3.36449238e-03 9.95437673e-01 4.79958761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457105681 meters 0.020597061360610076 Centerline is valid? [True, True] Translation: X:6.93, Y:0.24, Z:0.49 [[ 9.93960863e-01 -6.06474838e-02 -9.14531870e-02 6.92822410e+00] [ 6.05755177e-02 9.98157251e-01 -3.56501312e-03 2.35704050e-01] [ 9.15008707e-02 -1.99634063e-03 9.95802995e-01 4.86119182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517105681 meters 0.018662869858959874 Centerline is valid? [True, True] Translation: X:6.99, Y:0.25, Z:0.49 [[ 9.94362723e-01 -5.33347957e-02 -9.16415552e-02 6.98900094e+00] [ 5.32313691e-02 9.98575809e-01 -3.57422619e-03 2.54885812e-01] [ 9.17016707e-02 -1.32412815e-03 9.95785645e-01 4.89255897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577105681 meters 0.018241489313277678 Centerline is valid? [True, True] Translation: X:7.05, Y:0.27, Z:0.49 [[ 9.94211281e-01 -5.21558709e-02 -9.39345153e-02 7.05028659e+00] [ 5.20423635e-02 9.98638174e-01 -3.65934495e-03 2.73410911e-01] [ 9.39974491e-02 -1.25041216e-03 9.95571653e-01 4.94844316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637105681 meters 0.021955951153670484 Centerline is valid? [True, True] Translation: X:7.11, Y:0.28, Z:0.50 [[ 9.93461521e-01 -6.66535735e-02 -9.26903827e-02 7.11079608e+00] [ 6.66066367e-02 9.97772806e-01 -3.60331218e-03 2.76784664e-01] [ 9.27241169e-02 -2.59404265e-03 9.95688460e-01 5.01907437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697105681 meters 0.029125422795740742 Centerline is valid? [True, True] Translation: X:7.17, Y:0.27, Z:0.51 [[ 9.92332090e-01 -8.35552579e-02 -9.10798635e-02 7.17102802e+00] [ 8.35808251e-02 9.96494713e-01 -3.54016611e-03 2.71004833e-01] [ 9.10564020e-02 -4.09950971e-03 9.95837299e-01 5.09087930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757105681 meters 0.03300356288639263 Centerline is valid? [True, True] Translation: X:7.23, Y:0.27, Z:0.51 [[ 9.91761794e-01 -9.12054323e-02 -8.99450610e-02 7.23113706e+00] [ 9.12617172e-02 9.95820808e-01 -3.49527674e-03 2.70139570e-01] [ 8.98879516e-02 -4.74205880e-03 9.95940595e-01 5.14931015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817105681 meters 0.027283495331136432 Centerline is valid? [True, True] Translation: X:7.29, Y:0.29, Z:0.53 [[ 9.93167004e-01 -7.82548210e-02 -8.65764735e-02 7.29043319e+00] [ 7.82578664e-02 9.96927474e-01 -3.36408213e-03 2.86643729e-01] [ 8.65737207e-02 -3.43419473e-03 9.96239528e-01 5.25512489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877105681 meters 0.019194316331158236 Centerline is valid? [True, True] Translation: X:7.35, Y:0.31, Z:0.53 [[ 9.94504231e-01 -5.55809228e-02 -8.87248299e-02 7.34928743e+00] [ 5.54941653e-02 9.98453064e-01 -3.44616602e-03 3.13189090e-01] [ 8.87791194e-02 -1.49648369e-03 9.96050214e-01 5.32897767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937105681 meters 0.016729114505538784 Centerline is valid? [True, True] Translation: X:7.41, Y:0.33, Z:0.53 [[ 9.95182369e-01 -3.66271761e-02 -9.09423060e-02 7.41034214e+00] [ 3.64570686e-02 9.99328980e-01 -3.53154340e-03 3.34393296e-01] [ 9.10106323e-02 1.99039843e-04 9.95849901e-01 5.32377007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997105681 meters 0.017361943173623287 Centerline is valid? [True, True] Translation: X:7.47, Y:0.34, Z:0.53 [[ 9.95081138e-01 -2.92777260e-02 -9.46379655e-02 7.47111649e+00] [ 2.90607041e-02 9.99570908e-01 -3.67088146e-03 3.44674826e-01] [ 9.47048321e-02 9.02578993e-04 9.95504987e-01 5.30793002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057105681 meters 0.016720947453088966 Centerline is valid? [True, True] Translation: X:7.53, Y:0.34, Z:0.54 [[ 9.95133576e-01 -3.72241060e-02 -9.12333954e-02 7.52888418e+00] [ 3.70559127e-02 9.99306933e-01 -3.53734875e-03 3.39010394e-01] [ 9.13018392e-02 1.39397774e-04 9.95823255e-01 5.39250617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117105681 meters 0.021724141490600965 Centerline is valid? [True, True] Translation: X:7.59, Y:0.31, Z:0.55 [[ 9.94155109e-01 -6.41139110e-02 -8.68621049e-02 7.59003270e+00] [ 6.40626072e-02 9.97940154e-01 -3.38096855e-03 3.11731310e-01] [ 8.68999495e-02 -2.20340575e-03 9.96214607e-01 5.53156598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177105681 meters 0.036307148978793 Centerline is valid? [True, True] Translation: X:7.65, Y:0.27, Z:0.56 [[ 9.91697351e-01 -9.73251406e-02 -8.40486816e-02 7.65196912e+00] [ 9.73956153e-02 9.95240370e-01 -3.27114184e-03 2.71726671e-01] [ 8.39670053e-02 -4.94199036e-03 9.96456280e-01 5.59376113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237105681 meters 0.0415787949271275 Centerline is valid? [True, True] Translation: X:7.71, Y:0.26, Z:0.57 [[ 9.92068363e-01 -9.55169408e-02 -8.17121643e-02 7.71285755e+00] [ 9.55772494e-02 9.95416930e-01 -3.18207945e-03 2.59234951e-01] [ 8.16416142e-02 -4.65298356e-03 9.96650890e-01 5.72395472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297105681 meters 0.026595715872358205 Centerline is valid? [True, True] Translation: X:7.77, Y:0.28, Z:0.58 [[ 9.93885694e-01 -7.36765148e-02 -8.22374552e-02 7.77260595e+00] [ 7.36650484e-02 9.97277977e-01 -3.17772362e-03 2.84406119e-01] [ 8.22477265e-02 -2.89973207e-03 9.96607698e-01 5.76074564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357105681 meters 0.01820984958594065 Centerline is valid? [True, True] Translation: X:7.83, Y:0.31, Z:0.58 [[ 9.94888220e-01 -5.13055024e-02 -8.69780139e-02 7.83220168e+00] [ 5.12073375e-02 9.98682388e-01 -3.36090448e-03 3.08057834e-01] [ 8.70358436e-02 -1.11018824e-03 9.96204562e-01 5.76252510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417105681 meters 0.01851798990479096 Centerline is valid? [True, True] Translation: X:7.90, Y:0.30, Z:0.57 [[ 9.94120514e-01 -5.28153817e-02 -9.45248032e-02 7.89556543e+00] [ 5.27062762e-02 9.98603379e-01 -3.65225075e-03 3.04715490e-01] [ 9.45856829e-02 -1.35127299e-03 9.95515807e-01 5.69796726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477105681 meters 0.020522563287417223 Centerline is valid? [True, True] Translation: X:7.96, Y:0.29, Z:0.57 [[ 9.92950930e-01 -6.09268921e-02 -1.01667910e-01 7.95711204e+00] [ 6.08439495e-02 9.98139595e-01 -3.91949729e-03 2.94079768e-01] [ 1.01717569e-01 -2.29400871e-03 9.94810672e-01 5.71540086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537105681 meters 0.022210565310744654 Centerline is valid? [True, True] Translation: X:8.02, Y:0.29, Z:0.58 [[ 9.92695072e-01 -6.60786597e-02 -1.00946050e-01 8.01898010e+00] [ 6.60237311e-02 9.97810476e-01 -3.88867518e-03 2.85849405e-01] [ 1.00981985e-01 -2.80456619e-03 9.94884301e-01 5.79157287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597105681 meters 0.02252752753134258 Centerline is valid? [True, True] Translation: X:8.08, Y:0.28, Z:0.58 [[ 9.92960277e-01 -6.78026169e-02 -9.71220577e-02 8.08110182e+00] [ 6.77607553e-02 9.97694615e-01 -3.73311091e-03 2.80841952e-01] [ 9.71512686e-02 -2.87423314e-03 9.95265477e-01 5.84898513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657105681 meters 0.02502444804831136 Centerline is valid? [True, True] Translation: X:8.14, Y:0.27, Z:0.59 [[ 9.93059811e-01 -7.29362608e-02 -9.22632896e-02 8.14295699e+00] [ 7.29212459e-02 9.97331425e-01 -3.53842038e-03 2.68276889e-01] [ 9.22751572e-02 -3.21409095e-03 9.95728359e-01 5.91388838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717105681 meters 0.029459577254268027 Centerline is valid? [True, True] Translation: X:8.20, Y:0.26, Z:0.60 [[ 9.92291745e-01 -8.22676136e-02 -9.26775706e-02 8.20363747e+00] [ 8.22940759e-02 9.96601794e-01 -3.54259505e-03 2.56438495e-01] [ 9.26540739e-02 -4.11152719e-03 9.95689870e-01 6.02592072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777105681 meters 0.04318177450841163 Centerline is valid? [True, True] Translation: X:8.27, Y:0.22, Z:0.60 [[ 9.89770609e-01 -1.07217714e-01 -9.41196270e-02 8.26508496e+00] [ 1.07356951e-01 9.94214033e-01 -3.59756185e-03 2.23908823e-01] [ 9.39607762e-02 -6.54363521e-03 9.95554395e-01 6.03999370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837105681 meters 0.0495132890264563 Centerline is valid? [True, True] Translation: X:8.33, Y:0.21, Z:0.61 [[ 9.87310579e-01 -1.24880383e-01 -9.80954176e-02 8.32634308e+00] [ 1.25118047e-01 9.92134777e-01 -3.74940693e-03 2.08420494e-01] [ 9.77921027e-02 -8.57167791e-03 9.95169951e-01 6.05238155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897105681 meters 0.05331173994208494 Centerline is valid? [True, True] Translation: X:8.39, Y:0.21, Z:0.61 [[ 9.87297547e-01 -1.21964936e-01 -1.01823903e-01 8.38544256e+00] [ 1.22205886e-01 9.92497141e-01 -3.89180510e-03 2.11269770e-01] [ 1.01534597e-01 -8.60111063e-03 9.94794826e-01 6.09481406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957105681 meters 0.04154003875157414 Centerline is valid? [True, True] Translation: X:8.44, Y:0.25, Z:0.61 [[ 9.88696007e-01 -1.05491147e-01 -1.06544935e-01 8.44472432e+00] [ 1.05660067e-01 9.94393962e-01 -4.07408459e-03 2.50509300e-01] [ 1.06377420e-01 -7.22951383e-03 9.94299542e-01 6.09706885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017105681 meters 0.037081829529310925 Centerline is valid? [True, True] Translation: X:8.50, Y:0.28, Z:0.62 [[ 9.90367080e-01 -9.52684526e-02 -1.00483676e-01 8.50386159e+00] [ 9.53662282e-02 9.95434844e-01 -3.84106523e-03 2.77409235e-01] [ 1.00390885e-01 -5.77868464e-03 9.94931293e-01 6.21941607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077105681 meters 0.02863898533553094 Centerline is valid? [True, True] Translation: X:8.56, Y:0.32, Z:0.66 [[ 9.93615746e-01 -7.80483156e-02 -8.14629328e-02 8.56027243e+00] [ 7.80545683e-02 9.96944229e-01 -3.11270076e-03 3.24931196e-01] [ 8.14569417e-02 -3.26572556e-03 9.96671511e-01 6.56115518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137105681 meters 0.022200646573595714 Centerline is valid? [True, True] Translation: X:8.62, Y:0.36, Z:0.66 [[ 9.94667680e-01 -6.50492548e-02 -8.00299956e-02 8.61968969e+00] [ 6.50134145e-02 9.97879710e-01 -3.05622024e-03 3.55443965e-01] [ 8.00591136e-02 -2.16309978e-03 9.96787770e-01 6.58996875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197105681 meters 0.01841408226870144 Centerline is valid? [True, True] Translation: X:8.68, Y:0.38, Z:0.66 [[ 9.95215248e-01 -5.32382581e-02 -8.19286107e-02 8.67972320e+00] [ 5.31607229e-02 9.98581067e-01 -3.12899838e-03 3.82242886e-01] [ 8.19789419e-02 -1.24135727e-03 9.96633289e-01 6.64976384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257105681 meters 0.018995389143129145 Centerline is valid? [True, True] Translation: X:8.74, Y:0.39, Z:0.66 [[ 9.94512742e-01 -5.56762676e-02 -8.85695201e-02 8.74122335e+00] [ 5.55954939e-02 9.98447652e-01 -3.38052618e-03 3.89827748e-01] [ 8.86202444e-02 -1.56208984e-03 9.96064261e-01 6.63503326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317105681 meters 0.024619491566888016 Centerline is valid? [True, True] Translation: X:8.80, Y:0.38, Z:0.65 [[ 9.92650103e-01 -7.07312131e-02 -9.81981100e-02 8.80321155e+00] [ 7.07059646e-02 9.97490184e-01 -3.74149591e-03 3.78715824e-01] [ 9.82162914e-02 -3.22919579e-03 9.95159853e-01 6.48957571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377105681 meters 0.02622877600746606 Centerline is valid? [True, True] Translation: X:8.86, Y:0.38, Z:0.65 [[ 9.91953459e-01 -7.39676403e-02 -1.02747866e-01 8.86388991e+00] [ 7.39574946e-02 9.97253715e-01 -3.91357565e-03 3.80662904e-01] [ 1.02755169e-01 -3.71688987e-03 9.94699734e-01 6.53935892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437105681 meters 0.026130401154152612 Centerline is valid? [True, True] Translation: X:8.93, Y:0.39, Z:0.66 [[ 9.92064204e-01 -7.23081298e-02 -1.02859858e-01 8.92557090e+00] [ 7.22893905e-02 9.97376016e-01 -3.91482022e-03 3.86646778e-01] [ 1.02873029e-01 -3.55192345e-03 9.94688154e-01 6.60297529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497105681 meters 0.026415192784246432 Centerline is valid? [True, True] Translation: X:8.99, Y:0.39, Z:0.67 [[ 9.91953724e-01 -7.61313528e-02 -1.01152495e-01 8.98737092e+00] [ 7.61338396e-02 9.97090207e-01 -3.84153363e-03 3.88589962e-01] [ 1.01150624e-01 -3.89050427e-03 9.94863516e-01 6.66147615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557105681 meters 0.034645031536859584 Centerline is valid? [True, True] Translation: X:9.05, Y:0.37, Z:0.67 [[ 9.90770134e-01 -9.12824042e-02 -1.00210096e-01 9.04748729e+00] [ 9.13626413e-02 9.95810445e-01 -3.79797221e-03 3.73772304e-01] [ 1.00136949e-01 -5.39254164e-03 9.94959050e-01 6.74005610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617105681 meters 0.04580727891234144 Centerline is valid? [True, True] Translation: X:9.11, Y:0.35, Z:0.68 [[ 9.88885247e-01 -1.10720036e-01 -9.92322584e-02 9.10862262e+00] [ 1.10895827e-01 9.93824924e-01 -3.75971171e-03 3.52018726e-01] [ 9.90357671e-02 -7.28651987e-03 9.95057196e-01 6.83973443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677105681 meters 0.05208867045553543 Centerline is valid? [True, True] Translation: X:9.17, Y:0.34, Z:0.68 [[ 9.87055378e-01 -1.24947142e-01 -1.00547961e-01 9.17052393e+00] [ 1.25200805e-01 9.92124112e-01 -3.80857368e-03 3.37854003e-01] [ 1.00231927e-01 -8.82941254e-03 9.94924923e-01 6.84534131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737105681 meters 0.05587681292096895 Centerline is valid? [True, True] Translation: X:9.23, Y:0.33, Z:0.70 [[ 9.86444962e-01 -1.31304509e-01 -9.84147541e-02 9.23064406e+00] [ 1.31578812e-01 9.91298709e-01 -3.72641709e-03 3.32310452e-01] [ 9.80477140e-02 -9.27339104e-03 9.95138508e-01 6.96897091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797105681 meters 0.05245481926830907 Centerline is valid? [True, True] Translation: X:9.29, Y:0.34, Z:0.70 [[ 9.87257345e-01 -1.25947230e-01 -9.72637152e-02 9.28999714e+00] [ 1.26189536e-01 9.91999320e-01 -3.68092426e-03 3.44936210e-01] [ 9.69491416e-02 -8.63964356e-03 9.95251838e-01 7.04663002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857105681 meters 0.046949299420587114 Centerline is valid? [True, True] Translation: X:9.35, Y:0.36, Z:0.71 [[ 9.88757868e-01 -1.15209949e-01 -9.53128884e-02 9.35006477e+00] [ 1.15393033e-01 9.93313362e-01 -3.60720092e-03 3.61259384e-01] [ 9.50911511e-02 -7.43179497e-03 9.95440828e-01 7.09948965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917105681 meters 0.045231628376338734 Centerline is valid? [True, True] Translation: X:9.41, Y:0.37, Z:0.72 [[ 9.88982642e-01 -1.09782796e-01 -9.93029291e-02 9.41019883e+00] [ 1.09954695e-01 9.93929500e-01 -3.75693896e-03 3.74960962e-01] [ 9.91125579e-02 -7.20327584e-03 9.95050156e-01 7.15359982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977105681 meters 0.05171173024141116 Centerline is valid? [True, True] Translation: X:9.47, Y:0.37, Z:0.72 [[ 9.88523166e-01 -1.15037562e-01 -9.79199162e-02 9.46989354e+00] [ 1.15230203e-01 9.93331906e-01 -3.70461898e-03 3.74841106e-01] [ 9.76931473e-02 -7.62123015e-03 9.95187402e-01 7.20868626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037105681 meters 0.04991189291628236 Centerline is valid? [True, True] Translation: X:9.53, Y:0.38, Z:0.72 [[ 9.88137389e-01 -1.18051718e-01 -9.82257204e-02 9.53099498e+00] [ 1.18260267e-01 9.92975676e-01 -3.71687466e-03 3.80956591e-01] [ 9.79745346e-02 -7.94341711e-03 9.95157220e-01 7.21891041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097105681 meters 0.04886423504821255 Centerline is valid? [True, True] Translation: X:9.59, Y:0.39, Z:0.73 [[ 9.88479469e-01 -1.15762796e-01 -9.75054602e-02 9.59199921e+00] [ 1.15957457e-01 9.93247337e-01 -3.68721181e-03 3.87740789e-01] [ 9.72738807e-02 -7.66175204e-03 9.95228160e-01 7.30588014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157105680999999 meters 0.04412077067978762 Centerline is valid? [True, True] Translation: X:9.65, Y:0.40, Z:0.74 [[ 9.88942580e-01 -1.10449400e-01 -9.89621347e-02 9.65162836e+00] [ 1.10624157e-01 9.93855288e-01 -3.73658737e-03 3.99131308e-01] [ 9.87667447e-02 -7.25233237e-03 9.95084184e-01 7.37553895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217105681 meters 0.035562580757181106 Centerline is valid? [True, True] Translation: X:9.71, Y:0.42, Z:0.74 [[ 9.90221253e-01 -9.42066676e-02 -1.02893018e-01 9.71095537e+00] [ 9.43085657e-02 9.95535435e-01 -3.88490532e-03 4.22358330e-01] [ 1.02799629e-01 -5.85677712e-03 9.94684842e-01 7.41228424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277105681 meters 0.024061617447796543 Centerline is valid? [True, True] Translation: X:9.77, Y:0.45, Z:0.74 [[ 9.92209311e-01 -6.86925379e-02 -1.03932762e-01 9.77127975e+00] [ 6.86570080e-02 9.97632608e-01 -3.92362394e-03 4.51421411e-01] [ 1.03956236e-01 -3.24265630e-03 9.94576586e-01 7.40588824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337105681 meters 0.016287858993269767 Centerline is valid? [True, True] Translation: X:9.83, Y:0.49, Z:0.76 [[ 9.94197129e-01 -4.11464450e-02 -9.93933567e-02 9.82941727e+00] [ 4.09765954e-02 9.99153067e-01 -3.75058440e-03 4.87691219e-01] [ 9.94635004e-02 -3.43981128e-04 9.95041152e-01 7.56839865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397105681 meters 0.01593673349019314 Centerline is valid? [True, True] Translation: X:9.89, Y:0.49, Z:0.77 [[ 9.94736346e-01 -3.58056324e-02 -9.60081215e-02 9.89123323e+00] [ 3.56225903e-02 9.99358756e-01 -3.62039214e-03 4.94464898e-01] [ 9.60761873e-02 1.81277679e-04 9.95373967e-01 7.66901435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457105681 meters 0.016000525232097048 Centerline is valid? [True, True] Translation: X:9.95, Y:0.49, Z:0.77 [[ 9.94654797e-01 -3.76427177e-02 -9.61502013e-02 9.95352115e+00] [ 3.74686382e-02 9.99291262e-01 -3.61598990e-03 4.94654765e-01] [ 9.62181716e-02 -5.95541008e-06 9.95360268e-01 7.72306493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517105681 meters 0.01797643496928117 Centerline is valid? [True, True] Translation: X:10.02, Y:0.48, Z:0.78 [[ 9.93965557e-01 -5.33417196e-02 -9.58495353e-02 1.00161228e+01] [ 5.32422420e-02 9.98575148e-01 -3.59689594e-03 4.77348891e-01] [ 9.59048285e-02 -1.52805349e-03 9.95389335e-01 7.75640287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577105680999999 meters 0.022942400181478216 Centerline is valid? [True, True] Translation: X:10.08, Y:0.46, Z:0.78 [[ 9.92629713e-01 -6.87984698e-02 -9.97648379e-02 1.00778500e+01] [ 6.87692561e-02 9.97625597e-01 -3.73586048e-03 4.57899330e-01] [ 9.97849775e-02 -3.15242757e-03 9.95004030e-01 7.76330916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637105681 meters 0.0238289586187562 Centerline is valid? [True, True] Translation: X:10.14, Y:0.45, Z:0.79 [[ 9.92390670e-01 -7.12115404e-02 -1.00447375e-01 1.01392859e+01] [ 7.11943563e-02 9.97455374e-01 -3.76036452e-03 4.50279728e-01] [ 1.00459556e-01 -3.41953555e-03 9.94935266e-01 7.85207767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697105681 meters 0.022374063486237647 Centerline is valid? [True, True] Translation: X:10.20, Y:0.45, Z:0.79 [[ 9.92853320e-01 -6.64161856e-02 -9.91522845e-02 1.02001193e+01] [ 6.63762000e-02 9.97787787e-01 -3.70569688e-03 4.52448573e-01] [ 9.91790568e-02 -2.90213842e-03 9.95065371e-01 7.91694211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757105681 meters 0.02020181572312728 Centerline is valid? [True, True] Translation: X:10.26, Y:0.46, Z:0.80 [[ 9.93521067e-01 -5.92366128e-02 -9.69892400e-02 1.02587439e+01] [ 5.91645545e-02 9.98241675e-01 -3.62126996e-03 4.57184849e-01] [ 9.70332131e-02 -2.14051718e-03 9.95278842e-01 8.01341545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817105681 meters 0.016718762296084134 Centerline is valid? [True, True] Translation: X:10.32, Y:0.47, Z:0.81 [[ 9.94205411e-01 -4.48237839e-02 -9.77058318e-02 1.03183316e+01] [ 4.46810109e-02 9.98994637e-01 -3.64990506e-03 4.70759963e-01] [ 9.77712045e-02 -7.36839967e-04 9.95208646e-01 8.06783572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877105681 meters 0.017742405210127127 Centerline is valid? [True, True] Translation: X:10.38, Y:0.49, Z:0.82 [[ 9.95083869e-01 -2.28759248e-02 -9.63575903e-02 1.03779925e+01] [ 2.26344507e-02 9.99737332e-01 -3.59846394e-03 4.85726564e-01] [ 9.64145984e-02 1.39977230e-03 9.95340276e-01 8.15890225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937105681 meters 0.018569579306306684 Centerline is valid? [True, True] Translation: X:10.44, Y:0.48, Z:0.82 [[ 9.95082080e-01 -1.97903300e-02 -9.70566694e-02 1.04372354e+01] [ 1.95317377e-02 9.99802706e-01 -3.61380024e-03 4.79191258e-01] [ 9.71090390e-02 1.70034245e-03 9.95272296e-01 8.16869274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997105681 meters 0.016537370258031113 Centerline is valid? [True, True] Translation: X:10.50, Y:0.46, Z:0.82 [[ 9.94327135e-01 -3.35776156e-02 -1.00926177e-01 1.04974604e+01] [ 3.33658706e-02 9.99436034e-01 -3.78582197e-03 4.57839167e-01] [ 1.00996377e-01 3.96855738e-04 9.94886714e-01 8.19466868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057105681 meters 0.01765797078611948 Centerline is valid? [True, True] Translation: X:10.56, Y:0.43, Z:0.82 [[ 9.94133553e-01 -4.66690838e-02 -9.75729253e-02 1.05582989e+01] [ 4.65335413e-02 9.98910003e-01 -3.66556460e-03 4.26872706e-01] [ 9.76376396e-02 -8.96352990e-04 9.95221628e-01 8.22678037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117105681 meters 0.01690488111330006 Centerline is valid? [True, True] Translation: X:10.62, Y:0.42, Z:0.83 [[ 9.94092329e-01 -4.28542527e-02 -9.97193829e-02 1.06199937e+01] [ 4.26936640e-02 9.99081191e-01 -3.74484808e-03 4.21073278e-01] [ 9.97882426e-02 -5.34661087e-04 9.95008553e-01 8.33192909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177105681 meters 0.017324603271368064 Centerline is valid? [True, True] Translation: X:10.68, Y:0.42, Z:0.84 [[ 9.94381034e-01 -3.06184838e-02 -1.01335417e-01 1.06818107e+01] [ 3.03901584e-02 9.99530902e-01 -3.79653662e-03 4.22061213e-01] [ 1.01404125e-01 6.95604641e-04 9.94845073e-01 8.37672810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237105681 meters 0.01894551735568423 Centerline is valid? [True, True] Translation: X:10.74, Y:0.42, Z:0.84 [[ 9.94428517e-01 -2.51914821e-02 -1.02358750e-01 1.07413913e+01] [ 2.49302389e-02 9.99681853e-01 -3.83090874e-03 4.16282696e-01] [ 1.02422691e-01 1.25773682e-03 9.94740172e-01 8.35045170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297105681 meters 0.019408805695746514 Centerline is valid? [True, True] Translation: X:10.80, Y:0.40, Z:0.84 [[ 9.94552842e-01 -2.49740739e-02 -1.01197533e-01 1.08000089e+01] [ 2.47145418e-02 9.99687259e-01 -3.81773857e-03 4.03797786e-01] [ 1.01261229e-01 1.29589209e-03 9.94859027e-01 8.38778572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357105681 meters 0.01915897770238179 Centerline is valid? [True, True] Translation: X:10.86, Y:0.38, Z:0.85 [[ 9.94848758e-01 -2.73007958e-02 -9.76248688e-02 1.08596473e+01] [ 2.70671493e-02 9.99626706e-01 -3.71713421e-03 3.82424078e-01] [ 9.76899068e-02 1.05555946e-03 9.95216342e-01 8.46445632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417105681 meters 0.018709236780406157 Centerline is valid? [True, True] Translation: X:10.92, Y:0.36, Z:0.85 [[ 9.94401673e-01 -3.40157899e-02 -1.00041187e-01 1.09189393e+01] [ 3.38012995e-02 9.99421201e-01 -3.83874612e-03 3.59969841e-01] [ 1.00113861e-01 4.35733453e-04 9.94975892e-01 8.46780080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477105681 meters 0.01800459507130869 Centerline is valid? [True, True] Translation: X:10.98, Y:0.33, Z:0.86 [[ 9.94677728e-01 -4.13953038e-02 -9.43538340e-02 1.09778547e+01] [ 4.12365980e-02 9.99142808e-01 -3.63201350e-03 3.25931494e-01] [ 9.44233030e-02 -2.78148184e-04 9.95532100e-01 8.60155874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537105681 meters 0.01775114219645095 Centerline is valid? [True, True] Translation: X:11.04, Y:0.31, Z:0.87 [[ 9.95051273e-01 -3.98080590e-02 -9.10400096e-02 1.10366467e+01] [ 3.96511483e-02 9.99207341e-01 -3.53228483e-03 3.12502930e-01] [ 9.11084592e-02 -9.50364033e-05 9.95840971e-01 8.68445651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597105681 meters 0.017444644180652655 Centerline is valid? [True, True] Translation: X:11.10, Y:0.30, Z:0.88 [[ 9.95342692e-01 -3.98605584e-02 -8.77727778e-02 1.10960642e+01] [ 3.97144251e-02 9.99205248e-01 -3.41126681e-03 3.00127409e-01] [ 8.78389952e-02 -9.04659204e-05 9.96134681e-01 8.77051183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657105680999999 meters 0.017271774479420018 Centerline is valid? [True, True] Translation: X:11.15, Y:0.30, Z:0.88 [[ 9.95292270e-01 -3.91743922e-02 -8.86491078e-02 1.11547863e+01] [ 3.90222210e-02 9.99232389e-01 -3.44963000e-03 2.95436953e-01] [ 8.87161969e-02 -2.58950018e-05 9.96056944e-01 8.80755030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717105681 meters 0.019226112998530845 Centerline is valid? [True, True] Translation: X:11.21, Y:0.28, Z:0.89 [[ 9.94880617e-01 -5.30406932e-02 -8.60188538e-02 1.12134211e+01] [ 5.29486857e-02 9.98591607e-01 -3.35240466e-03 2.79308360e-01] [ 8.60755194e-02 -1.21934284e-03 9.96287869e-01 8.89156516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777105681 meters 0.025489482786782074 Centerline is valid? [True, True] Translation: X:11.27, Y:0.26, Z:0.90 [[ 9.93945034e-01 -6.98055467e-02 -8.48554950e-02 1.12737496e+01] [ 6.97744946e-02 9.97557214e-01 -3.33525117e-03 2.59965917e-01] [ 8.48810303e-02 -2.60569294e-03 9.96387686e-01 8.96898267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837105681 meters 0.023907638085743883 Centerline is valid? [True, True] Translation: X:11.34, Y:0.26, Z:0.90 [[ 9.93721688e-01 -6.71731844e-02 -8.94704987e-02 1.13357139e+01] [ 6.71278715e-02 9.97738176e-01 -3.51879779e-03 2.62709764e-01] [ 8.95045010e-02 -2.50925847e-03 9.95983257e-01 8.98149737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897105681 meters 0.01747589789558971 Centerline is valid? [True, True] Translation: X:11.40, Y:0.29, Z:0.90 [[ 9.95148313e-01 -4.13240336e-02 -8.92869474e-02 1.13953505e+01] [ 4.11755080e-02 9.99145780e-01 -3.50551203e-03 2.88043591e-01] [ 8.93555386e-02 -1.87931028e-04 9.95999775e-01 9.03443458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957105681 meters 0.02379265762912938 Centerline is valid? [True, True] Translation: X:11.45, Y:0.32, Z:0.90 [[ 9.95814481e-01 -1.13761872e-02 -9.06868316e-02 1.14547366e+01] [ 1.10989832e-02 9.99932066e-01 -3.56045286e-03 3.22270450e-01] [ 9.07211752e-02 2.53901890e-03 9.95873095e-01 9.04755057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017105681 meters 0.021407595278273985 Centerline is valid? [True, True] Translation: X:11.51, Y:0.32, Z:0.90 [[ 9.95238841e-01 -1.77412356e-02 -9.58378756e-02 1.15144922e+01] [ 1.74608595e-02 9.99840465e-01 -3.76343585e-03 3.18006482e-01] [ 9.58893540e-02 2.07210585e-03 9.95389842e-01 8.99410100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077105680999999 meters 0.017788423126818075 Centerline is valid? [True, True] Translation: X:11.57, Y:0.30, Z:0.90 [[ 9.94385104e-01 -4.02011009e-02 -9.78883829e-02 1.15740968e+01] [ 4.00161178e-02 9.99191605e-01 -3.85307338e-03 2.99896363e-01] [ 9.79641482e-02 -8.56742843e-05 9.95189941e-01 9.03857056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137105681 meters 0.025754445913403576 Centerline is valid? [True, True] Translation: X:11.63, Y:0.27, Z:0.92 [[ 9.93568266e-01 -6.75648286e-02 -9.08685537e-02 1.16332374e+01] [ 6.75191203e-02 9.97711556e-01 -3.58050182e-03 2.67428493e-01] [ 9.09025220e-02 -2.57789182e-03 9.95856459e-01 9.20094153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197105681 meters 0.023747790812305457 Centerline is valid? [True, True] Translation: X:11.69, Y:0.27, Z:0.93 [[ 9.94105383e-01 -6.62110844e-02 -8.58520856e-02 1.16941844e+01] [ 6.61656732e-02 9.97802935e-01 -3.37746650e-03 2.69999921e-01] [ 8.58870887e-02 -2.32290341e-03 9.96302169e-01 9.30918232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257105681 meters 0.018380497328159152 Centerline is valid? [True, True] Translation: X:11.75, Y:0.29, Z:0.93 [[ 9.95062629e-01 -4.62137306e-02 -8.78331167e-02 1.17536693e+01] [ 4.60887739e-02 9.98931386e-01 -3.45119800e-03 2.92433970e-01] [ 8.78987498e-02 -6.13962507e-04 9.96129225e-01 9.34174379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317105681 meters 0.020111267101107163 Centerline is valid? [True, True] Translation: X:11.81, Y:0.31, Z:0.93 [[ 9.95828475e-01 -2.38095264e-02 -8.80837980e-02 1.18112148e+01] [ 2.35963736e-02 9.99715578e-01 -3.46049689e-03 3.12512894e-01] [ 8.81411378e-02 1.36760314e-03 9.96107057e-01 9.34530210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377105681 meters 0.020681840192522505 Centerline is valid? [True, True] Translation: X:11.87, Y:0.32, Z:0.94 [[ 9.95839915e-01 -2.09507179e-02 -8.86788127e-02 1.18697019e+01] [ 2.07226786e-02 9.99779166e-01 -3.49148512e-03 3.16508449e-01] [ 8.87323785e-02 1.63929770e-03 9.96054154e-01 9.39043129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437105681 meters 0.01942403057618706 Centerline is valid? [True, True] Translation: X:11.93, Y:0.32, Z:0.94 [[ 9.95540164e-01 -2.67012720e-02 -9.04810658e-02 1.19284588e+01] [ 2.64847315e-02 9.99642760e-01 -3.59323010e-03 3.15555828e-01] [ 9.05446862e-02 1.18083816e-03 9.95891694e-01 9.41462833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497105681 meters 0.018976219123194263 Centerline is valid? [True, True] Translation: X:11.99, Y:0.31, Z:0.94 [[ 9.95382971e-01 -3.01588721e-02 -9.11218030e-02 1.19862703e+01] [ 2.99508932e-02 9.99544710e-01 -3.64931392e-03 3.14227453e-01] [ 9.11903753e-02 9.03285544e-04 9.95833068e-01 9.44090301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557105681 meters 0.022681149594490684 Centerline is valid? [True, True] Translation: X:12.05, Y:0.33, Z:0.95 [[ 9.95692237e-01 -1.63809995e-02 -9.12613343e-02 1.20450330e+01] [ 1.61136587e-02 9.99863448e-01 -3.66549345e-03 3.30722529e-01] [ 9.13089168e-02 2.17914938e-03 9.95820231e-01 9.51698239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617105681 meters 0.03234228125156375 Centerline is valid? [True, True] Translation: X:12.10, Y:0.35, Z:0.95 [[ 9.95571623e-01 3.46559555e-03 -9.39421815e-02 1.21036421e+01] [-3.83719947e-03 9.99985511e-01 -3.77531752e-03 3.53279209e-01] [ 9.39277367e-02 4.11907388e-03 9.95570497e-01 9.50546132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677105681 meters 0.033525584808744034 Centerline is valid? [True, True] Translation: X:12.16, Y:0.35, Z:0.96 [[ 9.95635358e-01 8.49450088e-03 -9.29412539e-02 1.21636897e+01] [-8.87999469e-03 9.99953597e-01 -3.73493980e-03 3.54832660e-01] [ 9.29052147e-02 4.54395597e-03 9.95664589e-01 9.55551404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737105681 meters 0.027553017597830114 Centerline is valid? [True, True] Translation: X:12.22, Y:0.34, Z:0.96 [[ 9.95625026e-01 -3.96090158e-03 -9.33548053e-02 1.22243862e+01] [ 3.62626768e-03 9.99986379e-01 -3.75390185e-03 3.36354402e-01] [ 9.33684025e-02 3.39894911e-03 9.95625828e-01 9.58674971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797105681 meters 0.019011556256406995 Centerline is valid? [True, True] Translation: X:12.28, Y:0.31, Z:0.96 [[ 9.95230938e-01 -2.84026465e-02 -9.33202537e-02 1.22841250e+01] [ 2.81749686e-02 9.99595948e-01 -3.75663242e-03 3.07104224e-01] [ 9.33892457e-02 1.10942159e-03 9.95629056e-01 9.64443474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857105681 meters 0.021003499145410783 Centerline is valid? [True, True] Translation: X:12.34, Y:0.27, Z:0.98 [[ 9.94352941e-01 -5.83577957e-02 -8.86374388e-02 1.23419938e+01] [ 5.82706711e-02 9.98294429e-01 -3.57240796e-03 2.69557009e-01] [ 8.86947392e-02 -1.61272868e-03 9.96057550e-01 9.79430096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917105681 meters 0.020379186401683243 Centerline is valid? [True, True] Translation: X:12.40, Y:0.27, Z:0.98 [[ 9.94428621e-01 -5.70805412e-02 -8.86201404e-02 1.24004453e+01] [ 5.69873312e-02 9.98368470e-01 -3.58360256e-03 2.69596080e-01] [ 8.86801079e-02 -1.48658834e-03 9.96059049e-01 9.84462395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977105681 meters 0.017681199637899627 Centerline is valid? [True, True] Translation: X:12.46, Y:0.29, Z:0.99 [[ 9.95279613e-01 -4.31744454e-02 -8.69163910e-02 1.24575288e+01] [ 4.30294377e-02 9.99067526e-01 -3.54207307e-03 2.90360203e-01] [ 8.69882708e-02 -2.14610324e-04 9.96209313e-01 9.91668624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037105681 meters 0.018290601729473492 Centerline is valid? [True, True] Translation: X:12.52, Y:0.31, Z:0.99 [[ 9.95505345e-01 -3.04434198e-02 -8.96789094e-02 1.25161001e+01] [ 3.02367050e-02 9.99536054e-01 -3.66300458e-03 3.09551842e-01] [ 8.97488177e-02 9.34945907e-04 9.95963993e-01 9.92495119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097105681 meters 0.019949807223201537 Centerline is valid? [True, True] Translation: X:12.57, Y:0.32, Z:0.99 [[ 9.95341235e-01 -2.39257853e-02 -9.33990498e-02 1.25744018e+01] [ 2.36699805e-02 9.99712429e-01 -3.84583464e-03 3.17843737e-01] [ 9.34642056e-02 1.61716411e-03 9.95621327e-01 9.93038934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157105680999999 meters 0.026999180678698907 Centerline is valid? [True, True] Translation: X:12.63, Y:0.33, Z:1.00 [[ 9.95235929e-01 -8.28917494e-03 -9.71428572e-02 1.26333542e+01] [ 7.93698782e-03 9.99960456e-01 -4.01132637e-03 3.31258959e-01] [ 9.71722664e-02 3.22119445e-03 9.95262365e-01 9.95323434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217105681 meters 0.028094720750133754 Centerline is valid? [True, True] Translation: X:12.69, Y:0.33, Z:1.00 [[ 9.95251110e-01 -3.73633894e-03 -9.72690497e-02 1.26931454e+01] [ 3.36132345e-03 9.99986274e-01 -4.01902515e-03 3.34023720e-01] [ 9.72827311e-02 3.67298650e-03 9.95250008e-01 9.98758501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277105681 meters 0.02631676789443427 Centerline is valid? [True, True] Translation: X:12.75, Y:0.33, Z:1.00 [[ 9.95407413e-01 -8.05487266e-03 -9.53897332e-02 1.27525458e+01] [ 7.71359722e-03 9.99962464e-01 -3.94590124e-03 3.30606191e-01] [ 9.54179364e-02 3.19198136e-03 9.95432182e-01 1.00442715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337105681 meters 0.01894683129920672 Centerline is valid? [True, True] Translation: X:12.81, Y:0.32, Z:1.00 [[ 9.94209911e-01 -3.00576434e-02 -1.03165837e-01 1.28141526e+01] [ 2.97756993e-02 9.99547476e-01 -4.27221035e-03 3.17476124e-01] [ 1.03247565e-01 1.17563892e-03 9.94654995e-01 1.00214032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397105681 meters 0.017542924290068297 Centerline is valid? [True, True] Translation: X:12.87, Y:0.30, Z:1.02 [[ 9.94435106e-01 -4.88235949e-02 -9.33545777e-02 1.28726818e+01] [ 4.86751740e-02 9.98807173e-01 -3.86756607e-03 3.00816551e-01] [ 9.34320504e-02 -6.98006843e-04 9.95625414e-01 1.02126024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457105681 meters 0.018399707639598133 Centerline is valid? [True, True] Translation: X:12.93, Y:0.30, Z:1.04 [[ 9.94657150e-01 -5.30139531e-02 -8.85814567e-02 1.29298345e+01] [ 5.28946716e-02 9.98593261e-01 -3.69505103e-03 3.03324180e-01] [ 8.86527349e-02 -1.01017814e-03 9.96062082e-01 1.03685266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517105681 meters 0.017107994813243283 Centerline is valid? [True, True] Translation: X:12.99, Y:0.31, Z:1.04 [[ 9.95103761e-01 -4.55250677e-02 -8.77266945e-02 1.29883625e+01] [ 4.53765712e-02 9.98963148e-01 -3.68722717e-03 3.11473020e-01] [ 8.78035962e-02 -3.11562981e-04 9.96137757e-01 1.03940319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577105680999999 meters 0.017364607107540578 Centerline is valid? [True, True] Translation: X:13.05, Y:0.31, Z:1.04 [[ 9.94769737e-01 -4.76974225e-02 -9.03223511e-02 1.30460912e+01] [ 4.75462583e-02 9.98861711e-01 -3.82574372e-03 3.11943785e-01] [ 9.04020162e-02 -4.88755760e-04 9.95905235e-01 1.04032845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637105681 meters 0.01705076659583724 Centerline is valid? [True, True] Translation: X:13.10, Y:0.31, Z:1.04 [[ 9.94734334e-01 -4.26428007e-02 -9.31944045e-02 1.31042423e+01] [ 4.24563589e-02 9.99090382e-01 -3.98322353e-03 3.13498988e-01] [ 9.32794890e-02 5.55411938e-06 9.95639963e-01 1.04123930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697105681 meters 0.018953513485654546 Centerline is valid? [True, True] Translation: X:13.16, Y:0.33, Z:1.05 [[ 9.95070498e-01 -3.00277204e-02 -9.45147585e-02 1.31621143e+01] [ 2.97757497e-02 9.99548296e-01 -4.07541238e-03 3.26096579e-01] [ 9.45944412e-02 1.24107484e-03 9.95515119e-01 1.04648714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757105681 meters 0.023909730573569044 Centerline is valid? [True, True] Translation: X:13.22, Y:0.34, Z:1.04 [[ 9.94977789e-01 -1.56503053e-02 -9.88648980e-02 1.32222407e+01] [ 1.53007167e-02 9.99873720e-01 -4.29329065e-03 3.41011477e-01] [ 9.89196046e-02 2.75902504e-03 9.95091604e-01 1.04495826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817105681 meters 0.031652290131237076 Centerline is valid? [True, True] Translation: X:13.28, Y:0.35, Z:1.04 [[ 9.94946360e-01 5.08917270e-04 -1.00406583e-01 1.32827179e+01] [-9.51642439e-04 9.99990036e-01 -4.36147681e-03 3.51437445e-01] [ 1.00403363e-01 4.43498664e-03 9.94936931e-01 1.04495567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877105681 meters 0.039746434687485774 Centerline is valid? [True, True] Translation: X:13.34, Y:0.37, Z:1.05 [[ 9.94868452e-01 1.00008602e-02 -1.00681405e-01 1.33413101e+01] [-1.04945588e-02 9.99935359e-01 -4.37510480e-03 3.65484801e-01] [ 1.00631142e-01 5.40926066e-03 9.94909098e-01 1.04912994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937105681 meters 0.03263041534006603 Centerline is valid? [True, True] Translation: X:13.40, Y:0.34, Z:1.05 [[ 9.94888321e-01 1.39866773e-03 -1.00971638e-01 1.34031047e+01] [-1.85137291e-03 9.99988650e-01 -4.38992013e-03 3.42727778e-01] [ 1.00964352e-01 4.55441643e-03 9.94879619e-01 1.05317013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997105680999999 meters 0.01905277135347927 Centerline is valid? [True, True] Translation: X:13.46, Y:0.31, Z:1.07 [[ 9.94833534e-01 -2.98658253e-02 -9.70271726e-02 1.34640100e+01] [ 2.95959352e-02 9.99553037e-01 -4.21992650e-03 3.06215877e-01] [ 9.71098365e-02 1.32651448e-03 9.95272787e-01 1.06723334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057105681 meters 0.017517033828413107 Centerline is valid? [True, True] Translation: X:13.52, Y:0.28, Z:1.08 [[ 9.94786036e-01 -5.12143614e-02 -8.81920176e-02 1.35230465e+01] [ 5.10751865e-02 9.98687446e-01 -3.83546635e-03 2.79695953e-01] [ 8.82726917e-02 -6.88955377e-04 9.96096108e-01 1.08421176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117105681 meters 0.021658384474129978 Centerline is valid? [True, True] Translation: X:13.58, Y:0.27, Z:1.10 [[ 9.94520827e-01 -6.47484827e-02 -8.20728835e-02 1.35824156e+01] [ 6.46732965e-02 9.97900080e-01 -3.57701255e-03 2.68615031e-01] [ 8.21321432e-02 -1.75051045e-03 9.96619911e-01 1.09966416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177105681 meters 0.021233048568095658 Centerline is valid? [True, True] Translation: X:13.64, Y:0.28, Z:1.10 [[ 9.94212435e-01 -6.54153874e-02 -8.52200796e-02 1.36399034e+01] [ 6.53367186e-02 9.97856359e-01 -3.71487890e-03 2.79898666e-01] [ 8.52804086e-02 -1.87462156e-03 9.96355227e-01 1.10119849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237105681 meters 0.01924176111416545 Centerline is valid? [True, True] Translation: X:13.70, Y:0.30, Z:1.09 [[ 9.93880849e-01 -5.90901658e-02 -9.33231533e-02 1.36981462e+01] [ 5.89645636e-02 9.98251636e-01 -4.10513511e-03 2.95740639e-01] [ 9.34025635e-02 -1.42274384e-03 9.95627409e-01 1.09209089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297105681 meters 0.01854760862109367 Centerline is valid? [True, True] Translation: X:13.76, Y:0.30, Z:1.10 [[ 9.93887729e-01 -5.76598807e-02 -9.41409598e-02 1.37564140e+01] [ 5.75245302e-02 9.98335455e-01 -4.15311819e-03 3.04234090e-01] [ 9.42237262e-02 -1.28768128e-03 9.95550215e-01 1.09667428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357105681 meters 0.018557619820654236 Centerline is valid? [True, True] Translation: X:13.81, Y:0.32, Z:1.11 [[ 9.94574110e-01 -5.75302284e-02 -8.66753327e-02 1.38132118e+01] [ 5.74126997e-02 9.98343106e-01 -3.85025627e-03 3.19517949e-01] [ 8.67532270e-02 -1.14689965e-03 9.96229172e-01 1.11138601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417105680999999 meters 0.01901233906889538 Centerline is valid? [True, True] Translation: X:13.87, Y:0.33, Z:1.12 [[ 9.94641145e-01 -5.74157073e-02 -8.59792427e-02 1.38703385e+01] [ 5.72971276e-02 9.98349753e-01 -3.84833115e-03 3.28887987e-01] [ 8.60583104e-02 -1.09865514e-03 9.96289496e-01 1.11694389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477105681 meters 0.01697293308091818 Centerline is valid? [True, True] Translation: X:13.93, Y:0.36, Z:1.12 [[ 9.95165463e-01 -4.46646019e-02 -8.74687048e-02 1.39278357e+01] [ 4.44918098e-02 9.99002039e-01 -3.92501330e-03 3.55461736e-01] [ 8.75567236e-02 1.43967062e-05 9.96159535e-01 1.11821720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537105681 meters 0.02676353948158072 Centerline is valid? [True, True] Translation: X:13.99, Y:0.40, Z:1.11 [[ 9.95433554e-01 -8.70519652e-03 -9.50592378e-02 1.39869779e+01] [ 8.33459620e-03 9.99956043e-01 -4.29497601e-03 3.98397043e-01] [ 9.50924478e-02 3.48308288e-03 9.95462352e-01 1.11151489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597105681 meters 0.034760843515495264 Centerline is valid? [True, True] Translation: X:14.05, Y:0.42, Z:1.11 [[ 9.94950362e-01 5.92022420e-03 -1.00193449e-01 1.40466874e+01] [-6.40608659e-03 9.99969228e-01 -4.52820178e-03 4.19089965e-01] [ 1.00163558e-01 5.14718391e-03 9.94957672e-01 1.11372800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657105680999999 meters 0.029591909508632483 Centerline is valid? [True, True] Translation: X:14.11, Y:0.40, Z:1.12 [[ 9.95127985e-01 -4.18932059e-03 -9.85024992e-02 1.41067464e+01] [ 3.76892694e-03 9.99982980e-01 -4.45353792e-03 4.04440703e-01] [ 9.85194800e-02 4.06059149e-03 9.95126838e-01 1.12079931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717105681 meters 0.02377411104586716 Centerline is valid? [True, True] Translation: X:14.17, Y:0.39, Z:1.13 [[ 9.95247216e-01 -1.68271772e-02 -9.59157160e-02 1.41671692e+01] [ 1.64868337e-02 9.99854665e-01 -4.33981296e-03 3.91962833e-01] [ 9.59748028e-02 2.73784031e-03 9.95379999e-01 1.12937777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777105681 meters 0.02275830653819427 Centerline is valid? [True, True] Translation: X:14.23, Y:0.39, Z:1.13 [[ 9.95134616e-01 -2.26861101e-02 -9.58771931e-02 1.42255794e+01] [ 2.23730114e-02 9.99740275e-01 -4.33950856e-03 3.88243839e-01] [ 9.59507379e-02 2.17333365e-03 9.95383711e-01 1.13458440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837105681 meters 0.02050909600741013 Centerline is valid? [True, True] Translation: X:14.28, Y:0.38, Z:1.14 [[ 9.95319485e-01 -2.63913523e-02 -9.29656868e-02 1.42848920e+01] [ 2.61122967e-02 9.99650121e-01 -4.21704849e-03 3.78399289e-01] [ 9.30444537e-02 1.76976294e-03 9.95660383e-01 1.14300331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897105681 meters 0.018406224107825147 Centerline is valid? [True, True] Translation: X:14.34, Y:0.37, Z:1.15 [[ 9.94834064e-01 -3.48441380e-02 -9.53471104e-02 1.43432596e+01] [ 3.45865029e-02 9.99392224e-01 -4.35387500e-03 3.66512094e-01] [ 9.54408678e-02 1.03366005e-03 9.95434565e-01 1.14606788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957105681 meters 0.017132784601323666 Centerline is valid? [True, True] Translation: X:14.40, Y:0.35, Z:1.16 [[ 9.94447500e-01 -4.90248445e-02 -9.31167739e-02 1.44020877e+01] [ 4.88400844e-02 9.98797512e-01 -4.26338680e-03 3.47539741e-01] [ 9.32138139e-02 -3.08116749e-04 9.95646067e-01 1.15577121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017105681 meters 0.018145290853221432 Centerline is valid? [True, True] Translation: X:14.46, Y:0.34, Z:1.16 [[ 9.94075114e-01 -5.59870537e-02 -9.31671462e-02 1.44608466e+01] [ 5.58297959e-02 9.98431060e-01 -4.29553497e-03 3.36891265e-01] [ 9.32614669e-02 -9.31418338e-04 9.95641216e-01 1.15991975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077105680999999 meters 0.01773622508471539 Centerline is valid? [True, True] Translation: X:14.52, Y:0.35, Z:1.16 [[ 9.93904466e-01 -5.37425517e-02 -9.62582543e-02 1.45185990e+01] [ 5.35611164e-02 9.98554570e-01 -4.46962029e-03 3.45012194e-01] [ 9.63593285e-02 -7.13323996e-04 9.95346357e-01 1.16360188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137105681 meters 0.018377022796117415 Centerline is valid? [True, True] Translation: X:14.58, Y:0.36, Z:1.17 [[ 9.93389497e-01 -5.74543614e-02 -9.93795962e-02 1.45763420e+01] [ 5.72758702e-02 9.98347558e-01 -4.65058725e-03 3.57255735e-01] [ 9.94825737e-02 -1.07220832e-03 9.95038727e-01 1.16663378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197105681 meters 0.02108391901606824 Centerline is valid? [True, True] Translation: X:14.63, Y:0.36, Z:1.17 [[ 9.92859930e-01 -6.44145368e-02 -1.00398838e-01 1.46345950e+01] [ 6.42661608e-02 9.97921656e-01 -4.71484800e-03 3.64450277e-01] [ 1.00493880e-01 -1.77106424e-03 9.94936100e-01 1.16824578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257105681 meters 0.01957776241646252 Centerline is valid? [True, True] Translation: X:14.69, Y:0.39, Z:1.18 [[ 9.93317195e-01 -6.37224144e-02 -9.62309896e-02 1.46913959e+01] [ 6.35820700e-02 9.97966344e-01 -4.52724714e-03 3.85684771e-01] [ 9.63237760e-02 -1.62157309e-03 9.95348733e-01 1.17798972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317105681 meters 0.018071440081359882 Centerline is valid? [True, True] Translation: X:14.75, Y:0.41, Z:1.18 [[ 9.93454483e-01 -5.59197537e-02 -9.96050738e-02 1.47484362e+01] [ 5.57271143e-02 9.98434892e-01 -4.71744796e-03 4.09461367e-01] [ 9.97129797e-02 -8.64133514e-04 9.95015867e-01 1.17925871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377105681 meters 0.017473034314645898 Centerline is valid? [True, True] Translation: X:14.81, Y:0.43, Z:1.19 [[ 9.94316033e-01 -4.93908560e-02 -9.43195076e-02 1.48053593e+01] [ 4.91877513e-02 9.98779510e-01 -4.47845007e-03 4.33311088e-01] [ 9.44255860e-02 -1.86369772e-04 9.95531905e-01 1.19342284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437105681 meters 0.0176608673893955 Centerline is valid? [True, True] Translation: X:14.86, Y:0.45, Z:1.20 [[ 9.94305113e-01 -4.52212995e-02 -9.65006582e-02 1.48634092e+01] [ 4.49860275e-02 9.98976963e-01 -4.61343319e-03 4.54466607e-01] [ 9.66105600e-02 2.45978948e-04 9.95322229e-01 1.19628878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497105680999999 meters 0.019879806677817028 Centerline is valid? [True, True] Translation: X:14.92, Y:0.48, Z:1.19 [[ 9.94135405e-01 -3.48517223e-02 -1.02372622e-01 1.49219201e+01] [ 3.45287737e-02 9.99391566e-01 -4.92554462e-03 4.75977926e-01] [ 1.02481999e-01 1.36185718e-03 9.94733927e-01 1.19363628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557105681 meters 0.02420568808399131 Centerline is valid? [True, True] Translation: X:14.98, Y:0.50, Z:1.20 [[ 9.94268242e-01 -2.21051539e-02 -1.04604136e-01 1.49806324e+01] [ 2.16968647e-02 9.99751893e-01 -5.03962832e-03 4.96467150e-01] [ 1.04689585e-01 2.74116060e-03 9.94501170e-01 1.19668914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617105681 meters 0.02732259390642503 Centerline is valid? [True, True] Translation: X:15.04, Y:0.51, Z:1.20 [[ 9.94339046e-01 -1.62612708e-02 -1.05002058e-01 1.50395615e+01] [ 1.58170846e-02 9.99862090e-01 -5.06164788e-03 5.11189155e-01] [ 1.05069886e-01 3.37216769e-03 9.94459123e-01 1.20227343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677105681 meters 0.024084758800439723 Centerline is valid? [True, True] Translation: X:15.10, Y:0.51, Z:1.21 [[ 9.94062340e-01 -2.43617565e-02 -1.06049841e-01 1.50996879e+01] [ 2.39540456e-02 9.99699966e-01 -5.11676856e-03 5.06437953e-01] [ 1.06142676e-01 2.54606419e-03 9.94347650e-01 1.20758527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737105681 meters 0.019975877096967874 Centerline is valid? [True, True] Translation: X:15.16, Y:0.50, Z:1.21 [[ 9.93664036e-01 -3.81295482e-02 -1.05725684e-01 1.51591100e+01] [ 3.78016871e-02 9.99272226e-01 -5.10397810e-03 4.97131080e-01] [ 1.05843352e-01 1.07503027e-03 9.94382235e-01 1.21329503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797105681 meters 0.018928100832879952 Centerline is valid? [True, True] Translation: X:15.22, Y:0.47, Z:1.22 [[ 9.92979058e-01 -5.76317975e-02 -1.03301335e-01 1.52183571e+01] [ 5.74230928e-02 9.98337434e-01 -4.99560048e-03 4.74518812e-01] [ 1.03417495e-01 -9.71355485e-04 9.94637561e-01 1.21968454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857105681 meters 0.022025501837301027 Centerline is valid? [True, True] Translation: X:15.28, Y:0.46, Z:1.23 [[ 9.92334502e-01 -7.01323527e-02 -1.01753082e-01 1.52772984e+01] [ 6.99923223e-02 9.97535248e-01 -4.95019451e-03 4.62320364e-01] [ 1.01849455e-01 -2.20968572e-03 9.94797369e-01 1.22976977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917105680999999 meters 0.027533752203891957 Centerline is valid? [True, True] Translation: X:15.34, Y:0.45, Z:1.23 [[ 9.90920105e-01 -8.60888103e-02 -1.03276626e-01 1.53381293e+01] [ 8.60301276e-02 9.96279834e-01 -5.03078509e-03 4.45204603e-01] [ 1.03325515e-01 -3.89979526e-03 9.94639950e-01 1.23467542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977105681 meters 0.03757611710168909 Centerline is valid? [True, True] Translation: X:15.40, Y:0.43, Z:1.24 [[ 9.89829057e-01 -9.94896099e-02 -1.01687049e-01 1.53977016e+01] [ 9.95028665e-02 9.95024940e-01 -4.95456038e-03 4.27214258e-01] [ 1.01674077e-01 -5.21398506e-03 9.94804099e-01 1.24228713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037105681 meters 0.037701750730069365 Centerline is valid? [True, True] Translation: X:15.46, Y:0.43, Z:1.24 [[ 9.89426935e-01 -1.00872129e-01 -1.04207268e-01 1.54577080e+01] [ 1.00893550e-01 9.94884261e-01 -5.07928244e-03 4.28980717e-01] [ 1.04186528e-01 -5.48826230e-03 9.94542632e-01 1.24432704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097105681 meters 0.035805270474791207 Centerline is valid? [True, True] Translation: X:15.52, Y:0.44, Z:1.25 [[ 9.89577917e-01 -9.92991217e-02 -1.04284375e-01 1.55167105e+01] [ 9.93114802e-02 9.95043393e-01 -5.08692979e-03 4.41309603e-01] [ 1.04272606e-01 -5.32272230e-03 9.94534510e-01 1.25341765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157105681 meters 0.035595628594942384 Centerline is valid? [True, True] Translation: X:15.58, Y:0.45, Z:1.26 [[ 9.89767761e-01 -1.01247193e-01 -1.00542455e-01 1.55770997e+01] [ 1.01268627e-01 9.94847032e-01 -4.90387432e-03 4.49338674e-01] [ 1.00520867e-01 -5.32809965e-03 9.94920684e-01 1.26288591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217105681 meters 0.04116406172712164 Centerline is valid? [True, True] Translation: X:15.64, Y:0.45, Z:1.27 [[ 9.89185684e-01 -1.06334745e-01 -1.01017844e-01 1.56367171e+01] [ 1.06383155e-01 9.94313023e-01 -4.92316900e-03 4.49991589e-01] [ 1.00966862e-01 -5.87666863e-03 9.94872433e-01 1.26577005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277105681 meters 0.04541546189664468 Centerline is valid? [True, True] Translation: X:15.70, Y:0.46, Z:1.27 [[ 9.88256124e-01 -1.12472035e-01 -1.03440199e-01 1.56969494e+01] [ 1.12556101e-01 9.93632575e-01 -5.04274071e-03 4.58142780e-01] [ 1.03348719e-01 -6.65930610e-03 9.94622891e-01 1.26618115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337105681 meters 0.047932312474379714 Centerline is valid? [True, True] Translation: X:15.76, Y:0.47, Z:1.27 [[ 9.86824676e-01 -1.20823913e-01 -1.07604095e-01 1.57572036e+01] [ 1.20964165e-01 9.92643008e-01 -5.24691855e-03 4.71449294e-01] [ 1.07446406e-01 -7.83845078e-03 9.94179978e-01 1.26603098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397105681 meters 0.05242485979165743 Centerline is valid? [True, True] Translation: X:15.82, Y:0.49, Z:1.27 [[ 9.85847433e-01 -1.26162972e-01 -1.10398111e-01 1.58175252e+01] [ 1.26344041e-01 9.91971883e-01 -5.38208891e-03 4.88032745e-01] [ 1.10190843e-01 -8.64222495e-03 9.93872874e-01 1.26978340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457105680999998 meters 0.045861755421360596 Centerline is valid? [True, True] Translation: X:15.88, Y:0.52, Z:1.28 [[ 9.86819497e-01 -1.21713686e-01 -1.06644547e-01 1.58759344e+01] [ 1.21856981e-01 9.92534068e-01 -5.19609943e-03 5.20596845e-01] [ 1.06480782e-01 -7.86777027e-03 9.94283632e-01 1.28229462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517105681 meters 0.033678100920362636 Centerline is valid? [True, True] Translation: X:15.93, Y:0.57, Z:1.29 [[ 9.89491593e-01 -1.02893304e-01 -1.01584224e-01 1.59332708e+01] [ 1.02924372e-01 9.94676870e-01 -4.94946993e-03 5.71168727e-01] [ 1.01552745e-01 -5.55803355e-03 9.94814630e-01 1.29160946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577105681 meters 0.023934100744850105 Centerline is valid? [True, True] Translation: X:15.99, Y:0.61, Z:1.30 [[ 9.91619158e-01 -7.90292304e-02 -1.02204822e-01 1.59910044e+01] [ 7.89343478e-02 9.96867384e-01 -4.97873340e-03 6.14609092e-01] [ 1.02278119e-01 -3.13046357e-03 9.94750917e-01 1.29839733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637105681 meters 0.018096996514389285 Centerline is valid? [True, True] Translation: X:16.05, Y:0.66, Z:1.31 [[ 9.93441398e-01 -5.43139661e-02 -1.00618989e-01 1.60491144e+01] [ 5.40954629e-02 9.98523742e-01 -4.90078812e-03 6.56741513e-01] [ 1.00736631e-01 -5.74384988e-04 9.94912962e-01 1.30936508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697105681 meters 0.017754031826598394 Centerline is valid? [True, True] Translation: X:16.11, Y:0.67, Z:1.31 [[ 9.93910384e-01 -4.57721640e-02 -1.00235007e-01 1.61108650e+01] [ 4.55121792e-02 9.98951864e-01 -4.88014178e-03 6.74658769e-01] [ 1.00353322e-01 2.88509982e-04 9.94951822e-01 1.31236242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757105681 meters 0.01794444380728915 Centerline is valid? [True, True] Translation: X:16.17, Y:0.68, Z:1.31 [[ 9.93022755e-01 -5.22016775e-02 -1.05739270e-01 1.61728279e+01] [ 5.19495542e-02 9.98636487e-01 -5.13915441e-03 6.80670503e-01] [ 1.05863366e-01 -3.89810665e-04 9.94380609e-01 1.30961231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817105681 meters 0.01879010681678994 Centerline is valid? [True, True] Translation: X:16.23, Y:0.68, Z:1.31 [[ 9.92409238e-01 -5.91439502e-02 -1.07823458e-01 1.62342182e+01] [ 5.89231629e-02 9.98248793e-01 -5.23527761e-03 6.83072677e-01] [ 1.07944272e-01 -1.15776131e-03 9.94156272e-01 1.30993925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877105681 meters 0.02124524414132301 Centerline is valid? [True, True] Translation: X:16.30, Y:0.68, Z:1.31 [[ 9.91942845e-01 -6.89950174e-02 -1.06250081e-01 1.62954084e+01] [ 6.88378108e-02 9.97614568e-01 -5.15068415e-03 6.77262099e-01] [ 1.06352000e-01 -2.20483869e-03 9.94326099e-01 1.31200427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937105681 meters 0.02315882904315079 Centerline is valid? [True, True] Translation: X:16.36, Y:0.68, Z:1.32 [[ 9.91661919e-01 -7.63712326e-02 -1.03798232e-01 1.63556390e+01] [ 7.62628040e-02 9.97075121e-01 -5.01874988e-03 6.76162942e-01] [ 1.03877923e-01 -2.93904107e-03 9.94585712e-01 1.32178347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997105681 meters 0.0240764131333827 Centerline is valid? [True, True] Translation: X:16.42, Y:0.68, Z:1.33 [[ 9.91862154e-01 -7.85859957e-02 -1.00168402e-01 1.64174475e+01] [ 7.84965190e-02 9.96902636e-01 -4.84044794e-03 6.76813645e-01] [ 1.00238536e-01 -3.06181378e-03 9.94958723e-01 1.33289623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057105681 meters 0.024871380781910354 Centerline is valid? [True, True] Translation: X:16.48, Y:0.68, Z:1.34 [[ 9.91672162e-01 -8.19122728e-02 -9.93816001e-02 1.64793847e+01] [ 8.18416513e-02 9.96633814e-01 -4.79418349e-03 6.76542839e-01] [ 9.94397656e-02 -3.37929595e-03 9.95037845e-01 1.33527904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117105680999998 meters 0.030097780667352123 Centerline is valid? [True, True] Translation: X:16.54, Y:0.67, Z:1.34 [[ 9.90413399e-01 -9.23768762e-02 -1.02702545e-01 1.65413071e+01] [ 9.23581468e-02 9.95713559e-01 -4.94790141e-03 6.66674837e-01] [ 1.02719388e-01 -4.58494890e-03 9.94699807e-01 1.33521323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177105681 meters 0.03380793396589723 Centerline is valid? [True, True] Translation: X:16.60, Y:0.66, Z:1.34 [[ 9.89586487e-01 -1.01322272e-01 -1.02236889e-01 1.66023312e+01] [ 1.01351512e-01 9.94838502e-01 -4.92200283e-03 6.62633712e-01] [ 1.02207902e-01 -5.49111588e-03 9.94747904e-01 1.34093030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237105681 meters 0.032399223263567554 Centerline is valid? [True, True] Translation: X:16.66, Y:0.67, Z:1.35 [[ 9.89974802e-01 -9.63662785e-02 -1.03263896e-01 1.66629107e+01] [ 9.63696506e-02 9.95333214e-01 -4.96816373e-03 6.74491608e-01] [ 1.03260749e-01 -5.03314871e-03 9.94641586e-01 1.34508521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297105681 meters 0.029541263323321163 Centerline is valid? [True, True] Translation: X:16.72, Y:0.69, Z:1.35 [[ 9.90687893e-01 -9.19719646e-02 -1.00392514e-01 1.67219713e+01] [ 9.19527975e-02 9.95751662e-01 -4.82818239e-03 6.90602553e-01] [ 1.00410070e-01 -4.44815066e-03 9.94936195e-01 1.35427875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357105681 meters 0.03251716289821811 Centerline is valid? [True, True] Translation: X:16.78, Y:0.69, Z:1.36 [[ 9.90478945e-01 -9.59868616e-02 -9.86812158e-02 1.67819671e+01] [ 9.59881332e-02 9.95371164e-01 -4.74588084e-03 6.94150780e-01] [ 9.86799789e-02 -4.77153064e-03 9.95107780e-01 1.35745375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417105681 meters 0.03321964832241862 Centerline is valid? [True, True] Translation: X:16.84, Y:0.70, Z:1.36 [[ 9.90001237e-01 -9.96744270e-02 -9.98126245e-02 1.68427165e+01] [ 9.96944429e-02 9.95006522e-01 -4.79982664e-03 7.03638749e-01] [ 9.97926324e-02 -5.19892968e-03 9.94994674e-01 1.36376781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477105681 meters 0.0361346199607289 Centerline is valid? [True, True] Translation: X:16.90, Y:0.70, Z:1.36 [[ 9.89606553e-01 -1.02903108e-01 -1.00448101e-01 1.69035992e+01] [ 1.02940347e-01 9.94675823e-01 -4.82628674e-03 7.03992981e-01] [ 1.00409937e-01 -5.56403735e-03 9.94930594e-01 1.36188658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537105681 meters 0.03988175272618842 Centerline is valid? [True, True] Translation: X:16.96, Y:0.71, Z:1.37 [[ 9.89112184e-01 -1.06478760e-01 -1.01584258e-01 1.69627290e+01] [ 1.06535920e-01 9.94296889e-01 -4.87795077e-03 7.08867628e-01] [ 1.01524310e-01 -5.99753186e-03 9.94814980e-01 1.37213624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597105681 meters 0.03625785116884116 Centerline is valid? [True, True] Translation: X:17.02, Y:0.73, Z:1.38 [[ 9.90118038e-01 -9.77208626e-02 -1.00582822e-01 1.70216134e+01] [ 9.77326073e-02 9.95201024e-01 -4.82274384e-03 7.28532153e-01] [ 1.00571410e-01 -5.05513577e-03 9.94917000e-01 1.37724086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657105681 meters 0.03171458632729823 Centerline is valid? [True, True] Translation: X:17.08, Y:0.74, Z:1.38 [[ 9.91031215e-01 -9.01253647e-02 -9.86638168e-02 1.70815914e+01] [ 9.00991089e-02 9.95921568e-01 -4.73086332e-03 7.43563345e-01] [ 9.86877939e-02 -4.20108875e-03 9.95109577e-01 1.38280769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717105681 meters 0.021272558181326433 Centerline is valid? [True, True] Translation: X:17.14, Y:0.78, Z:1.39 [[ 9.92408339e-01 -7.08194893e-02 -1.00549927e-01 1.71403050e+01] [ 7.06934189e-02 9.97486441e-01 -4.82090738e-03 7.80171174e-01] [ 1.00638603e-01 -2.32390943e-03 9.94920334e-01 1.39164627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777105681 meters 0.019186436042157765 Centerline is valid? [True, True] Translation: X:17.20, Y:0.79, Z:1.39 [[ 9.92660790e-01 -6.40701747e-02 -1.02564951e-01 1.72018290e+01] [ 6.39032823e-02 9.97943990e-01 -4.91554921e-03 7.92811891e-01] [ 1.02669017e-01 -1.67476408e-03 9.94714164e-01 1.39268712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837105681 meters 0.01760319186491853 Centerline is valid? [True, True] Translation: X:17.26, Y:0.81, Z:1.39 [[ 9.92781420e-01 -5.15624701e-02 -1.08288336e-01 1.72627250e+01] [ 5.13030488e-02 9.98669687e-01 -5.18211112e-03 8.12970953e-01] [ 1.08411481e-01 -4.10818151e-04 9.94106022e-01 1.39416191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897105681 meters 0.018507414051116174 Centerline is valid? [True, True] Translation: X:17.32, Y:0.84, Z:1.40 [[ 9.94054852e-01 -3.29799717e-02 -1.03765474e-01 1.73236129e+01] [ 3.26416654e-02 9.99454825e-01 -4.95719746e-03 8.35362659e-01] [ 1.03872392e-01 1.54064830e-03 9.94589439e-01 1.40194981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957105680999998 meters 0.017556859215461157 Centerline is valid? [True, True] Translation: X:17.38, Y:0.84, Z:1.42 [[ 9.94932325e-01 -3.67193461e-02 -9.36021233e-02 1.73827639e+01] [ 3.64614165e-02 9.99325087e-01 -4.46487598e-03 8.37830342e-01] [ 9.37028973e-02 1.02938344e-03 9.95599672e-01 1.41950356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017105681 meters 0.0168764535531754 Centerline is valid? [True, True] Translation: X:17.45, Y:0.82, Z:1.43 [[ 9.94912436e-01 -4.97130781e-02 -8.76233661e-02 1.74453911e+01] [ 4.95373854e-02 9.98763524e-01 -4.17980111e-03 8.23195427e-01] [ 8.77228127e-02 -1.82096356e-04 9.96144907e-01 1.42679211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077105681 meters 0.017233054967807176 Centerline is valid? [True, True] Translation: X:17.51, Y:0.82, Z:1.43 [[ 9.94574966e-01 -5.30738783e-02 -8.94639605e-02 1.75071063e+01] [ 5.29049848e-02 9.98590465e-01 -4.25976433e-03 8.19575494e-01] [ 8.95639401e-02 -4.96434508e-04 9.95980951e-01 1.43013179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137105681 meters 0.016984482223915753 Centerline is valid? [True, True] Translation: X:17.57, Y:0.82, Z:1.43 [[ 9.94263936e-01 -5.01949955e-02 -9.44441028e-02 1.75706305e+01] [ 4.99952949e-02 9.98739401e-01 -4.48096966e-03 8.16155255e-01] [ 9.45499689e-02 -2.66494241e-04 9.95520081e-01 1.43151702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197105681 meters 0.017567178230077668 Centerline is valid? [True, True] Translation: X:17.63, Y:0.82, Z:1.43 [[ 9.94577483e-01 -3.65047470e-02 -9.73808658e-02 1.76325803e+01] [ 3.62281153e-02 9.99332923e-01 -4.60796625e-03 8.22083137e-01] [ 9.74841179e-02 1.05505424e-03 9.95236521e-01 1.43342015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257105681 meters 0.020143868527813975 Centerline is valid? [True, True] Translation: X:17.69, Y:0.83, Z:1.43 [[ 9.94368090e-01 -2.55834037e-02 -1.02847412e-01 1.76928949e+01] [ 2.52172482e-02 9.99670186e-01 -4.85903366e-03 8.27596923e-01] [ 1.02937802e-01 2.23813931e-03 9.94685277e-01 1.43101407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317105681 meters 0.02045874069796657 Centerline is valid? [True, True] Translation: X:17.75, Y:0.82, Z:1.43 [[ 9.93766305e-01 -2.29490909e-02 -1.09095691e-01 1.77527238e+01] [ 2.25206905e-02 9.99733074e-01 -5.15750755e-03 8.20847592e-01] [ 1.09184930e-01 2.66844694e-03 9.94017872e-01 1.42789532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377105681 meters 0.017927963747232944 Centerline is valid? [True, True] Translation: X:17.81, Y:0.81, Z:1.44 [[ 9.93772329e-01 -3.48773227e-02 -1.05830671e-01 1.78132895e+01] [ 3.45410731e-02 9.99390726e-01 -5.00904174e-03 8.07674026e-01] [ 1.05940893e-01 1.32234214e-03 9.94371550e-01 1.43888326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437105681 meters 0.017184589859544085 Centerline is valid? [True, True] Translation: X:17.87, Y:0.78, Z:1.44 [[ 9.93199698e-01 -5.13357109e-02 -1.04494037e-01 1.78738714e+01] [ 5.10984471e-02 9.98681363e-01 -4.94818175e-03 7.84456851e-01] [ 1.04610266e-01 -4.24950397e-04 9.94513203e-01 1.44100552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497105681 meters 0.019072208838021534 Centerline is valid? [True, True] Translation: X:17.94, Y:0.77, Z:1.45 [[ 9.93191150e-01 -6.31935637e-02 -9.78668096e-02 1.79364523e+01] [ 6.30424404e-02 9.98000066e-01 -4.63882305e-03 7.65553051e-01] [ 9.79642262e-02 -1.56252451e-03 9.95188710e-01 1.45424985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557105681 meters 0.02251125667145481 Centerline is valid? [True, True] Translation: X:18.00, Y:0.74, Z:1.46 [[ 9.92760991e-01 -7.46316191e-02 -9.41049160e-02 1.79981844e+01] [ 7.45437950e-02 9.97207798e-01 -4.45312280e-03 7.42400918e-01] [ 9.41744998e-02 -2.59405095e-03 9.95552326e-01 1.46304404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617105680999998 meters 0.02776691129371599 Centerline is valid? [True, True] Translation: X:18.06, Y:0.73, Z:1.47 [[ 9.91516896e-01 -8.62448247e-02 -9.72423569e-02 1.80580752e+01] [ 8.62068351e-02 9.96266642e-01 -4.59993288e-03 7.26374333e-01] [ 9.72760368e-02 -3.82204466e-03 9.95250102e-01 1.46543736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677105681 meters 0.03265448372919918 Centerline is valid? [True, True] Translation: X:18.12, Y:0.71, Z:1.47 [[ 9.90444931e-01 -9.49822719e-02 -9.99860353e-02 1.81194694e+01] [ 9.49861295e-02 9.95467345e-01 -4.73285590e-03 7.14416811e-01] [ 9.99823705e-02 -4.80965336e-03 9.94977584e-01 1.46897109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737105681 meters 0.027066907564642417 Centerline is valid? [True, True] Translation: X:18.18, Y:0.72, Z:1.47 [[ 9.91082176e-01 -8.86808948e-02 -9.94576239e-02 1.81793497e+01] [ 8.86533671e-02 9.96051426e-01 -4.70511636e-03 7.23052346e-01] [ 9.94821620e-02 -4.15409628e-03 9.95030674e-01 1.47422733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797105680999998 meters 0.020865212380249278 Centerline is valid? [True, True] Translation: X:18.24, Y:0.74, Z:1.48 [[ 9.92383352e-01 -7.00258965e-02 -1.01349186e-01 1.82376037e+01] [ 6.99002493e-02 9.97542462e-01 -4.79492329e-03 7.41895796e-01] [ 1.01435885e-01 -2.32593128e-03 9.94839360e-01 1.47975838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857105681 meters 0.017481116880427604 Centerline is valid? [True, True] Translation: X:18.30, Y:0.77, Z:1.48 [[ 9.93927367e-01 -4.20728226e-02 -1.01677264e-01 1.82964779e+01] [ 4.18000650e-02 9.99114404e-01 -4.81262495e-03 7.69491654e-01] [ 1.01789700e-01 5.33283404e-04 9.94805796e-01 1.48365468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917105681 meters 0.018071764063464845 Centerline is valid? [True, True] Translation: X:18.36, Y:0.77, Z:1.49 [[ 9.94301451e-01 -3.57399019e-02 -1.00435475e-01 1.83552725e+01] [ 3.54414803e-02 9.99360443e-01 -4.75458393e-03 7.74428593e-01] [ 1.00541169e-01 1.16790779e-03 9.94932213e-01 1.48826198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977105681 meters 0.01799946961176085 Centerline is valid? [True, True] Translation: X:18.41, Y:0.77, Z:1.50 [[ 9.94540523e-01 -3.60227982e-02 -9.79362357e-02 1.84135508e+01] [ 3.57396485e-02 9.99350342e-01 -4.64452210e-03 7.73803710e-01] [ 9.80399193e-02 1.11895880e-03 9.95181854e-01 1.49800853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037105681 meters 0.017270512865804784 Centerline is valid? [True, True] Translation: X:18.47, Y:0.76, Z:1.50 [[ 9.93856582e-01 -4.32305667e-02 -1.01883327e-01 1.84722349e+01] [ 4.29585007e-02 9.99065017e-01 -4.86397807e-03 7.64210703e-01] [ 1.01998341e-01 4.57341642e-04 9.94784464e-01 1.49916635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097105681 meters 0.017902967233092208 Centerline is valid? [True, True] Translation: X:18.53, Y:0.75, Z:1.50 [[ 9.92527304e-01 -5.58388515e-02 -1.08496880e-01 1.85318726e+01] [ 5.56013968e-02 9.98439427e-01 -5.21495565e-03 7.47659611e-01] [ 1.08618760e-01 -8.56592223e-04 9.94083111e-01 1.49598150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157105681 meters 0.019025291960943196 Centerline is valid? [True, True] Translation: X:18.59, Y:0.74, Z:1.51 [[ 9.92364101e-01 -6.34460932e-02 -1.05773745e-01 1.85918202e+01] [ 6.32626352e-02 9.97983922e-01 -5.09212295e-03 7.42235916e-01] [ 1.05883572e-01 -1.63828584e-03 9.94377185e-01 1.50786994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217105681 meters 0.020965402827613434 Centerline is valid? [True, True] Translation: X:18.65, Y:0.73, Z:1.51 [[ 9.91986545e-01 -7.17677658e-02 -1.03981166e-01 1.86532116e+01] [ 7.16361124e-02 9.97418276e-01 -5.00496067e-03 7.32515681e-01] [ 1.04071911e-01 -2.48395288e-03 9.94566673e-01 1.51193864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277105681 meters 0.02572240271385295 Centerline is valid? [True, True] Translation: X:18.71, Y:0.72, Z:1.52 [[ 9.91554987e-01 -8.19014406e-02 -1.00552776e-01 1.87130041e+01] [ 8.18307805e-02 9.96634514e-01 -4.83411729e-03 7.22275402e-01] [ 1.00610289e-01 -3.43501907e-03 9.94919982e-01 1.52277831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337105681 meters 0.031292713196532394 Centerline is valid? [True, True] Translation: X:18.77, Y:0.71, Z:1.54 [[ 9.90859067e-01 -9.80274233e-02 -9.26765051e-02 1.87730251e+01] [ 9.80380325e-02 9.95172723e-01 -4.44928713e-03 7.11135683e-01] [ 9.26652821e-02 -4.67720573e-03 9.95686331e-01 1.54047755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397105681 meters 0.0367025350217436 Centerline is valid? [True, True] Translation: X:18.83, Y:0.70, Z:1.54 [[ 9.89905278e-01 -1.07594528e-01 -9.22548507e-02 1.88343969e+01] [ 1.07646348e-01 9.94179385e-01 -4.42874604e-03 7.03101864e-01] [ 9.21943796e-02 -5.54685870e-03 9.95725579e-01 1.54436989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457105680999998 meters 0.03942732756614667 Centerline is valid? [True, True] Translation: X:18.90, Y:0.71, Z:1.55 [[ 9.88451092e-01 -1.16521613e-01 -9.68873151e-02 1.88950799e+01] [ 1.16621704e-01 9.93165529e-01 -4.64868568e-03 7.06056243e-01] [ 9.67668139e-02 -6.70416538e-03 9.95284501e-01 1.54704308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517105681 meters 0.043275563935250116 Centerline is valid? [True, True] Translation: X:18.95, Y:0.71, Z:1.55 [[ 9.87851600e-01 -1.20908113e-01 -9.76239971e-02 1.89544514e+01] [ 1.21031153e-01 9.92637665e-01 -4.68254701e-03 7.06825363e-01] [ 9.74714145e-02 -7.18988338e-03 9.95212354e-01 1.54953800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577105681 meters 0.033390868832612476 Centerline is valid? [True, True] Translation: X:19.01, Y:0.74, Z:1.56 [[ 9.89488101e-01 -1.01170568e-01 -1.03333505e-01 1.90133316e+01] [ 1.01201818e-01 9.94853582e-01 -4.95393914e-03 7.43084743e-01] [ 1.03302901e-01 -5.55567473e-03 9.94634428e-01 1.55518979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637105681 meters 0.022635030461015775 Centerline is valid? [True, True] Translation: X:19.07, Y:0.78, Z:1.56 [[ 9.91521540e-01 -7.61431827e-02 -1.05296014e-01 1.90721182e+01] [ 7.60350592e-02 9.97092374e-01 -5.04660773e-03 7.82771430e-01] [ 1.05374117e-01 -3.00236841e-03 9.94428118e-01 1.56079850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697105681 meters 0.01772015146202256 Centerline is valid? [True, True] Translation: X:19.13, Y:0.81, Z:1.56 [[ 9.92939862e-01 -5.56674704e-02 -1.04745227e-01 1.91311500e+01] [ 5.54468097e-02 9.98449024e-01 -5.01964607e-03 8.14301926e-01] [ 1.04862200e-01 -8.23581960e-04 9.94486421e-01 1.56400617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757105681 meters 0.017392650114268045 Centerline is valid? [True, True] Translation: X:19.19, Y:0.84, Z:1.57 [[ 9.93603571e-01 -4.29399758e-02 -1.04441860e-01 1.91904926e+01] [ 4.26505388e-02 9.99077520e-01 -5.00409428e-03 8.40305385e-01] [ 1.04560390e-01 5.17584359e-04 9.94518405e-01 1.57179023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817105681 meters 0.017386014933950335 Centerline is valid? [True, True] Translation: X:19.25, Y:0.85, Z:1.58 [[ 9.93869012e-01 -4.10175744e-02 -1.02673979e-01 1.92499871e+01] [ 4.07282342e-02 9.99158179e-01 -4.91375773e-03 8.47059459e-01] [ 1.02789097e-01 7.01901660e-04 9.94702925e-01 1.57834540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877105681 meters 0.01729189707805816 Centerline is valid? [True, True] Translation: X:19.31, Y:0.84, Z:1.59 [[ 9.93342938e-01 -5.40053438e-02 -1.01750830e-01 1.93100389e+01] [ 5.37891139e-02 9.98540444e-01 -4.86957776e-03 8.38241393e-01] [ 1.01865302e-01 -6.35926294e-04 9.94797998e-01 1.58786203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937105681 meters 0.020284778258591967 Centerline is valid? [True, True] Translation: X:19.37, Y:0.83, Z:1.59 [[ 9.92087118e-01 -6.89639303e-02 -1.04914853e-01 1.93716094e+01] [ 6.88173669e-02 9.97616641e-01 -5.02065588e-03 8.25776827e-01] [ 1.05011048e-01 -2.23903591e-03 9.94468535e-01 1.58940935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997105681 meters 0.023448264473851014 Centerline is valid? [True, True] Translation: X:19.43, Y:0.82, Z:1.59 [[ 9.91350946e-01 -7.76322358e-02 -1.05813695e-01 1.94335136e+01] [ 7.75325728e-02 9.96976972e-01 -5.06136751e-03 8.15933243e-01] [ 1.05886742e-01 -3.18641654e-03 9.94373091e-01 1.59040205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057105681 meters 0.02524506048953556 Centerline is valid? [True, True] Translation: X:19.50, Y:0.81, Z:1.60 [[ 9.91131088e-01 -8.21249279e-02 -1.04473262e-01 1.94950620e+01] [ 8.20529142e-02 9.96615460e-01 -4.99437547e-03 8.10210404e-01] [ 1.04529831e-01 -3.62225484e-03 9.94515155e-01 1.59711577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117105680999998 meters 0.023664943693735643 Centerline is valid? [True, True] Translation: X:19.56, Y:0.81, Z:1.60 [[ 9.91095197e-01 -8.02926415e-02 -1.06223362e-01 1.95566307e+01] [ 8.02085283e-02 9.96765208e-01 -5.07067741e-03 8.13523815e-01] [ 1.06286890e-01 -3.49449551e-03 9.94329365e-01 1.60375409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177105681 meters 0.022768714652230872 Centerline is valid? [True, True] Translation: X:19.62, Y:0.81, Z:1.61 [[ 9.91599191e-01 -7.74741669e-02 -1.03579909e-01 1.96179486e+01] [ 7.73797321e-02 9.96989476e-01 -4.93579663e-03 8.14225418e-01] [ 1.03650476e-01 -3.12065368e-03 9.94608888e-01 1.61147178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237105681 meters 0.022220349858573178 Centerline is valid? [True, True] Translation: X:19.68, Y:0.81, Z:1.62 [[ 9.92389764e-01 -7.45802250e-02 -9.79813558e-02 1.96777374e+01] [ 7.44821718e-02 9.97211442e-01 -4.66322166e-03 8.13105891e-01] [ 9.80559133e-02 -2.67013073e-03 9.95177325e-01 1.62299775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297105680999998 meters 0.02212805559954002 Centerline is valid? [True, True] Translation: X:19.74, Y:0.81, Z:1.63 [[ 9.92955097e-01 -7.40039246e-02 -9.25396940e-02 1.97394806e+01] [ 7.39141267e-02 9.97254894e-01 -4.40207943e-03 8.10349671e-01] [ 9.26114339e-02 -2.46892347e-03 9.95699265e-01 1.63230462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357105681 meters 0.02099245841196999 Centerline is valid? [True, True] Translation: X:19.80, Y:0.81, Z:1.64 [[ 9.93152464e-01 -7.15854349e-02 -9.23239335e-02 1.98015185e+01] [ 7.14863773e-02 9.97431943e-01 -4.38377809e-03 8.10085729e-01] [ 9.24006550e-02 -2.24614353e-03 9.95719375e-01 1.64052039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417105681 meters 0.01775395773461474 Centerline is valid? [True, True] Translation: X:19.86, Y:0.82, Z:1.63 [[ 9.93551482e-01 -4.86977259e-02 -1.02391329e-01 1.98623259e+01] [ 4.84555090e-02 9.98813552e-01 -4.85300723e-03 8.21282720e-01] [ 1.02506178e-01 -1.39711448e-04 9.94732358e-01 1.63412934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477105681 meters 0.02203009553787912 Centerline is valid? [True, True] Translation: X:19.92, Y:0.84, Z:1.64 [[ 9.94222373e-01 -2.88377639e-02 -1.03393697e-01 1.99209493e+01] [ 2.84835680e-02 9.99582247e-01 -4.90084352e-03 8.36919004e-01] [ 1.03491833e-01 1.92750688e-03 9.94628436e-01 1.63805353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537105681 meters 0.022244817179944868 Centerline is valid? [True, True] Translation: X:19.98, Y:0.83, Z:1.64 [[ 9.94074526e-01 -2.72484403e-02 -1.05230033e-01 1.99794928e+01] [ 2.68722037e-02 9.99626414e-01 -4.99180201e-03 8.30126673e-01] [ 1.05326739e-01 2.13446034e-03 9.94435379e-01 1.64151620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597105681 meters 0.019371893582158253 Centerline is valid? [True, True] Translation: X:20.04, Y:0.81, Z:1.64 [[ 9.93402241e-01 -3.83604392e-02 -1.08076197e-01 2.00389288e+01] [ 3.80276733e-02 9.99263472e-01 -5.13905769e-03 8.14234526e-01] [ 1.08193733e-01 9.95265104e-04 9.94129330e-01 1.64347029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657105681 meters 0.018563638630988654 Centerline is valid? [True, True] Translation: X:20.10, Y:0.79, Z:1.65 [[ 9.93007677e-01 -5.37896057e-02 -1.05082973e-01 2.00993177e+01] [ 5.35598041e-02 9.98552077e-01 -5.00962110e-03 7.86895130e-01] [ 1.05200287e-01 -6.53631242e-04 9.94450840e-01 1.64820020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717105681 meters 0.020500544455049126 Centerline is valid? [True, True] Translation: X:20.16, Y:0.77, Z:1.66 [[ 9.92881824e-01 -6.43077422e-02 -1.00250675e-01 2.01578825e+01] [ 6.41494536e-02 9.97928734e-01 -4.80512773e-03 7.70552188e-01] [ 1.00352036e-01 -1.66010202e-03 9.94950608e-01 1.66445735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777105681 meters 0.0247201769228389 Centerline is valid? [True, True] Translation: X:20.22, Y:0.75, Z:1.67 [[ 9.92373642e-01 -7.50423583e-02 -9.77916108e-02 2.02192148e+01] [ 7.49432659e-02 9.97176764e-01 -4.69134671e-03 7.45976128e-01] [ 9.78675717e-02 -2.67325386e-03 9.95195856e-01 1.66959759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837105681 meters 0.029919768576909127 Centerline is valid? [True, True] Translation: X:20.28, Y:0.73, Z:1.68 [[ 9.91246909e-01 -8.57102645e-02 -1.00415715e-01 2.02796812e+01] [ 8.56601075e-02 9.96312763e-01 -4.81910324e-03 7.30902917e-01] [ 1.00458506e-01 -3.82469980e-03 9.94933897e-01 1.67726774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897105681 meters 0.0354729840720451 Centerline is valid? [True, True] Translation: X:20.34, Y:0.71, Z:1.67 [[ 9.90027872e-01 -9.35927549e-02 -1.05286318e-01 2.03408215e+01] [ 9.35821193e-02 9.95598746e-01 -5.05215668e-03 7.12543636e-01] [ 1.05295771e-01 -4.85114081e-03 9.94429116e-01 1.67312172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957105680999998 meters 0.034885408864025635 Centerline is valid? [True, True] Translation: X:20.40, Y:0.72, Z:1.68 [[ 9.90090968e-01 -9.11413731e-02 -1.06832230e-01 2.03995497e+01] [ 9.11161101e-02 9.95827074e-01 -5.12775181e-03 7.16815367e-01] [ 1.06853777e-01 -4.65719648e-03 9.94263839e-01 1.67925723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017105681 meters 0.024202173575847547 Centerline is valid? [True, True] Translation: X:20.46, Y:0.75, Z:1.69 [[ 9.91978124e-01 -7.40117087e-02 -1.02477645e-01 2.04580445e+01] [ 7.38973791e-02 9.97253730e-01 -4.91686794e-03 7.45434569e-01] [ 1.02560119e-01 -2.69540394e-03 9.94723156e-01 1.69298578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077105681 meters 0.018621837152792347 Centerline is valid? [True, True] Translation: X:20.52, Y:0.78, Z:1.69 [[ 9.93023493e-01 -5.30305487e-02 -1.05319052e-01 2.05178794e+01] [ 5.27921370e-02 9.98592743e-01 -5.05216037e-03 7.76012393e-01] [ 1.05438760e-01 -5.43103869e-04 9.94425650e-01 1.69386138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137105680999998 meters 0.018416706269555678 Centerline is valid? [True, True] Translation: X:20.58, Y:0.79, Z:1.70 [[ 9.93599811e-01 -4.69208203e-02 -1.02751413e-01 2.05754657e+01] [ 4.66614304e-02 9.98898607e-01 -4.92794802e-03 7.88327031e-01] [ 1.02869467e-01 1.01880290e-04 9.94694859e-01 1.70075132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197105681 meters 0.01797418552091497 Centerline is valid? [True, True] Translation: X:20.63, Y:0.79, Z:1.71 [[ 9.93854916e-01 -4.80205825e-02 -9.97317857e-02 2.06335181e+01] [ 4.77808437e-02 9.98846346e-01 -4.79242270e-03 7.89734015e-01] [ 9.98468647e-02 -2.29601071e-06 9.95002816e-01 1.70900347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257105681 meters 0.018048422416073483 Centerline is valid? [True, True] Translation: X:20.69, Y:0.79, Z:1.72 [[ 9.93696708e-01 -5.17109636e-02 -9.94627018e-02 2.06919192e+01] [ 5.14877499e-02 9.98662035e-01 -4.81153798e-03 7.87565496e-01] [ 9.95784335e-02 -3.39901267e-04 9.95029658e-01 1.71534369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317105681 meters 0.018507699380933385 Centerline is valid? [True, True] Translation: X:20.75, Y:0.79, Z:1.72 [[ 9.93100059e-01 -5.36375723e-02 -1.04284628e-01 2.07512902e+01] [ 5.33995110e-02 9.98560330e-01 -5.07547829e-03 7.87800968e-01] [ 1.04406729e-01 -5.28290347e-04 9.94534542e-01 1.71527721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377105681 meters 0.01872373455368223 Centerline is valid? [True, True] Translation: X:20.81, Y:0.79, Z:1.72 [[ 9.92947359e-01 -5.38544277e-02 -1.05618386e-01 2.08101686e+01] [ 5.36102316e-02 9.98548648e-01 -5.15183097e-03 7.89012563e-01] [ 1.05742545e-01 -5.46729155e-04 9.94393391e-01 1.71764782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437105681 meters 0.018724165865101314 Centerline is valid? [True, True] Translation: X:20.87, Y:0.80, Z:1.72 [[ 9.93036908e-01 -4.77604333e-02 -1.07687695e-01 2.08678556e+01] [ 4.74670347e-02 9.98858810e-01 -5.28762507e-03 7.99987361e-01] [ 1.07817342e-01 1.39191295e-04 9.94170710e-01 1.72466818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497105681 meters 0.020979823081194143 Centerline is valid? [True, True] Translation: X:20.93, Y:0.81, Z:1.73 [[ 9.93921854e-01 -3.30390286e-02 -1.05013190e-01 2.09256748e+01] [ 3.26745114e-02 9.99452570e-01 -5.19011977e-03 8.10551684e-01] [ 1.05127179e-01 1.72731879e-03 9.94457285e-01 1.73345357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557105681 meters 0.024324506102419888 Centerline is valid? [True, True] Translation: X:20.98, Y:0.82, Z:1.74 [[ 9.94528575e-01 -2.61189868e-02 -1.01146981e-01 2.09821510e+01] [ 2.57419723e-02 9.99655961e-01 -5.03103382e-03 8.15365690e-01] [ 1.01243588e-01 2.39978412e-03 9.94858772e-01 1.74168581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617105680999998 meters 0.02256075631559957 Centerline is valid? [True, True] Translation: X:21.04, Y:0.80, Z:1.75 [[ 9.94645951e-01 -2.72396771e-02 -9.96866704e-02 2.10413568e+01] [ 2.68769338e-02 9.99626344e-01 -4.98025867e-03 8.01227403e-01] [ 9.97850825e-02 2.27432208e-03 9.95006414e-01 1.74689153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677105681 meters 0.02269002172986266 Centerline is valid? [True, True] Translation: X:21.10, Y:0.79, Z:1.75 [[ 9.94259248e-01 -3.11896299e-02 -1.02351138e-01 2.10996083e+01] [ 3.08246714e-02 9.99511561e-01 -5.14582479e-03 7.88526357e-01] [ 1.02461642e-01 1.96134371e-03 9.94735023e-01 1.75080355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737105681 meters 0.02058949751164934 Centerline is valid? [True, True] Translation: X:21.16, Y:0.76, Z:1.75 [[ 9.94213868e-01 -3.32126591e-02 -1.02155297e-01 2.11596452e+01] [ 3.28582176e-02 9.99446750e-01 -5.15086913e-03 7.61100068e-01] [ 1.02269853e-01 1.76442455e-03 9.94755128e-01 1.75484910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797105680999998 meters 0.020587915081529722 Centerline is valid? [True, True] Translation: X:21.22, Y:0.75, Z:1.76 [[ 9.94264353e-01 -3.44155939e-02 -1.01261854e-01 2.12180793e+01] [ 3.40704211e-02 9.99406234e-01 -5.13672097e-03 7.49456196e-01] [ 1.01378512e-01 1.65722454e-03 9.94846546e-01 1.75925952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857105681 meters 0.01958941720684259 Centerline is valid? [True, True] Translation: X:21.28, Y:0.74, Z:1.76 [[ 9.94199138e-01 -3.74153103e-02 -1.00837341e-01 2.12774555e+01] [ 3.70869762e-02 9.99298877e-01 -5.12942711e-03 7.38572155e-01] [ 1.00958561e-01 1.35991994e-03 9.94889702e-01 1.76433471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917105681 meters 0.018677908990571992 Centerline is valid? [True, True] Translation: X:21.34, Y:0.73, Z:1.77 [[ 9.94325075e-01 -4.04066690e-02 -9.84121219e-02 2.13366857e+01] [ 4.01055082e-02 9.99182753e-01 -5.03732995e-03 7.30727996e-01] [ 9.85352366e-02 1.06187532e-03 9.95132996e-01 1.77135944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977105681 meters 0.017461938757002082 Centerline is valid? [True, True] Translation: X:21.40, Y:0.72, Z:1.78 [[ 9.93822710e-01 -4.89330574e-02 -9.96091202e-02 2.13959269e+01] [ 4.86640808e-02 9.98802029e-01 -5.12973415e-03 7.18119109e-01] [ 9.97408049e-02 2.50660019e-04 9.95013422e-01 1.77570193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037105681 meters 0.01814982099303337 Centerline is valid? [True, True] Translation: X:21.46, Y:0.70, Z:1.78 [[ 9.93056956e-01 -6.14768416e-02 -1.00291977e-01 2.14550795e+01] [ 6.12648231e-02 9.98108024e-01 -5.19553135e-03 6.99356902e-01] [ 1.00421632e-01 -9.84911685e-04 9.94944484e-01 1.77995819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097105681 meters 0.02054085100357718 Centerline is valid? [True, True] Translation: X:21.51, Y:0.69, Z:1.79 [[ 9.92695730e-01 -7.03164943e-02 -9.80345764e-02 2.15134386e+01] [ 7.01557809e-02 9.97523062e-01 -5.08984282e-03 6.85807459e-01] [ 9.81496508e-02 -1.82502703e-03 9.95169993e-01 1.79011262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157105681 meters 0.02123394131625949 Centerline is valid? [True, True] Translation: X:21.57, Y:0.69, Z:1.79 [[ 9.92236281e-01 -7.15027158e-02 -1.01757180e-01 2.15716628e+01] [ 7.13345470e-02 9.97438391e-01 -5.29523478e-03 6.85879060e-01] [ 1.01875141e-01 -2.00467824e-03 9.94795173e-01 1.78932494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217105681 meters 0.023455477079834898 Centerline is valid? [True, True] Translation: X:21.63, Y:0.69, Z:1.79 [[ 9.91651129e-01 -7.65311593e-02 -1.03783521e-01 2.16316218e+01] [ 7.63825306e-02 9.97063902e-01 -5.41158657e-03 6.87851956e-01] [ 1.03892958e-01 -2.56084206e-03 9.94585188e-01 1.79114141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277105681 meters 0.025443177224104156 Centerline is valid? [True, True] Translation: X:21.69, Y:0.69, Z:1.80 [[ 9.91306006e-01 -8.34141407e-02 -1.01756981e-01 2.16907176e+01] [ 8.33069085e-02 9.96509789e-01 -5.31038699e-03 6.93453292e-01] [ 1.01844789e-01 -3.21284097e-03 9.94795113e-01 1.80079923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337105681 meters 0.02670218410580319 Centerline is valid? [True, True] Translation: X:21.75, Y:0.71, Z:1.80 [[ 9.91295292e-01 -8.21454037e-02 -1.02887202e-01 2.17478228e+01] [ 8.20283855e-02 9.96615499e-01 -5.37511026e-03 7.08552032e-01] [ 1.02980521e-01 -3.11134958e-03 9.94678507e-01 1.80427637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397105681 meters 0.021167294725640124 Centerline is valid? [True, True] Translation: X:21.81, Y:0.74, Z:1.81 [[ 9.92607992e-01 -6.98470463e-02 -9.92510131e-02 2.18061300e+01] [ 6.96757981e-02 9.97556162e-01 -5.19488284e-03 7.41082549e-01] [ 9.93713069e-02 -1.75891132e-03 9.95048868e-01 1.81235602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457105680999998 meters 0.01784703110772864 Centerline is valid? [True, True] Translation: X:21.86, Y:0.77, Z:1.82 [[ 9.93449003e-01 -5.86762286e-02 -9.80621133e-02 2.18638778e+01] [ 5.84545567e-02 9.98276866e-01 -5.13450600e-03 7.66493655e-01] [ 9.81944126e-02 -6.31307486e-04 9.95167051e-01 1.81899571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517105681 meters 0.017932868002414146 Centerline is valid? [True, True] Translation: X:21.92, Y:0.79, Z:1.82 [[ 9.93850364e-01 -4.70927753e-02 -1.00218381e-01 2.19204180e+01] [ 4.68008028e-02 9.98890373e-01 -5.26375430e-03 7.88491768e-01] [ 1.00355061e-01 5.41083428e-04 9.94951541e-01 1.82169105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577105681 meters 0.020237859596462272 Centerline is valid? [True, True] Translation: X:21.98, Y:0.80, Z:1.83 [[ 9.94485293e-01 -3.61929783e-02 -9.84330794e-02 2.19781197e+01] [ 3.58567463e-02 9.99343498e-01 -5.18332502e-03 8.03434302e-01] [ 9.85560578e-02 1.62525054e-03 9.95130173e-01 1.82832094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637105680999998 meters 0.022275467179890346 Centerline is valid? [True, True] Translation: X:22.04, Y:0.81, Z:1.83 [[ 9.94463369e-01 -3.01614553e-02 -1.00662281e-01 2.20375299e+01] [ 2.97758588e-02 9.99542383e-01 -5.33121321e-03 8.11327724e-01] [ 1.00777014e-01 2.30439037e-03 9.94906369e-01 1.82914092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697105681 meters 0.020224507975147545 Centerline is valid? [True, True] Translation: X:22.10, Y:0.80, Z:1.83 [[ 9.94240314e-01 -3.59376756e-02 -1.00968712e-01 2.20963986e+01] [ 3.55788638e-02 9.99352536e-01 -5.35281215e-03 8.04701138e-01] [ 1.01095706e-01 1.72962959e-03 9.94875202e-01 1.83367029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757105681 meters 0.01874957817614653 Centerline is valid? [True, True] Translation: X:22.16, Y:0.80, Z:1.84 [[ 9.93991755e-01 -4.16283962e-02 -1.01229781e-01 2.21550222e+01] [ 4.12958572e-02 9.99132482e-01 -5.37925940e-03 7.97860627e-01] [ 1.01365892e-01 1.16656892e-03 9.94848529e-01 1.83943692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817105681 meters 0.017707177259514692 Centerline is valid? [True, True] Translation: X:22.21, Y:0.79, Z:1.85 [[ 9.93933182e-01 -4.77673805e-02 -9.90712268e-02 2.22139961e+01] [ 4.74761020e-02 9.98858329e-01 -5.29692387e-03 7.90238068e-01] [ 9.92111402e-02 5.61272724e-04 9.95066246e-01 1.84772725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877105681 meters 0.0176350929121838 Centerline is valid? [True, True] Translation: X:22.27, Y:0.77, Z:1.85 [[ 9.93210775e-01 -6.22199470e-02 -9.82905586e-02 2.22722770e+01] [ 6.20005938e-02 9.98062107e-01 -5.28752194e-03 7.73335183e-01] [ 9.84290713e-02 -8.42449239e-04 9.95143712e-01 1.85227561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937105681 meters 0.019328994713581786 Centerline is valid? [True, True] Translation: X:22.33, Y:0.76, Z:1.85 [[ 9.92760893e-01 -6.81092271e-02 -9.89289729e-02 2.23303810e+01] [ 6.79126272e-02 9.97676888e-01 -5.35739265e-03 7.61682700e-01] [ 9.90640378e-02 -1.39991654e-03 9.95080075e-01 1.85482036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997105681 meters 0.01809714542043137 Centerline is valid? [True, True] Translation: X:22.39, Y:0.77, Z:1.87 [[ 9.93132652e-01 -6.50854896e-02 -9.72183854e-02 2.23882142e+01] [ 6.48797276e-02 9.97879124e-01 -5.27961250e-03 7.69043925e-01] [ 9.73558235e-02 -1.06414680e-03 9.95249070e-01 1.86792977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057105681 meters 0.017405206515404826 Centerline is valid? [True, True] Translation: X:22.44, Y:0.79, Z:1.87 [[ 9.93425964e-01 -5.17325781e-02 -1.02120485e-01 2.24447061e+01] [ 5.14316025e-02 9.98660931e-01 -5.57983296e-03 7.85617541e-01] [ 1.02272398e-01 2.90930719e-04 9.94756388e-01 1.86603072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117105680999998 meters 0.01910125827639608 Centerline is valid? [True, True] Translation: X:22.50, Y:0.80, Z:1.87 [[ 9.94096357e-01 -4.21652353e-02 -9.99726286e-02 2.25026300e+01] [ 4.18259603e-02 9.99109838e-01 -5.48816912e-03 7.97922850e-01] [ 1.00115047e-01 1.27431773e-03 9.94975052e-01 1.87255192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177105681 meters 0.019576311667443277 Centerline is valid? [True, True] Translation: X:22.56, Y:0.80, Z:1.88 [[ 9.94561316e-01 -3.90890642e-02 -9.65392901e-02 2.25608006e+01] [ 3.87554017e-02 9.99234514e-01 -5.32963107e-03 8.04187885e-01] [ 9.66737209e-02 1.55922592e-03 9.95314905e-01 1.88292363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237105681 meters 0.021540476235132246 Centerline is valid? [True, True] Translation: X:22.62, Y:0.81, Z:1.89 [[ 9.95058786e-01 -3.20869874e-02 -9.39597713e-02 2.26192821e+01] [ 3.17370647e-02 9.99482640e-01 -5.21650665e-03 8.09700712e-01] [ 9.40785423e-02 2.20872343e-03 9.95562328e-01 1.89196756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297105680999998 meters 0.024339996458618833 Centerline is valid? [True, True] Translation: X:22.68, Y:0.81, Z:1.89 [[ 9.94640812e-01 -2.82376288e-02 -9.94599964e-02 2.26782139e+01] [ 2.78253997e-02 9.99597504e-01 -5.52971202e-03 8.11534927e-01] [ 9.95761100e-02 2.73256311e-03 9.95026196e-01 1.88762670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357105681 meters 0.022858831967446695 Centerline is valid? [True, True] Translation: X:22.74, Y:0.81, Z:1.90 [[ 9.94739162e-01 -2.98458601e-02 -9.79960389e-02 2.27366181e+01] [ 2.94523633e-02 9.99551273e-01 -5.45989690e-03 8.08686868e-01] [ 9.81150207e-02 2.54495833e-03 9.95171827e-01 1.89526322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417105681 meters 0.021776538563351527 Centerline is valid? [True, True] Translation: X:22.79, Y:0.80, Z:1.90 [[ 9.94430952e-01 -3.46016137e-02 -9.95480332e-02 2.27949459e+01] [ 3.42160702e-02 9.99398892e-01 -5.57816316e-03 8.03219158e-01] [ 9.96812075e-02 2.14095561e-03 9.95017122e-01 1.89732862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477105681 meters 0.016907769685701814 Centerline is valid? [True, True] Translation: X:22.86, Y:0.78, Z:1.91 [[ 9.94143244e-01 -5.19324824e-02 -9.47746172e-02 2.28557574e+01] [ 5.16606719e-02 9.98650521e-01 -5.32096815e-03 7.81273759e-01] [ 9.49230519e-02 3.93684139e-04 9.95484535e-01 1.90872178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537105681 meters 0.017758756052799685 Centerline is valid? [True, True] Translation: X:22.91, Y:0.77, Z:1.91 [[ 9.93368582e-01 -6.57612909e-02 -9.43096606e-02 2.29140258e+01] [ 6.55537943e-02 9.97834962e-01 -5.29993880e-03 7.66672096e-01] [ 9.44540074e-02 -9.17563405e-04 9.95528803e-01 1.91472376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597105681 meters 0.02093981561901521 Centerline is valid? [True, True] Translation: X:22.98, Y:0.76, Z:1.92 [[ 9.92170618e-01 -7.85147374e-02 -9.71231228e-02 2.29751045e+01] [ 7.83545107e-02 9.96910560e-01 -5.46860013e-03 7.58004518e-01] [ 9.72524325e-02 -2.18425040e-03 9.95257350e-01 1.91658430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657105681 meters 0.02473870802378255 Centerline is valid? [True, True] Translation: X:23.04, Y:0.75, Z:1.92 [[ 9.91444538e-01 -8.77039066e-02 -9.66734293e-02 2.30358128e+01] [ 8.75886732e-02 9.96141855e-01 -5.44327975e-03 7.53242483e-01] [ 9.67778461e-02 -3.07078742e-03 9.95301270e-01 1.92136052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717105681 meters 0.02400117188552445 Centerline is valid? [True, True] Translation: X:23.09, Y:0.76, Z:1.93 [[ 9.91490390e-01 -8.51446695e-02 -9.84743180e-02 2.30939134e+01] [ 8.50122294e-02 9.96364463e-01 -5.54778497e-03 7.63492829e-01] [ 9.85886753e-02 -2.87094582e-03 9.95124128e-01 1.92646012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777105681 meters 0.019021822726188287 Centerline is valid? [True, True] Translation: X:23.15, Y:0.79, Z:1.94 [[ 9.93196085e-01 -6.94670664e-02 -9.34658375e-02 2.31513504e+01] [ 6.92758126e-02 9.97583502e-01 -5.29320102e-03 7.88164261e-01] [ 9.36076806e-02 -1.21773532e-03 9.95608417e-01 1.94072771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837105681 meters 0.01670028318554314 Centerline is valid? [True, True] Translation: X:23.21, Y:0.81, Z:1.95 [[ 9.94069885e-01 -5.60808573e-02 -9.31665272e-02 2.32092898e+01] [ 5.58318254e-02 9.98426229e-01 -5.27939215e-03 8.09524715e-01] [ 9.33159773e-02 4.64274655e-05 9.95636543e-01 1.94575512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897105681 meters 0.01853477256435378 Centerline is valid? [True, True] Translation: X:23.27, Y:0.83, Z:1.94 [[ 9.94281586e-01 -4.38793520e-02 -9.73587670e-02 2.32675021e+01] [ 4.35473366e-02 9.99036040e-01 -5.53354523e-03 8.32304209e-01] [ 9.75077254e-02 1.26218713e-03 9.95233968e-01 1.94069350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957105680999998 meters 0.01942428992778201 Centerline is valid? [True, True] Translation: X:23.32, Y:0.84, Z:1.95 [[ 9.94596060e-01 -4.01438473e-02 -9.57452340e-02 2.33249258e+01] [ 3.98047064e-02 9.99192614e-01 -5.45020904e-03 8.44126162e-01] [ 9.58867230e-02 1.60964551e-03 9.95390951e-01 1.94685349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017105681 meters 0.018755577089565465 Centerline is valid? [True, True] Translation: X:23.38, Y:0.84, Z:1.95 [[ 9.94577838e-01 -4.25485898e-02 -9.48922596e-02 2.33836131e+01] [ 4.22234013e-02 9.99093422e-01 -5.43307745e-03 8.42800275e-01] [ 9.50374021e-02 1.39694447e-03 9.95472722e-01 1.94998805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077105681 meters 0.016634685361944335 Centerline is valid? [True, True] Translation: X:23.44, Y:0.83, Z:1.96 [[ 9.93962207e-01 -5.84765721e-02 -9.28419161e-02 2.34422517e+01] [ 5.82318375e-02 9.98288777e-01 -5.34521355e-03 8.33321503e-01] [ 9.29956126e-02 -9.34151140e-05 9.95666514e-01 1.96259366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137105680999998 meters 0.01908878146532537 Centerline is valid? [True, True] Translation: X:23.50, Y:0.82, Z:1.96 [[ 9.92747385e-01 -7.37503807e-02 -9.49395071e-02 2.35034797e+01] [ 7.35631840e-02 9.97275530e-01 -5.47497452e-03 8.17368151e-01] [ 9.50846287e-02 -1.54878579e-03 9.95467988e-01 1.96183410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197105681 meters 0.017109429118345645 Centerline is valid? [True, True] Translation: X:23.56, Y:0.83, Z:1.97 [[ 9.93467681e-01 -6.34611519e-02 -9.48401239e-02 2.35613159e+01] [ 6.32270895e-02 9.97984153e-01 -5.47399141e-03 8.31114153e-01] [ 9.49963266e-02 -5.58231447e-04 9.95477467e-01 1.96937111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257105681 meters 0.018220381174741288 Centerline is valid? [True, True] Translation: X:23.62, Y:0.85, Z:1.97 [[ 9.94350108e-01 -4.67955791e-02 -9.52787275e-02 2.36172881e+01] [ 4.64819926e-02 9.98903936e-01 -5.50924348e-03 8.52343833e-01] [ 9.54321041e-02 1.04937175e-03 9.95435388e-01 1.97405817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317105681 meters 0.017785691764135966 Centerline is valid? [True, True] Translation: X:23.68, Y:0.85, Z:1.97 [[ 9.93775966e-01 -4.91853854e-02 -9.99506241e-02 2.36770130e+01] [ 4.88499312e-02 9.98789276e-01 -5.80234445e-03 8.49056781e-01] [ 1.00115002e-01 8.83649353e-04 9.94975480e-01 1.97225127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377105681 meters 0.017447326946837354 Centerline is valid? [True, True] Translation: X:23.74, Y:0.85, Z:1.98 [[ 9.93189521e-01 -5.37936536e-02 -1.03348048e-01 2.37356788e+01] [ 5.34561291e-02 9.98551963e-01 -6.03486110e-03 8.49934678e-01] [ 1.03523034e-01 4.69174180e-04 9.94626946e-01 1.97565884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437105681 meters 0.0171628629173472 Centerline is valid? [True, True] Translation: X:23.79, Y:0.84, Z:1.98 [[ 9.92992773e-01 -6.26851998e-02 -1.00179430e-01 2.37935446e+01] [ 6.24102467e-02 9.98033263e-01 -5.87935600e-03 8.40902418e-01] [ 1.00350952e-01 -4.14064920e-04 9.94952016e-01 1.98344946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497105681 meters 0.019272863157710138 Centerline is valid? [True, True] Translation: X:23.85, Y:0.84, Z:2.00 [[ 9.92723934e-01 -7.29016333e-02 -9.58360235e-02 2.38513336e+01] [ 7.26964517e-02 9.97338191e-01 -5.63541316e-03 8.37988905e-01] [ 9.59917572e-02 -1.37252934e-03 9.95381183e-01 1.99510123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557105681 meters 0.020265451615759378 Centerline is valid? [True, True] Translation: X:23.91, Y:0.84, Z:2.00 [[ 9.92281428e-01 -7.82762726e-02 -9.61789656e-02 2.39098474e+01] [ 7.80930106e-02 9.96929931e-01 -5.67395408e-03 8.41148212e-01] [ 9.63278255e-02 -1.88074572e-03 9.95347885e-01 2.00064107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617105680999998 meters 0.022857277141698634 Centerline is valid? [True, True] Translation: X:23.97, Y:0.85, Z:2.01 [[ 9.92145201e-01 -8.32060479e-02 -9.34058600e-02 2.39673431e+01] [ 8.30522628e-02 9.96529798e-01 -5.53929034e-03 8.45372844e-01] [ 9.35426252e-02 -2.26178771e-03 9.95612707e-01 2.00825122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677105681 meters 0.021869529214539832 Centerline is valid? [True, True] Translation: X:24.02, Y:0.86, Z:2.01 [[ 9.92511239e-01 -8.01332766e-02 -9.21959807e-02 2.40248089e+01] [ 7.99692666e-02 9.96782278e-01 -5.47783296e-03 8.57518376e-01] [ 9.23382764e-02 -1.93603418e-03 9.95725813e-01 2.01485209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737105681 meters 0.01920955166825177 Centerline is valid? [True, True] Translation: X:24.08, Y:0.88, Z:2.02 [[ 9.92952421e-01 -7.31197857e-02 -9.32683563e-02 2.40837329e+01] [ 7.29205008e-02 9.97322328e-01 -5.54750915e-03 8.79025656e-01] [ 9.34242469e-02 -1.29276261e-03 9.95625552e-01 2.02044516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797105680999998 meters 0.017698838982094924 Centerline is valid? [True, True] Translation: X:24.14, Y:0.89, Z:2.02 [[ 9.92854378e-01 -6.73311119e-02 -9.85226133e-02 2.41437445e+01] [ 6.70802361e-02 9.97730373e-01 -5.86047453e-03 8.90711932e-01] [ 9.86935959e-02 -7.90322361e-04 9.95117556e-01 2.01657797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857105681 meters 0.01760703751960993 Centerline is valid? [True, True] Translation: X:24.20, Y:0.91, Z:2.02 [[ 9.92878216e-01 -5.88004402e-02 -1.03611562e-01 2.42011773e+01] [ 5.84758442e-02 9.98269755e-01 -6.17024877e-03 9.11813576e-01] [ 1.03795102e-01 6.75320211e-05 9.94598699e-01 2.01562841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917105681 meters 0.019381883742192397 Centerline is valid? [True, True] Translation: X:24.26, Y:0.93, Z:2.02 [[ 9.93515136e-01 -4.68024601e-02 -1.03620482e-01 2.42585092e+01] [ 4.64108007e-02 9.98903266e-01 -6.18890463e-03 9.31954848e-01] [ 1.03796494e-01 1.33966087e-03 9.94597654e-01 2.01814043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977105681 meters 0.020785465814950898 Centerline is valid? [True, True] Translation: X:24.32, Y:0.94, Z:2.02 [[ 9.93704326e-01 -4.34227510e-02 -1.03277189e-01 2.43156507e+01] [ 4.30142345e-02 9.99055343e-01 -6.18045943e-03 9.42061314e-01] [ 1.03448000e-01 1.69916004e-03 9.94633412e-01 2.02399301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037105681 meters 0.018257337501870887 Centerline is valid? [True, True] Translation: X:24.37, Y:0.93, Z:2.04 [[ 9.93900789e-01 -5.27515449e-02 -9.68426376e-02 2.43739330e+01] [ 5.24356746e-02 9.98607428e-01 -5.80556414e-03 9.34013396e-01] [ 9.70140298e-02 6.92145739e-04 9.95282773e-01 2.03744505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097105681 meters 0.018411170942677257 Centerline is valid? [True, True] Translation: X:24.43, Y:0.92, Z:2.05 [[ 9.93112494e-01 -6.89252536e-02 -9.47464177e-02 2.44320202e+01] [ 6.86955556e-02 9.97621456e-01 -5.68778506e-03 9.18427191e-01] [ 9.49130912e-02 -8.60047401e-04 9.95485191e-01 2.04603288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157105681 meters 0.025987048380596366 Centerline is valid? [True, True] Translation: X:24.49, Y:0.89, Z:2.05 [[ 9.91304642e-01 -9.46868899e-02 -9.13755949e-02 2.44935149e+01] [ 9.45794022e-02 9.95502042e-01 -5.51560577e-03 8.89996571e-01] [ 9.14868469e-02 -3.17460353e-03 9.95801225e-01 2.05461463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217105681 meters 0.030559005757052168 Centerline is valid? [True, True] Translation: X:24.55, Y:0.88, Z:2.06 [[ 9.90235580e-01 -1.02802788e-01 -9.41545730e-02 2.45534529e+01] [ 1.02725045e-01 9.94693543e-01 -5.68506268e-03 8.84208050e-01] [ 9.42393861e-02 -4.04248142e-03 9.95541358e-01 2.06025334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277105681 meters 0.027183974320016856 Centerline is valid? [True, True] Translation: X:24.61, Y:0.89, Z:2.06 [[ 9.90842554e-01 -9.44766961e-02 -9.64633982e-02 2.46138449e+01] [ 9.43555822e-02 9.95521509e-01 -5.82663551e-03 8.91900009e-01] [ 9.65818690e-02 -3.32858168e-03 9.95319478e-01 2.06119420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337105681 meters 0.02101252999098602 Centerline is valid? [True, True] Translation: X:24.67, Y:0.91, Z:2.07 [[ 9.92517350e-01 -7.93268420e-02 -9.28254408e-02 2.46727000e+01] [ 7.91484605e-02 9.96847069e-01 -5.60740340e-03 9.13377069e-01] [ 9.29775861e-02 -1.78154557e-03 9.95666608e-01 2.07240702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397105681 meters 0.018931130085538348 Centerline is valid? [True, True] Translation: X:24.73, Y:0.93, Z:2.07 [[ 9.92980241e-01 -7.07492078e-02 -9.47881383e-02 2.47320320e+01] [ 7.05241771e-02 9.97493635e-01 -5.72613930e-03 9.25151247e-01] [ 9.49556844e-02 -9.98912272e-04 9.95480999e-01 2.07306547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457105680999998 meters 0.02032129184990098 Centerline is valid? [True, True] Translation: X:24.79, Y:0.96, Z:2.08 [[ 9.94244339e-01 -4.59324337e-02 -9.67905291e-02 2.47884585e+01] [ 4.55800395e-02 9.98943561e-01 -5.84987613e-03 9.57000808e-01] [ 9.69569749e-02 1.40449007e-03 9.95287583e-01 2.07596628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517105681 meters 0.025382670792858487 Centerline is valid? [True, True] Translation: X:24.85, Y:0.97, Z:2.08 [[ 9.94803424e-01 -3.03177121e-02 -9.71955954e-02 2.48481847e+01] [ 2.98872221e-02 9.99535969e-01 -5.88229192e-03 9.74372238e-01] [ 9.73288312e-02 2.94681779e-03 9.95247916e-01 2.07983958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577105681 meters 0.027152280987497317 Centerline is valid? [True, True] Translation: X:24.91, Y:0.98, Z:2.08 [[ 9.94762134e-01 -2.78859726e-02 -9.83395577e-02 2.49066332e+01] [ 2.74330469e-02 9.99605904e-01 -5.95514784e-03 9.79484313e-01] [ 9.84668676e-02 3.22620188e-03 9.95135100e-01 2.08072601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637105680999998 meters 0.02461240912619785 Centerline is valid? [True, True] Translation: X:24.97, Y:0.97, Z:2.08 [[ 9.94387393e-01 -3.48645617e-02 -9.98908109e-02 2.49667520e+01] [ 3.44291884e-02 9.99388648e-01 -6.07960072e-03 9.71209409e-01] [ 1.00041705e-01 2.60631876e-03 9.94979831e-01 2.08323418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697105681 meters 0.021600110322248237 Centerline is valid? [True, True] Translation: X:25.03, Y:0.96, Z:2.09 [[ 9.94250366e-01 -4.19440184e-02 -9.85236471e-02 2.50271528e+01] [ 4.15547449e-02 9.99118209e-01 -6.00071439e-03 9.63672520e-01] [ 9.86884639e-02 1.87208745e-03 9.95116617e-01 2.09169215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757105681 meters 0.019967951117313937 Centerline is valid? [True, True] Translation: X:25.09, Y:0.96, Z:2.10 [[ 9.93929382e-01 -4.82598096e-02 -9.88704914e-02 2.50865084e+01] [ 4.78984057e-02 9.98834028e-01 -6.02715005e-03 9.57222865e-01] [ 9.90460804e-02 1.25482262e-03 9.95082057e-01 2.09562846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817105681 meters 0.018795763828467107 Centerline is valid? [True, True] Translation: X:25.15, Y:0.95, Z:2.10 [[ 9.93650854e-01 -5.50005346e-02 -9.81474446e-02 2.51452767e+01] [ 5.46740985e-02 9.98486139e-01 -6.01448902e-03 9.52616885e-01] [ 9.83296630e-02 6.10179101e-04 9.95153709e-01 2.10276542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877105681 meters 0.018517431535742226 Centerline is valid? [True, True] Translation: X:25.20, Y:0.95, Z:2.11 [[ 9.93563388e-01 -5.68750868e-02 -9.79643689e-02 2.52033724e+01] [ 5.65560020e-02 9.98381199e-01 -6.03325854e-03 9.51194044e-01] [ 9.81489262e-02 4.53951760e-04 9.95171635e-01 2.10872444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937105681 meters 0.01860213816750045 Centerline is valid? [True, True] Translation: X:25.26, Y:0.95, Z:2.11 [[ 9.93137359e-01 -5.72282290e-02 -1.01995670e-01 2.52627181e+01] [ 5.68825930e-02 9.98361020e-01 -6.29639302e-03 9.50308848e-01] [ 1.02188833e-01 4.51404918e-04 9.94764916e-01 2.10995539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997105681 meters 0.01864078143422911 Centerline is valid? [True, True] Translation: X:25.32, Y:0.95, Z:2.12 [[ 9.93607801e-01 -5.55749649e-02 -9.82596566e-02 2.53203190e+01] [ 5.52430617e-02 9.98454318e-01 -6.09738133e-03 9.50128081e-01] [ 9.84466402e-02 6.30241383e-04 9.95142131e-01 2.12244569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057105681 meters 0.019277147273850763 Centerline is valid? [True, True] Translation: X:25.38, Y:0.95, Z:2.13 [[ 9.94007403e-01 -5.12658169e-02 -9.65458382e-02 2.53788714e+01] [ 5.09220448e-02 9.98684470e-01 -6.02289801e-03 9.54716647e-01] [ 9.67275980e-02 1.07049372e-03 9.95310316e-01 2.13007654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117105680999998 meters 0.021954835750433853 Centerline is valid? [True, True] Translation: X:25.44, Y:0.96, Z:2.13 [[ 9.94433285e-01 -4.32820554e-02 -9.60682334e-02 2.54374888e+01] [ 4.29016077e-02 9.99061146e-01 -6.02314865e-03 9.63443640e-01] [ 9.62387336e-02 1.86813784e-03 9.95356527e-01 2.13176506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177105681 meters 0.02226151618788816 Centerline is valid? [True, True] Translation: X:25.50, Y:0.96, Z:2.13 [[ 9.94332080e-01 -4.17230075e-02 -9.77901107e-02 2.54960419e+01] [ 4.13203178e-02 9.99127082e-01 -6.14038774e-03 9.64406632e-01] [ 9.79609434e-02 2.06486606e-03 9.95188118e-01 2.13425874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237105681 meters 0.02118291685876118 Centerline is valid? [True, True] Translation: X:25.55, Y:0.96, Z:2.14 [[ 9.94321552e-01 -4.48444965e-02 -9.65071142e-02 2.55547208e+01] [ 4.44639395e-02 9.98992419e-01 -6.09135111e-03 9.58260659e-01] [ 9.66830390e-02 1.76567520e-03 9.95313655e-01 2.14027134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297105680999998 meters 0.01962773225263477 Centerline is valid? [True, True] Translation: X:25.61, Y:0.95, Z:2.15 [[ 9.94100124e-01 -4.96499172e-02 -9.64356198e-02 2.56137128e+01] [ 4.92893797e-02 9.98765798e-01 -6.11870100e-03 9.50286698e-01] [ 9.66203918e-02 1.32934954e-03 9.95320417e-01 2.14668085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357105681 meters 0.01971234620137951 Centerline is valid? [True, True] Translation: X:25.67, Y:0.95, Z:2.15 [[ 9.93656565e-01 -5.08106138e-02 -1.00324038e-01 2.56730140e+01] [ 5.04226867e-02 9.98707459e-01 -6.40031428e-03 9.46377165e-01] [ 1.00519569e-01 1.30110679e-03 9.94934231e-01 2.14699438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417105681 meters 0.019664331895841883 Centerline is valid? [True, True] Translation: X:25.73, Y:0.94, Z:2.15 [[ 9.93628956e-01 -5.10054264e-02 -1.00498478e-01 2.57312142e+01] [ 5.06137166e-02 9.98697507e-01 -6.44524999e-03 9.41631593e-01] [ 1.00696322e-01 1.31758556e-03 9.94916336e-01 2.15076296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477105680999998 meters 0.018049620157111593 Centerline is valid? [True, True] Translation: X:25.79, Y:0.93, Z:2.16 [[ 9.93127573e-01 -5.97867714e-02 -1.00613948e-01 2.57906598e+01] [ 5.94352678e-02 9.98211062e-01 -6.49028684e-03 9.31081067e-01] [ 1.00821989e-01 4.65665883e-04 9.94904372e-01 2.15544548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537105681 meters 0.019331263537782563 Centerline is valid? [True, True] Translation: X:25.85, Y:0.92, Z:2.16 [[ 9.91931112e-01 -7.74066694e-02 -1.00403567e-01 2.58499311e+01] [ 7.71432455e-02 9.96998770e-01 -6.50941851e-03 9.16153287e-01] [ 1.00606105e-01 -1.28856228e-03 9.94925500e-01 2.16120976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597105681 meters 0.024921641530150602 Centerline is valid? [True, True] Translation: X:25.91, Y:0.90, Z:2.17 [[ 9.90434328e-01 -9.47455779e-02 -1.00315089e-01 2.59112846e+01] [ 9.45682670e-02 9.95496948e-01 -6.53217358e-03 9.03291274e-01] [ 1.00482260e-01 -3.01693520e-03 9.94934276e-01 2.16598170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657105681 meters 0.03196361440203228 Centerline is valid? [True, True] Translation: X:25.97, Y:0.90, Z:2.17 [[ 9.88655310e-01 -1.11505563e-01 -1.00633928e-01 2.59721199e+01] [ 1.11413426e-01 9.93752538e-01 -6.55306500e-03 8.98116486e-01] [ 1.00735925e-01 -4.73324820e-03 9.94901940e-01 2.17284333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717105681 meters 0.03261722883311629 Centerline is valid? [True, True] Translation: X:26.03, Y:0.91, Z:2.19 [[ 9.89256555e-01 -1.12831628e-01 -9.29542445e-02 2.60296257e+01] [ 1.12758639e-01 9.93603966e-01 -6.05383831e-03 9.08907859e-01] [ 9.30427704e-02 -4.49259487e-03 9.95651977e-01 2.18676564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777105681 meters 0.026495388206961627 Centerline is valid? [True, True] Translation: X:26.09, Y:0.94, Z:2.20 [[ 9.91552849e-01 -1.00083498e-01 -8.24999429e-02 2.60869440e+01] [ 9.99797018e-02 9.94974830e-01 -5.39882997e-03 9.39025596e-01] [ 8.26257005e-02 -2.89509445e-03 9.96576446e-01 2.20330604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837105681 meters 0.02281761752240646 Centerline is valid? [True, True] Translation: X:26.15, Y:0.96, Z:2.20 [[ 9.92083691e-01 -9.00036304e-02 -8.75745214e-02 2.61455168e+01] [ 8.98473825e-02 9.95939048e-01 -5.73234256e-03 9.61058387e-01] [ 8.77348172e-02 -2.18137796e-03 9.96141478e-01 2.19914411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897105681 meters 0.01868141162551123 Centerline is valid? [True, True] Translation: X:26.20, Y:0.99, Z:2.20 [[ 9.92742632e-01 -7.77070480e-02 -9.17806144e-02 2.62044623e+01] [ 7.74827098e-02 9.96975579e-01 -6.01041871e-03 9.86640747e-01] [ 9.19700831e-02 -1.14461183e-03 9.95761113e-01 2.19724228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957105680999998 meters 0.016894570367442123 Centerline is valid? [True, True] Translation: X:26.26, Y:1.01, Z:2.20 [[ 9.93260870e-01 -6.62920383e-02 -9.50694995e-02 2.62608457e+01] [ 6.59988396e-02 9.97800260e-01 -6.22858209e-03 1.00848469e+00] [ 9.52732767e-02 -8.78697870e-05 9.95451152e-01 2.19834197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017105681 meters 0.0191620043372738 Centerline is valid? [True, True] Translation: X:26.32, Y:1.03, Z:2.20 [[ 9.94148009e-01 -5.22557872e-02 -9.45466498e-02 2.63175861e+01] [ 5.19014305e-02 9.98632936e-01 -6.20483577e-03 1.03082646e+00] [ 9.47416371e-02 1.26141875e-03 9.95501095e-01 2.20089894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077105681 meters 0.020668622099212445 Centerline is valid? [True, True] Translation: X:26.38, Y:1.04, Z:2.21 [[ 9.94459365e-01 -4.70778919e-02 -9.39906542e-02 2.63752418e+01] [ 4.67036549e-02 9.98889680e-01 -6.17862952e-03 1.03880216e+00] [ 9.41771714e-02 1.75468891e-03 9.95553907e-01 2.20509100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137105680999998 meters 0.02016923578871581 Centerline is valid? [True, True] Translation: X:26.43, Y:1.04, Z:2.21 [[ 9.94181773e-01 -4.93516344e-02 -9.57445427e-02 2.64341065e+01] [ 4.89725791e-02 9.98780215e-01 -6.30626499e-03 1.03773134e+00] [ 9.59389794e-02 1.58071652e-03 9.95385962e-01 2.20696905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197105681 meters 0.01662724968766149 Centerline is valid? [True, True] Translation: X:26.49, Y:1.02, Z:2.22 [[ 9.93601148e-01 -6.20632130e-02 -9.43658632e-02 2.64945021e+01] [ 6.17494170e-02 9.98072149e-01 -6.24455386e-03 1.01714331e+00] [ 9.45714969e-02 3.77558841e-04 9.95518001e-01 2.21500817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257105681 meters 0.017396024168073287 Centerline is valid? [True, True] Translation: X:26.55, Y:1.00, Z:2.22 [[ 9.92529384e-01 -7.50298057e-02 -9.62078473e-02 2.65530877e+01] [ 7.47614806e-02 9.97180934e-01 -6.39579188e-03 1.00177541e+00] [ 9.64165061e-02 -8.44629743e-04 9.95340718e-01 2.21917142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317105681 meters 0.01966255003831091 Centerline is valid? [True, True] Translation: X:26.61, Y:0.99, Z:2.22 [[ 9.91541815e-01 -8.48485991e-02 -9.82117277e-02 2.66134870e+01] [ 8.46158645e-02 9.96392183e-01 -6.54008381e-03 9.90521728e-01] [ 9.84123147e-02 -1.82550367e-03 9.95144052e-01 2.22269734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377105681 meters 0.02171462256011465 Centerline is valid? [True, True] Translation: X:26.67, Y:0.98, Z:2.23 [[ 9.91362873e-01 -9.03300136e-02 -9.50796693e-02 2.66717775e+01] [ 9.01365648e-02 9.95909258e-01 -6.33629730e-03 9.84551921e-01] [ 9.52630808e-02 -2.28858488e-03 9.95449500e-01 2.23233462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437105681 meters 0.02010580074796952 Centerline is valid? [True, True] Translation: X:26.73, Y:1.00, Z:2.24 [[ 9.91652738e-01 -8.46386630e-02 -9.72684125e-02 2.67290622e+01] [ 8.44077824e-02 9.96410137e-01 -6.49350866e-03 9.97725812e-01] [ 9.74688341e-02 -1.77090536e-03 9.95237002e-01 2.23718302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497105681 meters 0.01894521877293576 Centerline is valid? [True, True] Translation: X:26.79, Y:1.01, Z:2.24 [[ 9.91528522e-01 -8.21071600e-02 -1.00645938e-01 2.67863853e+01] [ 8.18456537e-02 9.96622282e-01 -6.73176807e-03 1.00722166e+00] [ 1.00858711e-01 -1.56269255e-03 9.94899532e-01 2.23623434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557105681 meters 0.021416638894233155 Centerline is valid? [True, True] Translation: X:26.84, Y:1.01, Z:2.25 [[ 9.91385963e-01 -8.78137880e-02 -9.71730998e-02 2.68433432e+01] [ 8.75941356e-02 9.96134828e-01 -6.53242616e-03 1.01183339e+00] [ 9.73711461e-02 -2.03563808e-03 9.95246058e-01 2.24790499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617105680999998 meters 0.021916322051172436 Centerline is valid? [True, True] Translation: X:26.90, Y:1.02, Z:2.26 [[ 9.91372065e-01 -9.15060973e-02 -9.38512851e-02 2.69005792e+01] [ 9.13166213e-02 9.95801850e-01 -6.32056930e-03 1.01859690e+00] [ 9.40356540e-02 -2.30414643e-03 9.95566164e-01 2.25948412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677105681 meters 0.022668739487395725 Centerline is valid? [True, True] Translation: X:26.96, Y:1.03, Z:2.27 [[ 9.91536281e-01 -9.29265473e-02 -9.06667521e-02 2.69586450e+01] [ 9.27529714e-02 9.95670249e-01 -6.13523935e-03 1.02917249e+00] [ 9.08443143e-02 -2.32629825e-03 9.95862390e-01 2.26591417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737105681 meters 0.02305422335576766 Centerline is valid? [True, True] Translation: X:27.02, Y:1.04, Z:2.27 [[ 9.91307364e-01 -9.47554293e-02 -9.12749596e-02 2.70172598e+01] [ 9.45845615e-02 9.95497489e-01 -6.20564052e-03 1.03796490e+00] [ 9.14520112e-02 -2.48150488e-03 9.95806393e-01 2.26877644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797105680999998 meters 0.02617355552466133 Centerline is valid? [True, True] Translation: X:27.08, Y:1.05, Z:2.27 [[ 9.90570639e-01 -1.01389402e-01 -9.21411820e-02 2.70764129e+01] [ 1.01243280e-01 9.94841934e-01 -6.27090130e-03 1.04605217e+00] [ 9.23017147e-02 -3.11690478e-03 9.95726207e-01 2.27495967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857105681 meters 0.024908140859205723 Centerline is valid? [True, True] Translation: X:27.13, Y:1.06, Z:2.28 [[ 9.90951442e-01 -9.62530295e-02 -9.35446105e-02 2.71348791e+01] [ 9.60794284e-02 9.95353298e-01 -6.36832245e-03 1.05977341e+00] [ 9.37229069e-02 -2.67701440e-03 9.95594722e-01 2.27709639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917105681 meters 0.018289921982734145 Centerline is valid? [True, True] Translation: X:27.19, Y:1.10, Z:2.28 [[ 9.92687922e-01 -7.71666246e-02 -9.28224226e-02 2.71924514e+01] [ 7.69126464e-02 9.97017831e-01 -6.31577626e-03 1.09551399e+00] [ 9.30329777e-02 -8.69623359e-04 9.95662648e-01 2.28273031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977105680999998 meters 0.01829336978501643 Centerline is valid? [True, True] Translation: X:27.25, Y:1.12, Z:2.28 [[ 9.92921528e-01 -6.17781687e-02 -1.01441099e-01 2.72503741e+01] [ 6.13945065e-02 9.98089708e-01 -6.90279558e-03 1.12166057e+00] [ 1.01673759e-01 6.26008151e-04 9.94817599e-01 2.27565855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037105681 meters 0.019772149674148778 Centerline is valid? [True, True] Translation: X:27.31, Y:1.13, Z:2.28 [[ 9.93281456e-01 -5.49299265e-02 -1.01856033e-01 2.73084747e+01] [ 5.45064031e-02 9.98489312e-01 -6.93866773e-03 1.13085830e+00] [ 1.02083301e-01 1.34024398e-03 9.94774951e-01 2.27595073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097105681 meters 0.019377727004880337 Centerline is valid? [True, True] Translation: X:27.37, Y:1.13, Z:2.29 [[ 9.93332363e-01 -5.65123121e-02 -1.00484701e-01 2.73668917e+01] [ 5.61068341e-02 9.98401210e-01 -6.85902161e-03 1.13440318e+00] [ 1.00711666e-01 1.17540970e-03 9.94914961e-01 2.28571613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157105681 meters 0.017841205121094272 Centerline is valid? [True, True] Translation: X:27.43, Y:1.12, Z:2.29 [[ 9.92761850e-01 -6.93081199e-02 -9.80830931e-02 2.74263068e+01] [ 6.89810081e-02 9.97595297e-01 -6.72635039e-03 1.11501813e+00] [ 9.83134231e-02 -8.82065824e-05 9.95155497e-01 2.29278358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217105681 meters 0.01795553889644146 Centerline is valid? [True, True] Translation: X:27.48, Y:1.11, Z:2.31 [[ 9.93275939e-01 -7.12934009e-02 -9.12149127e-02 2.74831145e+01] [ 7.10164297e-02 9.97455360e-01 -6.28267801e-03 1.11356513e+00] [ 9.14307170e-02 -2.37324538e-04 9.95811412e-01 2.30888960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277105681 meters 0.017829143442155308 Centerline is valid? [True, True] Translation: X:27.54, Y:1.11, Z:2.31 [[ 9.93325675e-01 -7.12775788e-02 -9.06841245e-02 2.75419336e+01] [ 7.10027927e-02 9.97456494e-01 -6.25673786e-03 1.11020771e+00] [ 9.08994339e-02 -2.23847738e-04 9.95860052e-01 2.31260456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337105681 meters 0.018806437550608356 Centerline is valid? [True, True] Translation: X:27.60, Y:1.10, Z:2.32 [[ 9.92635832e-01 -7.82637645e-02 -9.24601970e-02 2.76009008e+01] [ 7.80056011e-02 9.96932324e-01 -6.40840009e-03 1.10317260e+00] [ 9.26781046e-02 -8.51205689e-04 9.95695759e-01 2.31609287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397105681 meters 0.019202096684057094 Centerline is valid? [True, True] Translation: X:27.66, Y:1.10, Z:2.33 [[ 9.92651154e-01 -8.20663791e-02 -8.89314080e-02 2.76598605e+01] [ 8.18404729e-02 9.96626221e-01 -6.18977413e-03 1.09840609e+00] [ 8.91393454e-02 -1.13390206e-03 9.96018520e-01 2.32739369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457105680999998 meters 0.01946007326835546 Centerline is valid? [True, True] Translation: X:27.72, Y:1.10, Z:2.34 [[ 9.92710508e-01 -8.24358228e-02 -8.79214524e-02 2.77191557e+01] [ 8.22161020e-02 9.96595712e-01 -6.12363755e-03 1.09512751e+00] [ 8.81269496e-02 -1.14955975e-03 9.96108588e-01 2.33528659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517105681 meters 0.017770298509258462 Centerline is valid? [True, True] Translation: X:27.78, Y:1.11, Z:2.33 [[ 9.93091981e-01 -7.03566849e-02 -9.39055556e-02 2.77781925e+01] [ 7.00516246e-02 9.97521895e-01 -6.54516087e-03 1.10785234e+00] [ 9.41333436e-02 -7.82899528e-05 9.95559595e-01 2.33428171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577105681 meters 0.02048414960486167 Centerline is valid? [True, True] Translation: X:27.84, Y:1.12, Z:2.33 [[ 9.93684391e-01 -5.56403905e-02 -9.74447470e-02 2.78367901e+01] [ 5.52407129e-02 9.98449932e-01 -6.79677454e-03 1.11950271e+00] [ 9.76718762e-02 1.37093147e-03 9.95217728e-01 2.32793834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637105680999998 meters 0.018675550279931143 Centerline is valid? [True, True] Translation: X:27.90, Y:1.11, Z:2.33 [[ 9.93166694e-01 -6.14036593e-02 -9.92446898e-02 2.78958922e+01] [ 6.10167444e-02 9.98112671e-01 -6.93207947e-03 1.11392968e+00] [ 9.94830374e-02 8.29122584e-04 9.95038913e-01 2.33351230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697105681 meters 0.01784025043196627 Centerline is valid? [True, True] Translation: X:27.95, Y:1.11, Z:2.34 [[ 9.92464221e-01 -7.05733002e-02 -1.00170749e-01 2.79549428e+01] [ 7.02222708e-02 9.97506594e-01 -7.03040637e-03 1.10697802e+00] [ 1.00417142e-01 -5.67907028e-05 9.94945423e-01 2.33967969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757105681 meters 0.018115263576912198 Centerline is valid? [True, True] Translation: X:28.01, Y:1.10, Z:2.35 [[ 9.92458905e-01 -7.80161337e-02 -9.45452547e-02 2.80142480e+01] [ 7.77344135e-02 9.96951826e-01 -6.66470307e-03 1.09718862e+00] [ 9.47770187e-02 -7.34976018e-04 9.95498255e-01 2.35098249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817105680999997 meters 0.01961513284404909 Centerline is valid? [True, True] Translation: X:28.07, Y:1.09, Z:2.36 [[ 9.92122348e-01 -8.59241082e-02 -9.11608175e-02 2.80723459e+01] [ 8.56931156e-02 9.96300687e-01 -6.45225596e-03 1.09358319e+00] [ 9.13779894e-02 -1.41042715e-03 9.95815281e-01 2.36128653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877105681 meters 0.024589205219904882 Centerline is valid? [True, True] Translation: X:28.13, Y:1.09, Z:2.37 [[ 9.91610538e-01 -9.52453117e-02 -8.73891971e-02 2.81306291e+01] [ 9.50682494e-02 9.95451478e-01 -6.19536971e-03 1.08587736e+00] [ 8.75817854e-02 -2.16454410e-03 9.96154981e-01 2.37116862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937105681 meters 0.022228676517624987 Centerline is valid? [True, True] Translation: X:28.19, Y:1.10, Z:2.37 [[ 9.91533701e-01 -9.24798357e-02 -9.11504208e-02 2.81894108e+01] [ 9.22746938e-02 9.95712560e-01 -6.47134008e-03 1.09673966e+00] [ 9.13580873e-02 -1.99432538e-03 9.95816109e-01 2.37271009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997105681 meters 0.018303921999953596 Centerline is valid? [True, True] Translation: X:28.25, Y:1.12, Z:2.38 [[ 9.92348389e-01 -8.00208727e-02 -9.40283762e-02 2.82481084e+01] [ 7.97441460e-02 9.96792829e-01 -6.70284118e-03 1.11538094e+00] [ 9.42631783e-02 -8.46658921e-04 9.95546953e-01 2.37593497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057105681 meters 0.01798933762248902 Centerline is valid? [True, True] Translation: X:28.30, Y:1.13, Z:2.38 [[ 9.92961941e-01 -6.64113274e-02 -9.80618182e-02 2.83040020e+01] [ 6.60432717e-02 9.97792219e-01 -6.99814176e-03 1.13157534e+00] [ 9.83100750e-02 4.72565122e-04 9.95155719e-01 2.37515136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117105680999998 meters 0.02120746729460837 Centerline is valid? [True, True] Translation: X:28.36, Y:1.15, Z:2.38 [[ 9.93692968e-01 -5.27033078e-02 -9.89780145e-02 2.83624855e+01] [ 5.22588868e-02 9.98608479e-01 -7.07916548e-03 1.14593788e+00] [ 9.92133800e-02 1.86203609e-03 9.95064439e-01 2.37791737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177105681 meters 0.020864278719029582 Centerline is valid? [True, True] Translation: X:28.42, Y:1.14, Z:2.38 [[ 9.93785019e-01 -5.31911314e-02 -9.77856829e-02 2.84201068e+01] [ 5.27585652e-02 9.98582722e-01 -7.00586246e-03 1.14490005e+00] [ 9.80197431e-02 1.80328882e-03 9.95182837e-01 2.38351369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237105681 meters 0.017905621889494693 Centerline is valid? [True, True] Translation: X:28.48, Y:1.14, Z:2.39 [[ 9.92929384e-01 -6.55724247e-02 -9.89519813e-02 2.84794910e+01] [ 6.51872134e-02 9.97847618e-01 -7.12454683e-03 1.13615154e+00] [ 9.92061726e-02 6.23767967e-04 9.95066704e-01 2.38812158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297105680999998 meters 0.01805023906273813 Centerline is valid? [True, True] Translation: X:28.54, Y:1.12, Z:2.39 [[ 9.91587508e-01 -8.13799751e-02 -1.00655423e-01 2.85391655e+01] [ 8.10612336e-02 9.96682686e-01 -7.25947608e-03 1.12220365e+00] [ 1.00912294e-01 -9.60846997e-04 9.94894862e-01 2.39248985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357105681 meters 0.02140443532984174 Centerline is valid? [True, True] Translation: X:28.60, Y:1.11, Z:2.40 [[ 9.90406949e-01 -9.36824207e-02 -1.01575980e-01 2.85986688e+01] [ 9.34190814e-02 9.95599694e-01 -7.35687718e-03 1.11460465e+00] [ 1.01818225e-01 -2.20283245e-03 9.94800581e-01 2.39654802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417105681 meters 0.026433445091893007 Centerline is valid? [True, True] Translation: X:28.66, Y:1.11, Z:2.41 [[ 9.89532258e-01 -1.05136665e-01 -9.88544019e-02 2.86582969e+01] [ 1.04943245e-01 9.94452373e-01 -7.16891969e-03 1.11305318e+00] [ 9.90597109e-02 -3.28022447e-03 9.95076084e-01 2.40828516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477105680999998 meters 0.03244189094966801 Centerline is valid? [True, True] Translation: X:28.72, Y:1.11, Z:2.42 [[ 9.89029753e-01 -1.13445534e-01 -9.46058034e-02 2.87169548e+01] [ 1.13305983e-01 9.93536438e-01 -6.86303913e-03 1.10751839e+00] [ 9.47728940e-02 -3.93165367e-03 9.95491155e-01 2.41712861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537105681 meters 0.034280514548256986 Centerline is valid? [True, True] Translation: X:28.78, Y:1.11, Z:2.42 [[ 9.88385435e-01 -1.18957293e-01 -9.45695217e-02 2.87765059e+01] [ 1.18842562e-01 9.92889381e-01 -6.86453519e-03 1.11386189e+00] [ 9.47136604e-02 -4.45407768e-03 9.95494593e-01 2.42318161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597105681 meters 0.036540111800700346 Centerline is valid? [True, True] Translation: X:28.84, Y:1.12, Z:2.42 [[ 9.87184345e-01 -1.25041418e-01 -9.91549922e-02 2.88363634e+01] [ 1.24945671e-01 9.92137464e-01 -7.19947973e-03 1.12436746e+00] [ 9.92756157e-02 -5.28177337e-03 9.95045956e-01 2.42385412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657105681 meters 0.034897052479243164 Centerline is valid? [True, True] Translation: X:28.89, Y:1.14, Z:2.42 [[ 9.87114702e-01 -1.22215045e-01 -1.03286239e-01 2.88946158e+01] [ 1.22095690e-01 9.92489988e-01 -7.50107002e-03 1.13977522e+00] [ 1.03427302e-01 -5.20638815e-03 9.94623389e-01 2.42242988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717105681 meters 0.0324814266812999 Centerline is valid? [True, True] Translation: X:28.95, Y:1.17, Z:2.43 [[ 9.88374220e-01 -1.12113076e-01 -1.02698881e-01 2.89515245e+01] [ 1.11939847e-01 9.93686931e-01 -7.46687570e-03 1.16541150e+00] [ 1.02887670e-01 -4.11602956e-03 9.94684465e-01 2.43097507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777105681 meters 0.023884787305832763 Centerline is valid? [True, True] Translation: X:29.01, Y:1.20, Z:2.44 [[ 9.89576231e-01 -1.01448807e-01 -1.02210678e-01 2.90097824e+01] [ 1.01220157e-01 9.94836272e-01 -7.43455899e-03 1.19599914e+00] [ 1.02437117e-01 -2.98871806e-03 9.94734992e-01 2.43807959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837105681 meters 0.019133250562327977 Centerline is valid? [True, True] Translation: X:29.07, Y:1.22, Z:2.44 [[ 9.90954099e-01 -8.75509957e-02 -1.01709379e-01 2.90686750e+01] [ 8.72514639e-02 9.96158844e-01 -7.39856021e-03 1.22229372e+00] [ 1.01966449e-01 -1.54265863e-03 9.94786642e-01 2.44156921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897105681 meters 0.017280553332605274 Centerline is valid? [True, True] Translation: X:29.13, Y:1.25, Z:2.45 [[ 9.92222078e-01 -7.65495241e-02 -9.81606788e-02 2.91266167e+01] [ 7.62167506e-02 9.97065702e-01 -7.14096878e-03 1.24522869e+00] [ 9.84192838e-02 -3.96061090e-04 9.95144958e-01 2.45238893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957105680999998 meters 0.017141423499002634 Centerline is valid? [True, True] Translation: X:29.18, Y:1.26, Z:2.46 [[ 9.93030460e-01 -7.02116572e-02 -9.46616518e-02 2.91847116e+01] [ 6.98734612e-02 9.97532091e-01 -6.88669485e-03 1.25658564e+00] [ 9.49115617e-02 2.24360503e-04 9.95485683e-01 2.46238754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017105681 meters 0.018302988396629118 Centerline is valid? [True, True] Translation: X:29.24, Y:1.26, Z:2.47 [[ 9.93626762e-01 -6.06568774e-02 -9.50084310e-02 2.92441928e+01] [ 6.02721761e-02 9.98158019e-01 -6.91624323e-03 1.26408455e+00] [ 9.52529450e-02 1.14579947e-03 9.95452442e-01 2.46638264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077105681 meters 0.020830615452089373 Centerline is valid? [True, True] Translation: X:29.30, Y:1.27, Z:2.47 [[ 9.93852875e-01 -5.20969093e-02 -9.76850773e-02 2.93030096e+01] [ 5.16486222e-02 9.98639981e-01 -7.11393065e-03 1.27159103e+00] [ 9.79228375e-02 2.02490078e-03 9.95191950e-01 2.47093244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137105680999998 meters 0.02161771796436757 Centerline is valid? [True, True] Translation: X:29.36, Y:1.26, Z:2.46 [[ 9.93113236e-01 -5.21221389e-02 -1.04925610e-01 2.93633436e+01] [ 5.16035036e-02 9.98638324e-01 -7.65345089e-03 1.26297125e+00] [ 1.05181650e-01 2.18621428e-03 9.94450623e-01 2.46355799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197105681 meters 0.01814595599691507 Centerline is valid? [True, True] Translation: X:29.42, Y:1.24, Z:2.47 [[ 9.92730652e-01 -6.34691899e-02 -1.02261986e-01 2.94231899e+01] [ 6.30335771e-02 9.97983309e-01 -7.48888232e-03 1.24083532e+00] [ 1.02531068e-01 9.88504256e-04 9.94729311e-01 2.47252278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257105681 meters 0.016942828136514706 Centerline is valid? [True, True] Translation: X:29.48, Y:1.22, Z:2.48 [[ 9.91925878e-01 -7.50479675e-02 -1.02229425e-01 2.94826676e+01] [ 7.46728292e-02 9.97179905e-01 -7.49699433e-03 1.22464994e+00] [ 1.02503762e-01 -1.97297676e-04 9.94732597e-01 2.47894425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317105680999997 meters 0.01863366405671826 Centerline is valid? [True, True] Translation: X:29.54, Y:1.21, Z:2.48 [[ 9.91208421e-01 -8.56790162e-02 -1.00821485e-01 2.95420350e+01] [ 8.53659888e-02 9.96322009e-01 -7.42304715e-03 1.20733953e+00] [ 1.01086664e-01 -1.24893894e-03 9.94876840e-01 2.48327551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377105681 meters 0.02283595430116011 Centerline is valid? [True, True] Translation: X:29.60, Y:1.20, Z:2.49 [[ 9.90356758e-01 -9.59009612e-02 -9.99824862e-02 2.96019856e+01] [ 9.56439616e-02 9.95388311e-01 -7.37181079e-03 1.19518991e+00] [ 1.00228362e-01 -2.26199843e-03 9.94961888e-01 2.49063484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437105681 meters 0.020350913144228197 Centerline is valid? [True, True] Translation: X:29.66, Y:1.20, Z:2.50 [[ 9.90528841e-01 -9.26159257e-02 -1.01365204e-01 2.96608838e+01] [ 9.23337874e-02 9.95700002e-01 -7.48183764e-03 1.20015005e+00] [ 1.01622271e-01 -1.94845719e-03 9.94821149e-01 2.49601609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497105681 meters 0.017905281312503598 Centerline is valid? [True, True] Translation: X:29.72, Y:1.21, Z:2.50 [[ 9.91572129e-01 -8.11936896e-02 -1.00956909e-01 2.97192558e+01] [ 8.08530891e-02 9.96698054e-01 -7.46776672e-03 1.21271073e+00] [ 1.01229890e-01 -7.57848628e-04 9.94862772e-01 2.50071350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557105681 meters 0.01741921865789589 Centerline is valid? [True, True] Translation: X:29.78, Y:1.23, Z:2.51 [[ 9.92377474e-01 -6.90672536e-02 -1.02062061e-01 2.97757838e+01] [ 6.86541814e-02 9.97611884e-01 -7.55863536e-03 1.22817584e+00] [ 1.02340379e-01 4.94032233e-04 9.94749317e-01 2.50575245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617105680999998 meters 0.019883728366317844 Centerline is valid? [True, True] Translation: X:29.83, Y:1.24, Z:2.51 [[ 9.92959615e-01 -6.20256265e-02 -1.00915929e-01 2.98328078e+01] [ 6.15820166e-02 9.98073786e-01 -7.50819345e-03 1.24001103e+00] [ 1.01187244e-01 1.24072644e-03 9.94866625e-01 2.50860244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677105681 meters 0.020367837215202324 Centerline is valid? [True, True] Translation: X:29.89, Y:1.25, Z:2.51 [[ 9.93099921e-01 -5.71038313e-02 -1.02428998e-01 2.98914799e+01] [ 5.66191171e-02 9.98366652e-01 -7.63572968e-03 1.24582896e+00] [ 1.02697725e-01 1.78360313e-03 9.94711011e-01 2.51247722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737105681 meters 0.021437621867981694 Centerline is valid? [True, True] Translation: X:29.95, Y:1.25, Z:2.52 [[ 9.93600977e-01 -5.39391869e-02 -9.92353882e-02 2.99495625e+01] [ 5.34653640e-02 9.98542063e-01 -7.42989997e-03 1.25334746e+00] [ 9.94914720e-02 2.07669972e-03 9.95036248e-01 2.52193771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797105680999998 meters 0.017298411894497125 Centerline is valid? [True, True] Translation: X:30.01, Y:1.24, Z:2.53 [[ 9.93179637e-01 -6.77237355e-02 -9.49089245e-02 3.00103005e+01] [ 6.73504440e-02 9.97703871e-01 -7.13466678e-03 1.24016015e+00] [ 9.51741877e-02 6.93847561e-04 9.95460392e-01 2.53233404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857105681 meters 0.017342211322913147 Centerline is valid? [True, True] Translation: X:30.07, Y:1.22, Z:2.53 [[ 9.91632941e-01 -8.42009031e-02 -9.78484487e-02 3.00707335e+01] [ 8.38831577e-02 9.96448387e-01 -7.36395639e-03 1.22453165e+00] [ 9.81209806e-02 -9.05495129e-04 9.95174082e-01 2.53242886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917105681 meters 0.021123358505622386 Centerline is valid? [True, True] Translation: X:30.13, Y:1.21, Z:2.54 [[ 9.90598601e-01 -9.63372555e-02 -9.71264349e-02 3.01293441e+01] [ 9.60793705e-02 9.95346615e-01 -7.33962024e-03 1.21275065e+00] [ 9.73815471e-02 -2.06122918e-03 9.95244988e-01 2.53950070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977105680999998 meters 0.01887874556691682 Centerline is valid? [True, True] Translation: X:30.19, Y:1.22, Z:2.55 [[ 9.91473304e-01 -9.08163592e-02 -9.34509299e-02 3.01870211e+01] [ 9.05523731e-02 9.95866597e-01 -7.07021436e-03 1.21877612e+00] [ 9.37067507e-02 -1.45227468e-03 9.95598783e-01 2.55230126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037105681 meters 0.016726118016797267 Centerline is valid? [True, True] Translation: X:30.24, Y:1.23, Z:2.56 [[ 9.92363053e-01 -8.02701749e-02 -9.36604018e-02 3.02446409e+01] [ 7.99572824e-02 9.96773042e-01 -7.09471156e-03 1.23253656e+00] [ 9.39276574e-02 -4.48301585e-04 9.95578924e-01 2.55622381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097105681 meters 0.018192140734403485 Centerline is valid? [True, True] Translation: X:30.30, Y:1.25, Z:2.55 [[ 9.92892798e-01 -6.49991917e-02 -9.96945165e-02 3.03025726e+01] [ 6.45665025e-02 9.97884739e-01 -7.56396760e-03 1.25370631e+00] [ 9.99752884e-02 1.07328270e-03 9.94989342e-01 2.55283513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157105681 meters 0.020057625547891134 Centerline is valid? [True, True] Translation: X:30.36, Y:1.27, Z:2.55 [[ 9.92806798e-01 -6.04863986e-02 -1.03325012e-01 3.03600712e+01] [ 5.99936682e-02 9.98167711e-01 -7.87271511e-03 1.26638219e+00] [ 1.03611883e-01 1.61723858e-03 9.94616490e-01 2.55191230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217105681 meters 0.021640327626188997 Centerline is valid? [True, True] Translation: X:30.42, Y:1.28, Z:2.55 [[ 9.92919014e-01 -5.87811365e-02 -1.03230855e-01 3.04176995e+01] [ 5.82782668e-02 9.98269251e-01 -7.88331999e-03 1.27558129e+00] [ 1.03515579e-01 1.81138300e-03 9.94626183e-01 2.55486630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277105681 meters 0.01810168490071525 Centerline is valid? [True, True] Translation: X:30.48, Y:1.27, Z:2.56 [[ 9.92512879e-01 -6.75810309e-02 -1.01739811e-01 3.04768067e+01] [ 6.71375567e-02 9.97713390e-01 -7.78072686e-03 1.26883118e+00] [ 1.02033001e-01 8.91909282e-04 9.94780615e-01 2.56175542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337105681 meters 0.01701804925279422 Centerline is valid? [True, True] Translation: X:30.54, Y:1.25, Z:2.58 [[ 9.91858892e-01 -8.38418056e-02 -9.58461764e-02 3.05355806e+01] [ 8.35230455e-02 9.96478814e-01 -7.33996537e-03 1.25469908e+00] [ 9.61240801e-02 -7.25154634e-04 9.95369095e-01 2.57660489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397105681 meters 0.021215275341198638 Centerline is valid? [True, True] Translation: X:30.60, Y:1.24, Z:2.58 [[ 9.90441675e-01 -9.97016200e-02 -9.53146171e-02 3.05964121e+01] [ 9.94566797e-02 9.95014902e-01 -7.32896347e-03 1.24194098e+00] [ 9.55701739e-02 -2.22076449e-03 9.95420218e-01 2.58151993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457105680999998 meters 0.024070782260457682 Centerline is valid? [True, True] Translation: X:30.66, Y:1.24, Z:2.59 [[ 9.89643258e-01 -1.06720876e-01 -9.60045673e-02 3.06556181e+01] [ 1.06504971e-01 9.94284743e-01 -7.38520123e-03 1.24207703e+00] [ 9.62440317e-02 -2.91624902e-03 9.95353496e-01 2.58620271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517105681 meters 0.02621922057450996 Centerline is valid? [True, True] Translation: X:30.71, Y:1.24, Z:2.59 [[ 9.89253128e-01 -1.11150165e-01 -9.49941565e-02 3.07143961e+01] [ 1.10958213e-01 9.93798137e-01 -7.31694954e-03 1.24464211e+00] [ 9.52182959e-02 -3.30206665e-03 9.95450939e-01 2.59322070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577105681 meters 0.023390101058304826 Centerline is valid? [True, True] Translation: X:30.77, Y:1.27, Z:2.61 [[ 9.90573868e-01 -1.04243320e-01 -8.88636173e-02 3.07715935e+01] [ 1.04047065e-01 9.94548781e-01 -6.85054083e-03 1.26534776e+00] [ 8.90933254e-02 -2.46003181e-03 9.96020245e-01 2.60965444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637105680999998 meters 0.020602330609458663 Centerline is valid? [True, True] Translation: X:30.83, Y:1.28, Z:2.61 [[ 9.91284580e-01 -9.69956024e-02 -8.91444602e-02 3.08303764e+01] [ 9.67686648e-02 9.95283161e-01 -6.87428547e-03 1.28425958e+00] [ 8.93907556e-02 -1.81201720e-03 9.95994985e-01 2.61440132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697105681 meters 0.01706700527066074 Centerline is valid? [True, True] Translation: X:30.89, Y:1.31, Z:2.61 [[ 9.91875138e-01 -8.04777426e-02 -9.85243322e-02 3.08889390e+01] [ 8.01181402e-02 9.96756345e-01 -7.60735111e-03 1.30929214e+00] [ 9.88169757e-02 -3.48043832e-04 9.95105564e-01 2.60544973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757105681 meters 0.02051038110828457 Centerline is valid? [True, True] Translation: X:30.94, Y:1.34, Z:2.61 [[ 9.93004642e-01 -6.05184696e-02 -1.01386867e-01 3.09448596e+01] [ 6.00307442e-02 9.98165602e-01 -7.85749714e-03 1.33996148e+00] [ 1.01676406e-01 1.71620208e-03 9.94816045e-01 2.60633279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817105680999997 meters 0.022203703626249256 Centerline is valid? [True, True] Translation: X:31.00, Y:1.35, Z:2.61 [[ 9.93231032e-01 -5.57613765e-02 -1.01895960e-01 3.10034835e+01] [ 5.52424646e-02 9.98441640e-01 -7.90953920e-03 1.34734832e+00] [ 1.02178216e-01 2.22701582e-03 9.94763616e-01 2.60859945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877105681 meters 0.019970437986464785 Centerline is valid? [True, True] Translation: X:31.06, Y:1.34, Z:2.61 [[ 9.92518941e-01 -6.46311438e-02 -1.03580727e-01 3.10632718e+01] [ 6.41393972e-02 9.97908281e-01 -8.07473557e-03 1.34191167e+00] [ 1.03885944e-01 1.37072263e-03 9.94588272e-01 2.61017847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937105681 meters 0.017298262151295977 Centerline is valid? [True, True] Translation: X:31.12, Y:1.33, Z:2.62 [[ 9.91940192e-01 -7.44670050e-02 -1.02514978e-01 3.11220028e+01] [ 7.40343946e-02 9.97223410e-01 -8.02369605e-03 1.33403851e+00] [ 1.02827836e-01 3.69392305e-04 9.94699100e-01 2.61812481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997105681 meters 0.017010755410104526 Centerline is valid? [True, True] Translation: X:31.18, Y:1.33, Z:2.63 [[ 9.91733282e-01 -7.98791773e-02 -1.00421189e-01 3.11804961e+01] [ 7.94884408e-02 9.96804541e-01 -7.89270142e-03 1.33440523e+00] [ 1.00730759e-01 -1.54869032e-04 9.94913710e-01 2.62769594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057105680999996 meters 0.017204479461096815 Centerline is valid? [True, True] Translation: X:31.24, Y:1.34, Z:2.63 [[ 9.91598389e-01 -7.74482268e-02 -1.03606986e-01 3.12392412e+01] [ 7.70153120e-02 9.96996367e-01 -8.17841988e-03 1.34042159e+00] [ 1.03929193e-01 1.30383595e-04 9.94584690e-01 2.62784656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117105681 meters 0.017447838886079006 Centerline is valid? [True, True] Translation: X:31.30, Y:1.34, Z:2.63 [[ 9.91079666e-01 -8.03425441e-02 -1.06330486e-01 3.12976469e+01] [ 7.98993052e-02 9.96767303e-01 -8.42885499e-03 1.34289407e+00] [ 1.06663947e-01 -1.42065147e-04 9.94295118e-01 2.63122384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17710568099999 meters 0.01745471016591079 Centerline is valid? [True, True] Translation: X:31.36, Y:1.34, Z:2.64 [[ 9.90926970e-01 -8.49170701e-02 -1.04176920e-01 3.13560730e+01] [ 8.45132539e-02 9.96387849e-01 -8.29237689e-03 1.34198213e+00] [ 1.04504782e-01 -5.87190573e-04 9.94524211e-01 2.64082932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.237105680999996 meters 0.017725819269782322 Centerline is valid? [True, True] Translation: X:31.41, Y:1.34, Z:2.65 [[ 9.90771593e-01 -8.74944217e-02 -1.03519931e-01 3.14135868e+01] [ 8.71064815e-02 9.96164670e-01 -8.27110554e-03 1.34301986e+00] [ 1.03846574e-01 -8.22480561e-04 9.94592988e-01 2.64899725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297105681 meters 0.017594045742106098 Centerline is valid? [True, True] Translation: X:31.47, Y:1.35, Z:2.66 [[ 9.91017678e-01 -8.78281566e-02 -1.00847292e-01 3.14709917e+01] [ 8.74603459e-02 9.96135302e-01 -8.07139585e-03 1.35399565e+00] [ 1.01166443e-01 -8.21243060e-04 9.94869175e-01 2.65820353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35710568099999 meters 0.01893842589113192 Centerline is valid? [True, True] Translation: X:31.53, Y:1.36, Z:2.66 [[ 9.90099964e-01 -9.49048037e-02 -1.03417311e-01 3.15310124e+01] [ 9.45533329e-02 9.95485140e-01 -8.30683247e-03 1.35939128e+00] [ 1.03738755e-01 -1.55385694e-03 9.94603366e-01 2.65787550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417105680999995 meters 0.022400207451308055 Centerline is valid? [True, True] Translation: X:31.59, Y:1.36, Z:2.66 [[ 9.89008470e-01 -1.05130833e-01 -1.03969970e-01 3.15907121e+01] [ 1.04831387e-01 9.94454907e-01 -8.35571625e-03 1.36443565e+00] [ 1.04271890e-01 -2.63544198e-03 9.94545337e-01 2.66294464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477105681 meters 0.02664221349143164 Centerline is valid? [True, True] Translation: X:31.65, Y:1.37, Z:2.67 [[ 9.88291628e-01 -1.13095036e-01 -1.02416654e-01 3.16491758e+01] [ 1.12846773e-01 9.93578288e-01 -8.23353744e-03 1.36805491e+00] [ 1.02690135e-01 -3.42025272e-03 9.94707514e-01 2.66847342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53710568099999 meters 0.02430968630686323 Centerline is valid? [True, True] Translation: X:31.71, Y:1.39, Z:2.68 [[ 9.89195646e-01 -1.09052663e-01 -9.79769940e-02 3.17068723e+01] [ 1.08805244e-01 9.94031846e-01 -7.88089767e-03 1.38561942e+00] [ 9.82516850e-02 -2.86466108e-03 9.95157475e-01 2.68019513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597105680999995 meters 0.017862084782911916 Centerline is valid? [True, True] Translation: X:31.76, Y:1.42, Z:2.69 [[ 9.91275425e-01 -9.14720829e-02 -9.48993641e-02 3.17639016e+01] [ 9.11590985e-02 9.95807055e-01 -7.63726262e-03 1.41814400e+00] [ 9.52000526e-02 -1.08030972e-03 9.95457575e-01 2.69082883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657105681 meters 0.017639710538332146 Centerline is valid? [True, True] Translation: X:31.82, Y:1.45, Z:2.69 [[ 9.93004671e-01 -7.02958702e-02 -9.48694546e-02 3.18225317e+01] [ 6.98864992e-02 9.97525732e-01 -7.63490363e-03 1.44957434e+00] [ 9.51714243e-02 9.51400907e-04 9.95460444e-01 2.69419937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71710568099999 meters 0.02329615087989607 Centerline is valid? [True, True] Translation: X:31.88, Y:1.47, Z:2.69 [[ 9.92951563e-01 -5.65473167e-02 -1.04161389e-01 3.18813580e+01] [ 5.59785538e-02 9.98396820e-01 -8.37804340e-03 1.47302627e+00] [ 1.04468155e-01 2.48818736e-03 9.94525120e-01 2.68620663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777105680999995 meters 0.024971958052179388 Centerline is valid? [True, True] Translation: X:31.94, Y:1.48, Z:2.69 [[ 9.92919619e-01 -5.14565193e-02 -1.07064734e-01 3.19403347e+01] [ 5.08257807e-02 9.98670391e-01 -8.61336403e-03 1.48064344e+00] [ 1.07365594e-01 3.11072943e-03 9.94214742e-01 2.68779613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837105681 meters 0.02648925157061654 Centerline is valid? [True, True] Translation: X:32.00, Y:1.48, Z:2.69 [[ 9.93118853e-01 -4.94657733e-02 -1.06151214e-01 3.19973081e+01] [ 4.88335679e-02 9.98770349e-01 -8.54828359e-03 1.48411412e+00] [ 1.06443532e-01 3.30571909e-03 9.94313254e-01 2.69380659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89710568099999 meters 0.022382515005298673 Centerline is valid? [True, True] Translation: X:32.06, Y:1.47, Z:2.70 [[ 9.93164934e-01 -5.66578191e-02 -1.02045608e-01 3.20574540e+01] [ 5.61104824e-02 9.98390658e-01 -8.22841651e-03 1.46899029e+00] [ 1.02347585e-01 2.44634647e-03 9.94745690e-01 2.70448118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957105680999994 meters 0.01949327912907316 Centerline is valid? [True, True] Translation: X:32.12, Y:1.46, Z:2.71 [[ 9.92649944e-01 -6.69386861e-02 -1.00823118e-01 3.21170841e+01] [ 6.64567856e-02 9.97756144e-01 -8.13465019e-03 1.45972418e+00] [ 1.01141408e-01 1.37447973e-03 9.94871110e-01 2.70936873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017105681 meters 0.017641486334735 Centerline is valid? [True, True] Translation: X:32.18, Y:1.44, Z:2.71 [[ 9.91469970e-01 -7.52048053e-02 -1.06449683e-01 3.21771979e+01] [ 7.47136763e-02 9.97167944e-01 -8.59988182e-03 1.44424114e+00] [ 1.06794964e-01 5.73277379e-04 9.94280899e-01 2.70745525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077105681 meters 0.017377035471493874 Centerline is valid? [True, True] Translation: X:32.24, Y:1.44, Z:2.72 [[ 9.91408813e-01 -7.79523625e-02 -1.05033306e-01 3.22358318e+01] [ 7.74854466e-02 9.96957036e-01 -8.52493106e-03 1.44129650e+00] [ 1.05378232e-01 3.13139164e-04 9.94432165e-01 2.71695724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137105680999994 meters 0.017583989977570536 Centerline is valid? [True, True] Translation: X:32.29, Y:1.44, Z:2.73 [[ 9.92037146e-01 -7.47077183e-02 -1.01395550e-01 3.22939374e+01] [ 7.42523535e-02 9.97205250e-01 -8.26304502e-03 1.44008103e+00] [ 1.01729488e-01 6.68389371e-04 9.94811874e-01 2.72957373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197105681 meters 0.019203612951607687 Centerline is valid? [True, True] Translation: X:32.35, Y:1.44, Z:2.73 [[ 9.92140748e-01 -6.84635587e-02 -1.04735270e-01 3.23533307e+01] [ 6.79395003e-02 9.97652657e-01 -8.56735850e-03 1.44279964e+00] [ 1.05075972e-01 1.38436360e-03 9.94463234e-01 2.73071169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257105681 meters 0.01837243514851162 Centerline is valid? [True, True] Translation: X:32.41, Y:1.44, Z:2.74 [[ 9.92374636e-01 -7.11896113e-02 -1.00621171e-01 3.24110353e+01] [ 7.07190535e-02 9.97462236e-01 -8.24035219e-03 1.44133354e+00] [ 1.00952446e-01 1.06168253e-03 9.94890686e-01 2.73781252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317105680999994 meters 0.01791184157672832 Centerline is valid? [True, True] Translation: X:32.47, Y:1.44, Z:2.74 [[ 9.92222346e-01 -7.29888531e-02 -1.00833743e-01 3.24692471e+01] [ 7.25240365e-02 9.97332354e-01 -8.27277731e-03 1.44262160e+00] [ 1.01168574e-01 8.95564477e-04 9.94868895e-01 2.74256113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377105680999996 meters 0.01715093173974033 Centerline is valid? [True, True] Translation: X:32.53, Y:1.43, Z:2.74 [[ 9.90799687e-01 -8.59196623e-02 -1.04564774e-01 3.25294312e+01] [ 8.54871609e-02 9.96301989e-01 -8.61932896e-03 1.43376055e+00] [ 1.04918662e-01 -3.98917200e-04 9.94480726e-01 2.74417224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437105681 meters 0.018612590404081586 Centerline is valid? [True, True] Translation: X:32.59, Y:1.43, Z:2.75 [[ 9.89835250e-01 -9.48173446e-02 -1.05999290e-01 3.25885472e+01] [ 9.44198451e-02 9.95493806e-01 -8.77353275e-03 1.43287169e+00] [ 1.06353520e-01 -1.32408458e-03 9.94327499e-01 2.74711677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497105680999994 meters 0.021182330443687794 Centerline is valid? [True, True] Translation: X:32.65, Y:1.43, Z:2.76 [[ 9.89528923e-01 -1.02516679e-01 -1.01601382e-01 3.26463660e+01] [ 1.02188951e-01 9.94729210e-01 -8.43898165e-03 1.43065686e+00] [ 1.01930999e-01 -2.03192226e-03 9.94789396e-01 2.75786947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557105680999996 meters 0.021873060796007423 Centerline is valid? [True, True] Translation: X:32.70, Y:1.44, Z:2.77 [[ 9.89389274e-01 -1.07281141e-01 -9.79776581e-02 3.27035222e+01] [ 1.06998402e-01 9.94225782e-01 -8.15088588e-03 1.44232568e+00] [ 9.82863500e-02 -2.41905380e-03 9.95155235e-01 2.76919980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617105681 meters 0.022915011065266985 Centerline is valid? [True, True] Translation: X:32.76, Y:1.45, Z:2.78 [[ 9.89571054e-01 -1.09966177e-01 -9.30406895e-02 3.27616561e+01] [ 1.09720284e-01 9.93932136e-01 -7.76971843e-03 1.45127863e+00] [ 9.33305374e-02 -2.51976243e-03 9.95631991e-01 2.77666800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67710568099999 meters 0.029375405715041606 Centerline is valid? [True, True] Translation: X:32.82, Y:1.45, Z:2.77 [[ 9.87847205e-01 -1.19098356e-01 -9.98673165e-02 3.28216928e+01] [ 1.18858306e-01 9.92875934e-01 -8.37156308e-03 1.45200575e+00] [ 1.00152894e-01 -3.60023488e-03 9.94965545e-01 2.77499651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.737105680999996 meters 0.030008417920849923 Centerline is valid? [True, True] Translation: X:32.88, Y:1.46, Z:2.77 [[ 9.86393049e-01 -1.25078772e-01 -1.06696083e-01 3.28822888e+01] [ 1.24839368e-01 9.92136631e-01 -8.94641235e-03 1.46496481e+00] [ 1.06976099e-01 -4.49519259e-03 9.94251431e-01 2.77127434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797105681 meters 0.02691371016849942 Centerline is valid? [True, True] Translation: X:32.94, Y:1.49, Z:2.78 [[ 9.87034347e-01 -1.19696015e-01 -1.06939520e-01 3.29399869e+01] [ 1.19424157e-01 9.92802843e-01 -8.96580214e-03 1.48967518e+00] [ 1.07243031e-01 -3.92160741e-03 9.94225102e-01 2.78154529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85710568099999 meters 0.022313208555210687 Centerline is valid? [True, True] Translation: X:33.00, Y:1.52, Z:2.79 [[ 9.88846341e-01 -1.06156258e-01 -1.04468957e-01 3.29967398e+01] [ 1.05821089e-01 9.94346585e-01 -8.76160820e-03 1.51581923e+00] [ 1.04808450e-01 -2.39113464e-03 9.94489553e-01 2.78677990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.917105680999995 meters 0.018337077095405226 Centerline is valid? [True, True] Translation: X:33.05, Y:1.55, Z:2.79 [[ 9.90019689e-01 -9.21155496e-02 -1.06657118e-01 3.30539846e+01] [ 9.16841988e-02 9.95747902e-01 -8.95114446e-03 1.54654836e+00] [ 1.07028141e-01 -9.16963152e-04 9.94255569e-01 2.78796391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977105681 meters 0.01780899408228761 Centerline is valid? [True, True] Translation: X:33.11, Y:1.57, Z:2.80 [[ 9.90972651e-01 -8.82366369e-02 -1.00933152e-01 3.31101747e+01] [ 8.78298891e-02 9.96099432e-01 -8.47537086e-03 1.57189665e+00] [ 1.01287293e-01 -4.66086797e-04 9.94857109e-01 2.80383511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03710568099999 meters 0.01861459336755424 Centerline is valid? [True, True] Translation: X:33.17, Y:1.57, Z:2.80 [[ 9.90210603e-01 -9.36176420e-02 -1.03531146e-01 3.31707276e+01] [ 9.32184240e-02 9.95607684e-01 -8.69855967e-03 1.57291036e+00] [ 1.03890743e-01 -1.03760428e-03 9.94588174e-01 2.80176050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097105680999995 meters 0.019324691084657588 Centerline is valid? [True, True] Translation: X:33.23, Y:1.57, Z:2.81 [[ 9.89857370e-01 -9.77641504e-02 -1.03075494e-01 3.32296716e+01] [ 9.73903179e-02 9.95208539e-01 -8.66542840e-03 1.57377582e+00] [ 1.03428780e-01 -1.46101694e-03 9.94635789e-01 2.80784585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157105681 meters 0.020905542754390043 Centerline is valid? [True, True] Translation: X:33.29, Y:1.57, Z:2.81 [[ 9.88891500e-01 -1.02488968e-01 -1.07655061e-01 3.32892706e+01] [ 1.02108202e-01 9.94732059e-01 -9.05790586e-03 1.57440117e+00] [ 1.08016276e-01 -2.03517856e-03 9.94147043e-01 2.81097733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21710568099999 meters 0.01887635673721481 Centerline is valid? [True, True] Translation: X:33.35, Y:1.59, Z:2.82 [[ 9.90170245e-01 -9.27994499e-02 -1.04647732e-01 3.33468788e+01] [ 9.23851363e-02 9.95684373e-01 -8.81002440e-03 1.58711683e+00] [ 1.05013677e-01 -9.44470935e-04 9.94470329e-01 2.81703156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277105680999995 meters 0.018760422136658496 Centerline is valid? [True, True] Translation: X:33.40, Y:1.61, Z:2.82 [[ 9.91314411e-01 -7.91920311e-02 -1.04996952e-01 3.34041357e+01] [ 7.86975542e-02 9.96859249e-01 -8.85062857e-03 1.60595914e+00] [ 1.05368082e-01 5.10752369e-04 9.94433158e-01 2.81961853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337105681 meters 0.01919160514868678 Centerline is valid? [True, True] Translation: X:33.46, Y:1.61, Z:2.82 [[ 9.91229884e-01 -7.84563310e-02 -1.06338711e-01 3.34622128e+01] [ 7.79416645e-02 9.96917354e-01 -8.99362826e-03 1.60982721e+00] [ 1.06716513e-01 6.26536991e-04 9.94289291e-01 2.82258364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39710568099999 meters 0.018562453826811525 Centerline is valid? [True, True] Translation: X:33.52, Y:1.61, Z:2.83 [[ 9.91209628e-01 -8.11349888e-02 -1.04501609e-01 3.35213627e+01] [ 8.06513274e-02 9.96703062e-01 -8.85268158e-03 1.60514710e+00] [ 1.04875336e-01 3.46669701e-04 9.94485316e-01 2.83072674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457105680999994 meters 0.018255603791815643 Centerline is valid? [True, True] Translation: X:33.58, Y:1.60, Z:2.84 [[ 9.91007492e-01 -8.47446153e-02 -1.03549514e-01 3.35806654e+01] [ 8.42860524e-02 9.96402705e-01 -8.80404471e-03 1.59662898e+00] [ 1.03923112e-01 -2.90551733e-06 9.94585334e-01 2.83795381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517105681 meters 0.018239003259798915 Centerline is valid? [True, True] Translation: X:33.64, Y:1.60, Z:2.84 [[ 9.90829923e-01 -8.56716953e-02 -1.04481690e-01 3.36396405e+01] [ 8.52063740e-02 9.96323419e-01 -8.91726947e-03 1.59635463e+00] [ 1.04861512e-01 -6.70085011e-05 9.94486832e-01 2.84460821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577105681 meters 0.018831720748208054 Centerline is valid? [True, True] Translation: X:33.70, Y:1.59, Z:2.84 [[ 9.89799079e-01 -9.28333544e-02 -1.08072901e-01 3.36985199e+01] [ 9.23743169e-02 9.95681322e-01 -9.25693015e-03 1.58813488e+00] [ 1.08465521e-01 -8.20659473e-04 9.94099873e-01 2.84309369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637105680999994 meters 0.02379745234454625 Centerline is valid? [True, True] Translation: X:33.76, Y:1.58, Z:2.86 [[ 9.87839660e-01 -1.12694057e-01 -1.07111414e-01 3.37588434e+01] [ 1.12358148e-01 9.93625322e-01 -9.18514653e-03 1.57816359e+00] [ 1.07463724e-01 -2.96138804e-03 9.94204596e-01 2.85513203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697105681 meters 0.030840083509868815 Centerline is valid? [True, True] Translation: X:33.82, Y:1.57, Z:2.86 [[ 9.86623194e-01 -1.25844908e-01 -1.03623028e-01 3.38184137e+01] [ 1.25602555e-01 9.92040836e-01 -8.88696152e-03 1.57401821e+00] [ 1.03916655e-01 -4.24723480e-03 9.94576940e-01 2.86387585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757105681 meters 0.030979853079308495 Centerline is valid? [True, True] Translation: X:33.88, Y:1.58, Z:2.87 [[ 9.86050541e-01 -1.29088031e-01 -1.05074312e-01 3.38771902e+01] [ 1.28857111e-01 9.91622220e-01 -9.01206006e-03 1.58430297e+00] [ 1.05357372e-01 -4.65322563e-03 9.94423537e-01 2.86915263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817105680999994 meters 0.02914486131820526 Centerline is valid? [True, True] Translation: X:33.93, Y:1.61, Z:2.88 [[ 9.87218168e-01 -1.23086202e-01 -1.01242653e-01 3.39343102e+01] [ 1.22839882e-01 9.92388476e-01 -8.68769522e-03 1.60546866e+00] [ 1.01541378e-01 -3.85998499e-03 9.94823828e-01 2.88103230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877105680999996 meters 0.029658601373541153 Centerline is valid? [True, True] Translation: X:33.99, Y:1.62, Z:2.89 [[ 9.87575614e-01 -1.22960238e-01 -9.78528831e-02 3.39936708e+01] [ 1.22729310e-01 9.92404644e-01 -8.39870433e-03 1.61863578e+00] [ 9.81423623e-02 -3.71506122e-03 9.95165451e-01 2.89231295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937105681 meters 0.023373580010861403 Centerline is valid? [True, True] Translation: X:34.05, Y:1.65, Z:2.90 [[ 9.89221300e-01 -1.10976302e-01 -9.55273742e-02 3.40508434e+01] [ 1.10700621e-01 9.93819993e-01 -8.19718164e-03 1.64867036e+00] [ 9.58467072e-02 -2.46611295e-03 9.95393052e-01 2.90246931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997105680999994 meters 0.019583003511428634 Centerline is valid? [True, True] Translation: X:34.11, Y:1.67, Z:2.90 [[ 9.90025969e-01 -9.87309832e-02 -1.00502603e-01 3.41108562e+01] [ 9.83628990e-02 9.95113247e-01 -8.62350711e-03 1.67167592e+00] [ 1.00862879e-01 -1.34823140e-03 9.94899423e-01 2.90175346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.057105680999996 meters 0.018923186031371712 Centerline is valid? [True, True] Translation: X:34.17, Y:1.70, Z:2.90 [[ 9.90795979e-01 -8.23787723e-02 -1.07410737e-01 3.41703774e+01] [ 8.18629438e-02 9.96601037e-01 -9.21038638e-03 1.70036709e+00] [ 1.07804393e-01 3.32654631e-04 9.94172069e-01 2.89650744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117105681 meters 0.018948585451640926 Centerline is valid? [True, True] Translation: X:34.23, Y:1.71, Z:2.90 [[ 9.90761631e-01 -8.31794469e-02 -1.07110084e-01 3.42295935e+01] [ 8.26718524e-02 9.96534557e-01 -9.17835109e-03 1.70998362e+00] [ 1.07502350e-01 2.38569020e-04 9.94204802e-01 2.90205519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17710568099999 meters 0.018883670607800468 Centerline is valid? [True, True] Translation: X:34.29, Y:1.71, Z:2.90 [[ 9.90190867e-01 -8.82463315e-02 -1.08326509e-01 3.42908460e+01] [ 8.77573231e-02 9.96098633e-01 -9.28258754e-03 1.70920181e+00] [ 1.08723042e-01 -3.14911069e-04 9.94072030e-01 2.90278025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.237105680999996 meters 0.019208438115768958 Centerline is valid? [True, True] Translation: X:34.35, Y:1.71, Z:2.91 [[ 9.89680188e-01 -9.23061250e-02 -1.09602484e-01 3.43509921e+01] [ 9.18303057e-02 9.95730378e-01 -9.39192685e-03 1.71056946e+00] [ 1.10001455e-01 -7.69825663e-04 9.93931128e-01 2.90831830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297105681 meters 0.02097952676180677 Centerline is valid? [True, True] Translation: X:34.41, Y:1.70, Z:2.91 [[ 9.88556229e-01 -1.02315366e-01 -1.10851918e-01 3.44114721e+01] [ 1.01891209e-01 9.94750190e-01 -9.49951734e-03 1.70438004e+00] [ 1.11241913e-01 -1.90402897e-03 9.93791533e-01 2.91264368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35710568099999 meters 0.02669053402822222 Centerline is valid? [True, True] Translation: X:34.47, Y:1.69, Z:2.92 [[ 9.87063312e-01 -1.17817528e-01 -1.08743040e-01 3.44712387e+01] [ 1.17502653e-01 9.93028820e-01 -9.32144869e-03 1.69088713e+00] [ 1.09083203e-01 -3.57673570e-03 9.94026188e-01 2.92119377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.417105680999995 meters 0.02525475253288167 Centerline is valid? [True, True] Translation: X:34.53, Y:1.70, Z:2.93 [[ 9.87960684e-01 -1.14062030e-01 -1.04515744e-01 3.45304805e+01] [ 1.13749935e-01 9.93468994e-01 -8.96158122e-03 1.69826788e+00] [ 1.04855328e-01 -3.03496923e-03 9.94482855e-01 2.93383318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477105681 meters 0.019385877734024757 Centerline is valid? [True, True] Translation: X:34.59, Y:1.73, Z:2.94 [[ 9.90037352e-01 -9.27268305e-02 -1.05961203e-01 3.45875777e+01] [ 9.22839375e-02 9.95691278e-01 -9.08588462e-03 1.72561939e+00] [ 1.06347151e-01 -7.83151877e-04 9.94328754e-01 2.93832580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53710568099999 meters 0.020394855026903035 Centerline is valid? [True, True] Translation: X:34.65, Y:1.75, Z:2.94 [[ 9.91529624e-01 -7.43611071e-02 -1.06486759e-01 3.46480156e+01] [ 7.38080101e-02 9.97230665e-01 -9.13116053e-03 1.75038815e+00] [ 1.06870865e-01 1.19424038e-03 9.94272192e-01 2.94439159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.597105680999995 meters 0.019591412990095987 Centerline is valid? [True, True] Translation: X:34.71, Y:1.75, Z:2.94 [[ 9.90721605e-01 -8.04339642e-02 -1.09549432e-01 3.47078568e+01] [ 7.98862561e-02 9.96759789e-01 -9.38664150e-03 1.74752427e+00] [ 1.09949473e-01 5.48054591e-04 9.93937027e-01 2.94456643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657105681 meters 0.01918919913891393 Centerline is valid? [True, True] Translation: X:34.77, Y:1.75, Z:2.95 [[ 9.90274569e-01 -8.75953742e-02 -1.08089451e-01 3.47661327e+01] [ 8.71039018e-02 9.96156110e-01 -9.26906737e-03 1.74538354e+00] [ 1.08485894e-01 -2.36091197e-04 9.94097961e-01 2.95158635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71710568099999 meters 0.019264212145378913 Centerline is valid? [True, True] Translation: X:34.83, Y:1.74, Z:2.96 [[ 9.89710826e-01 -9.36932442e-02 -1.08139067e-01 3.48269574e+01] [ 9.32369198e-02 9.95600707e-01 -9.27945247e-03 1.74335196e+00] [ 1.08532754e-01 -8.98578948e-04 9.94092468e-01 2.95829528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777105680999995 meters 0.023769203535487927 Centerline is valid? [True, True] Translation: X:34.89, Y:1.73, Z:2.96 [[ 9.88124042e-01 -1.08574754e-01 -1.08730865e-01 3.48874028e+01] [ 1.08203021e-01 9.94085029e-01 -9.33066167e-03 1.73025217e+00] [ 1.09100800e-01 -2.54515701e-03 9.94027433e-01 2.95840657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837105681 meters 0.026452200608681347 Centerline is valid? [True, True] Translation: X:34.95, Y:1.73, Z:2.96 [[ 9.86625485e-01 -1.19610146e-01 -1.10740985e-01 3.49483227e+01] [ 1.19293458e-01 9.92813539e-01 -9.50511860e-03 1.72764394e+00] [ 1.11082058e-01 -3.83268276e-03 9.93803847e-01 2.96488547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89710568099999 meters 0.0360671741209848 Centerline is valid? [True, True] Translation: X:35.01, Y:1.71, Z:2.97 [[ 9.85333154e-01 -1.30083344e-01 -1.10439575e-01 3.50092505e+01] [ 1.29833731e-01 9.91490464e-01 -9.47953636e-03 1.71494811e+00] [ 1.10732915e-01 -4.99828050e-03 9.93837632e-01 2.96699786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957105680999994 meters 0.03696607872079441 Centerline is valid? [True, True] Translation: X:35.07, Y:1.72, Z:2.98 [[ 9.83813449e-01 -1.40466843e-01 -1.11266180e-01 3.50691944e+01] [ 1.40279355e-01 9.90065896e-01 -9.55109834e-03 1.71845377e+00] [ 1.11502463e-01 -6.21184897e-03 9.93744743e-01 2.97592321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017105681 meters 0.03980542208763936 Centerline is valid? [True, True] Translation: X:35.13, Y:1.72, Z:2.99 [[ 9.83725023e-01 -1.43179324e-01 -1.08557632e-01 3.51277649e+01] [ 1.43017159e-01 9.89676337e-01 -9.31883291e-03 1.72490955e+00] [ 1.08771184e-01 -6.35843505e-03 9.94046478e-01 2.98538362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07710568099999 meters 0.0362891599533965 Centerline is valid? [True, True] Translation: X:35.19, Y:1.75, Z:2.99 [[ 9.84753043e-01 -1.37751613e-01 -1.06235291e-01 3.51863500e+01] [ 1.37564623e-01 9.90450794e-01 -9.12138623e-03 1.74719850e+00] [ 1.06477314e-01 -5.63190489e-03 9.94299182e-01 2.99213821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137105680999994 meters 0.030095761778304274 Centerline is valid? [True, True] Translation: X:35.24, Y:1.77, Z:2.99 [[ 9.86178749e-01 -1.26393780e-01 -1.07126498e-01 3.52446586e+01] [ 1.26136913e-01 9.91970202e-01 -9.19772688e-03 1.77376657e+00] [ 1.07428830e-01 -4.44200307e-03 9.94202854e-01 2.99332906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197105681 meters 0.024557319799533166 Centerline is valid? [True, True] Translation: X:35.30, Y:1.81, Z:3.00 [[ 9.87870845e-01 -1.12940436e-01 -1.06562902e-01 3.53017654e+01] [ 1.12608178e-01 9.93597347e-01 -9.14934908e-03 1.81099493e+00] [ 1.06913949e-01 -2.96147911e-03 9.94263867e-01 3.00369039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257105681 meters 0.02201348730570043 Centerline is valid? [True, True] Translation: X:35.36, Y:1.83, Z:3.00 [[ 9.88738541e-01 -1.04423722e-01 -1.07199735e-01 3.53618513e+01] [ 1.04037741e-01 9.94530777e-01 -9.20226658e-03 1.82849031e+00] [ 1.07574371e-01 -2.05418262e-03 9.94194918e-01 3.00148082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317105680999994 meters 0.019667227949061984 Centerline is valid? [True, True] Translation: X:35.42, Y:1.85, Z:3.01 [[ 9.90052985e-01 -9.40344413e-02 -1.04654722e-01 3.54215567e+01] [ 9.36091921e-02 9.95568531e-01 -8.97876968e-03 1.85210317e+00] [ 1.05035261e-01 -9.07186213e-04 9.94468084e-01 3.01007453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377105680999996 meters 0.018973191359593265 Centerline is valid? [True, True] Translation: X:35.48, Y:1.87, Z:3.01 [[ 9.91223147e-01 -8.36221345e-02 -1.02391466e-01 3.54832687e+01] [ 8.31604529e-02 9.96497519e-01 -8.77693909e-03 1.86628566e+00] [ 1.02766789e-01 1.84984457e-04 9.94705460e-01 3.01375452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437105681 meters 0.019824279629587223 Centerline is valid? [True, True] Translation: X:35.54, Y:1.87, Z:3.01 [[ 9.91180994e-01 -7.97343735e-02 -1.05842653e-01 3.55447837e+01] [ 7.92201183e-02 9.96815968e-01 -9.06081958e-03 1.86927170e+00] [ 1.06228105e-01 5.96044682e-04 9.94341608e-01 3.01176345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497105680999994 meters 0.019725732452599492 Centerline is valid? [True, True] Translation: X:35.61, Y:1.86, Z:3.02 [[ 9.90254133e-01 -8.71545948e-02 -1.08631616e-01 3.56069888e+01] [ 8.66580712e-02 9.96194776e-01 -9.29231164e-03 1.85824750e+00] [ 1.09028116e-01 -2.12056266e-04 9.94038644e-01 3.01620577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.557105680999996 meters 0.0199246172153835 Centerline is valid? [True, True] Translation: X:35.67, Y:1.85, Z:3.02 [[ 9.90096558e-01 -9.18508097e-02 -1.06170776e-01 3.56692498e+01] [ 9.14040251e-02 9.95772521e-01 -9.07690159e-03 1.84963847e+00] [ 1.06555662e-01 -7.17427260e-04 9.94306480e-01 3.02217519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617105681 meters 0.020034075637412087 Centerline is valid? [True, True] Translation: X:35.73, Y:1.84, Z:3.03 [[ 9.90049646e-01 -9.36983769e-02 -1.04987202e-01 3.57311598e+01] [ 9.32723992e-02 9.95600213e-01 -8.97079060e-03 1.84476443e+00] [ 1.05365829e-01 -9.10880119e-04 9.94433111e-01 3.02761158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67710568099999 meters 0.022228726646412518 Centerline is valid? [True, True] Translation: X:35.79, Y:1.83, Z:3.04 [[ 9.89569897e-01 -1.04664994e-01 -9.89780673e-02 3.57928238e+01] [ 1.04341564e-01 9.94505599e-01 -8.45290352e-03 1.83087444e+00] [ 9.93189652e-02 -1.96278746e-03 9.95053712e-01 3.03972326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.737105680999996 meters 0.030568421972494948 Centerline is valid? [True, True] Translation: X:35.85, Y:1.81, Z:3.04 [[ 9.87450385e-01 -1.23674835e-01 -9.82154405e-02 3.58537968e+01] [ 1.23450302e-01 9.92315343e-01 -8.38348354e-03 1.80857098e+00] [ 9.84975145e-02 -3.84645177e-03 9.95129863e-01 3.04407713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797105681 meters 0.04005577874309969 Centerline is valid? [True, True] Translation: X:35.92, Y:1.79, Z:3.05 [[ 9.84104942e-01 -1.45149571e-01 -1.02318453e-01 3.59158296e+01] [ 1.45021251e-01 9.89390012e-01 -8.73162721e-03 1.79024066e+00] [ 1.02500248e-01 -6.24551256e-03 9.94713372e-01 3.04613207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85710568099999 meters 0.04124280862257689 Centerline is valid? [True, True] Translation: X:35.98, Y:1.79, Z:3.05 [[ 9.84121848e-01 -1.45060954e-01 -1.02281517e-01 3.59769218e+01] [ 1.44932377e-01 9.89403073e-01 -8.72723203e-03 1.78862358e+00] [ 1.02463628e-01 -6.23524375e-03 9.94717209e-01 3.05148319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.917105680999995 meters 0.04051866611343056 Centerline is valid? [True, True] Translation: X:36.04, Y:1.80, Z:3.06 [[ 9.84499513e-01 -1.40433660e-01 -1.05067099e-01 3.60354850e+01] [ 1.40272291e-01 9.90072415e-01 -8.96085291e-03 1.80043088e+00] [ 1.05282442e-01 -5.91604732e-03 9.94424762e-01 3.05689975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977105681 meters 0.03424192019600482 Centerline is valid? [True, True] Translation: X:36.09, Y:1.82, Z:3.07 [[ 9.86857753e-01 -1.28376349e-01 -9.81391243e-02 3.60930378e+01] [ 1.28175992e-01 9.91716118e-01 -8.36998770e-03 1.82436244e+00] [ 9.84006598e-02 -4.31909232e-03 9.95137506e-01 3.06881398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03710568099999 meters 0.02427580422962239 Centerline is valid? [True, True] Translation: X:36.15, Y:1.86, Z:3.07 [[ 9.89476455e-01 -1.06972897e-01 -9.74327707e-02 3.61502890e+01] [ 1.06671755e-01 9.94259567e-01 -8.30968911e-03 1.86126584e+00] [ 9.77623759e-02 -2.17108295e-03 9.95207418e-01 3.07261689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.097105680999995 meters 0.01969623000699859 Centerline is valid? [True, True] Translation: X:36.21, Y:1.90, Z:3.07 [[ 9.91337658e-01 -8.41170339e-02 -1.00866112e-01 3.62091145e+01] [ 8.36761967e-02 9.96455878e-01 -8.60098550e-03 1.90008515e+00] [ 1.01232120e-01 8.63881818e-05 9.94862830e-01 3.07483389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157105681 meters 0.0198170638364094 Centerline is valid? [True, True] Translation: X:36.27, Y:1.90, Z:3.08 [[ 9.91481434e-01 -8.28123579e-02 -1.00531977e-01 3.62701916e+01] [ 8.23684509e-02 9.96565135e-01 -8.56562123e-03 1.90446139e+00] [ 1.00896003e-01 2.11991175e-04 9.94896955e-01 3.07839054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21710568099999 meters 0.019788186587499017 Centerline is valid? [True, True] Translation: X:36.33, Y:1.90, Z:3.08 [[ 9.90630437e-01 -9.01456893e-02 -1.02591869e-01 3.63315967e+01] [ 8.97229939e-02 9.95928437e-01 -8.73682061e-03 1.89643369e+00] [ 1.02961747e-01 -5.49889237e-04 9.94685164e-01 3.08093347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.277105680999995 meters 0.020747073831421572 Centerline is valid? [True, True] Translation: X:36.39, Y:1.89, Z:3.08 [[ 9.89603783e-01 -9.70648007e-02 -1.06126233e-01 3.63931106e+01] [ 9.66520943e-02 9.95277197e-01 -9.03739433e-03 1.89177019e+00] [ 1.06502233e-01 -1.31388306e-03 9.94311595e-01 3.08262693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337105681 meters 0.021335947400374974 Centerline is valid? [True, True] Translation: X:36.45, Y:1.89, Z:3.08 [[ 9.89298721e-01 -9.90078239e-02 -1.07170381e-01 3.64546413e+01] [ 9.85986307e-02 9.95085461e-01 -9.12329366e-03 1.89211386e+00] [ 1.07546966e-01 -1.54119008e-03 9.94198811e-01 3.08396871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39710568099999 meters 0.021571185158474775 Centerline is valid? [True, True] Translation: X:36.52, Y:1.90, Z:3.09 [[ 9.89007836e-01 -1.01393308e-01 -1.07623869e-01 3.65160069e+01] [ 1.00995271e-01 9.94844766e-01 -9.15677192e-03 1.89665598e+00] [ 1.07997478e-01 -1.81338259e-03 9.94149514e-01 3.08949636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457105680999994 meters 0.022848233513970223 Centerline is valid? [True, True] Translation: X:36.58, Y:1.90, Z:3.09 [[ 9.88243929e-01 -1.04210304e-01 -1.11866659e-01 3.65759711e+01] [ 1.03798632e-01 9.94552829e-01 -9.51386663e-03 1.89727986e+00] [ 1.12248745e-01 -2.20958526e-03 9.93677683e-01 3.08806440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517105681 meters 0.024654240302692303 Centerline is valid? [True, True] Translation: X:36.63, Y:1.89, Z:3.10 [[ 9.87990491e-01 -1.08240259e-01 -1.10267114e-01 3.66345776e+01] [ 1.07864899e-01 9.94121298e-01 -9.38133093e-03 1.89353963e+00] [ 1.10634324e-01 -2.62528538e-03 9.93857713e-01 3.09690260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57710568099999 meters 0.024338254960242008 Centerline is valid? [True, True] Translation: X:36.69, Y:1.89, Z:3.11 [[ 9.87684238e-01 -1.11679942e-01 -1.09578451e-01 3.66945212e+01] [ 1.11329683e-01 9.93739743e-01 -9.32869863e-03 1.89440946e+00] [ 1.09934291e-01 -2.98552566e-03 9.93934373e-01 3.10625849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637105680999994 meters 0.024372140553567116 Centerline is valid? [True, True] Translation: X:36.75, Y:1.90, Z:3.11 [[ 9.87848152e-01 -1.12586845e-01 -1.07145836e-01 3.67549700e+01] [ 1.12257376e-01 9.93637305e-01 -9.12072733e-03 1.89781669e+00] [ 1.07490973e-01 -3.01801670e-03 9.94201480e-01 3.11491681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697105681 meters 0.02262144719251965 Centerline is valid? [True, True] Translation: X:36.81, Y:1.91, Z:3.12 [[ 9.88488428e-01 -1.06478641e-01 -1.07484543e-01 3.68142683e+01] [ 1.06111540e-01 9.94312176e-01 -9.14532139e-03 1.90700920e+00] [ 1.07846971e-01 -2.36530595e-03 9.94164693e-01 3.11809273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757105681 meters 0.019524584701272732 Centerline is valid? [True, True] Translation: X:36.87, Y:1.93, Z:3.13 [[ 9.90109909e-01 -9.35317138e-02 -1.04566666e-01 3.68722885e+01] [ 9.31122506e-02 9.95615869e-01 -8.89668365e-03 1.93261375e+00] [ 1.04940354e-01 -9.27742926e-04 9.94478085e-01 3.12920986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817105680999994 meters 0.0184197232459962 Centerline is valid? [True, True] Translation: X:36.93, Y:1.94, Z:3.14 [[ 9.91287065e-01 -8.61789549e-02 -9.96149682e-02 3.69320667e+01] [ 8.57615483e-02 9.96279663e-01 -8.47288925e-03 1.94344907e+00] [ 9.99745517e-02 -1.44068383e-04 9.94989984e-01 3.13814140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877105680999996 meters 0.019138785958159564 Centerline is valid? [True, True] Translation: X:36.99, Y:1.95, Z:3.14 [[ 9.91668309e-01 -7.83316415e-02 -1.02264946e-01 3.69925321e+01] [ 7.78505459e-02 9.96927138e-01 -8.69330201e-03 1.95251360e+00] [ 1.02631660e-01 6.59490276e-04 9.94719210e-01 3.14103011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937105681 meters 0.021469456371655204 Centerline is valid? [True, True] Translation: X:37.05, Y:1.95, Z:3.14 [[ 9.92080540e-01 -6.94524338e-02 -1.04654486e-01 3.70512637e+01] [ 6.88995205e-02 9.97583961e-01 -8.89365167e-03 1.95295386e+00] [ 1.05019322e-01 1.61257486e-03 9.94468874e-01 3.14112104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997105680999994 meters 0.021584518355835955 Centerline is valid? [True, True] Translation: X:37.11, Y:1.94, Z:3.14 [[ 9.91482477e-01 -6.87278279e-02 -1.10629935e-01 3.71121033e+01] [ 6.81040715e-02 9.97633829e-01 -9.41167061e-03 1.94336513e+00] [ 1.11015010e-01 1.79715747e-03 9.93817105e-01 3.13756689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.057105680999996 meters 0.01912867904984274 Centerline is valid? [True, True] Translation: X:37.17, Y:1.93, Z:3.15 [[ 9.90865592e-01 -7.71169375e-02 -1.10627108e-01 3.71712881e+01] [ 7.65437635e-02 9.97021674e-01 -9.42514516e-03 1.92997138e+00] [ 1.11024463e-01 8.71236818e-04 9.93817292e-01 3.14584440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117105681 meters 0.017664802922529928 Centerline is valid? [True, True] Translation: X:37.23, Y:1.91, Z:3.15 [[ 9.90096151e-01 -8.93937173e-02 -1.08251440e-01 3.72321884e+01] [ 8.89141097e-02 9.95996262e-01 -9.25891148e-03 1.90672251e+00] [ 1.08645718e-01 -4.57867783e-04 9.94080428e-01 3.15144877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17710568099999 meters 0.017811456130793185 Centerline is valid? [True, True] Translation: X:37.29, Y:1.91, Z:3.16 [[ 9.89710883e-01 -9.03536318e-02 -1.10944084e-01 3.72905759e+01] [ 8.98514979e-02 9.95909600e-01 -9.52771814e-03 1.90784325e+00] [ 1.11351143e-01 -5.38805832e-04 9.93780978e-01 3.15656823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.237105680999996 meters 0.01780948012824709 Centerline is valid? [True, True] Translation: X:37.35, Y:1.91, Z:3.16 [[ 9.90015026e-01 -8.67403131e-02 -1.11114208e-01 3.73470407e+01] [ 8.62101190e-02 9.96230951e-01 -9.57637690e-03 1.91052341e+00] [ 1.11526071e-01 -9.84120336e-05 9.93761504e-01 3.16022251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297105681 meters 0.017527988134142455 Centerline is valid? [True, True] Translation: X:37.41, Y:1.90, Z:3.17 [[ 9.90014535e-01 -9.26565707e-02 -1.06235496e-01 3.74056767e+01] [ 9.22038477e-02 9.95697873e-01 -9.17585002e-03 1.90407791e+00] [ 1.06628660e-01 -7.11096611e-04 9.94298659e-01 3.17363738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35710568099999 meters 0.01749781947545473 Centerline is valid? [True, True] Translation: X:37.46, Y:1.90, Z:3.18 [[ 9.90075777e-01 -9.43005443e-02 -1.04198674e-01 3.74644059e+01] [ 9.38705704e-02 9.95543423e-01 -9.03378808e-03 1.90465196e+00] [ 1.04586195e-01 -8.37054175e-04 9.94515474e-01 3.18236599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.417105680999995 meters 0.016911024117284054 Centerline is valid? [True, True] Translation: X:37.52, Y:1.91, Z:3.19 [[ 9.90581355e-01 -8.90044932e-02 -1.04051808e-01 3.75230624e+01] [ 8.85430066e-02 9.96031195e-01 -9.05510636e-03 1.91082449e+00] [ 1.04444792e-01 -2.43240404e-04 9.94530656e-01 3.18761669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477105681 meters 0.017275439011728563 Centerline is valid? [True, True] Translation: X:37.58, Y:1.92, Z:3.20 [[ 9.91525929e-01 -8.13770740e-02 -1.01262546e-01 3.75795327e+01] [ 8.08975211e-02 9.96683221e-01 -8.84013407e-03 1.92138904e+00] [ 1.01646065e-01 5.73333192e-04 9.94820461e-01 3.19555656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53710568099999 meters 0.018425273611262342 Centerline is valid? [True, True] Translation: X:37.64, Y:1.93, Z:3.20 [[ 9.91606337e-01 -7.65468742e-02 -1.04199084e-01 3.76380209e+01] [ 7.60107798e-02 9.97065360e-01 -9.11203540e-03 1.92917808e+00] [ 1.04590795e-01 1.11529841e-03 9.94514717e-01 3.19807031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.597105680999995 meters 0.020883090748068416 Centerline is valid? [True, True] Translation: X:37.70, Y:1.94, Z:3.20 [[ 9.92210965e-01 -6.80613489e-02 -1.04331459e-01 3.76963470e+01] [ 6.74739093e-02 9.97679046e-01 -9.15379660e-03 1.93929980e+00] [ 1.04712330e-01 2.04284595e-03 9.94500455e-01 3.20409892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657105681 meters 0.024380022519963164 Centerline is valid? [True, True] Translation: X:37.76, Y:1.94, Z:3.20 [[ 9.92410519e-01 -5.90645593e-02 -1.07855177e-01 3.77572061e+01] [ 5.83829129e-02 9.98249349e-01 -9.46955924e-03 1.94017173e+00] [ 1.08225676e-01 3.10079078e-03 9.94121516e-01 3.20429936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71710568099999 meters 0.022253101304001478 Centerline is valid? [True, True] Translation: X:37.82, Y:1.93, Z:3.21 [[ 9.92408731e-01 -6.40987953e-02 -1.04958354e-01 3.78177244e+01] [ 6.34814306e-02 9.97940469e-01 -9.21561605e-03 1.93347698e+00] [ 1.05332899e-01 2.48275138e-03 9.94433918e-01 3.21419628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.777105680999995 meters 0.018077759755366053 Centerline is valid? [True, True] Translation: X:37.88, Y:1.92, Z:3.22 [[ 9.91606416e-01 -7.64529205e-02 -1.04267287e-01 3.78792973e+01] [ 7.59113926e-02 9.97072511e-01 -9.15801570e-03 1.91749376e+00] [ 1.04662202e-01 1.16607219e-03 9.94507146e-01 3.21983613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837105681 meters 0.0162948046434003 Centerline is valid? [True, True] Translation: X:37.94, Y:1.90, Z:3.22 [[ 9.90633167e-01 -8.89329011e-02 -1.03618854e-01 3.79398238e+01] [ 8.84650759e-02 9.96037609e-01 -9.11104256e-03 1.90401727e+00] [ 1.04018548e-01 -1.40948879e-04 9.94575348e-01 3.22465633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89710568099999 meters 0.017290840269766013 Centerline is valid? [True, True] Translation: X:38.00, Y:1.90, Z:3.23 [[ 9.89714715e-01 -9.51350808e-02 -1.06836788e-01 3.79976508e+01] [ 9.46701625e-02 9.95464063e-01 -9.42653905e-03 1.89941277e+00] [ 1.07248978e-01 -7.84671706e-04 9.94231885e-01 3.22713307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.957105680999994 meters 0.01723735925367757 Centerline is valid? [True, True] Translation: X:38.06, Y:1.90, Z:3.24 [[ 9.89763719e-01 -9.62912223e-02 -1.05336513e-01 3.80563839e+01] [ 9.58432701e-02 9.95352821e-01 -9.31821585e-03 1.89843798e+00] [ 1.05744257e-01 -8.72963844e-04 9.94392976e-01 3.23567181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017105681 meters 0.01718231142167587 Centerline is valid? [True, True] Translation: X:38.11, Y:1.91, Z:3.24 [[ 9.90595966e-01 -8.59982858e-02 -1.06413941e-01 3.81122234e+01] [ 8.54779217e-02 9.96295250e-01 -9.44988188e-03 1.91345666e+00] [ 1.06832378e-01 2.64972315e-04 9.94277010e-01 3.24399866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07710568099999 meters 0.018484630856709157 Centerline is valid? [True, True] Translation: X:38.17, Y:1.92, Z:3.25 [[ 9.91528020e-01 -7.85860863e-02 -1.03423464e-01 3.81682679e+01] [ 7.80507490e-02 9.96906758e-01 -9.21933885e-03 1.92395512e+00] [ 1.03828062e-01 1.06895393e-03 9.94594687e-01 3.25298911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137105680999994 meters 0.019748637589823086 Centerline is valid? [True, True] Translation: X:38.23, Y:1.93, Z:3.26 [[ 9.91551268e-01 -7.55089312e-02 -1.05472672e-01 3.82269491e+01] [ 7.49325989e-02 9.97144087e-01 -9.42206927e-03 1.92757935e+00] [ 1.05882901e-01 1.43912331e-03 9.94377564e-01 3.25524632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197105681 meters 0.018218024911959348 Centerline is valid? [True, True] Translation: X:38.29, Y:1.92, Z:3.26 [[ 9.91429875e-01 -7.93683738e-02 -1.03766392e-01 3.82864537e+01] [ 7.88282459e-02 9.96844809e-01 -9.30237018e-03 1.92071520e+00] [ 1.04177303e-01 1.04292503e-03 9.94558194e-01 3.26426764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257105681 meters 0.0175521620117239 Centerline is valid? [True, True] Translation: X:38.34, Y:1.92, Z:3.27 [[ 9.91243458e-01 -8.33066752e-02 -1.02451962e-01 3.83448500e+01] [ 8.27981189e-02 9.96523745e-01 -9.21393994e-03 1.91749099e+00] [ 1.02863395e-01 6.50427961e-04 9.94695279e-01 3.27050811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317105680999994 meters 0.016869778396362584 Centerline is valid? [True, True] Translation: X:38.40, Y:1.91, Z:3.28 [[ 9.90762106e-01 -8.90908838e-02 -1.02241208e-01 3.84031590e+01] [ 8.86135602e-02 9.96023499e-01 -9.21014415e-03 1.91487862e+00] [ 1.02655185e-01 6.51043870e-05 9.94716999e-01 3.27927247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.377105680999996 meters 0.018017360106638604 Centerline is valid? [True, True] Translation: X:38.46, Y:1.91, Z:3.28 [[ 9.89323478e-01 -1.00692321e-01 -1.05357070e-01 3.84631178e+01] [ 1.00246962e-01 9.94916965e-01 -9.52784244e-03 1.90816153e+00] [ 1.05780917e-01 -1.13560800e-03 9.94388811e-01 3.28007620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437105681 meters 0.021939847350711125 Centerline is valid? [True, True] Translation: X:38.52, Y:1.91, Z:3.28 [[ 9.88106556e-01 -1.11039395e-01 -1.06375213e-01 3.85216096e+01] [ 1.10641599e-01 9.93813499e-01 -9.65224304e-03 1.90666721e+00] [ 1.06788902e-01 -2.23207908e-03 9.94279210e-01 3.28285165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497105680999994 meters 0.025538968684249604 Centerline is valid? [True, True] Translation: X:38.58, Y:1.90, Z:3.30 [[ 9.86892786e-01 -1.22873845e-01 -1.04616672e-01 3.85816891e+01] [ 1.22554211e-01 9.92416326e-01 -9.50272152e-03 1.90297136e+00] [ 1.04990929e-01 -3.44304639e-03 9.94467219e-01 3.29607950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.557105680999996 meters 0.024489967095948244 Centerline is valid? [True, True] Translation: X:38.64, Y:1.92, Z:3.31 [[ 9.87339395e-01 -1.22012305e-01 -1.01360329e-01 3.86382506e+01] [ 1.21707085e-01 9.92523300e-01 -9.21323518e-03 1.91739069e+00] [ 1.01726616e-01 -3.23968010e-03 9.94807117e-01 3.30700824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617105681 meters 0.01951161587834011 Centerline is valid? [True, True] Translation: X:38.70, Y:1.94, Z:3.31 [[ 9.88814950e-01 -1.05926953e-01 -1.04997500e-01 3.86959915e+01] [ 1.05505567e-01 9.94372611e-01 -9.57526641e-03 1.94113084e+00] [ 1.05420917e-01 -1.60965418e-03 9.94426387e-01 3.30643895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67710568099999 meters 0.017317199945819265 Centerline is valid? [True, True] Translation: X:38.75, Y:1.97, Z:3.32 [[ 9.90984495e-01 -8.78090660e-02 -1.01189420e-01 3.87527130e+01] [ 8.73230834e-02 9.96137275e-01 -9.23082735e-03 1.97256138e+00] [ 1.01609103e-01 3.11434660e-04 9.94824353e-01 3.31733191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.737105680999996 meters 0.02002922390314554 Centerline is valid? [True, True] Translation: X:38.81, Y:1.99, Z:3.32 [[ 9.92270215e-01 -7.50902535e-02 -9.87991570e-02 3.88097700e+01] [ 7.45635410e-02 9.97175487e-01 -9.01808554e-03 1.99244492e+00] [ 9.91972679e-02 1.58156269e-03 9.95066531e-01 3.32356617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797105681 meters 0.019910910984906542 Centerline is valid? [True, True] Translation: X:38.87, Y:2.00, Z:3.33 [[ 9.91997467e-01 -7.68381388e-02 -1.00184461e-01 3.88676617e+01] [ 7.63020173e-02 9.97042511e-01 -9.17789993e-03 1.99742618e+00] [ 1.00593379e-01 1.46017701e-03 9.94926550e-01 3.32630505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85710568099999 meters 0.01832258732848863 Centerline is valid? [True, True] Translation: X:38.93, Y:1.99, Z:3.32 [[ 9.90955902e-01 -8.26851124e-02 -1.05686199e-01 3.89274307e+01] [ 8.21175504e-02 9.96575269e-01 -9.71808002e-03 1.98867831e+00] [ 1.06127793e-01 9.51496956e-04 9.94352043e-01 3.32427272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.917105680999995 meters 0.018132028119304252 Centerline is valid? [True, True] Translation: X:38.99, Y:1.99, Z:3.33 [[ 9.90631918e-01 -8.58143963e-02 -1.06227547e-01 3.89852922e+01] [ 8.52575526e-02 9.96310940e-01 -9.78059902e-03 1.98910884e+00] [ 1.06674983e-01 6.32272927e-04 9.94293743e-01 3.32934974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977105681 meters 0.017969049838390625 Centerline is valid? [True, True] Translation: X:39.04, Y:1.99, Z:3.34 [[ 9.90852352e-01 -8.48061653e-02 -1.04973955e-01 3.90420247e+01] [ 8.42550361e-02 9.96397187e-01 -9.68167616e-03 1.99394774e+00] [ 1.05416819e-01 7.48527263e-04 9.94427843e-01 3.33761748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03710568099999 meters 0.0175049610169835 Centerline is valid? [True, True] Translation: X:39.10, Y:1.99, Z:3.34 [[ 9.90203559e-01 -9.22308501e-02 -1.04835026e-01 3.91004493e+01] [ 9.17187789e-02 9.95737651e-01 -9.70542759e-03 1.98733144e+00] [ 1.05283322e-01 -4.99162684e-06 9.94442267e-01 3.34059258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.097105680999995 meters 0.020720346362937847 Centerline is valid? [True, True] Translation: X:39.16, Y:1.97, Z:3.35 [[ 9.88206895e-01 -1.10502711e-01 -1.06001334e-01 3.91612312e+01] [ 1.10082002e-01 9.93873900e-01 -9.82975481e-03 1.97398601e+00] [ 1.06438173e-01 -1.95500755e-03 9.94317401e-01 3.34655049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157105681 meters 0.026892298636464633 Centerline is valid? [True, True] Translation: X:39.22, Y:1.96, Z:3.35 [[ 9.86854738e-01 -1.23096391e-01 -1.04713919e-01 3.92206836e+01] [ 1.22755904e-01 9.92389342e-01 -9.71505307e-03 1.96453287e+00] [ 1.05112865e-01 -3.26690563e-03 9.94454933e-01 3.35485566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21710568099999 meters 0.026050599715494296 Centerline is valid? [True, True] Translation: X:39.28, Y:1.98, Z:3.36 [[ 9.86579582e-01 -1.24285556e-01 -1.05895366e-01 3.92781092e+01] [ 1.23943156e-01 9.92240588e-01 -9.83410158e-03 1.97529353e+00] [ 1.06295917e-01 -3.42288203e-03 9.94328649e-01 3.36179630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.277105680999995 meters 0.023444681025744003 Centerline is valid? [True, True] Translation: X:39.34, Y:1.99, Z:3.37 [[ 9.87151244e-01 -1.21405470e-01 -1.03890007e-01 3.93354123e+01] [ 1.21056846e-01 9.92598395e-01 -9.67811074e-03 1.99148081e+00] [ 1.04296030e-01 -3.02283757e-03 9.94541704e-01 3.37094487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337105681 meters 0.020690212629638764 Centerline is valid? [True, True] Translation: X:39.39, Y:2.01, Z:3.38 [[ 9.88647173e-01 -1.13935515e-01 -9.79564512e-02 3.93926527e+01] [ 1.13587626e-01 9.93485946e-01 -9.13924278e-03 2.01282594e+00] [ 9.83596420e-02 -2.09115424e-03 9.95148737e-01 3.38375405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39710568099999 meters 0.017724076231230727 Centerline is valid? [True, True] Translation: X:39.45, Y:2.04, Z:3.39 [[ 9.90052428e-01 -1.01326485e-01 -9.76172750e-02 3.94490461e+01] [ 1.00919542e-01 9.94852879e-01 -9.11014084e-03 2.04163876e+00] [ 9.80379257e-02 -8.31973641e-04 9.95182332e-01 3.38861007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.457105680999994 meters 0.017235769503154086 Centerline is valid? [True, True] Translation: X:39.51, Y:2.07, Z:3.39 [[ 9.91102180e-01 -9.05351545e-02 -9.75697435e-02 3.95054301e+01] [ 9.00756865e-02 9.95893231e-01 -9.11284812e-03 2.06819410e+00] [ 9.79940802e-02 2.43102017e-04 9.95186968e-01 3.39193835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517105681 meters 0.01931874218442763 Centerline is valid? [True, True] Translation: X:39.56, Y:2.09, Z:3.39 [[ 9.91083511e-01 -8.11715614e-02 -1.05662912e-01 3.95625798e+01] [ 8.05757528e-02 9.96699296e-01 -9.90260457e-03 2.08854612e+00] [ 1.06117960e-01 1.30043940e-03 9.94352698e-01 3.38649379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57710568099999 meters 0.020145249380234508 Centerline is valid? [True, True] Translation: X:39.62, Y:2.10, Z:3.39 [[ 9.90941487e-01 -7.95456014e-02 -1.08201045e-01 3.96203413e+01] [ 7.89094197e-02 9.96830061e-01 -1.01554372e-02 2.09716122e+00] [ 1.08665875e-01 1.52536238e-03 9.94077160e-01 3.39069957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.637105680999994 meters 0.018910839540856275 Centerline is valid? [True, True] Translation: X:39.68, Y:2.10, Z:3.40 [[ 9.90624339e-01 -8.32692158e-02 -1.08303537e-01 3.96792971e+01] [ 8.26500772e-02 9.96526420e-01 -1.02009172e-02 2.09504790e+00] [ 1.08776759e-01 1.15398112e-03 9.94065534e-01 3.39848331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697105681 meters 0.01773542688856713 Centerline is valid? [True, True] Translation: X:39.74, Y:2.08, Z:3.41 [[ 9.90564189e-01 -8.99738178e-02 -1.03379399e-01 3.97376813e+01] [ 8.94430561e-02 9.95944039e-01 -9.76789576e-03 2.08478859e+00] [ 1.03838951e-01 4.29158318e-04 9.94594032e-01 3.40869920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757105681 meters 0.0173051378391539 Centerline is valid? [True, True] Translation: X:39.80, Y:2.09, Z:3.42 [[ 9.90508130e-01 -9.41674682e-02 -1.00130581e-01 3.97959489e+01] [ 9.36895983e-02 9.95556371e-01 -9.47476918e-03 2.08698301e+00] [ 1.00577852e-01 3.64203435e-06 9.94929191e-01 3.42110714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817105680999994 meters 0.017682806276227002 Centerline is valid? [True, True] Translation: X:39.86, Y:2.09, Z:3.41 [[ 9.89612254e-01 -9.63732926e-02 -1.06676032e-01 3.98553364e+01] [ 9.58400900e-02 9.95345240e-01 -1.01257111e-02 2.08663263e+00] [ 1.07155328e-01 -2.03312653e-04 9.94242271e-01 3.41486089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.877105680999996 meters 0.018858046082480463 Centerline is valid? [True, True] Translation: X:39.91, Y:2.08, Z:3.41 [[ 9.88651534e-01 -1.01715524e-01 -1.10553587e-01 3.99149174e+01] [ 1.01174684e-01 9.94813206e-01 -1.05056750e-02 2.08496198e+00] [ 1.11048759e-01 -7.98772606e-04 9.93814638e-01 3.41405464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937105681 meters 0.019556239489998375 Centerline is valid? [True, True] Translation: X:39.97, Y:2.09, Z:3.43 [[ 9.87909314e-01 -1.09275181e-01 -1.09973277e-01 3.99730550e+01] [ 1.08785220e-01 9.94010206e-01 -1.04635649e-02 2.08638709e+00] [ 1.10457967e-01 -1.62641391e-03 9.93879466e-01 3.42765073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997105680999994 meters 0.02362478247559613 Centerline is valid? [True, True] Translation: X:40.03, Y:2.08, Z:3.44 [[ 9.86995044e-01 -1.21835693e-01 -1.04865854e-01 4.00325347e+01] [ 1.21457700e-01 9.92546163e-01 -1.00070836e-02 2.07636421e+00] [ 1.05303421e-01 -2.85982351e-03 9.94436027e-01 3.43906969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.057105680999996 meters 0.02583875318486414 Centerline is valid? [True, True] Translation: X:40.09, Y:2.08, Z:3.44 [[ 9.86747048e-01 -1.24886500e-01 -1.03603210e-01 4.00907383e+01] [ 1.24533484e-01 9.92166070e-01 -9.89448814e-03 2.07656982e+00] [ 1.04027278e-01 -3.13871172e-03 9.94569492e-01 3.44419856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117105681 meters 0.02142740324065329 Centerline is valid? [True, True] Translation: X:40.15, Y:2.09, Z:3.45 [[ 9.87705157e-01 -1.16488612e-01 -1.04254145e-01 4.01491146e+01] [ 1.16083366e-01 9.93189462e-01 -9.96721087e-03 2.09222454e+00] [ 1.04705184e-01 -2.25750644e-03 9.94500743e-01 3.45008463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17710568099999 meters 0.018180287729004277 Centerline is valid? [True, True] Translation: X:40.21, Y:2.12, Z:3.46 [[ 9.89949444e-01 -1.01723308e-01 -9.82469667e-02 4.02052041e+01] [ 1.01290586e-01 9.94812518e-01 -9.39531310e-03 2.11816914e+00] [ 9.86930347e-02 -6.50607848e-04 9.95117712e-01 3.46226889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.237105680999996 meters 0.017894853573054505 Centerline is valid? [True, True] Translation: X:40.26, Y:2.13, Z:3.46 [[ 9.90178052e-01 -9.61925893e-02 -1.01461381e-01 4.02615790e+01] [ 9.57014471e-02 9.95362736e-01 -9.70858460e-03 2.13343318e+00] [ 1.01924772e-01 -9.67736054e-05 9.94792105e-01 3.46156223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297105681 meters 0.019627387847528554 Centerline is valid? [True, True] Translation: X:40.32, Y:2.15, Z:3.47 [[ 9.91221383e-01 -8.34052128e-02 -1.02585280e-01 4.03187352e+01] [ 8.28330500e-02 9.96514933e-01 -9.83230323e-03 2.15448993e+00] [ 1.03047829e-01 1.24853756e-03 9.94675619e-01 3.46521082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35710568099999 meters 0.025612952977962955 Centerline is valid? [True, True] Translation: X:40.38, Y:2.17, Z:3.46 [[ 9.92065544e-01 -6.80252324e-02 -1.05728543e-01 4.03781562e+01] [ 6.73269124e-02 9.97679195e-01 -1.01642291e-02 2.17450543e+00] [ 1.06174592e-01 2.96520512e-03 9.94343081e-01 3.46419476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.417105680999995 meters 0.026286897426848185 Centerline is valid? [True, True] Translation: X:40.44, Y:2.18, Z:3.47 [[ 9.92542280e-01 -6.71864925e-02 -1.01714293e-01 4.04354380e+01] [ 6.65357800e-02 9.97736103e-01 -9.78047863e-03 2.17688294e+00] [ 1.02141138e-01 2.93989876e-03 9.94765573e-01 3.47197291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477105681 meters 0.01967634907403472 Centerline is valid? [True, True] Translation: X:40.50, Y:2.16, Z:3.48 [[ 9.91322552e-01 -8.41286884e-02 -1.01004759e-01 4.04983749e+01] [ 8.35735652e-02 9.96454179e-01 -9.72254347e-03 2.15507849e+00] [ 1.01464559e-01 1.19684879e-03 9.94838435e-01 3.47810211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53710568099999 meters 0.018138432271946742 Centerline is valid? [True, True] Translation: X:40.56, Y:2.14, Z:3.48 [[ 9.89762711e-01 -9.94875479e-02 -1.02332808e-01 4.05572070e+01] [ 9.89992299e-02 9.95038735e-01 -9.85234016e-03 2.14104463e+00] [ 1.02805293e-01 -3.79390246e-04 9.94701426e-01 3.48263041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.597105680999995 meters 0.01975440422208166 Centerline is valid? [True, True] Translation: X:40.62, Y:2.13, Z:3.48 [[ 9.88310226e-01 -1.07308824e-01 -1.08294568e-01 4.06183275e+01] [ 1.06807298e-01 9.94224950e-01 -1.04378787e-02 2.13368444e+00] [ 1.08789238e-01 -1.25078793e-03 9.94064051e-01 3.47848568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657105681 meters 0.02158311569686329 Centerline is valid? [True, True] Translation: X:40.68, Y:2.13, Z:3.48 [[ 9.87324415e-01 -1.13190769e-01 -1.11258027e-01 4.06781585e+01] [ 1.12697988e-01 9.93571368e-01 -1.07284975e-02 2.13087324e+00] [ 1.11757157e-01 -1.94604831e-03 9.93733642e-01 3.48287086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71710568099999 meters 0.020505586157213287 Centerline is valid? [True, True] Translation: X:40.74, Y:2.14, Z:3.50 [[ 9.88075021e-01 -1.13940794e-01 -1.03562774e-01 4.07350257e+01] [ 1.13517165e-01 9.93485762e-01 -9.99472817e-03 2.14128524e+00] [ 1.04026949e-01 -1.88061128e-03 9.94572701e-01 3.50194549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.777105680999995 meters 0.019295731247064952 Centerline is valid? [True, True] Translation: X:40.79, Y:2.15, Z:3.51 [[ 9.89102001e-01 -1.08804676e-01 -9.91905934e-02 4.07917216e+01] [ 1.08387610e-01 9.94062355e-01 -9.60000881e-03 2.15398739e+00] [ 9.96461607e-02 -1.25564338e-03 9.95022143e-01 3.51096759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837105681 meters 0.018950097914581476 Centerline is valid? [True, True] Translation: X:40.85, Y:2.17, Z:3.52 [[ 9.89547180e-01 -1.08767354e-01 -9.46891801e-02 4.08482451e+01] [ 1.08386229e-01 9.94066527e-01 -9.17421280e-03 2.16900842e+00] [ 9.51251992e-02 -1.18468671e-03 9.95464612e-01 3.52144872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89710568099999 meters 0.02270344563725697 Centerline is valid? [True, True] Translation: X:40.91, Y:2.18, Z:3.52 [[ 9.87803559e-01 -1.19200466e-01 -1.00176728e-01 4.09069446e+01] [ 1.18824075e-01 9.92867578e-01 -9.73712621e-03 2.17861213e+00] [ 1.00622895e-01 -2.28503911e-03 9.94922013e-01 3.51797540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.957105680999994 meters 0.027387229995244556 Centerline is valid? [True, True] Translation: X:40.97, Y:2.18, Z:3.52 [[ 9.85543589e-01 -1.33045766e-01 -1.04893558e-01 4.09676489e+01] [ 1.32710914e-01 9.91102335e-01 -1.01968106e-02 2.18216670e+00] [ 1.05316893e-01 -3.87111864e-03 9.94431177e-01 3.51707894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017105681 meters 0.03761326347861656 Centerline is valid? [True, True] Translation: X:41.03, Y:2.18, Z:3.52 [[ 9.83556294e-01 -1.47343368e-01 -1.04436338e-01 4.10264265e+01] [ 1.47091467e-01 9.89070790e-01 -1.01524382e-02 2.18178895e+00] [ 1.04790826e-01 -5.37619969e-03 9.94479753e-01 3.52405756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07710568099999 meters 0.03689570611084296 Centerline is valid? [True, True] Translation: X:41.08, Y:2.20, Z:3.54 [[ 9.83492562e-01 -1.51351760e-01 -9.91717001e-02 4.10834754e+01] [ 1.51144635e-01 9.88464631e-01 -9.64224153e-03 2.20473447e+00] [ 9.94870882e-02 -5.50619758e-03 9.95023618e-01 3.53747084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.137105680999994 meters 0.028752760330147967 Centerline is valid? [True, True] Translation: X:41.14, Y:2.24, Z:3.54 [[ 9.85775445e-01 -1.36219947e-01 -9.84423564e-02 4.11402979e+01] [ 1.35940188e-01 9.90670772e-01 -9.57536050e-03 2.24125578e+00] [ 9.88283203e-02 -3.94311715e-03 9.95096686e-01 3.54220167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.197105681 meters 0.021139473287584018 Centerline is valid? [True, True] Translation: X:41.20, Y:2.28, Z:3.55 [[ 9.88575158e-01 -1.17031377e-01 -9.49884909e-02 4.11972506e+01] [ 1.16682403e-01 9.93126304e-01 -9.23916679e-03 2.27851530e+00] [ 9.54168412e-02 -1.94987456e-03 9.95435495e-01 3.55041965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25710568099999 meters 0.01746866739834264 Centerline is valid? [True, True] Translation: X:41.26, Y:2.32, Z:3.56 [[ 9.90444623e-01 -9.84420034e-02 -9.65847846e-02 4.12553391e+01] [ 9.79931206e-02 9.95142776e-01 -9.39163668e-03 2.31518248e+00] [ 9.70401822e-02 -1.62748387e-04 9.95280451e-01 3.55525242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317105680999994 meters 0.0178133125097658 Centerline is valid? [True, True] Translation: X:41.32, Y:2.33, Z:3.55 [[ 9.89546830e-01 -1.00877940e-01 -1.03056844e-01 4.13161560e+01] [ 1.00380674e-01 9.94898714e-01 -1.00134520e-02 2.32679812e+00] [ 1.03541258e-01 -4.36135783e-04 9.94625064e-01 3.55041995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.377105680999996 meters 0.023325679730959264 Centerline is valid? [True, True] Translation: X:41.38, Y:2.32, Z:3.56 [[ 9.87403041e-01 -1.21079302e-01 -1.01857932e-01 4.13771379e+01] [ 1.20701093e-01 9.92639619e-01 -9.89108479e-03 2.31772640e+00] [ 1.02305824e-01 -2.52787653e-03 9.94749782e-01 3.55624608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437105681 meters 0.025850360040856116 Centerline is valid? [True, True] Translation: X:41.44, Y:2.33, Z:3.56 [[ 9.86518288e-01 -1.28204861e-01 -1.01711262e-01 4.14371456e+01] [ 1.27865444e-01 9.91742343e-01 -9.87688468e-03 2.32525016e+00] [ 1.02137630e-01 -3.26162837e-03 9.94764930e-01 3.56190566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497105680999994 meters 0.023769759122315347 Centerline is valid? [True, True] Translation: X:41.50, Y:2.34, Z:3.57 [[ 9.87695877e-01 -1.19735140e-01 -1.00599959e-01 4.14953278e+01] [ 1.19359708e-01 9.92803058e-01 -9.76463311e-03 2.34238216e+00] [ 1.01045116e-01 -2.36309389e-03 9.94879038e-01 3.56652975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.557105680999996 meters 0.02133440492335011 Centerline is valid? [True, True] Translation: X:41.56, Y:2.36, Z:3.57 [[ 9.88023912e-01 -1.17784633e-01 -9.96771251e-02 4.15559989e+01] [ 1.17406267e-01 9.93036848e-01 -9.67404412e-03 2.35663150e+00] [ 1.00122512e-01 -2.14453225e-03 9.94972805e-01 3.57060921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617105681 meters 0.02531633735446117 Centerline is valid? [True, True] Translation: X:41.62, Y:2.35, Z:3.58 [[ 9.86492315e-01 -1.29746983e-01 -9.99931633e-02 4.16171390e+01] [ 1.29428198e-01 9.91541386e-01 -9.69647263e-03 2.35200975e+00] [ 1.00405448e-01 -3.37643921e-03 9.94940875e-01 3.57777936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67710568099999 meters 0.026767901048227724 Centerline is valid? [True, True] Translation: X:41.68, Y:2.35, Z:3.59 [[ 9.86193764e-01 -1.33410384e-01 -9.80995843e-02 4.16786649e+01] [ 1.33121712e-01 9.91054053e-01 -9.51175524e-03 2.35094980e+00] [ 9.84909575e-02 -3.67875089e-03 9.95131146e-01 3.58709989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.737105680999996 meters 0.02097181912563211 Centerline is valid? [True, True] Translation: X:41.74, Y:2.36, Z:3.59 [[ 9.88379608e-01 -1.16527630e-01 -9.76066712e-02 4.17372801e+01] [ 1.16160236e-01 9.93185456e-01 -9.45775076e-03 2.36464321e+00] [ 9.80436156e-02 -1.99016594e-03 9.95180129e-01 3.59144653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797105681 meters 0.01980348691015011 Centerline is valid? [True, True] Translation: X:41.80, Y:2.40, Z:3.60 [[ 9.91789681e-01 -8.21330582e-02 -9.80172941e-02 4.17954909e+01] [ 8.15945406e-02 9.96620359e-01 -9.49684080e-03 2.40480267e+00] [ 9.84660354e-02 1.42119262e-03 9.95139397e-01 3.59771900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85710568099999 meters 0.02182222799693459 Centerline is valid? [True, True] Translation: X:41.86, Y:2.42, Z:3.60 [[ 9.92302414e-01 -7.44086630e-02 -9.89912607e-02 4.18557082e+01] [ 7.38218552e-02 9.97225404e-01 -9.58270308e-03 2.41676135e+00] [ 9.94296360e-02 2.20122088e-03 9.95042161e-01 3.60221182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.917105680999995 meters 0.02196495384257489 Centerline is valid? [True, True] Translation: X:41.92, Y:2.42, Z:3.61 [[ 9.92372578e-01 -7.64917039e-02 -9.66730854e-02 4.19162042e+01] [ 7.59424850e-02 9.97068330e-01 -9.35333534e-03 2.41721298e+00] [ 9.71051243e-02 1.94039917e-03 9.95272239e-01 3.60508072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977105681 meters 0.017783205124578847 Centerline is valid? [True, True] Translation: X:41.98, Y:2.40, Z:3.62 [[ 9.91449359e-01 -8.83361445e-02 -9.60463093e-02 4.19781079e+01] [ 8.78503006e-02 9.96090427e-01 -9.28368370e-03 2.40392438e+00] [ 9.64908940e-02 7.66605110e-04 9.95333572e-01 3.61580606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03710568099999 meters 0.017069807178122575 Centerline is valid? [True, True] Translation: X:42.04, Y:2.39, Z:3.62 [[ 9.90451592e-01 -9.78644944e-02 -9.70988349e-02 4.20418867e+01] [ 9.74137937e-02 9.95199735e-01 -9.38293301e-03 2.38583029e+00] [ 9.75509908e-02 -1.65424924e-04 9.95230514e-01 3.61725479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.097105680999995 meters 0.01907909339438448 Centerline is valid? [True, True] Translation: X:42.10, Y:2.37, Z:3.63 [[ 9.89298923e-01 -1.11524089e-01 -9.40745410e-02 4.21044058e+01] [ 1.11163016e-01 9.93760646e-01 -9.08639944e-03 2.37076202e+00] [ 9.45009291e-02 -1.46844449e-03 9.95523690e-01 3.62549438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157105681 meters 0.027549806529645223 Centerline is valid? [True, True] Translation: X:42.17, Y:2.35, Z:3.62 [[ 9.87097490e-01 -1.25310461e-01 -9.96786548e-02 4.21669847e+01] [ 1.24975397e-01 9.92113168e-01 -9.62350315e-03 2.34847109e+00] [ 1.00098432e-01 -2.95804367e-03 9.94973142e-01 3.62120412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21710568099999 meters 0.02960081652073829 Centerline is valid? [True, True] Translation: X:42.23, Y:2.34, Z:3.62 [[ 9.85353326e-01 -1.35798407e-01 -1.03138814e-01 4.22281526e+01] [ 1.35496563e-01 9.90727753e-01 -9.95998228e-03 2.34149396e+00] [ 1.03535035e-01 -4.16085317e-03 9.94617104e-01 3.62298204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.277105680999995 meters 0.028244545536437907 Centerline is valid? [True, True] Translation: X:42.29, Y:2.35, Z:3.63 [[ 9.85281450e-01 -1.35230329e-01 -1.04562048e-01 4.22873743e+01] [ 1.34916903e-01 9.90805464e-01 -1.00976132e-02 2.35232305e+00] [ 1.04966152e-01 -4.15819672e-03 9.94467102e-01 3.63201394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337105681 meters 0.02621306654688359 Centerline is valid? [True, True] Translation: X:42.35, Y:2.37, Z:3.64 [[ 9.86280993e-01 -1.30653165e-01 -1.00893776e-01 4.23466098e+01] [ 1.30337482e-01 9.91421814e-01 -9.74308013e-03 2.36710427e+00] [ 1.01301255e-01 -3.54082607e-03 9.94849495e-01 3.64016773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39710568099999 meters 0.028161910885143287 Centerline is valid? [True, True] Translation: X:42.41, Y:2.38, Z:3.65 [[ 9.85670937e-01 -1.36108049e-01 -9.96363581e-02 4.24059505e+01] [ 1.35828180e-01 9.90685711e-01 -9.61908505e-03 2.38137484e+00] [ 1.00017551e-01 -4.05217257e-03 9.94977422e-01 3.65146064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.457105680999994 meters 0.033454551029318436 Centerline is valid? [True, True] Translation: X:42.47, Y:2.39, Z:3.66 [[ 9.85099987e-01 -1.41735408e-01 -9.74119617e-02 4.24651038e+01] [ 1.41495721e-01 9.89894241e-01 -9.39957732e-03 2.38885818e+00] [ 9.77597928e-02 -4.52385226e-03 9.95199758e-01 3.65935811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517105681 meters 0.033267353440968504 Centerline is valid? [True, True] Translation: X:42.53, Y:2.40, Z:3.67 [[ 9.85027419e-01 -1.44392123e-01 -9.41907537e-02 4.25259046e+01] [ 1.44180721e-01 9.89509695e-01 -9.08201948e-03 2.40405869e+00] [ 9.45140360e-02 -4.63445255e-03 9.95512742e-01 3.66718207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57710568099999 meters 0.028263672343958574 Centerline is valid? [True, True] Translation: X:42.58, Y:2.44, Z:3.68 [[ 9.86431138e-01 -1.33565913e-01 -9.54659959e-02 4.25830936e+01] [ 1.33299007e-01 9.91033197e-01 -9.19660468e-03 2.43730980e+00] [ 9.58383240e-02 -3.65370520e-03 9.95390208e-01 3.67550508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.637105680999994 meters 0.024302992958225907 Centerline is valid? [True, True] Translation: X:42.64, Y:2.46, Z:3.68 [[ 9.87817369e-01 -1.22572219e-01 -9.58795938e-02 4.26402984e+01] [ 1.22251380e-01 9.92456196e-01 -9.23576057e-03 2.46006236e+00] [ 9.62883446e-02 -2.59816798e-03 9.95350091e-01 3.67864546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.697105681 meters 0.019622103433488573 Centerline is valid? [True, True] Translation: X:42.70, Y:2.49, Z:3.67 [[ 9.88919860e-01 -1.06376004e-01 -1.03545428e-01 4.26989173e+01] [ 1.05912903e-01 9.94325366e-01 -9.97615419e-03 2.49028284e+00] [ 1.04019069e-01 -1.10117991e-03 9.94574693e-01 3.67114836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75710568099999 meters 0.019358258172949578 Centerline is valid? [True, True] Translation: X:42.76, Y:2.51, Z:3.67 [[ 9.89147973e-01 -1.02394734e-01 -1.05364162e-01 4.27590761e+01] [ 1.01892776e-01 9.94743602e-01 -1.01502628e-02 2.50688175e+00] [ 1.05849659e-01 -6.95735050e-04 9.94381901e-01 3.67219097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817105680999994 meters 0.02004671294872755 Centerline is valid? [True, True] Translation: X:42.82, Y:2.51, Z:3.67 [[ 9.88800663e-01 -1.03161715e-01 -1.07846692e-01 4.28210892e+01] [ 1.02641169e-01 9.94664272e-01 -1.03815512e-02 2.51411973e+00] [ 1.08342230e-01 -8.04225883e-04 9.94113331e-01 3.67344120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.877105680999996 meters 0.020207894073144415 Centerline is valid? [True, True] Translation: X:42.88, Y:2.52, Z:3.68 [[ 9.88413724e-01 -1.07263386e-01 -1.07391227e-01 4.28818932e+01] [ 1.06772400e-01 9.94229844e-01 -1.03281695e-02 2.51713743e+00] [ 1.07879397e-01 -1.25791450e-03 9.94163192e-01 3.68036547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937105681 meters 0.023614100477181283 Centerline is valid? [True, True] Translation: X:42.94, Y:2.51, Z:3.69 [[ 9.87659760e-01 -1.17394767e-01 -1.03666128e-01 4.29434747e+01] [ 1.16993614e-01 9.93082692e-01 -9.96301445e-03 2.50894775e+00] [ 1.04118644e-01 -2.28820653e-03 9.94562252e-01 3.69061451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997105680999994 meters 0.0293550420486928 Centerline is valid? [True, True] Translation: X:43.01, Y:2.50, Z:3.70 [[ 9.86085444e-01 -1.30997780e-01 -1.02347830e-01 4.30053072e+01] [ 1.30680269e-01 9.91375827e-01 -9.83041123e-03 2.49984020e+00] [ 1.02752926e-01 -3.68121646e-03 9.94700098e-01 3.69684931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.057105680999996 meters 0.035513032143457204 Centerline is valid? [True, True] Translation: X:43.06, Y:2.49, Z:3.71 [[ 9.85081204e-01 -1.40753934e-01 -9.90118712e-02 4.30649868e+01] [ 1.40505824e-01 9.90034182e-01 -9.50956787e-03 2.49238397e+00] [ 9.93636460e-02 -4.54404795e-03 9.95040812e-01 3.70608194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117105681 meters 0.038893278522062674 Centerline is valid? [True, True] Translation: X:43.12, Y:2.50, Z:3.71 [[ 9.84490077e-01 -1.44415884e-01 -9.96159616e-02 4.31245558e+01] [ 1.44183600e-01 9.89504720e-01 -9.56548821e-03 2.49556070e+00] [ 9.99518726e-02 -4.94585976e-03 9.94979981e-01 3.71484939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17710568099999 meters 0.032007759900967436 Centerline is valid? [True, True] Translation: X:43.18, Y:2.51, Z:3.72 [[ 9.85538872e-01 -1.37741580e-01 -9.86934123e-02 4.31835045e+01] [ 1.37481038e-01 9.90459140e-01 -9.46871652e-03 2.51280025e+00] [ 9.90560282e-02 -4.23668455e-03 9.95072838e-01 3.71972875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.237105680999996 meters 0.02172403267909513 Centerline is valid? [True, True] Translation: X:43.24, Y:2.55, Z:3.73 [[ 9.88881213e-01 -1.12345256e-01 -9.74294113e-02 4.32394725e+01] [ 1.11968149e-01 9.93667836e-01 -9.34695359e-03 2.54888430e+00] [ 9.78625582e-02 -1.66596404e-03 9.95198545e-01 3.72884074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297105681 meters 0.021760941175588203 Centerline is valid? [True, True] Translation: X:43.30, Y:2.59, Z:3.73 [[ 9.91748954e-01 -7.77970244e-02 -1.01890314e-01 4.32974264e+01] [ 7.72022433e-02 9.96967544e-01 -9.77388629e-03 2.59459627e+00] [ 1.02341715e-01 1.82708069e-03 9.94747624e-01 3.72946619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35710568099999 meters 0.021941030549230908 Centerline is valid? [True, True] Translation: X:43.36, Y:2.60, Z:3.73 [[ 9.91670521e-01 -7.54401422e-02 -1.04395227e-01 4.33592537e+01] [ 7.48036512e-02 9.97148096e-01 -1.00044647e-02 2.60028251e+00] [ 1.04852240e-01 2.11198856e-03 9.94485569e-01 3.72820037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.417105680999995 meters 0.020363292700232204 Centerline is valid? [True, True] Translation: X:43.42, Y:2.60, Z:3.73 [[ 9.90605335e-01 -8.53522212e-02 -1.06846003e-01 4.34204158e+01] [ 8.47436138e-02 9.96350254e-01 -1.02318418e-02 2.59506497e+00] [ 1.07329352e-01 1.08120068e-03 9.94222933e-01 3.72869589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477105681 meters 0.01944357766683306 Centerline is valid? [True, True] Translation: X:43.48, Y:2.58, Z:3.73 [[ 9.89134431e-01 -9.94784891e-02 -1.08245587e-01 4.34833988e+01] [ 9.89385591e-02 9.95039606e-01 -1.03607110e-02 2.57915242e+00] [ 1.08739314e-01 -4.61526387e-04 9.94070193e-01 3.73426422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53710568099999 meters 0.019660039012756307 Centerline is valid? [True, True] Translation: X:43.55, Y:2.58, Z:3.74 [[ 9.89114926e-01 -1.00670431e-01 -1.07317881e-01 4.35456224e+01] [ 1.00147386e-01 9.94919651e-01 -1.02659117e-02 2.57778344e+00] [ 1.07806143e-01 -5.93438719e-04 9.94171757e-01 3.74118474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.597105680999995 meters 0.019333346213734236 Centerline is valid? [True, True] Translation: X:43.61, Y:2.58, Z:3.75 [[ 9.89836920e-01 -9.84692451e-02 -1.02599609e-01 4.36073853e+01] [ 9.79804608e-02 9.95140034e-01 -9.80520629e-03 2.57946468e+00] [ 1.03066490e-01 -3.47201797e-04 9.94674408e-01 3.75222159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657105681 meters 0.02134212739561757 Centerline is valid? [True, True] Translation: X:43.67, Y:2.57, Z:3.76 [[ 9.88446928e-01 -1.12316924e-01 -1.01772191e-01 4.36703647e+01] [ 1.11910079e-01 9.93670832e-01 -9.71658464e-03 2.56775173e+00] [ 1.02219395e-01 -1.78500567e-03 9.94760277e-01 3.75978412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71710568099999 meters 0.03332958186352311 Centerline is valid? [True, True] Translation: X:43.73, Y:2.54, Z:3.76 [[ 9.84588735e-01 -1.41146235e-01 -1.03260654e-01 4.37330728e+01] [ 1.40885643e-01 9.89976877e-01 -9.84975617e-03 2.53747228e+00] [ 1.03615916e-01 -4.84998469e-03 9.94605560e-01 3.76492889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.777105680999995 meters 0.035317793597056155 Centerline is valid? [True, True] Translation: X:43.79, Y:2.54, Z:3.77 [[ 9.84004699e-01 -1.44841888e-01 -1.03709111e-01 4.37937849e+01] [ 1.44599775e-01 9.89440805e-01 -9.88935058e-03 2.53864457e+00] [ 1.04046418e-01 -5.26514664e-03 9.94558506e-01 3.77059018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837105681 meters 0.03817568121649784 Centerline is valid? [True, True] Translation: X:43.85, Y:2.54, Z:3.78 [[ 9.83502468e-01 -1.46940952e-01 -1.05504753e-01 4.38535508e+01] [ 1.46702824e-01 9.89129487e-01 -1.00567831e-02 2.53932843e+00] [ 1.05835616e-01 -5.58697429e-03 9.94367944e-01 3.77573167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89710568099999 meters 0.036620407028843734 Centerline is valid? [True, True] Translation: X:43.91, Y:2.55, Z:3.79 [[ 9.84765728e-01 -1.41659462e-01 -1.00841751e-01 4.39111485e+01] [ 1.41415146e-01 9.89903796e-01 -9.60366022e-03 2.55309847e+00] [ 1.01184082e-01 -4.80319552e-03 9.94856126e-01 3.78713111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.957105680999994 meters 0.0296231566078021 Centerline is valid? [True, True] Translation: X:43.97, Y:2.58, Z:3.80 [[ 9.86411946e-01 -1.33205477e-01 -9.61653491e-02 4.39682371e+01] [ 1.32943032e-01 9.91081352e-01 -9.15995254e-03 2.58154973e+00] [ 9.65278400e-02 -3.74902645e-03 9.95323224e-01 3.79899956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017105681 meters 0.02165809271420162 Centerline is valid? [True, True] Translation: X:44.03, Y:2.62, Z:3.81 [[ 9.89279638e-01 -1.11863147e-01 -9.38745685e-02 4.40253180e+01] [ 1.11517008e-01 9.93722297e-01 -8.94169581e-03 2.62099283e+00] [ 9.42854981e-02 -1.62277343e-03 9.95543877e-01 3.80644189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07710568099999 meters 0.01975508141860253 Centerline is valid? [True, True] Translation: X:44.09, Y:2.64, Z:3.81 [[ 9.90435803e-01 -9.76042555e-02 -9.75209163e-02 4.40851673e+01] [ 9.71618498e-02 9.95225267e-01 -9.28668986e-03 2.64411174e+00] [ 9.79617004e-02 -2.77442496e-04 9.95190147e-01 3.80656649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.137105680999994 meters 0.020032961844575963 Centerline is valid? [True, True] Translation: X:44.15, Y:2.65, Z:3.80 [[ 9.90023939e-01 -9.50871900e-02 -1.03976082e-01 4.41474739e+01] [ 9.45708526e-02 9.95468947e-01 -9.89590013e-03 2.64752364e+00] [ 1.04445934e-01 -3.59287035e-05 9.94530565e-01 3.80172812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.197105681 meters 0.02086983682869198 Centerline is valid? [True, True] Translation: X:44.21, Y:2.64, Z:3.80 [[ 9.88832547e-01 -1.04271302e-01 -1.06478583e-01 4.42105088e+01] [ 1.03783642e-01 9.94548349e-01 -1.01260625e-02 2.64142475e+00] [ 1.06953956e-01 -1.03775487e-03 9.94263433e-01 3.80252436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25710568099999 meters 0.022361884888380347 Centerline is valid? [True, True] Translation: X:44.27, Y:2.64, Z:3.80 [[ 9.87892738e-01 -1.10382376e-01 -1.09012241e-01 4.42719697e+01] [ 1.09909268e-01 9.93887655e-01 -1.03576688e-02 2.63658407e+00] [ 1.09489225e-01 -1.74918981e-03 9.93986444e-01 3.80380090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317105680999994 meters 0.023582717895023152 Centerline is valid? [True, True] Translation: X:44.33, Y:2.64, Z:3.80 [[ 9.87050018e-01 -1.12785375e-01 -1.14068929e-01 4.43339548e+01] [ 1.12283805e-01 9.93617122e-01 -1.08333495e-02 2.63593491e+00] [ 1.14562684e-01 -2.11503550e-03 9.93413770e-01 3.79901353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.377105680999996 meters 0.02349708276178728 Centerline is valid? [True, True] Translation: X:44.39, Y:2.64, Z:3.81 [[ 9.87003707e-01 -1.12638186e-01 -1.14613790e-01 4.43939615e+01] [ 1.12131177e-01 9.93633827e-01 -1.08819704e-02 2.64266486e+00] [ 1.15109865e-01 -2.11123412e-03 9.93350523e-01 3.80802931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437105681 meters 0.022437730675222884 Centerline is valid? [True, True] Translation: X:44.45, Y:2.65, Z:3.82 [[ 9.87640298e-01 -1.11418270e-01 -1.10238884e-01 4.44543188e+01] [ 1.10942254e-01 9.93771789e-01 -1.04617619e-02 2.64545657e+00] [ 1.10717925e-01 -1.89769273e-03 9.93850059e-01 3.81862136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497105680999994 meters 0.02347030945373932 Centerline is valid? [True, True] Translation: X:44.52, Y:2.64, Z:3.83 [[ 9.87458063e-01 -1.17531612e-01 -1.05417714e-01 4.45160947e+01] [ 1.17131676e-01 9.93066059e-01 -9.99866313e-03 2.64230944e+00] [ 1.05861913e-01 -2.47449308e-03 9.94377761e-01 3.83335033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.557105680999996 meters 0.024759570729849294 Centerline is valid? [True, True] Translation: X:44.58, Y:2.64, Z:3.84 [[ 9.87070796e-01 -1.20606083e-01 -1.05571851e-01 4.45785826e+01] [ 1.20223580e-01 9.92696444e-01 -1.00030862e-02 2.64230518e+00] [ 1.06007234e-01 -2.81847167e-03 9.94361364e-01 3.83883425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617105681 meters 0.024036464677822902 Centerline is valid? [True, True] Translation: X:44.64, Y:2.65, Z:3.84 [[ 9.87526154e-01 -1.17404553e-01 -1.04920285e-01 4.46398642e+01] [ 1.17009713e-01 9.93081104e-01 -9.93221967e-03 2.64569793e+00] [ 1.05360440e-01 -2.46836566e-03 9.94431036e-01 3.84131436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67710568099999 meters 0.02073855686159404 Centerline is valid? [True, True] Translation: X:44.70, Y:2.67, Z:3.85 [[ 9.89338450e-01 -1.00800469e-01 -1.05112780e-01 4.46987212e+01] [ 1.00311059e-01 9.94906413e-01 -9.94593907e-03 2.66962296e+00] [ 1.05579934e-01 -7.04074285e-04 9.94410570e-01 3.84831291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.737105680999996 meters 0.023176518827766397 Centerline is valid? [True, True] Translation: X:44.76, Y:2.69, Z:3.85 [[ 9.91756143e-01 -7.69899354e-02 -1.02431944e-01 4.47583168e+01] [ 7.63987154e-02 9.97030276e-01 -9.68839631e-03 2.69254540e+00] [ 1.02873658e-01 1.78285764e-03 9.94692833e-01 3.85002622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797105681 meters 0.026109186740389465 Centerline is valid? [True, True] Translation: X:44.82, Y:2.70, Z:3.85 [[ 9.91902842e-01 -6.95386938e-02 -1.06269104e-01 4.48180117e+01] [ 6.88608192e-02 9.97575761e-01 -1.00393536e-02 2.69988583e+00] [ 1.06709605e-01 2.64028586e-03 9.94286724e-01 3.84868152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85710568099999 meters 0.028030357103124858 Centerline is valid? [True, True] Translation: X:44.88, Y:2.69, Z:3.85 [[ 9.91940108e-01 -6.76051113e-02 -1.07165160e-01 4.48768300e+01] [ 6.69039613e-02 9.97708009e-01 -1.01286500e-02 2.69253074e+00] [ 1.07604286e-01 2.87724050e-03 9.94189639e-01 3.85096142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.917105680999995 meters 0.023676951802114016 Centerline is valid? [True, True] Translation: X:44.94, Y:2.67, Z:3.86 [[ 9.91473182e-01 -7.38220614e-02 -1.07383579e-01 4.49377233e+01] [ 7.31526039e-02 9.97268951e-01 -1.01654713e-02 2.67494000e+00] [ 1.07840745e-01 2.22340374e-03 9.94165696e-01 3.85581067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977105681 meters 0.020475612809950187 Centerline is valid? [True, True] Translation: X:45.00, Y:2.65, Z:3.86 [[ 9.90174683e-01 -8.85484859e-02 -1.08227825e-01 4.50004533e+01] [ 8.79528206e-02 9.96071653e-01 -1.02744406e-02 2.65290550e+00] [ 1.08712455e-01 6.54548449e-04 9.94073022e-01 3.85825958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03710568099999 meters 0.0206215180016122 Centerline is valid? [True, True] Translation: X:45.06, Y:2.63, Z:3.86 [[ 9.88816338e-01 -1.02990110e-01 -1.07866991e-01 4.50596582e+01] [ 1.02483496e-01 9.94681950e-01 -1.02445436e-02 2.63328515e+00] [ 1.08348436e-01 -9.24614341e-04 9.94112550e-01 3.86414608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.097105680999995 meters 0.020513672497338303 Centerline is valid? [True, True] Translation: X:45.12, Y:2.63, Z:3.87 [[ 9.88958018e-01 -1.02871114e-01 -1.06675079e-01 4.51184446e+01] [ 1.02373267e-01 9.94694300e-01 -1.01471473e-02 2.63028523e+00] [ 1.07152941e-01 -8.85573630e-04 9.94242155e-01 3.86735809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157105681 meters 0.02041056438016651 Centerline is valid? [True, True] Translation: X:45.18, Y:2.63, Z:3.87 [[ 9.88767123e-01 -1.02265278e-01 -1.09001789e-01 4.51764038e+01] [ 1.01738411e-01 9.94756835e-01 -1.03988088e-02 2.63349418e+00] [ 1.09493712e-01 -8.07668476e-04 9.93987160e-01 3.87286154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21710568099999 meters 0.021229724578458408 Centerline is valid? [True, True] Translation: X:45.24, Y:2.63, Z:3.88 [[ 9.88263744e-01 -1.09431750e-01 -1.06580790e-01 4.52352274e+01] [ 1.08967911e-01 9.93993104e-01 -1.01835316e-02 2.62628603e+00] [ 1.07054972e-01 -1.54987101e-03 9.94251895e-01 3.88219243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.277105680999995 meters 0.023665025485841287 Centerline is valid? [True, True] Translation: X:45.29, Y:2.62, Z:3.89 [[ 9.87774891e-01 -1.15038520e-01 -1.05199348e-01 4.52932660e+01] [ 1.14615061e-01 9.93358815e-01 -1.00822742e-02 2.62241926e+00] [ 1.05660549e-01 -2.09841230e-03 9.94400043e-01 3.88752058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337105681 meters 0.02522429894808964 Centerline is valid? [True, True] Translation: X:45.35, Y:2.62, Z:3.90 [[ 9.87072906e-01 -1.22419991e-01 -1.03442858e-01 4.53522853e+01] [ 1.22049785e-01 9.92474355e-01 -9.92495272e-03 2.62374684e+00] [ 1.03879397e-01 -2.82852673e-03 9.94585879e-01 3.89537081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39710568099999 meters 0.028246604511701152 Centerline is valid? [True, True] Translation: X:45.41, Y:2.63, Z:3.91 [[ 9.86624641e-01 -1.28910429e-01 -9.97693258e-02 4.54113235e+01] [ 1.28598460e-01 9.91650483e-01 -9.57889269e-03 2.62580872e+00] [ 1.00171119e-01 -3.37941008e-03 9.94964485e-01 3.90541273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.457105680999994 meters 0.03122637237100394 Centerline is valid? [True, True] Translation: X:45.47, Y:2.63, Z:3.90 [[ 9.85116035e-01 -1.33212029e-01 -1.08632195e-01 4.54728655e+01] [ 1.32867692e-01 9.91078855e-01 -1.04345726e-02 2.62729548e+00] [ 1.09053082e-01 -4.15444432e-03 9.94027246e-01 3.89566391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.517105681 meters 0.03189615972167152 Centerline is valid? [True, True] Translation: X:45.53, Y:2.64, Z:3.91 [[ 9.85431806e-01 -1.33937354e-01 -1.04809065e-01 4.55295904e+01] [ 1.33620192e-01 9.90981412e-01 -1.00739511e-02 2.63939423e+00] [ 1.05213114e-01 -4.07741564e-03 9.94441338e-01 3.90767562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57710568099999 meters 0.032372435264402546 Centerline is valid? [True, True] Translation: X:45.59, Y:2.65, Z:3.92 [[ 9.84434046e-01 -1.42825333e-01 -1.02423302e-01 4.55886559e+01] [ 1.42567501e-01 9.89735856e-01 -9.87130368e-03 2.64863085e+00] [ 1.02781887e-01 -4.88458683e-03 9.94691924e-01 3.91852444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.637105680999994 meters 0.03604899264679751 Centerline is valid? [True, True] Translation: X:45.65, Y:2.66, Z:3.92 [[ 9.83575449e-01 -1.49335566e-01 -1.01381576e-01 4.56472646e+01] [ 1.49117191e-01 9.88771243e-01 -9.77204645e-03 2.65643627e+00] [ 1.01702501e-01 -5.50619082e-03 9.94799620e-01 3.92282633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.697105681 meters 0.03626108295080041 Centerline is valid? [True, True] Translation: X:45.71, Y:2.67, Z:3.93 [[ 9.83265717e-01 -1.50736003e-01 -1.02309276e-01 4.57062203e+01] [ 1.50520765e-01 9.88557623e-01 -9.86535947e-03 2.66906533e+00] [ 1.02625679e-01 -5.69940064e-03 9.94703718e-01 3.92638866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75710568099999 meters 0.037979256815635416 Centerline is valid? [True, True] Translation: X:45.77, Y:2.69, Z:3.93 [[ 9.82521083e-01 -1.51900882e-01 -1.07603180e-01 4.57652067e+01] [ 1.51669616e-01 9.88376762e-01 -1.03780085e-02 2.69211713e+00] [ 1.07928911e-01 -6.12352083e-03 9.94139755e-01 3.92719862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817105680999994 meters 0.042374833867218846 Centerline is valid? [True, True] Translation: X:45.82, Y:2.70, Z:3.93 [[ 9.81988032e-01 -1.55300703e-01 -1.07615971e-01 4.58239988e+01] [ 1.55089610e-01 9.87845876e-01 -1.03796722e-02 2.70402435e+00] [ 1.07919964e-01 -6.49740506e-03 9.94138353e-01 3.92974155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.877105680999996 meters 0.04794012152491982 Centerline is valid? [True, True] Translation: X:45.88, Y:2.71, Z:3.93 [[ 9.81031551e-01 -1.60962455e-01 -1.08019370e-01 4.58827233e+01] [ 1.60783617e-01 9.86934668e-01 -1.04205980e-02 2.71492982e+00] [ 1.08285386e-01 -7.14480965e-03 9.94094174e-01 3.93235286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937105681 meters 0.04232642760905266 Centerline is valid? [True, True] Translation: X:45.94, Y:2.74, Z:3.94 [[ 9.80476952e-01 -1.62278957e-01 -1.11042729e-01 4.59410015e+01] [ 1.62098602e-01 9.86716433e-01 -1.07109234e-02 2.73963608e+00] [ 1.11305843e-01 -7.49805756e-03 9.93757912e-01 3.93857951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997105680999994 meters 0.03660510693380719 Centerline is valid? [True, True] Translation: X:46.00, Y:2.78, Z:3.95 [[ 9.83502295e-01 -1.43739185e-01 -1.09828419e-01 4.59968601e+01] [ 1.43448051e-01 9.89601196e-01 -1.05890740e-02 2.77521916e+00] [ 1.10208400e-01 -5.34029413e-03 9.93894154e-01 3.94593473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.057105680999996 meters 0.024360755654151595 Centerline is valid? [True, True] Translation: X:46.05, Y:2.81, Z:3.96 [[ 9.86843352e-01 -1.20759119e-01 -1.07505508e-01 4.60530148e+01] [ 1.20343751e-01 9.92678149e-01 -1.03669787e-02 2.81473676e+00] [ 1.07970276e-01 -2.70703206e-03 9.94150437e-01 3.95566430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117105681 meters 0.02026288312189281 Centerline is valid? [True, True] Translation: X:46.11, Y:2.86, Z:3.96 [[ 9.90473423e-01 -8.78494069e-02 -1.06041876e-01 4.61092490e+01] [ 8.72567768e-02 9.96133383e-01 -1.02243438e-02 2.86171174e+00] [ 1.06530055e-01 8.74068513e-04 9.94309099e-01 3.96440585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17710568099999 meters 0.021429929090458398 Centerline is valid? [True, True] Translation: X:46.17, Y:2.87, Z:3.96 [[ 9.90590163e-01 -8.30606456e-02 -1.08775265e-01 4.61701136e+01] [ 8.24084806e-02 9.96543479e-01 -1.04850539e-02 2.86921252e+00] [ 1.09270176e-01 1.42238698e-03 9.94011069e-01 3.96467495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.237105680999996 meters 0.020217873017212652 Centerline is valid? [True, True] Translation: X:46.23, Y:2.86, Z:3.97 [[ 9.90386383e-01 -8.92334871e-02 -1.05698610e-01 4.62318341e+01] [ 8.86533211e-02 9.96010478e-01 -1.01841077e-02 2.86212231e+00] [ 1.06185687e-01 7.15668765e-04 9.94346060e-01 3.97157561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297105681 meters 0.01999819676888237 Centerline is valid? [True, True] Translation: X:46.30, Y:2.84, Z:3.98 [[ 9.89062308e-01 -1.04753387e-01 -1.03838714e-01 4.62951582e+01] [ 1.04278971e-01 9.94497789e-01 -1.00021657e-02 2.83676775e+00] [ 1.04315132e-01 -9.35429077e-04 9.94543854e-01 3.97735758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35710568099999 meters 0.023497627196778184 Centerline is valid? [True, True] Translation: X:46.36, Y:2.82, Z:3.98 [[ 9.87691941e-01 -1.18373566e-01 -1.02236630e-01 4.63573688e+01] [ 1.17986815e-01 9.92966375e-01 -9.84328802e-03 2.81805970e+00] [ 1.02682721e-01 -2.34043811e-03 9.94711406e-01 3.98398940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.417105680999995 meters 0.02675364823218882 Centerline is valid? [True, True] Translation: X:46.42, Y:2.80, Z:3.99 [[ 9.86386851e-01 -1.28869450e-01 -1.02145217e-01 4.64198788e+01] [ 1.28539640e-01 9.91655631e-01 -9.83213395e-03 2.80387816e+00] [ 1.02559941e-01 -3.43142174e-03 9.94720907e-01 3.98795340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477105681 meters 0.025036567502520625 Centerline is valid? [True, True] Translation: X:46.48, Y:2.81, Z:3.99 [[ 9.86525131e-01 -1.24411882e-01 -1.06253701e-01 4.64821701e+01] [ 1.24029613e-01 9.92225842e-01 -1.02241516e-02 2.80733193e+00] [ 1.06699674e-01 -3.09222284e-03 9.94286487e-01 3.99164974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53710568099999 meters 0.019213864094120743 Centerline is valid? [True, True] Translation: X:46.54, Y:2.83, Z:4.00 [[ 9.89586273e-01 -9.69075248e-02 -1.06432793e-01 4.65410498e+01] [ 9.63658302e-02 9.95293381e-01 -1.02328923e-02 2.82592786e+00] [ 1.06923499e-01 -1.30154759e-04 9.94267242e-01 3.99834334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.597105680999995 meters 0.021008870444304995 Centerline is valid? [True, True] Translation: X:46.60, Y:2.83, Z:4.00 [[ 9.90856096e-01 -8.22390440e-02 -1.06962312e-01 4.66014355e+01] [ 8.16066700e-02 9.96611563e-01 -1.02832085e-02 2.83412013e+00] [ 1.07445558e-01 1.46034174e-03 9.94209897e-01 4.00059995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657105681 meters 0.025903738081758082 Centerline is valid? [True, True] Translation: X:46.66, Y:2.84, Z:4.01 [[ 9.91989544e-01 -6.80485087e-02 -1.06424361e-01 4.66613364e+01] [ 6.73409629e-02 9.97677553e-01 -1.02320423e-02 2.83630599e+00] [ 1.06873471e-01 2.98335997e-03 9.94268153e-01 4.00848977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71710568099999 meters 0.026513874680101458 Centerline is valid? [True, True] Translation: X:46.72, Y:2.83, Z:4.02 [[ 9.92357198e-01 -6.61911317e-02 -1.04143773e-01 4.67204941e+01] [ 6.55026798e-02 9.97802077e-01 -1.00206944e-02 2.82870323e+00] [ 1.04578154e-01 3.12241201e-03 9.94511770e-01 4.01731444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.777105680999995 meters 0.0276869014869653 Centerline is valid? [True, True] Translation: X:46.78, Y:2.82, Z:4.02 [[ 9.92483472e-01 -6.70213713e-02 -1.02394792e-01 4.67798007e+01] [ 6.63570472e-02 9.97746984e-01 -9.88427679e-03 2.81581221e+00] [ 1.02826553e-01 3.01536528e-03 9.94694731e-01 4.02012854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837105681 meters 0.02826375022593325 Centerline is valid? [True, True] Translation: X:46.84, Y:2.81, Z:4.03 [[ 9.92651413e-01 -6.22257585e-02 -1.03784042e-01 4.68397457e+01] [ 6.15152833e-02 9.98055688e-01 -1.00356398e-02 2.80603308e+00] [ 1.04206729e-01 3.57758730e-03 9.94549224e-01 4.02650844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89710568099999 meters 0.030619527465109788 Centerline is valid? [True, True] Translation: X:46.90, Y:2.80, Z:4.03 [[ 9.92751701e-01 -5.81519254e-02 -1.05178008e-01 4.68996418e+01] [ 5.73984979e-02 9.98299457e-01 -1.01787358e-02 2.79905883e+00] [ 1.05591061e-01 4.06789760e-03 9.94401317e-01 4.03198131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.957105680999994 meters 0.037763061289555915 Centerline is valid? [True, True] Translation: X:46.96, Y:2.79, Z:4.03 [[ 9.92994721e-01 -5.45355623e-02 -1.04820595e-01 4.69593174e+01] [ 5.37660339e-02 9.98501920e-01 -1.01552162e-02 2.78636631e+00] [ 1.05217386e-01 4.44828840e-03 9.94439296e-01 4.03249208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.017105681 meters 0.029741479196826466 Centerline is valid? [True, True] Translation: X:47.02, Y:2.76, Z:4.05 [[ 9.92769617e-01 -6.11152542e-02 -1.03312210e-01 4.70205303e+01] [ 6.04021925e-02 9.98123833e-01 -1.00194382e-02 2.76204175e+00] [ 1.03730719e-01 3.70670991e-03 9.94598511e-01 4.04528064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07710568099999 meters 0.018824964392669445 Centerline is valid? [True, True] Translation: X:47.08, Y:2.72, Z:4.06 [[ 9.91426370e-01 -8.33899433e-02 -1.00597570e-01 4.70840345e+01] [ 8.28276468e-02 9.96516086e-01 -9.76074060e-03 2.71905731e+00] [ 1.01061045e-01 1.34479559e-03 9.94879318e-01 4.05711996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.137105680999994 meters 0.01678110040800437 Centerline is valid? [True, True] Translation: X:47.14, Y:2.70, Z:4.06 [[ 9.89942341e-01 -9.89574112e-02 -1.01101891e-01 4.71439439e+01] [ 9.84697533e-02 9.95091641e-01 -9.81499559e-03 2.69791511e+00] [ 1.01576913e-01 -2.39198545e-04 9.94827660e-01 4.06214008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.197105681 meters 0.016935705873753818 Centerline is valid? [True, True] Translation: X:47.20, Y:2.70, Z:4.07 [[ 9.89485580e-01 -9.89571704e-02 -1.05478748e-01 4.72031674e+01] [ 9.84244620e-02 9.95091666e-01 -1.02567565e-02 2.69608122e+00] [ 1.05976002e-01 -2.32776317e-04 9.94368660e-01 4.06528031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25710568099999 meters 0.024655455453126723 Centerline is valid? [True, True] Translation: X:47.26, Y:2.73, Z:4.08 [[ 9.91830586e-01 -7.10091976e-02 -1.05970667e-01 4.72594182e+01] [ 7.03088855e-02 9.97471732e-01 -1.03345982e-02 2.72526713e+00] [ 1.06436597e-01 2.79949109e-03 9.94315550e-01 4.07510329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317105680999994 meters 0.03180665180499924 Centerline is valid? [True, True] Translation: X:47.32, Y:2.74, Z:4.09 [[ 9.93461100e-01 -5.58095669e-02 -9.96008749e-02 4.73184638e+01] [ 5.51150503e-02 9.98432765e-01 -9.71318380e-03 2.73775197e+00] [ 9.99868654e-02 4.16016303e-03 9.94980060e-01 4.08736440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.377105680999996 meters 0.03273851036974765 Centerline is valid? [True, True] Translation: X:47.38, Y:2.74, Z:4.09 [[ 9.93760636e-01 -5.43445103e-02 -9.73985235e-02 4.73775976e+01] [ 5.36731834e-02 9.98513351e-01 -9.50139920e-03 2.73658106e+00] [ 9.77700750e-02 4.21442770e-03 9.95200106e-01 4.09497524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437105681 meters 0.037990943646633704 Centerline is valid? [True, True] Translation: X:47.44, Y:2.73, Z:4.09 [[ 9.93504304e-01 -4.80547103e-02 -1.03150095e-01 4.74385668e+01] [ 4.72642996e-02 9.98831409e-01 -1.00946969e-02 2.73393788e+00] [ 1.03514653e-01 5.15380783e-03 9.94614576e-01 4.09027364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497105680999994 meters 0.03612739475012291 Centerline is valid? [True, True] Translation: X:47.50, Y:2.73, Z:4.09 [[ 9.93393427e-01 -4.61015301e-02 -1.05091142e-01 4.74992969e+01] [ 4.52697402e-02 9.98921824e-01 -1.02878526e-02 2.72687772e+00] [ 1.05452121e-01 5.46243644e-03 9.94409378e-01 4.09417529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.557105680999996 meters 0.03458756010709944 Centerline is valid? [True, True] Translation: X:47.56, Y:2.72, Z:4.10 [[ 9.93231892e-01 -4.87871317e-02 -1.05405047e-01 4.75584602e+01] [ 4.79647422e-02 9.98795668e-01 -1.03245920e-02 2.72424306e+00] [ 1.05781812e-01 5.19898807e-03 9.94375773e-01 4.09904779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617105681 meters 0.03099407932161295 Centerline is valid? [True, True] Translation: X:47.62, Y:2.71, Z:4.11 [[ 9.92938303e-01 -5.68659343e-02 -1.04114318e-01 4.76207730e+01] [ 5.61068980e-02 9.98372592e-01 -1.02070693e-02 2.70933987e+00] [ 1.04525316e-01 4.29345863e-03 9.94512958e-01 4.10523973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67710568099999 meters 0.024103973718749172 Centerline is valid? [True, True] Translation: X:47.68, Y:2.69, Z:4.11 [[ 9.92211622e-01 -7.07504533e-02 -1.02520590e-01 4.76824613e+01] [ 7.00881066e-02 9.97490147e-01 -1.00530641e-02 2.68977366e+00] [ 1.02974537e-01 2.78929305e-03 9.94680082e-01 4.11142139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.737105680999996 meters 0.018405123175465905 Centerline is valid? [True, True] Translation: X:47.74, Y:2.67, Z:4.12 [[ 9.90875890e-01 -8.57992025e-02 -1.03939729e-01 4.77446721e+01] [ 8.52003562e-02 9.96311669e-01 -1.01959849e-02 2.67316663e+00] [ 1.04431172e-01 1.24725364e-03 9.94531334e-01 4.11543527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797105681 meters 0.01788732537724107 Centerline is valid? [True, True] Translation: X:47.80, Y:2.67, Z:4.12 [[ 9.89897215e-01 -9.02111589e-02 -1.09386701e-01 4.78031870e+01] [ 8.95739950e-02 9.95922317e-01 -1.07349261e-02 2.66929289e+00] [ 1.09909067e-01 8.28269623e-04 9.93941302e-01 4.11509649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85710568099999 meters 0.016686605441127562 Centerline is valid? [True, True] Translation: X:47.86, Y:2.67, Z:4.13 [[ 9.89375463e-01 -1.00648872e-01 -1.04909470e-01 4.78612897e+01] [ 1.00120200e-01 9.94921962e-01 -1.03070219e-02 2.67032887e+00] [ 1.05414126e-01 -3.06042548e-04 9.94428363e-01 4.13142940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.917105680999995 meters 0.019553637789131263 Centerline is valid? [True, True] Translation: X:47.92, Y:2.67, Z:4.14 [[ 9.88244257e-01 -1.14058759e-01 -1.01803178e-01 4.79203214e+01] [ 1.13630554e-01 9.93472600e-01 -1.00145161e-02 2.66808752e+00] [ 1.02280911e-01 -1.67116348e-03 9.94754152e-01 4.14120343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977105681 meters 0.023034401491963584 Centerline is valid? [True, True] Translation: X:47.98, Y:2.68, Z:4.15 [[ 9.87434093e-01 -1.23574024e-01 -9.85057008e-02 4.79782870e+01] [ 1.23217417e-01 9.92332105e-01 -9.71917087e-03 2.67847682e+00] [ 9.89514065e-02 -2.54057731e-03 9.95089023e-01 4.15063243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03710568099999 meters 0.021803888557684663 Centerline is valid? [True, True] Translation: X:48.04, Y:2.70, Z:4.16 [[ 9.87952218e-01 -1.20687769e-01 -9.68755766e-02 4.80350214e+01] [ 1.20328169e-01 9.92688068e-01 -9.56718596e-03 2.69979527e+00] [ 9.73218713e-02 -2.20493818e-03 9.95250517e-01 4.15616479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.097105680999995 meters 0.022400287250981466 Centerline is valid? [True, True] Translation: X:48.09, Y:2.73, Z:4.15 [[ 9.86894431e-01 -1.22079864e-01 -1.05526720e-01 4.80931740e+01] [ 1.21657618e-01 9.92517077e-01 -1.04535013e-02 2.72636095e+00] [ 1.06013234e-01 -2.52162714e-03 9.94361522e-01 4.15239099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157105681 meters 0.025076849709537222 Centerline is valid? [True, True] Translation: X:48.15, Y:2.74, Z:4.16 [[ 9.86221489e-01 -1.27200424e-01 -1.05769684e-01 4.81512105e+01] [ 1.26805024e-01 9.91872271e-01 -1.04825280e-02 2.74364207e+00] [ 1.06243399e-01 -3.07403290e-03 9.94335401e-01 4.15765192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21710568099999 meters 0.026703885930678566 Centerline is valid? [True, True] Translation: X:48.21, Y:2.76, Z:4.16 [[ 9.85747259e-01 -1.30880501e-01 -1.05700687e-01 4.82084632e+01] [ 1.30505654e-01 9.91392118e-01 -1.04853297e-02 2.75896378e+00] [ 1.06163153e-01 -3.45865227e-03 9.94342709e-01 4.16007385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.277105680999995 meters 0.02692880479381461 Centerline is valid? [True, True] Translation: X:48.26, Y:2.79, Z:4.17 [[ 9.85782825e-01 -1.33548343e-01 -1.01965985e-01 4.82636519e+01] [ 1.33210422e-01 9.91035833e-01 -1.01469783e-02 2.78858595e+00] [ 1.02407057e-01 -3.58021489e-03 9.94736134e-01 4.17140643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.337105681 meters 0.026871834482947887 Centerline is valid? [True, True] Translation: X:48.32, Y:2.81, Z:4.18 [[ 9.86257312e-01 -1.33680770e-01 -9.70874184e-02 4.83200041e+01] [ 1.33372042e-01 9.91018648e-01 -9.69213604e-03 2.80947433e+00] [ 9.75110943e-02 -3.38980720e-03 9.95228665e-01 4.18076864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39710568099999 meters 0.027229955703926525 Centerline is valid? [True, True] Translation: X:48.38, Y:2.83, Z:4.19 [[ 9.86260285e-01 -1.33167348e-01 -9.77604594e-02 4.83761492e+01] [ 1.32848828e-01 9.91087964e-01 -9.78956721e-03 2.83057556e+00] [ 9.81928654e-02 -3.33230113e-03 9.95161825e-01 4.18579273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.457105680999994 meters 0.02597772253554839 Centerline is valid? [True, True] Translation: X:48.43, Y:2.85, Z:4.18 [[ 9.86324778e-01 -1.29614570e-01 -1.01801259e-01 4.84333774e+01] [ 1.29248809e-01 9.91559643e-01 -1.02088510e-02 2.85446622e+00] [ 1.02265236e-01 -3.08844886e-03 9.94752373e-01 4.18430346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.517105681 meters 0.023702155459949113 Centerline is valid? [True, True] Translation: X:48.49, Y:2.87, Z:4.19 [[ 9.86679716e-01 -1.26996685e-01 -1.01661107e-01 4.84903793e+01] [ 1.26614783e-01 9.91899242e-01 -1.02268955e-02 2.87466121e+00] [ 1.02136357e-01 -2.78112871e-03 9.94766520e-01 4.19088765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57710568099999 meters 0.019937829762906152 Centerline is valid? [True, True] Translation: X:48.55, Y:2.91, Z:4.21 [[ 9.89008628e-01 -1.14543890e-01 -9.34966929e-02 4.85461942e+01] [ 1.14162775e-01 9.93417278e-01 -9.43253011e-03 2.90922759e+00] [ 9.39616689e-02 -1.34498824e-03 9.95574907e-01 4.20616729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.637105680999994 meters 0.019375747779026148 Centerline is valid? [True, True] Translation: X:48.60, Y:2.95, Z:4.21 [[ 9.91313364e-01 -9.06892213e-02 -9.52537669e-02 4.86023892e+01] [ 9.01833655e-02 9.95878801e-01 -9.61114324e-03 2.94705882e+00] [ 9.57328343e-02 9.37349451e-04 9.95406623e-01 4.20521707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.697105681 meters 0.024987873538261828 Centerline is valid? [True, True] Translation: X:48.66, Y:2.97, Z:4.20 [[ 9.92190696e-01 -7.37068785e-02 -1.00622655e-01 4.86616860e+01] [ 7.30545519e-02 9.97276220e-01 -1.01574587e-02 2.97024598e+00] [ 1.01097256e-01 2.72719307e-03 9.94872810e-01 4.20007153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75710568099999 meters 0.02561231373848619 Centerline is valid? [True, True] Translation: X:48.72, Y:2.97, Z:4.20 [[ 9.91532954e-01 -7.48517756e-02 -1.06111321e-01 4.87209464e+01] [ 7.41318729e-02 9.97190848e-01 -1.07180901e-02 2.97477579e+00] [ 1.06615507e-01 2.76110860e-03 9.94296490e-01 4.19881534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817105680999994 meters 0.02248764131061246 Centerline is valid? [True, True] Translation: X:48.78, Y:2.96, Z:4.21 [[ 9.91111257e-01 -8.17327793e-02 -1.04967752e-01 4.87825161e+01] [ 8.10636667e-02 9.96652215e-01 -1.06322453e-02 2.96198328e+00] [ 1.05485345e-01 2.02866711e-03 9.94418788e-01 4.20504929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.877105680999996 meters 0.019973987359850037 Centerline is valid? [True, True] Translation: X:48.84, Y:2.95, Z:4.22 [[ 9.90544132e-01 -9.01804299e-02 -1.03391552e-01 4.88419008e+01] [ 8.95768144e-02 9.95924819e-01 -1.04761018e-02 2.95056781e+00] [ 1.03914952e-01 1.11555527e-03 9.94585561e-01 4.21551280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937105681 meters 0.018362597442358266 Centerline is valid? [True, True] Translation: X:48.90, Y:2.94, Z:4.23 [[ 9.90409204e-01 -9.72184645e-02 -9.81742251e-02 4.89002530e+01] [ 9.67079061e-02 9.95262998e-01 -9.95719679e-03 2.93692083e+00] [ 9.86771970e-02 3.67475602e-04 9.95119428e-01 4.22738547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997105680999994 meters 0.018048122059875934 Centerline is valid? [True, True] Translation: X:48.96, Y:2.93, Z:4.24 [[ 9.90215688e-01 -1.00745318e-01 -9.65570961e-02 4.89594534e+01] [ 1.00266485e-01 9.94912247e-01 -9.81082345e-03 2.93191267e+00] [ 9.70542320e-02 3.33906770e-05 9.95279094e-01 4.23553259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.057105680999996 meters 0.018730777176764538 Centerline is valid? [True, True] Translation: X:49.02, Y:2.94, Z:4.24 [[ 9.90856001e-01 -9.46102392e-02 -9.61940088e-02 4.90163211e+01] [ 9.41032947e-02 9.95514171e-01 -9.80330823e-03 2.93899250e+00] [ 9.66899923e-02 6.61493638e-04 9.95314326e-01 4.24040815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117105681 meters 0.021293344660388847 Centerline is valid? [True, True] Translation: X:49.08, Y:2.94, Z:4.24 [[ 9.91559474e-01 -8.38833792e-02 -9.88604445e-02 4.90761382e+01] [ 8.32935600e-02 9.96474013e-01 -1.00858224e-02 2.94318445e+00] [ 9.93578968e-02 1.76625435e-03 9.95050194e-01 4.24226300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17710568099999 meters 0.025687001855636323 Centerline is valid? [True, True] Translation: X:49.14, Y:2.95, Z:4.24 [[ 9.92077710e-01 -7.42893718e-02 -1.01306000e-01 4.91352204e+01] [ 7.36195330e-02 9.97232796e-01 -1.03399619e-02 2.95131770e+00] [ 1.01793815e-01 2.79994530e-03 9.94801578e-01 4.24468875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.237105680999996 meters 0.027959612386573456 Centerline is valid? [True, True] Translation: X:49.19, Y:2.95, Z:4.25 [[ 9.92658067e-01 -6.90542568e-02 -9.93049459e-02 4.91946417e+01] [ 6.83843148e-02 9.97607536e-01 -1.01385216e-02 2.95026609e+00] [ 9.97674704e-02 3.27318453e-03 9.95005396e-01 4.25027544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297105681 meters 0.02793444670580958 Centerline is valid? [True, True] Translation: X:49.25, Y:2.94, Z:4.25 [[ 9.92327338e-01 -7.09555360e-02 -1.01251007e-01 4.92538021e+01] [ 7.02680289e-02 9.97474502e-01 -1.03451007e-02 2.94330852e+00] [ 1.01729340e-01 3.15101750e-03 9.94807123e-01 4.25248541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35710568099999 meters 0.02582801314871558 Centerline is valid? [True, True] Translation: X:49.31, Y:2.93, Z:4.25 [[ 9.91579200e-01 -7.62413147e-02 -1.04680236e-01 4.93139646e+01] [ 7.55339165e-02 9.97085701e-01 -1.07113267e-02 2.93440421e+00] [ 1.05191812e-01 2.71422058e-03 9.94448247e-01 4.25134952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.417105680999995 meters 0.019626324010390033 Centerline is valid? [True, True] Translation: X:49.38, Y:2.92, Z:4.26 [[ 9.90490745e-01 -8.80050402e-02 -1.05750634e-01 4.93757215e+01] [ 8.73467182e-02 9.96118885e-01 -1.08497370e-02 2.91645361e+00] [ 1.06295035e-01 1.50959324e-03 9.94333489e-01 4.25831491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477105681 meters 0.017454672421301422 Centerline is valid? [True, True] Translation: X:49.44, Y:2.91, Z:4.26 [[ 9.89512596e-01 -9.87956076e-02 -1.05376710e-01 4.94356114e+01] [ 9.82020961e-02 9.95107683e-01 -1.08188719e-02 2.90983931e+00] [ 1.05930031e-01 3.57196142e-04 9.94373522e-01 4.26410307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53710568099999 meters 0.018443755940182705 Centerline is valid? [True, True] Translation: X:49.49, Y:2.90, Z:4.28 [[ 9.89217307e-01 -1.08316038e-01 -9.85735999e-02 4.94934360e+01] [ 1.07841235e-01 9.94116334e-01 -1.01480161e-02 2.90199265e+00] [ 9.90928187e-02 -5.91705515e-04 9.95078019e-01 4.27556844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.597105680999995 meters 0.019029342927859558 Centerline is valid? [True, True] Translation: X:49.55, Y:2.89, Z:4.29 [[ 9.88531510e-01 -1.16889587e-01 -9.56152645e-02 4.95528704e+01] [ 1.16481662e-01 9.93143937e-01 -9.85607202e-03 2.89312001e+00] [ 9.61117925e-02 -1.39438721e-03 9.95369569e-01 4.28645347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657105681 meters 0.025558989805870957 Centerline is valid? [True, True] Translation: X:49.61, Y:2.89, Z:4.29 [[ 9.86636754e-01 -1.32034214e-01 -9.54718878e-02 4.96135374e+01] [ 1.31695245e-01 9.91241107e-01 -9.87067592e-03 2.88513322e+00] [ 9.59389267e-02 -2.83442196e-03 9.95383187e-01 4.29419461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71710568099999 meters 0.03388664930778055 Centerline is valid? [True, True] Translation: X:49.67, Y:2.88, Z:4.30 [[ 9.83768844e-01 -1.51732767e-01 -9.57915910e-02 4.96741567e+01] [ 1.51484179e-01 9.88410058e-01 -9.90460006e-03 2.88141560e+00] [ 9.61842244e-02 -4.76707359e-03 9.95352134e-01 4.29990663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.777105680999995 meters 0.037970126476354255 Centerline is valid? [True, True] Translation: X:49.73, Y:2.89, Z:4.30 [[ 9.82564146e-01 -1.60023568e-01 -9.46581013e-02 4.97342048e+01] [ 1.59818966e-01 9.87097812e-01 -9.78815156e-03 2.88883185e+00] [ 9.50031396e-02 -5.51067309e-03 9.95461720e-01 4.30489079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.837105681 meters 0.039978523869323775 Centerline is valid? [True, True] Translation: X:49.79, Y:2.91, Z:4.31 [[ 9.82236975e-01 -1.62305451e-01 -9.41672171e-02 4.97919052e+01] [ 1.62113356e-01 9.86724094e-01 -9.73764951e-03 2.90773125e+00] [ 9.44975356e-02 -5.70108416e-03 9.95508771e-01 4.31066320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89710568099999 meters 0.04157155646053423 Centerline is valid? [True, True] Translation: X:49.85, Y:2.94, Z:4.32 [[ 9.82153035e-01 -1.63524033e-01 -9.29263487e-02 4.98470742e+01] [ 1.63341941e-01 9.86522673e-01 -9.61387635e-03 2.93862505e+00] [ 9.32460497e-02 -5.73647235e-03 9.95626570e-01 4.31553082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.957105680999994 meters 0.03710231904876779 Centerline is valid? [True, True] Translation: X:49.90, Y:2.97, Z:4.32 [[ 9.83070894e-01 -1.58235975e-01 -9.23742031e-02 4.99040919e+01] [ 1.58031865e-01 9.87387668e-01 -9.56676964e-03 2.97314825e+00] [ 9.27229561e-02 -5.19325484e-03 9.95678404e-01 4.32123947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.017105681 meters 0.03041450785287421 Centerline is valid? [True, True] Translation: X:49.96, Y:3.01, Z:4.33 [[ 9.85148277e-01 -1.45058791e-01 -9.18739356e-02 4.99606612e+01] [ 1.44799661e-01 9.89415237e-01 -9.51566911e-03 3.01457938e+00] [ 9.22818032e-02 -3.92896969e-03 9.95725179e-01 4.32546314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07710568099999 meters 0.02336553196894037 Centerline is valid? [True, True] Translation: X:50.02, Y:3.05, Z:4.33 [[ 9.87299302e-01 -1.28741914e-01 -9.30892440e-02 5.00175011e+01] [ 1.28403400e-01 9.91675148e-01 -9.64202502e-03 3.05279786e+00] [ 9.35556225e-02 -2.43341087e-03 9.95611081e-01 4.32766284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.137105680999994 meters 0.01879267436459374 Centerline is valid? [True, True] Translation: X:50.07, Y:3.11, Z:4.33 [[ 9.90002577e-01 -1.01852789e-01 -9.75751375e-02 5.00731181e+01] [ 1.01349751e-01 9.94799475e-01 -1.01110395e-02 3.10611667e+00] [ 9.80975331e-02 1.20739223e-04 9.95176798e-01 4.32792724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.197105681 meters 0.02141936914329822 Centerline is valid? [True, True] Translation: X:50.13, Y:3.14, Z:4.32 [[ 9.90399012e-01 -9.09810779e-02 -1.04078052e-01 5.01298966e+01] [ 9.03483581e-02 9.95851798e-01 -1.07875333e-02 3.13542225e+00] [ 1.04627776e-01 1.28068119e-03 9.94510628e-01 4.32035437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25710568099999 meters 0.020113196006057314 Centerline is valid? [True, True] Translation: X:50.19, Y:3.14, Z:4.32 [[ 9.89644286e-01 -9.80388182e-02 -1.04845490e-01 5.01875126e+01] [ 9.74350126e-02 9.95182440e-01 -1.08779766e-02 3.14001247e+00] [ 1.05406855e-01 5.49705771e-04 9.94429029e-01 4.32045525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317105680999994 meters 0.0203309030291162 Centerline is valid? [True, True] Translation: X:50.25, Y:3.14, Z:4.33 [[ 9.88064861e-01 -1.13423689e-01 -1.04225226e-01 5.02464590e+01] [ 1.12910689e-01 9.93546136e-01 -1.08283121e-02 3.13737208e+00] [ 1.04780758e-01 -1.06906745e-03 9.94494771e-01 4.33014225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.377105680999996 meters 0.020055286938969304 Centerline is valid? [True, True] Translation: X:50.30, Y:3.15, Z:4.34 [[ 9.88077672e-01 -1.13254081e-01 -1.04288195e-01 5.03035369e+01] [ 1.12735969e-01 9.93565537e-01 -1.08685176e-02 3.14906403e+00] [ 1.04848061e-01 -1.01809116e-03 9.94487731e-01 4.33731872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43710568099999 meters 0.019947250563621528 Centerline is valid? [True, True] Translation: X:50.36, Y:3.16, Z:4.34 [[ 9.88487928e-01 -1.12501841e-01 -1.01167938e-01 5.03604218e+01] [ 1.12007094e-01 9.93651129e-01 -1.05756995e-02 3.15840130e+00] [ 1.01715422e-01 -8.77575431e-04 9.94813150e-01 4.34323229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497105680999994 meters 0.020255238284251444 Centerline is valid? [True, True] Translation: X:50.42, Y:3.16, Z:4.35 [[ 9.88181585e-01 -1.17686224e-01 -9.82196959e-02 5.04188304e+01] [ 1.17244437e-01 9.93049901e-01 -1.02779725e-02 3.16361580e+00] [ 9.87466351e-02 -1.35920977e-03 9.95111679e-01 4.35247114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.557105680999996 meters 0.020452922898198958 Centerline is valid? [True, True] Translation: X:50.48, Y:3.17, Z:4.36 [[ 9.88014626e-01 -1.16725393e-01 -1.01006346e-01 5.04779830e+01] [ 1.16252649e-01 9.93163384e-01 -1.05742766e-02 3.17258639e+00] [ 1.01550091e-01 -1.29471532e-03 9.94829585e-01 4.35750785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617105681 meters 0.019020058178826304 Centerline is valid? [True, True] Translation: X:50.54, Y:3.19, Z:4.36 [[ 9.89665890e-01 -1.03811341e-01 -9.89172955e-02 5.05368879e+01] [ 1.03293344e-01 9.94597006e-01 -1.03576443e-02 3.18768466e+00] [ 9.94580868e-02 3.31090654e-05 9.95041752e-01 4.36492843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67710568099999 meters 0.023461494512738497 Centerline is valid? [True, True] Translation: X:50.59, Y:3.21, Z:4.37 [[ 9.91345118e-01 -8.26417755e-02 -1.02005855e-01 5.05948869e+01] [ 8.19788337e-02 9.96576831e-01 -1.06813685e-02 3.20873531e+00] [ 1.02539399e-01 2.22660152e-03 9.94726452e-01 4.36717256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.737105680999996 meters 0.02989961460469501 Centerline is valid? [True, True] Translation: X:50.65, Y:3.22, Z:4.36 [[ 9.92106563e-01 -6.87726298e-02 -1.04856533e-01 5.06545756e+01] [ 6.79944838e-02 9.97625253e-01 -1.09820388e-02 3.22087672e+00] [ 1.05362789e-01 3.76568695e-03 9.94426720e-01 4.36494445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797105681 meters 0.03066261378860323 Centerline is valid? [True, True] Translation: X:50.71, Y:3.22, Z:4.37 [[ 9.92076513e-01 -6.72599273e-02 -1.06114536e-01 5.07135038e+01] [ 6.64539553e-02 9.97727560e-01 -1.11169959e-02 3.21754493e+00] [ 1.06621126e-01 3.97717989e-03 9.94291767e-01 4.36778381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85710568099999 meters 0.02572922403120745 Centerline is valid? [True, True] Translation: X:50.77, Y:3.20, Z:4.37 [[ 9.90761909e-01 -7.94444919e-02 -1.09906384e-01 5.07744145e+01] [ 7.86521703e-02 9.96835410e-01 -1.15326177e-02 3.19986476e+00] [ 1.10474778e-01 2.78170271e-03 9.93875035e-01 4.37081292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.917105680999995 meters 0.021677014946723992 Centerline is valid? [True, True] Translation: X:50.84, Y:3.18, Z:4.38 [[ 9.89966622e-01 -9.22504740e-02 -1.07032416e-01 5.08359941e+01] [ 9.15730648e-02 9.95734954e-01 -1.12371928e-02 3.18178372e+00] [ 1.07612554e-01 1.32315950e-03 9.94192027e-01 4.37560091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977105681 meters 0.01876620255188334 Centerline is valid? [True, True] Translation: X:50.90, Y:3.17, Z:4.39 [[ 9.88931754e-01 -1.05403289e-01 -1.04422852e-01 5.08964030e+01] [ 1.04831068e-01 9.94429553e-01 -1.09686157e-02 3.16545439e+00] [ 1.04997298e-01 -9.95467530e-05 9.94472502e-01 4.38667583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03710568099999 meters 0.0195989424019913 Centerline is valid? [True, True] Translation: X:50.96, Y:3.15, Z:4.40 [[ 9.88237452e-01 -1.16209919e-01 -9.94082188e-02 5.09552435e+01] [ 1.15744204e-01 9.93223986e-01 -1.04591171e-02 3.15204191e+00] [ 9.99500805e-02 -1.16983394e-03 9.94991765e-01 4.39833821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.097105680999995 meters 0.02358154211084999 Centerline is valid? [True, True] Translation: X:51.02, Y:3.13, Z:4.40 [[ 9.86230421e-01 -1.29688165e-01 -1.02618400e-01 5.10173916e+01] [ 1.29260871e-01 9.91551467e-01 -1.08312619e-02 3.13427915e+00] [ 1.03156111e-01 -2.58242377e-03 9.94661826e-01 4.39997337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157105681 meters 0.02935461914394308 Centerline is valid? [True, True] Translation: X:51.08, Y:3.12, Z:4.40 [[ 9.84778912e-01 -1.38981373e-01 -1.04377547e-01 5.10780480e+01] [ 1.38590930e-01 9.90288402e-01 -1.10197658e-02 3.12207289e+00] [ 1.04895416e-01 -3.61374830e-03 9.94476693e-01 4.40488517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21710568099999 meters 0.031803027254709036 Centerline is valid? [True, True] Translation: X:51.14, Y:3.12, Z:4.41 [[ 9.84286416e-01 -1.41853312e-01 -1.05156502e-01 5.11368637e+01] [ 1.41472794e-01 9.89879832e-01 -1.11071007e-02 3.12351246e+00] [ 1.05667879e-01 -3.94421575e-03 9.94393656e-01 4.41005865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.277105680999995 meters 0.031173099684876835 Centerline is valid? [True, True] Translation: X:51.19, Y:3.14, Z:4.42 [[ 9.83893838e-01 -1.44661880e-01 -1.05004081e-01 5.11946118e+01] [ 1.44297222e-01 9.89472111e-01 -1.11019340e-02 3.13531931e+00] [ 1.05504637e-01 -4.22867270e-03 9.94409820e-01 4.41616910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.337105681 meters 0.03574203868268711 Centerline is valid? [True, True] Translation: X:51.25, Y:3.14, Z:4.42 [[ 9.82588168e-01 -1.54075634e-01 -1.03832520e-01 5.12542302e+01] [ 1.53768377e-01 9.88045625e-01 -1.10058745e-02 3.14333002e+00] [ 1.04287004e-01 -5.15191599e-03 9.94533900e-01 4.42196470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39710568099999 meters 0.04004160646681973 Centerline is valid? [True, True] Translation: X:51.31, Y:3.15, Z:4.42 [[ 9.81520689e-01 -1.59873448e-01 -1.05155207e-01 5.13141947e+01] [ 1.59591378e-01 9.87120233e-01 -1.11461571e-02 3.15026680e+00] [ 1.05582807e-01 -5.84168053e-03 9.94393356e-01 4.42408352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.457105680999994 meters 0.043546899469473384 Centerline is valid? [True, True] Translation: X:51.37, Y:3.16, Z:4.44 [[ 9.81201681e-01 -1.65138215e-01 -9.98630594e-02 5.13732613e+01] [ 1.64910767e-01 9.86251683e-01 -1.05857004e-02 3.16022411e+00] [ 1.00238214e-01 -6.08178668e-03 9.94944879e-01 4.43503736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.517105681 meters 0.04490312980038523 Centerline is valid? [True, True] Translation: X:51.43, Y:3.18, Z:4.44 [[ 9.80763746e-01 -1.68571480e-01 -9.84181385e-02 5.14313936e+01] [ 1.68367681e-01 9.85669053e-01 -1.04327668e-02 3.17569158e+00] [ 9.87663803e-02 -6.33835424e-03 9.95090462e-01 4.44302087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57710568099999 meters 0.045472004618365765 Centerline is valid? [True, True] Translation: X:51.49, Y:3.20, Z:4.45 [[ 9.81423891e-01 -1.66381495e-01 -9.55214301e-02 5.14882932e+01] [ 1.66178923e-01 9.86043604e-01 -1.01280202e-02 3.19514923e+00] [ 9.58734103e-02 -5.93376745e-03 9.95375848e-01 4.44876124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.637105680999994 meters 0.04229045428242665 Centerline is valid? [True, True] Translation: X:51.55, Y:3.22, Z:4.45 [[ 9.82190762e-01 -1.60883785e-01 -9.70449154e-02 5.15471462e+01] [ 1.60647646e-01 9.86958144e-01 -1.02934564e-02 3.21594974e+00] [ 9.74353198e-02 -5.47989950e-03 9.95226773e-01 4.44886077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.697105681 meters 0.032960935595298106 Centerline is valid? [True, True] Translation: X:51.60, Y:3.25, Z:4.45 [[ 9.83475168e-01 -1.49941409e-01 -1.01460175e-01 5.16037052e+01] [ 1.49625244e-01 9.88684201e-01 -1.07627530e-02 3.25273022e+00] [ 1.01925855e-01 -4.59610314e-03 9.94781381e-01 4.45087800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75710568099999 meters 0.024675409170175355 Centerline is valid? [True, True] Translation: X:51.66, Y:3.29, Z:4.45 [[ 9.86100431e-01 -1.29759314e-01 -1.03771192e-01 5.16601274e+01] [ 1.29316530e-01 9.91542216e-01 -1.10122226e-02 3.29186772e+00] [ 1.04322456e-01 -2.56017309e-03 9.94540231e-01 4.45079948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817105680999994 meters 0.019885218289543684 Centerline is valid? [True, True] Translation: X:51.72, Y:3.33, Z:4.45 [[ 9.88660157e-01 -1.06741853e-01 -1.05627985e-01 5.17169335e+01] [ 1.06151691e-01 9.94286759e-01 -1.12097507e-02 3.33056631e+00] [ 1.06221056e-01 -1.29955294e-04 9.94342532e-01 4.45273268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.877105680999996 meters 0.020462642568867147 Centerline is valid? [True, True] Translation: X:51.77, Y:3.35, Z:4.46 [[ 9.89243496e-01 -1.00386511e-01 -1.06394807e-01 5.17748736e+01] [ 9.97510094e-02 9.94948359e-01 -1.12915053e-02 3.35451824e+00] [ 1.06990853e-01 5.57058765e-04 9.94259849e-01 4.45946281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93710568099999 meters 0.019742225530212633 Centerline is valid? [True, True] Translation: X:51.83, Y:3.35, Z:4.47 [[ 9.88982368e-01 -1.05737492e-01 -1.03602405e-01 5.18337979e+01] [ 1.05163745e-01 9.94394078e-01 -1.10001894e-02 3.35231409e+00] [ 1.04184751e-01 -1.62235877e-05 9.94557961e-01 4.46525491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997105680999994 meters 0.02028956946580569 Centerline is valid? [True, True] Translation: X:51.89, Y:3.35, Z:4.47 [[ 9.88012885e-01 -1.12926003e-01 -1.05253302e-01 5.18933317e+01] [ 1.12371034e-01 9.93603114e-01 -1.12072409e-02 3.35078440e+00] [ 1.05845597e-01 -7.54523877e-04 9.94382291e-01 4.46964620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.057105680999996 meters 0.02294860695157892 Centerline is valid? [True, True] Translation: X:51.95, Y:3.34, Z:4.48 [[ 9.86515084e-01 -1.26286262e-01 -1.04114210e-01 5.19538016e+01] [ 1.25816356e-01 9.91991503e-01 -1.10951870e-02 3.33998072e+00] [ 1.04681581e-01 -2.15370115e-03 9.94503458e-01 4.47728728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117105681 meters 0.026608745541846994 Centerline is valid? [True, True] Translation: X:52.01, Y:3.33, Z:4.48 [[ 9.85102126e-01 -1.37692620e-01 -1.03026909e-01 5.20148952e+01] [ 1.37294083e-01 9.90469428e-01 -1.09839070e-02 3.33076723e+00] [ 1.03557406e-01 -3.32471484e-03 9.94617922e-01 4.48394667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17710568099999 meters 0.02868458581288839 Centerline is valid? [True, True] Translation: X:52.07, Y:3.33, Z:4.49 [[ 9.84584405e-01 -1.42262902e-01 -1.01758612e-01 5.20746809e+01] [ 1.41898057e-01 9.89821787e-01 -1.08522186e-02 3.33003641e+00] [ 1.02266759e-01 -3.75442408e-03 9.94749925e-01 4.49280492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.237105680999996 meters 0.02890787752982874 Centerline is valid? [True, True] Translation: X:52.13, Y:3.33, Z:4.50 [[ 9.84674282e-01 -1.42488784e-01 -1.00565917e-01 5.21336267e+01] [ 1.42132802e-01 9.89789406e-01 -1.07330059e-02 3.33202884e+00] [ 1.01068413e-01 -3.72520067e-03 9.94872504e-01 4.49774955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297105681 meters 0.029843610851375425 Centerline is valid? [True, True] Translation: X:52.19, Y:3.34, Z:4.50 [[ 9.84354902e-01 -1.44117585e-01 -1.01368383e-01 5.21917749e+01] [ 1.43761124e-01 9.89552920e-01 -1.08516084e-02 3.33991685e+00] [ 1.01873287e-01 -3.89099882e-03 9.94789773e-01 4.50222789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35710568099999 meters 0.034158370498486024 Centerline is valid? [True, True] Translation: X:52.25, Y:3.34, Z:4.50 [[ 9.83202446e-01 -1.51481010e-01 -1.01815783e-01 5.22514309e+01] [ 1.51157715e-01 9.88449251e-01 -1.09281302e-02 3.33878197e+00] [ 1.02295139e-01 -4.64567673e-03 9.94743244e-01 4.50383967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.417105680999995 meters 0.03854803070082258 Centerline is valid? [True, True] Translation: X:52.31, Y:3.34, Z:4.51 [[ 9.80912003e-01 -1.64456800e-01 -1.03757429e-01 5.23113623e+01] [ 1.64193092e-01 9.86365349e-01 -1.11366974e-02 3.34270624e+00] [ 1.04174239e-01 -6.11213300e-03 9.94540281e-01 4.50900105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477105681 meters 0.05004007937334657 Centerline is valid? [True, True] Translation: X:52.37, Y:3.34, Z:4.51 [[ 9.78572466e-01 -1.76254418e-01 -1.06443919e-01 5.23718251e+01] [ 1.76045988e-01 9.84315629e-01 -1.14259393e-02 3.33836711e+00] [ 1.06788285e-01 -7.55791532e-03 9.94253056e-01 4.51037772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53710568099999 meters 0.05655461919010543 Centerline is valid? [True, True] Translation: X:52.43, Y:3.35, Z:4.52 [[ 9.76893888e-01 -1.85339343e-01 -1.06431482e-01 5.24315458e+01] [ 1.85184225e-01 9.82637400e-01 -1.14254913e-02 3.34824229e+00] [ 1.06701148e-01 -8.54793893e-03 9.94254393e-01 4.51503031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.597105680999995 meters 0.05679141684766848 Centerline is valid? [True, True] Translation: X:52.49, Y:3.36, Z:4.52 [[ 9.75506614e-01 -1.92040002e-01 -1.07272937e-01 5.24896819e+01] [ 1.91922480e-01 9.81342519e-01 -1.15161475e-02 3.36499956e+00] [ 1.07483056e-01 -9.35401011e-03 9.94162912e-01 4.52169068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.657105681 meters 0.054801586997000926 Centerline is valid? [True, True] Translation: X:52.55, Y:3.40, Z:4.53 [[ 9.76061967e-01 -1.91148878e-01 -1.03755209e-01 5.25464427e+01] [ 1.91033616e-01 9.81520277e-01 -1.11401891e-02 3.39599699e+00] [ 1.03967277e-01 -8.94721791e-03 9.94540473e-01 4.53306413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71710568099999 meters 0.04999104718732256 Centerline is valid? [True, True] Translation: X:52.60, Y:3.43, Z:4.54 [[ 9.76345604e-01 -1.88998609e-01 -1.05018034e-01 5.26047352e+01] [ 1.88868343e-01 9.81937688e-01 -1.12750228e-02 3.42573587e+00] [ 1.05252129e-01 -8.82626321e-03 9.94406399e-01 4.53773922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.777105680999995 meters 0.04395165490104398 Centerline is valid? [True, True] Translation: X:52.66, Y:3.46, Z:4.54 [[ 9.79044990e-01 -1.74698389e-01 -1.04648846e-01 5.26624219e+01] [ 1.74488183e-01 9.84595204e-01 -1.12319888e-02 3.45623255e+00] [ 1.04998962e-01 -7.26336457e-03 9.94445806e-01 4.54331437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.837105681 meters 0.02911180872931664 Centerline is valid? [True, True] Translation: X:52.72, Y:3.50, Z:4.55 [[ 9.83841123e-01 -1.47945577e-01 -1.00840229e-01 5.27170592e+01] [ 1.47609623e-01 9.88986443e-01 -1.08265607e-02 3.50470439e+00] [ 1.01331361e-01 -4.23337244e-03 9.94843723e-01 4.55497109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89710568099999 meters 0.026031499009920963 Centerline is valid? [True, True] Translation: X:52.77, Y:3.53, Z:4.56 [[ 9.85554285e-01 -1.35361238e-01 -1.01784507e-01 5.27740723e+01] [ 1.34952050e-01 9.90791873e-01 -1.09274330e-02 3.52870056e+00] [ 1.02326414e-01 -2.96644959e-03 9.94746453e-01 4.55717150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.957105680999994 meters 0.028276032487351086 Centerline is valid? [True, True] Translation: X:52.83, Y:3.54, Z:4.56 [[ 9.83608276e-01 -1.47332762e-01 -1.03960646e-01 5.28342499e+01] [ 1.46972146e-01 9.89077638e-01 -1.11630814e-02 3.53646999e+00] [ 1.04469838e-01 -4.29922009e-03 9.94518763e-01 4.56081503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.017105681 meters 0.03920160010232606 Centerline is valid? [True, True] Translation: X:52.89, Y:3.53, Z:4.56 [[ 9.80515212e-01 -1.64531409e-01 -1.07328167e-01 5.28948920e+01] [ 1.64249396e-01 9.86351534e-01 -1.15233199e-02 3.52711857e+00] [ 1.07759250e-01 -6.32979608e-03 9.94156868e-01 4.56289062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07710568099999 meters 0.04564135068841103 Centerline is valid? [True, True] Translation: X:52.96, Y:3.53, Z:4.56 [[ 9.78330541e-01 -1.75201004e-01 -1.10335674e-01 5.29565590e+01] [ 1.74970618e-01 9.84502425e-01 -1.18430798e-02 3.52512906e+00] [ 1.10700659e-01 -7.71905445e-03 9.93823818e-01 4.56367883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.137105680999994 meters 0.05100728310277321 Centerline is valid? [True, True] Translation: X:53.02, Y:3.53, Z:4.57 [[ 9.77363354e-01 -1.80966233e-01 -1.09599707e-01 5.30165737e+01] [ 1.80774812e-01 9.83454157e-01 -1.17638769e-02 3.52837544e+00] [ 1.09915152e-01 -8.31528424e-03 9.93906190e-01 4.56947998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.197105681 meters 0.045682102518303916 Centerline is valid? [True, True] Translation: X:53.08, Y:3.55, Z:4.58 [[ 9.77711901e-01 -1.78136334e-01 -1.11116541e-01 5.30757089e+01] [ 1.77921786e-01 9.83972382e-01 -1.19242874e-02 3.55057934e+00] [ 1.11459756e-01 -8.11153567e-03 9.93735843e-01 4.57820354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25710568099999 meters 0.04039865444457569 Centerline is valid? [True, True] Translation: X:53.13, Y:3.58, Z:4.58 [[ 9.80997044e-01 -1.59865891e-01 -1.09944058e-01 5.31333705e+01] [ 1.59542134e-01 9.87120678e-01 -1.17929509e-02 3.57504564e+00] [ 1.10413344e-01 -5.97185963e-03 9.93867813e-01 4.58284879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317105680999994 meters 0.030221544610465497 Centerline is valid? [True, True] Translation: X:53.19, Y:3.60, Z:4.60 [[ 9.82754840e-01 -1.49818839e-01 -1.08384683e-01 5.31904841e+01] [ 1.49443209e-01 9.88701952e-01 -1.16265683e-02 3.60202037e+00] [ 1.08902027e-01 -4.77128857e-03 9.94041037e-01 4.59518442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.377105680999996 meters 0.01891275780601306 Centerline is valid? [True, True] Translation: X:53.24, Y:3.65, Z:4.61 [[ 9.88449727e-01 -1.09469286e-01 -1.04802728e-01 5.32449672e+01] [ 1.08890872e-01 9.93990134e-01 -1.12424343e-02 3.65051732e+00] [ 1.05403579e-01 -2.99479276e-04 9.94429483e-01 4.60676939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43710568099999 meters 0.019603870974186633 Centerline is valid? [True, True] Translation: X:53.31, Y:3.66, Z:4.61 [[ 9.89526892e-01 -9.77144130e-02 -1.06246994e-01 5.33058757e+01] [ 9.70524581e-02 9.95214029e-01 -1.13954975e-02 3.66455613e+00] [ 1.06852004e-01 9.64619210e-04 9.94274469e-01 4.61014586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497105680999994 meters 0.020127943505242996 Centerline is valid? [True, True] Translation: X:53.37, Y:3.66, Z:4.61 [[ 9.89593152e-01 -9.44688597e-02 -1.08540442e-01 5.33687244e+01] [ 9.37595039e-02 9.95526923e-01 -1.16318873e-02 3.66406134e+00] [ 1.09153784e-01 1.33413801e-03 9.94023979e-01 4.61402477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.557105680999996 meters 0.021333173023503058 Centerline is valid? [True, True] Translation: X:53.43, Y:3.66, Z:4.62 [[ 9.89726315e-01 -9.12739628e-02 -1.10049470e-01 5.34315602e+01] [ 9.05260794e-02 9.95824368e-01 -1.17837315e-02 3.66078089e+00] [ 1.10665492e-01 1.70032214e-03 9.93856256e-01 4.61796980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617105681 meters 0.022396731807996614 Centerline is valid? [True, True] Translation: X:53.50, Y:3.65, Z:4.62 [[ 9.89310907e-01 -9.35721524e-02 -1.11839981e-01 5.34965230e+01] [ 9.28154056e-02 9.95611435e-01 -1.19654149e-02 3.64624419e+00] [ 1.12468794e-01 1.45704220e-03 9.93654189e-01 4.61597887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67710568099999 meters 0.021190570934711033 Centerline is valid? [True, True] Translation: X:53.56, Y:3.63, Z:4.62 [[ 9.88670929e-01 -1.02755850e-01 -1.09412203e-01 5.35601884e+01] [ 1.02088735e-01 9.94706530e-01 -1.16965970e-02 3.62689126e+00] [ 1.10034927e-01 3.94332049e-04 9.93927643e-01 4.62167642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.737105680999996 meters 0.022243668473282754 Centerline is valid? [True, True] Translation: X:53.62, Y:3.60, Z:4.63 [[ 9.86917513e-01 -1.17197784e-01 -1.10718119e-01 5.36238749e+01] [ 1.16605577e-01 9.93107828e-01 -1.18313942e-02 3.60351607e+00] [ 1.11341643e-01 -1.23374001e-03 9.93781423e-01 4.62554436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797105681 meters 0.026142254576099526 Centerline is valid? [True, True] Translation: X:53.69, Y:3.58, Z:4.63 [[ 9.85428045e-01 -1.30002788e-01 -1.09685205e-01 5.36859123e+01] [ 1.29500647e-01 9.91510073e-01 -1.17199383e-02 3.57700573e+00] [ 1.10277610e-01 -2.65514920e-03 9.93897278e-01 4.62973277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85710568099999 meters 0.023368925764835846 Centerline is valid? [True, True] Translation: X:53.75, Y:3.57, Z:4.65 [[ 9.86727666e-01 -1.23891109e-01 -1.04973834e-01 5.37465911e+01] [ 1.23396365e-01 9.92294034e-01 -1.12199510e-02 3.57050719e+00] [ 1.05554961e-01 -1.88235339e-03 9.94411689e-01 4.64709328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.917105680999995 meters 0.02118431651311313 Centerline is valid? [True, True] Translation: X:53.81, Y:3.58, Z:4.65 [[ 9.88834659e-01 -1.07522875e-01 -1.03173872e-01 5.38074392e+01] [ 1.06956252e-01 9.94202602e-01 -1.10248263e-02 3.57804214e+00] [ 1.03761153e-01 -1.33360264e-04 9.94602235e-01 4.65157177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977105681 meters 0.02189263072841438 Centerline is valid? [True, True] Translation: X:53.87, Y:3.58, Z:4.65 [[ 9.89835699e-01 -9.80944525e-02 -1.02969739e-01 5.38679899e+01] [ 9.74795780e-02 9.95176746e-01 -1.09988805e-02 3.58240004e+00] [ 1.03552019e-01 8.49637848e-04 9.94623676e-01 4.65329677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03710568099999 meters 0.022142256842277313 Centerline is valid? [True, True] Translation: X:53.93, Y:3.58, Z:4.66 [[ 9.89846185e-01 -9.58173802e-02 -1.04993142e-01 5.39279809e+01] [ 9.51651662e-02 9.95398311e-01 -1.12157959e-02 3.58056525e+00] [ 1.05584664e-01 1.11022302e-03 9.94409697e-01 4.65692397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.097105680999995 meters 0.022684754079103055 Centerline is valid? [True, True] Translation: X:53.99, Y:3.57, Z:4.66 [[ 9.89998280e-01 -9.33578826e-02 -1.05771975e-01 5.39872092e+01] [ 9.26808594e-02 9.95631642e-01 -1.13089546e-02 3.57351502e+00] [ 1.06365706e-01 1.39280798e-03 9.94326102e-01 4.66209758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.157105681 meters 0.025190437886134964 Centerline is valid? [True, True] Translation: X:54.05, Y:3.58, Z:4.67 [[ 9.90951310e-01 -8.44949216e-02 -1.04288584e-01 5.40456841e+01] [ 8.37846749e-02 9.96421159e-01 -1.11804597e-02 3.57837917e+00] [ 1.04860044e-01 2.34150612e-03 9.94484232e-01 4.66988751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21710568099999 meters 0.027288487423801525 Centerline is valid? [True, True] Translation: X:54.11, Y:3.58, Z:4.67 [[ 9.91201533e-01 -7.95235732e-02 -1.05808894e-01 5.41058033e+01] [ 7.87633274e-02 9.96828717e-01 -1.13511300e-02 3.57507065e+00] [ 1.06376027e-01 2.91739690e-03 9.94321693e-01 4.66859719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.277105680999995 meters 0.026331723467005665 Centerline is valid? [True, True] Translation: X:54.17, Y:3.57, Z:4.67 [[ 9.90501304e-01 -8.49659477e-02 -1.08110848e-01 5.41651289e+01] [ 8.42033510e-02 9.96380979e-01 -1.16077646e-02 3.56753324e+00] [ 1.08705857e-01 2.39421032e-03 9.94071076e-01 4.67048309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.337105681 meters 0.02334942717709823 Centerline is valid? [True, True] Translation: X:54.23, Y:3.55, Z:4.68 [[ 9.90419617e-01 -9.08580959e-02 -1.03989371e-01 5.42262119e+01] [ 9.01835621e-02 9.95862407e-01 -1.11799225e-02 3.54757392e+00] [ 1.04574891e-01 1.69468272e-03 9.94515571e-01 4.68220514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39710568099999 meters 0.025212613744950416 Centerline is valid? [True, True] Translation: X:54.29, Y:3.54, Z:4.69 [[ 9.91428284e-01 -8.48462295e-02 -9.93532834e-02 5.42850005e+01] [ 8.41998232e-02 9.96391558e-01 -1.06889329e-02 3.54466648e+00] [ 9.99016885e-02 2.23178150e-03 9.94994810e-01 4.69208227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.457105680999994 meters 0.028919501991218545 Centerline is valid? [True, True] Translation: X:54.35, Y:3.54, Z:4.69 [[ 9.91652372e-01 -7.82054853e-02 -1.02515728e-01 5.43458327e+01] [ 7.74786473e-02 9.96932675e-01 -1.10589785e-02 3.54095606e+00] [ 1.03066152e-01 3.02388230e-03 9.94669907e-01 4.69307806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.517105681 meters 0.0308665409719073 Centerline is valid? [True, True] Translation: X:54.41, Y:3.53, Z:4.69 [[ 9.91512522e-01 -7.66699959e-02 -1.04998243e-01 5.44058917e+01] [ 7.58983947e-02 9.97051177e-01 -1.13306745e-02 3.52729667e+00] [ 1.05557345e-01 3.26530758e-03 9.94407856e-01 4.69292606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57710568099999 meters 0.028030486478149052 Centerline is valid? [True, True] Translation: X:54.47, Y:3.51, Z:4.71 [[ 9.91559812e-01 -8.13417922e-02 -1.00958664e-01 5.44657656e+01] [ 8.06517372e-02 9.96682689e-01 -1.09048072e-02 3.51459769e+00] [ 1.01510770e-01 2.67027694e-03 9.94830857e-01 4.70639627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.637105680999994 meters 0.021803054546776203 Centerline is valid? [True, True] Translation: X:54.53, Y:3.50, Z:4.71 [[ 9.90726525e-01 -8.93165500e-02 -1.02388992e-01 5.45279241e+01] [ 8.86486803e-02 9.96001507e-01 -1.10638790e-02 3.49563176e+00] [ 1.02967778e-01 1.88462934e-03 9.94682907e-01 4.71020849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.697105681 meters 0.017817667890405994 Centerline is valid? [True, True] Translation: X:54.59, Y:3.47, Z:4.72 [[ 9.88577878e-01 -1.11481369e-01 -1.01418362e-01 5.45899084e+01] [ 1.10941692e-01 9.93766438e-01 -1.09639019e-02 3.47064124e+00] [ 1.02008435e-01 -4.12853816e-04 9.94783448e-01 4.71556742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75710568099999 meters 0.022115331398744408 Centerline is valid? [True, True] Translation: X:54.65, Y:3.45, Z:4.73 [[ 9.87300152e-01 -1.28761405e-01 -9.30532617e-02 5.46501166e+01] [ 1.28383262e-01 9.91673564e-01 -1.00637816e-02 3.45311228e+00] [ 9.35742864e-02 -2.01050822e-03 9.95610271e-01 4.73172778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817105680999994 meters 0.02422569705567491 Centerline is valid? [True, True] Translation: X:54.71, Y:3.46, Z:4.73 [[ 9.86184501e-01 -1.34583479e-01 -9.65785509e-02 5.47097706e+01] [ 1.34203247e-01 9.90898706e-01 -1.04519393e-02 3.45511928e+00] [ 9.71062194e-02 -2.65361460e-03 9.95270486e-01 4.73271976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.877105680999996 meters 0.025275307618125444 Centerline is valid? [True, True] Translation: X:54.77, Y:3.46, Z:4.73 [[ 9.85371074e-01 -1.36859127e-01 -1.01555035e-01 5.47684363e+01] [ 1.36449597e-01 9.90585927e-01 -1.10013188e-02 3.46381687e+00] [ 1.02104619e-01 -3.01676231e-03 9.94769092e-01 4.73042971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93710568099999 meters 0.02803397000053987 Centerline is valid? [True, True] Translation: X:54.83, Y:3.47, Z:4.73 [[ 9.84431377e-01 -1.42414686e-01 -1.03019030e-01 5.48275502e+01] [ 1.42020360e-01 9.89800481e-01 -1.11904246e-02 3.46973219e+00] [ 1.03561966e-01 -3.61459458e-03 9.94616436e-01 4.73392509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997105680999994 meters 0.03341258268522988 Centerline is valid? [True, True] Translation: X:54.89, Y:3.48, Z:4.74 [[ 9.83331208e-01 -1.52441290e-01 -9.91029191e-02 5.48865914e+01] [ 1.52126406e-01 9.88302353e-01 -1.07710526e-02 3.47937134e+00] [ 9.95856013e-02 -4.48465876e-03 9.95018892e-01 4.74470670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.057105680999996 meters 0.03729539102380622 Centerline is valid? [True, True] Translation: X:54.95, Y:3.49, Z:4.75 [[ 9.82419053e-01 -1.60646768e-01 -9.51074125e-02 5.49458456e+01] [ 1.60394908e-01 9.86998791e-01 -1.03372867e-02 3.49192056e+00] [ 9.55315528e-02 -5.09919722e-03 9.95413342e-01 4.75188327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117105681 meters 0.0414794828827548 Centerline is valid? [True, True] Translation: X:55.01, Y:3.51, Z:4.75 [[ 9.81156322e-01 -1.67373354e-01 -9.65320293e-02 5.50052759e+01] [ 1.67146219e-01 9.85876286e-01 -1.04923918e-02 3.50622728e+00] [ 9.69247853e-02 -5.84028711e-03 9.95274574e-01 4.75238336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17710568099999 meters 0.04382728721090729 Centerline is valid? [True, True] Translation: X:55.06, Y:3.52, Z:4.75 [[ 9.80756743e-01 -1.68337777e-01 -9.88868289e-02 5.50622282e+01] [ 1.68104220e-01 9.85710616e-01 -1.07495252e-02 3.52114937e+00] [ 9.92833482e-02 -6.08062385e-03 9.95040624e-01 4.75253949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.237105680999996 meters 0.043138054127173725 Centerline is valid? [True, True] Translation: X:55.12, Y:3.55, Z:4.75 [[ 9.80353318e-01 -1.67688638e-01 -1.03864784e-01 5.51185512e+01] [ 1.67425811e-01 9.85819843e-01 -1.13064021e-02 3.54524054e+00] [ 1.04287920e-01 -6.30537694e-03 9.94527160e-01 4.74974144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297105681 meters 0.04042993159397158 Centerline is valid? [True, True] Translation: X:55.17, Y:3.58, Z:4.76 [[ 9.81307366e-01 -1.64001337e-01 -1.00694659e-01 5.51747706e+01] [ 1.63731804e-01 9.86443647e-01 -1.09921586e-02 3.57679701e+00] [ 1.01132335e-01 -5.70023188e-03 9.94856652e-01 4.75933434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35710568099999 meters 0.042189193092798886 Centerline is valid? [True, True] Translation: X:55.23, Y:3.59, Z:4.77 [[ 9.81691587e-01 -1.64137971e-01 -9.66455043e-02 5.52310922e+01] [ 1.63890008e-01 9.86422172e-01 -1.05529159e-02 3.59244825e+00] [ 9.70654024e-02 -5.47952376e-03 9.95262921e-01 4.76671651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.417105680999995 meters 0.04520482800755147 Centerline is valid? [True, True] Translation: X:55.29, Y:3.61, Z:4.78 [[ 9.81415841e-01 -1.67312505e-01 -9.39652685e-02 5.52879943e+01] [ 1.67091622e-01 9.85887884e-01 -1.02698288e-02 3.61479555e+00] [ 9.43574905e-02 -5.62183647e-03 9.95522505e-01 4.77682360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.477105681 meters 0.041655600784303366 Centerline is valid? [True, True] Translation: X:55.35, Y:3.64, Z:4.78 [[ 9.80377904e-01 -1.70865673e-01 -9.83060850e-02 5.53460236e+01] [ 1.70641311e-01 9.85274588e-01 -1.07484203e-02 3.64221506e+00] [ 9.86950235e-02 -6.23756544e-03 9.95098179e-01 4.77506692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53710568099999 meters 0.041912119081760436 Centerline is valid? [True, True] Translation: X:55.40, Y:3.66, Z:4.77 [[ 9.79849994e-01 -1.71887033e-01 -1.01729239e-01 5.54035620e+01] [ 1.71651658e-01 9.85094844e-01 -1.11290872e-02 3.66172811e+00] [ 1.02125895e-01 -6.55715654e-03 9.94749871e-01 4.77420371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.597105680999995 meters 0.04281316555943742 Centerline is valid? [True, True] Translation: X:55.46, Y:3.69, Z:4.78 [[ 9.79180217e-01 -1.73341397e-01 -1.05635518e-01 5.54598594e+01] [ 1.73092732e-01 9.84837359e-01 -1.15880043e-02 3.68899803e+00] [ 1.06042486e-01 -6.93799590e-03 9.94337395e-01 4.77815009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.657105681 meters 0.04762859328884089 Centerline is valid? [True, True] Translation: X:55.52, Y:3.70, Z:4.78 [[ 9.77672696e-01 -1.82386012e-01 -1.04362069e-01 5.55188553e+01] [ 1.82193321e-01 9.83195969e-01 -1.14577705e-02 3.70496689e+00] [ 1.04698103e-01 -7.81212257e-03 9.94473367e-01 4.78237149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71710568099999 meters 0.05296445447655278 Centerline is valid? [True, True] Translation: X:55.58, Y:3.72, Z:4.79 [[ 9.76822423e-01 -1.86665861e-01 -1.04755953e-01 5.55767622e+01] [ 1.86495869e-01 9.82388399e-01 -1.15032074e-02 3.72128007e+00] [ 1.05058289e-01 -8.29996158e-03 9.94431429e-01 4.78779077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.777105680999995 meters 0.05610687409231305 Centerline is valid? [True, True] Translation: X:55.63, Y:3.74, Z:4.79 [[ 9.77167661e-01 -1.85808602e-01 -1.03046229e-01 5.56335784e+01] [ 1.85639023e-01 9.82552822e-01 -1.13183789e-02 3.74147160e+00] [ 1.03351416e-01 -8.06944748e-03 9.94612170e-01 4.79373021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.837105681 meters 0.04336435869295611 Centerline is valid? [True, True] Translation: X:55.69, Y:3.79, Z:4.80 [[ 9.78356916e-01 -1.79417324e-01 -1.03088159e-01 5.56898319e+01] [ 1.79212019e-01 9.83745273e-01 -1.13264880e-02 3.78534904e+00] [ 1.03444657e-01 -7.39328916e-03 9.94607733e-01 4.79727070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89710568099999 meters 0.04272755084664244 Centerline is valid? [True, True] Translation: X:55.75, Y:3.81, Z:4.81 [[ 9.78859239e-01 -1.76866563e-01 -1.02726867e-01 5.57489817e+01] [ 1.76649030e-01 9.84209222e-01 -1.12839825e-02 3.80910472e+00] [ 1.03100489e-01 -7.10117085e-03 9.94645596e-01 4.80535070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.957105680999994 meters 0.03910655334949852 Centerline is valid? [True, True] Translation: X:55.81, Y:3.84, Z:4.82 [[ 9.80026887e-01 -1.71139093e-01 -1.01285302e-01 5.58059949e+01] [ 1.70897771e-01 9.85226015e-01 -1.11198401e-02 3.83514386e+00] [ 1.01691954e-01 -6.41169013e-03 9.94795274e-01 4.81701950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.017105681 meters 0.0318769744196166 Centerline is valid? [True, True] Translation: X:55.86, Y:3.86, Z:4.82 [[ 9.81922762e-01 -1.59884906e-01 -1.01313904e-01 5.58633874e+01] [ 1.59583793e-01 9.87121722e-01 -1.11228987e-02 3.86386120e+00] [ 1.01787539e-01 -5.24622978e-03 9.94792327e-01 4.82138078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07710568099999 meters 0.021343156959376962 Centerline is valid? [True, True] Translation: X:55.92, Y:3.91, Z:4.83 [[ 9.86336022e-01 -1.30772233e-01 -1.00199177e-01 5.59187752e+01] [ 1.30327532e-01 9.91409977e-01 -1.09996535e-02 3.90887270e+00] [ 1.00776913e-01 -2.20935697e-03 9.94906595e-01 4.83005570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.137105680999994 meters 0.018346377137599765 Centerline is valid? [True, True] Translation: X:55.98, Y:3.93, Z:4.84 [[ 9.88598846e-01 -1.13494727e-01 -9.89508395e-02 5.59764962e+01] [ 1.12974557e-01 9.93538501e-01 -1.08626130e-02 3.93441398e+00] [ 9.95443181e-02 -4.40160547e-04 9.95033032e-01 4.83688690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.197105681 meters 0.018211352717811508 Centerline is valid? [True, True] Translation: X:56.04, Y:3.94, Z:4.84 [[ 9.89947236e-01 -1.05859694e-01 -9.37986947e-02 5.60379256e+01] [ 1.05358210e-01 9.94381028e-01 -1.02965460e-02 3.94354775e+00] [ 9.43616317e-02 3.10574730e-04 9.95537938e-01 4.84469289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25710568099999 meters 0.018464049147784607 Centerline is valid? [True, True] Translation: X:56.10, Y:3.95, Z:4.85 [[ 9.90178049e-01 -1.04847173e-01 -9.24905543e-02 5.61008393e+01] [ 1.04355993e-01 9.94488268e-01 -1.01444967e-02 3.94606096e+00] [ 9.30443930e-02 3.92914380e-04 9.95661884e-01 4.85243737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317105680999994 meters 0.01835359900199593 Centerline is valid? [True, True] Translation: X:56.17, Y:3.94, Z:4.85 [[ 9.89381748e-01 -1.10782769e-01 -9.40794049e-02 5.61659883e+01] [ 1.10302562e-01 9.93844628e-01 -1.03053146e-02 3.93576726e+00] [ 9.46419625e-02 -1.81309258e-04 9.95511359e-01 4.85380413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.377105680999996 meters 0.02028955376691238 Centerline is valid? [True, True] Translation: X:56.23, Y:3.92, Z:4.85 [[ 9.87703612e-01 -1.21981741e-01 -9.77856299e-02 5.62306491e+01] [ 1.21518922e-01 9.92531471e-01 -1.06972638e-02 3.91683818e+00] [ 9.83601859e-02 -1.31707814e-03 9.95150008e-01 4.85468036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43710568099999 meters 0.022186329617510797 Centerline is valid? [True, True] Translation: X:56.29, Y:3.91, Z:4.85 [[ 9.86415117e-01 -1.29045891e-01 -1.01648286e-01 5.62932909e+01] [ 1.28583991e-01 9.91636377e-01 -1.11109338e-02 3.90766929e+00] [ 1.02231959e-01 -2.11034919e-03 9.94758349e-01 4.85485907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497105680999994 meters 0.025480010082179188 Centerline is valid? [True, True] Translation: X:56.36, Y:3.89, Z:4.86 [[ 9.85501361e-01 -1.36977656e-01 -1.00120872e-01 5.63551659e+01] [ 1.36570519e-01 9.90569921e-01 -1.09419165e-02 3.89284284e+00] [ 1.00675522e-01 -2.89028588e-03 9.94915115e-01 4.85797803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.557105680999996 meters 0.02583682459419658 Centerline is valid? [True, True] Translation: X:56.42, Y:3.89, Z:4.87 [[ 9.85634662e-01 -1.35066123e-01 -1.01397516e-01 5.64170396e+01] [ 1.34638564e-01 9.90832824e-01 -1.10802783e-02 3.89081481e+00] [ 1.01964557e-01 -2.73090955e-03 9.94784284e-01 4.86501460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61710568099999 meters 0.020021098680169325 Centerline is valid? [True, True] Translation: X:56.48, Y:3.90, Z:4.88 [[ 9.88659219e-01 -1.12988809e-01 -9.89266248e-02 5.64760016e+01] [ 1.12472116e-01 9.93596160e-01 -1.08024756e-02 3.90229844e+00] [ 9.95136734e-02 -4.46519674e-04 9.95036095e-01 4.87508854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67710568099999 meters 0.020995769280978224 Centerline is valid? [True, True] Translation: X:56.54, Y:3.91, Z:4.88 [[ 9.90700610e-01 -9.71465511e-02 -9.52619987e-02 5.65368219e+01] [ 9.65943719e-02 9.95269476e-01 -1.04017751e-02 3.91041377e+00] [ 9.58218561e-02 1.10327200e-03 9.95397888e-01 4.88212629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.737105680999996 meters 0.021297959166867834 Centerline is valid? [True, True] Translation: X:56.60, Y:3.91, Z:4.89 [[ 9.91119789e-01 -9.54307673e-02 -9.25987671e-02 5.65989255e+01] [ 9.49022073e-02 9.95435313e-01 -1.01048865e-02 3.90569730e+00] [ 9.31403998e-02 1.22732557e-03 9.95652228e-01 4.89029501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797105681 meters 0.021463772344527267 Centerline is valid? [True, True] Translation: X:56.66, Y:3.90, Z:4.90 [[ 9.91172971e-01 -9.32737973e-02 -9.42132731e-02 5.66615857e+01] [ 9.27173062e-02 9.95639440e-01 -1.02765092e-02 3.89572950e+00] [ 9.47609795e-02 1.45059724e-03 9.95498997e-01 4.89546901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85710568099999 meters 0.020224028385322973 Centerline is valid? [True, True] Translation: X:56.72, Y:3.88, Z:4.90 [[ 9.90704593e-01 -9.75746421e-02 -9.47818483e-02 5.67218226e+01] [ 9.70313923e-02 9.95227664e-01 -1.03346501e-02 3.88322210e+00] [ 9.53379173e-02 1.04177057e-03 9.95444421e-01 4.89865955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.917105680999995 meters 0.019523923407820325 Centerline is valid? [True, True] Translation: X:56.78, Y:3.87, Z:4.91 [[ 9.90512633e-01 -9.96550856e-02 -9.46233968e-02 5.67822289e+01] [ 9.91224891e-02 9.95021682e-01 -1.03240130e-02 3.87283526e+00] [ 9.51811718e-02 8.46758679e-04 9.95459606e-01 4.90540584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.977105681 meters 0.020691690923200314 Centerline is valid? [True, True] Translation: X:56.84, Y:3.87, Z:4.91 [[ 9.90996368e-01 -9.38238271e-02 -9.55159047e-02 5.68412745e+01] [ 9.32535819e-02 9.95587795e-01 -1.04264956e-02 3.86837398e+00] [ 9.60727227e-02 1.42541902e-03 9.95373297e-01 4.90833021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03710568099999 meters 0.025066101313884575 Centerline is valid? [True, True] Translation: X:56.90, Y:3.87, Z:4.91 [[ 9.91865243e-01 -8.16557884e-02 -9.76507674e-02 5.69010340e+01] [ 8.09997380e-02 9.96657003e-01 -1.06705609e-02 3.87119010e+00] [ 9.81956342e-02 2.67407192e-03 9.95163538e-01 4.91281189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.097105680999995 meters 0.02749514033457703 Centerline is valid? [True, True] Translation: X:56.96, Y:3.87, Z:4.92 [[ 9.92078384e-01 -7.65657710e-02 -9.95899692e-02 5.69612260e+01] [ 7.58574703e-02 9.97059255e-01 -1.08851722e-02 3.87124388e+00] [ 1.00130532e-01 3.24430091e-03 9.94969020e-01 4.91520127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.157105681 meters 0.026329278249274033 Centerline is valid? [True, True] Translation: X:57.02, Y:3.85, Z:4.91 [[ 9.90952798e-01 -8.14358225e-02 -1.06680637e-01 5.70222584e+01] [ 8.06500043e-02 9.96674199e-01 -1.16669316e-02 3.85346707e+00] [ 1.07275945e-01 2.95758468e-03 9.94224886e-01 4.90970610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21710568099999 meters 0.021838364268099944 Centerline is valid? [True, True] Translation: X:57.08, Y:3.83, Z:4.92 [[ 9.90424193e-01 -9.07692184e-02 -1.04023393e-01 5.70833608e+01] [ 9.00723168e-02 9.95870125e-01 -1.13873535e-02 3.83467632e+00] [ 1.04627411e-01 1.90868237e-03 9.94509659e-01 4.92225484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.277105680999995 meters 0.018342646648617785 Centerline is valid? [True, True] Translation: X:57.14, Y:3.81, Z:4.94 [[ 9.90004523e-01 -9.89998773e-02 -1.00449336e-01 5.71444233e+01] [ 9.83919490e-02 9.95086936e-01 -1.10006697e-02 3.81269067e+00] [ 1.01044887e-01 1.00730678e-03 9.94881358e-01 4.93740748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.337105681 meters 0.01672956206900382 Centerline is valid? [True, True] Translation: X:57.20, Y:3.80, Z:4.95 [[ 9.89529237e-01 -1.07040914e-01 -9.68201021e-02 5.72046727e+01] [ 1.06514085e-01 9.94254599e-01 -1.06085419e-02 3.80057796e+00] [ 9.73993799e-02 1.84757768e-04 9.95245360e-01 4.94814407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39710568099999 meters 0.016757557639473064 Centerline is valid? [True, True] Translation: X:57.26, Y:3.79, Z:4.96 [[ 9.88735639e-01 -1.15756692e-01 -9.48800523e-02 5.72628295e+01] [ 1.15289156e-01 9.93277391e-01 -1.04132242e-02 3.79270838e+00] [ 9.54476112e-02 -6.42715256e-04 9.95434247e-01 4.95633631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.457105680999994 meters 0.01680768354160068 Centerline is valid? [True, True] Translation: X:57.32, Y:3.79, Z:4.96 [[ 9.88608988e-01 -1.14676008e-01 -9.74765764e-02 5.73218018e+01] [ 1.14173495e-01 9.93402812e-01 -1.07361701e-02 3.79202248e+00] [ 9.80646863e-02 -5.15367147e-04 9.95179909e-01 4.96082725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.517105681 meters 0.018795873148953597 Centerline is valid? [True, True] Translation: X:57.38, Y:3.81, Z:4.97 [[ 9.90456581e-01 -9.65978320e-02 -9.83087990e-02 5.73780875e+01] [ 9.59945685e-02 9.95322621e-01 -1.08592034e-02 3.80743756e+00] [ 9.88979470e-02 1.31845870e-03 9.95096708e-01 4.97075835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57710568099999 meters 0.022906292044268493 Centerline is valid? [True, True] Translation: X:57.44, Y:3.81, Z:4.98 [[ 9.91434002e-01 -8.67833780e-02 -9.76077077e-02 5.74365360e+01] [ 8.61396211e-02 9.96224556e-01 -1.07981523e-02 3.81027524e+00] [ 9.81762954e-02 2.29776443e-03 9.95166386e-01 4.97868592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.637105680999994 meters 0.02438345730141305 Centerline is valid? [True, True] Translation: X:57.50, Y:3.81, Z:4.98 [[ 9.91393684e-01 -8.47126377e-02 -9.98114867e-02 5.74961960e+01] [ 8.40279051e-02 9.96402110e-01 -1.10520006e-02 3.80901726e+00] [ 1.00388620e-01 2.56993342e-03 9.94944984e-01 4.98013337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.697105681 meters 0.025300594866615626 Centerline is valid? [True, True] Translation: X:57.56, Y:3.80, Z:4.97 [[ 9.90482873e-01 -8.54450080e-02 -1.07901940e-01 5.75560710e+01] [ 8.46450149e-02 9.96339138e-01 -1.19809529e-02 3.80287663e+00] [ 1.08530638e-01 2.73356738e-03 9.94089346e-01 4.97464885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75710568099999 meters 0.023290639100053474 Centerline is valid? [True, True] Translation: X:57.62, Y:3.79, Z:4.98 [[ 9.90092882e-01 -8.82436219e-02 -1.09220642e-01 5.76154783e+01] [ 8.74390980e-02 9.96095853e-01 -1.21431016e-02 3.79462682e+00] [ 1.09865780e-01 2.47264403e-03 9.93943357e-01 4.98096246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817105680999994 meters 0.02142940219751 Centerline is valid? [True, True] Translation: X:57.67, Y:3.79, Z:5.00 [[ 9.90636443e-01 -9.10291681e-02 -1.01750324e-01 5.76747328e+01] [ 9.03430665e-02 9.95846133e-01 -1.13406125e-02 3.79009908e+00] [ 1.02359994e-01 2.04198770e-03 9.94745325e-01 4.99621395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.877105680999996 meters 0.017319952111109177 Centerline is valid? [True, True] Translation: X:57.74, Y:3.78, Z:5.01 [[ 9.90327433e-01 -1.00714814e-01 -9.54363769e-02 5.77357316e+01] [ 1.00155892e-01 9.94914854e-01 -1.06409869e-02 3.77529731e+00] [ 9.60227740e-02 9.79545737e-04 9.95378655e-01 5.01017347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93710568099999 meters 0.016203707597247284 Centerline is valid? [True, True] Translation: X:57.80, Y:3.76, Z:5.01 [[ 9.89382282e-01 -1.08994813e-01 -9.61396428e-02 5.77958839e+01] [ 1.08466102e-01 9.94042302e-01 -1.07241381e-02 3.76477061e+00] [ 9.67357472e-02 1.82379881e-04 9.95310083e-01 5.01253052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997105680999994 meters 0.02050177729632849 Centerline is valid? [True, True] Translation: X:57.85, Y:3.78, Z:5.01 [[ 9.90135593e-01 -9.42044404e-02 -1.03716107e-01 5.78544706e+01] [ 9.35043943e-02 9.95551265e-01 -1.16020639e-02 3.77915933e+00] [ 1.04347667e-01 1.78970474e-03 9.94539271e-01 5.00808458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.057105680999996 meters 0.02673824995899823 Centerline is valid? [True, True] Translation: X:57.91, Y:3.79, Z:5.01 [[ 9.91109711e-01 -8.20629622e-02 -1.04724457e-01 5.79129211e+01] [ 8.12810819e-02 9.96622316e-01 -1.17194201e-02 3.79234758e+00] [ 1.05332461e-01 3.10311391e-03 9.94432222e-01 5.01383382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11710568099999 meters 0.025542235053323904 Centerline is valid? [True, True] Translation: X:57.97, Y:3.79, Z:5.02 [[ 9.91258415e-01 -8.39086612e-02 -1.01814004e-01 5.79717181e+01] [ 8.31788424e-02 9.96469427e-01 -1.14000818e-02 3.78947073e+00] [ 1.02411108e-01 2.83165601e-03 9.94738130e-01 5.02217180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17710568099999 meters 0.0232723004445329 Centerline is valid? [True, True] Translation: X:58.03, Y:3.79, Z:5.03 [[ 9.90877130e-01 -8.82820838e-02 -1.01827239e-01 5.80307535e+01] [ 8.75719623e-02 9.96092598e-01 -1.14318679e-02 3.78669937e+00] [ 1.02438588e-01 2.41036533e-03 9.94736410e-01 5.02643380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.237105680999996 meters 0.022705452210228474 Centerline is valid? [True, True] Translation: X:58.09, Y:3.79, Z:5.03 [[ 9.90546125e-01 -8.96013231e-02 -1.03874816e-01 5.80891755e+01] [ 8.88679626e-02 9.95974976e-01 -1.16761658e-02 3.78830880e+00] [ 1.04502918e-01 2.33463746e-03 9.94521840e-01 5.02786113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297105681 meters 0.022107035550130997 Centerline is valid? [True, True] Translation: X:58.15, Y:3.79, Z:5.03 [[ 9.90279069e-01 -9.05320861e-02 -1.05599747e-01 5.81483653e+01] [ 8.97750129e-02 9.95890849e-01 -1.19106339e-02 3.78840655e+00] [ 1.06244116e-01 2.31463279e-03 9.94337383e-01 5.03128908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35710568099999 meters 0.020270902599456027 Centerline is valid? [True, True] Translation: X:58.21, Y:3.79, Z:5.03 [[ 9.89442662e-01 -9.77278993e-02 -1.07016243e-01 5.82073563e+01] [ 9.69881734e-02 9.95211885e-01 -1.21077916e-02 3.78608035e+00] [ 1.07687106e-01 1.60065566e-03 9.94183547e-01 5.03193496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.417105680999995 meters 0.01714196832177436 Centerline is valid? [True, True] Translation: X:58.27, Y:3.77, Z:5.04 [[ 9.87903605e-01 -1.15628443e-01 -1.03327302e-01 5.82683729e+01] [ 1.15033423e-01 9.93292489e-01 -1.17193607e-02 3.77346764e+00] [ 1.03989325e-01 -3.08494703e-04 9.94578366e-01 5.04010454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.477105681 meters 0.024660604898737618 Centerline is valid? [True, True] Translation: X:58.33, Y:3.76, Z:5.05 [[ 9.85396354e-01 -1.40575745e-01 -9.60858210e-02 5.83298316e+01] [ 1.40178871e-01 9.90066173e-01 -1.09021409e-02 3.75640409e+00] [ 9.66638977e-02 -2.72627206e-03 9.95313347e-01 5.05396970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53710568099999 meters 0.0347431252692758 Centerline is valid? [True, True] Translation: X:58.39, Y:3.75, Z:5.07 [[ 9.82184587e-01 -1.63457789e-01 -9.27091611e-02 5.83908068e+01] [ 1.63189317e-01 9.86538673e-01 -1.05210592e-02 3.75123570e+00] [ 9.31809219e-02 -4.79552255e-03 9.95637644e-01 5.06592366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.597105680999995 meters 0.04020933657588309 Centerline is valid? [True, True] Translation: X:58.45, Y:3.76, Z:5.07 [[ 9.80537273e-01 -1.72642509e-01 -9.34944977e-02 5.84503792e+01] [ 1.72410942e-01 9.84967965e-01 -1.06100995e-02 3.76069996e+00] [ 9.39208393e-02 -5.71587640e-03 9.95563260e-01 5.07027155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.657105681 meters 0.044012646720297435 Centerline is valid? [True, True] Translation: X:58.51, Y:3.78, Z:5.08 [[ 9.80364975e-01 -1.77155552e-01 -8.66050040e-02 5.85069826e+01] [ 1.76974166e-01 9.84166413e-01 -9.82934613e-03 3.77730043e+00] [ 8.69750594e-02 -5.69050166e-03 9.96194237e-01 5.08431732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71710568099999 meters 0.04212233023578685 Centerline is valid? [True, True] Translation: X:58.56, Y:3.81, Z:5.09 [[ 9.80299596e-01 -1.76560875e-01 -8.85378967e-02 5.85625138e+01] [ 1.76368742e-01 9.84272853e-01 -1.00507206e-02 3.80972929e+00] [ 8.89200123e-02 -5.76260009e-03 9.96022100e-01 5.08859067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.777105680999995 meters 0.03704516809828929 Centerline is valid? [True, True] Translation: X:58.62, Y:3.85, Z:5.09 [[ 9.82647420e-01 -1.61803719e-01 -9.06840955e-02 5.86183300e+01] [ 1.61536785e-01 9.86812685e-01 -1.03243862e-02 3.84605511e+00] [ 9.11587398e-02 -4.50358576e-03 9.95826191e-01 5.09074302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.837105681 meters 0.02229710937209292 Centerline is valid? [True, True] Translation: X:58.67, Y:3.90, Z:5.09 [[ 9.85695775e-01 -1.37098477e-01 -9.80196249e-02 5.86735688e+01] [ 1.36664286e-01 9.90554531e-01 -1.11621326e-02 3.90224275e+00] [ 9.86240950e-02 -2.39331517e-03 9.95121882e-01 5.08779061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89710568099999 meters 0.017189862942572003 Centerline is valid? [True, True] Translation: X:58.73, Y:3.95, Z:5.09 [[ 9.88398489e-01 -1.12549860e-01 -1.01985081e-01 5.87272479e+01] [ 1.11948798e-01 9.93646076e-01 -1.16164421e-02 3.95471889e+00] [ 1.02644505e-01 6.45665636e-05 9.94718102e-01 5.08745309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.957105680999994 meters 0.018444669593323956 Centerline is valid? [True, True] Translation: X:58.78, Y:3.98, Z:5.09 [[ 9.89199478e-01 -1.04990974e-01 -1.02280434e-01 5.87839511e+01] [ 1.04345211e-01 9.94472803e-01 -1.16585343e-02 3.97992144e+00] [ 1.02939151e-01 8.60142513e-04 9.94687283e-01 5.08861398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.017105681 meters 0.018580921141235184 Centerline is valid? [True, True] Translation: X:58.84, Y:3.99, Z:5.10 [[ 9.89492947e-01 -1.03572216e-01 -1.00878659e-01 5.88406418e+01] [ 1.02933401e-01 9.94621407e-01 -1.15313682e-02 3.99231342e+00] [ 1.01530403e-01 1.02642404e-03 9.94831907e-01 5.09545033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07710568099999 meters 0.018317068159414588 Centerline is valid? [True, True] Translation: X:58.90, Y:4.00, Z:5.10 [[ 9.89091990e-01 -1.06098472e-01 -1.02177052e-01 5.88969778e+01] [ 1.05452585e-01 9.94355294e-01 -1.17176008e-02 3.99982259e+00] [ 1.02843512e-01 8.14950810e-04 9.94697214e-01 5.09835448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.137105680999994 meters 0.017230339589755804 Centerline is valid? [True, True] Translation: X:58.96, Y:4.00, Z:5.11 [[ 9.88604967e-01 -1.11127795e-01 -1.01542268e-01 5.89550720e+01] [ 1.10514392e-01 9.93806076e-01 -1.16641117e-02 4.00268129e+00] [ 1.02209530e-01 3.09316754e-04 9.94762844e-01 5.10760818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.197105681 meters 0.016651630009148342 Centerline is valid? [True, True] Translation: X:59.01, Y:4.00, Z:5.12 [[ 9.88479753e-01 -1.15924342e-01 -9.73104516e-02 5.90144080e+01] [ 1.15381173e-01 9.93258036e-01 -1.12097954e-02 4.00168164e+00] [ 9.79538761e-02 -1.47138314e-04 9.95190945e-01 5.11582011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25710568099999 meters 0.01954852668635789 Centerline is valid? [True, True] Translation: X:59.08, Y:3.99, Z:5.13 [[ 9.86519877e-01 -1.32790149e-01 -9.56311031e-02 5.90755276e+01] [ 1.32341818e-01 9.91142611e-01 -1.10439054e-02 3.98765571e+00] [ 9.62505830e-02 -1.76096183e-03 9.95355577e-01 5.12561542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317105680999994 meters 0.0197512016642764 Centerline is valid? [True, True] Translation: X:59.13, Y:3.99, Z:5.13 [[ 9.86259873e-01 -1.31388058e-01 -1.00143106e-01 5.91339810e+01] [ 1.30888549e-01 9.91329563e-01 -1.15708734e-02 3.98945928e+00] [ 1.00795097e-01 -1.69569768e-03 9.94905761e-01 5.12635925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.377105680999996 meters 0.01751351095798307 Centerline is valid? [True, True] Translation: X:59.19, Y:4.01, Z:5.13 [[ 9.89379832e-01 -1.06353143e-01 -9.90785396e-02 5.91904759e+01] [ 1.05737497e-01 9.94328048e-01 -1.14592536e-02 4.00998797e+00] [ 9.97352985e-02 8.61237577e-04 9.95013632e-01 5.13448513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43710568099999 meters 0.022252273828138925 Centerline is valid? [True, True] Translation: X:59.25, Y:4.02, Z:5.14 [[ 9.90947447e-01 -9.12934896e-02 -9.84309759e-02 5.92487588e+01] [ 9.06108340e-02 9.95821208e-01 -1.13929426e-02 4.02475514e+00] [ 9.90597548e-02 2.37089455e-03 9.95078662e-01 5.14209071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497105680999994 meters 0.027853020688014655 Centerline is valid? [True, True] Translation: X:59.31, Y:4.03, Z:5.14 [[ 9.91754795e-01 -7.97596078e-02 -1.00303699e-01 5.93091292e+01] [ 7.89915278e-02 9.96807650e-01 -1.16123413e-02 4.03014787e+00] [ 1.00909691e-01 3.59345271e-03 9.94889100e-01 5.14351428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.557105680999996 meters 0.03728935282819498 Centerline is valid? [True, True] Translation: X:59.37, Y:4.04, Z:5.15 [[ 9.92594964e-01 -6.43313553e-02 -1.03037443e-01 5.93678523e+01] [ 6.34377838e-02 9.97914495e-01 -1.19293257e-02 4.03590717e+00] [ 1.03589987e-01 5.30452163e-03 9.94605940e-01 5.14648446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61710568099999 meters 0.04026367623712068 Centerline is valid? [True, True] Translation: X:59.43, Y:4.03, Z:5.15 [[ 9.92896746e-01 -5.82202022e-02 -1.03761557e-01 5.94291366e+01] [ 5.72808213e-02 9.98285831e-01 -1.20127521e-02 4.03320246e+00] [ 1.04283077e-01 5.98387532e-03 9.94529654e-01 5.15199106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67710568099999 meters 0.043045103175399044 Centerline is valid? [True, True] Translation: X:59.49, Y:4.03, Z:5.16 [[ 9.93319024e-01 -5.36567520e-02 -1.02167852e-01 5.94903153e+01] [ 5.27222363e-02 9.98539174e-01 -1.18272872e-02 4.02595833e+00] [ 1.02653217e-01 6.36175171e-03 9.94696861e-01 5.15897654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.737105680999996 meters 0.044895298545594695 Centerline is valid? [True, True] Translation: X:59.55, Y:4.01, Z:5.16 [[ 9.93475483e-01 -5.24034471e-02 -1.01293351e-01 5.95513622e+01] [ 5.14778122e-02 9.98605220e-01 -1.17323747e-02 4.00932699e+00] [ 1.01766886e-01 6.44146656e-03 9.94787419e-01 5.16323047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.797105681 meters 0.0441250856347131 Centerline is valid? [True, True] Translation: X:59.61, Y:3.99, Z:5.17 [[ 9.93123922e-01 -5.56645669e-02 -1.02987046e-01 5.96137613e+01] [ 5.47218139e-02 9.98430019e-01 -1.19590976e-02 3.99451825e+00] [ 1.03491057e-01 6.24122792e-03 9.94610802e-01 5.16601711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85710568099999 meters 0.03409091733633003 Centerline is valid? [True, True] Translation: X:59.68, Y:3.96, Z:5.18 [[ 9.92652978e-01 -6.95388672e-02 -9.90172278e-02 5.96784799e+01] [ 6.87357310e-02 9.97568577e-01 -1.15036622e-02 3.95657984e+00] [ 9.95764267e-02 4.61312299e-03 9.95019223e-01 5.17736573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.917105680999995 meters 0.021565445029938058 Centerline is valid? [True, True] Translation: X:59.74, Y:3.92, Z:5.19 [[ 9.91504582e-01 -9.11659941e-02 -9.27762109e-02 5.97425707e+01] [ 9.05553040e-02 9.95833084e-01 -1.07798565e-02 3.92125985e+00] [ 9.33723766e-02 2.28689914e-03 9.95628630e-01 5.19292261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.977105681 meters 0.015558559322835192 Centerline is valid? [True, True] Translation: X:59.81, Y:3.90, Z:5.19 [[ 9.88652208e-01 -1.13998577e-01 -9.78321804e-02 5.98056332e+01] [ 1.13430590e-01 9.93480903e-01 -1.13664621e-02 3.89558244e+00] [ 9.84901634e-02 1.40315896e-04 9.95138015e-01 5.19152230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03710568099999 meters 0.015683235230869775 Centerline is valid? [True, True] Translation: X:59.86, Y:3.89, Z:5.20 [[ 9.88054410e-01 -1.19426486e-01 -9.73950622e-02 5.98644856e+01] [ 1.18889134e-01 9.92842969e-01 -1.13231048e-02 3.89048017e+00] [ 9.80502814e-02 -3.91370987e-04 9.95181385e-01 5.19882235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.097105680999995 meters 0.016767425759913412 Centerline is valid? [True, True] Translation: X:59.92, Y:3.91, Z:5.20 [[ 9.89152589e-01 -1.06936999e-01 -1.00705684e-01 5.99209474e+01] [ 1.06293992e-01 9.94265379e-01 -1.17449005e-02 3.91001507e+00] [ 1.01384139e-01 9.13089589e-04 9.94846934e-01 5.20479683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.157105681 meters 0.02207476256455962 Centerline is valid? [True, True] Translation: X:59.98, Y:3.93, Z:5.21 [[ 9.90516776e-01 -9.21636363e-02 -1.01893971e-01 5.99794161e+01] [ 9.14242586e-02 9.95740776e-01 -1.19126670e-02 3.93011224e+00] [ 1.02557896e-01 2.48411573e-03 9.94723935e-01 5.20987555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21710568099999 meters 0.02881439836208858 Centerline is valid? [True, True] Translation: X:60.04, Y:3.95, Z:5.22 [[ 9.92119837e-01 -7.82859626e-02 -9.78240065e-02 6.00373349e+01] [ 7.75373484e-02 9.96923847e-01 -1.14368814e-02 3.94921950e+00] [ 9.84184321e-02 3.76174283e-03 9.95138011e-01 5.21773784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.277105680999995 meters 0.03418760253520911 Centerline is valid? [True, True] Translation: X:60.10, Y:3.96, Z:5.21 [[ 9.91668975e-01 -7.35376833e-02 -1.05758469e-01 6.00964133e+01] [ 7.26351799e-02 9.97281920e-01 -1.23654171e-02 3.96384983e+00] [ 1.06380334e-01 4.58061507e-03 9.94314961e-01 5.21025115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.337105681 meters 0.032955189623925144 Centerline is valid? [True, True] Translation: X:60.15, Y:3.96, Z:5.22 [[ 9.91635922e-01 -7.43513008e-02 -1.05499206e-01 6.01547249e+01] [ 7.34569946e-02 9.97222004e-01 -1.23428291e-02 3.96490600e+00] [ 1.06123835e-01 4.48993810e-03 9.94342784e-01 5.21891322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39710568099999 meters 0.026932346931708075 Centerline is valid? [True, True] Translation: X:60.22, Y:3.96, Z:5.24 [[ 9.91645196e-01 -8.35542444e-02 -9.82776332e-02 6.02150801e+01] [ 8.28209487e-02 9.96497803e-01 -1.15247486e-02 3.95874442e+00] [ 9.88963872e-02 3.28901472e-03 9.95092301e-01 5.23525633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.457105680999994 meters 0.02292616469685609 Centerline is valid? [True, True] Translation: X:60.27, Y:3.95, Z:5.24 [[ 9.90858975e-01 -9.30000467e-02 -9.77214569e-02 6.02746463e+01] [ 9.23203036e-02 9.95663359e-01 -1.14646012e-02 3.95309592e+00] [ 9.83638825e-02 2.33812839e-03 9.95147768e-01 5.24048185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.517105681 meters 0.019160245184411864 Centerline is valid? [True, True] Translation: X:60.33, Y:3.95, Z:5.24 [[ 9.89982237e-01 -9.99003029e-02 -9.97752491e-02 6.03347784e+01] [ 9.92259270e-02 9.94996011e-01 -1.17112976e-02 3.94889594e+00] [ 1.00445937e-01 1.69368502e-03 9.94941076e-01 5.24210415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57710568099999 meters 0.020341851961949268 Centerline is valid? [True, True] Translation: X:60.39, Y:3.95, Z:5.24 [[ 9.89579258e-01 -9.91937937e-02 -1.04371850e-01 6.03930768e+01] [ 9.84500303e-02 9.95066389e-01 -1.22667383e-02 3.94950732e+00] [ 1.05073704e-01 1.86349807e-03 9.94462691e-01 5.24291457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.637105680999994 meters 0.023312018436075933 Centerline is valid? [True, True] Translation: X:60.45, Y:3.96, Z:5.25 [[ 9.89802968e-01 -9.39807948e-02 -1.07040621e-01 6.04522103e+01] [ 9.31667369e-02 9.95570895e-01 -1.25917732e-02 3.95514659e+00] [ 1.07749911e-01 2.49074912e-03 9.94174911e-01 5.24564612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.697105681 meters 0.03206129219222369 Centerline is valid? [True, True] Translation: X:60.51, Y:3.97, Z:5.25 [[ 9.91281250e-01 -7.64038855e-02 -1.07349571e-01 6.05103045e+01] [ 7.54816196e-02 9.97067149e-01 -1.26343311e-02 3.97478355e+00] [ 1.08000043e-01 4.42125598e-03 9.94141058e-01 5.24975058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75710568099999 meters 0.03765564044368085 Centerline is valid? [True, True] Translation: X:60.57, Y:3.98, Z:5.26 [[ 9.92182580e-01 -6.86738169e-02 -1.04199974e-01 6.05679384e+01] [ 6.77623888e-02 9.97626083e-01 -1.22661183e-02 3.98479062e+00] [ 1.04794973e-01 5.10938975e-03 9.94480723e-01 5.26014362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817105680999994 meters 0.03789877022715086 Centerline is valid? [True, True] Translation: X:60.63, Y:3.99, Z:5.27 [[ 9.92208874e-01 -6.96068610e-02 -1.03326838e-01 6.06256145e+01] [ 6.87148714e-02 9.97562087e-01 -1.21716716e-02 3.99293694e+00] [ 1.03922168e-01 4.97675020e-03 9.94572981e-01 5.26525363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.877105680999996 meters 0.032755362023422926 Centerline is valid? [True, True] Translation: X:60.69, Y:3.99, Z:5.27 [[ 9.91883520e-01 -7.21805809e-02 -1.04675910e-01 6.06856389e+01] [ 7.12758605e-02 9.97380021e-01 -1.23630914e-02 3.98595635e+00] [ 1.05294037e-01 4.80188101e-03 9.94429539e-01 5.26849148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93710568099999 meters 0.032394792800512114 Centerline is valid? [True, True] Translation: X:60.74, Y:3.99, Z:5.28 [[ 9.92119912e-01 -7.38420092e-02 -1.01219746e-01 6.07437855e+01] [ 7.30018981e-02 9.97259797e-01 -1.19841287e-02 3.98782982e+00] [ 1.01827315e-01 4.50045910e-03 9.94791910e-01 5.27724962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997105680999994 meters 0.03385495062916415 Centerline is valid? [True, True] Translation: X:60.80, Y:3.99, Z:5.28 [[ 9.92226775e-01 -7.06487276e-02 -1.02444054e-01 6.08033946e+01] [ 6.97701449e-02 9.97489237e-01 -1.21387189e-02 3.98755150e+00] [ 1.03044426e-01 4.89682542e-03 9.94664701e-01 5.28135964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.057105680999996 meters 0.03470831924224613 Centerline is valid? [True, True] Translation: X:60.86, Y:3.99, Z:5.28 [[ 9.91936116e-01 -7.07071915e-02 -1.05181912e-01 6.08627584e+01] [ 6.97796005e-02 9.97484395e-01 -1.24775652e-02 3.98929276e+00] [ 1.05799570e-01 5.03739574e-03 9.94374716e-01 5.28233083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11710568099999 meters 0.032190425445194175 Centerline is valid? [True, True] Translation: X:60.92, Y:3.98, Z:5.29 [[ 9.91591698e-01 -7.57312708e-02 -1.04931784e-01 6.09239350e+01] [ 7.48330388e-02 9.97118022e-01 -1.24766293e-02 3.97825185e+00] [ 1.05574244e-01 4.51935777e-03 9.94401154e-01 5.29023781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17710568099999 meters 0.027664791135238124 Centerline is valid? [True, True] Translation: X:60.98, Y:3.97, Z:5.30 [[ 9.91430120e-01 -8.27295011e-02 -1.01104632e-01 6.09845411e+01] [ 8.19318605e-02 9.96565403e-01 -1.20236265e-02 3.97417037e+00] [ 1.01752087e-01 3.63689484e-03 9.94803139e-01 5.29901694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.237105680999996 meters 0.019446678875458482 Centerline is valid? [True, True] Translation: X:61.05, Y:3.96, Z:5.30 [[ 9.89783924e-01 -9.80858534e-02 -1.03474384e-01 6.10473906e+01] [ 9.73335843e-02 9.95175721e-01 -1.23068412e-02 3.96040189e+00] [ 1.04182322e-01 2.10958093e-03 9.94555978e-01 5.30166472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.297105681 meters 0.01498496879706576 Centerline is valid? [True, True] Translation: X:61.11, Y:3.94, Z:5.31 [[ 9.88069853e-01 -1.18960134e-01 -9.78082408e-02 6.11093248e+01] [ 1.18389729e-01 9.92899028e-01 -1.16358210e-02 3.94428391e+00] [ 9.84979061e-02 -8.24871862e-05 9.95137255e-01 5.31419691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35710568099999 meters 0.018280347009734674 Centerline is valid? [True, True] Translation: X:61.17, Y:3.94, Z:5.32 [[ 9.86274540e-01 -1.33993719e-01 -9.64790887e-02 6.11692019e+01] [ 1.33509897e-01 9.90980959e-01 -1.14824128e-02 3.93789504e+00] [ 9.71475110e-02 -1.55610174e-03 9.95268778e-01 5.32088884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.417105680999995 meters 0.017753498267818954 Centerline is valid? [True, True] Translation: X:61.23, Y:3.95, Z:5.32 [[ 9.86294582e-01 -1.32138342e-01 -9.88051403e-02 6.12257433e+01] [ 1.31618194e-01 9.91230333e-01 -1.17931229e-02 3.95432000e+00] [ 9.94969758e-02 -1.37306090e-03 9.95036917e-01 5.32116647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.477105681 meters 0.015327609150057469 Centerline is valid? [True, True] Translation: X:61.28, Y:3.98, Z:5.33 [[ 9.87146980e-01 -1.23483843e-01 -1.01452355e-01 6.12823933e+01] [ 1.22886000e-01 9.92346468e-01 -1.21457209e-02 3.97693234e+00] [ 1.02175687e-01 -4.77462416e-04 9.94766254e-01 5.32778500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53710568099999 meters 0.016495480918609688 Centerline is valid? [True, True] Translation: X:61.34, Y:4.02, Z:5.33 [[ 9.89010569e-01 -1.07246317e-01 -1.01766017e-01 6.13364578e+01] [ 1.06557032e-01 9.94231729e-01 -1.22011345e-02 4.01592950e+00] [ 1.02487530e-01 1.22316623e-03 9.94733537e-01 5.33058523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.597105680999995 meters 0.015141194230481454 Centerline is valid? [True, True] Translation: X:61.39, Y:4.03, Z:5.34 [[ 9.88824488e-01 -1.12490580e-01 -9.78366023e-02 6.13929331e+01] [ 1.11878063e-01 9.93652569e-01 -1.17418698e-02 4.02748724e+00] [ 9.85364409e-02 6.64878804e-04 9.95133221e-01 5.33977496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.657105681 meters 0.016714215687092467 Centerline is valid? [True, True] Translation: X:61.45, Y:4.03, Z:5.35 [[ 9.86875477e-01 -1.31589728e-01 -9.35998690e-02 6.14513347e+01] [ 1.31113206e-01 9.91303573e-01 -1.12495847e-02 4.02569047e+00] [ 9.42662144e-02 -1.17023970e-03 9.95546338e-01 5.35104500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71710568099999 meters 0.023776491347288615 Centerline is valid? [True, True] Translation: X:61.51, Y:4.03, Z:5.35 [[ 9.84160137e-01 -1.47287137e-01 -9.86677492e-02 6.15120568e+01] [ 1.46832988e-01 9.89089850e-01 -1.18887692e-02 4.03038428e+00] [ 9.93423320e-02 -2.78722776e-03 9.95049412e-01 5.34930492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.777105680999995 meters 0.021926945203920998 Centerline is valid? [True, True] Translation: X:61.57, Y:4.06, Z:5.37 [[ 9.85217253e-01 -1.44358335e-01 -9.22368423e-02 6.15664013e+01] [ 1.43948563e-01 9.89522743e-01 -1.11153863e-02 4.06088884e+00] [ 9.28750519e-02 -2.32629055e-03 9.95675054e-01 5.36501614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.837105681 meters 0.015170891593884076 Centerline is valid? [True, True] Translation: X:61.62, Y:4.10, Z:5.36 [[ 9.87406936e-01 -1.24905555e-01 -9.70883373e-02 6.16208432e+01] [ 1.24356540e-01 9.92168504e-01 -1.17094140e-02 4.10362542e+00] [ 9.77905612e-02 -5.11613161e-04 9.95206885e-01 5.36418678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89710568099999 meters 0.01802421823643858 Centerline is valid? [True, True] Translation: X:61.68, Y:4.15, Z:5.37 [[ 9.89617023e-01 -1.05040127e-01 -9.81056601e-02 6.16750863e+01] [ 1.04381199e-01 9.94466889e-01 -1.18394448e-02 4.14761093e+00] [ 9.88064474e-02 1.47612967e-03 9.95105576e-01 5.36648848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.957105680999994 meters 0.02454504514104852 Centerline is valid? [True, True] Translation: X:61.73, Y:4.18, Z:5.37 [[ 9.91000815e-01 -9.03825728e-02 -9.87338616e-02 6.17317499e+01] [ 8.96396308e-02 9.95902642e-01 -1.19441890e-02 4.17873796e+00] [ 9.94088601e-02 2.98623414e-03 9.95042191e-01 5.37125139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.017105681 meters 0.026825271312846462 Centerline is valid? [True, True] Translation: X:61.79, Y:4.20, Z:5.37 [[ 9.90819738e-01 -8.96946560e-02 -1.01148978e-01 6.17878934e+01] [ 8.89109664e-02 9.95964383e-01 -1.22388009e-02 4.19667503e+00] [ 1.01838535e-01 3.13319206e-03 9.94796007e-01 5.37177076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07710568099999 meters 0.0273984587289613 Centerline is valid? [True, True] Translation: X:61.84, Y:4.21, Z:5.37 [[ 9.90447305e-01 -9.09250777e-02 -1.03666609e-01 6.18443385e+01] [ 9.01070893e-02 9.95852925e-01 -1.25564134e-02 4.20803578e+00] [ 1.04378388e-01 3.09536946e-03 9.94532840e-01 5.37337122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.137105680999994 meters 0.022557213424607966 Centerline is valid? [True, True] Translation: X:61.90, Y:4.21, Z:5.39 [[ 9.90623259e-01 -9.49549994e-02 -9.82298637e-02 6.19030202e+01] [ 9.42392537e-02 9.95478319e-01 -1.19113123e-02 4.21041630e+00] [ 9.89167382e-02 2.54251397e-03 9.95092465e-01 5.38818012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.197105681 meters 0.019182272659167478 Centerline is valid? [True, True] Translation: X:61.96, Y:4.21, Z:5.39 [[ 9.89784036e-01 -1.03416007e-01 -9.81462754e-02 6.19630210e+01] [ 1.02742475e-01 9.94636737e-01 -1.19056803e-02 4.21180305e+00] [ 9.88511291e-02 1.70026114e-03 9.95100781e-01 5.39317189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25710568099999 meters 0.01599845958341148 Centerline is valid? [True, True] Translation: X:62.02, Y:4.21, Z:5.40 [[ 9.88632302e-01 -1.15388961e-01 -9.63927309e-02 6.20214260e+01] [ 1.14795769e-01 9.93320261e-01 -1.16957673e-02 4.21177327e+00] [ 9.70984150e-02 4.97335672e-04 9.95274661e-01 5.39802070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317105680999994 meters 0.016066334069851723 Centerline is valid? [True, True] Translation: X:62.08, Y:4.21, Z:5.40 [[ 9.86894439e-01 -1.25258792e-01 -1.01732988e-01 6.20814648e+01] [ 1.24648760e-01 9.92123984e-01 -1.23566990e-02 4.21099087e+00] [ 1.02479523e-01 -4.86133309e-04 9.94734995e-01 5.39638707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.377105680999996 meters 0.017526058496320874 Centerline is valid? [True, True] Translation: X:62.14, Y:4.21, Z:5.40 [[ 9.85779838e-01 -1.31057232e-01 -1.05176581e-01 6.21403226e+01] [ 1.30434189e-01 9.91374204e-01 -1.28105076e-02 4.21407273e+00] [ 1.05948259e-01 -1.09028196e-03 9.94371046e-01 5.39708127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43710568099999 meters 0.017506526216113302 Centerline is valid? [True, True] Translation: X:62.20, Y:4.22, Z:5.41 [[ 9.85657221e-01 -1.32398612e-01 -1.04644397e-01 6.21974056e+01] [ 1.31785645e-01 9.91195836e-01 -1.27811974e-02 4.22189097e+00] [ 1.05415303e-01 -1.19274982e-03 9.94427570e-01 5.40696425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497105680999994 meters 0.016951960033215956 Centerline is valid? [True, True] Translation: X:62.25, Y:4.25, Z:5.42 [[ 9.88752384e-01 -1.13491364e-01 -9.74085946e-02 6.22515614e+01] [ 1.12865329e-01 9.93538658e-01 -1.19311228e-02 4.25239842e+00] [ 9.81332838e-02 8.02872974e-04 9.95172957e-01 5.42017292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.557105680999996 meters 0.02388136687590895 Centerline is valid? [True, True] Translation: X:62.31, Y:4.28, Z:5.43 [[ 9.91193548e-01 -9.26039884e-02 -9.46564916e-02 6.23084702e+01] [ 9.19169251e-02 9.95699083e-01 -1.16024081e-02 4.28241807e+00] [ 9.53238111e-02 2.79969846e-03 9.95442380e-01 5.42897469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61710568099999 meters 0.025477621184869775 Centerline is valid? [True, True] Translation: X:62.37, Y:4.29, Z:5.43 [[ 9.91190245e-01 -9.20386377e-02 -9.52406864e-02 6.23656746e+01] [ 9.13402910e-02 9.95751291e-01 -1.16755449e-02 4.29269462e+00] [ 9.59106376e-02 2.87337418e-03 9.95385801e-01 5.43200606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67710568099999 meters 0.02637559336417391 Centerline is valid? [True, True] Translation: X:62.42, Y:4.30, Z:5.43 [[ 9.90874188e-01 -9.06525344e-02 -9.97519988e-02 6.24243768e+01] [ 8.98777016e-02 9.95877549e-01 -1.22436557e-02 4.29884543e+00] [ 1.00450694e-01 3.16644206e-03 9.94936999e-01 5.43217012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.737105680999996 meters 0.031335973480878604 Centerline is valid? [True, True] Translation: X:62.48, Y:4.31, Z:5.44 [[ 9.91836278e-01 -8.08894198e-02 -9.85783920e-02 6.24837150e+01] [ 8.00817865e-02 9.96714503e-01 -1.21287918e-02 4.30547709e+00] [ 9.92356039e-02 4.13544195e-03 9.95055372e-01 5.43932286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797105681 meters 0.03233871242564033 Centerline is valid? [True, True] Translation: X:62.54, Y:4.31, Z:5.44 [[ 9.91950245e-01 -7.91243452e-02 -9.88637913e-02 6.25414557e+01] [ 7.83030811e-02 9.96855365e-01 -1.21659053e-02 4.31253081e+00] [ 9.95155200e-02 4.32663331e-03 9.95026603e-01 5.44398917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85710568099999 meters 0.03403878565007982 Centerline is valid? [True, True] Translation: X:62.60, Y:4.31, Z:5.45 [[ 9.91880102e-01 -7.78300155e-02 -1.00580078e-01 6.26006178e+01] [ 7.69719464e-02 9.96956272e-01 -1.23899297e-02 4.30757425e+00] [ 1.01238249e-01 4.54748031e-03 9.94851817e-01 5.44522690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.917105680999995 meters 0.027607817128146687 Centerline is valid? [True, True] Translation: X:62.66, Y:4.29, Z:5.45 [[ 9.91031220e-01 -8.82438328e-02 -1.00350120e-01 6.26636730e+01] [ 8.74412370e-02 9.96092785e-01 -1.23771588e-02 4.28835470e+00] [ 1.01050238e-01 3.49141213e-03 9.94875198e-01 5.45257421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.977105681 meters 0.01991001158599589 Centerline is valid? [True, True] Translation: X:62.72, Y:4.27, Z:5.46 [[ 9.89594267e-01 -1.06561099e-01 -9.66846312e-02 6.27249498e+01] [ 1.05903118e-01 9.94304927e-01 -1.19264792e-02 4.26646866e+00] [ 9.74049039e-02 1.56317146e-03 9.95243609e-01 5.46280913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037105681 meters 0.01669479808851115 Centerline is valid? [True, True] Translation: X:62.79, Y:4.24, Z:5.47 [[ 9.87173506e-01 -1.27694793e-01 -9.58254036e-02 6.27869058e+01] [ 1.27146973e-01 9.91813380e-01 -1.18265226e-02 4.24175612e+00] [ 9.65511028e-02 -5.09080212e-04 9.95327898e-01 5.46994527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097105681 meters 0.01967291403196276 Centerline is valid? [True, True] Translation: X:62.85, Y:4.24, Z:5.48 [[ 9.85936973e-01 -1.39482472e-01 -9.20484917e-02 6.28461336e+01] [ 1.39027519e-01 9.90223265e-01 -1.13681111e-02 4.23741189e+00] [ 9.27342102e-02 -1.58903241e-03 9.95689631e-01 5.48285320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157105681 meters 0.019445131059550973 Centerline is valid? [True, True] Translation: X:62.90, Y:4.25, Z:5.49 [[ 9.86142944e-01 -1.39694399e-01 -8.94850204e-02 6.29017707e+01] [ 1.39264737e-01 9.90193441e-01 -1.10581607e-02 4.25176078e+00] [ 9.01522433e-02 -1.55718060e-03 9.95926779e-01 5.49287432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217105681 meters 0.018454507712484476 Centerline is valid? [True, True] Translation: X:62.96, Y:4.27, Z:5.50 [[ 9.86863222e-01 -1.36952731e-01 -8.57025671e-02 6.29581295e+01] [ 1.36545567e-01 9.90576834e-01 -1.06228364e-02 4.27086690e+00] [ 8.63498040e-02 -1.21901913e-03 9.96264134e-01 5.50362424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277105681 meters 0.01697048348206209 Centerline is valid? [True, True] Translation: X:63.01, Y:4.29, Z:5.51 [[ 9.87719348e-01 -1.30045120e-01 -8.65953661e-02 6.30142683e+01] [ 1.29600220e-01 9.91507901e-01 -1.07640685e-02 4.29362927e+00] [ 8.72598042e-02 -5.90899831e-04 9.96185413e-01 5.50690612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337105681 meters 0.017217836207948096 Centerline is valid? [True, True] Translation: X:63.07, Y:4.32, Z:5.50 [[ 9.88889705e-01 -1.16291146e-01 -9.25933070e-02 6.30694984e+01] [ 1.15719011e-01 9.93214921e-01 -1.15425437e-02 4.32085214e+00] [ 9.33073498e-02 6.99496754e-04 9.95637107e-01 5.50396876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397105681 meters 0.020613118416556175 Centerline is valid? [True, True] Translation: X:63.13, Y:4.35, Z:5.49 [[ 9.88893752e-01 -1.06688154e-01 -1.03473600e-01 6.31274110e+01] [ 1.05919472e-01 9.94290888e-01 -1.29110721e-02 4.34870792e+00] [ 1.04260316e-01 1.80780940e-03 9.94548399e-01 5.49349354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.457105681 meters 0.021906323504941275 Centerline is valid? [True, True] Translation: X:63.18, Y:4.36, Z:5.50 [[ 9.89225367e-01 -1.04501626e-01 -1.02530888e-01 6.31841617e+01] [ 1.03734534e-01 9.94522652e-01 -1.28000582e-02 4.36375361e+00] [ 1.03306917e-01 2.02614842e-03 9.94647463e-01 5.49908858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517105681 meters 0.021314988623454694 Centerline is valid? [True, True] Translation: X:63.24, Y:4.37, Z:5.51 [[ 9.89191617e-01 -1.04717595e-01 -1.02636103e-01 6.32406520e+01] [ 1.03946534e-01 9.94499907e-01 -1.28473108e-02 4.37447242e+00] [ 1.03416934e-01 2.03978499e-03 9.94636002e-01 5.50505128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577105681 meters 0.01868007989950097 Centerline is valid? [True, True] Translation: X:63.30, Y:4.38, Z:5.51 [[ 9.88865780e-01 -1.12073268e-01 -9.78981733e-02 6.32996819e+01] [ 1.11404613e-01 9.93699167e-01 -1.22872999e-02 4.38183709e+00] [ 9.86584111e-02 1.24418232e-03 9.95120581e-01 5.51493361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63710568100001 meters 0.017194425436282766 Centerline is valid? [True, True] Translation: X:63.36, Y:4.38, Z:5.51 [[ 9.87430318e-01 -1.20413678e-01 -1.02381219e-01 6.33581981e+01] [ 1.19726355e-01 9.92723706e-01 -1.28547029e-02 4.38203790e+00] [ 1.03184146e-01 4.35393208e-04 9.94662175e-01 5.51418575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697105681 meters 0.01697611968571325 Centerline is valid? [True, True] Translation: X:63.42, Y:4.39, Z:5.52 [[ 9.87159746e-01 -1.22930332e-01 -1.01998867e-01 6.34152297e+01] [ 1.22259371e-01 9.92415284e-01 -1.28276967e-02 4.39194510e+00] [ 1.02802148e-01 1.92668469e-04 9.94701805e-01 5.52083007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757105681 meters 0.01710360823638009 Centerline is valid? [True, True] Translation: X:63.47, Y:4.40, Z:5.52 [[ 9.86587705e-01 -1.24752531e-01 -1.05268737e-01 6.34736063e+01] [ 1.24043671e-01 9.92187888e-01 -1.32801933e-02 4.40262304e+00] [ 1.06103103e-01 4.41548333e-05 9.94355132e-01 5.52272763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817105681 meters 0.017633529123161115 Centerline is valid? [True, True] Translation: X:63.53, Y:4.41, Z:5.53 [[ 9.85583897e-01 -1.32473811e-01 -1.05238165e-01 6.35319879e+01] [ 1.31805358e-01 9.91186222e-01 -1.33124505e-02 4.40600993e+00] [ 1.06074170e-01 -7.50417176e-04 9.94357937e-01 5.52843415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877105681 meters 0.01886057101550222 Centerline is valid? [True, True] Translation: X:63.59, Y:4.41, Z:5.54 [[ 9.84947208e-01 -1.38847322e-01 -1.02958335e-01 6.35904586e+01] [ 1.38238705e-01 9.90312850e-01 -1.30583022e-02 4.40939557e+00] [ 1.03774073e-01 -1.37108858e-03 9.94599951e-01 5.53640509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937105681 meters 0.017136884790683513 Centerline is valid? [True, True] Translation: X:63.65, Y:4.43, Z:5.54 [[ 9.86101084e-01 -1.30427125e-01 -1.02924330e-01 6.36462739e+01] [ 1.29769519e-01 9.91457797e-01 -1.30885164e-02 4.43177628e+00] [ 1.03752227e-01 -4.49840507e-04 9.94603073e-01 5.54266306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99710568100001 meters 0.018704126540769896 Centerline is valid? [True, True] Translation: X:63.70, Y:4.46, Z:5.54 [[ 9.87771611e-01 -1.14801137e-01 -1.05489071e-01 6.37018574e+01] [ 1.14017708e-01 9.93387700e-01 -1.34476789e-02 4.45832392e+00] [ 1.06335355e-01 1.25561331e-03 9.94329531e-01 5.54307223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057105681 meters 0.024280377045618723 Centerline is valid? [True, True] Translation: X:63.76, Y:4.49, Z:5.54 [[ 9.89141262e-01 -1.00781939e-01 -1.06969926e-01 6.37585440e+01] [ 9.98926136e-02 9.94904543e-01 -1.36533997e-02 4.48655888e+00] [ 1.07800881e-01 2.81963548e-03 9.94168507e-01 5.54474300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117105681 meters 0.02572704404627085 Centerline is valid? [True, True] Translation: X:63.82, Y:4.49, Z:5.56 [[ 9.90477325e-01 -9.71127850e-02 -9.75898324e-02 6.38157280e+01] [ 9.63548210e-02 9.95269043e-01 -1.24611665e-02 4.49401807e+00] [ 9.83382777e-02 2.93925203e-03 9.95148704e-01 5.55883953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177105681 meters 0.023846435232231736 Centerline is valid? [True, True] Translation: X:63.87, Y:4.49, Z:5.56 [[ 9.90203121e-01 -1.00085742e-01 -9.73684977e-02 6.38747489e+01] [ 9.93423401e-02 9.94975232e-01 -1.24654179e-02 4.49431943e+00] [ 9.81268542e-02 2.67048126e-03 9.95170332e-01 5.56334961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237105681 meters 0.029517073300536517 Centerline is valid? [True, True] Translation: X:63.93, Y:4.50, Z:5.56 [[ 9.90679121e-01 -9.05151665e-02 -1.01793338e-01 6.39339033e+01] [ 8.96487382e-02 9.95887764e-01 -1.30638570e-02 4.50341912e+00] [ 1.02557217e-01 3.81644609e-03 9.94719786e-01 5.56057141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297105681 meters 0.03226892192340118 Centerline is valid? [True, True] Translation: X:63.99, Y:4.51, Z:5.57 [[ 9.91349859e-01 -8.23270231e-02 -1.02214080e-01 6.39945015e+01] [ 8.14097699e-02 9.96594354e-01 -1.31203307e-02 4.50712946e+00] [ 1.02946133e-01 4.68561321e-03 9.94675896e-01 5.56579834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35710568100001 meters 0.034046244910890505 Centerline is valid? [True, True] Translation: X:64.05, Y:4.51, Z:5.57 [[ 9.91858502e-01 -8.02436941e-02 -9.88820609e-02 6.40529363e+01] [ 7.93751687e-02 9.96764002e-01 -1.26927954e-02 4.50666534e+00] [ 9.95805955e-02 4.74067674e-03 9.95018206e-01 5.57408320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417105681 meters 0.03303326985228445 Centerline is valid? [True, True] Translation: X:64.11, Y:4.50, Z:5.58 [[ 9.91719220e-01 -8.31241953e-02 -9.78946261e-02 6.41139267e+01] [ 8.22856255e-02 9.96529393e-01 -1.25795224e-02 4.49632185e+00] [ 9.86005350e-02 4.42003362e-03 9.95117278e-01 5.57913868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477105681 meters 0.03398929319681697 Centerline is valid? [True, True] Translation: X:64.17, Y:4.49, Z:5.58 [[ 9.91842122e-01 -8.31987067e-02 -9.65773293e-02 6.41726268e+01] [ 8.23800506e-02 9.96523340e-01 -1.24402783e-02 4.49263954e+00] [ 9.72765778e-02 4.38274676e-03 9.95247737e-01 5.58332881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537105681 meters 0.03319064903410237 Centerline is valid? [True, True] Translation: X:64.23, Y:4.48, Z:5.58 [[ 9.91240049e-01 -8.57415916e-02 -1.00456685e-01 6.42336507e+01] [ 8.48646883e-02 9.96307959e-01 -1.29782548e-02 4.47890061e+00] [ 1.01198571e-01 4.33934070e-03 9.94856783e-01 5.58454428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597105681 meters 0.03036821815545155 Centerline is valid? [True, True] Translation: X:64.30, Y:4.46, Z:5.59 [[ 9.91162242e-01 -8.94354112e-02 -9.79730435e-02 6.42950844e+01] [ 8.86166603e-02 9.95985022e-01 -1.26855530e-02 4.46323581e+00] [ 9.87142215e-02 3.89139720e-03 9.95108215e-01 5.59459578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657105681 meters 0.031710102159304844 Centerline is valid? [True, True] Translation: X:64.35, Y:4.46, Z:5.60 [[ 9.91589761e-01 -8.82973946e-02 -9.46219595e-02 6.43545158e+01] [ 8.75281454e-02 9.96086630e-01 -1.22576346e-02 4.45872227e+00] [ 9.53339859e-02 3.87246032e-03 9.95437811e-01 5.60284845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717105681 meters 0.03283355152509888 Centerline is valid? [True, True] Translation: X:64.41, Y:4.45, Z:5.61 [[ 9.91857844e-01 -8.71065611e-02 -9.29002976e-02 6.44143753e+01] [ 8.63571845e-02 9.96191196e-01 -1.20638845e-02 4.45085173e+00] [ 9.35973021e-02 3.94305031e-03 9.95602329e-01 5.60915964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777105681 meters 0.0316058441149392 Centerline is valid? [True, True] Translation: X:64.47, Y:4.45, Z:5.61 [[ 9.91871845e-01 -8.73064613e-02 -9.25625472e-02 6.44734544e+01] [ 8.65606546e-02 9.96173712e-01 -1.20494243e-02 4.44614947e+00] [ 9.32603688e-02 3.93921002e-03 9.95633962e-01 5.61376351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837105681 meters 0.03191088410986781 Centerline is valid? [True, True] Translation: X:64.53, Y:4.44, Z:5.62 [[ 9.91829838e-01 -8.57346701e-02 -9.44623642e-02 6.45340494e+01] [ 8.49473366e-02 9.96309122e-01 -1.23322215e-02 4.43808242e+00] [ 9.51710141e-02 4.20713899e-03 9.95452047e-01 5.61557680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897105681 meters 0.03394508728493754 Centerline is valid? [True, True] Translation: X:64.59, Y:4.44, Z:5.62 [[ 9.91811615e-01 -8.22184485e-02 -9.77233231e-02 6.45946230e+01] [ 8.13556022e-02 9.96603091e-01 -1.27884398e-02 4.43500033e+00] [ 9.84428116e-02 4.73338333e-03 9.95131453e-01 5.61730584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.957105681 meters 0.037310096404655636 Centerline is valid? [True, True] Translation: X:64.65, Y:4.43, Z:5.63 [[ 9.92380128e-01 -7.90690725e-02 -9.44974229e-02 6.46536552e+01] [ 7.82477985e-02 9.96857184e-01 -1.23708410e-02 4.42785800e+00] [ 9.51785858e-02 4.88236150e-03 9.95448240e-01 5.62575421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017105681 meters 0.03978354833830267 Centerline is valid? [True, True] Translation: X:64.71, Y:4.43, Z:5.62 [[ 9.92284973e-01 -7.65292198e-02 -9.75387632e-02 6.47140836e+01] [ 7.56409525e-02 9.97053246e-01 -1.27777552e-02 4.42773120e+00] [ 9.82292121e-02 5.30124951e-03 9.95149697e-01 5.62435469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077105681 meters 0.036655071088463796 Centerline is valid? [True, True] Translation: X:64.78, Y:4.42, Z:5.63 [[ 9.91894067e-01 -8.15122580e-02 -9.74777455e-02 6.47760085e+01] [ 8.06486329e-02 9.96660738e-01 -1.27738558e-02 4.41836828e+00] [ 9.81934676e-02 4.80886484e-03 9.95155725e-01 5.62839927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13710568100001 meters 0.032442721663979365 Centerline is valid? [True, True] Translation: X:64.84, Y:4.41, Z:5.63 [[ 9.90899741e-01 -9.12070945e-02 -9.89897454e-02 6.48363600e+01] [ 9.03642331e-02 9.95824265e-01 -1.29745030e-02 4.40734650e+00] [ 9.97597573e-02 3.91129923e-03 9.95003866e-01 5.63328620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197105681 meters 0.027784026420210224 Centerline is valid? [True, True] Translation: X:64.90, Y:4.40, Z:5.64 [[ 9.90300461e-01 -9.83378573e-02 -9.81563213e-02 6.48977513e+01] [ 9.75435736e-02 9.95148035e-01 -1.28700791e-02 4.40021208e+00] [ 9.89456863e-02 3.17072692e-03 9.95087784e-01 5.64074026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257105681 meters 0.020743963175148546 Centerline is valid? [True, True] Translation: X:64.96, Y:4.39, Z:5.64 [[ 9.88985176e-01 -1.08709599e-01 -1.00451701e-01 6.49600468e+01] [ 1.07930640e-01 9.94071146e-01 -1.31732229e-02 4.38710210e+00] [ 1.01288193e-01 2.18630583e-03 9.94854724e-01 5.64291321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.317105681 meters 0.016681500546199365 Centerline is valid? [True, True] Translation: X:65.02, Y:4.37, Z:5.65 [[ 9.86957571e-01 -1.24954987e-01 -1.01493864e-01 6.50207219e+01] [ 1.24244900e-01 9.92162271e-01 -1.33129094e-02 4.37423662e+00] [ 1.02361897e-01 5.29181693e-04 9.94747084e-01 5.64710522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377105681 meters 0.01851305378518418 Centerline is valid? [True, True] Translation: X:65.08, Y:4.36, Z:5.66 [[ 9.84965655e-01 -1.44813369e-01 -9.41899503e-02 6.50801387e+01] [ 1.44291649e-01 9.89457977e-01 -1.23625097e-02 4.36227982e+00] [ 9.49872544e-02 -1.41417579e-03 9.95477484e-01 5.66397111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437105681 meters 0.023687448674837127 Centerline is valid? [True, True] Translation: X:65.14, Y:4.36, Z:5.67 [[ 9.83243250e-01 -1.57176419e-01 -9.23487120e-02 6.51402757e+01] [ 1.56726544e-01 9.87567306e-01 -1.21493436e-02 4.36192304e+00] [ 9.31101591e-02 -2.52773435e-03 9.95652604e-01 5.67177996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49710568100001 meters 0.024856492599833198 Centerline is valid? [True, True] Translation: X:65.20, Y:4.38, Z:5.67 [[ 9.82475374e-01 -1.60532369e-01 -9.47179880e-02 6.51982970e+01] [ 1.60074216e-01 9.87026272e-01 -1.24653229e-02 4.37504997e+00] [ 9.54902304e-02 -2.91503492e-03 9.95426099e-01 5.67431975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557105681 meters 0.025459527495506083 Centerline is valid? [True, True] Translation: X:65.25, Y:4.39, Z:5.68 [[ 9.82386108e-01 -1.62097309e-01 -9.29623469e-02 6.52548245e+01] [ 1.61660074e-01 9.86770281e-01 -1.22651438e-02 4.39455052e+00] [ 9.37206279e-02 -2.97919296e-03 9.95594078e-01 5.68103687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617105681 meters 0.02894863466637603 Centerline is valid? [True, True] Translation: X:65.31, Y:4.42, Z:5.69 [[ 9.81167006e-01 -1.69094294e-01 -9.33725127e-02 6.53126266e+01] [ 1.68681878e-01 9.85593181e-01 -1.23493512e-02 4.41515690e+00] [ 9.41155166e-02 -3.63347484e-03 9.95554653e-01 5.68701971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677105681 meters 0.03158949206530537 Centerline is valid? [True, True] Translation: X:65.37, Y:4.43, Z:5.69 [[ 9.80154897e-01 -1.74650154e-01 -9.37747367e-02 6.53708444e+01] [ 1.74259255e-01 9.84621669e-01 -1.24048708e-02 4.43014970e+00] [ 9.44991504e-02 -4.18242093e-03 9.95516157e-01 5.69059845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737105681 meters 0.03368560821380003 Centerline is valid? [True, True] Translation: X:65.43, Y:4.46, Z:5.69 [[ 9.79430745e-01 -1.77864808e-01 -9.52865427e-02 6.54267573e+01] [ 1.77476064e-01 9.84044355e-01 -1.26077310e-02 4.46087835e+00] [ 9.60086561e-02 -4.56268109e-03 9.95370042e-01 5.69357777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797105681 meters 0.03303354122328023 Centerline is valid? [True, True] Translation: X:65.48, Y:4.49, Z:5.70 [[ 9.79214019e-01 -1.78248855e-01 -9.67845597e-02 6.54817131e+01] [ 1.77848934e-01 9.83974377e-01 -1.28133753e-02 4.49036345e+00] [ 9.75174963e-02 -4.66599404e-03 9.95222873e-01 5.69917477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85710568100001 meters 0.033799710148854314 Centerline is valid? [True, True] Translation: X:65.54, Y:4.52, Z:5.70 [[ 9.79054354e-01 -1.78965979e-01 -9.70760073e-02 6.55370421e+01] [ 1.78563791e-01 9.83843951e-01 -1.28861793e-02 4.52208653e+00] [ 9.78138302e-02 -4.71798994e-03 9.95193547e-01 5.70340226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917105681 meters 0.032909590181900365 Centerline is valid? [True, True] Translation: X:65.59, Y:4.55, Z:5.71 [[ 9.79213563e-01 -1.80176802e-01 -9.31510453e-02 6.55916753e+01] [ 1.79808997e-01 9.83623434e-01 -1.23961726e-02 4.55338092e+00] [ 9.38590538e-02 -4.61089567e-03 9.95574818e-01 5.71395700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977105681 meters 0.03043643089718309 Centerline is valid? [True, True] Translation: X:65.65, Y:4.60, Z:5.72 [[ 9.80598891e-01 -1.73951230e-01 -9.03702592e-02 6.56456266e+01] [ 1.73575920e-01 9.84746689e-01 -1.20564302e-02 4.59690376e+00] [ 9.10890444e-02 -3.86357885e-03 9.95835257e-01 5.72101942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037105681 meters 0.024013707129349353 Centerline is valid? [True, True] Translation: X:65.70, Y:4.64, Z:5.73 [[ 9.83351689e-01 -1.60350613e-01 -8.54817952e-02 6.56982843e+01] [ 1.59963134e-01 9.87057065e-01 -1.14081280e-02 4.64061833e+00] [ 8.62047102e-02 -2.45573399e-03 9.96274419e-01 5.73079587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097105681 meters 0.01754438033592757 Centerline is valid? [True, True] Translation: X:65.75, Y:4.68, Z:5.73 [[ 9.85419895e-01 -1.43851220e-01 -9.08540405e-02 6.57530300e+01] [ 1.43342795e-01 9.89598749e-01 -1.21309490e-02 4.68360772e+00] [ 9.16540966e-02 -1.06919357e-03 9.95790331e-01 5.72781844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157105681 meters 0.016641348260836738 Centerline is valid? [True, True] Translation: X:65.81, Y:4.72, Z:5.73 [[ 9.87609444e-01 -1.24850120e-01 -9.50790875e-02 6.58073991e+01] [ 1.24204617e-01 9.92175342e-01 -1.27005592e-02 4.72373320e+00] [ 9.59207925e-02 7.33930508e-04 9.95388699e-01 5.72765236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217105681 meters 0.019697680959176893 Centerline is valid? [True, True] Translation: X:65.86, Y:4.75, Z:5.73 [[ 9.88405817e-01 -1.16452986e-01 -9.74301984e-02 6.58638378e+01] [ 1.15731361e-01 9.93194887e-01 -1.30448266e-02 4.75386307e+00] [ 9.82862839e-02 1.61785305e-03 9.95156867e-01 5.72752156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277105681 meters 0.019873606602699333 Centerline is valid? [True, True] Translation: X:65.92, Y:4.77, Z:5.73 [[ 9.88283085e-01 -1.17041597e-01 -9.79684106e-02 6.59196646e+01] [ 1.16314273e-01 9.93125767e-01 -1.31225680e-02 4.76854004e+00] [ 9.88308392e-02 1.57368758e-03 9.95103004e-01 5.73101294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337105681 meters 0.01579731897617298 Centerline is valid? [True, True] Translation: X:65.98, Y:4.76, Z:5.74 [[ 9.86752396e-01 -1.32243581e-01 -9.39752346e-02 6.59799824e+01] [ 1.31641832e-01 9.91217247e-01 -1.26014607e-02 4.76132158e+00] [ 9.48163356e-02 6.34494815e-05 9.95494781e-01 5.74275931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397105681 meters 0.01697321546894666 Centerline is valid? [True, True] Translation: X:66.04, Y:4.76, Z:5.75 [[ 9.85960132e-01 -1.41233758e-01 -8.90822258e-02 6.60386265e+01] [ 1.40729378e-01 9.89975987e-01 -1.19493311e-02 4.75712358e+00] [ 8.98769134e-02 -7.54922156e-04 9.95952595e-01 5.75307994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.457105681 meters 0.018942672955768694 Centerline is valid? [True, True] Translation: X:66.10, Y:4.76, Z:5.76 [[ 9.85089608e-01 -1.46752386e-01 -8.97897596e-02 6.60979439e+01] [ 1.46261844e-01 9.89172460e-01 -1.20547835e-02 4.75893567e+00] [ 9.05866256e-02 -1.25777392e-03 9.95887785e-01 5.75675559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517105681 meters 0.017017141679190616 Centerline is valid? [True, True] Translation: X:66.16, Y:4.77, Z:5.76 [[ 9.85339519e-01 -1.42398997e-01 -9.39604083e-02 6.61553316e+01] [ 1.41839135e-01 9.89808957e-01 -1.26446597e-02 4.77145302e+00] [ 9.48034406e-02 -8.67980187e-04 9.95495632e-01 5.75817857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577105681 meters 0.01607358611091001 Centerline is valid? [True, True] Translation: X:66.21, Y:4.79, Z:5.76 [[ 9.86872310e-01 -1.30045278e-01 -9.57667433e-02 6.62117959e+01] [ 1.29402363e-01 9.91507992e-01 -1.29201861e-02 4.79023844e+00] [ 9.66337005e-02 3.58131070e-04 9.95319948e-01 5.76301719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63710568100001 meters 0.016455670785993064 Centerline is valid? [True, True] Translation: X:66.27, Y:4.80, Z:5.77 [[ 9.87113983e-01 -1.28392141e-01 -9.55062390e-02 6.62693100e+01] [ 1.27741780e-01 9.91723325e-01 -1.29183595e-02 4.79945736e+00] [ 9.63743808e-02 5.51756357e-04 9.95345003e-01 5.76756978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697105681 meters 0.01727964083244445 Centerline is valid? [True, True] Translation: X:66.33, Y:4.81, Z:5.77 [[ 9.87315499e-01 -1.25071876e-01 -9.78014865e-02 6.63267547e+01] [ 1.24369912e-01 9.92147244e-01 -1.32654010e-02 4.80667944e+00] [ 9.86926039e-02 9.33573830e-04 9.95117530e-01 5.77028535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757105681 meters 0.017587957817908745 Centerline is valid? [True, True] Translation: X:66.38, Y:4.81, Z:5.78 [[ 9.87728501e-01 -1.23750079e-01 -9.52802528e-02 6.63837622e+01] [ 1.23076546e-01 9.92312861e-01 -1.29363979e-02 4.81110770e+00] [ 9.61487005e-02 1.05088451e-03 9.95366427e-01 5.77899606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.817105681 meters 0.01621084959899455 Centerline is valid? [True, True] Translation: X:66.44, Y:4.81, Z:5.79 [[ 9.87257002e-01 -1.28572515e-01 -9.37695011e-02 6.64429030e+01] [ 1.27938603e-01 9.91699924e-01 -1.27661144e-02 4.80985119e+00] [ 9.46325786e-02 6.06696884e-04 9.95512083e-01 5.78614351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877105681 meters 0.018310932348910857 Centerline is valid? [True, True] Translation: X:66.51, Y:4.80, Z:5.78 [[ 9.83590988e-01 -1.48728566e-01 -1.02120431e-01 6.65052628e+01] [ 1.48080842e-01 9.88877048e-01 -1.39373042e-02 4.79549919e+00] [ 1.03057426e-01 -1.41347256e-03 9.94674404e-01 5.78136681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937105681 meters 0.02709008099248698 Centerline is valid? [True, True] Translation: X:66.57, Y:4.78, Z:5.79 [[ 9.80913941e-01 -1.67672554e-01 -9.84568679e-02 6.65658490e+01] [ 1.67164498e-01 9.85837324e-01 -1.34462488e-02 4.78374545e+00] [ 9.93170220e-02 -3.26888002e-03 9.95050473e-01 5.79166564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99710568100001 meters 0.033729869417862275 Centerline is valid? [True, True] Translation: X:66.62, Y:4.79, Z:5.80 [[ 9.79490877e-01 -1.77627920e-01 -9.51101698e-02 6.66241816e+01] [ 1.77200402e-01 9.84089055e-01 -1.29903604e-02 4.78657956e+00] [ 9.59043278e-02 -4.12962077e-03 9.95381990e-01 5.80312441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057105681 meters 0.028883773456894753 Centerline is valid? [True, True] Translation: X:66.68, Y:4.81, Z:5.81 [[ 9.80351922e-01 -1.71350592e-01 -9.77194124e-02 6.66812678e+01] [ 1.70868020e-01 9.85203500e-01 -1.33485355e-02 4.80970367e+00] [ 9.85607866e-02 -3.61086005e-03 9.95124481e-01 5.80522137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117105681 meters 0.02196872933075649 Centerline is valid? [True, True] Translation: X:66.74, Y:4.84, Z:5.81 [[ 9.82630833e-01 -1.58156944e-01 -9.70722822e-02 6.67380589e+01] [ 1.57616042e-01 9.87411386e-01 -1.32641852e-02 4.84000331e+00] [ 9.79480997e-02 -2.26635154e-03 9.95188944e-01 5.81200810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177105681 meters 0.01710903780595108 Centerline is valid? [True, True] Translation: X:66.79, Y:4.87, Z:5.82 [[ 9.84918420e-01 -1.44593058e-01 -9.50186963e-02 6.67946711e+01] [ 1.44011759e-01 9.89490801e-01 -1.29834075e-02 4.86700228e+00] [ 9.58974365e-02 -8.96212364e-04 9.95390817e-01 5.81807591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237105681 meters 0.01636595690307291 Centerline is valid? [True, True] Translation: X:66.85, Y:4.89, Z:5.83 [[ 9.85910667e-01 -1.41143264e-01 -8.97704585e-02 6.68510572e+01] [ 1.40609758e-01 9.89989043e-01 -1.22715707e-02 4.88574330e+00] [ 9.06038198e-02 -5.23929979e-04 9.95886878e-01 5.82892027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297105681 meters 0.01636034756397174 Centerline is valid? [True, True] Translation: X:66.91, Y:4.90, Z:5.83 [[ 9.86079918e-01 -1.39863520e-01 -8.99143520e-02 6.69075580e+01] [ 1.39320142e-01 9.90170720e-01 -1.23224871e-02 4.89681629e+00] [ 9.07540251e-02 -3.75923215e-04 9.95873268e-01 5.83491834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35710568100001 meters 0.01685740386747486 Centerline is valid? [True, True] Translation: X:66.96, Y:4.92, Z:5.84 [[ 9.87358792e-01 -1.28967415e-01 -9.21413136e-02 6.69647031e+01] [ 1.28348163e-01 9.91648616e-01 -1.26400657e-02 4.91752503e+00] [ 9.30019627e-02 6.54111712e-04 9.95665711e-01 5.83565006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417105681 meters 0.023198410383447117 Centerline is valid? [True, True] Translation: X:67.02, Y:4.94, Z:5.83 [[ 9.88882107e-01 -1.11054329e-01 -9.88894052e-02 6.70227742e+01] [ 1.10248114e-01 9.93811081e-01 -1.35973709e-02 4.94238770e+00] [ 9.97874336e-02 2.54382639e-03 9.95005526e-01 5.83259298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477105681 meters 0.02581317706989219 Centerline is valid? [True, True] Translation: X:67.08, Y:4.95, Z:5.84 [[ 9.89418988e-01 -1.05446964e-01 -9.96544245e-02 6.70813953e+01] [ 1.04599600e-01 9.94419984e-01 -1.37047459e-02 4.95026791e+00] [ 1.00543475e-01 3.13592292e-03 9.94927724e-01 5.83630433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537105681 meters 0.02360786255814022 Centerline is valid? [True, True] Translation: X:67.14, Y:4.94, Z:5.84 [[ 9.88580012e-01 -1.10189339e-01 -1.02800145e-01 6.71412318e+01] [ 1.09311447e-01 9.93906802e-01 -1.41519417e-02 4.94483268e+00] [ 1.03733156e-01 2.75309417e-03 9.94601354e-01 5.83806896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597105681 meters 0.020617468915308492 Centerline is valid? [True, True] Translation: X:67.20, Y:4.94, Z:5.85 [[ 9.88097960e-01 -1.18258201e-01 -9.83738759e-02 6.72010791e+01] [ 1.17491378e-01 9.92981150e-01 -1.35724481e-02 4.93599870e+00] [ 9.92884578e-02 1.85282610e-03 9.95056968e-01 5.84757238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657105681 meters 0.01585950363794444 Centerline is valid? [True, True] Translation: X:67.26, Y:4.91, Z:5.86 [[ 9.86566438e-01 -1.35354091e-01 -9.14654797e-02 6.72636998e+01] [ 1.34764045e-01 9.90797282e-01 -1.26253254e-02 4.91258387e+00] [ 9.23326381e-02 1.29464320e-04 9.95728209e-01 5.86125286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717105681 meters 0.017757255989773228 Centerline is valid? [True, True] Translation: X:67.32, Y:4.90, Z:5.86 [[ 9.84352270e-01 -1.48591526e-01 -9.47162468e-02 6.73246803e+01] [ 1.48019290e-01 9.88897995e-01 -1.30784196e-02 4.90265347e+00] [ 9.56080489e-02 -1.14605951e-03 9.95418398e-01 5.86202098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777105681 meters 0.019435921637610303 Centerline is valid? [True, True] Translation: X:67.38, Y:4.90, Z:5.87 [[ 9.83568257e-01 -1.53121706e-01 -9.56411349e-02 6.73833273e+01] [ 1.52556499e-01 9.88206090e-01 -1.32377452e-02 4.90266850e+00] [ 9.65401381e-02 -1.57045068e-03 9.95327853e-01 5.86633922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837105681 meters 0.02120170249702407 Centerline is valid? [True, True] Translation: X:67.44, Y:4.91, Z:5.87 [[ 9.82973710e-01 -1.57213601e-01 -9.51134551e-02 6.74414874e+01] [ 1.56671991e-01 9.87562710e-01 -1.31825847e-02 4.90797462e+00] [ 9.60029831e-02 -1.94348023e-03 9.95379149e-01 5.87126806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897105681 meters 0.027742058420233227 Centerline is valid? [True, True] Translation: X:67.50, Y:4.90, Z:5.88 [[ 9.81139812e-01 -1.70941458e-01 -9.02423823e-02 6.75025945e+01] [ 1.70509239e-01 9.85276346e-01 -1.25348312e-02 4.90246768e+00] [ 9.10564070e-02 -3.08873792e-03 9.95840946e-01 5.88310245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.957105681 meters 0.03421403628522425 Centerline is valid? [True, True] Translation: X:67.56, Y:4.90, Z:5.89 [[ 9.78910871e-01 -1.83176987e-01 -9.04416834e-02 6.75629542e+01] [ 1.82794591e-01 9.83070839e-01 -1.25643525e-02 4.90157277e+00] [ 9.12120818e-02 -4.23286932e-03 9.95822494e-01 5.88932040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017105681 meters 0.03729133003028668 Centerline is valid? [True, True] Translation: X:67.62, Y:4.91, Z:5.90 [[ 9.78304991e-01 -1.87339648e-01 -8.84488642e-02 6.76207311e+01] [ 1.86990653e-01 9.82284817e-01 -1.22896131e-02 4.91403739e+00] [ 8.91843082e-02 -4.51612105e-03 9.96004902e-01 5.89731688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077105681 meters 0.03590775477986038 Centerline is valid? [True, True] Translation: X:67.68, Y:4.94, Z:5.90 [[ 9.77922897e-01 -1.88033909e-01 -9.11595166e-02 6.76769331e+01] [ 1.87665533e-01 9.82151225e-01 -1.26735227e-02 4.93603986e+00] [ 9.19154830e-02 -4.71377131e-03 9.95755655e-01 5.89804971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13710568100001 meters 0.037692896922151706 Centerline is valid? [True, True] Translation: X:67.73, Y:4.96, Z:5.90 [[ 9.78454316e-01 -1.83976278e-01 -9.37010148e-02 6.77326932e+01] [ 1.83565653e-01 9.82920727e-01 -1.30573986e-02 4.96408800e+00] [ 9.45029212e-02 -4.42421998e-03 9.95514753e-01 5.90074650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197105681 meters 0.03014331076958057 Centerline is valid? [True, True] Translation: X:67.79, Y:5.00, Z:5.91 [[ 9.79960506e-01 -1.76452618e-01 -9.24222950e-02 6.77878320e+01] [ 1.76019368e-01 9.84302394e-01 -1.28833143e-02 5.00363554e+00] [ 9.32447807e-02 -3.64297479e-03 9.95636550e-01 5.90838198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257105681 meters 0.02281877350797064 Centerline is valid? [True, True] Translation: X:67.84, Y:5.04, Z:5.91 [[ 9.82312778e-01 -1.63022250e-01 -9.21159755e-02 6.78430366e+01] [ 1.62532758e-01 9.86619577e-01 -1.28418439e-02 5.04180080e+00] [ 9.29769310e-02 -2.35715621e-03 9.95665473e-01 5.91487825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.317105681 meters 0.01679238432111977 Centerline is valid? [True, True] Translation: X:67.90, Y:5.09, Z:5.93 [[ 9.86612529e-01 -1.38236105e-01 -8.65245438e-02 6.78962750e+01] [ 1.37708626e-01 9.90399303e-01 -1.20646367e-02 5.08731474e+00] [ 8.73616162e-02 -1.20542258e-05 9.96176665e-01 5.92636781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377105681 meters 0.021273380839199604 Centerline is valid? [True, True] Translation: X:67.95, Y:5.13, Z:5.93 [[ 9.89152727e-01 -1.17869361e-01 -8.76566988e-02 6.79515301e+01] [ 1.17247684e-01 9.93027451e-01 -1.22254753e-02 5.12593667e+00] [ 8.84865172e-02 1.81531730e-03 9.96075720e-01 5.92594909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437105681 meters 0.02289945343317152 Centerline is valid? [True, True] Translation: X:68.01, Y:5.13, Z:5.92 [[ 9.88970942e-01 -1.14939055e-01 -9.34103291e-02 6.80106340e+01] [ 1.14219200e-01 9.93370062e-01 -1.30343901e-02 5.13491219e+00] [ 9.42891848e-02 2.22138000e-03 9.95542372e-01 5.91936245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49710568100001 meters 0.021972787417296986 Centerline is valid? [True, True] Translation: X:68.07, Y:5.14, Z:5.92 [[ 9.87991380e-01 -1.18342646e-01 -9.93380700e-02 6.80696827e+01] [ 1.17541704e-01 9.92970693e-01 -1.38978847e-02 5.13618637e+00] [ 1.00284505e-01 2.05462430e-03 9.94956681e-01 5.91808062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557105681 meters 0.020238182987573093 Centerline is valid? [True, True] Translation: X:68.13, Y:5.13, Z:5.92 [[ 9.86977870e-01 -1.24714778e-01 -1.01591874e-01 6.81286076e+01] [ 1.23907204e-01 9.92191542e-01 -1.42460226e-02 5.13412320e+00] [ 1.02575287e-01 1.47254410e-03 9.94724154e-01 5.92135929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617105681 meters 0.017081513475325997 Centerline is valid? [True, True] Translation: X:68.19, Y:5.12, Z:5.94 [[ 9.86072891e-01 -1.36346596e-01 -9.52358112e-02 6.81899996e+01] [ 1.35690234e-01 9.90661163e-01 -1.33648947e-02 5.12357792e+00] [ 9.61686774e-02 2.56190842e-04 9.95365018e-01 5.93502081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.677105681 meters 0.018622230157510838 Centerline is valid? [True, True] Translation: X:68.25, Y:5.11, Z:5.94 [[ 9.84221861e-01 -1.51751853e-01 -9.09873814e-02 6.82504427e+01] [ 1.51218129e-01 9.88417909e-01 -1.27716747e-02 5.11105576e+00] [ 9.18716825e-02 -1.18878011e-03 9.95770145e-01 5.94403014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737105681 meters 0.023748332813650398 Centerline is valid? [True, True] Translation: X:68.31, Y:5.11, Z:5.95 [[ 9.82039104e-01 -1.65595134e-01 -9.04292573e-02 6.83114514e+01] [ 1.65123624e-01 9.86190809e-01 -1.27231261e-02 5.10857306e+00] [ 9.12873901e-02 -2.43739937e-03 9.95821606e-01 5.95071128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797105681 meters 0.026340972793162717 Centerline is valid? [True, True] Translation: X:68.37, Y:5.11, Z:5.95 [[ 9.80891291e-01 -1.70181156e-01 -9.42902367e-02 6.83717383e+01] [ 1.69689339e-01 9.85408274e-01 -1.32688555e-02 5.11066098e+00] [ 9.51724886e-02 -2.98474318e-03 9.95456322e-01 5.94978529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85710568100001 meters 0.029812489354025064 Centerline is valid? [True, True] Translation: X:68.43, Y:5.12, Z:5.96 [[ 9.79231644e-01 -1.79451674e-01 -9.43529746e-02 6.84309885e+01] [ 1.79001599e-01 9.83759126e-01 -1.32819467e-02 5.11798356e+00] [ 9.52040673e-02 -3.88323087e-03 9.95450203e-01 5.95600003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917105681 meters 0.033246853151841844 Centerline is valid? [True, True] Translation: X:68.49, Y:5.13, Z:5.97 [[ 9.78954662e-01 -1.85146409e-01 -8.58404162e-02 6.84892842e+01] [ 1.84795587e-01 9.82702675e-01 -1.20848581e-02 5.12526347e+00] [ 8.65930747e-02 -4.03240195e-03 9.96235604e-01 5.97257685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977105681 meters 0.026959782728424687 Centerline is valid? [True, True] Translation: X:68.54, Y:5.16, Z:5.98 [[ 9.81723613e-01 -1.70735867e-01 -8.40714661e-02 6.85444830e+01] [ 1.70346359e-01 9.85313136e-01 -1.18381328e-02 5.15759646e+00] [ 8.48579138e-02 -2.69949370e-03 9.96389405e-01 5.97706435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037105681 meters 0.018742014409948993 Centerline is valid? [True, True] Translation: X:68.60, Y:5.21, Z:5.98 [[ 9.86308979e-01 -1.41036472e-01 -8.54594114e-02 6.85984219e+01] [ 1.40521971e-01 9.90004391e-01 -1.20366440e-02 5.20678250e+00] [ 8.63027984e-02 -1.37074912e-04 9.96268944e-01 5.97735685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.097105681 meters 0.02159584667278396 Centerline is valid? [True, True] Translation: X:68.65, Y:5.24, Z:5.97 [[ 9.87312482e-01 -1.26169544e-01 -9.64121856e-02 6.86548997e+01] [ 1.25443349e-01 9.92007822e-01 -1.35811644e-02 5.24425315e+00] [ 9.73551716e-02 1.31458567e-03 9.95248834e-01 5.96639285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157105681 meters 0.02218742423348071 Centerline is valid? [True, True] Translation: X:68.71, Y:5.26, Z:5.97 [[ 9.87163054e-01 -1.25669307e-01 -9.85714457e-02 6.87125303e+01] [ 1.24906884e-01 9.92071196e-01 -1.38928574e-02 5.25776626e+00] [ 9.95357979e-02 1.40226336e-03 9.95032994e-01 5.96856270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217105681 meters 0.021136712907477335 Centerline is valid? [True, True] Translation: X:68.77, Y:5.26, Z:5.97 [[ 9.86530049e-01 -1.29856886e-01 -9.94768948e-02 6.87709682e+01] [ 1.29098309e-01 9.91532222e-01 -1.40527649e-02 5.26022125e+00] [ 1.00459395e-01 1.02117593e-03 9.94940635e-01 5.97282166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277105681 meters 0.01899567828966558 Centerline is valid? [True, True] Translation: X:68.83, Y:5.25, Z:5.99 [[ 9.85215855e-01 -1.43299627e-01 -9.38878848e-02 6.88308587e+01] [ 1.42682205e-01 9.89679305e-01 -1.32914354e-02 5.25265697e+00] [ 9.48235543e-02 -3.01197502e-04 9.95494050e-01 5.98697356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337105681 meters 0.02084968685463219 Centerline is valid? [True, True] Translation: X:68.89, Y:5.25, Z:5.99 [[ 9.83999216e-01 -1.53202113e-01 -9.09651359e-02 6.88901006e+01] [ 1.52662231e-01 9.88194161e-01 -1.29051417e-02 5.24596459e+00] [ 9.18683112e-02 -1.18829136e-03 9.95770456e-01 5.99362594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397105681 meters 0.02667242921069683 Centerline is valid? [True, True] Translation: X:68.95, Y:5.23, Z:6.00 [[ 9.81793269e-01 -1.65548193e-01 -9.31438289e-02 6.89511215e+01] [ 1.65035859e-01 9.86198824e-01 -1.32304822e-02 5.23480210e+00] [ 9.40486169e-02 -2.38247340e-03 9.95564755e-01 5.99760137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.457105681 meters 0.025892759556844218 Centerline is valid? [True, True] Translation: X:69.01, Y:5.25, Z:6.01 [[ 9.81141548e-01 -1.70231769e-01 -9.15554886e-02 6.90095263e+01] [ 1.69756740e-01 9.85400134e-01 -1.30086930e-02 5.24607856e+00] [ 9.24332835e-02 -2.77879206e-03 9.95715003e-01 6.00664343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517105681 meters 0.02628413603199342 Centerline is valid? [True, True] Translation: X:69.07, Y:5.25, Z:6.02 [[ 9.80985482e-01 -1.71669482e-01 -9.05376846e-02 6.90673019e+01] [ 1.71210615e-01 9.85150402e-01 -1.28690200e-02 5.25207360e+00] [ 9.14024543e-02 -2.87669078e-03 9.95809879e-01 6.01508064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577105681 meters 0.022152187731941633 Centerline is valid? [True, True] Translation: X:69.12, Y:5.27, Z:6.02 [[ 9.82773544e-01 -1.62464629e-01 -8.80988439e-02 6.91241381e+01] [ 1.61990677e-01 9.86712468e-01 -1.25509351e-02 5.27349352e+00] [ 8.89673107e-02 -1.93646439e-03 9.96032664e-01 6.02390732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637105681 meters 0.020149306690544714 Centerline is valid? [True, True] Translation: X:69.18, Y:5.32, Z:6.03 [[ 9.87824762e-01 -1.28126845e-01 -8.82369092e-02 6.91763884e+01] [ 1.27513840e-01 9.91757101e-01 -1.25727396e-02 5.32175496e+00] [ 8.91204867e-02 1.16823632e-03 9.96020168e-01 6.02625197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697105681 meters 0.024719746193156644 Centerline is valid? [True, True] Translation: X:69.23, Y:5.34, Z:6.03 [[ 9.89207194e-01 -1.16527601e-01 -8.88281779e-02 6.92346609e+01] [ 1.15858858e-01 9.93184934e-01 -1.26653664e-02 5.33978118e+00] [ 8.96986727e-02 2.23714022e-03 9.95966437e-01 6.02666229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757105681 meters 0.024113413281198082 Centerline is valid? [True, True] Translation: X:69.29, Y:5.34, Z:6.02 [[ 9.88179200e-01 -1.19525978e-01 -9.59969278e-02 6.92926346e+01] [ 1.18758387e-01 9.92828792e-01 -1.36906925e-02 5.34389017e+00] [ 9.69449073e-02 2.12841727e-03 9.95287473e-01 6.02248339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.817105681 meters 0.020319937893278503 Centerline is valid? [True, True] Translation: X:69.35, Y:5.33, Z:6.03 [[ 9.87251483e-01 -1.26986665e-01 -9.59629900e-02 6.93534427e+01] [ 1.26253496e-01 9.91903424e-01 -1.36985825e-02 5.33289678e+00] [ 9.69255557e-02 1.40828293e-03 9.95290638e-01 6.03076916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877105681 meters 0.017920456076184303 Centerline is valid? [True, True] Translation: X:69.41, Y:5.33, Z:6.04 [[ 9.86226315e-01 -1.36748147e-01 -9.30462207e-02 6.94125235e+01] [ 1.36099717e-01 9.90605739e-01 -1.33092581e-02 5.32551902e+00] [ 9.39921366e-02 4.62376277e-04 9.95572832e-01 6.04092636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937105681 meters 0.017575802090234276 Centerline is valid? [True, True] Translation: X:69.47, Y:5.32, Z:6.05 [[ 9.84779264e-01 -1.46630136e-01 -9.33241919e-02 6.94721502e+01] [ 1.46020871e-01 9.89191277e-01 -1.33612271e-02 5.31529430e+00] [ 9.42746351e-02 -4.69420449e-04 9.95546118e-01 6.04514002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99710568100001 meters 0.017113145849455415 Centerline is valid? [True, True] Translation: X:69.53, Y:5.32, Z:6.06 [[ 9.85080583e-01 -1.45902998e-01 -9.12609475e-02 6.95300106e+01] [ 1.45314182e-01 9.89298836e-01 -1.30996560e-02 5.31685338e+00] [ 9.21956282e-02 -3.57293168e-04 9.95740849e-01 6.05528187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057105681 meters 0.018604462741276726 Centerline is valid? [True, True] Translation: X:69.59, Y:5.33, Z:6.06 [[ 9.86937600e-01 -1.30793032e-01 -9.40603844e-02 6.95869780e+01] [ 1.30095297e-01 9.91409056e-01 -1.35387072e-02 5.33295913e+00] [ 9.50230855e-02 1.12504551e-03 9.95474433e-01 6.05968179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117105681 meters 0.024124169651529408 Centerline is valid? [True, True] Translation: X:69.64, Y:5.35, Z:6.07 [[ 9.88870813e-01 -1.15904309e-01 -9.32775724e-02 6.96446810e+01] [ 1.15149222e-01 9.93257073e-01 -1.34552230e-02 5.34836265e+00] [ 9.42081269e-02 2.56463742e-03 9.95549221e-01 6.06658937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.177105681 meters 0.02745426772359262 Centerline is valid? [True, True] Translation: X:69.70, Y:5.35, Z:6.07 [[ 9.89201093e-01 -1.11053937e-01 -9.56463274e-02 6.97043735e+01] [ 1.10237015e-01 9.93809524e-01 -1.37996340e-02 5.34572487e+00] [ 9.65867348e-02 3.10684736e-03 9.95319723e-01 6.06641003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237105681 meters 0.022063618162294445 Centerline is valid? [True, True] Translation: X:69.77, Y:5.33, Z:6.07 [[ 9.88182836e-01 -1.20819478e-01 -9.43256932e-02 6.97665670e+01] [ 1.20068725e-01 9.92672212e-01 -1.36154393e-02 5.33235251e+00] [ 9.52795048e-02 2.12897772e-03 9.95448283e-01 6.07323232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297105681 meters 0.01662900434228555 Centerline is valid? [True, True] Translation: X:69.83, Y:5.31, Z:6.08 [[ 9.86190062e-01 -1.37883862e-01 -9.17453112e-02 6.98282821e+01] [ 1.37247024e-01 9.90448292e-01 -1.32451932e-02 5.31199265e+00] [ 9.26952852e-02 4.70506910e-04 9.95694412e-01 6.08293748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35710568100001 meters 0.016295780082849258 Centerline is valid? [True, True] Translation: X:69.89, Y:5.31, Z:6.09 [[ 9.86012308e-01 -1.40288896e-01 -8.99930822e-02 6.98866336e+01] [ 1.39685765e-01 9.90110583e-01 -1.29969638e-02 5.30822712e+00] [ 9.09264328e-02 2.44413677e-04 9.95857582e-01 6.09115657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417105681 meters 0.01638823151276945 Centerline is valid? [True, True] Translation: X:69.94, Y:5.32, Z:6.10 [[ 9.86302282e-01 -1.39451920e-01 -8.80963753e-02 6.99442233e+01] [ 1.38867824e-01 9.90228783e-01 -1.27548156e-02 5.31536905e+00] [ 8.90142500e-02 3.46351723e-04 9.96030292e-01 6.09786844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477105681 meters 0.016272844417001133 Centerline is valid? [True, True] Translation: X:70.00, Y:5.32, Z:6.10 [[ 9.84978815e-01 -1.46589431e-01 -9.12593714e-02 7.00030525e+01] [ 1.45989781e-01 9.89197384e-01 -1.32483935e-02 5.31714425e+00] [ 9.22156059e-02 -2.73548639e-04 9.95739026e-01 6.09780531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537105681 meters 0.018033018773422196 Centerline is valid? [True, True] Translation: X:70.06, Y:5.31, Z:6.10 [[ 9.83254219e-01 -1.54507178e-01 -9.66368113e-02 7.00622757e+01] [ 1.53869007e-01 9.87991121e-01 -1.40667803e-02 5.31386429e+00] [ 9.76497300e-02 -1.03818916e-03 9.95220303e-01 6.09534801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.597105681 meters 0.019106165851635982 Centerline is valid? [True, True] Translation: X:70.12, Y:5.32, Z:6.11 [[ 9.82677647e-01 -1.59733564e-01 -9.39671824e-02 7.01192664e+01] [ 1.59152881e-01 9.87159021e-01 -1.36904148e-02 5.32342024e+00] [ 9.49473705e-02 -1.50188322e-03 9.95481161e-01 6.10736491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657105681 meters 0.01708875555316615 Centerline is valid? [True, True] Translation: X:70.17, Y:5.34, Z:6.12 [[ 9.84307742e-01 -1.52752428e-01 -8.83457148e-02 7.01748169e+01] [ 1.52208656e-01 9.88264202e-01 -1.28992993e-02 5.34312418e+00] [ 8.92793067e-02 -7.50102331e-04 9.96006347e-01 6.12107773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717105681 meters 0.016364507191642418 Centerline is valid? [True, True] Translation: X:70.23, Y:5.37, Z:6.13 [[ 9.85858586e-01 -1.45835397e-01 -8.25523186e-02 7.02305376e+01] [ 1.45335985e-01 9.89308862e-01 -1.20592886e-02 5.36566490e+00] [ 8.34284115e-02 -1.09069305e-04 9.96513767e-01 6.13143274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777105681 meters 0.01812459859006475 Centerline is valid? [True, True] Translation: X:70.29, Y:5.39, Z:6.13 [[ 9.87580504e-01 -1.32257210e-01 -8.48102521e-02 7.02856377e+01] [ 1.31677523e-01 9.91214825e-01 -1.24177530e-02 5.39346107e+00] [ 8.57075165e-02 1.09592680e-03 9.96319738e-01 6.13329759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837105681 meters 0.022815536779320033 Centerline is valid? [True, True] Translation: X:70.34, Y:5.42, Z:6.13 [[ 9.88672940e-01 -1.20467368e-01 -8.95177685e-02 7.03434118e+01] [ 1.19770206e-01 9.92714696e-01 -1.31389037e-02 5.41539438e+00] [ 9.04484134e-02 2.26851698e-03 9.95898558e-01 6.13152542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897105681 meters 0.026245033441756917 Centerline is valid? [True, True] Translation: X:70.40, Y:5.43, Z:6.13 [[ 9.88663537e-01 -1.13578068e-01 -9.82060778e-02 7.04038676e+01] [ 1.12704419e-01 9.93523970e-01 -1.44164565e-02 5.42640763e+00] [ 9.92074856e-02 3.18476591e-03 9.95061672e-01 6.12560534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.957105681 meters 0.029567489726925966 Centerline is valid? [True, True] Translation: X:70.46, Y:5.44, Z:6.13 [[ 9.89294304e-01 -1.07803338e-01 -9.83626949e-02 7.04620355e+01] [ 1.06898360e-01 9.94165088e-01 -1.44401930e-02 5.43518228e+00] [ 9.93454582e-02 3.77078989e-03 9.95045859e-01 6.13008341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017105681 meters 0.027228657612934762 Centerline is valid? [True, True] Translation: X:70.52, Y:5.43, Z:6.14 [[ 9.89728669e-01 -1.10796432e-01 -9.03399791e-02 7.05227111e+01] [ 1.10045348e-01 9.93838000e-01 -1.32684145e-02 5.42616772e+00] [ 9.12533971e-02 3.19063578e-03 9.95822593e-01 6.14432313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077105681 meters 0.023377445239952166 Centerline is valid? [True, True] Translation: X:70.58, Y:5.42, Z:6.15 [[ 9.88522836e-01 -1.20398217e-01 -9.12516930e-02 7.05832917e+01] [ 1.19672168e-01 9.92722936e-01 -1.34068794e-02 5.41719026e+00] [ 9.22018129e-02 2.33271847e-03 9.95737608e-01 6.14608124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137105681 meters 0.016896530650311138 Centerline is valid? [True, True] Translation: X:70.65, Y:5.40, Z:6.14 [[ 9.85441965e-01 -1.37894996e-01 -9.94439719e-02 7.06481944e+01] [ 1.37120191e-01 9.90446555e-01 -1.46176157e-02 5.39521388e+00] [ 1.00509635e-01 7.69035538e-04 9.94935788e-01 6.14031300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197105681 meters 0.01680109364610121 Centerline is valid? [True, True] Translation: X:70.71, Y:5.38, Z:6.15 [[ 9.83235690e-01 -1.53274032e-01 -9.87656249e-02 7.07084033e+01] [ 1.52586374e-01 9.88183408e-01 -1.45241468e-02 5.38255950e+00] [ 9.98247264e-02 -7.89629108e-04 9.95004724e-01 6.14839777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257105681 meters 0.01966690575493222 Centerline is valid? [True, True] Translation: X:70.77, Y:5.38, Z:6.17 [[ 9.82119642e-01 -1.64312978e-01 -9.18817389e-02 7.07668027e+01] [ 1.63763013e-01 9.86406713e-01 -1.35451628e-02 5.38119124e+00] [ 9.28584102e-02 -1.74385994e-03 9.95677797e-01 6.16519740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.317105681 meters 0.024285907000545615 Centerline is valid? [True, True] Translation: X:70.83, Y:5.38, Z:6.18 [[ 9.81002745e-01 -1.75572984e-01 -8.25090441e-02 7.08263611e+01] [ 1.75166997e-01 9.84463259e-01 -1.21907495e-02 5.37997145e+00] [ 8.33674887e-02 -2.49370272e-03 9.96515752e-01 6.18147823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377105681 meters 0.03316078462496658 Centerline is valid? [True, True] Translation: X:70.89, Y:5.39, Z:6.19 [[ 9.77836727e-01 -1.91898253e-01 -8.37281055e-02 7.08853786e+01] [ 1.91539445e-01 9.81406923e-01 -1.23730266e-02 5.38524531e+00] [ 8.45457046e-02 -3.93843501e-03 9.96411819e-01 6.18502328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437105681 meters 0.03613509166944957 Centerline is valid? [True, True] Translation: X:70.94, Y:5.40, Z:6.19 [[ 9.76506728e-01 -1.97786606e-01 -8.55281743e-02 7.09436340e+01] [ 1.97434566e-01 9.80234574e-01 -1.26401272e-02 5.40254473e+00] [ 8.63377213e-02 -4.54304871e-03 9.96255569e-01 6.18808720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49710568100001 meters 0.0340525390544311 Centerline is valid? [True, True] Translation: X:71.00, Y:5.44, Z:6.19 [[ 9.77813584e-01 -1.90128944e-01 -8.79294024e-02 7.09988241e+01] [ 1.89725799e-01 9.81751086e-01 -1.29971659e-02 5.43576613e+00] [ 8.87959237e-02 -3.97367082e-03 9.96041914e-01 6.19242667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557105681 meters 0.023075266385775926 Centerline is valid? [True, True] Translation: X:71.05, Y:5.49, Z:6.20 [[ 9.81778658e-01 -1.69085998e-01 -8.67213519e-02 7.10517540e+01] [ 1.68611415e-01 9.85599203e-01 -1.28219441e-02 5.48952362e+00] [ 8.76405065e-02 -2.03389874e-03 9.96150092e-01 6.20139625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617105681 meters 0.016782023263815237 Centerline is valid? [True, True] Translation: X:71.11, Y:5.53, Z:6.20 [[ 9.84545666e-01 -1.50706244e-01 -8.92045981e-02 7.11067336e+01] [ 1.50128297e-01 9.88578507e-01 -1.31920222e-02 5.53130241e+00] [ 9.01738685e-02 -4.03986115e-04 9.95925956e-01 6.19961786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.677105681 meters 0.016793789221491533 Centerline is valid? [True, True] Translation: X:71.16, Y:5.55, Z:6.20 [[ 9.84351515e-01 -1.49318384e-01 -9.35741192e-02 7.11626724e+01] [ 1.48675450e-01 9.88789128e-01 -1.38445338e-02 5.55474239e+00] [ 9.45923151e-02 -2.84286470e-04 9.95516054e-01 6.19611271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737105681 meters 0.017419428475524013 Centerline is valid? [True, True] Translation: X:71.22, Y:5.57, Z:6.19 [[ 9.83411654e-01 -1.52318528e-01 -9.84915437e-02 7.12202081e+01] [ 1.51617239e-01 9.88331294e-01 -1.46104757e-02 5.56955387e+00] [ 9.95677210e-02 -5.64903830e-04 9.95030628e-01 6.19482028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797105681 meters 0.017094538030616075 Centerline is valid? [True, True] Translation: X:71.28, Y:5.59, Z:6.20 [[ 9.84151395e-01 -1.49180490e-01 -9.58708121e-02 7.12762043e+01] [ 1.48498161e-01 9.88809960e-01 -1.42533654e-02 5.58658516e+00] [ 9.69243380e-02 -2.09169872e-04 9.95291731e-01 6.20498853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85710568100001 meters 0.017269468834753835 Centerline is valid? [True, True] Translation: X:71.33, Y:5.60, Z:6.21 [[ 9.83993615e-01 -1.49904117e-01 -9.63603706e-02 7.13325293e+01] [ 1.49214990e-01 9.88700508e-01 -1.43594273e-02 5.59741727e+00] [ 9.74240846e-02 -2.48826948e-04 9.95242928e-01 6.20957529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917105681 meters 0.018973024477595826 Centerline is valid? [True, True] Translation: X:71.39, Y:5.60, Z:6.22 [[ 9.82985884e-01 -1.61160910e-01 -8.81244133e-02 7.13905116e+01] [ 1.60627015e-01 9.86927395e-01 -1.31635365e-02 5.59697145e+00] [ 8.90938452e-02 -1.21559083e-03 9.96022494e-01 6.22371574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977105681 meters 0.02004221941890867 Centerline is valid? [True, True] Translation: X:71.45, Y:5.61, Z:6.23 [[ 9.82429763e-01 -1.63901963e-01 -8.92631396e-02 7.14483088e+01] [ 1.63364420e-01 9.86475534e-01 -1.33449032e-02 5.60626074e+00] [ 9.02431592e-02 -1.47199097e-03 9.95918674e-01 6.22824160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.037105681 meters 0.017926096846985425 Centerline is valid? [True, True] Translation: X:71.51, Y:5.63, Z:6.23 [[ 9.83525762e-01 -1.53182066e-01 -9.59808862e-02 7.15052321e+01] [ 1.52506080e-01 9.88197861e-01 -1.43834021e-02 5.62858460e+00] [ 9.70513857e-02 -4.91222147e-04 9.95279251e-01 6.22618488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.097105681 meters 0.02065875514982502 Centerline is valid? [True, True] Translation: X:71.56, Y:5.66, Z:6.23 [[ 9.86580061e-01 -1.32416647e-01 -9.55280877e-02 7.15605110e+01] [ 1.31646940e-01 9.91192893e-01 -1.43433513e-02 5.65978261e+00] [ 9.65860601e-02 1.57488399e-03 9.95323391e-01 6.23326724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157105681 meters 0.02402908934910331 Centerline is valid? [True, True] Translation: X:71.62, Y:5.67, Z:6.24 [[ 9.87457187e-01 -1.24891015e-01 -9.65947136e-02 7.16172307e+01] [ 1.24067525e-01 9.92167701e-01 -1.45086809e-02 5.67300271e+00] [ 9.76501589e-02 2.34243412e-03 9.95218046e-01 6.23612354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217105681 meters 0.025655750428648375 Centerline is valid? [True, True] Translation: X:71.68, Y:5.68, Z:6.24 [[ 9.87335466e-01 -1.22566045e-01 -1.00728556e-01 7.16762864e+01] [ 1.21656913e-01 9.92456696e-01 -1.51427417e-02 5.67770226e+00] [ 1.01824716e-01 2.69664070e-03 9.94798701e-01 6.23540325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277105681 meters 0.03520853415985849 Centerline is valid? [True, True] Translation: X:71.73, Y:5.69, Z:6.24 [[ 9.88755305e-01 -1.07318886e-01 -1.04142232e-01 7.17340520e+01] [ 1.06259155e-01 9.94214715e-01 -1.56873177e-02 5.69234517e+00] [ 1.05223285e-01 4.44485298e-03 9.94438688e-01 6.23784465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337105681 meters 0.038275734113157926 Centerline is valid? [True, True] Translation: X:71.79, Y:5.70, Z:6.24 [[ 9.89116268e-01 -1.02730857e-01 -1.05334605e-01 7.17930609e+01] [ 1.01620241e-01 9.94696650e-01 -1.58713786e-02 5.70392911e+00] [ 1.06406459e-01 4.99451077e-03 9.94310173e-01 6.24267062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397105681 meters 0.04010256537683902 Centerline is valid? [True, True] Translation: X:71.85, Y:5.70, Z:6.25 [[ 9.90173825e-01 -9.37969086e-02 -1.03720468e-01 7.18535913e+01] [ 9.26711700e-02 9.95574076e-01 -1.56305098e-02 5.70319775e+00] [ 1.04727502e-01 5.86502457e-03 9.94483661e-01 6.25062778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.457105681 meters 0.04163325766813385 Centerline is valid? [True, True] Translation: X:71.91, Y:5.69, Z:6.26 [[ 9.90679864e-01 -9.00760824e-02 -1.02174886e-01 7.19142707e+01] [ 8.89640000e-02 9.95915805e-01 -1.53986055e-02 5.69404981e+00] [ 1.03144630e-01 6.16520186e-03 9.94647262e-01 6.25738518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517105681 meters 0.04070675667562496 Centerline is valid? [True, True] Translation: X:71.98, Y:5.68, Z:6.26 [[ 9.90422395e-01 -9.28042294e-02 -1.02229421e-01 7.19763865e+01] [ 9.17046570e-02 9.95666946e-01 -1.54139344e-02 5.68059477e+00] [ 1.03216934e-01 5.89139185e-03 9.94641421e-01 6.26213934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577105681 meters 0.03797314220512008 Centerline is valid? [True, True] Translation: X:72.04, Y:5.66, Z:6.27 [[ 9.89703430e-01 -9.85075609e-02 -1.03843062e-01 7.20399046e+01] [ 9.74035577e-02 9.95121727e-01 -1.56618937e-02 5.66131833e+00] [ 1.04879302e-01 5.38594630e-03 9.94470373e-01 6.26565862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637105681 meters 0.035972326958879586 Centerline is valid? [True, True] Translation: X:72.10, Y:5.65, Z:6.26 [[ 9.88517559e-01 -1.03757478e-01 -1.09851819e-01 7.21020351e+01] [ 1.02552629e-01 9.94589443e-01 -1.65770330e-02 5.64982093e+00] [ 1.10977451e-01 5.12109532e-03 9.93809730e-01 6.26473701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697105681 meters 0.030069235154081192 Centerline is valid? [True, True] Translation: X:72.16, Y:5.63, Z:6.28 [[ 9.87748056e-01 -1.14116028e-01 -1.06448623e-01 7.21648520e+01] [ 1.13041889e-01 9.93459930e-01 -1.60903464e-02 5.63111977e+00] [ 1.07588608e-01 3.86005497e-03 9.94188006e-01 6.27527730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757105681 meters 0.023973411316006454 Centerline is valid? [True, True] Translation: X:72.23, Y:5.62, Z:6.28 [[ 9.86378555e-01 -1.26420752e-01 -1.05238489e-01 7.22272428e+01] [ 1.25440269e-01 9.91973577e-01 -1.59110381e-02 5.61954155e+00] [ 1.06405286e-01 2.49316234e-03 9.94319717e-01 6.28250444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.817105681 meters 0.018646737734240547 Centerline is valid? [True, True] Translation: X:72.29, Y:5.59, Z:6.29 [[ 9.83637053e-01 -1.45412578e-01 -1.06364135e-01 7.22911778e+01] [ 1.44521059e-01 9.89371003e-01 -1.60836144e-02 5.59370160e+00] [ 1.07572350e-01 4.48581674e-04 9.94197158e-01 6.28665482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877105681 meters 0.0202790219579677 Centerline is valid? [True, True] Translation: X:72.35, Y:5.58, Z:6.29 [[ 9.81065926e-01 -1.61008468e-01 -1.07637924e-01 7.23523127e+01] [ 1.60187548e-01 9.86952216e-01 -1.62871921e-02 5.58261830e+00] [ 1.08855864e-01 -1.26344597e-03 9.94056741e-01 6.29164369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937105681 meters 0.024848271226374553 Centerline is valid? [True, True] Translation: X:72.41, Y:5.58, Z:6.30 [[ 9.79199498e-01 -1.72921354e-01 -1.06144003e-01 7.24123625e+01] [ 1.72189410e-01 9.84932412e-01 -1.60919386e-02 5.57596449e+00] [ 1.07327309e-01 -2.51965502e-03 9.94220549e-01 6.29858055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99710568100001 meters 0.02677063791441798 Centerline is valid? [True, True] Translation: X:72.47, Y:5.58, Z:6.31 [[ 9.78318840e-01 -1.79374136e-01 -1.03523752e-01 7.24711826e+01] [ 1.78713176e-01 9.83775920e-01 -1.57015976e-02 5.57991361e+00] [ 1.04660635e-01 -3.13988980e-03 9.94503038e-01 6.30996956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057105681 meters 0.027097018264783102 Centerline is valid? [True, True] Translation: X:72.53, Y:5.60, Z:6.32 [[ 9.78102100e-01 -1.81924791e-01 -1.01092294e-01 7.25284505e+01] [ 1.81307222e-01 9.83306833e-01 -1.53415780e-02 5.59507219e+00] [ 1.02195757e-01 -3.32313331e-03 9.94758757e-01 6.31536980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117105681 meters 0.03273869171536271 Centerline is valid? [True, True] Translation: X:72.59, Y:5.60, Z:6.32 [[ 9.76429767e-01 -1.89344469e-01 -1.03603001e-01 7.25874595e+01] [ 1.88733939e-01 9.81901871e-01 -1.57548744e-02 5.60191336e+00] [ 1.04711079e-01 -4.16987410e-03 9.94493943e-01 6.31614081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.177105681 meters 0.03569639923367848 Centerline is valid? [True, True] Translation: X:72.65, Y:5.62, Z:6.32 [[ 9.74687261e-01 -1.97473541e-01 -1.04828159e-01 7.26463588e+01] [ 1.96894693e-01 9.80294961e-01 -1.59457987e-02 5.61692307e+00] [ 1.05911389e-01 -5.09794127e-03 9.94362504e-01 6.32045808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237105681 meters 0.04088065996251429 Centerline is valid? [True, True] Translation: X:72.70, Y:5.63, Z:6.33 [[ 9.73467521e-01 -2.05660087e-01 -1.00324046e-01 7.27041883e+01] [ 2.05172910e-01 9.78606733e-01 -1.52623619e-02 5.63044986e+00] [ 1.01316645e-01 -5.72636287e-03 9.94837749e-01 6.33189825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297105681 meters 0.03986201504049027 Centerline is valid? [True, True] Translation: X:72.76, Y:5.66, Z:6.34 [[ 9.73866198e-01 -2.04892476e-01 -9.79984813e-02 7.27589813e+01] [ 2.04423261e-01 9.78768982e-01 -1.49134539e-02 5.65815661e+00] [ 9.89735283e-02 -5.50946046e-03 9.95074815e-01 6.33982097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35710568100001 meters 0.032978447609224706 Centerline is valid? [True, True] Translation: X:72.81, Y:5.70, Z:6.34 [[ 9.75972338e-01 -1.93835633e-01 -9.95275960e-02 7.28133979e+01] [ 1.93291319e-01 9.81024033e-01 -1.51760319e-02 5.70213582e+00] [ 1.00580619e-01 -4.42643294e-03 9.94919065e-01 6.34218143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417105681 meters 0.026585631695741845 Centerline is valid? [True, True] Translation: X:72.87, Y:5.74, Z:6.34 [[ 9.77863036e-01 -1.81949505e-01 -1.03335672e-01 7.28685291e+01] [ 1.81296296e-01 9.83302255e-01 -1.57584611e-02 5.74163631e+00] [ 1.04477444e-01 -3.32475808e-03 9.94521699e-01 6.34235254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477105681 meters 0.022124807975305406 Centerline is valid? [True, True] Translation: X:72.92, Y:5.78, Z:6.34 [[ 9.79591134e-01 -1.69508098e-01 -1.08019511e-01 7.29236731e+01] [ 1.68718428e-01 9.85526587e-01 -1.64753651e-02 5.77530467e+00] [ 1.09248808e-01 -2.08576053e-03 9.94012247e-01 6.34134575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.537105681 meters 0.018124770118289446 Centerline is valid? [True, True] Translation: X:72.98, Y:5.81, Z:6.35 [[ 9.82523768e-01 -1.53465418e-01 -1.05334751e-01 7.29781968e+01] [ 1.52621950e-01 9.88153977e-01 -1.60703856e-02 5.81387886e+00] [ 1.06553202e-01 -2.86859332e-04 9.94306961e-01 6.35165524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.597105681 meters 0.019078592450323784 Centerline is valid? [True, True] Translation: X:73.03, Y:5.84, Z:6.36 [[ 9.84949385e-01 -1.41292340e-01 -9.95549271e-02 7.30318104e+01] [ 1.40476395e-01 9.89967430e-01 -1.51943864e-02 5.84465844e+00] [ 1.00702986e-01 9.80584263e-04 9.94916050e-01 6.36295258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657105681 meters 0.021918404967285164 Centerline is valid? [True, True] Translation: X:73.09, Y:5.86, Z:6.37 [[ 9.86246596e-01 -1.33266050e-01 -9.77640631e-02 7.30885243e+01] [ 1.32436710e-01 9.91078665e-01 -1.49531910e-02 5.86157845e+00] [ 9.88846298e-02 1.79998284e-03 9.95097277e-01 6.37024796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717105681 meters 0.026803304854192186 Centerline is valid? [True, True] Translation: X:73.15, Y:5.88, Z:6.36 [[ 9.86475431e-01 -1.25046085e-01 -1.05970283e-01 7.31468301e+01] [ 1.24020405e-01 9.92146760e-01 -1.62402612e-02 5.88154360e+00] [ 1.07168854e-01 2.87814121e-03 9.94236668e-01 6.36205373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777105681 meters 0.030928646346307556 Centerline is valid? [True, True] Translation: X:73.21, Y:5.90, Z:6.36 [[ 9.86387396e-01 -1.20112015e-01 -1.12307657e-01 7.32051913e+01] [ 1.18927232e-01 9.92753732e-01 -1.72145732e-02 5.89517804e+00] [ 1.13561523e-01 3.62379926e-03 9.93524357e-01 6.35890978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837105681 meters 0.031626360441121534 Centerline is valid? [True, True] Translation: X:73.26, Y:5.90, Z:6.37 [[ 9.87229816e-01 -1.16567176e-01 -1.08578925e-01 7.32634874e+01] [ 1.15437540e-01 9.93175125e-01 -1.66536732e-02 5.90159342e+00] [ 1.09779159e-01 3.90691868e-03 9.93948325e-01 6.36835798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897105681 meters 0.026701199644925476 Centerline is valid? [True, True] Translation: X:73.32, Y:5.89, Z:6.38 [[ 9.87029251e-01 -1.20742025e-01 -1.05804636e-01 7.33245349e+01] [ 1.19690400e-01 9.92678158e-01 -1.62568031e-02 5.89498096e+00] [ 1.06992830e-01 3.38214104e-03 9.94254040e-01 6.37952624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.957105681 meters 0.01821368336323347 Centerline is valid? [True, True] Translation: X:73.39, Y:5.87, Z:6.39 [[ 9.84317361e-01 -1.43371463e-01 -1.02781107e-01 7.33893564e+01] [ 1.42501640e-01 9.89668537e-01 -1.57946148e-02 5.86890974e+00] [ 1.03983725e-01 9.00437185e-04 9.94578591e-01 6.38638167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017105681 meters 0.018194396978680107 Centerline is valid? [True, True] Translation: X:73.45, Y:5.85, Z:6.39 [[ 9.81572936e-01 -1.59634650e-01 -1.05030234e-01 7.34509965e+01] [ 1.58818454e-01 9.87175811e-01 -1.61436305e-02 5.85279145e+00] [ 1.06260389e-01 -8.34588544e-04 9.94337987e-01 6.38724490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077105681 meters 0.023344020802982406 Centerline is valid? [True, True] Translation: X:73.51, Y:5.84, Z:6.39 [[ 9.78478464e-01 -1.74942583e-01 -1.09430290e-01 7.35141201e+01] [ 1.74150212e-01 9.84575236e-01 -1.68317456e-02 5.83704233e+00] [ 1.10686943e-01 -2.58780775e-03 9.93851953e-01 6.38840738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137105681 meters 0.027302266880199315 Centerline is valid? [True, True] Translation: X:73.57, Y:5.83, Z:6.40 [[ 9.77117637e-01 -1.83309277e-01 -1.07883418e-01 7.35745204e+01] [ 1.82589567e-01 9.83049129e-01 -1.65969794e-02 5.83204496e+00] [ 1.09097080e-01 -3.48118527e-03 9.94025004e-01 6.39675768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197105681 meters 0.0250569390682321 Centerline is valid? [True, True] Translation: X:73.63, Y:5.84, Z:6.40 [[ 9.77602234e-01 -1.80027750e-01 -1.09013218e-01 7.36323503e+01] [ 1.79271018e-01 9.83656538e-01 -1.67844431e-02 5.84369391e+00] [ 1.10253230e-01 -3.13440138e-03 9.93898587e-01 6.40190794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257105681 meters 0.022792870333511555 Centerline is valid? [True, True] Translation: X:73.69, Y:5.86, Z:6.41 [[ 9.78807377e-01 -1.74370033e-01 -1.07383473e-01 7.36891687e+01] [ 1.73598471e-01 9.84677203e-01 -1.65643010e-02 5.86005123e+00] [ 1.08626376e-01 -2.42834678e-03 9.94079682e-01 6.40877521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.317105681 meters 0.022194497915365312 Centerline is valid? [True, True] Translation: X:73.75, Y:5.88, Z:6.42 [[ 9.79539279e-01 -1.73820394e-01 -1.01436045e-01 7.37452988e+01] [ 1.73128593e-01 9.84774847e-01 -1.56521770e-02 5.87584679e+00] [ 1.02612333e-01 -2.22955752e-03 9.94718924e-01 6.41878145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377105681 meters 0.02986692447365182 Centerline is valid? [True, True] Translation: X:73.80, Y:5.88, Z:6.42 [[ 9.77049951e-01 -1.87343799e-01 -1.01369100e-01 7.38042947e+01] [ 1.86724342e-01 9.82287675e-01 -1.56506801e-02 5.88239036e+00] [ 1.02505675e-01 -3.63658215e-03 9.94725772e-01 6.42436931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437105681 meters 0.03470469310311439 Centerline is valid? [True, True] Translation: X:73.86, Y:5.89, Z:6.43 [[ 9.74809759e-01 -1.98440853e-01 -1.01819256e-01 7.38637950e+01] [ 1.97875679e-01 9.80101011e-01 -1.57233306e-02 5.88999057e+00] [ 1.02913307e-01 -4.82029835e-03 9.94678650e-01 6.42647476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49710568100001 meters 0.03535384678522855 Centerline is valid? [True, True] Translation: X:73.92, Y:5.92, Z:6.42 [[ 9.74594115e-01 -1.96499542e-01 -1.07490658e-01 7.39174457e+01] [ 1.95857269e-01 9.80491822e-01 -1.66047195e-02 5.91657948e+00] [ 1.08656531e-01 -4.86996483e-03 9.94067423e-01 6.42454718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557105681 meters 0.026486086576268324 Centerline is valid? [True, True] Translation: X:73.97, Y:5.96, Z:6.43 [[ 9.77503732e-01 -1.80769439e-01 -1.08668599e-01 7.39713388e+01] [ 1.80014321e-01 9.83520493e-01 -1.68013324e-02 5.96115397e+00] [ 1.09914961e-01 -3.13853900e-03 9.93936040e-01 6.42636122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617105681 meters 0.020397697150071375 Centerline is valid? [True, True] Translation: X:74.03, Y:6.00, Z:6.44 [[ 9.80197027e-01 -1.69772216e-01 -1.01937149e-01 7.40259386e+01] [ 1.69048359e-01 9.85481718e-01 -1.57618291e-02 5.99829827e+00] [ 1.03133117e-01 -1.78260969e-03 9.94665965e-01 6.44076533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.677105681 meters 0.01761683777925837 Centerline is valid? [True, True] Translation: X:74.08, Y:6.03, Z:6.44 [[ 9.81882299e-01 -1.58616201e-01 -1.03672809e-01 7.40811941e+01] [ 1.57804702e-01 9.87340125e-01 -1.60359915e-02 6.02995685e+00] [ 1.04903892e-01 -6.14600541e-04 9.94482175e-01 6.44219093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737105681 meters 0.018099618701202986 Centerline is valid? [True, True] Translation: X:74.14, Y:6.06, Z:6.44 [[ 9.83251172e-01 -1.49131849e-01 -1.04770342e-01 7.41363334e+01] [ 1.48245729e-01 9.88817224e-01 -1.62388936e-02 6.05528690e+00] [ 1.06020455e-01 4.35155376e-04 9.94363854e-01 6.44438486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797105681 meters 0.023116142144792837 Centerline is valid? [True, True] Translation: X:74.19, Y:6.08, Z:6.45 [[ 9.85786048e-01 -1.32586540e-01 -1.03182738e-01 7.41914331e+01] [ 1.31633360e-01 9.91168962e-01 -1.60233582e-02 6.08354766e+00] [ 1.04396009e-01 2.21331253e-03 9.94533345e-01 6.45023048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85710568100001 meters 0.026910097905458848 Centerline is valid? [True, True] Translation: X:74.25, Y:6.10, Z:6.45 [[ 9.86788916e-01 -1.23227215e-01 -1.05179318e-01 7.42486051e+01] [ 1.22182876e-01 9.92373084e-01 -1.63403169e-02 6.10348813e+00] [ 1.06390696e-01 3.27333200e-03 9.94319016e-01 6.45447950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917105681 meters 0.02816851237648953 Centerline is valid? [True, True] Translation: X:74.31, Y:6.11, Z:6.46 [[ 9.86915811e-01 -1.21661911e-01 -1.05809084e-01 7.43078702e+01] [ 1.20595117e-01 9.92565529e-01 -1.64465262e-02 6.10665982e+00] [ 1.07023365e-01 3.47127794e-03 9.94250446e-01 6.45637730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977105681 meters 0.025803913336184797 Centerline is valid? [True, True] Translation: X:74.37, Y:6.10, Z:6.46 [[ 9.85969445e-01 -1.26975566e-01 -1.08358012e-01 7.43680595e+01] [ 1.25884822e-01 9.91901313e-01 -1.68759316e-02 6.10146916e+00] [ 1.09623286e-01 2.99852386e-03 9.93968684e-01 6.46002538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.037105681 meters 0.022131838397874616 Centerline is valid? [True, True] Translation: X:74.43, Y:6.09, Z:6.47 [[ 9.85677398e-01 -1.33175356e-01 -1.03462029e-01 7.44290909e+01] [ 1.32214394e-01 9.91090022e-01 -1.61221133e-02 6.09406042e+00] [ 1.04687252e-01 2.21203323e-03 9.94502733e-01 6.47296260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.097105681 meters 0.016914812767385937 Centerline is valid? [True, True] Translation: X:74.49, Y:6.08, Z:6.48 [[ 9.83423324e-01 -1.48943990e-01 -1.03413021e-01 7.44918173e+01] [ 1.48070361e-01 9.88845488e-01 -1.61173693e-02 6.07656810e+00] [ 1.04660085e-01 5.37793539e-04 9.94507907e-01 6.47810848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157105681 meters 0.016254535841977582 Centerline is valid? [True, True] Translation: X:74.55, Y:6.08, Z:6.48 [[ 9.82779831e-01 -1.54101442e-01 -1.01963466e-01 7.45514652e+01] [ 1.53278961e-01 9.88055032e-01 -1.59001476e-02 6.07621714e+00] [ 1.03195752e-01 -2.50975537e-06 9.94661066e-01 6.48409664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217105681 meters 0.01656942985103261 Centerline is valid? [True, True] Translation: X:74.61, Y:6.08, Z:6.49 [[ 9.82064985e-01 -1.56099454e-01 -1.05741784e-01 7.46104973e+01] [ 1.55222439e-01 9.87741326e-01 -1.65247722e-02 6.07847118e+00] [ 1.07025037e-01 -1.85097412e-04 9.94256309e-01 6.48644939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277105681 meters 0.020231387412533147 Centerline is valid? [True, True] Translation: X:74.67, Y:6.10, Z:6.49 [[ 9.84604135e-01 -1.39880213e-01 -1.04824726e-01 7.46659204e+01] [ 1.38922978e-01 9.90167142e-01 -1.64145597e-02 6.10266471e+00] [ 1.06090071e-01 1.59928026e-03 9.94355238e-01 6.49423843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337105681 meters 0.025652586187759473 Centerline is valid? [True, True] Translation: X:74.72, Y:6.12, Z:6.50 [[ 9.85864119e-01 -1.30077941e-01 -1.05601458e-01 7.47246794e+01] [ 1.29047313e-01 9.91500089e-01 -1.65639263e-02 6.11757253e+00] [ 1.06858457e-01 2.70219617e-03 9.94270571e-01 6.49790262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.397105681 meters 0.030278524411806132 Centerline is valid? [True, True] Translation: X:74.78, Y:6.13, Z:6.50 [[ 9.86877921e-01 -1.23142881e-01 -1.04440413e-01 7.47821476e+01] [ 1.22096028e-01 9.92383072e-01 -1.63828981e-02 6.12970923e+00] [ 1.05662335e-01 3.41616076e-03 9.94396199e-01 6.50407692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.457105681 meters 0.028784093392136514 Centerline is valid? [True, True] Translation: X:74.84, Y:6.13, Z:6.50 [[ 9.86346112e-01 -1.22536999e-01 -1.10027410e-01 7.48424480e+01] [ 1.21370110e-01 9.92457136e-01 -1.72664482e-02 6.13190404e+00] [ 1.11313267e-01 3.67665510e-03 9.93778566e-01 6.50298809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517105681 meters 0.023279498459632342 Centerline is valid? [True, True] Translation: X:74.90, Y:6.12, Z:6.51 [[ 9.85592951e-01 -1.29625868e-01 -1.08644690e-01 7.49042196e+01] [ 1.28530595e-01 9.91558896e-01 -1.70540683e-02 6.11914309e+00] [ 1.09938258e-01 2.84420274e-03 9.93934349e-01 6.51436383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577105681 meters 0.017367151621692202 Centerline is valid? [True, True] Translation: X:74.97, Y:6.11, Z:6.53 [[ 9.84151327e-01 -1.43623274e-01 -1.04012121e-01 7.49658893e+01] [ 1.42697274e-01 9.89631672e-01 -1.63291449e-02 6.11333504e+00] [ 1.05278935e-01 1.22810352e-03 9.94441973e-01 6.52567303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637105681 meters 0.015045043462905779 Centerline is valid? [True, True] Translation: X:75.03, Y:6.10, Z:6.54 [[ 9.82628743e-01 -1.56076874e-01 -1.00403006e-01 7.50273792e+01] [ 1.55278428e-01 9.87744906e-01 -1.57673640e-02 6.09938563e+00] [ 1.01633479e-01 -9.69559319e-05 9.94821907e-01 6.53603642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697105681 meters 0.01581125297957557 Centerline is valid? [True, True] Translation: X:75.08, Y:6.11, Z:6.54 [[ 9.83536183e-01 -1.49092940e-01 -1.02116955e-01 7.50846490e+01] [ 1.48225893e-01 9.88822961e-01 -1.60697391e-02 6.11450631e+00] [ 1.03371475e-01 6.68793006e-04 9.94642595e-01 6.54218926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757105681 meters 0.02316300875538323 Centerline is valid? [True, True] Translation: X:75.14, Y:6.14, Z:6.55 [[ 9.85920503e-01 -1.30509820e-01 -1.04536829e-01 7.51420915e+01] [ 1.29493365e-01 9.91443306e-01 -1.64814937e-02 6.13792567e+00] [ 1.05793336e-01 2.71261673e-03 9.94384439e-01 6.54573997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.817105681 meters 0.03285907644236825 Centerline is valid? [True, True] Translation: X:75.20, Y:6.16, Z:6.55 [[ 9.88033071e-01 -1.13763008e-01 -1.04156754e-01 7.51997955e+01] [ 1.12660931e-01 9.93497760e-01 -1.64230101e-02 6.15536285e+00] [ 1.05347833e-01 4.49208017e-03 9.94425289e-01 6.55012218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877105681 meters 0.03156137454031691 Centerline is valid? [True, True] Translation: X:75.26, Y:6.15, Z:6.56 [[ 9.87933795e-01 -1.14668426e-01 -1.04105565e-01 7.52598708e+01] [ 1.13571706e-01 9.93394076e-01 -1.64218756e-02 6.15276599e+00] [ 1.05300922e-01 4.40027930e-03 9.94430668e-01 6.55639822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937105681 meters 0.029275837704094112 Centerline is valid? [True, True] Translation: X:75.32, Y:6.15, Z:6.56 [[ 9.87025983e-01 -1.19928842e-01 -1.06755714e-01 7.53217230e+01] [ 1.18802750e-01 9.92774562e-01 -1.68693743e-02 6.14865027e+00] [ 1.08007482e-01 3.96763830e-03 9.94142164e-01 6.55782989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99710568100001 meters 0.028297721847504058 Centerline is valid? [True, True] Translation: X:75.38, Y:6.15, Z:6.56 [[ 9.86332039e-01 -1.24764758e-01 -1.07623718e-01 7.53805024e+01] [ 1.23647939e-01 9.92180266e-01 -1.70148975e-02 6.14539577e+00] [ 1.08904988e-01 3.47488763e-03 9.94046090e-01 6.56145847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057105681 meters 0.024803419715508996 Centerline is valid? [True, True] Translation: X:75.44, Y:6.14, Z:6.57 [[ 9.85758058e-01 -1.31113106e-01 -1.05310993e-01 7.54413081e+01] [ 1.30078867e-01 9.91363674e-01 -1.66599769e-02 6.13962546e+00] [ 1.06585834e-01 2.72397175e-03 9.94299774e-01 6.57075112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117105681 meters 0.018740876342092528 Centerline is valid? [True, True] Translation: X:75.50, Y:6.13, Z:6.58 [[ 9.84278902e-01 -1.42439931e-01 -1.04431358e-01 7.55031560e+01] [ 1.41485958e-01 9.89802327e-01 -1.65250338e-02 6.13121268e+00] [ 1.05720225e-01 1.48967145e-03 9.94394798e-01 6.57699326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.177105681 meters 0.015595152407617975 Centerline is valid? [True, True] Translation: X:75.56, Y:6.13, Z:6.58 [[ 9.83034563e-01 -1.50958375e-01 -1.04185491e-01 7.55624834e+01] [ 1.50055770e-01 9.88539950e-01 -1.64934301e-02 6.12846059e+00] [ 1.05481341e-01 5.79977904e-04 9.94421113e-01 6.58396020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.237105681 meters 0.015458374681408484 Centerline is valid? [True, True] Translation: X:75.62, Y:6.13, Z:6.59 [[ 9.81381368e-01 -1.58247135e-01 -1.08850611e-01 7.56213046e+01] [ 1.57302596e-01 9.87399520e-01 -1.72650226e-02 6.12900841e+00] [ 1.10211181e-01 -1.78912203e-04 9.93908177e-01 6.58761961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297105681 meters 0.015547465955039964 Centerline is valid? [True, True] Translation: X:75.68, Y:6.14, Z:6.60 [[ 9.82475882e-01 -1.52438215e-01 -1.07255454e-01 7.56776895e+01] [ 1.51484779e-01 9.88312884e-01 -1.70295347e-02 6.14222616e+00] [ 1.08597899e-01 4.83538427e-04 9.94085641e-01 6.59907829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35710568100001 meters 0.018848944733578833 Centerline is valid? [True, True] Translation: X:75.73, Y:6.16, Z:6.62 [[ 9.85452140e-01 -1.38590171e-01 -9.83709490e-02 7.57325986e+01] [ 1.37716419e-01 9.90348043e-01 -1.56506015e-02 6.16478695e+00] [ 9.95904964e-02 1.87562393e-03 9.95026741e-01 6.61809549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417105681 meters 0.028282969243284415 Centerline is valid? [True, True] Translation: X:75.79, Y:6.19, Z:6.62 [[ 9.87362957e-01 -1.20398160e-01 -1.03046947e-01 7.57890541e+01] [ 1.19336733e-01 9.92717936e-01 -1.64269131e-02 6.19343265e+00] [ 1.04274322e-01 3.92203948e-03 9.94540840e-01 6.61594049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477105681 meters 0.031794252947028034 Centerline is valid? [True, True] Translation: X:75.85, Y:6.20, Z:6.62 [[ 9.87678495e-01 -1.14675476e-01 -1.06492841e-01 7.58489958e+01] [ 1.13508182e-01 9.93391976e-01 -1.69786741e-02 6.20285708e+00] [ 1.07736171e-01 4.68166247e-03 9.94168496e-01 6.61616459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.537105681 meters 0.032640126523954385 Centerline is valid? [True, True] Translation: X:75.91, Y:6.21, Z:6.61 [[ 9.87015664e-01 -1.14480612e-01 -1.12668844e-01 7.59087380e+01] [ 1.13171691e-01 9.93412988e-01 -1.79667655e-02 6.20925555e+00] [ 1.13983539e-01 4.98255540e-03 9.93470144e-01 6.61467328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.597105681 meters 0.028931643390436124 Centerline is valid? [True, True] Translation: X:75.97, Y:6.21, Z:6.63 [[ 9.87025673e-01 -1.19823345e-01 -1.06876972e-01 7.59691159e+01] [ 1.18676792e-01 9.92786587e-01 -1.70473516e-02 6.20542700e+00] [ 1.08148695e-01 4.14235749e-03 9.94126099e-01 6.63058617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657105681 meters 0.02278654298722241 Centerline is valid? [True, True] Translation: X:76.03, Y:6.19, Z:6.64 [[ 9.85642693e-01 -1.30048004e-01 -1.07684714e-01 7.60313677e+01] [ 1.28944532e-01 9.91503022e-01 -1.71774826e-02 6.19441089e+00] [ 1.09003617e-01 3.04550508e-03 9.94036688e-01 6.63543749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717105681 meters 0.01688295384857754 Centerline is valid? [True, True] Translation: X:76.09, Y:6.18, Z:6.64 [[ 9.83167874e-01 -1.46258081e-01 -1.09496601e-01 7.60932736e+01] [ 1.45216684e-01 9.89245647e-01 -1.74689580e-02 6.18206789e+00] [ 1.10874013e-01 1.27418495e-03 9.93833653e-01 6.63666175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777105681 meters 0.015438167609001449 Centerline is valid? [True, True] Translation: X:76.15, Y:6.17, Z:6.65 [[ 9.81088505e-01 -1.60830874e-01 -1.07697615e-01 7.61532441e+01] [ 1.59910141e-01 9.86981916e-01 -1.71885238e-02 6.17016035e+00] [ 1.09060044e-01 -3.58477737e-04 9.94035099e-01 6.64675687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837105681 meters 0.0149476918500089 Centerline is valid? [True, True] Translation: X:76.21, Y:6.18, Z:6.66 [[ 9.81408196e-01 -1.61010730e-01 -1.04467689e-01 7.62101476e+01] [ 1.60143860e-01 9.86952593e-01 -1.66889901e-02 6.18133801e+00] [ 1.05791763e-01 -3.51147288e-04 9.94388244e-01 6.66160932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.897105681 meters 0.017262813792948938 Centerline is valid? [True, True] Translation: X:76.26, Y:6.21, Z:6.67 [[ 9.83936167e-01 -1.45157938e-01 -1.03917237e-01 7.62635111e+01] [ 1.44208395e-01 9.89407533e-01 -1.66334552e-02 6.21126373e+00] [ 1.05230975e-01 1.38052029e-03 9.94446849e-01 6.66884122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.957105681 meters 0.02506150125063726 Centerline is valid? [True, True] Translation: X:76.32, Y:6.24, Z:6.68 [[ 9.86596499e-01 -1.25664256e-01 -1.04095356e-01 7.63195250e+01] [ 1.24601876e-01 9.92066728e-01 -1.66727223e-02 6.24065311e+00] [ 1.05364704e-01 3.47877283e-03 9.94427563e-01 6.67522295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017105681 meters 0.030783688571726732 Centerline is valid? [True, True] Translation: X:76.38, Y:6.26, Z:6.67 [[ 9.87139533e-01 -1.17292250e-01 -1.08618927e-01 7.63766771e+01] [ 1.16084472e-01 9.93086945e-01 -1.73987210e-02 6.25870959e+00] [ 1.09908774e-01 4.56599454e-03 9.93931191e-01 6.67353402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077105681 meters 0.02974324620305949 Centerline is valid? [True, True] Translation: X:76.44, Y:6.26, Z:6.68 [[ 9.86502045e-01 -1.20344100e-01 -1.11045097e-01 7.64352726e+01] [ 1.19099331e-01 9.92722777e-01 -1.77999313e-02 6.26475638e+00] [ 1.12379114e-01 4.33427187e-03 9.93655951e-01 6.67513744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137105681 meters 0.02396199180720713 Centerline is valid? [True, True] Translation: X:76.50, Y:6.26, Z:6.68 [[ 9.84865360e-01 -1.31039503e-01 -1.13441048e-01 7.64970444e+01] [ 1.29807194e-01 9.91371940e-01 -1.82145462e-02 6.25668241e+00] [ 1.14849097e-01 3.21341146e-03 9.93377752e-01 6.67969124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197105681 meters 0.02108815651180683 Centerline is valid? [True, True] Translation: X:76.56, Y:6.26, Z:6.69 [[ 9.84852203e-01 -1.35421948e-01 -1.08291433e-01 7.65565481e+01] [ 1.34325463e-01 9.90784656e-01 -1.73906645e-02 6.25696363e+00] [ 1.09648568e-01 2.58093739e-03 9.93967067e-01 6.69217869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257105681 meters 0.018668267069782276 Centerline is valid? [True, True] Translation: X:76.62, Y:6.26, Z:6.70 [[ 9.84218206e-01 -1.41850974e-01 -1.05796144e-01 7.66171466e+01] [ 1.40841098e-01 9.89886340e-01 -1.69946493e-02 6.25597140e+00] [ 1.07136865e-01 1.82599813e-03 9.94242605e-01 6.69981604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.317105681 meters 0.015845562045677213 Centerline is valid? [True, True] Translation: X:76.68, Y:6.25, Z:6.70 [[ 9.82389471e-01 -1.53158956e-01 -1.07019910e-01 7.66777260e+01] [ 1.52191836e-01 9.88201380e-01 -1.71952544e-02 6.24892619e+00] [ 1.08390830e-01 6.04880294e-04 9.94108174e-01 6.70312195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377105681 meters 0.016470079649767818 Centerline is valid? [True, True] Translation: X:76.73, Y:6.26, Z:6.71 [[ 9.82702194e-01 -1.51243809e-01 -1.06872396e-01 7.67345355e+01] [ 1.50266886e-01 9.88496145e-01 -1.71823975e-02 6.25551012e+00] [ 1.08241683e-01 8.25797664e-04 9.94124266e-01 6.71155107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437105681 meters 0.020856232537895418 Centerline is valid? [True, True] Translation: X:76.79, Y:6.28, Z:6.72 [[ 9.85102858e-01 -1.36765694e-01 -1.04247325e-01 7.67899382e+01] [ 1.35754102e-01 9.90600590e-01 -1.67718708e-02 6.27826146e+00] [ 1.05561278e-01 2.37001579e-03 9.94409976e-01 6.72319751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49710568100001 meters 0.027614601525146536 Centerline is valid? [True, True] Translation: X:76.85, Y:6.30, Z:6.73 [[ 9.87039320e-01 -1.22705957e-01 -1.03424512e-01 7.68472774e+01] [ 1.21632554e-01 9.92435599e-01 -1.66464095e-02 6.29723025e+00] [ 1.04684781e-01 3.85087318e-03 9.94497998e-01 6.72909858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557105681 meters 0.029076072953208573 Centerline is valid? [True, True] Translation: X:76.91, Y:6.30, Z:6.73 [[ 9.86873636e-01 -1.21576180e-01 -1.06299851e-01 7.69057112e+01] [ 1.20434519e-01 9.92573672e-01 -1.71182100e-02 6.30447965e+00] [ 1.07591600e-01 4.09133868e-03 9.94186757e-01 6.73069418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617105681 meters 0.027858126037906293 Centerline is valid? [True, True] Translation: X:76.96, Y:6.31, Z:6.73 [[ 9.86175537e-01 -1.25902761e-01 -1.07732566e-01 7.69639845e+01] [ 1.24752159e-01 9.92035684e-01 -1.73810390e-02 6.30565772e+00] [ 1.09062871e-01 3.70088527e-03 9.94027964e-01 6.73303785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.677105681 meters 0.028605745398738634 Centerline is valid? [True, True] Translation: X:77.02, Y:6.30, Z:6.74 [[ 9.86716238e-01 -1.22051153e-01 -1.07212789e-01 7.70235999e+01] [ 1.20887757e-01 9.92515268e-01 -1.73087552e-02 6.30477135e+00] [ 1.08522883e-01 4.11811631e-03 9.94085421e-01 6.74165887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.737105681 meters 0.028506807432772785 Centerline is valid? [True, True] Translation: X:77.08, Y:6.31, Z:6.74 [[ 9.86636567e-01 -1.21672197e-01 -1.08370480e-01 7.70824939e+01] [ 1.20479680e-01 9.92561373e-01 -1.75090615e-02 6.30993249e+00] [ 1.09694719e-01 4.21863956e-03 9.93956373e-01 6.74484196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797105681 meters 0.024200851099635674 Centerline is valid? [True, True] Translation: X:77.14, Y:6.30, Z:6.75 [[ 9.85299311e-01 -1.30394589e-01 -1.10374450e-01 7.71449070e+01] [ 1.29208294e-01 9.91456552e-01 -1.78639727e-02 6.30136453e+00] [ 1.11760837e-01 3.34006556e-03 9.93729520e-01 6.74653806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85710568100001 meters 0.018852831743524777 Centerline is valid? [True, True] Translation: X:77.21, Y:6.29, Z:6.75 [[ 9.83181382e-01 -1.46074138e-01 -1.09620788e-01 7.72069100e+01] [ 1.45000608e-01 9.89272429e-01 -1.77449847e-02 6.29038377e+00] [ 1.11036907e-01 1.55145755e-03 9.93815072e-01 6.75142046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917105681 meters 0.017303512089919194 Centerline is valid? [True, True] Translation: X:77.27, Y:6.29, Z:6.76 [[ 9.81986270e-01 -1.54297390e-01 -1.09065490e-01 7.72663845e+01] [ 1.53284078e-01 9.88024250e-01 -1.76655686e-02 6.28900016e+00] [ 1.10485100e-01 6.29342810e-04 9.93877581e-01 6.75864162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977105681 meters 0.018240086290894058 Centerline is valid? [True, True] Translation: X:77.33, Y:6.28, Z:6.77 [[ 9.79590336e-01 -1.71086734e-01 -1.05508785e-01 7.73261395e+01] [ 1.70231752e-01 9.85255257e-01 -1.71239264e-02 6.28413076e+00] [ 1.06882762e-01 -1.18651265e-03 9.94270923e-01 6.76945953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.037105681 meters 0.021384178512005053 Centerline is valid? [True, True] Translation: X:77.38, Y:6.29, Z:6.78 [[ 9.78334058e-01 -1.78341479e-01 -1.05151260e-01 7.73842434e+01] [ 1.77530562e-01 9.83966744e-01 -1.70981175e-02 6.28676332e+00] [ 1.06514646e-01 -1.93989162e-03 9.94309241e-01 6.77521708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.097105681 meters 0.02520348977207452 Centerline is valid? [True, True] Translation: X:77.44, Y:6.29, Z:6.79 [[ 9.76651273e-01 -1.88747522e-01 -1.02599530e-01 7.74421779e+01] [ 1.88031484e-01 9.82021105e-01 -1.66946403e-02 6.29391950e+00] [ 1.03905976e-01 -2.98710013e-03 9.94582639e-01 6.78590371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157105681 meters 0.03151315348918835 Centerline is valid? [True, True] Translation: X:77.50, Y:6.30, Z:6.80 [[ 9.74401172e-01 -2.00854050e-01 -1.00995079e-01 7.75015503e+01] [ 2.00224172e-01 9.79612165e-01 -1.64404352e-02 6.29776899e+00] [ 1.02238136e-01 -4.20207672e-03 9.94751077e-01 6.79620014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217105681 meters 0.03987518326232207 Centerline is valid? [True, True] Translation: X:77.56, Y:6.32, Z:6.81 [[ 9.71054090e-01 -2.17323940e-01 -9.91174020e-02 7.75582164e+01] [ 2.16801947e-01 9.76082201e-01 -1.61385601e-02 6.31645503e+00] [ 1.00254027e-01 -5.81743094e-03 9.94944867e-01 6.80790497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277105681 meters 0.04320683803564995 Centerline is valid? [True, True] Translation: X:77.61, Y:6.34, Z:6.82 [[ 9.70619288e-01 -2.21973495e-01 -9.28760736e-02 7.76143300e+01] [ 2.21535972e-01 9.75034885e-01 -1.51256843e-02 6.34018468e+00] [ 9.39149127e-02 -5.89411034e-03 9.95562780e-01 6.82087543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337105681 meters 0.04571817696706549 Centerline is valid? [True, True] Translation: X:77.67, Y:6.37, Z:6.83 [[ 9.69941828e-01 -2.25086355e-01 -9.24607072e-02 7.76694930e+01] [ 2.24666547e-01 9.74319314e-01 -1.50604704e-02 6.36693056e+00] [ 9.34761591e-02 -6.16504764e-03 9.95602431e-01 6.82591388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.397105681 meters 0.03495835793341171 Centerline is valid? [True, True] Translation: X:77.72, Y:6.43, Z:6.83 [[ 9.73807893e-01 -2.07710405e-01 -9.24909497e-02 7.77205624e+01] [ 2.07211487e-01 9.78180067e-01 -1.50717039e-02 6.42902676e+00] [ 9.36033530e-02 -4.48824305e-03 9.95599452e-01 6.82786013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.457105681 meters 0.02242531384519429 Centerline is valid? [True, True] Translation: X:77.77, Y:6.48, Z:6.83 [[ 9.77863017e-01 -1.86053606e-01 -9.57495494e-02 7.77723115e+01] [ 1.85414835e-01 9.82536429e-01 -1.56046290e-02 6.48422606e+00] [ 9.69807178e-02 -2.49419725e-03 9.95283135e-01 6.82847141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517105681 meters 0.016131706604202916 Centerline is valid? [True, True] Translation: X:77.82, Y:6.54, Z:6.83 [[ 9.81985433e-01 -1.62152351e-01 -9.70114611e-02 7.78225140e+01] [ 1.61379501e-01 9.86765726e-01 -1.58132152e-02 6.54262766e+00] [ 9.82917349e-02 -1.27314203e-04 9.95157635e-01 6.83085037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577105681 meters 0.016487235422097134 Centerline is valid? [True, True] Translation: X:77.88, Y:6.57, Z:6.83 [[ 9.81981615e-01 -1.58459308e-01 -1.02969681e-01 7.78786234e+01] [ 1.57567144e-01 9.87365473e-01 -1.67934046e-02 6.56722332e+00] [ 1.04329779e-01 2.66176071e-04 9.94542722e-01 6.82679430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637105681 meters 0.016560196600064227 Centerline is valid? [True, True] Translation: X:77.94, Y:6.58, Z:6.83 [[ 9.80944208e-01 -1.63405504e-01 -1.05105192e-01 7.79360891e+01] [ 1.62500188e-01 9.86558964e-01 -1.71784686e-02 6.58105230e+00] [ 1.06499525e-01 -2.28494209e-04 9.94312727e-01 6.82809898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697105681 meters 0.016848471678307754 Centerline is valid? [True, True] Translation: X:77.99, Y:6.59, Z:6.84 [[ 9.80753072e-01 -1.65393294e-01 -1.03771242e-01 7.79933823e+01] [ 1.64518255e-01 9.86227608e-01 -1.69955504e-02 6.59401481e+00] [ 1.05153014e-01 -4.03825399e-04 9.94455972e-01 6.83576538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757105681 meters 0.017007369900587634 Centerline is valid? [True, True] Translation: X:78.05, Y:6.60, Z:6.85 [[ 9.80881476e-01 -1.68633681e-01 -9.71298645e-02 7.80499626e+01] [ 1.67880115e-01 9.85678563e-01 -1.59385524e-02 6.60414323e+00] [ 9.84266020e-02 -6.72342082e-04 9.95144086e-01 6.85082639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.817105681 meters 0.01926239742314936 Centerline is valid? [True, True] Translation: X:78.11, Y:6.60, Z:6.86 [[ 9.79769423e-01 -1.77270123e-01 -9.28826223e-02 7.81093076e+01] [ 1.76616969e-01 9.84161178e-01 -1.52716117e-02 6.60318316e+00] [ 9.41186715e-02 -1.44198906e-03 9.95559941e-01 6.85901253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877105681 meters 0.02569975754567541 Centerline is valid? [True, True] Translation: X:78.17, Y:6.60, Z:6.86 [[ 9.77033802e-01 -1.90033056e-01 -9.63970296e-02 7.81704720e+01] [ 1.89388261e-01 9.81773865e-01 -1.58796882e-02 6.59775942e+00] [ 9.76577500e-02 -2.74147368e-03 9.95216282e-01 6.85773294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937105681 meters 0.022233878895234052 Centerline is valid? [True, True] Translation: X:78.23, Y:6.62, Z:6.87 [[ 9.78064990e-01 -1.85783623e-01 -9.41983086e-02 7.82261108e+01] [ 1.85148088e-01 9.82588078e-01 -1.55194959e-02 6.61639329e+00] [ 9.54414031e-02 -2.26156110e-03 9.95432481e-01 6.86959813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99710568100001 meters 0.0172193963010845 Centerline is valid? [True, True] Translation: X:78.28, Y:6.65, Z:6.88 [[ 9.82152165e-01 -1.64885340e-01 -9.04983373e-02 7.82809321e+01] [ 1.64209210e-01 9.86312720e-01 -1.49182513e-02 6.64878786e+00] [ 9.17194621e-02 -2.08667619e-04 9.95784865e-01 6.88084496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057105681 meters 0.0204502853022246 Centerline is valid? [True, True] Translation: X:78.33, Y:6.68, Z:6.89 [[ 9.85276971e-01 -1.46305239e-01 -8.84537603e-02 7.83348172e+01] [ 1.45584240e-01 9.89238370e-01 -1.45834063e-02 6.67975868e+00] [ 8.96354824e-02 1.49122088e-03 9.95973522e-01 6.88693500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117105681 meters 0.02451013288986614 Centerline is valid? [True, True] Translation: X:78.39, Y:6.70, Z:6.88 [[ 9.86046797e-01 -1.37042357e-01 -9.45045271e-02 7.83934772e+01] [ 1.36175900e-01 9.90562030e-01 -1.55880979e-02 6.69540959e+00] [ 9.57488259e-02 2.50135503e-03 9.95402384e-01 6.88242474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.177105681 meters 0.028042476665754296 Centerline is valid? [True, True] Translation: X:78.45, Y:6.71, Z:6.88 [[ 9.86572869e-01 -1.29598296e-01 -9.93894164e-02 7.84534384e+01] [ 1.28601740e-01 9.91560770e-01 -1.63960946e-02 6.70654711e+00] [ 1.00675552e-01 3.39429015e-03 9.94913520e-01 6.88186293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.237105681 meters 0.03362586417329265 Centerline is valid? [True, True] Translation: X:78.51, Y:6.72, Z:6.89 [[ 9.87766234e-01 -1.19034429e-01 -1.00740616e-01 7.85126948e+01] [ 1.17955713e-01 9.92879781e-01 -1.66189981e-02 6.71725696e+00] [ 1.02001553e-01 4.53275401e-03 9.94773913e-01 6.88709237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297105681 meters 0.035779682095532984 Centerline is valid? [True, True] Translation: X:78.57, Y:6.72, Z:6.90 [[ 9.88637065e-01 -1.14112824e-01 -9.78520194e-02 7.85724807e+01] [ 1.13071217e-01 9.93455735e-01 -1.61431936e-02 6.71574265e+00] [ 9.90537953e-02 4.89551263e-03 9.95070038e-01 6.89573873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35710568100001 meters 0.03325085315828986 Centerline is valid? [True, True] Translation: X:78.63, Y:6.70, Z:6.90 [[ 9.88205359e-01 -1.21035404e-01 -9.38115063e-02 7.86339420e+01] [ 1.20108742e-01 9.92639999e-01 -1.54829739e-02 6.70362486e+00] [ 9.49950416e-02 4.03277576e-03 9.95469577e-01 6.90481926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417105681 meters 0.024263292004818988 Centerline is valid? [True, True] Translation: X:78.70, Y:6.68, Z:6.91 [[ 9.85620608e-01 -1.37971691e-01 -9.75491153e-02 7.86990704e+01] [ 1.37051590e-01 9.90433012e-01 -1.61031272e-02 6.68108070e+00] [ 9.88376397e-02 2.50231266e-03 9.95100427e-01 6.90538491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477105681 meters 0.019530074679320414 Centerline is valid? [True, True] Translation: X:78.76, Y:6.66, Z:6.91 [[ 9.83225939e-01 -1.51607929e-01 -1.01399159e-01 7.87626319e+01] [ 1.50685128e-01 9.88440001e-01 -1.67438763e-02 6.66313963e+00] [ 1.02765489e-01 1.18366825e-03 9.94704908e-01 6.90680109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.537105681 meters 0.018307589565443566 Centerline is valid? [True, True] Translation: X:78.82, Y:6.66, Z:6.92 [[ 9.82134680e-01 -1.59757315e-01 -9.94438043e-02 7.88223326e+01] [ 1.58910658e-01 9.87156264e-01 -1.64290411e-02 6.65877268e+00] [ 1.00791234e-01 3.32850685e-04 9.94907542e-01 6.91748844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.597105681 meters 0.019823900028752284 Centerline is valid? [True, True] Translation: X:78.88, Y:6.67, Z:6.93 [[ 9.83722299e-01 -1.52286037e-01 -9.53907778e-02 7.88776862e+01] [ 1.51469233e-01 9.88335869e-01 -1.57886444e-02 6.67211335e+00] [ 9.66825174e-02 1.08287367e-03 9.95314683e-01 6.92883639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657105681 meters 0.024240863943683293 Centerline is valid? [True, True] Translation: X:78.94, Y:6.69, Z:6.93 [[ 9.85597857e-01 -1.39423352e-01 -9.56974002e-02 7.89351754e+01] [ 1.38539657e-01 9.90230045e-01 -1.58499861e-02 6.69130049e+00] [ 9.69722991e-02 2.36382734e-03 9.95284274e-01 6.93410543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717105681 meters 0.026282087036773014 Centerline is valid? [True, True] Translation: X:78.99, Y:6.70, Z:6.94 [[ 9.86320712e-01 -1.34206011e-01 -9.57089366e-02 7.89934299e+01] [ 1.33297357e-01 9.90949269e-01 -1.58543689e-02 6.70375246e+00] [ 9.69704523e-02 2.87974411e-03 9.95283095e-01 6.93918447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777105681 meters 0.029340111705830584 Centerline is valid? [True, True] Translation: X:79.05, Y:6.71, Z:6.94 [[ 9.86760641e-01 -1.29033210e-01 -9.82540995e-02 7.90516834e+01] [ 1.28049348e-01 9.91634152e-01 -1.62810610e-02 6.71439619e+00] [ 9.95329182e-02 3.48413681e-03 9.95028170e-01 6.94158132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837105681 meters 0.03344835637068787 Centerline is valid? [True, True] Translation: X:79.11, Y:6.72, Z:6.94 [[ 9.87697138e-01 -1.20578718e-01 -9.95747771e-02 7.91114631e+01] [ 1.19524641e-01 9.92694010e-01 -1.65064422e-02 6.72413905e+00] [ 1.00837610e-01 4.40172627e-03 9.94893161e-01 6.94452221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.897105681 meters 0.036290144753551974 Centerline is valid? [True, True] Translation: X:79.17, Y:6.73, Z:6.95 [[ 9.88149648e-01 -1.16694813e-01 -9.97125575e-02 7.91700470e+01] [ 1.15617883e-01 9.93156187e-01 -1.65315695e-02 6.73236776e+00] [ 1.00959292e-01 4.80710982e-03 9.94878944e-01 6.94870617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.957105681 meters 0.0378124135942891 Centerline is valid? [True, True] Translation: X:79.23, Y:6.74, Z:6.95 [[ 9.88349126e-01 -1.15220237e-01 -9.94500000e-02 7.92282974e+01] [ 1.14140563e-01 9.93327615e-01 -1.64979177e-02 6.73812194e+00] [ 1.00687325e-01 4.95442356e-03 9.94905783e-01 6.95361037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017105681 meters 0.0341432187302882 Centerline is valid? [True, True] Translation: X:79.29, Y:6.73, Z:6.96 [[ 9.88275746e-01 -1.18215107e-01 -9.66242084e-02 7.92898578e+01] [ 1.17207640e-01 9.92977615e-01 -1.60569229e-02 6.72995100e+00] [ 9.78438469e-02 4.54357205e-03 9.95191408e-01 6.96313934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077105681 meters 0.026431048712279904 Centerline is valid? [True, True] Translation: X:79.35, Y:6.72, Z:6.97 [[ 9.86592479e-01 -1.32679673e-01 -9.50336019e-02 7.93523084e+01] [ 1.31771707e-01 9.91154246e-01 -1.57948988e-02 6.71617625e+00] [ 9.62886200e-02 3.06038842e-03 9.95348751e-01 6.96923907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137105681 meters 0.01749614032952146 Centerline is valid? [True, True] Translation: X:79.42, Y:6.68, Z:6.97 [[ 9.81664128e-01 -1.63390042e-01 -9.81796045e-02 7.94181510e+01] [ 1.62572822e-01 9.86561549e-01 -1.63213689e-02 6.68202262e+00] [ 9.95269719e-02 6.07670560e-05 9.95034863e-01 6.96728243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197105681 meters 0.019116132228142894 Centerline is valid? [True, True] Translation: X:79.48, Y:6.68, Z:6.98 [[ 9.79648209e-01 -1.75865148e-01 -9.67514155e-02 7.94781455e+01] [ 1.75131332e-01 9.84413561e-01 -1.60921816e-02 6.67632633e+00] [ 9.80734593e-02 -1.17952740e-03 9.95178479e-01 6.97559823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.257105681 meters 0.019092101250502834 Centerline is valid? [True, True] Translation: X:79.53, Y:6.69, Z:6.98 [[ 9.80040474e-01 -1.73560290e-01 -9.69406730e-02 7.95345242e+01] [ 1.72809232e-01 9.84822817e-01 -1.61551598e-02 6.68963993e+00] [ 9.82732808e-02 -9.19532778e-04 9.95159041e-01 6.98024986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.317105681 meters 0.017155269113987327 Centerline is valid? [True, True] Translation: X:79.59, Y:6.72, Z:7.00 [[ 9.82813694e-01 -1.60931993e-01 -9.04330455e-02 7.95875275e+01] [ 1.60223682e-01 9.86965440e-01 -1.50861453e-02 6.71978772e+00] [ 9.16821340e-02 3.37354642e-04 9.95788267e-01 6.99721521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377105681 meters 0.02023800997750953 Centerline is valid? [True, True] Translation: X:79.64, Y:6.75, Z:7.00 [[ 9.85253147e-01 -1.46663049e-01 -8.81259639e-02 7.96429688e+01] [ 1.45930780e-01 9.89185128e-01 -1.47305829e-02 6.74714702e+00] [ 8.93333251e-02 1.65306255e-03 9.96000414e-01 7.00415068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437105681 meters 0.025831014408687968 Centerline is valid? [True, True] Translation: X:79.70, Y:6.77, Z:7.01 [[ 9.87066567e-01 -1.34856191e-01 -8.66798750e-02 7.96990302e+01] [ 1.34101952e-01 9.90861552e-01 -1.44931138e-02 6.77067380e+00] [ 8.78422416e-02 2.68172768e-03 9.96130789e-01 7.00839146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49710568100001 meters 0.03208830216263501 Centerline is valid? [True, True] Translation: X:79.76, Y:6.79, Z:7.00 [[ 9.87785953e-01 -1.22669172e-01 -9.60790542e-02 7.97572128e+01] [ 1.21683951e-01 9.92438807e-01 -1.60695771e-02 6.79144860e+00] [ 9.73238237e-02 4.18202363e-03 9.95243982e-01 7.00150516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557105681 meters 0.037124012109777706 Centerline is valid? [True, True] Translation: X:79.82, Y:6.81, Z:7.00 [[ 9.88241322e-01 -1.13574864e-01 -1.02371088e-01 7.98163104e+01] [ 1.12407043e-01 9.93514682e-01 -1.71240667e-02 6.80771765e+00] [ 1.03652042e-01 5.41547898e-03 9.94598877e-01 6.99736738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617105681 meters 0.0391471099473462 Centerline is valid? [True, True] Translation: X:79.87, Y:6.82, Z:7.00 [[ 9.88642685e-01 -1.10608587e-01 -1.01741746e-01 7.98746939e+01] [ 1.09439426e-01 9.93847747e-01 -1.70196254e-02 6.81505628e+00] [ 1.02998322e-01 5.69176978e-03 9.94665245e-01 7.00334314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.677105681 meters 0.03242851158674809 Centerline is valid? [True, True] Translation: X:79.94, Y:6.80, Z:7.02 [[ 9.87782537e-01 -1.25162998e-01 -9.28433260e-02 7.99355957e+01] [ 1.24253390e-01 9.92128873e-01 -1.55368791e-02 6.80153691e+00] [ 9.40571868e-02 3.81095985e-03 9.95559502e-01 7.01820992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.737105681 meters 0.022605448059881638 Centerline is valid? [True, True] Translation: X:80.00, Y:6.78, Z:7.02 [[ 9.85667942e-01 -1.40872450e-01 -9.28098111e-02 7.99988483e+01] [ 1.40032498e-01 9.90025047e-01 -1.55340185e-02 6.78334545e+00] [ 9.40723529e-02 2.31499437e-03 9.95562672e-01 7.02404836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797105681 meters 0.016749655981468818 Centerline is valid? [True, True] Translation: X:80.06, Y:6.76, Z:7.03 [[ 9.81653405e-01 -1.65667610e-01 -9.43972260e-02 8.00633559e+01] [ 1.64912122e-01 9.86181647e-01 -1.58035487e-02 6.75800473e+00] [ 9.57109479e-02 -5.36394622e-05 9.95409168e-01 7.02941628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85710568100001 meters 0.017681748498571594 Centerline is valid? [True, True] Translation: X:80.12, Y:6.76, Z:7.04 [[ 9.80169758e-01 -1.74363831e-01 -9.41514765e-02 8.01226005e+01] [ 1.73651620e-01 9.84680891e-01 -1.57689095e-02 6.75851088e+00] [ 9.54586872e-02 -8.93348283e-04 9.95432992e-01 7.03678976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917105681 meters 0.01697088336950095 Centerline is valid? [True, True] Translation: X:80.18, Y:6.78, Z:7.05 [[ 9.81981959e-01 -1.65321864e-01 -9.15429569e-02 8.01777046e+01] [ 1.64606451e-01 9.86239667e-01 -1.53634467e-02 6.77905232e+00] [ 9.28232090e-02 1.80662515e-05 9.95682606e-01 7.05030401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977105681 meters 0.021100660212142557 Centerline is valid? [True, True] Translation: X:80.23, Y:6.81, Z:7.05 [[ 9.85144634e-01 -1.45290488e-01 -9.15462956e-02 8.02325679e+01] [ 1.44485613e-01 9.89387141e-01 -1.53945490e-02 6.81479836e+00] [ 9.28114092e-02 1.93873471e-03 9.95681818e-01 7.05496652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.037105681 meters 0.026464379956019832 Centerline is valid? [True, True] Translation: X:80.29, Y:6.84, Z:7.06 [[ 9.86485327e-01 -1.35043660e-01 -9.27895973e-02 8.02883058e+01] [ 1.34171344e-01 9.90835275e-01 -1.56047677e-02 6.84286949e+00] [ 9.40465311e-02 2.94416942e-03 9.95563449e-01 7.05600156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.097105681 meters 0.028323910311226407 Centerline is valid? [True, True] Translation: X:80.35, Y:6.86, Z:7.06 [[ 9.87108062e-01 -1.29748042e-01 -9.37182958e-02 8.03464282e+01] [ 1.28834094e-01 9.91540868e-01 -1.57633392e-02 6.85731848e+00] [ 9.49707828e-02 3.48600752e-03 9.95473957e-01 7.06112720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157105681 meters 0.03036139340931695 Centerline is valid? [True, True] Translation: X:80.40, Y:6.87, Z:7.06 [[ 9.87255348e-01 -1.26623234e-01 -9.64024655e-02 8.04039369e+01] [ 1.25640700e-01 9.91943214e-01 -1.62195535e-02 6.87449910e+00] [ 9.76795438e-02 3.90076771e-03 9.95210275e-01 7.06228250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217105681 meters 0.03290890920402197 Centerline is valid? [True, True] Translation: X:80.46, Y:6.89, Z:7.07 [[ 9.87936447e-01 -1.21063099e-01 -9.65676099e-02 8.04631031e+01] [ 1.20050307e-01 9.92634783e-01 -1.62515028e-02 6.88805702e+00] [ 9.78238258e-02 4.46248066e-03 9.95193743e-01 7.06606395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277105681 meters 0.03459225785725784 Centerline is valid? [True, True] Translation: X:80.52, Y:6.90, Z:7.07 [[ 9.88480424e-01 -1.16887095e-01 -9.61449866e-02 8.05215396e+01] [ 1.15863449e-01 9.93133343e-01 -1.61809847e-02 6.89712189e+00] [ 9.73761402e-02 4.85489683e-03 9.95235810e-01 7.07112732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337105681 meters 0.03397407785244289 Centerline is valid? [True, True] Translation: X:80.58, Y:6.90, Z:7.07 [[ 9.88334257e-01 -1.16190997e-01 -9.84634431e-02 8.05814810e+01] [ 1.15112741e-01 9.93214032e-01 -1.65814149e-02 6.89774422e+00] [ 9.97218845e-02 5.05358358e-03 9.95002516e-01 7.07342865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.397105681 meters 0.03208309105779873 Centerline is valid? [True, True] Translation: X:80.64, Y:6.89, Z:7.07 [[ 9.87272797e-01 -1.21965287e-01 -1.02063184e-01 8.06430667e+01] [ 1.20833764e-01 9.92523389e-01 -1.72198360e-02 6.89285314e+00] [ 1.03400320e-01 4.66799683e-03 9.94628867e-01 7.07422103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.457105681 meters 0.02697828959757136 Centerline is valid? [True, True] Translation: X:80.70, Y:6.88, Z:7.08 [[ 9.86168685e-01 -1.32953684e-01 -9.89678837e-02 8.07046401e+01] [ 1.31944564e-01 9.91116376e-01 -1.67021490e-02 6.88213823e+00] [ 1.00309302e-01 3.41286201e-03 9.94950449e-01 7.08341422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517105681 meters 0.019552238405879642 Centerline is valid? [True, True] Translation: X:80.77, Y:6.86, Z:7.10 [[ 9.84086470e-01 -1.51440873e-01 -9.29488074e-02 8.07673871e+01] [ 1.50632814e-01 9.88465271e-01 -1.56896008e-02 6.86473171e+00] [ 9.42527149e-02 1.43878349e-03 9.95547264e-01 7.09548692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577105681 meters 0.01785515797363994 Centerline is valid? [True, True] Translation: X:80.83, Y:6.85, Z:7.10 [[ 9.80626101e-01 -1.72610427e-01 -9.26179872e-02 8.08302531e+01] [ 1.71901520e-01 9.84989999e-01 -1.56387181e-02 6.84676152e+00] [ 9.39271969e-02 -5.85437645e-04 9.95578896e-01 7.10223111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637105681 meters 0.023137235233611646 Centerline is valid? [True, True] Translation: X:80.89, Y:6.84, Z:7.11 [[ 9.77739901e-01 -1.88828157e-01 -9.14801296e-02 8.08905951e+01] [ 1.88204610e-01 9.82007928e-01 -1.54742921e-02 6.83896047e+00] [ 9.27561946e-02 -2.08714927e-03 9.95686664e-01 7.11151185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697105681 meters 0.02851358546399786 Centerline is valid? [True, True] Translation: X:80.95, Y:6.85, Z:7.12 [[ 9.75575475e-01 -2.00058554e-01 -9.07142056e-02 8.09505283e+01] [ 1.99493525e-01 9.79778960e-01 -1.53467782e-02 6.84525791e+00] [ 9.19501242e-02 -3.12495623e-03 9.95758710e-01 7.11904092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.757105681 meters 0.03469505104377747 Centerline is valid? [True, True] Translation: X:81.01, Y:6.86, Z:7.12 [[ 9.73471333e-01 -2.08866915e-01 -9.34247072e-02 8.10090251e+01] [ 2.08307895e-01 9.77935584e-01 -1.58055048e-02 6.85637534e+00] [ 9.46645927e-02 -4.07489822e-03 9.95500884e-01 7.12225151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.817105681 meters 0.03884452735625343 Centerline is valid? [True, True] Translation: X:81.07, Y:6.88, Z:7.12 [[ 9.71700643e-01 -2.14988286e-01 -9.78667352e-02 8.10663604e+01] [ 2.14405198e-01 9.76604384e-01 -1.65616416e-02 6.87820813e+00] [ 9.91376416e-02 -4.89017897e-03 9.95061714e-01 7.11906425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877105681 meters 0.04113039299977893 Centerline is valid? [True, True] Translation: X:81.12, Y:6.90, Z:7.12 [[ 9.70247039e-01 -2.21130072e-01 -9.86010838e-02 8.11238553e+01] [ 2.20569312e-01 9.75228502e-01 -1.66897440e-02 6.89567306e+00] [ 9.98491916e-02 -5.55519848e-03 9.94987075e-01 7.12420083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937105681 meters 0.050546849203152104 Centerline is valid? [True, True] Translation: X:81.18, Y:6.91, Z:7.14 [[ 9.67349299e-01 -2.34824803e-01 -9.53553675e-02 8.11809660e+01] [ 2.34365887e-01 9.72014405e-01 -1.61439772e-02 6.91037488e+00] [ 9.64777970e-02 -6.73118029e-03 9.95312376e-01 7.13559883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99710568100001 meters 0.056314465931146 Centerline is valid? [True, True] Translation: X:81.24, Y:6.94, Z:7.14 [[ 9.66631442e-01 -2.38633188e-01 -9.31550137e-02 8.12351673e+01] [ 2.38212408e-01 9.71084963e-01 -1.57747489e-02 6.94365816e+00] [ 9.42258117e-02 -6.94231185e-03 9.95526645e-01 7.14456383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057105681 meters 0.052420789220900814 Centerline is valid? [True, True] Translation: X:81.29, Y:6.99, Z:7.15 [[ 9.66771691e-01 -2.38390476e-01 -9.23172702e-02 8.12874420e+01] [ 2.37975802e-01 9.71145212e-01 -1.56362981e-02 6.98800421e+00] [ 9.33810195e-02 -6.85254609e-03 9.95606864e-01 7.14974937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117105681 meters 0.054083184211224086 Centerline is valid? [True, True] Translation: X:81.34, Y:7.02, Z:7.15 [[ 9.65401718e-01 -2.43720326e-01 -9.27357878e-02 8.13434022e+01] [ 2.43323582e-01 9.69817524e-01 -1.57354515e-02 7.01861543e+00] [ 9.37718415e-02 -7.37377211e-03 9.95566406e-01 7.15252340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.177105681 meters 0.05666774818697206 Centerline is valid? [True, True] Translation: X:81.40, Y:7.05, Z:7.16 [[ 9.64894003e-01 -2.46920243e-01 -8.94983564e-02 8.13980797e+01] [ 2.46564127e-01 9.69007458e-01 -1.51880843e-02 7.05120095e+00] [ 9.04748202e-02 -7.41219270e-03 9.95871159e-01 7.16242994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.237105681 meters 0.056819008329706204 Centerline is valid? [True, True] Translation: X:81.45, Y:7.10, Z:7.17 [[ 9.65075781e-01 -2.44991885e-01 -9.27777591e-02 8.14504753e+01] [ 2.44600197e-01 9.69496147e-01 -1.57468986e-02 7.09887295e+00] [ 9.38055423e-02 -7.49650775e-03 9.95562315e-01 7.16504900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297105681 meters 0.05508717192594758 Centerline is valid? [True, True] Translation: X:81.51, Y:7.13, Z:7.17 [[ 9.64335670e-01 -2.47825965e-01 -9.29462591e-02 8.15056899e+01] [ 2.47445523e-01 9.68773309e-01 -1.57794012e-02 7.13368417e+00] [ 9.39544003e-02 -7.78249620e-03 9.95546083e-01 7.17012112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35710568100001 meters 0.06031779046512161 Centerline is valid? [True, True] Translation: X:81.56, Y:7.17, Z:7.17 [[ 9.60762335e-01 -2.59895718e-01 -9.69017578e-02 8.15608471e+01] [ 2.59542801e-01 9.65591474e-01 -1.64511172e-02 7.16903138e+00] [ 9.78430861e-02 -9.34453978e-03 9.95157982e-01 7.17248968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417105681 meters 0.06053501368257239 Centerline is valid? [True, True] Translation: X:81.62, Y:7.20, Z:7.18 [[ 9.58925332e-01 -2.67371256e-01 -9.47355237e-02 8.16160988e+01] [ 2.67069640e-01 9.63542977e-01 -1.60853412e-02 7.20169844e+00] [ 9.55825065e-02 -9.87634099e-03 9.95372514e-01 7.17950635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477105681 meters 0.0643341142885619 Centerline is valid? [True, True] Translation: X:81.67, Y:7.23, Z:7.18 [[ 9.57575240e-01 -2.70869359e-01 -9.83841955e-02 8.16727774e+01] [ 2.70562181e-01 9.62557523e-01 -1.67068876e-02 7.22995070e+00] [ 9.92258316e-02 -1.06209406e-02 9.95008256e-01 7.17782664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.537105681 meters 0.06540932257459375 Centerline is valid? [True, True] Translation: X:81.73, Y:7.27, Z:7.17 [[ 9.57158797e-01 -2.69317418e-01 -1.06372770e-01 8.17273489e+01] [ 2.68948568e-01 9.62985018e-01 -1.80699463e-02 7.26548164e+00] [ 1.07301935e-01 -1.13129961e-02 9.94162115e-01 7.17221065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.597105681 meters 0.06672138272826333 Centerline is valid? [True, True] Translation: X:81.78, Y:7.29, Z:7.18 [[ 9.58301577e-01 -2.65817954e-01 -1.04875655e-01 8.17829142e+01] [ 2.65435610e-01 9.63963443e-01 -1.78442411e-02 7.28918058e+00] [ 1.05839617e-01 -1.07375691e-02 9.94325239e-01 7.17781169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657105681 meters 0.06781185502001634 Centerline is valid? [True, True] Translation: X:81.84, Y:7.32, Z:7.19 [[ 9.58838356e-01 -2.66404352e-01 -9.82737408e-02 8.18364206e+01] [ 2.66070690e-01 9.63808358e-01 -1.67283486e-02 7.31732971e+00] [ 9.91735576e-02 -1.01079797e-02 9.95018811e-01 7.19276251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717105681 meters 0.06002262813698063 Centerline is valid? [True, True] Translation: X:81.89, Y:7.36, Z:7.19 [[ 9.59641988e-01 -2.63410271e-01 -9.85001704e-02 8.18898034e+01] [ 2.63056767e-01 9.64634175e-01 -1.67941937e-02 7.36328314e+00] [ 9.94403938e-02 -9.79472290e-03 9.94995312e-01 7.19402524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777105681 meters 0.057754578523680544 Centerline is valid? [True, True] Translation: X:81.95, Y:7.39, Z:7.20 [[ 9.61415935e-01 -2.56972615e-01 -9.82062878e-02 8.19460277e+01] [ 2.56587779e-01 9.66375852e-01 -1.67458771e-02 7.39428733e+00] [ 9.92074168e-02 -9.09878012e-03 9.95025176e-01 7.19682180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837105681 meters 0.05876068716296261 Centerline is valid? [True, True] Translation: X:82.00, Y:7.42, Z:7.19 [[ 9.61582239e-01 -2.54051389e-01 -1.04007162e-01 8.20020994e+01] [ 2.53602890e-01 9.67145800e-01 -1.77362719e-02 7.42204372e+00] [ 1.05096014e-01 -9.32163278e-03 9.94418390e-01 7.19279189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.897105681 meters 0.05666218305178389 Centerline is valid? [True, True] Translation: X:82.06, Y:7.45, Z:7.20 [[ 9.60604437e-01 -2.58529977e-01 -1.01987093e-01 8.20576592e+01] [ 2.58123195e-01 9.65955385e-01 -1.73957081e-02 7.44932975e+00] [ 1.03012294e-01 -9.61483998e-03 9.94633612e-01 7.20361980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.957105681 meters 0.057006565430745434 Centerline is valid? [True, True] Translation: X:82.11, Y:7.47, Z:7.21 [[ 9.60423436e-01 -2.59947478e-01 -1.00070638e-01 8.21131794e+01] [ 2.59562923e-01 9.65575264e-01 -1.70733458e-02 7.47020057e+00] [ 1.01063906e-01 -9.57698573e-03 9.94833840e-01 7.21056477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017105681 meters 0.05541393795356695 Centerline is valid? [True, True] Translation: X:82.17, Y:7.50, Z:7.21 [[ 9.60268076e-01 -2.59353233e-01 -1.03058834e-01 8.21700700e+01] [ 2.58939032e-01 9.65733080e-01 -1.76123677e-02 7.49842294e+00] [ 1.04095150e-01 -9.77336034e-03 9.94519322e-01 7.21100558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077105681 meters 0.05793719441859477 Centerline is valid? [True, True] Translation: X:82.23, Y:7.52, Z:7.22 [[ 9.60783760e-01 -2.56906335e-01 -1.04372898e-01 8.22272811e+01] [ 2.56467271e-01 9.66388319e-01 -1.78369363e-02 7.51871406e+00] [ 1.05447172e-01 -9.63079365e-03 9.94378269e-01 7.21786411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137105681 meters 0.057837895301078135 Centerline is valid? [True, True] Translation: X:82.29, Y:7.54, Z:7.22 [[ 9.61904525e-01 -2.53407787e-01 -1.02587417e-01 8.22850211e+01] [ 2.52963891e-01 9.67316864e-01 -1.75315299e-02 7.54030684e+00] [ 1.03677164e-01 -9.08725414e-03 9.94569488e-01 7.22469785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197105681 meters 0.05624757591872994 Centerline is valid? [True, True] Translation: X:82.34, Y:7.57, Z:7.23 [[ 9.63083562e-01 -2.50130527e-01 -9.95227183e-02 8.23411961e+01] [ 2.49695508e-01 9.68175059e-01 -1.70061514e-02 7.56503748e+00] [ 1.00609171e-01 -8.47203077e-03 9.94889953e-01 7.23275900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.257105681 meters 0.05024933141897766 Centerline is valid? [True, True] Translation: X:82.40, Y:7.59, Z:7.24 [[ 9.65180534e-01 -2.42088081e-01 -9.90953964e-02 8.23971649e+01] [ 2.41614744e-01 9.70224512e-01 -1.69325997e-02 7.59414948e+00] [ 1.00243963e-01 -7.59989322e-03 9.94933862e-01 7.23972576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.317105681 meters 0.036798159173191264 Centerline is valid? [True, True] Translation: X:82.45, Y:7.63, Z:7.25 [[ 9.69972396e-01 -2.22651423e-01 -9.78769351e-02 8.24522128e+01] [ 2.22090969e-01 9.74882515e-01 -1.67237531e-02 7.63304736e+00] [ 9.91420800e-02 -5.51600442e-03 9.95057999e-01 7.24546047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.377105681 meters 0.02686234625357477 Centerline is valid? [True, True] Translation: X:82.51, Y:7.67, Z:7.26 [[ 9.74807207e-01 -2.01830236e-01 -9.49498047e-02 8.25068471e+01] [ 2.01204115e-01 9.79414993e-01 -1.62226543e-02 7.66756807e+00] [ 9.62694845e-02 -3.29033114e-03 9.95349868e-01 7.25511893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437105681 meters 0.01980529202919134 Centerline is valid? [True, True] Translation: X:82.56, Y:7.70, Z:7.26 [[ 9.79397878e-01 -1.79320632e-01 -9.28649934e-02 8.25618966e+01] [ 1.78620308e-01 9.83790127e-01 -1.58672937e-02 7.70077853e+00] [ 9.42049968e-02 -1.04717995e-03 9.95552270e-01 7.26343923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497105681 meters 0.019970771327375514 Centerline is valid? [True, True] Translation: X:82.62, Y:7.73, Z:7.26 [[ 9.82724241e-01 -1.56787553e-01 -9.83398700e-02 8.26209401e+01] [ 1.55889414e-01 9.87631649e-01 -1.67993215e-02 7.72635302e+00] [ 9.97574924e-02 1.17895575e-03 9.95011082e-01 7.26281323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557105681 meters 0.022783560687772503 Centerline is valid? [True, True] Translation: X:82.68, Y:7.73, Z:7.26 [[ 9.83661635e-01 -1.48452135e-01 -1.01841797e-01 8.26820058e+01] [ 1.47447514e-01 9.88917439e-01 -1.73646084e-02 7.72787792e+00] [ 1.03290943e-01 2.06457930e-03 9.94649043e-01 7.25833882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.617105681 meters 0.02360216302619722 Centerline is valid? [True, True] Translation: X:82.74, Y:7.72, Z:7.27 [[ 9.84381487e-01 -1.44901705e-01 -9.99829181e-02 8.27446767e+01] [ 1.43916419e-01 9.89443190e-01 -1.70363763e-02 7.72493995e+00] [ 1.01396017e-01 2.38110986e-03 9.94843293e-01 7.26596672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.677105681 meters 0.024643848572445608 Centerline is valid? [True, True] Translation: X:82.81, Y:7.71, Z:7.27 [[ 9.84743161e-01 -1.43386911e-01 -9.85956433e-02 8.28097296e+01] [ 1.42422030e-01 9.89663565e-01 -1.67926438e-02 7.70554841e+00] [ 9.99843612e-02 2.49424937e-03 9.94985882e-01 7.26931214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.737105681 meters 0.02124449240817881 Centerline is valid? [True, True] Translation: X:82.87, Y:7.69, Z:7.28 [[ 9.83604034e-01 -1.52682699e-01 -9.59744631e-02 8.28733707e+01] [ 1.51813314e-01 9.88274122e-01 -1.63394685e-02 7.69267818e+00] [ 9.73438323e-02 1.50136582e-03 9.95249679e-01 7.27847157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797105681 meters 0.018645184760725932 Centerline is valid? [True, True] Translation: X:82.94, Y:7.66, Z:7.28 [[ 9.80246511e-01 -1.72707762e-01 -9.63784544e-02 8.29405317e+01] [ 1.71927708e-01 9.84972989e-01 -1.64034988e-02 7.66253137e+00] [ 9.77631858e-02 -4.90654278e-04 9.95209585e-01 7.28334129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85710568100001 meters 0.022276171235564537 Centerline is valid? [True, True] Translation: X:83.01, Y:7.63, Z:7.29 [[ 9.76923150e-01 -1.90451007e-01 -9.66931874e-02 8.30061789e+01] [ 1.89752629e-01 9.81694067e-01 -1.64529437e-02 7.63419672e+00] [ 9.80566080e-02 -2.27452495e-03 9.95178239e-01 7.28836378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917105681 meters 0.021639147791334926 Centerline is valid? [True, True] Translation: X:83.07, Y:7.63, Z:7.30 [[ 9.77525551e-01 -1.88582451e-01 -9.42361727e-02 8.30656804e+01] [ 1.87910105e-01 9.82055264e-01 -1.60390584e-02 7.62993957e+00] [ 9.55698144e-02 -2.02933971e-03 9.95420661e-01 7.30256985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977105681 meters 0.017781977107751146 Centerline is valid? [True, True] Translation: X:83.12, Y:7.64, Z:7.31 [[ 9.80767007e-01 -1.72382618e-01 -9.15440412e-02 8.31238007e+01] [ 1.71674920e-01 9.85029983e-01 -1.56094241e-02 7.64085491e+00] [ 9.28644187e-02 -4.06607769e-04 9.95678680e-01 7.31454919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.037105681 meters 0.01913159549693156 Centerline is valid? [True, True] Translation: X:83.18, Y:7.65, Z:7.31 [[ 9.82821474e-01 -1.58526941e-01 -9.45048133e-02 8.31815930e+01] [ 1.57708273e-01 9.87354208e-01 -1.61173245e-02 7.65065563e+00] [ 9.58647552e-02 9.36261710e-04 9.95393928e-01 7.31391612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.097105681 meters 0.022320986657338854 Centerline is valid? [True, True] Translation: X:83.24, Y:7.66, Z:7.32 [[ 9.84602506e-01 -1.47430013e-01 -9.39270824e-02 8.32408422e+01] [ 1.46570262e-01 9.89070444e-01 -1.60254243e-02 7.65637878e+00] [ 9.52631296e-02 2.01175587e-03 9.95450094e-01 7.31862262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157105681 meters 0.025059146422957566 Centerline is valid? [True, True] Translation: X:83.30, Y:7.66, Z:7.32 [[ 9.84763429e-01 -1.42700914e-01 -9.93852989e-02 8.33005025e+01] [ 1.41713415e-01 9.89762389e-01 -1.69623560e-02 7.66126638e+00] [ 1.00788375e-01 2.61967776e-03 9.94904438e-01 7.31620109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217105681 meters 0.02403931918682287 Centerline is valid? [True, True] Translation: X:83.36, Y:7.65, Z:7.32 [[ 9.84628819e-01 -1.45421624e-01 -9.67400696e-02 8.33603874e+01] [ 1.44498230e-01 9.89367128e-01 -1.65211035e-02 7.65003555e+00] [ 9.81139706e-02 2.28838578e-03 9.95172554e-01 7.32429430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277105681 meters 0.019384486131006635 Centerline is valid? [True, True] Translation: X:83.42, Y:7.63, Z:7.34 [[ 9.83544681e-01 -1.54524577e-01 -9.36056416e-02 8.34238272e+01] [ 1.53700320e-01 9.87988029e-01 -1.59958222e-02 7.63026118e+00] [ 9.49530010e-02 1.34538875e-03 9.95480847e-01 7.33635910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337105681 meters 0.017211435780021052 Centerline is valid? [True, True] Translation: X:83.49, Y:7.61, Z:7.34 [[ 9.82248923e-01 -1.62229397e-01 -9.41736426e-02 8.34859644e+01] [ 1.61429946e-01 9.86752883e-01 -1.60972312e-02 7.61492061e+00] [ 9.55375574e-02 6.09042018e-04 9.95425640e-01 7.33822683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.397105681 meters 0.0170208582722474 Centerline is valid? [True, True] Translation: X:83.55, Y:7.61, Z:7.34 [[ 9.82135516e-01 -1.63922945e-01 -9.24072279e-02 8.35456537e+01] [ 1.63157876e-01 9.86473036e-01 -1.58258262e-02 7.60767917e+00] [ 9.37514547e-02 4.66139003e-04 9.95595524e-01 7.34488850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.457105681 meters 0.020489400661205404 Centerline is valid? [True, True] Translation: X:83.61, Y:7.61, Z:7.35 [[ 9.83650853e-01 -1.53353825e-01 -9.44118890e-02 8.36050355e+01] [ 1.52505388e-01 9.88170178e-01 -1.61803888e-02 7.61448321e+00] [ 9.57763377e-02 1.51753149e-03 9.95401723e-01 7.35120008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517105681 meters 0.025731572134418283 Centerline is valid? [True, True] Translation: X:83.67, Y:7.62, Z:7.35 [[ 9.85227214e-01 -1.40352435e-01 -9.81250728e-02 8.36660602e+01] [ 1.39370902e-01 9.90097370e-01 -1.68210965e-02 7.61796075e+00] [ 9.95142584e-02 2.89682221e-03 9.95031919e-01 7.35312079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577105681 meters 0.027011586582008473 Centerline is valid? [True, True] Translation: X:83.73, Y:7.61, Z:7.36 [[ 9.85779691e-01 -1.35066391e-01 -9.99773514e-02 8.37271185e+01] [ 1.34020016e-01 9.90830376e-01 -1.71406078e-02 7.61418593e+00] [ 1.01375717e-01 3.49789675e-03 9.94842062e-01 7.35585268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637105681 meters 0.030421938933700744 Centerline is valid? [True, True] Translation: X:83.79, Y:7.62, Z:7.36 [[ 9.85837802e-01 -1.32288593e-01 -1.03070642e-01 8.37869252e+01] [ 1.31160484e-01 9.91203540e-01 -1.76767904e-02 7.61524802e+00] [ 1.04502423e-01 3.90765292e-03 9.94516955e-01 7.35592648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697105681 meters 0.027611296252436388 Centerline is valid? [True, True] Translation: X:83.85, Y:7.60, Z:7.36 [[ 9.85588540e-01 -1.35206015e-01 -1.01659059e-01 8.38479433e+01] [ 1.34123333e-01 9.90811125e-01 -1.74426605e-02 7.60425232e+00] [ 1.03083279e-01 3.55643453e-03 9.94666371e-01 7.36242762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.757105681 meters 0.024946762523678483 Centerline is valid? [True, True] Translation: X:83.91, Y:7.60, Z:7.38 [[ 9.84910533e-01 -1.43924670e-01 -9.61089582e-02 8.39085957e+01] [ 1.42997817e-01 9.89585472e-01 -1.64990487e-02 7.59608176e+00] [ 9.74826488e-02 2.50671566e-03 9.95234068e-01 7.37529866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.817105681 meters 0.02016580478140667 Centerline is valid? [True, True] Translation: X:83.97, Y:7.59, Z:7.38 [[ 9.83902515e-01 -1.51778998e-01 -9.43343923e-02 8.39711375e+01] [ 1.50921795e-01 9.88412994e-01 -1.61976971e-02 7.58571142e+00] [ 9.56998094e-02 1.69983912e-03 9.95408789e-01 7.38216769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.877105681 meters 0.017336250725501618 Centerline is valid? [True, True] Translation: X:84.03, Y:7.57, Z:7.38 [[ 9.81779312e-01 -1.62613786e-01 -9.83165275e-02 8.40327344e+01] [ 1.61736188e-01 9.86689566e-01 -1.68850723e-02 7.56848865e+00] [ 9.97536374e-02 6.76074279e-04 9.95011937e-01 7.38081481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937105681 meters 0.016647815924536728 Centerline is valid? [True, True] Translation: X:84.09, Y:7.57, Z:7.38 [[ 9.80425727e-01 -1.68556965e-01 -1.01754329e-01 8.40928525e+01] [ 1.67646943e-01 9.85691910e-01 -1.74917430e-02 7.56556197e+00] [ 1.03246774e-01 9.05526394e-05 9.94655767e-01 7.38065378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997105681 meters 0.016963048063055278 Centerline is valid? [True, True] Translation: X:84.15, Y:7.56, Z:7.39 [[ 9.79630402e-01 -1.76200612e-01 -9.63204015e-02 8.41520150e+01] [ 1.75419215e-01 9.84354066e-01 -1.65883157e-02 7.55702914e+00] [ 9.77362502e-02 -6.46030777e-04 9.95212142e-01 7.39444718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057105681 meters 0.018701916510371567 Centerline is valid? [True, True] Translation: X:84.21, Y:7.56, Z:7.40 [[ 9.78511094e-01 -1.82811252e-01 -9.53733946e-02 8.42098326e+01] [ 1.82075322e-01 9.83147194e-01 -1.64369424e-02 7.55925818e+00] [ 9.67709432e-02 -1.28141102e-03 9.95305854e-01 7.39945532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.117105681 meters 0.02609164749517844 Centerline is valid? [True, True] Translation: X:84.27, Y:7.55, Z:7.40 [[ 9.74860436e-01 -2.01413398e-01 -9.52878457e-02 8.42725630e+01] [ 2.00766041e-01 9.79501386e-01 -1.64326554e-02 7.54965715e+00] [ 9.66443339e-02 -3.11101790e-03 9.95314118e-01 7.40478576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.177105681 meters 0.034577322580267626 Centerline is valid? [True, True] Translation: X:84.33, Y:7.55, Z:7.41 [[ 9.71375122e-01 -2.16711016e-01 -9.72970034e-02 8.43333408e+01] [ 2.16112076e-01 9.76224355e-01 -1.67803505e-02 7.54832178e+00] [ 9.86201911e-02 -4.72704238e-03 9.95113920e-01 7.40994054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.237105681 meters 0.03595255956106727 Centerline is valid? [True, True] Translation: X:84.39, Y:7.56, Z:7.42 [[ 9.72037305e-01 -2.14585360e-01 -9.53761004e-02 8.43886083e+01] [ 2.13999344e-01 9.76695246e-01 -1.64522876e-02 7.56464042e+00] [ 9.66838039e-02 -4.41818561e-03 9.95305341e-01 7.41674419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297105681 meters 0.030404938330046656 Centerline is valid? [True, True] Translation: X:84.44, Y:7.60, Z:7.42 [[ 9.74086276e-01 -2.03763694e-01 -9.81645795e-02 8.44427819e+01] [ 2.03086468e-01 9.79014105e-01 -1.69489812e-02 7.59502524e+00] [ 9.95580950e-02 -3.42612768e-03 9.95025853e-01 7.41888651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35710568100001 meters 0.021443065657528668 Centerline is valid? [True, True] Translation: X:84.50, Y:7.63, Z:7.43 [[ 9.77175363e-01 -1.89355321e-01 -9.62957592e-02 8.44973604e+01] [ 1.88633235e-01 9.81906769e-01 -1.66312828e-02 7.63042463e+00] [ 9.77026796e-02 -1.91290079e-03 9.95213810e-01 7.42658374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417105681 meters 0.017145472431305944 Centerline is valid? [True, True] Translation: X:84.55, Y:7.67, Z:7.43 [[ 9.80180768e-01 -1.74284358e-01 -9.41839898e-02 8.45501268e+01] [ 1.73523776e-01 9.84695286e-01 -1.62694125e-02 7.66969788e+00] [ 9.55780349e-02 -3.96196266e-04 9.95421861e-01 7.43383364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477105681 meters 0.017036684463899346 Centerline is valid? [True, True] Translation: X:84.61, Y:7.69, Z:7.44 [[ 9.81522078e-01 -1.67275034e-01 -9.29164902e-02 8.46052160e+01] [ 1.66503021e-01 9.85910229e-01 -1.60550266e-02 7.68756468e+00] [ 9.42929233e-02 2.87486791e-04 9.95544455e-01 7.43960149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.537105681 meters 0.01841269094685117 Centerline is valid? [True, True] Translation: X:84.66, Y:7.71, Z:7.45 [[ 9.82849986e-01 -1.59830047e-01 -9.19796796e-02 8.46603270e+01] [ 1.59039934e-01 9.87144037e-01 -1.59043981e-02 7.71122556e+00] [ 9.33391929e-02 1.00319530e-03 9.95633863e-01 7.44684585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.597105681 meters 0.02334178321785491 Centerline is valid? [True, True] Translation: X:84.72, Y:7.73, Z:7.45 [[ 9.84503042e-01 -1.46952183e-01 -9.57017094e-02 8.47175652e+01] [ 1.46032777e-01 9.89140813e-01 -1.65795227e-02 7.73203279e+00] [ 9.70988637e-02 2.34700417e-03 9.95271974e-01 7.44715679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657105681 meters 0.0299437428277289 Centerline is valid? [True, True] Translation: X:84.78, Y:7.75, Z:7.44 [[ 9.85701778e-01 -1.33171894e-01 -1.03233964e-01 8.47766466e+01] [ 1.32025871e-01 9.91084878e-01 -1.78867025e-02 7.75060345e+00] [ 1.04695627e-01 4.00140046e-03 9.94496262e-01 7.44085857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717105681 meters 0.03474307760723066 Centerline is valid? [True, True] Translation: X:84.83, Y:7.76, Z:7.44 [[ 9.86363554e-01 -1.26114575e-01 -1.05745227e-01 8.48340735e+01] [ 1.24871441e-01 9.92003739e-01 -1.83222586e-02 7.76457047e+00] [ 1.07210365e-01 4.86784916e-03 9.94224442e-01 7.44212434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777105681 meters 0.03355972793679572 Centerline is valid? [True, True] Translation: X:84.89, Y:7.76, Z:7.45 [[ 9.85826937e-01 -1.30066746e-01 -1.05961750e-01 8.48940679e+01] [ 1.28840774e-01 9.91495248e-01 -1.83637514e-02 7.76379570e+00] [ 1.07449085e-01 4.45128691e-03 9.94200624e-01 7.44899432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837105681 meters 0.021018000546422288 Centerline is valid? [True, True] Translation: X:84.96, Y:7.73, Z:7.47 [[ 9.83548043e-01 -1.51783320e-01 -9.79544370e-02 8.49593214e+01] [ 1.50842836e-01 9.88411917e-01 -1.69800064e-02 7.73026766e+00] [ 9.93966146e-02 1.92492703e-03 9.95046033e-01 7.46753560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.897105681 meters 0.016953604727612873 Centerline is valid? [True, True] Translation: X:85.02, Y:7.71, Z:7.48 [[ 9.81634539e-01 -1.66435074e-01 -9.32362445e-02 8.50215838e+01] [ 1.65648881e-01 9.86052325e-01 -1.61635472e-02 7.71431330e+00] [ 9.46259968e-02 4.22216606e-04 9.95512804e-01 7.47809221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.957105681 meters 0.016754899701458 Centerline is valid? [True, True] Translation: X:85.08, Y:7.70, Z:7.49 [[ 9.80277697e-01 -1.74120346e-01 -9.34758923e-02 8.50819672e+01] [ 1.73364295e-01 9.84724330e-01 -1.62115585e-02 7.70175238e+00] [ 9.48707476e-02 -3.13552914e-04 9.95489549e-01 7.48591587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017105681 meters 0.01688875201461896 Centerline is valid? [True, True] Translation: X:85.14, Y:7.71, Z:7.49 [[ 9.81131454e-01 -1.67002678e-01 -9.74226627e-02 8.51381224e+01] [ 1.66142514e-01 9.85956349e-01 -1.69334709e-02 7.71394007e+00] [ 9.88824278e-02 4.27914806e-04 9.95099031e-01 7.48733983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077105681 meters 0.021885736619877517 Centerline is valid? [True, True] Translation: X:85.20, Y:7.73, Z:7.49 [[ 9.83638813e-01 -1.49921338e-01 -9.98913328e-02 8.51968578e+01] [ 1.48927477e-01 9.88695447e-01 -1.73758619e-02 7.72711748e+00] [ 1.01367118e-01 2.21500799e-03 9.94846622e-01 7.49094055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137105681 meters 0.029318059353865885 Centerline is valid? [True, True] Translation: X:85.25, Y:7.74, Z:7.50 [[ 9.85476826e-01 -1.37494215e-01 -9.96532269e-02 8.52537604e+01] [ 1.36441429e-01 9.90496428e-01 -1.73367469e-02 7.74367086e+00] [ 1.01089868e-01 3.48813365e-03 9.94871183e-01 7.49513307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197105681 meters 0.031873137615936964 Centerline is valid? [True, True] Translation: X:85.31, Y:7.75, Z:7.50 [[ 9.86298506e-01 -1.30132315e-01 -1.01394467e-01 8.53138880e+01] [ 1.29003326e-01 9.91487228e-01 -1.76414025e-02 7.75057082e+00] [ 1.02827035e-01 4.31946550e-03 9.94689873e-01 7.49792340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.257105681 meters 0.027336760121400617 Centerline is valid? [True, True] Translation: X:85.38, Y:7.74, Z:7.50 [[ 9.85219396e-01 -1.35637928e-01 -1.04618803e-01 8.53764728e+01] [ 1.34465679e-01 9.90750899e-01 -1.82109102e-02 7.73612733e+00] [ 1.06121263e-01 3.87410360e-03 9.94345649e-01 7.50020544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.317105681 meters 0.026058727736838722 Centerline is valid? [True, True] Translation: X:85.44, Y:7.73, Z:7.51 [[ 9.85054025e-01 -1.39285939e-01 -1.01331111e-01 8.54371513e+01] [ 1.38202756e-01 9.90246371e-01 -1.76669857e-02 7.73134845e+00] [ 1.02803528e-01 3.39869660e-03 9.94695875e-01 7.50964073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.377105681 meters 0.02411736849518012 Centerline is valid? [True, True] Translation: X:85.50, Y:7.72, Z:7.51 [[ 9.84299033e-01 -1.44042142e-01 -1.02016053e-01 8.54992441e+01] [ 1.42968960e-01 9.89567221e-01 -1.77930108e-02 7.72089272e+00] [ 1.03514685e-01 2.92851430e-03 9.94623614e-01 7.51339848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437105681 meters 0.020567921574698184 Centerline is valid? [True, True] Translation: X:85.56, Y:7.71, Z:7.51 [[ 9.82829293e-01 -1.52333669e-01 -1.04120287e-01 8.55611926e+01] [ 1.51260301e-01 9.88326862e-01 -1.81751547e-02 7.71386194e+00] [ 1.05673565e-01 2.11380849e-03 9.94398627e-01 7.51481599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497105681 meters 0.01767666047162209 Centerline is valid? [True, True] Translation: X:85.62, Y:7.70, Z:7.53 [[ 9.81618431e-01 -1.62947917e-01 -9.93641402e-02 8.56221617e+01] [ 1.62024323e-01 9.86634233e-01 -1.73496332e-02 7.70291953e+00] [ 1.00863149e-01 9.31312168e-04 9.94899873e-01 7.52840044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557105681 meters 0.017426425746514217 Centerline is valid? [True, True] Translation: X:85.68, Y:7.70, Z:7.53 [[ 9.80763360e-01 -1.66653267e-01 -1.01636211e-01 8.56812718e+01] [ 1.65705658e-01 9.86015396e-01 -1.77559692e-02 7.70387373e+00] [ 1.03173959e-01 5.72708759e-04 9.94663162e-01 7.53225499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.617105681 meters 0.01747039828167251 Centerline is valid? [True, True] Translation: X:85.74, Y:7.71, Z:7.54 [[ 9.81548436e-01 -1.64279594e-01 -9.78513317e-02 8.57390109e+01] [ 1.63386123e-01 9.86413469e-01 -1.71301840e-02 7.70994896e+00] [ 9.93360112e-02 8.26555629e-04 9.95053603e-01 7.54388003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.677105681 meters 0.017235807698657093 Centerline is valid? [True, True] Translation: X:85.80, Y:7.72, Z:7.55 [[ 9.81509411e-01 -1.65442096e-01 -9.62714306e-02 8.57970204e+01] [ 1.64579641e-01 9.86219235e-01 -1.68867470e-02 7.71574670e+00] [ 9.77385155e-02 7.30183622e-04 9.95211862e-01 7.55167251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.737105681 meters 0.0168482995755504 Centerline is valid? [True, True] Translation: X:85.86, Y:7.72, Z:7.56 [[ 9.81040010e-01 -1.67971645e-01 -9.66748394e-02 8.58550948e+01] [ 1.67111049e-01 9.85791694e-01 -1.69891940e-02 7.71784780e+00] [ 9.81549565e-02 5.11645229e-04 9.95171012e-01 7.55658386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797105681 meters 0.018494678216047108 Centerline is valid? [True, True] Translation: X:85.91, Y:7.74, Z:7.56 [[ 9.82223397e-01 -1.59815472e-01 -9.84693547e-02 8.59105201e+01] [ 1.58880394e-01 9.87145964e-01 -1.73166377e-02 7.73764151e+00] [ 9.99710927e-02 1.36395687e-03 9.94989407e-01 7.56235724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85710568100001 meters 0.023892783741730796 Centerline is valid? [True, True] Translation: X:85.97, Y:7.76, Z:7.57 [[ 9.84670690e-01 -1.43731114e-01 -9.88180130e-02 8.59674233e+01] [ 1.42707353e-01 9.89612170e-01 -1.73886526e-02 7.76287058e+00] [ 1.00290799e-01 3.02003953e-03 9.94953584e-01 7.56822836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917105681 meters 0.03281775753030998 Centerline is valid? [True, True] Translation: X:86.02, Y:7.79, Z:7.57 [[ 9.86347721e-01 -1.28940144e-01 -1.02433457e-01 8.60231725e+01] [ 1.27760290e-01 9.91641281e-01 -1.80243747e-02 7.78660205e+00] [ 1.03901310e-01 4.69137275e-03 9.94576547e-01 7.56989612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.977105681 meters 0.034910124729998944 Centerline is valid? [True, True] Translation: X:86.08, Y:7.80, Z:7.57 [[ 9.86863030e-01 -1.25119553e-01 -1.02207909e-01 8.60816569e+01] [ 1.23924312e-01 9.92128645e-01 -1.79865689e-02 7.79542060e+00] [ 1.03653866e-01 5.08423499e-03 9.94600436e-01 7.57361462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.037105681 meters 0.03465446226988627 Centerline is valid? [True, True] Translation: X:86.14, Y:7.79, Z:7.58 [[ 9.86470589e-01 -1.27210315e-01 -1.03408474e-01 8.61421628e+01] [ 1.25996948e-01 9.91863496e-01 -1.82091855e-02 7.79076395e+00] [ 1.04883487e-01 4.93367375e-03 9.94472279e-01 7.57677353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.097105681 meters 0.03336609543742607 Centerline is valid? [True, True] Translation: X:86.20, Y:7.79, Z:7.59 [[ 9.86313497e-01 -1.30830267e-01 -1.00345040e-01 8.62019576e+01] [ 1.29703737e-01 9.91394837e-01 -1.76979804e-02 7.78784285e+00] [ 1.01796986e-01 4.44063016e-03 9.94795283e-01 7.58675857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157105681 meters 0.027343266920901887 Centerline is valid? [True, True] Translation: X:86.26, Y:7.78, Z:7.59 [[ 9.85729232e-01 -1.36027586e-01 -9.91684288e-02 8.62637723e+01] [ 1.34953158e-01 9.90697523e-01 -1.74946829e-02 7.78077714e+00] [ 1.00625676e-01 3.86192770e-03 9.94916860e-01 7.59367850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217105681 meters 0.023037344079443915 Centerline is valid? [True, True] Translation: X:86.33, Y:7.77, Z:7.60 [[ 9.84342630e-01 -1.46899623e-01 -9.74170843e-02 8.63254702e+01] [ 1.45915675e-01 9.89147708e-01 -1.71880161e-02 7.77493033e+00] [ 9.88847988e-02 2.70421736e-03 9.95095213e-01 7.60157365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277105681 meters 0.019875060864370055 Centerline is valid? [True, True] Translation: X:86.39, Y:7.77, Z:7.61 [[ 9.82928407e-01 -1.56439325e-01 -9.68425718e-02 8.63856653e+01] [ 1.55512884e-01 9.87686044e-01 -1.70886307e-02 7.76977936e+00] [ 9.83233905e-02 1.73663294e-03 9.95153001e-01 7.60749737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337105681 meters 0.021642241718581753 Centerline is valid? [True, True] Translation: X:86.44, Y:7.78, Z:7.62 [[ 9.84163149e-01 -1.51406995e-01 -9.21890296e-02 8.64428979e+01] [ 1.50545139e-01 9.88469199e-01 -1.62727903e-02 7.78064919e+00] [ 9.35898305e-02 2.13647032e-03 9.95608547e-01 7.61811738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.397105681 meters 0.025050811571489678 Centerline is valid? [True, True] Translation: X:86.50, Y:7.79, Z:7.62 [[ 9.84852114e-01 -1.44678159e-01 -9.55748103e-02 8.65006273e+01] [ 1.43716968e-01 9.89474488e-01 -1.69018150e-02 7.79244408e+00] [ 9.70141599e-02 2.91006632e-03 9.95278747e-01 7.61788792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.457105681 meters 0.024614425712845212 Centerline is valid? [True, True] Translation: X:86.56, Y:7.80, Z:7.62 [[ 9.84168933e-01 -1.46804151e-01 -9.92977972e-02 8.65597182e+01] [ 1.45776127e-01 9.89161567e-01 -1.75702649e-02 7.79881023e+00] [ 1.00800953e-01 2.81686056e-03 9.94902625e-01 7.61741350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517105681 meters 0.027885157392235838 Centerline is valid? [True, True] Translation: X:86.62, Y:7.81, Z:7.62 [[ 9.84472652e-01 -1.41501682e-01 -1.03879122e-01 8.66189282e+01] [ 1.40343678e-01 9.89931664e-01 -1.84106613e-02 7.80963077e+00] [ 1.05438372e-01 3.54601453e-03 9.94419517e-01 7.61841952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577105681 meters 0.030860919962957926 Centerline is valid? [True, True] Translation: X:86.68, Y:7.82, Z:7.63 [[ 9.85447395e-01 -1.37063580e-01 -1.00533612e-01 8.66770149e+01] [ 1.35955944e-01 9.90554603e-01 -1.78202045e-02 7.82307980e+00] [ 1.02026533e-01 3.89273200e-03 9.94774061e-01 7.62549890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637105681 meters 0.030707881273133446 Centerline is valid? [True, True] Translation: X:86.74, Y:7.83, Z:7.63 [[ 9.85523627e-01 -1.36905594e-01 -1.00000196e-01 8.67353148e+01] [ 1.35808128e-01 9.90576439e-01 -1.77333400e-02 7.83266141e+00] [ 1.01485631e-01 3.89578622e-03 9.94829377e-01 7.62916013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697105681 meters 0.02557009346649185 Centerline is valid? [True, True] Translation: X:86.80, Y:7.83, Z:7.63 [[ 9.84536230e-01 -1.42433214e-01 -1.01986231e-01 8.67959282e+01] [ 1.41317713e-01 9.89798488e-01 -1.81178502e-02 7.82904488e+00] [ 1.03526401e-01 3.42521895e-03 9.94620808e-01 7.63285851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.757105681 meters 0.02149214527209424 Centerline is valid? [True, True] Translation: X:86.86, Y:7.83, Z:7.64 [[ 9.82859071e-01 -1.54113857e-01 -1.01177895e-01 8.68561880e+01] [ 1.53074749e-01 9.88050634e-01 -1.80018448e-02 7.82518085e+00] [ 1.02743217e-01 2.20549563e-03 9.94705468e-01 7.63723101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.817105681 meters 0.018350344509384286 Centerline is valid? [True, True] Translation: X:86.92, Y:7.82, Z:7.65 [[ 9.81708156e-01 -1.62720155e-01 -9.88496160e-02 8.69164565e+01] [ 1.61771502e-01 9.86671433e-01 -1.75916258e-02 7.82358286e+00] [ 1.00394604e-01 1.27879162e-03 9.94946877e-01 7.64561471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.877105681 meters 0.018395385770247883 Centerline is valid? [True, True] Translation: X:86.97, Y:7.83, Z:7.65 [[ 9.81640547e-01 -1.62624080e-01 -9.96756980e-02 8.69740286e+01] [ 1.61658387e-01 9.86687238e-01 -1.77443179e-02 7.83012846e+00] [ 1.01234393e-01 1.30512935e-03 9.94861746e-01 7.65018096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937105681 meters 0.018383714316414966 Centerline is valid? [True, True] Translation: X:87.03, Y:7.84, Z:7.66 [[ 9.81595487e-01 -1.62109394e-01 -1.00949717e-01 8.70314550e+01] [ 1.61114820e-01 9.86771817e-01 -1.79832210e-02 7.83920118e+00] [ 1.02529585e-01 1.38775315e-03 9.94728987e-01 7.65539778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997105681 meters 0.019629971154010384 Centerline is valid? [True, True] Translation: X:87.09, Y:7.85, Z:7.66 [[ 9.82364201e-01 -1.58997983e-01 -9.83881003e-02 8.70869109e+01] [ 1.58036550e-01 9.87277476e-01 -1.75395034e-02 7.85226167e+00] [ 9.99251010e-02 1.68126430e-03 9.94993541e-01 7.66358179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057105681 meters 0.022042663122464216 Centerline is valid? [True, True] Translation: X:87.14, Y:7.87, Z:7.67 [[ 9.83770622e-01 -1.50683780e-01 -9.74154107e-02 8.71441044e+01] [ 1.49698756e-01 9.88578803e-01 -1.73848492e-02 7.87034177e+00] [ 9.89224248e-02 2.51973806e-03 9.95091958e-01 7.66930796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.117105681 meters 0.021548934987297756 Centerline is valid? [True, True] Translation: X:87.20, Y:7.88, Z:7.68 [[ 9.83694759e-01 -1.52958191e-01 -9.45960479e-02 8.72020203e+01] [ 1.52039384e-01 9.88230144e-01 -1.68881287e-02 7.87828842e+00] [ 9.60658436e-02 2.23043887e-03 9.95372482e-01 7.68015555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.177105681 meters 0.017366600636499415 Centerline is valid? [True, True] Translation: X:87.26, Y:7.88, Z:7.69 [[ 9.81844455e-01 -1.66296611e-01 -9.12518637e-02 8.72622833e+01] [ 1.65496487e-01 9.86075346e-01 -1.63194558e-02 7.87714508e+00] [ 9.26950833e-02 9.21304367e-04 9.95694116e-01 7.68838672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.237105681 meters 0.018010898063204238 Centerline is valid? [True, True] Translation: X:87.32, Y:7.87, Z:7.70 [[ 9.78620122e-01 -1.86851621e-01 -8.59600374e-02 8.73212576e+01] [ 1.86220301e-01 9.82387679e-01 -1.53768645e-02 7.87317260e+00] [ 8.73192737e-02 -9.59395008e-04 9.96179915e-01 7.70013157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297105681 meters 0.01723563993191614 Centerline is valid? [True, True] Translation: X:87.38, Y:7.89, Z:7.70 [[ 9.78789742e-01 -1.84075296e-01 -8.99273388e-02 8.73775305e+01] [ 1.83371479e-01 9.82911872e-01 -1.60982346e-02 7.89342629e+00] [ 9.13539362e-02 -7.33322263e-04 9.95818217e-01 7.69967350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35710568100001 meters 0.01678584400877143 Centerline is valid? [True, True] Translation: X:87.43, Y:7.92, Z:7.70 [[ 9.80707290e-01 -1.72822856e-01 -9.13535574e-02 8.74322261e+01] [ 1.72044712e-01 9.84952860e-01 -1.63853867e-02 7.92055284e+00] [ 9.28107169e-02 3.52371697e-04 9.95683708e-01 7.70472728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417105681 meters 0.018144006655156187 Centerline is valid? [True, True] Translation: X:87.49, Y:7.95, Z:7.70 [[ 9.82187434e-01 -1.63784272e-01 -9.21007976e-02 8.74878276e+01] [ 1.62950580e-01 9.86495389e-01 -1.65516103e-02 7.94673897e+00] [ 9.35679055e-02 1.24890522e-03 9.95612117e-01 7.70478193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.477105681 meters 0.02255369034892844 Centerline is valid? [True, True] Translation: X:87.54, Y:7.97, Z:7.70 [[ 9.83331412e-01 -1.51926957e-01 -9.98876044e-02 8.75439521e+01] [ 1.50881341e-01 9.88388268e-01 -1.79848115e-02 7.97391275e+00] [ 1.01460114e-01 2.61385440e-03 9.94836174e-01 7.70133786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.537105681 meters 0.02783764238075778 Centerline is valid? [True, True] Translation: X:87.60, Y:8.00, Z:7.71 [[ 9.84919018e-01 -1.40446383e-01 -1.01041290e-01 8.76006913e+01] [ 1.39315629e-01 9.90080816e-01 -1.81970834e-02 7.99656764e+00] [ 1.02594757e-01 3.84602261e-03 9.94715801e-01 7.70610313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.597105681 meters 0.03285713859924569 Centerline is valid? [True, True] Translation: X:87.66, Y:8.02, Z:7.71 [[ 9.86796500e-01 -1.27740443e-01 -9.95743264e-02 8.76579192e+01] [ 1.26577706e-01 9.91794550e-01 -1.79347179e-02 8.01626898e+00] [ 1.01048263e-01 5.09402701e-03 9.94868483e-01 7.71185794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657105681 meters 0.036592705706082994 Centerline is valid? [True, True] Translation: X:87.72, Y:8.03, Z:7.72 [[ 9.87383291e-01 -1.23146087e-01 -9.95453599e-02 8.77159217e+01] [ 1.21960543e-01 9.92372949e-01 -1.79319643e-02 8.02738960e+00] [ 1.00994374e-01 5.56511578e-03 9.94871432e-01 7.71738212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717105681 meters 0.035545864516826085 Centerline is valid? [True, True] Translation: X:87.78, Y:8.03, Z:7.72 [[ 9.87011184e-01 -1.25308137e-01 -1.00532546e-01 8.77754035e+01] [ 1.24109721e-01 9.92103173e-01 -1.81127119e-02 8.02900220e+00] [ 1.02008328e-01 5.40038294e-03 9.94768886e-01 7.72210767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777105681 meters 0.033408668811530186 Centerline is valid? [True, True] Translation: X:87.84, Y:8.03, Z:7.73 [[ 9.86203379e-01 -1.33071945e-01 -9.84619330e-02 8.78351887e+01] [ 1.31960159e-01 9.91096117e-01 -1.77483175e-02 8.02855106e+00] [ 9.99470426e-02 4.51039833e-03 9.94982535e-01 7.72795745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837105681 meters 0.023921066484155536 Centerline is valid? [True, True] Translation: X:87.90, Y:8.01, Z:7.74 [[ 9.83917170e-01 -1.50242704e-01 -9.66133149e-02 8.78991799e+01] [ 1.49254199e-01 9.88645403e-01 -1.74198480e-02 8.00888928e+00] [ 9.81335147e-02 2.71974456e-03 9.95169541e-01 7.73699194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.897105681 meters 0.017478967948024265 Centerline is valid? [True, True] Translation: X:87.96, Y:7.99, Z:7.75 [[ 9.81087517e-01 -1.67960563e-01 -9.62108787e-02 8.79624851e+01] [ 1.67064745e-01 9.85793259e-01 -1.73499601e-02 7.99437923e+00] [ 9.77581447e-02 9.48383313e-04 9.95209750e-01 7.74599623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.957105681 meters 0.018691121838139476 Centerline is valid? [True, True] Translation: X:88.02, Y:7.98, Z:7.75 [[ 9.76970842e-01 -1.90069074e-01 -9.69624746e-02 8.80248156e+01] [ 1.89267037e-01 9.81769904e-01 -1.74884180e-02 7.97709152e+00] [ 9.85188468e-02 -1.26612581e-03 9.95134380e-01 7.74942359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017105681 meters 0.019377047615455154 Centerline is valid? [True, True] Translation: X:88.08, Y:7.99, Z:7.76 [[ 9.77167482e-01 -1.92268360e-01 -9.04244996e-02 8.80804458e+01] [ 1.91579496e-01 9.81341420e-01 -1.63191546e-02 7.98948841e+00] [ 9.18749639e-02 -1.37693287e-03 9.95769599e-01 7.76380556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077105681 meters 0.018552297796938465 Centerline is valid? [True, True] Translation: X:88.14, Y:8.01, Z:7.77 [[ 9.77452265e-01 -1.89823722e-01 -9.24879656e-02 8.81367304e+01] [ 1.89090471e-01 9.81817507e-01 -1.67086006e-02 8.00660926e+00] [ 9.39779925e-02 -1.15673344e-03 9.95573603e-01 7.77069047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137105681 meters 0.016481895995206292 Centerline is valid? [True, True] Translation: X:88.19, Y:8.04, Z:7.77 [[ 9.79124615e-01 -1.80562049e-01 -9.33398867e-02 8.81904949e+01] [ 1.79770407e-01 9.83563566e-01 -1.68911962e-02 8.04277380e+00] [ 9.48556208e-02 -2.41163438e-04 9.95491011e-01 7.77391989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197105681 meters 0.016822443463901448 Centerline is valid? [True, True] Translation: X:88.24, Y:8.07, Z:7.77 [[ 9.80199533e-01 -1.72987884e-01 -9.63538618e-02 8.82444968e+01] [ 1.72105828e-01 9.84923812e-01 -1.74547549e-02 8.07065449e+00] [ 9.79206740e-02 5.26081407e-04 9.95194084e-01 7.77221973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.257105681 meters 0.020065317440617216 Centerline is valid? [True, True] Translation: X:88.30, Y:8.11, Z:7.77 [[ 9.81673924e-01 -1.60469323e-01 -1.02790584e-01 8.82991482e+01] [ 1.59394732e-01 9.87038976e-01 -1.86381355e-02 8.10804186e+00] [ 1.04449161e-01 1.91229409e-03 9.94528389e-01 7.77035809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.317105681 meters 0.018175484669781878 Centerline is valid? [True, True] Translation: X:88.36, Y:8.12, Z:7.78 [[ 9.81365690e-01 -1.64717821e-01 -9.89415036e-02 8.83561689e+01] [ 1.63743566e-01 9.86339726e-01 -1.79440729e-02 8.12240585e+00] [ 1.00545644e-01 1.40866293e-03 9.94931449e-01 7.78025777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.377105681 meters 0.016575323454508024 Centerline is valid? [True, True] Translation: X:88.41, Y:8.13, Z:7.79 [[ 9.79918995e-01 -1.74153001e-01 -9.71055870e-02 8.84135987e+01] [ 1.73259282e-01 9.84718504e-01 -1.76263896e-02 8.13348846e+00] [ 9.86913570e-02 4.47989662e-04 9.95117991e-01 7.78667233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437105681 meters 0.01699165408247965 Centerline is valid? [True, True] Translation: X:88.47, Y:8.14, Z:7.79 [[ 9.78154003e-01 -1.84795926e-01 -9.52114051e-02 8.84709138e+01] [ 1.83985911e-01 9.82776731e-01 -1.72939500e-02 8.14173470e+00] [ 9.67674050e-02 -6.01410678e-04 9.95306841e-01 7.79361981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497105681 meters 0.020387631282334406 Centerline is valid? [True, True] Translation: X:88.53, Y:8.15, Z:7.80 [[ 9.76033494e-01 -1.96964355e-01 -9.25400477e-02 8.85296168e+01] [ 1.96250528e-01 9.80409137e-01 -1.68420615e-02 8.14683846e+00] [ 9.40443940e-02 -1.72261703e-03 9.95566514e-01 7.80064151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557105681 meters 0.029018075000178088 Centerline is valid? [True, True] Translation: X:88.59, Y:8.15, Z:7.81 [[ 9.72510958e-01 -2.14720451e-01 -9.00975314e-02 8.85894615e+01] [ 2.14118973e-01 9.76669842e-01 -1.64037937e-02 8.15013958e+00] [ 9.15177718e-02 -3.33872178e-03 9.95797846e-01 7.80965376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.617105681 meters 0.04183397133126144 Centerline is valid? [True, True] Translation: X:88.65, Y:8.16, Z:7.81 [[ 9.67820299e-01 -2.34766365e-01 -9.06014491e-02 8.86482602e+01] [ 2.34244983e-01 9.72037614e-01 -1.64973989e-02 8.15709463e+00] [ 9.19410508e-02 -5.25641729e-03 9.95750578e-01 7.81144271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.677105681 meters 0.043859319274376425 Centerline is valid? [True, True] Translation: X:88.70, Y:8.18, Z:7.81 [[ 9.67204476e-01 -2.36685195e-01 -9.21716843e-02 8.87041133e+01] [ 2.36153876e-01 9.71570655e-01 -1.67871916e-02 8.18233535e+00] [ 9.35245833e-02 -5.53005372e-03 9.95601613e-01 7.81336154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.737105681 meters 0.032454268800031626 Centerline is valid? [True, True] Translation: X:88.76, Y:8.23, Z:7.81 [[ 9.70301259e-01 -2.20903766e-01 -9.85748088e-02 8.87564682e+01] [ 2.20214235e-01 9.75286207e-01 -1.79584076e-02 8.23464228e+00] [ 1.00105731e-01 -4.28251052e-03 9.94967589e-01 7.81086747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797105681 meters 0.023319970998326143 Centerline is valid? [True, True] Translation: X:88.81, Y:8.28, Z:7.82 [[ 9.74184689e-01 -2.02332984e-01 -1.00127695e-01 8.88082150e+01] [ 2.01522917e-01 9.79313836e-01 -1.82462043e-02 8.28122840e+00] [ 1.01748246e-01 -2.40285244e-03 9.94807278e-01 7.81525235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85710568100001 meters 0.016437950162334982 Centerline is valid? [True, True] Translation: X:88.86, Y:8.34, Z:7.82 [[ 9.78821465e-01 -1.78415276e-01 -1.00381914e-01 8.88594724e+01] [ 1.77474637e-01 9.83955274e-01 -1.82967946e-02 8.33529996e+00] [ 1.02035741e-01 9.40515856e-05 9.94780729e-01 7.82184582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917105681 meters 0.01974891558371384 Centerline is valid? [True, True] Translation: X:88.91, Y:8.38, Z:7.83 [[ 9.81759080e-01 -1.63089446e-01 -9.77289180e-02 8.89111203e+01] [ 1.62121513e-01 9.86609908e-01 -1.78186318e-02 8.37673839e+00] [ 9.93263496e-02 1.64964346e-03 9.95053544e-01 7.82947885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.977105681 meters 0.024811547047230004 Centerline is valid? [True, True] Translation: X:88.96, Y:8.41, Z:7.83 [[ 9.83185208e-01 -1.53276718e-01 -9.92627598e-02 8.89644528e+01] [ 1.52225091e-01 9.88179582e-01 -1.81283032e-02 8.41231721e+00] [ 1.00868079e-01 2.71319695e-03 9.94896110e-01 7.83120051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.037105681 meters 0.028780086748763072 Centerline is valid? [True, True] Translation: X:89.02, Y:8.44, Z:7.83 [[ 9.83858032e-01 -1.47465935e-01 -1.01376384e-01 8.90219408e+01] [ 1.46337702e-01 9.89061345e-01 -1.85184388e-02 8.43579638e+00] [ 1.02998302e-01 3.38432758e-03 9.94675774e-01 7.83188036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.097105681 meters 0.02872741512761984 Centerline is valid? [True, True] Translation: X:89.08, Y:8.45, Z:7.83 [[ 9.83348445e-01 -1.49010346e-01 -1.04027652e-01 8.90792169e+01] [ 1.47830097e-01 9.88830085e-01 -1.90085719e-02 8.44532979e+00] [ 1.05698146e-01 3.31363172e-03 9.94392740e-01 7.83326552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157105681 meters 0.023158657383959246 Centerline is valid? [True, True] Translation: X:89.14, Y:8.45, Z:7.84 [[ 9.82652991e-01 -1.55151405e-01 -1.01593012e-01 8.91398599e+01] [ 1.54055378e-01 9.87887225e-01 -1.85949102e-02 8.44514725e+00] [ 1.03247465e-01 2.62139431e-03 9.94652245e-01 7.84294408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217105681 meters 0.017194809213438796 Centerline is valid? [True, True] Translation: X:89.20, Y:8.43, Z:7.85 [[ 9.80004558e-01 -1.72890261e-01 -9.84886973e-02 8.92018287e+01] [ 1.71948893e-01 9.84940818e-01 -1.80322841e-02 8.43257024e+00] [ 1.00123144e-01 7.36698173e-04 9.94974780e-01 7.85046663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277105681 meters 0.018379493179029323 Centerline is valid? [True, True] Translation: X:89.26, Y:8.42, Z:7.85 [[ 9.76502413e-01 -1.90836217e-01 -1.00122802e-01 8.92632427e+01] [ 1.89956444e-01 9.81621261e-01 -1.83371029e-02 8.42134881e+00] [ 1.01782055e-01 -1.11274618e-03 9.94806099e-01 7.85289746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.337105681 meters 0.024666470304358895 Centerline is valid? [True, True] Translation: X:89.33, Y:8.42, Z:7.86 [[ 9.73410283e-01 -2.05204530e-01 -1.01801388e-01 8.93250503e+01] [ 2.04371373e-01 9.78715549e-01 -1.86605315e-02 8.41738257e+00] [ 1.03463827e-01 -2.64093638e-03 9.94629711e-01 7.85630846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.397105681 meters 0.030570568829573767 Centerline is valid? [True, True] Translation: X:89.39, Y:8.42, Z:7.86 [[ 9.70716987e-01 -2.17752950e-01 -1.01450404e-01 8.93854690e+01] [ 2.16993370e-01 9.75995886e-01 -1.85985729e-02 8.41904804e+00] [ 1.03065071e-01 -3.96011450e-03 9.94666732e-01 7.86409640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.457105681 meters 0.038530949491686 Centerline is valid? [True, True] Translation: X:89.44, Y:8.43, Z:7.87 [[ 9.68965134e-01 -2.26297107e-01 -9.94795920e-02 8.94439550e+01] [ 2.25611277e-01 9.74046645e-01 -1.82396827e-02 8.42574389e+00] [ 1.01025350e-01 -4.77010117e-03 9.94872416e-01 7.87080742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.517105681 meters 0.04106251062869428 Centerline is valid? [True, True] Translation: X:89.50, Y:8.44, Z:7.88 [[ 9.67749716e-01 -2.32178023e-01 -9.77438077e-02 8.95017821e+01] [ 2.31545337e-01 9.72658952e-01 -1.79254111e-02 8.44258557e+00] [ 9.92332761e-02 -5.28481145e-03 9.95050163e-01 7.88105739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577105681 meters 0.03808941221539194 Centerline is valid? [True, True] Translation: X:89.56, Y:8.47, Z:7.89 [[ 9.67824794e-01 -2.32049939e-01 -9.73036131e-02 8.95568948e+01] [ 2.31421969e-01 9.72689735e-01 -1.78479891e-02 8.46790958e+00] [ 9.87878505e-02 -5.24446737e-03 9.95094697e-01 7.88539729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637105681 meters 0.03620798734658036 Centerline is valid? [True, True] Translation: X:89.61, Y:8.49, Z:7.89 [[ 9.68561589e-01 -2.27112918e-01 -1.01529162e-01 8.96132725e+01] [ 2.26398921e-01 9.73856014e-01 -1.86545679e-02 8.49391858e+00] [ 1.03111478e-01 -4.91799473e-03 9.94657648e-01 7.88565938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697105681 meters 0.025084303430467286 Centerline is valid? [True, True] Translation: X:89.67, Y:8.54, Z:7.89 [[ 9.72582928e-01 -2.07266581e-01 -1.05465693e-01 8.96657430e+01] [ 2.06379102e-01 9.78280153e-01 -1.93806202e-02 8.54118354e+00] [ 1.07191949e-01 -2.91665474e-03 9.94234067e-01 7.88549081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.757105681 meters 0.0169861250329354 Centerline is valid? [True, True] Translation: X:89.72, Y:8.58, Z:7.90 [[ 9.77746894e-01 -1.84410754e-01 -1.00018427e-01 8.97181585e+01] [ 1.83492612e-01 9.82849190e-01 -1.83828986e-02 8.58454582e+00] [ 1.01693034e-01 -3.78820429e-04 9.94815753e-01 7.89647298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.817105681 meters 0.016958869895602798 Centerline is valid? [True, True] Translation: X:89.77, Y:8.61, Z:7.91 [[ 9.80210080e-01 -1.75463607e-01 -9.16554502e-02 8.97718009e+01] [ 1.74653365e-01 9.84485786e-01 -1.68504792e-02 8.61321568e+00] [ 9.31901338e-02 5.09076735e-04 9.95648201e-01 7.91256037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.877105681 meters 0.017120712447877016 Centerline is valid? [True, True] Translation: X:89.83, Y:8.62, Z:7.92 [[ 9.78417575e-01 -1.86931848e-01 -8.80655008e-02 8.98292905e+01] [ 1.86227628e-01 9.82372741e-01 -1.62193792e-02 8.61765951e+00] [ 8.95450660e-02 -5.30903653e-04 9.95982630e-01 7.92111938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937105681 meters 0.017763266090551507 Centerline is valid? [True, True] Translation: X:89.89, Y:8.63, Z:7.93 [[ 9.77650343e-01 -1.91505778e-01 -8.67487390e-02 8.98869691e+01] [ 1.90837498e-01 9.81491071e-01 -1.60102121e-02 8.62572954e+00] [ 8.82091609e-02 -9.02522985e-04 9.96101566e-01 7.92858376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997105681 meters 0.016635923279901318 Centerline is valid? [True, True] Translation: X:89.94, Y:8.64, Z:7.93 [[ 9.79196461e-01 -1.81868295e-01 -8.99900817e-02 8.99430825e+01] [ 1.81105270e-01 9.83322899e-01 -1.66420541e-02 8.64454928e+00] [ 9.15159699e-02 -1.83759736e-06 9.95803609e-01 7.93182335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057105681 meters 0.019996900557888827 Centerline is valid? [True, True] Translation: X:90.00, Y:8.67, Z:7.93 [[ 9.81061438e-01 -1.65939140e-01 -9.99132477e-02 8.99991315e+01] [ 1.64911855e-01 9.86134556e-01 -1.85126441e-02 8.66879165e+00] [ 1.01599878e-01 1.68516225e-03 9.94823917e-01 7.92551032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.117105681 meters 0.025084506369066464 Centerline is valid? [True, True] Translation: X:90.06, Y:8.68, Z:7.92 [[ 9.82056340e-01 -1.57878338e-01 -1.03149289e-01 9.00585872e+01] [ 1.56738085e-01 9.87455125e-01 -1.91193244e-02 8.67766484e+00] [ 1.04873821e-01 2.60883172e-03 9.94482114e-01 7.92377039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.177105681 meters 0.020514052012365096 Centerline is valid? [True, True] Translation: X:90.12, Y:8.67, Z:7.94 [[ 9.81374178e-01 -1.63935668e-01 -1.00148988e-01 9.01209940e+01] [ 1.62892162e-01 9.86469190e-01 -1.85655724e-02 8.66677314e+00] [ 1.01837450e-01 1.90628824e-03 9.94799226e-01 7.93601580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.237105681 meters 0.02008505888547151 Centerline is valid? [True, True] Translation: X:90.18, Y:8.66, Z:7.94 [[ 9.80913322e-01 -1.65357012e-01 -1.02304024e-01 9.01818541e+01] [ 1.64274905e-01 9.86232124e-01 -1.89724123e-02 8.66128730e+00] [ 1.04032736e-01 1.80430814e-03 9.94572237e-01 7.93987261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297105681 meters 0.020168907855090887 Centerline is valid? [True, True] Translation: X:90.24, Y:8.66, Z:7.95 [[ 9.81077268e-01 -1.65844602e-01 -9.99147768e-02 9.02394084e+01] [ 1.64811932e-01 9.86150360e-01 -1.85605581e-02 8.66314699e+00] [ 1.01609162e-01 1.74219416e-03 9.94822870e-01 7.94951075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35710568100001 meters 0.018433116892548628 Centerline is valid? [True, True] Translation: X:90.30, Y:8.66, Z:7.96 [[ 9.80702756e-01 -1.69925388e-01 -9.66823028e-02 9.02994635e+01] [ 1.68977080e-01 9.85456087e-01 -1.79735068e-02 8.65891590e+00] [ 9.83303190e-02 1.28957439e-03 9.95152996e-01 7.96108815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417105681 meters 0.018109124755230285 Centerline is valid? [True, True] Translation: X:90.36, Y:8.67, Z:7.97 [[ 9.80483728e-01 -1.71275656e-01 -9.65210295e-02 9.03570438e+01] [ 1.70333715e-01 9.85222434e-01 -1.79772513e-02 8.66676580e+00] [ 9.81737491e-02 1.18561684e-03 9.95168583e-01 7.96683009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.477105681 meters 0.01966048287129929 Centerline is valid? [True, True] Translation: X:90.41, Y:8.68, Z:7.97 [[ 9.81059866e-01 -1.67345867e-01 -9.75545951e-02 9.04137920e+01] [ 1.66360530e-01 9.85896899e-01 -1.82065492e-02 8.67626246e+00] [ 9.92255636e-02 1.63248060e-03 9.95063627e-01 7.97052130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.537105681 meters 0.022735310330618468 Centerline is valid? [True, True] Translation: X:90.47, Y:8.69, Z:7.97 [[ 9.82098317e-01 -1.60045914e-01 -9.93388159e-02 9.04722027e+01] [ 1.58985652e-01 9.87106591e-01 -1.85510070e-02 8.68988707e+00] [ 1.01027013e-01 2.42546633e-03 9.94880726e-01 7.97340839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.597105681 meters 0.025561177977725474 Centerline is valid? [True, True] Translation: X:90.53, Y:8.70, Z:7.98 [[ 9.82947180e-01 -1.54032390e-01 -1.00443339e-01 9.05315373e+01] [ 1.52916520e-01 9.88060990e-01 -1.87621512e-02 8.69565589e+00] [ 1.02134124e-01 3.08275771e-03 9.94765861e-01 7.98004436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657105681 meters 0.02804967992507596 Centerline is valid? [True, True] Translation: X:90.59, Y:8.70, Z:7.99 [[ 9.83582763e-01 -1.50273929e-01 -9.99134316e-02 9.05905628e+01] [ 1.49150025e-01 9.88638346e-01 -1.86679110e-02 8.70300429e+00] [ 1.01583550e-01 3.45934467e-03 9.94820997e-01 7.98513468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717105681 meters 0.027342452315113317 Centerline is valid? [True, True] Translation: X:90.65, Y:8.70, Z:7.99 [[ 9.83927217e-01 -1.48097761e-01 -9.97711592e-02 9.06507207e+01] [ 1.46965069e-01 9.88965853e-01 -1.86496481e-02 8.70221537e+00] [ 1.01432241e-01 3.68702109e-03 9.94835618e-01 7.99031771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777105681 meters 0.02850552234024364 Centerline is valid? [True, True] Translation: X:90.71, Y:8.71, Z:8.00 [[ 9.84150773e-01 -1.47176242e-01 -9.89262835e-02 9.07097257e+01] [ 1.46054638e-01 9.89103048e-01 -1.85257544e-02 8.70521084e+00] [ 1.00574839e-01 3.78349291e-03 9.94922302e-01 7.99801618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.837105681 meters 0.023037289502742603 Centerline is valid? [True, True] Translation: X:90.77, Y:8.70, Z:8.01 [[ 9.82702491e-01 -1.58824359e-01 -9.52398967e-02 9.07720692e+01] [ 1.57836638e-01 9.87303630e-01 -1.78644528e-02 8.69913910e+00] [ 9.68680060e-02 2.52309713e-03 9.95294039e-01 8.00553732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.897105681 meters 0.018867895061729315 Centerline is valid? [True, True] Translation: X:90.84, Y:8.69, Z:8.01 [[ 9.80498351e-01 -1.70025803e-01 -9.85606927e-02 9.08357163e+01] [ 1.69023639e-01 9.85438511e-01 -1.84919002e-02 8.68744735e+00] [ 1.00269602e-01 1.47219066e-03 9.94959215e-01 8.00655490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.957105681 meters 0.018763476557878644 Centerline is valid? [True, True] Translation: X:90.89, Y:8.69, Z:8.01 [[ 9.79744935e-01 -1.72406661e-01 -1.01861701e-01 9.08937458e+01] [ 1.71348451e-01 9.85025035e-01 -1.91151385e-02 8.69390840e+00] [ 1.03631903e-01 1.27411542e-03 9.94614903e-01 8.00703432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.017105681 meters 0.02115777779066545 Centerline is valid? [True, True] Translation: X:90.95, Y:8.71, Z:8.01 [[ 9.80770216e-01 -1.64567840e-01 -1.04915250e-01 9.09518641e+01] [ 1.63398963e-01 9.86363362e-01 -1.97002023e-02 8.70595677e+00] [ 1.06726579e-01 2.17832859e-03 9.94286021e-01 8.00937826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077105681 meters 0.02280411940495448 Centerline is valid? [True, True] Translation: X:91.01, Y:8.71, Z:8.02 [[ 9.81056390e-01 -1.62229218e-01 -1.05877481e-01 9.10088238e+01] [ 1.61024082e-01 9.86750021e-01 -1.98907176e-02 8.71281835e+00] [ 1.07701462e-01 2.46509138e-03 9.94180224e-01 8.01640295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137105681 meters 0.021826351817743703 Centerline is valid? [True, True] Translation: X:91.07, Y:8.72, Z:8.03 [[ 9.81533197e-01 -1.64241832e-01 -9.80673414e-02 9.10675601e+01] [ 1.63216948e-01 9.86417885e-01 -1.84386370e-02 8.71735227e+00] [ 9.97637750e-02 2.09188218e-03 9.95008951e-01 8.03164335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197105681 meters 0.017850219092402305 Centerline is valid? [True, True] Translation: X:91.13, Y:8.71, Z:8.04 [[ 9.79256920e-01 -1.80442452e-01 -9.21759480e-02 9.11285468e+01] [ 1.79608321e-01 9.83585454e-01 -1.73351082e-02 8.70832674e+00] [ 9.37909111e-02 4.19957447e-04 9.95591828e-01 8.04412557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.257105681 meters 0.018736661832723576 Centerline is valid? [True, True] Translation: X:91.19, Y:8.70, Z:8.05 [[ 9.76648951e-01 -1.93111828e-01 -9.41522646e-02 9.11893650e+01] [ 1.92299435e-01 9.81176423e-01 -1.77131225e-02 8.70383858e+00] [ 9.58005957e-02 -8.05924813e-04 9.95400219e-01 8.04645944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.317105681 meters 0.020954813599486075 Centerline is valid? [True, True] Translation: X:91.25, Y:8.71, Z:8.04 [[ 9.74635119e-01 -2.00123072e-01 -1.00185534e-01 9.12490001e+01] [ 1.99236672e-01 9.79769525e-01 -1.88792683e-02 8.71018265e+00] [ 1.01936911e-01 -1.56023458e-03 9.94789642e-01 8.04436787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.377105681 meters 0.024545718472632923 Centerline is valid? [True, True] Translation: X:91.31, Y:8.72, Z:8.04 [[ 9.73091176e-01 -2.05431801e-01 -1.04361578e-01 9.13069998e+01] [ 2.04499309e-01 9.78668968e-01 -1.96744413e-02 8.71896738e+00] [ 1.06177194e-01 -2.19684547e-03 9.94344798e-01 8.04472396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437105681 meters 0.02075701168884943 Centerline is valid? [True, True] Translation: X:91.36, Y:8.74, Z:8.05 [[ 9.74838622e-01 -1.97949495e-01 -1.02497111e-01 9.13628751e+01] [ 1.97007749e-01 9.80211296e-01 -1.93329233e-02 8.74217674e+00] [ 1.04295768e-01 -1.34624467e-03 9.94545414e-01 8.05285240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497105681 meters 0.018127318889492657 Centerline is valid? [True, True] Translation: X:91.42, Y:8.77, Z:8.06 [[ 9.76951787e-01 -1.88133007e-01 -1.00852251e-01 9.14176667e+01] [ 1.87168509e-01 9.82143518e-01 -1.90278756e-02 8.76588086e+00] [ 1.02631156e-01 -2.87048364e-04 9.94719440e-01 8.06304036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557105681 meters 0.017878315813034073 Centerline is valid? [True, True] Translation: X:91.47, Y:8.78, Z:8.07 [[ 9.77792050e-01 -1.85986195e-01 -9.66014652e-02 9.14740296e+01] [ 1.85089934e-01 9.82552356e-01 -1.82368735e-02 8.78315278e+00] [ 9.83078040e-02 -4.80888784e-05 9.95156055e-01 8.07268657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.617105681 meters 0.018135522445089466 Centerline is valid? [True, True] Translation: X:91.53, Y:8.80, Z:8.09 [[ 9.79400200e-01 -1.81386058e-01 -8.87375080e-02 9.15289587e+01] [ 1.80608728e-01 9.83411883e-01 -1.67796118e-02 8.80033886e+00] [ 9.03091075e-02 4.07186724e-04 9.95913701e-01 8.09005768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.677105681 meters 0.019450562893055606 Centerline is valid? [True, True] Translation: X:91.58, Y:8.83, Z:8.09 [[ 9.80573120e-01 -1.72293383e-01 -9.37621845e-02 9.15842855e+01] [ 1.71380446e-01 9.85044754e-01 -1.77644615e-02 8.82720248e+00] [ 9.54206471e-02 1.35034853e-03 9.95436124e-01 8.08790823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.737105681 meters 0.02689535121984746 Centerline is valid? [True, True] Translation: X:91.64, Y:8.86, Z:8.09 [[ 9.83314213e-01 -1.52876430e-01 -9.85999749e-02 9.16384287e+01] [ 1.51765558e-01 9.88239331e-01 -1.87147166e-02 8.85980308e+00] [ 1.00301412e-01 3.43836668e-03 9.94951157e-01 8.08613552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797105681 meters 0.030285298483474325 Centerline is valid? [True, True] Translation: X:91.70, Y:8.88, Z:8.09 [[ 9.84060335e-01 -1.46238094e-01 -1.01191291e-01 9.16969335e+01] [ 1.45032392e-01 9.89240383e-01 -1.92111723e-02 8.87619479e+00] [ 1.02911916e-01 4.22893770e-03 9.94681483e-01 8.08812636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85710568100001 meters 0.0319913341898535 Centerline is valid? [True, True] Translation: X:91.76, Y:8.88, Z:8.09 [[ 9.84244009e-01 -1.43468846e-01 -1.03346119e-01 9.17571591e+01] [ 1.42195769e-01 9.89644066e-01 -1.96210351e-02 8.87979846e+00] [ 1.05090880e-01 4.61650541e-03 9.94451907e-01 8.09084749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917105681 meters 0.030513328758891865 Centerline is valid? [True, True] Translation: X:91.82, Y:8.87, Z:8.10 [[ 9.83786042e-01 -1.47001334e-01 -1.02740597e-01 9.18184227e+01] [ 1.45761408e-01 9.89127279e-01 -1.95150847e-02 8.87389543e+00] [ 1.04492271e-01 4.22305383e-03 9.94516732e-01 8.09640200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.977105681 meters 0.028393996625827405 Centerline is valid? [True, True] Translation: X:91.88, Y:8.87, Z:8.10 [[ 9.82667466e-01 -1.55706130e-01 -1.00599461e-01 9.18797555e+01] [ 1.54560075e-01 9.87798058e-01 -1.91358417e-02 8.86715932e+00] [ 1.02351520e-01 3.25550885e-03 9.94742966e-01 8.10253131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.037105681 meters 0.019381615137621495 Centerline is valid? [True, True] Translation: X:91.94, Y:8.85, Z:8.12 [[ 9.79818713e-01 -1.75106440e-01 -9.64003374e-02 9.19442293e+01] [ 1.74147289e-01 9.84548798e-01 -1.83408326e-02 8.84611212e+00] [ 9.81224343e-02 1.18283362e-03 9.95173648e-01 8.11611142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.097105681 meters 0.01869883186284989 Centerline is valid? [True, True] Translation: X:92.00, Y:8.85, Z:8.13 [[ 9.79585549e-01 -1.78462687e-01 -9.25376732e-02 9.20027283e+01] [ 1.77593387e-01 9.83946340e-01 -1.76122066e-02 8.85202520e+00] [ 9.41952266e-02 8.18584252e-04 9.95553409e-01 8.12646025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157105681 meters 0.019594368897309675 Centerline is valid? [True, True] Translation: X:92.06, Y:8.87, Z:8.13 [[ 9.80410492e-01 -1.73761194e-01 -9.27486674e-02 9.20595802e+01] [ 1.72863858e-01 9.84786954e-01 -1.76845303e-02 8.86707478e+00] [ 9.44105628e-02 1.30520652e-03 9.95532492e-01 8.13019150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217105681 meters 0.02191071104560866 Centerline is valid? [True, True] Translation: X:92.12, Y:8.88, Z:8.13 [[ 9.81566598e-01 -1.66338328e-01 -9.41200046e-02 9.21169269e+01] [ 1.65377115e-01 9.86066546e-01 -1.79771336e-02 8.88358871e+00] [ 9.57988742e-02 2.08045902e-03 9.95398537e-01 8.13323918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277105681 meters 0.023480699711749736 Centerline is valid? [True, True] Translation: X:92.17, Y:8.90, Z:8.13 [[ 9.81970993e-01 -1.62466390e-01 -9.66314672e-02 9.21747262e+01] [ 1.61433822e-01 9.86710836e-01 -1.84620672e-02 8.89798931e+00] [ 9.83467812e-02 2.52962733e-03 9.95148990e-01 8.13269912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.337105681 meters 0.023136028012942726 Centerline is valid? [True, True] Translation: X:92.23, Y:8.90, Z:8.14 [[ 9.81842373e-01 -1.64408480e-01 -9.46330081e-02 9.22333648e+01] [ 1.63426248e-01 9.86389667e-01 -1.80910534e-02 8.90206175e+00] [ 9.63193440e-02 2.29704534e-03 9.95347832e-01 8.13830707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.397105681 meters 0.018061597227765805 Centerline is valid? [True, True] Translation: X:92.30, Y:8.89, Z:8.14 [[ 9.78481351e-01 -1.82386073e-01 -9.64860936e-02 9.22958707e+01] [ 1.81448779e-01 9.83226828e-01 -1.84755456e-02 8.89125181e+00] [ 9.82373979e-02 5.70692961e-04 9.95162845e-01 8.14044853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.457105681 meters 0.01793432961430038 Centerline is valid? [True, True] Translation: X:92.35, Y:8.90, Z:8.15 [[ 9.77328108e-01 -1.88095421e-01 -9.72105077e-02 9.23539524e+01] [ 1.87171338e-01 9.82150759e-01 -1.86219722e-02 8.89666719e+00] [ 9.89780815e-02 4.75607048e-06 9.95089614e-01 8.14632011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.517105681 meters 0.019280943333113722 Centerline is valid? [True, True] Translation: X:92.41, Y:8.92, Z:8.15 [[ 9.79660783e-01 -1.75852417e-01 -9.66471773e-02 9.24082456e+01] [ 1.74875972e-01 9.84415721e-01 -1.85494551e-02 8.92450663e+00] [ 9.84029673e-02 1.27090468e-03 9.95145839e-01 8.15084040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577105681 meters 0.028382485408241676 Centerline is valid? [True, True] Translation: X:92.46, Y:8.96, Z:8.16 [[ 9.82937369e-01 -1.58399345e-01 -9.35081640e-02 9.24618854e+01] [ 1.57403617e-01 9.87370719e-01 -1.79768045e-02 8.95876253e+00] [ 9.51747371e-02 2.95154971e-03 9.95456206e-01 8.15733659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637105681 meters 0.03140231815031444 Centerline is valid? [True, True] Translation: X:92.52, Y:8.98, Z:8.15 [[ 9.83997316e-01 -1.45982965e-01 -1.02167782e-01 9.25210498e+01] [ 1.44726405e-01 9.89276664e-01 -1.96455894e-02 8.97735146e+00] [ 1.03940124e-01 4.54483153e-03 9.94573172e-01 8.14875790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697105681 meters 0.031126828815330403 Centerline is valid? [True, True] Translation: X:92.58, Y:8.98, Z:8.15 [[ 9.83861650e-01 -1.46263467e-01 -1.03069161e-01 9.25798021e+01] [ 1.44985519e-01 9.89235158e-01 -1.98242753e-02 8.98282662e+00] [ 1.04859205e-01 4.56080833e-03 9.94476619e-01 8.15219203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.757105681 meters 0.03155200454522932 Centerline is valid? [True, True] Translation: X:92.64, Y:8.99, Z:8.16 [[ 9.84530148e-01 -1.44209863e-01 -9.95183573e-02 9.26385170e+01] [ 1.43004952e-01 9.89536219e-01 -1.91743158e-02 8.98591945e+00] [ 1.01242145e-01 4.64607409e-03 9.94850965e-01 8.16315926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.817105681 meters 0.037972741484558564 Centerline is valid? [True, True] Translation: X:92.70, Y:9.00, Z:8.17 [[ 9.85519032e-01 -1.39222643e-01 -9.67951128e-02 9.26960251e+01] [ 1.38056096e-01 9.90248250e-01 -1.86793346e-02 9.00084936e+00] [ 9.84517774e-02 5.04568435e-03 9.95129031e-01 8.16903105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.877105681 meters 0.03462474528476642 Centerline is valid? [True, True] Translation: X:92.76, Y:8.99, Z:8.18 [[ 9.85585629e-01 -1.40152284e-01 -9.47539192e-02 9.27575321e+01] [ 1.39038417e-01 9.90118072e-01 -1.82899352e-02 8.99303463e+00] [ 9.63809440e-02 4.85186228e-03 9.95332695e-01 8.17551949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937105681 meters 0.02934987805347172 Centerline is valid? [True, True] Translation: X:92.82, Y:8.99, Z:8.18 [[ 9.84326596e-01 -1.49560830e-01 -9.34489753e-02 9.28194735e+01] [ 1.48516909e-01 9.88744814e-01 -1.80670980e-02 8.98634840e+00] [ 9.50993199e-02 3.90517205e-03 9.95460129e-01 8.18332975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997105681 meters 0.023235699046809093 Centerline is valid? [True, True] Translation: X:92.88, Y:8.98, Z:8.19 [[ 9.82321646e-01 -1.62798006e-01 -9.24174897e-02 9.28815102e+01] [ 1.61834977e-01 9.86655996e-01 -1.78713678e-02 8.97935435e+00] [ 9.40936934e-02 2.59904912e-03 9.95559954e-01 8.18904073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057105681 meters 0.018889614598321138 Centerline is valid? [True, True] Translation: X:92.94, Y:8.98, Z:8.19 [[ 9.80261543e-01 -1.74600261e-01 -9.27472750e-02 9.29437359e+01] [ 1.73682521e-01 9.84638293e-01 -1.79391472e-02 8.97549634e+00] [ 9.44546983e-02 1.47647564e-03 9.95528066e-01 8.19233786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.117105681 meters 0.016998437104545926 Centerline is valid? [True, True] Translation: X:93.00, Y:8.97, Z:8.19 [[ 9.77054176e-01 -1.88101649e-01 -9.99144952e-02 9.30042992e+01] [ 1.87105710e-01 9.82149547e-01 -1.93318702e-02 8.96803368e+00] [ 1.01767333e-01 1.93711957e-04 9.94808209e-01 8.19117660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.177105681 meters 0.017823254415954226 Centerline is valid? [True, True] Translation: X:93.06, Y:8.97, Z:8.20 [[ 9.75346678e-01 -1.98124952e-01 -9.71872477e-02 9.30623117e+01] [ 1.97230920e-01 9.80176433e-01 -1.88181797e-02 8.97065820e+00] [ 9.89890008e-02 -8.14081195e-04 9.95088195e-01 8.19825654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.237105681 meters 0.018849319398496052 Centerline is valid? [True, True] Translation: X:93.12, Y:8.98, Z:8.22 [[ 9.74899589e-01 -2.04122323e-01 -8.89093309e-02 9.31186844e+01] [ 2.03396348e-01 9.78944567e-01 -1.72470433e-02 8.98029644e+00] [ 9.05578130e-02 -1.26969780e-03 9.95890391e-01 8.21652176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297105681 meters 0.0199292696706979 Centerline is valid? [True, True] Translation: X:93.17, Y:9.00, Z:8.22 [[ 9.73925997e-01 -2.08982678e-01 -8.82858523e-02 9.31745683e+01] [ 2.08284041e-01 9.77917900e-01 -1.71563067e-02 8.99776820e+00] [ 8.99216862e-02 -1.67956096e-03 9.95947423e-01 8.22175913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35710568100001 meters 0.02284451768131678 Centerline is valid? [True, True] Translation: X:93.23, Y:9.01, Z:8.22 [[ 9.72335912e-01 -2.16443294e-01 -8.78360699e-02 9.32317048e+01] [ 2.15781089e-01 9.76292373e-01 -1.70799361e-02 9.01492782e+00] [ 8.94505228e-02 -2.34592761e-03 9.95988504e-01 8.22486726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417105681 meters 0.02764169976657967 Centerline is valid? [True, True] Translation: X:93.29, Y:9.03, Z:8.22 [[ 9.70013968e-01 -2.24112405e-01 -9.40559993e-02 9.32893435e+01] [ 2.23388101e-01 9.74557840e-01 -1.82967980e-02 9.02884082e+00] [ 9.57635510e-02 -3.26284140e-03 9.95398762e-01 8.22360966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.477105681 meters 0.028397880831126886 Centerline is valid? [True, True] Translation: X:93.34, Y:9.06, Z:8.22 [[ 9.69114693e-01 -2.26875217e-01 -9.66661691e-02 9.33430677e+01] [ 2.26123014e-01 9.73917080e-01 -1.88123047e-02 9.06151301e+00] [ 9.84128789e-02 -3.62716465e-03 9.95139060e-01 8.22373701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.537105681 meters 0.02619925105284689 Centerline is valid? [True, True] Translation: X:93.40, Y:9.09, Z:8.23 [[ 9.70462917e-01 -2.21055534e-01 -9.66239007e-02 9.33971919e+01] [ 2.20272044e-01 9.75256596e-01 -1.88360977e-02 9.08982095e+00] [ 9.83969201e-02 -3.00380985e-03 9.95142715e-01 8.22947493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.597105681 meters 0.022799020924274466 Centerline is valid? [True, True] Translation: X:93.45, Y:9.12, Z:8.24 [[ 9.72397862e-01 -2.13638816e-01 -9.38128660e-02 9.34509070e+01] [ 2.12865203e-01 9.76910285e-01 -1.82948104e-02 9.12315514e+00] [ 9.55552353e-02 -2.17966021e-03 9.95421743e-01 8.23721084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657105681 meters 0.019028469086463856 Centerline is valid? [True, True] Translation: X:93.50, Y:9.16, Z:8.25 [[ 9.74857208e-01 -2.04744608e-01 -8.79378701e-02 9.35038166e+01] [ 2.04028454e-01 9.78814670e-01 -1.71532068e-02 9.16022266e+00] [ 8.95869039e-02 -1.21990036e-03 9.95978262e-01 8.24902058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717105681 meters 0.017629140653470935 Centerline is valid? [True, True] Translation: X:93.56, Y:9.19, Z:8.26 [[ 9.75978559e-01 -1.99272319e-01 -8.80703958e-02 9.35575930e+01] [ 1.98531327e-01 9.79943893e-01 -1.71836820e-02 9.18783898e+00] [ 8.97282786e-02 -7.13827381e-04 9.95966027e-01 8.25539182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777105681 meters 0.01659919804096451 Centerline is valid? [True, True] Translation: X:93.61, Y:9.22, Z:8.26 [[ 9.77883655e-01 -1.88646787e-01 -9.03102877e-02 9.36100594e+01] [ 1.87819311e-01 9.82044958e-01 -1.76523769e-02 9.22486697e+00] [ 9.20188269e-02 2.99954786e-04 9.95757222e-01 8.25637891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.837105681 meters 0.018543397515536346 Centerline is valid? [True, True] Translation: X:93.66, Y:9.25, Z:8.26 [[ 9.79332197e-01 -1.79410460e-01 -9.33827281e-02 9.36643536e+01] [ 1.78480535e-01 9.83773525e-01 -1.82852460e-02 9.25482785e+00] [ 9.51480200e-02 1.24033090e-03 9.95462363e-01 8.25765468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.897105681 meters 0.017811125128325028 Centerline is valid? [True, True] Translation: X:93.72, Y:9.27, Z:8.26 [[ 9.79067263e-01 -1.80436407e-01 -9.41806634e-02 9.37198780e+01] [ 1.79492137e-01 9.83585942e-01 -1.84734054e-02 9.27310710e+00] [ 9.59680514e-02 1.18201794e-03 9.95383713e-01 8.26148347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.957105681 meters 0.01709969826853679 Centerline is valid? [True, True] Translation: X:93.78, Y:9.28, Z:8.26 [[ 9.77606171e-01 -1.85946475e-01 -9.85397478e-02 9.37779357e+01] [ 1.84936192e-01 9.82559617e-01 -1.93701983e-02 9.27903397e+00] [ 1.00422997e-01 7.12859645e-04 9.94944578e-01 8.26162803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.017105681 meters 0.01667235926673869 Centerline is valid? [True, True] Translation: X:93.84, Y:9.28, Z:8.27 [[ 9.76513401e-01 -1.94176604e-01 -9.33650066e-02 9.38359305e+01] [ 1.93304036e-01 9.80966584e-01 -1.83878131e-02 9.27978308e+00] [ 9.51584347e-02 -9.18866576e-05 9.95462136e-01 8.27219768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077105681 meters 0.017142982299441355 Centerline is valid? [True, True] Translation: X:93.89, Y:9.28, Z:8.28 [[ 9.75451480e-01 -1.99082545e-01 -9.41304970e-02 9.38941453e+01] [ 1.98217192e-01 9.79982563e-01 -1.85505086e-02 9.28258221e+00] [ 9.59393281e-02 -5.63161768e-04 9.95387024e-01 8.27810448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137105681 meters 0.01807866532309266 Centerline is valid? [True, True] Translation: X:93.95, Y:9.29, Z:8.29 [[ 9.74533042e-01 -2.04937901e-01 -9.10264107e-02 9.39522735e+01] [ 2.04153159e-01 9.78774371e-01 -1.79504574e-02 9.29029335e+00] [ 9.27730469e-02 -1.09001544e-03 9.95686684e-01 8.28633402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.197105681 meters 0.01771569794131598 Centerline is valid? [True, True] Translation: X:94.01, Y:9.30, Z:8.29 [[ 9.75105935e-01 -2.02143879e-01 -9.11387231e-02 9.40082317e+01] [ 2.01342006e-01 9.79355514e-01 -1.80048346e-02 9.30404374e+00] [ 9.28967781e-02 -7.93432243e-04 9.95675429e-01 8.29457578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.257105681 meters 0.01738198118787463 Centerline is valid? [True, True] Translation: X:94.06, Y:9.34, Z:8.30 [[ 9.78179474e-01 -1.85789961e-01 -9.29892816e-02 9.40613589e+01] [ 1.84879371e-01 9.82589160e-01 -1.83891765e-02 9.33592826e+00] [ 9.47867844e-02 7.96115125e-04 9.95497279e-01 8.29853321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.317105681 meters 0.022894388885306694 Centerline is valid? [True, True] Translation: X:94.12, Y:9.36, Z:8.30 [[ 9.81182373e-01 -1.69301120e-01 -9.28347021e-02 9.41155203e+01] [ 1.68316724e-01 9.85561404e-01 -1.83901774e-02 9.36472697e+00] [ 9.46077770e-02 2.41848488e-03 9.95511687e-01 8.30251728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.377105681 meters 0.022369300482624987 Centerline is valid? [True, True] Translation: X:94.17, Y:9.37, Z:8.30 [[ 9.80937791e-01 -1.70000681e-01 -9.41319214e-02 9.41730978e+01] [ 1.68991030e-01 9.85441044e-01 -1.86542540e-02 9.37432438e+00] [ 9.59326948e-02 2.39121238e-03 9.95384951e-01 8.30473970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437105681 meters 0.02175167931883633 Centerline is valid? [True, True] Translation: X:94.23, Y:9.38, Z:8.30 [[ 9.80048360e-01 -1.72224539e-01 -9.92165321e-02 9.42321807e+01] [ 1.71109657e-01 9.85054955e-01 -1.97033356e-02 9.37759959e+00] [ 1.01127134e-01 2.33331495e-03 9.94870775e-01 8.30441996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497105681 meters 0.019299912218443797 Centerline is valid? [True, True] Translation: X:94.29, Y:9.37, Z:8.31 [[ 9.78478278e-01 -1.79629483e-01 -1.01555443e-01 9.42931138e+01] [ 1.78497090e-01 9.83732967e-01 -2.02049143e-02 9.37159634e+00] [ 1.03532835e-01 1.64271864e-03 9.94624680e-01 8.31233219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557105681 meters 0.01990602202476074 Centerline is valid? [True, True] Translation: X:94.35, Y:9.38, Z:8.33 [[ 9.79260981e-01 -1.78684668e-01 -9.54972312e-02 9.43490871e+01] [ 1.77678274e-01 9.83905013e-01 -1.90093485e-02 9.38118509e+00] [ 9.73568837e-02 1.64733001e-03 9.95248172e-01 8.32662528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.617105681 meters 0.017759990306726918 Centerline is valid? [True, True] Translation: X:94.41, Y:9.38, Z:8.33 [[ 9.78081953e-01 -1.85542279e-01 -9.44973898e-02 9.44083940e+01] [ 1.84587025e-01 9.82635800e-01 -1.88285444e-02 9.38184217e+00] [ 9.63500093e-02 9.72867486e-04 9.95347040e-01 8.33180376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.677105681 meters 0.017138323676705723 Centerline is valid? [True, True] Translation: X:94.47, Y:9.38, Z:8.34 [[ 9.74992130e-01 -2.00438713e-01 -9.59930634e-02 9.44682176e+01] [ 1.99521638e-01 9.79706128e-01 -1.91577166e-02 9.37569503e+00] [ 9.78849405e-02 -4.74070395e-04 9.95197625e-01 8.33531961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.737105681 meters 0.020250586030203018 Centerline is valid? [True, True] Translation: X:94.53, Y:9.37, Z:8.34 [[ 9.72674184e-01 -2.11432852e-01 -9.59222695e-02 9.45277909e+01] [ 2.10569234e-01 9.77391270e-01 -1.91547313e-02 9.37407023e+00] [ 9.78035283e-02 -1.56696622e-03 9.95204509e-01 8.34211214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797105681 meters 0.018500306631774616 Centerline is valid? [True, True] Translation: X:94.58, Y:9.39, Z:8.36 [[ 9.73866983e-01 -2.07589921e-01 -9.21386126e-02 9.45823148e+01] [ 2.06775327e-01 9.78215291e-01 -1.84067351e-02 9.39443154e+00] [ 9.39524525e-02 -1.12628012e-03 9.95576048e-01 8.35713433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85710568100001 meters 0.01678926749975367 Centerline is valid? [True, True] Translation: X:94.64, Y:9.42, Z:8.36 [[ 9.75446728e-01 -2.00425080e-01 -9.12878336e-02 9.46366767e+01] [ 1.99591293e-01 9.79708950e-01 -1.82671844e-02 9.41828852e+00] [ 9.30967095e-02 -4.01591409e-04 9.95656990e-01 8.36372738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917105681 meters 0.0173798947210739 Centerline is valid? [True, True] Translation: X:94.69, Y:9.45, Z:8.37 [[ 9.77632889e-01 -1.88621246e-01 -9.30374074e-02 9.46905609e+01] [ 1.87698699e-01 9.82049609e-01 -1.86484117e-02 9.44836052e+00] [ 9.48848363e-02 7.68300317e-04 9.95487960e-01 8.36588875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.977105681 meters 0.01976845174768784 Centerline is valid? [True, True] Translation: X:94.75, Y:9.47, Z:8.37 [[ 9.79050643e-01 -1.79374450e-01 -9.63568594e-02 9.47464624e+01] [ 1.78336975e-01 9.83779308e-01 -1.93441579e-02 9.47281123e+00] [ 9.82637321e-02 1.75491944e-03 9.95158861e-01 8.36869310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.037105681 meters 0.024619215224811558 Centerline is valid? [True, True] Translation: X:94.80, Y:9.50, Z:8.37 [[ 9.79989185e-01 -1.71889606e-01 -1.00375101e-01 9.48020717e+01] [ 1.70723809e-01 9.85112744e-01 -2.01559475e-02 9.50034879e+00] [ 1.02345389e-01 2.61619099e-03 9.94745483e-01 8.36691511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.097105681 meters 0.025958541490495982 Centerline is valid? [True, True] Translation: X:94.86, Y:9.52, Z:8.37 [[ 9.80148424e-01 -1.68240752e-01 -1.04900502e-01 9.48594902e+01] [ 1.66945672e-01 9.85740937e-01 -2.10700560e-02 9.51522346e+00] [ 1.06949562e-01 3.13909734e-03 9.94259492e-01 8.36855173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157105681 meters 0.023670700578944638 Centerline is valid? [True, True] Translation: X:94.92, Y:9.52, Z:8.38 [[ 9.79804417e-01 -1.72600085e-01 -1.00957984e-01 9.49180825e+01] [ 1.71423200e-01 9.84988636e-01 -2.02848154e-02 9.52160507e+00] [ 1.02943628e-01 2.56861099e-03 9.94683875e-01 8.38027157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217105681 meters 0.01986212621204464 Centerline is valid? [True, True] Translation: X:94.98, Y:9.52, Z:8.39 [[ 9.78515981e-01 -1.82241945e-01 -9.64071986e-02 9.49782949e+01] [ 1.81215241e-01 9.83252592e-01 -1.93746481e-02 9.52228910e+00] [ 9.83235014e-02 1.48794904e-03 9.95153393e-01 8.39158800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277105681 meters 0.017988712011304107 Centerline is valid? [True, True] Translation: X:95.04, Y:9.53, Z:8.40 [[ 9.77299269e-01 -1.89510398e-01 -9.47203650e-02 9.50371616e+01] [ 1.88553147e-01 9.81878430e-01 -1.90383513e-02 9.52569467e+00] [ 9.66118489e-02 7.46343933e-04 9.95321854e-01 8.40025630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.337105681 meters 0.017591631726687405 Centerline is valid? [True, True] Translation: X:95.09, Y:9.54, Z:8.41 [[ 9.76684311e-01 -1.93108062e-01 -9.37925030e-02 9.50945217e+01] [ 1.92185087e-01 9.81177415e-01 -1.88619539e-02 9.53702967e+00] [ 9.56694810e-02 3.96654116e-04 9.95413077e-01 8.40663594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.397105681 meters 0.01762223463352211 Centerline is valid? [True, True] Translation: X:95.15, Y:9.55, Z:8.41 [[ 9.76274299e-01 -1.94417298e-01 -9.53436244e-02 9.51506268e+01] [ 1.93466823e-01 9.80918867e-01 -1.92032608e-02 9.54921870e+00] [ 9.72578061e-02 3.01821853e-04 9.95259176e-01 8.41082943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.457105681 meters 0.019013020329702722 Centerline is valid? [True, True] Translation: X:95.21, Y:9.57, Z:8.43 [[ 9.78215856e-01 -1.87218687e-01 -8.96822302e-02 9.52050880e+01] [ 1.86346826e-01 9.82317783e-01 -1.80729829e-02 9.56932010e+00] [ 9.14800497e-02 9.67279420e-04 9.95806439e-01 8.42630888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.517105681 meters 0.022476923624905713 Centerline is valid? [True, True] Translation: X:95.26, Y:9.59, Z:8.43 [[ 9.79739937e-01 -1.79022610e-01 -8.97806266e-02 9.52612687e+01] [ 1.78111854e-01 9.83843380e-01 -1.81209856e-02 9.59282195e+00] [ 9.15741413e-02 1.76285943e-03 9.95796701e-01 8.42904534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577105681 meters 0.02481009585816448 Centerline is valid? [True, True] Translation: X:95.32, Y:9.61, Z:8.43 [[ 9.80331882e-01 -1.74569940e-01 -9.20583347e-02 9.53191108e+01] [ 1.73592262e-01 9.84642231e-01 -1.85850222e-02 9.60580197e+00] [ 9.38889103e-02 2.23887522e-03 9.95580162e-01 8.43121222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637105681 meters 0.025817517317351317 Centerline is valid? [True, True] Translation: X:95.38, Y:9.61, Z:8.43 [[ 9.80589874e-01 -1.68229377e-01 -1.00709363e-01 9.53796862e+01] [ 1.67024645e-01 9.85742931e-01 -2.03381671e-02 9.61299804e+00] [ 1.02695020e-01 3.12245517e-03 9.94707989e-01 8.42604981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.697105681 meters 0.03476427124353999 Centerline is valid? [True, True] Translation: X:95.44, Y:9.63, Z:8.43 [[ 9.82101494e-01 -1.61160297e-01 -9.74885358e-02 9.54350354e+01] [ 1.59996583e-01 9.86921156e-01 -1.96907644e-02 9.63133454e+00] [ 9.93868678e-02 3.74049657e-03 9.95041838e-01 8.43149096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.757105681 meters 0.03543975594261059 Centerline is valid? [True, True] Translation: X:95.50, Y:9.63, Z:8.44 [[ 9.83782973e-01 -1.50737416e-01 -9.72074706e-02 9.54957860e+01] [ 1.49528849e-01 9.88562240e-01 -1.96423428e-02 9.63229790e+00] [ 9.90564709e-02 4.78848125e-03 9.95070292e-01 8.43902752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.817105681 meters 0.038140679160596574 Centerline is valid? [True, True] Translation: X:95.56, Y:9.63, Z:8.45 [[ 9.85040386e-01 -1.43771202e-01 -9.50014680e-02 9.55562762e+01] [ 1.42584715e-01 9.89596416e-01 -1.91972115e-02 9.63497011e+00] [ 9.67731184e-02 5.36427141e-03 9.95292011e-01 8.44502552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.877105681 meters 0.04005732305638626 Centerline is valid? [True, True] Translation: X:95.62, Y:9.63, Z:8.44 [[ 9.84374565e-01 -1.44701723e-01 -1.00340058e-01 9.56177007e+01] [ 1.43382043e-01 9.89459610e-01 -2.02797818e-02 9.62543735e+00] [ 1.02216954e-01 5.57593889e-03 9.94746502e-01 8.44269254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937105681 meters 0.038482283436059174 Centerline is valid? [True, True] Translation: X:95.68, Y:9.62, Z:8.45 [[ 9.84198071e-01 -1.47309562e-01 -9.82550215e-02 9.56804452e+01] [ 1.46056240e-01 9.89076748e-01 -1.98686237e-02 9.61635955e+00] [ 1.00108595e-01 5.20390209e-03 9.94962908e-01 8.44924470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997105681 meters 0.033714812832085085 Centerline is valid? [True, True] Translation: X:95.74, Y:9.60, Z:8.45 [[ 9.82723677e-01 -1.56153348e-01 -9.93494185e-02 9.57444782e+01] [ 1.54916545e-01 9.87723227e-01 -2.00920430e-02 9.60296184e+00] [ 1.01267168e-01 4.35405777e-03 9.94849739e-01 8.45451055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057105681 meters 0.02547671607817051 Centerline is valid? [True, True] Translation: X:95.81, Y:9.59, Z:8.46 [[ 9.80664320e-01 -1.67506458e-01 -1.01188327e-01 9.58089467e+01] [ 1.66283238e-01 9.85865643e-01 -2.04650485e-02 9.58782222e+00] [ 1.03186123e-01 3.24342014e-03 9.94656777e-01 8.45850493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.117105681 meters 0.022464735421746266 Centerline is valid? [True, True] Translation: X:95.87, Y:9.58, Z:8.46 [[ 9.79396202e-01 -1.75010231e-01 -1.00769535e-01 9.58705701e+01] [ 1.73836396e-01 9.84563577e-01 -2.03830723e-02 9.58431581e+00] [ 1.02781260e-01 2.44569083e-03 9.94700976e-01 8.46463076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.177105681 meters 0.01994851026730979 Centerline is valid? [True, True] Translation: X:95.93, Y:9.58, Z:8.47 [[ 9.77377441e-01 -1.86656789e-01 -9.94614568e-02 9.59316005e+01] [ 1.85573018e-01 9.82424441e-01 -2.01214725e-02 9.57707315e+00] [ 1.01469175e-01 1.20891066e-03 9.94837949e-01 8.47024900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.237105681 meters 0.017976232204759492 Centerline is valid? [True, True] Translation: X:95.99, Y:9.58, Z:8.47 [[ 9.75753896e-01 -1.94424400e-01 -1.00516103e-01 9.59910824e+01] [ 1.93357371e-01 9.80917417e-01 -2.03457122e-02 9.57963026e+00] [ 1.02553699e-01 4.16878516e-04 9.94727382e-01 8.47482640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297105681 meters 0.01800925414521825 Centerline is valid? [True, True] Translation: X:96.05, Y:9.58, Z:8.49 [[ 9.74694270e-01 -2.01117930e-01 -9.75841059e-02 9.60502497e+01] [ 2.00142572e-01 9.79567005e-01 -1.97846795e-02 9.58173847e+00] [ 9.95692242e-02 -2.46720225e-04 9.95030607e-01 8.48668717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35710568100001 meters 0.018982552183207452 Centerline is valid? [True, True] Translation: X:96.11, Y:9.59, Z:8.50 [[ 9.73287223e-01 -2.09602276e-01 -9.36956118e-02 9.61082720e+01] [ 2.08739490e-01 9.77786176e-01 -1.90268252e-02 9.58731511e+00] [ 9.56023398e-02 -1.03940831e-03 9.95419064e-01 8.49912589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417105681 meters 0.023085036741588 Centerline is valid? [True, True] Translation: X:96.17, Y:9.60, Z:8.50 [[ 9.70359337e-01 -2.22329185e-01 -9.47232276e-02 9.61682819e+01] [ 2.21504644e-01 9.74968977e-01 -1.92662154e-02 9.59514305e+00] [ 9.66356503e-02 -2.28648277e-03 9.95317197e-01 8.50009593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.477105681 meters 0.028685995424788505 Centerline is valid? [True, True] Translation: X:96.23, Y:9.60, Z:8.50 [[ 9.67750948e-01 -2.32047526e-01 -9.80410498e-02 9.62271552e+01] [ 2.31213501e-01 9.72698616e-01 -1.99428964e-02 9.60011883e+00] [ 9.99920932e-02 -3.36865744e-03 9.94982529e-01 8.50185129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.537105681 meters 0.032822516191519296 Centerline is valid? [True, True] Translation: X:96.29, Y:9.62, Z:8.50 [[ 9.65035548e-01 -2.41734533e-01 -1.01344987e-01 9.62852562e+01] [ 2.40895763e-01 9.70331921e-01 -2.06202452e-02 9.61784445e+00] [ 1.03322902e-01 -4.51430849e-03 9.94637622e-01 8.50146302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.597105681 meters 0.03654752988209097 Centerline is valid? [True, True] Translation: X:96.34, Y:9.63, Z:8.51 [[ 9.63821266e-01 -2.47037405e-01 -1.00105382e-01 9.63430357e+01] [ 2.46247134e-01 9.68992960e-01 -2.03713513e-02 9.63099946e+00] [ 1.02033896e-01 -5.01632175e-03 9.94768275e-01 8.51152369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.657105681 meters 0.03629960603598244 Centerline is valid? [True, True] Translation: X:96.40, Y:9.66, Z:8.52 [[ 9.64322895e-01 -2.45823905e-01 -9.82444026e-02 9.63976198e+01] [ 2.45055844e-01 9.69302670e-01 -1.99991808e-02 9.65629568e+00] [ 1.00144838e-01 -4.78969703e-03 9.94961341e-01 8.51812482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717105681 meters 0.030892042647256028 Centerline is valid? [True, True] Translation: X:96.45, Y:9.70, Z:8.52 [[ 9.66777961e-01 -2.34985683e-01 -1.00608660e-01 9.64497082e+01] [ 2.34118336e-01 9.71991699e-01 -2.05120099e-02 9.69701722e+00] [ 1.02610811e-01 -3.72377291e-03 9.94714610e-01 8.51868258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777105681 meters 0.03171281214160126 Centerline is valid? [True, True] Translation: X:96.50, Y:9.72, Z:8.52 [[ 9.66237239e-01 -2.36707979e-01 -1.01759182e-01 9.65046991e+01] [ 2.35829061e-01 9.71572847e-01 -2.07570860e-02 9.71959289e+00] [ 1.03779826e-01 -3.94150289e-03 9.94592486e-01 8.52402344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.837105681 meters 0.03642887487172531 Centerline is valid? [True, True] Translation: X:96.56, Y:9.74, Z:8.53 [[ 9.64754631e-01 -2.43206495e-01 -1.00494290e-01 9.65613853e+01] [ 2.42381353e-01 9.69963849e-01 -2.05282851e-02 9.73875717e+00] [ 1.02468441e-01 -4.55318396e-03 9.94725835e-01 8.53300090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.897105681 meters 0.036329770268526906 Centerline is valid? [True, True] Translation: X:96.62, Y:9.77, Z:8.54 [[ 9.65021211e-01 -2.43059594e-01 -9.82654385e-02 9.66153544e+01] [ 2.42269287e-01 9.70001243e-01 -2.00793630e-02 9.76601220e+00] [ 1.00198079e-01 -4.42968655e-03 9.94957649e-01 8.54230367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.957105681 meters 0.03237109917357721 Centerline is valid? [True, True] Translation: X:96.67, Y:9.81, Z:8.56 [[ 9.67392965e-01 -2.36482362e-01 -9.07025031e-02 9.66658643e+01] [ 2.35777808e-01 9.71629727e-01 -1.85606798e-02 9.80753199e+00] [ 9.25185217e-02 -3.43016632e-03 9.95705055e-01 8.55768442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.017105681 meters 0.02815934408287076 Centerline is valid? [True, True] Translation: X:96.72, Y:9.84, Z:8.56 [[ 9.68837654e-01 -2.29267996e-01 -9.37538592e-02 9.67198643e+01] [ 2.28480998e-01 9.73359226e-01 -1.91898726e-02 9.84318793e+00] [ 9.56558074e-02 -2.82910418e-03 9.95410449e-01 8.55619746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077105681 meters 0.019622049569671004 Centerline is valid? [True, True] Translation: X:96.77, Y:9.89, Z:8.56 [[ 9.72537960e-01 -2.13242511e-01 -9.32606487e-02 9.67699661e+01] [ 2.12389633e-01 9.76998514e-01 -1.90931115e-02 9.88933532e+00] [ 9.51869783e-02 -1.23881927e-03 9.95458640e-01 8.56342089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137105681 meters 0.01675979156143355 Centerline is valid? [True, True] Translation: X:96.82, Y:9.93, Z:8.57 [[ 9.75625246e-01 -1.97410646e-01 -9.58353573e-02 9.68214592e+01] [ 1.96432763e-01 9.80320831e-01 -1.96274791e-02 9.92942098e+00] [ 9.78240704e-02 3.23860187e-04 9.95203671e-01 8.56563309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.197105681 meters 0.01956786776302199 Centerline is valid? [True, True] Translation: X:96.88, Y:9.96, Z:8.57 [[ 9.77711978e-01 -1.84933831e-01 -9.93919800e-02 9.68772959e+01] [ 1.83814314e-01 9.82749570e-01 -2.03858208e-02 9.95606507e+00] [ 1.01447454e-01 1.66179256e-03 9.94839511e-01 8.56505806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.257105681 meters 0.02208580519797917 Centerline is valid? [True, True] Translation: X:96.93, Y:9.97, Z:8.57 [[ 9.78717740e-01 -1.78619943e-01 -1.01027234e-01 9.69344061e+01] [ 1.77429068e-01 9.83915315e-01 -2.07263042e-02 9.97464835e+00] [ 1.03104374e-01 2.36003372e-03 9.94667743e-01 8.56663101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.317105681 meters 0.02099597368091147 Centerline is valid? [True, True] Translation: X:96.99, Y:9.98, Z:8.57 [[ 9.77550973e-01 -1.82600335e-01 -1.05124753e-01 9.69926266e+01] [ 1.81332241e-01 9.83185125e-01 -2.15784094e-02 9.97892441e+00] [ 1.07297318e-01 2.03148809e-03 9.94224903e-01 8.56660948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.377105681 meters 0.0181362091185933 Centerline is valid? [True, True] Translation: X:97.05, Y:9.98, Z:8.58 [[ 9.76938003e-01 -1.89018180e-01 -9.93190148e-02 9.70524306e+01] [ 1.87916397e-01 9.81972747e-01 -2.04193796e-02 9.97951137e+00] [ 1.01388200e-01 1.28479652e-03 9.94846110e-01 8.58025370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437105681 meters 0.016229352219896118 Centerline is valid? [True, True] Translation: X:97.11, Y:9.98, Z:8.59 [[ 9.74982748e-01 -1.99258390e-01 -9.85126113e-02 9.71128610e+01] [ 1.98225661e-01 9.79946959e-01 -2.02619036e-02 9.97543638e+00] [ 1.00574488e-01 2.27278989e-04 9.94929505e-01 8.58501654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497105681 meters 0.01867565201458079 Centerline is valid? [True, True] Translation: X:97.17, Y:9.96, Z:8.59 [[ 9.71511172e-01 -2.15177254e-01 -9.93216626e-02 9.71743995e+01] [ 2.14206746e-01 9.76574011e-01 -2.04614672e-02 9.96117580e+00] [ 1.01397797e-01 -1.39682617e-03 9.94844981e-01 8.58850056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.557105681 meters 0.01986047813112238 Centerline is valid? [True, True] Translation: X:97.23, Y:9.97, Z:8.60 [[ 9.70783180e-01 -2.19118195e-01 -9.78122345e-02 9.72325022e+01] [ 2.18195296e-01 9.75696727e-01 -2.01670298e-02 9.96984484e+00] [ 9.98540403e-02 -1.76435615e-03 9.95000532e-01 8.59739016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.617105681 meters 0.016303397029409628 Centerline is valid? [True, True] Translation: X:97.29, Y:9.99, Z:8.61 [[ 9.73512368e-01 -2.08896470e-01 -9.29297280e-02 9.72884860e+01] [ 2.08014242e-01 9.77937545e-01 -1.91893859e-02 9.98829009e+00] [ 9.48880650e-02 -6.49602360e-04 9.95487736e-01 8.61105870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.677105681 meters 0.015602250572629374 Centerline is valid? [True, True] Translation: X:97.34, Y:10.01, Z:8.61 [[ 9.75302164e-01 -2.00390968e-01 -9.28932160e-02 9.73431521e+01] [ 1.99470380e-01 9.79715993e-01 -1.91870125e-02 1.00093787e+01] [ 9.48538733e-02 1.83689695e-04 9.95491190e-01 8.61241358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.737105681 meters 0.016602170787289015 Centerline is valid? [True, True] Translation: X:97.40, Y:10.02, Z:8.61 [[ 9.76211759e-01 -1.93743111e-01 -9.73355418e-02 9.74003976e+01] [ 1.92697636e-01 9.81051897e-01 -2.01195555e-02 1.00231278e+01] [ 9.93892432e-02 8.84617864e-04 9.95048238e-01 8.61149416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797105681 meters 0.01868745585643044 Centerline is valid? [True, True] Translation: X:97.46, Y:10.04, Z:8.61 [[ 9.76235391e-01 -1.89340839e-01 -1.05425363e-01 9.74568565e+01] [ 1.88084347e-01 9.81910310e-01 -2.18270618e-02 1.00416939e+01] [ 1.07651006e-01 1.47948951e-03 9.94187644e-01 8.60517255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85710568100001 meters 0.01782965957093285 Centerline is valid? [True, True] Translation: X:97.51, Y:10.05, Z:8.61 [[ 9.76039497e-01 -1.91843872e-01 -1.02678275e-01 9.75131543e+01] [ 1.90664939e-01 9.81424746e-01 -2.12684972e-02 1.00504000e+01] [ 1.04851231e-01 1.18174636e-03 9.94487216e-01 8.61490791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917105681 meters 0.015535747559676372 Centerline is valid? [True, True] Translation: X:97.57, Y:10.05, Z:8.63 [[ 9.74094302e-01 -2.03525890e-01 -9.85773919e-02 9.75727182e+01] [ 2.02497943e-01 9.79069563e-01 -2.04297531e-02 1.00486919e+01] [ 1.00672108e-01 -6.12129584e-05 9.94919657e-01 8.62782220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.977105681 meters 0.0200131364737161 Centerline is valid? [True, True] Translation: X:97.63, Y:10.04, Z:8.64 [[ 9.70789236e-01 -2.21961259e-01 -9.11123423e-02 9.76337673e+01] [ 2.21163347e-01 9.75053802e-01 -1.88906606e-02 1.00432752e+01] [ 9.30324306e-02 -1.81186066e-03 9.95661430e-01 8.64065017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.037105681 meters 0.021876158426536743 Centerline is valid? [True, True] Translation: X:97.69, Y:10.05, Z:8.65 [[ 9.69995591e-01 -2.25663957e-01 -9.04672940e-02 9.76910873e+01] [ 2.24892920e-01 9.74202839e-01 -1.87617633e-02 1.00527333e+01] [ 9.23673484e-02 -2.14662627e-03 9.95722685e-01 8.64643838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.097105681 meters 0.028427563933728393 Centerline is valid? [True, True] Translation: X:97.75, Y:10.05, Z:8.65 [[ 9.67854168e-01 -2.34472327e-01 -9.10002084e-02 9.77505964e+01] [ 2.33729391e-01 9.72118202e-01 -1.88884376e-02 1.00549995e+01] [ 9.28917749e-02 -2.98817020e-03 9.95671728e-01 8.64934687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.157105681 meters 0.029271992711683164 Centerline is valid? [True, True] Translation: X:97.81, Y:10.08, Z:8.65 [[ 9.67431207e-01 -2.35759219e-01 -9.21653391e-02 9.78060902e+01] [ 2.35002546e-01 9.71806401e-01 -1.91343243e-02 1.00756462e+01] [ 9.40779598e-02 -3.14794684e-03 9.95559857e-01 8.65487224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217105681 meters 0.02152675568567808 Centerline is valid? [True, True] Translation: X:97.86, Y:10.12, Z:8.67 [[ 9.70230101e-01 -2.25666963e-01 -8.79088905e-02 9.78581676e+01] [ 2.24934858e-01 9.74202370e-01 -1.82771088e-02 1.01155867e+01] [ 8.97655891e-02 -2.04077264e-03 9.95960830e-01 8.66604789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277105681 meters 0.0163685508396754 Centerline is valid? [True, True] Translation: X:97.91, Y:10.15, Z:8.66 [[ 9.72997985e-01 -2.11819600e-01 -9.16917592e-02 9.79122801e+01] [ 2.10961287e-01 9.77308462e-01 -1.90658370e-02 1.01501722e+01] [ 9.36496501e-02 -7.92390574e-04 9.95604899e-01 8.66350606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.337105681 meters 0.015528165637136066 Centerline is valid? [True, True] Translation: X:97.97, Y:10.18, Z:8.66 [[ 9.73833855e-01 -2.05642298e-01 -9.67412425e-02 9.79663795e+01] [ 2.04655361e-01 9.78627204e-01 -2.01240723e-02 1.01760394e+01] [ 9.88119721e-02 -2.01111021e-04 9.95106102e-01 8.66196449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.397105681 meters 0.016588992909059467 Centerline is valid? [True, True] Translation: X:98.02, Y:10.20, Z:8.66 [[ 9.74809634e-01 -1.96793507e-01 -1.04969011e-01 9.80234978e+01] [ 1.95575615e-01 9.80444636e-01 -2.18744956e-02 1.01978725e+01] [ 1.07221063e-01 7.94090045e-04 9.94234888e-01 8.65784639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.457105681 meters 0.01965235874884441 Centerline is valid? [True, True] Translation: X:98.08, Y:10.22, Z:8.66 [[ 9.76951509e-01 -1.86368254e-01 -1.04079884e-01 9.80792878e+01] [ 1.85111310e-01 9.82478069e-01 -2.16943893e-02 1.02216752e+01] [ 1.06299349e-01 1.92800280e-03 9.94332304e-01 8.66254066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.517105681 meters 0.022707033126565655 Centerline is valid? [True, True] Translation: X:98.14, Y:10.24, Z:8.68 [[ 9.79055045e-01 -1.77405183e-01 -9.98930391e-02 9.81366170e+01] [ 1.76200550e-01 9.84133945e-01 -2.08265308e-02 1.02360637e+01] [ 1.02002865e-01 2.78911162e-03 9.94780195e-01 8.67557730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577105681 meters 0.020529978487416355 Centerline is valid? [True, True] Translation: X:98.20, Y:10.24, Z:8.68 [[ 9.78353589e-01 -1.82694294e-01 -9.71959322e-02 9.81960092e+01] [ 1.81579536e-01 9.83167349e-01 -2.02690950e-02 1.02409265e+01] [ 9.92629150e-02 2.18154952e-03 9.95058850e-01 8.68211756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637105681 meters 0.01601879371889406 Centerline is valid? [True, True] Translation: X:98.26, Y:10.23, Z:8.69 [[ 9.76255018e-01 -1.96806169e-01 -9.05178019e-02 9.82586735e+01] [ 1.95899658e-01 9.80442167e-01 -1.88807328e-02 1.02284248e+01] [ 9.24633144e-02 7.00003684e-04 9.95715846e-01 8.69465779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.697105681 meters 0.015398180648061702 Centerline is valid? [True, True] Translation: X:98.32, Y:10.22, Z:8.70 [[ 9.74265379e-01 -2.05279796e-01 -9.30976744e-02 9.83208307e+01] [ 2.04358632e-01 9.78703324e-01 -1.94255964e-02 1.02190864e+01] [ 9.51026858e-02 -9.96273779e-05 9.95467463e-01 8.69641335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.757105681 meters 0.01741054677635457 Centerline is valid? [True, True] Translation: X:98.38, Y:10.23, Z:8.70 [[ 9.76243611e-01 -1.94105518e-01 -9.62884159e-02 9.83766599e+01] [ 1.93062318e-01 9.80980087e-01 -2.01248856e-02 1.02335065e+01] [ 9.83633699e-02 1.05712619e-03 9.95150004e-01 8.69630442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.817105681 meters 0.02081591801689948 Centerline is valid? [True, True] Translation: X:98.44, Y:10.24, Z:8.70 [[ 9.77884151e-01 -1.83919976e-01 -9.95792649e-02 9.84361214e+01] [ 1.82749836e-01 9.82938829e-01 -2.08267984e-02 1.02407890e+01] [ 1.01710790e-01 2.16810171e-03 9.94811648e-01 8.70008123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.877105681 meters 0.022381547022531246 Centerline is valid? [True, True] Translation: X:98.49, Y:10.25, Z:8.71 [[ 9.78464547e-01 -1.81781246e-01 -9.77891057e-02 9.84934008e+01] [ 1.80641661e-01 9.83336179e-01 -2.04584671e-02 1.02475767e+01] [ 9.98785312e-02 2.35309824e-03 9.94996855e-01 8.70678490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937105681 meters 0.020101253208063552 Centerline is valid? [True, True] Translation: X:98.55, Y:10.25, Z:8.72 [[ 9.77615771e-01 -1.87303257e-01 -9.58378557e-02 9.85536354e+01] [ 1.86233490e-01 9.82300542e-01 -2.00682139e-02 1.02475174e+01] [ 9.79004194e-02 1.77078412e-03 9.95194640e-01 8.71523587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997105681 meters 0.016019891554905765 Centerline is valid? [True, True] Translation: X:98.62, Y:10.23, Z:8.72 [[ 9.73473731e-01 -2.07387785e-01 -9.66395447e-02 9.86169539e+01] [ 2.06395558e-01 9.78258789e-01 -2.02636510e-02 1.02345266e+01] [ 9.87409177e-02 -2.19840738e-04 9.95113151e-01 8.71749897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.057105681 meters 0.018826670636477486 Centerline is valid? [True, True] Translation: X:98.68, Y:10.23, Z:8.72 [[ 9.70910226e-01 -2.17614205e-01 -9.98868935e-02 9.86785435e+01] [ 2.16607360e-01 9.76034004e-01 -2.09493286e-02 1.02327574e+01] [ 1.02051876e-01 -1.29631894e-03 9.94778234e-01 8.71753101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.117105681 meters 0.020614158449264064 Centerline is valid? [True, True] Translation: X:98.74, Y:10.24, Z:8.73 [[ 9.70167201e-01 -2.22245602e-01 -9.68632724e-02 9.87370286e+01] [ 2.21321225e-01 9.74989193e-01 -2.03221190e-02 1.02391769e+01] [ 9.89571454e-02 -1.72204478e-03 9.95090206e-01 8.72856924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.177105681 meters 0.016957793553414986 Centerline is valid? [True, True] Translation: X:98.79, Y:10.26, Z:8.73 [[ 9.72370336e-01 -2.11812675e-01 -9.81392925e-02 9.87922835e+01] [ 2.10807681e-01 9.77310075e-01 -2.06189147e-02 1.02606716e+01] [ 1.00279867e-01 -6.39295669e-04 9.94959064e-01 8.73324169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.237105681 meters 0.019090455039085696 Centerline is valid? [True, True] Translation: X:98.85, Y:10.29, Z:8.74 [[ 9.77193210e-01 -1.90281973e-01 -9.42666462e-02 9.88453707e+01] [ 1.89253549e-01 9.81728298e-01 -1.98152143e-02 1.02903045e+01] [ 9.63147122e-02 1.52299548e-03 9.95349766e-01 8.74150124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297105681 meters 0.021772029518389392 Centerline is valid? [True, True] Translation: X:98.90, Y:10.30, Z:8.74 [[ 9.77733976e-01 -1.86369749e-01 -9.64499323e-02 9.89029543e+01] [ 1.85270803e-01 9.82477672e-01 -2.03064741e-02 1.02993190e+01] [ 9.85444175e-02 1.98497324e-03 9.95130674e-01 8.74183328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357105681 meters 0.020393817441943206 Centerline is valid? [True, True] Translation: X:98.96, Y:10.30, Z:8.74 [[ 9.77559095e-01 -1.86530241e-01 -9.79014040e-02 9.89629320e+01] [ 1.85396700e-01 9.82447147e-01 -2.06317023e-02 1.03007906e+01] [ 1.00031391e-01 2.01811104e-03 9.94982235e-01 8.74492735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417105681 meters 0.025336895263618302 Centerline is valid? [True, True] Translation: X:99.02, Y:10.32, Z:8.75 [[ 9.79306201e-01 -1.75918466e-01 -1.00060272e-01 9.90215029e+01] [ 1.74675661e-01 9.84399529e-01 -2.11182375e-02 1.03153912e+01] [ 1.02214373e-01 3.20312668e-03 9.94757238e-01 8.74845826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.477105681 meters 0.032490489231375166 Centerline is valid? [True, True] Translation: X:99.08, Y:10.34, Z:8.75 [[ 9.81613029e-01 -1.62773528e-01 -9.97027540e-02 9.90781837e+01] [ 1.61471683e-01 9.86652924e-01 -2.10452472e-02 1.03360088e+01] [ 1.01797623e-01 4.55911735e-03 9.94794682e-01 8.75416174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.537105681 meters 0.03525893756938497 Centerline is valid? [True, True] Translation: X:99.14, Y:10.34, Z:8.76 [[ 9.82635990e-01 -1.57187532e-01 -9.85829162e-02 9.91373951e+01] [ 1.55886596e-01 9.87555694e-01 -2.08115420e-02 1.03433725e+01] [ 1.00627435e-01 5.08241494e-03 9.94911196e-01 8.76155408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.597105681 meters 0.035412598928432404 Centerline is valid? [True, True] Translation: X:99.20, Y:10.34, Z:8.77 [[ 9.82536534e-01 -1.58502827e-01 -9.74618515e-02 9.91963677e+01] [ 1.57237519e-01 9.87346394e-01 -2.05781764e-02 1.03431906e+01] [ 9.94903067e-02 4.89415038e-03 9.95026495e-01 8.76568635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.657105681 meters 0.033711121707468754 Centerline is valid? [True, True] Translation: X:99.26, Y:10.34, Z:8.77 [[ 9.82269443e-01 -1.58000211e-01 -1.00909241e-01 9.92577225e+01] [ 1.56639240e-01 9.87425716e-01 -2.13214641e-02 1.03380397e+01] [ 1.03009176e-01 5.13707580e-03 9.94667140e-01 8.77095746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717105681 meters 0.03776071087593863 Centerline is valid? [True, True] Translation: X:99.32, Y:10.34, Z:8.78 [[ 9.83350248e-01 -1.52387564e-01 -9.89965674e-02 9.93176779e+01] [ 1.51046514e-01 9.88304689e-01 -2.09473606e-02 1.03381870e+01] [ 1.01030889e-01 5.64550584e-03 9.94867271e-01 8.77849248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777105681 meters 0.036824785314303124 Centerline is valid? [True, True] Translation: X:99.38, Y:10.33, Z:8.79 [[ 9.83436166e-01 -1.53265356e-01 -9.67627981e-02 9.93783631e+01] [ 1.51987847e-01 9.88170117e-01 -2.04820386e-02 1.03345358e+01] [ 9.87572925e-02 5.43600821e-03 9.95096702e-01 8.78672476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.837105681 meters 0.036916189065130035 Centerline is valid? [True, True] Translation: X:99.44, Y:10.33, Z:8.80 [[ 9.83358352e-01 -1.55007692e-01 -9.47574157e-02 9.94392995e+01] [ 1.53787892e-01 9.87899679e-01 -2.00875143e-02 1.03310557e+01] [ 9.67245398e-02 5.18068169e-03 9.95297706e-01 8.79561432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.897105681 meters 0.03634486247248826 Centerline is valid? [True, True] Translation: X:99.50, Y:10.34, Z:8.80 [[ 9.82909810e-01 -1.57656162e-01 -9.50412580e-02 9.94988248e+01] [ 1.56439756e-01 9.87481657e-01 -2.01638491e-02 1.03356227e+01] [ 9.70304539e-02 4.95101385e-03 9.95269099e-01 8.79938409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.957105681 meters 0.033968020959385836 Centerline is valid? [True, True] Translation: X:99.56, Y:10.33, Z:8.80 [[ 9.81673304e-01 -1.62826586e-01 -9.90203361e-02 9.95612157e+01] [ 1.61529149e-01 9.86643719e-01 -2.10358306e-02 1.03322923e+01] [ 1.01122985e-01 4.65564275e-03 9.94863039e-01 8.79964457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.017105681 meters 0.03170550057453873 Centerline is valid? [True, True] Translation: X:99.62, Y:10.33, Z:8.81 [[ 9.81009156e-01 -1.66940668e-01 -9.87514478e-02 9.96236491e+01] [ 1.65670798e-01 9.85957903e-01 -2.09809668e-02 1.03269001e+01] [ 1.00867347e-01 4.22228936e-03 9.94890924e-01 8.80678933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077105681 meters 0.028851409392201828 Centerline is valid? [True, True] Translation: X:99.68, Y:10.33, Z:8.81 [[ 9.80638496e-01 -1.69727546e-01 -9.76765078e-02 9.96834930e+01] [ 1.68498726e-01 9.85483326e-01 -2.07555482e-02 1.03275065e+01] [ 9.97813581e-02 3.89532243e-03 9.95001762e-01 8.81181804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137105681 meters 0.025468384896864284 Centerline is valid? [True, True] Translation: X:99.75, Y:10.32, Z:8.82 [[ 9.79580009e-01 -1.77120213e-01 -9.51390402e-02 9.97451088e+01] [ 1.75988496e-01 9.84184442e-01 -2.02245633e-02 1.03235670e+01] [ 9.72165421e-02 3.06820128e-03 9.95258524e-01 8.82269299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.197105681 meters 0.017896315915803575 Centerline is valid? [True, True] Translation: X:99.81, Y:10.31, Z:8.83 [[ 9.75963283e-01 -1.96009066e-01 -9.52686499e-02 9.98080154e+01] [ 1.94963441e-01 9.80601357e-01 -2.02542602e-02 1.03122851e+01] [ 9.73905860e-02 1.19351041e-03 9.95245522e-01 8.82906687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.257105681 meters 0.016338745959582315 Centerline is valid? [True, True] Translation: X:99.87, Y:10.31, Z:8.84 [[ 9.73558766e-01 -2.09940368e-01 -9.00464888e-02 9.98665655e+01] [ 2.09065482e-01 9.77714175e-01 -1.91472249e-02 1.03104715e+01] [ 9.20595039e-02 -1.84663941e-04 9.95753490e-01 8.84156756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.317105681 meters 0.017982628134747523 Centerline is valid? [True, True] Translation: X:99.92, Y:10.32, Z:8.85 [[ 9.71256773e-01 -2.21235459e-01 -8.78359437e-02 9.99245580e+01] [ 2.20448130e-01 9.75219668e-01 -1.86874687e-02 1.03151053e+01] [ 8.97936705e-02 -1.21293904e-03 9.95959651e-01 8.85171055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.377105681 meters 0.017903918315004114 Centerline is valid? [True, True] Translation: X:99.98, Y:10.34, Z:8.85 [[ 9.71151389e-01 -2.21289578e-01 -8.88588860e-02 9.99800933e+01] [ 2.20482912e-01 9.75207379e-01 -1.89169947e-02 1.03355364e+01] [ 9.08419751e-02 -1.22060026e-03 9.95864572e-01 8.85305890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437105681 meters 0.01734148857606042 Centerline is valid? [True, True] Translation: X:100.04, Y:10.35, Z:8.85 [[ 9.71279483e-01 -2.17863301e-01 -9.56647657e-02 1.00035445e+02] [ 2.16907336e-01 9.75978852e-01 -2.04080325e-02 1.03546828e+01] [ 9.78129495e-02 -9.28486175e-04 9.95204383e-01 8.85109004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497105681 meters 0.017458947317147533 Centerline is valid? [True, True] Translation: X:100.09, Y:10.38, Z:8.85 [[ 9.71072676e-01 -2.16800463e-01 -1.00077058e-01 1.00090584e+02] [ 2.15744393e-01 9.76215593e-01 -2.13885987e-02 1.03761658e+01] [ 1.02333842e-01 -8.21180258e-04 9.94749773e-01 8.84915502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.557105681 meters 0.018545157613057778 Centerline is valid? [True, True] Translation: X:100.15, Y:10.39, Z:8.85 [[ 9.70196096e-01 -2.18332105e-01 -1.05121966e-01 1.00146232e+02] [ 2.17174062e-01 9.75873994e-01 -2.24805195e-02 1.03912311e+01] [ 1.07494012e-01 -1.01925206e-03 9.94205210e-01 8.85259787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.617105681 meters 0.021720089698264854 Centerline is valid? [True, True] Translation: X:100.20, Y:10.40, Z:8.86 [[ 9.68008016e-01 -2.29716168e-01 -1.00950301e-01 1.00203233e+02] [ 2.28708430e-01 9.73255232e-01 -2.16033980e-02 1.04025681e+01] [ 1.03213058e-01 -2.17592235e-03 9.94656891e-01 8.86364933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.677105681 meters 0.03277559546441166 Centerline is valid? [True, True] Translation: X:100.26, Y:10.41, Z:8.86 [[ 9.62383989e-01 -2.50602286e-01 -1.04955003e-01 1.00264170e+02] [ 2.49632356e-01 9.68079418e-01 -2.24928157e-02 1.04066135e+01] [ 1.07241530e-01 -4.55343900e-03 9.94222571e-01 8.86480430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.737105681 meters 0.036022964463135215 Centerline is valid? [True, True] Translation: X:100.32, Y:10.43, Z:8.87 [[ 9.60531408e-01 -2.57797175e-01 -1.04498947e-01 1.00320951e+02] [ 2.56877554e-01 9.66184362e-01 -2.23987021e-02 1.04273447e+01] [ 1.06739571e-01 -5.32877703e-03 9.94272733e-01 8.87128319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797105681 meters 0.03381824802142384 Centerline is valid? [True, True] Translation: X:100.37, Y:10.46, Z:8.88 [[ 9.61779501e-01 -2.54182315e-01 -1.01840765e-01 1.00374682e+02] [ 2.53288099e-01 9.67144438e-01 -2.18351752e-02 1.04602352e+01] [ 1.04044845e-01 -4.79442991e-03 9.94561051e-01 8.87834721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857105681 meters 0.03167566262677504 Centerline is valid? [True, True] Translation: X:100.43, Y:10.50, Z:8.89 [[ 9.63471285e-01 -2.49237086e-01 -9.79997818e-02 1.00427056e+02] [ 2.48382019e-01 9.68433897e-01 -2.10275891e-02 1.04999138e+01] [ 1.00147166e-01 -4.08190542e-03 9.94964262e-01 8.89047604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.917105681 meters 0.033547242744889724 Centerline is valid? [True, True] Translation: X:100.48, Y:10.53, Z:8.89 [[ 9.62135622e-01 -2.53034519e-01 -1.01333985e-01 1.00481447e+02] [ 2.52140824e-01 9.67446182e-01 -2.17460182e-02 1.05313508e+01] [ 1.03537670e-01 -4.62781559e-03 9.94614767e-01 8.89011982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.977105681 meters 0.03802866198670155 Centerline is valid? [True, True] Translation: X:100.54, Y:10.55, Z:8.90 [[ 9.60279492e-01 -2.60146431e-01 -1.00931326e-01 1.00537578e+02] [ 2.59298325e-01 9.65554259e-01 -2.16645405e-02 1.05549873e+01] [ 1.03090625e-01 -5.36730982e-03 9.94657486e-01 8.89645217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.037105681 meters 0.040366259370442706 Centerline is valid? [True, True] Translation: X:100.59, Y:10.59, Z:8.90 [[ 9.59109065e-01 -2.63498905e-01 -1.03335033e-01 1.00590512e+02] [ 2.62628768e-01 9.64641888e-01 -2.21846257e-02 1.05917283e+01] [ 1.05526926e-01 -5.86127680e-03 9.94399172e-01 8.89921427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.097105681 meters 0.04353840292838935 Centerline is valid? [True, True] Translation: X:100.64, Y:10.62, Z:8.90 [[ 9.58047955e-01 -2.65564089e-01 -1.07795320e-01 1.00644501e+02] [ 2.64629345e-01 9.64072311e-01 -2.31492642e-02 1.06208108e+01] [ 1.10070097e-01 -6.34769975e-03 9.93903557e-01 8.89861694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.157105681 meters 0.04623746509493584 Centerline is valid? [True, True] Translation: X:100.70, Y:10.65, Z:8.90 [[ 9.55990690e-01 -2.71194936e-01 -1.11960292e-01 1.00699002e+02] [ 2.70223836e-01 9.62497057e-01 -2.40518837e-02 1.06505769e+01] [ 1.14284201e-01 -7.26096273e-03 9.93421562e-01 8.90017965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217105681 meters 0.05163022484421488 Centerline is valid? [True, True] Translation: X:100.75, Y:10.68, Z:8.91 [[ 9.55406686e-01 -2.74767887e-01 -1.08169649e-01 1.00750953e+02] [ 2.73883463e-01 9.61481967e-01 -2.32438233e-02 1.06848402e+01] [ 1.10389823e-01 -7.41857385e-03 9.93860680e-01 8.91085250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277105681 meters 0.0502296087062155 Centerline is valid? [True, True] Translation: X:100.80, Y:10.72, Z:8.92 [[ 9.55829657e-01 -2.75312785e-01 -1.02920054e-01 1.00801942e+02] [ 2.74514095e-01 9.61328462e-01 -2.21269112e-02 1.07224200e+01] [ 1.05031799e-01 -7.10344743e-03 9.94443494e-01 8.92255988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.337105681 meters 0.04461586590228801 Centerline is valid? [True, True] Translation: X:100.85, Y:10.76, Z:8.93 [[ 9.55451341e-01 -2.77049336e-01 -1.01766397e-01 1.00853187e+02] [ 2.76274723e-01 9.60828873e-01 -2.19124091e-02 1.07646294e+01] [ 1.03850911e-01 -7.17924248e-03 9.94566964e-01 8.92781952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.397105681 meters 0.045035133845430314 Centerline is valid? [True, True] Translation: X:100.91, Y:10.80, Z:8.93 [[ 9.55558282e-01 -2.76375122e-01 -1.02592207e-01 1.00905860e+02] [ 2.75580151e-01 9.61023399e-01 -2.21270604e-02 1.07981137e+01] [ 1.04708880e-01 -7.12868005e-03 9.94477366e-01 8.93041188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.457105681 meters 0.04702449818342888 Centerline is valid? [True, True] Translation: X:100.96, Y:10.84, Z:8.94 [[ 9.54507397e-01 -2.81058509e-01 -9.96079495e-02 1.00958100e+02] [ 2.80331338e-01 9.59662192e-01 -2.15132297e-02 1.08392429e+01] [ 1.01636459e-01 -7.38869288e-03 9.94794168e-01 8.93910697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.517105681 meters 0.05193852743368612 Centerline is valid? [True, True] Translation: X:101.01, Y:10.86, Z:8.94 [[ 9.51854705e-01 -2.90109451e-01 -9.90410395e-02 1.01014900e+02] [ 2.89438688e-01 9.56957454e-01 -2.13934007e-02 1.08624536e+01] [ 1.00984489e-01 -8.30289939e-03 9.94853353e-01 8.94238466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577105681 meters 0.05999679997844207 Centerline is valid? [True, True] Translation: X:101.07, Y:10.89, Z:8.94 [[ 9.49371349e-01 -2.97822003e-01 -9.99804837e-02 1.01070277e+02] [ 2.97180289e-01 9.54577032e-01 -2.16001298e-02 1.08880799e+01] [ 1.01872067e-01 -9.20568472e-03 9.94754913e-01 8.94449172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637105681 meters 0.06071937011451932 Centerline is valid? [True, True] Translation: X:101.12, Y:10.93, Z:8.94 [[ 9.48490832e-01 -2.99900653e-01 -1.02101617e-01 1.01123454e+02] [ 2.99242984e-01 9.53921856e-01 -2.20619444e-02 1.09275049e+01] [ 1.04013356e-01 -9.62764070e-03 9.94529301e-01 8.94320176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.697105681 meters 0.06211688736312857 Centerline is valid? [True, True] Translation: X:101.18, Y:10.96, Z:8.95 [[ 9.48881516e-01 -2.99064718e-01 -1.00916613e-01 1.01177361e+02] [ 2.98417104e-01 9.54186332e-01 -2.18100145e-02 1.09583758e+01] [ 1.02815858e-01 -9.42012365e-03 9.94655800e-01 8.94821264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.757105681 meters 0.06128502646206813 Centerline is valid? [True, True] Translation: X:101.23, Y:10.99, Z:8.95 [[ 9.49566838e-01 -2.95397306e-01 -1.05181995e-01 1.01231691e+02] [ 2.94670080e-01 9.55328301e-01 -2.27460118e-02 1.09904959e+01] [ 1.07202447e-01 -9.39512828e-03 9.94192822e-01 8.94895634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.817105681 meters 0.0525965672792149 Centerline is valid? [True, True] Translation: X:101.28, Y:11.03, Z:8.96 [[ 9.51113357e-01 -2.91545030e-01 -1.01906216e-01 1.01283728e+02] [ 2.90840191e-01 9.56517759e-01 -2.20399575e-02 1.10286433e+01] [ 1.03900746e-01 -8.67592538e-03 9.94549829e-01 8.96000364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.877105681 meters 0.046003035315035315 Centerline is valid? [True, True] Translation: X:101.34, Y:11.07, Z:8.97 [[ 9.55442551e-01 -2.79771654e-01 -9.41135103e-02 1.01336075e+02] [ 2.79113292e-01 9.60042363e-01 -2.03575867e-02 1.10680286e+01] [ 9.60484325e-02 -6.81782711e-03 9.95353312e-01 8.97185309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937105681 meters 0.03188978297173869 Centerline is valid? [True, True] Translation: X:101.38, Y:11.13, Z:8.97 [[ 9.62764626e-01 -2.53502558e-01 -9.39187283e-02 1.01383728e+02] [ 2.52721548e-01 9.67325709e-01 -2.03173022e-02 1.11317598e+01] [ 9.60004885e-02 -4.17450656e-03 9.95372533e-01 8.97445545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997105681 meters 0.025062731477692366 Centerline is valid? [True, True] Translation: X:101.44, Y:11.17, Z:8.97 [[ 9.66753779e-01 -2.37407332e-01 -9.49994176e-02 1.01437136e+02] [ 2.36530346e-01 9.71406708e-01 -2.05524302e-02 1.11735463e+01] [ 9.71623691e-02 -2.60110553e-03 9.95265145e-01 8.97408666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.057105681 meters 0.024085683493745253 Centerline is valid? [True, True] Translation: X:101.49, Y:11.20, Z:8.97 [[ 9.66762705e-01 -2.34519125e-01 -1.01836401e-01 1.01491138e+02] [ 2.33494500e-01 9.72108360e-01 -2.20375828e-02 1.11992696e+01] [ 1.04164252e-01 -2.47312646e-03 9.94557033e-01 8.97018229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.117105681 meters 0.02719210956886082 Centerline is valid? [True, True] Translation: X:101.55, Y:11.21, Z:8.98 [[ 9.65365146e-01 -2.41587028e-01 -9.85182341e-02 1.01550159e+02] [ 2.40661546e-01 9.70374214e-01 -2.13519246e-02 1.12065122e+01] [ 1.00757902e-01 -3.09714669e-03 9.94906153e-01 8.97803403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.177105681 meters 0.029874975366770806 Centerline is valid? [True, True] Translation: X:101.61, Y:11.21, Z:8.99 [[ 9.63683292e-01 -2.49162069e-01 -9.60873401e-02 1.01609993e+02] [ 2.48318794e-01 9.68454397e-01 -2.08292572e-02 1.12101404e+01] [ 9.82460678e-02 -3.78748532e-03 9.95154945e-01 8.98678562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.237105681 meters 0.03029539900980717 Centerline is valid? [True, True] Translation: X:101.67, Y:11.22, Z:8.99 [[ 9.63532925e-01 -2.49455506e-01 -9.68310485e-02 1.01667747e+02] [ 2.48600009e-01 9.68378641e-01 -2.09962664e-02 1.12162788e+01] [ 9.90067534e-02 -3.84160547e-03 9.95079346e-01 8.98982385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297105681 meters 0.023174746357656626 Centerline is valid? [True, True] Translation: X:101.72, Y:11.23, Z:9.00 [[ 9.67271076e-01 -2.35253857e-01 -9.50909518e-02 1.01724548e+02] [ 2.34357051e-01 9.71931216e-01 -2.06514937e-02 1.12342514e+01] [ 9.72802080e-02 -2.30964257e-03 9.95254353e-01 8.99651369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357105681 meters 0.021517610579605786 Centerline is valid? [True, True] Translation: X:101.78, Y:11.25, Z:9.00 [[ 9.68541559e-01 -2.29057405e-01 -9.72622941e-02 1.01781110e+02] [ 2.28087445e-01 9.73411394e-01 -2.11275864e-02 1.12453932e+01] [ 9.95156554e-02 -1.72136269e-03 9.95034508e-01 9.00001771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.417105681 meters 0.02106933243559025 Centerline is valid? [True, True] Translation: X:101.84, Y:11.25, Z:9.00 [[ 9.68460089e-01 -2.28770204e-01 -9.87382892e-02 1.01840427e+02] [ 2.27767535e-01 9.73478963e-01 -2.14629435e-02 1.12472959e+01] [ 1.01029729e-01 -1.70337256e-03 9.94881949e-01 9.00021763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.477105681 meters 0.01888925437535108 Centerline is valid? [True, True] Translation: X:101.90, Y:11.25, Z:9.01 [[ 9.69597142e-01 -2.24498798e-01 -9.73738755e-02 1.01898372e+02] [ 2.23498689e-01 9.74473620e-01 -2.12014352e-02 1.12535754e+01] [ 9.96479696e-02 -1.20608251e-03 9.95022024e-01 9.01258647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.537105681 meters 0.017124175095242066 Centerline is valid? [True, True] Translation: X:101.96, Y:11.26, Z:9.02 [[ 9.71413515e-01 -2.16839620e-01 -9.66248563e-02 1.01956423e+02] [ 2.15813799e-01 9.76207166e-01 -2.10706616e-02 1.12612138e+01] [ 9.88948314e-02 -3.84651902e-04 9.95097816e-01 9.01947157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.597105681 meters 0.016618568925841137 Centerline is valid? [True, True] Translation: X:102.01, Y:11.26, Z:9.03 [[ 9.73453432e-01 -2.09236686e-01 -9.27816015e-02 1.02014965e+02] [ 2.08253582e-01 9.77864943e-01 -2.02632397e-02 1.12646488e+01] [ 9.49676886e-02 4.03219352e-04 9.95480274e-01 9.02911732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.657105681 meters 0.016257129846765122 Centerline is valid? [True, True] Translation: X:102.08, Y:11.26, Z:9.03 [[ 9.72685469e-01 -2.11484647e-01 -9.56933738e-02 1.02076119e+02] [ 2.10446096e-01 9.77381294e-01 -2.09343417e-02 1.12618138e+01] [ 9.79562053e-02 2.24233001e-04 9.95190701e-01 9.03171863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717105681 meters 0.017080265251636403 Centerline is valid? [True, True] Translation: X:102.14, Y:11.25, Z:9.03 [[ 9.69604550e-01 -2.24376966e-01 -9.75807076e-02 1.02137942e+02] [ 2.23358550e-01 9.74501843e-01 -2.13802607e-02 1.12492866e+01] [ 9.98898174e-02 -1.06508727e-03 9.94997935e-01 9.03465488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777105681 meters 0.02457619390448826 Centerline is valid? [True, True] Translation: X:102.20, Y:11.23, Z:9.04 [[ 9.64427909e-01 -2.44960098e-01 -9.93647799e-02 1.02203100e+02] [ 2.44011200e-01 9.69527752e-01 -2.17823769e-02 1.12326050e+01] [ 1.01672725e-01 -3.23858701e-03 9.94812630e-01 9.03760478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.837105681 meters 0.0394482469227703 Centerline is valid? [True, True] Translation: X:102.27, Y:11.21, Z:9.05 [[ 9.57764470e-01 -2.71437288e-01 -9.49158517e-02 1.02268761e+02] [ 2.70699930e-01 9.62438866e-01 -2.08081268e-02 1.12096724e+01] [ 9.69988062e-02 -5.76442987e-03 9.95267805e-01 9.05151560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.897105681 meters 0.03967222823029275 Centerline is valid? [True, True] Translation: X:102.33, Y:11.22, Z:9.07 [[ 9.57807951e-01 -2.72939847e-01 -9.00431557e-02 1.02325884e+02] [ 2.72282766e-01 9.62014751e-01 -1.97412018e-02 1.12208267e+01] [ 9.20110046e-02 -5.60891944e-03 9.95742193e-01 9.06543075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.957105681 meters 0.03964663981888297 Centerline is valid? [True, True] Translation: X:102.38, Y:11.24, Z:9.07 [[ 9.58802909e-01 -2.69313581e-01 -9.03724333e-02 1.02383258e+02] [ 2.68632867e-01 9.63038224e-01 -1.98434168e-02 1.12371554e+01] [ 9.23762094e-02 -5.25108009e-03 9.95710330e-01 9.06602540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.017105681 meters 0.03882714816994354 Centerline is valid? [True, True] Translation: X:102.44, Y:11.26, Z:9.07 [[ 9.57836068e-01 -2.71195447e-01 -9.48846511e-02 1.02440226e+02] [ 2.70453728e-01 9.62507413e-01 -2.08389054e-02 1.12572243e+01] [ 9.69785964e-02 -5.70165242e-03 9.95270136e-01 9.06565021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077105681 meters 0.04257334676381785 Centerline is valid? [True, True] Translation: X:102.50, Y:11.27, Z:9.07 [[ 9.56297881e-01 -2.76163242e-01 -9.60636637e-02 1.02497663e+02] [ 2.75427369e-01 9.61090239e-01 -2.11025327e-02 1.12715715e+01] [ 9.81535933e-02 -6.27825486e-03 9.95151474e-01 9.07009487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137105681 meters 0.04671621313080743 Centerline is valid? [True, True] Translation: X:102.56, Y:11.29, Z:9.08 [[ 9.54734518e-01 -2.82525182e-01 -9.30672952e-02 1.02555914e+02] [ 2.81864126e-01 9.59236414e-01 -2.04479172e-02 1.12870086e+01] [ 9.50505900e-02 -6.70999944e-03 9.95449829e-01 9.07761980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.197105681 meters 0.05142154309671697 Centerline is valid? [True, True] Translation: X:102.61, Y:11.31, Z:9.08 [[ 9.53406932e-01 -2.85803788e-01 -9.65992615e-02 1.02612781e+02] [ 2.85108154e-01 9.58260315e-01 -2.12251971e-02 1.13060031e+01] [ 9.86334805e-02 -7.30498704e-03 9.95097017e-01 9.07596807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.257105681 meters 0.051163736796639915 Centerline is valid? [True, True] Translation: X:102.67, Y:11.34, Z:9.08 [[ 9.53326248e-01 -2.86197532e-01 -9.62290877e-02 1.02666103e+02] [ 2.85508478e-01 9.58142752e-01 -2.11512466e-02 1.13353005e+01] [ 9.82546375e-02 -7.31018178e-03 9.95134457e-01 9.07928261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.317105681 meters 0.05068604348557917 Centerline is valid? [True, True] Translation: X:102.72, Y:11.36, Z:9.08 [[ 9.54164368e-01 -2.83177322e-01 -9.68553691e-02 1.02721873e+02] [ 2.82460599e-01 9.59041924e-01 -2.13213267e-02 1.13589902e+01] [ 9.89260757e-02 -7.01377526e-03 9.95070067e-01 9.08347751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.377105681 meters 0.04806766784779349 Centerline is valid? [True, True] Translation: X:102.78, Y:11.39, Z:9.09 [[ 9.56029095e-01 -2.77532707e-01 -9.47837827e-02 1.02776264e+02] [ 2.76818350e-01 9.60695622e-01 -2.08691838e-02 1.13887158e+01] [ 9.68502461e-02 -6.28634342e-03 9.95279112e-01 9.09406651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437105681 meters 0.0320544533147047 Centerline is valid? [True, True] Translation: X:102.83, Y:11.44, Z:9.10 [[ 9.61552745e-01 -2.59745203e-01 -8.91557512e-02 1.02826688e+02] [ 2.59036660e-01 9.65667973e-01 -1.96309501e-02 1.14374325e+01] [ 9.11938986e-02 -4.21841413e-03 9.95824220e-01 9.10476185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497105681 meters 0.021315268939717736 Centerline is valid? [True, True] Translation: X:102.88, Y:11.48, Z:9.11 [[ 9.67439040e-01 -2.36247048e-01 -9.08242038e-02 1.02878693e+02] [ 2.35407776e-01 9.71690898e-01 -1.99994411e-02 1.14804558e+01] [ 9.29778610e-02 -2.03248373e-03 9.95666102e-01 9.10788988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.557105681 meters 0.01793412667498181 Centerline is valid? [True, True] Translation: X:102.93, Y:11.52, Z:9.11 [[ 9.72984951e-01 -2.10480067e-01 -9.48600415e-02 1.02929952e+02] [ 2.09441426e-01 9.77598042e-01 -2.08891484e-02 1.15248996e+01] [ 9.71317402e-02 4.57204672e-04 9.95271428e-01 9.10908813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.617105681 meters 0.019268472696499946 Centerline is valid? [True, True] Translation: X:102.99, Y:11.54, Z:9.11 [[ 9.73892431e-01 -2.04071613e-01 -9.94399772e-02 1.02988083e+02] [ 2.02895702e-01 9.78955277e-01 -2.19066174e-02 1.15371307e+01] [ 1.01817809e-01 1.15874482e-03 9.94802388e-01 9.10601269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.677105681 meters 0.01830655045168741 Centerline is valid? [True, True] Translation: X:103.05, Y:11.54, Z:9.11 [[ 9.73234115e-01 -2.08221718e-01 -9.72577652e-02 1.03047756e+02] [ 2.07114280e-01 9.78081370e-01 -2.14594640e-02 1.15370287e+01] [ 9.95943346e-02 7.41610381e-04 9.95027848e-01 9.11341176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.737105681 meters 0.01787453561932817 Centerline is valid? [True, True] Translation: X:103.11, Y:11.54, Z:9.12 [[ 9.72437717e-01 -2.11865670e-01 -9.73541212e-02 1.03107309e+02] [ 2.10770793e-01 9.77298714e-01 -2.15150419e-02 1.15406353e+01] [ 9.97023562e-02 4.02632904e-04 9.95017225e-01 9.11867869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.797105681 meters 0.0172128257831193 Centerline is valid? [True, True] Translation: X:103.17, Y:11.53, Z:9.13 [[ 9.71602753e-01 -2.18127834e-01 -9.16969963e-02 1.03169157e+02] [ 2.17181713e-01 9.75920186e-01 -2.02951681e-02 1.15312618e+01] [ 9.39158908e-02 -1.96069616e-04 9.95580116e-01 9.12935265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857105681 meters 0.018287254488368453 Centerline is valid? [True, True] Translation: X:103.23, Y:11.52, Z:9.13 [[ 9.69313643e-01 -2.27437473e-01 -9.32912554e-02 1.03230722e+02] [ 2.26497991e-01 9.73792082e-01 -2.06795110e-02 1.15221500e+01] [ 9.55495815e-02 -1.08534974e-03 9.95424080e-01 9.13474139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.917105681 meters 0.020325074237212387 Centerline is valid? [True, True] Translation: X:103.29, Y:11.51, Z:9.14 [[ 9.66832168e-01 -2.35371847e-01 -9.91748590e-02 1.03294100e+02] [ 2.34350150e-01 9.71903386e-01 -2.19958160e-02 1.15100122e+01] [ 1.01565577e-01 -1.97538062e-03 9.94826885e-01 9.13571158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.977105681 meters 0.0176937271880832 Centerline is valid? [True, True] Translation: X:103.35, Y:11.52, Z:9.14 [[ 9.69133210e-01 -2.26615882e-01 -9.70879131e-02 1.03353296e+02] [ 2.25592221e-01 9.73983668e-01 -2.15398114e-02 1.15167653e+01] [ 9.94433051e-02 -1.02733138e-03 9.95042699e-01 9.14328434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.037105681 meters 0.017757583605466535 Centerline is valid? [True, True] Translation: X:103.41, Y:11.54, Z:9.16 [[ 9.73607715e-01 -2.08108675e-01 -9.36952346e-02 1.03406689e+02] [ 2.07069105e-01 9.78105347e-01 -2.07922013e-02 1.15377471e+01] [ 9.59708474e-02 8.42059289e-04 9.95383789e-01 9.15503085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.097105681 meters 0.020521487201081937 Centerline is valid? [True, True] Translation: X:103.46, Y:11.55, Z:9.17 [[ 9.76242108e-01 -1.97924964e-01 -8.81876156e-02 1.03463633e+02] [ 1.96961797e-01 9.80215620e-01 -1.95803148e-02 1.15490128e+01] [ 9.03183114e-02 1.74553650e-03 9.95911420e-01 9.16962195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.157105681 meters 0.018799272426333724 Centerline is valid? [True, True] Translation: X:103.52, Y:11.55, Z:9.18 [[ 9.75623584e-01 -2.02136100e-01 -8.54378103e-02 1.03524184e+02] [ 2.01247783e-01 9.79356553e-01 -1.89755627e-02 1.15450714e+01] [ 8.75097256e-02 1.31883657e-03 9.96162792e-01 9.17890675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217105681 meters 0.01613165031789389 Centerline is valid? [True, True] Translation: X:103.59, Y:11.52, Z:9.18 [[ 9.72144887e-01 -2.17857317e-01 -8.64436703e-02 1.03589360e+02] [ 2.17006902e-01 9.75980628e-01 -1.92306765e-02 1.15231431e+01] [ 8.85568912e-02 -6.38692875e-05 9.96071118e-01 9.18240805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.277105681 meters 0.017437070064372923 Centerline is valid? [True, True] Translation: X:103.65, Y:11.51, Z:9.19 [[ 9.69534189e-01 -2.28657348e-01 -8.78593936e-02 1.03652354e+02] [ 2.27822076e-01 9.73506394e-01 -1.95551005e-02 1.15118559e+01] [ 9.00030989e-02 -1.05697096e-03 9.95940924e-01 9.18614960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.337105681 meters 0.0180030326612481 Centerline is valid? [True, True] Translation: X:103.71, Y:11.51, Z:9.18 [[ 9.68588456e-01 -2.30323884e-01 -9.37406641e-02 1.03713052e+02] [ 2.29377184e-01 9.73113212e-01 -2.08993792e-02 1.15113121e+01] [ 9.60339050e-02 -1.25907220e-03 9.95377267e-01 9.18353770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.397105681 meters 0.01653508254359753 Centerline is valid? [True, True] Translation: X:103.77, Y:11.52, Z:9.19 [[ 9.70216770e-01 -2.23651675e-01 -9.30556175e-02 1.03771382e+02] [ 2.22685055e-01 9.74668976e-01 -2.07786987e-02 1.15187314e+01] [ 9.53456141e-02 -5.62253356e-04 9.95444071e-01 9.19097348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.457105681 meters 0.018806677491935566 Centerline is valid? [True, True] Translation: X:103.82, Y:11.54, Z:9.20 [[ 9.74412500e-01 -2.05136575e-01 -9.18654765e-02 1.03824579e+02] [ 2.04109309e-01 9.78732538e-01 -2.05428529e-02 1.15425401e+01] [ 9.41258214e-02 1.26661368e-03 9.95559504e-01 9.20025426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.517105681 meters 0.028888768451496665 Centerline is valid? [True, True] Translation: X:103.88, Y:11.57, Z:9.21 [[ 9.78534130e-01 -1.85150511e-01 -9.04999734e-02 1.03881344e+02] [ 1.84067091e-01 9.82705110e-01 -2.02477753e-02 1.15657648e+01] [ 9.26836723e-02 3.15507236e-03 9.95690606e-01 9.20500916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577105681 meters 0.03328033479905839 Centerline is valid? [True, True] Translation: X:103.94, Y:11.58, Z:9.20 [[ 9.78999876e-01 -1.79696640e-01 -9.62723191e-02 1.03940611e+02] [ 1.78443823e-01 9.83714310e-01 -2.15396909e-02 1.15752249e+01] [ 9.85750680e-02 3.90815409e-03 9.95121943e-01 9.20197192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637105681 meters 0.029480192594344447 Centerline is valid? [True, True] Translation: X:104.00, Y:11.57, Z:9.20 [[ 9.78469769e-01 -1.79721066e-01 -1.01475366e-01 1.04001952e+02] [ 1.78327830e-01 9.83708949e-01 -2.27131938e-02 1.15698024e+01] [ 1.03904265e-01 4.12829152e-03 9.94578735e-01 9.20490989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.697105681 meters 0.024923201949344793 Centerline is valid? [True, True] Translation: X:104.07, Y:11.55, Z:9.22 [[ 9.76834879e-01 -1.88768168e-01 -1.00797810e-01 1.04066634e+02] [ 1.87438225e-01 9.82016545e-01 -2.25924325e-02 1.15544691e+01] [ 1.03249849e-01 3.17571340e-03 9.94650383e-01 9.21582649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.757105681 meters 0.021702738408832675 Centerline is valid? [True, True] Translation: X:104.13, Y:11.54, Z:9.23 [[ 9.75850709e-01 -1.95447072e-01 -9.75491481e-02 1.04129360e+02] [ 1.94234767e-01 9.80711337e-01 -2.18661497e-02 1.15431258e+01] [ 9.99412304e-02 2.39066170e-03 9.94990470e-01 9.22849363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.817105681 meters 0.01930121751911753 Centerline is valid? [True, True] Translation: X:104.19, Y:11.53, Z:9.24 [[ 9.74630778e-01 -2.03099457e-01 -9.40502868e-02 1.04190981e+02] [ 2.02007821e-01 9.79156882e-01 -2.10864991e-02 1.15349431e+01] [ 9.63726421e-02 1.55265754e-03 9.95344113e-01 9.23764821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.877105681 meters 0.01747920943126755 Centerline is valid? [True, True] Translation: X:104.25, Y:11.53, Z:9.24 [[ 9.72669407e-01 -2.11113935e-01 -9.66702205e-02 1.04252824e+02] [ 2.09999086e-01 9.77461142e-01 -2.16817713e-02 1.15283581e+01] [ 9.90687082e-02 7.88537738e-04 9.95080283e-01 9.24086247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937105681 meters 0.01673843506930187 Centerline is valid? [True, True] Translation: X:104.31, Y:11.52, Z:9.25 [[ 9.70674167e-01 -2.19638435e-01 -9.77272744e-02 1.04313972e+02] [ 2.18538556e-01 9.75581342e-01 -2.19532254e-02 1.15232118e+01] [ 1.00162678e-01 -4.77486494e-05 9.94971073e-01 9.24526064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997105681 meters 0.01710913848638454 Centerline is valid? [True, True] Translation: X:104.37, Y:11.53, Z:9.25 [[ 9.69895464e-01 -2.23798833e-01 -9.60045385e-02 1.04371191e+02] [ 2.22754459e-01 9.74635261e-01 -2.15999668e-02 1.15294133e+01] [ 9.84034558e-02 -4.35729176e-04 9.95146507e-01 9.25330795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.057105681 meters 0.023169247833987158 Centerline is valid? [True, True] Translation: X:104.43, Y:11.53, Z:9.26 [[ 9.65622380e-01 -2.42405469e-01 -9.38776234e-02 1.04433544e+02] [ 2.41490993e-01 9.70172438e-01 -2.11551783e-02 1.15259028e+01] [ 9.62056136e-02 -2.24268685e-03 9.95358955e-01 9.25990122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.117105681 meters 0.03463481951201458 Centerline is valid? [True, True] Translation: X:104.50, Y:11.52, Z:9.26 [[ 9.60323172e-01 -2.61868791e-01 -9.59382159e-02 1.04495228e+02] [ 2.61009866e-01 9.65094000e-01 -2.16199166e-02 1.15225096e+01] [ 9.82509779e-02 -4.27871397e-03 9.95152470e-01 9.26169581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.177105681 meters 0.03701379639259293 Centerline is valid? [True, True] Translation: X:104.55, Y:11.54, Z:9.27 [[ 9.57474145e-01 -2.71843727e-01 -9.66656610e-02 1.04552594e+02] [ 2.71021726e-01 9.62326610e-01 -2.17880586e-02 1.15391651e+01] [ 9.89468849e-02 -5.33699150e-03 9.95078404e-01 9.26666981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.237105681 meters 0.03877895167844381 Centerline is valid? [True, True] Translation: X:104.61, Y:11.56, Z:9.27 [[ 9.56291330e-01 -2.75416425e-01 -9.82480761e-02 1.04608897e+02] [ 2.74585519e-01 9.61307545e-01 -2.21493974e-02 1.15613294e+01] [ 1.00546925e-01 -5.79622230e-03 9.94915433e-01 9.27187123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.297105681 meters 0.04414330314858475 Centerline is valid? [True, True] Translation: X:104.66, Y:11.59, Z:9.28 [[ 9.54152453e-01 -2.84045997e-01 -9.43979292e-02 1.04663085e+02] [ 2.83320471e-01 9.58789056e-01 -2.12851226e-02 1.15893937e+01] [ 9.65536554e-02 -6.43561374e-03 9.95306975e-01 9.28191015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357105681 meters 0.04751854305671923 Centerline is valid? [True, True] Translation: X:104.72, Y:11.62, Z:9.29 [[ 9.52282862e-01 -2.91726101e-01 -8.97398083e-02 1.04717177e+02] [ 2.91103823e-01 9.56477367e-01 -2.02388537e-02 1.16199850e+01] [ 9.17382974e-02 -6.85048773e-03 9.95759587e-01 9.29207490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.417105681 meters 0.05010336320783692 Centerline is valid? [True, True] Translation: X:104.77, Y:11.65, Z:9.30 [[ 9.51953155e-01 -2.93442734e-01 -8.76159371e-02 1.04769629e+02] [ 2.92856632e-01 9.55952133e-01 -1.97613823e-02 1.16527101e+01] [ 8.95554760e-02 -6.84699802e-03 9.95958300e-01 9.29729571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.477105681 meters 0.04288090265005374 Centerline is valid? [True, True] Translation: X:104.82, Y:11.71, Z:9.30 [[ 9.54654405e-01 -2.84539664e-01 -8.75907910e-02 1.04817166e+02] [ 2.83916023e-01 9.58645477e-01 -1.97621162e-02 1.17124727e+01] [ 8.95916216e-02 -6.00243780e-03 9.95960497e-01 9.30259285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.537105681 meters 0.037822467477789876 Centerline is valid? [True, True] Translation: X:104.87, Y:11.76, Z:9.30 [[ 9.57806441e-01 -2.71925216e-01 -9.30779129e-02 1.04866660e+02] [ 2.71161337e-01 9.62304750e-01 -2.10023155e-02 1.17614513e+01] [ 9.52803769e-02 -5.12297829e-03 9.95437293e-01 9.30179992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.597105681 meters 0.02893271342399252 Centerline is valid? [True, True] Translation: X:104.92, Y:11.81, Z:9.31 [[ 9.61890768e-01 -2.57170290e-01 -9.28955998e-02 1.04916543e+02] [ 2.56340177e-01 9.66359223e-01 -2.09658122e-02 1.18107462e+01] [ 9.51623037e-02 -3.64605332e-03 9.95455093e-01 9.30816666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.657105681 meters 0.022179675192865844 Centerline is valid? [True, True] Translation: X:104.97, Y:11.85, Z:9.31 [[ 9.65618269e-01 -2.41782019e-01 -9.55134250e-02 1.04969530e+02] [ 2.40828830e-01 9.70328132e-01 -2.15590255e-02 1.18508796e+01] [ 9.78919479e-02 -2.18459757e-03 9.95194651e-01 9.30990133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717105681 meters 0.01815546918385853 Centerline is valid? [True, True] Translation: X:105.02, Y:11.90, Z:9.31 [[ 9.70576447e-01 -2.20463170e-01 -9.68367260e-02 1.05019469e+02] [ 2.19376857e-01 9.75395299e-01 -2.18587486e-02 1.19001704e+01] [ 9.92731363e-02 -2.81500295e-05 9.95060221e-01 9.31081211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.777105681 meters 0.019142675312896252 Centerline is valid? [True, True] Translation: X:105.07, Y:11.93, Z:9.31 [[ 9.72137246e-01 -2.13838852e-01 -9.60318743e-02 1.05073121e+02] [ 2.12737537e-01 9.76868733e-01 -2.16845223e-02 1.19284199e+01] [ 9.84475288e-02 6.50747451e-04 9.95142030e-01 9.31315859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.837105681 meters 0.018673335499717822 Centerline is valid? [True, True] Translation: X:105.13, Y:11.94, Z:9.32 [[ 9.71290368e-01 -2.16904925e-01 -9.77101560e-02 1.05130073e+02] [ 2.15776598e-01 9.76192660e-01 -2.20986642e-02 1.19396929e+01] [ 1.00177246e-01 3.80654590e-04 9.94969534e-01 9.31655616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.897105681 meters 0.018745202136141406 Centerline is valid? [True, True] Translation: X:105.19, Y:11.95, Z:9.33 [[ 9.70398770e-01 -2.22982757e-01 -9.27626877e-02 1.05186530e+02] [ 2.21990361e-01 9.74822369e-01 -2.10149844e-02 1.19479043e+01] [ 9.51131221e-02 -1.99507500e-04 9.95466451e-01 9.32623650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.957105681 meters 0.020290579031796083 Centerline is valid? [True, True] Translation: X:105.25, Y:11.94, Z:9.34 [[ 9.68668757e-01 -2.32502278e-01 -8.73128252e-02 1.05246433e+02] [ 2.31660850e-01 9.72595278e-01 -1.97907880e-02 1.19437036e+01] [ 8.95214448e-02 -1.05624524e-03 9.95984335e-01 9.33790279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.017105681 meters 0.022439055135605197 Centerline is valid? [True, True] Translation: X:105.31, Y:11.95, Z:9.34 [[ 9.67013678e-01 -2.39890145e-01 -8.56578393e-02 1.05306382e+02] [ 2.39108368e-01 9.70798558e-01 -1.94254679e-02 1.19487669e+01] [ 8.78164852e-02 -1.69681303e-03 9.96135225e-01 9.34490262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077105681 meters 0.01901777432298028 Centerline is valid? [True, True] Translation: X:105.36, Y:11.97, Z:9.35 [[ 9.70381838e-01 -2.24689198e-01 -8.87347308e-02 1.05361938e+02] [ 2.23786090e-01 9.74430428e-01 -2.01277869e-02 1.19704012e+01] [ 9.09883180e-02 -3.25959587e-04 9.95851907e-01 9.34527136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137105681 meters 0.021274143501664837 Centerline is valid? [True, True] Translation: X:105.42, Y:11.99, Z:9.35 [[ 9.73898330e-01 -2.07819629e-01 -9.12855075e-02 1.05417146e+02] [ 2.06788779e-01 9.78166305e-01 -2.07142606e-02 1.19943074e+01] [ 9.35972375e-02 1.29676518e-03 9.95609299e-01 9.34626363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.197105681 meters 0.026914115644374983 Centerline is valid? [True, True] Translation: X:105.48, Y:12.00, Z:9.35 [[ 9.76128420e-01 -1.95888473e-01 -9.38137145e-02 1.05476105e+02] [ 1.94741630e-01 9.80622893e-01 -2.13175756e-02 1.20030030e+01] [ 9.61717434e-02 2.53925566e-03 9.95361516e-01 9.34869079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.257105681 meters 0.026190253080564652 Centerline is valid? [True, True] Translation: X:105.54, Y:12.00, Z:9.36 [[ 9.76510999e-01 -1.94506443e-01 -9.27011984e-02 1.05536194e+02] [ 1.93380129e-01 9.80897668e-01 -2.10686875e-02 1.20011165e+01] [ 9.50283848e-02 2.64723531e-03 9.95471043e-01 9.35517037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.317105681 meters 0.03161509879874499 Centerline is valid? [True, True] Translation: X:105.60, Y:12.01, Z:9.36 [[ 9.78365145e-01 -1.85007355e-01 -9.25954772e-02 1.05595500e+02] [ 1.83838231e-01 9.82730555e-01 -2.10751472e-02 1.20077986e+01] [ 9.48954619e-02 3.59660066e-03 9.95480746e-01 9.36034721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.377105681 meters 0.03836947456311846 Centerline is valid? [True, True] Translation: X:105.66, Y:12.01, Z:9.36 [[ 9.79853338e-01 -1.73705895e-01 -9.85580955e-02 1.05657481e+02] [ 1.72323673e-01 9.84784892e-01 -2.24336222e-02 1.20086542e+01] [ 1.00955376e-01 4.99776662e-03 9.94878402e-01 9.35529523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437105681 meters 0.03696994376579765 Centerline is valid? [True, True] Translation: X:105.72, Y:12.00, Z:9.36 [[ 9.79384353e-01 -1.78835353e-01 -9.39372438e-02 1.05720037e+02] [ 1.77603370e-01 9.83869795e-01 -2.13838623e-02 1.19994847e+01] [ 9.62462074e-02 4.25944912e-03 9.95348444e-01 9.36485650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497105681 meters 0.021321659294222296 Centerline is valid? [True, True] Translation: X:105.79, Y:11.96, Z:9.38 [[ 9.75113663e-01 -2.03451276e-01 -8.80961017e-02 1.05790830e+02] [ 2.02467487e-01 9.79083558e-01 -2.00574853e-02 1.19555513e+01] [ 9.03341657e-02 1.72173168e-03 9.95910023e-01 9.37915444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.557105681 meters 0.01778409422368182 Centerline is valid? [True, True] Translation: X:105.86, Y:11.94, Z:9.38 [[ 9.71604115e-01 -2.18997240e-01 -8.95860054e-02 1.05856687e+02] [ 2.18045338e-01 9.75725436e-01 -2.03986176e-02 1.19359977e+01] [ 9.18785852e-02 2.85570050e-04 9.95770176e-01 9.38219946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.617105681 meters 0.017664655623266756 Centerline is valid? [True, True] Translation: X:105.92, Y:11.93, Z:9.38 [[ 9.70214218e-01 -2.22440359e-01 -9.59409139e-02 1.05919261e+02] [ 2.21364497e-01 9.74946299e-01 -2.18511848e-02 1.19296403e+01] [ 9.83978243e-02 -3.75819561e-05 9.95147158e-01 9.38070482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.677105681 meters 0.01781981068997095 Centerline is valid? [True, True] Translation: X:105.98, Y:11.93, Z:9.38 [[ 9.70612143e-01 -2.19982052e-01 -9.75703020e-02 1.05977839e+02] [ 2.18853540e-01 9.75503888e-01 -2.22551627e-02 1.19328802e+01] [ 1.00075945e-01 2.47525131e-04 9.94979771e-01 9.38461694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.737105681 meters 0.01801263986377883 Centerline is valid? [True, True] Translation: X:106.04, Y:11.93, Z:9.40 [[ 9.70858941e-01 -2.21047763e-01 -9.25786308e-02 1.06037270e+02] [ 2.20035692e-01 9.75262973e-01 -2.11288414e-02 1.19329513e+01] [ 9.49589938e-02 1.42521540e-04 9.95481175e-01 9.39880213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.797105681 meters 0.018489878003019652 Centerline is valid? [True, True] Translation: X:106.10, Y:11.93, Z:9.41 [[ 9.69766751e-01 -2.28021424e-01 -8.69406697e-02 1.06096116e+02] [ 2.27154525e-01 9.73655997e-01 -1.98701090e-02 1.19328167e+01] [ 8.91811150e-02 -4.79595474e-04 9.96015310e-01 9.41257345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857105681 meters 0.02108507913670198 Centerline is valid? [True, True] Translation: X:106.16, Y:11.93, Z:9.42 [[ 9.67090848e-01 -2.38606705e-01 -8.83296816e-02 1.06156933e+02] [ 2.37752606e-01 9.71115212e-01 -2.02223246e-02 1.19346794e+01] [ 9.06034798e-02 -1.44378694e-03 9.95886000e-01 9.41543355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.917105681 meters 0.021717507588343392 Centerline is valid? [True, True] Translation: X:106.21, Y:11.95, Z:9.42 [[ 9.66283253e-01 -2.41478943e-01 -8.93565583e-02 1.06214786e+02] [ 2.40616599e-01 9.70404521e-01 -2.04626060e-02 1.19468193e+01] [ 9.16532966e-02 -1.72799769e-03 9.95789479e-01 9.41879948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.977105681 meters 0.01775956964633794 Centerline is valid? [True, True] Translation: X:106.27, Y:11.98, Z:9.42 [[ 9.70391565e-01 -2.23530317e-01 -9.15117900e-02 1.06267753e+02] [ 2.22542708e-01 9.74696977e-01 -2.09891857e-02 1.19790884e+01] [ 9.38879844e-02 2.44728839e-06 9.95582767e-01 9.42495599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.037105681 meters 0.02091183860892816 Centerline is valid? [True, True] Translation: X:106.32, Y:12.01, Z:9.43 [[ 9.74509390e-01 -2.06329825e-01 -8.80877491e-02 1.06320323e+02] [ 2.05341943e-01 9.78481146e-01 -2.02320101e-02 1.20108788e+01] [ 9.03666687e-02 1.62817432e-03 9.95907232e-01 9.43219695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.097105681 meters 0.0238173008330791 Centerline is valid? [True, True] Translation: X:106.38, Y:12.03, Z:9.44 [[ 9.76269442e-01 -1.97539503e-01 -8.87475157e-02 1.06376519e+02] [ 1.96499824e-01 9.80291822e-01 -2.03902672e-02 1.20301137e+01] [ 9.10263471e-02 2.46752353e-03 9.95845427e-01 9.43510632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.157105681 meters 0.02242681192022702 Centerline is valid? [True, True] Translation: X:106.44, Y:12.04, Z:9.44 [[ 9.75197106e-01 -2.01757207e-01 -9.10199625e-02 1.06435357e+02] [ 2.00680993e-01 9.79433238e-01 -2.09205876e-02 1.20386633e+01] [ 9.33688560e-02 2.13571999e-03 9.95629296e-01 9.43664389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217105681 meters 0.017956556217346733 Centerline is valid? [True, True] Translation: X:106.50, Y:12.03, Z:9.45 [[ 9.71688676e-01 -2.18199753e-01 -9.06089677e-02 1.06498148e+02] [ 2.17201478e-01 9.75903953e-01 -2.08564828e-02 1.20292914e+01] [ 9.29765291e-02 5.85606404e-04 9.95668128e-01 9.44546797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.277105681 meters 0.0182773210807332 Centerline is valid? [True, True] Translation: X:106.56, Y:12.03, Z:9.45 [[ 9.68533016e-01 -2.31463201e-01 -9.14799637e-02 1.06557678e+02] [ 2.30503846e-01 9.72843418e-01 -2.10632635e-02 1.20297821e+01] [ 9.38710510e-02 -6.86017356e-04 9.95584128e-01 9.44983144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.337105681 meters 0.019304321368723135 Centerline is valid? [True, True] Translation: X:106.62, Y:12.04, Z:9.45 [[ 9.66879340e-01 -2.36781468e-01 -9.52831511e-02 1.06616357e+02] [ 2.35762356e-01 9.71562177e-01 -2.19783595e-02 1.20379873e+01] [ 9.77775739e-02 -1.21375855e-03 9.95207553e-01 9.44906582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.397105681 meters 0.018499570431673926 Centerline is valid? [True, True] Translation: X:106.67, Y:12.06, Z:9.45 [[ 9.67602725e-01 -2.30727133e-01 -1.02518085e-01 1.06671732e+02] [ 2.29509140e-01 9.73018302e-01 -2.36841513e-02 1.20592773e+01] [ 1.05216550e-01 -6.11988285e-04 9.94449146e-01 9.44627750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.457105681 meters 0.01793654818471507 Centerline is valid? [True, True] Translation: X:106.73, Y:12.08, Z:9.46 [[ 9.68997714e-01 -2.26273194e-01 -9.92162849e-02 1.06727458e+02] [ 2.25107196e-01 9.74063874e-01 -2.29416518e-02 1.20778716e+01] [ 1.01834080e-01 -1.03891528e-04 9.94801392e-01 9.45523984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.517105681 meters 0.018401134025746665 Centerline is valid? [True, True] Translation: X:106.79, Y:12.09, Z:9.46 [[ 9.68080234e-01 -2.31371597e-01 -9.63734676e-02 1.06785114e+02] [ 2.30293564e-01 9.72865271e-01 -2.23167722e-02 1.20859298e+01] [ 9.89218669e-02 -5.89763274e-04 9.95095029e-01 9.46486645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577105681 meters 0.019392751339217522 Centerline is valid? [True, True] Translation: X:106.84, Y:12.09, Z:9.47 [[ 9.67159307e-01 -2.36443405e-01 -9.32598015e-02 1.06842911e+02] [ 2.35454577e-01 9.71644704e-01 -2.16266418e-02 1.20926332e+01] [ 9.57288691e-02 -1.04203923e-03 9.95406901e-01 9.47443307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637105681 meters 0.021128565442927995 Centerline is valid? [True, True] Translation: X:106.90, Y:12.10, Z:9.48 [[ 9.66038548e-01 -2.41490063e-01 -9.19351638e-02 1.06899041e+02] [ 2.40549118e-01 9.70402147e-01 -2.13493403e-02 1.21038707e+01] [ 9.43697339e-02 -1.49063685e-03 9.95536102e-01 9.47997922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.697105681 meters 0.022202051700244536 Centerline is valid? [True, True] Translation: X:106.96, Y:12.11, Z:9.49 [[ 9.65653574e-01 -2.43515714e-01 -9.06271094e-02 1.06955642e+02] [ 2.42608834e-01 9.69895550e-01 -2.10612446e-02 1.21146463e+01] [ 9.30275741e-02 -1.64907123e-03 9.95662167e-01 9.48666915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.757105681 meters 0.01870985631823868 Centerline is valid? [True, True] Translation: X:107.01, Y:12.15, Z:9.48 [[ 9.66938939e-01 -2.35926048e-01 -9.67883711e-02 1.07009842e+02] [ 2.34851989e-01 9.71770530e-01 -2.25073342e-02 1.21451161e+01] [ 9.93661531e-02 -9.67723560e-04 9.95050467e-01 9.48242142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.817105681 meters 0.017476935024249 Centerline is valid? [True, True] Translation: X:107.06, Y:12.17, Z:9.49 [[ 9.69414185e-01 -2.26305043e-01 -9.49850832e-02 1.07063773e+02] [ 2.25221363e-01 9.74056479e-01 -2.21204183e-02 1.21723233e+01] [ 9.75267980e-02 5.11774502e-05 9.95232898e-01 9.49071798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.877105681 meters 0.017972420183230902 Centerline is valid? [True, True] Translation: X:107.12, Y:12.20, Z:9.49 [[ 9.70677295e-01 -2.20781115e-01 -9.50856885e-02 1.07118438e+02] [ 2.19665487e-01 9.75323173e-01 -2.21761785e-02 1.21980806e+01] [ 9.76353568e-02 6.38868953e-04 9.95222050e-01 9.49351842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937105681 meters 0.017443195275249984 Centerline is valid? [True, True] Translation: X:107.18, Y:12.21, Z:9.50 [[ 9.69995222e-01 -2.23987536e-01 -9.45455031e-02 1.07175686e+02] [ 2.22896652e-01 9.74591948e-01 -2.20820752e-02 1.22080503e+01] [ 9.70893956e-02 3.45631269e-04 9.95275605e-01 9.50056563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997105681 meters 0.01774960532529104 Centerline is valid? [True, True] Translation: X:107.23, Y:12.22, Z:9.51 [[ 9.67992917e-01 -2.32461494e-01 -9.46116569e-02 1.07233736e+02] [ 2.31405957e-01 9.72605487e-01 -2.21325529e-02 1.22152528e+01] [ 9.71647829e-02 -4.69546536e-04 9.95268197e-01 9.50585350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.057105681 meters 0.020013554505899863 Centerline is valid? [True, True] Translation: X:107.29, Y:12.22, Z:9.51 [[ 9.65771674e-01 -2.41934392e-01 -9.35565299e-02 1.07292426e+02] [ 2.40942900e-01 9.70291645e-01 -2.19235587e-02 1.22228919e+01] [ 9.60811822e-02 -1.36862965e-03 9.95372560e-01 9.51148262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.117105681 meters 0.023180792274066258 Centerline is valid? [True, True] Translation: X:107.35, Y:12.23, Z:9.52 [[ 9.63448115e-01 -2.51210030e-01 -9.30658405e-02 1.07351993e+02] [ 2.50269003e-01 9.67929986e-01 -2.18396067e-02 1.22290429e+01] [ 9.55675459e-02 -2.25016720e-03 9.95420404e-01 9.51951733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.177105681 meters 0.03062475567959632 Centerline is valid? [True, True] Translation: X:107.41, Y:12.23, Z:9.53 [[ 9.59995448e-01 -2.64690538e-01 -9.13655257e-02 1.07411002e+02] [ 2.63843823e-01 9.64326986e-01 -2.14452838e-02 1.22333142e+01] [ 9.37826058e-02 -3.51885475e-03 9.95586481e-01 9.52856425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.237105681 meters 0.032979718369693094 Centerline is valid? [True, True] Translation: X:107.47, Y:12.25, Z:9.54 [[ 9.58473763e-01 -2.70420782e-01 -9.05574211e-02 1.07468413e+02] [ 2.69614008e-01 9.62733760e-01 -2.12601377e-02 1.22480166e+01] [ 9.29318696e-02 -4.03826510e-03 9.95664281e-01 9.53554951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.297105681 meters 0.037484721874260135 Centerline is valid? [True, True] Translation: X:107.53, Y:12.26, Z:9.54 [[ 9.56830067e-01 -2.75877262e-01 -9.14765474e-02 1.07525485e+02] [ 2.75078451e-01 9.61181812e-01 -2.14795323e-02 1.22614621e+01] [ 9.38513081e-02 -4.61096463e-03 9.95575548e-01 9.53884056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357105681 meters 0.03920455649324447 Centerline is valid? [True, True] Translation: X:107.58, Y:12.28, Z:9.54 [[ 9.55229938e-01 -2.80822276e-01 -9.31376110e-02 1.07582914e+02] [ 2.80017256e-01 9.59745770e-01 -2.18722082e-02 1.22817316e+01] [ 9.55306315e-02 -5.18715020e-03 9.95412976e-01 9.54059768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.417105681 meters 0.04160924106550851 Centerline is valid? [True, True] Translation: X:107.64, Y:12.31, Z:9.54 [[ 9.53095416e-01 -2.86341554e-01 -9.80695769e-02 1.07637180e+02] [ 2.85477892e-01 9.58108531e-01 -2.30307420e-02 1.23123464e+01] [ 1.00555957e-01 -6.04620146e-03 9.94913033e-01 9.54158076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.477105681 meters 0.04112941838181083 Centerline is valid? [True, True] Translation: X:107.69, Y:12.34, Z:9.55 [[ 9.53156432e-01 -2.86673930e-01 -9.64928723e-02 1.07690478e+02] [ 2.85839097e-01 9.58009560e-01 -2.26648039e-02 1.23422110e+01] [ 9.89385026e-02 -5.97833183e-03 9.95075591e-01 9.55121531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.537105681 meters 0.035224487273015054 Centerline is valid? [True, True] Translation: X:107.74, Y:12.38, Z:9.57 [[ 9.57345070e-01 -2.74598826e-01 -8.99216406e-02 1.07741335e+02] [ 2.73819236e-01 9.61548877e-01 -2.11372579e-02 1.23815967e+01] [ 9.22683187e-02 -4.38662530e-03 9.95724518e-01 9.56518688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.597105681 meters 0.019857704122988228 Centerline is valid? [True, True] Translation: X:107.79, Y:12.45, Z:9.57 [[ 9.66201558e-01 -2.41709447e-01 -8.96163653e-02 1.07786960e+02] [ 2.40792458e-01 9.70347903e-01 -2.10698868e-02 1.24485271e+01] [ 9.20518427e-02 -1.22118744e-03 9.95753467e-01 9.56790983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.657105681 meters 0.019107187869466254 Centerline is valid? [True, True] Translation: X:107.84, Y:12.50, Z:9.57 [[ 9.71207860e-01 -2.19048959e-01 -9.36634692e-02 1.07835712e+02] [ 2.17940981e-01 9.75713378e-01 -2.20257326e-02 1.24961767e+01] [ 9.62134137e-02 9.78456255e-04 9.95360247e-01 9.56853382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717105681 meters 0.024756707610562444 Centerline is valid? [True, True] Translation: X:107.89, Y:12.53, Z:9.57 [[ 9.74036697e-01 -2.05051497e-01 -9.59499676e-02 1.07889988e+02] [ 2.03817217e-01 9.78748106e-01 -2.25983887e-02 1.25296240e+01] [ 9.85446825e-02 2.45540450e-03 9.95129598e-01 9.57057156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.777105681 meters 0.027267866957854853 Centerline is valid? [True, True] Translation: X:107.95, Y:12.55, Z:9.58 [[ 9.74819075e-01 -2.01659169e-01 -9.51911234e-02 1.07945091e+02] [ 2.00427902e-01 9.79451813e-01 -2.24232693e-02 1.25477147e+01] [ 9.77569762e-02 2.77967346e-03 9.95206434e-01 9.57650855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.837105681 meters 0.025200099773395063 Centerline is valid? [True, True] Translation: X:108.00, Y:12.55, Z:9.58 [[ 9.74331422e-01 -2.05293899e-01 -9.23725947e-02 1.08004855e+02] [ 2.04149415e-01 9.78697529e-01 -2.17753101e-02 1.25504331e+01] [ 9.48751684e-02 2.35855773e-03 9.95486383e-01 9.58408210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.897105681 meters 0.02098287624328871 Centerline is valid? [True, True] Translation: X:108.07, Y:12.54, Z:9.59 [[ 9.72676208e-01 -2.13885243e-01 -9.03000399e-02 1.08067563e+02] [ 2.12827282e-01 9.76857642e-01 -2.13001064e-02 1.25409755e+01] [ 9.27660625e-02 1.49979465e-03 9.95686802e-01 9.59030817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.957105681 meters 0.019908650028756213 Centerline is valid? [True, True] Translation: X:108.13, Y:12.54, Z:9.59 [[ 9.71843915e-01 -2.17322677e-01 -9.10508547e-02 1.08127521e+02] [ 2.16261541e-01 9.76099096e-01 -2.14825725e-02 1.25411088e+01] [ 9.35433071e-02 1.18690925e-03 9.95614504e-01 9.59425673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.017105681 meters 0.01744474320785823 Centerline is valid? [True, True] Translation: X:108.19, Y:12.54, Z:9.59 [[ 9.70211957e-01 -2.23489059e-01 -9.34954529e-02 1.08188896e+02] [ 2.22395632e-01 9.74706229e-01 -2.20895964e-02 1.25384704e+01] [ 9.60673834e-02 6.38610181e-04 9.95374628e-01 9.59462539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077105681 meters 0.017181660496263403 Centerline is valid? [True, True] Translation: X:108.25, Y:12.54, Z:9.60 [[ 9.69568648e-01 -2.26195366e-01 -9.36605238e-02 1.08247420e+02] [ 2.25107423e-01 9.74081872e-01 -2.21620109e-02 1.25418441e+01] [ 9.62459625e-02 4.03911826e-04 9.95357499e-01 9.60189872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.137105681 meters 0.021360773547729257 Centerline is valid? [True, True] Translation: X:108.30, Y:12.56, Z:9.61 [[ 9.73225810e-01 -2.10738804e-01 -9.17642545e-02 1.08303872e+02] [ 2.09622566e-01 9.77540503e-01 -2.17472987e-02 1.25595387e+01] [ 9.42862752e-02 1.92917395e-03 9.95543257e-01 9.61315036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.197105681 meters 0.027860539379038353 Centerline is valid? [True, True] Translation: X:108.36, Y:12.58, Z:9.62 [[ 9.76076607e-01 -1.97302360e-01 -9.13577345e-02 1.08361523e+02] [ 1.96136753e-01 9.80337400e-01 -2.16553864e-02 1.25781491e+01] [ 9.38340628e-02 3.21870667e-03 9.95582648e-01 9.61839276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.257105681 meters 0.030263626954018623 Centerline is valid? [True, True] Translation: X:108.42, Y:12.58, Z:9.63 [[ 9.77155375e-01 -1.93132728e-01 -8.86968049e-02 1.08421458e+02] [ 1.92016971e-01 9.81166347e-01 -2.10257557e-02 1.25829657e+01] [ 9.10870816e-02 3.51413833e-03 9.95836731e-01 9.62659308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.317105681 meters 0.030493451624721384 Centerline is valid? [True, True] Translation: X:108.48, Y:12.58, Z:9.62 [[ 9.76749393e-01 -1.92297171e-01 -9.47756375e-02 1.08481745e+02] [ 1.91018117e-01 9.81329197e-01 -2.24741106e-02 1.25841703e+01] [ 9.73278081e-02 3.84771001e-03 9.95244941e-01 9.62406714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.377105681 meters 0.033373483884136634 Centerline is valid? [True, True] Translation: X:108.54, Y:12.58, Z:9.63 [[ 9.77791682e-01 -1.85815950e-01 -9.69322424e-02 1.08544461e+02] [ 1.84443001e-01 9.82573675e-01 -2.30163733e-02 1.25807967e+01] [ 9.95198788e-02 4.62674471e-03 9.95024817e-01 9.62877813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437105681 meters 0.03571639764776051 Centerline is valid? [True, True] Translation: X:108.60, Y:12.58, Z:9.64 [[ 9.79423330e-01 -1.78553880e-01 -9.40662088e-02 1.08604739e+02] [ 1.77227579e-01 9.83916356e-01 -2.23380709e-02 1.25841327e+01] [ 9.65418306e-02 5.20730129e-03 9.95315306e-01 9.64094119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497105681 meters 0.037886164463372944 Centerline is valid? [True, True] Translation: X:108.66, Y:12.59, Z:9.65 [[ 9.79836481e-01 -1.75856145e-01 -9.48424280e-02 1.08662846e+02] [ 1.74494996e-01 9.84400394e-01 -2.25246768e-02 1.25949709e+01] [ 9.73240263e-02 5.52097098e-03 9.95237435e-01 9.64612594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.557105681 meters 0.0421342015995014 Centerline is valid? [True, True] Translation: X:108.72, Y:12.59, Z:9.65 [[ 9.80602714e-01 -1.72999413e-01 -9.21385893e-02 1.08723949e+02] [ 1.71701821e-01 9.84905754e-01 -2.18892671e-02 1.25891259e+01] [ 9.45346572e-02 5.64431122e-03 9.95505570e-01 9.65374197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.617105681 meters 0.04032271121479758 Centerline is valid? [True, True] Translation: X:108.79, Y:12.58, Z:9.66 [[ 9.80170792e-01 -1.73693308e-01 -9.53721872e-02 1.08785083e+02] [ 1.72305010e-01 9.84782804e-01 -2.26674478e-02 1.25826154e+01] [ 9.78580738e-02 5.78486455e-03 9.95183567e-01 9.65565505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.677105681 meters 0.04053108916987195 Centerline is valid? [True, True] Translation: X:108.85, Y:12.58, Z:9.66 [[ 9.79863259e-01 -1.73986741e-01 -9.79622756e-02 1.08846297e+02] [ 1.72519274e-01 9.84730008e-01 -2.33218976e-02 1.25789709e+01] [ 1.00524093e-01 5.95188991e-03 9.94916821e-01 9.65791472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.737105681 meters 0.035512898325316046 Centerline is valid? [True, True] Translation: X:108.91, Y:12.57, Z:9.67 [[ 9.78503731e-01 -1.82419551e-01 -9.61954051e-02 1.08910233e+02] [ 1.81042244e-01 9.83207955e-01 -2.29308555e-02 1.25674345e+01] [ 9.87631239e-02 5.02249567e-03 9.95098297e-01 9.66515402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.797105681 meters 0.02763019760485431 Centerline is valid? [True, True] Translation: X:108.97, Y:12.55, Z:9.67 [[ 9.74904105e-01 -1.99864586e-01 -9.80618874e-02 1.08974174e+02] [ 1.98520288e-01 9.79817885e-01 -2.33796442e-02 1.25547620e+01] [ 1.00755554e-01 3.32563694e-03 9.94905653e-01 9.66781160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857105681 meters 0.017642981716814655 Centerline is valid? [True, True] Translation: X:109.04, Y:12.53, Z:9.68 [[ 9.69566742e-01 -2.25161057e-01 -9.61396408e-02 1.09039933e+02] [ 2.23992043e-01 9.74321312e-01 -2.29247849e-02 1.25348301e+01] [ 9.88326698e-02 6.92594470e-04 9.95103826e-01 9.67638237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.917105681 meters 0.01931294843806298 Centerline is valid? [True, True] Translation: X:109.10, Y:12.52, Z:9.68 [[ 9.64520357e-01 -2.45006390e-01 -9.83481032e-02 1.09103129e+02] [ 2.43884489e-01 9.69520512e-01 -2.34591811e-02 1.25246282e+01] [ 1.01098153e-01 -1.35871917e-03 9.94875529e-01 9.67792630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.977105681 meters 0.020329054094091508 Centerline is valid? [True, True] Translation: X:109.16, Y:12.53, Z:9.68 [[ 9.63458469e-01 -2.46945291e-01 -1.03758378e-01 1.09161991e+02] [ 2.45703404e-01 9.69028082e-01 -2.47873671e-02 1.25332895e+01] [ 1.06665906e-01 -1.61218793e-03 9.94293611e-01 9.67998802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.037105681 meters 0.018180861480678257 Centerline is valid? [True, True] Translation: X:109.21, Y:12.57, Z:9.69 [[ 9.68270880e-01 -2.27407644e-01 -1.03620787e-01 1.09212884e+02] [ 2.26053479e-01 9.73799482e-01 -2.47869637e-02 1.25671975e+01] [ 1.06542613e-01 5.76655801e-04 9.94307970e-01 9.68551254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.097105681 meters 0.022973886648593754 Centerline is valid? [True, True] Translation: X:109.27, Y:12.60, Z:9.70 [[ 9.72553507e-01 -2.10187200e-01 -9.98048912e-02 1.09265246e+02] [ 2.08839284e-01 9.77658246e-01 -2.38853155e-02 1.25990980e+01] [ 1.02595462e-01 2.38656529e-03 9.94720300e-01 9.69655827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.157105681 meters 0.02660111687080574 Centerline is valid? [True, True] Translation: X:109.32, Y:12.62, Z:9.70 [[ 9.74251023e-01 -2.03156392e-01 -9.77876493e-02 1.09321160e+02] [ 2.01826558e-01 9.79141488e-01 -2.34091021e-02 1.26198680e+01] [ 1.00503653e-01 3.07019698e-03 9.94931952e-01 9.70313723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217105681 meters 0.026848169229630726 Centerline is valid? [True, True] Translation: X:109.38, Y:12.63, Z:9.71 [[ 9.74393981e-01 -2.03605636e-01 -9.53997585e-02 1.09378246e+02] [ 2.02341626e-01 9.79048521e-01 -2.28442387e-02 1.26315832e+01] [ 9.80522082e-02 2.95594645e-03 9.95176882e-01 9.71118717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.277105681 meters 0.029576324788915226 Centerline is valid? [True, True] Translation: X:109.43, Y:12.65, Z:9.71 [[ 9.74383344e-01 -2.00895631e-01 -1.01084341e-01 1.09434857e+02] [ 1.99458194e-01 9.79606563e-01 -2.42365533e-02 1.26478465e+01] [ 1.03891901e-01 3.45359376e-03 9.94582599e-01 9.70756105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.337105681 meters 0.033118419985225855 Centerline is valid? [True, True] Translation: X:109.49, Y:12.66, Z:9.71 [[ 9.75169849e-01 -1.96664223e-01 -1.01818213e-01 1.09491168e+02] [ 1.95181650e-01 9.80462967e-01 -2.44232092e-02 1.26642377e+01] [ 1.04632159e-01 3.94373039e-03 9.94503172e-01 9.71214708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.397105681 meters 0.03518805696745169 Centerline is valid? [True, True] Translation: X:109.55, Y:12.68, Z:9.71 [[ 9.75228092e-01 -1.94726120e-01 -1.04937636e-01 1.09549324e+02] [ 1.93138747e-01 9.80848274e-01 -2.51811175e-02 1.26780628e+01] [ 1.07831320e-01 4.28980965e-03 9.94159949e-01 9.71050593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.457105681 meters 0.029153978929892077 Centerline is valid? [True, True] Translation: X:109.61, Y:12.68, Z:9.71 [[ 9.72885704e-01 -2.05274886e-01 -1.06562788e-01 1.09611696e+02] [ 2.03699957e-01 9.78699202e-01 -2.55773267e-02 1.26762033e+01] [ 1.09543299e-01 3.17698015e-03 9.93976948e-01 9.71413160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.517105681 meters 0.018914936551205564 Centerline is valid? [True, True] Translation: X:109.68, Y:12.66, Z:9.72 [[ 9.67820660e-01 -2.27667555e-01 -1.07194473e-01 1.09677341e+02] [ 2.26209653e-01 9.73738699e-01 -2.57320435e-02 1.26562106e+01] [ 1.10237758e-01 6.55578722e-04 9.93905029e-01 9.72351454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577105681 meters 0.0200332185818314 Centerline is valid? [True, True] Translation: X:109.74, Y:12.65, Z:9.73 [[ 9.64566262e-01 -2.41003522e-01 -1.07374243e-01 1.09737431e+02] [ 2.39622217e-01 9.70523858e-01 -2.57805026e-02 1.26541362e+01] [ 1.10422456e-01 -8.62251000e-04 9.93884368e-01 9.72876584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.637105681 meters 0.021239315514759407 Centerline is valid? [True, True] Translation: X:109.79, Y:12.67, Z:9.74 [[ 9.63363880e-01 -2.46437767e-01 -1.05822790e-01 1.09793644e+02] [ 2.45126993e-01 9.69157539e-01 -2.54248485e-02 1.26691352e+01] [ 1.08824597e-01 -1.44664153e-03 9.94059915e-01 9.73893765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.697105681 meters 0.020959005122374277 Centerline is valid? [True, True] Translation: X:109.85, Y:12.69, Z:9.75 [[ 9.63385357e-01 -2.47469655e-01 -1.03186350e-01 1.09847134e+02] [ 2.46225762e-01 9.68894498e-01 -2.48258939e-02 1.26949793e+01] [ 1.06120342e-01 -1.49023502e-03 9.94352177e-01 9.74871090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.757105681 meters 0.025022280319620067 Centerline is valid? [True, True] Translation: X:109.90, Y:12.71, Z:9.75 [[ 9.61081205e-01 -2.57070683e-01 -1.01180937e-01 1.09903102e+02] [ 2.55924479e-01 9.66389449e-01 -2.43740416e-02 1.27116583e+01] [ 1.04046042e-01 -2.46924544e-03 9.94569416e-01 9.75355056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.817105681 meters 0.03131934231122061 Centerline is valid? [True, True] Translation: X:109.96, Y:12.72, Z:9.76 [[ 9.57243526e-01 -2.71136534e-01 -1.00845487e-01 1.09961537e+02] [ 2.70074675e-01 9.62532691e-01 -2.42999864e-02 1.27229634e+01] [ 1.03655692e-01 -3.97480747e-03 9.94605298e-01 9.76096294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.877105681 meters 0.034429569232110636 Centerline is valid? [True, True] Translation: X:110.02, Y:12.75, Z:9.76 [[ 9.55741576e-01 -2.75371388e-01 -1.03579139e-01 1.10015773e+02] [ 2.74275345e-01 9.61327148e-01 -2.49629477e-02 1.27505994e+01] [ 1.06447520e-01 -4.55107717e-03 9.94307907e-01 9.76332950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.937105681 meters 0.03111423159984055 Centerline is valid? [True, True] Translation: X:110.07, Y:12.79, Z:9.76 [[ 9.58268720e-01 -2.65492663e-01 -1.05993895e-01 1.10067068e+02] [ 2.64283757e-01 9.64106429e-01 -2.55517093e-02 1.27881386e+01] [ 1.08973187e-01 -3.52706113e-03 9.94038432e-01 9.76416883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997105681 meters 0.022496074394308382 Centerline is valid? [True, True] Translation: X:110.12, Y:12.84, Z:9.77 [[ 9.61863706e-01 -2.50374950e-01 -1.10138982e-01 1.10116763e+02] [ 2.48969626e-01 9.68147128e-01 -2.65568245e-02 1.28389256e+01] [ 1.13279902e-01 -1.87721541e-03 9.93561342e-01 9.76547829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.057105681 meters 0.018716493107515136 Centerline is valid? [True, True] Translation: X:110.17, Y:12.89, Z:9.77 [[ 9.64937591e-01 -2.39097637e-01 -1.08294809e-01 1.10166871e+02] [ 2.37667705e-01 9.70995381e-01 -2.61157323e-02 1.28852861e+01] [ 1.11397969e-01 -5.38126835e-04 9.93775731e-01 9.77191815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.117105681 meters 0.01827374477230149 Centerline is valid? [True, True] Translation: X:110.22, Y:12.91, Z:9.78 [[ 9.65256254e-01 -2.39560172e-01 -1.04361330e-01 1.10219959e+02] [ 2.38233908e-01 9.70881359e-01 -2.51792051e-02 1.29137872e+01] [ 1.07354405e-01 -5.58022427e-04 9.94220660e-01 9.78107715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.177105681 meters 0.018571226590806223 Centerline is valid? [True, True] Translation: X:110.27, Y:12.94, Z:9.78 [[ 9.65218047e-01 -2.38698338e-01 -1.06664072e-01 1.10273766e+02] [ 2.37303785e-01 9.71093667e-01 -2.57682690e-02 1.29377662e+01] [ 1.09731648e-01 -4.39789759e-04 9.93961152e-01 9.77913263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.237105681 meters 0.017680466747236924 Centerline is valid? [True, True] Translation: X:110.33, Y:12.96, Z:9.79 [[ 9.65826333e-01 -2.37912924e-01 -1.02844225e-01 1.10328745e+02] [ 2.36610587e-01 9.71286434e-01 -2.48614866e-02 1.29565578e+01] [ 1.05806070e-01 -3.22154036e-04 9.94386732e-01 9.79273288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.297105681 meters 0.01893902301215357 Centerline is valid? [True, True] Translation: X:110.39, Y:12.97, Z:9.79 [[ 9.64078734e-01 -2.44451182e-01 -1.03902910e-01 1.10386153e+02] [ 2.43156027e-01 9.69661067e-01 -2.51507737e-02 1.29676400e+01] [ 1.06898743e-01 -1.01729278e-03 9.94269392e-01 9.79495533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357105681 meters 0.020298071889208243 Centerline is valid? [True, True] Translation: X:110.44, Y:12.98, Z:9.80 [[ 9.62698572e-01 -2.49740739e-01 -1.04120232e-01 1.10443877e+02] [ 2.48469109e-01 9.68311433e-01 -2.52204312e-02 1.29783264e+01] [ 1.07119380e-01 -1.59098804e-03 9.94244893e-01 9.79815906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.417105681 meters 0.029903706527387046 Centerline is valid? [True, True] Translation: X:110.51, Y:12.97, Z:9.81 [[ 9.57358800e-01 -2.70120481e-01 -1.02464894e-01 1.10506434e+02] [ 2.69001421e-01 9.62819139e-01 -2.48503727e-02 1.29721306e+01] [ 1.05367756e-01 -3.77247925e-03 9.94426168e-01 9.80544446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.477105681 meters 0.03645860835895232 Centerline is valid? [True, True] Translation: X:110.57, Y:12.98, Z:9.81 [[ 9.53574826e-01 -2.83835955e-01 -1.00658838e-01 1.10565697e+02] [ 2.82831317e-01 9.58858830e-01 -2.44170162e-02 1.29820231e+01] [ 1.03448043e-01 -5.18601978e-03 9.94621339e-01 9.81225288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.537105681 meters 0.037698036710391236 Centerline is valid? [True, True] Translation: X:110.62, Y:13.00, Z:9.83 [[ 9.54033355e-01 -2.84030146e-01 -9.56411681e-02 1.10619852e+02] [ 2.83124013e-01 9.58802611e-01 -2.32022792e-02 1.29994481e+01] [ 9.82911485e-02 -4.94256309e-03 9.95145427e-01 9.82515970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.597105681 meters 0.030590882841640597 Centerline is valid? [True, True] Translation: X:110.67, Y:13.04, Z:9.83 [[ 9.57614616e-01 -2.72707052e-01 -9.27637425e-02 1.10670858e+02] [ 2.71800583e-01 9.62090184e-01 -2.25149001e-02 1.30409662e+01] [ 9.53870581e-02 -3.65264194e-03 9.95433557e-01 9.83216505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.657105681 meters 0.024430391362248397 Centerline is valid? [True, True] Translation: X:110.72, Y:13.08, Z:9.83 [[ 9.60462931e-01 -2.61101895e-01 -9.66269061e-02 1.10723079e+02] [ 2.60059105e-01 9.65307745e-01 -2.34567374e-02 1.30808570e+01] [ 9.93992995e-02 -2.59937992e-03 9.95044231e-01 9.82869811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717105681 meters 0.0226662890484389 Centerline is valid? [True, True] Translation: X:110.77, Y:13.12, Z:9.83 [[ 9.60969214e-01 -2.58759564e-01 -9.78859472e-02 1.10774003e+02] [ 2.57676614e-01 9.65938825e-01 -2.37686355e-02 1.31222383e+01] [ 1.00702199e-01 -2.38199249e-03 9.94913762e-01 9.83114487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.777105681 meters 0.02316418845050628 Centerline is valid? [True, True] Translation: X:110.83, Y:13.15, Z:9.84 [[ 9.60849258e-01 -2.60453372e-01 -9.45131977e-02 1.10826412e+02] [ 2.59448857e-01 9.65483347e-01 -2.29825213e-02 1.31480355e+01] [ 9.72367936e-02 -2.43860262e-03 9.95258288e-01 9.84230154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.837105681 meters 0.020915278090760377 Centerline is valid? [True, True] Translation: X:110.88, Y:13.17, Z:9.85 [[ 9.62323606e-01 -2.56290325e-01 -9.08215137e-02 1.10880101e+02] [ 2.55341193e-01 9.66597972e-01 -2.21186586e-02 1.31745545e+01] [ 9.34566892e-02 -1.90516640e-03 9.95621523e-01 9.85115248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.897105681 meters 0.01754554202769276 Centerline is valid? [True, True] Translation: X:110.93, Y:13.21, Z:9.86 [[ 9.65082915e-01 -2.46393893e-01 -8.89101615e-02 1.10933486e+02] [ 2.45441556e-01 9.69169340e-01 -2.16618003e-02 1.32061643e+01] [ 9.15063378e-02 -9.16815031e-04 9.95804072e-01 9.85683278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.957105681 meters 0.01634015842242819 Centerline is valid? [True, True] Translation: X:110.99, Y:13.23, Z:9.85 [[ 9.68029107e-01 -2.32732935e-01 -9.35683096e-02 1.10987535e+02] [ 2.31613405e-01 9.72540600e-01 -2.28037753e-02 1.32342703e+01] [ 9.63061695e-02 4.03043494e-04 9.95351676e-01 9.85445128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.017105681 meters 0.017954911008313097 Centerline is valid? [True, True] Translation: X:111.04, Y:13.26, Z:9.86 [[ 9.69555120e-01 -2.25731710e-01 -9.49108248e-02 1.11042250e+02] [ 2.24542843e-01 9.74188830e-01 -2.31654087e-02 1.32588470e+01] [ 9.76902326e-02 1.14859423e-03 9.95216207e-01 9.85954665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077105681 meters 0.01935491772877485 Centerline is valid? [True, True] Translation: X:111.10, Y:13.27, Z:9.87 [[ 9.71057939e-01 -2.21370397e-01 -8.96751106e-02 1.11098417e+02] [ 2.20288017e-01 9.75188602e-01 -2.19175619e-02 1.32748921e+01] [ 9.23020451e-02 1.52887021e-03 9.95729881e-01 9.87118684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.137105681 meters 0.021681971436822652 Centerline is valid? [True, True] Translation: X:111.15, Y:13.29, Z:9.88 [[ 9.72303942e-01 -2.16356270e-01 -8.84025374e-02 1.11154804e+02] [ 2.15280971e-01 9.76312418e-01 -2.16371236e-02 1.32896045e+01] [ 9.09898225e-02 2.00647644e-03 9.95849801e-01 9.87566127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.197105681 meters 0.026616678442145915 Centerline is valid? [True, True] Translation: X:111.21, Y:13.31, Z:9.88 [[ 9.74384484e-01 -2.06972774e-01 -8.79610636e-02 1.11213168e+02] [ 2.05869029e-01 9.78342465e-01 -2.15398264e-02 1.33054511e+01] [ 9.05142014e-02 2.87961385e-03 9.95891002e-01 9.87974594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.257105681 meters 0.03150255983673452 Centerline is valid? [True, True] Translation: X:111.27, Y:13.32, Z:9.88 [[ 9.75475031e-01 -2.00587016e-01 -9.06273294e-02 1.11270856e+02] [ 1.99387642e-01 9.79669353e-01 -2.21929374e-02 1.33184622e+01] [ 9.32364323e-02 3.57868683e-03 9.95637565e-01 9.88053312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.317105681 meters 0.03138225969550994 Centerline is valid? [True, True] Translation: X:111.33, Y:13.32, Z:9.88 [[ 9.76171674e-01 -1.95344285e-01 -9.44958936e-02 1.11331643e+02] [ 1.94015078e-01 9.80725479e-01 -2.31448603e-02 1.33248884e+01] [ 9.71957467e-02 4.25972885e-03 9.95256169e-01 9.88022674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.377105681 meters 0.03486188195458447 Centerline is valid? [True, True] Translation: X:111.39, Y:13.33, Z:9.88 [[ 9.76360906e-01 -1.93699649e-01 -9.59157250e-02 1.11389191e+02] [ 1.92321796e-01 9.81050584e-01 -2.34963669e-02 1.33325311e+01] [ 9.86494161e-02 4.49424964e-03 9.95112101e-01 9.88113187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.437105681 meters 0.027579448881342134 Centerline is valid? [True, True] Translation: X:111.45, Y:13.32, Z:9.90 [[ 9.75144116e-01 -2.02247299e-01 -9.04985308e-02 1.11452515e+02] [ 2.01056760e-01 9.79328466e-01 -2.21795920e-02 1.33230686e+01] [ 9.31135499e-02 3.43295719e-03 9.95649578e-01 9.89534764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.497105681 meters 0.020339039310364296 Centerline is valid? [True, True] Translation: X:111.52, Y:13.31, Z:9.90 [[ 9.72067244e-01 -2.16617979e-01 -9.03433698e-02 1.11518032e+02] [ 2.15493072e-01 9.76254282e-01 -2.21430069e-02 1.33051959e+01] [ 9.29946750e-02 2.05612142e-03 9.95664483e-01 9.90404541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.557105681 meters 0.017342201306864105 Centerline is valid? [True, True] Translation: X:111.58, Y:13.30, Z:9.90 [[ 9.69361104e-01 -2.26944781e-01 -9.39953043e-02 1.11579609e+02] [ 2.25774838e-01 9.73906991e-01 -2.30411777e-02 1.32996601e+01] [ 9.67717590e-02 1.11344688e-03 9.95305977e-01 9.90451407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.617105681 meters 0.0164590910850015 Centerline is valid? [True, True] Translation: X:111.64, Y:13.30, Z:9.91 [[ 9.68173203e-01 -2.31133076e-01 -9.60111944e-02 1.11638994e+02] [ 2.29931569e-01 9.72921878e-01 -2.35476965e-02 1.33030495e+01] [ 9.88540430e-02 7.22244171e-04 9.95101682e-01 9.90774899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.677105681 meters 0.01638899794668122 Centerline is valid? [True, True] Translation: X:111.70, Y:13.31, Z:9.91 [[ 9.67856186e-01 -2.31743592e-01 -9.77205791e-02 1.11696630e+02] [ 2.30498369e-01 9.72776649e-01 -2.40019345e-02 1.33134051e+01] [ 1.00622592e-01 7.05986704e-04 9.94924417e-01 9.91184297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.737105681 meters 0.01646941782114782 Centerline is valid? [True, True] Translation: X:111.75, Y:13.32, Z:9.92 [[ 9.64792910e-01 -2.45517111e-01 -9.43185465e-02 1.11754946e+02] [ 2.44419659e-01 9.69392024e-01 -2.31977236e-02 1.33159220e+01] [ 9.71270848e-02 -6.72307626e-04 9.95271761e-01 9.92278512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.797105681 meters 0.023064058233225583 Centerline is valid? [True, True] Translation: X:111.82, Y:13.31, Z:9.94 [[ 9.60626903e-01 -2.62458780e-01 -9.11665664e-02 1.11816236e+02] [ 2.61507874e-01 9.64940497e-01 -2.24381177e-02 1.33142349e+01] [ 9.38593929e-02 -2.28611547e-03 9.95582838e-01 9.93512074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857105681 meters 0.030462885323746466 Centerline is valid? [True, True] Translation: X:111.87, Y:13.33, Z:9.94 [[ 9.57171371e-01 -2.74769005e-01 -9.12412156e-02 1.11874796e+02] [ 2.73871871e-01 9.61503928e-01 -2.24587465e-02 1.33255711e+01] [ 9.38997546e-02 -3.49153321e-03 9.95575535e-01 9.93874314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.917105681 meters 0.033581601417390326 Centerline is valid? [True, True] Translation: X:111.93, Y:13.34, Z:9.93 [[ 9.55364894e-01 -2.78266702e-01 -9.92248029e-02 1.11932787e+02] [ 2.77223856e-01 9.60494793e-01 -2.44271455e-02 1.33441804e+01] [ 1.02102168e-01 -4.17064524e-03 9.94765175e-01 9.93060171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.977105681 meters 0.03083519393630099 Centerline is valid? [True, True] Translation: X:111.99, Y:13.38, Z:9.93 [[ 9.56518888e-01 -2.73169682e-01 -1.02224956e-01 1.11985387e+02] [ 2.72033208e-01 9.61958622e-01 -2.51702665e-02 1.33807321e+01] [ 1.05211931e-01 -3.73274732e-03 9.94442817e-01 9.93426540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.037105681 meters 0.02442925439476775 Centerline is valid? [True, True] Translation: X:112.04, Y:13.42, Z:9.94 [[ 9.60067508e-01 -2.61306066e-01 -9.99475866e-02 1.12036617e+02] [ 2.60155227e-01 9.65253081e-01 -2.46119471e-02 1.34194399e+01] [ 1.02905967e-01 -2.37275629e-03 9.94688259e-01 9.94017263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.097105681 meters 0.018563283772531924 Centerline is valid? [True, True] Translation: X:112.09, Y:13.45, Z:9.95 [[ 9.62946841e-01 -2.51850294e-01 -9.64614496e-02 1.12089219e+02] [ 2.50730719e-01 9.67765320e-01 -2.37569131e-02 1.34540400e+01] [ 9.93352312e-02 -1.30920420e-03 9.95053163e-01 9.95136703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.157105681 meters 0.01600849981773559 Centerline is valid? [True, True] Translation: X:112.14, Y:13.49, Z:9.96 [[ 9.65561327e-01 -2.41793355e-01 -9.60588220e-02 1.12140829e+02] [ 2.40632567e-01 9.70327730e-01 -2.36656739e-02 1.34909898e+01] [ 9.89307414e-02 -2.64221405e-04 9.95094286e-01 9.95663865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21710568099999 meters 0.017877907266797968 Centerline is valid? [True, True] Translation: X:112.19, Y:13.52, Z:9.96 [[ 9.68664220e-01 -2.28515206e-01 -9.73161313e-02 1.12192265e+02] [ 2.27253879e-01 9.73539681e-01 -2.40034114e-02 1.35239341e+01] [ 1.00226260e-01 1.13577741e-03 9.94964023e-01 9.95827771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.277105681 meters 0.020477181198715853 Centerline is valid? [True, True] Translation: X:112.25, Y:13.55, Z:9.97 [[ 9.70021794e-01 -2.22914974e-01 -9.67813742e-02 1.12246761e+02] [ 2.21638351e-01 9.74836377e-01 -2.38847071e-02 1.35452751e+01] [ 9.96702631e-02 1.71822227e-03 9.95019038e-01 9.96597107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.337105681 meters 0.023388357912606527 Centerline is valid? [True, True] Translation: X:112.30, Y:13.57, Z:9.98 [[ 9.71430626e-01 -2.18030603e-01 -9.37293659e-02 1.12300594e+02] [ 2.16808056e-01 9.75939506e-01 -2.31591606e-02 1.35681438e+01] [ 9.65235968e-02 2.17623625e-03 9.95328317e-01 9.97553090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.397105681 meters 0.02298051694838332 Centerline is valid? [True, True] Translation: X:112.36, Y:13.58, Z:9.98 [[ 9.72661993e-01 -2.11894826e-01 -9.50222651e-02 1.12359551e+02] [ 2.10607976e-01 9.77288365e-01 -2.34889635e-02 1.35781712e+01] [ 9.78413439e-02 2.83437505e-03 9.95197989e-01 9.98040912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.457105681 meters 0.02617937636012955 Centerline is valid? [True, True] Translation: X:112.42, Y:13.59, Z:9.98 [[ 9.73417076e-01 -2.07696346e-01 -9.65475173e-02 1.12416448e+02] [ 2.06346554e-01 9.78187732e-01 -2.38717556e-02 1.35907904e+01] [ 9.93996734e-02 3.31492704e-03 9.95042068e-01 9.98215645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.517105681 meters 0.022853051013316226 Centerline is valid? [True, True] Translation: X:112.48, Y:13.59, Z:9.99 [[ 9.71994793e-01 -2.13821542e-01 -9.75011310e-02 1.12478334e+02] [ 2.12474584e-01 9.76868938e-01 -2.41169783e-02 1.35907691e+01] [ 1.00402556e-01 2.72506509e-03 9.94943165e-01 9.98709585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577105681 meters 0.017502146780250194 Centerline is valid? [True, True] Translation: X:112.54, Y:13.58, Z:9.99 [[ 9.68977159e-01 -2.27350118e-01 -9.69287824e-02 1.12542166e+02] [ 2.26085999e-01 9.73812190e-01 -2.39778846e-02 1.35810844e+01] [ 9.98418048e-02 1.31978185e-03 9.95002448e-01 9.99431345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.637105681 meters 0.01600444350801082 Centerline is valid? [True, True] Translation: X:112.61, Y:13.57, Z:10.00 [[ 9.64245088e-01 -2.46614729e-01 -9.70184793e-02 1.12605821e+02] [ 2.45444446e-01 9.69113375e-01 -2.40060551e-02 1.35668386e+01] [ 9.99421526e-02 -6.64926190e-04 9.94993027e-01 9.99858050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.697105681 meters 0.02185810793704301 Centerline is valid? [True, True] Translation: X:112.67, Y:13.56, Z:10.00 [[ 9.59799012e-01 -2.62790361e-01 -9.86259743e-02 1.12669815e+02] [ 2.61662440e-01 9.64850085e-01 -2.44352493e-02 1.35603492e+01] [ 1.01580628e-01 -2.35378495e-03 9.94824525e-01 1.00025203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.757105681 meters 0.023505622106247362 Centerline is valid? [True, True] Translation: X:112.73, Y:13.57, Z:10.01 [[ 9.59190978e-01 -2.65676466e-01 -9.67919585e-02 1.12726284e+02] [ 2.64604694e-01 9.64058719e-01 -2.39821341e-02 1.35698802e+01] [ 9.96846202e-02 -2.60815993e-03 9.95015665e-01 1.00121842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.817105681 meters 0.024631314875323003 Centerline is valid? [True, True] Translation: X:112.78, Y:13.58, Z:10.02 [[ 9.58692980e-01 -2.68525055e-01 -9.38193172e-02 1.12782772e+02] [ 2.67530557e-01 9.63268626e-01 -2.32584674e-02 1.35837715e+01] [ 9.66186859e-02 -2.80180477e-03 9.95317527e-01 1.00222963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.877105681 meters 0.03247377553983106 Centerline is valid? [True, True] Translation: X:112.84, Y:13.59, Z:10.03 [[ 9.55397508e-01 -2.80894114e-01 -9.11816729e-02 1.12840900e+02] [ 2.80008022e-01 9.59730810e-01 -2.26335971e-02 1.35906134e+01] [ 9.38675050e-02 -3.90751763e-03 9.95577030e-01 1.00307983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.937105681 meters 0.03318847685930242 Centerline is valid? [True, True] Translation: X:112.90, Y:13.61, Z:10.04 [[ 9.53620381e-01 -2.86925666e-01 -9.10045690e-02 1.12896866e+02] [ 2.86070087e-01 9.57942330e-01 -2.25920040e-02 1.36129108e+01] [ 9.36593546e-02 -4.48948953e-03 9.95594179e-01 1.00351347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.997105681 meters 0.0320935130222997 Centerline is valid? [True, True] Translation: X:112.95, Y:13.64, Z:10.04 [[ 9.54077229e-01 -2.85159766e-01 -9.17635518e-02 1.12950807e+02] [ 2.84281315e-01 9.58470135e-01 -2.27845355e-02 1.36394555e+01] [ 9.44498566e-02 -4.34845672e-03 9.95520123e-01 1.00381629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.057105681 meters 0.03163690437235151 Centerline is valid? [True, True] Translation: X:113.00, Y:13.67, Z:10.04 [[ 9.54606335e-01 -2.82054504e-01 -9.57705654e-02 1.13002799e+02] [ 2.81078690e-01 9.59389245e-01 -2.38127376e-02 1.36717140e+01] [ 9.85977403e-02 -4.18727481e-03 9.95118562e-01 1.00389017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.117105681 meters 0.02935607746015576 Centerline is valid? [True, True] Translation: X:113.06, Y:13.70, Z:10.05 [[ 9.55858648e-01 -2.78699374e-01 -9.30639744e-02 1.13055908e+02] [ 2.77761121e-01 9.60371185e-01 -2.31505103e-02 1.37015729e+01] [ 9.58279921e-02 -3.72093836e-03 9.95390954e-01 1.00490677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.177105681 meters 0.02755172993557159 Centerline is valid? [True, True] Translation: X:113.11, Y:13.73, Z:10.06 [[ 9.58691361e-01 -2.69477299e-01 -9.10651424e-02 1.13108146e+02] [ 2.68536984e-01 9.63002865e-01 -2.26576827e-02 1.37325894e+01] [ 9.38017241e-02 -2.73263399e-03 9.95587148e-01 1.00594518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.237105681 meters 0.01648588829805565 Centerline is valid? [True, True] Translation: X:113.16, Y:13.79, Z:10.07 [[ 9.63905370e-01 -2.50276821e-01 -9.08182243e-02 1.13156874e+02] [ 2.49255796e-01 9.68173944e-01 -2.26000509e-02 1.37860880e+01] [ 9.35841073e-02 -8.52658330e-04 9.95611012e-01 1.00674199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.297105681 meters 0.015479971634159564 Centerline is valid? [True, True] Translation: X:113.21, Y:13.82, Z:10.07 [[ 9.66739189e-01 -2.39330887e-01 -9.02001459e-02 1.13210469e+02] [ 2.38275995e-01 9.70938043e-01 -2.24469820e-02 1.38151328e+01] [ 9.29510093e-02 2.07847665e-04 9.95670662e-01 1.00728707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357105681 meters 0.01798788873150367 Centerline is valid? [True, True] Translation: X:113.26, Y:13.85, Z:10.08 [[ 9.68937419e-01 -2.29204892e-01 -9.28730033e-02 1.13263869e+02] [ 2.28036898e-01 9.73377401e-01 -2.31432014e-02 1.38456559e+01] [ 9.57050176e-02 1.24584230e-03 9.95408960e-01 1.00752472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.417105681 meters 0.020094612800149847 Centerline is valid? [True, True] Translation: X:113.32, Y:13.86, Z:10.07 [[ 9.69653121e-01 -2.24790242e-01 -9.61362116e-02 1.13320958e+02] [ 2.23513421e-01 9.74405561e-01 -2.39907082e-02 1.38615015e+01] [ 9.90685363e-02 1.77493152e-03 9.95079029e-01 1.00739692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.477105681 meters 0.01948394592922772 Centerline is valid? [True, True] Translation: X:113.38, Y:13.87, Z:10.08 [[ 9.69270040e-01 -2.25531756e-01 -9.82395876e-02 1.13379499e+02] [ 2.24198526e-01 9.74234207e-01 -2.45505583e-02 1.38705522e+01] [ 1.01245297e-01 1.77094982e-03 9.94859917e-01 1.00769228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.537105681 meters 0.016596184330243194 Centerline is valid? [True, True] Translation: X:113.44, Y:13.86, Z:10.09 [[ 9.67274184e-01 -2.34841497e-01 -9.60735412e-02 1.13440675e+02] [ 2.33609109e-01 9.72033340e-01 -2.40410009e-02 1.38649097e+01] [ 9.90325098e-02 8.10585137e-04 9.95083868e-01 1.00875326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.597105681 meters 0.01629643499036363 Centerline is valid? [True, True] Translation: X:113.50, Y:13.87, Z:10.09 [[ 9.66515068e-01 -2.37952668e-01 -9.60580639e-02 1.13499754e+02] [ 2.36734946e-01 9.71276622e-01 -2.40476532e-02 1.38673010e+01] [ 9.90211550e-02 5.02118580e-04 9.95085202e-01 1.00920992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.657105681 meters 0.016608755166293072 Centerline is valid? [True, True] Translation: X:113.56, Y:13.87, Z:10.09 [[ 9.66519755e-01 -2.37000301e-01 -9.83382988e-02 1.13558480e+02] [ 2.35717380e-01 9.71509372e-01 -2.46344503e-02 1.38742560e+01] [ 1.01374951e-01 6.29636746e-04 9.94848090e-01 1.00942399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71710568099999 meters 0.01664969612754929 Centerline is valid? [True, True] Translation: X:113.62, Y:13.88, Z:10.10 [[ 9.65949738e-01 -2.38129893e-01 -1.01169447e-01 1.13617180e+02] [ 2.36774384e-01 9.71233155e-01 -2.53781396e-02 1.38802082e+01] [ 1.04302415e-01 5.59673676e-04 9.94545471e-01 1.00963956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.777105681 meters 0.01675210979066912 Centerline is valid? [True, True] Translation: X:113.67, Y:13.89, Z:10.11 [[ 9.66274792e-01 -2.38286621e-01 -9.76345872e-02 1.13673806e+02] [ 2.37023985e-01 9.71194728e-01 -2.45036961e-02 1.38871893e+01] [ 1.00661099e-01 5.35564979e-04 9.94920628e-01 1.01095058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.837105681 meters 0.01636345004122112 Centerline is valid? [True, True] Translation: X:113.73, Y:13.89, Z:10.12 [[ 9.65507414e-01 -2.43098279e-01 -9.32666131e-02 1.13732530e+02] [ 2.41967477e-01 9.70001662e-01 -2.34204038e-02 1.38920895e+01] [ 9.61622296e-02 4.50864631e-05 9.95365673e-01 1.01209194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.897105681 meters 0.017924503944081113 Centerline is valid? [True, True] Translation: X:113.79, Y:13.89, Z:10.13 [[ 9.63089588e-01 -2.54678338e-01 -8.71630065e-02 1.13792194e+02] [ 2.53735565e-01 9.67025298e-01 -2.19165710e-02 1.38919967e+01] [ 8.98705082e-02 -1.00873338e-03 9.95952948e-01 1.01322604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.957105681 meters 0.023363328331241242 Centerline is valid? [True, True] Translation: X:113.85, Y:13.89, Z:10.13 [[ 9.58940849e-01 -2.68958543e-01 -8.99652712e-02 1.13854679e+02] [ 2.68013600e-01 9.63148790e-01 -2.26521425e-02 1.38929735e+01] [ 9.27424293e-02 -2.38985141e-03 9.95687265e-01 1.01331028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.017105681 meters 0.02329264665339561 Centerline is valid? [True, True] Translation: X:113.91, Y:13.91, Z:10.13 [[ 9.58383537e-01 -2.69115268e-01 -9.52783787e-02 1.13912087e+02] [ 2.68055669e-01 9.63104612e-01 -2.39930182e-02 1.39073386e+01] [ 9.82199335e-02 -2.54539585e-03 9.95161477e-01 1.01294918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077105681 meters 0.020039389820737715 Centerline is valid? [True, True] Translation: X:113.97, Y:13.93, Z:10.14 [[ 9.60442134e-01 -2.61203992e-01 -9.65576619e-02 1.13967289e+02] [ 2.60072621e-01 9.65282076e-01 -2.43463736e-02 1.39329677e+01] [ 9.95647503e-02 -1.72872121e-03 9.95029583e-01 1.01369145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.137105681 meters 0.017549456810365564 Centerline is valid? [True, True] Translation: X:114.02, Y:13.96, Z:10.14 [[ 9.62802221e-01 -2.52486231e-01 -9.62423331e-02 1.14020177e+02] [ 2.51317977e-01 9.67600143e-01 -2.42742140e-02 1.39580061e+01] [ 9.92530001e-02 -8.16161317e-04 9.95061895e-01 1.01410629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.197105681 meters 0.017345833230514533 Centerline is valid? [True, True] Translation: X:114.07, Y:13.99, Z:10.14 [[ 9.65870763e-01 -2.40172015e-01 -9.70106818e-02 1.14072200e+02] [ 2.38921326e-01 9.70730232e-01 -2.44830032e-02 1.39882315e+01] [ 1.00051334e-01 4.69496248e-04 9.94982166e-01 1.01437468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.257105681 meters 0.02009325754021362 Centerline is valid? [True, True] Translation: X:114.13, Y:14.01, Z:10.15 [[ 9.68400852e-01 -2.29526239e-01 -9.75576558e-02 1.14127593e+02] [ 2.28203841e-01 9.73301136e-01 -2.46557320e-02 1.40130094e+01] [ 1.00612115e-01 1.61360012e-03 9.94924419e-01 1.01466418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.317105681 meters 0.023612747433680404 Centerline is valid? [True, True] Translation: X:114.18, Y:14.03, Z:10.16 [[ 9.70238815e-01 -2.21912242e-01 -9.69102586e-02 1.14183590e+02] [ 2.20568959e-01 9.75063707e-01 -2.44969776e-02 1.40339818e+01] [ 9.99298552e-02 2.39252372e-03 9.94991608e-01 1.01553593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.377105681 meters 0.02562120346285409 Centerline is valid? [True, True] Translation: X:114.24, Y:14.05, Z:10.17 [[ 9.71760661e-01 -2.17892676e-01 -9.05759345e-02 1.14239384e+02] [ 2.16701748e-01 9.75969202e-01 -2.29013100e-02 1.40484357e+01] [ 9.33893502e-02 2.62662886e-03 9.95626200e-01 1.01700885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.437105681 meters 0.026284043664965423 Centerline is valid? [True, True] Translation: X:114.30, Y:14.06, Z:10.18 [[ 9.72604864e-01 -2.15058777e-01 -8.82581458e-02 1.14297747e+02] [ 2.13913766e-01 9.76596938e-01 -2.23455115e-02 1.40555529e+01] [ 9.09982333e-02 2.85372081e-03 9.95846965e-01 1.01793290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.497105681 meters 0.02918239102118848 Centerline is valid? [True, True] Translation: X:114.36, Y:14.06, Z:10.18 [[ 9.73607715e-01 -2.09849131e-01 -8.97293727e-02 1.14356584e+02] [ 2.08640481e-01 9.77727768e-01 -2.27499691e-02 1.40648552e+01] [ 9.25049606e-02 3.42836591e-03 9.95706321e-01 1.01826385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.557105681 meters 0.03285987474372747 Centerline is valid? [True, True] Translation: X:114.42, Y:14.07, Z:10.17 [[ 9.73790335e-01 -2.05160477e-01 -9.81914544e-02 1.14416882e+02] [ 2.03687787e-01 9.78719120e-01 -2.49032117e-02 1.40699228e+01] [ 1.01211009e-01 4.25010682e-03 9.94855903e-01 1.01742196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.617105681 meters 0.030903059049986872 Centerline is valid? [True, True] Translation: X:114.48, Y:14.07, Z:10.18 [[ 9.73012970e-01 -2.07511621e-01 -1.00919211e-01 1.14478097e+02] [ 2.05967522e-01 9.78223855e-01 -2.56021398e-02 1.40698789e+01] [ 1.04034321e-01 4.12513421e-03 9.94565153e-01 1.01768802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.677105681 meters 0.026485788965851114 Centerline is valid? [True, True] Translation: X:114.54, Y:14.06, Z:10.19 [[ 9.71230890e-01 -2.16664378e-01 -9.88286637e-02 1.14542756e+02] [ 2.15229260e-01 9.76241244e-01 -2.50878252e-02 1.40585414e+01] [ 1.01916256e-01 3.09525066e-03 9.94788167e-01 1.01881422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.737105681 meters 0.021648277567101776 Centerline is valid? [True, True] Translation: X:114.61, Y:14.05, Z:10.20 [[ 9.69149219e-01 -2.26953154e-01 -9.61356178e-02 1.14605989e+02] [ 2.25645587e-01 9.73903703e-01 -2.44058611e-02 1.40530575e+01] [ 9.91658214e-02 1.96034331e-03 9.95068991e-01 1.01979754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.797105681 meters 0.01868299470665861 Centerline is valid? [True, True] Translation: X:114.67, Y:14.05, Z:10.20 [[ 9.67596451e-01 -2.33609562e-01 -9.58315180e-02 1.14667574e+02] [ 2.32342512e-01 9.72329646e-01 -2.43313767e-02 1.40488303e+01] [ 9.88638683e-02 1.27721820e-03 9.95100148e-01 1.02029054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.857105681 meters 0.018448264503305414 Centerline is valid? [True, True] Translation: X:114.73, Y:14.05, Z:10.21 [[ 9.67183931e-01 -2.35396036e-01 -9.56239999e-02 1.14726836e+02] [ 2.34142017e-01 9.71898908e-01 -2.42904866e-02 1.40529952e+01] [ 9.86547453e-02 1.10377210e-03 9.95121110e-01 1.02128140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.917105681 meters 0.017644215788703108 Centerline is valid? [True, True] Translation: X:114.79, Y:14.06, Z:10.22 [[ 9.66328555e-01 -2.38961193e-01 -9.54288848e-02 1.14786613e+02] [ 2.37726392e-01 9.71028813e-01 -2.42736072e-02 1.40571769e+01] [ 9.84646468e-02 7.70315296e-04 9.95140251e-01 1.02195188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.977105681 meters 0.017743241131368683 Centerline is valid? [True, True] Translation: X:114.84, Y:14.07, Z:10.23 [[ 9.66521829e-01 -2.39407363e-01 -9.23020548e-02 1.14843298e+02] [ 2.38251757e-01 9.70918939e-01 -2.35056400e-02 1.40657102e+01] [ 9.52452364e-02 7.27587461e-04 9.95453573e-01 1.02305429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.037105681 meters 0.018251176346715973 Centerline is valid? [True, True] Translation: X:114.90, Y:14.08, Z:10.24 [[ 9.67167877e-01 -2.38570336e-01 -8.75813465e-02 1.14898754e+02] [ 2.37525797e-01 9.71124909e-01 -2.23138272e-02 1.40778513e+01] [ 9.03758444e-02 7.78387743e-04 9.95907426e-01 1.02426820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.097105681 meters 0.01736013254775003 Centerline is valid? [True, True] Translation: X:114.96, Y:14.08, Z:10.24 [[ 9.65979099e-01 -2.42056648e-01 -9.10656867e-02 1.14958305e+02] [ 2.40939214e-01 9.70261987e-01 -2.32372850e-02 1.40811472e+01] [ 9.39823134e-02 5.05436612e-04 9.95573739e-01 1.02428983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.157105681 meters 0.01827700468000953 Centerline is valid? [True, True] Translation: X:115.01, Y:14.10, Z:10.24 [[ 9.66855010e-01 -2.37358877e-01 -9.40858785e-02 1.15013027e+02] [ 2.36139933e-01 9.71421483e-01 -2.40464911e-02 1.41042873e+01] [ 9.71046918e-02 1.03203734e-03 9.95273638e-01 1.02430341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21710568099999 meters 0.024856399502492767 Centerline is valid? [True, True] Translation: X:115.07, Y:14.14, Z:10.25 [[ 9.70462341e-01 -2.21600969e-01 -9.53721960e-02 1.15065532e+02] [ 2.20269041e-01 9.75133752e-01 -2.44072681e-02 1.41365395e+01] [ 9.84093216e-02 2.67879234e-03 9.95142417e-01 1.02481708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.277105681 meters 0.03259770445365289 Centerline is valid? [True, True] Translation: X:115.12, Y:14.17, Z:10.25 [[ 9.73673625e-01 -2.05586171e-01 -9.84581088e-02 1.15119451e+02] [ 2.04084052e-01 9.78628925e-01 -2.52017292e-02 1.41685503e+01] [ 1.01535080e-01 4.44452917e-03 9.94822031e-01 1.02509659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.337105681 meters 0.03689562855724971 Centerline is valid? [True, True] Translation: X:115.18, Y:14.19, Z:10.26 [[ 9.75373244e-01 -1.97427729e-01 -9.83327307e-02 1.15175688e+02] [ 1.95887824e-01 9.80303169e-01 -2.51725478e-02 1.41903356e+01] [ 1.01365647e-01 5.29044498e-03 9.94835171e-01 1.02552974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.397105681 meters 0.035577088522045504 Centerline is valid? [True, True] Translation: X:115.23, Y:14.20, Z:10.26 [[ 9.75217534e-01 -1.98596150e-01 -9.75209220e-02 1.15234228e+02] [ 1.97086818e-01 9.80067972e-01 -2.49711078e-02 1.41964364e+01] [ 1.00536298e-01 5.13217391e-03 9.94920154e-01 1.02628610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.457105681 meters 0.03170232657347485 Centerline is valid? [True, True] Translation: X:115.30, Y:14.20, Z:10.27 [[ 9.72887056e-01 -2.09911481e-01 -9.70976111e-02 1.15295085e+02] [ 2.08468122e-01 9.77712307e-01 -2.48935113e-02 1.41974909e+01] [ 1.00158963e-01 3.97681830e-03 9.94963500e-01 1.02673179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.517105681 meters 0.024079797936198397 Centerline is valid? [True, True] Translation: X:115.36, Y:14.19, Z:10.27 [[ 9.69568638e-01 -2.23897250e-01 -9.90286731e-02 1.15360066e+02] [ 2.22467767e-01 9.74609316e-01 -2.53924051e-02 1.41869922e+01] [ 1.02199557e-01 2.58899192e-03 9.94760548e-01 1.02702604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577105681 meters 0.022602027402617842 Centerline is valid? [True, True] Translation: X:115.42, Y:14.19, Z:10.28 [[ 9.68783181e-01 -2.27856944e-01 -9.76747785e-02 1.15419293e+02] [ 2.26486229e-01 9.73692261e-01 -2.50473405e-02 1.41895707e+01] [ 1.00812386e-01 2.14344997e-03 9.94903145e-01 1.02781508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.637105681 meters 0.019888410173513036 Centerline is valid? [True, True] Translation: X:115.48, Y:14.19, Z:10.29 [[ 9.67542187e-01 -2.33414741e-01 -9.68487253e-02 1.15479828e+02] [ 2.32093907e-01 9.72376019e-01 -2.48454543e-02 1.41909607e+01] [ 9.99726733e-02 1.56102618e-03 9.94988959e-01 1.02851342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.697105681 meters 0.020809687884451936 Centerline is valid? [True, True] Translation: X:115.54, Y:14.20, Z:10.29 [[ 9.67643574e-01 -2.32298677e-01 -9.85050210e-02 1.15535921e+02] [ 2.30924652e-01 9.72642977e-01 -2.52872535e-02 1.42031141e+01] [ 1.01684412e-01 1.72181073e-03 9.94815217e-01 1.02897912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.757105681 meters 0.023843528840211955 Centerline is valid? [True, True] Translation: X:115.59, Y:14.22, Z:10.30 [[ 9.69914439e-01 -2.22647425e-01 -9.84586483e-02 1.15591408e+02] [ 2.21223301e-01 9.74895155e-01 -2.52920609e-02 1.42245041e+01] [ 1.01618071e-01 2.74978785e-03 9.94819685e-01 1.02970436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.817105681 meters 0.03066490755377477 Centerline is valid? [True, True] Translation: X:115.65, Y:14.25, Z:10.31 [[ 9.73056416e-01 -2.09031255e-01 -9.72992616e-02 1.15646316e+02] [ 2.07571848e-01 9.77900235e-01 -2.50011682e-02 1.42494397e+01] [ 1.00374996e-01 4.13095961e-03 9.94941101e-01 1.03052166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.877105681 meters 0.03643412823060576 Centerline is valid? [True, True] Translation: X:115.70, Y:14.27, Z:10.30 [[ 9.74873593e-01 -1.99162599e-01 -9.97784401e-02 1.15703497e+02] [ 1.97575659e-01 9.79952212e-01 -2.56421805e-02 1.42687660e+01] [ 1.02885066e-01 5.28409350e-03 9.94679215e-01 1.03046189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.937105681 meters 0.03527198190650458 Centerline is valid? [True, True] Translation: X:115.76, Y:14.27, Z:10.31 [[ 9.74608068e-01 -2.00190734e-01 -1.00313426e-01 1.15763227e+02] [ 1.98591259e-01 9.79743084e-01 -2.57876158e-02 1.42728306e+01] [ 1.03443827e-01 5.21144879e-03 9.94621644e-01 1.03062001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.997105681 meters 0.034187050614925975 Centerline is valid? [True, True] Translation: X:115.82, Y:14.27, Z:10.31 [[ 9.73846854e-01 -2.03765906e-01 -1.00507519e-01 1.15824216e+02] [ 2.02175501e-01 9.79007499e-01 -2.58724366e-02 1.42728645e+01] [ 1.03669536e-01 4.87563289e-03 9.94599847e-01 1.03108671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.057105681 meters 0.03341989674508225 Centerline is valid? [True, True] Translation: X:115.88, Y:14.28, Z:10.32 [[ 9.73806078e-01 -2.04524799e-01 -9.93545655e-02 1.15882167e+02] [ 2.02971473e-01 9.78849759e-01 -2.56072433e-02 1.42840649e+01] [ 1.02490509e-01 4.77034663e-03 9.94722544e-01 1.03182261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.117105681 meters 0.030997625794520887 Centerline is valid? [True, True] Translation: X:115.94, Y:14.29, Z:10.32 [[ 9.72618996e-01 -2.10186531e-01 -9.91660826e-02 1.15943757e+02] [ 2.08665434e-01 9.77652306e-01 -2.55871884e-02 1.42854617e+01] [ 1.02328032e-01 4.19405180e-03 9.94741868e-01 1.03231245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.177105681 meters 0.02524936354146639 Centerline is valid? [True, True] Translation: X:116.01, Y:14.28, Z:10.33 [[ 9.69887950e-01 -2.23180934e-01 -9.75070993e-02 1.16006512e+02] [ 2.21775436e-01 9.74773074e-01 -2.51616770e-02 1.42809283e+01] [ 1.00662902e-01 2.77932786e-03 9.94916708e-01 1.03310962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.237105681 meters 0.021343789752198115 Centerline is valid? [True, True] Translation: X:116.07, Y:14.28, Z:10.34 [[ 9.67779093e-01 -2.31650092e-01 -9.87008707e-02 1.16067922e+02] [ 2.30253260e-01 9.72797267e-01 -2.54737826e-02 1.42816993e+01] [ 1.01916941e-01 1.92679701e-03 9.94791046e-01 1.03359671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.297105681 meters 0.020639162121859712 Centerline is valid? [True, True] Translation: X:116.13, Y:14.29, Z:10.33 [[ 9.66354028e-01 -2.34489996e-01 -1.05708728e-01 1.16126159e+02] [ 2.32902724e-01 9.72116947e-01 -2.72939960e-02 1.42924979e+01] [ 1.09161415e-01 1.75581224e-03 9.94022486e-01 1.03335639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.357105681 meters 0.02127760124849562 Centerline is valid? [True, True] Translation: X:116.18, Y:14.31, Z:10.33 [[ 9.66077713e-01 -2.33940158e-01 -1.09388546e-01 1.16183119e+02] [ 2.32232034e-01 9.72249100e-01 -2.82837291e-02 1.43090289e+01] [ 1.12969615e-01 1.92075586e-03 9.93596587e-01 1.03329104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.417105681 meters 0.020597042923131074 Centerline is valid? [True, True] Translation: X:116.24, Y:14.32, Z:10.35 [[ 9.66420570e-01 -2.34166361e-01 -1.05817750e-01 1.16239662e+02] [ 2.32565684e-01 9.72194749e-01 -2.73965959e-02 1.43218406e+01] [ 1.09290822e-01 1.86705638e-03 9.94008063e-01 1.03460226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.477105681 meters 0.01816689482799028 Centerline is valid? [True, True] Translation: X:116.30, Y:14.33, Z:10.36 [[ 9.65030370e-01 -2.43648512e-01 -9.67046419e-02 1.16297199e+02] [ 2.42356881e-01 9.69863308e-01 -2.50660357e-02 1.43283118e+01] [ 9.98975862e-02 7.52450370e-04 9.94997440e-01 1.03641817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.537105681 meters 0.017437534598906405 Centerline is valid? [True, True] Translation: X:116.35, Y:14.34, Z:10.38 [[ 9.64068737e-01 -2.49683018e-01 -9.07185776e-02 1.16354186e+02] [ 2.48572616e-01 9.68327617e-01 -2.35219133e-02 1.43406029e+01] [ 9.37183264e-02 1.26587089e-04 9.95598744e-01 1.03788259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.597105681 meters 0.017630996723906937 Centerline is valid? [True, True] Translation: X:116.41, Y:14.36, Z:10.38 [[ 9.62700217e-01 -2.54383738e-01 -9.21802936e-02 1.16409896e+02] [ 2.53255693e-01 9.67103314e-01 -2.39318520e-02 1.43590931e+01] [ 9.52357414e-02 -3.05984996e-04 9.95454700e-01 1.03807897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.657105681 meters 0.017793809646136725 Centerline is valid? [True, True] Translation: X:116.46, Y:14.39, Z:10.38 [[ 9.62977809e-01 -2.51845301e-01 -9.61648777e-02 1.16461455e+02] [ 2.50601429e-01 9.67767505e-01 -2.49996078e-02 1.43901403e+01] [ 9.93612775e-02 -2.49881755e-05 9.95051424e-01 1.03796931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71710568099999 meters 0.018126737903541947 Centerline is valid? [True, True] Translation: X:116.52, Y:14.42, Z:10.38 [[ 9.63398676e-01 -2.48692966e-01 -1.00073971e-01 1.16515685e+02] [ 2.47326773e-01 9.68582314e-01 -2.60339638e-02 1.44170606e+01] [ 1.03404342e-01 3.30113879e-04 9.94639348e-01 1.03773054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.777105681 meters 0.017770519493998434 Centerline is valid? [True, True] Translation: X:116.57, Y:14.44, Z:10.38 [[ 9.63046900e-01 -2.50572371e-01 -9.87631243e-02 1.16570967e+02] [ 2.49248204e-01 9.68097857e-01 -2.57268661e-02 1.44376698e+01] [ 1.02058811e-01 1.59647293e-04 9.94778354e-01 1.03833875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.837105681 meters 0.01883442589692586 Centerline is valid? [True, True] Translation: X:116.63, Y:14.45, Z:10.39 [[ 9.60867738e-01 -2.60865375e-01 -9.31796473e-02 1.16627282e+02] [ 2.59732188e-01 9.65374816e-01 -2.43034131e-02 1.44468222e+01] [ 9.62932038e-02 -8.49388130e-04 9.95352650e-01 1.03936203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.897105681 meters 0.019049690950417295 Centerline is valid? [True, True] Translation: X:116.68, Y:14.47, Z:10.40 [[ 9.60078798e-01 -2.62993254e-01 -9.53060824e-02 1.16682183e+02] [ 2.61816845e-01 9.64797073e-01 -2.48706027e-02 1.44676299e+01] [ 9.84918301e-02 -1.07499950e-03 9.95137279e-01 1.03961498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.957105681 meters 0.017656111569927635 Centerline is valid? [True, True] Translation: X:116.73, Y:14.50, Z:10.40 [[ 9.61619869e-01 -2.56565726e-01 -9.72689817e-02 1.16734788e+02] [ 2.55305847e-01 9.66526699e-01 -2.53981191e-02 1.44968885e+01] [ 1.00529355e-01 -4.10003742e-04 9.94934008e-01 1.04013414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.017105681 meters 0.017189838379476727 Centerline is valid? [True, True] Translation: X:116.79, Y:14.53, Z:10.41 [[ 9.63289797e-01 -2.49958403e-01 -9.79467383e-02 1.16785972e+02] [ 2.48643360e-01 9.68256525e-01 -2.56082281e-02 1.45308165e+01] [ 1.01238560e-01 3.14338723e-04 9.94862129e-01 1.04056963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.077105681 meters 0.017505406858609168 Centerline is valid? [True, True] Translation: X:116.84, Y:14.56, Z:10.41 [[ 9.64800307e-01 -2.44654104e-01 -9.64610640e-02 1.16838408e+02] [ 2.43350834e-01 9.69610029e-01 -2.52341528e-02 1.45611514e+01] [ 9.97032542e-02 8.72037962e-04 9.95016834e-01 1.04141109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.137105681 meters 0.019068932148485523 Centerline is valid? [True, True] Translation: X:116.89, Y:14.59, Z:10.42 [[ 9.66389064e-01 -2.38968859e-01 -9.47948371e-02 1.16891848e+02] [ 2.37679843e-01 9.71026126e-01 -2.48305147e-02 1.45874994e+01] [ 9.79819832e-02 1.46511589e-03 9.95187110e-01 1.04216746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.197105681 meters 0.017954450912948484 Centerline is valid? [True, True] Translation: X:116.95, Y:14.60, Z:10.43 [[ 9.66202506e-01 -2.41157776e-01 -9.10804306e-02 1.16948221e+02] [ 2.39974868e-01 9.70485152e-01 -2.38879287e-02 1.46005924e+01] [ 9.41529653e-02 1.22356228e-03 9.95556991e-01 1.04310899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.257105681 meters 0.016148478609195237 Centerline is valid? [True, True] Translation: X:117.01, Y:14.60, Z:10.44 [[ 9.63996237e-01 -2.51774111e-01 -8.55631460e-02 1.17007298e+02] [ 2.50769550e-01 9.67786007e-01 -2.24694734e-02 1.46041124e+01] [ 8.84640471e-02 2.03856141e-04 9.96079350e-01 1.04445590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.317105681 meters 0.016594085380041167 Centerline is valid? [True, True] Translation: X:117.06, Y:14.61, Z:10.46 [[ 9.61903173e-01 -2.60599458e-01 -8.26450722e-02 1.17064476e+02] [ 2.59692302e-01 9.65446845e-01 -2.17324023e-02 1.46127739e+01] [ 8.54528765e-02 -5.57822322e-04 9.96342057e-01 1.04566451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.377105681 meters 0.016604559529234664 Centerline is valid? [True, True] Translation: X:117.11, Y:14.65, Z:10.46 [[ 9.65439489e-01 -2.46339460e-01 -8.51085391e-02 1.17114781e+02] [ 2.45320830e-01 9.69183329e-01 -2.23911875e-02 1.46521742e+01] [ 8.80016103e-02 7.38439241e-04 9.96120059e-01 1.04571288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.437105681 meters 0.022928461076663072 Centerline is valid? [True, True] Translation: X:117.17, Y:14.69, Z:10.45 [[ 9.69094379e-01 -2.29372551e-01 -9.07982194e-02 1.17167708e+02] [ 2.28135080e-01 9.73335575e-01 -2.39216164e-02 1.46864397e+01] [ 9.38640993e-02 2.46804498e-03 9.95581960e-01 1.04548027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.497105681 meters 0.02703683059402537 Centerline is valid? [True, True] Translation: X:117.22, Y:14.71, Z:10.45 [[ 9.70401564e-01 -2.21248340e-01 -9.67986342e-02 1.17224259e+02] [ 2.19800570e-01 9.75211305e-01 -2.55072407e-02 1.47096550e+01] [ 1.00042557e-01 3.47587130e-03 9.94977088e-01 1.04511704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.557105681 meters 0.024606067041787295 Centerline is valid? [True, True] Translation: X:117.28, Y:14.71, Z:10.45 [[ 9.68816214e-01 -2.26846896e-01 -9.96776244e-02 1.17284101e+02] [ 2.25340559e-01 9.73925846e-01 -2.62693616e-02 1.47127663e+01] [ 1.03037738e-01 2.98877186e-03 9.94672957e-01 1.04513986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.617105681 meters 0.019967525650433485 Centerline is valid? [True, True] Translation: X:117.35, Y:14.71, Z:10.45 [[ 9.66313622e-01 -2.35927562e-01 -1.02840502e-01 1.17346325e+02] [ 2.34373949e-01 9.71768385e-01 -2.71119531e-02 1.47124540e+01] [ 1.06333606e-01 2.09551497e-03 9.94328302e-01 1.04548591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.677105681 meters 0.019645079846731934 Centerline is valid? [True, True] Translation: X:117.40, Y:14.73, Z:10.47 [[ 9.66214988e-01 -2.37802270e-01 -9.93915338e-02 1.17402459e+02] [ 2.36360614e-01 9.71311858e-01 -2.62094470e-02 1.47250868e+01] [ 1.02772841e-01 1.83171655e-03 9.94703166e-01 1.04665094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.737105681 meters 0.018470299708126685 Centerline is valid? [True, True] Translation: X:117.46, Y:14.74, Z:10.48 [[ 9.66091198e-01 -2.39975051e-01 -9.52878363e-02 1.17459290e+02] [ 2.38657650e-01 9.70777794e-01 -2.51595137e-02 1.47380233e+01] [ 9.85409711e-02 1.56521365e-03 9.95131764e-01 1.04779786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.797105681 meters 0.017140941697478044 Centerline is valid? [True, True] Translation: X:117.52, Y:14.75, Z:10.48 [[ 9.64765874e-01 -2.45245435e-01 -9.52968287e-02 1.17516256e+02] [ 2.43950227e-01 9.69460446e-01 -2.51938625e-02 1.47483586e+01] [ 9.85651858e-02 1.05849578e-03 9.95130034e-01 1.04810609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.857105681 meters 0.015711161187313215 Centerline is valid? [True, True] Translation: X:117.58, Y:14.76, Z:10.48 [[ 9.61612109e-01 -2.56266427e-01 -9.81308854e-02 1.17575775e+02] [ 2.54948323e-01 9.66606184e-01 -2.59583810e-02 1.47551487e+01] [ 1.01506182e-01 -5.64111236e-05 9.94834907e-01 1.04820494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.917105681 meters 0.02058516058989186 Centerline is valid? [True, True] Translation: X:117.64, Y:14.75, Z:10.49 [[ 9.56493842e-01 -2.74348116e-01 -9.92604725e-02 1.17637166e+02] [ 2.73092750e-01 9.61628442e-01 -2.62885938e-02 1.47536103e+01] [ 1.02663920e-01 -1.96243727e-03 9.94714164e-01 1.04880536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.977105681 meters 0.023631003126491718 Centerline is valid? [True, True] Translation: X:117.69, Y:14.76, Z:10.49 [[ 9.55315720e-01 -2.78824697e-01 -9.81257565e-02 1.17694250e+02] [ 2.77620644e-01 9.60338999e-01 -2.59958744e-02 1.47632516e+01] [ 1.01482283e-01 -2.40746824e-03 9.94834434e-01 1.04939556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.037105681 meters 0.02727371888747363 Centerline is valid? [True, True] Translation: X:117.75, Y:14.78, Z:10.50 [[ 9.51980551e-01 -2.90200123e-01 -9.75546959e-02 1.17752116e+02] [ 2.89068254e-01 9.56959262e-01 -2.58556524e-02 1.47783602e+01] [ 1.00859183e-01 -3.58588740e-03 9.94894249e-01 1.05013541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.097105681 meters 0.030760734522798098 Centerline is valid? [True, True] Translation: X:117.81, Y:14.80, Z:10.50 [[ 9.51132967e-01 -2.92021792e-01 -1.00346161e-01 1.17806424e+02] [ 2.90833520e-01 9.56403786e-01 -2.66019075e-02 1.48004858e+01] [ 1.03739785e-01 -3.88207602e-03 9.94596896e-01 1.05001649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.157105681 meters 0.029243185326698163 Centerline is valid? [True, True] Translation: X:117.86, Y:14.83, Z:10.51 [[ 9.51354552e-01 -2.92003640e-01 -9.82771165e-02 1.17858933e+02] [ 2.90862303e-01 9.56409719e-01 -2.60685632e-02 1.48286207e+01] [ 1.01605305e-01 -3.78466215e-03 9.94817591e-01 1.05080182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21710568099999 meters 0.028357994887685877 Centerline is valid? [True, True] Translation: X:117.91, Y:14.86, Z:10.51 [[ 9.51296460e-01 -2.91806721e-01 -9.94177209e-02 1.17910537e+02] [ 2.90633873e-01 9.56469865e-01 -2.64073780e-02 1.48605722e+01] [ 1.02795904e-01 -3.77291198e-03 9.94695314e-01 1.05108112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.277105681 meters 0.026131504654543076 Centerline is valid? [True, True] Translation: X:117.96, Y:14.90, Z:10.51 [[ 9.52533370e-01 -2.87615847e-01 -9.97862909e-02 1.17961979e+02] [ 2.86407145e-01 9.57740192e-01 -2.65456628e-02 1.48988019e+01] [ 1.03204295e-01 -3.29387708e-03 9.94654726e-01 1.05132187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.337105681 meters 0.0228412266989298 Centerline is valid? [True, True] Translation: X:118.01, Y:14.93, Z:10.53 [[ 9.55890574e-01 -2.78324933e-01 -9.38532969e-02 1.18012464e+02] [ 2.77208458e-01 9.60484627e-01 -2.49950422e-02 1.49333950e+01] [ 9.71013923e-02 -2.12440247e-03 9.95272227e-01 1.05266924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.397105681 meters 0.018157174008393444 Centerline is valid? [True, True] Translation: X:118.06, Y:14.98, Z:10.53 [[ 9.59439618e-01 -2.65952024e-01 -9.35154526e-02 1.18062968e+02] [ 2.64784325e-01 9.63985880e-01 -2.49095128e-02 1.49758699e+01] [ 9.67723112e-02 -8.62252590e-04 9.95306172e-01 1.05319448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.457105681 meters 0.0181057386633538 Centerline is valid? [True, True] Translation: X:118.11, Y:15.02, Z:10.54 [[ 9.64018445e-01 -2.49580096e-01 -9.15325764e-02 1.18111851e+02] [ 2.48387151e-01 9.68353850e-01 -2.43853314e-02 1.50190197e+01] [ 9.47220161e-02 7.72393382e-04 9.95503462e-01 1.05391493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.517105681 meters 0.022884018321460683 Centerline is valid? [True, True] Translation: X:118.16, Y:15.06, Z:10.54 [[ 9.66971672e-01 -2.36076761e-01 -9.60913578e-02 1.18164123e+02] [ 2.34691820e-01 9.71731844e-01 -2.56314841e-02 1.50573309e+01] [ 9.94260300e-02 2.23306342e-03 9.95042450e-01 1.05388657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.577105681 meters 0.027945812123067397 Centerline is valid? [True, True] Translation: X:118.22, Y:15.08, Z:10.54 [[ 9.68447045e-01 -2.27381979e-01 -1.02018412e-01 1.18219825e+02] [ 2.25771825e-01 9.73799972e-01 -2.72157561e-02 1.50842110e+01] [ 1.05533899e-01 3.32413561e-03 9.94410150e-01 1.05361723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.637105681 meters 0.028422371673663453 Centerline is valid? [True, True] Translation: X:118.28, Y:15.10, Z:10.54 [[ 9.68685643e-01 -2.25943939e-01 -1.02943973e-01 1.18276044e+02] [ 2.24295406e-01 9.74133945e-01 -2.74704892e-02 1.51004295e+01] [ 1.06488009e-01 3.52040824e-03 9.94307754e-01 1.05381276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.697105681 meters 0.025581543123036243 Centerline is valid? [True, True] Translation: X:118.34, Y:15.10, Z:10.55 [[ 9.67380398e-01 -2.32329217e-01 -1.00986634e-01 1.18336176e+02] [ 2.30774360e-01 9.72633194e-01 -2.69789795e-02 1.51048536e+01] [ 1.04490958e-01 2.79381012e-03 9.94521912e-01 1.05460049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.757105681 meters 0.020075308707444926 Centerline is valid? [True, True] Translation: X:118.40, Y:15.10, Z:10.56 [[ 9.65028414e-01 -2.43176724e-01 -9.79042461e-02 1.18399312e+02] [ 2.41770626e-01 9.69980721e-01 -2.61603688e-02 1.50983955e+01] [ 1.01326824e-01 1.57512839e-03 9.94851946e-01 1.05575228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.817105681 meters 0.019495070909424924 Centerline is valid? [True, True] Translation: X:118.46, Y:15.11, Z:10.56 [[ 9.64338989e-01 -2.46435196e-01 -9.65401901e-02 1.18456908e+02] [ 2.45083753e-01 9.69158502e-01 -2.58021699e-02 1.51052027e+01] [ 9.99213088e-02 1.22160630e-03 9.94994593e-01 1.05630211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.877105681 meters 0.018594724276213368 Centerline is valid? [True, True] Translation: X:118.52, Y:15.11, Z:10.57 [[ 9.63129151e-01 -2.50710306e-01 -9.76042010e-02 1.18516641e+02] [ 2.49349107e-01 9.68061826e-01 -2.61021845e-02 1.51101712e+01] [ 1.01030988e-01 8.02254442e-04 9.94882956e-01 1.05665610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.937105681 meters 0.01774318884883121 Centerline is valid? [True, True] Translation: X:118.58, Y:15.12, Z:10.57 [[ 9.61667356e-01 -2.56887593e-01 -9.59409293e-02 1.18575584e+02] [ 2.55599786e-01 9.66441271e-01 -2.56908238e-02 1.51156766e+01] [ 9.93209275e-02 1.83545558e-04 9.95055435e-01 1.05741616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.997105681 meters 0.01768534483870487 Centerline is valid? [True, True] Translation: X:118.63, Y:15.13, Z:10.58 [[ 9.61131013e-01 -2.58584520e-01 -9.67534073e-02 1.18632765e+02] [ 2.57279715e-01 9.65988636e-01 -2.59442459e-02 1.51250977e+01] [ 1.00171472e-01 4.31302636e-05 9.94970188e-01 1.05809463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.057105681 meters 0.018534115767459614 Centerline is valid? [True, True] Translation: X:118.69, Y:15.15, Z:10.59 [[ 9.62880469e-01 -2.52021278e-01 -9.66771842e-02 1.18687517e+02] [ 2.50681495e-01 9.67721391e-01 -2.59633801e-02 1.51471858e+01] [ 1.00099903e-01 7.64450553e-04 9.94977098e-01 1.05882539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.117105681 meters 0.022590993451950453 Centerline is valid? [True, True] Translation: X:118.74, Y:15.17, Z:10.59 [[ 9.66147423e-01 -2.39790718e-01 -9.51817645e-02 1.18740678e+02] [ 2.38429669e-01 9.70822476e-01 -2.55932190e-02 1.51748700e+01] [ 9.85416126e-02 2.03266592e-03 9.95130855e-01 1.05932516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.177105681 meters 0.025688067910422056 Centerline is valid? [True, True] Translation: X:118.80, Y:15.19, Z:10.60 [[ 9.67937424e-01 -2.32849948e-01 -9.42233782e-02 1.18797138e+02] [ 2.31482468e-01 9.72508867e-01 -2.53450355e-02 1.51934577e+01] [ 9.75346609e-02 2.72134828e-03 9.95228408e-01 1.05995397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.237105681 meters 0.02379018898193575 Centerline is valid? [True, True] Translation: X:118.85, Y:15.21, Z:10.60 [[ 9.67053059e-01 -2.36261384e-01 -9.48100165e-02 1.18854404e+02] [ 2.34892371e-01 9.71686575e-01 -2.55102652e-02 1.52051931e+01] [ 9.81527108e-02 2.39963043e-03 9.95168472e-01 1.06041137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.297105681 meters 0.01957736571771072 Centerline is valid? [True, True] Translation: X:118.92, Y:15.20, Z:10.61 [[ 9.64625333e-01 -2.46457954e-01 -9.35758739e-02 1.18916731e+02] [ 2.45169193e-01 9.69152509e-01 -2.52087389e-02 1.52015891e+01] [ 9.69021872e-02 1.37506664e-03 9.95292960e-01 1.06127849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.357105681 meters 0.018476838545771156 Centerline is valid? [True, True] Translation: X:118.98, Y:15.21, Z:10.62 [[ 9.63463176e-01 -2.52002797e-01 -9.07375230e-02 1.18975654e+02] [ 2.50815151e-01 9.67726177e-01 -2.44501000e-02 1.52086101e+01] [ 9.39705698e-02 7.98425464e-04 9.95574655e-01 1.06223492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.417105681 meters 0.02042693315993851 Centerline is valid? [True, True] Translation: X:119.03, Y:15.23, Z:10.63 [[ 9.65357793e-01 -2.45685714e-01 -8.78798072e-02 1.19030202e+02] [ 2.44543108e-01 9.69348533e-01 -2.37084286e-02 1.52262592e+01] [ 9.10109844e-02 1.39671513e-03 9.95848909e-01 1.06303405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.477105681 meters 0.027674494407388877 Centerline is valid? [True, True] Translation: X:119.09, Y:15.24, Z:10.63 [[ 9.69474792e-01 -2.27462312e-01 -9.15397428e-02 1.19087891e+02] [ 2.26139856e-01 9.73781454e-01 -2.47072034e-02 1.52447783e+01] [ 9.47596614e-02 3.25222661e-03 9.95494867e-01 1.06300037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.537105681 meters 0.033143408525953225 Centerline is valid? [True, True] Translation: X:119.15, Y:15.27, Z:10.62 [[ 9.70996724e-01 -2.17866267e-01 -9.84868099e-02 1.19145590e+02] [ 2.16285422e-01 9.75968206e-01 -2.65833877e-02 1.52657246e+01] [ 1.01911619e-01 4.51112112e-03 9.94783229e-01 1.06244082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.597105681 meters 0.033462566907754246 Centerline is valid? [True, True] Translation: X:119.21, Y:15.27, Z:10.62 [[ 9.70166724e-01 -2.18648156e-01 -1.04735440e-01 1.19206202e+02] [ 2.16863284e-01 9.75792345e-01 -2.82774813e-02 1.52689056e+01] [ 1.08382859e-01 4.72059996e-03 9.94098019e-01 1.06224137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.657105681 meters 0.03018139714983506 Centerline is valid? [True, True] Translation: X:119.27, Y:15.27, Z:10.64 [[ 9.69716818e-01 -2.22578993e-01 -1.00537974e-01 1.19268206e+02] [ 2.20952779e-01 9.74905884e-01 -2.71732599e-02 1.52668813e+01] [ 1.04063259e-01 4.13622235e-03 9.94562079e-01 1.06361854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71710568099999 meters 0.02934093967339395 Centerline is valid? [True, True] Translation: X:119.33, Y:15.27, Z:10.64 [[ 9.69226907e-01 -2.25242900e-01 -9.93218970e-02 1.19328625e+02] [ 2.23669480e-01 9.74295205e-01 -2.68480561e-02 1.52670653e+01] [ 1.02816182e-01 3.80658138e-03 9.94693090e-01 1.06409178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.777105681 meters 0.027434416646820958 Centerline is valid? [True, True] Translation: X:119.39, Y:15.27, Z:10.65 [[ 9.68341544e-01 -2.29461912e-01 -9.82948850e-02 1.19389783e+02] [ 2.27941646e-01 9.73311935e-01 -2.65797367e-02 1.52702921e+01] [ 1.01770622e-01 3.33276535e-03 9.94802309e-01 1.06459049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.837105681 meters 0.023743222491785475 Centerline is valid? [True, True] Translation: X:119.45, Y:15.27, Z:10.66 [[ 9.67117878e-01 -2.35520170e-01 -9.59857270e-02 1.19452093e+02] [ 2.34099777e-01 9.71865882e-01 -2.59615472e-02 1.52680721e+01] [ 9.93997212e-02 2.63763915e-03 9.95044089e-01 1.06563844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.897105681 meters 0.021520485709297984 Centerline is valid? [True, True] Translation: X:119.51, Y:15.27, Z:10.67 [[ 9.65801626e-01 -2.42149703e-01 -9.26862535e-02 1.19511597e+02] [ 2.40855699e-01 9.70237058e-01 -2.50715652e-02 1.52730165e+01] [ 9.59987100e-02 1.89014604e-03 9.95379664e-01 1.06651662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.957105681 meters 0.019167738609685923 Centerline is valid? [True, True] Translation: X:119.57, Y:15.27, Z:10.67 [[ 9.64264169e-01 -2.49479332e-01 -8.91889812e-02 1.19572111e+02] [ 2.48312104e-01 9.68379473e-01 -2.41307788e-02 1.52738272e+01] [ 9.23889092e-02 1.12174185e-03 9.95722367e-01 1.06742561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.017105681 meters 0.01944809624154405 Centerline is valid? [True, True] Translation: X:119.63, Y:15.29, Z:10.67 [[ 9.64071627e-01 -2.48797608e-01 -9.30894651e-02 1.19629715e+02] [ 2.47519432e-01 9.68554662e-01 -2.52189900e-02 1.52867428e+01] [ 9.64366598e-02 1.27146126e-03 9.95338311e-01 1.06732423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.077105681 meters 0.021421065613636648 Centerline is valid? [True, True] Translation: X:119.69, Y:15.31, Z:10.68 [[ 9.65518180e-01 -2.42841206e-01 -9.38231975e-02 1.19685344e+02] [ 2.41511312e-01 9.70064164e-01 -2.54520030e-02 1.53057950e+01] [ 9.71953167e-02 1.91500810e-03 9.95263484e-01 1.06795234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.137105681 meters 0.028011690802354022 Centerline is valid? [True, True] Translation: X:119.74, Y:15.33, Z:10.68 [[ 9.68986525e-01 -2.28275934e-01 -9.46319869e-02 1.19739874e+02] [ 2.26850387e-01 9.73590405e-01 -2.57026302e-02 1.53347015e+01] [ 9.80000864e-02 3.43819943e-03 9.95180467e-01 1.06824492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.197105681 meters 0.029584742794376014 Centerline is valid? [True, True] Translation: X:119.80, Y:15.35, Z:10.69 [[ 9.70211610e-01 -2.23394573e-01 -9.37245836e-02 1.19796734e+02] [ 2.21973346e-01 9.74720312e-01 -2.54587414e-02 1.53526830e+01] [ 9.70426001e-02 3.89600706e-03 9.95272603e-01 1.06869539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.257105681 meters 0.03236623736672079 Centerline is valid? [True, True] Translation: X:119.86, Y:15.36, Z:10.69 [[ 9.71175900e-01 -2.18973771e-01 -9.41693103e-02 1.19855495e+02] [ 2.17517798e-01 9.75720989e-01 -2.55843602e-02 1.53634923e+01] [ 9.74852764e-02 4.36341306e-03 9.95227402e-01 1.06912688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.317105681 meters 0.031173094374171897 Centerline is valid? [True, True] Translation: X:119.91, Y:15.37, Z:10.69 [[ 9.70756744e-01 -2.21040138e-01 -9.36621640e-02 1.19914487e+02] [ 2.19608741e-01 9.75255923e-01 -2.54535837e-02 1.53693805e+01] [ 9.69708439e-02 4.14020816e-03 9.95278611e-01 1.06937885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.377105681 meters 0.03345725086059936 Centerline is valid? [True, True] Translation: X:119.97, Y:15.38, Z:10.70 [[ 9.71323224e-01 -2.18652617e-01 -9.33928641e-02 1.19973376e+02] [ 2.17215459e-01 9.75792860e-01 -2.54113908e-02 1.53756121e+01] [ 9.66883570e-02 4.39630019e-03 9.95304996e-01 1.07004453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.437105681 meters 0.03495184233731293 Centerline is valid? [True, True] Translation: X:120.03, Y:15.39, Z:10.71 [[ 9.73143720e-01 -2.11411474e-01 -9.10850691e-02 1.20031951e+02] [ 2.10012262e-01 9.77384376e-01 -2.47917447e-02 1.53855325e+01] [ 9.42663827e-02 4.99694929e-03 9.95534469e-01 1.07099893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.497105681 meters 0.03961456797886593 Centerline is valid? [True, True] Translation: X:120.09, Y:15.40, Z:10.70 [[ 9.74246458e-01 -2.04334294e-01 -9.53484914e-02 1.20090717e+02] [ 2.02766478e-01 9.78883061e-01 -2.59559056e-02 1.53978671e+01] [ 9.86387047e-02 5.95397128e-03 9.95105500e-01 1.07047360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.557105681 meters 0.03932876403061863 Centerline is valid? [True, True] Translation: X:120.15, Y:15.40, Z:10.71 [[ 9.73534277e-01 -2.06651038e-01 -9.76030750e-02 1.20151462e+02] [ 2.05018723e-01 9.78397142e-01 -2.65773466e-02 1.53991711e+01] [ 1.00986806e-01 5.86350006e-03 9.94870486e-01 1.07071709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.617105681 meters 0.03838205208254299 Centerline is valid? [True, True] Translation: X:120.21, Y:15.40, Z:10.71 [[ 9.72523571e-01 -2.11141268e-01 -9.80676738e-02 1.20212428e+02] [ 2.09512940e-01 9.77440347e-01 -2.67337973e-02 1.54008769e+01] [ 1.01499909e-01 5.45280134e-03 9.94820605e-01 1.07097711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.677105681 meters 0.0369722703121744 Centerline is valid? [True, True] Translation: X:120.27, Y:15.40, Z:10.72 [[ 9.72291889e-01 -2.12344380e-01 -9.77668005e-02 1.20272514e+02] [ 2.10731283e-01 9.77180421e-01 -2.66599075e-02 1.54037962e+01] [ 1.01196885e-01 5.31868853e-03 9.94852201e-01 1.07170433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.737105681 meters 0.03118409793868412 Centerline is valid? [True, True] Translation: X:120.33, Y:15.40, Z:10.73 [[ 9.70898529e-01 -2.21062416e-01 -9.21273867e-02 1.20334077e+02] [ 2.19666915e-01 9.75250701e-01 -2.51498710e-02 1.54016944e+01] [ 9.54069898e-02 4.18063390e-03 9.95429570e-01 1.07310595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.797105681 meters 0.02645217675425296 Centerline is valid? [True, True] Translation: X:120.39, Y:15.40, Z:10.74 [[ 9.68245467e-01 -2.33080501e-01 -9.04112594e-02 1.20394307e+02] [ 2.31788297e-01 9.72452983e-01 -2.46856465e-02 1.54031803e+01] [ 9.36744417e-02 2.94549344e-03 9.95598525e-01 1.07379823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.857105681 meters 0.021740531910329222 Centerline is valid? [True, True] Translation: X:120.46, Y:15.41, Z:10.74 [[ 9.65374013e-01 -2.44260659e-01 -9.15955552e-02 1.20455188e+02] [ 2.42983770e-01 9.69707765e-01 -2.50147650e-02 1.54073205e+01] [ 9.49310441e-02 1.89237079e-03 9.95482052e-01 1.07402795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.917105681 meters 0.01867865685477974 Centerline is valid? [True, True] Translation: X:120.51, Y:15.41, Z:10.75 [[ 9.62681188e-01 -2.54620985e-01 -9.17228635e-02 1.20514347e+02] [ 2.53386942e-01 9.67040529e-01 -2.50534004e-02 1.54148226e+01] [ 9.50788479e-02 8.77061355e-04 9.95469358e-01 1.07455859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.977105681 meters 0.017802200112906275 Centerline is valid? [True, True] Translation: X:120.57, Y:15.42, Z:10.76 [[ 9.59700869e-01 -2.67136998e-01 -8.72471621e-02 1.20573027e+02] [ 2.66069808e-01 9.63658509e-01 -2.38565418e-02 1.54216187e+01] [ 9.04494351e-02 -3.18691700e-04 9.95900998e-01 1.07557156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.037105681 meters 0.02046080241935113 Centerline is valid? [True, True] Translation: X:120.63, Y:15.43, Z:10.76 [[ 9.55851239e-01 -2.80167700e-01 -8.86254410e-02 1.20632871e+02] [ 2.79119318e-01 9.59949829e-01 -2.42637921e-02 1.54297418e+01] [ 9.18739078e-02 -1.54449694e-03 9.95769451e-01 1.07573847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.097105681 meters 0.02350010069605878 Centerline is valid? [True, True] Translation: X:120.69, Y:15.45, Z:10.76 [[ 9.53280642e-01 -2.89076327e-01 -8.76977448e-02 1.20689552e+02] [ 2.88086907e-01 9.57303113e-01 -2.40142528e-02 1.54461071e+01] [ 9.08952761e-02 -2.37224970e-03 9.95857631e-01 1.07641333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.157105681 meters 0.02764401326576625 Centerline is valid? [True, True] Translation: X:120.74, Y:15.47, Z:10.77 [[ 9.51162499e-01 -2.96217016e-01 -8.68641480e-02 1.20743138e+02] [ 2.95275363e-01 9.55115894e-01 -2.37926437e-02 1.54733829e+01] [ 9.00131143e-02 -3.01817237e-03 9.95936007e-01 1.07714948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21710568099999 meters 0.029729628413373003 Centerline is valid? [True, True] Translation: X:120.80, Y:15.50, Z:10.77 [[ 9.50082833e-01 -2.99035129e-01 -8.89977604e-02 1.20796122e+02] [ 2.98058322e-01 9.54236186e-01 -2.43831433e-02 1.55014750e+01] [ 9.22162999e-02 -3.36051732e-03 9.95733328e-01 1.07724790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.277105681 meters 0.025321805893454157 Centerline is valid? [True, True] Translation: X:120.85, Y:15.55, Z:10.77 [[ 9.53021879e-01 -2.89070383e-01 -9.04854257e-02 1.20845590e+02] [ 2.88014631e-01 9.57304777e-01 -2.48019352e-02 1.55473936e+01] [ 9.37916352e-02 -2.42433968e-03 9.95588897e-01 1.07739991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.337105681 meters 0.01972643878128044 Centerline is valid? [True, True] Translation: X:120.89, Y:15.61, Z:10.77 [[ 9.57688080e-01 -2.72192895e-01 -9.35124034e-02 1.20890717e+02] [ 2.70984188e-01 9.62242383e-01 -2.56352476e-02 1.56071996e+01] [ 9.69593302e-02 -7.89811589e-04 9.95288031e-01 1.07743593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.397105681 meters 0.019091341613032557 Centerline is valid? [True, True] Translation: X:120.94, Y:15.64, Z:10.78 [[ 9.59414064e-01 -2.66877197e-01 -9.11110096e-02 1.20941667e+02] [ 2.65705341e-01 9.63730515e-01 -2.49833413e-02 1.56419984e+01] [ 9.44739442e-02 -2.39312790e-04 9.95527306e-01 1.07815100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.457105681 meters 0.01910391238937349 Centerline is valid? [True, True] Translation: X:120.99, Y:15.67, Z:10.79 [[ 9.61282266e-01 -2.60950623e-01 -8.85504265e-02 1.20992687e+02] [ 2.59815885e-01 9.65352081e-01 -2.43118400e-02 1.56739633e+01] [ 9.18265283e-02 3.63733176e-04 9.95774953e-01 1.07909633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.517105681 meters 0.021089383804119396 Centerline is valid? [True, True] Translation: X:121.04, Y:15.71, Z:10.79 [[ 9.63276149e-01 -2.52525969e-01 -9.12671631e-02 1.21044149e+02] [ 2.51279051e-01 9.67589323e-01 -2.50946167e-02 1.57066829e+01] [ 9.46461750e-02 1.23951956e-03 9.95510203e-01 1.07885466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.577105681 meters 0.022808495766700312 Centerline is valid? [True, True] Translation: X:121.10, Y:15.74, Z:10.79 [[ 9.64537101e-01 -2.46264053e-01 -9.49852484e-02 1.21098479e+02] [ 2.44881718e-01 9.69200828e-01 -2.61284986e-02 1.57350086e+01] [ 9.84942914e-02 1.94175553e-03 9.95135721e-01 1.07899752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.637105681 meters 0.024785043894248373 Centerline is valid? [True, True] Translation: X:121.15, Y:15.76, Z:10.79 [[ 9.65332749e-01 -2.42104970e-01 -9.75595623e-02 1.21153760e+02] [ 2.40624746e-01 9.70247004e-01 -2.68417957e-02 1.57572574e+01] [ 1.01155405e-01 2.43601946e-03 9.94867654e-01 1.07941071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.697105681 meters 0.02400228296413322 Centerline is valid? [True, True] Translation: X:121.21, Y:15.77, Z:10.81 [[ 9.66068149e-01 -2.41646135e-01 -9.12111705e-02 1.21210200e+02] [ 2.40350001e-01 9.70361646e-01 -2.51028588e-02 1.57690650e+01] [ 9.45738303e-02 2.32846743e-03 9.95515127e-01 1.08085425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.757105681 meters 0.023754884669054704 Centerline is valid? [True, True] Translation: X:121.27, Y:15.78, Z:10.82 [[ 9.65929040e-01 -2.42833612e-01 -8.95149570e-02 1.21267273e+02] [ 2.41587513e-01 9.70065457e-01 -2.46674319e-02 1.57827138e+01] [ 9.28254493e-02 2.20129296e-03 9.95679964e-01 1.08166973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.817105681 meters 0.020859767692466464 Centerline is valid? [True, True] Translation: X:121.33, Y:15.79, Z:10.82 [[ 9.63789216e-01 -2.50683670e-01 -9.09287942e-02 1.21327337e+02] [ 2.49429483e-01 9.68067893e-01 -2.50895921e-02 1.57873796e+01] [ 9.43147972e-02 1.50075615e-03 9.95541293e-01 1.08189615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.877105681 meters 0.019099187014225773 Centerline is valid? [True, True] Translation: X:121.39, Y:15.79, Z:10.82 [[ 9.61219746e-01 -2.57979828e-01 -9.74833735e-02 1.21387754e+02] [ 2.56571616e-01 9.66149905e-01 -2.69326180e-02 1.57907012e+01] [ 1.01131624e-01 8.76697525e-04 9.94872668e-01 1.08156014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.937105681 meters 0.02019686528677325 Centerline is valid? [True, True] Translation: X:121.44, Y:15.81, Z:10.83 [[ 9.61940495e-01 -2.56334490e-01 -9.46737167e-02 1.21442601e+02] [ 2.54995438e-01 9.66587568e-01 -2.61877712e-02 1.58052175e+01] [ 9.82232666e-02 1.04971177e-03 9.95163850e-01 1.08275063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.997105681 meters 0.02348261520829889 Centerline is valid? [True, True] Translation: X:121.50, Y:15.83, Z:10.84 [[ 9.65726891e-01 -2.44019689e-01 -8.84644750e-02 1.21496252e+02] [ 2.42798233e-01 9.69767866e-01 -2.44806734e-02 1.58291102e+01] [ 9.17637715e-02 2.16262643e-03 9.95778456e-01 1.08432051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.057105681 meters 0.028848820734767276 Centerline is valid? [True, True] Translation: X:121.55, Y:15.85, Z:10.85 [[ 9.69037832e-01 -2.31425478e-01 -8.60693180e-02 1.21552565e+02] [ 2.30219150e-01 9.72847132e-01 -2.38243619e-02 1.58473159e+01] [ 8.92458535e-02 3.27190275e-03 9.96004253e-01 1.08529700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.117105681 meters 0.030335472841442133 Centerline is valid? [True, True] Translation: X:121.61, Y:15.86, Z:10.85 [[ 9.69798145e-01 -2.27198580e-01 -8.87263439e-02 1.21610672e+02] [ 2.25898414e-01 9.73841120e-01 -2.45638076e-02 1.58614908e+01] [ 9.19862243e-02 3.77879466e-03 9.95753110e-01 1.08526571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.177105681 meters 0.030632183652069416 Centerline is valid? [True, True] Translation: X:121.67, Y:15.87, Z:10.85 [[ 9.69144320e-01 -2.27458641e-01 -9.49834369e-02 1.21669805e+02] [ 2.25968496e-01 9.73779406e-01 -2.63041254e-02 1.58720307e+01] [ 9.84760154e-02 4.02922934e-03 9.95131268e-01 1.08479747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.237105681 meters 0.030047726032261097 Centerline is valid? [True, True] Translation: X:121.73, Y:15.87, Z:10.85 [[ 9.68231194e-01 -2.29804534e-01 -9.85810840e-02 1.21729985e+02] [ 2.28207333e-01 9.73228700e-01 -2.73369900e-02 1.58746272e+01] [ 1.02224104e-01 3.97160031e-03 9.94753466e-01 1.08482965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.297105681 meters 0.028822287557702338 Centerline is valid? [True, True] Translation: X:121.79, Y:15.88, Z:10.85 [[ 9.66909857e-01 -2.33664649e-01 -1.02401954e-01 1.21790104e+02] [ 2.31958337e-01 9.72310056e-01 -2.84338786e-02 1.58775192e+01] [ 1.06210442e-01 3.74001062e-03 9.94336640e-01 1.08488973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.357105681 meters 0.025588109387950753 Centerline is valid? [True, True] Translation: X:121.85, Y:15.87, Z:10.85 [[ 9.65215440e-01 -2.40765357e-01 -1.01937219e-01 1.21853009e+02] [ 2.39110666e-01 9.70578791e-01 -2.83354978e-02 1.58749334e+01] [ 1.05760309e-01 2.97558358e-03 9.94387200e-01 1.08536786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.417105681 meters 0.02030010333870208 Centerline is valid? [True, True] Translation: X:121.92, Y:15.87, Z:10.86 [[ 9.61931464e-01 -2.54998257e-01 -9.83043558e-02 1.21915942e+02] [ 2.53533014e-01 9.66940546e-01 -2.73311434e-02 1.58650524e+01] [ 1.02023861e-01 1.36728711e-03 9.94781012e-01 1.08649854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.477105681 meters 0.019191974404783766 Centerline is valid? [True, True] Translation: X:121.98, Y:15.87, Z:10.87 [[ 9.60767567e-01 -2.59031067e-01 -9.91392388e-02 1.21975098e+02] [ 2.57561177e-01 9.65868517e-01 -2.75726024e-02 1.58715342e+01] [ 1.02897630e-01 9.56443061e-04 9.94691491e-01 1.08700222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.537105681 meters 0.018215275957796834 Centerline is valid? [True, True] Translation: X:122.03, Y:15.88, Z:10.88 [[ 9.59556654e-01 -2.63597719e-01 -9.88294969e-02 1.22033650e+02] [ 2.62157719e-01 9.64632570e-01 -2.75197343e-02 1.58768755e+01] [ 1.02588291e-01 4.97828663e-04 9.94723778e-01 1.08805573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.597105681 meters 0.01851608197567555 Centerline is valid? [True, True] Translation: X:122.09, Y:15.89, Z:10.89 [[ 9.60467269e-01 -2.60645425e-01 -9.78089369e-02 1.22089109e+02] [ 2.59216141e-01 9.65434233e-01 -2.72715057e-02 1.58940034e+01] [ 1.01536289e-01 8.39733486e-04 9.94831482e-01 1.08877400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.657105681 meters 0.019365077082465775 Centerline is valid? [True, True] Translation: X:122.14, Y:15.91, Z:10.90 [[ 9.61892265e-01 -2.57263966e-01 -9.26203125e-02 1.22142201e+02] [ 2.55963702e-01 9.66340464e-01 -2.58590671e-02 1.59148598e+01] [ 9.61553619e-02 1.16619855e-03 9.95365655e-01 1.08991014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71710568099999 meters 0.019995917456892272 Centerline is valid? [True, True] Translation: X:122.20, Y:15.93, Z:10.91 [[ 9.62604892e-01 -2.55114252e-01 -9.11511964e-02 1.22197816e+02] [ 2.53844209e-01 9.66909944e-01 -2.54613172e-02 1.59329660e+01] [ 9.46305431e-02 1.37098516e-03 9.95511517e-01 1.09064522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.777105681 meters 0.020331079896082564 Centerline is valid? [True, True] Translation: X:122.25, Y:15.95, Z:10.91 [[ 9.62854351e-01 -2.52799925e-01 -9.48878103e-02 1.22253816e+02] [ 2.51408790e-01 9.67517089e-01 -2.65387106e-02 1.59530002e+01] [ 9.85145620e-02 1.69728339e-03 9.95134162e-01 1.09076745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.837105681 meters 0.023611400575813374 Centerline is valid? [True, True] Translation: X:122.31, Y:15.98, Z:10.91 [[ 9.65222927e-01 -2.42398921e-01 -9.79155960e-02 1.22308644e+02] [ 2.40860524e-01 9.70172390e-01 -2.74179054e-02 1.59788603e+01] [ 1.01641078e-01 2.88038918e-03 9.94816965e-01 1.09093034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.897105681 meters 0.03064104020055286 Centerline is valid? [True, True] Translation: X:122.36, Y:16.01, Z:10.91 [[ 9.66456217e-01 -2.35135252e-01 -1.03314059e-01 1.22362803e+02] [ 2.33380115e-01 9.71955030e-01 -2.89334077e-02 1.60072635e+01] [ 1.07219883e-01 3.85142492e-03 9.94227873e-01 1.09060840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.957105681 meters 0.0290645349284862 Centerline is valid? [True, True] Translation: X:122.42, Y:16.02, Z:10.91 [[ 9.67069893e-01 -2.32333260e-01 -1.03908992e-01 1.22420180e+02] [ 2.30541196e-01 9.72627213e-01 -2.91043332e-02 1.60228026e+01] [ 1.07826618e-01 4.19062105e-03 9.94160882e-01 1.09121269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.017105681 meters 0.026388024547672004 Centerline is valid? [True, True] Translation: X:122.48, Y:16.03, Z:10.92 [[ 9.66245028e-01 -2.36115089e-01 -1.03054405e-01 1.22479628e+02] [ 2.34372789e-01 9.71717872e-01 -2.88751319e-02 1.60277939e+01] [ 1.06957661e-01 3.74730443e-03 9.94256514e-01 1.09211136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.077105681 meters 0.021638508709347398 Centerline is valid? [True, True] Translation: X:122.54, Y:16.03, Z:10.93 [[ 9.63832495e-01 -2.47608723e-01 -9.85740424e-02 1.22541364e+02] [ 2.46071917e-01 9.68857162e-01 -2.76479951e-02 1.60261245e+01] [ 1.02350052e-01 2.39173246e-03 9.94745569e-01 1.09335209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.137105681 meters 0.019954921734997605 Centerline is valid? [True, True] Translation: X:122.60, Y:16.04, Z:10.93 [[ 9.61732400e-01 -2.54451832e-01 -1.01612285e-01 1.22598970e+02] [ 2.52855962e-01 9.67083917e-01 -2.85054499e-02 1.60368965e+01] [ 1.05520871e-01 1.72134261e-03 9.94415599e-01 1.09296814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.197105681 meters 0.01760306061426476 Centerline is valid? [True, True] Translation: X:122.66, Y:16.04, Z:10.94 [[ 9.60143222e-01 -2.60940288e-01 -1.00175641e-01 1.22658512e+02] [ 2.59423243e-01 9.65354419e-01 -2.81145315e-02 1.60397837e+01] [ 1.04041212e-01 1.00608717e-03 9.94572478e-01 1.09418058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.257105681 meters 0.0168918270109057 Centerline is valid? [True, True] Translation: X:122.71, Y:16.05, Z:10.95 [[ 9.59342344e-01 -2.65072358e-01 -9.69479872e-02 1.22714472e+02] [ 2.63671499e-01 9.64228365e-01 -2.72213208e-02 1.60546803e+01] [ 1.00695619e-01 5.52144585e-04 9.94917126e-01 1.09540181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.317105681 meters 0.019620136765235947 Centerline is valid? [True, True] Translation: X:122.77, Y:16.08, Z:10.97 [[ 9.62514549e-01 -2.55122849e-01 -9.20764579e-02 1.22766348e+02] [ 2.53811122e-01 9.66907415e-01 -2.58836712e-02 1.60801885e+01] [ 9.56329259e-02 1.54338103e-03 9.95415472e-01 1.09667730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.377105681 meters 0.020491898678500403 Centerline is valid? [True, True] Translation: X:122.82, Y:16.10, Z:10.97 [[ 9.63291055e-01 -2.52195601e-01 -9.20202262e-02 1.22821840e+02] [ 2.50870896e-01 9.67674518e-01 -2.58809010e-02 1.61011165e+01] [ 9.55726774e-02 1.84564387e-03 9.95420744e-01 1.09688542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.437105681 meters 0.020255731982618957 Centerline is valid? [True, True] Translation: X:122.88, Y:16.12, Z:10.98 [[ 9.63478185e-01 -2.51686020e-01 -9.14545516e-02 1.22878511e+02] [ 2.50372262e-01 9.67807046e-01 -2.57536703e-02 1.61154932e+01] [ 9.49921982e-02 1.91541652e-03 9.95476174e-01 1.09750641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.497105681 meters 0.025938933300311124 Centerline is valid? [True, True] Translation: X:122.93, Y:16.14, Z:10.98 [[ 9.65936314e-01 -2.40379072e-01 -9.58380893e-02 1.22932919e+02] [ 2.38877053e-01 9.70673795e-01 -2.70210546e-02 1.61397988e+01] [ 9.95228179e-02 3.20709755e-03 9.95030112e-01 1.09761759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.557105681 meters 0.030273919081442544 Centerline is valid? [True, True] Translation: X:122.99, Y:16.16, Z:10.97 [[ 9.67313604e-01 -2.33035708e-01 -9.99937484e-02 1.22990147e+02] [ 2.31360499e-01 9.72459360e-01 -2.81977420e-02 1.61616101e+01] [ 1.03810937e-01 4.14145599e-03 9.94588426e-01 1.09731648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.617105681 meters 0.03045687085158205 Centerline is valid? [True, True] Translation: X:123.05, Y:16.17, Z:10.98 [[ 9.68106661e-01 -2.28731659e-01 -1.02231704e-01 1.23049943e+02] [ 2.26956354e-01 9.73478126e-01 -2.88296980e-02 1.61710974e+01] [ 1.06114593e-01 4.70808779e-03 9.94342761e-01 1.09766149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.677105681 meters 0.0314510317962437 Centerline is valid? [True, True] Translation: X:123.11, Y:16.18, Z:10.98 [[ 9.68016704e-01 -2.29190576e-01 -1.02055576e-01 1.23106393e+02] [ 2.27423513e-01 9.73370445e-01 -2.87840566e-02 1.61829276e+01] [ 1.05934916e-01 4.65360995e-03 9.94362176e-01 1.09811402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.737105681 meters 0.02792127316587511 Centerline is valid? [True, True] Translation: X:123.17, Y:16.19, Z:10.99 [[ 9.66900726e-01 -2.34281449e-01 -1.01070221e-01 1.23167439e+02] [ 2.32574915e-01 9.72160306e-01 -2.85175066e-02 1.61852274e+01] [ 1.04937580e-01 4.06719968e-03 9.94470493e-01 1.09873757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.797105681 meters 0.02591962329854627 Centerline is valid? [True, True] Translation: X:123.23, Y:16.19, Z:10.99 [[ 9.65670925e-01 -2.39058302e-01 -1.01640512e-01 1.23228056e+02] [ 2.37358156e-01 9.70998639e-01 -2.86836017e-02 1.61889335e+01] [ 1.05549852e-01 3.57371579e-03 9.94407591e-01 1.09931159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.857105681 meters 0.021086058298652254 Centerline is valid? [True, True] Translation: X:123.29, Y:16.19, Z:11.00 [[ 9.62832178e-01 -2.51475927e-01 -9.85599122e-02 1.23290029e+02] [ 2.49941720e-01 9.67861164e-01 -2.78191451e-02 1.61880664e+01] [ 1.02388157e-01 2.15093410e-03 9.94742197e-01 1.10019757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.917105681 meters 0.017543718772601725 Centerline is valid? [True, True] Translation: X:123.35, Y:16.19, Z:11.01 [[ 9.59547480e-01 -2.64660860e-01 -9.60378182e-02 1.23350502e+02] [ 2.63269501e-01 9.64341275e-01 -2.71122912e-02 1.61884844e+01] [ 9.97887943e-02 7.31702239e-04 9.95008372e-01 1.10107321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.977105681 meters 0.017505498740034403 Centerline is valid? [True, True] Translation: X:123.41, Y:16.20, Z:11.02 [[ 9.59145169e-01 -2.65686805e-01 -9.72165921e-02 1.23406873e+02] [ 2.64265601e-01 9.64059186e-01 -2.74513806e-02 1.62007996e+01] [ 1.01016018e-01 6.38857903e-04 9.94884594e-01 1.10154840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.037105681 meters 0.01712551519668623 Centerline is valid? [True, True] Translation: X:123.46, Y:16.22, Z:11.02 [[ 9.58164332e-01 -2.69656370e-01 -9.59507927e-02 1.23463994e+02] [ 2.68290008e-01 9.62956586e-01 -2.71124427e-02 1.62156676e+01] [ 9.97074906e-02 2.35536528e-04 9.95016764e-01 1.10222046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.097105681 meters 0.01806723295848205 Centerline is valid? [True, True] Translation: X:123.52, Y:16.24, Z:11.03 [[ 9.59866731e-01 -2.64886507e-01 -9.21466080e-02 1.23515863e+02] [ 2.63601927e-01 9.64279320e-01 -2.60656465e-02 1.62414250e+01] [ 9.57595066e-02 7.29523393e-04 9.95404232e-01 1.10326114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.157105681 meters 0.025316714091569555 Centerline is valid? [True, True] Translation: X:123.57, Y:16.28, Z:11.04 [[ 9.64339626e-01 -2.47437418e-01 -9.39351369e-02 1.23565720e+02] [ 2.46016123e-01 9.68900531e-01 -2.66050569e-02 1.62812606e+01] [ 9.75968906e-02 2.54675240e-03 9.95222770e-01 1.10365675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21710568099999 meters 0.031989485604588336 Centerline is valid? [True, True] Translation: X:123.62, Y:16.32, Z:11.04 [[ 9.67067660e-01 -2.36127001e-01 -9.49956858e-02 1.23618664e+02] [ 2.34618264e-01 9.71715017e-01 -2.69108711e-02 1.63158702e+01] [ 9.86631177e-02 3.73691018e-03 9.95113875e-01 1.10377395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.277105681 meters 0.030622404916453357 Centerline is valid? [True, True] Translation: X:123.67, Y:16.34, Z:11.04 [[ 9.68054643e-01 -2.31878465e-01 -9.54074710e-02 1.23674852e+02] [ 2.30335487e-01 9.72735726e-01 -2.70327863e-02 1.63351464e+01] [ 9.90745765e-02 4.19348809e-03 9.95071175e-01 1.10446762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.337105681 meters 0.037619727793819044 Centerline is valid? [True, True] Translation: X:123.73, Y:16.36, Z:11.05 [[ 9.68157146e-01 -2.31005415e-01 -9.64792114e-02 1.23726820e+02] [ 2.29422550e-01 9.72942797e-01 -2.73423976e-02 1.63629913e+01] [ 1.00184996e-01 4.33723088e-03 9.94959374e-01 1.10451984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.397105681 meters 0.032323566289318824 Centerline is valid? [True, True] Translation: X:123.78, Y:16.37, Z:11.05 [[ 9.68490376e-01 -2.30333535e-01 -9.47251490e-02 1.23784741e+02] [ 2.28803138e-01 9.73102059e-01 -2.68608694e-02 1.63722352e+01] [ 9.83641966e-02 4.34108217e-03 9.95141015e-01 1.10534503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.457105681 meters 0.03265222391733241 Centerline is valid? [True, True] Translation: X:123.84, Y:16.38, Z:11.06 [[ 9.68388953e-01 -2.29855515e-01 -9.68982857e-02 1.23842999e+02] [ 2.28248012e-01 9.73214245e-01 -2.75114091e-02 1.63830451e+01] [ 1.00626441e-01 4.52490361e-03 9.94913989e-01 1.10553061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.517105681 meters 0.03458161672440536 Centerline is valid? [True, True] Translation: X:123.90, Y:16.40, Z:11.06 [[ 9.69624395e-01 -2.24894866e-01 -9.61812488e-02 1.23901272e+02] [ 2.23283818e-01 9.74370043e-01 -2.73378013e-02 1.63975501e+01] [ 9.98642587e-02 5.03168260e-03 9.94988348e-01 1.10607293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.577105681 meters 0.05130729389379076 Centerline is valid? [True, True] Translation: X:123.95, Y:16.43, Z:11.06 [[ 9.70894243e-01 -2.18621785e-01 -9.78206681e-02 1.23953271e+02] [ 2.16923013e-01 9.75792558e-01 -2.78080913e-02 1.64303478e+01] [ 1.01532135e-01 5.77916167e-03 9.94815474e-01 1.10615624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.637105681 meters 0.03939727563363054 Centerline is valid? [True, True] Translation: X:124.02, Y:16.43, Z:11.07 [[ 9.71467080e-01 -2.16475929e-01 -9.69014194e-02 1.24015236e+02] [ 2.14797922e-01 9.76269816e-01 -2.75517594e-02 1.64273328e+01] [ 1.00566224e-01 5.95140362e-03 9.94912567e-01 1.10705619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.697105681 meters 0.037929530621959626 Centerline is valid? [True, True] Translation: X:124.08, Y:16.43, Z:11.08 [[ 9.70637045e-01 -2.21219690e-01 -9.44752656e-02 1.24075455e+02] [ 2.19646595e-01 9.75209443e-01 -2.68684960e-02 1.64319824e+01] [ 9.80770115e-02 5.32838716e-03 9.95164563e-01 1.10796364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.757105681 meters 0.0354669785780185 Centerline is valid? [True, True] Translation: X:124.13, Y:16.44, Z:11.09 [[ 9.69199535e-01 -2.27861467e-01 -9.34420326e-02 1.24134854e+02] [ 2.26352966e-01 9.73682652e-01 -2.65786971e-02 1.64364788e+01] [ 9.70391471e-02 4.60917965e-03 9.95269893e-01 1.10864470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.817105681 meters 0.034232637783129384 Centerline is valid? [True, True] Translation: X:124.19, Y:16.44, Z:11.09 [[ 9.68264308e-01 -2.31190672e-01 -9.49478981e-02 1.24194233e+02] [ 2.29648375e-01 9.72898733e-01 -2.70125699e-02 1.64448007e+01] [ 9.86197440e-02 4.35067677e-03 9.95115681e-01 1.10852494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.877105681 meters 0.02703204179088606 Centerline is valid? [True, True] Translation: X:124.26, Y:16.44, Z:11.09 [[ 9.65944815e-01 -2.39723827e-01 -9.73812159e-02 1.24258132e+02] [ 2.38143436e-01 9.70834527e-01 -2.77132657e-02 1.64386217e+01] [ 1.01184577e-01 3.57878799e-03 9.94861233e-01 1.10870596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.937105681 meters 0.02170377657582645 Centerline is valid? [True, True] Translation: X:124.32, Y:16.44, Z:11.10 [[ 9.62508262e-01 -2.54084140e-01 -9.49689139e-02 1.24320282e+02] [ 2.52650428e-01 9.67180004e-01 -2.70296311e-02 1.64362688e+01] [ 9.87198351e-02 2.02230652e-03 9.95113212e-01 1.10955213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.997105681 meters 0.0190831562655848 Centerline is valid? [True, True] Translation: X:124.38, Y:16.44, Z:11.10 [[ 9.60062304e-01 -2.64534504e-01 -9.11145894e-02 1.24379679e+02] [ 2.63261434e-01 9.64375788e-01 -2.59375789e-02 1.64409110e+01] [ 9.47300885e-02 9.14734317e-04 9.95502573e-01 1.11014575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057105681 meters 0.01817848169482063 Centerline is valid? [True, True] Translation: X:124.44, Y:16.45, Z:11.11 [[ 9.57122664e-01 -2.74814892e-01 -9.16132123e-02 1.24439695e+02] [ 2.73573878e-01 9.61497148e-01 -2.60876748e-02 1.64459433e+01] [ 9.52551239e-02 -9.38770353e-05 9.95452888e-01 1.11079240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117105681 meters 0.018866622572182683 Centerline is valid? [True, True] Translation: X:124.50, Y:16.46, Z:11.11 [[ 9.54912841e-01 -2.81894096e-01 -9.31514053e-02 1.24496530e+02] [ 2.80641565e-01 9.59445207e-01 -2.65557433e-02 1.64601024e+01] [ 9.68595765e-02 -7.83735881e-04 9.95297749e-01 1.11121898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177105681 meters 0.020568458170313532 Centerline is valid? [True, True] Translation: X:124.55, Y:16.48, Z:11.12 [[ 9.52597226e-01 -2.89684333e-01 -9.29597360e-02 1.24552623e+02] [ 2.88470791e-01 9.57121002e-01 -2.65328159e-02 1.64760265e+01] [ 9.66598567e-02 -1.54108176e-03 9.95316280e-01 1.11157414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237105681 meters 0.023553803753199192 Centerline is valid? [True, True] Translation: X:124.61, Y:16.49, Z:11.12 [[ 9.50047711e-01 -2.97537512e-01 -9.42378664e-02 1.24609221e+02] [ 2.96327586e-01 9.54707211e-01 -2.69091751e-02 1.64948927e+01] [ 9.79760596e-02 -2.36027923e-03 9.95185973e-01 1.11180600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297105681 meters 0.026107572858685535 Centerline is valid? [True, True] Translation: X:124.66, Y:16.52, Z:11.13 [[ 9.47483063e-01 -3.06499144e-01 -9.12914012e-02 1.24663277e+02] [ 3.05404719e-01 9.51865630e-01 -2.60725817e-02 1.65206277e+01] [ 9.48883712e-02 -3.17749515e-03 9.95482848e-01 1.11281783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357105681 meters 0.03112247526356337 Centerline is valid? [True, True] Translation: X:124.72, Y:16.55, Z:11.13 [[ 9.46425839e-01 -3.09591587e-01 -9.18214573e-02 1.24716072e+02] [ 3.08497943e-01 9.50863192e-01 -2.62337357e-02 1.65455113e+01] [ 9.54313879e-02 -3.49844541e-03 9.95429862e-01 1.11287423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417105681 meters 0.026793314537591324 Centerline is valid? [True, True] Translation: X:124.77, Y:16.58, Z:11.14 [[ 9.47333569e-01 -3.07952862e-01 -8.78871100e-02 1.24765667e+02] [ 3.06942195e-01 9.51396335e-01 -2.51297230e-02 1.65829258e+01] [ 9.13542444e-02 -3.17003235e-03 9.95813413e-01 1.11431341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477105681 meters 0.024995545706051746 Centerline is valid? [True, True] Translation: X:124.82, Y:16.62, Z:11.15 [[ 9.49399234e-01 -3.01014878e-01 -8.96166202e-02 1.24815315e+02] [ 2.99929979e-01 9.53616116e-01 -2.56575886e-02 1.66210993e+01] [ 9.31831691e-02 -2.51941613e-03 9.95645795e-01 1.11464810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53710568099999 meters 0.018735892428856843 Centerline is valid? [True, True] Translation: X:124.86, Y:16.68, Z:11.16 [[ 9.56406843e-01 -2.78936501e-01 -8.64891795e-02 1.24861200e+02] [ 2.77834761e-01 9.60309488e-01 -2.47695922e-02 1.66774234e+01] [ 8.99655230e-02 -3.39893101e-04 9.95944822e-01 1.11552731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597105681 meters 0.01888834644233933 Centerline is valid? [True, True] Translation: X:124.91, Y:16.70, Z:11.16 [[ 9.58159269e-01 -2.72783541e-01 -8.67176723e-02 1.24912591e+02] [ 2.71650230e-01 9.62075402e-01 -2.48409471e-02 1.67033485e+01] [ 9.02051410e-02 2.44708146e-04 9.95923176e-01 1.11598128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657105681 meters 0.024055999719462415 Centerline is valid? [True, True] Translation: X:124.96, Y:16.76, Z:11.15 [[ 9.63289609e-01 -2.52231301e-01 -9.19374820e-02 1.24961182e+02] [ 2.50861668e-01 9.67664189e-01 -2.63522489e-02 1.67550899e+01] [ 9.56114710e-02 2.32125745e-03 9.95416023e-01 1.11528109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717105681 meters 0.02843378667205407 Centerline is valid? [True, True] Translation: X:125.01, Y:16.79, Z:11.15 [[ 9.64860337e-01 -2.45721145e-01 -9.30894685e-02 1.25013463e+02] [ 2.44286299e-01 9.69335893e-01 -2.66857776e-02 1.67861932e+01] [ 9.67922229e-02 3.00756664e-03 9.95300065e-01 1.11549205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777105681 meters 0.02754439104509988 Centerline is valid? [True, True] Translation: X:125.07, Y:16.81, Z:11.16 [[ 9.64773338e-01 -2.45003657e-01 -9.58416141e-02 1.25068854e+02] [ 2.43477929e-01 9.69516935e-01 -2.74847282e-02 1.68050014e+01] [ 9.96539269e-02 3.18121529e-03 9.95017073e-01 1.11584364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837105681 meters 0.025773931514115913 Centerline is valid? [True, True] Translation: X:125.13, Y:16.82, Z:11.17 [[ 9.64082229e-01 -2.49224669e-01 -9.18287538e-02 1.25126519e+02] [ 2.47840689e-01 9.68442051e-01 -2.63626087e-02 1.68199760e+01] [ 9.55010390e-02 2.65682090e-03 9.95425785e-01 1.11684826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.897105681 meters 0.020089277381498717 Centerline is valid? [True, True] Translation: X:125.19, Y:16.82, Z:11.18 [[ 9.60583280e-01 -2.64003424e-01 -8.70744177e-02 1.25188215e+02] [ 2.62819513e-01 9.64521081e-01 -2.49997457e-02 1.68205004e+01] [ 9.05851300e-02 1.12948168e-03 9.95888075e-01 1.11800232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957105681 meters 0.018119086937196757 Centerline is valid? [True, True] Translation: X:125.25, Y:16.82, Z:11.18 [[ 9.56965724e-01 -2.75206973e-01 -9.20745584e-02 1.25248988e+02] [ 2.73933963e-01 9.61384999e-01 -2.64398988e-02 1.68220673e+01] [ 9.57955437e-02 7.97282441e-05 9.95401028e-01 1.11771010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017105681 meters 0.018203396703465546 Centerline is valid? [True, True] Translation: X:125.31, Y:16.84, Z:11.18 [[ 9.56882268e-01 -2.74703354e-01 -9.44160571e-02 1.25306295e+02] [ 2.73358827e-01 9.61529011e-01 -2.71461173e-02 1.68371828e+01] [ 9.82409075e-02 1.66175686e-04 9.95162648e-01 1.11801312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077105681 meters 0.018803793474971058 Centerline is valid? [True, True] Translation: X:125.36, Y:16.86, Z:11.18 [[ 9.58743880e-01 -2.67953318e-01 -9.49273001e-02 1.25360549e+02] [ 2.66557757e-01 9.63431480e-01 -2.73266263e-02 1.68614409e+01] [ 9.87782095e-02 8.95627538e-04 9.95109071e-01 1.11849637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137105681 meters 0.019148384505122493 Centerline is valid? [True, True] Translation: X:125.42, Y:16.88, Z:11.19 [[ 9.59084223e-01 -2.66414067e-01 -9.58175282e-02 1.25416329e+02] [ 2.64980969e-01 9.63858049e-01 -2.76178735e-02 1.68796701e+01] [ 9.97122858e-02 1.09804525e-03 9.95015706e-01 1.11891678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197105681 meters 0.018206892177692884 Centerline is valid? [True, True] Translation: X:125.47, Y:16.89, Z:11.19 [[ 9.57842455e-01 -2.71718520e-01 -9.33106505e-02 1.25472994e+02] [ 2.70381494e-01 9.62376604e-01 -2.69280318e-02 1.68929075e+01] [ 9.71168319e-02 5.63338992e-04 9.95272829e-01 1.11948870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257105681 meters 0.01814727824836813 Centerline is valid? [True, True] Translation: X:125.53, Y:16.90, Z:11.20 [[ 9.54472770e-01 -2.83807473e-01 -9.18425203e-02 1.25531233e+02] [ 2.82564821e-01 9.58881082e-01 -2.65366172e-02 1.68976179e+01] [ 9.55973455e-02 -6.22986718e-04 9.95419891e-01 1.12009546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317105681 meters 0.024654445192531002 Centerline is valid? [True, True] Translation: X:125.59, Y:16.90, Z:11.21 [[ 9.49095776e-01 -3.02224889e-01 -8.87542918e-02 1.25592288e+02] [ 3.01141308e-01 9.53233739e-01 -2.56778348e-02 1.68970352e+01] [ 9.23640662e-02 -2.35685895e-03 9.95722514e-01 1.12108828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377105681 meters 0.0352263681245835 Centerline is valid? [True, True] Translation: X:125.65, Y:16.90, Z:11.21 [[ 9.43488742e-01 -3.18647283e-01 -9.10653797e-02 1.25651739e+02] [ 3.17581650e-01 9.47864677e-01 -2.63524169e-02 1.69037013e+01] [ 9.47147828e-02 -4.05748485e-03 9.95496181e-01 1.12138868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437105681 meters 0.03706723071148597 Centerline is valid? [True, True] Translation: X:125.71, Y:16.93, Z:11.22 [[ 9.40213400e-01 -3.28034352e-01 -9.16090976e-02 1.25707502e+02] [ 3.26999477e-01 9.44652430e-01 -2.65165644e-02 1.69264824e+01] [ 9.52371007e-02 -5.02489778e-03 9.95441935e-01 1.12194149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497105681 meters 0.04881149183813563 Centerline is valid? [True, True] Translation: X:125.77, Y:16.94, Z:11.22 [[ 9.37340993e-01 -3.35600969e-01 -9.36154536e-02 1.25765177e+02] [ 3.34557201e-01 9.41985661e-01 -2.71015310e-02 1.69411943e+01] [ 9.72797150e-02 -5.91634815e-03 9.95239496e-01 1.12190730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557105681 meters 0.044058121537028566 Centerline is valid? [True, True] Translation: X:125.82, Y:16.98, Z:11.24 [[ 9.35451867e-01 -3.42863289e-01 -8.58753110e-02 1.25815874e+02] [ 3.42014967e-01 9.39365444e-01 -2.48661309e-02 1.69774488e+01] [ 8.91939831e-02 -6.10957302e-03 9.95995535e-01 1.12372718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617105681 meters 0.04939380209829214 Centerline is valid? [True, True] Translation: X:125.87, Y:17.01, Z:11.25 [[ 9.33975850e-01 -3.47303436e-01 -8.40799298e-02 1.25867488e+02] [ 3.46507766e-01 9.37731017e-01 -2.43496812e-02 1.70101706e+01] [ 8.73010860e-02 -6.39233445e-03 9.96161462e-01 1.12464069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677105681 meters 0.047005681013100285 Centerline is valid? [True, True] Translation: X:125.92, Y:17.05, Z:11.25 [[ 9.32674501e-01 -3.50511437e-01 -8.52056784e-02 1.25919238e+02] [ 3.49706978e-01 9.36533935e-01 -2.46823251e-02 1.70471831e+01] [ 8.84494466e-02 -6.77644510e-03 9.96057616e-01 1.12476139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737105681 meters 0.050084855565065145 Centerline is valid? [True, True] Translation: X:125.97, Y:17.10, Z:11.25 [[ 9.31492531e-01 -3.52960627e-01 -8.79798868e-02 1.25966133e+02] [ 3.52113242e-01 9.35610210e-01 -2.54911855e-02 1.70960763e+01] [ 9.13122651e-02 -7.23403427e-03 9.95796033e-01 1.12490142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797105681 meters 0.041474598417510625 Centerline is valid? [True, True] Translation: X:126.01, Y:17.15, Z:11.26 [[ 9.36322564e-01 -3.40846023e-01 -8.44040592e-02 1.26011860e+02] [ 3.40016262e-01 9.40101292e-01 -2.44643240e-02 1.71500803e+01] [ 8.76869326e-02 -5.79225414e-03 9.96131242e-01 1.12575010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857105681 meters 0.03415741956009933 Centerline is valid? [True, True] Translation: X:126.06, Y:17.20, Z:11.27 [[ 9.41710871e-01 -3.25915528e-01 -8.34248384e-02 1.26059232e+02] [ 3.25045980e-01 9.45388923e-01 -2.41846175e-02 1.72001197e+01] [ 8.67510605e-02 -4.34199110e-03 9.96220558e-01 1.12661559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917105681 meters 0.024766985568952515 Centerline is valid? [True, True] Translation: X:126.10, Y:17.25, Z:11.27 [[ 9.48398482e-01 -3.05638819e-01 -8.44110881e-02 1.26104893e+02] [ 3.04667834e-01 9.52144224e-01 -2.44722036e-02 1.72544388e+01] [ 8.78511853e-02 -2.50794261e-03 9.96130453e-01 1.12701728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977105681 meters 0.017564665442562466 Centerline is valid? [True, True] Translation: X:126.15, Y:17.30, Z:11.27 [[ 9.54614695e-01 -2.85524718e-01 -8.47727572e-02 1.26153992e+02] [ 2.84465256e-01 9.58371126e-01 -2.45825629e-02 1.73007504e+01] [ 8.82626922e-02 -6.48028374e-04 9.96097022e-01 1.12733764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03710568099999 meters 0.01701906432499119 Centerline is valid? [True, True] Translation: X:126.20, Y:17.34, Z:11.27 [[ 9.57729733e-01 -2.74289616e-01 -8.67119673e-02 1.26203908e+02] [ 2.73134720e-01 9.61647049e-01 -2.51471320e-02 1.73366899e+01] [ 9.02839046e-02 4.00107109e-04 9.95915989e-01 1.12734610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097105681 meters 0.016669559477432268 Centerline is valid? [True, True] Translation: X:126.26, Y:17.35, Z:11.28 [[ 9.55870115e-01 -2.80597490e-01 -8.70481025e-02 1.26260700e+02] [ 2.79458055e-01 9.59825514e-01 -2.52621992e-02 1.73490268e+01] [ 9.06394994e-02 -1.78912186e-04 9.95883753e-01 1.12760181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157105681 meters 0.017557027075514157 Centerline is valid? [True, True] Translation: X:126.32, Y:17.36, Z:11.28 [[ 9.53852325e-01 -2.87567070e-01 -8.64345041e-02 1.26318220e+02] [ 2.86469016e-01 9.57760168e-01 -2.51189980e-02 1.73598014e+01] [ 9.00069217e-02 -8.00992715e-04 9.95940818e-01 1.12816997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217105681 meters 0.01791931893468326 Centerline is valid? [True, True] Translation: X:126.37, Y:17.38, Z:11.29 [[ 9.53133937e-01 -2.90011279e-01 -8.61925518e-02 1.26374700e+02] [ 2.88926592e-01 9.57022706e-01 -2.50791888e-02 1.73769596e+01] [ 8.97614767e-02 -9.99494259e-04 9.95962790e-01 1.12869264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277105681 meters 0.018393408112572646 Centerline is valid? [True, True] Translation: X:126.43, Y:17.39, Z:11.29 [[ 9.52116084e-01 -2.92475023e-01 -8.90692050e-02 1.26433010e+02] [ 2.91324215e-01 9.56272357e-01 -2.59495852e-02 1.73868076e+01] [ 9.27640242e-02 -1.24099877e-03 9.95687348e-01 1.12860424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337105681 meters 0.01957632664378766 Centerline is valid? [True, True] Translation: X:126.49, Y:17.40, Z:11.29 [[ 9.50901603e-01 -2.96328161e-01 -8.93071234e-02 1.26489878e+02] [ 2.95185102e-01 9.55084862e-01 -2.60511519e-02 1.74002159e+01] [ 9.30155715e-02 -1.59005023e-03 9.95663384e-01 1.12908553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.397105681 meters 0.018994795946942294 Centerline is valid? [True, True] Translation: X:126.55, Y:17.41, Z:11.29 [[ 9.50837442e-01 -2.95254631e-01 -9.34497811e-02 1.26547387e+02] [ 2.93994168e-01 9.55417391e-01 -2.72953741e-02 1.74110297e+01] [ 9.73426317e-02 -1.52022690e-03 9.95249768e-01 1.12925175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457105681 meters 0.016851752276416374 Centerline is valid? [True, True] Translation: X:126.60, Y:17.44, Z:11.30 [[ 9.54737979e-01 -2.82547769e-01 -9.29631631e-02 1.26600855e+02] [ 2.81236525e-01 9.59253211e-01 -2.71899443e-02 1.74354853e+01] [ 9.68576709e-02 -1.85364514e-04 9.95298225e-01 1.13010671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517105681 meters 0.0182844274262805 Centerline is valid? [True, True] Translation: X:126.65, Y:17.46, Z:11.31 [[ 9.58557069e-01 -2.70413996e-01 -8.96917853e-02 1.26654336e+02] [ 2.69139465e-01 9.62743599e-01 -2.62432874e-02 1.74591783e+01] [ 9.34467444e-02 1.01608953e-03 9.95623761e-01 1.13110852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577105681 meters 0.022198075436685533 Centerline is valid? [True, True] Translation: X:126.71, Y:17.48, Z:11.33 [[ 9.61704305e-01 -2.61299850e-01 -8.27479201e-02 1.26709777e+02] [ 2.60179138e-01 9.65256033e-01 -2.42406026e-02 1.74751503e+01] [ 8.62069949e-02 1.78300930e-03 9.96275652e-01 1.13254913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637105681 meters 0.022146816840018308 Centerline is valid? [True, True] Translation: X:126.77, Y:17.48, Z:11.34 [[ 9.62088698e-01 -2.61565988e-01 -7.72565262e-02 1.26767506e+02] [ 2.60589945e-01 9.65184194e-01 -2.26351950e-02 1.74832175e+01] [ 8.04873751e-02 1.64479142e-03 9.96754271e-01 1.13366498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697105681 meters 0.023689157330900535 Centerline is valid? [True, True] Translation: X:126.83, Y:17.49, Z:11.34 [[ 9.62941968e-01 -2.58177524e-01 -7.80200812e-02 1.26826378e+02] [ 2.57168542e-01 9.66095473e-01 -2.28884042e-02 1.74899769e+01] [ 8.12841187e-02 1.97589443e-03 9.96689013e-01 1.13397891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757105681 meters 0.02939346268644278 Centerline is valid? [True, True] Translation: X:126.89, Y:17.50, Z:11.33 [[ 9.65666981e-01 -2.44739216e-01 -8.71205971e-02 1.26886829e+02] [ 2.43424134e-01 9.69582656e-01 -2.55766261e-02 1.74994394e+01] [ 9.07302234e-02 3.49124741e-03 9.95869388e-01 1.13321447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817105681 meters 0.03545200264752059 Centerline is valid? [True, True] Translation: X:126.95, Y:17.51, Z:11.33 [[ 9.67249611e-01 -2.36780227e-01 -9.14511607e-02 1.26946219e+02] [ 2.35295018e-01 9.71553031e-01 -2.68507523e-02 1.75078329e+01] [ 9.52073796e-02 4.45337716e-03 9.95447499e-01 1.13287413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877105681 meters 0.0321613332533316 Centerline is valid? [True, True] Translation: X:127.01, Y:17.50, Z:11.33 [[ 9.66305740e-01 -2.40071812e-01 -9.28371792e-02 1.27009096e+02] [ 2.38555794e-01 9.70746060e-01 -2.72620604e-02 1.75017501e+01] [ 9.66661782e-02 4.19663848e-03 9.95308012e-01 1.13328516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937105681 meters 0.0246629504349814 Centerline is valid? [True, True] Translation: X:127.08, Y:17.48, Z:11.34 [[ 9.62557508e-01 -2.55725765e-01 -8.99298420e-02 1.27077961e+02] [ 2.54370472e-01 9.66745995e-01 -2.64167290e-02 1.74791678e+01] [ 9.36947529e-02 2.55212453e-03 9.95597700e-01 1.13448189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997105681 meters 0.01990134716638249 Centerline is valid? [True, True] Translation: X:127.14, Y:17.47, Z:11.35 [[ 9.59328236e-01 -2.66975064e-01 -9.17259501e-02 1.27142938e+02] [ 2.65615884e-01 9.63702291e-01 -2.69461744e-02 1.74717486e+01] [ 9.55904649e-02 1.48635664e-03 9.95419637e-01 1.13483185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057105681 meters 0.018571909757878053 Centerline is valid? [True, True] Translation: X:127.20, Y:17.47, Z:11.36 [[ 9.57739298e-01 -2.73638743e-01 -8.86412773e-02 1.27202715e+02] [ 2.72397849e-01 9.61832212e-01 -2.60424130e-02 1.74723411e+01] [ 9.23842490e-02 7.96149071e-04 9.95723112e-01 1.13578991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.117105681 meters 0.01961638915877835 Centerline is valid? [True, True] Translation: X:127.26, Y:17.49, Z:11.37 [[ 9.59057015e-01 -2.69273970e-01 -8.77563161e-02 1.27258570e+02] [ 2.68038518e-01 9.63062850e-01 -2.57934256e-02 1.74891340e+01] [ 9.14603459e-02 1.21529292e-03 9.95807978e-01 1.13666608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177105681 meters 0.025084943392309527 Centerline is valid? [True, True] Translation: X:127.31, Y:17.51, Z:11.37 [[ 9.62857126e-01 -2.55287081e-01 -8.79469260e-02 1.27314125e+02] [ 2.53985057e-01 9.66861854e-01 -2.58794498e-02 1.75122963e+01] [ 9.16392171e-02 2.58100766e-03 9.95788930e-01 1.13741184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237105681 meters 0.03147010754987978 Centerline is valid? [True, True] Translation: X:127.37, Y:17.54, Z:11.38 [[ 9.66190003e-01 -2.42595538e-01 -8.73171445e-02 1.27368755e+02] [ 2.41260105e-01 9.70120228e-01 -2.56964080e-02 1.75373017e+01] [ 9.09419620e-02 3.76146903e-03 9.95849090e-01 1.13805921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297105681 meters 0.03869523624664484 Centerline is valid? [True, True] Translation: X:127.43, Y:17.56, Z:11.38 [[ 9.69468300e-01 -2.29485921e-01 -8.64142822e-02 1.27426264e+02] [ 2.28125664e-01 9.73299420e-01 -2.54346210e-02 1.75560714e+01] [ 8.99438582e-02 4.94474325e-03 9.95934562e-01 1.13833326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357105681 meters 0.040524907747472486 Centerline is valid? [True, True] Translation: X:127.49, Y:17.56, Z:11.38 [[ 9.69263032e-01 -2.27892738e-01 -9.27042361e-02 1.27486442e+02] [ 2.26319099e-01 9.73670882e-01 -2.72887995e-02 1.75633189e+01] [ 9.64823346e-02 5.46928536e-03 9.95319670e-01 1.13791597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417105681 meters 0.040788263284659614 Centerline is valid? [True, True] Translation: X:127.55, Y:17.57, Z:11.39 [[ 9.69058771e-01 -2.29165240e-01 -9.16972806e-02 1.27545676e+02] [ 2.27630570e-01 9.73373148e-01 -2.70006969e-02 1.75692421e+01] [ 9.54432919e-02 5.29215792e-03 9.95420801e-01 1.13852680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477105681 meters 0.042627929815186885 Centerline is valid? [True, True] Translation: X:127.61, Y:17.58, Z:11.39 [[ 9.69434852e-01 -2.26642205e-01 -9.39647737e-02 1.27605713e+02] [ 2.25015728e-01 9.73961359e-01 -2.76982653e-02 1.75766986e+01] [ 9.77956546e-02 5.70811179e-03 9.95190146e-01 1.13881562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53710568099999 meters 0.044948323201032564 Centerline is valid? [True, True] Translation: X:127.67, Y:17.58, Z:11.39 [[ 9.71069412e-01 -2.17429792e-01 -9.87344052e-02 1.27668281e+02] [ 2.15585536e-01 9.76050998e-01 -2.91088555e-02 1.75793100e+01] [ 1.02698947e-01 6.98100952e-03 9.94687987e-01 1.13879018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597105681 meters 0.0479630265552547 Centerline is valid? [True, True] Translation: X:127.73, Y:17.59, Z:11.40 [[ 9.72085075e-01 -2.12842648e-01 -9.87350723e-02 1.27728645e+02] [ 2.10974606e-01 9.77057946e-01 -2.91115892e-02 1.75857700e+01] [ 1.02666075e-01 7.46834836e-03 9.94687841e-01 1.13951123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657105681 meters 0.049003762123319104 Centerline is valid? [True, True] Translation: X:127.79, Y:17.59, Z:11.40 [[ 9.71944727e-01 -2.11851120e-01 -1.02188799e-01 1.27789280e+02] [ 2.09843784e-01 9.77270470e-01 -3.01332850e-02 1.75893019e+01] [ 1.06249866e-01 7.84420318e-03 9.94308521e-01 1.13968117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717105681 meters 0.04385344204998098 Centerline is valid? [True, True] Translation: X:127.85, Y:17.58, Z:11.41 [[ 9.71379210e-01 -2.14901567e-01 -1.01191631e-01 1.27854206e+02] [ 2.12949077e-01 9.76607352e-01 -2.98457895e-02 1.75797423e+01] [ 1.05238398e-01 7.44291500e-03 9.94419168e-01 1.14067645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777105681 meters 0.042148736417061385 Centerline is valid? [True, True] Translation: X:127.92, Y:17.58, Z:11.41 [[ 9.70145986e-01 -2.19953940e-01 -1.02161788e-01 1.27915217e+02] [ 2.17991171e-01 9.75485397e-01 -3.01345239e-02 1.75834979e+01] [ 1.06285540e-01 6.96451950e-03 9.94311259e-01 1.14114301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837105681 meters 0.03936492436330164 Centerline is valid? [True, True] Translation: X:127.98, Y:17.58, Z:11.42 [[ 9.69400359e-01 -2.24354646e-01 -9.96390315e-02 1.27977121e+02] [ 2.22510776e-01 9.74487053e-01 -2.93928175e-02 1.75836843e+01] [ 1.03691361e-01 6.32264960e-03 9.94589426e-01 1.14221564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.897105681 meters 0.0414031495658753 Centerline is valid? [True, True] Translation: X:128.04, Y:17.59, Z:11.43 [[ 9.69228448e-01 -2.26375569e-01 -9.66970339e-02 1.28035850e+02] [ 2.24649039e-01 9.74022059e-01 -2.85278482e-02 1.75908616e+01] [ 1.00643052e-01 5.92710630e-03 9.94904943e-01 1.14304063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957105681 meters 0.042941155608476514 Centerline is valid? [True, True] Translation: X:128.09, Y:17.60, Z:11.43 [[ 9.69448485e-01 -2.24721303e-01 -9.83360152e-02 1.28094677e+02] [ 2.22926365e-01 9.74403289e-01 -2.90183602e-02 1.76014935e+01] [ 1.02339980e-01 6.21011486e-03 9.94730096e-01 1.14328687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017105681 meters 0.03818999577071597 Centerline is valid? [True, True] Translation: X:128.16, Y:17.60, Z:11.44 [[ 9.69597480e-01 -2.24388895e-01 -9.76235136e-02 1.28155257e+02] [ 2.22617442e-01 9.74479907e-01 -2.88164068e-02 1.76029284e+01] [ 1.01598234e-01 6.20761861e-03 9.94806144e-01 1.14406365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077105681 meters 0.03783174471030028 Centerline is valid? [True, True] Translation: X:128.22, Y:17.60, Z:11.45 [[ 9.68575104e-01 -2.29012037e-01 -9.70348168e-02 1.28216085e+02] [ 2.27281866e-01 9.73406796e-01 -2.86733749e-02 1.76037345e+01] [ 1.01020898e-01 5.71806278e-03 9.94867872e-01 1.14470974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137105681 meters 0.03683959801544977 Centerline is valid? [True, True] Translation: X:128.28, Y:17.61, Z:11.45 [[ 9.67715757e-01 -2.31505275e-01 -9.96570194e-02 1.28276215e+02] [ 2.29692165e-01 9.72817438e-01 -2.94574488e-02 1.76093505e+01] [ 1.03767641e-01 5.61600086e-03 9.94585711e-01 1.14461925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197105681 meters 0.03535938832899964 Centerline is valid? [True, True] Translation: X:128.34, Y:17.61, Z:11.45 [[ 9.68337860e-01 -2.28201108e-01 -1.01222740e-01 1.28336633e+02] [ 2.26309176e-01 9.73594940e-01 -2.99507844e-02 1.76128219e+01] [ 1.05384749e-01 6.09484362e-03 9.94412846e-01 1.14537551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257105681 meters 0.03202313720944034 Centerline is valid? [True, True] Translation: X:128.40, Y:17.61, Z:11.46 [[ 9.67041696e-01 -2.35022332e-01 -9.79533650e-02 1.28398844e+02] [ 2.33285315e-01 9.71976160e-01 -2.89880514e-02 1.76122330e+01] [ 1.02021175e-01 5.18157285e-03 9.94768733e-01 1.14633437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317105681 meters 0.023645190985716324 Centerline is valid? [True, True] Translation: X:128.46, Y:17.60, Z:11.47 [[ 9.62575385e-01 -2.53652890e-01 -9.54402418e-02 1.28463039e+02] [ 2.52094491e-01 9.67290240e-01 -2.82481758e-02 1.76040697e+01] [ 9.94836458e-02 3.13103948e-03 9.95034271e-01 1.14724468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377105681 meters 0.0191168056729761 Centerline is valid? [True, True] Translation: X:128.52, Y:17.60, Z:11.48 [[ 9.58227945e-01 -2.70098578e-01 -9.40529858e-02 1.28523693e+02] [ 2.68663412e-01 9.62831640e-01 -2.78424773e-02 1.76042091e+01] [ 9.80774042e-02 1.41084376e-03 9.95177789e-01 1.14772953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437105681 meters 0.018837212750749115 Centerline is valid? [True, True] Translation: X:128.59, Y:17.59, Z:11.48 [[ 9.50552729e-01 -2.95247158e-01 -9.63256194e-02 1.28587224e+02] [ 2.93868353e-01 9.55420166e-01 -2.85253636e-02 1.75939107e+01] [ 1.00453472e-01 -1.19218900e-03 9.94941043e-01 1.14831902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497105681 meters 0.022282593343922567 Centerline is valid? [True, True] Translation: X:128.65, Y:17.60, Z:11.49 [[ 9.46944999e-01 -3.07235236e-01 -9.43487091e-02 1.28646561e+02] [ 3.05968222e-01 9.51630632e-01 -2.79747781e-02 1.76010731e+01] [ 9.83799592e-02 -2.37713054e-03 9.95146086e-01 1.14917890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557105681 meters 0.022714518278355637 Centerline is valid? [True, True] Translation: X:128.70, Y:17.62, Z:11.49 [[ 9.46728435e-01 -3.07792247e-01 -9.47058745e-02 1.28700492e+02] [ 3.06517331e-01 9.51450476e-01 -2.80912488e-02 1.76244428e+01] [ 9.87542179e-02 -2.43420789e-03 9.95108878e-01 1.14948395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.617105681 meters 0.021560508363770645 Centerline is valid? [True, True] Translation: X:128.75, Y:17.65, Z:11.50 [[ 9.48165959e-01 -3.02271912e-01 -9.80459315e-02 1.28752015e+02] [ 3.00871880e-01 9.53219872e-01 -2.91202195e-02 1.76535603e+01] [ 1.02261555e-01 -1.88846283e-03 9.94755753e-01 1.14964569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677105681 meters 0.018179436801815642 Centerline is valid? [True, True] Translation: X:128.80, Y:17.70, Z:11.50 [[ 9.52538767e-01 -2.87668184e-01 -9.95837036e-02 1.28798831e+02] [ 2.86142536e-01 9.57730087e-01 -2.95893375e-02 1.77009191e+01] [ 1.03886220e-01 -3.10142456e-04 9.94589140e-01 1.15013727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737105681 meters 0.01819112452353788 Centerline is valid? [True, True] Translation: X:128.85, Y:17.73, Z:11.51 [[ 9.55227408e-01 -2.79957127e-01 -9.57319500e-02 1.28849673e+02] [ 2.78507597e-01 9.60012362e-01 -2.84566762e-02 1.77341977e+01] [ 9.98705048e-02 5.20521641e-04 9.95000307e-01 1.15125183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797105681 meters 0.01959879288280599 Centerline is valid? [True, True] Translation: X:128.90, Y:17.77, Z:11.51 [[ 9.57064732e-01 -2.73438974e-01 -9.62196749e-02 1.28899778e+02] [ 2.71938442e-01 9.61888556e-01 -2.86337176e-02 1.77684294e+01] [ 1.00382179e-01 1.23849276e-03 9.94948182e-01 1.15116823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857105681 meters 0.022352889815277048 Centerline is valid? [True, True] Translation: X:128.95, Y:17.80, Z:11.52 [[ 9.59059692e-01 -2.65869613e-01 -9.75595022e-02 1.28953144e+02] [ 2.64285803e-01 9.64006758e-01 -2.90514338e-02 1.77980158e+01] [ 1.01771913e-01 2.07846784e-03 9.94805588e-01 1.15154381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917105681 meters 0.023213562883201935 Centerline is valid? [True, True] Translation: X:129.01, Y:17.83, Z:11.53 [[ 9.60500831e-01 -2.61536672e-01 -9.50616802e-02 1.29005560e+02] [ 2.60011233e-01 9.65190355e-01 -2.83149629e-02 1.78263869e+01] [ 9.91580180e-02 2.47944076e-03 9.95068611e-01 1.15254401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977105681 meters 0.021655983930569157 Centerline is valid? [True, True] Translation: X:129.06, Y:17.84, Z:11.53 [[ 9.59424154e-01 -2.65997434e-01 -9.35449548e-02 1.29062140e+02] [ 2.64538363e-01 9.63971626e-01 -2.78955105e-02 1.78432489e+01] [ 9.75948164e-02 2.01739739e-03 9.95224187e-01 1.15334007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03710568099999 meters 0.01942587048800734 Centerline is valid? [True, True] Translation: X:129.12, Y:17.85, Z:11.54 [[ 9.57017528e-01 -2.74308961e-01 -9.41915343e-02 1.29120024e+02] [ 2.72866772e-01 9.61640856e-01 -2.81173992e-02 1.78542882e+01] [ 9.82912823e-02 1.20710396e-03 9.95156956e-01 1.15375847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097105681 meters 0.01808273337316251 Centerline is valid? [True, True] Translation: X:129.18, Y:17.87, Z:11.53 [[ 9.54298944e-01 -2.83112588e-01 -9.57120090e-02 1.29177493e+02] [ 2.81666171e-01 9.59086629e-01 -2.85833346e-02 1.78718383e+01] [ 9.98884099e-02 3.18210917e-04 9.94998595e-01 1.15322148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157105681 meters 0.018086208923312794 Centerline is valid? [True, True] Translation: X:129.23, Y:17.89, Z:11.54 [[ 9.54276535e-01 -2.84175876e-01 -9.27381608e-02 1.29233306e+02] [ 2.82820258e-01 9.58772141e-01 -2.77251333e-02 1.78877548e+01] [ 9.67935790e-02 2.29213607e-04 9.95304451e-01 1.15441884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217105681 meters 0.018909402351602298 Centerline is valid? [True, True] Translation: X:129.28, Y:17.92, Z:11.55 [[ 9.56521572e-01 -2.77437789e-01 -8.99708579e-02 1.29284089e+02] [ 2.76129373e-01 9.60743170e-01 -2.69282594e-02 1.79167872e+01] [ 9.39098039e-02 9.13864476e-04 9.95580290e-01 1.15518118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277105681 meters 0.021817092992604366 Centerline is valid? [True, True] Translation: X:129.34, Y:17.95, Z:11.56 [[ 9.59628936e-01 -2.66372796e-01 -9.03207588e-02 1.29336212e+02] [ 2.65004044e-01 9.63867971e-01 -2.70442552e-02 1.79490175e+01] [ 9.42611404e-02 2.01708350e-03 9.95545463e-01 1.15552024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337105681 meters 0.024923836704492244 Centerline is valid? [True, True] Translation: X:129.39, Y:17.98, Z:11.56 [[ 9.62013329e-01 -2.57536865e-01 -9.05821048e-02 1.29390235e+02] [ 2.56120357e-01 9.66264125e-01 -2.71293816e-02 1.79757736e+01] [ 9.45130542e-02 2.89890573e-03 9.95519402e-01 1.15602630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.397105681 meters 0.028476578452530057 Centerline is valid? [True, True] Translation: X:129.44, Y:18.00, Z:11.55 [[ 9.62483338e-01 -2.53381962e-01 -9.70742260e-02 1.29442984e+02] [ 2.51732784e-01 9.67359790e-01 -2.90799220e-02 1.80047994e+01] [ 1.01274031e-01 3.55217524e-03 9.94852227e-01 1.15539105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457105681 meters 0.026806435666873577 Centerline is valid? [True, True] Translation: X:129.50, Y:18.02, Z:11.56 [[ 9.61243512e-01 -2.56826845e-01 -1.00254089e-01 1.29500879e+02] [ 2.55084663e-01 9.66451770e-01 -3.00464666e-02 1.80161201e+01] [ 1.04607481e-01 3.30869047e-03 9.94508083e-01 1.15552898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517105681 meters 0.021796830811767254 Centerline is valid? [True, True] Translation: X:129.56, Y:18.02, Z:11.56 [[ 9.58802643e-01 -2.66249770e-01 -9.90381306e-02 1.29562219e+02] [ 2.64596679e-01 9.63901371e-01 -2.97110121e-02 1.80196838e+01] [ 1.03373540e-01 2.28183652e-03 9.94639987e-01 1.15634077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577105681 meters 0.01913157035575228 Centerline is valid? [True, True] Translation: X:129.62, Y:18.02, Z:11.56 [[ 9.56007984e-01 -2.75597119e-01 -1.00473691e-01 1.29623035e+02] [ 2.73946153e-01 9.61272356e-01 -3.01490089e-02 1.80233418e+01] [ 1.04891562e-01 1.29831197e-03 9.94482818e-01 1.15647967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637105681 meters 0.01767247433782524 Centerline is valid? [True, True] Translation: X:129.68, Y:18.03, Z:11.58 [[ 9.54543838e-01 -2.82827032e-01 -9.41006447e-02 1.29681397e+02] [ 2.81411690e-01 9.59170799e-01 -2.82637362e-02 1.80298046e+01] [ 9.82523392e-02 4.97953752e-04 9.95161409e-01 1.15791928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697105681 meters 0.018140223724327418 Centerline is valid? [True, True] Translation: X:129.74, Y:18.04, Z:11.59 [[ 9.51289001e-01 -2.95687937e-01 -8.72804718e-02 1.29738500e+02] [ 2.94523867e-01 9.55284285e-01 -2.62226494e-02 1.80355371e+01] [ 9.11313842e-02 -7.60864055e-04 9.95838587e-01 1.15936920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757105681 meters 0.02237986778537022 Centerline is valid? [True, True] Translation: X:129.80, Y:18.05, Z:11.60 [[ 9.46975603e-01 -3.09265953e-01 -8.71308065e-02 1.29797964e+02] [ 3.08161526e-01 9.50973388e-01 -2.61933091e-02 1.80450593e+01] [ 9.09597769e-02 -2.04593760e-03 9.95852466e-01 1.15984502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817105681 meters 0.025285914460755232 Centerline is valid? [True, True] Translation: X:129.85, Y:18.06, Z:11.60 [[ 9.44376605e-01 -3.17181822e-01 -8.68822205e-02 1.29854721e+02] [ 3.16116670e-01 9.48360626e-01 -2.61223125e-02 1.80630121e+01] [ 9.06811997e-02 -2.79561737e-03 9.95876049e-01 1.16043400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877105681 meters 0.024871138600619548 Centerline is valid? [True, True] Translation: X:129.91, Y:18.09, Z:11.60 [[ 9.44009993e-01 -3.17044887e-01 -9.12560836e-02 1.29907732e+02] [ 3.15868316e-01 9.48406046e-01 -2.74441006e-02 1.80887428e+01] [ 9.52488332e-02 -2.91740019e-03 9.95449219e-01 1.16040032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937105681 meters 0.022488951721513342 Centerline is valid? [True, True] Translation: X:129.96, Y:18.12, Z:11.61 [[ 9.45567813e-01 -3.12213364e-01 -9.17841255e-02 1.29960059e+02] [ 3.10996818e-01 9.50008954e-01 -2.76399572e-02 1.81195358e+01] [ 9.58253051e-02 -2.40911710e-03 9.95395252e-01 1.16068742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997105681 meters 0.020386238855594464 Centerline is valid? [True, True] Translation: X:130.01, Y:18.15, Z:11.60 [[ 9.47893802e-01 -3.03030796e-01 -9.83345118e-02 1.30012123e+02] [ 3.01583416e-01 9.52979462e-01 -2.96241259e-02 1.81496382e+01] [ 1.02687793e-01 -1.57553257e-03 9.94712388e-01 1.16033397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057105681 meters 0.017644805855451553 Centerline is valid? [True, True] Translation: X:130.06, Y:18.19, Z:11.60 [[ 9.52585262e-01 -2.87076831e-01 -1.00837549e-01 1.30060732e+02] [ 2.85463241e-01 9.57907545e-01 -3.03952841e-02 1.81935368e+01] [ 1.05318831e-01 1.68686050e-04 9.94438493e-01 1.16036839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.117105681 meters 0.018175092679625873 Centerline is valid? [True, True] Translation: X:130.11, Y:18.22, Z:11.62 [[ 9.55426712e-01 -2.79479643e-01 -9.51363637e-02 1.30113113e+02] [ 2.78002902e-01 9.60151116e-01 -2.87092357e-02 1.82215614e+01] [ 9.93689327e-02 9.81385413e-04 9.95050176e-01 1.16179622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177105681 meters 0.019861703989153847 Centerline is valid? [True, True] Translation: X:130.16, Y:18.25, Z:11.63 [[ 9.57879540e-01 -2.73672182e-01 -8.70076110e-02 1.30163502e+02] [ 2.72410961e-01 9.61821895e-01 -2.62851820e-02 1.82499831e+01] [ 9.08793484e-02 1.47621115e-03 9.95860816e-01 1.16316103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237105681 meters 0.02375713805874404 Centerline is valid? [True, True] Translation: X:130.22, Y:18.28, Z:11.63 [[ 9.60411393e-01 -2.63012358e-01 -9.18392871e-02 1.30217377e+02] [ 2.61556941e-01 9.64788862e-01 -2.77563994e-02 1.82812046e+01] [ 9.59057974e-02 2.63635920e-03 9.95386924e-01 1.16328951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297105681 meters 0.02947096748673075 Centerline is valid? [True, True] Translation: X:130.27, Y:18.31, Z:11.63 [[ 9.62899647e-01 -2.52641108e-01 -9.48511474e-02 1.30270787e+02] [ 2.51037965e-01 9.67552625e-01 -2.86680685e-02 1.83089533e+01] [ 9.90162093e-02 3.79323399e-03 9.95078591e-01 1.16327541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357105681 meters 0.031558374671178155 Centerline is valid? [True, True] Translation: X:130.33, Y:18.33, Z:11.64 [[ 9.64071526e-01 -2.47659647e-01 -9.60770153e-02 1.30327006e+02] [ 2.45989436e-01 9.68837257e-01 -2.90442181e-02 1.83280932e+01] [ 1.00276073e-01 4.36677286e-03 9.94950069e-01 1.16369738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417105681 meters 0.03100725561165854 Centerline is valid? [True, True] Translation: X:130.38, Y:18.34, Z:11.64 [[ 9.63747538e-01 -2.48520292e-01 -9.70996765e-02 1.30384512e+02] [ 2.46817682e-01 9.68617004e-01 -2.93620662e-02 1.83373863e+01] [ 1.01349467e-01 4.33170199e-03 9.94841456e-01 1.16390433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477105681 meters 0.02704920059859835 Centerline is valid? [True, True] Translation: X:130.45, Y:18.34, Z:11.65 [[ 9.61622312e-01 -2.57277351e-01 -9.53461752e-02 1.30446694e+02] [ 2.55675240e-01 9.66331692e-01 -2.88657836e-02 1.83366074e+01] [ 9.95625431e-02 3.38032533e-03 9.95025564e-01 1.16450665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53710568099999 meters 0.019634385515844083 Centerline is valid? [True, True] Translation: X:130.51, Y:18.33, Z:11.66 [[ 9.57368580e-01 -2.73638289e-01 -9.25607298e-02 1.30511606e+02] [ 2.72204236e-01 9.61831280e-01 -2.80257422e-02 1.83255015e+01] [ 9.66967214e-02 1.63554229e-03 9.95312548e-01 1.16561792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597105681 meters 0.017844026189492684 Centerline is valid? [True, True] Translation: X:130.58, Y:18.31, Z:11.67 [[ 9.51102987e-01 -2.96608989e-01 -8.61754969e-02 1.30575428e+02] [ 2.95459478e-01 9.54998794e-01 -2.60959823e-02 1.83111411e+01] [ 9.00377985e-02 -6.41400684e-04 9.95938142e-01 1.16697523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657105681 meters 0.017632770093175928 Centerline is valid? [True, True] Translation: X:130.63, Y:18.33, Z:11.67 [[ 9.50983301e-01 -2.96156706e-01 -8.90054275e-02 1.30630652e+02] [ 2.94927155e-01 9.55139172e-01 -2.69654489e-02 1.83281206e+01] [ 9.29985688e-02 -6.06425990e-04 9.95666058e-01 1.16741547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717105681 meters 0.019322073207255007 Centerline is valid? [True, True] Translation: X:130.68, Y:18.37, Z:11.68 [[ 9.57124967e-01 -2.75801825e-01 -8.85728589e-02 1.30679018e+02] [ 2.74493348e-01 9.61213492e-01 -2.68705109e-02 1.83689799e+01] [ 9.25483630e-02 1.40577624e-03 9.95707198e-01 1.16799266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777105681 meters 0.025799792151753008 Centerline is valid? [True, True] Translation: X:130.73, Y:18.40, Z:11.68 [[ 9.60749371e-01 -2.61483123e-01 -9.26672684e-02 1.30730051e+02] [ 2.59982710e-01 9.65203605e-01 -2.81245725e-02 1.84041971e+01] [ 9.67968826e-02 2.92877776e-03 9.95299847e-01 1.16779855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837105681 meters 0.02517065484948527 Centerline is valid? [True, True] Translation: X:130.79, Y:18.42, Z:11.68 [[ 9.60767258e-01 -2.59222661e-01 -9.86401893e-02 1.30788836e+02] [ 2.57509384e-01 9.65811713e-01 -2.99441568e-02 1.84150194e+01] [ 1.03030054e-01 3.36859099e-03 9.94672539e-01 1.16772753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.897105681 meters 0.024076456321379128 Centerline is valid? [True, True] Translation: X:130.85, Y:18.42, Z:11.68 [[ 9.59904250e-01 -2.63384009e-01 -9.59827799e-02 1.30847204e+02] [ 2.61782064e-01 9.64686864e-01 -2.91445778e-02 1.84244417e+01] [ 1.00269543e-01 2.84943389e-03 9.94956230e-01 1.16824203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957105681 meters 0.02231338726858722 Centerline is valid? [True, True] Translation: X:130.91, Y:18.43, Z:11.69 [[ 9.58829279e-01 -2.67921185e-01 -9.41522880e-02 1.30906857e+02] [ 2.66400817e-01 9.63437996e-01 -2.85977795e-02 1.84288284e+01] [ 9.83718426e-02 2.33814185e-03 9.95146981e-01 1.16945918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017105681 meters 0.021241480050493665 Centerline is valid? [True, True] Translation: X:130.96, Y:18.45, Z:11.70 [[ 9.58489606e-01 -2.69883450e-01 -9.19815113e-02 1.30963232e+02] [ 2.68438784e-01 9.62890674e-01 -2.79672718e-02 1.84454996e+01] [ 9.61160432e-02 2.11493423e-03 9.95367888e-01 1.17008509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077105681 meters 0.019128597424534627 Centerline is valid? [True, True] Translation: X:131.02, Y:18.46, Z:11.71 [[ 9.56783211e-01 -2.76661938e-01 -8.95771100e-02 1.31020446e+02] [ 2.75318793e-01 9.60966254e-01 -2.72657548e-02 1.84569636e+01] [ 9.36239764e-02 1.42515468e-03 9.95606609e-01 1.17109420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137105681 meters 0.01783805932648465 Centerline is valid? [True, True] Translation: X:131.08, Y:18.47, Z:11.71 [[ 9.54760354e-01 -2.83794611e-01 -8.88441665e-02 1.31076869e+02] [ 2.82503241e-01 9.58884814e-01 -2.70524134e-02 1.84716658e+01] [ 9.28686512e-02 7.29806888e-04 9.95678101e-01 1.17146077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197105681 meters 0.01841295691374857 Centerline is valid? [True, True] Translation: X:131.13, Y:18.49, Z:11.71 [[ 9.54166625e-01 -2.82326847e-01 -9.92854609e-02 1.31133513e+02] [ 2.80701725e-01 9.59317744e-01 -3.02656203e-02 1.84940231e+01] [ 1.03791102e-01 1.00884463e-03 9.94598607e-01 1.17055515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257105681 meters 0.02050396266435049 Centerline is valid? [True, True] Translation: X:131.19, Y:18.52, Z:11.72 [[ 9.56956789e-01 -2.73214066e-01 -9.79172009e-02 1.31186983e+02] [ 2.71585374e-01 9.61951232e-01 -2.98531802e-02 1.85213538e+01] [ 1.02347881e-01 1.97532381e-03 9.94746706e-01 1.17158013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317105681 meters 0.024255499689533763 Centerline is valid? [True, True] Translation: X:131.24, Y:18.55, Z:11.73 [[ 9.60566584e-01 -2.62211359e-01 -9.25042775e-02 1.31240789e+02] [ 2.60706767e-01 9.65005872e-01 -2.82072635e-02 1.85479907e+01] [ 9.66634358e-02 2.97846365e-03 9.95312669e-01 1.17267259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377105681 meters 0.026721994803408814 Centerline is valid? [True, True] Translation: X:131.30, Y:18.57, Z:11.74 [[ 9.62165220e-01 -2.57320106e-01 -8.95793070e-02 1.31296993e+02] [ 2.55887927e-01 9.66320368e-01 -2.73187680e-02 1.85651138e+01] [ 9.35919771e-02 3.36290523e-03 9.95604958e-01 1.17383157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437105681 meters 0.026129252658794143 Centerline is valid? [True, True] Translation: X:131.35, Y:18.58, Z:11.74 [[ 9.61623110e-01 -2.58438215e-01 -9.21449029e-02 1.31353962e+02] [ 2.56926992e-01 9.66021962e-01 -2.81085355e-02 1.85798143e+01] [ 9.62783197e-02 3.35530457e-03 9.95348797e-01 1.17378525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497105681 meters 0.026549884503880704 Centerline is valid? [True, True] Translation: X:131.41, Y:18.60, Z:11.74 [[ 9.61094715e-01 -2.59549359e-01 -9.45043880e-02 1.31409190e+02] [ 2.57961189e-01 9.65723985e-01 -2.88653898e-02 1.85959956e+01] [ 9.87571476e-02 3.36390928e-03 9.95105879e-01 1.17405203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557105681 meters 0.02841541361008603 Centerline is valid? [True, True] Translation: X:131.47, Y:18.61, Z:11.75 [[ 9.62232674e-01 -2.54907662e-01 -9.55529381e-02 1.31466082e+02] [ 2.53259958e-01 9.66957556e-01 -2.91972488e-02 1.86110860e+01] [ 9.98382379e-02 3.89481371e-03 9.94996059e-01 1.17453031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.617105681 meters 0.030291827291487307 Centerline is valid? [True, True] Translation: X:131.52, Y:18.63, Z:11.75 [[ 9.62898494e-01 -2.52178098e-01 -9.60869228e-02 1.31522842e+02] [ 2.50497562e-01 9.67671686e-01 -2.93679930e-02 1.86272444e+01] [ 1.00386559e-01 4.20885627e-03 9.94939608e-01 1.17497666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677105681 meters 0.031314601658287367 Centerline is valid? [True, True] Translation: X:131.58, Y:18.64, Z:11.75 [[ 9.63616518e-01 -2.48475237e-01 -9.85051376e-02 1.31582144e+02] [ 2.46688437e-01 9.68626742e-01 -3.01172692e-02 1.86369908e+01] [ 1.02898106e-01 4.72141967e-03 9.94680696e-01 1.17516269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737105681 meters 0.03168830575716658 Centerline is valid? [True, True] Translation: X:131.64, Y:18.65, Z:11.76 [[ 9.63599033e-01 -2.49032933e-01 -9.72599683e-02 1.31640606e+02] [ 2.47292614e-01 9.68484019e-01 -2.97500807e-02 1.86451652e+01] [ 1.01603475e-01 4.61547722e-03 9.94814270e-01 1.17582750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797105681 meters 0.03162021366720774 Centerline is valid? [True, True] Translation: X:131.70, Y:18.65, Z:11.77 [[ 9.63049153e-01 -2.50719346e-01 -9.83673645e-02 1.31699282e+02] [ 2.48944213e-01 9.68049254e-01 -3.01234342e-02 1.86533598e+01] [ 1.02776982e-01 4.52236169e-03 9.94694144e-01 1.17663983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857105681 meters 0.032614179006525766 Centerline is valid? [True, True] Translation: X:131.76, Y:18.66, Z:11.77 [[ 9.63426232e-01 -2.51529941e-01 -9.24261061e-02 1.31755932e+02] [ 2.49964336e-01 9.67840435e-01 -2.83323544e-02 1.86648615e+01] [ 9.65801582e-02 4.19290320e-03 9.95316378e-01 1.17734593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917105681 meters 0.03451369261950882 Centerline is valid? [True, True] Translation: X:131.81, Y:18.68, Z:11.78 [[ 9.63727483e-01 -2.49612048e-01 -9.44624993e-02 1.31814827e+02] [ 2.47966224e-01 9.68335498e-01 -2.89674868e-02 1.86762315e+01] [ 9.87020250e-02 4.49325385e-03 9.95106889e-01 1.17784677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977105681 meters 0.03342450936265703 Centerline is valid? [True, True] Translation: X:131.87, Y:18.68, Z:11.79 [[ 9.62619187e-01 -2.53683720e-01 -9.49150690e-02 1.31873743e+02] [ 2.52041256e-01 9.67278532e-01 -2.91109376e-02 1.86827037e+01] [ 9.91942796e-02 4.10023390e-03 9.95059638e-01 1.17851549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03710568099999 meters 0.021839296265564495 Centerline is valid? [True, True] Translation: X:131.94, Y:18.67, Z:11.80 [[ 9.56711456e-01 -2.77294298e-01 -8.83802127e-02 1.31939332e+02] [ 2.75970010e-01 9.60783781e-01 -2.71123391e-02 1.86655669e+01] [ 9.24323720e-02 1.54839730e-03 9.95717761e-01 1.17990883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097105681 meters 0.018558577337997473 Centerline is valid? [True, True] Translation: X:132.00, Y:18.66, Z:11.80 [[ 9.50441701e-01 -2.97199676e-01 -9.12848563e-02 1.32003382e+02] [ 2.95877127e-01 9.54815271e-01 -2.80093504e-02 1.86575773e+01] [ 9.54845447e-02 -3.87846366e-04 9.95430837e-01 1.18012256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157105681 meters 0.0200295770751439 Centerline is valid? [True, True] Translation: X:132.06, Y:18.67, Z:11.81 [[ 9.47347740e-01 -3.06802047e-01 -9.16775012e-02 1.32061791e+02] [ 3.05511707e-01 9.51772391e-01 -2.81409505e-02 1.86664650e+01] [ 9.58898157e-02 -1.34928411e-03 9.95391040e-01 1.18059369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217105681 meters 0.019810685512443103 Centerline is valid? [True, True] Translation: X:132.12, Y:18.69, Z:11.81 [[ 9.47582974e-01 -3.05777800e-01 -9.26630680e-02 1.32116155e+02] [ 3.04451222e-01 9.52102113e-01 -2.84783928e-02 1.86866365e+01] [ 9.69327632e-02 -1.22574415e-03 9.95290177e-01 1.18116741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277105681 meters 0.01869723521984033 Centerline is valid? [True, True] Translation: X:132.17, Y:18.72, Z:11.82 [[ 9.50223447e-01 -2.96758012e-01 -9.49214617e-02 1.32168896e+02] [ 2.95316775e-01 9.54952673e-01 -2.92129165e-02 1.87159741e+01] [ 9.93146706e-02 -2.73101791e-04 9.95056039e-01 1.18170547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337105681 meters 0.019007177853325306 Centerline is valid? [True, True] Translation: X:132.22, Y:18.75, Z:11.82 [[ 9.53004868e-01 -2.88614878e-01 -9.21041483e-02 1.32219098e+02] [ 2.87217010e-01 9.57445092e-01 -2.83775465e-02 1.87469301e+01] [ 9.63748469e-02 5.90061880e-04 9.95344936e-01 1.18233904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.397105681 meters 0.022567780257591853 Centerline is valid? [True, True] Translation: X:132.27, Y:18.78, Z:11.83 [[ 9.56822544e-01 -2.76158728e-01 -9.07026858e-02 1.32269170e+02] [ 2.74746057e-01 9.61110300e-01 -2.79570163e-02 1.87830570e+01] [ 9.48958597e-02 1.82969815e-03 9.95485524e-01 1.18311193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457105681 meters 0.023555167383619305 Centerline is valid? [True, True] Translation: X:132.32, Y:18.81, Z:11.84 [[ 9.58257841e-01 -2.71594123e-01 -8.93226855e-02 1.32322669e+02] [ 2.70203682e-01 9.62409242e-01 -2.75394443e-02 1.88079744e+01] [ 9.34445293e-02 2.25456998e-03 9.95621935e-01 1.18364723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517105681 meters 0.026549012547958127 Centerline is valid? [True, True] Translation: X:132.38, Y:18.83, Z:11.84 [[ 9.59878582e-01 -2.65276752e-01 -9.08919848e-02 1.32375873e+02] [ 2.63805625e-01 9.64167794e-01 -2.80545237e-02 1.88343906e+01] [ 9.50773374e-02 2.95111956e-03 9.95465515e-01 1.18412131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577105681 meters 0.028720638865007794 Centerline is valid? [True, True] Translation: X:132.43, Y:18.86, Z:11.84 [[ 9.60780867e-01 -2.61619712e-01 -9.19524393e-02 1.32430565e+02] [ 2.60096604e-01 9.65165191e-01 -2.83885746e-02 1.88594739e+01] [ 9.61763043e-02 3.35868219e-03 9.95358648e-01 1.18436688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637105681 meters 0.026592870510007395 Centerline is valid? [True, True] Translation: X:132.49, Y:18.87, Z:11.84 [[ 9.59723148e-01 -2.64868342e-01 -9.36815973e-02 1.32488491e+02] [ 2.63301965e-01 9.64279610e-01 -2.89293847e-02 1.88740909e+01] [ 9.79977322e-02 3.09765149e-03 9.95181817e-01 1.18434355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697105681 meters 0.02271501541478702 Centerline is valid? [True, True] Translation: X:132.55, Y:18.88, Z:11.85 [[ 9.56426155e-01 -2.77203632e-01 -9.16905460e-02 1.32549112e+02] [ 2.75756982e-01 9.60809463e-01 -2.83418838e-02 1.88759565e+01] [ 9.59536174e-02 1.82261064e-03 9.95384138e-01 1.18510175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757105681 meters 0.019832595381891933 Centerline is valid? [True, True] Translation: X:132.61, Y:18.86, Z:11.85 [[ 9.48719801e-01 -3.01901758e-01 -9.37340235e-02 1.32614815e+02] [ 3.00508392e-01 9.53338803e-01 -2.89798560e-02 1.88639854e+01] [ 9.81093513e-02 -6.74097511e-04 9.95175412e-01 1.18510279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817105681 meters 0.023368286102381956 Centerline is valid? [True, True] Translation: X:132.68, Y:18.86, Z:11.86 [[ 9.44598784e-01 -3.14931005e-01 -9.24748550e-02 1.32676726e+02] [ 3.13636041e-01 9.49112484e-01 -2.85993977e-02 1.88629105e+01] [ 9.67758764e-02 -1.98849110e-03 9.95304213e-01 1.18607538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877105681 meters 0.021309995364244466 Centerline is valid? [True, True] Translation: X:132.73, Y:18.89, Z:11.87 [[ 9.47008135e-01 -3.08710941e-01 -8.87307623e-02 1.32728493e+02] [ 3.07490989e-01 9.51155030e-01 -2.74481579e-02 1.88873861e+01] [ 9.28702575e-02 -1.29028108e-03 9.95677383e-01 1.18745270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937105681 meters 0.01916622072536079 Centerline is valid? [True, True] Translation: X:132.78, Y:18.93, Z:11.88 [[ 9.50926797e-01 -2.96454769e-01 -8.86160130e-02 1.32778828e+02] [ 2.95183194e-01 9.55046891e-01 -2.74284050e-02 1.89263170e+01] [ 9.27637292e-02 -7.55524761e-05 9.95688146e-01 1.18761931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997105681 meters 0.02055800773003306 Centerline is valid? [True, True] Translation: X:132.83, Y:18.96, Z:11.88 [[ 9.54909688e-01 -2.82872626e-01 -9.01696500e-02 1.32828566e+02] [ 2.81492524e-01 9.59156607e-01 -2.79385536e-02 1.89627252e+01] [ 9.43898676e-02 1.29671312e-03 9.95534465e-01 1.18793750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057105681 meters 0.024374297575551724 Centerline is valid? [True, True] Translation: X:132.88, Y:19.00, Z:11.89 [[ 9.57625744e-01 -2.75338609e-01 -8.45078958e-02 1.32878912e+02] [ 2.74096524e-01 9.61345391e-01 -2.61941786e-02 1.89954505e+01] [ 8.84535448e-02 1.92089923e-03 9.96078451e-01 1.18922863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.117105681 meters 0.021797475935025082 Centerline is valid? [True, True] Translation: X:132.94, Y:19.01, Z:11.90 [[ 9.56734701e-01 -2.79101899e-01 -8.22243405e-02 1.32935859e+02] [ 2.77939589e-01 9.60260264e-01 -2.54913898e-02 1.90092364e+01] [ 8.60714621e-02 1.53509774e-03 9.96287783e-01 1.18990893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177105681 meters 0.022673507194354764 Centerline is valid? [True, True] Translation: X:132.99, Y:19.03, Z:11.90 [[ 9.57406047e-01 -2.75759258e-01 -8.56182985e-02 1.32990344e+02] [ 2.74482631e-01 9.61224770e-01 -2.65749142e-02 1.90309947e+01] [ 8.96267080e-02 1.94224776e-03 9.95973534e-01 1.19014253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237105681 meters 0.02618627260982207 Centerline is valid? [True, True] Translation: X:133.04, Y:19.06, Z:11.91 [[ 9.60277463e-01 -2.65560935e-01 -8.57005433e-02 1.33044058e+02] [ 2.64240253e-01 9.64089689e-01 -2.66112684e-02 1.90588107e+01] [ 8.96899236e-02 2.90866811e-03 9.95965490e-01 1.19061078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297105681 meters 0.028166394082600518 Centerline is valid? [True, True] Translation: X:133.10, Y:19.08, Z:11.91 [[ 9.61192242e-01 -2.62376688e-01 -8.52522548e-02 1.33099421e+02] [ 2.61057002e-01 9.64960249e-01 -2.64756476e-02 1.90788722e+01] [ 8.92116298e-02 3.19248901e-03 9.96007577e-01 1.19093317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357105681 meters 0.02485572705524468 Centerline is valid? [True, True] Translation: X:133.16, Y:19.08, Z:11.92 [[ 9.59139685e-01 -2.70194465e-01 -8.39405484e-02 1.33159998e+02] [ 2.68944406e-01 9.62802694e-01 -2.60744777e-02 1.90843372e+01] [ 8.78633657e-02 2.43372542e-03 9.96129563e-01 1.19167851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417105681 meters 0.0199060798569703 Centerline is valid? [True, True] Translation: X:133.22, Y:19.09, Z:11.92 [[ 9.54508089e-01 -2.85607920e-01 -8.56879420e-02 1.33222671e+02] [ 2.84366017e-01 9.58345980e-01 -2.66261269e-02 1.90851333e+01] [ 8.97233274e-02 1.04811476e-03 9.95966177e-01 1.19165107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477105681 meters 0.01862079975082595 Centerline is valid? [True, True] Translation: X:133.28, Y:19.09, Z:11.93 [[ 9.50771388e-01 -2.98981482e-01 -8.15097604e-02 1.33282326e+02] [ 2.97906479e-01 9.54258893e-01 -2.53317144e-02 1.90883892e+01] [ 8.53551272e-02 -1.97616482e-04 9.96350572e-01 1.19268911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53710568099999 meters 0.021980679281383197 Centerline is valid? [True, True] Translation: X:133.34, Y:19.09, Z:11.93 [[ 9.45012669e-01 -3.16608963e-01 -8.19134948e-02 1.33342517e+02] [ 3.15586437e-01 9.48554503e-01 -2.54863632e-02 1.90931458e+01] [ 8.57686254e-02 -1.76585187e-03 9.96313517e-01 1.19323597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597105681 meters 0.026326355990875745 Centerline is valid? [True, True] Translation: X:133.40, Y:19.11, Z:11.93 [[ 9.42107559e-01 -3.24631659e-01 -8.39501898e-02 1.33399000e+02] [ 3.23588669e-01 9.45837077e-01 -2.61265435e-02 1.91089217e+01] [ 8.78847053e-02 -2.55131612e-03 9.96127386e-01 1.19325652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657105681 meters 0.027652965986115084 Centerline is valid? [True, True] Translation: X:133.45, Y:19.13, Z:11.94 [[ 9.40350682e-01 -3.29221271e-01 -8.57551680e-02 1.33453717e+02] [ 3.28151081e-01 9.44247921e-01 -2.66970184e-02 1.91338267e+01] [ 8.97633654e-02 -3.03609164e-03 9.95958493e-01 1.19369772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717105681 meters 0.028204506048232977 Centerline is valid? [True, True] Translation: X:133.51, Y:19.17, Z:11.95 [[ 9.39159108e-01 -3.33236938e-01 -8.32665188e-02 1.33505251e+02] [ 3.32243257e-01 9.42837292e-01 -2.59279580e-02 1.91668383e+01] [ 8.71469324e-02 -3.31426151e-03 9.96189956e-01 1.19457243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777105681 meters 0.030041628339659444 Centerline is valid? [True, True] Translation: X:133.56, Y:19.20, Z:11.95 [[ 9.38910190e-01 -3.34282499e-01 -8.18710290e-02 1.33555133e+02] [ 3.33325396e-01 9.42466974e-01 -2.54986916e-02 1.91985071e+01] [ 8.56845073e-02 -3.34871183e-03 9.96316692e-01 1.19526702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.837105681 meters 0.02420346129961869 Centerline is valid? [True, True] Translation: X:133.60, Y:19.25, Z:11.96 [[ 9.42490681e-01 -3.24242890e-01 -8.11040412e-02 1.33600456e+02] [ 3.23265441e-01 9.45970819e-01 -2.52718132e-02 1.92520517e+01] [ 8.49162620e-02 -2.39968523e-03 9.96385202e-01 1.19572228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.897105681 meters 0.019458159666492038 Centerline is valid? [True, True] Translation: X:133.65, Y:19.30, Z:11.96 [[ 9.47932605e-01 -3.07461467e-01 -8.30133887e-02 1.33646170e+02] [ 3.06370392e-01 9.51560119e-01 -2.58944576e-02 1.93016227e+01] [ 8.69537779e-02 -8.86643782e-04 9.96211953e-01 1.19617000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957105681 meters 0.020496305285969244 Centerline is valid? [True, True] Translation: X:133.69, Y:19.36, Z:11.96 [[ 9.54793690e-01 -2.84047582e-01 -8.76697283e-02 1.33689709e+02] [ 2.82730525e-01 9.58809262e-01 -2.73541566e-02 1.93606485e+01] [ 9.18284295e-02 1.33066774e-03 9.95773955e-01 1.19590677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017105681 meters 0.02318525897834995 Centerline is valid? [True, True] Translation: X:133.74, Y:19.40, Z:11.96 [[ 9.56868325e-01 -2.77196867e-01 -8.69764597e-02 1.33739477e+02] [ 2.75869542e-01 9.60811057e-01 -2.71681394e-02 1.93965003e+01] [ 9.10988673e-02 2.00217597e-03 9.95839840e-01 1.19630269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077105681 meters 0.021321645446520904 Centerline is valid? [True, True] Translation: X:133.79, Y:19.42, Z:11.97 [[ 9.55464129e-01 -2.82004496e-01 -8.69583999e-02 1.33794414e+02] [ 2.80696771e-01 9.59411828e-01 -2.71710693e-02 1.94182555e+01] [ 9.10912811e-02 1.55203997e-03 9.95841338e-01 1.19673141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137105681 meters 0.01928628258636833 Centerline is valid? [True, True] Translation: X:133.85, Y:19.44, Z:11.97 [[ 9.53458015e-01 -2.88173145e-01 -8.87358536e-02 1.33850885e+02] [ 2.86836977e-01 9.57577805e-01 -2.77361740e-02 1.94366678e+01] [ 9.29643045e-02 9.92553386e-04 9.95668947e-01 1.19679928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197105681 meters 0.01819499719446136 Centerline is valid? [True, True] Translation: X:133.91, Y:19.45, Z:11.97 [[ 9.51580005e-01 -2.94182970e-01 -8.91732867e-02 1.33908523e+02] [ 2.92856935e-01 9.55749020e-01 -2.79038890e-02 1.94482146e+01] [ 9.34361303e-02 4.37767436e-04 9.95625179e-01 1.19748440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257105681 meters 0.01784928823175972 Centerline is valid? [True, True] Translation: X:133.96, Y:19.47, Z:11.98 [[ 9.49931951e-01 -3.00368182e-01 -8.60711532e-02 1.33963974e+02] [ 2.99155582e-01 9.53823326e-01 -2.69629557e-02 1.94679254e+01] [ 9.01954875e-02 -1.35692829e-04 9.95924071e-01 1.19793877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317105681 meters 0.018997500070412753 Centerline is valid? [True, True] Translation: X:134.02, Y:19.48, Z:11.98 [[ 9.46955483e-01 -3.08836416e-01 -8.88559614e-02 1.34021070e+02] [ 3.07577948e-01 9.51114706e-01 -2.78679482e-02 1.94795800e+01] [ 9.31188488e-02 -9.40427861e-04 9.95654556e-01 1.19822443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377105681 meters 0.020008950769570228 Centerline is valid? [True, True] Translation: X:134.08, Y:19.50, Z:11.99 [[ 9.45573586e-01 -3.12940289e-01 -8.92130565e-02 1.34076582e+02] [ 3.11688687e-01 9.49771860e-01 -2.79924378e-02 1.94979199e+01] [ 9.34920122e-02 -1.33779071e-03 9.95619131e-01 1.19874122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437105681 meters 0.024996204720913594 Centerline is valid? [True, True] Translation: X:134.14, Y:19.51, Z:11.99 [[ 9.41712004e-01 -3.23577469e-01 -9.20658637e-02 1.34135420e+02] [ 3.22291727e-01 9.46198541e-01 -2.89199618e-02 1.95077164e+01] [ 9.64704339e-02 -2.43779105e-03 9.95332865e-01 1.19900701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497105681 meters 0.03566501918576693 Centerline is valid? [True, True] Translation: X:134.20, Y:19.51, Z:12.00 [[ 9.35640733e-01 -3.41489327e-01 -8.92270043e-02 1.34195772e+02] [ 3.40361960e-01 9.39876531e-01 -2.80328794e-02 1.95115835e+01] [ 9.34352964e-02 -4.14077425e-03 9.95616743e-01 1.19991749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557105681 meters 0.03837890685084233 Centerline is valid? [True, True] Translation: X:134.25, Y:19.53, Z:12.01 [[ 9.34489356e-01 -3.44726395e-01 -8.88445585e-02 1.34252292e+02] [ 3.43622813e-01 9.38692704e-01 -2.79171991e-02 1.95273502e+01] [ 9.30215343e-02 -4.44069168e-03 9.95654194e-01 1.20061748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.617105681 meters 0.03656354773924882 Centerline is valid? [True, True] Translation: X:134.31, Y:19.56, Z:12.01 [[ 9.33510172e-01 -3.47136529e-01 -8.97495932e-02 1.34306011e+02] [ 3.46020762e-01 9.37802712e-01 -2.82082332e-02 1.95558016e+01] [ 9.39595201e-02 -4.72255009e-03 9.95564818e-01 1.20089786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.677105681 meters 0.037465061884360995 Centerline is valid? [True, True] Translation: X:134.36, Y:19.58, Z:12.01 [[ 9.32584732e-01 -3.49484636e-01 -9.02563410e-02 1.34358598e+02] [ 3.48366527e-01 9.36928854e-01 -2.83740200e-02 1.95845602e+01] [ 9.44800542e-02 -4.98111016e-03 9.95514293e-01 1.20149619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737105681 meters 0.0384055484151026 Centerline is valid? [True, True] Translation: X:134.41, Y:19.62, Z:12.02 [[ 9.31219876e-01 -3.52723257e-01 -9.17379220e-02 1.34408598e+02] [ 3.51580506e-01 9.35712299e-01 -2.88728440e-02 1.96219540e+01] [ 9.60244255e-02 -5.36629888e-03 9.95364512e-01 1.20189339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797105681 meters 0.03713697879940527 Centerline is valid? [True, True] Translation: X:134.46, Y:19.66, Z:12.03 [[ 9.31767431e-01 -3.52093140e-01 -8.85430734e-02 1.34457431e+02] [ 3.51024862e-01 9.35951046e-01 -2.78780516e-02 1.96625051e+01] [ 9.26876529e-02 -5.10495971e-03 9.95682147e-01 1.20283626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857105681 meters 0.037991172173536196 Centerline is valid? [True, True] Translation: X:134.51, Y:19.70, Z:12.03 [[ 9.32329798e-01 -3.50409250e-01 -8.93000900e-02 1.34506106e+02] [ 3.49312050e-01 9.36583601e-01 -2.81469400e-02 1.97005913e+01] [ 9.34999480e-02 -4.95136661e-03 9.95606973e-01 1.20313681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917105681 meters 0.0390830571971124 Centerline is valid? [True, True] Translation: X:134.56, Y:19.74, Z:12.03 [[ 9.31741461e-01 -3.51752470e-01 -9.01556987e-02 1.34557206e+02] [ 3.50639120e-01 9.36079033e-01 -2.84297654e-02 1.97357901e+01] [ 9.43930995e-02 -5.12292371e-03 9.95521822e-01 1.20314728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977105681 meters 0.03778010904450502 Centerline is valid? [True, True] Translation: X:134.61, Y:19.77, Z:12.04 [[ 9.31290144e-01 -3.52707338e-01 -9.10834885e-02 1.34606118e+02] [ 3.51572315e-01 9.35718999e-01 -2.87552225e-02 1.97739231e+01] [ 9.53707287e-02 -5.24297761e-03 9.95428016e-01 1.20387554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03710568099999 meters 0.03521316833057575 Centerline is valid? [True, True] Translation: X:134.66, Y:19.81, Z:12.05 [[ 9.34305700e-01 -3.45674134e-01 -8.70761246e-02 1.34655720e+02] [ 3.44603676e-01 9.38344793e-01 -2.75201107e-02 1.98097274e+01] [ 9.12204185e-02 -4.29455636e-03 9.95821466e-01 1.20499550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097105681 meters 0.02818745288057444 Centerline is valid? [True, True] Translation: X:134.70, Y:19.86, Z:12.06 [[ 9.39238751e-01 -3.33179636e-01 -8.25947883e-02 1.34702849e+02] [ 3.32167836e-01 9.42858869e-01 -2.61090423e-02 1.98573694e+01] [ 8.65742299e-02 -2.91270782e-03 9.96241145e-01 1.20609629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157105681 meters 0.018597351563936697 Centerline is valid? [True, True] Translation: X:134.75, Y:19.92, Z:12.06 [[ 9.46489157e-01 -3.11647363e-01 -8.38701197e-02 1.34746009e+02] [ 3.10518895e-01 9.50197360e-01 -2.65140158e-02 1.99191767e+01] [ 8.79561894e-02 -9.48028475e-04 9.96123893e-01 1.20636366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217105681 meters 0.0177137848422807 Centerline is valid? [True, True] Translation: X:134.79, Y:19.96, Z:12.06 [[ 9.51040246e-01 -2.95915382e-01 -8.91994295e-02 1.34794697e+02] [ 2.94568756e-01 9.55214001e-01 -2.82039172e-02 1.99585993e+01] [ 9.35505169e-02 5.47695371e-04 9.95614384e-01 1.20601890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277105681 meters 0.01981046778366931 Centerline is valid? [True, True] Translation: X:134.85, Y:19.99, Z:12.06 [[ 9.53551369e-01 -2.87015653e-01 -9.14428880e-02 1.34847225e+02] [ 2.85558163e-01 9.57924765e-01 -2.89254216e-02 1.99889426e+01] [ 9.58974558e-02 1.46961219e-03 9.95390134e-01 1.20639393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.337105681 meters 0.0202276695748599 Centerline is valid? [True, True] Translation: X:134.90, Y:20.01, Z:12.07 [[ 9.53820498e-01 -2.86094703e-01 -9.15220109e-02 1.34902650e+02] [ 2.84629555e-01 9.58200056e-01 -2.89597740e-02 2.00066723e+01] [ 9.59816340e-02 1.57255691e-03 9.95381863e-01 1.20687344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.397105681 meters 0.01972740932712195 Centerline is valid? [True, True] Translation: X:134.96, Y:20.01, Z:12.07 [[ 9.53132200e-01 -2.88875532e-01 -8.99440764e-02 1.34960934e+02] [ 2.87469868e-01 9.57365778e-01 -2.84928355e-02 2.00133335e+01] [ 9.43402638e-02 1.30122723e-03 9.95539161e-01 1.20747917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457105681 meters 0.01750226307015676 Centerline is valid? [True, True] Translation: X:135.02, Y:20.01, Z:12.09 [[ 9.49194823e-01 -3.03716765e-01 -8.23730230e-02 1.35024239e+02] [ 3.02592881e-01 9.52762355e-01 -2.61044745e-02 2.00050852e+01] [ 8.64102820e-02 -1.47258279e-04 9.96259626e-01 1.20907546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517105681 meters 0.01772357759140943 Centerline is valid? [True, True] Translation: X:135.08, Y:20.01, Z:12.10 [[ 9.49118566e-01 -3.04214951e-01 -8.14076883e-02 1.35082221e+02] [ 3.03118507e-01 9.52603396e-01 -2.58058262e-02 2.00127033e+01] [ 8.53997585e-02 -1.83388231e-04 9.96346751e-01 1.20963056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577105681 meters 0.018109248212514382 Centerline is valid? [True, True] Translation: X:135.14, Y:20.03, Z:12.10 [[ 9.51079333e-01 -2.96623884e-01 -8.63850331e-02 1.35137426e+02] [ 2.95354207e-01 9.54994215e-01 -2.74215419e-02 2.00327900e+01] [ 9.06310912e-02 5.65878759e-04 9.95884373e-01 1.20952941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637105681 meters 0.01966428638792615 Centerline is valid? [True, True] Translation: X:135.19, Y:20.05, Z:12.10 [[ 9.52736186e-01 -2.89958635e-01 -9.06518048e-02 1.35192724e+02] [ 2.88526674e-01 9.57038305e-01 -2.88104377e-02 2.00538239e+01] [ 9.51110848e-02 1.29328285e-03 9.95465825e-01 1.20961917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697105681 meters 0.02408843323691349 Centerline is valid? [True, True] Translation: X:135.25, Y:20.07, Z:12.11 [[ 9.56117133e-01 -2.79745521e-01 -8.70773851e-02 1.35247446e+02] [ 2.78379324e-01 9.60071553e-01 -2.77049716e-02 2.00708444e+01] [ 9.13508620e-02 2.24865443e-03 9.95816230e-01 1.21070390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75710568099998 meters 0.026004424777080766 Centerline is valid? [True, True] Translation: X:135.31, Y:20.08, Z:12.12 [[ 9.57218693e-01 -2.76972936e-01 -8.37756920e-02 1.35305140e+02] [ 2.75697288e-01 9.60874659e-01 -2.66625959e-02 2.00817312e+01] [ 8.78827570e-02 2.42520414e-03 9.96127873e-01 1.21151974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817105681 meters 0.023727565278740027 Centerline is valid? [True, True] Translation: X:135.37, Y:20.08, Z:12.12 [[ 9.56781163e-01 -2.78913346e-01 -8.23234561e-02 1.35366468e+02] [ 2.77686355e-01 9.60313673e-01 -2.62285561e-02 2.00833070e+01] [ 8.63718348e-02 2.23488798e-03 9.96260464e-01 1.21213578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877105681 meters 0.02200893794076779 Centerline is valid? [True, True] Translation: X:135.43, Y:20.09, Z:12.12 [[ 9.55099555e-01 -2.83233359e-01 -8.69695582e-02 1.35428704e+02] [ 2.81878318e-01 9.59048974e-01 -2.77431097e-02 2.00854624e+01] [ 9.12658396e-02 1.98259898e-03 9.95824591e-01 1.21180001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937105681 meters 0.018673898298654106 Centerline is valid? [True, True] Translation: X:135.49, Y:20.08, Z:12.12 [[ 9.51309685e-01 -2.94102802e-01 -9.22682258e-02 1.35492950e+02] [ 2.92624924e-01 9.55773237e-01 -2.94647790e-02 2.00770503e+01] [ 9.68531749e-02 1.03014702e-03 9.95298147e-01 1.21189215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997105681 meters 0.017612291820080603 Centerline is valid? [True, True] Translation: X:135.55, Y:20.09, Z:12.12 [[ 9.49808255e-01 -2.98913666e-01 -9.22762124e-02 1.35550741e+02] [ 2.97457243e-01 9.54280000e-01 -2.94765907e-02 2.00872213e+01] [ 9.68682997e-02 5.48881382e-04 9.95297057e-01 1.21248088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057105681 meters 0.017529115775806434 Centerline is valid? [True, True] Translation: X:135.61, Y:20.09, Z:12.13 [[ 9.46935971e-01 -3.08877828e-01 -8.89199364e-02 1.35610917e+02] [ 3.07566473e-01 9.51101629e-01 -2.84351115e-02 2.00864213e+01] [ 9.33548718e-02 -4.22561334e-04 9.95632808e-01 1.21324077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.117105681 meters 0.018197239639301446 Centerline is valid? [True, True] Translation: X:135.67, Y:20.10, Z:12.14 [[ 9.45573934e-01 -3.12811171e-01 -8.96610600e-02 1.35670251e+02] [ 3.11493737e-01 9.49814998e-01 -2.86900896e-02 2.00952795e+01] [ 9.41360001e-02 -8.00257746e-04 9.95559025e-01 1.21361008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.177105681 meters 0.020222579236704154 Centerline is valid? [True, True] Translation: X:135.73, Y:20.10, Z:12.14 [[ 9.42999776e-01 -3.20440277e-01 -8.98301315e-02 1.35729784e+02] [ 3.19149263e-01 9.47267480e-01 -2.87761952e-02 2.01015026e+01] [ 9.43142143e-02 -1.53327471e-03 9.95541299e-01 1.21406990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237105681 meters 0.022371468193563455 Centerline is valid? [True, True] Translation: X:135.79, Y:20.11, Z:12.15 [[ 9.41169825e-01 -3.25621081e-01 -9.03895546e-02 1.35789798e+02] [ 3.24334457e-01 9.45498165e-01 -2.89893098e-02 2.01063316e+01] [ 9.49026884e-02 -2.03258346e-03 9.95484479e-01 1.21458506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297105681 meters 0.026806165288852657 Centerline is valid? [True, True] Translation: X:135.85, Y:20.12, Z:12.15 [[ 9.39577297e-01 -3.30425570e-01 -8.95178549e-02 1.35848561e+02] [ 3.29182441e-01 9.43828838e-01 -2.87410098e-02 2.01154844e+01] [ 9.39862975e-02 -2.46330570e-03 9.95570444e-01 1.21514650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357105681 meters 0.03205182820689326 Centerline is valid? [True, True] Translation: X:135.91, Y:20.12, Z:12.16 [[ 9.35065980e-01 -3.43799760e-01 -8.63327207e-02 1.35907597e+02] [ 3.42699609e-01 9.39035844e-01 -2.77247420e-02 2.01247381e+01] [ 9.06012789e-02 -3.66172655e-03 9.95880515e-01 1.21607039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417105681 meters 0.03688111820009417 Centerline is valid? [True, True] Translation: X:135.96, Y:20.14, Z:12.17 [[ 9.31444459e-01 -3.54816125e-01 -8.07263042e-02 1.35963707e+02] [ 3.53895168e-01 9.34925660e-01 -2.59272013e-02 2.01413017e+01] [ 8.46724824e-02 -4.41890093e-03 9.96399039e-01 1.21724460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477105681 meters 0.036564745621267644 Centerline is valid? [True, True] Translation: X:136.02, Y:20.17, Z:12.18 [[ 9.30848752e-01 -3.56604112e-01 -7.97126624e-02 1.36016054e+02] [ 3.55712425e-01 9.34244652e-01 -2.56046922e-02 2.01692690e+01] [ 8.36018671e-02 -4.52068865e-03 9.96488982e-01 1.21783424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53710568099999 meters 0.036026232946622216 Centerline is valid? [True, True] Translation: X:136.07, Y:20.21, Z:12.18 [[ 9.30896598e-01 -3.56194168e-01 -8.09767752e-02 1.36065522e+02] [ 3.55269747e-01 9.34400999e-01 -2.60418720e-02 2.02074463e+01] [ 8.49407426e-02 -4.52630843e-03 9.96375724e-01 1.21821848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597105681 meters 0.034778268267803954 Centerline is valid? [True, True] Translation: X:136.12, Y:20.24, Z:12.18 [[ 9.32389886e-01 -3.51687249e-01 -8.34576530e-02 1.36115162e+02] [ 3.50684363e-01 9.36108082e-01 -2.68725872e-02 2.02443515e+01] [ 8.75761297e-02 -4.21156539e-03 9.96148927e-01 1.21838439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657105681 meters 0.029323479750951474 Centerline is valid? [True, True] Translation: X:136.16, Y:20.29, Z:12.19 [[ 9.35629518e-01 -3.42711967e-01 -8.45334975e-02 1.36162773e+02] [ 3.41645810e-01 9.39434350e-01 -2.72257647e-02 2.02907715e+01] [ 8.87442667e-02 -3.40728610e-03 9.96048616e-01 1.21864215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717105681 meters 0.02477823396653256 Centerline is valid? [True, True] Translation: X:136.21, Y:20.33, Z:12.19 [[ 9.38904790e-01 -3.33977888e-01 -8.31658936e-02 1.36213225e+02] [ 3.32911430e-01 9.42577501e-01 -2.67887103e-02 2.03301239e+01] [ 8.73371371e-02 -2.53482816e-03 9.96175586e-01 1.21919555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777105681 meters 0.019834838237874138 Centerline is valid? [True, True] Translation: X:136.26, Y:20.37, Z:12.20 [[ 9.43902838e-01 -3.19661871e-01 -8.28475742e-02 1.36261380e+02] [ 3.18548086e-01 9.47530922e-01 -2.66883406e-02 2.03731493e+01] [ 8.70318833e-02 -1.19973583e-03 9.96204804e-01 1.21974601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.837105681 meters 0.019471849280654666 Centerline is valid? [True, True] Translation: X:136.31, Y:20.43, Z:12.19 [[ 9.51022108e-01 -2.94974795e-01 -9.24490177e-02 1.36307119e+02] [ 2.93469229e-01 9.55504282e-01 -2.97889042e-02 2.04269380e+01] [ 9.71224081e-02 1.19896446e-03 9.95271722e-01 1.21903616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.897105681 meters 0.020932914937251846 Centerline is valid? [True, True] Translation: X:136.36, Y:20.45, Z:12.20 [[ 9.52343073e-01 -2.91567451e-01 -8.96163657e-02 1.36361372e+02] [ 2.90134930e-01 9.56549049e-01 -2.89074097e-02 2.04480349e+01] [ 9.41509092e-02 1.52893341e-03 9.95556763e-01 1.21982211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957105681 meters 0.02001753846531866 Centerline is valid? [True, True] Translation: X:136.42, Y:20.47, Z:12.20 [[ 9.51405431e-01 -2.94094345e-01 -9.13029131e-02 1.36417164e+02] [ 2.92615627e-01 9.55775461e-01 -2.94849533e-02 2.04664277e+01] [ 9.59364419e-02 1.33548552e-03 9.95386566e-01 1.22008801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017105681 meters 0.01979555294255122 Centerline is valid? [True, True] Translation: X:136.48, Y:20.47, Z:12.20 [[ 9.50617769e-01 -2.96189729e-01 -9.27227129e-02 1.36475481e+02] [ 2.94671309e-01 9.55128404e-01 -2.99758391e-02 2.04745946e+01] [ 9.74406325e-02 1.17284211e-03 9.95240648e-01 1.22038647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077105681 meters 0.018550861819450093 Centerline is valid? [True, True] Translation: X:136.53, Y:20.48, Z:12.22 [[ 9.49770211e-01 -3.00602071e-01 -8.70341388e-02 1.36533450e+02] [ 2.99282107e-01 9.53749403e-01 -2.81477516e-02 2.04822647e+01] [ 9.14700304e-02 6.86135540e-04 9.95807593e-01 1.22178713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137105681 meters 0.01803869101961838 Centerline is valid? [True, True] Translation: X:136.59, Y:20.49, Z:12.22 [[ 9.48393502e-01 -3.04743858e-01 -8.76410101e-02 1.36592580e+02] [ 3.03420075e-01 9.52434291e-01 -2.83756800e-02 2.04878882e+01] [ 9.21196175e-02 3.19268673e-04 9.95747897e-01 1.22233593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197105681 meters 0.017855369647662232 Centerline is valid? [True, True] Translation: X:136.65, Y:20.50, Z:12.22 [[ 9.47166721e-01 -3.06228134e-01 -9.53914672e-02 1.36651237e+02] [ 3.04665160e-01 9.51958133e-01 -3.09006878e-02 2.04992012e+01] [ 1.00271343e-01 2.05646502e-04 9.94960107e-01 1.22177957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25710568099998 meters 0.018496218999609033 Centerline is valid? [True, True] Translation: X:136.71, Y:20.52, Z:12.22 [[ 9.48351453e-01 -3.01803869e-01 -9.76931273e-02 1.36708103e+02] [ 3.00137246e-01 9.53369761e-01 -3.16817472e-02 2.05156229e+01] [ 1.02699347e-01 7.24084795e-04 9.94712179e-01 1.22208940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317105681 meters 0.021113595398532272 Centerline is valid? [True, True] Translation: X:136.76, Y:20.54, Z:12.23 [[ 9.51558647e-01 -2.92160949e-01 -9.58025142e-02 1.36761972e+02] [ 2.90506020e-01 9.56367536e-01 -3.11028549e-02 2.05369550e+01] [ 1.00709454e-01 1.76498340e-03 9.94914313e-01 1.22313096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377105681 meters 0.022213962319103914 Centerline is valid? [True, True] Translation: X:136.82, Y:20.55, Z:12.24 [[ 9.52584763e-01 -2.90423011e-01 -9.07565132e-02 1.36818258e+02] [ 2.88927449e-01 9.56896525e-01 -2.94952368e-02 2.05476175e+01] [ 9.54106877e-02 1.87466535e-03 9.95436229e-01 1.22425428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437105681 meters 0.018188793960675492 Centerline is valid? [True, True] Translation: X:136.88, Y:20.54, Z:12.24 [[ 9.48214025e-01 -3.03457823e-01 -9.38270363e-02 1.36881500e+02] [ 3.01921224e-01 9.52844684e-01 -3.05054359e-02 2.05441556e+01] [ 9.86597059e-02 5.97308440e-04 9.95121051e-01 1.22418723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497105681 meters 0.019305954003850993 Centerline is valid? [True, True] Translation: X:136.95, Y:20.54, Z:12.24 [[ 9.42488154e-01 -3.19911190e-01 -9.68137862e-02 1.36945402e+02] [ 3.18359656e-01 9.47446845e-01 -3.14897657e-02 2.05382958e+01] [ 1.01799845e-01 -1.14287254e-03 9.94804245e-01 1.22424425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557105681 meters 0.020515104206992364 Centerline is valid? [True, True] Translation: X:137.00, Y:20.54, Z:12.25 [[ 9.41003896e-01 -3.22904627e-01 -1.01213974e-01 1.37004995e+02] [ 3.21222087e-01 9.46430318e-01 -3.29548745e-02 2.05442176e+01] [ 1.06433256e-01 -1.50149884e-03 9.94318715e-01 1.22457679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.617105681 meters 0.01874861278008746 Centerline is valid? [True, True] Translation: X:137.06, Y:20.57, Z:12.25 [[ 9.42847403e-01 -3.17330103e-01 -1.01687664e-01 1.37058068e+02] [ 3.15597957e-01 9.48314748e-01 -3.31220373e-02 2.05710234e+01] [ 1.06942531e-01 -8.63391947e-04 9.94264829e-01 1.22526632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.677105681 meters 0.018266360747171948 Centerline is valid? [True, True] Translation: X:137.11, Y:20.59, Z:12.26 [[ 9.43767524e-01 -3.14888688e-01 -1.00737159e-01 1.37112969e+02] [ 3.13171431e-01 9.49128449e-01 -3.28457298e-02 2.05890126e+01] [ 1.05955252e-01 -5.49267131e-04 9.94370747e-01 1.22586548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737105681 meters 0.0202723436032196 Centerline is valid? [True, True] Translation: X:137.17, Y:20.60, Z:12.27 [[ 9.41015667e-01 -3.24579386e-01 -9.55915092e-02 1.37170540e+02] [ 3.23081734e-01 9.45857203e-01 -3.11824411e-02 2.06014335e+01] [ 1.00537095e-01 -1.54070498e-03 9.94932118e-01 1.22693680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797105681 meters 0.02769043960150655 Centerline is valid? [True, True] Translation: X:137.23, Y:20.60, Z:12.26 [[ 9.34533524e-01 -3.40997194e-01 -1.01823406e-01 1.37233760e+02] [ 3.39390212e-01 9.40057853e-01 -3.32493158e-02 2.06025672e+01] [ 1.07057816e-01 -3.48526722e-03 9.94246688e-01 1.22649219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857105681 meters 0.03979058198420729 Centerline is valid? [True, True] Translation: X:137.30, Y:20.60, Z:12.27 [[ 9.27442230e-01 -3.59918381e-01 -1.01536545e-01 1.37295533e+02] [ 3.58431958e-01 9.32966746e-01 -3.31599427e-02 2.06012939e+01] [ 1.06665093e-01 -5.64001139e-03 9.94279009e-01 1.22711538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917105681 meters 0.04462283496657981 Centerline is valid? [True, True] Translation: X:137.35, Y:20.62, Z:12.28 [[ 9.23988290e-01 -3.68774113e-01 -1.01248675e-01 1.37352380e+02] [ 3.67347963e-01 9.29495369e-01 -3.30731592e-02 2.06186828e+01] [ 1.06306699e-01 -6.63428276e-03 9.94311255e-01 1.22810358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977105681 meters 0.04500105557309219 Centerline is valid? [True, True] Translation: X:137.41, Y:20.64, Z:12.29 [[ 9.23867706e-01 -3.69749352e-01 -9.87617322e-02 1.37406359e+02] [ 3.68397100e-01 9.29108306e-01 -3.22696872e-02 2.06394733e+01] [ 1.03692042e-01 -6.57061381e-03 9.94587748e-01 1.22903701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03710568099999 meters 0.04339762098205494 Centerline is valid? [True, True] Translation: X:137.46, Y:20.68, Z:12.29 [[ 9.25345839e-01 -3.66185797e-01 -9.81989855e-02 1.37456507e+02] [ 3.64825008e-01 9.30521766e-01 -3.21240740e-02 2.06780935e+01] [ 1.03139673e-01 -6.09956753e-03 9.94648181e-01 1.22948522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097105681 meters 0.039296997676776704 Centerline is valid? [True, True] Translation: X:137.51, Y:20.72, Z:12.30 [[ 9.26033991e-01 -3.63967493e-01 -9.99435393e-02 1.37505242e+02] [ 3.62542266e-01 9.31392753e-01 -3.27207115e-02 2.07169278e+01] [ 1.04995964e-01 -5.93326621e-03 9.94454948e-01 1.22990497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157105681 meters 0.03838372462249279 Centerline is valid? [True, True] Translation: X:137.55, Y:20.75, Z:12.31 [[ 9.25966825e-01 -3.64205701e-01 -9.96977747e-02 1.37554126e+02] [ 3.62787255e-01 9.31299645e-01 -3.26554645e-02 2.07528540e+01] [ 1.04741808e-01 -5.93120524e-03 9.94481762e-01 1.23055250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217105681 meters 0.04065298478985062 Centerline is valid? [True, True] Translation: X:137.61, Y:20.78, Z:12.31 [[ 9.24882745e-01 -3.66017682e-01 -1.03067772e-01 1.37607567e+02] [ 3.64508586e-01 9.30586500e-01 -3.37973000e-02 2.07829226e+01] [ 1.08283886e-01 -6.31054806e-03 9.94099983e-01 1.23055683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277105681 meters 0.045395951051239045 Centerline is valid? [True, True] Translation: X:137.66, Y:20.81, Z:12.31 [[ 9.21917787e-01 -3.73190164e-01 -1.03907146e-01 1.37660594e+02] [ 3.71700869e-01 9.27726889e-01 -3.40776134e-02 2.08130220e+01] [ 1.09114884e-01 -7.20561861e-03 9.94003029e-01 1.23117029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.337105681 meters 0.04808300737213648 Centerline is valid? [True, True] Translation: X:137.71, Y:20.84, Z:12.32 [[ 9.20400340e-01 -3.76581472e-01 -1.05117118e-01 1.37714101e+02] [ 3.75078717e-01 9.26351557e-01 -3.44782454e-02 2.08404214e+01] [ 1.10359274e-01 -7.69340485e-03 9.93861983e-01 1.23190690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.397105681 meters 0.043699915303421225 Centerline is valid? [True, True] Translation: X:137.77, Y:20.88, Z:12.33 [[ 9.22439213e-01 -3.72357265e-01 -1.02254416e-01 1.37765282e+02] [ 3.70909159e-01 9.28063180e-01 -3.35429538e-02 2.08760927e+01] [ 1.07388521e-01 -6.98576336e-03 9.94192589e-01 1.23288632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457105681 meters 0.04144328827328981 Centerline is valid? [True, True] Translation: X:137.81, Y:20.92, Z:12.33 [[ 9.23743254e-01 -3.68670600e-01 -1.03828650e-01 1.37814887e+02] [ 3.67154128e-01 9.29536266e-01 -3.40613487e-02 2.09157072e+01] [ 1.09069914e-01 -6.65717650e-03 9.94011789e-01 1.23345748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517105681 meters 0.04476928864842417 Centerline is valid? [True, True] Translation: X:137.87, Y:20.94, Z:12.33 [[ 9.21257516e-01 -3.73359767e-01 -1.09027855e-01 1.37870750e+02] [ 3.71719244e-01 9.27655726e-01 -3.57723150e-02 2.09397841e+01] [ 1.14496257e-01 -7.57223776e-03 9.93394820e-01 1.23344288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577105681 meters 0.04588617412689634 Centerline is valid? [True, True] Translation: X:137.92, Y:20.97, Z:12.34 [[ 9.22426536e-01 -3.71323099e-01 -1.06058668e-01 1.37922654e+02] [ 3.69756998e-01 9.28476471e-01 -3.48023802e-02 2.09678660e+01] [ 1.11395905e-01 -7.11329562e-03 9.93750649e-01 1.23435186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637105681 meters 0.035396123419177486 Centerline is valid? [True, True] Translation: X:137.97, Y:21.02, Z:12.36 [[ 9.27971006e-01 -3.58067614e-01 -1.03234661e-01 1.37968064e+02] [ 3.56501201e-01 9.33680269e-01 -3.38828794e-02 2.10202513e+01] [ 1.08520528e-01 -5.36095102e-03 9.94079753e-01 1.23553169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697105681 meters 0.028057832031587352 Centerline is valid? [True, True] Translation: X:138.02, Y:21.06, Z:12.37 [[ 9.33113958e-01 -3.45759596e-01 -9.87352139e-02 1.38017486e+02] [ 3.44257571e-01 9.38315650e-01 -3.24108883e-02 2.10592156e+01] [ 1.03851172e-01 -3.74729260e-03 9.94585789e-01 1.23654815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75710568099998 meters 0.025299681915865905 Centerline is valid? [True, True] Translation: X:138.07, Y:21.10, Z:12.38 [[ 9.35951525e-01 -3.39187553e-01 -9.45861834e-02 1.38067768e+02] [ 3.37775603e-01 9.40714341e-01 -3.10510987e-02 2.10968832e+01] [ 9.95107254e-02 -2.88658192e-03 9.95032303e-01 1.23760351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817105681 meters 0.024765161608666115 Centerline is valid? [True, True] Translation: X:138.12, Y:21.12, Z:12.38 [[ 9.36747904e-01 -3.36700205e-01 -9.55841846e-02 1.38119738e+02] [ 3.35244765e-01 9.41608186e-01 -3.13842573e-02 2.11233547e+01] [ 1.00569937e-01 -2.64496019e-03 9.94926476e-01 1.23773289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877105681 meters 0.018573996016263535 Centerline is valid? [True, True] Translation: X:138.17, Y:21.17, Z:12.38 [[ 9.43596140e-01 -3.16589844e-01 -9.69391309e-02 1.38167396e+02] [ 3.14985039e-01 9.48562402e-01 -3.18401464e-02 2.11702476e+01] [ 1.02033082e-01 -4.90136711e-04 9.94780885e-01 1.23844000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937105681 meters 0.02277896130640994 Centerline is valid? [True, True] Translation: X:138.22, Y:21.21, Z:12.39 [[ 9.50598029e-01 -2.94064942e-01 -9.94444450e-02 1.38217765e+02] [ 2.92251753e-01 9.55783371e-01 -3.26658898e-02 2.12106779e+01] [ 1.04653240e-01 1.98931699e-03 9.94506783e-01 1.23855220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997105681 meters 0.027086855609173514 Centerline is valid? [True, True] Translation: X:138.28, Y:21.23, Z:12.39 [[ 9.52669555e-01 -2.86260506e-01 -1.02350585e-01 1.38275094e+02] [ 2.84294266e-01 9.58147337e-01 -3.36221719e-02 2.12290221e+01] [ 1.07691640e-01 2.93313514e-03 9.94180018e-01 1.23850062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057105681 meters 0.028432757801714528 Centerline is valid? [True, True] Translation: X:138.33, Y:21.24, Z:12.39 [[ 9.54182705e-01 -2.81399284e-01 -1.01734013e-01 1.38332467e+02] [ 2.79428739e-01 9.59584513e-01 -3.34236760e-02 2.12418265e+01] [ 1.07027782e-01 3.46488648e-03 9.94249993e-01 1.23938681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.117105681 meters 0.03148202411232399 Centerline is valid? [True, True] Translation: X:138.39, Y:21.24, Z:12.40 [[ 9.55079404e-01 -2.78144434e-01 -1.02269284e-01 1.38392933e+02] [ 2.76133493e-01 9.60531512e-01 -3.36081538e-02 2.12440778e+01] [ 1.07580791e-01 3.85848096e-03 9.94188858e-01 1.23966026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.177105681 meters 0.025949022207558143 Centerline is valid? [True, True] Translation: X:138.46, Y:21.24, Z:12.41 [[ 9.53249797e-01 -2.85327685e-01 -9.95134984e-02 1.38458207e+02] [ 2.83461925e-01 9.58425409e-01 -3.27119489e-02 2.12367814e+01] [ 1.04709890e-01 2.97437086e-03 9.94498362e-01 1.24057342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237105681 meters 0.022268429526390226 Centerline is valid? [True, True] Translation: X:138.52, Y:21.23, Z:12.41 [[ 9.50555480e-01 -2.94101712e-01 -9.97419824e-02 1.38523058e+02] [ 2.92274781e-01 9.55771995e-01 -3.27924642e-02 2.12304155e+01] [ 1.04974913e-01 2.01899046e-03 9.94472821e-01 1.24091834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297105681 meters 0.01952841942144392 Centerline is valid? [True, True] Translation: X:138.59, Y:21.22, Z:12.41 [[ 9.47381091e-01 -3.03145375e-01 -1.02819986e-01 1.38586818e+02] [ 3.01255629e-01 9.52943735e-01 -3.38124824e-02 2.12227927e+01] [ 1.08231759e-01 1.05820704e-03 9.94125126e-01 1.24074383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357105681 meters 0.01800315431858874 Centerline is valid? [True, True] Translation: X:138.65, Y:21.22, Z:12.42 [[ 9.46703223e-01 -3.07036273e-01 -9.73741988e-02 1.38649556e+02] [ 3.05360437e-01 9.51697624e-01 -3.20411469e-02 2.12181423e+01] [ 1.02508588e-01 5.99229094e-04 9.94731939e-01 1.24215008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417105681 meters 0.01739110178234234 Centerline is valid? [True, True] Translation: X:138.71, Y:21.21, Z:12.43 [[ 9.43951381e-01 -3.15688460e-01 -9.64188057e-02 1.38712740e+02] [ 3.14086947e-01 9.48862848e-01 -3.17598160e-02 2.12144801e+01] [ 1.01514430e-01 -3.04166084e-04 9.94834020e-01 1.24285586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477105681 meters 0.019629314729488413 Centerline is valid? [True, True] Translation: X:138.78, Y:21.21, Z:12.44 [[ 9.39781971e-01 -3.28122708e-01 -9.56312442e-02 1.38775870e+02] [ 3.26607660e-01 9.44633758e-01 -3.15356827e-02 2.12105289e+01] [ 1.00684075e-01 -1.59723084e-03 9.94917165e-01 1.24357382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53710568099999 meters 0.0216829922845951 Centerline is valid? [True, True] Translation: X:138.83, Y:21.22, Z:12.44 [[ 9.37956412e-01 -3.33228596e-01 -9.58982396e-02 1.38832641e+02] [ 3.31728256e-01 9.42843683e-01 -3.16568050e-02 2.12213458e+01] [ 1.00966002e-01 -2.11945250e-03 9.94887619e-01 1.24413944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597105681 meters 0.023790452922216532 Centerline is valid? [True, True] Translation: X:138.89, Y:21.24, Z:12.45 [[ 9.36550993e-01 -3.37183422e-01 -9.58101099e-02 1.38889189e+02] [ 3.35705190e-01 9.41435570e-01 -3.16400685e-02 2.12351350e+01] [ 1.00867552e-01 -2.53141353e-03 9.94896642e-01 1.24470027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657105681 meters 0.022180299413719483 Centerline is valid? [True, True] Translation: X:138.94, Y:21.26, Z:12.45 [[ 9.36810110e-01 -3.35368241e-01 -9.95738918e-02 1.38942025e+02] [ 3.33759238e-01 9.42084033e-01 -3.29005592e-02 2.12620353e+01] [ 1.04840776e-01 -2.41212973e-03 9.94486095e-01 1.24470336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717105681 meters 0.018454993084628286 Centerline is valid? [True, True] Translation: X:138.99, Y:21.30, Z:12.45 [[ 9.40816603e-01 -3.23918563e-01 -9.97039786e-02 1.38992984e+02] [ 3.22237127e-01 9.46084327e-01 -3.29799953e-02 2.12982229e+01] [ 1.05011204e-01 -1.10019644e-03 9.94470430e-01 1.24527008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777105681 meters 0.017210266006942854 Centerline is valid? [True, True] Translation: X:139.05, Y:21.33, Z:12.46 [[ 9.43303390e-01 -3.18402506e-01 -9.38006357e-02 1.39045012e+02] [ 3.16887106e-01 9.47955505e-01 -3.10309940e-02 2.13268928e+01] [ 9.87991752e-02 -4.52570203e-04 9.95107290e-01 1.24649998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.837105681 meters 0.017147227557081816 Centerline is valid? [True, True] Translation: X:139.10, Y:21.35, Z:12.47 [[ 9.43564757e-01 -3.17911860e-01 -9.28310210e-02 1.39098987e+02] [ 3.16423558e-01 9.48120196e-01 -3.07282704e-02 2.13462623e+01] [ 9.77838474e-02 -3.79808975e-04 9.95207604e-01 1.24711578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.897105681 meters 0.017890934124141517 Centerline is valid? [True, True] Translation: X:139.15, Y:21.37, Z:12.48 [[ 9.41723650e-01 -3.23300232e-01 -9.29167733e-02 1.39153985e+02] [ 3.21831494e-01 9.46296013e-01 -3.07952129e-02 2.13661438e+01] [ 9.78828716e-02 -9.02963681e-04 9.95197532e-01 1.24754448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957105681 meters 0.02204385601042001 Centerline is valid? [True, True] Translation: X:139.21, Y:21.38, Z:12.47 [[ 9.36780782e-01 -3.36239156e-01 -9.68761931e-02 1.39214097e+02] [ 3.34707570e-01 9.41773785e-01 -3.21400271e-02 2.13764584e+01] [ 1.02042195e-01 -2.31703548e-03 9.94777373e-01 1.24742294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017105681 meters 0.02805592509224442 Centerline is valid? [True, True] Translation: X:139.27, Y:21.39, Z:12.48 [[ 9.32107931e-01 -3.48386578e-01 -9.90030210e-02 1.39271616e+02] [ 3.46854458e-01 9.37343558e-01 -3.28487273e-02 2.13915666e+01] [ 1.04243900e-01 -3.72107994e-03 9.94544802e-01 1.24780356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077105681 meters 0.03158402544758681 Centerline is valid? [True, True] Translation: X:139.33, Y:21.42, Z:12.49 [[ 9.29939615e-01 -3.54788177e-01 -9.66315737e-02 1.39325660e+02] [ 3.53362497e-01 9.34936704e-01 -3.20672001e-02 2.14163048e+01] [ 1.01721468e-01 -4.32541453e-03 9.94803515e-01 1.24877833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137105681 meters 0.03726917639984116 Centerline is valid? [True, True] Translation: X:139.38, Y:21.44, Z:12.49 [[ 9.26482087e-01 -3.63281129e-01 -9.82739239e-02 1.39380292e+02] [ 3.61853330e-01 9.31664258e-01 -3.26171424e-02 2.14379113e+01] [ 1.03407495e-01 -5.34154846e-03 9.94624732e-01 1.24924696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197105681 meters 0.04281555296049057 Centerline is valid? [True, True] Translation: X:139.43, Y:21.46, Z:12.51 [[ 9.24278690e-01 -3.69701092e-01 -9.50263461e-02 1.39434021e+02] [ 3.68399379e-01 9.29132314e-01 -3.15442644e-02 2.14615674e+01] [ 9.99539979e-02 -5.85195557e-03 9.94974850e-01 1.25050336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25710568099998 meters 0.040140011502190064 Centerline is valid? [True, True] Translation: X:139.49, Y:21.49, Z:12.51 [[ 9.26552191e-01 -3.64877613e-01 -9.14623721e-02 1.39485128e+02] [ 3.63647961e-01 9.31041389e-01 -3.03659837e-02 2.14948681e+01] [ 9.62351216e-02 -5.12443638e-03 9.95345438e-01 1.25133084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317105681 meters 0.03432660548330389 Centerline is valid? [True, True] Translation: X:139.53, Y:21.54, Z:12.52 [[ 9.30429453e-01 -3.54671516e-01 -9.22450462e-02 1.39530998e+02] [ 3.53370138e-01 9.34981994e-01 -3.06303343e-02 2.15432296e+01] [ 9.71111642e-02 -4.09727951e-03 9.95265107e-01 1.25190812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377105681 meters 0.030485491747150033 Centerline is valid? [True, True] Translation: X:139.58, Y:21.58, Z:12.52 [[ 9.32855995e-01 -3.48224855e-01 -9.22992012e-02 1.39582360e+02] [ 3.46890072e-01 9.37404784e-01 -3.06520681e-02 2.15780034e+01] [ 9.71955247e-02 -3.42371101e-03 9.95259418e-01 1.25239419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437105681 meters 0.022999587468663794 Centerline is valid? [True, True] Translation: X:139.63, Y:21.62, Z:12.53 [[ 9.36126516e-01 -3.39124333e-01 -9.30689723e-02 1.39630502e+02] [ 3.37721967e-01 9.40738251e-01 -3.09098027e-02 2.16226397e+01] [ 9.80358084e-02 -2.49595047e-03 9.95179758e-01 1.25316050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497105681 meters 0.017765002768259045 Centerline is valid? [True, True] Translation: X:139.68, Y:21.66, Z:12.54 [[ 9.42151295e-01 -3.22639924e-01 -9.08538250e-02 1.39679540e+02] [ 3.21226525e-01 9.46521479e-01 -3.01762995e-02 2.16630595e+01] [ 9.57311758e-02 -7.54018823e-04 9.95406939e-01 1.25398982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557105681 meters 0.01840283321944476 Centerline is valid? [True, True] Translation: X:139.73, Y:21.70, Z:12.54 [[ 9.46732360e-01 -3.08124506e-01 -9.35795245e-02 1.39729295e+02] [ 3.06553232e-01 9.51345750e-01 -3.10866532e-02 2.16991107e+01] [ 9.86050426e-02 7.43634851e-04 9.95126370e-01 1.25411331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.617105681 meters 0.02328270928311463 Centerline is valid? [True, True] Translation: X:139.79, Y:21.72, Z:12.54 [[ 9.50669608e-01 -2.94047642e-01 -9.88093170e-02 1.39785794e+02] [ 2.92215649e-01 9.55787843e-01 -3.28574770e-02 2.17230613e+01] [ 1.04102408e-01 2.36297616e-03 9.94563776e-01 1.25360422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.677105681 meters 0.026306092661883468 Centerline is valid? [True, True] Translation: X:139.84, Y:21.74, Z:12.54 [[ 9.51914658e-01 -2.89223293e-01 -1.01036485e-01 1.39842434e+02] [ 2.87279924e-01 9.57257081e-01 -3.36024633e-02 2.17402364e+01] [ 1.06436506e-01 2.96092361e-03 9.94315093e-01 1.25395921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737105681 meters 0.021745936626154927 Centerline is valid? [True, True] Translation: X:139.91, Y:21.73, Z:12.55 [[ 9.49384373e-01 -2.97580821e-01 -1.00573194e-01 1.39906983e+02] [ 2.95701162e-01 9.54694488e-01 -3.34553133e-02 2.17349460e+01] [ 1.05972333e-01 2.02234140e-03 9.94367022e-01 1.25485009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797105681 meters 0.017147100593234207 Centerline is valid? [True, True] Translation: X:139.97, Y:21.72, Z:12.56 [[ 9.44282847e-01 -3.15408538e-01 -9.40604032e-02 1.39973697e+02] [ 3.13852499e-01 9.48955981e-01 -3.12914633e-02 2.17199814e+01] [ 9.91287768e-02 2.68995285e-05 9.95074613e-01 1.25633310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857105681 meters 0.017239232154385355 Centerline is valid? [True, True] Translation: X:140.03, Y:21.72, Z:12.57 [[ 9.42986917e-01 -3.19815252e-01 -9.21622401e-02 1.40033628e+02] [ 3.18341752e-01 9.47479830e-01 -3.06675885e-02 2.17237354e+01] [ 9.71298261e-02 -4.19954231e-04 9.95271632e-01 1.25701421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917105681 meters 0.017673412588054598 Centerline is valid? [True, True] Translation: X:140.09, Y:21.74, Z:12.57 [[ 9.44834034e-01 -3.12573471e-01 -9.79105399e-02 1.40089719e+02] [ 3.10866620e-01 9.49893508e-01 -3.26231276e-02 2.17435925e+01] [ 1.03201710e-01 3.86322693e-04 9.94660373e-01 1.25695140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977105681 meters 0.024495427726304708 Centerline is valid? [True, True] Translation: X:140.15, Y:21.77, Z:12.57 [[ 9.51078678e-01 -2.92026413e-01 -1.00846033e-01 1.40146057e+02] [ 2.90096011e-01 9.56406350e-01 -3.36332959e-02 2.17661734e+01] [ 1.06271597e-01 2.73287853e-03 9.94333384e-01 1.25727168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03710568099999 meters 0.0280174561181113 Centerline is valid? [True, True] Translation: X:140.20, Y:21.78, Z:12.58 [[ 9.53483031e-01 -2.85419370e-01 -9.69839797e-02 1.40204299e+02] [ 2.83600076e-01 9.58396912e-01 -3.23474357e-02 2.17775337e+01] [ 1.02181731e-01 3.33806701e-03 9.94760148e-01 1.25836239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097105681 meters 0.027621662319948226 Centerline is valid? [True, True] Translation: X:140.27, Y:21.78, Z:12.59 [[ 9.54046442e-01 -2.85111913e-01 -9.22311444e-02 1.40265349e+02] [ 2.83464917e-01 9.58488855e-01 -3.07693816e-02 2.17769294e+01] [ 9.71752413e-02 3.21112532e-03 9.95262107e-01 1.25939046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157105681 meters 0.023867087658904055 Centerline is valid? [True, True] Translation: X:140.33, Y:21.78, Z:12.60 [[ 9.51364597e-01 -2.94334085e-01 -9.09552116e-02 1.40327664e+02] [ 2.92771286e-01 9.55699899e-01 -3.03755968e-02 2.17751587e+01] [ 9.58664601e-02 2.26919309e-03 9.95391618e-01 1.25975996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217105681 meters 0.02007584760522914 Centerline is valid? [True, True] Translation: X:140.39, Y:21.77, Z:12.60 [[ 9.47844967e-01 -3.04581636e-01 -9.39145643e-02 1.40390964e+02] [ 3.02964451e-01 9.52485371e-01 -3.13713110e-02 2.17703203e+01] [ 9.90073739e-02 1.28236482e-03 9.95085873e-01 1.26006575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277105681 meters 0.01829370483676315 Centerline is valid? [True, True] Translation: X:140.45, Y:21.77, Z:12.61 [[ 9.45833716e-01 -3.11111467e-01 -9.27805848e-02 1.40452443e+02] [ 3.09563701e-01 9.50373240e-01 -3.10003107e-02 2.17720332e+01] [ 9.78207372e-02 5.99637786e-04 9.95203870e-01 1.26083843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.337105681 meters 0.01875973312008717 Centerline is valid? [True, True] Translation: X:140.51, Y:21.78, Z:12.62 [[ 9.46826489e-01 -3.09051467e-01 -8.94806688e-02 1.40509378e+02] [ 3.07600147e-01 9.51044969e-01 -2.99268554e-02 2.17812223e+01] [ 9.43490784e-02 8.11272587e-04 9.95538846e-01 1.26182606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.397105681 meters 0.01905208050996742 Centerline is valid? [True, True] Translation: X:140.57, Y:21.79, Z:12.62 [[ 9.47231553e-01 -3.08109169e-01 -8.84371225e-02 1.40567742e+02] [ 3.06684283e-01 9.51350556e-01 -2.96119979e-02 2.17872170e+01] [ 9.32584338e-02 9.27143235e-04 9.95641504e-01 1.26245362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457105681 meters 0.019785921426538712 Centerline is valid? [True, True] Translation: X:140.63, Y:21.80, Z:12.63 [[ 9.47437796e-01 -3.06297741e-01 -9.24300574e-02 1.40626286e+02] [ 3.04731190e-01 9.51935046e-01 -3.09607818e-02 2.17957616e+01] [ 9.74706285e-02 1.16709341e-03 9.95237718e-01 1.26265439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517105681 meters 0.02524237763113023 Centerline is valid? [True, True] Translation: X:140.68, Y:21.82, Z:12.63 [[ 9.50547121e-01 -2.95367992e-01 -9.60100003e-02 1.40682403e+02] [ 2.93620529e-01 9.55380574e-01 -3.21705406e-02 2.18194414e+01] [ 1.01228237e-01 2.38910764e-03 9.94860360e-01 1.26265485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577105681 meters 0.031014613083868728 Centerline is valid? [True, True] Translation: X:140.74, Y:21.84, Z:12.63 [[ 9.53029483e-01 -2.86798052e-01 -9.73739254e-02 1.40739672e+02] [ 2.84955606e-01 9.57985209e-01 -3.26288402e-02 2.18376322e+01] [ 1.02640668e-01 3.34900085e-03 9.94712862e-01 1.26312737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637105681 meters 0.030539196860157526 Centerline is valid? [True, True] Translation: X:140.80, Y:21.85, Z:12.64 [[ 9.55035649e-01 -2.80227802e-01 -9.68467220e-02 1.40798320e+02] [ 2.78371173e-01 9.59925037e-01 -3.24563343e-02 2.18480394e+01] [ 1.02060760e-01 4.03762070e-03 9.94769973e-01 1.26438276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697105681 meters 0.03292945755482843 Centerline is valid? [True, True] Translation: X:140.85, Y:21.86, Z:12.65 [[ 9.55863669e-01 -2.77692286e-01 -9.59772868e-02 1.40853760e+02] [ 2.75855790e-01 9.60660571e-01 -3.21691006e-02 2.18640456e+01] [ 1.01134706e-01 4.27338434e-03 9.94863563e-01 1.26504412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75710568099998 meters 0.032181203469877996 Centerline is valid? [True, True] Translation: X:140.91, Y:21.88, Z:12.66 [[ 9.55296679e-01 -2.79536930e-01 -9.62671278e-02 1.40910618e+02] [ 2.77697079e-01 9.60126165e-01 -3.22812501e-02 2.18779195e+01] [ 1.01452390e-01 4.10507083e-03 9.94831926e-01 1.26559325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817105681 meters 0.026833565332289238 Centerline is valid? [True, True] Translation: X:140.97, Y:21.88, Z:12.66 [[ 9.52659765e-01 -2.88429486e-01 -9.61655043e-02 1.40973923e+02] [ 2.86635467e-01 9.57495843e-01 -3.22772504e-02 2.18780317e+01] [ 1.01387781e-01 3.18479362e-03 9.94841884e-01 1.26630587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877105681 meters 0.023073878493227958 Centerline is valid? [True, True] Translation: X:141.04, Y:21.88, Z:12.67 [[ 9.50468457e-01 -2.96494447e-01 -9.32778401e-02 1.41035438e+02] [ 2.94845234e-01 9.55031910e-01 -3.13103639e-02 2.18822766e+01] [ 9.83666628e-02 2.25698667e-03 9.95147680e-01 1.26725915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937105681 meters 0.023087033360743896 Centerline is valid? [True, True] Translation: X:141.09, Y:21.89, Z:12.67 [[ 9.49183166e-01 -2.98186306e-01 -1.00678915e-01 1.41094839e+02] [ 2.96273136e-01 9.54505029e-01 -3.37990810e-02 2.18906270e+01] [ 1.06176954e-01 2.25306074e-03 9.94344698e-01 1.26650686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997105681 meters 0.021981555033514403 Centerline is valid? [True, True] Translation: X:141.15, Y:21.89, Z:12.68 [[ 9.48656338e-01 -3.00010269e-01 -1.00224701e-01 1.41154622e+02] [ 2.98122764e-01 9.53933757e-01 -3.36630990e-02 2.18946775e+01] [ 1.05707001e-01 2.05544732e-03 9.94395196e-01 1.26772554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.057105681 meters 0.020152548093572864 Centerline is valid? [True, True] Translation: X:141.21, Y:21.91, Z:12.69 [[ 9.46978661e-01 -3.06156125e-01 -9.74671376e-02 1.41212931e+02] [ 3.04400465e-01 9.51980342e-01 -3.27686645e-02 2.19051940e+01] [ 1.02819126e-01 1.36218401e-03 9.94699136e-01 1.26850994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.117105681 meters 0.018889178765493956 Centerline is valid? [True, True] Translation: X:141.28, Y:21.90, Z:12.69 [[ 9.41820356e-01 -3.22420276e-01 -9.49714853e-02 1.41275708e+02] [ 3.20834656e-01 9.46596542e-01 -3.19391458e-02 2.19002962e+01] [ 1.00197508e-01 -3.89206219e-04 9.94967491e-01 1.26933415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.177105681 meters 0.02771169445897514 Centerline is valid? [True, True] Translation: X:141.34, Y:21.90, Z:12.70 [[ 9.33667626e-01 -3.45705012e-01 -9.35564439e-02 1.41338220e+02] [ 3.44281040e-01 9.38338992e-01 -3.14722493e-02 2.18983414e+01] [ 9.86677736e-02 -2.82508950e-03 9.95116420e-01 1.26999718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237105681 meters 0.03628637231144558 Centerline is valid? [True, True] Translation: X:141.40, Y:21.91, Z:12.70 [[ 9.28909360e-01 -3.57384792e-01 -9.69717075e-02 1.41398360e+02] [ 3.55917158e-01 9.33947762e-01 -3.26275200e-02 2.19055284e+01] [ 1.02227089e-01 -4.20588583e-03 9.94752197e-01 1.26985452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297105681 meters 0.0415803680719955 Centerline is valid? [True, True] Translation: X:141.45, Y:21.92, Z:12.71 [[ 9.26203926e-01 -3.65034968e-01 -9.43173382e-02 1.41454062e+02] [ 3.63685251e-01 9.30980905e-01 -3.17425977e-02 2.19242253e+01] [ 9.93947990e-02 -4.90170621e-03 9.95036003e-01 1.27118700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357105681 meters 0.0377957878395526 Centerline is valid? [True, True] Translation: X:141.50, Y:21.97, Z:12.73 [[ 9.25577512e-01 -3.68324787e-01 -8.74249459e-02 1.41501083e+02] [ 3.67177833e-01 9.29684553e-01 -2.94460649e-02 2.19679432e+01] [ 9.21233374e-02 -4.84588666e-03 9.95735812e-01 1.27282969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417105681 meters 0.03693816832684124 Centerline is valid? [True, True] Translation: X:141.55, Y:22.00, Z:12.73 [[ 9.26634382e-01 -3.65714763e-01 -8.71861982e-02 1.41552455e+02] [ 3.64562068e-01 9.30715768e-01 -2.93710518e-02 2.20001384e+01] [ 9.18869966e-02 -4.56855423e-03 9.95758961e-01 1.27330459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477105681 meters 0.03403970560791526 Centerline is valid? [True, True] Translation: X:141.60, Y:22.04, Z:12.74 [[ 9.28378006e-01 -3.61024306e-01 -8.81800877e-02 1.41601274e+02] [ 3.59821291e-01 9.32547290e-01 -2.97353414e-02 2.20424256e+01] [ 9.29672828e-02 -4.12343599e-03 9.95660626e-01 1.27380736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53710568099999 meters 0.027313657592407465 Centerline is valid? [True, True] Translation: X:141.65, Y:22.09, Z:12.74 [[ 9.32470202e-01 -3.49750476e-01 -9.04097727e-02 1.41649218e+02] [ 3.48431220e-01 9.36837900e-01 -3.05030220e-02 2.20885117e+01] [ 9.53677481e-02 -3.05842828e-03 9.95437411e-01 1.27397949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597105681 meters 0.01959499258992577 Centerline is valid? [True, True] Translation: X:141.69, Y:22.14, Z:12.74 [[ 9.39087061e-01 -3.30320671e-01 -9.48880689e-02 1.41694594e+02] [ 3.28767135e-01 9.43868096e-01 -3.20185719e-02 2.21430112e+01] [ 1.00138217e-01 -1.12785193e-03 9.94972897e-01 1.27403729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657105681 meters 0.021436895551610245 Centerline is valid? [True, True] Translation: X:141.73, Y:22.21, Z:12.75 [[ 9.47931618e-01 -3.04382091e-01 -9.36866642e-02 1.41734254e+02] [ 3.02739761e-01 9.52548662e-01 -3.16177591e-02 2.22054614e+01] [ 9.88649863e-02 1.60879524e-03 9.95099556e-01 1.27464228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717105681 meters 0.02334796726168817 Centerline is valid? [True, True] Translation: X:141.79, Y:22.23, Z:12.75 [[ 9.49099865e-01 -3.00142897e-01 -9.55180003e-02 1.41787697e+02] [ 2.98412513e-01 9.53891925e-01 -3.22516185e-02 2.22329235e+01] [ 1.00793943e-01 2.10624023e-03 9.94905093e-01 1.27455602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777105681 meters 0.020816710549977174 Centerline is valid? [True, True] Translation: X:141.85, Y:22.25, Z:12.74 [[ 9.46068337e-01 -3.07612383e-01 -1.01633284e-01 1.41846336e+02] [ 3.05691212e-01 9.51510675e-01 -3.43557647e-02 2.22456590e+01] [ 1.07273413e-01 1.43449943e-03 9.94228524e-01 1.27410624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.837105681 meters 0.01839910940247303 Centerline is valid? [True, True] Translation: X:141.91, Y:22.25, Z:12.76 [[ 9.42422058e-01 -3.20435931e-01 -9.57156135e-02 1.41906894e+02] [ 3.18795199e-01 9.47270191e-01 -3.23852862e-02 2.22494457e+01] [ 1.01045957e-01 6.93005137e-06 9.94881759e-01 1.27563063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.897105681 meters 0.019510315384846596 Centerline is valid? [True, True] Translation: X:141.97, Y:22.25, Z:12.77 [[ 9.39383141e-01 -3.30256266e-01 -9.21418111e-02 1.41966544e+02] [ 3.28782504e-01 9.43890773e-01 -3.11812894e-02 2.22502941e+01] [ 9.72696215e-02 -1.00343782e-03 9.95257562e-01 1.27669305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957105681 meters 0.021077365716227144 Centerline is valid? [True, True] Translation: X:142.02, Y:22.26, Z:12.77 [[ 9.37654019e-01 -3.34898602e-01 -9.29939049e-02 1.42023490e+02] [ 3.33418953e-01 9.42252999e-01 -3.14815370e-02 2.22637159e+01] [ 9.81669085e-02 -1.48714064e-03 9.95168853e-01 1.27700657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017105681 meters 0.02524620908991303 Centerline is valid? [True, True] Translation: X:142.09, Y:22.26, Z:12.78 [[ 9.33974790e-01 -3.46230837e-01 -8.84041752e-02 1.42085632e+02] [ 3.44943372e-01 9.38145932e-01 -2.99379270e-02 2.22640574e+01] [ 9.33014509e-02 -2.53316525e-03 9.95634683e-01 1.27803024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077105681 meters 0.02654880969921022 Centerline is valid? [True, True] Translation: X:142.14, Y:22.28, Z:12.79 [[ 9.33666251e-01 -3.47022114e-01 -8.85606252e-02 1.42140588e+02] [ 3.45733141e-01 9.37853309e-01 -2.99960929e-02 2.22810413e+01] [ 9.34661830e-02 -2.61200353e-03 9.95619029e-01 1.27854341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137105681 meters 0.02076889640420133 Centerline is valid? [True, True] Translation: X:142.19, Y:22.31, Z:12.80 [[ 9.37723562e-01 -3.36518839e-01 -8.61950763e-02 1.42193736e+02] [ 3.35252533e-01 9.41675522e-01 -2.92053124e-02 2.23099938e+01] [ 9.09959313e-02 -1.51060805e-03 9.95850119e-01 1.27955513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197105681 meters 0.01965587818905899 Centerline is valid? [True, True] Translation: X:142.25, Y:22.34, Z:12.80 [[ 9.39986965e-01 -3.30775137e-01 -8.37395665e-02 1.42246172e+02] [ 3.29557113e-01 9.43709147e-01 -2.83752676e-02 2.23354181e+01] [ 8.84116279e-02 -9.24588140e-04 9.96083595e-01 1.28044863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25710568099998 meters 0.018872070972709206 Centerline is valid? [True, True] Translation: X:142.29, Y:22.37, Z:12.80 [[ 9.45747970e-01 -3.13729700e-01 -8.44656899e-02 1.42294854e+02] [ 3.12419369e-01 9.49512071e-01 -2.86525052e-02 2.23747792e+01] [ 8.91903340e-02 7.09331092e-04 9.96014348e-01 1.28048011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317105681 meters 0.022221591922045134 Centerline is valid? [True, True] Translation: X:142.35, Y:22.40, Z:12.79 [[ 9.48142259e-01 -3.03318115e-01 -9.49967284e-02 1.42349774e+02] [ 3.01603918e-01 9.52887388e-01 -3.22599166e-02 2.24026617e+01] [ 1.00306202e-01 1.93560465e-03 9.94954732e-01 1.27924678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377105681 meters 0.025331102672084455 Centerline is valid? [True, True] Translation: X:142.41, Y:22.42, Z:12.79 [[ 9.49397767e-01 -2.97933301e-01 -9.93963163e-02 1.42405464e+02] [ 2.96026056e-01 9.54583073e-01 -3.37598970e-02 2.24244965e+01] [ 1.04940239e-01 2.62767130e-03 9.94475058e-01 1.27905453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437105681 meters 0.02439936246339286 Centerline is valid? [True, True] Translation: X:142.46, Y:22.43, Z:12.80 [[ 9.49122276e-01 -3.00127898e-01 -9.53422784e-02 1.42462581e+02] [ 2.98383444e-01 9.53896204e-01 -3.23936978e-02 2.24340130e+01] [ 1.00668890e-01 2.29702281e-03 9.94917332e-01 1.28000033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497105681 meters 0.019071754935916323 Centerline is valid? [True, True] Translation: X:142.53, Y:22.43, Z:12.81 [[ 9.46102072e-01 -3.10697692e-01 -9.14210742e-02 1.42525409e+02] [ 3.09141814e-01 9.50508100e-01 -3.10755659e-02 2.24342768e+01] [ 9.65515781e-02 1.13858058e-03 9.95327331e-01 1.28088489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.557105681 meters 0.017442724899253123 Centerline is valid? [True, True] Translation: X:142.59, Y:22.43, Z:12.81 [[ 9.42262041e-01 -3.22234303e-01 -9.11443943e-02 1.42587836e+02] [ 3.20741176e-01 9.46659946e-01 -3.09846012e-02 2.24312978e+01] [ 9.62670487e-02 -3.81466671e-05 9.95355541e-01 1.28113651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.617105681 meters 0.017541689183591242 Centerline is valid? [True, True] Translation: X:142.65, Y:22.45, Z:12.81 [[ 9.41180602e-01 -3.25133497e-01 -9.20178372e-02 1.42645187e+02] [ 3.23624045e-01 9.45668072e-01 -3.12949519e-02 2.24450233e+01] [ 9.71933679e-02 -3.24983008e-04 9.95265464e-01 1.28148089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.677105681 meters 0.01805691824791673 Centerline is valid? [True, True] Translation: X:142.70, Y:22.45, Z:12.82 [[ 9.39288987e-01 -3.30403818e-01 -9.25716738e-02 1.42704446e+02] [ 3.28898558e-01 9.43839288e-01 -3.15140820e-02 2.24534186e+01] [ 9.77851557e-02 -8.45859867e-04 9.95207188e-01 1.28205232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737105681 meters 0.01987144138973303 Centerline is valid? [True, True] Translation: X:142.76, Y:22.46, Z:12.83 [[ 9.36997652e-01 -3.37296576e-01 -9.09198562e-02 1.42763978e+02] [ 3.35873760e-01 9.41397236e-01 -3.09848696e-02 2.24588028e+01] [ 9.60427917e-02 -1.50484388e-03 9.95376068e-01 1.28296390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797105681 meters 0.021993718060497384 Centerline is valid? [True, True] Translation: X:142.82, Y:22.47, Z:12.84 [[ 9.35434385e-01 -3.42196505e-01 -8.86795566e-02 1.42821811e+02] [ 3.40862108e-01 9.39626432e-01 -3.02521154e-02 2.24666411e+01] [ 9.36778235e-02 -1.92863170e-03 9.95600696e-01 1.28376768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857105681 meters 0.023102980685032682 Centerline is valid? [True, True] Translation: X:142.88, Y:22.48, Z:12.84 [[ 9.34680247e-01 -3.44401791e-01 -8.80922355e-02 1.42879689e+02] [ 3.43093675e-01 9.38819948e-01 -3.00638427e-02 2.24799428e+01] [ 9.30567892e-02 -2.12380888e-03 9.95658538e-01 1.28428156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917105681 meters 0.017972055606717385 Centerline is valid? [True, True] Translation: X:142.93, Y:22.51, Z:12.85 [[ 9.39562625e-01 -3.31564310e-01 -8.53649984e-02 1.42930162e+02] [ 3.30280322e-01 9.43432285e-01 -2.91621693e-02 2.25144525e+01] [ 9.02052300e-02 -7.94694833e-04 9.95922881e-01 1.28525556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977105681 meters 0.01800740493286614 Centerline is valid? [True, True] Translation: X:142.98, Y:22.55, Z:12.85 [[ 9.44538849e-01 -3.16610003e-01 -8.72036014e-02 1.42978659e+02] [ 3.15205569e-01 9.48555573e-01 -2.97955323e-02 2.25499616e+01] [ 9.21510257e-02 6.55977056e-04 9.95744826e-01 1.28529381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03710568099999 meters 0.02501456020059786 Centerline is valid? [True, True] Translation: X:143.03, Y:22.59, Z:12.86 [[ 9.50564182e-01 -2.98805656e-01 -8.45157705e-02 1.43028795e+02] [ 2.97413986e-01 9.54311128e-01 -2.88996929e-02 2.25864942e+01] [ 8.92897320e-02 2.33484070e-03 9.96002958e-01 1.28595859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097105681 meters 0.030930690606871307 Centerline is valid? [True, True] Translation: X:143.08, Y:22.61, Z:12.86 [[ 9.52991800e-01 -2.90883417e-01 -8.48143021e-02 1.43083743e+02] [ 2.89450134e-01 9.56753506e-01 -2.90060147e-02 2.26086193e+01] [ 8.95837496e-02 3.09298308e-03 9.95974490e-01 1.28645743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157105681 meters 0.02724909259008945 Centerline is valid? [True, True] Translation: X:143.15, Y:22.61, Z:12.86 [[ 9.51263665e-01 -2.95275684e-01 -8.89365508e-02 1.43145389e+02] [ 2.93718014e-01 9.55407947e-01 -3.04201188e-02 2.26131772e+01] [ 9.39530088e-02 2.81528663e-03 9.95572652e-01 1.28595718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217105681 meters 0.02254206018372716 Centerline is valid? [True, True] Translation: X:143.21, Y:22.61, Z:12.86 [[ 9.48239833e-01 -3.04838806e-01 -8.89635985e-02 1.43209888e+02] [ 3.03319483e-01 9.52402074e-01 -3.04562217e-02 2.26100874e+01] [ 9.40133539e-02 1.89540985e-03 9.95569132e-01 1.28637947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277105681 meters 0.01844132814483599 Centerline is valid? [True, True] Translation: X:143.27, Y:22.61, Z:12.87 [[ 9.45479672e-01 -3.13870520e-01 -8.69107965e-02 1.43273390e+02] [ 3.12458201e-01 9.49465290e-01 -2.97579457e-02 2.26094618e+01] [ 9.18589265e-02 9.79541550e-04 9.95771549e-01 1.28707121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.337105681 meters 0.017370587572006043 Centerline is valid? [True, True] Translation: X:143.33, Y:22.61, Z:12.88 [[ 9.43045410e-01 -3.21110027e-01 -8.69120511e-02 1.43334517e+02] [ 3.19727573e-01 9.47041853e-01 -2.97658871e-02 2.26078951e+01] [ 9.18674747e-02 2.82404058e-04 9.95771202e-01 1.28757610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.397105681 meters 0.0173293698364378 Centerline is valid? [True, True] Translation: X:143.39, Y:22.62, Z:12.88 [[ 9.40750270e-01 -3.27605476e-01 -8.75418847e-02 1.43392394e+02] [ 3.26229743e-01 9.44814550e-01 -2.99936684e-02 2.26160755e+01] [ 9.25369365e-02 -3.42214925e-04 9.95709194e-01 1.28810914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457105681 meters 0.017614496179483147 Centerline is valid? [True, True] Translation: X:143.45, Y:22.63, Z:12.89 [[ 9.41933187e-01 -3.24091513e-01 -8.79008639e-02 1.43447272e+02] [ 3.22685719e-01 9.46025734e-01 -3.01535564e-02 2.26302687e+01] [ 9.29289911e-02 3.82819696e-05 9.95672738e-01 1.28878978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517105681 meters 0.018282025880400773 Centerline is valid? [True, True] Translation: X:143.50, Y:22.65, Z:12.90 [[ 9.44352550e-01 -3.18029011e-01 -8.39988724e-02 1.43501836e+02] [ 3.16720209e-01 9.48080778e-01 -2.88296165e-02 2.26486905e+01] [ 8.88063708e-02 6.21181401e-04 9.96048715e-01 1.29007350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577105681 meters 0.02041693764883492 Centerline is valid? [True, True] Translation: X:143.56, Y:22.67, Z:12.90 [[ 9.46939826e-01 -3.10141367e-01 -8.43640813e-02 1.43555431e+02] [ 3.08786973e-01 9.50689422e-01 -2.89866751e-02 2.26720632e+01] [ 8.91940067e-02 1.39810774e-03 9.96013290e-01 1.29029533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637105681 meters 0.024061137936370436 Centerline is valid? [True, True] Translation: X:143.61, Y:22.69, Z:12.90 [[ 9.49890208e-01 -2.99963069e-01 -8.79246834e-02 1.43613407e+02] [ 2.98446931e-01 9.53947626e-01 -3.02217849e-02 2.26872714e+01] [ 9.29409623e-02 2.46652572e-03 9.95668566e-01 1.29036626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697105681 meters 0.023828544325741288 Centerline is valid? [True, True] Translation: X:143.67, Y:22.70, Z:12.91 [[ 9.49276937e-01 -3.01196313e-01 -9.02999332e-02 1.43671599e+02] [ 2.99601776e-01 9.53559091e-01 -3.10457091e-02 2.26956475e+01] [ 9.54571753e-02 2.41695520e-03 9.95430603e-01 1.29065075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75710568099998 meters 0.02495310569742178 Centerline is valid? [True, True] Translation: X:143.73, Y:22.71, Z:12.91 [[ 9.49450367e-01 -2.99696527e-01 -9.34130154e-02 1.43729319e+02] [ 2.97978863e-01 9.54030785e-01 -3.21536840e-02 2.27052959e+01] [ 9.87552399e-02 2.69322302e-03 9.95108109e-01 1.29059399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817105681 meters 0.02713320706023665 Centerline is valid? [True, True] Translation: X:143.79, Y:22.72, Z:12.91 [[ 9.50538280e-01 -2.96383360e-01 -9.29186895e-02 1.43785683e+02] [ 2.94666687e-01 9.55064235e-01 -3.19976726e-02 2.27174338e+01] [ 9.82268948e-02 3.03497029e-03 9.95159417e-01 1.29113490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877105681 meters 0.024209546602022777 Centerline is valid? [True, True] Translation: X:143.85, Y:22.72, Z:12.91 [[ 9.48717251e-01 -3.02062178e-01 -9.32417224e-02 1.43849448e+02] [ 3.00359527e-01 9.53285030e-01 -3.21217505e-02 2.27173159e+01] [ 9.85887040e-02 2.46841915e-03 9.95125205e-01 1.29137537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937105681 meters 0.020824552265621795 Centerline is valid? [True, True] Translation: X:143.91, Y:22.72, Z:12.92 [[ 9.45660037e-01 -3.10751821e-01 -9.57099802e-02 1.43911566e+02] [ 3.09001529e-01 9.50489726e-01 -3.29747757e-02 2.27195971e+01] [ 1.01218324e-01 1.60839737e-03 9.94862937e-01 1.29153672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997105681 meters 0.018660070308900382 Centerline is valid? [True, True] Translation: X:143.97, Y:22.72, Z:12.92 [[ 9.43455144e-01 -3.18056968e-01 -9.34460019e-02 1.43971883e+02] [ 3.16423875e-01 9.48071257e-01 -3.21997429e-02 2.27238713e+01] [ 9.88348211e-02 8.10467067e-04 9.95103523e-01 1.29243238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.057105681 meters 0.018454008152951604 Centerline is valid? [True, True] Translation: X:144.03, Y:22.73, Z:12.93 [[ 9.42465341e-01 -3.20487381e-01 -9.51152960e-02 1.44028669e+02] [ 3.18806574e-01 9.47252610e-01 -3.27850711e-02 2.27328864e+01] [ 1.00605414e-01 5.75411566e-04 9.94926238e-01 1.29292917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.117105681 meters 0.018103733717812327 Centerline is valid? [True, True] Translation: X:144.09, Y:22.74, Z:12.93 [[ 9.41901942e-01 -3.22401998e-01 -9.42214543e-02 1.44087005e+02] [ 3.20760758e-01 9.46602771e-01 -3.24920019e-02 2.27424635e+01] [ 9.96657761e-02 3.81734600e-04 9.95020898e-01 1.29312362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.177105681 meters 0.017833485457858327 Centerline is valid? [True, True] Translation: X:144.14, Y:22.75, Z:12.94 [[ 9.40790947e-01 -3.25488134e-01 -9.47093941e-02 1.44143983e+02] [ 3.23843952e-01 9.45546123e-01 -3.26745337e-02 2.27529005e+01] [ 1.00187273e-01 6.88410621e-05 9.94968595e-01 1.29387460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237105681 meters 0.018357889240435257 Centerline is valid? [True, True] Translation: X:144.20, Y:22.76, Z:12.95 [[ 9.37846804e-01 -3.34256006e-01 -9.33611045e-02 1.44203523e+02] [ 3.32697806e-01 9.42481965e-01 -3.22477263e-02 2.27597457e+01] [ 9.87701534e-02 -8.17607572e-04 9.95109938e-01 1.29467898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297105681 meters 0.01947678216430804 Centerline is valid? [True, True] Translation: X:144.26, Y:22.77, Z:12.96 [[ 9.36687705e-01 -3.37893754e-01 -9.18909917e-02 1.44259794e+02] [ 3.36398632e-01 9.41183556e-01 -3.17722360e-02 2.27706139e+01] [ 9.72219304e-02 -1.15134109e-03 9.95262061e-01 1.29568429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357105681 meters 0.020250448512379643 Centerline is valid? [True, True] Translation: X:144.31, Y:22.79, Z:12.96 [[ 9.35151809e-01 -3.42802704e-01 -8.93162897e-02 1.44314303e+02] [ 3.41411257e-01 9.39406059e-01 -3.08967463e-02 2.27918392e+01] [ 9.44957519e-02 -1.60043854e-03 9.95523978e-01 1.29631719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417105681 meters 0.02326978029570279 Centerline is valid? [True, True] Translation: X:144.37, Y:22.81, Z:12.97 [[ 9.31966101e-01 -3.51104602e-01 -9.03589751e-02 1.44370942e+02] [ 3.49716051e-01 9.36333066e-01 -3.12901358e-02 2.28105909e+01] [ 9.55922069e-02 -2.43863801e-03 9.95417592e-01 1.29683001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477105681 meters 0.023620818626989098 Centerline is valid? [True, True] Translation: X:144.42, Y:22.83, Z:12.98 [[ 9.31710640e-01 -3.52564965e-01 -8.72538244e-02 1.44424920e+02] [ 3.51275672e-01 9.35784033e-01 -3.02265726e-02 2.28338818e+01] [ 9.23075662e-02 -2.48772648e-03 9.95727435e-01 1.29763000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53710568099999 meters 0.023270914483927825 Centerline is valid? [True, True] Translation: X:144.48, Y:22.86, Z:12.98 [[ 9.32001685e-01 -3.51651271e-01 -8.78307621e-02 1.44478176e+02] [ 3.50337641e-01 9.36128043e-01 -3.04602251e-02 2.28585280e+01] [ 9.29322163e-02 -2.38144084e-03 9.95669590e-01 1.29809234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597105681 meters 0.023002800796859436 Centerline is valid? [True, True] Translation: X:144.53, Y:22.88, Z:12.98 [[ 9.32480741e-01 -3.50142387e-01 -8.87692324e-02 1.44529792e+02] [ 3.48790519e-01 9.36693848e-01 -3.08189818e-02 2.28848613e+01] [ 9.39406257e-02 -2.22375967e-03 9.95575318e-01 1.29839847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657105681 meters 0.021491473669345198 Centerline is valid? [True, True] Translation: X:144.58, Y:22.91, Z:12.99 [[ 9.33730199e-01 -3.46596621e-01 -8.95471814e-02 1.44583481e+02] [ 3.45202851e-01 9.38012421e-01 -3.11077253e-02 2.29109977e+01] [ 9.47782009e-02 -1.86571979e-03 9.95496666e-01 1.29888833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717105681 meters 0.020093333086861023 Centerline is valid? [True, True] Translation: X:144.63, Y:22.94, Z:12.99 [[ 9.35292971e-01 -3.41989109e-01 -9.09423350e-02 1.44634680e+02] [ 3.40526801e-01 9.39702885e-01 -3.16225557e-02 2.29405493e+01] [ 9.62733442e-02 -1.39194840e-03 9.95353960e-01 1.29913093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777105681 meters 0.017770525467656385 Centerline is valid? [True, True] Translation: X:144.68, Y:22.98, Z:12.99 [[ 9.40348195e-01 -3.26574422e-01 -9.53646657e-02 1.44683813e+02] [ 3.24885018e-01 9.45171466e-01 -3.31756521e-02 2.29803802e+01] [ 1.00970280e-01 2.14113441e-04 9.94889419e-01 1.29915913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.837105681 meters 0.021719682604689573 Centerline is valid? [True, True] Translation: X:144.73, Y:23.02, Z:13.00 [[ 9.45161262e-01 -3.11664668e-01 -9.76489807e-02 1.44732652e+02] [ 3.09810062e-01 9.50190287e-01 -3.40021090e-02 2.30173387e+01] [ 1.03382369e-01 1.88483947e-03 9.94639901e-01 1.29950077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.897105681 meters 0.02653907314517895 Centerline is valid? [True, True] Translation: X:144.78, Y:23.05, Z:13.00 [[ 9.48260471e-01 -3.02308755e-01 -9.70128672e-02 1.44784093e+02] [ 3.00428255e-01 9.53205655e-01 -3.37911484e-02 2.30510082e+01] [ 1.02688574e-01 2.89740388e-03 9.94709335e-01 1.29972877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957105681 meters 0.027402339141680103 Centerline is valid? [True, True] Translation: X:144.84, Y:23.07, Z:13.01 [[ 9.50465649e-01 -2.94697000e-01 -9.88368755e-02 1.44842091e+02] [ 2.92703216e-01 9.55583206e-01 -3.44320027e-02 2.30652464e+01] [ 1.04593866e-01 3.79656444e-03 9.94507772e-01 1.30057355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017105681 meters 0.027297315410748563 Centerline is valid? [True, True] Translation: X:144.90, Y:23.08, Z:13.01 [[ 9.50296482e-01 -2.95446165e-01 -9.82250480e-02 1.44899421e+02] [ 2.93480128e-01 9.55352227e-01 -3.42277147e-02 2.30798109e+01] [ 1.03951965e-01 3.69937717e-03 9.94575439e-01 1.30106434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077105681 meters 0.025477441853001763 Centerline is valid? [True, True] Translation: X:144.96, Y:23.09, Z:13.02 [[ 9.49291149e-01 -2.98540580e-01 -9.85892266e-02 1.44958595e+02] [ 2.96572684e-01 9.54390856e-01 -3.43909350e-02 2.30872471e+01] [ 1.04359746e-01 3.40813869e-03 9.94533774e-01 1.30167985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137105681 meters 0.02386963093201077 Centerline is valid? [True, True] Translation: X:145.02, Y:23.09, Z:13.03 [[ 9.48352698e-01 -3.02504741e-01 -9.54884386e-02 1.45019275e+02] [ 3.00675956e-01 9.53143448e-01 -3.33397221e-02 2.30934160e+01] [ 1.01099604e-01 2.90673786e-03 9.94872063e-01 1.30299185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197105681 meters 0.02415342422781989 Centerline is valid? [True, True] Translation: X:145.08, Y:23.10, Z:13.04 [[ 9.48414875e-01 -3.03017759e-01 -9.32172882e-02 1.45077444e+02] [ 3.01277108e-01 9.52980829e-01 -3.25521638e-02 2.31043691e+01] [ 9.86981723e-02 2.78872134e-03 9.95113508e-01 1.30363383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25710568099998 meters 0.025340072413347226 Centerline is valid? [True, True] Translation: X:145.14, Y:23.11, Z:13.03 [[ 9.49260939e-01 -2.99152008e-01 -9.70141520e-02 1.45138141e+02] [ 2.97242773e-01 9.54199578e-01 -3.39101669e-02 2.31123392e+01] [ 1.02715157e-01 3.35284132e-03 9.94705160e-01 1.30343121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317105681 meters 0.028467082303925247 Centerline is valid? [True, True] Translation: X:145.20, Y:23.12, Z:13.04 [[ 9.50461070e-01 -2.94532526e-01 -9.93697370e-02 1.45195511e+02] [ 2.92503334e-01 9.55633281e-01 -3.47394806e-02 2.31243305e+01] [ 1.05192935e-01 3.95254455e-03 9.94443977e-01 1.30390587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377105681 meters 0.03156287300697541 Centerline is valid? [True, True] Translation: X:145.25, Y:23.14, Z:13.05 [[ 9.51542331e-01 -2.91306788e-01 -9.85268927e-02 1.45253334e+02] [ 2.89293810e-01 9.56620107e-01 -3.44537853e-02 2.31354668e+01] [ 1.04289428e-01 4.28101504e-03 9.94537776e-01 1.30452761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437105681 meters 0.03214670173912354 Centerline is valid? [True, True] Translation: X:145.32, Y:23.14, Z:13.05 [[ 9.53602141e-01 -2.83965497e-01 -1.00032757e-01 1.45316664e+02] [ 2.81849118e-01 9.58820554e-01 -3.49888652e-02 2.31358063e+01] [ 1.05849094e-01 5.17131239e-03 9.94368758e-01 1.30520487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497105681 meters 0.03672135952261512 Centerline is valid? [True, True] Translation: X:145.38, Y:23.15, Z:13.05 [[ 9.55728281e-01 -2.76592350e-01 -1.00399824e-01 1.45375214e+02] [ 2.74418505e-01 9.60968469e-01 -3.51295531e-02 2.31498411e+01] [ 1.06197631e-01 6.02273782e-03 9.94326802e-01 1.30545851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.557105681 meters 0.035615243474926395 Centerline is valid? [True, True] Translation: X:145.44, Y:23.16, Z:13.06 [[ 9.55141209e-01 -2.78728029e-01 -1.00079746e-01 1.45435330e+02] [ 2.76579180e-01 9.60352735e-01 -3.50226025e-02 2.31555678e+01] [ 1.05873639e-01 5.77155693e-03 9.94362842e-01 1.30611529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.617105681 meters 0.031019109274336678 Centerline is valid? [True, True] Translation: X:145.50, Y:23.15, Z:13.07 [[ 9.51785859e-01 -2.89743146e-01 -1.00760054e-01 1.45499040e+02] [ 2.87624982e-01 9.57093439e-01 -3.52706541e-02 2.31496388e+01] [ 1.06656217e-01 4.58900110e-03 9.94285368e-01 1.30684749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.677105681 meters 0.024047706857924383 Centerline is valid? [True, True] Translation: X:145.56, Y:23.15, Z:13.08 [[ 9.49330114e-01 -2.98290768e-01 -9.89694476e-02 1.45562652e+02] [ 2.96292810e-01 9.54468366e-01 -3.46512537e-02 2.31468325e+01] [ 1.04799356e-01 3.57154297e-03 9.94486973e-01 1.30760745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737105681 meters 0.021475827465901064 Centerline is valid? [True, True] Translation: X:145.62, Y:23.15, Z:13.08 [[ 9.46969020e-01 -3.05811577e-01 -9.86354573e-02 1.45623473e+02] [ 3.03867130e-01 9.52088124e-01 -3.45394301e-02 2.31501311e+01] [ 1.04472205e-01 2.73569696e-03 9.94524044e-01 1.30821053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797105681 meters 0.019610465628502063 Centerline is valid? [True, True] Translation: X:145.68, Y:23.16, Z:13.09 [[ 9.45944639e-01 -3.09202007e-01 -9.78920764e-02 1.45683001e+02] [ 3.07303853e-01 9.50993471e-01 -3.42893690e-02 2.31568088e+01] [ 1.03697067e-01 2.35323248e-03 9.94606143e-01 1.30908339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857105681 meters 0.018282305550703905 Centerline is valid? [True, True] Translation: X:145.74, Y:23.17, Z:13.10 [[ 9.43978775e-01 -3.15613374e-01 -9.63964231e-02 1.45741411e+02] [ 3.13803125e-01 9.48886435e-01 -3.37954436e-02 2.31671491e+01] [ 1.02135552e-01 1.65268269e-03 9.94769118e-01 1.30995554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917105681 meters 0.017948618160273797 Centerline is valid? [True, True] Translation: X:145.80, Y:23.18, Z:13.11 [[ 9.43090537e-01 -3.19241080e-01 -9.30879808e-02 1.45797197e+02] [ 3.17570104e-01 9.47672747e-01 -3.26434330e-02 2.31810140e+01] [ 9.86380673e-02 1.22375305e-03 9.95122623e-01 1.31097966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977105681 meters 0.019051676832631755 Centerline is valid? [True, True] Translation: X:145.85, Y:23.20, Z:13.11 [[ 9.44147990e-01 -3.15384165e-01 -9.54850883e-02 1.45852330e+02] [ 3.13604877e-01 9.48962594e-01 -3.34959134e-02 2.31992936e+01] [ 1.01175858e-01 1.68050987e-03 9.94867138e-01 1.31122374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03710568099999 meters 0.019422784125044973 Centerline is valid? [True, True] Translation: X:145.91, Y:23.22, Z:13.11 [[ 9.44497515e-01 -3.13353856e-01 -9.86600461e-02 1.45908552e+02] [ 3.11441261e-01 9.49634379e-01 -3.46249347e-02 2.32181401e+01] [ 1.04540828e-01 1.97635555e-03 9.94518632e-01 1.31131861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097105681 meters 0.018324247535884613 Centerline is valid? [True, True] Translation: X:145.97, Y:23.23, Z:13.12 [[ 9.41964017e-01 -3.20056433e-01 -1.01329518e-01 1.45966936e+02] [ 3.18073329e-01 9.47397587e-01 -3.55973391e-02 2.32296051e+01] [ 1.07392499e-01 1.30119531e-03 9.94215851e-01 1.31170372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157105681 meters 0.01743637953230613 Centerline is valid? [True, True] Translation: X:146.03, Y:23.24, Z:13.12 [[ 9.37443943e-01 -3.32919381e-01 -1.01801466e-01 1.46026428e+02] [ 3.30989205e-01 9.42955284e-01 -3.57977514e-02 2.32377217e+01] [ 1.07911996e-01 -1.36801287e-04 9.94160441e-01 1.31215899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217105681 meters 0.01976657335292573 Centerline is valid? [True, True] Translation: X:146.09, Y:23.24, Z:13.13 [[ 9.31956161e-01 -3.48202927e-01 -1.01056597e-01 1.46087317e+02] [ 3.46386850e-01 9.37417337e-01 -3.55652359e-02 2.32424764e+01] [ 1.07116126e-01 -1.85943577e-03 9.94244778e-01 1.31301264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277105681 meters 0.02397630034416437 Centerline is valid? [True, True] Translation: X:146.14, Y:23.25, Z:13.14 [[ 9.27434866e-01 -3.61101121e-01 -9.73167530e-02 1.46144820e+02] [ 3.59486965e-01 9.32521126e-01 -3.42559646e-02 2.32524241e+01] [ 1.03119795e-01 -3.21392820e-03 9.94663751e-01 1.31380487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.337105681 meters 0.025036591092227195 Centerline is valid? [True, True] Translation: X:146.20, Y:23.27, Z:13.15 [[ 9.26649455e-01 -3.63351282e-01 -9.64190485e-02 1.46199553e+02] [ 3.61777815e-01 9.31645930e-01 -3.39510486e-02 2.32714132e+01] [ 1.02164571e-01 -3.42155195e-03 9.94761626e-01 1.31494001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.397105681 meters 0.025104420337603617 Centerline is valid? [True, True] Translation: X:146.25, Y:23.30, Z:13.15 [[ 9.27073919e-01 -3.62403605e-01 -9.59039938e-02 1.46251432e+02] [ 3.60838735e-01 9.32015522e-01 -3.38005221e-02 2.33020640e+01] [ 1.01633442e-01 -3.27029330e-03 9.94816540e-01 1.31506174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457105681 meters 0.023535472718018036 Centerline is valid? [True, True] Translation: X:146.30, Y:23.33, Z:13.16 [[ 9.26610371e-01 -3.63357731e-01 -9.67697224e-02 1.46304500e+02] [ 3.61766375e-01 9.31643580e-01 -3.41369359e-02 2.33272994e+01] [ 1.02558810e-01 -3.37639292e-03 9.94721212e-01 1.31556290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517105681 meters 0.024511083761039058 Centerline is valid? [True, True] Translation: X:146.36, Y:23.35, Z:13.16 [[ 9.26405176e-01 -3.63930213e-01 -9.65828653e-02 1.46356683e+02] [ 3.62345026e-01 9.31419994e-01 -3.41009756e-02 2.33510999e+01] [ 1.02369587e-01 -3.40500048e-03 9.94740606e-01 1.31636057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577105681 meters 0.02351037597511332 Centerline is valid? [True, True] Translation: X:146.40, Y:23.39, Z:13.17 [[ 9.26492630e-01 -3.64680682e-01 -9.28407635e-02 1.46404153e+02] [ 3.63218683e-01 9.31126655e-01 -3.27923975e-02 2.33910329e+01] [ 9.84052635e-02 -3.33958521e-03 9.95140820e-01 1.31730047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637105681 meters 0.021061551104925365 Centerline is valid? [True, True] Translation: X:146.45, Y:23.43, Z:13.18 [[ 9.30896602e-01 -3.53836941e-01 -9.07245045e-02 1.46450066e+02] [ 3.52386579e-01 9.35304740e-01 -3.20740124e-02 2.34335963e+01] [ 9.62040296e-02 -2.11250858e-03 9.95359393e-01 1.31832518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697105681 meters 0.01868252007898731 Centerline is valid? [True, True] Translation: X:146.49, Y:23.48, Z:13.19 [[ 9.36340001e-01 -3.39970588e-01 -8.76778287e-02 1.46494818e+02] [ 3.38554499e-01 9.40435842e-01 -3.10044905e-02 2.34810399e+01] [ 9.29959876e-02 -6.52978640e-04 9.95666269e-01 1.31940038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75710568099998 meters 0.01824825716584056 Centerline is valid? [True, True] Translation: X:146.54, Y:23.54, Z:13.20 [[ 9.39656609e-01 -3.31259530e-01 -8.55136269e-02 1.46537014e+02] [ 3.29874138e-01 9.43539650e-01 -3.02651932e-02 2.35373378e+01] [ 9.07111313e-02 2.30154884e-04 9.95877220e-01 1.31993800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817105681 meters 0.01856964154155634 Centerline is valid? [True, True] Translation: X:146.59, Y:23.58, Z:13.20 [[ 9.40165724e-01 -3.29379860e-01 -8.71626027e-02 1.46585941e+02] [ 3.27929289e-01 9.44197387e-01 -3.08816490e-02 2.35755736e+01] [ 9.24704949e-02 4.50697504e-04 9.95715323e-01 1.32044122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877105681 meters 0.019456212398355134 Centerline is valid? [True, True] Translation: X:146.63, Y:23.62, Z:13.20 [[ 9.41354620e-01 -3.24748563e-01 -9.15961291e-02 1.46632726e+02] [ 3.23121163e-01 9.45799875e-01 -3.24855477e-02 2.36193175e+01] [ 9.71812424e-02 9.83772688e-04 9.95266215e-01 1.32008871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937105681 meters 0.02078844241045788 Centerline is valid? [True, True] Translation: X:146.68, Y:23.66, Z:13.20 [[ 9.42128664e-01 -3.21231253e-01 -9.59378080e-02 1.46680334e+02] [ 3.19425975e-01 9.46999713e-01 -3.40380666e-02 2.36581057e+01] [ 1.01787167e-01 1.42321031e-03 9.94805180e-01 1.32009707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997105681 meters 0.019351641764088323 Centerline is valid? [True, True] Translation: X:146.73, Y:23.69, Z:13.21 [[ 9.38745591e-01 -3.31747242e-01 -9.32763822e-02 1.46732216e+02] [ 3.30091472e-01 9.43368266e-01 -3.31049112e-02 2.36862480e+01] [ 9.89764419e-02 2.87351158e-04 9.95089735e-01 1.32090830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.057105681 meters 0.020064800876028358 Centerline is valid? [True, True] Translation: X:146.78, Y:23.71, Z:13.21 [[ 9.35260177e-01 -3.40143496e-01 -9.79326494e-02 1.46784950e+02] [ 3.38362078e-01 9.40373342e-01 -3.47718480e-02 2.37141953e+01] [ 1.03920671e-01 -6.15970104e-04 9.94585398e-01 1.32067463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.117105681 meters 0.022167686108006533 Centerline is valid? [True, True] Translation: X:146.84, Y:23.74, Z:13.21 [[ 9.32347068e-01 -3.47693462e-01 -9.91877085e-02 1.46837267e+02] [ 3.45904840e-01 9.37607154e-01 -3.52514820e-02 2.37375224e+01] [ 1.05255815e-01 -1.44289257e-03 9.94444132e-01 1.32108288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.177105681 meters 0.023248618104025908 Centerline is valid? [True, True] Translation: X:146.89, Y:23.77, Z:13.22 [[ 9.31012443e-01 -3.51566425e-01 -9.80656913e-02 1.46886816e+02] [ 3.49837605e-01 9.36161128e-01 -3.48710876e-02 2.37744289e+01] [ 1.04064792e-01 -1.84165011e-03 9.94568815e-01 1.32166404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237105681 meters 0.023140136227552774 Centerline is valid? [True, True] Translation: X:146.93, Y:23.81, Z:13.23 [[ 9.31153482e-01 -3.52118186e-01 -9.46888423e-02 1.46934207e+02] [ 3.50506043e-01 9.35953805e-01 -3.37044267e-02 2.38137812e+01] [ 1.00492324e-01 -1.80501718e-03 9.94936196e-01 1.32271697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297105681 meters 0.024269868168646826 Centerline is valid? [True, True] Translation: X:146.98, Y:23.85, Z:13.24 [[ 9.30454908e-01 -3.55398875e-01 -8.91364299e-02 1.46982846e+02] [ 3.53982573e-01 9.34712594e-01 -3.17601002e-02 2.38474116e+01] [ 9.46044475e-02 -2.00140166e-03 9.95512930e-01 1.32378579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357105681 meters 0.025821347582376794 Centerline is valid? [True, True] Translation: X:147.03, Y:23.88, Z:13.24 [[ 9.28573153e-01 -3.60169457e-01 -8.96095010e-02 1.47034240e+02] [ 3.58756521e-01 9.32883641e-01 -3.19667109e-02 2.38773121e+01] [ 9.51086705e-02 -2.46456323e-03 9.95463845e-01 1.32417165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417105681 meters 0.03022134933101223 Centerline is valid? [True, True] Translation: X:147.09, Y:23.91, Z:13.25 [[ 9.25195031e-01 -3.69195783e-01 -8.77987900e-02 1.47086827e+02] [ 3.67876877e-01 9.29345810e-01 -3.13523244e-02 2.39062736e+01] [ 9.31705836e-02 -3.29212990e-03 9.95644718e-01 1.32477979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477105681 meters 0.0390372926868539 Centerline is valid? [True, True] Translation: X:147.14, Y:23.93, Z:13.24 [[ 9.19762469e-01 -3.81501750e-01 -9.21597264e-02 1.47139504e+02] [ 3.80108687e-01 9.24355890e-01 -3.29176859e-02 2.39349687e+01] [ 9.77465407e-02 -4.75426055e-03 9.95199985e-01 1.32445931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53710568099999 meters 0.03851668992245729 Centerline is valid? [True, True] Translation: X:147.19, Y:23.97, Z:13.25 [[ 9.19377086e-01 -3.82883491e-01 -9.02552274e-02 1.47187771e+02] [ 3.81553197e-01 9.23784222e-01 -3.22470093e-02 2.39731486e+01] [ 9.57232025e-02 -4.79000917e-03 9.95396466e-01 1.32507951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597105681 meters 0.035222352114856005 Centerline is valid? [True, True] Translation: X:147.23, Y:24.02, Z:13.25 [[ 9.22577192e-01 -3.75132617e-01 -9.01490155e-02 1.47233814e+02] [ 3.73765505e-01 9.26962736e-01 -3.22402457e-02 2.40196617e+01] [ 9.56591458e-02 -3.95047700e-03 9.95406310e-01 1.32542019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657105681 meters 0.024905303633698556 Centerline is valid? [True, True] Translation: X:147.28, Y:24.08, Z:13.26 [[ 9.30140584e-01 -3.56449184e-01 -8.82183232e-02 1.47276949e+02] [ 3.55055084e-01 9.34312633e-01 -3.15561731e-02 2.40776258e+01] [ 9.36716659e-02 -1.97068682e-03 9.95601193e-01 1.32575935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717105681 meters 0.019464811481713133 Centerline is valid? [True, True] Translation: X:147.32, Y:24.15, Z:13.26 [[ 9.38616909e-01 -3.33910609e-01 -8.66141082e-02 1.47315496e+02] [ 3.32469692e-01 9.42604700e-01 -3.09884362e-02 2.41483386e+01] [ 9.19902331e-02 2.89704337e-04 9.95759867e-01 1.32599473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.777105681 meters 0.021871851807866088 Centerline is valid? [True, True] Translation: X:147.36, Y:24.19, Z:13.26 [[ 9.42978210e-01 -3.21368159e-01 -8.66868068e-02 1.47361825e+02] [ 3.19871464e-01 9.46953113e-01 -3.10169136e-02 2.41944604e+01] [ 9.20561899e-02 1.51963780e-03 9.95752654e-01 1.32612480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.837105681 meters 0.027123159619991347 Centerline is valid? [True, True] Translation: X:147.41, Y:24.24, Z:13.26 [[ 9.46784537e-01 -3.09059978e-01 -8.98942127e-02 1.47410148e+02] [ 3.07393919e-01 9.51038347e-01 -3.21720604e-02 2.42364502e+01] [ 9.54359397e-02 2.82707501e-03 9.95431559e-01 1.32619339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.897105681 meters 0.031239384235061896 Centerline is valid? [True, True] Translation: X:147.46, Y:24.27, Z:13.26 [[ 9.49260405e-01 -3.01140260e-01 -9.06599543e-02 1.47461160e+02] [ 2.99409078e-01 9.53572834e-01 -3.24508060e-02 2.42712469e+01] [ 9.62231137e-02 3.65985197e-03 9.95353062e-01 1.32641193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.957105681 meters 0.03493894788204832 Centerline is valid? [True, True] Translation: X:147.51, Y:24.30, Z:13.27 [[ 9.51116332e-01 -2.95139865e-01 -9.09405502e-02 1.47514803e+02] [ 2.93370314e-01 9.55444459e-01 -3.25537050e-02 2.43004299e+01] [ 9.64965410e-02 4.28310269e-03 9.95324104e-01 1.32663241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017105681 meters 0.029748228287381467 Centerline is valid? [True, True] Translation: X:147.58, Y:24.31, Z:13.27 [[ 9.48469182e-01 -3.04410736e-01 -8.79790596e-02 1.47575565e+02] [ 3.02794212e-01 9.52535378e-01 -3.14963303e-02 2.43091699e+01] [ 9.33909879e-02 3.23374864e-03 9.95624260e-01 1.32731477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077105681 meters 0.02295627686877457 Centerline is valid? [True, True] Translation: X:147.64, Y:24.31, Z:13.27 [[ 9.43862515e-01 -3.17357691e-01 -9.16932325e-02 1.47637733e+02] [ 3.15661961e-01 9.48303714e-01 -3.28266845e-02 2.43133760e+01] [ 9.73708338e-02 2.03981133e-03 9.95246080e-01 1.32730420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137105681 meters 0.01900609258458751 Centerline is valid? [True, True] Translation: X:147.70, Y:24.32, Z:13.28 [[ 9.39536186e-01 -3.29773639e-01 -9.23098123e-02 1.47697916e+02] [ 3.28114227e-01 9.44059725e-01 -3.30498096e-02 2.43204594e+01] [ 9.80449320e-02 7.63329332e-04 9.95181696e-01 1.32758525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197105681 meters 0.018632306602260933 Centerline is valid? [True, True] Translation: X:147.76, Y:24.33, Z:13.29 [[ 9.34903658e-01 -3.43752915e-01 -8.82557903e-02 1.47757402e+02] [ 3.42297647e-01 9.39059899e-01 -3.16042199e-02 2.43262796e+01] [ 9.37415162e-02 -6.62848527e-04 9.95596348e-01 1.32883532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25710568099998 meters 0.021942337831025848 Centerline is valid? [True, True] Translation: X:147.82, Y:24.34, Z:13.30 [[ 9.30914935e-01 -3.55463411e-01 -8.39234605e-02 1.47815083e+02] [ 3.54192352e-01 9.34688613e-01 -3.00827979e-02 2.43385575e+01] [ 8.91356368e-02 -1.72052197e-03 9.96018011e-01 1.33000823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317105681 meters 0.022809810949526957 Centerline is valid? [True, True] Translation: X:147.87, Y:24.36, Z:13.30 [[ 9.30122292e-01 -3.56913465e-01 -8.65176311e-02 1.47868022e+02] [ 3.55567776e-01 9.34135503e-01 -3.10228691e-02 2.43631969e+01] [ 9.18916706e-02 -1.90781951e-03 9.95767182e-01 1.32997507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377105681 meters 0.02246942680440113 Centerline is valid? [True, True] Translation: X:147.92, Y:24.39, Z:13.30 [[ 9.29854791e-01 -3.57491776e-01 -8.70040172e-02 1.47920510e+02] [ 3.56132271e-01 9.33914220e-01 -3.12095316e-02 2.43890513e+01] [ 9.24114397e-02 -1.96460578e-03 9.95718969e-01 1.33037801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437105681 meters 0.02291858210218052 Centerline is valid? [True, True] Translation: X:147.97, Y:24.42, Z:13.31 [[ 9.29440561e-01 -3.58813747e-01 -8.59821972e-02 1.47970953e+02] [ 3.57488455e-01 9.33406953e-01 -3.08782073e-02 2.44196383e+01] [ 9.13359060e-02 -2.03818451e-03 9.95818055e-01 1.33125577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497105681 meters 0.02194793335338541 Centerline is valid? [True, True] Translation: X:148.02, Y:24.47, Z:13.33 [[ 9.31827728e-01 -3.53554872e-01 -8.18293231e-02 1.48015737e+02] [ 3.52333544e-01 9.35412681e-01 -2.93970936e-02 2.44656759e+01] [ 8.69376722e-02 -1.43818846e-03 9.96212715e-01 1.33258147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.557105681 meters 0.020817684616319217 Centerline is valid? [True, True] Translation: X:148.06, Y:24.51, Z:13.33 [[ 9.34573344e-01 -3.46331372e-01 -8.14078928e-02 1.48062379e+02] [ 3.45094484e-01 9.38111941e-01 -2.92537895e-02 2.45111396e+01] [ 8.65012213e-02 -7.53602820e-04 9.96251460e-01 1.33297674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.617105681 meters 0.02203268182027498 Centerline is valid? [True, True] Translation: X:148.10, Y:24.57, Z:13.33 [[ 9.42091494e-01 -3.25569557e-01 -8.04243807e-02 1.48103021e+02] [ 3.24283997e-01 9.45517366e-01 -2.89274812e-02 2.45710128e+01] [ 8.54605558e-02 1.17199433e-03 9.96340865e-01 1.33336013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.677105681 meters 0.0276007374968422 Centerline is valid? [True, True] Translation: X:148.15, Y:24.62, Z:13.33 [[ 9.45107337e-01 -3.14359024e-01 -8.91657181e-02 1.48149445e+02] [ 3.12724819e-01 9.49300981e-01 -3.21066084e-02 2.46203956e+01] [ 9.47381058e-02 2.45985815e-03 9.95499192e-01 1.33260564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737105681 meters 0.028998134850612887 Centerline is valid? [True, True] Translation: X:148.20, Y:24.65, Z:13.32 [[ 9.45407854e-01 -3.11902972e-01 -9.44485389e-02 1.48203174e+02] [ 3.10056294e-01 9.50109623e-01 -3.40117416e-02 2.46500817e+01] [ 1.00344829e-01 2.87060370e-03 9.94948579e-01 1.33217311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797105681 meters 0.0257451013685554 Centerline is valid? [True, True] Translation: X:148.26, Y:24.67, Z:13.33 [[ 9.44166402e-01 -3.16813507e-01 -9.04378636e-02 1.48258485e+02] [ 3.15142525e-01 9.48485170e-01 -3.25740720e-02 2.46691676e+01] [ 9.60988784e-02 2.25452764e-03 9.95369239e-01 1.33332789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857105681 meters 0.02270759634553147 Centerline is valid? [True, True] Translation: X:148.32, Y:24.68, Z:13.34 [[ 9.40389957e-01 -3.27512800e-01 -9.16629426e-02 1.48316668e+02] [ 3.25843586e-01 9.44845969e-01 -3.30462174e-02 2.46823209e+01] [ 9.74304210e-02 1.20854904e-03 9.95241605e-01 1.33364884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917105681 meters 0.020823746411573904 Centerline is valid? [True, True] Translation: X:148.38, Y:24.69, Z:13.34 [[ 9.37532775e-01 -3.36306678e-01 -8.90511922e-02 1.48375271e+02] [ 3.34770312e-01 9.41752479e-01 -3.21108331e-02 2.46934470e+01] [ 9.46632687e-02 2.93263033e-04 9.95509307e-01 1.33443297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977105681 meters 0.020411414785332652 Centerline is valid? [True, True] Translation: X:148.43, Y:24.72, Z:13.36 [[ 9.35710743e-01 -3.42286043e-01 -8.53561376e-02 1.48428571e+02] [ 3.40896963e-01 9.39595759e-01 -3.08069760e-02 2.47154304e+01] [ 9.07450629e-02 -2.71229692e-04 9.95874119e-01 1.33553198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03710568099999 meters 0.020980427984339314 Centerline is valid? [True, True] Translation: X:148.48, Y:24.73, Z:13.36 [[ 9.33847124e-01 -3.47202921e-01 -8.59050649e-02 1.48482573e+02] [ 3.45813588e-01 9.37789747e-01 -3.10379252e-02 2.47342391e+01] [ 9.13373474e-02 -7.22461519e-04 9.95819746e-01 1.33596086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097105681 meters 0.020583742170658618 Centerline is valid? [True, True] Translation: X:148.53, Y:24.76, Z:13.36 [[ 9.34112868e-01 -3.46525656e-01 -8.57503309e-02 1.48534218e+02] [ 3.45136623e-01 9.38040279e-01 -3.10023566e-02 2.47616948e+01] [ 9.11803763e-02 -6.35879416e-04 9.95834190e-01 1.33648692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157105681 meters 0.020941034899485223 Centerline is valid? [True, True] Translation: X:148.58, Y:24.80, Z:13.38 [[ 9.38829978e-01 -3.33994264e-01 -8.39410774e-02 1.48581077e+02] [ 3.32609911e-01 9.42574912e-01 -3.03839093e-02 2.48018391e+01] [ 8.92688050e-02 6.05690619e-04 9.96007386e-01 1.33750341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217105681 meters 0.023864272379543076 Centerline is valid? [True, True] Translation: X:148.63, Y:24.84, Z:13.38 [[ 9.43926651e-01 -3.20097995e-01 -8.08687240e-02 1.48630319e+02] [ 3.18759213e-01 9.47382563e-01 -2.93060459e-02 2.48393427e+01] [ 8.59944255e-02 1.88510695e-03 9.96293835e-01 1.33829690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.277105681 meters 0.02991451805285167 Centerline is valid? [True, True] Translation: X:148.68, Y:24.87, Z:13.37 [[ 9.47685829e-01 -3.06618197e-01 -8.87516215e-02 1.48682467e+02] [ 3.04945366e-01 9.51826446e-01 -3.21673774e-02 2.48718914e+01] [ 9.43392437e-02 3.42017206e-03 9.95534233e-01 1.33737717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.337105681 meters 0.029753163035852834 Centerline is valid? [True, True] Translation: X:148.74, Y:24.89, Z:13.38 [[ 9.48538913e-01 -3.04289401e-01 -8.76463990e-02 1.48736274e+02] [ 3.02648618e-01 9.52572827e-01 -3.17619893e-02 2.48947175e+01] [ 9.31544148e-02 3.60142126e-03 9.95645160e-01 1.33807858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.397105681 meters 0.02930429996542437 Centerline is valid? [True, True] Translation: X:148.79, Y:24.91, Z:13.38 [[ 9.46345287e-01 -3.09375809e-01 -9.33659765e-02 1.48792424e+02] [ 3.07534150e-01 9.50933986e-01 -3.38718441e-02 2.49120926e+01] [ 9.92640094e-02 3.34123385e-03 9.95055522e-01 1.33767116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.457105681 meters 0.023879204672024423 Centerline is valid? [True, True] Translation: X:148.85, Y:24.92, Z:13.38 [[ 9.42645105e-01 -3.20321067e-01 -9.38862033e-02 1.48854282e+02] [ 3.18511667e-01 9.47306454e-01 -3.40705022e-02 2.49163486e+01] [ 9.98525060e-02 2.21254100e-03 9.94999790e-01 1.33813355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517105681 meters 0.019593928648262218 Centerline is valid? [True, True] Translation: X:148.91, Y:24.93, Z:13.40 [[ 9.39074310e-01 -3.32097674e-01 -8.86034738e-02 1.48911981e+02] [ 3.30538350e-01 9.43244562e-01 -3.21573469e-02 2.49287492e+01] [ 9.42541250e-02 9.11292342e-04 9.95547753e-01 1.33964124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577105681 meters 0.018112597926746743 Centerline is valid? [True, True] Translation: X:148.97, Y:24.94, Z:13.40 [[ 9.36358831e-01 -3.39827176e-01 -8.80319840e-02 1.48969965e+02] [ 3.38321349e-01 9.40487890e-01 -3.19561123e-02 2.49411697e+01] [ 9.36525703e-02 1.39288360e-04 9.95604930e-01 1.34017505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637105681 meters 0.018112838470407733 Centerline is valid? [True, True] Translation: X:149.03, Y:24.96, Z:13.40 [[ 9.35478233e-01 -3.41690616e-01 -9.01554170e-02 1.49025604e+02] [ 3.40116476e-01 9.39812494e-01 -3.27606444e-02 2.49591522e+01] [ 9.59231920e-02 -1.64729596e-05 9.95388739e-01 1.34013290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697105681 meters 0.018603110231333184 Centerline is valid? [True, True] Translation: X:149.07, Y:24.99, Z:13.41 [[ 9.37996907e-01 -3.35971853e-01 -8.53505547e-02 1.49074758e+02] [ 3.34536193e-01 9.41871863e-01 -3.10310954e-02 2.49894742e+01] [ 9.08148606e-02 5.54221820e-04 9.95867639e-01 1.34145163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75710568099998 meters 0.020463717420812235 Centerline is valid? [True, True] Translation: X:149.13, Y:25.02, Z:13.42 [[ 9.40132991e-01 -3.29219372e-01 -8.81167704e-02 1.49125682e+02] [ 3.27655701e-01 9.44252594e-01 -3.20746189e-02 2.50220690e+01] [ 9.37640748e-02 1.28244525e-03 9.95593619e-01 1.34165922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817105681 meters 0.025576767927075063 Centerline is valid? [True, True] Translation: X:149.17, Y:25.06, Z:13.42 [[ 9.43681747e-01 -3.18688466e-01 -8.88955713e-02 1.49174374e+02] [ 3.17047185e-01 9.47856524e-01 -3.23896895e-02 2.50608805e+01] [ 9.45824676e-02 2.38146807e-03 9.95514181e-01 1.34186449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877105681 meters 0.028337670568075495 Centerline is valid? [True, True] Translation: X:149.23, Y:25.09, Z:13.42 [[ 9.44703033e-01 -3.14643415e-01 -9.23888563e-02 1.49226738e+02] [ 3.12850446e-01 9.49205510e-01 -3.36674557e-02 2.50924119e+01] [ 9.82892547e-02 2.90185255e-03 9.95153657e-01 1.34183799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937105681 meters 0.02669587221028547 Centerline is valid? [True, True] Translation: X:149.28, Y:25.11, Z:13.43 [[ 9.44672001e-01 -3.15081021e-01 -9.12072365e-02 1.49281015e+02] [ 3.13335097e-01 9.49060569e-01 -3.32438591e-02 2.51139181e+01] [ 9.70357008e-02 2.82611464e-03 9.95276889e-01 1.34272685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997105681 meters 0.02808767885513583 Centerline is valid? [True, True] Translation: X:149.33, Y:25.14, Z:13.43 [[ 9.45528223e-01 -3.12872386e-01 -8.99291340e-02 1.49333379e+02] [ 3.11162143e-01 9.49790307e-01 -3.28099527e-02 2.51395447e+01] [ 9.56791480e-02 3.04019416e-03 9.95407584e-01 1.34339387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.057105681 meters 0.03091513696903458 Centerline is valid? [True, True] Translation: X:149.38, Y:25.17, Z:13.44 [[ 9.46730224e-01 -3.08902754e-01 -9.09998465e-02 1.49384451e+02] [ 3.07131989e-01 9.51087209e-01 -3.32123731e-02 2.51701964e+01] [ 9.68081835e-02 3.49419354e-03 9.95296924e-01 1.34366237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.117105681 meters 0.029961240710108198 Centerline is valid? [True, True] Translation: X:149.44, Y:25.19, Z:13.44 [[ 9.46941871e-01 -3.08876319e-01 -8.88623192e-02 1.49437401e+02] [ 3.07187053e-01 9.51096056e-01 -3.24408238e-02 2.51915741e+01] [ 9.45368035e-02 3.42222045e-03 9.95515485e-01 1.34446903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.177105681 meters 0.030893175652033134 Centerline is valid? [True, True] Translation: X:149.49, Y:25.22, Z:13.45 [[ 9.47207408e-01 -3.08212238e-01 -8.83365275e-02 1.49490903e+02] [ 3.06536525e-01 9.51311169e-01 -3.22864970e-02 2.52159295e+01] [ 9.39866188e-02 3.50363697e-03 9.95567296e-01 1.34510767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237105681 meters 0.03119100083492145 Centerline is valid? [True, True] Translation: X:149.55, Y:25.24, Z:13.45 [[ 9.47525354e-01 -3.06597582e-01 -9.05186524e-02 1.49545447e+02] [ 3.04827154e-01 9.51831694e-01 -3.31184639e-02 2.52382109e+01] [ 9.63125632e-02 3.78804098e-03 9.95343931e-01 1.34535819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297105681 meters 0.03066092959187546 Centerline is valid? [True, True] Translation: X:149.60, Y:25.26, Z:13.46 [[ 9.47084851e-01 -3.08331846e-01 -8.92286874e-02 1.49600525e+02] [ 3.06616121e-01 9.51272081e-01 -3.26799973e-02 2.52586876e+01] [ 9.49570431e-02 3.59177633e-03 9.95474891e-01 1.34606393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357105681 meters 0.028707954962798248 Centerline is valid? [True, True] Translation: X:149.66, Y:25.28, Z:13.47 [[ 9.45062558e-01 -3.14463772e-01 -8.92709202e-02 1.49656813e+02] [ 3.12770782e-01 9.49264716e-01 -3.27251840e-02 2.52757543e+01] [ 9.50326195e-02 3.00601055e-03 9.95469620e-01 1.34654474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417105681 meters 0.029136748431651736 Centerline is valid? [True, True] Translation: X:149.71, Y:25.30, Z:13.47 [[ 9.44920328e-01 -3.13858012e-01 -9.28370756e-02 1.49710999e+02] [ 3.12022962e-01 9.49464544e-01 -3.40404310e-02 2.52987911e+01] [ 9.88293737e-02 3.19819582e-03 9.95099255e-01 1.34651283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477105681 meters 0.03280451701051861 Centerline is valid? [True, True] Translation: X:149.76, Y:25.33, Z:13.47 [[ 9.47301896e-01 -3.06663851e-01 -9.26088604e-02 1.49764893e+02] [ 3.04800486e-01 9.51809608e-01 -3.39872616e-02 2.53267475e+01] [ 9.85686677e-02 3.96897162e-03 9.95122337e-01 1.34714104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53710568099999 meters 0.03584604608229072 Centerline is valid? [True, True] Translation: X:149.82, Y:25.36, Z:13.48 [[ 9.50276807e-01 -2.97669803e-01 -9.14695481e-02 1.49817783e+02] [ 2.95810534e-01 9.54656609e-01 -3.35691446e-02 2.53567385e+01] [ 9.73145292e-02 4.84232368e-03 9.95241897e-01 1.34805816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597105681 meters 0.04074314225503575 Centerline is valid? [True, True] Translation: X:149.87, Y:25.38, Z:13.48 [[ 9.52195764e-01 -2.91329471e-01 -9.19258794e-02 1.49872414e+02] [ 2.89422088e-01 9.56606860e-01 -3.37367874e-02 2.53840354e+01] [ 9.77654472e-02 5.51864602e-03 9.95194183e-01 1.34839223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657105681 meters 0.04173268788960114 Centerline is valid? [True, True] Translation: X:149.93, Y:25.41, Z:13.49 [[ 9.52486515e-01 -2.90290415e-01 -9.22004009e-02 1.49926436e+02] [ 2.88366344e-01 9.56921938e-01 -3.38416392e-02 2.54074659e+01] [ 9.80524898e-02 5.64621243e-03 9.95165227e-01 1.34896194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717105681 meters 0.039541838124333484 Centerline is valid? [True, True] Translation: X:149.98, Y:25.42, Z:13.50 [[ 9.51996009e-01 -2.92535754e-01 -9.01467233e-02 1.49983443e+02] [ 2.90703639e-01 9.56239767e-01 -3.31195260e-02 2.54240361e+01] [ 9.58905272e-02 5.32367606e-03 9.95377650e-01 1.34974587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.777105681 meters 0.03756105160587889 Centerline is valid? [True, True] Translation: X:150.04, Y:25.44, Z:13.50 [[ 9.50187248e-01 -2.98025150e-01 -9.12425555e-02 1.50040310e+02] [ 2.96172719e-01 9.54545780e-01 -3.35272149e-02 2.54401527e+01] [ 9.70871496e-02 4.83357636e-03 9.95264147e-01 1.35007749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.837105681 meters 0.03798230097350095 Centerline is valid? [True, True] Translation: X:150.09, Y:25.46, Z:13.51 [[ 9.50464236e-01 -2.96515560e-01 -9.32537327e-02 1.50093861e+02] [ 2.94572415e-01 9.55014377e-01 -3.42729146e-02 2.54630826e+01] [ 9.92211079e-02 5.10520231e-03 9.95052315e-01 1.35053901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.897105681 meters 0.037005242472230214 Centerline is valid? [True, True] Translation: X:150.15, Y:25.49, Z:13.51 [[ 9.48060315e-01 -3.02836916e-01 -9.73213366e-02 1.50148348e+02] [ 3.00751001e-01 9.53031004e-01 -3.57874405e-02 2.54874832e+01] [ 1.03588009e-01 4.65916277e-03 9.94609379e-01 1.35056553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.957105681 meters 0.028759689693972156 Centerline is valid? [True, True] Translation: X:150.21, Y:25.50, Z:13.50 [[ 9.42467689e-01 -3.19039498e-01 -9.98421465e-02 1.50209541e+02] [ 3.16933216e-01 9.47736786e-01 -3.67194915e-02 2.54950826e+01] [ 1.06339043e-01 2.96364169e-03 9.94325512e-01 1.35038005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017105681 meters 0.02042774584080785 Centerline is valid? [True, True] Translation: X:150.27, Y:25.51, Z:13.52 [[ 9.35849032e-01 -3.38961160e-01 -9.63946142e-02 1.50268040e+02] [ 3.37102525e-01 9.40800118e-01 -3.54545592e-02 2.55074331e+01] [ 1.02705783e-01 6.85247084e-04 9.94711542e-01 1.35184530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077105681 meters 0.020978547745265645 Centerline is valid? [True, True] Translation: X:150.33, Y:25.52, Z:13.52 [[ 9.28514772e-01 -3.57031110e-01 -1.01926958e-01 1.50326115e+02] [ 3.55059686e-01 9.34091478e-01 -3.74930632e-02 2.55215083e+01] [ 1.08595293e-01 -1.37729066e-03 9.94085090e-01 1.35189252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137105681 meters 0.0269372144597655 Centerline is valid? [True, True] Translation: X:150.38, Y:25.54, Z:13.52 [[ 9.22983507e-01 -3.70480358e-01 -1.04142936e-01 1.50381793e+02] [ 3.68506023e-01 9.28835415e-01 -3.83155682e-02 2.55413131e+01] [ 1.10926813e-01 -3.01266172e-03 9.93824012e-01 1.35209126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197105681 meters 0.02620913431797707 Centerline is valid? [True, True] Translation: X:150.42, Y:25.59, Z:13.54 [[ 9.23964247e-01 -3.69475300e-01 -9.88841336e-02 1.50423932e+02] [ 3.67689222e-01 9.29236521e-01 -3.63885243e-02 2.55935677e+01] [ 1.05331409e-01 -2.73693467e-03 9.94433408e-01 1.35403727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25710568099998 meters 0.023051613742737172 Centerline is valid? [True, True] Translation: X:150.47, Y:25.65, Z:13.55 [[ 9.28044797e-01 -3.60205857e-01 -9.47871079e-02 1.50466773e+02] [ 3.58513967e-01 9.32871493e-01 -3.49072073e-02 2.56465094e+01] [ 1.00997971e-01 -1.58704993e-03 9.94885366e-01 1.35530814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317105681 meters 0.02145252839867665 Centerline is valid? [True, True] Translation: X:150.51, Y:25.70, Z:13.56 [[ 9.29282219e-01 -3.57530566e-01 -9.27709635e-02 1.50511267e+02] [ 3.55896070e-01 9.33900584e-01 -3.41714214e-02 2.56952781e+01] [ 9.88561847e-02 -1.26192698e-03 9.95100931e-01 1.35624978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377105681 meters 0.023947249035672604 Centerline is valid? [True, True] Translation: X:150.56, Y:25.74, Z:13.56 [[ 9.26041914e-01 -3.63983616e-01 -9.98113304e-02 1.50560016e+02] [ 3.62125238e-01 9.31403044e-01 -3.67924085e-02 2.57377024e+01] [ 1.06356411e-01 -2.07288943e-03 9.94325911e-01 1.35599557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437105681 meters 0.021503337271269178 Centerline is valid? [True, True] Translation: X:150.61, Y:25.79, Z:13.57 [[ 9.27235604e-01 -3.59317265e-01 -1.05476244e-01 1.50607505e+02] [ 3.57211219e-01 9.33214048e-01 -3.88804025e-02 2.57871857e+01] [ 1.12402313e-01 -1.62600441e-03 9.93661449e-01 1.35679751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497105681 meters 0.02012042033135892 Centerline is valid? [True, True] Translation: X:150.65, Y:25.85, Z:13.58 [[ 9.35068136e-01 -3.38661335e-01 -1.04671299e-01 1.50649893e+02] [ 3.36459116e-01 9.40907958e-01 -3.85678403e-02 2.58498789e+01] [ 1.11547495e-01 8.45945769e-04 9.93758744e-01 1.35828146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.557105681 meters 0.027153876289113147 Centerline is valid? [True, True] Translation: X:150.69, Y:25.91, Z:13.59 [[ 9.42346964e-01 -3.17700238e-01 -1.05113077e-01 1.50692665e+02] [ 3.15351880e-01 9.48185388e-01 -3.86996290e-02 2.59087950e+01] [ 1.11961565e-01 3.32087133e-03 9.93706989e-01 1.35896404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.617105681 meters 0.0312988970697796 Centerline is valid? [True, True] Translation: X:150.74, Y:25.95, Z:13.59 [[ 9.46082608e-01 -3.05981114e-01 -1.06316774e-01 1.50741326e+02] [ 3.03504885e-01 9.52025675e-01 -3.91394828e-02 2.59521429e+01] [ 1.13192241e-01 4.76152373e-03 9.93561696e-01 1.35939237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.677105681 meters 0.03399973691923395 Centerline is valid? [True, True] Translation: X:150.79, Y:25.99, Z:13.60 [[ 9.47568250e-01 -3.01209288e-01 -1.06711651e-01 1.50793473e+02] [ 2.98684623e-01 9.53543046e-01 -3.92830290e-02 2.59860515e+01] [ 1.13586566e-01 5.35022180e-03 9.93513698e-01 1.35999135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737105681 meters 0.038600927120846916 Centerline is valid? [True, True] Translation: X:150.84, Y:26.02, Z:13.61 [[ 9.49853662e-01 -2.94903515e-01 -1.03970845e-01 1.50844040e+02] [ 2.92469965e-01 9.55508546e-01 -3.82719021e-02 2.60194363e+01] [ 1.10631549e-01 5.94435704e-03 9.93843713e-01 1.36128550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797105681 meters 0.043201317731546125 Centerline is valid? [True, True] Translation: X:150.90, Y:26.05, Z:13.62 [[ 9.52732386e-01 -2.85047025e-01 -1.05115150e-01 1.50899311e+02] [ 2.82499747e-01 9.58486729e-01 -3.86921634e-02 2.60466742e+01] [ 1.11780562e-01 7.16827394e-03 9.93707060e-01 1.36150418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857105681 meters 0.046719950853515345 Centerline is valid? [True, True] Translation: X:150.96, Y:26.07, Z:13.61 [[ 9.54109038e-01 -2.78124680e-01 -1.11007235e-01 1.50955880e+02] [ 2.75236561e-01 9.60508010e-01 -4.08558336e-02 2.60709998e+01] [ 1.17986354e-01 8.42767055e-03 9.92979453e-01 1.36149456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917105681 meters 0.050860786213486615 Centerline is valid? [True, True] Translation: X:151.01, Y:26.09, Z:13.61 [[ 9.54355602e-01 -2.77426740e-01 -1.10633579e-01 1.51014395e+02] [ 2.74555025e-01 9.60709439e-01 -4.07051943e-02 2.60895030e+01] [ 1.17579433e-01 8.47222511e-03 9.93027340e-01 1.36136069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977105681 meters 0.046347243210649015 Centerline is valid? [True, True] Translation: X:151.07, Y:26.10, Z:13.63 [[ 9.55508577e-01 -2.75431255e-01 -1.05550857e-01 1.51073786e+02] [ 2.72810415e-01 9.61285133e-01 -3.87991079e-02 2.61044723e+01] [ 1.12150956e-01 8.27750739e-03 9.93656704e-01 1.36308470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03710568099999 meters 0.0458298853354175 Centerline is valid? [True, True] Translation: X:151.13, Y:26.12, Z:13.64 [[ 9.54737674e-01 -2.78705659e-01 -1.03918865e-01 1.51131544e+02] [ 2.76188337e-01 9.60345392e-01 -3.81671339e-02 2.61227907e+01] [ 1.10435399e-01 7.73842224e-03 9.93853178e-01 1.36359292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097105681 meters 0.0420556584315649 Centerline is valid? [True, True] Translation: X:151.19, Y:26.13, Z:13.63 [[ 9.51899431e-01 -2.87792986e-01 -1.05179226e-01 1.51192819e+02] [ 2.85269188e-01 9.57668750e-01 -3.86271245e-02 2.61341107e+01] [ 1.11843474e-01 6.76474543e-03 9.93702811e-01 1.36345534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157105681 meters 0.03785700533542971 Centerline is valid? [True, True] Translation: X:151.25, Y:26.15, Z:13.64 [[ 9.50533848e-01 -2.92512557e-01 -1.04507456e-01 1.51251557e+02] [ 2.90049654e-01 9.56241798e-01 -3.83773530e-02 2.61493100e+01] [ 1.11160255e-01 6.16662164e-03 9.93783362e-01 1.36430773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217105681 meters 0.02780973815076229 Centerline is valid? [True, True] Translation: X:151.31, Y:26.15, Z:13.65 [[ 9.45659739e-01 -3.08015113e-01 -1.04184202e-01 1.51313740e+02] [ 3.05660770e-01 9.51371598e-01 -3.82567279e-02 2.61513641e+01] [ 1.10901541e-01 4.33282394e-03 9.93821953e-01 1.36492226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.277105681 meters 0.030249036302668637 Centerline is valid? [True, True] Translation: X:151.37, Y:26.18, Z:13.66 [[ 9.47085902e-01 -3.04850904e-01 -1.00470002e-01 1.51367615e+02] [ 3.02644676e-01 9.52389313e-01 -3.68889916e-02 2.61801019e+01] [ 1.06932199e-01 4.53033268e-03 9.94255994e-01 1.36582865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.337105681 meters 0.0400467703058407 Centerline is valid? [True, True] Translation: X:151.42, Y:26.22, Z:13.67 [[ 9.51598938e-01 -2.91437086e-01 -9.75904050e-02 1.51416899e+02] [ 2.89288073e-01 9.56572161e-01 -3.58065932e-02 2.62219776e+01] [ 1.03787634e-01 5.84177580e-03 9.94582325e-01 1.36651204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.397105681 meters 0.04281437066653372 Centerline is valid? [True, True] Translation: X:151.47, Y:26.26, Z:13.67 [[ 9.54956044e-01 -2.81226507e-01 -9.47132764e-02 1.51469432e+02] [ 2.79153070e-01 9.59617730e-01 -3.47473064e-02 2.62556183e+01] [ 1.00660403e-01 6.74264843e-03 9.94897995e-01 1.36721522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.457105681 meters 0.04749893949090353 Centerline is valid? [True, True] Translation: X:151.52, Y:26.29, Z:13.68 [[ 9.56779430e-01 -2.76553490e-01 -8.99515968e-02 1.51521254e+02] [ 2.74663737e-01 9.60974012e-01 -3.29966602e-02 2.62874638e+01] [ 9.55664884e-02 6.86408392e-03 9.95399382e-01 1.36798609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517105681 meters 0.03945870175277883 Centerline is valid? [True, True] Translation: X:151.58, Y:26.30, Z:13.69 [[ 9.58573223e-01 -2.69944394e-01 -9.09252441e-02 1.51580381e+02] [ 2.67983883e-01 9.62845878e-01 -3.33534693e-02 2.63014183e+01] [ 9.65505785e-02 7.60524261e-03 9.95299023e-01 1.36888057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577105681 meters 0.057606100626927066 Centerline is valid? [True, True] Translation: X:151.63, Y:26.35, Z:13.68 [[ 9.61165261e-01 -2.59851794e-01 -9.29429204e-02 1.51628292e+02] [ 2.57756783e-01 9.65608347e-01 -3.40875430e-02 2.63456545e+01] [ 9.86041689e-02 8.80709402e-03 9.95087761e-01 1.36842187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637105681 meters 0.06891229511256021 Centerline is valid? [True, True] Translation: X:151.68, Y:26.38, Z:13.68 [[ 9.63215741e-01 -2.50817656e-01 -9.64673015e-02 1.51679679e+02] [ 2.48516393e-01 9.67981714e-01 -3.53695246e-02 2.63805136e+01] [ 1.02249885e-01 1.00947771e-02 9.94707523e-01 1.36813579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697105681 meters 0.06518622216730258 Centerline is valid? [True, True] Translation: X:151.74, Y:26.39, Z:13.68 [[ 9.62877828e-01 -2.50431855e-01 -1.00748079e-01 1.51741435e+02] [ 2.47919921e-01 9.68076405e-01 -3.69294823e-02 2.63949030e+01] [ 1.06780157e-01 1.05811240e-02 9.94226351e-01 1.36787146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75710568099998 meters 0.05838331831116874 Centerline is valid? [True, True] Translation: X:151.80, Y:26.40, Z:13.68 [[ 9.60090073e-01 -2.61760793e-01 -9.85309000e-02 1.51804190e+02] [ 2.59418281e-01 9.65089821e-01 -3.61080699e-02 2.63991647e+01] [ 1.04542846e-01 9.10628285e-03 9.94478692e-01 1.36813216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817105681 meters 0.05014876210407621 Centerline is valid? [True, True] Translation: X:151.86, Y:26.41, Z:13.69 [[ 9.57574629e-01 -2.71854870e-01 -9.56334689e-02 1.51864097e+02] [ 2.69698388e-01 9.62306924e-01 -3.50451582e-02 2.64090532e+01] [ 1.01555946e-01 7.76616201e-03 9.94799516e-01 1.36945238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877105681 meters 0.04855393575566384 Centerline is valid? [True, True] Translation: X:151.92, Y:26.43, Z:13.70 [[ 9.55750649e-01 -2.79384458e-01 -9.21141732e-02 1.51921437e+02] [ 2.77418910e-01 9.60155892e-01 -3.37551771e-02 2.64272805e+01] [ 9.78746380e-02 6.70731884e-03 9.95176149e-01 1.36994991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937105681 meters 0.04454916951752015 Centerline is valid? [True, True] Translation: X:151.98, Y:26.44, Z:13.71 [[ 9.55018230e-01 -2.83167676e-01 -8.80695613e-02 1.51979416e+02] [ 2.81387392e-01 9.59051401e-01 -3.22729891e-02 2.64448560e+01] [ 9.36019035e-02 6.03962879e-03 9.95591385e-01 1.37097938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997105681 meters 0.03680949425136645 Centerline is valid? [True, True] Translation: X:152.04, Y:26.46, Z:13.72 [[ 9.55595102e-01 -2.81564417e-01 -8.69452678e-02 1.52038982e+02] [ 2.79823127e-01 9.59522850e-01 -3.18577709e-02 2.64611898e+01] [ 9.23959859e-02 6.11383316e-03 9.95703572e-01 1.37216167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.057105681 meters 0.043690733090611285 Centerline is valid? [True, True] Translation: X:152.09, Y:26.50, Z:13.72 [[ 9.60130361e-01 -2.64507666e-01 -9.04731196e-02 1.52090908e+02] [ 2.62549390e-01 9.64350031e-01 -3.31185098e-02 2.64986433e+01] [ 9.60078554e-02 8.04442442e-03 9.95348069e-01 1.37184972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.117105681 meters 0.04905135335806788 Centerline is valid? [True, True] Translation: X:152.14, Y:26.54, Z:13.72 [[ 9.63886995e-01 -2.51108516e-01 -8.86925806e-02 1.52141519e+02] [ 2.49170873e-01 9.67915307e-01 -3.24628284e-02 2.65361127e+01] [ 9.39985990e-02 9.19089043e-03 9.95529905e-01 1.37234882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.177105681 meters 0.05395711884006782 Centerline is valid? [True, True] Translation: X:152.19, Y:26.57, Z:13.73 [[ 9.64532739e-01 -2.47540926e-01 -9.16519818e-02 1.52193411e+02] [ 2.45455903e-01 9.68827312e-01 -3.35416186e-02 2.65692394e+01] [ 9.70978664e-02 9.85546929e-03 9.95226042e-01 1.37253412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237105681 meters 0.049136233637822456 Centerline is valid? [True, True] Translation: X:152.25, Y:26.58, Z:13.73 [[ 9.62709066e-01 -2.54669370e-01 -9.12949377e-02 1.52253090e+02] [ 2.52632718e-01 9.66985408e-01 -3.34055362e-02 2.65841725e+01] [ 9.67882395e-02 9.09572429e-03 9.95263435e-01 1.37279500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297105681 meters 0.04245639634063583 Centerline is valid? [True, True] Translation: X:152.31, Y:26.60, Z:13.74 [[ 9.60123229e-01 -2.64547322e-01 -9.04328466e-02 1.52311147e+02] [ 2.62592631e-01 9.64339355e-01 -3.30865319e-02 2.66002588e+01] [ 9.59609063e-02 8.02014869e-03 9.95352793e-01 1.37413545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357105681 meters 0.04355967681671486 Centerline is valid? [True, True] Translation: X:152.37, Y:26.62, Z:13.74 [[ 9.56080346e-01 -2.78101904e-01 -9.25726918e-02 1.52367540e+02] [ 2.76116439e-01 9.60527386e-01 -3.38652161e-02 2.66235464e+01] [ 9.83365868e-02 6.81702551e-03 9.95129863e-01 1.37376096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417105681 meters 0.03595787764106067 Centerline is valid? [True, True] Translation: X:152.43, Y:26.64, Z:13.75 [[ 9.54003093e-01 -2.84924541e-01 -9.32529039e-02 1.52425478e+02] [ 2.82942382e-01 9.58530182e-01 -3.41100824e-02 2.66415493e+01] [ 9.91045225e-02 6.15592537e-03 9.95057987e-01 1.37483449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477105681 meters 0.03174916928588577 Centerline is valid? [True, True] Translation: X:152.48, Y:26.66, Z:13.75 [[ 9.52636173e-01 -2.89306468e-01 -9.37341476e-02 1.52482412e+02] [ 2.87325175e-01 9.57219399e-01 -3.42821514e-02 2.66629095e+01] [ 9.96421926e-02 5.72623717e-03 9.95006856e-01 1.37548293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53710568099999 meters 0.03321428427956986 Centerline is valid? [True, True] Translation: X:152.54, Y:26.69, Z:13.76 [[ 9.51710471e-01 -2.91690442e-01 -9.57280802e-02 1.52535229e+02] [ 2.89635963e-01 9.56496430e-01 -3.50084092e-02 2.66948045e+01] [ 1.01775185e-01 5.59157488e-03 9.94791710e-01 1.37578053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597105681 meters 0.03017460142062961 Centerline is valid? [True, True] Translation: X:152.59, Y:26.73, Z:13.76 [[ 9.49424076e-01 -2.99019204e-01 -9.58198341e-02 1.52588505e+02] [ 2.96998044e-01 9.54234975e-01 -3.50396052e-02 2.67258326e+01] [ 1.01912152e-01 4.80914149e-03 9.94781778e-01 1.37618074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657105681 meters 0.02385843886699435 Centerline is valid? [True, True] Translation: X:152.64, Y:26.75, Z:13.77 [[ 9.44509082e-01 -3.13497180e-01 -9.80923592e-02 1.52644967e+02] [ 3.11456394e-01 9.49583308e-01 -3.58671882e-02 2.67488615e+01] [ 1.04391129e-01 3.32539258e-03 9.94530761e-01 1.37677129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717105681 meters 0.019405781508924504 Centerline is valid? [True, True] Translation: X:152.70, Y:26.77, Z:13.77 [[ 9.38920858e-01 -3.29929191e-01 -9.78486112e-02 1.52699766e+02] [ 3.27987514e-01 9.44004499e-01 -3.57728365e-02 2.67749785e+01] [ 1.04172032e-01 1.49473963e-03 9.94558170e-01 1.37743608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.777105681 meters 0.018014194170251113 Centerline is valid? [True, True] Translation: X:152.75, Y:26.80, Z:13.78 [[ 9.34935339e-01 -3.41630304e-01 -9.58365642e-02 1.52753267e+02] [ 3.39829233e-01 9.39834401e-01 -3.50341566e-02 2.68043430e+01] [ 1.02039229e-01 1.86604959e-04 9.94780358e-01 1.37796814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.837105681 meters 0.01757299778091674 Centerline is valid? [True, True] Translation: X:152.81, Y:26.83, Z:13.79 [[ 9.35475247e-01 -3.40908546e-01 -9.30990105e-02 1.52807998e+02] [ 3.39205892e-01 9.40096430e-01 -3.40303450e-02 2.68345747e+01] [ 9.91232829e-02 2.54812482e-04 9.95075128e-01 1.37929642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.897105681 meters 0.0178161593471925 Centerline is valid? [True, True] Translation: X:152.86, Y:26.86, Z:13.80 [[ 9.36917307e-01 -3.36586463e-01 -9.43160268e-02 1.52864778e+02] [ 3.34818387e-01 9.41652298e-01 -3.44615333e-02 2.68601603e+01] [ 1.00412189e-01 7.08867027e-04 9.94945672e-01 1.37956583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.957105681 meters 0.01906834178618349 Centerline is valid? [True, True] Translation: X:152.92, Y:26.88, Z:13.79 [[ 9.39400571e-01 -3.29519287e-01 -9.45706493e-02 1.52922401e+02] [ 3.27709003e-01 9.44147747e-01 -3.45230532e-02 2.68831433e+01] [ 1.00664677e-01 1.43932267e-03 9.94919369e-01 1.37883986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017105681 meters 0.019764708163935725 Centerline is valid? [True, True] Translation: X:152.98, Y:26.91, Z:13.81 [[ 9.40953187e-01 -3.25898525e-01 -9.16365142e-02 1.52977826e+02] [ 3.24184651e-01 9.45403147e-01 -3.34245564e-02 2.69105194e+01] [ 9.75264625e-02 1.74379150e-03 9.95231404e-01 1.38058258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077105681 meters 0.01972073653215093 Centerline is valid? [True, True] Translation: X:153.04, Y:26.93, Z:13.81 [[ 9.41663431e-01 -3.24498678e-01 -8.92781681e-02 1.53036886e+02] [ 3.22868542e-01 9.45884413e-01 -3.25358690e-02 2.69323227e+01] [ 9.50046741e-02 1.81272605e-03 9.95475176e-01 1.38144645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137105681 meters 0.019810486625687525 Centerline is valid? [True, True] Translation: X:153.10, Y:26.95, Z:13.82 [[ 9.42223696e-01 -3.23786653e-01 -8.58877728e-02 1.53097455e+02] [ 3.22278195e-01 9.46128441e-01 -3.12688092e-02 2.69507479e+01] [ 9.13852877e-02 1.78245654e-03 9.95814015e-01 1.38180502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197105681 meters 0.01954760844758156 Centerline is valid? [True, True] Translation: X:153.16, Y:26.97, Z:13.82 [[ 9.41725904e-01 -3.25267945e-01 -8.57501351e-02 1.53155913e+02] [ 3.23773391e-01 9.45620529e-01 -3.11866287e-02 2.69676727e+01] [ 9.12310988e-02 1.60564412e-03 9.95828453e-01 1.38239016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25710568099998 meters 0.019431027336905073 Centerline is valid? [True, True] Translation: X:153.21, Y:26.99, Z:13.83 [[ 9.41541004e-01 -3.24423162e-01 -9.08303382e-02 1.53214900e+02] [ 3.22744673e-01 9.45910414e-01 -3.30055427e-02 2.69867271e+01] [ 9.66251253e-02 1.76106401e-03 9.95319287e-01 1.38253584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317105681 meters 0.020226234426854957 Centerline is valid? [True, True] Translation: X:153.27, Y:27.01, Z:13.83 [[ 9.43127333e-01 -3.19502833e-01 -9.18083502e-02 1.53272322e+02] [ 3.17767383e-01 9.47582617e-01 -3.33327670e-02 2.70096318e+01] [ 9.76459103e-02 2.26334446e-03 9.95218646e-01 1.38279755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377105681 meters 0.021088866206737514 Centerline is valid? [True, True] Translation: X:153.33, Y:27.03, Z:13.83 [[ 9.44033916e-01 -3.16530524e-01 -9.27814259e-02 1.53330543e+02] [ 3.14746574e-01 9.48578842e-01 -3.36567144e-02 2.70301295e+01] [ 9.86638751e-02 2.57044402e-03 9.95117497e-01 1.38314504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437105681 meters 0.024496589515765884 Centerline is valid? [True, True] Translation: X:153.38, Y:27.06, Z:13.84 [[ 9.48049568e-01 -3.05601903e-01 -8.83713439e-02 1.53384961e+02] [ 3.03938780e-01 9.52152912e-01 -3.20320179e-02 2.70585993e+01] [ 9.39320781e-02 3.50846227e-03 9.95572426e-01 1.38422012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497105681 meters 0.02844942874142291 Centerline is valid? [True, True] Translation: X:153.44, Y:27.09, Z:13.85 [[ 9.52018923e-01 -2.94532040e-01 -8.31315133e-02 1.53440201e+02] [ 2.93018839e-01 9.55631819e-01 -3.01294872e-02 2.70851331e+01] [ 8.83172186e-02 4.32474243e-03 9.96083011e-01 1.38520009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.557105681 meters 0.03521398356509651 Centerline is valid? [True, True] Translation: X:153.49, Y:27.11, Z:13.86 [[ 9.54843399e-01 -2.86027812e-01 -8.03876496e-02 1.53494236e+02] [ 2.84583391e-01 9.58208592e-01 -2.91305295e-02 2.71118845e+01] [ 8.53602781e-02 4.93810387e-03 9.96337914e-01 1.38600252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.617105681 meters 0.032684849073401676 Centerline is valid? [True, True] Translation: X:153.55, Y:27.13, Z:13.86 [[ 9.55675014e-01 -2.82430585e-01 -8.31759074e-02 1.53554652e+02] [ 2.80870933e-01 9.59272327e-01 -3.01350608e-02 2.71253712e+01] [ 8.82994091e-02 5.43762996e-03 9.96079137e-01 1.38608216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.677105681 meters 0.03125791479165251 Centerline is valid? [True, True] Translation: X:153.62, Y:27.14, Z:13.86 [[ 9.53356721e-01 -2.88572970e-01 -8.85245917e-02 1.53615204e+02] [ 2.86833500e-01 9.57443949e-01 -3.20566249e-02 2.71388088e+01] [ 9.40080102e-02 5.16958036e-03 9.95558019e-01 1.38602009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737105681 meters 0.029251410555475813 Centerline is valid? [True, True] Translation: X:153.67, Y:27.15, Z:13.87 [[ 9.51159354e-01 -2.95384314e-01 -8.96882889e-02 1.53674689e+02] [ 2.93629045e-01 9.55367663e-01 -3.24747953e-02 2.71535615e+01] [ 9.52778361e-02 4.55361864e-03 9.95440304e-01 1.38659945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797105681 meters 0.0261385852029669 Centerline is valid? [True, True] Translation: X:153.74, Y:27.17, Z:13.87 [[ 9.48829671e-01 -3.01895746e-01 -9.26348415e-02 1.53735043e+02] [ 3.00054039e-01 9.53332441e-01 -3.35384972e-02 2.71654002e+01] [ 9.84369292e-02 4.02686297e-03 9.95135144e-01 1.38692254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857105681 meters 0.023729522014921466 Centerline is valid? [True, True] Translation: X:153.80, Y:27.18, Z:13.87 [[ 9.46414613e-01 -3.09186644e-01 -9.32898693e-02 1.53795366e+02] [ 3.07354275e-01 9.50995689e-01 -3.37720292e-02 2.71776997e+01] [ 9.91601239e-02 3.28930184e-03 9.95066053e-01 1.38749596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917105681 meters 0.02184041647222046 Centerline is valid? [True, True] Translation: X:153.85, Y:27.19, Z:13.88 [[ 9.44409998e-01 -3.15583653e-01 -9.21776235e-02 1.53854579e+02] [ 3.13825477e-01 9.48894243e-01 -3.33659343e-02 2.71941731e+01] [ 9.79965596e-02 2.58343520e-03 9.95183400e-01 1.38826220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977105681 meters 0.018810461207056112 Centerline is valid? [True, True] Translation: X:153.91, Y:27.21, Z:13.89 [[ 9.41010440e-01 -3.26206370e-01 -8.99375126e-02 1.53913679e+02] [ 3.24581442e-01 9.45297485e-01 -3.25507738e-02 2.72078808e+01] [ 9.56359742e-02 1.43857047e-03 9.95415336e-01 1.38938835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03710568099999 meters 0.01776806544345038 Centerline is valid? [True, True] Translation: X:153.97, Y:27.22, Z:13.90 [[ 9.37790527e-01 -3.35800804e-01 -8.82425537e-02 1.53971841e+02] [ 3.34279252e-01 9.41932916e-01 -3.19337368e-02 2.72239532e+01] [ 9.38419404e-02 4.49501017e-04 9.95587007e-01 1.39007303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097105681 meters 0.017515492973684304 Centerline is valid? [True, True] Translation: X:154.03, Y:27.24, Z:13.90 [[ 9.34566000e-01 -3.44039952e-01 -9.06802223e-02 1.54032094e+02] [ 3.42471994e-01 9.38954929e-01 -3.28111953e-02 2.72422302e+01] [ 9.64330037e-02 -3.91208965e-04 9.95339401e-01 1.39048576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157105681 meters 0.0176206578899404 Centerline is valid? [True, True] Translation: X:154.09, Y:27.27, Z:13.90 [[ 9.34149477e-01 -3.44389748e-01 -9.35973102e-02 1.54089920e+02] [ 3.42724440e-01 9.38826648e-01 -3.38302004e-02 2.72672974e+01] [ 9.95224232e-02 -4.75621773e-04 9.95035206e-01 1.39039513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217105681 meters 0.01781516207291449 Centerline is valid? [True, True] Translation: X:154.14, Y:27.30, Z:13.91 [[ 9.34003409e-01 -3.43273896e-01 -9.89983009e-02 1.54144519e+02] [ 3.41407736e-01 9.39235255e-01 -3.57476502e-02 2.73003890e+01] [ 1.05253930e-01 -4.10358533e-04 9.94445294e-01 1.39060896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.277105681 meters 0.017551120645859616 Centerline is valid? [True, True] Translation: X:154.20, Y:27.33, Z:13.92 [[ 9.37143059e-01 -3.36366534e-01 -9.28463339e-02 1.54199216e+02] [ 3.34694658e-01 9.41731095e-01 -3.34967295e-02 2.73280809e+01] [ 9.87034585e-02 3.16055580e-04 9.95116841e-01 1.39240830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.337105681 meters 0.018716882187020254 Centerline is valid? [True, True] Translation: X:154.26, Y:27.35, Z:13.93 [[ 9.41124351e-01 -3.26100997e-01 -8.91240512e-02 1.54257310e+02] [ 3.24517440e-01 9.45334026e-01 -3.21249180e-02 2.73515813e+01] [ 9.47279660e-02 1.31123365e-03 9.95502332e-01 1.39263759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.397105681 meters 0.022262867569893863 Centerline is valid? [True, True] Translation: X:154.31, Y:27.38, Z:13.94 [[ 9.45973374e-01 -3.12608135e-01 -8.60844320e-02 1.54311529e+02] [ 3.11077521e-01 9.49878762e-01 -3.10018414e-02 2.73803390e+01] [ 9.14612015e-02 2.54798484e-03 9.95805381e-01 1.39388511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.457105681 meters 0.028710518198758084 Centerline is valid? [True, True] Translation: X:154.37, Y:27.41, Z:13.95 [[ 9.52186125e-01 -2.93809870e-01 -8.37695822e-02 1.54366384e+02] [ 2.92288117e-01 9.55854493e-01 -3.01636310e-02 2.74085813e+01] [ 8.89339041e-02 4.23653744e-03 9.96028520e-01 1.39468984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517105681 meters 0.03399238039996364 Centerline is valid? [True, True] Translation: X:154.42, Y:27.43, Z:13.94 [[ 9.54163288e-01 -2.86283881e-01 -8.72580089e-02 1.54422730e+02] [ 2.84601401e-01 9.58131046e-01 -3.14156316e-02 2.74322776e+01] [ 9.25983962e-02 5.14189074e-03 9.95690262e-01 1.39441257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577105681 meters 0.031769274618974996 Centerline is valid? [True, True] Translation: X:154.48, Y:27.45, Z:13.95 [[ 9.54042717e-01 -2.85116594e-01 -9.22552031e-02 1.54482020e+02] [ 2.83230295e-01 9.58476747e-01 -3.32103271e-02 2.74493302e+01] [ 9.78932823e-02 5.55460230e-03 9.95181416e-01 1.39492040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637105681 meters 0.028312208077157574 Centerline is valid? [True, True] Translation: X:154.54, Y:27.46, Z:13.95 [[ 9.49620870e-01 -2.98686886e-01 -9.49017794e-02 1.54543148e+02] [ 2.96760270e-01 9.54341685e-01 -3.41363587e-02 2.74581595e+01] [ 1.00764807e-01 4.25352096e-03 9.94901182e-01 1.39474761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697105681 meters 0.021614151852225136 Centerline is valid? [True, True] Translation: X:154.61, Y:27.46, Z:13.95 [[ 9.43814763e-01 -3.15227379e-01 -9.92239482e-02 1.54606765e+02] [ 3.13211301e-01 9.49012594e-01 -3.56900089e-02 2.74615281e+01] [ 1.05415244e-01 2.60669547e-03 9.94424875e-01 1.39481646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75710568099998 meters 0.020738718560551993 Centerline is valid? [True, True] Translation: X:154.66, Y:27.48, Z:13.96 [[ 9.42294485e-01 -3.19698448e-01 -9.93680356e-02 1.54662411e+02] [ 3.17701475e-01 9.47516997e-01 -3.57395196e-02 2.74818282e+01] [ 1.05578772e-01 2.10778072e-03 9.94408709e-01 1.39608186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817105681 meters 0.023486311109286763 Centerline is valid? [True, True] Translation: X:154.71, Y:27.52, Z:13.97 [[ 9.46262176e-01 -3.09177381e-01 -9.48537893e-02 1.54714516e+02] [ 3.07305721e-01 9.50999238e-01 -3.41122276e-02 2.75154073e+01] [ 1.00752611e-01 3.12999865e-03 9.94906586e-01 1.39737628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877105681 meters 0.031075858582206736 Centerline is valid? [True, True] Translation: X:154.76, Y:27.56, Z:13.98 [[ 9.51839749e-01 -2.92518627e-01 -9.18365103e-02 1.54763783e+02] [ 2.90688152e-01 9.56248137e-01 -3.30136081e-02 2.75553355e+01] [ 9.74755873e-02 4.72787893e-03 9.95226686e-01 1.39806828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937105681 meters 0.03276189763081397 Centerline is valid? [True, True] Translation: X:154.82, Y:27.58, Z:13.99 [[ 9.54472152e-01 -2.84684411e-01 -8.90937563e-02 1.54819060e+02] [ 2.82928568e-01 9.58606334e-01 -3.20206514e-02 2.75798386e+01] [ 9.45216194e-02 5.35565117e-03 9.95508403e-01 1.39902245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.997105681 meters 0.03282456560224641 Centerline is valid? [True, True] Translation: X:154.88, Y:27.60, Z:13.99 [[ 9.54224598e-01 -2.84926568e-01 -9.09520076e-02 1.54877927e+02] [ 2.83097985e-01 9.58533910e-01 -3.26844492e-02 2.76002282e+01] [ 9.64932515e-02 5.43997530e-03 9.95318773e-01 1.39932284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.057105681 meters 0.032477170530461126 Centerline is valid? [True, True] Translation: X:154.94, Y:27.61, Z:13.98 [[ 9.52548643e-01 -2.88594589e-01 -9.67690327e-02 1.54940098e+02] [ 2.86545721e-01 9.57436346e-01 -3.47446963e-02 2.76133040e+01] [ 1.02677320e-01 5.36726105e-03 9.94700236e-01 1.39847249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.117105681 meters 0.027879158934806022 Centerline is valid? [True, True] Translation: X:155.00, Y:27.62, Z:13.99 [[ 9.49668639e-01 -2.95952338e-01 -1.02672730e-01 1.55000890e+02] [ 2.93688538e-01 9.55190413e-01 -3.68553680e-02 2.76231677e+01] [ 1.08979439e-01 4.84658330e-03 9.94032189e-01 1.39881665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.177105681 meters 0.027118169793152812 Centerline is valid? [True, True] Translation: X:155.06, Y:27.64, Z:13.99 [[ 9.47301036e-01 -3.03262303e-01 -1.03212024e-01 1.55057989e+02] [ 3.01017805e-01 9.52898611e-01 -3.70475101e-02 2.76407953e+01] [ 1.09585707e-01 4.02648787e-03 9.93969195e-01 1.39923535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237105681 meters 0.021599682969346216 Centerline is valid? [True, True] Translation: X:155.12, Y:27.65, Z:14.00 [[ 9.43267243e-01 -3.16127677e-01 -1.01539155e-01 1.55118935e+02] [ 3.14029669e-01 9.48713383e-01 -3.64456182e-02 2.76497562e+01] [ 1.07853024e-01 2.49165064e-03 9.94163727e-01 1.39998954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297105681 meters 0.01812748988030973 Centerline is valid? [True, True] Translation: X:155.18, Y:27.66, Z:14.01 [[ 9.39015800e-01 -3.30624660e-01 -9.45339214e-02 1.55177140e+02] [ 3.28880054e-01 9.43762016e-01 -3.39288688e-02 2.76613313e+01] [ 1.00435245e-01 7.69422777e-04 9.94943300e-01 1.40134713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357105681 meters 0.017499460610605887 Centerline is valid? [True, True] Translation: X:155.24, Y:27.68, Z:14.02 [[ 9.36923473e-01 -3.37392067e-01 -9.13290679e-02 1.55237023e+02] [ 3.35796328e-01 9.41364218e-01 -3.27755118e-02 2.76788047e+01] [ 9.70321143e-02 4.01807055e-05 9.95281250e-01 1.40196828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417105681 meters 0.0176543995886361 Centerline is valid? [True, True] Translation: X:155.29, Y:27.70, Z:14.03 [[ 9.35778106e-01 -3.39843414e-01 -9.39456805e-02 1.55293314e+02] [ 3.38169986e-01 9.40482000e-01 -3.36848345e-02 2.77036066e+01] [ 9.98017906e-02 -2.48078773e-04 9.95007307e-01 1.40274686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477105681 meters 0.017649619100088856 Centerline is valid? [True, True] Translation: X:155.35, Y:27.73, Z:14.03 [[ 9.36238846e-01 -3.38309004e-01 -9.48885695e-02 1.55351376e+02] [ 3.36595847e-01 9.41035072e-01 -3.40033632e-02 2.77265726e+01] [ 1.00797116e-01 -1.03828869e-04 9.94906996e-01 1.40330371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53710568099999 meters 0.017815309817993143 Centerline is valid? [True, True] Translation: X:155.41, Y:27.75, Z:14.04 [[ 9.38185028e-01 -3.32652542e-01 -9.56615921e-02 1.55410713e+02] [ 3.30885374e-01 9.43049341e-01 -3.42463097e-02 2.77470777e+01] [ 1.01605723e-01 4.76353408e-04 9.94824633e-01 1.40354011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597105681 meters 0.024352492546068295 Centerline is valid? [True, True] Translation: X:155.46, Y:27.78, Z:14.04 [[ 9.47009707e-01 -3.06307813e-01 -9.66857680e-02 1.55461312e+02] [ 3.04367407e-01 9.51926722e-01 -3.45832017e-02 2.77822810e+01] [ 1.02630871e-01 3.32263127e-03 9.94713961e-01 1.40418604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657105681 meters 0.030409487563269458 Centerline is valid? [True, True] Translation: X:155.51, Y:27.81, Z:14.05 [[ 9.53220467e-01 -2.86159251e-01 -9.73839004e-02 1.55514096e+02] [ 2.84086371e-01 9.58166125e-01 -3.48225624e-02 2.78136328e+01] [ 1.03274753e-01 5.52814032e-03 9.94637504e-01 1.40495578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717105681 meters 0.03297586501979139 Centerline is valid? [True, True] Translation: X:155.57, Y:27.84, Z:14.06 [[ 9.55980538e-01 -2.78775829e-01 -9.15709986e-02 1.55570787e+02] [ 2.76910526e-01 9.60337830e-01 -3.27385437e-02 2.78350417e+01] [ 9.70658088e-02 5.94043724e-03 9.95260237e-01 1.40597323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.777105681 meters 0.032678467624648294 Centerline is valid? [True, True] Translation: X:155.63, Y:27.85, Z:14.07 [[ 9.55164360e-01 -2.82155572e-01 -8.97177717e-02 1.55630602e+02] [ 2.80380357e-01 9.59353016e-01 -3.20725169e-02 2.78480049e+01] [ 9.51204542e-02 5.47942426e-03 9.95450689e-01 1.40653726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.837105681 meters 0.02688443521953062 Centerline is valid? [True, True] Translation: X:155.70, Y:27.85, Z:14.06 [[ 9.49617545e-01 -2.99403369e-01 -9.26506375e-02 1.55695122e+02] [ 2.97591277e-01 9.54118747e-01 -3.31187125e-02 2.78511007e+01] [ 9.83155642e-02 3.87808889e-03 9.95147733e-01 1.40623146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.897105681 meters 0.020681305600798866 Centerline is valid? [True, True] Translation: X:155.76, Y:27.85, Z:14.07 [[ 9.44318029e-01 -3.16156150e-01 -9.11523326e-02 1.55758531e+02] [ 3.14480028e-01 9.48704843e-01 -3.25796398e-02 2.78543549e+01] [ 9.67769129e-02 2.09995314e-03 9.95303883e-01 1.40688115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.957105681 meters 0.018979570361577464 Centerline is valid? [True, True] Translation: X:155.82, Y:27.87, Z:14.07 [[ 9.40178736e-01 -3.26237726e-01 -9.81472887e-02 1.55818640e+02] [ 3.24349238e-01 9.45287073e-01 -3.50702440e-02 2.78683370e+01] [ 1.04218600e-01 1.13829942e-03 9.94553763e-01 1.40691647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017105681 meters 0.018899021139642296 Centerline is valid? [True, True] Translation: X:155.88, Y:27.89, Z:14.08 [[ 9.39339227e-01 -3.28043414e-01 -1.00146564e-01 1.55876579e+02] [ 3.26090640e-01 9.44662193e-01 -3.57524088e-02 2.78941017e+01] [ 1.06333015e-01 9.26782904e-04 9.94330142e-01 1.40750836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077105681 meters 0.02125191034984951 Centerline is valid? [True, True] Translation: X:155.93, Y:27.93, Z:14.08 [[ 9.43864697e-01 -3.15812353e-01 -9.68606766e-02 1.55928431e+02] [ 3.13924986e-01 9.48819119e-01 -3.45453567e-02 2.79315177e+01] [ 1.02813112e-01 2.19915602e-03 9.94698260e-01 1.40849276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137105681 meters 0.02453675338477603 Centerline is valid? [True, True] Translation: X:155.98, Y:27.97, Z:14.10 [[ 9.48471496e-01 -3.03272961e-01 -9.18005072e-02 1.55979306e+02] [ 3.01521763e-01 9.52897836e-01 -3.27160642e-02 2.79678002e+01] [ 9.73984023e-02 3.35040356e-03 9.95239833e-01 1.40980516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197105681 meters 0.02618227488641908 Centerline is valid? [True, True] Translation: X:156.03, Y:28.00, Z:14.11 [[ 9.50055351e-01 -2.99297369e-01 -8.84076669e-02 1.56033423e+02] [ 2.97656702e-01 9.54153037e-01 -3.15034984e-02 2.79981134e+01] [ 9.37833580e-02 3.61493265e-03 9.95586066e-01 1.41112860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25710568099998 meters 0.02630476332796754 Centerline is valid? [True, True] Translation: X:156.09, Y:28.02, Z:14.11 [[ 9.50495015e-01 -2.98265538e-01 -8.71601657e-02 1.56092648e+02] [ 2.96667460e-01 9.54475933e-01 -3.10501389e-02 2.80184249e+01] [ 9.24534669e-02 3.65541724e-03 9.95710296e-01 1.41130474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317105681 meters 0.027987620495693692 Centerline is valid? [True, True] Translation: X:156.15, Y:28.04, Z:14.12 [[ 9.52385774e-01 -2.92199177e-01 -8.70688197e-02 1.56150599e+02] [ 2.90581725e-01 9.56348203e-01 -3.09899240e-02 2.80378678e+01] [ 9.23233395e-02 4.21375492e-03 9.95720164e-01 1.41186192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377105681 meters 0.033847187222179616 Centerline is valid? [True, True] Translation: X:156.21, Y:28.06, Z:14.12 [[ 9.56543502e-01 -2.77068929e-01 -9.08698892e-02 1.56205563e+02] [ 2.75239122e-01 9.60831804e-01 -3.23368402e-02 2.80641830e+01] [ 9.62702132e-02 5.92064591e-03 9.95337627e-01 1.41233818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437105681 meters 0.0421496814870329 Centerline is valid? [True, True] Translation: X:156.26, Y:28.09, Z:14.12 [[ 9.60474264e-01 -2.60936894e-01 -9.69594034e-02 1.56259800e+02] [ 2.58771547e-01 9.65322353e-01 -3.44969765e-02 2.80928659e+01] [ 1.02598613e-01 8.04312328e-03 9.94690320e-01 1.41202287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.497105681 meters 0.04058878468721252 Centerline is valid? [True, True] Translation: X:156.32, Y:28.11, Z:14.12 [[ 9.61396462e-01 -2.57142285e-01 -9.79524809e-02 1.56319661e+02] [ 2.54913515e-01 9.66335927e-01 -3.48421687e-02 2.81058501e+01] [ 1.03614396e-01 8.52772654e-03 9.94580985e-01 1.41238227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.557105681 meters 0.03714096350230506 Centerline is valid? [True, True] Translation: X:156.38, Y:28.11, Z:14.13 [[ 9.58786282e-01 -2.65489157e-01 -1.01214491e-01 1.56381536e+02] [ 2.63155359e-01 9.64081652e-01 -3.59975765e-02 2.81129513e+01] [ 1.07135999e-01 7.87884693e-03 9.94213157e-01 1.41254207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.617105681 meters 0.0297067781668183 Centerline is valid? [True, True] Translation: X:156.45, Y:28.11, Z:14.14 [[ 9.52884262e-01 -2.87044689e-01 -9.80659474e-02 1.56446338e+02] [ 2.84967103e-01 9.57902598e-01 -3.48763825e-02 2.81092973e+01] [ 1.03948706e-01 5.28758702e-03 9.94568604e-01 1.41366023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.677105681 meters 0.02323789333543732 Centerline is valid? [True, True] Translation: X:156.51, Y:28.11, Z:14.14 [[ 9.47636055e-01 -3.04427386e-01 -9.64876937e-02 1.56510995e+02] [ 3.02505969e-01 9.52529739e-01 -3.43108577e-02 2.81097518e+01] [ 1.02352562e-01 3.32610260e-03 9.94742625e-01 1.41432917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737105681 meters 0.01958655850749859 Centerline is valid? [True, True] Translation: X:156.57, Y:28.12, Z:14.15 [[ 9.42988957e-01 -3.18925248e-01 -9.51762251e-02 1.56572194e+02] [ 3.17129577e-01 9.47778298e-01 -3.38397523e-02 2.81169551e+01] [ 1.00998312e-01 1.72731665e-03 9.94885098e-01 1.41491184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797105681 meters 0.018109981035850944 Centerline is valid? [True, True] Translation: X:156.63, Y:28.13, Z:14.15 [[ 9.39903021e-01 -3.27086701e-01 -9.79622380e-02 1.56633274e+02] [ 3.25228671e-01 9.44993931e-01 -3.48250223e-02 2.81311297e+01] [ 1.03964522e-01 8.72015189e-04 9.94580624e-01 1.41529228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857105681 meters 0.01787605816081723 Centerline is valid? [True, True] Translation: X:156.69, Y:28.15, Z:14.16 [[ 9.39302983e-01 -3.28487417e-01 -9.90248653e-02 1.56692398e+02] [ 3.26600123e-01 9.44508093e-01 -3.51684759e-02 2.81529567e+01] [ 1.05082188e-01 6.92321086e-04 9.94463300e-01 1.41581464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917105681 meters 0.017941163549213275 Centerline is valid? [True, True] Translation: X:156.75, Y:28.18, Z:14.17 [[ 9.39539764e-01 -3.27989646e-01 -9.84267406e-02 1.56750442e+02] [ 3.26126372e-01 9.44681053e-01 -3.49184544e-02 2.81773033e+01] [ 1.04434768e-01 7.07720605e-04 9.94531487e-01 1.41659277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977105681 meters 0.018292164807126334 Centerline is valid? [True, True] Translation: X:156.81, Y:28.21, Z:14.17 [[ 9.41016853e-01 -3.24093188e-01 -9.72156732e-02 1.56806169e+02] [ 3.22258685e-01 9.46024532e-01 -3.44517829e-02 2.82083869e+01] [ 1.03134000e-01 1.09111328e-03 9.94666873e-01 1.41745115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03710568099999 meters 0.019550953195494887 Centerline is valid? [True, True] Translation: X:156.86, Y:28.25, Z:14.18 [[ 9.43733414e-01 -3.16251027e-01 -9.67084852e-02 1.56858918e+02] [ 3.14398257e-01 9.48673633e-01 -3.42355734e-02 2.82450886e+01] [ 1.02571825e-01 1.90427536e-03 9.94723778e-01 1.41774138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097105681 meters 0.02074823155569691 Centerline is valid? [True, True] Translation: X:156.91, Y:28.28, Z:14.19 [[ 9.45796229e-01 -3.11048705e-01 -9.33712823e-02 1.56912359e+02] [ 3.09299452e-01 9.50391053e-01 -3.30256853e-02 2.82782978e+01] [ 9.90118279e-02 2.35588217e-03 9.95083468e-01 1.41866935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157105681 meters 0.01915784695579018 Centerline is valid? [True, True] Translation: X:156.97, Y:28.30, Z:14.20 [[ 9.44033021e-01 -3.17460206e-01 -8.95582136e-02 1.56968256e+02] [ 3.15882550e-01 9.48270264e-01 -3.16499780e-02 2.83005407e+01] [ 9.49729994e-02 1.58874747e-03 9.95478581e-01 1.41960784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217105681 meters 0.0173485501294301 Centerline is valid? [True, True] Translation: X:157.03, Y:28.32, Z:14.21 [[ 9.41195173e-01 -3.26713374e-01 -8.60814633e-02 1.57025434e+02] [ 3.25294948e-01 9.45123261e-01 -3.04174059e-02 2.83200417e+01] [ 9.12953666e-02 6.26850484e-04 9.95823661e-01 1.42083534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.277105681 meters 0.01725310857133632 Centerline is valid? [True, True] Translation: X:157.08, Y:28.34, Z:14.21 [[ 9.38846292e-01 -3.32802350e-01 -8.83755334e-02 1.57083791e+02] [ 3.31334515e-01 9.42996604e-01 -3.12224980e-02 2.83370856e+01] [ 9.37287486e-02 3.12620064e-05 9.95597771e-01 1.42136447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.337105681 meters 0.01932943006183653 Centerline is valid? [True, True] Translation: X:157.14, Y:28.37, Z:14.22 [[ 9.43892511e-01 -3.16269094e-01 -9.50830526e-02 1.57137303e+02] [ 3.14488240e-01 9.48667857e-01 -3.35625456e-02 2.83695479e+01] [ 1.00817032e-01 1.77693356e-03 9.94903397e-01 1.42154263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.397105681 meters 0.02732579200029885 Centerline is valid? [True, True] Translation: X:157.19, Y:28.40, Z:14.21 [[ 9.50790236e-01 -2.92965532e-01 -1.00842073e-01 1.57189629e+02] [ 2.90831987e-01 9.56112417e-01 -3.55780922e-02 2.84038997e+01] [ 1.06839513e-01 4.49920209e-03 9.94266099e-01 1.42098125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.457105681 meters 0.03335678902796676 Centerline is valid? [True, True] Translation: X:157.24, Y:28.43, Z:14.21 [[ 9.53621181e-01 -2.83407704e-01 -1.01423450e-01 1.57243787e+02] [ 2.81196655e-01 9.58983206e-01 -3.57722192e-02 2.84319347e+01] [ 1.07401508e-01 5.59321095e-03 9.94199996e-01 1.42135670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517105681 meters 0.0267011523599953 Centerline is valid? [True, True] Translation: X:157.31, Y:28.44, Z:14.23 [[ 9.51016269e-01 -2.93012218e-01 -9.85489554e-02 1.57306351e+02] [ 2.90976907e-01 9.56098688e-01 -3.47525200e-02 2.84353056e+01] [ 1.04405440e-01 4.37474166e-03 9.94525196e-01 1.42259894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577105681 meters 0.022113264886581645 Centerline is valid? [True, True] Translation: X:157.37, Y:28.44, Z:14.24 [[ 9.47151021e-01 -3.07074064e-01 -9.27925746e-02 1.57367545e+02] [ 3.05337536e-01 9.51681912e-01 -3.27189248e-02 2.84420295e+01] [ 9.83561480e-02 2.65670690e-03 9.95147733e-01 1.42393537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637105681 meters 0.019925635225436396 Centerline is valid? [True, True] Translation: X:157.43, Y:28.45, Z:14.24 [[ 9.44652810e-01 -3.14642798e-01 -9.29030586e-02 1.57429878e+02] [ 3.12938866e-01 9.49208311e-01 -3.27543483e-02 2.84510496e+01] [ 9.84902751e-02 1.86850929e-03 9.95136259e-01 1.42404377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697105681 meters 0.02089724843759417 Centerline is valid? [True, True] Translation: X:157.49, Y:28.47, Z:14.24 [[ 9.45299429e-01 -3.12142436e-01 -9.47422222e-02 1.57488183e+02] [ 3.10358568e-01 9.50032853e-01 -3.33936816e-02 2.84691526e+01] [ 1.00431809e-01 2.16296775e-03 9.94941593e-01 1.42433495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75710568099998 meters 0.02383361518732114 Centerline is valid? [True, True] Translation: X:157.54, Y:28.49, Z:14.25 [[ 9.48761852e-01 -3.00950029e-01 -9.63329034e-02 1.57543401e+02] [ 2.99050500e-01 9.53633915e-01 -3.39286792e-02 2.84933015e+01] [ 1.02077161e-01 3.38183359e-03 9.94770736e-01 1.42530896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817105681 meters 0.0271162009359284 Centerline is valid? [True, True] Translation: X:157.60, Y:28.52, Z:14.26 [[ 9.52303298e-01 -2.89667053e-01 -9.59761749e-02 1.57599741e+02] [ 2.87724681e-01 9.57116548e-01 -3.37997108e-02 2.85156480e+01] [ 1.01651048e-01 4.57286173e-03 9.94809607e-01 1.42564916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877105681 meters 0.029899564346379713 Centerline is valid? [True, True] Translation: X:157.66, Y:28.54, Z:14.26 [[ 9.53429649e-01 -2.85474668e-01 -9.73453520e-02 1.57657030e+02] [ 2.83454741e-01 9.58372736e-01 -3.42798515e-02 2.85351232e+01] [ 1.03079161e-01 5.09042522e-03 9.94660130e-01 1.42566883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937105681 meters 0.027815577703425364 Centerline is valid? [True, True] Translation: X:157.72, Y:28.55, Z:14.27 [[ 9.51724077e-01 -2.91473526e-01 -9.62520932e-02 1.57716435e+02] [ 2.89529592e-01 9.56568830e-01 -3.38923180e-02 2.85487090e+01] [ 1.01950466e-01 4.38830575e-03 9.94779797e-01 1.42650479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.997105681 meters 0.025293845392963317 Centerline is valid? [True, True] Translation: X:157.78, Y:28.56, Z:14.27 [[ 9.49259136e-01 -2.99928205e-01 -9.46053115e-02 1.57775671e+02] [ 2.98092531e-01 9.53955657e-01 -3.33083757e-02 2.85594266e+01] [ 1.00239393e-01 3.41714311e-03 9.94957480e-01 1.42698887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.057105681 meters 0.024155414231502574 Centerline is valid? [True, True] Translation: X:157.83, Y:28.58, Z:14.28 [[ 9.47618228e-01 -3.04566582e-01 -9.62231345e-02 1.57833152e+02] [ 3.02691291e-01 9.52486398e-01 -3.38768977e-02 2.85791733e+01] [ 1.01968998e-01 2.97646097e-03 9.94783124e-01 1.42774339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.117105681 meters 0.025643098331776623 Centerline is valid? [True, True] Translation: X:157.89, Y:28.60, Z:14.28 [[ 9.49069206e-01 -3.00170760e-01 -9.57348275e-02 1.57890473e+02] [ 2.98292634e-01 9.53879326e-01 -3.37006821e-02 2.86018962e+01] [ 1.01435432e-01 3.42728572e-03 9.94836221e-01 1.42774189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.177105681 meters 0.02597416720793326 Centerline is valid? [True, True] Translation: X:157.95, Y:28.63, Z:14.29 [[ 9.50937523e-01 -2.94719150e-01 -9.41193420e-02 1.57946101e+02] [ 2.92877852e-01 9.55575807e-01 -3.31276292e-02 2.86250935e+01] [ 9.97015130e-02 3.93683490e-03 9.95009603e-01 1.42909700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237105681 meters 0.025811916387286114 Centerline is valid? [True, True] Translation: X:158.00, Y:28.64, Z:14.30 [[ 9.50322472e-01 -2.97400514e-01 -9.18702003e-02 1.58004222e+02] [ 2.95659391e-01 9.54746167e-01 -3.23308078e-02 2.86415570e+01] [ 9.73279205e-02 3.56240576e-03 9.95245992e-01 1.42962405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297105681 meters 0.02011402152025153 Centerline is valid? [True, True] Translation: X:158.07, Y:28.65, Z:14.30 [[ 9.44850218e-01 -3.14984217e-01 -8.96828277e-02 1.58067531e+02] [ 3.13403935e-01 9.49095366e-01 -3.15588259e-02 2.86455521e+01] [ 9.50580883e-02 1.71141247e-03 9.95470256e-01 1.42998029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357105681 meters 0.01833983488850328 Centerline is valid? [True, True] Translation: X:158.13, Y:28.66, Z:14.30 [[ 9.41702850e-01 -3.23764201e-01 -9.15012774e-02 1.58128649e+02] [ 3.22160663e-01 9.46137431e-01 -3.21942490e-02 2.86566965e+01] [ 9.69961288e-02 8.39303886e-04 9.95284405e-01 1.43037062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417105681 meters 0.02026373692176224 Centerline is valid? [True, True] Translation: X:158.18, Y:28.69, Z:14.31 [[ 9.44562477e-01 -3.15360425e-01 -9.13757552e-02 1.58182722e+02] [ 3.13722556e-01 9.48970457e-01 -3.21438868e-02 2.86878758e+01] [ 9.68498020e-02 1.69527383e-03 9.95297564e-01 1.43122162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477105681 meters 0.02827995947949546 Centerline is valid? [True, True] Translation: X:158.23, Y:28.73, Z:14.32 [[ 9.51823693e-01 -2.92904594e-01 -9.07664988e-02 1.58231668e+02] [ 2.91188493e-01 9.56133569e-01 -3.19039296e-02 2.87291747e+01] [ 9.61297039e-02 3.93675613e-03 9.95361031e-01 1.43163311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53710568099999 meters 0.029469865552043433 Centerline is valid? [True, True] Translation: X:158.29, Y:28.75, Z:14.32 [[ 9.53769246e-01 -2.86092278e-01 -9.20621245e-02 1.58287663e+02] [ 2.84295660e-01 9.58190621e-01 -3.23529345e-02 2.87549963e+01] [ 9.74689890e-02 4.68437145e-03 9.95227538e-01 1.43209070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597105681 meters 0.03245250224370125 Centerline is valid? [True, True] Translation: X:158.35, Y:28.78, Z:14.32 [[ 9.53693599e-01 -2.86174644e-01 -9.25882977e-02 1.58345019e+02] [ 2.84358471e-01 9.58165968e-01 -3.25305741e-02 2.87795928e+01] [ 9.80243813e-02 4.69593346e-03 9.95172934e-01 1.43190782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657105681 meters 0.029220472794275424 Centerline is valid? [True, True] Translation: X:158.41, Y:28.79, Z:14.33 [[ 9.53530856e-01 -2.87334655e-01 -9.06515484e-02 1.58405726e+02] [ 2.85601853e-01 9.57819905e-01 -3.18215533e-02 2.87947812e+01] [ 9.59712925e-02 4.45258274e-03 9.95374143e-01 1.43254838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717105681 meters 0.028406163520630877 Centerline is valid? [True, True] Translation: X:158.46, Y:28.81, Z:14.33 [[ 9.52185972e-01 -2.90968483e-01 -9.31623077e-02 1.58464780e+02] [ 2.89158233e-01 9.56723538e-01 -3.26739788e-02 2.88133584e+01] [ 9.86376707e-02 4.17305599e-03 9.95114665e-01 1.43269260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.777105681 meters 0.025407179231415482 Centerline is valid? [True, True] Translation: X:158.52, Y:28.83, Z:14.33 [[ 9.50313443e-01 -2.96650456e-01 -9.43550056e-02 1.58524729e+02] [ 2.94822140e-01 9.54979262e-01 -3.30834644e-02 2.88276483e+01] [ 9.99212984e-02 3.62171621e-03 9.94988752e-01 1.43295741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.837105681 meters 0.02319296799887692 Centerline is valid? [True, True] Translation: X:158.58, Y:28.84, Z:14.33 [[ 9.47725612e-01 -3.04371339e-01 -9.57823195e-02 1.58583820e+02] [ 3.02526676e-01 9.52549199e-01 -3.35802654e-02 2.88442385e+01] [ 1.01458242e-01 2.84817080e-03 9.94835722e-01 1.43331052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.897105681 meters 0.02032057991237278 Centerline is valid? [True, True] Translation: X:158.64, Y:28.86, Z:14.33 [[ 9.43415580e-01 -3.17218425e-01 -9.66411578e-02 1.58642335e+02] [ 3.15407730e-01 9.48351350e-01 -3.38774413e-02 2.88591908e+01] [ 1.02396321e-01 1.47913772e-03 9.94742583e-01 1.43337877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.957105681 meters 0.018262242554783984 Centerline is valid? [True, True] Translation: X:158.70, Y:28.88, Z:14.34 [[ 9.39415705e-01 -3.28449290e-01 -9.80775043e-02 1.58702352e+02] [ 3.26645504e-01 9.44521571e-01 -3.43761112e-02 2.88753183e+01] [ 1.03927128e-01 2.56882970e-04 9.94584881e-01 1.43405525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017105681 meters 0.019047477682348588 Centerline is valid? [True, True] Translation: X:158.76, Y:28.89, Z:14.34 [[ 9.35686954e-01 -3.38978506e-01 -9.78953392e-02 1.58763094e+02] [ 3.37241885e-01 9.40793651e-01 -3.42814457e-02 2.88909014e+01] [ 1.03719987e-01 -9.37707256e-04 9.94606095e-01 1.43432536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077105681 meters 0.018963857380716365 Centerline is valid? [True, True] Translation: X:158.82, Y:28.92, Z:14.35 [[ 9.35918886e-01 -3.38339248e-01 -9.78896953e-02 1.58819651e+02] [ 3.36602676e-01 9.41023777e-01 -3.42474775e-02 2.89193469e+01] [ 1.03703797e-01 -8.97072397e-04 9.94607821e-01 1.43494036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137105681 meters 0.018303345588595255 Centerline is valid? [True, True] Translation: X:158.87, Y:28.95, Z:14.36 [[ 9.40920644e-01 -3.25436555e-01 -9.35916128e-02 1.58872979e+02] [ 3.23788615e-01 9.45563759e-01 -3.27125509e-02 2.89549223e+01] [ 9.91426970e-02 4.76015853e-04 9.95073112e-01 1.43604301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197105681 meters 0.01860873344984675 Centerline is valid? [True, True] Translation: X:158.93, Y:28.98, Z:14.36 [[ 9.41772704e-01 -3.23510902e-01 -9.16780827e-02 1.58932082e+02] [ 3.21922422e-01 9.46224221e-01 -3.20262127e-02 2.89756256e+01] [ 9.71088513e-02 6.48182545e-04 9.95273556e-01 1.43646789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25710568099998 meters 0.018332686682281107 Centerline is valid? [True, True] Translation: X:158.99, Y:28.98, Z:14.37 [[ 9.39540634e-01 -3.30686802e-01 -8.89361339e-02 1.58993470e+02] [ 3.29227144e-01 9.43740549e-01 -3.10364733e-02 2.89840203e+01] [ 9.41959879e-02 -1.20161584e-04 9.95553666e-01 1.43708912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317105681 meters 0.01883136299703193 Centerline is valid? [True, True] Translation: X:159.05, Y:29.00, Z:14.38 [[ 9.37805622e-01 -3.35450418e-01 -8.94071156e-02 1.59053242e+02] [ 3.33999322e-01 9.42057654e-01 -3.11741704e-02 2.89971427e+01] [ 9.46840462e-02 -6.26603708e-04 9.95507177e-01 1.43755119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377105681 meters 0.019120315507808096 Centerline is valid? [True, True] Translation: X:159.11, Y:29.02, Z:14.38 [[ 9.37076452e-01 -3.37340164e-01 -8.99407393e-02 1.59112235e+02] [ 3.35882852e-01 9.41382439e-01 -3.13339079e-02 2.90155160e+01] [ 9.52388181e-02 -8.47284759e-04 9.95454092e-01 1.43809610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437105681 meters 0.019758758386217972 Centerline is valid? [True, True] Translation: X:159.17, Y:29.03, Z:14.38 [[ 9.36325750e-01 -3.39253966e-01 -9.05584671e-02 1.59171698e+02] [ 3.37788302e-01 9.40694204e-01 -3.15194698e-02 2.90301218e+01] [ 9.58809303e-02 -1.07709965e-03 9.95392228e-01 1.43817006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.497105681 meters 0.019966842040551193 Centerline is valid? [True, True] Translation: X:159.23, Y:29.05, Z:14.39 [[ 9.36431032e-01 -3.38966807e-01 -9.05451623e-02 1.59231516e+02] [ 3.37502535e-01 9.40797725e-01 -3.14909541e-02 2.90514479e+01] [ 9.58590709e-02 -1.07011517e-03 9.95394341e-01 1.43866014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.557105681 meters 0.018963001885114947 Centerline is valid? [True, True] Translation: X:159.29, Y:29.08, Z:14.39 [[ 9.39204683e-01 -3.30803454e-01 -9.19980288e-02 1.59287323e+02] [ 3.29255749e-01 9.43699635e-01 -3.19632660e-02 2.90770867e+01] [ 9.73920650e-02 -2.70830830e-04 9.95246056e-01 1.43875543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.617105681 meters 0.019600232945628848 Centerline is valid? [True, True] Translation: X:159.34, Y:29.11, Z:14.39 [[ 9.43867469e-01 -3.16858212e-01 -9.33545645e-02 1.59341838e+02] [ 3.15198759e-01 9.48472204e-01 -3.24071118e-02 2.91081197e+01] [ 9.88126690e-02 1.16277575e-03 9.95105374e-01 1.43945447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.677105681 meters 0.023225645784409273 Centerline is valid? [True, True] Translation: X:159.40, Y:29.13, Z:14.40 [[ 9.48869014e-01 -3.03551587e-01 -8.66258018e-02 1.59395970e+02] [ 3.02070061e-01 9.52812127e-01 -3.00454608e-02 2.91338140e+01] [ 9.16584617e-02 2.34214554e-03 9.95787749e-01 1.44020172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737105681 meters 0.022540792449451206 Centerline is valid? [True, True] Translation: X:159.46, Y:29.15, Z:14.41 [[ 9.49101014e-01 -3.03485412e-01 -8.42844568e-02 1.59456977e+02] [ 3.02083542e-01 9.52833365e-01 -2.92252087e-02 2.91480895e+01] [ 8.91784671e-02 2.27672801e-03 9.96013061e-01 1.44100285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797105681 meters 0.025630359288966117 Centerline is valid? [True, True] Translation: X:159.51, Y:29.17, Z:14.42 [[ 9.52168453e-01 -2.93666451e-01 -8.44704279e-02 1.59511730e+02] [ 2.92222526e-01 9.55902681e-01 -2.92584914e-02 2.91736152e+01] [ 8.93377458e-02 3.17485066e-03 9.95996329e-01 1.44203551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857105681 meters 0.031026432797371387 Centerline is valid? [True, True] Translation: X:159.57, Y:29.20, Z:14.42 [[ 9.58472711e-01 -2.72102331e-01 -8.53837424e-02 1.59567601e+02] [ 2.70541447e-01 9.62254031e-01 -2.95720290e-02 2.92007213e+01] [ 9.02074684e-02 5.24414162e-03 9.95909188e-01 1.44214265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917105681 meters 0.03556777335021151 Centerline is valid? [True, True] Translation: X:159.62, Y:29.22, Z:14.42 [[ 9.60418978e-01 -2.63067987e-01 -9.16003377e-02 1.59624618e+02] [ 2.61230326e-01 9.64755155e-01 -3.17207767e-02 2.92219257e+01] [ 9.67166188e-02 6.53644983e-03 9.95290496e-01 1.44195810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977105681 meters 0.034472082118895485 Centerline is valid? [True, True] Translation: X:159.68, Y:29.24, Z:14.43 [[ 9.59824208e-01 -2.65614223e-01 -9.04796937e-02 1.59684602e+02] [ 2.63833325e-01 9.64059492e-01 -3.13252729e-02 2.92362606e+01] [ 9.55482456e-02 6.19519680e-03 9.95405522e-01 1.44287171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03710568099999 meters 0.029078768259524723 Centerline is valid? [True, True] Translation: X:159.75, Y:29.23, Z:14.43 [[ 9.55556733e-01 -2.80747486e-01 -8.99565350e-02 1.59749625e+02] [ 2.79054122e-01 9.59770396e-01 -3.11381595e-02 2.92342638e+01] [ 9.50795792e-02 4.65153611e-03 9.95458807e-01 1.44283589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097105681 meters 0.02371764821830004 Centerline is valid? [True, True] Translation: X:159.81, Y:29.24, Z:14.43 [[ 9.50447028e-01 -2.97101414e-01 -9.15488746e-02 1.59814192e+02] [ 2.95422630e-01 9.54840986e-01 -3.16884946e-02 2.92351923e+01] [ 9.68293142e-02 3.07262619e-03 9.95296259e-01 1.44307095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157105681 meters 0.01975356620429632 Centerline is valid? [True, True] Translation: X:159.88, Y:29.23, Z:14.43 [[ 9.45814468e-01 -3.11338409e-01 -9.22138165e-02 1.59878787e+02] [ 3.09702455e-01 9.50297714e-01 -3.19162117e-02 2.92345584e+01] [ 9.75673216e-02 1.62796939e-03 9.95227596e-01 1.44327846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217105681 meters 0.018324230021460927 Centerline is valid? [True, True] Translation: X:159.94, Y:29.24, Z:14.44 [[ 9.42510646e-01 -3.20502350e-01 -9.46146215e-02 1.59941362e+02] [ 3.18826344e-01 9.47247467e-01 -3.27414026e-02 2.92429129e+01] [ 1.00117157e-01 6.93486695e-04 9.94975414e-01 1.44421279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.277105681 meters 0.018149916754205044 Centerline is valid? [True, True] Translation: X:160.00, Y:29.26, Z:14.44 [[ 9.42910620e-01 -3.19550703e-01 -9.38451442e-02 1.60002895e+02] [ 3.17900324e-01 9.47568875e-01 -3.24439697e-02 2.92584994e+01] [ 9.92922311e-02 7.58361850e-04 9.95058027e-01 1.44441722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.337105681 meters 0.018647331800045443 Centerline is valid? [True, True] Translation: X:160.06, Y:29.28, Z:14.45 [[ 9.43978137e-01 -3.15862254e-01 -9.55840641e-02 1.60059762e+02] [ 3.14134825e-01 9.48804381e-01 -3.30084664e-02 2.92839101e+01] [ 1.01116707e-01 1.13298736e-03 9.94873926e-01 1.44509692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.397105681 meters 0.019607397807189033 Centerline is valid? [True, True] Translation: X:160.12, Y:29.31, Z:14.46 [[ 9.45942916e-01 -3.10715009e-01 -9.29956064e-02 1.60115461e+02] [ 3.09058251e-01 9.50501759e-01 -3.20843107e-02 2.93097614e+01] [ 9.83615644e-02 1.60886699e-03 9.95149443e-01 1.44578845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.457105681 meters 0.018904528806663545 Centerline is valid? [True, True] Translation: X:160.17, Y:29.33, Z:14.47 [[ 9.45645638e-01 -3.13346339e-01 -8.69965453e-02 1.60173557e+02] [ 3.11910294e-01 9.49638127e-01 -2.99899360e-02 2.93308646e+01] [ 9.20124729e-02 1.22473416e-03 9.95757101e-01 1.44722490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517105681 meters 0.01898296869104772 Centerline is valid? [True, True] Translation: X:160.23, Y:29.36, Z:14.48 [[ 9.46095456e-01 -3.14110005e-01 -7.89828679e-02 1.60230482e+02] [ 3.12930442e-01 9.49386032e-01 -2.72158059e-02 2.93555031e+01] [ 8.35339885e-02 1.03260655e-03 9.96504394e-01 1.44847446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577105681 meters 0.024612846796537465 Centerline is valid? [True, True] Translation: X:160.28, Y:29.40, Z:14.49 [[ 9.51870275e-01 -2.96340394e-01 -7.82646238e-02 1.60279469e+02] [ 2.95124451e-01 9.55079002e-01 -2.69380418e-02 2.93966371e+01] [ 8.27317288e-02 2.54371714e-03 9.96568608e-01 1.44933359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637105681 meters 0.034629865530683375 Centerline is valid? [True, True] Translation: X:160.33, Y:29.44, Z:14.49 [[ 9.59698177e-01 -2.67623957e-01 -8.57719397e-02 1.60328876e+02] [ 2.66047917e-01 9.63507676e-01 -2.95205707e-02 2.94416166e+01] [ 9.05423342e-02 5.51139202e-03 9.95877357e-01 1.44922169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697105681 meters 0.036153273705912974 Centerline is valid? [True, True] Translation: X:160.39, Y:29.46, Z:14.49 [[ 9.60245342e-01 -2.64832411e-01 -8.82761448e-02 1.60385549e+02] [ 2.63151412e-01 9.64276156e-01 -3.03781003e-02 2.94635726e+01] [ 9.31676871e-02 5.94043711e-03 9.95632710e-01 1.44940939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75710568099998 meters 0.04072084490393991 Centerline is valid? [True, True] Translation: X:160.44, Y:29.49, Z:14.48 [[ 9.58809055e-01 -2.67741678e-01 -9.48661742e-02 1.60442770e+02] [ 2.65813957e-01 9.63471543e-01 -3.26423845e-02 2.94863768e+01] [ 1.00140586e-01 6.08106061e-03 9.94954714e-01 1.44849303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817105681 meters 0.02919103369145551 Centerline is valid? [True, True] Translation: X:160.51, Y:29.48, Z:14.49 [[ 9.55286947e-01 -2.78814173e-01 -9.84352884e-02 1.60508392e+02] [ 2.76797686e-01 9.60331543e-01 -3.38580640e-02 2.94818050e+01] [ 1.03970620e-01 5.09750656e-03 9.94567306e-01 1.44894293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877105681 meters 0.025575506796502043 Centerline is valid? [True, True] Translation: X:160.57, Y:29.49, Z:14.50 [[ 9.52254312e-01 -2.90084526e-01 -9.51981804e-02 1.60570507e+02] [ 2.88255151e-01 9.56993735e-01 -3.27407883e-02 2.94869114e+01] [ 1.00601658e-01 3.73619094e-03 9.94919769e-01 1.44958963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937105681 meters 0.021401411677960995 Centerline is valid? [True, True] Translation: X:160.63, Y:29.49, Z:14.50 [[ 9.46882729e-01 -3.06359535e-01 -9.77595643e-02 1.60632588e+02] [ 3.04516422e-01 9.51913641e-01 -3.36179900e-02 2.94922242e+01] [ 1.03357855e-01 2.06290135e-03 9.94642096e-01 1.45014150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.997105681 meters 0.0189347051481266 Centerline is valid? [True, True] Translation: X:160.70, Y:29.48, Z:14.51 [[ 9.38550597e-01 -3.32007851e-01 -9.43056962e-02 1.60699866e+02] [ 3.30421129e-01 9.43276344e-01 -3.24286299e-02 2.94824490e+01] [ 9.97228921e-02 -7.24684618e-04 9.95014985e-01 1.45067679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.057105681 meters 0.020258416928606828 Centerline is valid? [True, True] Translation: X:160.76, Y:29.50, Z:14.52 [[ 9.35910200e-01 -3.39103547e-01 -9.52936566e-02 1.60759267e+02] [ 3.37520219e-01 9.40747862e-01 -3.27652570e-02 2.94993311e+01] [ 1.00758119e-01 -1.49819755e-03 9.94909824e-01 1.45150688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.117105681 meters 0.019199575266055865 Centerline is valid? [True, True] Translation: X:160.81, Y:29.53, Z:14.52 [[ 9.39233463e-01 -3.30318495e-01 -9.34355106e-02 1.60812100e+02] [ 3.28753775e-01 9.43869370e-01 -3.21180215e-02 2.95319182e+01] [ 9.88000931e-02 -5.50956241e-04 9.95107149e-01 1.45230567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.177105681 meters 0.02049754043783912 Centerline is valid? [True, True] Translation: X:160.86, Y:29.58, Z:14.53 [[ 9.46036219e-01 -3.11229384e-01 -9.02870047e-02 1.60860997e+02] [ 3.09681793e-01 9.50333796e-01 -3.10300377e-02 2.95771222e+01] [ 9.54602514e-02 1.39529796e-03 9.95432265e-01 1.45347822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.237105681 meters 0.026326944841243045 Centerline is valid? [True, True] Translation: X:160.91, Y:29.62, Z:14.54 [[ 9.54425343e-01 -2.84954567e-01 -8.87308279e-02 1.60908984e+02] [ 2.83348200e-01 9.58532928e-01 -3.04700494e-02 2.96247756e+01] [ 9.37340000e-02 3.93966692e-03 9.95589482e-01 1.45439093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297105681 meters 0.02947249065714587 Centerline is valid? [True, True] Translation: X:160.96, Y:29.66, Z:14.55 [[ 9.56166395e-01 -2.78308395e-01 -9.10508740e-02 1.60961902e+02] [ 2.76587082e-01 9.60480229e-01 -3.12620572e-02 2.96560361e+01] [ 9.61530573e-02 4.70823304e-03 9.95355425e-01 1.45457574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357105681 meters 0.03248767645647065 Centerline is valid? [True, True] Translation: X:161.02, Y:29.68, Z:14.55 [[ 9.55529699e-01 -2.79686327e-01 -9.34802268e-02 1.61018303e+02] [ 2.77878557e-01 9.60079980e-01 -3.20926646e-02 2.96804444e+01] [ 9.87243738e-02 4.68934369e-03 9.95103767e-01 1.45478192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417105681 meters 0.026434364882441164 Centerline is valid? [True, True] Translation: X:161.08, Y:29.69, Z:14.56 [[ 9.53407045e-01 -2.86317363e-01 -9.50651019e-02 1.61078531e+02] [ 2.84482986e-01 9.58126293e-01 -3.26103971e-02 2.96910802e+01] [ 1.00421297e-01 4.04657828e-03 9.94936776e-01 1.45559208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477105681 meters 0.02261938964938074 Centerline is valid? [True, True] Translation: X:161.14, Y:29.70, Z:14.55 [[ 9.49061750e-01 -3.00090161e-01 -9.60608661e-02 1.61141119e+02] [ 2.98287432e-01 9.53907256e-01 -3.29477584e-02 2.96971015e+01] [ 1.01520455e-01 2.61570821e-03 9.94830013e-01 1.45546003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53710568099999 meters 0.019484170689363922 Centerline is valid? [True, True] Translation: X:161.20, Y:29.70, Z:14.56 [[ 9.43935070e-01 -3.15814182e-01 -9.61664508e-02 1.61201826e+02] [ 3.14088592e-01 9.48820605e-01 -3.29820482e-02 2.97036481e+01] [ 1.01660909e-01 9.28126879e-04 9.94818676e-01 1.45617267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597105681 meters 0.01916078391940004 Centerline is valid? [True, True] Translation: X:161.26, Y:29.71, Z:14.57 [[ 9.39358901e-01 -3.28828389e-01 -9.73485788e-02 1.61264991e+02] [ 3.27129827e-01 9.44389566e-01 -3.33829766e-02 2.97104483e+01] [ 1.02912253e-01 -4.87027534e-04 9.94690319e-01 1.45694319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657105681 meters 0.019902992714824482 Centerline is valid? [True, True] Translation: X:161.33, Y:29.73, Z:14.57 [[ 9.37254401e-01 -3.33821720e-01 -1.00584526e-01 1.61325581e+02] [ 3.32040277e-01 9.42635585e-01 -3.44587936e-02 2.97251196e+01] [ 1.06317647e-01 -1.10145778e-03 9.94331607e-01 1.45690255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.717105681 meters 0.01993395880078669 Centerline is valid? [True, True] Translation: X:161.38, Y:29.75, Z:14.58 [[ 9.37198984e-01 -3.33611682e-01 -1.01790520e-01 1.61381508e+02] [ 3.31789358e-01 9.42709918e-01 -3.48401012e-02 2.97515317e+01] [ 1.07581997e-01 -1.12090384e-03 9.94195583e-01 1.45768122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.777105681 meters 0.020134028988432032 Centerline is valid? [True, True] Translation: X:161.44, Y:29.77, Z:14.58 [[ 9.36457336e-01 -3.36540654e-01 -9.89345549e-02 1.61440817e+02] [ 3.34839109e-01 9.41667826e-01 -3.38301033e-02 2.97735022e+01] [ 1.04548692e-01 -1.44670984e-03 9.94518717e-01 1.45830526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.837105681 meters 0.0219077224755827 Centerline is valid? [True, True] Translation: X:161.50, Y:29.80, Z:14.59 [[ 9.34170716e-01 -3.42380008e-01 -1.00503751e-01 1.61498594e+02] [ 3.40661199e-01 9.39559067e-01 -3.43323023e-02 2.97967927e+01] [ 1.06183905e-01 -2.16549690e-03 9.94344150e-01 1.45880305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.897105681 meters 0.024070679084416423 Centerline is valid? [True, True] Translation: X:161.56, Y:29.82, Z:14.60 [[ 9.31970659e-01 -3.49105481e-01 -9.77550712e-02 1.61555879e+02] [ 3.47517626e-01 9.37079067e-01 -3.33814603e-02 2.98183013e+01] [ 1.03257882e-01 -2.86106878e-03 9.94650504e-01 1.45978199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.957105681 meters 0.027670827475414838 Centerline is valid? [True, True] Translation: X:161.61, Y:29.84, Z:14.61 [[ 9.28419427e-01 -3.58906283e-01 -9.60398267e-02 1.61612008e+02] [ 3.57428440e-01 9.33365440e-01 -3.27698766e-02 2.98417116e+01] [ 1.01401570e-01 -3.90317542e-03 9.94837920e-01 1.46054050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017105681 meters 0.02952595062824108 Centerline is valid? [True, True] Translation: X:161.67, Y:29.87, Z:14.61 [[ 9.27329828e-01 -3.62150145e-01 -9.43751169e-02 1.61669198e+02] [ 3.60740235e-01 9.32110373e-01 -3.21983912e-02 2.98655232e+01] [ 9.96286775e-02 -4.18637324e-03 9.95015880e-01 1.46125572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077105681 meters 0.02866439519997741 Centerline is valid? [True, True] Translation: X:161.73, Y:29.89, Z:14.62 [[ 9.28679275e-01 -3.59100932e-01 -9.27433234e-02 1.61725338e+02] [ 3.57725100e-01 9.33290997e-01 -3.16333359e-02 2.98896873e+01] [ 9.79160692e-02 -3.79939118e-03 9.95187424e-01 1.46188483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137105681 meters 0.02770509570208592 Centerline is valid? [True, True] Translation: X:161.78, Y:29.91, Z:14.62 [[ 9.29576303e-01 -3.56885483e-01 -9.23073571e-02 1.61784655e+02] [ 3.55512173e-01 9.34141383e-01 -3.14796956e-02 2.99112000e+01] [ 9.74627686e-02 -3.55361002e-03 9.95232827e-01 1.46183654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197105681 meters 0.028539512781401346 Centerline is valid? [True, True] Translation: X:161.84, Y:29.93, Z:14.62 [[ 9.30172361e-01 -3.55252091e-01 -9.26030843e-02 1.61841160e+02] [ 3.53863115e-01 9.34764332e-01 -3.15680047e-02 2.99338935e+01] [ 9.77766599e-02 -3.40513045e-03 9.95202557e-01 1.46245635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25710568099998 meters 0.02615250308320143 Centerline is valid? [True, True] Translation: X:161.90, Y:29.96, Z:14.63 [[ 9.31307531e-01 -3.51985375e-01 -9.36620473e-02 1.61897081e+02] [ 3.50550511e-01 9.36000294e-01 -3.19028135e-02 2.99598784e+01] [ 9.88970276e-02 -3.12194810e-03 9.95092775e-01 1.46290005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317105681 meters 0.02558880375533826 Centerline is valid? [True, True] Translation: X:161.96, Y:29.98, Z:14.63 [[ 9.31424850e-01 -3.51166210e-01 -9.55512544e-02 1.61956808e+02] [ 3.49669315e-01 9.36307991e-01 -3.25379251e-02 2.99803536e+01] [ 1.00891623e-01 -3.10470973e-03 9.94892578e-01 1.46302182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377105681 meters 0.02653278438829162 Centerline is valid? [True, True] Translation: X:162.01, Y:30.00, Z:14.64 [[ 9.30972303e-01 -3.52064203e-01 -9.66507517e-02 1.62014898e+02] [ 3.50541172e-01 9.35970127e-01 -3.28756392e-02 3.00011450e+01] [ 1.02036552e-01 -3.27375814e-03 9.94775263e-01 1.46379058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437105681 meters 0.026858398880410292 Centerline is valid? [True, True] Translation: X:162.07, Y:30.02, Z:14.64 [[ 9.30900898e-01 -3.51974043e-01 -9.76616113e-02 1.62073413e+02] [ 3.50421782e-01 9.36003842e-01 -3.31870866e-02 3.00214831e+01] [ 1.03092636e-01 -3.32886711e-03 9.94666189e-01 1.46439681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.497105681 meters 0.026714071035103284 Centerline is valid? [True, True] Translation: X:162.13, Y:30.04, Z:14.65 [[ 9.31324603e-01 -3.51242442e-01 -9.62456746e-02 1.62131875e+02] [ 3.49734244e-01 9.36278974e-01 -3.26747882e-02 3.00416430e+01] [ 1.01589574e-01 -3.22957416e-03 9.94821154e-01 1.46523227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.557105681 meters 0.02654392658657597 Centerline is valid? [True, True] Translation: X:162.19, Y:30.06, Z:14.66 [[ 9.31002069e-01 -3.52201859e-01 -9.58592639e-02 1.62190920e+02] [ 3.50714005e-01 9.35918067e-01 -3.25124399e-02 3.00608525e+01] [ 1.01167359e-01 -3.35003754e-03 9.94863781e-01 1.46590781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.617105681 meters 0.027334010766040875 Centerline is valid? [True, True] Translation: X:162.25, Y:30.08, Z:14.67 [[ 9.31138990e-01 -3.51844649e-01 -9.58411376e-02 1.62249134e+02] [ 3.50358557e-01 9.36052452e-01 -3.24759677e-02 3.00800191e+01] [ 1.01138827e-01 -3.33912288e-03 9.94866719e-01 1.46669194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.677105681 meters 0.02405740980916468 Centerline is valid? [True, True] Translation: X:162.30, Y:30.11, Z:14.67 [[ 9.33850261e-01 -3.44264679e-01 -9.69820692e-02 1.62303438e+02] [ 3.42703716e-01 9.38869142e-01 -3.28465796e-02 3.01083764e+01] [ 1.02361389e-01 -2.56232858e-03 9.94743977e-01 1.46715956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.737105681 meters 0.02096932843845635 Centerline is valid? [True, True] Translation: X:162.36, Y:30.14, Z:14.68 [[ 9.37567141e-01 -3.34473423e-01 -9.53697252e-02 1.62356598e+02] [ 3.32913534e-01 9.42404040e-01 -3.22986668e-02 3.01401285e+01] [ 1.00679860e-01 -1.46770357e-03 9.94917791e-01 1.46803575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797105681 meters 0.01977164396849427 Centerline is valid? [True, True] Translation: X:162.41, Y:30.17, Z:14.69 [[ 9.41203487e-01 -3.24181306e-01 -9.50919404e-02 1.62409312e+02] [ 3.22578484e-01 9.45994897e-01 -3.21990135e-02 3.01725648e+01] [ 1.00394809e-01 -3.68790198e-04 9.94947610e-01 1.46859918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857105681 meters 0.019716069298758215 Centerline is valid? [True, True] Translation: X:162.47, Y:30.20, Z:14.70 [[ 9.41990877e-01 -3.22492401e-01 -9.30152591e-02 1.62465942e+02] [ 3.20952158e-01 9.46572032e-01 -3.14817474e-02 3.01958128e+01] [ 9.81982671e-02 -1.97929305e-04 9.95166851e-01 1.46951040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917105681 meters 0.019601558033495524 Centerline is valid? [True, True] Translation: X:162.52, Y:30.22, Z:14.70 [[ 9.42089509e-01 -3.22928789e-01 -9.04674236e-02 1.62524799e+02] [ 3.21476520e-01 9.46423229e-01 -3.05927849e-02 3.02151470e+01] [ 9.54997622e-02 -2.62010875e-04 9.95429418e-01 1.47032720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97710568099998 meters 0.019621487447380275 Centerline is valid? [True, True] Translation: X:162.59, Y:30.23, Z:14.71 [[ 9.42781135e-01 -3.20699510e-01 -9.11896712e-02 1.62585424e+02] [ 3.19216472e-01 9.47180986e-01 -3.08062341e-02 3.02305994e+01] [ 9.62526668e-02 -6.57087977e-05 9.95356931e-01 1.47057346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03710568099999 meters 0.019859140439360316 Centerline is valid? [True, True] Translation: X:162.64, Y:30.25, Z:14.71 [[ 9.44384750e-01 -3.15387762e-01 -9.31021148e-02 1.62643736e+02] [ 3.13819187e-01 9.48962778e-01 -3.14191790e-02 3.02509974e+01] [ 9.82596660e-02 4.54563561e-04 9.95160706e-01 1.47103287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097105681 meters 0.021619826638899386 Centerline is valid? [True, True] Translation: X:162.70, Y:30.28, Z:14.72 [[ 9.48560280e-01 -3.02088877e-01 -9.47402045e-02 1.62699190e+02] [ 3.00401040e-01 9.53277992e-01 -3.19419156e-02 3.02768018e+01] [ 9.99630493e-02 1.83877646e-03 9.94989451e-01 1.47156226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157105681 meters 0.02454511742546827 Centerline is valid? [True, True] Translation: X:162.76, Y:30.30, Z:14.72 [[ 9.51669922e-01 -2.91485300e-01 -9.67505992e-02 1.62755354e+02] [ 2.89671580e-01 9.56570594e-01 -3.26048316e-02 3.03010910e+01] [ 1.02052607e-01 3.00313865e-03 9.94774470e-01 1.47192131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.217105681 meters 0.025597362241933822 Centerline is valid? [True, True] Translation: X:162.82, Y:30.32, Z:14.72 [[ 9.53285585e-01 -2.86720466e-01 -9.50682222e-02 1.62815617e+02] [ 2.84946422e-01 9.58008089e-01 -3.20318270e-02 3.03155442e+01] [ 1.00260306e-01 3.44612919e-03 9.94955273e-01 1.47217776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.277105681 meters 0.022683994118016162 Centerline is valid? [True, True] Translation: X:162.88, Y:30.32, Z:14.73 [[ 9.50247872e-01 -2.96737836e-01 -9.47398483e-02 1.62877862e+02] [ 2.95028147e-01 9.54956072e-01 -3.18950191e-02 3.03206498e+01] [ 9.99368524e-02 2.35725207e-03 9.94990989e-01 1.47309497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.337105681 meters 0.020797642475722238 Centerline is valid? [True, True] Translation: X:162.94, Y:30.33, Z:14.73 [[ 9.47085488e-01 -3.06773013e-01 -9.44425596e-02 1.62939577e+02] [ 3.05123953e-01 9.51781827e-01 -3.17919278e-02 3.03258768e+01] [ 9.96416174e-02 1.29298642e-03 9.95022551e-01 1.47345254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.397105681 meters 0.020238304175598635 Centerline is valid? [True, True] Translation: X:163.00, Y:30.34, Z:14.74 [[ 9.46268724e-01 -3.09241999e-01 -9.45774146e-02 1.63000289e+02] [ 3.07601101e-01 9.50982822e-01 -3.18313487e-02 3.03394629e+01] [ 9.97850865e-02 1.02889284e-03 9.95008481e-01 1.47415169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.457105681 meters 0.02076967006238635 Centerline is valid? [True, True] Translation: X:163.06, Y:30.36, Z:14.74 [[ 9.47436376e-01 -3.05087662e-01 -9.63630173e-02 1.63060537e+02] [ 3.03365860e-01 9.52323146e-01 -3.24003041e-02 3.03564674e+01] [ 1.01653665e-01 1.46397708e-03 9.94818772e-01 1.47419014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517105681 meters 0.021722203928542873 Centerline is valid? [True, True] Translation: X:163.12, Y:30.38, Z:14.75 [[ 9.48592767e-01 -3.00881058e-01 -9.81954749e-02 1.63116811e+02] [ 2.99073902e-01 9.53659742e-01 -3.29833023e-02 3.03802245e+01] [ 1.03569122e-01 1.92001811e-03 9.94620405e-01 1.47465756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577105681 meters 0.022744009686757084 Centerline is valid? [True, True] Translation: X:163.18, Y:30.40, Z:14.75 [[ 9.50126964e-01 -2.96073488e-01 -9.79757250e-02 1.63175032e+02] [ 2.94251724e-01 9.55162116e-01 -3.28824501e-02 3.04016453e+01] [ 1.03318322e-01 2.41297645e-03 9.94645415e-01 1.47529769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637105681 meters 0.024152116551001215 Centerline is valid? [True, True] Translation: X:163.23, Y:30.42, Z:14.76 [[ 9.52175393e-01 -2.90071305e-01 -9.60242612e-02 1.63232945e+02] [ 2.88292015e-01 9.57000350e-01 -3.22187036e-02 3.04220077e+01] [ 1.01240973e-01 2.99482894e-03 9.94857425e-01 1.47636646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697105681 meters 0.026259070274321325 Centerline is valid? [True, True] Translation: X:163.29, Y:30.44, Z:14.78 [[ 9.54922656e-01 -2.83366481e-01 -8.84655760e-02 1.63291705e+02] [ 2.81828930e-01 9.59005653e-01 -2.96751221e-02 3.04374417e+01] [ 9.32479223e-02 3.40528787e-03 9.95637097e-01 1.47751655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75710568099998 meters 0.029656825953000017 Centerline is valid? [True, True] Translation: X:163.35, Y:30.46, Z:14.79 [[ 9.58115556e-01 -2.74194730e-01 -8.26548914e-02 1.63349322e+02] [ 2.72819192e-01 9.61665825e-01 -2.77223590e-02 3.04550870e+01] [ 8.70877091e-02 4.01138264e-03 9.96192572e-01 1.47869913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817105681 meters 0.03360029421737018 Centerline is valid? [True, True] Translation: X:163.41, Y:30.47, Z:14.79 [[ 9.60247129e-01 -2.65144520e-01 -8.73145758e-02 1.63408603e+02] [ 2.63572084e-01 9.64195173e-01 -2.92818166e-02 3.04702733e+01] [ 9.19522058e-02 5.10409563e-03 9.95750340e-01 1.47891027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877105681 meters 0.03566723125635802 Centerline is valid? [True, True] Translation: X:163.47, Y:30.48, Z:14.79 [[ 9.60763209e-01 -2.61792619e-01 -9.16443174e-02 1.63470727e+02] [ 2.60045174e-01 9.65107366e-01 -3.07291203e-02 3.04792547e+01] [ 9.64912627e-02 5.69174579e-03 9.95317557e-01 1.47855655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937105681 meters 0.033393535481900105 Centerline is valid? [True, True] Translation: X:163.53, Y:30.48, Z:14.79 [[ 9.59465490e-01 -2.64917856e-01 -9.61483369e-02 1.63534087e+02] [ 2.63009683e-01 9.64254477e-01 -3.22368011e-02 3.04831616e+01] [ 1.01251568e-01 5.64215458e-03 9.94844855e-01 1.47854578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.997105681 meters 0.030659437354083652 Centerline is valid? [True, True] Translation: X:163.60, Y:30.48, Z:14.78 [[ 9.55937550e-01 -2.75242515e-01 -1.02102688e-01 1.63600737e+02] [ 2.73148665e-01 9.61362688e-01 -3.42284731e-02 3.04785722e+01] [ 1.07578846e-01 4.83106968e-03 9.94184818e-01 1.47805741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.057105681 meters 0.02539838598091921 Centerline is valid? [True, True] Translation: X:163.66, Y:30.48, Z:14.79 [[ 9.53011255e-01 -2.84747899e-01 -1.03383663e-01 1.63664639e+02] [ 2.82656813e-01 9.58594888e-01 -3.46549519e-02 3.04766450e+01] [ 1.08970975e-01 3.80446252e-03 9.94037651e-01 1.47893484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.117105681 meters 0.02348593550622559 Centerline is valid? [True, True] Translation: X:163.73, Y:30.48, Z:14.80 [[ 9.50914643e-01 -2.92330247e-01 -1.01510437e-01 1.63727103e+02] [ 2.90357677e-01 9.56313092e-01 -3.40248388e-02 3.04803063e+01] [ 1.07022250e-01 2.88038268e-03 9.94252454e-01 1.47961172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.177105681 meters 0.021985077631031132 Centerline is valid? [True, True] Translation: X:163.79, Y:30.48, Z:14.80 [[ 9.48606968e-01 -3.00324222e-01 -9.97505929e-02 1.63789115e+02] [ 2.98463894e-01 9.53835200e-01 -3.34322365e-02 3.04844758e+01] [ 1.05186137e-01 1.94210210e-03 9.94450655e-01 1.47994438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.237105681 meters 0.019949585692474896 Centerline is valid? [True, True] Translation: X:163.85, Y:30.49, Z:14.80 [[ 9.45869990e-01 -3.08388488e-01 -1.01126171e-01 1.63853297e+02] [ 3.06522760e-01 9.51259915e-01 -3.38876397e-02 3.04875795e+01] [ 1.06647830e-01 1.05582851e-03 9.94296297e-01 1.48041491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297105681 meters 0.02026930481432869 Centerline is valid? [True, True] Translation: X:163.92, Y:30.50, Z:14.81 [[ 9.46496236e-01 -3.06520732e-01 -1.00945119e-01 1.63915139e+02] [ 3.04654818e-01 9.51863187e-01 -3.37922395e-02 3.05013592e+01] [ 1.06443965e-01 1.23081047e-03 9.94317941e-01 1.48138449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357105681 meters 0.02411553233954998 Centerline is valid? [True, True] Translation: X:163.97, Y:30.53, Z:14.82 [[ 9.49910917e-01 -2.96383366e-01 -9.91269387e-02 1.63970096e+02] [ 2.94532510e-01 9.55066300e-01 -3.31506097e-02 3.05286045e+01] [ 1.04498088e-01 2.29402005e-03 9.94522442e-01 1.48191571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417105681 meters 0.02653398726338019 Centerline is valid? [True, True] Translation: X:164.03, Y:30.55, Z:14.83 [[ 9.53239350e-01 -2.87084327e-01 -9.44316168e-02 1.64025223e+02] [ 2.85360363e-01 9.57900139e-01 -3.15719418e-02 3.05541153e+01] [ 9.95198685e-02 3.14857678e-03 9.95030594e-01 1.48349509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47710568099998 meters 0.029272676390981536 Centerline is valid? [True, True] Translation: X:164.08, Y:30.57, Z:14.84 [[ 9.54993437e-01 -2.81884498e-01 -9.23507695e-02 1.64082709e+02] [ 2.80212061e-01 9.59441576e-01 -3.08717264e-02 3.05742154e+01] [ 9.73074289e-02 3.60449669e-03 9.95247844e-01 1.48401567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53710568099999 meters 0.03336524760889828 Centerline is valid? [True, True] Translation: X:164.14, Y:30.60, Z:14.85 [[ 9.57236913e-01 -2.72951254e-01 -9.58911100e-02 1.64137792e+02] [ 2.71103249e-01 9.62016455e-01 -3.20526011e-02 3.06008646e+01] [ 1.00997623e-01 4.68554138e-03 9.94875633e-01 1.48466306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597105681 meters 0.03822680546031324 Centerline is valid? [True, True] Translation: X:164.19, Y:30.62, Z:14.85 [[ 9.59302613e-01 -2.66046548e-01 -9.46452873e-02 1.64193226e+02] [ 2.64213162e-01 9.63945394e-01 -3.16335681e-02 3.06239576e+01] [ 9.96488904e-02 5.33963391e-03 9.95008335e-01 1.48479944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657105681 meters 0.03742612768218002 Centerline is valid? [True, True] Translation: X:164.25, Y:30.64, Z:14.85 [[ 9.57936969e-01 -2.69976208e-01 -9.73119235e-02 1.64254538e+02] [ 2.68057824e-01 9.62853636e-01 -3.25250345e-02 3.06354344e+01] [ 1.02478125e-01 5.07171052e-03 9.94722329e-01 1.48474958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.717105681 meters 0.0340076849927964 Centerline is valid? [True, True] Translation: X:164.32, Y:30.64, Z:14.85 [[ 9.55125427e-01 -2.78759311e-01 -1.00143224e-01 1.64315585e+02] [ 2.76775622e-01 9.60351602e-01 -3.34672259e-02 3.06416111e+01] [ 1.05502006e-01 4.24819539e-03 9.94410016e-01 1.48484527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.777105681 meters 0.029331290296769924 Centerline is valid? [True, True] Translation: X:164.38, Y:30.64, Z:14.85 [[ 9.52059874e-01 -2.88070508e-01 -1.02943570e-01 1.64379724e+02] [ 2.86027843e-01 9.57603481e-01 -3.44041773e-02 3.06439724e+01] [ 1.08489950e-01 3.31010946e-03 9.94092035e-01 1.48471531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.837105681 meters 0.023985887791219584 Centerline is valid? [True, True] Translation: X:164.44, Y:30.65, Z:14.86 [[ 9.49100189e-01 -2.97779693e-01 -1.02645435e-01 1.64441372e+02] [ 2.95805501e-01 9.54632098e-01 -3.43025085e-02 3.06476311e+01] [ 1.08203217e-01 2.19343302e-03 9.94126377e-01 1.48576752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.897105681 meters 0.021864391641767057 Centerline is valid? [True, True] Translation: X:164.51, Y:30.65, Z:14.86 [[ 9.45947993e-01 -3.07133910e-01 -1.04168877e-01 1.64505274e+02] [ 3.05157003e-01 9.51665624e-01 -3.48101067e-02 3.06522826e+01] [ 1.09825303e-01 1.14068836e-03 9.93950251e-01 1.48568010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.957105681 meters 0.020548575696538847 Centerline is valid? [True, True] Translation: X:164.57, Y:30.66, Z:14.87 [[ 9.41997961e-01 -3.19370118e-01 -1.03162830e-01 1.64567838e+02] [ 3.17505086e-01 9.47630015e-01 -3.44655723e-02 3.06582960e+01] [ 1.08767468e-01 -2.88224334e-04 9.94067178e-01 1.48691006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017105681 meters 0.021172655614440077 Centerline is valid? [True, True] Translation: X:164.63, Y:30.67, Z:14.88 [[ 9.39604515e-01 -3.27966562e-01 -9.78840581e-02 1.64629025e+02] [ 3.26335372e-01 9.44688538e-01 -3.26923793e-02 3.06678867e+01] [ 1.03191955e-01 -1.22512335e-03 9.94660706e-01 1.48822900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077105681 meters 0.022096006499626498 Centerline is valid? [True, True] Translation: X:164.69, Y:30.68, Z:14.89 [[ 9.38610758e-01 -3.30980365e-01 -9.72720021e-02 1.64689129e+02] [ 3.29386690e-01 9.43636359e-01 -3.24781608e-02 3.06826661e+01] [ 1.02539031e-01 -1.55575160e-03 9.94727765e-01 1.48859818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137105681 meters 0.01989215669734311 Centerline is valid? [True, True] Translation: X:164.74, Y:30.72, Z:14.90 [[ 9.41748156e-01 -3.22222919e-01 -9.63472966e-02 1.64740133e+02] [ 3.20614524e-01 9.46663629e-01 -3.21605423e-02 3.07206163e+01] [ 1.01571345e-01 -6.03211266e-04 9.94828075e-01 1.48993682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197105681 meters 0.02009103874744812 Centerline is valid? [True, True] Translation: X:164.79, Y:30.76, Z:14.91 [[ 9.46521713e-01 -3.08956801e-01 -9.29641971e-02 1.64793879e+02] [ 3.07396208e-01 9.51075746e-01 -3.10241376e-02 3.07565698e+01] [ 9.80011114e-02 7.88178217e-04 9.95185993e-01 1.49054896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25710568099998 meters 0.022831917153361667 Centerline is valid? [True, True] Translation: X:164.84, Y:30.80, Z:14.92 [[ 9.50660602e-01 -2.96256467e-01 -9.20680509e-02 1.64844599e+02] [ 2.94669229e-01 9.55106226e-01 -3.06943560e-02 3.07966103e+01] [ 9.70281700e-02 2.05029337e-03 9.95279524e-01 1.49173936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317105681 meters 0.0296304207770186 Centerline is valid? [True, True] Translation: X:164.90, Y:30.83, Z:14.93 [[ 9.56116936e-01 -2.79313077e-01 -8.84568255e-02 1.64895371e+02] [ 2.77775952e-01 9.60193259e-01 -2.94860369e-02 3.08349583e+01] [ 9.31714832e-02 3.62092033e-03 9.95643492e-01 1.49277803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377105681 meters 0.03784027817510344 Centerline is valid? [True, True] Translation: X:164.95, Y:30.87, Z:14.93 [[ 9.59558246e-01 -2.66317934e-01 -9.12290047e-02 1.64948784e+02] [ 2.64624386e-01 9.63872091e-01 -3.04060375e-02 3.08654848e+01] [ 9.60307646e-02 5.03494466e-03 9.95365632e-01 1.49275630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437105681 meters 0.03496050104591742 Centerline is valid? [True, True] Translation: X:165.01, Y:30.87, Z:14.93 [[ 9.59076729e-01 -2.66312626e-01 -9.61738741e-02 1.65011712e+02] [ 2.64430910e-01 9.63872130e-01 -3.20438948e-02 3.08742198e+01] [ 1.01233011e-01 5.30120877e-03 9.94848619e-01 1.49257480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.497105681 meters 0.033130627061599166 Centerline is valid? [True, True] Translation: X:165.07, Y:30.88, Z:14.93 [[ 9.56690696e-01 -2.73592710e-01 -9.94481812e-02 1.65073468e+02] [ 2.71622764e-01 9.61834369e-01 -3.31016638e-02 3.08798580e+01] [ 1.04709053e-01 4.65566399e-03 9.94492001e-01 1.49255653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.557105681 meters 0.0291469128711313 Centerline is valid? [True, True] Translation: X:165.14, Y:30.88, Z:14.93 [[ 9.54643750e-01 -2.80437603e-01 -1.00050295e-01 1.65136604e+02] [ 2.78481029e-01 9.59864216e-01 -3.33017093e-02 3.08819015e+01] [ 1.05373750e-01 3.92915937e-03 9.94424927e-01 1.49303230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.617105681 meters 0.026625810537261124 Centerline is valid? [True, True] Translation: X:165.20, Y:30.89, Z:14.94 [[ 9.52950855e-01 -2.86700783e-01 -9.84242340e-02 1.65197818e+02] [ 2.84840939e-01 9.58014894e-01 -3.27582327e-02 3.08877313e+01] [ 1.03683693e-01 3.18173470e-03 9.94605232e-01 1.49379168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.677105681 meters 0.021357937187297758 Centerline is valid? [True, True] Translation: X:165.26, Y:30.88, Z:14.94 [[ 9.47810160e-01 -3.03434571e-01 -9.78946436e-02 1.65263279e+02] [ 3.01683239e-01 9.52851323e-01 -3.25818959e-02 3.08823844e+01] [ 1.03165514e-01 1.34827883e-03 9.94663289e-01 1.49432530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.737105681 meters 0.0201264572791533 Centerline is valid? [True, True] Translation: X:165.33, Y:30.89, Z:14.95 [[ 9.45121676e-01 -3.12635118e-01 -9.48909961e-02 1.65326013e+02] [ 3.11036129e-01 9.49873240e-01 -3.15809249e-02 3.08879101e+01] [ 1.00007724e-01 3.33288591e-04 9.94986605e-01 1.49507112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797105681 meters 0.020557295472267454 Centerline is valid? [True, True] Translation: X:165.39, Y:30.90, Z:14.96 [[ 9.46188626e-01 -3.09709353e-01 -9.38466870e-02 1.65386290e+02] [ 3.08131886e-01 9.50831069e-01 -3.12252799e-02 3.09040237e+01] [ 9.89031069e-02 6.27848014e-04 9.95096870e-01 1.49596472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857105681 meters 0.02348880936280819 Centerline is valid? [True, True] Translation: X:165.44, Y:30.93, Z:14.97 [[ 9.50581403e-01 -2.96408106e-01 -9.23971367e-02 1.65439533e+02] [ 2.94817551e-01 9.55059346e-01 -3.07287697e-02 3.09322594e+01] [ 9.73530054e-02 1.96989947e-03 9.95247965e-01 1.49694060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917105681 meters 0.03031796794976825 Centerline is valid? [True, True] Translation: X:165.49, Y:30.96, Z:14.97 [[ 9.56131617e-01 -2.78036605e-01 -9.22386968e-02 1.65493614e+02] [ 2.76366911e-01 9.60562852e-01 -3.06649175e-02 3.09634695e+01] [ 9.71270352e-02 3.82797343e-03 9.95264631e-01 1.49748052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97710568099998 meters 0.03732275960171875 Centerline is valid? [True, True] Translation: X:165.55, Y:30.99, Z:14.97 [[ 9.58519294e-01 -2.68975370e-01 -9.43027703e-02 1.65548859e+02] [ 2.67186500e-01 9.63134841e-01 -3.13472796e-02 3.09869466e+01] [ 9.92579299e-02 4.85054526e-03 9.95049916e-01 1.49747845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03710568099999 meters 0.0405368554539304 Centerline is valid? [True, True] Translation: X:165.61, Y:31.00, Z:14.98 [[ 9.60706830e-01 -2.60020351e-01 -9.71174703e-02 1.65607486e+02] [ 2.58077143e-01 9.65584801e-01 -3.22828099e-02 3.10042579e+01] [ 1.02169341e-01 5.95051668e-03 9.94749223e-01 1.49776448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097105681 meters 0.048220791412560096 Centerline is valid? [True, True] Translation: X:165.66, Y:31.02, Z:14.98 [[ 9.63879861e-01 -2.47457488e-01 -9.84906311e-02 1.65664131e+02] [ 2.45393844e-01 9.68870617e-01 -3.27351427e-02 3.10245996e+01] [ 1.03525235e-01 7.38375027e-03 9.94599420e-01 1.49812421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157105681 meters 0.055567482181457475 Centerline is valid? [True, True] Translation: X:165.72, Y:31.05, Z:14.99 [[ 9.66427236e-01 -2.38560907e-01 -9.54310773e-02 1.65717871e+02] [ 2.36581104e-01 9.71093978e-01 -3.17154206e-02 3.10485621e+01] [ 1.00238604e-01 8.07345662e-03 9.94930672e-01 1.49929682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.217105681 meters 0.05877723681854694 Centerline is valid? [True, True] Translation: X:165.78, Y:31.05, Z:14.99 [[ 9.66363125e-01 -2.37133407e-01 -9.95492786e-02 1.65781483e+02] [ 2.34971453e-01 9.71439253e-01 -3.30786146e-02 3.10544213e+01] [ 1.04550121e-01 8.57471478e-03 9.94482653e-01 1.49869644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.277105681 meters 0.047087615166339435 Centerline is valid? [True, True] Translation: X:165.85, Y:31.04, Z:15.00 [[ 9.62705030e-01 -2.52382962e-01 -9.74775148e-02 1.65851311e+02] [ 2.50388040e-01 9.67603741e-01 -3.23856443e-02 3.10363497e+01] [ 1.02493193e-01 6.77061876e-03 9.94710664e-01 1.49954471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.337105681 meters 0.0385885405099152 Centerline is valid? [True, True] Translation: X:165.92, Y:31.03, Z:15.00 [[ 9.59179745e-01 -2.64913311e-01 -9.89704754e-02 1.65917662e+02] [ 2.62922854e-01 9.64256457e-01 -3.28794469e-02 3.10265919e+01] [ 1.04143123e-01 5.51569963e-03 9.94547026e-01 1.50035823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.397105681 meters 0.037422128008840844 Centerline is valid? [True, True] Translation: X:165.98, Y:31.04, Z:15.01 [[ 9.58174393e-01 -2.68397301e-01 -9.93213004e-02 1.65977686e+02] [ 2.66411324e-01 9.63294511e-01 -3.29953221e-02 3.10364472e+01] [ 1.04531519e-01 5.15495365e-03 9.94508214e-01 1.50080401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.457105681 meters 0.03382610041855609 Centerline is valid? [True, True] Translation: X:166.04, Y:31.03, Z:15.02 [[ 9.57044688e-01 -2.73373940e-01 -9.66030783e-02 1.66041341e+02] [ 2.71520688e-01 9.61897385e-01 -3.20926278e-02 3.10323555e+01] [ 1.01695537e-01 4.48434465e-03 9.94805463e-01 1.50206169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517105681 meters 0.036262453170883065 Centerline is valid? [True, True] Translation: X:166.10, Y:31.04, Z:15.03 [[ 9.58304920e-01 -2.69255039e-01 -9.56734303e-02 1.66100054e+02] [ 2.67416629e-01 9.63056561e-01 -3.17868886e-02 3.10416243e+01] [ 1.00697705e-01 4.87686549e-03 9.94905115e-01 1.50308390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577105681 meters 0.046795850837308535 Centerline is valid? [True, True] Translation: X:166.16, Y:31.06, Z:15.04 [[ 9.62485144e-01 -2.54481943e-01 -9.41344217e-02 1.66156640e+02] [ 2.52631190e-01 9.67056826e-01 -3.12822135e-02 3.10582950e+01] [ 9.89940936e-02 6.32737481e-03 9.95067904e-01 1.50384051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637105681 meters 0.05203713831103414 Centerline is valid? [True, True] Translation: X:166.22, Y:31.07, Z:15.04 [[ 9.64047304e-01 -2.47934969e-01 -9.56088223e-02 1.66215498e+02] [ 2.45993467e-01 9.68750574e-01 -3.17732689e-02 3.10720129e+01] [ 1.00498806e-01 7.11178860e-03 9.94911761e-01 1.50398707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697105681 meters 0.051392013890590116 Centerline is valid? [True, True] Translation: X:166.28, Y:31.08, Z:15.04 [[ 9.63138910e-01 -2.51200165e-01 -9.62388549e-02 1.66276043e+02] [ 2.49248794e-01 9.67911143e-01 -3.19852839e-02 3.10779935e+01] [ 1.01185369e-01 6.81885295e-03 9.94844221e-01 1.50440331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75710568099998 meters 0.04504323832648492 Centerline is valid? [True, True] Translation: X:166.34, Y:31.08, Z:15.05 [[ 9.60855389e-01 -2.59574184e-01 -9.68409240e-02 1.66337899e+02] [ 2.57639914e-01 9.65704657e-01 -3.21898971e-02 3.10807646e+01] [ 1.01875398e-01 5.97974883e-03 9.94779195e-01 1.50512725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817105681 meters 0.040703689257035026 Centerline is valid? [True, True] Translation: X:166.40, Y:31.09, Z:15.06 [[ 9.58348040e-01 -2.69031479e-01 -9.58702103e-02 1.66397513e+02] [ 2.67182657e-01 9.63118783e-01 -3.18690794e-02 3.10875035e+01] [ 1.00908186e-01 4.92681226e-03 9.94883543e-01 1.50589845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877105681 meters 0.02962137043691165 Centerline is valid? [True, True] Translation: X:166.46, Y:31.08, Z:15.07 [[ 9.55008524e-01 -2.80746377e-01 -9.56043417e-02 1.66461166e+02] [ 2.78965707e-01 9.59774922e-01 -3.17841562e-02 3.10847966e+01] [ 1.00681936e-01 3.68380725e-03 9.94911844e-01 1.50654840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937105681 meters 0.025754057641949955 Centerline is valid? [True, True] Translation: X:166.52, Y:31.10, Z:15.07 [[ 9.52416181e-01 -2.88611538e-01 -9.80142705e-02 1.66520333e+02] [ 2.86780586e-01 9.57441795e-01 -3.25899371e-02 3.10961931e+01] [ 1.03248791e-01 2.93059355e-03 9.94651245e-01 1.50696397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.997105681 meters 0.02681773527565944 Centerline is valid? [True, True] Translation: X:166.58, Y:31.11, Z:15.07 [[ 9.52758044e-01 -2.86160430e-01 -1.01805293e-01 1.66577468e+02] [ 2.84169961e-01 9.58175942e-01 -3.38570203e-02 3.11134835e+01] [ 1.07235922e-01 3.32754229e-03 9.94228034e-01 1.50709875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.057105681 meters 0.029720258341827562 Centerline is valid? [True, True] Translation: X:166.63, Y:31.14, Z:15.08 [[ 9.54518294e-01 -2.80418620e-01 -1.01292760e-01 1.66631534e+02] [ 2.78415372e-01 9.59869642e-01 -3.36919900e-02 3.11386898e+01] [ 1.06675707e-01 3.95815930e-03 9.94285988e-01 1.50803458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.117105681 meters 0.03216435104910282 Centerline is valid? [True, True] Translation: X:166.68, Y:31.16, Z:15.10 [[ 9.56166977e-01 -2.76869359e-01 -9.53313723e-02 1.66684144e+02] [ 2.75077495e-01 9.60898818e-01 -3.17148742e-02 3.11615787e+01] [ 1.00384680e-01 4.10120024e-03 9.94940248e-01 1.50950803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.177105681 meters 0.033174989174001475 Centerline is valid? [True, True] Translation: X:166.74, Y:31.18, Z:15.11 [[ 9.57398680e-01 -2.74141053e-01 -9.07438689e-02 1.66738798e+02] [ 2.72504496e-01 9.61680379e-01 -3.02017828e-02 3.11806049e+01] [ 9.55461468e-02 4.18703467e-03 9.95416196e-01 1.51055806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.237105681 meters 0.03503319639823437 Centerline is valid? [True, True] Translation: X:166.79, Y:31.21, Z:15.11 [[ 9.58232919e-01 -2.70579895e-01 -9.26077425e-02 1.66792613e+02] [ 2.68855446e-01 9.62686205e-01 -3.08548047e-02 3.12081353e+01] [ 9.75008860e-02 4.66799361e-03 9.95224491e-01 1.51079102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297105681 meters 0.03472429488700853 Centerline is valid? [True, True] Translation: X:166.85, Y:31.23, Z:15.11 [[ 9.57758606e-01 -2.71988886e-01 -9.33836075e-02 1.66849012e+02] [ 2.70241209e-01 9.62289539e-01 -3.11212657e-02 3.12254938e+01] [ 9.83267070e-02 4.57056110e-03 9.95143692e-01 1.51098280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357105681 meters 0.032017762618934464 Centerline is valid? [True, True] Translation: X:166.91, Y:31.24, Z:15.11 [[ 9.56033839e-01 -2.76147952e-01 -9.86995812e-02 1.66906132e+02] [ 2.74212897e-01 9.61104978e-01 -3.29318746e-02 3.12416917e+01] [ 1.03954729e-01 4.41928844e-03 9.94572212e-01 1.51125656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417105681 meters 0.029532116124526213 Centerline is valid? [True, True] Translation: X:166.97, Y:31.25, Z:15.12 [[ 9.54086117e-01 -2.82104377e-01 -1.00681684e-01 1.66966401e+02] [ 2.80120079e-01 9.59375879e-01 -3.36253449e-02 3.12515902e+01] [ 1.06077436e-01 3.87851341e-03 9.94350308e-01 1.51154543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47710568099998 meters 0.024766591208691582 Centerline is valid? [True, True] Translation: X:167.03, Y:31.26, Z:15.12 [[ 9.51039352e-01 -2.91934367e-01 -1.01481411e-01 1.67026189e+02] [ 2.89973140e-01 9.56434218e-01 -3.38993199e-02 3.12600659e+01] [ 1.06956671e-01 2.81270367e-03 9.94259704e-01 1.51205592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53710568099999 meters 0.02034309516430238 Centerline is valid? [True, True] Translation: X:167.09, Y:31.26, Z:15.12 [[ 9.46013927e-01 -3.06219593e-01 -1.06241291e-01 1.67087751e+02] [ 3.04158048e-01 9.51960063e-01 -3.54953654e-02 3.12640101e+01] [ 1.12006842e-01 1.26496639e-03 9.93706630e-01 1.51169055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597105681 meters 0.020353179213988038 Centerline is valid? [True, True] Translation: X:167.15, Y:31.26, Z:15.12 [[ 9.38367306e-01 -3.28824714e-01 -1.06494634e-01 1.67149641e+02] [ 3.26895766e-01 9.44389914e-01 -3.55928234e-02 3.12624985e+01] [ 1.12276259e-01 -1.41350325e-03 9.93676026e-01 1.51249325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657105681 meters 0.025803718926520336 Centerline is valid? [True, True] Translation: X:167.21, Y:31.27, Z:15.14 [[ 9.32541909e-01 -3.45588403e-01 -1.04566932e-01 1.67210180e+02] [ 3.43829678e-01 9.38380279e-01 -3.49800603e-02 3.12685743e+01] [ 1.10212250e-01 -3.33284244e-03 9.93902486e-01 1.51368567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.717105681 meters 0.025155070604366548 Centerline is valid? [True, True] Translation: X:167.26, Y:31.29, Z:15.15 [[ 9.33322183e-01 -3.45584018e-01 -9.73724231e-02 1.67262445e+02] [ 3.44059125e-01 9.38382700e-01 -3.25764752e-02 3.12936750e+01] [ 1.02630507e-01 -3.09752374e-03 9.94714725e-01 1.51536160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.777105681 meters 0.022767560757399607 Centerline is valid? [True, True] Translation: X:167.31, Y:31.33, Z:15.16 [[ 9.35891924e-01 -3.39428247e-01 -9.43120995e-02 1.67313213e+02] [ 3.37965737e-01 9.40629050e-01 -3.15618697e-02 3.13282123e+01] [ 9.94256906e-02 -2.33575918e-03 9.95042248e-01 1.51627758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.837105681 meters 0.021841562629974377 Centerline is valid? [True, True] Translation: X:167.36, Y:31.36, Z:15.16 [[ 9.36355095e-01 -3.37022481e-01 -9.82597756e-02 1.67364090e+02] [ 3.35420369e-01 9.41494126e-01 -3.28935619e-02 3.13598581e+01] [ 1.03596871e-01 -2.15827593e-03 9.94617027e-01 1.51588682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.897105681 meters 0.0229693504063287 Centerline is valid? [True, True] Translation: X:167.41, Y:31.39, Z:15.17 [[ 9.35489796e-01 -3.39540433e-01 -9.78321802e-02 1.67414183e+02] [ 3.37961723e-01 9.40588430e-01 -3.27914483e-02 3.13928363e+01] [ 1.03153839e-01 -2.38746693e-03 9.94662549e-01 1.51672211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.957105681 meters 0.022376904082524022 Centerline is valid? [True, True] Translation: X:167.46, Y:31.44, Z:15.16 [[ 9.36499753e-01 -3.35515608e-01 -1.01968083e-01 1.67461889e+02] [ 3.33772204e-01 9.42032546e-01 -3.42169360e-02 3.14371794e+01] [ 1.07537569e-01 -1.98995968e-03 9.94199030e-01 1.51641204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017105681 meters 0.020968468332514985 Centerline is valid? [True, True] Translation: X:167.51, Y:31.48, Z:15.17 [[ 9.39265126e-01 -3.27230297e-01 -1.03447359e-01 1.67508907e+02] [ 3.25381336e-01 9.44944070e-01 -3.47518442e-02 3.14829355e+01] [ 1.09123825e-01 -1.01864467e-03 9.94027642e-01 1.51691408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077105681 meters 0.021956672811202383 Centerline is valid? [True, True] Translation: X:167.55, Y:31.53, Z:15.17 [[ 9.45314653e-01 -3.09748001e-01 -1.02158614e-01 1.67553569e+02] [ 3.07838699e-01 9.50818132e-01 -3.43542531e-02 3.15342502e+01] [ 1.07775423e-01 1.02720413e-03 9.94174735e-01 1.51739604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137105681 meters 0.02754220446901073 Centerline is valid? [True, True] Translation: X:167.60, Y:31.58, Z:15.18 [[ 9.50832658e-01 -2.92433577e-01 -1.01979697e-01 1.67601670e+02] [ 2.90427764e-01 9.56281069e-01 -3.43253728e-02 3.15797421e+01] [ 1.07559145e-01 3.01995006e-03 9.94194101e-01 1.51784713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197105681 meters 0.030982356296345215 Centerline is valid? [True, True] Translation: X:167.65, Y:31.61, Z:15.18 [[ 9.52925435e-01 -2.85864864e-01 -1.01066289e-01 1.67653702e+02] [ 2.83858122e-01 9.58262691e-01 -3.40173732e-02 3.16118696e+01] [ 1.06572426e-01 3.72753319e-03 9.94297955e-01 1.51836663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25710568099998 meters 0.029273677923484953 Centerline is valid? [True, True] Translation: X:167.71, Y:31.63, Z:15.19 [[ 9.52847247e-01 -2.87376015e-01 -9.74533233e-02 1.67712109e+02] [ 2.85518573e-01 9.57811707e-01 -3.28005833e-02 3.16288329e+01] [ 1.02768035e-01 3.42921169e-03 9.94699438e-01 1.51945563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317105681 meters 0.03059041296787183 Centerline is valid? [True, True] Translation: X:167.77, Y:31.65, Z:15.20 [[ 9.52865659e-01 -2.87147702e-01 -9.79450546e-02 1.67769894e+02] [ 2.85270806e-01 9.57880047e-01 -3.29603096e-02 3.16487219e+01] [ 1.03284091e-01 3.46588240e-03 9.94645859e-01 1.51979283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377105681 meters 0.031673547057919804 Centerline is valid? [True, True] Translation: X:167.83, Y:31.67, Z:15.21 [[ 9.53524273e-01 -2.85210781e-01 -9.71919276e-02 1.67827630e+02] [ 2.83353531e-01 9.58457910e-01 -3.26988034e-02 3.16714744e+01] [ 1.02480423e-01 3.63942693e-03 9.94728364e-01 1.52054316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437105681 meters 0.027584481218831135 Centerline is valid? [True, True] Translation: X:167.89, Y:31.68, Z:15.21 [[ 9.51674718e-01 -2.91118990e-01 -9.78006387e-02 1.67888572e+02] [ 2.89270330e-01 9.56682106e-01 -3.28941488e-02 3.16823481e+01] [ 1.03140232e-01 3.01370676e-03 9.94662259e-01 1.52106073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.497105681 meters 0.021289860313008453 Centerline is valid? [True, True] Translation: X:167.95, Y:31.68, Z:15.21 [[ 9.44842352e-01 -3.12205614e-01 -9.89979034e-02 1.67953694e+02] [ 3.10426304e-01 9.50014279e-01 -3.32923388e-02 3.16770435e+01] [ 1.04443477e-01 7.24458435e-04 9.94530560e-01 1.52134938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.557105681 meters 0.021190598946941072 Centerline is valid? [True, True] Translation: X:168.01, Y:31.68, Z:15.22 [[ 9.38995383e-01 -3.29157219e-01 -9.97155758e-02 1.68012922e+02] [ 3.27446208e-01 9.44274420e-01 -3.35380400e-02 3.16796122e+01] [ 1.05198156e-01 -1.15942252e-03 9.94450604e-01 1.52205560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.617105681 meters 0.02113529182232436 Centerline is valid? [True, True] Translation: X:168.07, Y:31.70, Z:15.23 [[ 9.39223023e-01 -3.28520166e-01 -9.96725315e-02 1.68068083e+02] [ 3.26804537e-01 9.44496356e-01 -3.35474027e-02 3.16956509e+01] [ 1.05161341e-01 -1.06494259e-03 9.94454603e-01 1.52284713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.677105681 meters 0.021173210410100698 Centerline is valid? [True, True] Translation: X:168.12, Y:31.73, Z:15.23 [[ 9.44101915e-01 -3.13742634e-01 -1.01178724e-01 1.68118087e+02] [ 3.11885033e-01 9.49507850e-01 -3.40964718e-02 3.17277576e+01] [ 1.06767510e-01 6.34414526e-04 9.94283811e-01 1.52322965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.737105681 meters 0.030340773973062847 Centerline is valid? [True, True] Translation: X:168.16, Y:31.78, Z:15.24 [[ 9.51984760e-01 -2.89380288e-01 -9.99202947e-02 1.68164048e+02] [ 2.87430270e-01 9.57208287e-01 -3.37065932e-02 3.17766622e+01] [ 1.05398558e-01 3.36804572e-03 9.94424356e-01 1.52367508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797105681 meters 0.03450228179584744 Centerline is valid? [True, True] Translation: X:168.22, Y:31.81, Z:15.24 [[ 9.55670877e-01 -2.77109987e-01 -9.95149688e-02 1.68217952e+02] [ 2.75109190e-01 9.60826682e-01 -3.35711169e-02 3.18071473e+01] [ 1.04919529e-01 4.70545628e-03 9.94469583e-01 1.52397086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857105681 meters 0.03336965963323706 Centerline is valid? [True, True] Translation: X:168.28, Y:31.82, Z:15.25 [[ 9.55677603e-01 -2.78099226e-01 -9.66495753e-02 1.68277437e+02] [ 2.76217926e-01 9.60542007e-01 -3.25992398e-02 3.18243759e+01] [ 1.01901800e-01 4.45801805e-03 9.94784474e-01 1.52481622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917105681 meters 0.02789291475988133 Centerline is valid? [True, True] Translation: X:168.34, Y:31.83, Z:15.26 [[ 9.52957651e-01 -2.87710743e-01 -9.53637417e-02 1.68337840e+02] [ 2.85928030e-01 9.57711401e-01 -3.21563992e-02 3.18323637e+01] [ 1.00582684e-01 3.37651985e-03 9.94922973e-01 1.52590572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97710568099998 meters 0.025771831187420942 Centerline is valid? [True, True] Translation: X:168.40, Y:31.84, Z:15.27 [[ 9.51414473e-01 -2.93893931e-01 -9.18523694e-02 1.68397292e+02] [ 2.92269162e-01 9.55834445e-01 -3.09717814e-02 3.18418689e+01] [ 9.68980771e-02 2.62138613e-03 9.95290857e-01 1.52659770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03710568099999 meters 0.022230459193761324 Centerline is valid? [True, True] Translation: X:168.46, Y:31.85, Z:15.27 [[ 9.48485903e-01 -3.02583804e-01 -9.39017251e-02 1.68459070e+02] [ 3.00927853e-01 9.53121133e-01 -3.16628055e-02 3.18486096e+01] [ 9.90803708e-02 1.77408014e-03 9.95077853e-01 1.52675613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097105681 meters 0.022927368137776533 Centerline is valid? [True, True] Translation: X:168.52, Y:31.87, Z:15.27 [[ 9.49198067e-01 -2.99605229e-01 -9.62275251e-02 1.68517878e+02] [ 2.97850784e-01 9.54060869e-01 -3.24463999e-02 3.18662813e+01] [ 1.01528027e-01 2.13661630e-03 9.94830385e-01 1.52718732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157105681 meters 0.02816105194202325 Centerline is valid? [True, True] Translation: X:168.57, Y:31.89, Z:15.28 [[ 9.52919568e-01 -2.87023746e-01 -9.77837774e-02 1.68572561e+02] [ 2.85146136e-01 9.57916957e-01 -3.29664123e-02 3.18941242e+01] [ 1.03130882e-01 3.53167305e-03 9.94661525e-01 1.52757894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.217105681 meters 0.033152671749951575 Centerline is valid? [True, True] Translation: X:168.63, Y:31.92, Z:15.28 [[ 9.55295136e-01 -2.78955193e-01 -9.79551074e-02 1.68627206e+02] [ 2.77028684e-01 9.60293988e-01 -3.30236950e-02 3.19198748e+01] [ 1.03277832e-01 4.41100066e-03 9.94642766e-01 1.52801005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.277105681 meters 0.03253812631608868 Centerline is valid? [True, True] Translation: X:168.69, Y:31.94, Z:15.29 [[ 9.55686769e-01 -2.77969697e-01 -9.69311480e-02 1.68687400e+02] [ 2.76078532e-01 9.60579453e-01 -3.26765895e-02 3.19360979e+01] [ 1.02193171e-01 4.46797519e-03 9.94754539e-01 1.52869975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.337105681 meters 0.02986784707706427 Centerline is valid? [True, True] Translation: X:168.75, Y:31.94, Z:15.30 [[ 9.54447263e-01 -2.83926298e-01 -9.17402873e-02 1.68747820e+02] [ 2.82261000e-01 9.58839292e-01 -3.09182735e-02 3.19405614e+01] [ 9.67427030e-02 3.61515625e-03 9.95302858e-01 1.52970365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.397105681 meters 0.026827239870249407 Centerline is valid? [True, True] Translation: X:168.81, Y:31.95, Z:15.30 [[ 9.52522600e-01 -2.90066190e-01 -9.25327016e-02 1.68806350e+02] [ 2.88400292e-01 9.57001813e-01 -3.11897685e-02 3.19521079e+01] [ 9.76010605e-02 3.02250120e-03 9.95221029e-01 1.53026603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.457105681 meters 0.021999711534630095 Centerline is valid? [True, True] Translation: X:168.87, Y:31.95, Z:15.31 [[ 9.48786111e-01 -3.02439626e-01 -9.12972462e-02 1.68868305e+02] [ 3.00874467e-01 9.53166969e-01 -3.07779960e-02 3.19538454e+01] [ 9.63300051e-02 1.73272487e-03 9.95347943e-01 1.53076816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517105681 meters 0.019386034957709648 Centerline is valid? [True, True] Translation: X:168.93, Y:31.96, Z:15.31 [[ 9.45640117e-01 -3.12024497e-01 -9.16814211e-02 1.68928708e+02] [ 3.10490548e-01 9.50073749e-01 -3.09110092e-02 3.19587269e+01] [ 9.67491036e-02 7.64475619e-04 9.95308508e-01 1.53117902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577105681 meters 0.01871405016986898 Centerline is valid? [True, True] Translation: X:168.99, Y:31.97, Z:15.32 [[ 9.41562036e-01 -3.23786344e-01 -9.28619237e-02 1.68987069e+02] [ 3.22268156e-01 9.46130125e-01 -3.13212694e-02 3.19679792e+01] [ 9.80008628e-02 -4.35522695e-04 9.95186234e-01 1.53161821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637105681 meters 0.019739349554465553 Centerline is valid? [True, True] Translation: X:169.04, Y:31.98, Z:15.32 [[ 9.39043898e-01 -3.30600851e-01 -9.43378788e-02 1.69044763e+02] [ 3.29064620e-01 9.43769992e-01 -3.18540043e-02 3.19794806e+01] [ 9.95642201e-02 -1.13094990e-03 9.95030496e-01 1.53192529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697105681 meters 0.02000144242795861 Centerline is valid? [True, True] Translation: X:169.10, Y:32.00, Z:15.32 [[ 9.38926504e-01 -3.31139631e-01 -9.36139120e-02 1.69097990e+02] [ 3.29628233e-01 9.43581043e-01 -3.16234461e-02 3.20001827e+01] [ 9.88040891e-02 -1.16569674e-03 9.95106222e-01 1.53242975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75710568099998 meters 0.018971870990040867 Centerline is valid? [True, True] Translation: X:169.15, Y:32.04, Z:15.33 [[ 9.42535349e-01 -3.20505351e-01 -9.43580230e-02 1.69147330e+02] [ 3.18913627e-01 9.47246704e-01 -3.19026584e-02 3.20380331e+01] [ 9.96052990e-02 -2.26760913e-05 9.95027027e-01 1.53308750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817105681 meters 0.02123878985382685 Centerline is valid? [True, True] Translation: X:169.20, Y:32.08, Z:15.34 [[ 9.47260984e-01 -3.07284122e-01 -9.09565681e-02 1.69195574e+02] [ 3.05741329e-01 9.51616858e-01 -3.07830332e-02 3.20778385e+01] [ 9.60149408e-02 1.35038428e-03 9.95378977e-01 1.53393057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877105681 meters 0.02653570099748163 Centerline is valid? [True, True] Translation: X:169.24, Y:32.12, Z:15.35 [[ 9.52990852e-01 -2.90811399e-01 -8.50715415e-02 1.69244437e+02] [ 2.89393728e-01 9.56776163e-01 -2.88209027e-02 3.21193820e+01] [ 8.97758700e-02 2.84688609e-03 9.95957925e-01 1.53509281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.937105681 meters 0.030196199389899894 Centerline is valid? [True, True] Translation: X:169.30, Y:32.15, Z:15.36 [[ 9.55706778e-01 -2.82809289e-01 -8.15074214e-02 1.69299355e+02] [ 2.81479111e-01 9.59169965e-01 -2.76131994e-02 3.21475958e+01] [ 8.59887397e-02 3.44748528e-03 9.96290144e-01 1.53582706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.997105681 meters 0.03179263897700894 Centerline is valid? [True, True] Translation: X:169.36, Y:32.17, Z:15.36 [[ 9.56256629e-01 -2.80718836e-01 -8.22811989e-02 1.69357025e+02] [ 2.79355900e-01 9.59783046e-01 -2.78708615e-02 3.21682981e+01] [ 8.67959755e-02 3.66595763e-03 9.96219363e-01 1.53619035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.057105681 meters 0.03324278063131134 Centerline is valid? [True, True] Translation: X:169.42, Y:32.19, Z:15.37 [[ 9.56797532e-01 -2.78734431e-01 -8.27381379e-02 1.69416249e+02] [ 2.77349472e-01 9.60360458e-01 -2.80189477e-02 3.21861682e+01] [ 8.72682815e-02 3.86108117e-03 9.96177363e-01 1.53674746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.117105681 meters 0.03502739551485293 Centerline is valid? [True, True] Translation: X:169.48, Y:32.20, Z:15.37 [[ 9.56861737e-01 -2.77091305e-01 -8.73843521e-02 1.69476193e+02] [ 2.75540070e-01 9.60834287e-01 -2.95828288e-02 3.22009708e+01] [ 9.21590263e-02 4.22878652e-03 9.95735322e-01 1.53683646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.177105681 meters 0.031939661582590984 Centerline is valid? [True, True] Translation: X:169.54, Y:32.21, Z:15.36 [[ 9.54554851e-01 -2.82328697e-01 -9.54753528e-02 1.69538687e+02] [ 2.80502506e-01 9.59309108e-01 -3.23168584e-02 3.22086695e+01] [ 1.00714352e-01 4.06713830e-03 9.94907070e-01 1.53649883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.237105681 meters 0.033231648256709455 Centerline is valid? [True, True] Translation: X:169.59, Y:32.22, Z:15.37 [[ 9.53896522e-01 -2.84553437e-01 -9.54503389e-02 1.69594705e+02] [ 2.82739369e-01 9.58652528e-01 -3.23075934e-02 3.22230980e+01] [ 1.00696945e-01 3.83053243e-03 9.94909771e-01 1.53691483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297105681 meters 0.03206559550473303 Centerline is valid? [True, True] Translation: X:169.65, Y:32.24, Z:15.38 [[ 9.54867310e-01 -2.82198875e-01 -9.26942072e-02 1.69651918e+02] [ 2.80475936e-01 9.59347699e-01 -3.13885718e-02 3.22351759e+01] [ 9.77837940e-02 3.97342661e-03 9.95199750e-01 1.53816140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357105681 meters 0.032704046514386985 Centerline is valid? [True, True] Translation: X:169.71, Y:32.25, Z:15.39 [[ 9.55606136e-01 -2.79955213e-01 -9.18803106e-02 1.69709659e+02] [ 2.78248803e-01 9.60003879e-01 -3.11473291e-02 3.22471212e+01] [ 9.69253117e-02 4.19899239e-03 9.95282800e-01 1.53889866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417105681 meters 0.029503283921080033 Centerline is valid? [True, True] Translation: X:169.77, Y:32.25, Z:15.40 [[ 9.54042320e-01 -2.86753632e-01 -8.70379568e-02 1.69770324e+02] [ 2.85248078e-01 9.57998497e-01 -2.95366649e-02 3.22510324e+01] [ 9.18519777e-02 3.35181842e-03 9.95767031e-01 1.54016210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47710568099998 meters 0.0222937284160138 Centerline is valid? [True, True] Translation: X:169.83, Y:32.24, Z:15.41 [[ 9.48869479e-01 -3.04183028e-01 -8.43765263e-02 1.69834977e+02] [ 3.02836308e-01 9.52612228e-01 -2.86376208e-02 3.22426945e+01] [ 8.90891889e-02 1.62108863e-03 9.96022333e-01 1.54133572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53710568099999 meters 0.01896073064020066 Centerline is valid? [True, True] Translation: X:169.90, Y:32.24, Z:15.41 [[ 9.44833011e-01 -3.15335738e-01 -8.86225318e-02 1.69897339e+02] [ 3.13898092e-01 9.48979982e-01 -3.00829040e-02 3.22437244e+01] [ 9.35872234e-02 6.04877168e-04 9.95610901e-01 1.54120855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597105681 meters 0.018557480667754842 Centerline is valid? [True, True] Translation: X:169.95, Y:32.25, Z:15.42 [[ 9.42783840e-01 -3.20926097e-01 -9.03607871e-02 1.69954600e+02] [ 3.19455963e-01 9.47104237e-01 -3.06830803e-02 3.22543562e+01] [ 9.54280856e-02 6.12200198e-05 9.95436325e-01 1.54152713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657105681 meters 0.01885311342396432 Centerline is valid? [True, True] Translation: X:170.01, Y:32.28, Z:15.42 [[ 9.42959820e-01 -3.19489311e-01 -9.35593776e-02 1.70008932e+02] [ 3.17904447e-01 9.47589852e-01 -3.17841825e-02 3.22760100e+01] [ 9.88106234e-02 2.28264789e-04 9.95106230e-01 1.54185397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.717105681 meters 0.024136962363767302 Centerline is valid? [True, True] Translation: X:170.06, Y:32.32, Z:15.42 [[ 9.49342892e-01 -2.99776182e-01 -9.42460263e-02 1.70057964e+02] [ 2.98067182e-01 9.54006704e-01 -3.20493863e-02 3.23176601e+01] [ 9.95189836e-02 2.33420966e-03 9.95032926e-01 1.54233195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.777105681 meters 0.031013017097725106 Centerline is valid? [True, True] Translation: X:170.11, Y:32.35, Z:15.43 [[ 9.53459085e-01 -2.86734482e-01 -9.32690246e-02 1.70107535e+02] [ 2.84998230e-01 9.58003097e-01 -3.17186764e-02 3.23545297e+01] [ 9.84468527e-02 3.66095316e-03 9.95135576e-01 1.54290887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.837105681 meters 0.03711546543916179 Centerline is valid? [True, True] Translation: X:170.16, Y:32.38, Z:15.43 [[ 9.55904756e-01 -2.78416064e-01 -9.34376456e-02 1.70161521e+02] [ 2.76634472e-01 9.60449925e-01 -3.17696466e-02 3.23809727e+01] [ 9.85873597e-02 4.52068253e-03 9.95118132e-01 1.54340524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.897105681 meters 0.04156337244061462 Centerline is valid? [True, True] Translation: X:170.22, Y:32.40, Z:15.44 [[ 9.57721816e-01 -2.72854075e-01 -9.12117120e-02 1.70216650e+02] [ 2.71131213e-01 9.62042575e-01 -3.10153047e-02 3.24036562e+01] [ 9.62122025e-02 4.97369183e-03 9.95348419e-01 1.54433667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.957105681 meters 0.04727622454994804 Centerline is valid? [True, True] Translation: X:170.27, Y:32.43, Z:15.45 [[ 9.59729339e-01 -2.65883123e-01 -9.06959783e-02 1.70272715e+02] [ 2.64148528e-01 9.63988757e-01 -3.08420368e-02 3.24258638e+01] [ 9.56302804e-02 5.64279846e-03 9.95400928e-01 1.54502321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017105681 meters 0.042294065876671644 Centerline is valid? [True, True] Translation: X:170.33, Y:32.43, Z:15.46 [[ 9.60288789e-01 -2.63613802e-01 -9.13958726e-02 1.70332530e+02] [ 2.61841973e-01 9.64610167e-01 -3.10806490e-02 3.24335296e+01] [ 9.63546760e-02 5.91512323e-03 9.95329487e-01 1.54556001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077105681 meters 0.04091459857878422 Centerline is valid? [True, True] Translation: X:170.39, Y:32.44, Z:15.45 [[ 9.59114093e-01 -2.65542371e-01 -9.79153001e-02 1.70392475e+02] [ 2.63516481e-01 9.64079598e-01 -3.33105428e-02 3.24404948e+01] [ 1.03243504e-01 6.14631570e-03 9.94637121e-01 1.54528237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137105681 meters 0.03299787695532757 Centerline is valid? [True, True] Translation: X:170.46, Y:32.44, Z:15.47 [[ 9.55491428e-01 -2.80347761e-01 -9.18763532e-02 1.70456519e+02] [ 2.78629546e-01 9.59888892e-01 -3.12872449e-02 3.24371566e+01] [ 9.69623998e-02 4.29522764e-03 9.95278777e-01 1.54682886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197105681 meters 0.02609829156089142 Centerline is valid? [True, True] Translation: X:170.52, Y:32.44, Z:15.47 [[ 9.51008921e-01 -2.94395941e-01 -9.44090124e-02 1.70519113e+02] [ 2.92650114e-01 9.55679003e-01 -3.21489384e-02 3.24394189e+01] [ 9.96892278e-02 2.94511898e-03 9.95014263e-01 1.54707608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25710568099998 meters 0.021135211381331894 Centerline is valid? [True, True] Translation: X:170.58, Y:32.45, Z:15.47 [[ 9.47294185e-01 -3.05511755e-01 -9.64172945e-02 1.70580100e+02] [ 3.03747368e-01 9.52186565e-01 -3.28371978e-02 3.24455039e+01] [ 1.01839402e-01 1.81998714e-03 9.94799188e-01 1.54737585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317105681 meters 0.019928943362002752 Centerline is valid? [True, True] Translation: X:170.64, Y:32.46, Z:15.48 [[ 9.46057834e-01 -3.09508692e-01 -9.58068094e-02 1.70636964e+02] [ 3.07786134e-01 9.50895598e-01 -3.26382844e-02 3.24599521e+01] [ 1.01204106e-01 1.38969717e-03 9.94864713e-01 1.54819699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377105681 meters 0.022685533661696764 Centerline is valid? [True, True] Translation: X:170.69, Y:32.49, Z:15.49 [[ 9.48730575e-01 -3.01329132e-01 -9.54518181e-02 1.70689656e+02] [ 2.99574615e-01 9.53517449e-01 -3.25503249e-02 3.24884167e+01] [ 1.00823335e-01 2.28654680e-03 9.94901717e-01 1.54890889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.437105681 meters 0.029963734770632668 Centerline is valid? [True, True] Translation: X:170.74, Y:32.52, Z:15.50 [[ 9.54049509e-01 -2.86495075e-01 -8.78072139e-02 1.70739264e+02] [ 2.84947659e-01 9.58075133e-01 -2.99478042e-02 3.25245893e+01] [ 9.27058066e-02 3.55122785e-03 9.95687211e-01 1.55047433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.497105681 meters 0.03405641016510435 Centerline is valid? [True, True] Translation: X:170.79, Y:32.55, Z:15.50 [[ 9.55847738e-01 -2.80061914e-01 -8.89967711e-02 1.70793136e+02] [ 2.78444092e-01 9.59972597e-01 -3.03562388e-02 3.25523172e+01] [ 9.39360878e-02 4.23531704e-03 9.95569221e-01 1.55049415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.557105681 meters 0.03648110996762841 Centerline is valid? [True, True] Translation: X:170.85, Y:32.57, Z:15.50 [[ 9.55962321e-01 -2.78479924e-01 -9.26551257e-02 1.70847561e+02] [ 2.76718200e-01 9.60431147e-01 -3.16077501e-02 3.25718989e+01] [ 9.77909925e-02 4.57645862e-03 9.95196452e-01 1.55022588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.617105681 meters 0.031339830175442375 Centerline is valid? [True, True] Translation: X:170.91, Y:32.58, Z:15.51 [[ 9.53261497e-01 -2.87636950e-01 -9.25067709e-02 1.70907553e+02] [ 2.85922382e-01 9.57732582e-01 -3.15704547e-02 3.25812119e+01] [ 9.76775778e-02 3.64514261e-03 9.95211437e-01 1.55089953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.677105681 meters 0.02392532277248513 Centerline is valid? [True, True] Translation: X:170.97, Y:32.58, Z:15.51 [[ 9.49919842e-01 -2.98251357e-01 -9.32653297e-02 1.70970203e+02] [ 2.96559160e-01 9.54483883e-01 -3.18305121e-02 3.25840711e+01] [ 9.85137475e-02 2.57774722e-03 9.95132351e-01 1.55149737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.737105681 meters 0.02251705919395555 Centerline is valid? [True, True] Translation: X:171.03, Y:32.60, Z:15.52 [[ 9.48766912e-01 -3.01770697e-01 -9.36792015e-02 1.71028540e+02] [ 3.00080009e-01 9.53377935e-01 -3.19765787e-02 3.25954331e+01] [ 9.89612782e-02 2.22706422e-03 9.95088793e-01 1.55193915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797105681 meters 0.027169868739140696 Centerline is valid? [True, True] Translation: X:171.08, Y:32.62, Z:15.51 [[ 9.50453086e-01 -2.93631551e-01 -1.02075678e-01 1.71084869e+02] [ 2.91572395e-01 9.55912671e-01 -3.48784097e-02 3.26193147e+01] [ 1.07816836e-01 3.38784212e-03 9.94165003e-01 1.55133848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857105681 meters 0.02507237476395309 Centerline is valid? [True, True] Translation: X:171.14, Y:32.63, Z:15.52 [[ 9.49666731e-01 -2.96968746e-01 -9.97129106e-02 1.71142841e+02] [ 2.95022121e-01 9.54882669e-01 -3.40739763e-02 3.26299085e+01] [ 1.05333036e-01 2.94140725e-03 9.94432652e-01 1.55221254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917105681 meters 0.018505229383428242 Centerline is valid? [True, True] Translation: X:171.20, Y:32.63, Z:15.53 [[ 9.44096692e-01 -3.15053888e-01 -9.70694762e-02 1.71203450e+02] [ 3.13303133e-01 9.49073345e-01 -3.31803073e-02 3.26332597e+01] [ 1.02579637e-01 9.13247299e-04 9.94724376e-01 1.55346553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97710568099998 meters 0.01825433810792217 Centerline is valid? [True, True] Translation: X:171.26, Y:32.64, Z:15.55 [[ 9.38586649e-01 -3.32685797e-01 -9.15164602e-02 1.71263293e+02] [ 3.31212584e-01 9.43037257e-01 -3.12882790e-02 3.26368518e+01] [ 9.67125977e-02 -9.44642267e-04 9.95311901e-01 1.55458410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03710568099999 meters 0.02051356079286687 Centerline is valid? [True, True] Translation: X:171.32, Y:32.66, Z:15.55 [[ 9.35844571e-01 -3.39982858e-01 -9.27717372e-02 1.71318226e+02] [ 3.38501083e-01 9.40430118e-01 -3.17523170e-02 3.26581318e+01] [ 9.80405792e-02 -1.68810013e-03 9.95180986e-01 1.55502230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097105681 meters 0.020421228861127565 Centerline is valid? [True, True] Translation: X:171.37, Y:32.68, Z:15.55 [[ 9.35758610e-01 -3.40032201e-01 -9.34554757e-02 1.71370807e+02] [ 3.38525267e-01 9.40412305e-01 -3.20209434e-02 3.26838489e+01] [ 9.87748311e-02 -1.67316632e-03 9.95108403e-01 1.55524336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157105681 meters 0.02039498641787092 Centerline is valid? [True, True] Translation: X:171.42, Y:32.71, Z:15.55 [[ 9.35425011e-01 -3.40043957e-01 -9.66962077e-02 1.71423585e+02] [ 3.38426387e-01 9.40408014e-01 -3.31714745e-02 3.27107077e+01] [ 1.02213648e-01 -1.69512139e-03 9.94761025e-01 1.55537413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.217105681 meters 0.01865778017062323 Centerline is valid? [True, True] Translation: X:171.47, Y:32.74, Z:15.56 [[ 9.38019297e-01 -3.33989446e-01 -9.25788750e-02 1.71474730e+02] [ 3.32474472e-01 9.42576324e-01 -3.17899026e-02 3.27423547e+01] [ 9.78801476e-02 -9.60570539e-04 9.95197746e-01 1.55627148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.277105681 meters 0.01838598453717685 Centerline is valid? [True, True] Translation: X:171.52, Y:32.79, Z:15.57 [[ 9.43360021e-01 -3.19669659e-01 -8.87872683e-02 1.71521261e+02] [ 3.18211395e-01 9.47528910e-01 -3.05036435e-02 3.27853172e+01] [ 9.38795929e-02 5.22797318e-04 9.95583421e-01 1.55728180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.337105681 meters 0.024487152283156878 Centerline is valid? [True, True] Translation: X:171.57, Y:32.83, Z:15.58 [[ 9.50159091e-01 -2.99383527e-01 -8.69896836e-02 1.71567691e+02] [ 2.97895611e-01 9.54129548e-01 -2.99167160e-02 3.28342251e+01] [ 9.19559995e-02 2.51179473e-03 9.95759903e-01 1.55759880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.397105681 meters 0.02846611275323139 Centerline is valid? [True, True] Translation: X:171.62, Y:32.87, Z:15.58 [[ 9.52365809e-01 -2.91566225e-01 -8.93784212e-02 1.71619031e+02] [ 2.89960764e-01 9.56544748e-01 -3.07392298e-02 3.28714571e+01] [ 9.44569806e-02 3.35875611e-03 9.95523278e-01 1.55779979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.457105681 meters 0.031364457027723336 Centerline is valid? [True, True] Translation: X:171.67, Y:32.90, Z:15.58 [[ 9.53977149e-01 -2.85958025e-01 -9.03084000e-02 1.71672514e+02] [ 2.84293798e-01 9.58233980e-01 -3.10592369e-02 3.28998234e+01] [ 9.54182156e-02 3.95568423e-03 9.95429413e-01 1.55818392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517105681 meters 0.034494307523241924 Centerline is valid? [True, True] Translation: X:171.73, Y:32.93, Z:15.59 [[ 9.56068143e-01 -2.78830655e-01 -9.04829956e-02 1.71727164e+02] [ 2.77127887e-01 9.60328887e-01 -3.11217418e-02 3.29257498e+01] [ 9.55711301e-02 4.67914448e-03 9.95411606e-01 1.55856914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577105681 meters 0.03624905187546547 Centerline is valid? [True, True] Translation: X:171.78, Y:32.94, Z:15.59 [[ 9.57095018e-01 -2.75728617e-01 -8.91227006e-02 1.71784580e+02] [ 2.74063190e-01 9.61222953e-01 -3.06561836e-02 3.29408039e+01] [ 9.41195726e-02 4.91562897e-03 9.95548765e-01 1.55900062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637105681 meters 0.03181217125403229 Centerline is valid? [True, True] Translation: X:171.85, Y:32.94, Z:15.60 [[ 9.54779642e-01 -2.83961079e-01 -8.81018756e-02 1.71847627e+02] [ 2.82367833e-01 9.58827194e-01 -3.03120180e-02 3.29420603e+01] [ 9.30819075e-02 4.06416197e-03 9.95650160e-01 1.55956090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697105681 meters 0.023957019788837595 Centerline is valid? [True, True] Translation: X:171.92, Y:32.93, Z:15.60 [[ 9.49305375e-01 -3.01023248e-01 -9.05776430e-02 1.71916360e+02] [ 2.99415839e-01 9.53613618e-01 -3.11644594e-02 3.29284275e+01] [ 9.57573006e-02 2.46420783e-03 9.95401661e-01 1.55983491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75710568099998 meters 0.018735274056361644 Centerline is valid? [True, True] Translation: X:171.98, Y:32.92, Z:15.60 [[ 9.44308243e-01 -3.15639528e-01 -9.30248946e-02 1.71981225e+02] [ 3.14013887e-01 9.48878631e-01 -3.20097224e-02 3.29247028e+01] [ 9.83728683e-02 1.01593595e-03 9.95149108e-01 1.56036685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817105681 meters 0.01813002837016825 Centerline is valid? [True, True] Translation: X:172.04, Y:32.94, Z:15.61 [[ 9.42964678e-01 -3.19523765e-01 -9.33926083e-02 1.72039959e+02] [ 3.17903619e-01 9.47578060e-01 -3.21420041e-02 3.29350127e+01] [ 9.87669208e-02 6.18926329e-04 9.95110402e-01 1.56090605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877105681 meters 0.019481878344226593 Centerline is valid? [True, True] Translation: X:172.10, Y:32.95, Z:15.62 [[ 9.44758934e-01 -3.14482768e-01 -9.23641965e-02 1.72095098e+02] [ 3.12870749e-01 9.49262465e-01 -3.18224199e-02 3.29541465e+01] [ 9.76854675e-02 1.16646012e-03 9.95216654e-01 1.56166517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.937105681 meters 0.025491380897728656 Centerline is valid? [True, True] Translation: X:172.15, Y:32.99, Z:15.63 [[ 9.49739931e-01 -3.00442633e-01 -8.79106794e-02 1.72145741e+02] [ 2.98919587e-01 9.53796568e-01 -3.03180985e-02 3.29861165e+01] [ 9.29577537e-02 2.51608477e-03 9.95666875e-01 1.56299555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.997105681 meters 0.032755482189854294 Centerline is valid? [True, True] Translation: X:172.20, Y:33.02, Z:15.64 [[ 9.54819484e-01 -2.84552652e-01 -8.57294584e-02 1.72199125e+02] [ 2.83040106e-01 9.58652206e-01 -2.95676653e-02 3.30165202e+01] [ 9.05982920e-02 3.96690799e-03 9.95879618e-01 1.56370441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.057105681 meters 0.0382220612573503 Centerline is valid? [True, True] Translation: X:172.26, Y:33.04, Z:15.63 [[ 9.57431738e-01 -2.75101720e-01 -8.74271695e-02 1.72255133e+02] [ 2.73489201e-01 9.61402336e-01 -3.01530364e-02 3.30404173e+01] [ 9.23478372e-02 4.95908725e-03 9.95714459e-01 1.56343679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.117105681 meters 0.03690068074787223 Centerline is valid? [True, True] Translation: X:172.31, Y:33.05, Z:15.64 [[ 9.55882639e-01 -2.80220459e-01 -8.81185279e-02 1.72313902e+02] [ 2.78603767e-01 9.59925117e-01 -3.03926220e-02 3.30512572e+01] [ 9.31038227e-02 4.50162586e-03 9.95646229e-01 1.56357129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.177105681 meters 0.030190322199274675 Centerline is valid? [True, True] Translation: X:172.38, Y:33.05, Z:15.64 [[ 9.52143669e-01 -2.92103487e-01 -8.99888093e-02 1.72376950e+02] [ 2.90469444e-01 9.56380610e-01 -3.10424028e-02 3.30527190e+01] [ 9.51311464e-02 3.41782798e-03 9.95458881e-01 1.56386147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.237105681 meters 0.024127738054141916 Centerline is valid? [True, True] Translation: X:172.44, Y:33.06, Z:15.64 [[ 9.48141510e-01 -3.03954802e-01 -9.29470561e-02 1.72438369e+02] [ 3.02267609e-01 9.52683660e-01 -3.20645504e-02 3.30590276e+01] [ 9.82953157e-02 2.30684680e-03 9.95154616e-01 1.56387970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297105681 meters 0.020257613500791503 Centerline is valid? [True, True] Translation: X:172.50, Y:33.07, Z:15.65 [[ 9.45620656e-01 -3.12791233e-01 -8.92368679e-02 1.72498354e+02] [ 3.11275288e-01 9.49820963e-01 -3.07869181e-02 3.30661234e+01] [ 9.43889258e-02 1.33551398e-03 9.95534503e-01 1.56505059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357105681 meters 0.01784817154765672 Centerline is valid? [True, True] Translation: X:172.56, Y:33.08, Z:15.65 [[ 9.43176001e-01 -3.20159477e-01 -8.89771893e-02 1.72556645e+02] [ 3.18684626e-01 9.47363472e-01 -3.07011492e-02 3.30784240e+01] [ 9.41230029e-02 6.00924743e-04 9.95560395e-01 1.56546936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417105681 meters 0.01779218498059464 Centerline is valid? [True, True] Translation: X:172.61, Y:33.10, Z:15.66 [[ 9.42094546e-01 -3.22785271e-01 -9.09259858e-02 1.72610981e+02] [ 3.21253886e-01 9.46472148e-01 -3.14072406e-02 3.30986392e+01] [ 9.61967077e-02 3.78263821e-04 9.95362271e-01 1.56596729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47710568099998 meters 0.018138941435946312 Centerline is valid? [True, True] Translation: X:172.66, Y:33.13, Z:15.67 [[ 9.43121332e-01 -3.20398908e-01 -8.86943783e-02 1.72662490e+02] [ 3.18927869e-01 9.47282496e-01 -3.06738887e-02 3.31253008e+01] [ 9.38465125e-02 6.42089761e-04 9.95586470e-01 1.56701904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53710568099999 meters 0.02079144407590206 Centerline is valid? [True, True] Translation: X:172.71, Y:33.16, Z:15.68 [[ 9.47012027e-01 -3.09586033e-01 -8.55845137e-02 1.72713033e+02] [ 3.08169168e-01 9.50869937e-01 -2.96332088e-02 3.31592226e+01] [ 9.05537687e-02 1.68849684e-03 9.95890136e-01 1.56802565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597105681 meters 0.02499645745974191 Centerline is valid? [True, True] Translation: X:172.76, Y:33.20, Z:15.69 [[ 9.50862535e-01 -2.99376168e-01 -7.89578974e-02 1.72763316e+02] [ 2.98135040e-01 9.54131994e-01 -2.73429327e-02 3.31951197e+01] [ 8.35220785e-02 2.45925439e-03 9.96502892e-01 1.56931976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657105681 meters 0.030064604613462706 Centerline is valid? [True, True] Translation: X:172.82, Y:33.23, Z:15.70 [[ 9.53712208e-01 -2.90153532e-01 -7.90186811e-02 1.72815985e+02] [ 2.88878648e-01 9.56974512e-01 -2.73662041e-02 3.32275645e+01] [ 8.35592646e-02 3.27267320e-03 9.96497435e-01 1.56958874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.717105681 meters 0.0371427358151784 Centerline is valid? [True, True] Translation: X:172.87, Y:33.26, Z:15.69 [[ 9.56260191e-01 -2.79577030e-01 -8.60414567e-02 1.72870406e+02] [ 2.78021929e-01 9.60112363e-01 -2.98002841e-02 3.32587317e+01] [ 9.09409413e-02 4.57541353e-03 9.95845777e-01 1.56880112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.777105681 meters 0.037340308566593754 Centerline is valid? [True, True] Translation: X:172.93, Y:33.27, Z:15.69 [[ 9.56491440e-01 -2.77961269e-01 -8.86659875e-02 1.72927140e+02] [ 2.76302521e-01 9.60579906e-01 -3.07109106e-02 3.32743216e+01] [ 9.37072097e-02 4.87608725e-03 9.95587858e-01 1.56880901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.837105681 meters 0.03821555612920096 Centerline is valid? [True, True] Translation: X:172.98, Y:33.29, Z:15.69 [[ 9.55825189e-01 -2.80120552e-01 -8.90543884e-02 1.72982194e+02] [ 2.78453356e-01 9.59953240e-01 -3.08788843e-02 3.32907773e+01] [ 9.41378588e-02 4.71732215e-03 9.95547995e-01 1.56933142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.897105681 meters 0.03446041578394502 Centerline is valid? [True, True] Translation: X:173.05, Y:33.29, Z:15.70 [[ 9.54083632e-01 -2.85379830e-01 -9.10097581e-02 1.73045040e+02] [ 2.83661017e-01 9.58404838e-01 -3.15688736e-02 3.32914723e+01] [ 9.62333122e-02 4.30342495e-03 9.95349502e-01 1.56959655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.957105681 meters 0.02889765565852129 Centerline is valid? [True, True] Translation: X:173.10, Y:33.30, Z:15.71 [[ 9.51493153e-01 -2.94977361e-01 -8.74593462e-02 1.73104943e+02] [ 2.93430241e-01 9.55498861e-01 -3.03417179e-02 3.32984145e+01] [ 9.25174256e-02 3.20671979e-03 9.95705902e-01 1.57078720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017105681 meters 0.026527951799518164 Centerline is valid? [True, True] Translation: X:173.16, Y:33.31, Z:15.71 [[ 9.50342461e-01 -2.98994334e-01 -8.63226273e-02 1.73162685e+02] [ 2.97503533e-01 9.54250833e-01 -2.99498820e-02 3.33115139e+01] [ 9.13282840e-02 2.78135801e-03 9.95816955e-01 1.57134424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077105681 meters 0.020948600241102462 Centerline is valid? [True, True] Translation: X:173.23, Y:33.31, Z:15.71 [[ 9.46434628e-01 -3.10121452e-01 -8.99231901e-02 1.73226362e+02] [ 3.08551780e-01 9.50695250e-01 -3.12144450e-02 3.33114469e+01] [ 9.51698187e-02 1.79647124e-03 9.95459431e-01 1.57147688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137105681 meters 0.017236983802313276 Centerline is valid? [True, True] Translation: X:173.29, Y:33.32, Z:15.72 [[ 9.42244106e-01 -3.22283225e-01 -9.11568330e-02 1.73286119e+02] [ 3.20726152e-01 9.46643113e-01 -3.16473163e-02 3.33185069e+01] [ 9.64923873e-02 5.83117025e-04 9.95333552e-01 1.57214788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197105681 meters 0.016607597491986644 Centerline is valid? [True, True] Translation: X:173.34, Y:33.33, Z:15.74 [[ 9.40887246e-01 -3.27809424e-01 -8.52770249e-02 1.73341278e+02] [ 3.26467299e-01 9.44743870e-01 -2.96331463e-02 3.33329812e+01] [ 9.02789712e-02 4.12894601e-05 9.95916515e-01 1.57387589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25710568099998 meters 0.017214266251512043 Centerline is valid? [True, True] Translation: X:173.39, Y:33.36, Z:15.75 [[ 9.42533140e-01 -3.24283702e-01 -8.04447694e-02 1.73394023e+02] [ 3.23076048e-01 9.45959802e-01 -2.79628416e-02 3.33570640e+01] [ 8.51654119e-02 3.66126723e-04 9.96366759e-01 1.57526921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317105681 meters 0.020271674248947165 Centerline is valid? [True, True] Translation: X:173.44, Y:33.39, Z:15.76 [[ 9.46605879e-01 -3.12739752e-01 -7.83017119e-02 1.73444373e+02] [ 3.11553617e-01 9.49837825e-01 -2.72479463e-02 3.33903597e+01] [ 8.28954437e-02 1.39788456e-03 9.96557269e-01 1.57588109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377105681 meters 0.024557141705967914 Centerline is valid? [True, True] Translation: X:173.50, Y:33.42, Z:15.76 [[ 9.49971954e-01 -3.01338522e-01 -8.21485339e-02 1.73497045e+02] [ 2.99989442e-01 9.53513895e-01 -2.85934756e-02 3.34245252e+01] [ 8.69460843e-02 2.51930707e-03 9.96209833e-01 1.57560931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.437105681 meters 0.030752567110602445 Centerline is valid? [True, True] Translation: X:173.55, Y:33.46, Z:15.76 [[ 9.53122863e-01 -2.90870348e-01 -8.33741527e-02 1.73549518e+02] [ 2.89440565e-01 9.56755975e-01 -2.90200695e-02 3.34554317e+01] [ 8.82097965e-02 3.52782980e-03 9.96095671e-01 1.57605401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.497105681 meters 0.03938552956744694 Centerline is valid? [True, True] Translation: X:173.60, Y:33.49, Z:15.75 [[ 9.56241962e-01 -2.77418162e-01 -9.29541463e-02 1.73602852e+02] [ 2.75576289e-01 9.60734521e-01 -3.23556696e-02 3.34908007e+01] [ 9.82803076e-02 5.32389029e-03 9.95144531e-01 1.57497509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.557105681 meters 0.039000606763450095 Centerline is valid? [True, True] Translation: X:173.66, Y:33.51, Z:15.75 [[ 9.57096714e-01 -2.74051255e-01 -9.41370815e-02 1.73659907e+02] [ 2.72145690e-01 9.61697933e-01 -3.27690194e-02 3.35081928e+01] [ 9.95118276e-02 5.74411978e-03 9.95019799e-01 1.57540045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.617105681 meters 0.03380404936342489 Centerline is valid? [True, True] Translation: X:173.72, Y:33.52, Z:15.77 [[ 9.54402303e-01 -2.85001714e-01 -8.88271763e-02 1.73719733e+02] [ 2.83352238e-01 9.58517156e-01 -3.09252561e-02 3.35153849e+01] [ 9.39561233e-02 4.34575642e-03 9.95566854e-01 1.57657266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.677105681 meters 0.02683904729373364 Centerline is valid? [True, True] Translation: X:173.78, Y:33.52, Z:15.78 [[ 9.49909770e-01 -3.00398171e-01 -8.62111811e-02 1.73780694e+02] [ 2.98907269e-01 9.53809942e-01 -3.00173001e-02 3.35190149e+01] [ 9.12462237e-02 2.74457790e-03 9.95824580e-01 1.57751823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.737105681 meters 0.019116032895330367 Centerline is valid? [True, True] Translation: X:173.85, Y:33.51, Z:15.77 [[ 9.44857582e-01 -3.14836361e-01 -9.01233314e-02 1.73846198e+02] [ 3.13271564e-01 9.49144906e-01 -3.13827187e-02 3.35145673e+01] [ 9.54205218e-02 1.41912275e-03 9.95436040e-01 1.57735656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797105681 meters 0.016823748002889067 Centerline is valid? [True, True] Translation: X:173.90, Y:33.53, Z:15.78 [[ 9.41260445e-01 -3.25469552e-01 -8.99908040e-02 1.73904495e+02] [ 3.23957426e-01 9.45552459e-01 -3.13390246e-02 3.35254586e+01] [ 9.52909243e-02 3.44995007e-04 9.95449406e-01 1.57795939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857105681 meters 0.01683347288989221 Centerline is valid? [True, True] Translation: X:173.96, Y:33.54, Z:15.78 [[ 9.38473963e-01 -3.32751820e-01 -9.24275238e-02 1.73960104e+02] [ 3.31190412e-01 9.43014354e-01 -3.21999719e-02 3.35439393e+01] [ 9.78750809e-02 -3.92274486e-04 9.95198631e-01 1.57828136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917105681 meters 0.0200127808959434 Centerline is valid? [True, True] Translation: X:174.02, Y:33.56, Z:15.79 [[ 9.34246121e-01 -3.45525953e-01 -8.82949632e-02 1.74017042e+02] [ 3.44155088e-01 9.38407795e-01 -3.07910075e-02 3.35559200e+01] [ 9.34957739e-02 -1.62078155e-03 9.95618357e-01 1.57923167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97710568099998 meters 0.025479452751522032 Centerline is valid? [True, True] Translation: X:174.07, Y:33.58, Z:15.80 [[ 9.28971884e-01 -3.60168796e-01 -8.53796039e-02 1.74070941e+02] [ 3.58947675e-01 9.32882394e-01 -2.97826497e-02 3.35805214e+01] [ 9.03759104e-02 -2.97956608e-03 9.95903267e-01 1.58028501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03710568099999 meters 0.030536199436512697 Centerline is valid? [True, True] Translation: X:174.13, Y:33.60, Z:15.81 [[ 9.25076935e-01 -3.70556996e-01 -8.31875990e-02 1.74126407e+02] [ 3.69439192e-01 9.28801603e-01 -2.90218328e-02 3.36038021e+01] [ 8.80190185e-02 -3.88533120e-03 9.96111217e-01 1.58083533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097105681 meters 0.031706169577139946 Centerline is valid? [True, True] Translation: X:174.17, Y:33.64, Z:15.82 [[ 9.24734359e-01 -3.72212490e-01 -7.95250088e-02 1.74174283e+02] [ 3.71197176e-01 9.28139501e-01 -2.77438727e-02 3.36435739e+01] [ 8.41369179e-02 -3.86374636e-03 9.96446712e-01 1.58180169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157105681 meters 0.029879809538718285 Centerline is valid? [True, True] Translation: X:174.22, Y:33.69, Z:15.82 [[ 9.27441116e-01 -3.65463785e-01 -7.93044653e-02 1.74220954e+02] [ 3.64426857e-01 9.30820015e-01 -2.76977483e-02 3.36880907e+01] [ 8.39407075e-02 -3.21264647e-03 9.96465572e-01 1.58228190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.217105681 meters 0.02410794405880498 Centerline is valid? [True, True] Translation: X:174.27, Y:33.74, Z:15.82 [[ 9.31671644e-01 -3.53761665e-01 -8.27081085e-02 1.74265307e+02] [ 3.52587163e-01 9.35332904e-01 -2.88903208e-02 3.37447108e+01] [ 8.75799033e-02 -2.24552461e-03 9.96154967e-01 1.58210143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.277105681 meters 0.01863279876986036 Centerline is valid? [True, True] Translation: X:174.31, Y:33.80, Z:15.82 [[ 9.38091541e-01 -3.34873648e-01 -8.85657936e-02 1.74308969e+02] [ 3.33441667e-01 9.42262905e-01 -3.09398224e-02 3.38021442e+01] [ 9.38131931e-02 -5.07140142e-04 9.95589688e-01 1.58187861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.337105681 meters 0.020558571658527678 Centerline is valid? [True, True] Translation: X:174.35, Y:33.85, Z:15.82 [[ 9.43961323e-01 -3.17289109e-01 -9.09100777e-02 1.74352007e+02] [ 3.15697955e-01 9.48327991e-01 -3.17619743e-02 3.38547868e+01] [ 9.62902999e-02 1.28194965e-03 9.95352468e-01 1.58167579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.397105681 meters 0.02193696223065466 Centerline is valid? [True, True] Translation: X:174.40, Y:33.89, Z:15.83 [[ 9.45360569e-01 -3.14109010e-01 -8.73437109e-02 1.74400644e+02] [ 3.12625861e-01 9.49385651e-01 -3.05279632e-02 3.38913532e+01] [ 9.25119741e-02 1.55402983e-03 9.95710359e-01 1.58255720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.457105681 meters 0.022043689610495295 Centerline is valid? [True, True] Translation: X:174.45, Y:33.92, Z:15.82 [[ 9.44615073e-01 -3.15197565e-01 -9.13939719e-02 1.74454429e+02] [ 3.13574994e-01 9.49024814e-01 -3.19785252e-02 3.39175279e+01] [ 9.68147004e-02 1.54853278e-03 9.95301219e-01 1.58239236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.517105681 meters 0.021229953944732465 Centerline is valid? [True, True] Translation: X:174.51, Y:33.94, Z:15.83 [[ 9.44169902e-01 -3.16418817e-01 -9.17732405e-02 1.74511362e+02] [ 3.14785514e-01 9.48618472e-01 -3.21414733e-02 3.39404875e+01] [ 9.72279582e-02 1.45812509e-03 9.95261070e-01 1.58314390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577105681 meters 0.021716100199159517 Centerline is valid? [True, True] Translation: X:174.57, Y:33.96, Z:15.84 [[ 9.44984856e-01 -3.15065232e-01 -8.79631790e-02 1.74568388e+02] [ 3.13559624e-01 9.49068791e-01 -3.08024601e-02 3.39607056e+01] [ 9.31878922e-02 1.52615695e-03 9.95647371e-01 1.58414026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637105681 meters 0.02105109075402913 Centerline is valid? [True, True] Translation: X:174.63, Y:33.98, Z:15.84 [[ 9.43960132e-01 -3.18071284e-01 -8.81471947e-02 1.74626479e+02] [ 3.16572844e-01 9.48066005e-01 -3.08623342e-02 3.39759395e+01] [ 9.33857811e-02 1.22780495e-03 9.95629242e-01 1.58448492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697105681 meters 0.02092744950311101 Centerline is valid? [True, True] Translation: X:174.68, Y:33.99, Z:15.84 [[ 9.43198866e-01 -3.18834627e-01 -9.33829724e-02 1.74684400e+02] [ 3.17156113e-01 9.47809574e-01 -3.26957470e-02 3.39935224e+01] [ 9.89338116e-02 1.22161099e-03 9.95093266e-01 1.58425384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75710568099998 meters 0.02220226924450245 Centerline is valid? [True, True] Translation: X:174.74, Y:34.01, Z:15.85 [[ 9.44107684e-01 -3.16143633e-01 -9.33481841e-02 1.74739113e+02] [ 3.14452898e-01 9.48710142e-01 -3.26870167e-02 3.40124149e+01] [ 9.88941612e-02 1.50645662e-03 9.95096817e-01 1.58461637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817105681 meters 0.02448116295258038 Centerline is valid? [True, True] Translation: X:174.79, Y:34.04, Z:15.86 [[ 9.46547347e-01 -3.08972232e-01 -9.26513832e-02 1.74793352e+02] [ 3.07271247e-01 9.51068397e-01 -3.24543588e-02 3.40365342e+01] [ 9.81452981e-02 2.25048112e-03 9.95169551e-01 1.58561376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877105681 meters 0.02930170674002952 Centerline is valid? [True, True] Translation: X:174.85, Y:34.06, Z:15.86 [[ 9.49651933e-01 -3.00105332e-01 -8.99888652e-02 1.74846630e+02] [ 2.98460716e-01 9.53901095e-01 -3.15262236e-02 3.40622199e+01] [ 9.53016648e-02 3.08079802e-03 9.95443671e-01 1.58627377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.937105681 meters 0.031432901132347105 Centerline is valid? [True, True] Translation: X:174.90, Y:34.08, Z:15.87 [[ 9.50491842e-01 -2.97071587e-01 -9.11796583e-02 1.74902723e+02] [ 2.95368662e-01 9.54849032e-01 -3.19480677e-02 3.40823251e+01] [ 9.65536717e-02 3.43476397e-03 9.95321853e-01 1.58652995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.997105681 meters 0.031427698227394815 Centerline is valid? [True, True] Translation: X:174.96, Y:34.10, Z:15.87 [[ 9.50548790e-01 -2.97622262e-01 -8.87580210e-02 1.74958913e+02] [ 2.96010678e-01 9.54678030e-01 -3.11052707e-02 3.40998236e+01] [ 9.39929537e-02 3.29375543e-03 9.95567414e-01 1.58716067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.057105681 meters 0.026966955035807882 Centerline is valid? [True, True] Translation: X:175.02, Y:34.11, Z:15.88 [[ 9.49659171e-01 -3.00168037e-01 -8.97028841e-02 1.75019677e+02] [ 2.98530370e-01 9.53881294e-01 -3.14657866e-02 3.41096422e+01] [ 9.50109265e-02 3.10273768e-03 9.95471394e-01 1.58776647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.117105681 meters 0.023988562947152087 Centerline is valid? [True, True] Translation: X:175.08, Y:34.12, Z:15.88 [[ 9.46965726e-01 -3.07934324e-01 -9.18279104e-02 1.75080648e+02] [ 3.06254419e-01 9.51404643e-01 -3.22092464e-02 3.41167406e+01] [ 9.72838329e-02 2.37834910e-03 9.95253837e-01 1.58787912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.177105681 meters 0.021374332062556137 Centerline is valid? [True, True] Translation: X:175.14, Y:34.12, Z:15.88 [[ 9.42659040e-01 -3.20152654e-01 -9.43197320e-02 1.75141328e+02] [ 3.18440271e-01 9.47365263e-01 -3.30885559e-02 3.41226123e+01] [ 9.99486267e-02 1.15602536e-03 9.94991927e-01 1.58812415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.237105681 meters 0.01943178213501524 Centerline is valid? [True, True] Translation: X:175.21, Y:34.12, Z:15.89 [[ 9.37143721e-01 -3.36568608e-01 -9.21043894e-02 1.75205067e+02] [ 3.35013842e-01 9.41658775e-01 -3.23183767e-02 3.41152404e+01] [ 9.76082575e-02 -5.69281552e-04 9.95224750e-01 1.58891927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297105681 meters 0.02175555016917494 Centerline is valid? [True, True] Translation: X:175.27, Y:34.12, Z:15.90 [[ 9.33084245e-01 -3.48653336e-01 -8.82872821e-02 1.75266031e+02] [ 3.47276288e-01 9.37250159e-01 -3.10051554e-02 3.41175607e+01] [ 9.35573201e-02 -1.72965763e-03 9.95612393e-01 1.59015471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357105681 meters 0.021112677947059445 Centerline is valid? [True, True] Translation: X:175.32, Y:34.14, Z:15.90 [[ 9.33693304e-01 -3.46580438e-01 -8.99934063e-02 1.75320930e+02] [ 3.45139114e-01 9.38018986e-01 -3.16128880e-02 3.41381577e+01] [ 9.53719323e-02 -1.54350260e-03 9.95440512e-01 1.59044778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417105681 meters 0.01872509207916607 Centerline is valid? [True, True] Translation: X:175.37, Y:34.18, Z:15.92 [[ 9.40252686e-01 -3.28787786e-01 -8.84504324e-02 1.75368410e+02] [ 3.27313706e-01 9.44403784e-01 -3.11003316e-02 3.41786468e+01] [ 9.37583322e-02 2.91131525e-04 9.95594943e-01 1.59168518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47710568099998 meters 0.024011105999928187 Centerline is valid? [True, True] Translation: X:175.42, Y:34.22, Z:15.92 [[ 9.46633463e-01 -3.09056389e-01 -9.14835255e-02 1.75418402e+02] [ 3.07385163e-01 9.51040826e-01 -3.21824257e-02 3.42184888e+01] [ 9.69507519e-02 2.34428274e-03 9.95286419e-01 1.59196413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53710568099999 meters 0.028800110489422354 Centerline is valid? [True, True] Translation: X:175.47, Y:34.25, Z:15.93 [[ 9.50888372e-01 -2.97096552e-01 -8.68616243e-02 1.75471708e+02] [ 2.95540179e-01 9.54841436e-01 -3.05587070e-02 3.42476923e+01] [ 9.20179646e-02 3.38681917e-03 9.95751587e-01 1.59280131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597105681 meters 0.03327568424836778 Centerline is valid? [True, True] Translation: X:175.53, Y:34.27, Z:15.93 [[ 9.53222839e-01 -2.89627310e-01 -8.64999485e-02 1.75525004e+02] [ 2.88053117e-01 9.57130751e-01 -3.04323234e-02 3.42745987e+01] [ 9.16057927e-02 4.09220584e-03 9.95786941e-01 1.59324896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.657105681 meters 0.03812704086179234 Centerline is valid? [True, True] Translation: X:175.58, Y:34.30, Z:15.93 [[ 9.54265292e-01 -2.84441995e-01 -9.20353405e-02 1.75580462e+02] [ 2.82634728e-01 9.58680773e-01 -3.23849560e-02 3.42972241e+01] [ 9.74441529e-02 4.89145607e-03 9.95228974e-01 1.59297958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.717105681 meters 0.03339056304753822 Centerline is valid? [True, True] Translation: X:175.64, Y:34.30, Z:15.93 [[ 9.52401779e-01 -2.89716028e-01 -9.48444776e-02 1.75643329e+02] [ 2.87821855e-01 9.57102110e-01 -3.33785924e-02 3.42983116e+01] [ 1.00446163e-01 4.49151728e-03 9.94932357e-01 1.59311110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.777105681 meters 0.02471204173259725 Centerline is valid? [True, True] Translation: X:175.71, Y:34.29, Z:15.94 [[ 9.47002192e-01 -3.06925323e-01 -9.47823552e-02 1.75709798e+02] [ 3.05118525e-01 9.51729845e-01 -3.33614589e-02 3.42896166e+01] [ 1.00446673e-01 2.67352228e-03 9.94938851e-01 1.59407954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.837105681 meters 0.02105867970436798 Centerline is valid? [True, True] Translation: X:175.77, Y:34.29, Z:15.95 [[ 9.43780409e-01 -3.16614140e-01 -9.50474961e-02 1.75771071e+02] [ 3.14845881e-01 9.48552985e-01 -3.34560389e-02 3.42921845e+01] [ 1.00750241e-01 1.64984140e-03 9.94910381e-01 1.59466906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.897105681 meters 0.018372464062433567 Centerline is valid? [True, True] Translation: X:175.83, Y:34.30, Z:15.95 [[ 9.40091651e-01 -3.26305175e-01 -9.87553630e-02 1.75831685e+02] [ 3.24447891e-01 9.45264256e-01 -3.47714243e-02 3.42981303e+01] [ 1.04696010e-01 6.47356379e-04 9.94504060e-01 1.59474675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.957105681 meters 0.017770687130951025 Centerline is valid? [True, True] Translation: X:175.89, Y:34.30, Z:15.96 [[ 9.36369975e-01 -3.37306639e-01 -9.71365098e-02 1.75891325e+02] [ 3.35564929e-01 9.41394680e-01 -3.42379098e-02 3.43035994e+01] [ 1.02992468e-01 -5.36255353e-04 9.94681991e-01 1.59573434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.017105681 meters 0.02140446311290956 Centerline is valid? [True, True] Translation: X:175.95, Y:34.31, Z:15.96 [[ 9.30582657e-01 -3.52686582e-01 -9.81228488e-02 1.75953570e+02] [ 3.50990564e-01 9.35738865e-01 -3.46179277e-02 3.43084405e+01] [ 1.04026642e-01 -2.22535091e-03 9.94572021e-01 1.59641170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077105681 meters 0.02467307307192692 Centerline is valid? [True, True] Translation: X:176.01, Y:34.32, Z:15.97 [[ 9.27755334e-01 -3.59418845e-01 -1.00439701e-01 1.76011054e+02] [ 3.57680743e-01 9.33171363e-01 -3.54357507e-02 3.43243595e+01] [ 1.06463730e-01 -3.04964036e-03 9.94311910e-01 1.59705287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137105681 meters 0.021653801693514694 Centerline is valid? [True, True] Translation: X:176.06, Y:34.36, Z:15.98 [[ 9.31027263e-01 -3.51841262e-01 -9.69327693e-02 1.76062597e+02] [ 3.50181362e-01 9.36057321e-01 -3.42009549e-02 3.43556157e+01] [ 1.02767935e-01 -2.10202781e-03 9.94703138e-01 1.59821352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197105681 meters 0.01809546005277355 Centerline is valid? [True, True] Translation: X:176.11, Y:34.41, Z:16.00 [[ 9.38256986e-01 -3.33820893e-01 -9.07603476e-02 1.76108222e+02] [ 3.32281171e-01 9.42636515e-01 -3.20253647e-02 3.44051847e+01] [ 9.62447536e-02 -1.09932412e-04 9.95357692e-01 1.59956940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25710568099998 meters 0.023857233473330627 Centerline is valid? [True, True] Translation: X:176.16, Y:34.46, Z:15.99 [[ 9.45566931e-01 -3.11094663e-01 -9.55159189e-02 1.76155351e+02] [ 3.09272084e-01 9.50376072e-01 -3.37060887e-02 3.44552542e+01] [ 1.01261828e-01 2.33095553e-03 9.94857080e-01 1.59907226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317105681 meters 0.031370268078339564 Centerline is valid? [True, True] Translation: X:176.21, Y:34.49, Z:15.99 [[ 9.49205028e-01 -2.99569836e-01 -9.62690378e-02 1.76205170e+02] [ 2.97658671e-01 9.54067605e-01 -3.39752916e-02 3.44942527e+01] [ 1.02025143e-01 3.59420368e-03 9.94775327e-01 1.59915766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377105681 meters 0.028475724234323322 Centerline is valid? [True, True] Translation: X:176.26, Y:34.51, Z:16.00 [[ 9.49112155e-01 -3.00370545e-01 -9.46765697e-02 1.76262033e+02] [ 2.98525567e-01 9.53816330e-01 -3.34199586e-02 3.45069071e+01] [ 1.00342430e-01 3.45591226e-03 9.94946960e-01 1.60001388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.437105681 meters 0.026110298677194835 Centerline is valid? [True, True] Translation: X:176.32, Y:34.52, Z:16.00 [[ 9.47093996e-01 -3.06216208e-01 -9.61488231e-02 1.76319918e+02] [ 3.04339702e-01 9.51957531e-01 -3.39735861e-02 3.45200085e+01] [ 1.01932859e-01 2.91427527e-03 9.94787012e-01 1.60034455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.497105681 meters 0.025442685894822875 Centerline is valid? [True, True] Translation: X:176.38, Y:34.54, Z:16.01 [[ 9.46262836e-01 -3.08747594e-01 -9.62370480e-02 1.76376699e+02] [ 3.06879766e-01 9.51140309e-01 -3.40135562e-02 3.45371023e+01] [ 1.02036539e-01 2.65256134e-03 9.94777115e-01 1.60065088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.557105681 meters 0.02295590020739465 Centerline is valid? [True, True] Translation: X:176.43, Y:34.55, Z:16.01 [[ 9.43467156e-01 -3.16209271e-01 -9.94053429e-02 1.76434459e+02] [ 3.14253812e-01 9.48687482e-01 -3.51653796e-02 3.45481785e+01] [ 1.05424223e-01 1.93887275e-03 9.94425449e-01 1.60070973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.617105681 meters 0.018508609607541825 Centerline is valid? [True, True] Translation: X:176.50, Y:34.55, Z:16.02 [[ 9.38172838e-01 -3.32946256e-01 -9.47550348e-02 1.76496749e+02] [ 3.31253480e-01 9.42945802e-01 -3.35312730e-02 3.45485874e+01] [ 1.00512974e-01 7.01945842e-05 9.94935745e-01 1.60198234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.677105681 meters 0.01981285325691272 Centerline is valid? [True, True] Translation: X:176.55, Y:34.56, Z:16.03 [[ 9.34240175e-01 -3.44414783e-01 -9.25945569e-02 1.76554967e+02] [ 3.42853893e-01 9.38816906e-01 -3.27723320e-02 3.45568346e+01] [ 9.82166110e-02 -1.12917512e-03 9.95164420e-01 1.60298398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.737105681 meters 0.019229067248580253 Centerline is valid? [True, True] Translation: X:176.61, Y:34.58, Z:16.04 [[ 9.36065607e-01 -3.40066453e-01 -9.01997060e-02 1.76608650e+02] [ 3.38563966e-01 9.40401189e-01 -3.19381480e-02 3.45786476e+01] [ 9.56850035e-02 -6.42168300e-04 9.95411456e-01 1.60376316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797105681 meters 0.019463882977092527 Centerline is valid? [True, True] Translation: X:176.66, Y:34.61, Z:16.04 [[ 9.40403150e-01 -3.27521052e-01 -9.14979590e-02 1.76659293e+02] [ 3.25912092e-01 9.44843638e-01 -3.24315962e-02 3.46073626e+01] [ 9.70732950e-02 6.78484003e-04 9.95277004e-01 1.60402818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857105681 meters 0.020951527349875754 Centerline is valid? [True, True] Translation: X:176.71, Y:34.63, Z:16.05 [[ 9.42501545e-01 -3.21679866e-01 -9.06250605e-02 1.76711853e+02] [ 3.20073373e-01 9.46847625e-01 -3.21342522e-02 3.46326130e+01] [ 9.61450653e-02 1.27991347e-03 9.95366510e-01 1.60459332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917105681 meters 0.028190734372517963 Centerline is valid? [True, True] Translation: X:176.76, Y:34.67, Z:16.05 [[ 9.48765397e-01 -3.02919434e-01 -8.99112809e-02 1.76762467e+02] [ 3.01252581e-01 9.53010888e-01 -3.18924823e-02 3.46699589e+01] [ 9.53472823e-02 3.17247816e-03 9.95439014e-01 1.60492870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97710568099998 meters 0.03185143414843137 Centerline is valid? [True, True] Translation: X:176.82, Y:34.69, Z:16.05 [[ 9.50973037e-01 -2.95226604e-01 -9.21495240e-02 1.76819075e+02] [ 2.93439414e-01 9.55418704e-01 -3.26865388e-02 3.46917862e+01] [ 9.76913147e-02 4.04371476e-03 9.95208549e-01 1.60499819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03710568099999 meters 0.030222979771150377 Centerline is valid? [True, True] Translation: X:176.88, Y:34.70, Z:16.06 [[ 9.49821748e-01 -2.99432261e-01 -9.04376467e-02 1.76877463e+02] [ 2.97729761e-01 9.54110972e-01 -3.20818045e-02 3.47017943e+01] [ 9.58938782e-02 3.54601667e-03 9.95385247e-01 1.60582302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097105681 meters 0.02543825246842771 Centerline is valid? [True, True] Translation: X:176.94, Y:34.71, Z:16.06 [[ 9.46669921e-01 -3.08555585e-01 -9.27874514e-02 1.76939065e+02] [ 3.06806266e-01 9.51202491e-01 -3.29201571e-02 3.47079229e+01] [ 9.84173532e-02 2.69675097e-03 9.95141574e-01 1.60609911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.157105681 meters 0.019431775338866333 Centerline is valid? [True, True] Translation: X:177.00, Y:34.71, Z:16.07 [[ 9.42091476e-01 -3.22101704e-01 -9.33495777e-02 1.77002494e+02] [ 3.20396815e-01 9.46704186e-01 -3.31219914e-02 3.47083111e+01] [ 9.90430858e-02 1.29503845e-03 9.95082303e-01 1.60652193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.217105681 meters 0.01754472583415159 Centerline is valid? [True, True] Translation: X:177.07, Y:34.70, Z:16.07 [[ 9.35664059e-01 -3.41043989e-01 -9.06739552e-02 1.77066850e+02] [ 3.39523360e-01 9.40047092e-01 -3.21768863e-02 3.47030412e+01] [ 9.62115216e-02 -6.79169872e-04 9.95360679e-01 1.60729857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.277105681 meters 0.02145814683972238 Centerline is valid? [True, True] Translation: X:177.13, Y:34.71, Z:16.08 [[ 9.30407073e-01 -3.55433665e-01 -8.94962972e-02 1.77128609e+02] [ 3.54015780e-01 9.34699129e-01 -3.17862479e-02 3.47074638e+01] [ 9.49500137e-02 -2.10895155e-03 9.95479808e-01 1.60808982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.337105681 meters 0.02413855569834069 Centerline is valid? [True, True] Translation: X:177.19, Y:34.72, Z:16.09 [[ 9.28804177e-01 -3.59852391e-01 -8.84819613e-02 1.77185723e+02] [ 3.58486294e-01 9.33005820e-01 -3.14279677e-02 3.47204351e+01] [ 9.38636142e-02 -2.52914276e-03 9.95581853e-01 1.60879282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.397105681 meters 0.020042323471112303 Centerline is valid? [True, True] Translation: X:177.24, Y:34.75, Z:16.10 [[ 9.32368551e-01 -3.50454840e-01 -8.87146563e-02 1.77236853e+02] [ 3.49038322e-01 9.36578300e-01 -3.15172728e-02 3.47544534e+01] [ 9.41336028e-02 -1.57910075e-03 9.95558321e-01 1.60954960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.457105681 meters 0.017247501511142814 Centerline is valid? [True, True] Translation: X:177.28, Y:34.80, Z:16.10 [[ 9.39288416e-01 -3.31593298e-01 -8.82221970e-02 1.77284533e+02] [ 3.30108639e-01 9.43422378e-01 -3.13449158e-02 3.47957576e+01] [ 9.36245589e-02 3.19006956e-04 9.95607523e-01 1.60988897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.517105681 meters 0.020518291874406947 Centerline is valid? [True, True] Translation: X:177.33, Y:34.83, Z:16.10 [[ 9.43312573e-01 -3.19960182e-01 -8.82432508e-02 1.77332923e+02] [ 3.18422947e-01 9.47429827e-01 -3.13616053e-02 3.48326871e+01] [ 9.36387528e-02 1.48512062e-03 9.95605132e-01 1.61033075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577105681 meters 0.022244954486987288 Centerline is valid? [True, True] Translation: X:177.39, Y:34.86, Z:16.11 [[ 9.45036583e-01 -3.14373578e-01 -8.98616168e-02 1.77386459e+02] [ 3.12753158e-01 9.49297057e-01 -3.19461983e-02 3.48599772e+01] [ 9.53484090e-02 2.08582168e-03 9.95441776e-01 1.61066816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637105681 meters 0.02222318576632417 Centerline is valid? [True, True] Translation: X:177.44, Y:34.88, Z:16.11 [[ 9.44287860e-01 -3.16493202e-01 -9.02911419e-02 1.77441244e+02] [ 3.14866315e-01 9.48592902e-01 -3.21046560e-02 3.48797017e+01] [ 9.58104417e-02 1.88639772e-03 9.95397810e-01 1.61071598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697105681 meters 0.0199168163121179 Centerline is valid? [True, True] Translation: X:177.50, Y:34.89, Z:16.11 [[ 9.42344404e-01 -3.21993517e-01 -9.11438409e-02 1.77500457e+02] [ 3.20359446e-01 9.46740899e-01 -3.24267736e-02 3.48892573e+01] [ 9.67308128e-02 1.35839827e-03 9.95309653e-01 1.61118737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75710568099998 meters 0.019110659065852808 Centerline is valid? [True, True] Translation: X:177.56, Y:34.90, Z:16.12 [[ 9.41057284e-01 -3.25354302e-01 -9.24973859e-02 1.77556961e+02] [ 3.23684307e-01 9.45591592e-01 -3.29394949e-02 3.49046981e+01] [ 9.81817568e-02 1.05799936e-03 9.95167937e-01 1.61191529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817105681 meters 0.017896345242557968 Centerline is valid? [True, True] Translation: X:177.62, Y:34.91, Z:16.12 [[ 9.39843906e-01 -3.28336565e-01 -9.42790185e-02 1.77616243e+02] [ 3.26612895e-01 9.44560464e-01 -3.36087433e-02 3.49125641e+01] [ 1.00087213e-01 7.94229447e-04 9.94978351e-01 1.61201086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877105681 meters 0.017265667752492348 Centerline is valid? [True, True] Translation: X:177.68, Y:34.92, Z:16.13 [[ 9.35794985e-01 -3.39924269e-01 -9.34838827e-02 1.77675833e+02] [ 3.38283165e-01 9.40452726e-01 -3.33642155e-02 3.49192654e+01] [ 9.92584789e-02 -4.01958167e-04 9.95061603e-01 1.61287753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.937105681 meters 0.01974007017302808 Centerline is valid? [True, True] Translation: X:177.74, Y:34.92, Z:16.13 [[ 9.31096498e-01 -3.52471372e-01 -9.39321189e-02 1.77738061e+02] [ 3.50874567e-01 9.35821027e-01 -3.35565787e-02 3.49207202e+01] [ 9.97313853e-02 -1.71397860e-03 9.95012921e-01 1.61341442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.997105681 meters 0.01989286181047059 Centerline is valid? [True, True] Translation: X:177.79, Y:34.94, Z:16.14 [[ 9.31089206e-01 -3.52015301e-01 -9.56980545e-02 1.77792572e+02] [ 3.50354426e-01 9.35992723e-01 -3.41964716e-02 3.49386284e+01] [ 1.01610364e-01 -1.68827137e-03 9.94822840e-01 1.61378983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.057105681 meters 0.017145791045993102 Centerline is valid? [True, True] Translation: X:177.84, Y:34.97, Z:16.15 [[ 9.36061059e-01 -3.38873913e-01 -9.46264521e-02 1.77842719e+02] [ 3.37181004e-01 9.40831767e-01 -3.38312918e-02 3.49727226e+01] [ 1.00492114e-01 -2.38087301e-04 9.94937826e-01 1.61476475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.117105681 meters 0.01880661381682994 Centerline is valid? [True, True] Translation: X:177.89, Y:35.00, Z:16.15 [[ 9.40540255e-01 -3.26960311e-01 -9.20922601e-02 1.77893789e+02] [ 3.25298257e-01 9.45037514e-01 -3.29414683e-02 3.50033834e+01] [ 9.78011933e-02 1.02532532e-03 9.95205444e-01 1.61532212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.177105681 meters 0.019940852374798507 Centerline is valid? [True, True] Translation: X:177.95, Y:35.03, Z:16.16 [[ 9.42536526e-01 -3.22279946e-01 -8.80938923e-02 1.77947514e+02] [ 3.20736065e-01 9.46643260e-01 -3.15422718e-02 3.50258150e+01] [ 9.35589310e-02 1.47485484e-03 9.95612651e-01 1.61633582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.237105681 meters 0.024424871769531432 Centerline is valid? [True, True] Translation: X:178.00, Y:35.05, Z:16.17 [[ 9.45079199e-01 -3.14613568e-01 -8.85641550e-02 1.78000929e+02] [ 3.13016364e-01 9.49217106e-01 -3.17433849e-02 3.50508630e+01] [ 9.40535104e-02 2.27798303e-03 9.95564537e-01 1.61671767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297105681 meters 0.027431674647671572 Centerline is valid? [True, True] Translation: X:178.06, Y:35.07, Z:16.17 [[ 9.47772025e-01 -3.05009575e-01 -9.32595704e-02 1.78057174e+02] [ 3.03190826e-01 9.52343172e-01 -3.34336049e-02 3.50737096e+01] [ 9.90126847e-02 3.41198926e-03 9.95080322e-01 1.61654088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357105681 meters 0.031907163175937385 Centerline is valid? [True, True] Translation: X:178.11, Y:35.09, Z:16.16 [[ 9.49176299e-01 -2.99110967e-01 -9.79641925e-02 1.78113546e+02] [ 2.97071902e-01 9.54208936e-01 -3.51225173e-02 3.50939664e+01] [ 1.03983838e-01 4.23505189e-03 9.94569970e-01 1.61623262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417105681 meters 0.03093651064313117 Centerline is valid? [True, True] Translation: X:178.17, Y:35.10, Z:16.17 [[ 9.48628492e-01 -3.01398802e-01 -9.62431638e-02 1.78172330e+02] [ 2.99442324e-01 9.53490125e-01 -3.45090625e-02 3.51027535e+01] [ 1.02167896e-01 3.91700332e-03 9.94759457e-01 1.61710909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47710568099998 meters 0.02696495156171461 Centerline is valid? [True, True] Translation: X:178.23, Y:35.11, Z:16.18 [[ 9.46121439e-01 -3.08896687e-01 -9.71445308e-02 1.78234981e+02] [ 3.06941562e-01 9.51090392e-01 -3.48416914e-02 3.51063272e+01] [ 1.03155713e-01 3.14677720e-03 9.94660242e-01 1.61764984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53710568099999 meters 0.021404487860417695 Centerline is valid? [True, True] Translation: X:178.30, Y:35.10, Z:16.19 [[ 9.43229338e-01 -3.18252040e-01 -9.50476485e-02 1.78298799e+02] [ 3.16427591e-01 9.48003855e-01 -3.40920951e-02 3.51035348e+01] [ 1.00955416e-01 2.08096586e-03 9.94888774e-01 1.61857078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597105681 meters 0.02027832328076574 Centerline is valid? [True, True] Translation: X:178.36, Y:35.11, Z:16.19 [[ 9.42040442e-01 -3.21498512e-01 -9.59088704e-02 1.78357717e+02] [ 3.19656811e-01 9.46908456e-01 -3.44078359e-02 3.51122917e+01] [ 1.01878988e-01 1.75564936e-03 9.94795250e-01 1.61932474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.657105681 meters 0.020033612190884526 Centerline is valid? [True, True] Translation: X:178.41, Y:35.13, Z:16.20 [[ 9.41844123e-01 -3.21913663e-01 -9.64429409e-02 1.78413806e+02] [ 3.20049659e-01 9.46767400e-01 -3.46367635e-02 3.51265448e+01] [ 1.02459080e-01 1.75590177e-03 9.94735670e-01 1.61976727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.717105681 meters 0.021125092437920254 Centerline is valid? [True, True] Translation: X:178.47, Y:35.15, Z:16.20 [[ 9.41999151e-01 -3.21452216e-01 -9.64679822e-02 1.78468362e+02] [ 3.19580830e-01 9.46924007e-01 -3.46845617e-02 3.51460314e+01] [ 1.02497277e-01 1.84350979e-03 9.94731577e-01 1.62023747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.777105681 meters 0.020198112235270675 Centerline is valid? [True, True] Translation: X:178.53, Y:35.16, Z:16.22 [[ 9.41709766e-01 -3.22870972e-01 -9.45359813e-02 1.78525927e+02] [ 3.21079605e-01 9.46441519e-01 -3.40049776e-02 3.51574937e+01] [ 1.00451998e-01 1.66924399e-03 9.94940506e-01 1.62150037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.837105681 meters 0.01730344541901873 Centerline is valid? [True, True] Translation: X:178.58, Y:35.16, Z:16.23 [[ 9.38582466e-01 -3.34190253e-01 -8.59059326e-02 1.78584817e+02] [ 3.32756213e-01 9.42505532e-01 -3.09293484e-02 3.51625714e+01] [ 9.13031035e-02 4.44011274e-04 9.95823050e-01 1.62332866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.897105681 meters 0.018363771767377402 Centerline is valid? [True, True] Translation: X:178.64, Y:35.17, Z:16.24 [[ 9.33876515e-01 -3.47584047e-01 -8.40237105e-02 1.78644238e+02] [ 3.46265531e-01 9.37648457e-01 -3.02581102e-02 3.51678710e+01] [ 8.93019389e-02 -8.37176182e-04 9.96004248e-01 1.62390205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.957105681 meters 0.019223934432448964 Centerline is valid? [True, True] Translation: X:178.70, Y:35.19, Z:16.23 [[ 9.31926527e-01 -3.51133650e-01 -9.06537781e-02 1.78700131e+02] [ 3.49613900e-01 9.36324503e-01 -3.26580144e-02 3.51867556e+01] [ 9.63486815e-02 -1.25895097e-03 9.95346847e-01 1.62344006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.017105681 meters 0.01741536874768009 Centerline is valid? [True, True] Translation: X:178.75, Y:35.22, Z:16.24 [[ 9.33563016e-01 -3.46281323e-01 -9.24626422e-02 1.78751330e+02] [ 3.44675004e-01 9.38130411e-01 -3.33237748e-02 3.52170341e+01] [ 9.82814173e-02 -7.59717827e-04 9.95158372e-01 1.62393635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077105681 meters 0.017220251830943854 Centerline is valid? [True, True] Translation: X:178.80, Y:35.25, Z:16.24 [[ 9.37201960e-01 -3.35605503e-01 -9.49812164e-02 1.78799545e+02] [ 3.33851844e-01 9.42002538e-01 -3.42660745e-02 3.52534529e+01] [ 1.00972430e-01 4.04577937e-04 9.94889142e-01 1.62414966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137105681 meters 0.023378226119624996 Centerline is valid? [True, True] Translation: X:178.85, Y:35.30, Z:16.25 [[ 9.44591024e-01 -3.15772602e-01 -8.96407318e-02 1.78845423e+02] [ 3.14120292e-01 9.48831864e-01 -3.23502207e-02 3.52995320e+01] [ 9.52692959e-02 2.39975522e-03 9.95448644e-01 1.62547642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197105681 meters 0.02981927352705495 Centerline is valid? [True, True] Translation: X:178.90, Y:35.33, Z:16.26 [[ 9.46577630e-01 -3.10549575e-01 -8.68893104e-02 1.78895941e+02] [ 3.08975113e-01 9.50552947e-01 -3.13603917e-02 3.53296065e+01] [ 9.23318464e-02 2.83841071e-03 9.95724246e-01 1.62610093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25710568099998 meters 0.024280088544350053 Centerline is valid? [True, True] Translation: X:178.96, Y:35.34, Z:16.26 [[ 9.44627310e-01 -3.14860393e-01 -9.24239067e-02 1.78955647e+02] [ 3.13097522e-01 9.49134470e-01 -3.33721237e-02 3.53392335e+01] [ 9.82302757e-02 2.58652324e-03 9.95160350e-01 1.62590385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317105681 meters 0.02178786759035596 Centerline is valid? [True, True] Translation: X:179.01, Y:35.35, Z:16.27 [[ 9.42934625e-01 -3.20507161e-01 -9.02743184e-02 1.79014186e+02] [ 3.18848113e-01 9.47244016e-01 -3.26290411e-02 3.53504067e+01] [ 9.59696493e-02 1.98325659e-03 9.95382285e-01 1.62684536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377105681 meters 0.016879112988594652 Centerline is valid? [True, True] Translation: X:179.08, Y:35.35, Z:16.28 [[ 9.37812088e-01 -3.35888368e-01 -8.76783476e-02 1.79075345e+02] [ 3.34387622e-01 9.41901705e-01 -3.17190312e-02 3.53542287e+01] [ 9.32384387e-02 4.27936751e-04 9.95643717e-01 1.62796485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.437105681 meters 0.016797089801850948 Centerline is valid? [True, True] Translation: X:179.13, Y:35.37, Z:16.28 [[ 9.34399063e-01 -3.44519476e-01 -9.05799202e-02 1.79133234e+02] [ 3.42957256e-01 9.38779067e-01 -3.27747429e-02 3.53653484e+01] [ 9.63260702e-02 -4.40351805e-04 9.95349735e-01 1.62789276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.497105681 meters 0.020221689004877225 Centerline is valid? [True, True] Translation: X:179.19, Y:35.38, Z:16.28 [[ 9.29841689e-01 -3.55752614e-01 -9.39920753e-02 1.79192569e+02] [ 3.54125324e-01 9.34578714e-01 -3.40276623e-02 3.53750330e+01] [ 9.99484227e-02 -1.64463521e-03 9.94991260e-01 1.62792311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.557105681 meters 0.027059092874027715 Centerline is valid? [True, True] Translation: X:179.25, Y:35.39, Z:16.29 [[ 9.25100383e-01 -3.68127125e-01 -9.31219711e-02 1.79250818e+02] [ 3.66591122e-01 9.29770815e-01 -3.37221198e-02 3.53866355e+01] [ 9.89961180e-02 -2.94134193e-03 9.95083472e-01 1.62886087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.617105681 meters 0.03144629666849111 Centerline is valid? [True, True] Translation: X:179.31, Y:35.40, Z:16.30 [[ 9.22768981e-01 -3.74401232e-01 -9.12202041e-02 1.79308202e+02] [ 3.72957493e-01 9.27260061e-01 -3.30376730e-02 3.54011869e+01] [ 9.69541975e-02 -3.53511877e-03 9.95282566e-01 1.62962851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.677105681 meters 0.03119334589472754 Centerline is valid? [True, True] Translation: X:179.36, Y:35.43, Z:16.31 [[ 9.23617135e-01 -3.72977989e-01 -8.84240243e-02 1.79357121e+02] [ 3.71614613e-01 9.27834405e-01 -3.20296021e-02 3.54328011e+01] [ 9.39891886e-02 -3.27657028e-03 9.95567826e-01 1.63074539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.737105681 meters 0.02102415434678375 Centerline is valid? [True, True] Translation: X:179.40, Y:35.48, Z:16.31 [[ 9.29028797e-01 -3.59144735e-01 -8.89974924e-02 1.79402568e+02] [ 3.57698970e-01 9.33279991e-01 -3.22475513e-02 3.54828860e+01] [ 9.46411173e-02 -1.87540755e-03 9.95509689e-01 1.63140813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797105681 meters 0.0177750230550065 Centerline is valid? [True, True] Translation: X:179.44, Y:35.55, Z:16.32 [[ 9.37727114e-01 -3.35025742e-01 -9.17911296e-02 1.79442355e+02] [ 3.33370751e-01 9.42208788e-01 -3.32647121e-02 3.55458581e+01] [ 9.76309438e-02 5.92744694e-04 9.95222512e-01 1.63173065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857105681 meters 0.022120147831563564 Centerline is valid? [True, True] Translation: X:179.49, Y:35.59, Z:16.31 [[ 9.42050139e-01 -3.21851727e-01 -9.46203025e-02 1.79491180e+02] [ 3.20025357e-01 9.46787908e-01 -3.42991029e-02 3.55902131e+01] [ 1.00624584e-01 2.03057854e-03 9.94922394e-01 1.63133330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917105681 meters 0.0225935221006735 Centerline is valid? [True, True] Translation: X:179.54, Y:35.62, Z:16.32 [[ 9.42541111e-01 -3.21250835e-01 -9.17287056e-02 1.79542637e+02] [ 3.19531502e-01 9.46991957e-01 -3.32543626e-02 3.56168328e+01] [ 9.75493382e-02 2.03339274e-03 9.95228613e-01 1.63201659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97710568099998 meters 0.019633050292889632 Centerline is valid? [True, True] Translation: X:179.60, Y:35.63, Z:16.32 [[ 9.39116328e-01 -3.30304961e-01 -9.46528133e-02 1.79599420e+02] [ 3.28515798e-01 9.43873547e-01 -3.43525454e-02 3.56338368e+01] [ 1.00687103e-01 1.16609185e-03 9.94917458e-01 1.63207556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03710568099999 meters 0.01839159766764648 Centerline is valid? [True, True] Translation: X:179.66, Y:35.64, Z:16.32 [[ 9.34448001e-01 -3.43079746e-01 -9.54108023e-02 1.79657936e+02] [ 3.41326444e-01 9.39306260e-01 -3.46411463e-02 3.56433014e+01] [ 1.01504640e-01 -1.95879960e-04 9.94835047e-01 1.63245317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097105681 meters 0.020001141870703582 Centerline is valid? [True, True] Translation: X:179.72, Y:35.66, Z:16.32 [[ 9.30406368e-01 -3.52585874e-01 -1.00135863e-01 1.79715890e+02] [ 3.50705189e-01 9.35778613e-01 -3.63903484e-02 3.56591104e+01] [ 1.06535722e-01 -1.26035483e-03 9.94308077e-01 1.63249179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.157105681 meters 0.019520389130356065 Centerline is valid? [True, True] Translation: X:179.77, Y:35.69, Z:16.33 [[ 9.30627099e-01 -3.51783797e-01 -1.00902743e-01 1.79767212e+02] [ 3.49868138e-01 9.36080552e-01 -3.66808722e-02 3.56853971e+01] [ 1.07356831e-01 -1.16644104e-03 9.94219870e-01 1.63299433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.217105681 meters 0.01856622020962426 Centerline is valid? [True, True] Translation: X:179.82, Y:35.72, Z:16.34 [[ 9.33809954e-01 -3.43473007e-01 -1.00126241e-01 1.79818248e+02] [ 3.41534538e-01 9.39162534e-01 -3.64402872e-02 3.57166910e+01] [ 1.06551069e-01 -1.68266435e-04 9.94307217e-01 1.63365977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.277105681 meters 0.020711413062839364 Centerline is valid? [True, True] Translation: X:179.87, Y:35.75, Z:16.34 [[ 9.37783959e-01 -3.32517151e-01 -9.99679465e-02 1.79867494e+02] [ 3.30518554e-01 9.43096552e-01 -3.64194761e-02 3.57520643e+01] [ 1.06389526e-01 1.11233930e-03 9.94323907e-01 1.63421368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.337105681 meters 0.022800575475073425 Centerline is valid? [True, True] Translation: X:179.92, Y:35.78, Z:16.35 [[ 9.40631848e-01 -3.24831501e-01 -9.84693958e-02 1.79920473e+02] [ 3.22846704e-01 9.45769818e-01 -3.59090034e-02 3.57768936e+01] [ 1.04793758e-01 1.98663238e-03 9.94491992e-01 1.63468711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.397105681 meters 0.025177364314316875 Centerline is valid? [True, True] Translation: X:179.97, Y:35.80, Z:16.36 [[ 9.42693316e-01 -3.19892315e-01 -9.48589422e-02 1.79972913e+02] [ 3.18022343e-01 9.47450674e-01 -3.46267082e-02 3.58010704e+01] [ 1.00950987e-01 2.47510332e-03 9.94888321e-01 1.63597534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.457105681 meters 0.02367153383733887 Centerline is valid? [True, True] Translation: X:180.03, Y:35.82, Z:16.37 [[ 9.41775807e-01 -3.24620146e-01 -8.76361226e-02 1.80029605e+02] [ 3.23042449e-01 9.45842671e-01 -3.20190170e-02 3.58156708e+01] [ 9.32840023e-02 1.84454794e-03 9.95637832e-01 1.63734525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.517105681 meters 0.02369773797242379 Centerline is valid? [True, True] Translation: X:180.09, Y:35.83, Z:16.38 [[ 9.41375471e-01 -3.25578817e-01 -8.83779244e-02 1.80086658e+02] [ 3.23977977e-01 9.45513249e-01 -3.22949877e-02 3.58283857e+01] [ 9.40770623e-02 1.76920806e-03 9.95563346e-01 1.63766979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577105681 meters 0.02578295708213829 Centerline is valid? [True, True] Translation: X:180.14, Y:35.85, Z:16.38 [[ 9.43581195e-01 -3.17845716e-01 -9.28904120e-02 1.80142855e+02] [ 3.16038198e-01 9.48138653e-01 -3.39551597e-02 3.58506684e+01] [ 9.88654921e-02 2.68253178e-03 9.95097190e-01 1.63775454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637105681 meters 0.027091735847444405 Centerline is valid? [True, True] Translation: X:180.20, Y:35.86, Z:16.38 [[ 9.44073313e-01 -3.15254034e-01 -9.66461286e-02 1.80202071e+02] [ 3.13283045e-01 9.49002329e-01 -3.53314844e-02 3.58625065e+01] [ 1.02855794e-01 3.07791810e-03 9.94691516e-01 1.63755836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697105681 meters 0.024936807712075827 Centerline is valid? [True, True] Translation: X:180.26, Y:35.87, Z:16.38 [[ 9.42536733e-01 -3.20312678e-01 -9.49962952e-02 1.80261428e+02] [ 3.18433388e-01 9.47308603e-01 -3.47359882e-02 3.58736510e+01] [ 1.01117185e-01 2.48995265e-03 9.94871406e-01 1.63845064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75710568099998 meters 0.021831677304338732 Centerline is valid? [True, True] Translation: X:180.32, Y:35.88, Z:16.39 [[ 9.39994463e-01 -3.27845567e-01 -9.44864729e-02 1.80320915e+02] [ 3.26023267e-01 9.44729833e-01 -3.45596808e-02 3.58814910e+01] [ 1.00594428e-01 1.68112008e-03 9.94926095e-01 1.63932415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817105681 meters 0.019833857394775823 Centerline is valid? [True, True] Translation: X:180.38, Y:35.89, Z:16.40 [[ 9.36881189e-01 -3.36295916e-01 -9.57010736e-02 1.80381233e+02] [ 3.34466674e-01 9.41756013e-01 -3.50379132e-02 3.58891977e+01] [ 1.01910169e-01 8.17541993e-04 9.94793270e-01 1.63963497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877105681 meters 0.01889187357637665 Centerline is valid? [True, True] Translation: X:180.44, Y:35.90, Z:16.40 [[ 9.33989132e-01 -3.43776791e-01 -9.73746357e-02 1.80438072e+02] [ 3.41919564e-01 9.39051392e-01 -3.56860595e-02 3.59030475e+01] [ 1.03707826e-01 3.60987161e-05 9.94607805e-01 1.64018915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.937105681 meters 0.018999674010971676 Centerline is valid? [True, True] Translation: X:180.49, Y:35.92, Z:16.41 [[ 9.33852753e-01 -3.44075235e-01 -9.76282112e-02 1.80491960e+02] [ 3.42205524e-01 9.38942081e-01 -3.58210621e-02 3.59229368e+01] [ 1.03992376e-01 4.26842922e-05 9.94578093e-01 1.64074111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.997105681 meters 0.019439103258726408 Centerline is valid? [True, True] Translation: X:180.55, Y:35.95, Z:16.41 [[ 9.34652321e-01 -3.40965556e-01 -1.00834158e-01 1.80545251e+02] [ 3.38947892e-01 9.40075685e-01 -3.70409671e-02 3.59489629e+01] [ 1.07421434e-01 4.42900566e-04 9.94213478e-01 1.64086566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.057105681 meters 0.0215702166537224 Centerline is valid? [True, True] Translation: X:180.60, Y:35.98, Z:16.41 [[ 9.37681099e-01 -3.32410910e-01 -1.01277552e-01 1.80597181e+02] [ 3.30321388e-01 9.43133520e-01 -3.72417055e-02 3.59773597e+01] [ 1.07897804e-01 1.46670163e-03 9.94160909e-01 1.64137728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.117105681 meters 0.02458254077419245 Centerline is valid? [True, True] Translation: X:180.65, Y:36.00, Z:16.42 [[ 9.40884749e-01 -3.24587808e-01 -9.68434007e-02 1.80649328e+02] [ 3.22633051e-01 9.45852794e-01 -3.56427741e-02 3.60023724e+01] [ 1.03168811e-01 2.29086074e-03 9.94661223e-01 1.64245908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.177105681 meters 0.024245579077123925 Centerline is valid? [True, True] Translation: X:180.71, Y:36.02, Z:16.44 [[ 9.41587442e-01 -3.24729289e-01 -8.92411179e-02 1.80705604e+02] [ 3.23069570e-01 9.45804657e-01 -3.28573221e-02 3.60163441e+01] [ 9.50743998e-02 2.10695232e-03 9.95467940e-01 1.64387593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.237105681 meters 0.024767575816961793 Centerline is valid? [True, True] Translation: X:180.76, Y:36.03, Z:16.44 [[ 9.41472177e-01 -3.24230233e-01 -9.22219942e-02 1.80763261e+02] [ 3.22451688e-01 9.45975494e-01 -3.39893058e-02 3.60277950e+01] [ 9.82601071e-02 2.26284795e-03 9.95158194e-01 1.64431937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297105681 meters 0.03088689020585193 Centerline is valid? [True, True] Translation: X:180.82, Y:36.05, Z:16.44 [[ 9.44861720e-01 -3.13573815e-01 -9.43811002e-02 1.80819448e+02] [ 3.11656414e-01 9.49557510e-01 -3.47967531e-02 3.60504756e+01] [ 1.00531633e-01 3.46364474e-03 9.94927834e-01 1.64427081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357105681 meters 0.03684075093156214 Centerline is valid? [True, True] Translation: X:180.88, Y:36.07, Z:16.44 [[ 9.47517335e-01 -3.04790213e-01 -9.65081631e-02 1.80875576e+02] [ 3.02739451e-01 9.52408888e-01 -3.55827932e-02 3.60722688e+01] [ 1.02760519e-01 4.49848509e-03 9.94695953e-01 1.64443392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417105681 meters 0.03713536412115549 Centerline is valid? [True, True] Translation: X:180.93, Y:36.09, Z:16.45 [[ 9.47630032e-01 -3.03976302e-01 -9.79577998e-02 1.80933077e+02] [ 3.01858257e-01 9.52668184e-01 -3.61237299e-02 3.60860660e+01] [ 1.04302037e-01 4.66256056e-03 9.94534738e-01 1.64471847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47710568099998 meters 0.028094815695702085 Centerline is valid? [True, True] Translation: X:181.00, Y:36.08, Z:16.46 [[ 9.43595624e-01 -3.17635963e-01 -9.34595840e-02 1.81000398e+02] [ 3.15771991e-01 9.48207873e-01 -3.44946103e-02 3.60750878e+01] [ 9.95758422e-02 3.03704435e-03 9.95025340e-01 1.64594356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53710568099999 meters 0.021713028830914773 Centerline is valid? [True, True] Translation: X:181.06, Y:36.08, Z:16.46 [[ 9.38388433e-01 -3.31397223e-01 -9.79950492e-02 1.81063682e+02] [ 3.29421285e-01 9.43489860e-01 -3.61732191e-02 3.60758102e+01] [ 1.04445040e-01 1.66287541e-03 9.94529270e-01 1.64588224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597105681 meters 0.01957271759694372 Centerline is valid? [True, True] Translation: X:181.12, Y:36.09, Z:16.46 [[ 9.36169055e-01 -3.37504546e-01 -9.83777563e-02 1.81123417e+02] [ 3.35545660e-01 9.41323373e-01 -3.63237968e-02 3.60852716e+01] [ 1.04864728e-01 9.94985341e-04 9.94485997e-01 1.64622514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.657105681 meters 0.019066380070730075 Centerline is valid? [True, True] Translation: X:181.18, Y:36.10, Z:16.47 [[ 9.35592789e-01 -3.38923290e-01 -9.89804824e-02 1.81179449e+02] [ 3.36944489e-01 9.40813605e-01 -3.65810267e-02 3.61013514e+01] [ 1.05520346e-01 8.74016732e-04 9.94416760e-01 1.64681863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.717105681 meters 0.018198591432275573 Centerline is valid? [True, True] Translation: X:181.23, Y:36.12, Z:16.47 [[ 9.33835056e-01 -3.43314341e-01 -1.00435812e-01 1.81233962e+02] [ 3.41297335e-01 9.39220465e-01 -3.71624319e-02 3.61206875e+01] [ 1.07089766e-01 4.25106565e-04 9.94249265e-01 1.64705203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.777105681 meters 0.017869699234745892 Centerline is valid? [True, True] Translation: X:181.29, Y:36.14, Z:16.48 [[ 9.31866936e-01 -3.48884200e-01 -9.95179783e-02 1.81290844e+02] [ 3.46931189e-01 9.37165826e-01 -3.68641452e-02 3.61362636e+01] [ 1.06126166e-01 -1.73412437e-04 9.94352657e-01 1.64791018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.837105681 meters 0.017596930203577128 Centerline is valid? [True, True] Translation: X:181.34, Y:36.16, Z:16.50 [[ 9.33999257e-01 -3.45162543e-01 -9.22399443e-02 1.81343611e+02] [ 3.43464305e-01 9.38542887e-01 -3.41982511e-02 3.61610579e+01] [ 9.83750990e-02 2.60012755e-04 9.95149372e-01 1.64961051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.897105681 meters 0.019061621723249968 Centerline is valid? [True, True] Translation: X:181.39, Y:36.20, Z:16.50 [[ 9.37094208e-01 -3.37238180e-01 -9.01379773e-02 1.81393413e+02] [ 3.35576979e-01 9.41418720e-01 -3.34497460e-02 3.61951270e+01] [ 9.61381107e-02 1.09733319e-03 9.95367399e-01 1.65034628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.957105681 meters 0.02123006192569031 Centerline is valid? [True, True] Translation: X:181.45, Y:36.22, Z:16.51 [[ 9.39702794e-01 -3.31317268e-01 -8.47792814e-02 1.81445023e+02] [ 3.29821377e-01 9.43517998e-01 -3.14904270e-02 3.62225126e+01] [ 9.04241001e-02 1.62962293e-03 9.95902016e-01 1.65136520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.017105681 meters 0.02037745980056015 Centerline is valid? [True, True] Translation: X:181.50, Y:36.24, Z:16.52 [[ 9.38927964e-01 -3.33276124e-01 -8.56814110e-02 1.81499958e+02] [ 3.31753350e-01 9.42828094e-01 -3.18574972e-02 3.62443365e+01] [ 9.14001846e-02 1.48679980e-03 9.95813133e-01 1.65168659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077105681 meters 0.018559805401868346 Centerline is valid? [True, True] Translation: X:181.56, Y:36.26, Z:16.51 [[ 9.36941268e-01 -3.37409132e-01 -9.10831338e-02 1.81556584e+02] [ 3.35703777e-01 9.41357355e-01 -3.39013965e-02 3.62618366e+01] [ 9.71804187e-02 1.18666541e-03 9.95266074e-01 1.65146510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137105681 meters 0.020037701907894057 Centerline is valid? [True, True] Translation: X:181.61, Y:36.29, Z:16.52 [[ 9.38078015e-01 -3.34195405e-01 -9.12308560e-02 1.81608171e+02] [ 3.32466065e-01 9.42502529e-01 -3.39896810e-02 3.62892574e+01] [ 9.73445077e-02 1.55380884e-03 9.95249533e-01 1.65185812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197105681 meters 0.02633442624364665 Centerline is valid? [True, True] Translation: X:181.66, Y:36.32, Z:16.52 [[ 9.42554806e-01 -3.21229486e-01 -9.16627203e-02 1.81660330e+02] [ 3.19421139e-01 9.46996878e-01 -3.41620966e-02 3.63213284e+01] [ 9.77781827e-02 2.92063779e-03 9.95203947e-01 1.65210496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25710568099998 meters 0.03277284997510111 Centerline is valid? [True, True] Translation: X:181.71, Y:36.36, Z:16.52 [[ 9.46381822e-01 -3.09119036e-01 -9.38449152e-02 1.81712087e+02] [ 3.07163530e-01 9.51013740e-01 -3.49775973e-02 3.63553968e+01] [ 1.00060045e-01 4.27642681e-03 9.94972210e-01 1.65238823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317105681 meters 0.02948291097373701 Centerline is valid? [True, True] Translation: X:181.77, Y:36.37, Z:16.52 [[ 9.44553540e-01 -3.13611629e-01 -9.72951995e-02 1.81771280e+02] [ 3.11532666e-01 9.49543147e-01 -3.62658254e-02 3.63663040e+01] [ 1.03759375e-01 3.94438089e-03 9.94594608e-01 1.65229817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377105681 meters 0.023393850428686046 Centerline is valid? [True, True] Translation: X:181.83, Y:36.38, Z:16.53 [[ 9.40710566e-01 -3.25642331e-01 -9.49773817e-02 1.81831036e+02] [ 3.23721397e-01 9.45489550e-01 -3.54114032e-02 3.63763842e+01] [ 1.01331574e-01 2.56567046e-03 9.94849400e-01 1.65320199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.437105681 meters 0.018618346267460145 Centerline is valid? [True, True] Translation: X:181.89, Y:36.38, Z:16.54 [[ 9.36381998e-01 -3.37761303e-01 -9.54256592e-02 1.81892447e+02] [ 3.35884110e-01 9.41230947e-01 -3.55832770e-02 3.63843325e+01] [ 1.01836238e-01 1.26757735e-03 9.94800369e-01 1.65358154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.497105681 meters 0.01647422167669353 Centerline is valid? [True, True] Translation: X:181.95, Y:36.39, Z:16.54 [[ 9.32028262e-01 -3.49680074e-01 -9.51165790e-02 1.81950600e+02] [ 3.47875965e-01 9.36869172e-01 -3.54748917e-02 3.63938571e+01] [ 1.01516653e-01 -2.51700297e-05 9.94833840e-01 1.65421932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.557105681 meters 0.016694192503570494 Centerline is valid? [True, True] Translation: X:182.01, Y:36.41, Z:16.55 [[ 9.30813619e-01 -3.52998096e-01 -9.47541564e-02 1.82005967e+02] [ 3.51223293e-01 9.35623966e-01 -3.53552286e-02 3.64105334e+01] [ 1.01134588e-01 -3.70738508e-04 9.94872684e-01 1.65481642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.617105681 meters 0.019973219955634433 Centerline is valid? [True, True] Translation: X:182.06, Y:36.42, Z:16.56 [[ 9.26141667e-01 -3.65710422e-01 -9.22903004e-02 1.82063640e+02] [ 3.64085918e-01 9.30727179e-01 -3.44726425e-02 3.64222660e+01] [ 9.85040955e-02 -1.67504814e-03 9.95135236e-01 1.65576840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.677105681 meters 0.024750679154879735 Centerline is valid? [True, True] Translation: X:182.12, Y:36.44, Z:16.57 [[ 9.22620728e-01 -3.74900043e-01 -9.06694590e-02 1.82119275e+02] [ 3.73373353e-01 9.27061652e-01 -3.38974002e-02 3.64400227e+01] [ 9.67643153e-02 -2.57911583e-03 9.95303981e-01 1.65655370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.737105681 meters 0.027400864675230032 Centerline is valid? [True, True] Translation: X:182.17, Y:36.46, Z:16.57 [[ 9.18808345e-01 -3.84395841e-01 -8.96161922e-02 1.82174005e+02] [ 3.82948681e-01 9.23161624e-01 -3.35100699e-02 3.64638112e+01] [ 9.56113610e-02 -3.52907063e-03 9.95412484e-01 1.65718596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797105681 meters 0.0297076062150718 Centerline is valid? [True, True] Translation: X:182.22, Y:36.50, Z:16.57 [[ 9.19415574e-01 -3.82658521e-01 -9.08155210e-02 1.82224034e+02] [ 3.81163392e-01 9.23883634e-01 -3.39631977e-02 3.64965007e+01] [ 9.68992805e-02 -3.38925912e-03 9.95288422e-01 1.65730510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857105681 meters 0.022840971943529364 Centerline is valid? [True, True] Translation: X:182.27, Y:36.55, Z:16.58 [[ 9.22922363e-01 -3.73657435e-01 -9.27061610e-02 1.82269473e+02] [ 3.72052692e-01 9.27563451e-01 -3.46819573e-02 3.65464924e+01] [ 9.89500179e-02 -2.48282275e-03 9.95089307e-01 1.65764728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917105681 meters 0.020020189089167053 Centerline is valid? [True, True] Translation: X:182.32, Y:36.59, Z:16.58 [[ 9.25437771e-01 -3.67330468e-01 -9.29153387e-02 1.82315542e+02] [ 3.65686021e-01 9.30088744e-01 -3.47658135e-02 3.65921934e+01] [ 9.91900533e-02 -1.80424360e-03 9.95066871e-01 1.65804742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97710568099998 meters 0.02124052563055056 Centerline is valid? [True, True] Translation: X:182.37, Y:36.62, Z:16.58 [[ 9.24409093e-01 -3.69253015e-01 -9.54989000e-02 1.82366041e+02] [ 3.67522564e-01 9.29326671e-01 -3.57645544e-02 3.66240270e+01] [ 1.01955844e-01 -2.03692132e-03 9.94786840e-01 1.65802963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03710568099999 meters 0.022694538458483907 Centerline is valid? [True, True] Translation: X:182.42, Y:36.66, Z:16.59 [[ 9.23219465e-01 -3.73175612e-01 -9.16830480e-02 1.82415254e+02] [ 3.71598869e-01 9.27757730e-01 -3.43493114e-02 3.66589444e+01] [ 9.78779818e-02 -2.35736405e-03 9.95195631e-01 1.65900528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097105681 meters 0.02010958917627797 Centerline is valid? [True, True] Translation: X:182.46, Y:36.70, Z:16.59 [[ 9.26901622e-01 -3.63983868e-01 -9.14829387e-02 1.82463745e+02] [ 3.62366105e-01 9.31404271e-01 -3.43058345e-02 3.66966724e+01] [ 9.76943701e-02 -1.35218252e-03 9.95215545e-01 1.65916774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.157105681 meters 0.018250363425099923 Centerline is valid? [True, True] Translation: X:182.51, Y:36.74, Z:16.59 [[ 9.29913693e-01 -3.55751830e-01 -9.32800094e-02 1.82511906e+02] [ 3.54027275e-01 9.34580333e-01 -3.49898425e-02 3.67353508e+01] [ 9.96253627e-02 -4.86133941e-04 9.95024900e-01 1.65941681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.217105681 meters 0.018659747868845535 Centerline is valid? [True, True] Translation: X:182.56, Y:36.77, Z:16.60 [[ 9.31399045e-01 -3.52242995e-01 -9.17643262e-02 1.82561842e+02] [ 3.50554107e-01 9.35908578e-01 -3.44521723e-02 3.67699874e+01] [ 9.80185563e-02 -7.96410127e-05 9.95184584e-01 1.66009797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.277105681 meters 0.01861767682293097 Centerline is valid? [True, True] Translation: X:182.62, Y:36.79, Z:16.61 [[ 9.31974576e-01 -3.50902025e-01 -9.10557977e-02 1.82615029e+02] [ 3.49230909e-01 9.36412176e-01 -3.42054043e-02 3.67924871e+01] [ 9.72685033e-02 7.90681381e-05 9.95258174e-01 1.66071349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.337105681 meters 0.020066926678458108 Centerline is valid? [True, True] Translation: X:182.66, Y:36.83, Z:16.61 [[ 9.35080631e-01 -3.42043320e-01 -9.29009128e-02 1.82663275e+02] [ 3.40255929e-01 9.39683587e-01 -3.49379270e-02 3.68270375e+01] [ 9.92477475e-02 1.05969243e-03 9.95062190e-01 1.66115947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.397105681 meters 0.024415214092605074 Centerline is valid? [True, True] Translation: X:182.72, Y:36.86, Z:16.62 [[ 9.39231777e-01 -3.30725182e-01 -9.20028456e-02 1.82715751e+02] [ 3.28916191e-01 9.43724420e-01 -3.46173203e-02 3.68572545e+01] [ 9.82741516e-02 2.25246168e-03 9.95156831e-01 1.66158497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.457105681 meters 0.03166905555639884 Centerline is valid? [True, True] Translation: X:182.77, Y:36.89, Z:16.62 [[ 9.43404997e-01 -3.18378538e-01 -9.28553653e-02 1.82769044e+02] [ 3.16475467e-01 9.47956909e-01 -3.49424956e-02 3.68883835e+01] [ 9.91478257e-02 3.57847983e-03 9.95066281e-01 1.66180266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.517105681 meters 0.03678416341379474 Centerline is valid? [True, True] Translation: X:182.83, Y:36.91, Z:16.61 [[ 9.44657565e-01 -3.12595059e-01 -9.95309697e-02 1.82825591e+02] [ 3.10375491e-01 9.49875869e-01 -3.74551518e-02 3.69096096e+01] [ 1.06250362e-01 4.49031894e-03 9.94329270e-01 1.66147876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577105681 meters 0.03042564805005721 Centerline is valid? [True, True] Translation: X:182.89, Y:36.91, Z:16.63 [[ 9.42745462e-01 -3.19796229e-01 -9.46644947e-02 1.82890330e+02] [ 3.17824935e-01 9.47479883e-01 -3.56255901e-02 3.69077958e+01] [ 1.01085634e-01 3.49912649e-03 9.94871575e-01 1.66267886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637105681 meters 0.02337310768480632 Centerline is valid? [True, True] Translation: X:182.96, Y:36.90, Z:16.63 [[ 9.38732229e-01 -3.31025238e-01 -9.59379725e-02 1.82956839e+02] [ 3.29058227e-01 9.43619032e-01 -3.61082491e-02 3.69017697e+01] [ 1.02481639e-01 2.32679800e-03 9.94732175e-01 1.66333983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697105681 meters 0.020665954344624256 Centerline is valid? [True, True] Translation: X:183.02, Y:36.91, Z:16.64 [[ 9.36785488e-01 -3.36820523e-01 -9.47886344e-02 1.83016710e+02] [ 3.34929713e-01 9.41567378e-01 -3.56785668e-02 3.69078417e+01] [ 1.01267159e-01 1.67563345e-03 9.94857857e-01 1.66414399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75710568099998 meters 0.01940054109654197 Centerline is valid? [True, True] Translation: X:183.08, Y:36.91, Z:16.65 [[ 9.35439614e-01 -3.40544866e-01 -9.47730070e-02 1.83076186e+02] [ 3.38672620e-01 9.40227392e-01 -3.56834411e-02 3.69131665e+01] [ 1.01259990e-01 1.28268183e-03 9.94859171e-01 1.66462023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817105681 meters 0.0170076403735066 Centerline is valid? [True, True] Translation: X:183.14, Y:36.91, Z:16.65 [[ 9.31770181e-01 -3.50558969e-01 -9.44073029e-02 1.83139198e+02] [ 3.48750721e-01 9.36540637e-01 -3.55607785e-02 3.69130000e+01] [ 1.00882425e-01 2.09858021e-04 9.94898333e-01 1.66529896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.877105681 meters 0.01742441935715318 Centerline is valid? [True, True] Translation: X:183.20, Y:36.92, Z:16.66 [[ 9.28362893e-01 -3.58966646e-01 -9.63601857e-02 1.83198748e+02] [ 3.57124061e-01 9.33350137e-01 -3.63307894e-02 3.69208607e+01] [ 1.02979334e-01 -6.84384055e-04 9.94683260e-01 1.66593743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.937105681 meters 0.01723475292157387 Centerline is valid? [True, True] Translation: X:183.25, Y:36.94, Z:16.66 [[ 9.29426094e-01 -3.55653461e-01 -9.83755621e-02 1.83253485e+02] [ 3.53710606e-01 9.34617853e-01 -3.71251469e-02 3.69391809e+01] [ 1.05147244e-01 -2.91399436e-04 9.94456622e-01 1.66607525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.997105681 meters 0.017066872836693593 Centerline is valid? [True, True] Translation: X:183.31, Y:36.97, Z:16.67 [[ 9.31608985e-01 -3.50212128e-01 -9.72428145e-02 1.83305619e+02] [ 3.48282530e-01 9.36670355e-01 -3.67141085e-02 3.69653816e+01] [ 1.03942188e-01 3.35219883e-04 9.94583284e-01 1.66705518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.057105681 meters 0.017789423781834523 Centerline is valid? [True, True] Translation: X:183.36, Y:36.99, Z:16.68 [[ 9.33986282e-01 -3.45204849e-01 -9.22129952e-02 1.83358442e+02] [ 3.43442400e-01 9.38526952e-01 -3.48493636e-02 3.69904349e+01] [ 9.85745507e-02 8.78975144e-04 9.95129281e-01 1.66831686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.117105681 meters 0.018515119730554974 Centerline is valid? [True, True] Translation: X:183.41, Y:37.01, Z:16.69 [[ 9.35507217e-01 -3.41545758e-01 -9.04032236e-02 1.83412182e+02] [ 3.39831754e-01 9.39864289e-01 -3.41979243e-02 3.70115392e+01] [ 9.66469174e-02 1.27051900e-03 9.95317919e-01 1.66922050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.177105681 meters 0.018601891333333953 Centerline is valid? [True, True] Translation: X:183.47, Y:37.03, Z:16.70 [[ 9.35817104e-01 -3.40998852e-01 -8.92531784e-02 1.83465002e+02] [ 3.39324458e-01 9.40062781e-01 -3.37769191e-02 3.70345649e+01] [ 9.54214817e-02 1.32323229e-03 9.95436080e-01 1.67006911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.237105681 meters 0.016549546610199264 Centerline is valid? [True, True] Translation: X:183.53, Y:37.04, Z:16.71 [[ 9.32313995e-01 -3.50722324e-01 -8.82296263e-02 1.83525145e+02] [ 3.49125827e-01 9.36479429e-01 -3.34280766e-02 3.70425859e+01] [ 9.43492028e-02 3.62222386e-04 9.95539099e-01 1.67064375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297105681 meters 0.021668306030541342 Centerline is valid? [True, True] Translation: X:183.59, Y:37.04, Z:16.71 [[ 9.21924751e-01 -3.76612909e-01 -9.06502633e-02 1.83588615e+02] [ 3.75047812e-01 9.26367854e-01 -3.43764169e-02 3.70436378e+01] [ 9.69220922e-02 -2.30571327e-03 9.95289301e-01 1.67096614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357105681 meters 0.02986589340966692 Centerline is valid? [True, True] Translation: X:183.65, Y:37.05, Z:16.71 [[ 9.15886616e-01 -3.90935345e-01 -9.12209552e-02 1.83649143e+02] [ 3.89420487e-01 9.20410141e-01 -3.45956082e-02 3.70508501e+01] [ 9.74853383e-02 -3.83765429e-03 9.95229562e-01 1.67135389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417105681 meters 0.033332583863834225 Centerline is valid? [True, True] Translation: X:183.70, Y:37.08, Z:16.72 [[ 9.12300898e-01 -3.98571295e-01 -9.40637775e-02 1.83702516e+02] [ 3.97000087e-01 9.17124826e-01 -3.56789124e-02 3.70778082e+01] [ 1.00488816e-01 -4.79342411e-03 9.94926641e-01 1.67189668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47710568099998 meters 0.03697527012330019 Centerline is valid? [True, True] Translation: X:183.76, Y:37.10, Z:16.72 [[ 9.10889175e-01 -4.01345501e-01 -9.59306998e-02 1.83755780e+02] [ 3.99726084e-01 9.15911988e-01 -3.63907739e-02 3.71028608e+01] [ 1.02469351e-01 -5.19804093e-03 9.94722581e-01 1.67210102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53710568099999 meters 0.036145512914059603 Centerline is valid? [True, True] Translation: X:183.81, Y:37.14, Z:16.73 [[ 9.09721025e-01 -4.04593791e-01 -9.33355315e-02 1.83805904e+02] [ 4.03077207e-01 9.14480536e-01 -3.54134856e-02 3.71362471e+01] [ 9.96816032e-02 -5.40503294e-03 9.95004705e-01 1.67276021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597105681 meters 0.037365898487162603 Centerline is valid? [True, True] Translation: X:183.85, Y:37.17, Z:16.74 [[ 9.09111061e-01 -4.06416240e-01 -9.13395747e-02 1.83854608e+02] [ 4.04972126e-01 9.13671639e-01 -3.46657310e-02 3.71723901e+01] [ 9.75430950e-02 -5.47498228e-03 9.95216242e-01 1.67391852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.657105681 meters 0.033509558304889595 Centerline is valid? [True, True] Translation: X:183.90, Y:37.22, Z:16.74 [[ 9.11905716e-01 -3.99977270e-01 -9.19029330e-02 1.83901723e+02] [ 3.98479553e-01 9.16512563e-01 -3.49108599e-02 3.72165895e+01] [ 9.81937431e-02 -4.78602698e-03 9.95155808e-01 1.67447230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.717105681 meters 0.024735421530843495 Centerline is valid? [True, True] Translation: X:183.95, Y:37.27, Z:16.75 [[ 9.18644114e-01 -3.84243159e-01 -9.19248932e-02 1.83945992e+02] [ 3.82665496e-01 9.23226738e-01 -3.49214676e-02 3.72696983e+01] [ 9.82858542e-02 -3.09608420e-03 9.95153408e-01 1.67490568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.777105681 meters 0.01859329587880594 Centerline is valid? [True, True] Translation: X:183.99, Y:37.33, Z:16.76 [[ 9.28669374e-01 -3.60173925e-01 -8.85885865e-02 1.83985740e+02] [ 3.58598285e-01 9.32885031e-01 -3.36569134e-02 3.73298104e+01] [ 9.47653089e-02 -5.11570557e-04 9.95499510e-01 1.67568561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.837105681 meters 0.02064198559974498 Centerline is valid? [True, True] Translation: X:184.03, Y:37.38, Z:16.76 [[ 9.35084754e-01 -3.43567239e-01 -8.70520249e-02 1.84029279e+02] [ 3.41972945e-01 9.39127360e-01 -3.30802983e-02 3.73801315e+01] [ 9.31182451e-02 1.16344523e-03 9.95654377e-01 1.67629937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.897105681 meters 0.023057231121429017 Centerline is valid? [True, True] Translation: X:184.08, Y:37.41, Z:16.76 [[ 9.37526395e-01 -3.35968431e-01 -9.03851307e-02 1.84080872e+02] [ 3.34210844e-01 9.41871071e-01 -3.43801960e-02 3.74133517e+01] [ 9.66818004e-02 2.02465043e-03 9.95313282e-01 1.67645744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.957105681 meters 0.024933067841519607 Centerline is valid? [True, True] Translation: X:184.13, Y:37.44, Z:16.77 [[ 9.39178758e-01 -3.31727085e-01 -8.88842092e-02 1.84131253e+02] [ 3.30008045e-01 9.43372280e-01 -3.38146700e-02 3.74421355e+01] [ 9.50681410e-02 2.42551562e-03 9.95467812e-01 1.67728788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.017105681 meters 0.02539666152286983 Centerline is valid? [True, True] Translation: X:184.19, Y:37.46, Z:16.77 [[ 9.38500085e-01 -3.32135775e-01 -9.43579240e-02 1.84188801e+02] [ 3.30198254e-01 9.43228146e-01 -3.59134848e-02 3.74581330e+01] [ 1.00929203e-01 2.54798675e-03 9.94890348e-01 1.67684077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077105681 meters 0.026660839902940537 Centerline is valid? [True, True] Translation: X:184.25, Y:37.47, Z:16.77 [[ 9.38545453e-01 -3.31458368e-01 -9.62693219e-02 1.84245141e+02] [ 3.29434154e-01 9.43465961e-01 -3.66758604e-02 3.74712973e+01] [ 1.02983349e-01 2.70755941e-03 9.94679395e-01 1.67716419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137105681 meters 0.026459522508461706 Centerline is valid? [True, True] Translation: X:184.30, Y:37.48, Z:16.78 [[ 9.38423058e-01 -3.32179119e-01 -9.49694513e-02 1.84302604e+02] [ 3.30210918e-01 9.43212706e-01 -3.62013878e-02 3.74846865e+01] [ 1.01601738e-01 2.61226736e-03 9.94821724e-01 1.67780642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197105681 meters 0.021969006489122863 Centerline is valid? [True, True] Translation: X:184.37, Y:37.48, Z:16.79 [[ 9.35574943e-01 -3.41129112e-01 -9.12713241e-02 1.84366663e+02] [ 3.39351006e-01 9.40015081e-01 -3.48215837e-02 3.74842016e+01] [ 9.76750771e-02 1.60518552e-03 9.95217063e-01 1.67890920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25710568099998 meters 0.019752484737386306 Centerline is valid? [True, True] Translation: X:184.43, Y:37.49, Z:16.80 [[ 9.33033522e-01 -3.48852493e-01 -8.80362705e-02 1.84427930e+02] [ 3.47232015e-01 9.37177324e-01 -3.35945127e-02 3.74867632e+01] [ 9.42251259e-02 7.75794870e-04 9.95550613e-01 1.68029971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317105681 meters 0.01903862494585588 Centerline is valid? [True, True] Translation: X:184.49, Y:37.49, Z:16.81 [[ 9.29395018e-01 -3.58282744e-01 -8.86474842e-02 1.84488354e+02] [ 3.56679246e-01 9.33613117e-01 -3.38594531e-02 3.74893726e+01] [ 9.48937119e-02 -1.49910798e-04 9.95487399e-01 1.68074460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.377105681 meters 0.02100553272737428 Centerline is valid? [True, True] Translation: X:184.55, Y:37.49, Z:16.81 [[ 9.24084272e-01 -3.71570469e-01 -8.94630886e-02 1.84551793e+02] [ 3.69997878e-01 9.28403521e-01 -3.41829429e-02 3.74896902e+01] [ 9.57592186e-02 -1.51323296e-03 9.95403377e-01 1.68127852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.437105681 meters 0.022850908467524203 Centerline is valid? [True, True] Translation: X:184.61, Y:37.50, Z:16.82 [[ 9.21929665e-01 -3.77051325e-01 -8.87580494e-02 1.84608436e+02] [ 3.75528240e-01 9.26190074e-01 -3.39188387e-02 3.75031455e+01] [ 9.49959674e-02 -2.06037054e-03 9.95475525e-01 1.68209734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.497105681 meters 0.02035846952831515 Centerline is valid? [True, True] Translation: X:184.66, Y:37.53, Z:16.82 [[ 9.25236029e-01 -3.68268052e-01 -9.11972170e-02 1.84659089e+02] [ 3.66615931e-01 9.29718913e-01 -3.48640527e-02 3.75316005e+01] [ 9.76270942e-02 -1.17687496e-03 9.95222370e-01 1.68235016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.557105681 meters 0.01958058847944649 Centerline is valid? [True, True] Translation: X:184.71, Y:37.57, Z:16.84 [[ 9.31663998e-01 -3.52998091e-01 -8.59915212e-02 1.84706519e+02] [ 3.51462796e-01 9.35623948e-01 -3.28896856e-02 3.75683056e+01] [ 9.20657228e-02 4.19315574e-04 9.95752844e-01 1.68385139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.617105681 meters 0.02297288030544083 Centerline is valid? [True, True] Translation: X:184.75, Y:37.61, Z:16.85 [[ 9.36557752e-01 -3.40408643e-01 -8.35555669e-02 1.84753980e+02] [ 3.38906264e-01 9.40276162e-01 -3.19888045e-02 3.76067426e+01] [ 8.94545732e-02 1.64185776e-03 9.95989550e-01 1.68466871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.677105681 meters 0.028452530281347834 Centerline is valid? [True, True] Translation: X:184.81, Y:37.64, Z:16.85 [[ 9.40833090e-01 -3.28577201e-01 -8.28861861e-02 1.84805785e+02] [ 3.27052266e-01 9.44473104e-01 -3.17391237e-02 3.76366016e+01] [ 8.87125259e-02 2.75310278e-03 9.96053467e-01 1.68479159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.737105681 meters 0.030738902879082448 Centerline is valid? [True, True] Translation: X:184.86, Y:37.66, Z:16.85 [[ 9.41968373e-01 -3.25315566e-01 -8.28575118e-02 1.84860294e+02] [ 3.23778960e-01 9.45600557e-01 -3.17296570e-02 3.76613119e+01] [ 8.86722607e-02 3.06081441e-03 9.96056154e-01 1.68527874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797105681 meters 0.02785523305748396 Centerline is valid? [True, True] Translation: X:184.92, Y:37.67, Z:16.86 [[ 9.40740498e-01 -3.28633509e-01 -8.37098118e-02 1.84919926e+02] [ 3.27077733e-01 9.44453431e-01 -3.20604647e-02 3.76703402e+01] [ 8.95961619e-02 2.78096205e-03 9.95974294e-01 1.68573905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857105681 meters 0.024615030676745423 Centerline is valid? [True, True] Translation: X:184.98, Y:37.68, Z:16.86 [[ 9.38381674e-01 -3.35289671e-01 -8.37894433e-02 1.84981149e+02] [ 3.33756502e-01 9.42112618e-01 -3.21000434e-02 3.76778297e+01] [ 8.97019047e-02 2.15682102e-03 9.95966323e-01 1.68617616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917105681 meters 0.021387264508047652 Centerline is valid? [True, True] Translation: X:185.04, Y:37.69, Z:16.87 [[ 9.35092217e-01 -3.43947606e-01 -8.54551900e-02 1.85040146e+02] [ 3.42388087e-01 9.38987856e-01 -3.27445223e-02 3.76900824e+01] [ 9.15037857e-02 1.36030896e-03 9.95803799e-01 1.68662273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97710568099998 meters 0.01930325357790485 Centerline is valid? [True, True] Translation: X:185.10, Y:37.70, Z:16.87 [[ 9.30766520e-01 -3.55549152e-01 -8.51967519e-02 1.85099941e+02] [ 3.54046900e-01 9.34657557e-01 -3.26503147e-02 3.76963060e+01] [ 9.12385797e-02 2.26173817e-04 9.95829037e-01 1.68702878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03710568099999 meters 0.019395728181055075 Centerline is valid? [True, True] Translation: X:185.16, Y:37.71, Z:16.88 [[ 9.27434707e-01 -3.63938742e-01 -8.61014316e-02 1.85158189e+02] [ 3.62439357e-01 9.31422696e-01 -3.30071790e-02 3.77082334e+01] [ 9.22094187e-02 -5.94544134e-04 9.95739459e-01 1.68774273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097105681 meters 0.019191240528863507 Centerline is valid? [True, True] Translation: X:185.21, Y:37.73, Z:16.88 [[ 9.28129666e-01 -3.61940382e-01 -8.70315045e-02 1.85211306e+02] [ 3.60396426e-01 9.32201171e-01 -3.33974863e-02 3.77303415e+01] [ 9.32187694e-02 -3.68645392e-04 9.95645582e-01 1.68831715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.157105681 meters 0.01938242647166235 Centerline is valid? [True, True] Translation: X:185.27, Y:37.75, Z:16.89 [[ 9.26644677e-01 -3.65654082e-01 -8.73311770e-02 1.85267211e+02] [ 3.64112268e-01 9.30750552e-01 -3.35509486e-02 3.77470178e+01] [ 9.35515825e-02 -7.08544929e-04 9.95614182e-01 1.68882495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.217105681 meters 0.02062408731752348 Centerline is valid? [True, True] Translation: X:185.32, Y:37.76, Z:16.90 [[ 9.24292694e-01 -3.72312661e-01 -8.40612809e-02 1.85322852e+02] [ 3.70908959e-01 9.28106454e-01 -3.23257466e-02 3.77632089e+01] [ 9.00531021e-02 -1.30063077e-03 9.95936116e-01 1.68963908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.277105681 meters 0.022359925815514704 Centerline is valid? [True, True] Translation: X:185.38, Y:37.78, Z:16.90 [[ 9.22181799e-01 -3.77995289e-01 -8.18553097e-02 1.85378144e+02] [ 3.76685767e-01 9.25805776e-01 -3.14880511e-02 3.77831899e+01] [ 8.76844535e-02 -1.79602253e-03 9.96146681e-01 1.69024003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.337105681 meters 0.024045125161455825 Centerline is valid? [True, True] Translation: X:185.43, Y:37.81, Z:16.91 [[ 9.20598658e-01 -3.81716030e-01 -8.24074213e-02 1.85433075e+02] [ 3.80400807e-01 9.24277184e-01 -3.17319083e-02 3.78051067e+01] [ 8.82798773e-02 -2.13549740e-03 9.96093421e-01 1.69051698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.397105681 meters 0.02510471843695289 Centerline is valid? [True, True] Translation: X:185.49, Y:37.83, Z:16.91 [[ 9.18827092e-01 -3.85645926e-01 -8.38689121e-02 1.85486696e+02] [ 3.84297010e-01 9.22643391e-01 -3.23261710e-02 3.78310555e+01] [ 8.98475536e-02 -2.52841044e-03 9.95952320e-01 1.69072798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.457105681 meters 0.026022010088158846 Centerline is valid? [True, True] Translation: X:185.54, Y:37.86, Z:16.91 [[ 9.17706156e-01 -3.87526196e-01 -8.74005652e-02 1.85539270e+02] [ 3.86068749e-01 9.21854380e-01 -3.36960418e-02 3.78594583e+01] [ 9.36286927e-02 -2.81956189e-03 9.95603193e-01 1.69065723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.517105681 meters 0.036535451305931076 Centerline is valid? [True, True] Translation: X:185.60, Y:37.87, Z:16.91 [[ 9.11634934e-01 -4.02131508e-01 -8.49234755e-02 1.85597036e+02] [ 4.00815552e-01 9.15572455e-01 -3.27715331e-02 3.78743923e+01] [ 9.09320610e-02 -4.16297531e-03 9.95848397e-01 1.69134521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577105681 meters 0.042626859958919974 Centerline is valid? [True, True] Translation: X:185.65, Y:37.90, Z:16.91 [[ 9.06987206e-01 -4.12131874e-01 -8.67267370e-02 1.85653454e+02] [ 4.10804331e-01 9.11108961e-01 -3.34703179e-02 3.78957572e+01] [ 9.28116921e-02 -5.27056903e-03 9.95669730e-01 1.69125440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637105681 meters 0.04322700126430846 Centerline is valid? [True, True] Translation: X:185.71, Y:37.93, Z:16.92 [[ 9.03830300e-01 -4.19129826e-01 -8.61450988e-02 1.85705183e+02] [ 4.17851228e-01 9.07906853e-01 -3.32490199e-02 3.79286244e+01] [ 9.21473815e-02 -5.94436376e-03 9.95727636e-01 1.69178267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697105681 meters 0.04855422322114367 Centerline is valid? [True, True] Translation: X:185.76, Y:37.96, Z:16.92 [[ 9.01875130e-01 -4.22988978e-01 -8.77586153e-02 1.85756568e+02] [ 4.21679951e-01 9.06111823e-01 -3.38730595e-02 3.79589883e+01] [ 9.38470497e-02 -6.45677860e-03 9.95565689e-01 1.69202729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75710568099998 meters 0.056502029145263075 Centerline is valid? [True, True] Translation: X:185.81, Y:37.99, Z:16.92 [[ 8.99656350e-01 -4.27781550e-01 -8.73006159e-02 1.85807773e+02] [ 4.26508077e-01 9.03855698e-01 -3.37007002e-02 3.79903870e+01] [ 9.33236969e-02 -6.91536893e-03 9.95611805e-01 1.69245615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817105681 meters 0.04832012612813072 Centerline is valid? [True, True] Translation: X:185.85, Y:38.04, Z:16.93 [[ 8.98630665e-01 -4.30569393e-01 -8.41006856e-02 1.85852285e+02] [ 4.29399406e-01 9.02530832e-01 -3.24691608e-02 3.80418531e+01] [ 8.98836886e-02 -6.93500088e-03 9.95928124e-01 1.69338458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.877105681 meters 0.04965380119274911 Centerline is valid? [True, True] Translation: X:185.90, Y:38.08, Z:16.94 [[ 8.99738003e-01 -4.28435006e-01 -8.31563056e-02 1.85899366e+02] [ 4.27282125e-01 9.03548163e-01 -3.21045627e-02 3.80824199e+01] [ 8.88904456e-02 -6.64550784e-03 9.96019240e-01 1.69398775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.937105681 meters 0.04620538369681048 Centerline is valid? [True, True] Translation: X:185.94, Y:38.13, Z:16.94 [[ 9.04137624e-01 -4.19400491e-01 -8.14762884e-02 1.85943604e+02] [ 4.18256831e-01 9.07783833e-01 -3.14600590e-02 3.81309107e+01] [ 8.71572216e-02 -5.63379122e-03 9.96178638e-01 1.69437744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.997105681 meters 0.03625891797339072 Centerline is valid? [True, True] Translation: X:185.99, Y:38.19, Z:16.95 [[ 9.11265522e-01 -4.03680736e-01 -8.14678556e-02 1.85985603e+02] [ 4.02474203e-01 9.14890636e-01 -3.14585506e-02 3.81887898e+01] [ 8.72333891e-02 -4.12161770e-03 9.96179375e-01 1.69490196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.057105681 meters 0.02253394540866239 Centerline is valid? [True, True] Translation: X:186.02, Y:38.26, Z:16.95 [[ 9.23854303e-01 -3.73837868e-01 -8.20882142e-02 1.86023163e+02] [ 3.72493762e-01 9.27493169e-01 -3.16988765e-02 3.82598372e+01] [ 8.79864983e-02 -1.29220426e-03 9.96120829e-01 1.69536593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.117105681 meters 0.020793146862228478 Centerline is valid? [True, True] Translation: X:186.07, Y:38.31, Z:16.96 [[ 9.31363120e-01 -3.54108573e-01 -8.46750048e-02 1.86070552e+02] [ 3.52596400e-01 9.35204130e-01 -3.26957877e-02 3.83094999e+01] [ 9.07662728e-02 5.95548961e-04 9.95872045e-01 1.69550701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.177105681 meters 0.0212296234251632 Centerline is valid? [True, True] Translation: X:186.13, Y:38.34, Z:16.96 [[ 9.33184661e-01 -3.49147327e-01 -8.52204910e-02 1.86125873e+02] [ 3.47597774e-01 9.37067249e-01 -3.28748834e-02 3.83396077e+01] [ 9.13355087e-02 1.05588397e-03 9.95819617e-01 1.69550562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.237105681 meters 0.020541955684719605 Centerline is valid? [True, True] Translation: X:186.18, Y:38.36, Z:16.96 [[ 9.31540294e-01 -3.53699225e-01 -8.44365932e-02 1.86184417e+02] [ 3.52199498e-01 9.35359036e-01 -3.25420741e-02 3.83600444e+01] [ 9.04886369e-02 5.75727512e-04 9.95897322e-01 1.69612260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297105681 meters 0.02005158860469772 Centerline is valid? [True, True] Translation: X:186.24, Y:38.38, Z:16.97 [[ 9.29351094e-01 -3.58798626e-01 -8.70062644e-02 1.86244337e+02] [ 3.57229257e-01 9.33414989e-01 -3.35218904e-02 3.83797874e+01] [ 9.32405595e-02 7.24223183e-05 9.95643607e-01 1.69670767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357105681 meters 0.020196880439918144 Centerline is valid? [True, True] Translation: X:186.31, Y:38.40, Z:16.97 [[ 9.28084095e-01 -3.62359960e-01 -8.57623010e-02 1.86305939e+02] [ 3.60853718e-01 9.32038175e-01 -3.30065792e-02 3.83961822e+01] [ 9.18940012e-02 -3.14763950e-04 9.95768745e-01 1.69687825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417105681 meters 0.02094823804571189 Centerline is valid? [True, True] Translation: X:186.37, Y:38.41, Z:16.97 [[ 9.26504896e-01 -3.66485444e-01 -8.53059009e-02 1.86365725e+02] [ 3.65016020e-01 9.30423479e-01 -3.27941221e-02 3.84101543e+01] [ 9.13891816e-02 -7.54105722e-04 9.95814967e-01 1.69730362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47710568099998 meters 0.02144599725699896 Centerline is valid? [True, True] Translation: X:186.42, Y:38.43, Z:16.98 [[ 9.25517782e-01 -3.68902275e-01 -8.56034276e-02 1.86422866e+02] [ 3.67435529e-01 9.29467625e-01 -3.28795835e-02 3.84303173e+01] [ 9.16949676e-02 -1.02310152e-03 9.95786617e-01 1.69828206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53710568099999 meters 0.021093171343134657 Centerline is valid? [True, True] Translation: X:186.49, Y:38.45, Z:16.98 [[ 9.25609349e-01 -3.67948422e-01 -8.86639300e-02 1.86485332e+02] [ 3.66371020e-01 9.29845697e-01 -3.40478386e-02 3.84454220e+01] [ 9.49716223e-02 -9.68896755e-04 9.95479509e-01 1.69811990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597105681 meters 0.02033448178822258 Centerline is valid? [True, True] Translation: X:186.54, Y:38.47, Z:16.99 [[ 9.29250954e-01 -3.58999147e-01 -8.72483614e-02 1.86539421e+02] [ 3.57433677e-01 9.33337885e-01 -3.34896745e-02 3.84728110e+01] [ 9.34549657e-02 -6.51907183e-05 9.95623506e-01 1.69923565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.657105681 meters 0.021166216394119024 Centerline is valid? [True, True] Translation: X:186.60, Y:38.50, Z:17.00 [[ 9.33675322e-01 -3.48243564e-01 -8.35273206e-02 1.86595295e+02] [ 3.46768339e-01 9.37403610e-01 -3.20342248e-02 3.84990614e+01] [ 8.94545245e-02 9.44934879e-04 9.95990459e-01 1.70036499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.717105681 meters 0.024670517709527565 Centerline is valid? [True, True] Translation: X:186.65, Y:38.52, Z:17.01 [[ 9.38208906e-01 -3.36354173e-01 -8.14243218e-02 1.86651444e+02] [ 3.34908318e-01 9.41733396e-01 -3.12190599e-02 3.85213142e+01] [ 8.71806641e-02 2.02031738e-03 9.96190469e-01 1.70090950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.777105681 meters 0.028845576691510482 Centerline is valid? [True, True] Translation: X:186.71, Y:38.54, Z:17.01 [[ 9.41041013e-01 -3.27782029e-01 -8.36705056e-02 1.86707369e+02] [ 3.26221434e-01 9.44748951e-01 -3.20779627e-02 3.85419062e+01] [ 8.95622021e-02 2.89156622e-03 9.95977033e-01 1.70117749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.837105681 meters 0.030120957126162272 Centerline is valid? [True, True] Translation: X:186.77, Y:38.55, Z:17.01 [[ 9.42467216e-01 -3.23148725e-01 -8.56180343e-02 1.86769052e+02] [ 3.21496188e-01 9.46342078e-01 -3.28157334e-02 3.85526363e+01] [ 9.16283109e-02 3.40188118e-03 9.95787467e-01 1.70125468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.897105681 meters 0.03100490840066235 Centerline is valid? [True, True] Translation: X:186.83, Y:38.56, Z:17.01 [[ 9.42599934e-01 -3.21908814e-01 -8.87698098e-02 1.86832048e+02] [ 3.20127070e-01 9.46763649e-01 -3.40184104e-02 3.85628339e+01] [ 9.49948552e-02 3.64813228e-03 9.95471079e-01 1.70124110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.957105681 meters 0.03050790415813198 Centerline is valid? [True, True] Translation: X:186.90, Y:38.57, Z:17.02 [[ 9.41815194e-01 -3.24228333e-01 -8.86573635e-02 1.86896229e+02] [ 3.22462281e-01 9.45972740e-01 -3.39654658e-02 3.85685669e+01] [ 9.48800154e-02 3.40053612e-03 9.95482907e-01 1.70154150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.017105681 meters 0.028729581612081726 Centerline is valid? [True, True] Translation: X:186.96, Y:38.57, Z:17.02 [[ 9.40380981e-01 -3.28207696e-01 -8.92374279e-02 1.86959548e+02] [ 3.26437138e-01 9.44600787e-01 -3.41781717e-02 3.85730654e+01] [ 9.55112836e-02 3.01009210e-03 9.95423796e-01 1.70215525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077105681 meters 0.028925864726688948 Centerline is valid? [True, True] Translation: X:187.02, Y:38.57, Z:17.03 [[ 9.40285544e-01 -3.29254684e-01 -8.63391480e-02 1.87022338e+02] [ 3.27602317e-01 9.44236986e-01 -3.30641141e-02 3.85699498e+01] [ 9.24111313e-02 2.80480359e-03 9.95716986e-01 1.70282961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137105681 meters 0.029029672029778006 Centerline is valid? [True, True] Translation: X:187.08, Y:38.58, Z:17.03 [[ 9.40204260e-01 -3.29397238e-01 -8.66799256e-02 1.87081785e+02] [ 3.27731203e-01 9.44187239e-01 -3.32071723e-02 3.85753902e+01] [ 9.27804304e-02 2.81380854e-03 9.95682617e-01 1.70347002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197105681 meters 0.033156023939170415 Centerline is valid? [True, True] Translation: X:187.14, Y:38.59, Z:17.03 [[ 9.42016200e-01 -3.23125644e-01 -9.05278832e-02 1.87141776e+02] [ 3.21275549e-01 9.46349150e-01 -3.47175546e-02 3.85856547e+01] [ 9.68891175e-02 3.62010347e-03 9.95288598e-01 1.70330684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25710568099998 meters 0.03270822244921588 Centerline is valid? [True, True] Translation: X:187.20, Y:38.60, Z:17.04 [[ 9.43502403e-01 -3.18811004e-01 -9.03479928e-02 1.87201468e+02] [ 3.16948094e-01 9.47809613e-01 -3.46531819e-02 3.85963431e+01] [ 9.66805118e-02 4.05973620e-03 9.95307187e-01 1.70383822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317105681 meters 0.035452202310382 Centerline is valid? [True, True] Translation: X:187.26, Y:38.61, Z:17.05 [[ 9.45350193e-01 -3.13464932e-01 -8.97371053e-02 1.87260507e+02] [ 3.11602715e-01 9.49588731e-01 -3.44236676e-02 3.86084825e+01] [ 9.60039566e-02 4.58009516e-03 9.95370415e-01 1.70471067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.377105681 meters 0.03334575284758905 Centerline is valid? [True, True] Translation: X:187.32, Y:38.62, Z:17.05 [[ 9.44123194e-01 -3.17312165e-01 -8.91312738e-02 1.87321649e+02] [ 3.15491851e-01 9.48312004e-01 -3.41940748e-02 3.86160945e+01] [ 9.53744528e-02 4.16322857e-03 9.95432761e-01 1.70548620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.437105681 meters 0.027432325124138675 Centerline is valid? [True, True] Translation: X:187.39, Y:38.62, Z:17.06 [[ 9.39979025e-01 -3.29285334e-01 -8.95019631e-02 1.87386090e+02] [ 3.27503380e-01 9.44225806e-01 -3.43389400e-02 3.86155331e+01] [ 9.58173727e-02 2.96568791e-03 9.95394513e-01 1.70591061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.497105681 meters 0.021047224356373108 Centerline is valid? [True, True] Translation: X:187.45, Y:38.61, Z:17.07 [[ 9.35030674e-01 -3.43820733e-01 -8.66310732e-02 1.87450340e+02] [ 3.42213032e-01 9.39034207e-01 -3.32415073e-02 3.86119252e+01] [ 9.27786605e-02 1.43554668e-03 9.95685723e-01 1.70704236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.557105681 meters 0.018870284831504047 Centerline is valid? [True, True] Translation: X:187.51, Y:38.62, Z:17.08 [[ 9.32795618e-01 -3.50373963e-01 -8.44418259e-02 1.87509595e+02] [ 3.48873035e-01 9.36609575e-01 -3.24053852e-02 3.86199516e+01] [ 9.04430259e-02 7.68125227e-04 9.95901335e-01 1.70801050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.617105681 meters 0.01871919758619517 Centerline is valid? [True, True] Translation: X:187.57, Y:38.63, Z:17.08 [[ 9.32349238e-01 -3.51455967e-01 -8.48740381e-02 1.87566612e+02] [ 3.49941096e-01 9.36204153e-01 -3.26038717e-02 3.86321090e+01] [ 9.09182522e-02 6.97281006e-04 9.95858115e-01 1.70829161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.677105681 meters 0.018905174743803158 Centerline is valid? [True, True] Translation: X:187.62, Y:38.65, Z:17.09 [[ 9.32568284e-01 -3.50310871e-01 -8.71704582e-02 1.87622389e+02] [ 3.48704181e-01 9.36633089e-01 -3.35238933e-02 3.86484624e+01] [ 9.33905198e-02 8.66616399e-04 9.95629178e-01 1.70872201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.737105681 meters 0.01814765052054641 Centerline is valid? [True, True] Translation: X:187.68, Y:38.66, Z:17.10 [[ 9.32240395e-01 -3.51521842e-01 -8.57918440e-02 1.87678290e+02] [ 3.49969675e-01 9.36179384e-01 -3.30058687e-02 3.86631765e+01] [ 9.19188395e-02 7.44860344e-04 9.95766224e-01 1.70969945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.797105681 meters 0.0190999854411725 Centerline is valid? [True, True] Translation: X:187.73, Y:38.68, Z:17.11 [[ 9.33971439e-01 -3.47738558e-01 -8.23118867e-02 1.87733299e+02] [ 3.46292133e-01 9.37590888e-01 -3.17030895e-02 3.86830085e+01] [ 8.81992615e-02 1.10582126e-03 9.96102237e-01 1.71074531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857105681 meters 0.023916900258643653 Centerline is valid? [True, True] Translation: X:187.78, Y:38.72, Z:17.12 [[ 9.38604008e-01 -3.35931184e-01 -7.85668902e-02 1.87783285e+02] [ 3.34569546e-01 9.41884088e-01 -3.02916442e-02 3.87154948e+01] [ 8.41768116e-02 2.14576992e-03 9.96448524e-01 1.71174810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917105681 meters 0.029420319084195307 Centerline is valid? [True, True] Translation: X:187.84, Y:38.75, Z:17.12 [[ 9.42877957e-01 -3.24013004e-01 -7.74385717e-02 1.87836089e+02] [ 3.22649909e-01 9.46047327e-01 -2.98578494e-02 3.87461511e+01] [ 8.29348853e-02 3.16675995e-03 9.96549937e-01 1.71213759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97710568099998 meters 0.03342217151650943 Centerline is valid? [True, True] Translation: X:187.89, Y:38.77, Z:17.12 [[ 9.44614745e-01 -3.17516419e-01 -8.29837770e-02 1.87892299e+02] [ 3.15925537e-01 9.48244304e-01 -3.19967884e-02 3.87679539e+01] [ 8.88483996e-02 4.00794378e-03 9.96037097e-01 1.71189255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03710568099999 meters 0.03460262238797282 Centerline is valid? [True, True] Translation: X:187.95, Y:38.78, Z:17.12 [[ 9.44833694e-01 -3.16520707e-01 -8.42848323e-02 1.87950327e+02] [ 3.14875166e-01 9.48576436e-01 -3.25019096e-02 3.87811061e+01] [ 9.02381332e-02 4.16969873e-03 9.95911489e-01 1.71185710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097105681 meters 0.032305212751327535 Centerline is valid? [True, True] Translation: X:188.01, Y:38.78, Z:17.12 [[ 9.42775901e-01 -3.22093876e-01 -8.61924385e-02 1.88013027e+02] [ 3.20392889e-01 9.46700303e-01 -3.32706141e-02 3.87820860e+01] [ 9.23146686e-02 3.75128875e-03 9.95722818e-01 1.71212260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.157105681 meters 0.027738475980228567 Centerline is valid? [True, True] Translation: X:188.08, Y:38.78, Z:17.13 [[ 9.39581559e-01 -3.31367665e-01 -8.59183634e-02 1.88076318e+02] [ 3.29715584e-01 9.43497442e-01 -3.31694086e-02 3.87819877e+01] [ 9.20550256e-02 2.83674120e-03 9.95749881e-01 1.71262593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.217105681 meters 0.02292922871337486 Centerline is valid? [True, True] Translation: X:188.14, Y:38.79, Z:17.13 [[ 9.36632690e-01 -3.39150699e-01 -8.77268937e-02 1.88138804e+02] [ 3.37461676e-01 9.40729666e-01 -3.38720031e-02 3.87869169e+01] [ 9.40150049e-02 2.12116081e-03 9.95568521e-01 1.71274252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.277105681 meters 0.019435338229671643 Centerline is valid? [True, True] Translation: X:188.20, Y:38.79, Z:17.14 [[ 9.34070808e-01 -3.46798550e-01 -8.51028253e-02 1.88200078e+02] [ 3.45240344e-01 9.37938714e-01 -3.28644699e-02 3.87913180e+01] [ 9.12185851e-02 1.31681324e-03 9.95830024e-01 1.71382358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.337105681 meters 0.018931147034149776 Centerline is valid? [True, True] Translation: X:188.25, Y:38.81, Z:17.14 [[ 9.32829965e-01 -3.50004642e-01 -8.55862548e-02 1.88254691e+02] [ 3.48441627e-01 9.36747417e-01 -3.30561679e-02 3.88085749e+01] [ 9.17425153e-02 1.01397008e-03 9.95782247e-01 1.71440361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.397105681 meters 0.020234307410871413 Centerline is valid? [True, True] Translation: X:188.31, Y:38.83, Z:17.15 [[ 9.34469164e-01 -3.46142169e-01 -8.33845307e-02 1.88308071e+02] [ 3.44642337e-01 9.38181074e-01 -3.22169460e-02 3.88307321e+01] [ 8.93814321e-02 1.36790312e-03 9.95996530e-01 1.71541017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.457105681 meters 0.02300691323076889 Centerline is valid? [True, True] Translation: X:188.36, Y:38.86, Z:17.17 [[ 9.36879624e-01 -3.40670474e-01 -7.87413353e-02 1.88360154e+02] [ 3.39311484e-01 9.40181015e-01 -3.04528330e-02 3.88576475e+01] [ 8.44054897e-02 1.81279941e-03 9.96429841e-01 1.71693379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.517105681 meters 0.02669530425070139 Centerline is valid? [True, True] Translation: X:188.41, Y:38.88, Z:17.18 [[ 9.39471226e-01 -3.34243084e-01 -7.53350916e-02 1.88412294e+02] [ 3.32978373e-01 9.42484119e-01 -2.91391214e-02 3.88840539e+01] [ 8.07416772e-02 2.29040990e-03 9.96732429e-01 1.71790693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577105681 meters 0.028767916669293517 Centerline is valid? [True, True] Translation: X:188.47, Y:38.90, Z:17.18 [[ 9.42157871e-01 -3.26018236e-01 -7.77859694e-02 1.88469488e+02] [ 3.24641130e-01 9.45358396e-01 -3.00938692e-02 3.89049166e+01] [ 8.33467693e-02 3.10065073e-03 9.96515781e-01 1.71782247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637105681 meters 0.037346241736370016 Centerline is valid? [True, True] Translation: X:188.52, Y:38.94, Z:17.17 [[ 9.46138261e-01 -3.12550608e-01 -8.44660138e-02 1.88520314e+02] [ 3.10872529e-01 9.49889679e-01 -3.26782715e-02 3.89392321e+01] [ 9.04470084e-02 4.65999973e-03 9.95890367e-01 1.71717613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697105681 meters 0.038845034429309755 Centerline is valid? [True, True] Translation: X:188.58, Y:38.96, Z:17.17 [[ 9.47144956e-01 -3.08768460e-01 -8.70544131e-02 1.88578666e+02] [ 3.06969627e-01 9.51123140e-01 -3.36811651e-02 3.89561865e+01] [ 9.31991483e-02 5.17788490e-03 9.95634023e-01 1.71730210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75710568099998 meters 0.035988720952470944 Centerline is valid? [True, True] Translation: X:188.64, Y:38.97, Z:17.18 [[ 9.45768848e-01 -3.12528278e-01 -8.85853328e-02 1.88637393e+02] [ 3.10681735e-01 9.49895850e-01 -3.42743819e-02 3.89701444e+01] [ 9.48585535e-02 4.89379779e-03 9.95478732e-01 1.71772001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817105681 meters 0.03407734805814635 Centerline is valid? [True, True] Translation: X:188.70, Y:38.98, Z:17.18 [[ 9.44657359e-01 -3.16333845e-01 -8.69216473e-02 1.88696805e+02] [ 3.14571630e-01 9.48637578e-01 -3.36368204e-02 3.89813240e+01] [ 9.30976057e-02 4.43218572e-03 9.95647122e-01 1.71840698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.877105681 meters 0.031908925916692255 Centerline is valid? [True, True] Translation: X:188.75, Y:38.99, Z:17.19 [[ 9.42676640e-01 -3.22008346e-01 -8.75864024e-02 1.88754965e+02] [ 3.20242886e-01 9.46728769e-01 -3.38988382e-02 3.89936448e+01] [ 9.38362758e-02 3.90672062e-03 9.95579977e-01 1.71868249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.937105681 meters 0.024111026004895144 Centerline is valid? [True, True] Translation: X:188.82, Y:39.00, Z:17.19 [[ 9.37519591e-01 -3.36199096e-01 -8.95945518e-02 1.88818252e+02] [ 3.34415496e-01 9.41787484e-01 -3.46786863e-02 3.89967107e+01] [ 9.60379705e-02 2.55014142e-03 9.95374404e-01 1.71918342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.997105681 meters 0.018067420924636264 Centerline is valid? [True, True] Translation: X:188.88, Y:39.00, Z:17.20 [[ 9.31189287e-01 -3.52961178e-01 -9.11313324e-02 1.88881556e+02] [ 3.51195055e-01 9.35637588e-01 -3.52751537e-02 3.89982251e+01] [ 9.77166599e-02 8.42971850e-04 9.95213919e-01 1.71967324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.057105681 meters 0.017674925952003 Centerline is valid? [True, True] Translation: X:188.94, Y:39.01, Z:17.21 [[ 9.25764148e-01 -3.68239147e-01 -8.57943704e-02 1.88941052e+02] [ 3.66739028e-01 9.29730830e-01 -3.32124844e-02 3.90054727e+01] [ 9.19958082e-02 -7.17216669e-04 9.95759136e-01 1.72113606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.117105681 meters 0.020645124992939648 Centerline is valid? [True, True] Translation: X:189.00, Y:39.02, Z:17.22 [[ 9.22333123e-01 -3.77912245e-01 -8.05229460e-02 1.88996991e+02] [ 3.76625141e-01 9.25840125e-01 -3.12020115e-02 3.90205237e+01] [ 8.63429966e-02 -1.54831725e-03 9.96264267e-01 1.72237631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.177105681 meters 0.02089718723525257 Centerline is valid? [True, True] Translation: X:189.05, Y:39.04, Z:17.23 [[ 9.22020453e-01 -3.78873336e-01 -7.95819009e-02 1.89050608e+02] [ 3.77619299e-01 9.25447130e-01 -3.08427494e-02 3.90428844e+01] [ 8.53343372e-02 -1.61401584e-03 9.96351066e-01 1.72300495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.237105681 meters 0.018399841234313395 Centerline is valid? [True, True] Translation: X:189.10, Y:39.09, Z:17.23 [[ 9.24698014e-01 -3.71300269e-01 -8.40814676e-02 1.89095911e+02] [ 3.69865801e-01 9.28512378e-01 -3.26198383e-02 3.90869806e+01] [ 9.01824381e-02 -9.35359658e-04 9.95924823e-01 1.72288160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.297105681 meters 0.017308488796243734 Centerline is valid? [True, True] Translation: X:189.14, Y:39.13, Z:17.22 [[ 9.26677913e-01 -3.64114017e-01 -9.32149609e-02 1.89143663e+02] [ 3.62312177e-01 9.31354348e-01 -3.61796108e-02 3.91280833e+01] [ 9.99896626e-02 -2.46069186e-04 9.94988446e-01 1.72209787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357105681 meters 0.01780694328980522 Centerline is valid? [True, True] Translation: X:189.19, Y:39.17, Z:17.23 [[ 9.29478062e-01 -3.56708415e-01 -9.39661603e-02 1.89190899e+02] [ 3.54835489e-01 9.34215583e-01 -3.65105654e-02 3.91687973e+01] [ 1.00808277e-01 5.93241171e-04 9.94905694e-01 1.72268450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417105681 meters 0.022905597468316132 Centerline is valid? [True, True] Translation: X:189.24, Y:39.21, Z:17.24 [[ 9.36125513e-01 -3.40867726e-01 -8.64766921e-02 1.89235431e+02] [ 3.39211498e-01 9.40108813e-01 -3.36300489e-02 3.92133294e+01] [ 9.27608986e-02 2.14805844e-03 9.95686096e-01 1.72447490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47710568099998 meters 0.028311470720325308 Centerline is valid? [True, True] Translation: X:189.28, Y:39.25, Z:17.25 [[ 9.40228312e-01 -3.30049287e-01 -8.38939117e-02 1.89284473e+02] [ 3.28447015e-01 9.43958521e-01 -3.26323326e-02 3.92522042e+01] [ 8.99626509e-02 3.12713806e-03 9.95940230e-01 1.72527908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53710568099999 meters 0.029693731817615237 Centerline is valid? [True, True] Translation: X:189.34, Y:39.28, Z:17.25 [[ 9.40636591e-01 -3.27870595e-01 -8.77705938e-02 1.89338002e+02] [ 3.26106697e-01 9.44716183e-01 -3.41431582e-02 3.92762534e+01] [ 9.41128380e-02 3.49372547e-03 9.95555407e-01 1.72528327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.597105681 meters 0.03181533190902016 Centerline is valid? [True, True] Translation: X:189.39, Y:39.30, Z:17.26 [[ 9.41525029e-01 -3.24690389e-01 -9.00376053e-02 1.89393169e+02] [ 3.22818258e-01 9.45812225e-01 -3.50372359e-02 3.92978959e+01] [ 9.65349215e-02 3.92265159e-03 9.95321868e-01 1.72555324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.657105681 meters 0.0340401945642405 Centerline is valid? [True, True] Translation: X:189.45, Y:39.32, Z:17.26 [[ 9.42558288e-01 -3.20600140e-01 -9.38052429e-02 1.89448932e+02] [ 3.18546663e-01 9.47203786e-01 -3.65104220e-02 3.93220221e+01] [ 1.00557928e-01 4.53185384e-03 9.94920884e-01 1.72561132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.717105681 meters 0.037794470851609994 Centerline is valid? [True, True] Translation: X:189.50, Y:39.34, Z:17.26 [[ 9.43769642e-01 -3.17666543e-01 -9.15796433e-02 1.89502716e+02] [ 3.15695805e-01 9.48190699e-01 -3.56448677e-02 3.93444094e+01] [ 9.81581479e-02 4.72923475e-03 9.95159591e-01 1.72632538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.777105681 meters 0.032222979132944043 Centerline is valid? [True, True] Translation: X:189.56, Y:39.35, Z:17.27 [[ 9.40825337e-01 -3.26360300e-01 -9.13051995e-02 1.89564115e+02] [ 3.24441341e-01 9.45237734e-01 -3.55449212e-02 3.93501825e+01] [ 9.79055711e-02 3.81838112e-03 9.95188384e-01 1.72682745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.837105681 meters 0.02648797432673076 Centerline is valid? [True, True] Translation: X:189.63, Y:39.35, Z:17.27 [[ 9.37174165e-01 -3.36721942e-01 -9.12300241e-02 1.89626791e+02] [ 3.34854556e-01 9.41600145e-01 -3.55189037e-02 3.93544098e+01] [ 9.78621982e-02 2.73860963e-03 9.95196207e-01 1.72737604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.897105681 meters 0.02025835062243733 Centerline is valid? [True, True] Translation: X:189.69, Y:39.36, Z:17.28 [[ 9.33095269e-01 -3.48232041e-01 -8.98201828e-02 1.89689731e+02] [ 3.46474610e-01 9.37407144e-01 -3.49741406e-02 3.93556723e+01] [ 9.63771974e-02 1.51379233e-03 9.95343732e-01 1.72814150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.957105681 meters 0.017974112922651643 Centerline is valid? [True, True] Translation: X:189.75, Y:39.36, Z:17.28 [[ 9.29790118e-01 -3.56187719e-01 -9.28474305e-02 1.89749124e+02] [ 3.54348358e-01 9.34414143e-01 -3.61586878e-02 3.93624991e+01] [ 9.96372328e-02 7.19656093e-04 9.95023570e-01 1.72821138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.017105681 meters 0.017455985951113407 Centerline is valid? [True, True] Translation: X:189.81, Y:39.38, Z:17.29 [[ 9.29748183e-01 -3.56710758e-01 -9.12455585e-02 1.89807011e+02] [ 3.54935648e-01 9.34214640e-01 -3.55484490e-02 3.93752924e+01] [ 9.79234507e-02 6.64804398e-04 9.95193728e-01 1.72930784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077105681 meters 0.01868816252125091 Centerline is valid? [True, True] Translation: X:189.86, Y:39.40, Z:17.31 [[ 9.32050050e-01 -3.51772273e-01 -8.68272514e-02 1.89860044e+02] [ 3.50140994e-01 9.36084896e-01 -3.38578077e-02 3.93997371e+01] [ 9.31879166e-02 1.15539128e-03 9.95647868e-01 1.73064587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137105681 meters 0.02229199047934519 Centerline is valid? [True, True] Translation: X:189.91, Y:39.43, Z:17.32 [[ 9.35943246e-01 -3.42056781e-01 -8.37102031e-02 1.89911785e+02] [ 3.40498960e-01 9.39676987e-01 -3.26744308e-02 3.94301479e+01] [ 8.98370621e-02 2.07817570e-03 9.95954308e-01 1.73156116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197105681 meters 0.0257482863038036 Centerline is valid? [True, True] Translation: X:189.96, Y:39.46, Z:17.32 [[ 9.38057887e-01 -3.35592091e-01 -8.61704627e-02 1.89964167e+02] [ 3.33913397e-01 9.42003294e-01 -3.36398291e-02 3.94584270e+01] [ 9.24621203e-02 2.78263509e-03 9.95712315e-01 1.73165181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25710568099998 meters 0.032418379493291294 Centerline is valid? [True, True] Translation: X:190.02, Y:39.49, Z:17.31 [[ 9.41843773e-01 -3.22644219e-01 -9.39734835e-02 1.90017126e+02] [ 3.20581545e-01 9.46509933e-01 -3.66936024e-02 3.94910983e+01] [ 1.00785814e-01 4.43347642e-03 9.94898268e-01 1.73106576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317105681 meters 0.03666983740287961 Centerline is valid? [True, True] Translation: X:190.07, Y:39.52, Z:17.32 [[ 9.44264651e-01 -3.16307188e-01 -9.11813078e-02 1.90070975e+02] [ 3.14336078e-01 9.48643864e-01 -3.56040811e-02 3.95165430e+01] [ 9.77604149e-02 4.95810059e-03 9.95197628e-01 1.73184985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.377105681 meters 0.037246384311122475 Centerline is valid? [True, True] Translation: X:190.13, Y:39.54, Z:17.32 [[ 9.44589195e-01 -3.14993710e-01 -9.23591638e-02 1.90127008e+02] [ 3.12964358e-01 9.49079698e-01 -3.60698841e-02 3.95354236e+01] [ 9.90179939e-02 5.16609640e-03 9.95072233e-01 1.73203349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.437105681 meters 0.034141350149170864 Centerline is valid? [True, True] Translation: X:190.19, Y:39.54, Z:17.32 [[ 9.42328943e-01 -3.21429239e-01 -9.32706101e-02 1.90188894e+02] [ 3.19387555e-01 9.46922592e-01 -3.64581179e-02 3.95411029e+01] [ 1.00038753e-01 4.56606754e-03 9.94973064e-01 1.73226299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.497105681 meters 0.028047497448597438 Centerline is valid? [True, True] Translation: X:190.25, Y:39.55, Z:17.32 [[ 9.38055412e-01 -3.33019322e-01 -9.56565495e-02 1.90251264e+02] [ 3.30930980e-01 9.42913796e-01 -3.73933240e-02 3.95458141e+01] [ 1.02648580e-01 3.42129423e-03 9.94711799e-01 1.73240935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.557105681 meters 0.02480453587225403 Centerline is valid? [True, True] Translation: X:190.31, Y:39.56, Z:17.33 [[ 9.36238043e-01 -3.37451819e-01 -9.79009532e-02 1.90309651e+02] [ 3.35287125e-01 9.41337975e-01 -3.82800163e-02 3.95575042e+01] [ 1.05075546e-01 3.01427844e-03 9.94459674e-01 1.73287330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.617105681 meters 0.023922367246134016 Centerline is valid? [True, True] Translation: X:190.36, Y:39.58, Z:17.34 [[ 9.35260202e-01 -3.40249192e-01 -9.75645567e-02 1.90364319e+02] [ 3.38110583e-01 9.40331354e-01 -3.81861156e-02 3.95788321e+01] [ 1.04735807e-01 2.72634501e-03 9.94496344e-01 1.73357021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.677105681 meters 0.02467530230655613 Centerline is valid? [True, True] Translation: X:190.42, Y:39.60, Z:17.34 [[ 9.35816618e-01 -3.39646746e-01 -9.42727194e-02 1.90416566e+02] [ 3.37644073e-01 9.40549116e-01 -3.69302212e-02 3.96026525e+01] [ 1.01211352e-01 2.72928978e-03 9.94861203e-01 1.73442162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.737105681 meters 0.020662589819541208 Centerline is valid? [True, True] Translation: X:190.47, Y:39.62, Z:17.36 [[ 9.33907792e-01 -3.46425995e-01 -8.83474167e-02 1.90474234e+02] [ 3.44696934e-01 9.38075424e-01 -3.46196852e-02 3.96175791e+01] [ 9.48696993e-02 1.87851004e-03 9.95487926e-01 1.73575090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.797105681 meters 0.016456986823522295 Centerline is valid? [True, True] Translation: X:190.53, Y:39.63, Z:17.37 [[ 9.28024137e-01 -3.62681898e-01 -8.50472904e-02 1.90533950e+02] [ 3.61147329e-01 9.31912976e-01 -3.33288517e-02 3.96258432e+01] [ 9.13444447e-02 2.15377041e-04 9.95819334e-01 1.73661328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857105681 meters 0.016849903061710244 Centerline is valid? [True, True] Translation: X:190.59, Y:39.65, Z:17.37 [[ 9.24799045e-01 -3.70854703e-01 -8.49324191e-02 1.90587881e+02] [ 3.69358118e-01 9.28690716e-01 -3.32886436e-02 3.96471585e+01] [ 9.12211991e-02 -5.85172707e-04 9.95830483e-01 1.73689912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917105681 meters 0.01621935633048312 Centerline is valid? [True, True] Translation: X:190.64, Y:39.68, Z:17.37 [[ 9.26745716e-01 -3.64822608e-01 -8.97041891e-02 1.90636726e+02] [ 3.63123059e-01 9.31077045e-01 -3.51735688e-02 3.96826542e+01] [ 9.63536244e-02 2.32946118e-05 9.95347165e-01 1.73679977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97710568099998 meters 0.01888203851739331 Centerline is valid? [True, True] Translation: X:190.68, Y:39.73, Z:17.37 [[ 9.31203608e-01 -3.52569255e-01 -9.24919488e-02 1.90683016e+02] [ 3.50697823e-01 9.35784721e-01 -3.63041750e-02 3.97289408e+01] [ 9.93522884e-02 1.36985369e-03 9.95051379e-01 1.73689642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03710568099999 meters 0.0292631648821777 Centerline is valid? [True, True] Translation: X:190.73, Y:39.78, Z:17.38 [[ 9.37922880e-01 -3.35005999e-01 -8.98423757e-02 1.90726877e+02] [ 3.33159167e-01 9.42210737e-01 -3.52689247e-02 3.97776106e+01] [ 9.64657524e-02 3.14772044e-03 9.95331327e-01 1.73767872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.097105681 meters 0.0324938929354822 Centerline is valid? [True, True] Translation: X:190.78, Y:39.81, Z:17.39 [[ 9.40943090e-01 -3.27373845e-01 -8.63276761e-02 1.90778893e+02] [ 3.25636507e-01 9.44887333e-01 -3.38938648e-02 3.98082710e+01] [ 9.26658925e-02 3.78075495e-03 9.95690081e-01 1.73882816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.157105681 meters 0.036590733471274964 Centerline is valid? [True, True] Translation: X:190.83, Y:39.84, Z:17.40 [[ 9.42916668e-01 -3.22523132e-01 -8.29878703e-02 1.90830466e+02] [ 3.20899001e-01 9.46552729e-01 -3.25846895e-02 3.98367979e+01] [ 8.90617112e-02 4.09392219e-03 9.96017696e-01 1.73976186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.217105681 meters 0.0390310697301386 Centerline is valid? [True, True] Translation: X:190.89, Y:39.86, Z:17.39 [[ 9.43170483e-01 -3.20389127e-01 -8.82057094e-02 1.90885787e+02] [ 3.18544019e-01 9.47274987e-01 -3.46382349e-02 3.98606668e+01] [ 9.46527761e-02 4.57235963e-03 9.95499847e-01 1.73926997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.277105681 meters 0.03802778247681718 Centerline is valid? [True, True] Translation: X:190.94, Y:39.87, Z:17.39 [[ 9.42295799e-01 -3.22558037e-01 -8.96378298e-02 1.90943249e+02] [ 3.20661645e-01 9.46539319e-01 -3.52054980e-02 3.98748409e+01] [ 9.62015467e-02 4.43057894e-03 9.95352014e-01 1.73945003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.337105681 meters 0.0257055940739764 Centerline is valid? [True, True] Translation: X:191.01, Y:39.87, Z:17.41 [[ 9.35834190e-01 -3.41680633e-01 -8.64217232e-02 1.91007660e+02] [ 3.39998125e-01 9.39813087e-01 -3.39504929e-02 3.98699063e+01] [ 9.28204924e-02 2.38880816e-03 9.95679994e-01 1.74061611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.397105681 meters 0.01759230066476976 Centerline is valid? [True, True] Translation: X:191.07, Y:39.87, Z:17.42 [[ 9.31380418e-01 -3.54489958e-01 -8.28696938e-02 1.91071955e+02] [ 3.52993098e-01 9.35059205e-01 -3.25600273e-02 3.98685259e+01] [ 8.90302727e-02 1.07334195e-03 9.96028342e-01 1.74159057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.457105681 meters 0.017052375267339596 Centerline is valid? [True, True] Translation: X:191.13, Y:39.88, Z:17.42 [[ 9.30834410e-01 -3.55917301e-01 -8.28865285e-02 1.91127256e+02] [ 3.54425274e-01 9.34516984e-01 -3.25688859e-02 3.98847016e+01] [ 8.90506986e-02 9.39159156e-04 9.96026652e-01 1.74220175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.517105681 meters 0.019151884785567126 Centerline is valid? [True, True] Translation: X:191.18, Y:39.91, Z:17.42 [[ 9.32313231e-01 -3.50623236e-01 -8.86306156e-02 1.91179035e+02] [ 3.48888937e-01 9.36515262e-01 -3.48664967e-02 3.99137458e+01] [ 9.52289281e-02 1.58425488e-03 9.95454138e-01 1.74174677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577105681 meters 0.023252710325224205 Centerline is valid? [True, True] Translation: X:191.23, Y:39.95, Z:17.42 [[ 9.34904787e-01 -3.42591069e-01 -9.26520347e-02 1.91231413e+02] [ 3.40654715e-01 9.39481232e-01 -3.64606763e-02 3.99454765e+01] [ 9.95359497e-02 2.52490840e-03 9.95030763e-01 1.74168984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637105681 meters 0.028267305189357318 Centerline is valid? [True, True] Translation: X:191.28, Y:39.98, Z:17.43 [[ 9.38507742e-01 -3.33319523e-01 -9.00072942e-02 1.91282726e+02] [ 3.31449484e-01 9.42807751e-01 -3.54229388e-02 3.99774103e+01] [ 9.66667317e-02 3.41183106e-03 9.95310958e-01 1.74277123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697105681 meters 0.028884129554281063 Centerline is valid? [True, True] Translation: X:191.34, Y:40.00, Z:17.44 [[ 9.40189894e-01 -3.30807721e-01 -8.12970815e-02 1.91336564e+02] [ 3.29273384e-01 9.43692361e-01 -3.19963599e-02 3.99986918e+01] [ 8.73040777e-02 3.31368903e-03 9.96176198e-01 1.74434499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75710568099998 meters 0.028332794275914005 Centerline is valid? [True, True] Translation: X:191.39, Y:40.02, Z:17.45 [[ 9.39864961e-01 -3.32542867e-01 -7.79044088e-02 1.91392205e+02] [ 3.31137724e-01 9.43083219e-01 -3.06895715e-02 4.00158730e+01] [ 8.36759387e-02 3.04696426e-03 9.96488361e-01 1.74530255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817105681 meters 0.03538592900263981 Centerline is valid? [True, True] Translation: X:191.45, Y:40.04, Z:17.45 [[ 9.43311349e-01 -3.21437414e-01 -8.27144995e-02 1.91446686e+02] [ 3.19807309e-01 9.46920989e-01 -3.26178650e-02 4.00428834e+01] [ 8.88086979e-02 4.31610073e-03 9.96039350e-01 1.74523570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.877105681 meters 0.03983642073022678 Centerline is valid? [True, True] Translation: X:191.50, Y:40.06, Z:17.45 [[ 9.47058211e-01 -3.09879323e-01 -8.39973195e-02 1.91503082e+02] [ 3.08152584e-01 9.50760059e-01 -3.31254377e-02 4.00629722e+01] [ 9.01261846e-02 5.48772669e-03 9.95915235e-01 1.74542190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.937105681 meters 0.0420025953832223 Centerline is valid? [True, True] Translation: X:191.56, Y:40.07, Z:17.46 [[ 9.47727579e-01 -3.08057811e-01 -8.31433771e-02 1.91562494e+02] [ 3.06358837e-01 9.51351122e-01 -3.27918493e-02 4.00728961e+01] [ 8.92003304e-02 5.60603160e-03 9.95997928e-01 1.74597450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.997105681 meters 0.04010240228928213 Centerline is valid? [True, True] Translation: X:191.63, Y:40.07, Z:17.47 [[ 9.46338906e-01 -3.12592046e-01 -8.20297924e-02 1.91627648e+02] [ 3.10954712e-01 9.49873701e-01 -3.23592349e-02 4.00716244e+01] [ 8.80331819e-02 5.11525249e-03 9.96104409e-01 1.74662502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.057105681 meters 0.0345653252745552 Centerline is valid? [True, True] Translation: X:191.69, Y:40.07, Z:17.47 [[ 9.42957212e-01 -3.22847669e-01 -8.12470284e-02 1.91690551e+02] [ 3.21279062e-01 9.46441968e-01 -3.20525438e-02 4.00737737e+01] [ 8.72436865e-02 4.12120822e-03 9.96178475e-01 1.74738195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.117105681 meters 0.02714347267011505 Centerline is valid? [True, True] Translation: X:191.75, Y:40.07, Z:17.48 [[ 9.38983539e-01 -3.34692305e-01 -7.93156597e-02 1.91754675e+02] [ 3.33239152e-01 9.42322841e-01 -3.12942697e-02 4.00735147e+01] [ 8.52149090e-02 2.95372094e-03 9.96358216e-01 1.74806600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.177105681 meters 0.019058319021767665 Centerline is valid? [True, True] Translation: X:191.82, Y:40.08, Z:17.48 [[ 9.33533492e-01 -3.49279590e-01 -8.07402442e-02 1.91818152e+02] [ 3.47827374e-01 9.37017083e-01 -3.18606782e-02 4.00768277e+01] [ 8.67832727e-02 1.65934303e-03 9.96225833e-01 1.74844508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.237105681 meters 0.0180536800678998 Centerline is valid? [True, True] Translation: X:191.87, Y:40.09, Z:17.49 [[ 9.32386796e-01 -3.52791813e-01 -7.86943349e-02 1.91873899e+02] [ 3.51424911e-01 9.35700941e-01 -3.10528669e-02 4.00931451e+01] [ 8.45895605e-02 1.29813339e-03 9.96415035e-01 1.74936700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.297105681 meters 0.02320200731036142 Centerline is valid? [True, True] Translation: X:191.92, Y:40.12, Z:17.50 [[ 9.35950962e-01 -3.42490220e-01 -8.18305949e-02 1.91924134e+02] [ 3.40969570e-01 9.39518450e-01 -3.23239001e-02 4.01246732e+01] [ 8.79519733e-02 2.35184264e-03 9.96121940e-01 1.74975193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357105681 meters 0.03214752065395535 Centerline is valid? [True, True] Translation: X:191.97, Y:40.16, Z:17.51 [[ 9.42150181e-01 -3.25771494e-01 -7.89048204e-02 1.91973231e+02] [ 3.24298451e-01 9.45440967e-01 -3.11751741e-02 4.01607741e+01] [ 8.47558328e-02 3.78298484e-03 9.96394569e-01 1.75071935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417105681 meters 0.03782084440652448 Centerline is valid? [True, True] Translation: X:192.03, Y:40.18, Z:17.50 [[ 9.43766555e-01 -3.19323410e-01 -8.56577466e-02 1.92028382e+02] [ 3.17559793e-01 9.47633926e-01 -3.38484790e-02 4.01844393e+01] [ 9.19807984e-02 4.74360614e-03 9.95749482e-01 1.75013434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47710568099998 meters 0.03820713148056246 Centerline is valid? [True, True] Translation: X:192.09, Y:40.20, Z:17.51 [[ 9.43229763e-01 -3.20664801e-01 -8.65546079e-02 1.92085575e+02] [ 3.18869041e-01 9.47181242e-01 -3.42086224e-02 4.01992654e+01] [ 9.29524020e-02 4.66700591e-03 9.95659616e-01 1.75060567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53710568099999 meters 0.034345752801709144 Centerline is valid? [True, True] Translation: X:192.14, Y:40.21, Z:17.51 [[ 9.43569745e-01 -3.19911729e-01 -8.56307365e-02 1.92142975e+02] [ 3.18148411e-01 9.47435605e-01 -3.38727400e-02 4.02114970e+01] [ 9.19658955e-02 4.71800993e-03 9.95750980e-01 1.75135230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.597105681 meters 0.035819882868974924 Centerline is valid? [True, True] Translation: X:192.20, Y:40.23, Z:17.52 [[ 9.43391416e-01 -3.20232830e-01 -8.63919564e-02 1.92197721e+02] [ 3.18438166e-01 9.47327011e-01 -3.41857945e-02 4.02308951e+01] [ 9.27888476e-02 4.74008897e-03 9.95674526e-01 1.75157055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.657105681 meters 0.03324172099814013 Centerline is valid? [True, True] Translation: X:192.25, Y:40.25, Z:17.53 [[ 9.43130065e-01 -3.21893116e-01 -8.30090510e-02 1.92254576e+02] [ 3.20242021e-01 9.46765761e-01 -3.28578995e-02 4.02456071e+01] [ 8.91668590e-02 4.40628659e-03 9.96006956e-01 1.75253846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.717105681 meters 0.03063593805192281 Centerline is valid? [True, True] Translation: X:192.31, Y:40.26, Z:17.52 [[ 9.39744265e-01 -3.30985892e-01 -8.56099030e-02 1.92313237e+02] [ 3.29263811e-01 9.43628494e-01 -3.39206204e-02 4.02578770e+01] [ 9.20111906e-02 3.68846561e-03 9.95751142e-01 1.75237892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.777105681 meters 0.024851111806411183 Centerline is valid? [True, True] Translation: X:192.37, Y:40.27, Z:17.53 [[ 9.35955138e-01 -3.41489302e-01 -8.58663840e-02 1.92373264e+02] [ 3.39800186e-01 9.39881865e-01 -3.40281304e-02 4.02692725e+01] [ 9.23244996e-02 2.67139031e-03 9.95725389e-01 1.75286274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.837105681 meters 0.02647020122921317 Centerline is valid? [True, True] Translation: X:192.43, Y:40.29, Z:17.53 [[ 9.37508014e-01 -3.37085838e-01 -8.63241654e-02 1.92426619e+02] [ 3.35359495e-01 9.41468725e-01 -3.42147551e-02 4.02947240e+01] [ 9.28048113e-02 3.12697861e-03 9.95679411e-01 1.75340274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.897105681 meters 0.03272793264669118 Centerline is valid? [True, True] Translation: X:192.48, Y:40.33, Z:17.54 [[ 9.41836029e-01 -3.26039010e-01 -8.15074173e-02 1.92475834e+02] [ 3.24458418e-01 9.45347909e-01 -3.23120073e-02 4.03317403e+01] [ 8.75878414e-02 3.98684497e-03 9.96148822e-01 1.75445438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.957105681 meters 0.035069882106250325 Centerline is valid? [True, True] Translation: X:192.53, Y:40.36, Z:17.55 [[ 9.43231065e-01 -3.22331871e-01 -8.01082009e-02 1.92528993e+02] [ 3.20791634e-01 9.46617148e-01 -3.17600699e-02 4.03586297e+01] [ 8.60690794e-02 4.25904388e-03 9.96280068e-01 1.75524636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.017105681 meters 0.03587422700304214 Centerline is valid? [True, True] Translation: X:192.58, Y:40.38, Z:17.55 [[ 9.43340914e-01 -3.21804408e-01 -8.09311017e-02 1.92583233e+02] [ 3.20230028e-01 9.46796152e-01 -3.20901112e-02 4.03828464e+01] [ 8.69519950e-02 4.35534582e-03 9.96202982e-01 1.75544239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077105681 meters 0.03415162965910316 Centerline is valid? [True, True] Translation: X:192.64, Y:40.41, Z:17.55 [[ 9.42057212e-01 -3.24736896e-01 -8.41080118e-02 1.92638083e+02] [ 3.23044852e-01 9.45794720e-01 -3.33821859e-02 4.04065665e+01] [ 9.03893410e-02 4.27726877e-03 9.95897320e-01 1.75522616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137105681 meters 0.033968258458571994 Centerline is valid? [True, True] Translation: X:192.69, Y:40.43, Z:17.55 [[ 9.40711960e-01 -3.27183136e-01 -8.95109166e-02 1.92693691e+02] [ 3.25273921e-01 9.44951003e-01 -3.55595101e-02 4.04264364e+01] [ 9.62179024e-02 4.33568960e-03 9.95350851e-01 1.75506867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19710568099998 meters 0.03361944516440089 Centerline is valid? [True, True] Translation: X:192.75, Y:40.45, Z:17.56 [[ 9.40298684e-01 -3.29072169e-01 -8.68901175e-02 1.92747611e+02] [ 3.27278625e-01 9.44296096e-01 -3.45482810e-02 4.04483874e+01] [ 9.34188765e-02 4.04842492e-03 9.95618664e-01 1.75602528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25710568099998 meters 0.02914701491143944 Centerline is valid? [True, True] Translation: X:192.81, Y:40.46, Z:17.57 [[ 9.38862946e-01 -3.33881362e-01 -8.40214492e-02 1.92806542e+02] [ 3.32222970e-01 9.42608758e-01 -3.34159882e-02 4.04616745e+01] [ 9.03563295e-02 3.45917770e-03 9.95903493e-01 1.75664465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317105681 meters 0.02437204603830582 Centerline is valid? [True, True] Translation: X:192.87, Y:40.47, Z:17.57 [[ 9.34574313e-01 -3.45288938e-01 -8.57111572e-02 1.92865806e+02] [ 3.43610379e-01 9.38493339e-01 -3.40904802e-02 4.04725739e+01] [ 9.22104158e-02 2.40884397e-03 9.95736630e-01 1.75671008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.377105681 meters 0.02094881604968443 Centerline is valid? [True, True] Translation: X:192.92, Y:40.49, Z:17.57 [[ 9.30977160e-01 -3.54700198e-01 -8.64250941e-02 1.92922332e+02] [ 3.53033251e-01 9.34978893e-01 -3.43801267e-02 4.04898234e+01] [ 9.30002766e-02 1.49618079e-03 9.95664959e-01 1.75692167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.437105681 meters 0.019447296186923826 Centerline is valid? [True, True] Translation: X:192.98, Y:40.51, Z:17.58 [[ 9.29180576e-01 -3.59375595e-01 -8.64444214e-02 1.92978060e+02] [ 3.57727512e-01 9.33192430e-01 -3.43935366e-02 4.05083135e+01] [ 9.30294774e-02 1.03425836e-03 9.95662818e-01 1.75767016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.497105681 meters 0.022400365198030042 Centerline is valid? [True, True] Translation: X:193.02, Y:40.55, Z:17.58 [[ 9.31679517e-01 -3.53059750e-01 -8.55692109e-02 1.93024787e+02] [ 3.51415364e-01 9.35599271e-01 -3.40770681e-02 4.05473463e+01] [ 9.20897324e-02 1.67857091e-03 9.95749298e-01 1.75819123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.557105681 meters 0.026552031442931296 Centerline is valid? [True, True] Translation: X:193.07, Y:40.58, Z:17.59 [[ 9.35382277e-01 -3.43936742e-01 -8.22648969e-02 1.93073886e+02] [ 3.42380435e-01 9.38989511e-01 -3.27770680e-02 4.05835046e+01] [ 8.85191133e-02 2.49319729e-03 9.96071358e-01 1.75916777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.617105681 meters 0.026832697342011467 Centerline is valid? [True, True] Translation: X:193.12, Y:40.61, Z:17.60 [[ 9.35653589e-01 -3.44241062e-01 -7.77846521e-02 1.93124815e+02] [ 3.42850786e-01 9.38878402e-01 -3.09949239e-02 4.06126182e+01] [ 8.37000553e-02 2.33198271e-03 9.96488265e-01 1.75994491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.677105681 meters 0.027673061795864803 Centerline is valid? [True, True] Translation: X:193.18, Y:40.64, Z:17.60 [[ 9.36244448e-01 -3.42289961e-01 -7.92711587e-02 1.93177541e+02] [ 3.40836354e-01 9.39590820e-01 -3.16175641e-02 4.06400436e+01] [ 8.53048278e-02 2.58327610e-03 9.96351551e-01 1.76016598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.737105681 meters 0.03097629436070089 Centerline is valid? [True, True] Translation: X:193.23, Y:40.67, Z:17.60 [[ 9.38311240e-01 -3.34508130e-01 -8.76146564e-02 1.93229796e+02] [ 3.32694378e-01 9.42385704e-01 -3.49805154e-02 4.06720008e+01] [ 9.42680665e-02 3.67370720e-03 9.95540072e-01 1.75968362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.797105681 meters 0.03683183855036026 Centerline is valid? [True, True] Translation: X:193.28, Y:40.71, Z:17.60 [[ 9.41741943e-01 -3.23914332e-01 -9.05627863e-02 1.93280962e+02] [ 3.21926851e-01 9.46073729e-01 -3.61607850e-02 4.07062046e+01] [ 9.73920694e-02 4.89953528e-03 9.95234032e-01 1.75984386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857105681 meters 0.04033542565953607 Centerline is valid? [True, True] Translation: X:193.33, Y:40.74, Z:17.60 [[ 9.43615579e-01 -3.18854495e-01 -8.90025272e-02 1.93333203e+02] [ 3.16912444e-01 9.47788689e-01 -3.55401609e-02 4.07370922e+01] [ 9.56877286e-02 5.33024109e-03 9.95397130e-01 1.76037481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917105681 meters 0.03967645533793757 Centerline is valid? [True, True] Translation: X:193.39, Y:40.76, Z:17.61 [[ 9.43645545e-01 -3.19285550e-01 -8.71195934e-02 1.93386898e+02] [ 3.17426383e-01 9.47644407e-01 -3.47932381e-02 4.07590281e+01] [ 9.36673735e-02 5.17842670e-03 9.95590080e-01 1.76105204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97710568099998 meters 0.03575075402961924 Centerline is valid? [True, True] Translation: X:193.44, Y:40.78, Z:17.61 [[ 9.40120053e-01 -3.29176580e-01 -8.84141722e-02 1.93443560e+02] [ 3.27301819e-01 9.44258644e-01 -3.53430614e-02 4.07759138e+01] [ 9.51199544e-02 4.28860140e-03 9.95456580e-01 1.76123235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03710568099999 meters 0.03055584306295418 Centerline is valid? [True, True] Translation: X:193.50, Y:40.79, Z:17.62 [[ 9.36499451e-01 -3.39036006e-01 -8.95732333e-02 1.93503883e+02] [ 3.37155753e-01 9.40767474e-01 -3.58128148e-02 4.07868538e+01] [ 9.64094182e-02 3.33855050e-03 9.95336163e-01 1.76157213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.097105681 meters 0.02648606730395485 Centerline is valid? [True, True] Translation: X:193.56, Y:40.80, Z:17.63 [[ 9.33741384e-01 -3.46995260e-01 -8.78710321e-02 1.93561837e+02] [ 3.45220666e-01 9.37863623e-01 -3.51356913e-02 4.08015932e+01] [ 9.46029629e-02 2.47275279e-03 9.95512011e-01 1.76251944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.157105681 meters 0.023259355376299962 Centerline is valid? [True, True] Translation: X:193.62, Y:40.82, Z:17.63 [[ 9.31557134e-01 -3.52860379e-01 -8.76975482e-02 1.93617756e+02] [ 3.51118400e-01 9.35674105e-01 -3.50690450e-02 4.08194683e+01] [ 9.44308014e-02 1.87659629e-03 9.95529659e-01 1.76295872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.217105681 meters 0.0193632222318657 Centerline is valid? [True, True] Translation: X:193.68, Y:40.83, Z:17.63 [[ 9.26632607e-01 -3.64447024e-01 -9.23600433e-02 1.93678934e+02] [ 3.62570206e-01 9.31223822e-01 -3.69464433e-02 4.08271873e+01] [ 9.94728939e-02 7.48779200e-04 9.95039991e-01 1.76284639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.277105681 meters 0.018387872110104418 Centerline is valid? [True, True] Translation: X:193.73, Y:40.85, Z:17.63 [[ 9.23318617e-01 -3.72136901e-01 -9.48517760e-02 1.93733550e+02] [ 3.70193847e-01 9.28177852e-01 -3.79788223e-02 4.08477600e+01] [ 1.02172639e-01 -4.69901748e-05 9.94766681e-01 1.76300306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.337105681 meters 0.02235001570111599 Centerline is valid? [True, True] Translation: X:193.78, Y:40.89, Z:17.64 [[ 9.29871008e-01 -3.55718667e-01 -9.38303672e-02 1.93779724e+02] [ 3.53729476e-01 9.34591387e-01 -3.76084811e-02 4.08874230e+01] [ 1.01071092e-01 1.78046961e-03 9.94877613e-01 1.76391187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.397105681 meters 0.02917894948376927 Centerline is valid? [True, True] Translation: X:193.83, Y:40.93, Z:17.64 [[ 9.35821111e-01 -3.40182125e-01 -9.22765932e-02 1.93827277e+02] [ 3.38181743e-01 9.40353371e-01 -3.69952256e-02 4.09302266e+01] [ 9.93577200e-02 3.41465402e-03 9.95045920e-01 1.76434576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.457105681 meters 0.03267982294821496 Centerline is valid? [True, True] Translation: X:193.88, Y:40.96, Z:17.65 [[ 9.37618374e-01 -3.34796816e-01 -9.37170061e-02 1.93879537e+02] [ 3.32706065e-01 9.42281630e-01 -3.75766440e-02 4.09585797e+01] [ 1.00888354e-01 4.05233553e-03 9.94889501e-01 1.76460850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.517105681 meters 0.03328669220783837 Centerline is valid? [True, True] Translation: X:193.93, Y:40.98, Z:17.65 [[ 9.37535938e-01 -3.35288244e-01 -9.27801677e-02 1.93930891e+02] [ 3.33240955e-01 9.42107250e-01 -3.72074570e-02 4.09847578e+01] [ 9.98840916e-02 3.96517640e-03 9.94991179e-01 1.76501429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577105681 meters 0.03376177231781731 Centerline is valid? [True, True] Translation: X:193.98, Y:41.01, Z:17.65 [[ 9.37669169e-01 -3.34601689e-01 -9.39054848e-02 1.93984593e+02] [ 3.32499321e-01 9.42350722e-01 -3.76738437e-02 4.10082286e+01] [ 1.01097633e-01 4.10209180e-03 9.94868052e-01 1.76536611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637105681 meters 0.03608076447592297 Centerline is valid? [True, True] Translation: X:194.04, Y:41.03, Z:17.66 [[ 9.39002349e-01 -3.31442504e-01 -9.17630371e-02 1.94038885e+02] [ 3.29417215e-01 9.43465304e-01 -3.68445088e-02 4.10308409e+01] [ 9.87870780e-02 4.36875622e-03 9.95099004e-01 1.76629432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69710568099998 meters 0.03890144260506012 Centerline is valid? [True, True] Translation: X:194.09, Y:41.05, Z:17.66 [[ 9.39581024e-01 -3.29246014e-01 -9.37259867e-02 1.94093297e+02] [ 3.27121436e-01 9.44232456e-01 -3.76382179e-02 4.10531891e+01] [ 1.00891352e-01 4.70437602e-03 9.94886327e-01 1.76645499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75710568099998 meters 0.03392090725118076 Centerline is valid? [True, True] Translation: X:194.15, Y:41.06, Z:17.67 [[ 9.38945334e-01 -3.30352692e-01 -9.61704698e-02 1.94151546e+02] [ 3.28119685e-01 9.43845757e-01 -3.86349392e-02 4.10636232e+01] [ 1.03533246e-01 4.72067158e-03 9.94614791e-01 1.76672461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817105681 meters 0.033584710899023554 Centerline is valid? [True, True] Translation: X:194.21, Y:41.08, Z:17.67 [[ 9.36940040e-01 -3.35253351e-01 -9.87347539e-02 1.94208302e+02] [ 3.32922200e-01 9.42118068e-01 -3.97033445e-02 4.10793117e+01] [ 1.06330475e-01 4.32866167e-03 9.94321423e-01 1.76709826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.877105681 meters 0.028068712956324682 Centerline is valid? [True, True] Translation: X:194.27, Y:41.09, Z:17.68 [[ 9.34442475e-01 -3.42273375e-01 -9.83168257e-02 1.94268443e+02] [ 3.39999933e-01 9.39593815e-01 -3.95412277e-02 4.10897520e+01] [ 1.05911791e-01 3.52128857e-03 9.94369294e-01 1.76792118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.937105681 meters 0.019878307022200507 Centerline is valid? [True, True] Translation: X:194.33, Y:41.09, Z:17.69 [[ 9.27884303e-01 -3.59874212e-01 -9.75769994e-02 1.94333505e+02] [ 3.57730721e-01 9.32999606e-01 -3.92487715e-02 4.10880222e+01] [ 1.05163923e-01 1.51202862e-03 9.94453751e-01 1.76868537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.997105681 meters 0.017194670545981887 Centerline is valid? [True, True] Translation: X:194.39, Y:41.09, Z:17.70 [[ 9.22114879e-01 -3.75066970e-01 -9.50206214e-02 1.94394520e+02] [ 3.73114231e-01 9.26997694e-01 -3.82236218e-02 4.10920285e+01] [ 1.02420315e-01 -2.06975727e-04 9.94741191e-01 1.76963269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.057105681 meters 0.017126852723712654 Centerline is valid? [True, True] Translation: X:194.45, Y:41.11, Z:17.71 [[ 9.21730094e-01 -3.77112182e-01 -9.05540482e-02 1.94448468e+02] [ 3.75348064e-01 9.26167500e-01 -3.64361450e-02 4.11104880e+01] [ 9.76087305e-02 -4.04995269e-04 9.95224785e-01 1.77091599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.117105681 meters 0.017067876540107028 Centerline is valid? [True, True] Translation: X:194.50, Y:41.14, Z:17.71 [[ 9.21761192e-01 -3.76857255e-01 -9.12957486e-02 1.94499679e+02] [ 3.75061628e-01 9.26271274e-01 -3.67464661e-02 4.11378265e+01] [ 9.84128016e-02 -3.70065682e-04 9.95145609e-01 1.77113150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.177105681 meters 0.016956320000317937 Centerline is valid? [True, True] Translation: X:194.55, Y:41.17, Z:17.72 [[ 9.21029118e-01 -3.78268759e-01 -9.28337751e-02 1.94551341e+02] [ 3.76417665e-01 9.25695673e-01 -3.73799693e-02 4.11665490e+01] [ 1.00075499e-01 -5.16232765e-04 9.94979712e-01 1.77166817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.237105681 meters 0.016385337562068326 Centerline is valid? [True, True] Translation: X:194.60, Y:41.20, Z:17.73 [[ 9.23173323e-01 -3.74563192e-01 -8.63332582e-02 1.94601112e+02] [ 3.72943811e-01 9.27201385e-01 -3.47923065e-02 4.11986362e+01] [ 9.30802340e-02 -7.81251554e-05 9.95658608e-01 1.77317103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.297105681 meters 0.016430432385766656 Centerline is valid? [True, True] Translation: X:194.65, Y:41.23, Z:17.74 [[ 9.24954592e-01 -3.70311310e-01 -8.56068727e-02 1.94648955e+02] [ 3.68699282e-01 9.28907639e-01 -3.45172146e-02 4.12341949e+01] [ 9.23029930e-02 3.63663664e-04 9.95730900e-01 1.77368431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357105681 meters 0.02181356741262473 Centerline is valid? [True, True] Translation: X:194.70, Y:41.28, Z:17.73 [[ 9.30321006e-01 -3.54768677e-01 -9.29624248e-02 1.94696534e+02] [ 3.52785129e-01 9.34951723e-01 -3.75223659e-02 4.12762533e+01] [ 1.00227139e-01 2.11208418e-03 9.94962341e-01 1.77288575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417105681 meters 0.03038767965919846 Centerline is valid? [True, True] Translation: X:194.74, Y:41.32, Z:17.73 [[ 9.35415867e-01 -3.39831598e-01 -9.75276446e-02 1.94744003e+02] [ 3.37565795e-01 9.40478188e-01 -3.93714513e-02 4.13210926e+01] [ 1.05102286e-01 3.90668338e-03 9.94453743e-01 1.77257325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47710568099998 meters 0.033397313338549034 Centerline is valid? [True, True] Translation: X:194.80, Y:41.35, Z:17.73 [[ 9.36296188e-01 -3.36580763e-01 -1.00313694e-01 1.94798547e+02] [ 3.34164258e-01 9.41644331e-01 -4.04994189e-02 4.13462817e+01] [ 1.08091147e-01 4.39820033e-03 9.94131259e-01 1.77273141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53710568099999 meters 0.03150174251950741 Centerline is valid? [True, True] Translation: X:194.85, Y:41.36, Z:17.74 [[ 9.36537646e-01 -3.36507235e-01 -9.82858955e-02 1.94854614e+02] [ 3.34186286e-01 9.41670943e-01 -3.96908179e-02 4.13623623e+01] [ 1.05909219e-01 4.32614674e-03 9.94366392e-01 1.77372556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.597105681 meters 0.031565513621872564 Centerline is valid? [True, True] Translation: X:194.91, Y:41.38, Z:17.75 [[ 9.35721886e-01 -3.39874372e-01 -9.43926001e-02 1.94908610e+02] [ 3.37748093e-01 9.40463102e-01 -3.81494250e-02 4.13836985e+01] [ 1.01738769e-01 3.81633120e-03 9.94803829e-01 1.77470544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.657105681 meters 0.02592294793626468 Centerline is valid? [True, True] Translation: X:194.97, Y:41.40, Z:17.76 [[ 9.34274434e-01 -3.44405164e-01 -9.22841558e-02 1.94967661e+02] [ 3.42394401e-01 9.38815472e-01 -3.73039217e-02 4.13959175e+01] [ 9.94854566e-02 3.25452205e-03 9.95033694e-01 1.77563206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.717105681 meters 0.023034306426184058 Centerline is valid? [True, True] Translation: X:195.02, Y:41.41, Z:17.76 [[ 9.31862578e-01 -3.50903238e-01 -9.21903072e-02 1.95024052e+02] [ 3.48927879e-01 9.36408220e-01 -3.72690262e-02 4.14124341e+01] [ 9.94055834e-02 2.56184244e-03 9.95043701e-01 1.77604763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.777105681 meters 0.01723821966187138 Centerline is valid? [True, True] Translation: X:195.08, Y:41.42, Z:17.76 [[ 9.25787143e-01 -3.65599129e-01 -9.62052072e-02 1.95083111e+02] [ 3.63525219e-01 9.30771827e-01 -3.89001323e-02 4.14230618e+01] [ 1.03766951e-01 1.04022334e-03 9.94601095e-01 1.77632040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.837105681 meters 0.019718088953113857 Centerline is valid? [True, True] Translation: X:195.13, Y:41.45, Z:17.77 [[ 9.28314010e-01 -3.59587778e-01 -9.44972442e-02 1.95133311e+02] [ 3.57555100e-01 9.33109733e-01 -3.82174825e-02 4.14528665e+01] [ 1.01918838e-01 1.68985286e-03 9.94791282e-01 1.77734521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.897105681 meters 0.026571954212745358 Centerline is valid? [True, True] Translation: X:195.18, Y:41.49, Z:17.78 [[ 9.34399517e-01 -3.44176919e-01 -9.18683380e-02 1.95182005e+02] [ 3.42180258e-01 9.38899043e-01 -3.71652730e-02 4.14912360e+01] [ 9.90465238e-02 3.29168143e-03 9.95077359e-01 1.77837961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.957105681 meters 0.03739705877335016 Centerline is valid? [True, True] Translation: X:195.23, Y:41.53, Z:17.79 [[ 9.38431740e-01 -3.32944792e-01 -9.21609249e-02 1.95231171e+02] [ 3.30880612e-01 9.42935588e-01 -3.72893825e-02 4.15279036e+01] [ 9.93171216e-02 4.49927686e-03 9.95045660e-01 1.77868748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.017105681 meters 0.02823035394975559 Centerline is valid? [True, True] Translation: X:195.29, Y:41.53, Z:17.80 [[ 9.36073755e-01 -3.40612229e-01 -8.80297385e-02 1.95292625e+02] [ 3.38762667e-01 9.40197261e-01 -3.56225386e-02 4.15340855e+01] [ 9.48987913e-02 3.52413448e-03 9.95480688e-01 1.77993288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077105681 meters 0.02029385522595943 Centerline is valid? [True, True] Translation: X:195.35, Y:41.54, Z:17.81 [[ 9.29950674e-01 -3.57141562e-01 -8.74165272e-02 1.95352772e+02] [ 3.55389619e-01 9.34048469e-01 -3.53790464e-02 4.15421374e+01] [ 9.42866012e-02 1.83384167e-03 9.95543406e-01 1.78059046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137105681 meters 0.016056988564040718 Centerline is valid? [True, True] Translation: X:195.41, Y:41.55, Z:17.81 [[ 9.25238054e-01 -3.69426214e-01 -8.63644334e-02 1.95412171e+02] [ 3.67768944e-01 9.29259885e-01 -3.49581275e-02 4.15525580e+01] [ 9.31694521e-02 5.82433357e-04 9.95650096e-01 1.78143183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19710568099998 meters 0.015573799942980339 Centerline is valid? [True, True] Translation: X:195.47, Y:41.58, Z:17.82 [[ 9.23907613e-01 -3.72916666e-01 -8.56030503e-02 1.95465181e+02] [ 3.71302962e-01 9.27864810e-01 -3.46555189e-02 4.15775211e+01] [ 9.23516786e-02 2.33831610e-04 9.95726425e-01 1.78192646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25710568099998 meters 0.019196932649776514 Centerline is valid? [True, True] Translation: X:195.51, Y:41.62, Z:17.82 [[ 9.28775742e-01 -3.60355212e-01 -8.67164495e-02 1.95510416e+02] [ 3.58641272e-01 9.32813896e-01 -3.51379132e-02 4.16244012e+01] [ 9.35524392e-02 1.53514361e-03 9.95613170e-01 1.78211928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317105681 meters 0.026419472130962508 Centerline is valid? [True, True] Translation: X:195.56, Y:41.67, Z:17.82 [[ 9.32995768e-01 -3.48414321e-01 -9.01463157e-02 1.95557595e+02] [ 3.46505424e-01 9.37336303e-01 -3.65328086e-02 4.16653574e+01] [ 9.72259681e-02 2.84876846e-03 9.95258256e-01 1.78208854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.377105681 meters 0.029974491645565336 Centerline is valid? [True, True] Translation: X:195.61, Y:41.70, Z:17.83 [[ 9.34688239e-01 -3.43727433e-01 -9.06054489e-02 1.95609196e+02] [ 3.41776473e-01 9.39063453e-01 -3.67242938e-02 4.16960011e+01] [ 9.77074129e-02 3.35895481e-03 9.95209515e-01 1.78252058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.437105681 meters 0.025120957063700884 Centerline is valid? [True, True] Translation: X:195.67, Y:41.71, Z:17.83 [[ 9.33089566e-01 -3.47411091e-01 -9.30021229e-02 1.95667181e+02] [ 3.45372639e-01 9.37707932e-01 -3.77037632e-02 4.17106668e+01] [ 1.00307534e-01 3.06059941e-03 9.94951773e-01 1.78282116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.497105681 meters 0.02392442272889484 Centerline is valid? [True, True] Translation: X:195.72, Y:41.73, Z:17.83 [[ 9.31984211e-01 -3.50894013e-01 -9.09880341e-02 1.95721488e+02] [ 3.48956667e-01 9.36411415e-01 -3.69175545e-02 4.17291747e+01] [ 9.81563827e-02 2.65569682e-03 9.95167459e-01 1.78337612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.557105681 meters 0.025242894135084324 Centerline is valid? [True, True] Translation: X:195.78, Y:41.75, Z:17.83 [[ 9.31760691e-01 -3.49813316e-01 -9.72247817e-02 1.95776639e+02] [ 3.47593123e-01 9.36814709e-01 -3.94616604e-02 4.17517575e+01] [ 1.04885820e-01 2.97415849e-03 9.94479823e-01 1.78300666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.617105681 meters 0.026730738269803763 Centerline is valid? [True, True] Translation: X:195.83, Y:41.78, Z:17.83 [[ 9.32047099e-01 -3.48490757e-01 -9.92088561e-02 1.95830078e+02] [ 3.46170042e-01 9.37306761e-01 -4.02782459e-02 4.17753054e+01] [ 1.07025728e-01 3.19808840e-03 9.94251108e-01 1.78326646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.677105681 meters 0.022945936936827126 Centerline is valid? [True, True] Translation: X:195.89, Y:41.79, Z:17.85 [[ 9.31431264e-01 -3.51779001e-01 -9.32058729e-02 1.95887611e+02] [ 3.49746749e-01 9.36079308e-01 -3.78515590e-02 4.17899233e+01] [ 1.00563473e-01 2.65767443e-03 9.94927095e-01 1.78488524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.737105681 meters 0.01884310119295029 Centerline is valid? [True, True] Translation: X:195.95, Y:41.80, Z:17.86 [[ 9.27523471e-01 -3.62402241e-01 -9.14594233e-02 1.95946394e+02] [ 3.60496633e-01 9.32020611e-01 -3.71451017e-02 4.18004529e+01] [ 9.87035356e-02 1.48213958e-03 9.95115780e-01 1.78566774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.797105681 meters 0.017913761901262152 Centerline is valid? [True, True] Translation: X:196.00, Y:41.82, Z:17.86 [[ 9.26213313e-01 -3.65916323e-01 -9.07421871e-02 1.96002446e+02] [ 3.64056626e-01 9.30647098e-01 -3.68612492e-02 4.18193529e+01] [ 9.79370858e-02 1.10608526e-03 9.95191993e-01 1.78629898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857105681 meters 0.017680308830612907 Centerline is valid? [True, True] Translation: X:196.06, Y:41.84, Z:17.87 [[ 9.25100132e-01 -3.68359108e-01 -9.22025656e-02 1.96058227e+02] [ 3.66447615e-01 9.29683156e-01 -3.74883326e-02 4.18353254e+01] [ 9.95283409e-02 8.93051207e-04 9.95034327e-01 1.78670516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917105681 meters 0.019603818192803477 Centerline is valid? [True, True] Translation: X:196.11, Y:41.86, Z:17.88 [[ 9.28099668e-01 -3.61329448e-01 -8.98445170e-02 1.96111272e+02] [ 3.59478278e-01 9.32436777e-01 -3.65653421e-02 4.18576808e+01] [ 9.69864667e-02 1.63912964e-03 9.95284351e-01 1.78788580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97710568099998 meters 0.02452333996999054 Centerline is valid? [True, True] Translation: X:196.16, Y:41.89, Z:17.89 [[ 9.32919562e-01 -3.50288309e-01 -8.34217720e-02 1.96162276e+02] [ 3.48647698e-01 9.36638321e-01 -3.39623153e-02 4.18879598e+01] [ 9.00326305e-02 2.59929956e-03 9.95935424e-01 1.78924630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03710568099999 meters 0.03152985559458771 Centerline is valid? [True, True] Translation: X:196.22, Y:41.91, Z:17.89 [[ 9.36490019e-01 -3.39550664e-01 -8.77028601e-02 1.96215544e+02] [ 3.37689340e-01 9.40579986e-01 -3.57099311e-02 4.19149081e+01] [ 9.46168857e-02 3.82567313e-03 9.95506408e-01 1.78893242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.097105681 meters 0.033579956238895474 Centerline is valid? [True, True] Translation: X:196.27, Y:41.94, Z:17.89 [[ 9.36801470e-01 -3.37070493e-01 -9.37362700e-02 1.96270265e+02] [ 3.34930485e-01 9.41469293e-01 -3.81725038e-02 4.19408523e+01] [ 1.01116645e-01 4.36492325e-03 9.94865002e-01 1.78850489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.157105681 meters 0.0343609123473024 Centerline is valid? [True, True] Translation: X:196.33, Y:41.96, Z:17.89 [[ 9.36586513e-01 -3.37052910e-01 -9.59220533e-02 1.96325922e+02] [ 3.34810539e-01 9.41475054e-01 -3.90720540e-02 4.19596134e+01] [ 1.03477570e-01 4.47864447e-03 9.94621704e-01 1.78873450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.217105681 meters 0.03357543668942985 Centerline is valid? [True, True] Translation: X:196.38, Y:41.98, Z:17.90 [[ 9.35918538e-01 -3.39413009e-01 -9.41026065e-02 1.96382215e+02] [ 3.37263775e-01 9.40628219e-01 -3.83627467e-02 4.19770233e+01] [ 1.01536382e-01 4.16700546e-03 9.94823099e-01 1.78958137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.277105681 meters 0.026502971887477817 Centerline is valid? [True, True] Translation: X:196.44, Y:41.98, Z:17.91 [[ 9.31810863e-01 -3.52042679e-01 -8.82862788e-02 1.96444560e+02] [ 3.50206518e-01 9.35980249e-01 -3.60051055e-02 4.19787560e+01] [ 9.53095471e-02 2.63151821e-03 9.95444205e-01 1.79092282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.337105681 meters 0.01930127529011015 Centerline is valid? [True, True] Translation: X:196.51, Y:41.98, Z:17.91 [[ 9.27013457e-01 -3.64166587e-01 -8.96032823e-02 1.96508481e+02] [ 3.62330810e-01 9.31332754e-01 -3.65470292e-02 4.19815201e+01] [ 9.67596786e-02 1.41355799e-03 9.95306770e-01 1.79127224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.397105681 meters 0.017007369002635764 Centerline is valid? [True, True] Translation: X:196.57, Y:41.99, Z:17.92 [[ 9.23229529e-01 -3.74459724e-01 -8.61809285e-02 1.96568749e+02] [ 3.72805536e-01 9.27243121e-01 -3.51600314e-02 4.19879058e+01] [ 9.30766888e-02 3.32051957e-04 9.95658887e-01 1.79237937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.457105681 meters 0.017410049326867565 Centerline is valid? [True, True] Translation: X:196.62, Y:42.00, Z:17.93 [[ 9.19801492e-01 -3.83433005e-01 -8.33327397e-02 1.96624120e+02] [ 3.81922340e-01 9.23568531e-01 -3.40072672e-02 4.20032772e+01] [ 9.00030046e-02 -5.46699813e-04 9.95941344e-01 1.79338354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.517105681 meters 0.017478985252781826 Centerline is valid? [True, True] Translation: X:196.67, Y:42.03, Z:17.94 [[ 9.20691751e-01 -3.81564327e-01 -8.20692615e-02 1.96673348e+02] [ 3.80088530e-01 9.24342230e-01 -3.35283525e-02 4.20328702e+01] [ 8.86533075e-02 -3.24307327e-04 9.96062491e-01 1.79439354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577105681 meters 0.019107757487188383 Centerline is valid? [True, True] Translation: X:196.72, Y:42.08, Z:17.95 [[ 9.26388389e-01 -3.68191019e-01 -7.89931977e-02 1.96716430e+02] [ 3.66773900e-01 9.29749695e-01 -3.22863962e-02 4.20807010e+01] [ 8.53314626e-02 9.37099470e-04 9.96352178e-01 1.79519831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637105681 meters 0.02421800630125631 Centerline is valid? [True, True] Translation: X:196.76, Y:42.12, Z:17.95 [[ 9.32028632e-01 -3.52815609e-01 -8.27271156e-02 1.96763599e+02] [ 3.51197317e-01 9.35689553e-01 -3.38453061e-02 4.21243789e+01] [ 8.93480501e-02 2.49125331e-03 9.95997349e-01 1.79483505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69710568099998 meters 0.029792173544122863 Centerline is valid? [True, True] Translation: X:196.81, Y:42.16, Z:17.94 [[ 9.34771036e-01 -3.43546787e-01 -9.04362461e-02 1.96814264e+02] [ 3.41568213e-01 9.39128276e-01 -3.70031932e-02 4.21590646e+01] [ 9.76435640e-02 3.69936626e-03 9.95214574e-01 1.79425948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75710568099998 meters 0.030624937440239117 Centerline is valid? [True, True] Translation: X:196.87, Y:42.19, Z:17.94 [[ 9.35308552e-01 -3.41194559e-01 -9.37239831e-02 1.96867538e+02] [ 3.39056723e-01 9.39983778e-01 -3.83540792e-02 4.21870589e+01] [ 1.01185227e-01 4.09515171e-03 9.94859176e-01 1.79405545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.817105681 meters 0.03001870320683734 Centerline is valid? [True, True] Translation: X:196.92, Y:42.20, Z:17.95 [[ 9.34735211e-01 -3.42301216e-01 -9.53937234e-02 1.96923436e+02] [ 3.40090937e-01 9.39581513e-01 -3.90478657e-02 4.22038861e+01] [ 1.02996311e-01 4.05687428e-03 9.94673465e-01 1.79451208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.877105681 meters 0.027594359419430767 Centerline is valid? [True, True] Translation: X:196.98, Y:42.22, Z:17.95 [[ 9.32933878e-01 -3.47558143e-01 -9.40091268e-02 1.96980756e+02] [ 3.45434490e-01 9.37652046e-01 -3.85182381e-02 4.22202956e+01] [ 1.01535177e-01 3.46097454e-03 9.94825929e-01 1.79522974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.937105681 meters 0.02141762362738224 Centerline is valid? [True, True] Translation: X:197.04, Y:42.22, Z:17.97 [[ 9.28984293e-01 -3.59896976e-01 -8.63848947e-02 1.97043552e+02] [ 3.58157155e-01 9.32990022e-01 -3.53987372e-02 4.22213875e+01] [ 9.33361433e-02 1.94550279e-03 9.95632753e-01 1.79670449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.997105681 meters 0.01899897583800871 Centerline is valid? [True, True] Translation: X:197.10, Y:42.23, Z:17.97 [[ 9.25903220e-01 -3.67943339e-01 -8.55624105e-02 1.97101213e+02] [ 3.66270344e-01 9.29847528e-01 -3.50657938e-02 4.22326172e+01] [ 9.24622211e-02 1.12855795e-03 9.95715554e-01 1.79748707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.057105681 meters 0.018458298760053136 Centerline is valid? [True, True] Translation: X:197.16, Y:42.25, Z:17.98 [[ 9.25630413e-01 -3.68324629e-01 -8.68637207e-02 1.97156251e+02] [ 3.66600650e-01 9.29696571e-01 -3.56124936e-02 4.22520034e+01] [ 9.38738617e-02 1.11971066e-03 9.95583469e-01 1.79792187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.117105681 meters 0.020389486811983208 Centerline is valid? [True, True] Translation: X:197.21, Y:42.28, Z:17.98 [[ 9.26905825e-01 -3.63978375e-01 -9.14621943e-02 1.97208424e+02] [ 3.62041153e-01 9.31405877e-01 -3.75405818e-02 4.22812023e+01] [ 9.88523852e-02 1.68350563e-03 9.95100684e-01 1.79792822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.177105681 meters 0.024025479879447413 Centerline is valid? [True, True] Translation: X:197.26, Y:42.31, Z:17.99 [[ 9.30632333e-01 -3.54917293e-01 -8.92030079e-02 1.97258840e+02] [ 3.53030086e-01 9.34894055e-01 -3.66451200e-02 4.23121855e+01] [ 9.64013485e-02 2.61178801e-03 9.95339117e-01 1.79887053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.237105681 meters 0.033266658737051945 Centerline is valid? [True, True] Translation: X:197.31, Y:42.35, Z:18.00 [[ 9.37441987e-01 -3.37688539e-01 -8.46697818e-02 1.97308642e+02] [ 3.35917332e-01 9.41248654e-01 -3.47924891e-02 4.23450414e+01] [ 9.14443430e-02 4.17389295e-03 9.95801441e-01 1.80029693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.297105681 meters 0.03741930925979179 Centerline is valid? [True, True] Translation: X:197.36, Y:42.37, Z:18.00 [[ 9.39583388e-01 -3.30490662e-01 -8.92131082e-02 1.97361718e+02] [ 3.28490975e-01 9.43795251e-01 -3.66633752e-02 4.23739562e+01] [ 9.63158110e-02 5.14259744e-03 9.95337540e-01 1.79998553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357105681 meters 0.03535428229763978 Centerline is valid? [True, True] Translation: X:197.42, Y:42.39, Z:18.00 [[ 9.38100344e-01 -3.33756052e-01 -9.25993624e-02 1.97419249e+02] [ 3.31616374e-01 9.42646233e-01 -3.80612746e-02 4.23887244e+01] [ 9.99916208e-02 4.99783000e-03 9.94975727e-01 1.80002523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417105681 meters 0.03192055375752185 Centerline is valid? [True, True] Translation: X:197.48, Y:42.40, Z:18.01 [[ 9.34805522e-01 -3.42591630e-01 -9.36461980e-02 1.97476333e+02] [ 3.40446109e-01 9.39475430e-01 -3.85014738e-02 4.24029528e+01] [ 1.01168585e-01 4.10990659e-03 9.94860807e-01 1.80069219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47710568099998 meters 0.027904886013912698 Centerline is valid? [True, True] Translation: X:197.54, Y:42.42, Z:18.02 [[ 9.32351667e-01 -3.50029013e-01 -9.05541827e-02 1.97535007e+02] [ 3.48057508e-01 9.36733397e-01 -3.72359263e-02 4.24176975e+01] [ 9.78587817e-02 3.19891480e-03 9.95195170e-01 1.80155175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53710568099999 meters 0.02270697437163309 Centerline is valid? [True, True] Translation: X:197.59, Y:42.43, Z:18.02 [[ 9.29796707e-01 -3.57019950e-01 -8.95256271e-02 1.97593979e+02] [ 3.55124982e-01 9.34093575e-01 -3.68163018e-02 4.24305688e+01] [ 9.67694673e-02 2.43888951e-03 9.95303834e-01 1.80222243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.597105681 meters 0.020064479422997505 Centerline is valid? [True, True] Translation: X:197.65, Y:42.45, Z:18.03 [[ 9.26165513e-01 -3.65851959e-01 -9.14865363e-02 1.97651211e+02] [ 3.63915116e-01 9.30671758e-01 -3.76280050e-02 4.24472054e+01] [ 9.89102149e-02 1.55642713e-03 9.95095145e-01 1.80256603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.657105681 meters 0.017447085857882835 Centerline is valid? [True, True] Translation: X:197.71, Y:42.46, Z:18.02 [[ 9.19972381e-01 -3.79321039e-01 -9.88249351e-02 1.97710541e+02] [ 3.77135780e-01 9.25265114e-01 -4.06579858e-02 4.24581168e+01] [ 1.06861694e-01 1.33805007e-04 9.94273886e-01 1.80224779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.717105681 meters 0.017554784955871504 Centerline is valid? [True, True] Translation: X:197.77, Y:42.48, Z:18.03 [[ 9.18138328e-01 -3.83668404e-01 -9.90987686e-02 1.97765741e+02] [ 3.81491706e-01 9.23470868e-01 -4.08121795e-02 4.24764234e+01] [ 1.07173170e-01 -3.34132004e-04 9.94240313e-01 1.80280574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.777105681 meters 0.019464178941055576 Centerline is valid? [True, True] Translation: X:197.82, Y:42.50, Z:18.04 [[ 9.14296832e-01 -3.93826863e-01 -9.46662797e-02 1.97820768e+02] [ 3.91890893e-01 9.19183549e-01 -3.90273278e-02 4.24955684e+01] [ 1.02385697e-01 -1.41629066e-03 9.94743768e-01 1.80423027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.837105681 meters 0.02119089889540159 Centerline is valid? [True, True] Translation: X:197.88, Y:42.52, Z:18.05 [[ 9.12583813e-01 -3.98287679e-01 -9.25078835e-02 1.97875097e+02] [ 3.96458410e-01 9.17258710e-01 -3.81731206e-02 4.25174381e+01] [ 1.00057545e-01 -1.83935649e-03 9.94979952e-01 1.80502754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.897105681 meters 0.023666885842568777 Centerline is valid? [True, True] Translation: X:197.93, Y:42.54, Z:18.06 [[ 9.10509976e-01 -4.03066590e-01 -9.22437379e-02 1.97926750e+02] [ 4.01268852e-01 9.15167695e-01 -3.80972197e-02 4.25443296e+01] [ 9.97742055e-02 -2.32664019e-03 9.95007384e-01 1.80562433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.957105681 meters 0.029242624237591393 Centerline is valid? [True, True] Translation: X:197.98, Y:42.58, Z:18.06 [[ 9.05842279e-01 -4.13381676e-01 -9.25492033e-02 1.97978631e+02] [ 4.11624066e-01 9.10551274e-01 -3.82361958e-02 4.25751287e+01] [ 1.00076938e-01 -3.45951659e-03 9.94973687e-01 1.80612409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.017105681 meters 0.03174326388413613 Centerline is valid? [True, True] Translation: X:198.03, Y:42.61, Z:18.07 [[ 9.02896906e-01 -4.19548803e-01 -9.35733856e-02 1.98029124e+02] [ 4.17783514e-01 9.07723175e-01 -3.86726318e-02 4.26084049e+01] [ 1.01163787e-01 -4.17601822e-03 9.94861020e-01 1.80656132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077105681 meters 0.02941301912410154 Centerline is valid? [True, True] Translation: X:198.08, Y:42.65, Z:18.08 [[ 9.04607220e-01 -4.16461849e-01 -9.08036729e-02 1.98075026e+02] [ 4.14783524e-01 9.09145625e-01 -3.75347967e-02 4.26523385e+01] [ 9.81855727e-02 -3.70961933e-03 9.95161209e-01 1.80760509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137105681 meters 0.022615782953528805 Centerline is valid? [True, True] Translation: X:198.12, Y:42.70, Z:18.08 [[ 9.10116924e-01 -4.03580741e-01 -9.38603740e-02 1.98117742e+02] [ 4.01716393e-01 9.14940953e-01 -3.88200021e-02 4.27047839e+01] [ 1.01543705e-01 -2.37451001e-03 9.94828245e-01 1.80770592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19710568099998 meters 0.017162725350817868 Centerline is valid? [True, True] Translation: X:198.16, Y:42.76, Z:18.08 [[ 9.19302414e-01 -3.82206382e-01 -9.38155266e-02 1.98157730e+02] [ 3.80231267e-01 9.24076989e-01 -3.88059541e-02 4.27621279e+01] [ 1.01524653e-01 2.81069981e-06 9.94833024e-01 1.80837202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25710568099998 meters 0.01900526025026615 Centerline is valid? [True, True] Translation: X:198.20, Y:42.81, Z:18.10 [[ 9.23994560e-01 -3.71540395e-01 -9.05084935e-02 1.98201319e+02] [ 3.69650586e-01 9.28416088e-01 -3.74434358e-02 4.28061556e+01] [ 9.79412904e-02 1.14101334e-03 9.95191540e-01 1.80959497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.317105681 meters 0.01962102208203016 Centerline is valid? [True, True] Translation: X:198.25, Y:42.83, Z:18.10 [[ 9.25181072e-01 -3.68963205e-01 -8.89164632e-02 1.98252959e+02] [ 3.67126279e-01 9.29442946e-01 -3.67981715e-02 4.28329495e+01] [ 9.62199507e-02 1.40140147e-03 9.95359110e-01 1.81037036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.377105681 meters 0.02175346154551845 Centerline is valid? [True, True] Translation: X:198.30, Y:42.86, Z:18.11 [[ 9.26864197e-01 -3.64473036e-01 -8.99008725e-02 1.98304449e+02] [ 3.62570550e-01 9.31211959e-01 -3.72408883e-02 4.28623730e+01] [ 9.72900672e-02 1.92183725e-03 9.95254213e-01 1.81073857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.437105681 meters 0.030723994159844878 Centerline is valid? [True, True] Translation: X:198.35, Y:42.90, Z:18.11 [[ 9.33101755e-01 -3.47391132e-01 -9.29543786e-02 1.98353435e+02] [ 3.45268446e-01 9.37712350e-01 -3.85389247e-02 4.29004210e+01] [ 1.00552550e-01 3.86652445e-03 9.94924236e-01 1.81085786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.497105681 meters 0.04119014323743534 Centerline is valid? [True, True] Translation: X:198.41, Y:42.93, Z:18.11 [[ 9.38718434e-01 -3.31480578e-01 -9.44898336e-02 1.98405540e+02] [ 3.29205868e-01 9.43444993e-01 -3.91796015e-02 4.29327770e+01] [ 1.02133237e-01 5.67200646e-03 9.94754558e-01 1.81119605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.557105681 meters 0.04091480686892237 Centerline is valid? [True, True] Translation: X:198.46, Y:42.95, Z:18.12 [[ 9.38351889e-01 -3.33885652e-01 -8.95327023e-02 1.98462470e+02] [ 3.31854750e-01 9.42599652e-01 -3.71257416e-02 4.29459742e+01] [ 9.67892465e-02 5.12515724e-03 9.95291703e-01 1.81231112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.617105681 meters 0.03261354571135658 Centerline is valid? [True, True] Translation: X:198.53, Y:42.95, Z:18.13 [[ 9.34533844e-01 -3.44485599e-01 -8.93093870e-02 1.98527172e+02] [ 3.42512378e-01 9.38782981e-01 -3.70376334e-02 4.29461453e+01] [ 9.66010639e-02 4.02335140e-03 9.95315049e-01 1.81281147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.677105681 meters 0.028157178880282987 Centerline is valid? [True, True] Translation: X:198.59, Y:42.95, Z:18.13 [[ 9.30998137e-01 -3.53404226e-01 -9.13669682e-02 1.98589997e+02] [ 3.51381207e-01 9.35465329e-01 -3.78928193e-02 4.29529751e+01] [ 9.88621135e-02 3.17350863e-03 9.95096081e-01 1.81274361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.737105681 meters 0.019728745696925207 Centerline is valid? [True, True] Translation: X:198.66, Y:42.95, Z:18.13 [[ 9.23688617e-01 -3.71682158e-01 -9.30145827e-02 1.98656203e+02] [ 3.69676671e-01 9.28359204e-01 -3.85790976e-02 4.29481731e+01] [ 1.00690106e-01 1.24975199e-03 9.94917052e-01 1.81297915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.797105681 meters 0.017251301835406525 Centerline is valid? [True, True] Translation: X:198.72, Y:42.95, Z:18.14 [[ 9.17649565e-01 -3.86382904e-01 -9.28844880e-02 1.98718748e+02] [ 3.84456749e-01 9.22338403e-01 -3.85341266e-02 4.29506334e+01] [ 1.00559858e-01 -3.49243742e-04 9.94930949e-01 1.81364592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857105681 meters 0.017868545517994692 Centerline is valid? [True, True] Translation: X:198.78, Y:42.97, Z:18.14 [[ 9.16161277e-01 -3.89448124e-01 -9.47558618e-02 1.98775401e+02] [ 3.87455787e-01 9.21048162e-01 -3.93483875e-02 4.29669823e+01] [ 1.02598868e-01 -6.64238104e-04 9.94722590e-01 1.81424055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917105681 meters 0.017720980208086837 Centerline is valid? [True, True] Translation: X:198.82, Y:43.00, Z:18.15 [[ 9.20892854e-01 -3.78540461e-01 -9.30777682e-02 1.98822859e+02] [ 3.76558737e-01 9.25584564e-01 -3.86876197e-02 4.30029674e+01] [ 1.00796175e-01 5.77905608e-04 9.94906929e-01 1.81540451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97710568099998 meters 0.022101151924277338 Centerline is valid? [True, True] Translation: X:198.87, Y:43.04, Z:18.17 [[ 9.27024327e-01 -3.64799647e-01 -8.68741356e-02 1.98869116e+02] [ 3.63010382e-01 9.31083965e-01 -3.61401756e-02 4.30404043e+01] [ 9.40710379e-02 1.96660880e-03 9.95563545e-01 1.81670011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03710568099999 meters 0.020490980175728955 Centerline is valid? [True, True] Translation: X:198.92, Y:43.06, Z:18.17 [[ 9.25448447e-01 -3.69285661e-01 -8.46951748e-02 1.98924247e+02] [ 3.67603055e-01 9.29314750e-01 -3.52432823e-02 4.30617568e+01] [ 9.17233141e-02 1.48163584e-03 9.95783429e-01 1.81728213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.097105681 meters 0.017464526476139136 Centerline is valid? [True, True] Translation: X:198.98, Y:43.08, Z:18.18 [[ 9.20663795e-01 -3.81727490e-01 -8.16229097e-02 1.98981973e+02] [ 3.80212183e-01 9.24274884e-01 -3.39799147e-02 4.30752599e+01] [ 8.84130729e-02 2.50052489e-04 9.96083865e-01 1.81810265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.157105681 meters 0.020277856006346844 Centerline is valid? [True, True] Translation: X:199.04, Y:43.08, Z:18.18 [[ 9.12910251e-01 -3.99388312e-01 -8.41656059e-02 1.99043114e+02] [ 3.97850328e-01 9.16780648e-01 -3.50479619e-02 4.30848018e+01] [ 9.11591451e-02 -1.48967026e-03 9.95835223e-01 1.81818963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.217105681 meters 0.025552741151012203 Centerline is valid? [True, True] Translation: X:199.10, Y:43.11, Z:18.18 [[ 9.07748232e-01 -4.10696597e-01 -8.55654851e-02 1.99098793e+02] [ 4.09156293e-01 9.11768185e-01 -3.56357283e-02 4.31054825e+01] [ 9.26513593e-02 -2.66138736e-03 9.95695055e-01 1.81837012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.277105681 meters 0.024254642749562533 Centerline is valid? [True, True] Translation: X:199.15, Y:43.14, Z:18.19 [[ 9.09360178e-01 -4.07387834e-01 -8.42568655e-02 1.99149835e+02] [ 4.05879801e-01 9.13252394e-01 -3.50949080e-02 4.31360478e+01] [ 9.12450227e-02 -2.28424803e-03 9.95825852e-01 1.81924283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.337105681 meters 0.01961358051751312 Centerline is valid? [True, True] Translation: X:199.20, Y:43.18, Z:18.20 [[ 9.14180562e-01 -3.96748903e-01 -8.28505136e-02 1.99195424e+02] [ 3.95245779e-01 9.17926414e-01 -3.45235020e-02 4.31777875e+01] [ 8.97478365e-02 -1.18560128e-03 9.95963815e-01 1.82002920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.397105681 meters 0.016911638829845515 Centerline is valid? [True, True] Translation: X:199.24, Y:43.22, Z:18.20 [[ 9.19518958e-01 -3.83077031e-01 -8.79595060e-02 1.99242494e+02] [ 3.81318880e-01 9.23716385e-01 -3.66599519e-02 4.32167455e+01] [ 9.52932224e-02 1.68900379e-04 9.95449232e-01 1.81968548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.457105681 meters 0.01987595147711767 Centerline is valid? [True, True] Translation: X:199.29, Y:43.26, Z:18.20 [[ 9.24036461e-01 -3.71856790e-01 -8.87645520e-02 1.99289924e+02] [ 3.70013264e-01 9.28289126e-01 -3.70065236e-02 4.32563036e+01] [ 9.61602955e-02 1.35131550e-03 9.95364944e-01 1.82006914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.517105681 meters 0.023131468566249338 Centerline is valid? [True, True] Translation: X:199.34, Y:43.29, Z:18.21 [[ 9.28348411e-01 -3.61563586e-01 -8.62612364e-02 1.99340553e+02] [ 3.59777713e-01 9.32344474e-01 -3.59691542e-02 4.32881961e+01] [ 9.34303234e-02 2.35703684e-03 9.95623031e-01 1.82089727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577105681 meters 0.02438677522776456 Centerline is valid? [True, True] Translation: X:199.39, Y:43.32, Z:18.21 [[ 9.28598540e-01 -3.60202706e-01 -8.92119003e-02 1.99392067e+02] [ 3.58285408e-01 9.32870476e-01 -3.72053848e-02 4.33163638e+01] [ 9.66246282e-02 2.58554388e-03 9.95317535e-01 1.82088877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637105681 meters 0.023066145663799414 Centerline is valid? [True, True] Translation: X:199.45, Y:43.34, Z:18.21 [[ 9.27891828e-01 -3.61927563e-01 -8.95834480e-02 1.99446847e+02] [ 3.60000802e-01 9.32203055e-01 -3.73749561e-02 4.33371270e+01] [ 9.70369907e-02 2.42980327e-03 9.95277810e-01 1.82126435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69710568099998 meters 0.02230274425770967 Centerline is valid? [True, True] Translation: X:199.50, Y:43.35, Z:18.21 [[ 9.26104298e-01 -3.65993510e-01 -9.15400429e-02 1.99502758e+02] [ 3.63997713e-01 9.30615076e-01 -3.82262379e-02 4.33533627e+01] [ 9.91790990e-02 2.08111692e-03 9.95067422e-01 1.82147347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75710568099998 meters 0.020312762775317288 Centerline is valid? [True, True] Translation: X:199.56, Y:43.37, Z:18.22 [[ 9.24848878e-01 -3.69451223e-01 -9.03346411e-02 1.99559474e+02] [ 3.67522792e-01 9.29248567e-01 -3.77372191e-02 4.33701411e+01] [ 9.78853976e-02 1.70118527e-03 9.95196239e-01 1.82236379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.817105681 meters 0.018952431988212847 Centerline is valid? [True, True] Translation: X:199.62, Y:43.38, Z:18.23 [[ 9.23385005e-01 -3.73349302e-01 -8.92772672e-02 1.99617216e+02] [ 3.71480860e-01 9.27689927e-01 -3.73278759e-02 4.33825163e+01] [ 9.67579579e-02 1.30320494e-03 9.95307088e-01 1.82278026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.877105681 meters 0.01720885304440892 Centerline is valid? [True, True] Translation: X:199.68, Y:43.39, Z:18.23 [[ 9.20179388e-01 -3.80459192e-01 -9.23076224e-02 1.99677997e+02] [ 3.78493300e-01 9.24797508e-01 -3.86314681e-02 4.33893278e+01] [ 1.00063556e-01 6.10064052e-04 9.94980860e-01 1.82307551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.937105681 meters 0.017664615741258532 Centerline is valid? [True, True] Translation: X:199.73, Y:43.41, Z:18.24 [[ 9.20966625e-01 -3.78729544e-01 -9.15664101e-02 1.99733576e+02] [ 3.76783169e-01 9.25507025e-01 -3.83560943e-02 4.34059110e+01] [ 9.92719419e-02 8.24000577e-04 9.95059999e-01 1.82381121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.997105681 meters 0.019802926985063717 Centerline is valid? [True, True] Translation: X:199.79, Y:43.43, Z:18.25 [[ 9.23894531e-01 -3.73008736e-01 -8.53427090e-02 1.99785459e+02] [ 3.71290996e-01 9.27826816e-01 -3.57826320e-02 4.34285718e+01] [ 9.25304883e-02 1.37239857e-03 9.95708906e-01 1.82533524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.057105681 meters 0.026672983592665234 Centerline is valid? [True, True] Translation: X:199.83, Y:43.46, Z:18.26 [[ 9.28807426e-01 -3.60752880e-01 -8.47002035e-02 1.99834675e+02] [ 3.59008864e-01 9.32657851e-01 -3.55242030e-02 4.34633293e+01] [ 9.18117684e-02 2.58701976e-03 9.95773020e-01 1.82588984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.117105681 meters 0.029072924886208783 Centerline is valid? [True, True] Translation: X:199.89, Y:43.49, Z:18.26 [[ 9.32142653e-01 -3.52178054e-01 -8.41468590e-02 1.99889237e+02] [ 3.50421371e-01 9.35926789e-01 -3.52974404e-02 4.34876754e+01] [ 9.11862834e-02 3.41539201e-03 9.95827996e-01 1.82640253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.177105681 meters 0.0267737004251169 Centerline is valid? [True, True] Translation: X:199.95, Y:43.50, Z:18.26 [[ 9.29985568e-01 -3.56667421e-01 -8.89673778e-02 1.99949029e+02] [ 3.54723263e-01 9.34226109e-01 -3.73226941e-02 4.34981642e+01] [ 9.64274363e-02 3.15076835e-03 9.95335030e-01 1.82621887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.237105681 meters 0.023963604714248646 Centerline is valid? [True, True] Translation: X:200.01, Y:43.51, Z:18.27 [[ 9.27842392e-01 -3.62312810e-01 -8.85320526e-02 2.00009223e+02] [ 3.60412326e-01 9.32053040e-01 -3.71494934e-02 4.35086484e+01] [ 9.59763061e-02 2.56083175e-03 9.95380325e-01 1.82672004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.297105681 meters 0.024635355596890573 Centerline is valid? [True, True] Translation: X:200.07, Y:43.52, Z:18.27 [[ 9.28329178e-01 -3.61378750e-01 -8.72372388e-02 2.00066762e+02] [ 3.59528864e-01 9.32415418e-01 -3.66126087e-02 4.35230881e+01] [ 9.45723653e-02 2.62424757e-03 9.95514531e-01 1.82738915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357105681 meters 0.02995415058979336 Centerline is valid? [True, True] Translation: X:200.12, Y:43.55, Z:18.27 [[ 9.31373792e-01 -3.52109220e-01 -9.25308431e-02 2.00122952e+02] [ 3.49978188e-01 9.35951135e-01 -3.88682537e-02 4.35460703e+01] [ 1.00290218e-01 3.81709602e-03 9.94950904e-01 1.82705964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417105681 meters 0.03265141100285954 Centerline is valid? [True, True] Translation: X:200.18, Y:43.56, Z:18.27 [[ 9.33236534e-01 -3.45850891e-01 -9.72457367e-02 2.00180028e+02] [ 3.43462129e-01 9.38277590e-01 -4.08525345e-02 4.35646343e+01] [ 1.05372381e-01 4.72485000e-03 9.94421609e-01 1.82724596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47710568099998 meters 0.035754577644974056 Centerline is valid? [True, True] Translation: X:200.24, Y:43.58, Z:18.28 [[ 9.35561974e-01 -3.39657078e-01 -9.67308808e-02 2.00237796e+02] [ 3.37260261e-01 9.40533858e-01 -4.06396145e-02 4.35803041e+01] [ 1.04782201e-01 5.39739580e-03 9.94480547e-01 1.82802799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53710568099999 meters 0.04133802225225763 Centerline is valid? [True, True] Translation: X:200.29, Y:43.60, Z:18.29 [[ 9.38951786e-01 -3.31628196e-01 -9.16094044e-02 2.00291489e+02] [ 3.29440780e-01 9.43391329e-01 -3.84912072e-02 4.36011674e+01] [ 9.91882874e-02 5.96151410e-03 9.95050825e-01 1.82940596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.597105681 meters 0.049538135195997694 Centerline is valid? [True, True] Translation: X:200.35, Y:43.63, Z:18.30 [[ 9.43190956e-01 -3.19374921e-01 -9.15995703e-02 2.00345829e+02] [ 3.17129802e-01 9.47600652e-01 -3.84927749e-02 4.36259853e+01] [ 9.90934395e-02 7.25708355e-03 9.95051670e-01 1.82992365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.657105681 meters 0.0526651158827421 Centerline is valid? [True, True] Translation: X:200.41, Y:43.64, Z:18.30 [[ 9.43736634e-01 -3.16788014e-01 -9.49026848e-02 2.00406209e+02] [ 3.14364003e-01 9.48464229e-01 -3.98858399e-02 4.36387674e+01] [ 1.02647158e-01 7.80774036e-03 9.94687187e-01 1.82990558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.717105681 meters 0.045045145724989584 Centerline is valid? [True, True] Translation: X:200.47, Y:43.63, Z:18.31 [[ 9.41498972e-01 -3.23750891e-01 -9.36218326e-02 2.00474509e+02] [ 3.21426020e-01 9.46116801e-01 -3.93486133e-02 4.36300561e+01] [ 1.01316337e-01 6.95418590e-03 9.94829955e-01 1.83079959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.777105681 meters 0.048136840824309704 Centerline is valid? [True, True] Translation: X:200.54, Y:43.64, Z:18.31 [[ 9.42483275e-01 -3.20355838e-01 -9.53803623e-02 2.00535552e+02] [ 3.17925006e-01 9.47267903e-01 -4.00900336e-02 4.36405669e+01] [ 1.03193832e-01 7.46038390e-03 9.94633287e-01 1.83104403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.837105681 meters 0.04842135701803995 Centerline is valid? [True, True] Translation: X:200.60, Y:43.64, Z:18.31 [[ 9.42430342e-01 -3.19637391e-01 -9.82699806e-02 2.00598002e+02] [ 3.17052101e-01 9.47508044e-01 -4.13094593e-02 4.36448365e+01] [ 1.06315645e-01 7.77458408e-03 9.94302036e-01 1.83142957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.897105681 meters 0.04829568956618324 Centerline is valid? [True, True] Translation: X:200.66, Y:43.66, Z:18.32 [[ 9.41823709e-01 -3.21402838e-01 -9.83275962e-02 2.00657398e+02] [ 3.18822878e-01 9.46912143e-01 -4.13444848e-02 4.36556885e+01] [ 1.06395830e-01 7.59012879e-03 9.94294885e-01 1.83181095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.957105681 meters 0.0510405204029564 Centerline is valid? [True, True] Translation: X:200.72, Y:43.67, Z:18.32 [[ 9.44605869e-01 -3.12541281e-01 -1.00188321e-01 2.00718425e+02] [ 3.09811759e-01 9.49863755e-01 -4.21369368e-02 4.36657983e+01] [ 1.08334787e-01 8.76327791e-03 9.94075842e-01 1.83223594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.017105681 meters 0.05464185147700304 Centerline is valid? [True, True] Translation: X:200.77, Y:43.69, Z:18.33 [[ 9.46596966e-01 -3.06732814e-01 -9.93436700e-02 2.00774661e+02] [ 3.04016929e-01 9.51749695e-01 -4.17878586e-02 4.36850350e+01] [ 1.07368015e-01 9.35410271e-03 9.94175342e-01 1.83303693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.077105681 meters 0.05991428834344598 Centerline is valid? [True, True] Translation: X:200.83, Y:43.70, Z:18.34 [[ 9.47861936e-01 -3.04309308e-01 -9.46234356e-02 2.00829078e+02] [ 3.01833728e-01 9.52529117e-01 -3.98080570e-02 4.37042954e+01] [ 1.02245540e-01 9.17199763e-03 9.94716906e-01 1.83381811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137105681 meters 0.05601293441854723 Centerline is valid? [True, True] Translation: X:200.89, Y:43.70, Z:18.34 [[ 9.44881033e-01 -3.12422955e-01 -9.79373824e-02 2.00894259e+02] [ 3.09812223e-01 9.49904190e-01 -4.12118463e-02 4.37039805e+01] [ 1.05906657e-01 8.59809370e-03 9.94338902e-01 1.83382949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19710568099998 meters 0.0526334059619084 Centerline is valid? [True, True] Translation: X:200.95, Y:43.71, Z:18.34 [[ 9.44061188e-01 -3.14199382e-01 -1.00136014e-01 2.00954868e+02] [ 3.11478815e-01 9.49318101e-01 -4.21436881e-02 4.37123075e+01] [ 1.08302452e-01 8.59597325e-03 9.94080826e-01 1.83421939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25710568099998 meters 0.05069153237179389 Centerline is valid? [True, True] Translation: X:201.01, Y:43.73, Z:18.35 [[ 9.44445053e-01 -3.12702563e-01 -1.01196095e-01 2.01014223e+02] [ 3.09913561e-01 9.49809615e-01 -4.26061084e-02 4.37251180e+01] [ 1.09440063e-01 8.87708611e-03 9.93953756e-01 1.83472871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.317105681 meters 0.0479294630695356 Centerline is valid? [True, True] Translation: X:201.07, Y:43.73, Z:18.35 [[ 9.43900312e-01 -3.14116552e-01 -1.01896975e-01 2.01073584e+02] [ 3.11295433e-01 9.49343774e-01 -4.29133072e-02 4.37347952e+01] [ 1.10215039e-01 8.78582094e-03 9.93868932e-01 1.83528615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.377105681 meters 0.047341552886576724 Centerline is valid? [True, True] Translation: X:201.13, Y:43.75, Z:18.36 [[ 9.42903845e-01 -3.16671125e-01 -1.03207252e-01 2.01131718e+02] [ 3.13788100e-01 9.48496142e-01 -4.34982511e-02 4.37502877e+01] [ 1.11666320e-01 8.62946089e-03 9.93708290e-01 1.83573553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.437105681 meters 0.04820737234457329 Centerline is valid? [True, True] Translation: X:201.19, Y:43.77, Z:18.36 [[ 9.41283162e-01 -3.21115951e-01 -1.04261952e-01 2.01188331e+02] [ 3.18199739e-01 9.47004454e-01 -4.39487188e-02 4.37667255e+01] [ 1.12849167e-01 8.19206321e-03 9.93578359e-01 1.83624959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.497105681 meters 0.04419777319259134 Centerline is valid? [True, True] Translation: X:201.25, Y:43.78, Z:18.37 [[ 9.40464413e-01 -3.23914435e-01 -1.02986053e-01 2.01247398e+02] [ 3.21084759e-01 9.46054472e-01 -4.34224945e-02 4.37787789e+01] [ 1.11495589e-01 7.77005885e-03 9.93734552e-01 1.83720158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.557105681 meters 0.04400150624812142 Centerline is valid? [True, True] Translation: X:201.30, Y:43.80, Z:18.38 [[ 9.40826931e-01 -3.24101678e-01 -9.90090343e-02 2.01303288e+02] [ 3.21485400e-01 9.45992764e-01 -4.17711374e-02 4.37955965e+01] [ 1.07199926e-01 7.46945200e-03 9.94209426e-01 1.83828802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.617105681 meters 0.04754577903083982 Centerline is valid? [True, True] Translation: X:201.36, Y:43.82, Z:18.39 [[ 9.43071598e-01 -3.18035698e-01 -9.73101045e-02 2.01359105e+02] [ 3.15475695e-01 9.48044758e-01 -4.10636517e-02 4.38168324e+01] [ 1.05314042e-01 8.02699080e-03 9.94406617e-01 1.83912495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.677105681 meters 0.050249831351683864 Centerline is valid? [True, True] Translation: X:201.42, Y:43.84, Z:18.39 [[ 9.44514185e-01 -3.12634904e-01 -1.00758973e-01 2.01415014e+02] [ 3.09858504e-01 9.49831266e-01 -4.25237994e-02 4.38377705e+01] [ 1.08998447e-01 8.94330710e-03 9.94001688e-01 1.83926705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.737105681 meters 0.05022282640338745 Centerline is valid? [True, True] Translation: X:201.47, Y:43.85, Z:18.40 [[ 9.44613878e-01 -3.13044743e-01 -9.85272056e-02 2.01471787e+02] [ 3.10391423e-01 9.49698461e-01 -4.15932363e-02 4.38526745e+01] [ 1.06591680e-01 8.70754872e-03 9.94264750e-01 1.84000853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.797105681 meters 0.04997619893506651 Centerline is valid? [True, True] Translation: X:201.53, Y:43.87, Z:18.41 [[ 9.43981082e-01 -3.14807943e-01 -9.89731083e-02 2.01529693e+02] [ 3.12136528e-01 9.49116624e-01 -4.18141314e-02 4.38665785e+01] [ 1.07100443e-01 8.57862662e-03 9.94211196e-01 1.84053537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857105681 meters 0.04728602251614368 Centerline is valid? [True, True] Translation: X:201.59, Y:43.88, Z:18.41 [[ 9.42627645e-01 -3.18584171e-01 -9.97860181e-02 2.01586949e+02] [ 3.15888310e-01 9.47858868e-01 -4.21680172e-02 4.38811530e+01] [ 1.08017125e-01 8.22750216e-03 9.94114988e-01 1.84076241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917105681 meters 0.044309138351363665 Centerline is valid? [True, True] Translation: X:201.64, Y:43.90, Z:18.41 [[ 9.41091493e-01 -3.23231034e-01 -9.93403292e-02 2.01644413e+02] [ 3.20583964e-01 9.46289016e-01 -4.19883376e-02 4.38967048e+01] [ 1.07576596e-01 7.66795068e-03 9.94167229e-01 1.84137445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97710568099998 meters 0.04465949386667638 Centerline is valid? [True, True] Translation: X:201.70, Y:43.92, Z:18.42 [[ 9.38148699e-01 -3.30988824e-01 -1.01604218e-01 2.01699311e+02] [ 3.28263602e-01 9.43609142e-01 -4.29510647e-02 4.39166397e+01] [ 1.10090991e-01 6.94151897e-03 9.93897273e-01 1.84166691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03710568099999 meters 0.04041841574522845 Centerline is valid? [True, True] Translation: X:201.75, Y:43.94, Z:18.42 [[ 9.38260656e-01 -3.30571503e-01 -1.01928513e-01 2.01753378e+02] [ 3.27824721e-01 9.43754790e-01 -4.31027708e-02 4.39397629e+01] [ 1.10444070e-01 7.02694763e-03 9.93857500e-01 1.84225948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.097105681 meters 0.043804481740289225 Centerline is valid? [True, True] Translation: X:201.80, Y:43.97, Z:18.43 [[ 9.40049397e-01 -3.25058921e-01 -1.03168931e-01 2.01804496e+02] [ 3.22207842e-01 9.45661585e-01 -4.36608871e-02 4.39712282e+01] [ 1.11755256e-01 7.80155196e-03 9.93705137e-01 1.84265537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.157105681 meters 0.04671574267290897 Centerline is valid? [True, True] Translation: X:201.86, Y:44.00, Z:18.43 [[ 9.40877245e-01 -3.21939744e-01 -1.05379370e-01 2.01857108e+02] [ 3.18944177e-01 9.46723264e-01 -4.46057560e-02 4.40005659e+01] [ 1.14125467e-01 8.35840435e-03 9.93431183e-01 1.84303174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.217105681 meters 0.04584905682319483 Centerline is valid? [True, True] Translation: X:201.91, Y:44.03, Z:18.44 [[ 9.40733108e-01 -3.23476945e-01 -1.01901350e-01 2.01910399e+02] [ 3.20684687e-01 9.46203021e-01 -4.31413366e-02 4.40250411e+01] [ 1.10374593e-01 7.90628104e-03 9.93858612e-01 1.84397590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.277105681 meters 0.04692072015365886 Centerline is valid? [True, True] Translation: X:201.96, Y:44.05, Z:18.45 [[ 9.40420216e-01 -3.24456941e-01 -1.01673552e-01 2.01962996e+02] [ 3.21681933e-01 9.45868457e-01 -4.30534146e-02 4.40493549e+01] [ 1.10138785e-01 7.78175677e-03 9.93885754e-01 1.84451645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.337105681 meters 0.04331816784962038 Centerline is valid? [True, True] Translation: X:202.02, Y:44.07, Z:18.46 [[ 9.40334832e-01 -3.25787127e-01 -9.81486208e-02 2.02020165e+02] [ 3.23207863e-01 9.45414429e-01 -4.15720463e-02 4.40652520e+01] [ 1.06334760e-01 7.36923718e-03 9.94303079e-01 1.84577146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.397105681 meters 0.04009844512091979 Centerline is valid? [True, True] Translation: X:202.08, Y:44.08, Z:18.47 [[ 9.39813346e-01 -3.27984489e-01 -9.57969174e-02 2.02076681e+02] [ 3.25538202e-01 9.44657497e-01 -4.05843849e-02 4.40841052e+01] [ 1.03806325e-01 6.95619030e-03 9.94573204e-01 1.84650918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.457105681 meters 0.040087757124953716 Centerline is valid? [True, True] Translation: X:202.13, Y:44.11, Z:18.46 [[ 9.38087637e-01 -3.31292549e-01 -1.01177227e-01 2.02131544e+02] [ 3.28578171e-01 9.43502150e-01 -4.28961430e-02 4.41072462e+01] [ 1.09672104e-01 6.99571335e-03 9.93943202e-01 1.84647290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.517105681 meters 0.03864946252573212 Centerline is valid? [True, True] Translation: X:202.19, Y:44.13, Z:18.47 [[ 9.36201842e-01 -3.35746762e-01 -1.03924117e-01 2.02186521e+02] [ 3.32906042e-01 9.41928587e-01 -4.40920030e-02 4.41294266e+01] [ 1.12692844e-01 6.68204793e-03 9.93607404e-01 1.84682731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.577105681 meters 0.03926691766373409 Centerline is valid? [True, True] Translation: X:202.24, Y:44.16, Z:18.47 [[ 9.36216618e-01 -3.35991588e-01 -1.02995616e-01 2.02239209e+02] [ 3.33201498e-01 9.41841822e-01 -4.37120571e-02 4.41555110e+01] [ 1.11692462e-01 6.60566087e-03 9.93720866e-01 1.84738040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637105681 meters 0.04045827585953146 Centerline is valid? [True, True] Translation: X:202.29, Y:44.18, Z:18.48 [[ 9.36471439e-01 -3.35554237e-01 -1.02100918e-01 2.02292565e+02] [ 3.32805743e-01 9.41997517e-01 -4.33706734e-02 4.41791916e+01] [ 1.10732024e-01 6.63562517e-03 9.93828148e-01 1.84808625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69710568099998 meters 0.038369763337271684 Centerline is valid? [True, True] Translation: X:202.35, Y:44.20, Z:18.49 [[ 9.36289899e-01 -3.36502179e-01 -1.00635523e-01 2.02348389e+02] [ 3.33833642e-01 9.41660501e-01 -4.27855243e-02 4.41967429e+01] [ 1.09161920e-01 6.46413093e-03 9.94002963e-01 1.84886360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75710568099998 meters 0.03412675846132529 Centerline is valid? [True, True] Translation: X:202.41, Y:44.21, Z:18.50 [[ 9.33875566e-01 -3.44628427e-01 -9.54341388e-02 2.02406419e+02] [ 3.42268341e-01 9.38724466e-01 -4.06049155e-02 4.42095198e+01] [ 1.03579969e-01 5.25585408e-03 9.94607242e-01 1.85008843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.817105681 meters 0.02767372913399774 Centerline is valid? [True, True] Translation: X:202.47, Y:44.22, Z:18.51 [[ 9.28409587e-01 -3.59569336e-01 -9.36244129e-02 2.02466150e+02] [ 3.57372398e-01 9.33111682e-01 -3.98441784e-02 4.42199880e+01] [ 1.01688778e-01 3.53293627e-03 9.94809987e-01 1.85098074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.877105681 meters 0.0222217996586153 Centerline is valid? [True, True] Translation: X:202.52, Y:44.24, Z:18.51 [[ 9.22000814e-01 -3.74558458e-01 -9.80839467e-02 2.02524547e+02] [ 3.72226918e-01 9.27201128e-01 -4.17754766e-02 4.42368653e+01] [ 1.06590904e-01 2.00753828e-03 9.94300935e-01 1.85060283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.937105681 meters 0.020577737270455216 Centerline is valid? [True, True] Translation: X:202.58, Y:44.26, Z:18.51 [[ 9.18556756e-01 -3.82766280e-01 -9.87089728e-02 2.02578760e+02] [ 3.80448748e-01 9.23844567e-01 -4.20709575e-02 4.42591089e+01] [ 1.07295092e-01 1.09085710e-03 9.94226621e-01 1.85100609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.997105681 meters 0.020972421702421702 Centerline is valid? [True, True] Translation: X:202.63, Y:44.29, Z:18.51 [[ 9.17642841e-01 -3.84815216e-01 -9.92414503e-02 2.02626732e+02] [ 3.82482926e-01 9.22993225e-01 -4.23121356e-02 4.42932631e+01] [ 1.07881540e-01 8.69267988e-04 9.94163376e-01 1.85118516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.057105681 meters 0.022872074996148597 Centerline is valid? [True, True] Translation: X:202.67, Y:44.34, Z:18.51 [[ 9.19825866e-01 -3.79223707e-01 -1.00547290e-01 2.02671612e+02] [ 3.76792577e-01 9.25303679e-01 -4.29005386e-02 4.43378599e+01] [ 1.09305678e-01 1.57555260e-03 9.94006935e-01 1.85149661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.117105681 meters 0.02474581165059004 Centerline is valid? [True, True] Translation: X:202.72, Y:44.37, Z:18.52 [[ 9.21175436e-01 -3.75500192e-01 -1.02153910e-01 2.02721944e+02] [ 3.72963467e-01 9.26819971e-01 -4.36233255e-02 4.43711199e+01] [ 1.11058851e-01 2.08505934e-03 9.93811644e-01 1.85208016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.177105681 meters 0.027001299592188298 Centerline is valid? [True, True] Translation: X:202.77, Y:44.42, Z:18.53 [[ 9.24280806e-01 -3.68592397e-01 -9.92201447e-02 2.02766342e+02] [ 3.66156483e-01 9.29586712e-01 -4.24025311e-02 4.44150904e+01] [ 1.07862979e-01 2.86174637e-03 9.94161651e-01 1.85315720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.237105681 meters 0.03034824632892743 Centerline is valid? [True, True] Translation: X:202.81, Y:44.45, Z:18.54 [[ 9.26813206e-01 -3.62755659e-01 -9.70855940e-02 2.02813478e+02] [ 3.60388366e-01 9.31877737e-01 -4.15223894e-02 4.44525150e+01] [ 1.05534385e-01 3.49498025e-03 9.94409513e-01 1.85394255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.297105681 meters 0.03226242210157434 Centerline is valid? [True, True] Translation: X:202.86, Y:44.48, Z:18.55 [[ 9.28792396e-01 -3.57974897e-01 -9.59096328e-02 2.02863570e+02] [ 3.55638273e-01 9.33722647e-01 -4.10297074e-02 4.44841038e+01] [ 1.04240601e-01 3.99894406e-03 9.94544069e-01 1.85490844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357105681 meters 0.033762867878916 Centerline is valid? [True, True] Translation: X:202.91, Y:44.52, Z:18.55 [[ 9.30611141e-01 -3.52417645e-01 -9.88165369e-02 2.02913767e+02] [ 3.49904680e-01 9.35830671e-01 -4.22808552e-02 4.45185497e+01] [ 1.07376065e-01 4.77066616e-03 9.94207031e-01 1.85503917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417105681 meters 0.033836530898163464 Centerline is valid? [True, True] Translation: X:202.97, Y:44.54, Z:18.56 [[ 9.30785147e-01 -3.51949105e-01 -9.88475482e-02 2.02967190e+02] [ 3.49430740e-01 9.36006643e-01 -4.23051185e-02 4.45421547e+01] [ 1.07411210e-01 4.83660403e-03 9.94202916e-01 1.85563166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47710568099998 meters 0.032653821402123 Centerline is valid? [True, True] Translation: X:203.02, Y:44.56, Z:18.56 [[ 9.29636112e-01 -3.54385662e-01 -1.00933154e-01 2.03023972e+02] [ 3.51769399e-01 9.35087593e-01 -4.32375201e-02 4.45586348e+01] [ 1.09704097e-01 4.68996517e-03 9.93953226e-01 1.85622634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53710568099999 meters 0.02944801639035383 Centerline is valid? [True, True] Translation: X:203.08, Y:44.57, Z:18.56 [[ 9.26379549e-01 -3.62095359e-01 -1.03478902e-01 2.03082755e+02] [ 3.59388194e-01 9.32132848e-01 -4.43675475e-02 4.45745042e+01] [ 1.12521367e-01 3.91209285e-03 9.93641604e-01 1.85629509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.597105681 meters 0.02655399604576162 Centerline is valid? [True, True] Translation: X:203.14, Y:44.59, Z:18.57 [[ 9.23602833e-01 -3.70037988e-01 -1.00148361e-01 2.03140270e+02] [ 3.67546342e-01 9.29012178e-01 -4.29657985e-02 4.45882454e+01] [ 1.08938025e-01 2.87416931e-03 9.94044388e-01 1.85705377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.657105681 meters 0.02260880351747307 Centerline is valid? [True, True] Translation: X:203.20, Y:44.60, Z:18.58 [[ 9.19159333e-01 -3.80741818e-01 -1.00904848e-01 2.03200574e+02] [ 3.78274804e-01 9.24679946e-01 -4.33032395e-02 4.45985336e+01] [ 1.09792044e-01 1.63281499e-03 9.93953239e-01 1.85762156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.717105681 meters 0.020996145202158503 Centerline is valid? [True, True] Translation: X:203.26, Y:44.62, Z:18.58 [[ 9.15626788e-01 -3.88951537e-01 -1.01706866e-01 2.03256598e+02] [ 3.86491410e-01 9.21257960e-01 -4.36825151e-02 4.46170922e+01] [ 1.10688641e-01 6.88050911e-04 9.93854894e-01 1.85810397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.777105681 meters 0.02076452084244707 Centerline is valid? [True, True] Translation: X:203.31, Y:44.64, Z:18.59 [[ 9.15562076e-01 -3.89953100e-01 -9.84005369e-02 2.03308731e+02] [ 3.87653103e-01 9.20834538e-01 -4.22945148e-02 4.46401344e+01] [ 1.07103490e-01 5.77980373e-04 9.94247710e-01 1.85932807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.837105681 meters 0.021380964051459676 Centerline is valid? [True, True] Translation: X:203.36, Y:44.67, Z:18.60 [[ 9.16727035e-01 -3.86953443e-01 -9.93910273e-02 2.03358604e+02] [ 3.84587281e-01 9.22098760e-01 -4.27375808e-02 4.46719142e+01] [ 1.08185797e-01 9.54170787e-04 9.94130234e-01 1.85971778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.897105681 meters 0.025845082466886465 Centerline is valid? [True, True] Translation: X:203.41, Y:44.71, Z:18.60 [[ 9.21862675e-01 -3.74661610e-01 -9.89842741e-02 2.03405124e+02] [ 3.72240465e-01 9.27158468e-01 -4.25935650e-02 4.47117474e+01] [ 1.07732281e-01 2.41946552e-03 9.94176997e-01 1.86021808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.957105681 meters 0.028956079133883615 Centerline is valid? [True, True] Translation: X:203.46, Y:44.74, Z:18.62 [[ 9.26812108e-01 -3.63950638e-01 -9.25162131e-02 2.03455570e+02] [ 3.61782279e-01 9.31411912e-01 -3.98174878e-02 4.47429685e+01] [ 1.00662303e-01 3.43260334e-03 9.94914729e-01 1.86187572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.017105681 meters 0.032386067924661324 Centerline is valid? [True, True] Translation: X:203.51, Y:44.77, Z:18.62 [[ 9.29190718e-01 -3.58484376e-01 -8.99642217e-02 2.03505628e+02] [ 3.56407397e-01 9.33527470e-01 -3.87328127e-02 4.47738914e+01] [ 9.78691804e-02 3.92625603e-03 9.95191543e-01 1.86237533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.077105681 meters 0.0406202813667818 Centerline is valid? [True, True] Translation: X:203.55, Y:44.81, Z:18.63 [[ 9.31104681e-01 -3.53604908e-01 -8.94854331e-02 2.03554930e+02] [ 3.51526666e-01 9.35384410e-01 -3.85358119e-02 4.48079044e+01] [ 9.73297312e-02 4.42435888e-03 9.95242357e-01 1.86280272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137105681 meters 0.03511529449802023 Centerline is valid? [True, True] Translation: X:203.61, Y:44.82, Z:18.64 [[ 9.32584007e-01 -3.49947922e-01 -8.84506746e-02 2.03612057e+02] [ 3.47900679e-01 9.36757086e-01 -3.80956595e-02 4.48248063e+01] [ 9.61882930e-02 4.75535305e-03 9.95351797e-01 1.86354855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19710568099998 meters 0.037279493860424055 Centerline is valid? [True, True] Translation: X:203.67, Y:44.85, Z:18.63 [[ 9.33643070e-01 -3.46335368e-01 -9.14463223e-02 2.03665936e+02] [ 3.44128922e-01 9.38095752e-01 -3.93909206e-02 4.48521635e+01] [ 9.94278755e-02 5.30773576e-03 9.95030615e-01 1.86348282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25710568099998 meters 0.03883106057012857 Centerline is valid? [True, True] Translation: X:203.72, Y:44.87, Z:18.64 [[ 9.34409244e-01 -3.43807240e-01 -9.31447636e-02 2.03720621e+02] [ 3.41504838e-01 9.39023031e-01 -4.01272026e-02 4.48748215e+01] [ 1.01261101e-01 5.68584164e-03 9.94843636e-01 1.86362749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.317105681 meters 0.037420347542208264 Centerline is valid? [True, True] Translation: X:203.78, Y:44.89, Z:18.64 [[ 9.33213464e-01 -3.46765083e-01 -9.41626701e-02 2.03777754e+02] [ 3.44425428e-01 9.37936251e-01 -4.05797203e-02 4.48924826e+01] [ 1.02390212e-01 5.43752337e-03 9.94729450e-01 1.86385554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.377105681 meters 0.028851402478784087 Centerline is valid? [True, True] Translation: X:203.84, Y:44.89, Z:18.64 [[ 9.27316815e-01 -3.62156169e-01 -9.44798100e-02 2.03841862e+02] [ 3.59876597e-01 9.32109755e-01 -4.07460391e-02 4.48936270e+01] [ 1.02821982e-01 3.78341471e-03 9.94692579e-01 1.86440768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.437105681 meters 0.02489798519456141 Centerline is valid? [True, True] Translation: X:203.90, Y:44.91, Z:18.65 [[ 9.23299362e-01 -3.73503799e-01 -8.95164821e-02 2.03899868e+02] [ 3.71510511e-01 9.27625564e-01 -3.86102673e-02 4.49061185e+01] [ 9.74588588e-02 2.39252121e-03 9.95236679e-01 1.86547973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.497105681 meters 0.021566481252179352 Centerline is valid? [True, True] Translation: X:203.96, Y:44.92, Z:18.66 [[ 9.20334711e-01 -3.80950609e-01 -8.86603311e-02 2.03956427e+02] [ 3.79028835e-01 9.24594008e-01 -3.82499896e-02 4.49245399e+01] [ 9.65461678e-02 1.59797102e-03 9.95327225e-01 1.86621173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.557105681 meters 0.02258239318084936 Centerline is valid? [True, True] Translation: X:204.01, Y:44.95, Z:18.68 [[ 9.22551870e-01 -3.76935608e-01 -8.25687297e-02 2.04006305e+02] [ 3.75251102e-01 9.26237513e-01 -3.56465979e-02 4.49548905e+01] [ 8.99147269e-02 1.90182866e-03 9.95947652e-01 1.86767608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.617105681 meters 0.02581548782616939 Centerline is valid? [True, True] Translation: X:204.06, Y:44.99, Z:18.68 [[ 9.25738596e-01 -3.69083103e-01 -8.23754512e-02 2.04055025e+02] [ 3.67372482e-01 9.29392506e-01 -3.55953651e-02 4.49914022e+01] [ 8.96967748e-02 2.68952939e-03 9.95965489e-01 1.86796907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.677105681 meters 0.028212554478109414 Centerline is valid? [True, True] Translation: X:204.10, Y:45.02, Z:18.68 [[ 9.26720514e-01 -3.65901773e-01 -8.54691872e-02 2.04104619e+02] [ 3.64045801e-01 9.30648255e-01 -3.69388683e-02 4.50244408e+01] [ 9.30577474e-02 3.11730828e-03 9.95655833e-01 1.86781260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.737105681 meters 0.02985625368960605 Centerline is valid? [True, True] Translation: X:204.16, Y:45.05, Z:18.68 [[ 9.27495759e-01 -3.62691732e-01 -9.05887730e-02 2.04157395e+02] [ 3.60589813e-01 9.31901998e-01 -3.91618858e-02 4.50542050e+01] [ 9.86235507e-02 3.65709427e-03 9.95118094e-01 1.86765154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.797105681 meters 0.03128100974369389 Centerline is valid? [True, True] Translation: X:204.21, Y:45.08, Z:18.68 [[ 9.29302622e-01 -3.58368954e-01 -8.92655002e-02 2.04209418e+02] [ 3.56307391e-01 9.33571196e-01 -3.85987814e-02 4.50833991e+01] [ 9.71683046e-02 4.06399125e-03 9.95259667e-01 1.86812778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857105681 meters 0.0349206382743861 Centerline is valid? [True, True] Translation: X:204.26, Y:45.11, Z:18.69 [[ 9.30695016e-01 -3.54879634e-01 -8.86974216e-02 2.04259309e+02] [ 3.52828003e-01 9.34901621e-01 -3.83582899e-02 4.51137906e+01] [ 9.65359392e-02 4.40493507e-03 9.95319752e-01 1.86865546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917105681 meters 0.0331186317386951 Centerline is valid? [True, True] Translation: X:204.31, Y:45.14, Z:18.69 [[ 9.29769004e-01 -3.56595463e-01 -9.14837402e-02 2.04314341e+02] [ 3.54419524e-01 9.34248658e-01 -3.95758251e-02 4.51356953e+01] [ 9.95811212e-02 4.37275178e-03 9.95019839e-01 1.86864735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97710568099998 meters 0.02732348941479719 Centerline is valid? [True, True] Translation: X:204.37, Y:45.15, Z:18.70 [[ 9.26204303e-01 -3.66818802e-01 -8.71180531e-02 2.04372444e+02] [ 3.64888153e-01 9.30287093e-01 -3.77168585e-02 4.51509261e+01] [ 9.48800532e-02 3.14517120e-03 9.95483743e-01 1.86965411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03710568099999 meters 0.022523833232503322 Centerline is valid? [True, True] Translation: X:204.43, Y:45.17, Z:18.70 [[ 9.22040076e-01 -3.77371963e-01 -8.62119491e-02 2.04429891e+02] [ 3.75525986e-01 9.26059498e-01 -3.73368430e-02 4.51668743e+01] [ 9.39272721e-02 2.05123834e-03 9.95576948e-01 1.87030820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.097105681 meters 0.021847331497253444 Centerline is valid? [True, True] Translation: X:204.48, Y:45.19, Z:18.71 [[ 9.20256639e-01 -3.81306196e-01 -8.79392013e-02 2.04482529e+02] [ 3.79400602e-01 9.24447222e-01 -3.81119022e-02 4.51921130e+01] [ 9.58274547e-02 1.70854513e-03 9.95396494e-01 1.87060796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.157105681 meters 0.021109526710362272 Centerline is valid? [True, True] Translation: X:204.53, Y:45.22, Z:18.71 [[ 9.19164885e-01 -3.83097303e-01 -9.15006625e-02 2.04533609e+02] [ 3.81038938e-01 9.23706575e-01 -3.96924584e-02 4.52196254e+01] [ 9.97258373e-02 1.61859869e-03 9.95013637e-01 1.87069965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.217105681 meters 0.021656659230784844 Centerline is valid? [True, True] Translation: X:204.58, Y:45.25, Z:18.72 [[ 9.19847150e-01 -3.82074083e-01 -8.88854097e-02 2.04583953e+02] [ 3.80123484e-01 9.24130106e-01 -3.85964198e-02 4.52482716e+01] [ 9.68883748e-02 1.71537508e-03 9.95293776e-01 1.87177384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.277105681 meters 0.024790504101722392 Centerline is valid? [True, True] Translation: X:204.63, Y:45.28, Z:18.72 [[ 9.22809185e-01 -3.75513926e-01 -8.60958750e-02 2.04632365e+02] [ 3.73652137e-01 9.26813739e-01 -3.74215551e-02 4.52821369e+01] [ 9.38471549e-02 2.36304708e-03 9.95583812e-01 1.87248673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.337105681 meters 0.02822394313079709 Centerline is valid? [True, True] Translation: X:204.68, Y:45.31, Z:18.73 [[ 9.25252046e-01 -3.69044079e-01 -8.78357569e-02 2.04684738e+02] [ 3.67075974e-01 9.29406754e-01 -3.81878999e-02 4.53118278e+01] [ 9.57281640e-02 3.09103652e-03 9.95402715e-01 1.87285484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.397105681 meters 0.03089823067382523 Centerline is valid? [True, True] Translation: X:204.74, Y:45.34, Z:18.74 [[ 9.27414524e-01 -3.64470756e-01 -8.40438452e-02 2.04735397e+02] [ 3.62649436e-01 9.31208554e-01 -3.65515379e-02 4.53444014e+01] [ 9.15843143e-02 3.41997411e-03 9.95791453e-01 1.87350470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.457105681 meters 0.03230841258978714 Centerline is valid? [True, True] Translation: X:204.79, Y:45.37, Z:18.74 [[ 9.28081484e-01 -3.63242132e-01 -8.19750702e-02 2.04788169e+02] [ 3.61504416e-01 9.31688360e-01 -3.56560956e-02 4.53698093e+01] [ 8.93270148e-02 3.45741226e-03 9.95996351e-01 1.87448961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.517105681 meters 0.03346453007181377 Centerline is valid? [True, True] Translation: X:204.84, Y:45.40, Z:18.74 [[ 9.28762650e-01 -3.60894943e-01 -8.45859318e-02 2.04842372e+02] [ 3.59031943e-01 9.32598611e-01 -3.68224821e-02 4.53958742e+01] [ 9.21737701e-02 3.83029468e-03 9.95735570e-01 1.87447525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.577105681 meters 0.0402559170387577 Centerline is valid? [True, True] Translation: X:204.89, Y:45.43, Z:18.74 [[ 9.31844103e-01 -3.52006379e-01 -8.80799431e-02 2.04892818e+02] [ 3.49945648e-01 9.35984710e-01 -3.83492552e-02 4.54275361e+01] [ 9.59406625e-02 4.91233457e-03 9.95374934e-01 1.87435381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637105681 meters 0.044924703844502756 Centerline is valid? [True, True] Translation: X:204.95, Y:45.45, Z:18.74 [[ 9.34215769e-01 -3.44935825e-01 -9.08854973e-02 2.04947245e+02] [ 3.42707215e-01 9.38608180e-01 -3.95783892e-02 4.54530900e+01] [ 9.89578755e-02 5.82763964e-03 9.95074559e-01 1.87432691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69710568099998 meters 0.04735404764167606 Centerline is valid? [True, True] Translation: X:205.00, Y:45.48, Z:18.74 [[ 9.34162971e-01 -3.44370953e-01 -9.35317621e-02 2.04999946e+02] [ 3.42006900e-01 9.38814069e-01 -4.07360388e-02 4.54765609e+01] [ 1.01837243e-01 6.06559102e-03 9.94782582e-01 1.87433777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75710568099998 meters 0.036405190227498226 Centerline is valid? [True, True] Translation: X:205.06, Y:45.47, Z:18.76 [[ 9.28802241e-01 -3.59183859e-01 -9.11775854e-02 2.05064529e+02] [ 3.57006979e-01 9.33256709e-01 -3.97231817e-02 4.54747686e+01] [ 9.93600191e-02 4.34394589e-03 9.95042068e-01 1.87560555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.817105681 meters 0.025142358957249665 Centerline is valid? [True, True] Translation: X:205.13, Y:45.48, Z:18.77 [[ 9.21251075e-01 -3.78857543e-01 -8.81102608e-02 2.05126846e+02] [ 3.76913350e-01 9.25452483e-01 -3.83930873e-02 4.54772049e+01] [ 9.60873703e-02 2.15973943e-03 9.95370561e-01 1.87659858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.877105681 meters 0.019832049457181998 Centerline is valid? [True, True] Translation: X:205.19, Y:45.49, Z:18.77 [[ 9.15777454e-01 -3.91833241e-01 -8.84215230e-02 2.05186078e+02] [ 3.89934505e-01 9.20035897e-01 -3.85360747e-02 4.54894055e+01] [ 9.64506903e-02 8.11865571e-04 9.95337433e-01 1.87728715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.937105681 meters 0.01875816940340186 Centerline is valid? [True, True] Translation: X:205.24, Y:45.51, Z:18.78 [[ 9.12983005e-01 -3.98630866e-01 -8.69221833e-02 2.05238911e+02] [ 3.96825908e-01 9.17111456e-01 -3.78916442e-02 4.55117754e+01] [ 9.48221091e-02 1.01452910e-04 9.95494228e-01 1.87805935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.997105681 meters 0.01894009571223473 Centerline is valid? [True, True] Translation: X:205.29, Y:45.54, Z:18.78 [[ 9.11489835e-01 -4.01398404e-01 -8.98087008e-02 2.05290816e+02] [ 3.99482903e-01 9.15903538e-01 -3.91678413e-02 4.55407839e+01] [ 9.79780158e-02 -1.75951327e-04 9.95188564e-01 1.87849647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.057105681 meters 0.019381463561768984 Centerline is valid? [True, True] Translation: X:205.34, Y:45.57, Z:18.79 [[ 9.09520517e-01 -4.06179556e-01 -8.82643579e-02 2.05340615e+02] [ 4.04348623e-01 9.13793056e-01 -3.85284515e-02 4.55690625e+01] [ 9.63048267e-02 -6.47154500e-04 9.95351677e-01 1.87904472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.117105681 meters 0.02038014424103811 Centerline is valid? [True, True] Translation: X:205.39, Y:45.59, Z:18.80 [[ 9.07140203e-01 -4.12019598e-01 -8.56533894e-02 2.05393432e+02] [ 4.10319080e-01 9.11174187e-01 -3.74146198e-02 4.55923647e+01] [ 9.34607141e-02 -1.20491408e-03 9.95622239e-01 1.88028031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.177105681 meters 0.020828047287069693 Centerline is valid? [True, True] Translation: X:205.44, Y:45.63, Z:18.81 [[ 9.06722067e-01 -4.13013357e-01 -8.52939631e-02 2.05441894e+02] [ 4.11328456e-01 9.10724079e-01 -3.72901163e-02 4.56266075e+01] [ 9.30805821e-02 -1.27206281e-03 9.95657766e-01 1.88067458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.237105681 meters 0.018559461223464593 Centerline is valid? [True, True] Translation: X:205.48, Y:45.68, Z:18.81 [[ 9.13870756e-01 -3.96672743e-01 -8.65504274e-02 2.05481256e+02] [ 3.94862771e-01 9.17960000e-01 -3.78527518e-02 4.56823309e+01] [ 9.44649852e-02 4.16981310e-04 9.95528097e-01 1.88126662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.297105681 meters 0.023901777160057983 Centerline is valid? [True, True] Translation: X:205.52, Y:45.74, Z:18.82 [[ 9.21473963e-01 -3.78373588e-01 -8.78587704e-02 2.05521453e+02] [ 3.76421616e-01 9.25649952e-01 -3.84568958e-02 4.57380071e+01] [ 9.58775403e-02 2.36508781e-03 9.95390327e-01 1.88180293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357105681 meters 0.028511706802017728 Centerline is valid? [True, True] Translation: X:205.57, Y:45.78, Z:18.82 [[ 9.26484566e-01 -3.65511297e-01 -8.95982221e-02 2.05565969e+02] [ 3.63420262e-01 9.30799235e-01 -3.92236765e-02 4.57839966e+01] [ 9.77346535e-02 3.77832153e-03 9.95205337e-01 1.88216105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417105681 meters 0.03373040311716688 Centerline is valid? [True, True] Translation: X:205.61, Y:45.83, Z:18.83 [[ 9.29655808e-01 -3.57578775e-01 -8.87552685e-02 2.05611403e+02] [ 3.55490174e-01 9.33871765e-01 -3.88621084e-02 4.58258517e+01] [ 9.67823044e-02 4.57675892e-03 9.95295051e-01 1.88267491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47710568099998 meters 0.036557582860123776 Centerline is valid? [True, True] Translation: X:205.67, Y:45.85, Z:18.83 [[ 9.30629749e-01 -3.53264363e-01 -9.55644253e-02 2.05665549e+02] [ 3.50818478e-01 9.35507826e-01 -4.18509716e-02 4.58515609e+01] [ 1.04185725e-01 5.42199296e-03 9.94543079e-01 1.88263322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53710568099999 meters 0.03169812146403612 Centerline is valid? [True, True] Translation: X:205.72, Y:45.86, Z:18.83 [[ 9.27923118e-01 -3.61006061e-01 -9.29156147e-02 2.05724982e+02] [ 3.58732181e-01 9.32552939e-01 -4.06969147e-02 4.58636238e+01] [ 1.01340562e-01 4.43178683e-03 9.94841922e-01 1.88343303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.597105681 meters 0.027846325355086413 Centerline is valid? [True, True] Translation: X:205.78, Y:45.87, Z:18.84 [[ 9.24459248e-01 -3.70098241e-01 -9.16645571e-02 2.05784086e+02] [ 3.67929223e-01 9.28986421e-01 -4.01536614e-02 4.58744455e+01] [ 1.00015928e-01 3.39435441e-03 9.94980046e-01 1.88408386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.657105681 meters 0.025414533938992574 Centerline is valid? [True, True] Translation: X:205.84, Y:45.89, Z:18.85 [[ 9.22395606e-01 -3.75265727e-01 -9.14438679e-02 2.05841647e+02] [ 3.73131574e-01 9.26912938e-01 -4.00653799e-02 4.58921942e+01] [ 9.97956682e-02 2.83553603e-03 9.95003912e-01 1.88476990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.717105681 meters 0.023210831144861856 Centerline is valid? [True, True] Translation: X:205.90, Y:45.91, Z:18.86 [[ 9.20058259e-01 -3.81065664e-01 -9.10041764e-02 2.05896758e+02] [ 3.78978008e-01 9.24545317e-01 -3.98951950e-02 4.59142692e+01] [ 9.93401741e-02 2.21732218e-03 9.95051061e-01 1.88550054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.777105681 meters 0.018600156540037455 Centerline is valid? [True, True] Translation: X:205.95, Y:45.93, Z:18.86 [[ 9.14071108e-01 -3.95328356e-01 -9.04958571e-02 2.05954636e+02] [ 3.93330722e-01 9.18539608e-01 -3.96979935e-02 4.59263819e+01] [ 9.88177717e-02 6.91988065e-04 9.95105306e-01 1.88624227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.837105681 meters 0.0180188285262505 Centerline is valid? [True, True] Translation: X:206.01, Y:45.95, Z:18.87 [[ 9.11726960e-01 -4.00897796e-01 -8.96376426e-02 2.06007925e+02] [ 3.98963690e-01 9.16122780e-01 -3.93322620e-02 4.59500101e+01] [ 9.78873035e-02 9.81190325e-05 9.95197501e-01 1.88685775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.897105681 meters 0.018061217156283282 Centerline is valid? [True, True] Translation: X:206.06, Y:45.97, Z:18.87 [[ 9.10599844e-01 -4.02758416e-01 -9.27015711e-02 2.06061163e+02] [ 4.00695432e-01 9.15306316e-01 -4.07126274e-02 4.59740937e+01] [ 1.01247687e-01 -7.21839044e-05 9.94861247e-01 1.88718851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.957105681 meters 0.018443526063685208 Centerline is valid? [True, True] Translation: X:206.11, Y:46.00, Z:18.87 [[ 9.10021582e-01 -4.03436124e-01 -9.53939893e-02 2.06112157e+02] [ 4.01251187e-01 9.15007803e-01 -4.19309603e-02 4.60029273e+01] [ 1.04202709e-01 -1.18872616e-04 9.94556073e-01 1.88725273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.017105681 meters 0.018513803238089693 Centerline is valid? [True, True] Translation: X:206.16, Y:46.03, Z:18.88 [[ 9.11524552e-01 -4.00398058e-01 -9.38316928e-02 2.06163250e+02] [ 3.98266531e-01 9.16341278e-01 -4.12605422e-02 4.60312704e+01] [ 1.02502494e-01 2.39974417e-04 9.94732718e-01 1.88824664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.077105681 meters 0.01994394965153081 Centerline is valid? [True, True] Translation: X:206.21, Y:46.07, Z:18.90 [[ 9.15580213e-01 -3.92420170e-01 -8.78594541e-02 2.06207175e+02] [ 3.90512092e-01 9.19785420e-01 -3.86663728e-02 4.60693851e+01] [ 9.59853094e-02 1.09198670e-03 9.95382152e-01 1.88957195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137105681 meters 0.02078290670082229 Centerline is valid? [True, True] Translation: X:206.26, Y:46.10, Z:18.90 [[ 9.17178354e-01 -3.89367982e-01 -8.47138790e-02 2.06256729e+02] [ 3.87579832e-01 9.21081256e-01 -3.72986997e-02 4.61007517e+01] [ 9.25512855e-02 1.37616897e-03 9.95706968e-01 1.89032301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19710568099998 meters 0.02137943958472056 Centerline is valid? [True, True] Translation: X:206.31, Y:46.13, Z:18.91 [[ 9.17415582e-01 -3.88648921e-01 -8.54439336e-02 2.06309192e+02] [ 3.86823495e-01 9.21384713e-01 -3.76536109e-02 4.61284545e+01] [ 9.33607695e-02 1.49228841e-03 9.95631227e-01 1.89066200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25710568099998 meters 0.024127211592097117 Centerline is valid? [True, True] Translation: X:206.36, Y:46.16, Z:18.91 [[ 9.20350279e-01 -3.80931850e-01 -8.85792869e-02 2.06358891e+02] [ 3.78930679e-01 9.24600026e-01 -3.90683023e-02 4.61631541e+01] [ 9.67827716e-02 2.39111355e-03 9.95302656e-01 1.89059157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.317105681 meters 0.027153972973166813 Centerline is valid? [True, True] Translation: X:206.41, Y:46.20, Z:18.90 [[ 9.23563085e-01 -3.71566642e-01 -9.47072270e-02 2.06411166e+02] [ 3.69228035e-01 9.28399238e-01 -4.17793305e-02 4.61952954e+01] [ 1.03449923e-01 3.61728404e-03 9.94628086e-01 1.89041845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.377105681 meters 0.03180412626781861 Centerline is valid? [True, True] Translation: X:206.46, Y:46.22, Z:18.92 [[ 9.27023271e-01 -3.64185915e-01 -8.94230117e-02 2.06461529e+02] [ 3.62066779e-01 9.31316807e-01 -3.94544274e-02 4.62240098e+01] [ 9.76499005e-02 4.19807052e-03 9.95211974e-01 1.89153718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.437105681 meters 0.031258268803379494 Centerline is valid? [True, True] Translation: X:206.52, Y:46.24, Z:18.92 [[ 9.26437228e-01 -3.65626729e-01 -8.96167277e-02 2.06518826e+02] [ 3.63504045e-01 9.30752691e-01 -3.95504548e-02 4.62397374e+01] [ 9.78717139e-02 4.06497072e-03 9.95190737e-01 1.89201692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.497105681 meters 0.0281446791404222 Centerline is valid? [True, True] Translation: X:206.58, Y:46.25, Z:18.93 [[ 9.23534621e-01 -3.73450775e-01 -8.72830047e-02 2.06578797e+02] [ 3.71469119e-01 9.27644542e-01 -3.85525294e-02 4.62475645e+01] [ 9.53650749e-02 3.18165472e-03 9.95437281e-01 1.89292887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.557105681 meters 0.022702546610870573 Centerline is valid? [True, True] Translation: X:206.64, Y:46.25, Z:18.94 [[ 9.18826246e-01 -3.84998409e-01 -8.68018173e-02 2.06640553e+02] [ 3.83089161e-01 9.22915112e-01 -3.83456738e-02 4.62549088e+01] [ 9.48737323e-02 1.98017620e-03 9.95487345e-01 1.89356214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.617105681 meters 0.021334489637850503 Centerline is valid? [True, True] Translation: X:206.70, Y:46.26, Z:18.95 [[ 9.17163600e-01 -3.88725583e-01 -8.77687423e-02 2.06699625e+02] [ 3.86789847e-01 9.21352159e-01 -3.87790269e-02 4.62646764e+01] [ 9.59403201e-02 1.61865349e-03 9.95385772e-01 1.89450206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.677105681 meters 0.025486562382281596 Centerline is valid? [True, True] Translation: X:206.75, Y:46.30, Z:18.95 [[ 9.21997822e-01 -3.77105669e-01 -8.78141809e-02 2.06747687e+02] [ 3.75111934e-01 9.26165816e-01 -3.88319298e-02 4.63034393e+01] [ 9.59742334e-02 2.86280750e-03 9.95379702e-01 1.89474577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.737105681 meters 0.031063945728290375 Centerline is valid? [True, True] Translation: X:206.80, Y:46.33, Z:18.95 [[ 9.25551967e-01 -3.67956166e-01 -8.92290128e-02 2.06798707e+02] [ 3.65854434e-01 9.29835041e-01 -3.94630073e-02 4.63335435e+01] [ 9.74889197e-02 3.88023397e-03 9.95229046e-01 1.89524457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.797105681 meters 0.031137573179026944 Centerline is valid? [True, True] Translation: X:206.85, Y:46.36, Z:18.96 [[ 9.25605995e-01 -3.67963493e-01 -8.86363925e-02 2.06852132e+02] [ 3.65888809e-01 9.29832218e-01 -3.92100244e-02 4.63554891e+01] [ 9.68448310e-02 3.86196955e-03 9.95291999e-01 1.89578282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857105681 meters 0.03161822751182846 Centerline is valid? [True, True] Translation: X:206.91, Y:46.38, Z:18.96 [[ 9.25807663e-01 -3.68049448e-01 -8.61381190e-02 2.06905696e+02] [ 3.66087219e-01 9.29798542e-01 -3.81420911e-02 4.63763090e+01] [ 9.41292731e-02 3.77817582e-03 9.95552814e-01 1.89646725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917105681 meters 0.03343949027939356 Centerline is valid? [True, True] Translation: X:206.96, Y:46.40, Z:18.97 [[ 9.26404893e-01 -3.66489012e-01 -8.63700151e-02 2.06959935e+02] [ 3.64505963e-01 9.30413861e-01 -3.82812089e-02 4.63955966e+01] [ 9.43895016e-02 3.98151369e-03 9.95527383e-01 1.89691611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97710568099998 meters 0.03565136485251847 Centerline is valid? [True, True] Translation: X:207.02, Y:46.42, Z:18.98 [[ 9.28604154e-01 -3.61218665e-01 -8.49435181e-02 2.07015150e+02] [ 3.59277741e-01 9.32470509e-01 -3.76597320e-02 4.64185347e+01] [ 9.28107237e-02 4.45266833e-03 9.95673814e-01 1.89753106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03710568099999 meters 0.036219365439207105 Centerline is valid? [True, True] Translation: X:207.07, Y:46.44, Z:18.98 [[ 9.28258866e-01 -3.61641784e-01 -8.68947535e-02 2.07069971e+02] [ 3.59611783e-01 9.32306181e-01 -3.85298766e-02 4.64374237e+01] [ 9.49465290e-02 4.51732237e-03 9.95472124e-01 1.89778921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.097105681 meters 0.03552718914553727 Centerline is valid? [True, True] Translation: X:207.12, Y:46.46, Z:18.98 [[ 9.28275259e-01 -3.61020441e-01 -8.92708452e-02 2.07124249e+02] [ 3.58870938e-01 9.32545838e-01 -3.96220857e-02 4.64617574e+01] [ 9.75535380e-02 4.74348993e-03 9.95218974e-01 1.89759173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.157105681 meters 0.035022589819132935 Centerline is valid? [True, True] Translation: X:207.18, Y:46.48, Z:18.98 [[ 9.27455088e-01 -3.62865680e-01 -9.03081347e-02 2.07180134e+02] [ 3.60671006e-01 9.31829925e-01 -4.01175360e-02 4.64814751e+01] [ 9.87090994e-02 4.63568712e-03 9.95105534e-01 1.89813209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.217105681 meters 0.02680704019074156 Centerline is valid? [True, True] Translation: X:207.24, Y:46.49, Z:18.98 [[ 9.20462976e-01 -3.79195379e-01 -9.46507973e-02 2.07244092e+02] [ 3.76865926e-01 9.25311567e-01 -4.20782341e-02 4.64866770e+01] [ 1.03537349e-01 3.06079619e-03 9.94620857e-01 1.89787729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.277105681 meters 0.020173543692523808 Centerline is valid? [True, True] Translation: X:207.31, Y:46.49, Z:18.99 [[ 9.13184006e-01 -3.97940326e-01 -8.79685631e-02 2.07307423e+02] [ 3.96014263e-01 9.17410878e-01 -3.91150205e-02 4.64893415e+01] [ 9.62687607e-02 8.82405418e-04 9.95354985e-01 1.89947909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.337105681 meters 0.019614910483282868 Centerline is valid? [True, True] Translation: X:207.37, Y:46.50, Z:19.00 [[ 9.09856232e-01 -4.05439541e-01 -8.82066612e-02 2.07365978e+02] [ 4.03536301e-01 9.14121856e-01 -3.92388428e-02 4.65026182e+01] [ 9.65406153e-02 1.07115882e-04 9.95329040e-01 1.90008630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.397105681 meters 0.019584195719714502 Centerline is valid? [True, True] Translation: X:207.42, Y:46.53, Z:19.01 [[ 9.08916929e-01 -4.08588699e-01 -8.32183374e-02 2.07418499e+02] [ 4.06905533e-01 9.12718598e-01 -3.70492566e-02 4.65286985e+01] [ 9.10928318e-02 -1.87305425e-04 9.95842388e-01 1.90116888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.457105681 meters 0.020563663456077342 Centerline is valid? [True, True] Translation: X:207.47, Y:46.55, Z:19.02 [[ 9.05127511e-01 -4.16939730e-01 -8.30990412e-02 2.07473759e+02] [ 4.15293566e-01 9.08933589e-01 -3.70268139e-02 4.65495252e+01] [ 9.09694595e-02 -9.96509258e-04 9.95853184e-01 1.90172764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.517105681 meters 0.02577261739452077 Centerline is valid? [True, True] Translation: X:207.53, Y:46.57, Z:19.02 [[ 8.98376344e-01 -4.30300188e-01 -8.81004694e-02 2.07530152e+02] [ 4.28509621e-01 9.02682517e-01 -3.92909325e-02 4.65679184e+01] [ 9.64336492e-02 -2.45385445e-03 9.95336390e-01 1.90170373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.577105681 meters 0.02731187766528326 Centerline is valid? [True, True] Translation: X:207.58, Y:46.61, Z:19.03 [[ 8.96864632e-01 -4.34098087e-01 -8.48096815e-02 2.07576790e+02] [ 4.32455107e-01 9.00861426e-01 -3.78321403e-02 4.66058223e+01] [ 9.28246304e-02 -2.74607126e-03 9.95678687e-01 1.90256593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637105681 meters 0.028917828613644857 Centerline is valid? [True, True] Translation: X:207.62, Y:46.64, Z:19.03 [[ 8.95308368e-01 -4.36943347e-01 -8.66223926e-02 2.07624949e+02] [ 4.35239190e-01 8.99483772e-01 -3.86754590e-02 4.66422418e+01] [ 9.48144209e-02 -3.07499796e-03 9.95490216e-01 1.90282460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69710568099998 meters 0.029451664949745614 Centerline is valid? [True, True] Translation: X:207.67, Y:46.68, Z:19.02 [[ 8.94992135e-01 -4.36636287e-01 -9.13117253e-02 2.07670643e+02] [ 4.34737164e-01 8.99632511e-01 -4.08037034e-02 4.66838601e+01] [ 9.99633743e-02 -3.17760694e-03 9.94986043e-01 1.90240196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75710568099998 meters 0.02618070541002967 Centerline is valid? [True, True] Translation: X:207.71, Y:46.73, Z:19.03 [[ 8.97837426e-01 -4.31099441e-01 -8.96729003e-02 2.07714346e+02] [ 4.29239280e-01 9.02300951e-01 -4.00828468e-02 4.67304557e+01] [ 9.81916360e-02 -2.50325118e-03 9.95164377e-01 1.90294647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.817105681 meters 0.021594794636740546 Centerline is valid? [True, True] Translation: X:207.75, Y:46.79, Z:19.04 [[ 9.01643080e-01 -4.23140257e-01 -8.93984254e-02 2.07753955e+02] [ 4.21251569e-01 9.06062741e-01 -3.99678009e-02 4.67862570e+01] [ 9.79125678e-02 -1.62253590e-03 9.95193698e-01 1.90350712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.877105681 meters 0.01854024636121093 Centerline is valid? [True, True] Translation: X:207.79, Y:46.84, Z:19.03 [[ 9.07014783e-01 -4.10921404e-01 -9.20205596e-02 2.07793740e+02] [ 4.08855930e-01 9.11670725e-01 -4.11499488e-02 4.68431401e+01] [ 1.00801845e-01 -2.99539574e-04 9.94906477e-01 1.90338569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.937105681 meters 0.01980278133125009 Centerline is valid? [True, True] Translation: X:207.83, Y:46.90, Z:19.04 [[ 9.12951411e-01 -3.97523801e-01 -9.21658800e-02 2.07833117e+02] [ 3.95379765e-01 9.17591055e-01 -4.12492151e-02 4.68977919e+01] [ 1.00968132e-01 1.21800516e-03 9.94888915e-01 1.90386907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.997105681 meters 0.02419122251049621 Centerline is valid? [True, True] Translation: X:207.87, Y:46.95, Z:19.06 [[ 9.18696779e-01 -3.86167034e-01 -8.28930044e-02 2.07872042e+02] [ 3.84384505e-01 9.22426132e-01 -3.71292706e-02 4.69509088e+01] [ 9.08007737e-02 2.24775489e-03 9.95866541e-01 1.90558700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.057105681 meters 0.02385762836052909 Centerline is valid? [True, True] Translation: X:207.93, Y:46.98, Z:19.06 [[ 9.18091591e-01 -3.87520598e-01 -8.32803427e-02 2.07925037e+02] [ 3.85726170e-01 9.21858581e-01 -3.73105576e-02 4.69773041e+01] [ 9.12313082e-02 2.13110161e-03 9.95827448e-01 1.90570546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.117105681 meters 0.024135164697671827 Centerline is valid? [True, True] Translation: X:207.98, Y:47.00, Z:19.06 [[ 9.17968496e-01 -3.87479827e-01 -8.48128719e-02 2.07978084e+02] [ 3.85615214e-01 9.21875542e-01 -3.80314528e-02 4.70031562e+01] [ 9.29233330e-02 2.20654174e-03 9.95670822e-01 1.90606072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.177105681 meters 0.028967334008429622 Centerline is valid? [True, True] Translation: X:208.03, Y:47.04, Z:19.06 [[ 9.20637284e-01 -3.79908642e-01 -8.99800798e-02 2.08026646e+02] [ 3.77769744e-01 9.25018526e-01 -4.03825014e-02 4.70441510e+01] [ 9.85749021e-02 3.18588466e-03 9.95124534e-01 1.90561480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.237105681 meters 0.030085654902171247 Centerline is valid? [True, True] Translation: X:208.08, Y:47.07, Z:19.06 [[ 9.21860418e-01 -3.76310561e-01 -9.25404326e-02 2.08080763e+02] [ 3.74029621e-01 9.26486297e-01 -4.15329347e-02 4.70689578e+01] [ 1.01366725e-01 3.67470558e-03 9.94842341e-01 1.90596462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.297105681 meters 0.02867978194090421 Centerline is valid? [True, True] Translation: X:208.14, Y:47.09, Z:19.07 [[ 9.21771593e-01 -3.77800997e-01 -8.71982665e-02 2.08135912e+02] [ 3.75782630e-01 9.25880902e-01 -3.91403884e-02 4.70881938e+01] [ 9.55224874e-02 3.31090425e-03 9.95421766e-01 1.90713974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357105681 meters 0.03128897443405792 Centerline is valid? [True, True] Translation: X:208.19, Y:47.11, Z:19.07 [[ 9.24049805e-01 -3.71753673e-01 -8.90570844e-02 2.08190318e+02] [ 3.69619091e-01 9.28322660e-01 -3.99845728e-02 4.71144737e+01] [ 9.75381213e-02 4.03053808e-03 9.95223628e-01 1.90728973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417105681 meters 0.03969489111026285 Centerline is valid? [True, True] Translation: X:208.24, Y:47.15, Z:19.07 [[ 9.27353529e-01 -3.62201498e-01 -9.39441684e-02 2.08241101e+02] [ 3.59776148e-01 9.32084644e-01 -4.21822193e-02 4.71465065e+01] [ 1.02842380e-01 5.31895895e-03 9.94683444e-01 1.90701319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47710568099998 meters 0.04109832371493402 Centerline is valid? [True, True] Translation: X:208.30, Y:47.17, Z:19.07 [[ 9.29305811e-01 -3.57186409e-01 -9.38540306e-02 2.08295934e+02] [ 3.54739633e-01 9.34014647e-01 -4.21477368e-02 4.71718789e+01] [ 1.02715638e-01 5.87439235e-03 9.94693415e-01 1.90745863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53710568099999 meters 0.03881044654458506 Centerline is valid? [True, True] Translation: X:208.36, Y:47.18, Z:19.08 [[ 9.27255773e-01 -3.62494621e-01 -9.37783657e-02 2.08358100e+02] [ 3.60078689e-01 9.31970890e-01 -4.21141037e-02 4.71798220e+01] [ 1.02664843e-01 5.28295476e-03 9.94701976e-01 1.90814815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.597105681 meters 0.03331870193081319 Centerline is valid? [True, True] Translation: X:208.42, Y:47.19, Z:19.09 [[ 9.24911458e-01 -3.69034403e-01 -9.13914883e-02 2.08418488e+02] [ 3.66771671e-01 9.29405116e-01 -4.10447498e-02 4.71906861e+01] [ 1.00086642e-01 4.44295041e-03 9.94968806e-01 1.90903718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.657105681 meters 0.030855129013008374 Centerline is valid? [True, True] Translation: X:208.48, Y:47.20, Z:19.10 [[ 9.22894375e-01 -3.73980368e-01 -9.16769201e-02 2.08478404e+02] [ 3.71727355e-01 9.27428326e-01 -4.11761319e-02 4.72035964e+01] [ 1.00422837e-01 3.92240149e-03 9.94937118e-01 1.90976628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.717105681 meters 0.029052740041865185 Centerline is valid? [True, True] Translation: X:208.54, Y:47.22, Z:19.10 [[ 9.21603218e-01 -3.77257334e-01 -9.12382196e-02 2.08536470e+02] [ 3.75041260e-01 9.26101654e-01 -4.09851190e-02 4.72185469e+01] [ 9.99578028e-02 3.55392074e-03 9.94985330e-01 1.91033392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.777105681 meters 0.025466006633358525 Centerline is valid? [True, True] Translation: X:208.60, Y:47.23, Z:19.10 [[ 9.18105926e-01 -3.84998603e-01 -9.41147443e-02 2.08596444e+02] [ 3.82677017e-01 9.22912815e-01 -4.23111954e-02 4.72323555e+01] [ 1.03149455e-01 2.83060960e-03 9.94661841e-01 1.91013540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.837105681 meters 0.019104520140391136 Centerline is valid? [True, True] Translation: X:208.66, Y:47.24, Z:19.11 [[ 9.11775668e-01 -4.00565120e-01 -9.06240291e-02 2.08659259e+02] [ 3.98487491e-01 9.16267691e-01 -4.07582847e-02 4.72364305e+01] [ 9.93622171e-02 1.04987032e-03 9.95050776e-01 1.91134654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.897105681 meters 0.01958296865039959 Centerline is valid? [True, True] Translation: X:208.72, Y:47.24, Z:19.12 [[ 9.02063202e-01 -4.21941532e-01 -9.08147722e-02 2.08722675e+02] [ 4.19961248e-01 9.06622129e-01 -4.08517485e-02 4.72374220e+01] [ 9.95717315e-02 -1.28782597e-03 9.95029553e-01 1.91176996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.957105681 meters 0.023912639068413063 Centerline is valid? [True, True] Translation: X:208.78, Y:47.25, Z:19.12 [[ 8.97152058e-01 -4.31781670e-01 -9.31814070e-02 2.08779076e+02] [ 4.29745595e-01 9.01974941e-01 -4.19515233e-02 4.72538386e+01] [ 1.02161193e-01 -2.40740376e-03 9.94764945e-01 1.91215089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.017105681 meters 0.02725954958846489 Centerline is valid? [True, True] Translation: X:208.83, Y:47.28, Z:19.13 [[ 8.94177610e-01 -4.38065895e-01 -9.24374030e-02 2.08832848e+02] [ 4.36094547e-01 8.98937555e-01 -4.16271375e-02 4.72778623e+01] [ 1.01330882e-01 -3.08939309e-03 9.94847982e-01 1.91275490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.077105681 meters 0.030875356772322927 Centerline is valid? [True, True] Translation: X:208.89, Y:47.30, Z:19.13 [[ 8.91541076e-01 -4.43228873e-01 -9.32881338e-02 2.08885412e+02] [ 4.41248203e-01 8.96400838e-01 -4.20185880e-02 4.73043906e+01] [ 1.02247413e-01 -3.70192422e-03 9.94752111e-01 1.91314995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137105681 meters 0.036328981003448876 Centerline is valid? [True, True] Translation: X:208.94, Y:47.33, Z:19.14 [[ 8.89205359e-01 -4.48154597e-01 -9.20395964e-02 2.08937743e+02] [ 4.46251796e-01 8.93946204e-01 -4.14670721e-02 4.73307509e+01] [ 1.00862107e-01 -4.20009254e-03 9.94891549e-01 1.91384255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19710568099998 meters 0.03616330906358908 Centerline is valid? [True, True] Translation: X:208.99, Y:47.37, Z:19.15 [[ 8.86417318e-01 -4.53728060e-01 -9.16252485e-02 2.08985728e+02] [ 4.51870893e-01 8.91127257e-01 -4.12905417e-02 4.73681621e+01] [ 1.00384434e-01 -4.80213159e-03 9.94937136e-01 1.91454790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25710568099998 meters 0.039218549438684865 Centerline is valid? [True, True] Translation: X:209.03, Y:47.41, Z:19.16 [[ 8.81150816e-01 -4.64215313e-01 -8.98742625e-02 2.09032709e+02] [ 4.62481880e-01 8.85702920e-01 -4.05073977e-02 4.74078815e+01] [ 9.84060510e-02 -5.87209130e-03 9.95129021e-01 1.91553569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.317105681 meters 0.03963991320278769 Centerline is valid? [True, True] Translation: X:209.08, Y:47.45, Z:19.16 [[ 8.80581816e-01 -4.65212779e-01 -9.02924949e-02 2.09077309e+02] [ 4.63467440e-01 8.85178529e-01 -4.07050856e-02 4.74520487e+01] [ 9.88615038e-02 -6.00347318e-03 9.95083093e-01 1.91622993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.377105681 meters 0.038804148633749064 Centerline is valid? [True, True] Translation: X:209.12, Y:47.50, Z:19.17 [[ 8.81964885e-01 -4.62573937e-01 -9.03509507e-02 2.09123249e+02] [ 4.60809123e-01 8.86562511e-01 -4.07659905e-02 4.74955966e+01] [ 9.89590505e-02 -5.68037027e-03 9.95075293e-01 1.91680183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.437105681 meters 0.03370663208409685 Centerline is valid? [True, True] Translation: X:209.16, Y:47.55, Z:19.17 [[ 8.85380724e-01 -4.55453837e-01 -9.30740387e-02 2.09163483e+02] [ 4.53540007e-01 8.90245260e-01 -4.20099945e-02 4.75515768e+01] [ 1.01992335e-01 -5.01796087e-03 9.94772529e-01 1.91705594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.497105681 meters 0.027481245047500897 Centerline is valid? [True, True] Translation: X:209.20, Y:47.61, Z:19.18 [[ 8.92491773e-01 -4.41525443e-01 -9.22698098e-02 2.09203336e+02] [ 4.39569279e-01 8.97242350e-01 -4.16535104e-02 4.76055575e+01] [ 1.01179466e-01 -3.38355834e-03 9.94862436e-01 1.91769782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.557105681 meters 0.022410586744109964 Centerline is valid? [True, True] Translation: X:209.25, Y:47.66, Z:19.18 [[ 8.96708214e-01 -4.32914796e-01 -9.21908867e-02 2.09245499e+02] [ 4.30915854e-01 9.01431644e-01 -4.16235289e-02 4.76560721e+01] [ 1.01123224e-01 -2.40235442e-03 9.94871008e-01 1.91829786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.617105681 meters 0.01869846239147356 Centerline is valid? [True, True] Translation: X:209.29, Y:47.71, Z:19.19 [[ 9.01728367e-01 -4.22262070e-01 -9.26320482e-02 2.09288339e+02] [ 4.20186992e-01 9.06472996e-01 -4.18282174e-02 4.77068048e+01] [ 1.01630920e-01 -1.20509154e-03 9.94821443e-01 1.91876978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.677105681 meters 0.01864763693416717 Centerline is valid? [True, True] Translation: X:209.33, Y:47.76, Z:19.19 [[ 9.08836448e-01 -4.06649139e-01 -9.30203647e-02 2.09328023e+02] [ 4.04473574e-01 9.13584242e-01 -4.20114364e-02 4.77590608e+01] [ 1.02065854e-01 5.57245284e-04 9.94777488e-01 1.91877482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.737105681 meters 0.020638046477259676 Centerline is valid? [True, True] Translation: X:209.37, Y:47.80, Z:19.19 [[ 9.12634213e-01 -3.98384448e-01 -9.15894299e-02 2.09374276e+02] [ 3.96232216e-01 9.17217344e-01 -4.13808583e-02 4.77981471e+01] [ 1.00492904e-01 1.47490436e-03 9.94936682e-01 1.91947323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.797105681 meters 0.020483051077299672 Centerline is valid? [True, True] Translation: X:209.43, Y:47.82, Z:19.20 [[ 9.12121848e-01 -3.99799339e-01 -9.05219501e-02 2.09426443e+02] [ 3.97700395e-01 9.16601713e-01 -4.09352631e-02 4.78247400e+01] [ 9.93384656e-02 1.33733248e-03 9.95052803e-01 1.92030417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857105681 meters 0.018941519104598986 Centerline is valid? [True, True] Translation: X:209.48, Y:47.85, Z:19.21 [[ 9.09932603e-01 -4.05044482e-01 -8.92279465e-02 2.09481666e+02] [ 4.03026940e-01 9.14296642e-01 -4.03848447e-02 4.78455342e+01] [ 9.79384704e-02 7.86220569e-04 9.95192161e-01 1.92109240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917105681 meters 0.01843329754857174 Centerline is valid? [True, True] Translation: X:209.54, Y:47.86, Z:19.21 [[ 9.06322549e-01 -4.12471774e-01 -9.19046914e-02 2.09536962e+02] [ 4.10366698e-01 9.10970381e-01 -4.16189573e-02 4.78645077e+01] [ 1.00889097e-01 5.57472361e-06 9.94897678e-01 1.92145753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97710568099998 meters 0.01838492195612538 Centerline is valid? [True, True] Translation: X:209.59, Y:47.88, Z:19.22 [[ 9.03146298e-01 -4.18875814e-01 -9.41797039e-02 2.09594487e+02] [ 4.16695270e-01 9.08043269e-01 -4.26904310e-02 4.78786886e+01] [ 1.03401235e-01 -6.88532401e-04 9.94639488e-01 1.92171587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03710568099999 meters 0.018886180707407146 Centerline is valid? [True, True] Translation: X:209.65, Y:47.90, Z:19.22 [[ 9.01865498e-01 -4.21380685e-01 -9.52729838e-02 2.09648943e+02] [ 4.19161531e-01 9.06883327e-01 -4.32000199e-02 4.78989008e+01] [ 1.04605135e-01 -9.74162328e-04 9.94513357e-01 1.92192065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.097105681 meters 0.023572903423038142 Centerline is valid? [True, True] Translation: X:209.71, Y:47.90, Z:19.23 [[ 8.93996647e-01 -4.37504813e-01 -9.67446879e-02 2.09711705e+02] [ 4.35308344e-01 8.99211440e-01 -4.38797512e-02 4.79046741e+01] [ 1.06191532e-01 -2.88541946e-03 9.94341507e-01 1.92277490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.157105681 meters 0.029708095698378602 Centerline is valid? [True, True] Translation: X:209.77, Y:47.92, Z:19.24 [[ 8.88545861e-01 -4.49321875e-01 -9.27151815e-02 2.09771491e+02] [ 4.47368243e-01 8.93360490e-01 -4.20557896e-02 4.79151716e+01] [ 1.01724666e-01 -4.10933008e-03 9.94804104e-01 1.92412435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.217105681 meters 0.031000084890129412 Centerline is valid? [True, True] Translation: X:209.82, Y:47.94, Z:19.26 [[ 8.87273002e-01 -4.52977088e-01 -8.69389304e-02 2.09824983e+02] [ 4.51276700e-01 8.91512080e-01 -3.94404885e-02 4.79371691e+01] [ 9.53727443e-02 -4.23903294e-03 9.95432605e-01 1.92558017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.277105681 meters 0.03181727003942976 Centerline is valid? [True, True] Translation: X:209.88, Y:47.96, Z:19.26 [[ 8.87013068e-01 -4.53484691e-01 -8.69451102e-02 2.09877134e+02] [ 4.51783162e-01 8.91253871e-01 -3.94779869e-02 4.79632114e+01] [ 9.53928287e-02 -4.26284657e-03 9.95430578e-01 1.92593910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.337105681 meters 0.029866879261226116 Centerline is valid? [True, True] Translation: X:209.93, Y:48.00, Z:19.27 [[ 8.86900618e-01 -4.53666187e-01 -8.71451913e-02 2.09925833e+02] [ 4.51954345e-01 8.91161507e-01 -3.96035069e-02 4.79953161e+01] [ 9.56272120e-02 -4.26127308e-03 9.95408096e-01 1.92661314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.397105681 meters 0.025107178705964163 Centerline is valid? [True, True] Translation: X:209.97, Y:48.04, Z:19.27 [[ 8.93772802e-01 -4.40346994e-01 -8.52332271e-02 2.09970207e+02] [ 4.38645259e-01 8.97823508e-01 -3.87722115e-02 4.80389631e+01] [ 9.35976217e-02 -2.73360290e-03 9.95606354e-01 1.92739273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.457105681 meters 0.01996316684297894 Centerline is valid? [True, True] Translation: X:210.01, Y:48.09, Z:19.28 [[ 9.00534224e-01 -4.26755682e-01 -8.31727109e-02 2.10014325e+02] [ 4.25076576e-01 9.04366052e-01 -3.78411056e-02 4.80864545e+01] [ 9.13674830e-02 -1.27756048e-03 9.95816424e-01 1.92812697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.517105681 meters 0.01889090378304827 Centerline is valid? [True, True] Translation: X:210.06, Y:48.13, Z:19.28 [[ 9.06738524e-01 -4.12257329e-01 -8.87081959e-02 2.10059268e+02] [ 4.10276560e-01 9.11067425e-01 -4.03644887e-02 4.81315406e+01] [ 9.74597039e-02 2.05143411e-04 9.95239451e-01 1.92751383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.577105681 meters 0.02355406740558664 Centerline is valid? [True, True] Translation: X:210.11, Y:48.17, Z:19.27 [[ 9.13922771e-01 -3.95153236e-01 -9.27312775e-02 2.10107284e+02] [ 3.92896308e-01 9.18612680e-01 -4.22283649e-02 4.81730691e+01] [ 1.01870802e-01 2.15968768e-03 9.94795293e-01 1.92728097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637105681 meters 0.026528233235515637 Centerline is valid? [True, True] Translation: X:210.16, Y:48.20, Z:19.28 [[ 9.16242908e-01 -3.89408452e-01 -9.41275290e-02 2.10159956e+02] [ 3.87052476e-01 9.21060790e-01 -4.28649350e-02 4.82010564e+01] [ 1.03389144e-01 2.84239954e-03 9.94636922e-01 1.92757745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69710568099998 meters 0.02692232458810619 Centerline is valid? [True, True] Translation: X:210.22, Y:48.22, Z:19.28 [[ 9.16045078e-01 -3.89423906e-01 -9.59710225e-02 2.10216876e+02] [ 3.86973413e-01 9.21054055e-01 -4.37150495e-02 4.82190143e+01] [ 1.05418185e-01 2.90672182e-03 9.94423731e-01 1.92773196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75710568099998 meters 0.025213708948658764 Centerline is valid? [True, True] Translation: X:210.28, Y:48.23, Z:19.29 [[ 9.15083876e-01 -3.92428121e-01 -9.28529491e-02 2.10275340e+02] [ 3.90146758e-01 9.19779259e-01 -4.23275617e-02 4.82285449e+01] [ 1.02014742e-01 2.50699217e-03 9.94779728e-01 1.92894214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.817105681 meters 0.02477321192555483 Centerline is valid? [True, True] Translation: X:210.33, Y:48.24, Z:19.30 [[ 9.14966948e-01 -3.93264464e-01 -9.04353153e-02 2.10333498e+02] [ 3.91103289e-01 9.19422359e-01 -4.12400632e-02 4.82415362e+01] [ 9.93665023e-02 2.36374548e-03 9.95048095e-01 1.93016926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.877105681 meters 0.02314779439985099 Centerline is valid? [True, True] Translation: X:210.39, Y:48.26, Z:19.31 [[ 9.13907042e-01 -3.96059716e-01 -8.89416642e-02 2.10391637e+02] [ 3.93979394e-01 9.18222452e-01 -4.05926854e-02 4.82554122e+01] [ 9.77453604e-02 2.05675811e-03 9.95209332e-01 1.93102001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.937105681 meters 0.01822071192916561 Centerline is valid? [True, True] Translation: X:210.45, Y:48.26, Z:19.32 [[ 9.07697016e-01 -4.09784442e-01 -9.03484233e-02 2.10454963e+02] [ 4.07701921e-01 9.12182178e-01 -4.12652125e-02 4.82577041e+01] [ 9.93240636e-02 6.21084514e-04 9.95054946e-01 1.93150088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.997105681 meters 0.017560259819521376 Centerline is valid? [True, True] Translation: X:210.51, Y:48.27, Z:19.32 [[ 9.06271164e-01 -4.12600929e-01 -9.18316448e-02 2.10512062e+02] [ 4.10462511e-01 9.10911832e-01 -4.19542806e-02 4.82723711e+01] [ 1.00960907e-01 3.28507249e-04 9.94890339e-01 1.93217523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.057105681 meters 0.021952084925637112 Centerline is valid? [True, True] Translation: X:210.56, Y:48.30, Z:19.32 [[ 9.11274101e-01 -3.99945561e-01 -9.80972014e-02 2.10563563e+02] [ 3.97426617e-01 9.16536947e-01 -4.48565272e-02 4.83042157e+01] [ 1.07849878e-01 1.89015260e-03 9.94165394e-01 1.93176332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.117105681 meters 0.027409684629302846 Centerline is valid? [True, True] Translation: X:210.62, Y:48.33, Z:19.33 [[ 9.16936399e-01 -3.87287498e-01 -9.61042861e-02 2.10615694e+02] [ 3.84800239e-01 9.21953035e-01 -4.39474421e-02 4.83340352e+01] [ 1.05623933e-01 3.31605699e-03 9.94400618e-01 1.93284433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.177105681 meters 0.03110202795922679 Centerline is valid? [True, True] Translation: X:210.67, Y:48.36, Z:19.34 [[ 9.19930993e-01 -3.81224426e-01 -9.16237208e-02 2.10668544e+02] [ 3.78934238e-01 9.24474611e-01 -4.18991218e-02 4.83607866e+01] [ 1.00676772e-01 3.82493595e-03 9.94911834e-01 1.93395326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.237105681 meters 0.029217799094501843 Centerline is valid? [True, True] Translation: X:210.73, Y:48.38, Z:19.34 [[ 9.18213827e-01 -3.85294525e-01 -9.18231790e-02 2.10726800e+02] [ 3.83013703e-01 9.22787412e-01 -4.19987571e-02 4.83756566e+01] [ 1.00915165e-01 3.39430363e-03 9.94889244e-01 1.93427564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.297105681 meters 0.02506771223936198 Centerline is valid? [True, True] Translation: X:210.79, Y:48.39, Z:19.35 [[ 9.14833990e-01 -3.93351362e-01 -9.13973603e-02 2.10785347e+02] [ 3.91128641e-01 9.19384763e-01 -4.18335245e-02 4.83894556e+01] [ 1.00484614e-01 2.52260485e-03 9.94935414e-01 1.93488582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357105681 meters 0.0196949397617134 Centerline is valid? [True, True] Translation: X:210.85, Y:48.40, Z:19.36 [[ 9.10791366e-01 -4.02876234e-01 -9.02763943e-02 2.10845987e+02] [ 4.00753806e-01 9.15253303e-01 -4.13252794e-02 4.83987221e+01] [ 9.92747409e-02 1.46009911e-03 9.95058990e-01 1.93575645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417105681 meters 0.0184273376115304 Centerline is valid? [True, True] Translation: X:210.90, Y:48.41, Z:19.36 [[ 9.07962708e-01 -4.08241427e-01 -9.45656339e-02 2.10904246e+02] [ 4.05939768e-01 9.12873529e-01 -4.32992525e-02 4.84124256e+01] [ 1.04003013e-01 9.26155087e-04 9.94576551e-01 1.93554588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47710568099998 meters 0.01857612118244415 Centerline is valid? [True, True] Translation: X:210.96, Y:48.43, Z:19.36 [[ 9.08778183e-01 -4.06677931e-01 -9.34626898e-02 2.10957577e+02] [ 4.04417383e-01 9.13570898e-01 -4.28345003e-02 4.84343329e+01] [ 1.02804639e-01 1.12912297e-03 9.94700926e-01 1.93638926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53710568099999 meters 0.02166803883093211 Centerline is valid? [True, True] Translation: X:211.01, Y:48.46, Z:19.36 [[ 9.11450381e-01 -4.00119601e-01 -9.57209880e-02 2.11010620e+02] [ 3.97707759e-01 9.16460852e-01 -4.39095121e-02 4.84604516e+01] [ 1.05293595e-01 1.95236199e-03 9.94439263e-01 1.93643318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.597105681 meters 0.02344858861153476 Centerline is valid? [True, True] Translation: X:211.06, Y:48.49, Z:19.37 [[ 9.13380278e-01 -3.94959793e-01 -9.87077978e-02 2.11064327e+02] [ 3.92363601e-01 9.18694626e-01 -4.52878507e-02 4.84857424e+01] [ 1.08569204e-01 2.63568267e-03 9.94085399e-01 1.93680323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.657105681 meters 0.02279046515701835 Centerline is valid? [True, True] Translation: X:211.12, Y:48.50, Z:19.38 [[ 9.13133712e-01 -3.96916396e-01 -9.29741796e-02 2.11118970e+02] [ 3.94623361e-01 9.17851966e-01 -4.26634647e-02 4.85034202e+01] [ 1.02270362e-01 2.26766464e-03 9.94754055e-01 1.93806175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.717105681 meters 0.01922733039040376 Centerline is valid? [True, True] Translation: X:211.18, Y:48.52, Z:19.39 [[ 9.09697951e-01 -4.05636861e-01 -8.89290451e-02 2.11177559e+02] [ 4.03579786e-01 9.14033475e-01 -4.08186672e-02 4.85176934e+01] [ 9.78416801e-02 1.24269291e-03 9.95201217e-01 1.93926016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.777105681 meters 0.01776849005710731 Centerline is valid? [True, True] Translation: X:211.24, Y:48.53, Z:19.40 [[ 9.07425525e-01 -4.10930774e-01 -8.78340195e-02 2.11235893e+02] [ 4.08948355e-01 9.11666305e-01 -4.03211045e-02 4.85311599e+01] [ 9.66444987e-02 6.68821603e-04 9.95318740e-01 1.93978270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.837105681 meters 0.020443762454251738 Centerline is valid? [True, True] Translation: X:211.29, Y:48.56, Z:19.40 [[ 9.11022275e-01 -4.02237972e-01 -9.07911228e-02 2.11287532e+02] [ 4.00072748e-01 9.15533613e-01 -4.17133108e-02 4.85614765e+01] [ 9.99010022e-02 1.67870126e-03 9.94995966e-01 1.93982363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.897105681 meters 0.02309259629228841 Centerline is valid? [True, True] Translation: X:211.34, Y:48.59, Z:19.40 [[ 9.13766145e-01 -3.95906879e-01 -9.10449133e-02 2.11341018e+02] [ 3.93697310e-01 9.18287565e-01 -4.18374943e-02 4.85874951e+01] [ 1.00169164e-01 2.38554838e-03 9.94967561e-01 1.94044421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.957105681 meters 0.025114507942373535 Centerline is valid? [True, True] Translation: X:211.40, Y:48.61, Z:19.41 [[ 9.15202157e-01 -3.92491145e-01 -9.14095898e-02 2.11395888e+02] [ 3.90245872e-01 9.19751584e-01 -4.20140705e-02 4.86080317e+01] [ 1.00564266e-01 2.77915280e-03 9.94926683e-01 1.94090013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.017105681 meters 0.02657205995640923 Centerline is valid? [True, True] Translation: X:211.46, Y:48.62, Z:19.41 [[ 9.16473974e-01 -3.88407140e-01 -9.59966119e-02 2.11455644e+02] [ 3.85904012e-01 9.21481508e-01 -4.41579481e-02 4.86223285e+01] [ 1.05610365e-01 3.42413246e-03 9.94401693e-01 1.94070872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.077105681 meters 0.030153347161836395 Centerline is valid? [True, True] Translation: X:211.51, Y:48.64, Z:19.41 [[ 9.19057386e-01 -3.82363264e-01 -9.55607389e-02 2.11511654e+02] [ 3.79849658e-01 9.24002963e-01 -4.39631857e-02 4.86423688e+01] [ 1.05108313e-01 4.10597656e-03 9.94452303e-01 1.94130028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137105681 meters 0.03483096823499346 Centerline is valid? [True, True] Translation: X:211.57, Y:48.66, Z:19.42 [[ 9.22953225e-01 -3.72873488e-01 -9.55128632e-02 2.11568167e+02] [ 3.70311048e-01 9.27867670e-01 -4.39467317e-02 4.86619863e+01] [ 1.05009869e-01 5.19130927e-03 9.94457630e-01 1.94170557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19710568099998 meters 0.03247311787802498 Centerline is valid? [True, True] Translation: X:211.63, Y:48.67, Z:19.42 [[ 9.22140771e-01 -3.74310440e-01 -9.77143395e-02 2.11627883e+02] [ 3.71634907e-01 9.27289122e-01 -4.49708773e-02 4.86702165e+01] [ 1.07442513e-01 5.15542000e-03 9.94197932e-01 1.94186766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25710568099998 meters 0.03003788435672138 Centerline is valid? [True, True] Translation: X:211.69, Y:48.68, Z:19.43 [[ 9.19246125e-01 -3.81652101e-01 -9.65827941e-02 2.11688919e+02] [ 3.79074278e-01 9.24296115e-01 -4.44902557e-02 4.86779850e+01] [ 1.06250901e-01 4.28544219e-03 9.94330117e-01 1.94270758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.317105681 meters 0.02386773287979891 Centerline is valid? [True, True] Translation: X:211.75, Y:48.68, Z:19.44 [[ 9.14788063e-01 -3.93030455e-01 -9.32194288e-02 2.11754280e+02] [ 3.90687568e-01 9.19520985e-01 -4.29462733e-02 4.86782487e+01] [ 1.02596414e-01 2.86706615e-03 9.94718933e-01 1.94367452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.377105681 meters 0.019549450923618567 Centerline is valid? [True, True] Translation: X:211.82, Y:48.69, Z:19.44 [[ 9.10749974e-01 -4.02580848e-01 -9.19953514e-02 2.11816550e+02] [ 4.00347227e-01 9.15382716e-01 -4.23860970e-02 4.86853550e+01] [ 1.01274785e-01 1.77305296e-03 9.94856911e-01 1.94426799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.437105681 meters 0.017392041102277444 Centerline is valid? [True, True] Translation: X:211.88, Y:48.69, Z:19.45 [[ 9.07198070e-01 -4.10309458e-01 -9.29398253e-02 2.11877870e+02] [ 4.08067903e-01 9.11945868e-01 -4.28406353e-02 4.86935430e+01] [ 1.02334008e-01 9.39182020e-04 9.94749651e-01 1.94468173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.497105681 meters 0.016179203588781447 Centerline is valid? [True, True] Translation: X:211.94, Y:48.71, Z:19.45 [[ 9.02062620e-01 -4.21271181e-01 -9.38808848e-02 2.11936410e+02] [ 4.19039058e-01 9.06934682e-01 -4.33099243e-02 4.87058301e+01] [ 1.03389053e-01 -2.71493768e-04 9.94640955e-01 1.94504116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.557105681 meters 0.020908582449176493 Centerline is valid? [True, True] Translation: X:212.00, Y:48.72, Z:19.46 [[ 8.93879284e-01 -4.38184732e-01 -9.47310217e-02 2.11997399e+02] [ 4.36002151e-01 8.98882231e-01 -4.37362415e-02 4.87152927e+01] [ 1.04316585e-01 -2.20800898e-03 9.94541691e-01 1.94569238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.617105681 meters 0.025504998826923447 Centerline is valid? [True, True] Translation: X:212.05, Y:48.74, Z:19.46 [[ 8.89359069e-01 -4.47305807e-01 -9.46465045e-02 2.12051748e+02] [ 4.45177785e-01 8.94375111e-01 -4.37024182e-02 4.87389140e+01] [ 1.04197823e-01 -3.26737925e-03 9.94551224e-01 1.94629853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.677105681 meters 0.025355606161402845 Centerline is valid? [True, True] Translation: X:212.10, Y:48.77, Z:19.47 [[ 8.89447211e-01 -4.47684137e-01 -9.19922408e-02 2.12100718e+02] [ 4.45674996e-01 8.94186010e-01 -4.24873847e-02 4.87731361e+01] [ 1.01279103e-01 -3.20835576e-03 9.94852878e-01 1.94703563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.737105681 meters 0.024495807246263098 Centerline is valid? [True, True] Translation: X:212.15, Y:48.81, Z:19.48 [[ 8.89499486e-01 -4.47507201e-01 -9.23470068e-02 2.12148581e+02] [ 4.45477549e-01 8.94274726e-01 -4.26903775e-02 4.88072249e+01] [ 1.01687845e-01 -3.16544939e-03 9.94811320e-01 1.94750523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.797105681 meters 0.02386465802026239 Centerline is valid? [True, True] Translation: X:212.19, Y:48.85, Z:19.48 [[ 8.91280727e-01 -4.44028887e-01 -9.19620156e-02 2.12193401e+02] [ 4.41993552e-01 8.96008342e-01 -4.25529244e-02 4.88468732e+01] [ 1.01293461e-01 -2.72001652e-03 9.94852872e-01 1.94811450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857105681 meters 0.023356307110281197 Centerline is valid? [True, True] Translation: X:212.24, Y:48.88, Z:19.49 [[ 8.91524914e-01 -4.44093598e-01 -8.92423856e-02 2.12242927e+02] [ 4.42175962e-01 8.95976532e-01 -4.13094699e-02 4.88792291e+01] [ 9.83043543e-02 -2.63241612e-03 9.95152915e-01 1.94893018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917105681 meters 0.024958100059159924 Centerline is valid? [True, True] Translation: X:212.29, Y:48.91, Z:19.49 [[ 8.89984561e-01 -4.46938234e-01 -9.04084905e-02 2.12293022e+02] [ 4.44981185e-01 8.94559941e-01 -4.18838538e-02 4.89102958e+01] [ 9.95953096e-02 -2.95409392e-03 9.95023642e-01 1.94916144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97710568099998 meters 0.022846112469461822 Centerline is valid? [True, True] Translation: X:212.34, Y:48.95, Z:19.50 [[ 8.91713107e-01 -4.43132955e-01 -9.20919014e-02 2.12339274e+02] [ 4.41080287e-01 8.96452241e-01 -4.26797281e-02 4.89515599e+01] [ 1.01468785e-01 -2.56184934e-03 9.94835425e-01 1.94955280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03710568099999 meters 0.016887094228321218 Centerline is valid? [True, True] Translation: X:212.38, Y:49.00, Z:19.50 [[ 8.99559746e-01 -4.27269172e-01 -9.07376366e-02 2.12379743e+02] [ 4.25192345e-01 9.04124178e-01 -4.20825409e-02 4.90043048e+01] [ 1.00018663e-01 -7.25188752e-04 9.94985297e-01 1.95031392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.097105681 meters 0.01911185873084329 Centerline is valid? [True, True] Translation: X:212.42, Y:49.06, Z:19.51 [[ 9.09137844e-01 -4.06855508e-01 -8.90897116e-02 2.12418995e+02] [ 4.04753899e-01 9.13491273e-01 -4.13276542e-02 4.90576523e+01] [ 9.81970578e-02 1.51312628e-03 9.95165840e-01 1.95104060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.157105681 meters 0.025063076662036384 Centerline is valid? [True, True] Translation: X:212.46, Y:49.10, Z:19.52 [[ 9.14432047e-01 -3.95184368e-01 -8.74262364e-02 2.12463798e+02] [ 3.93104079e-01 9.18597717e-01 -4.05883905e-02 4.91015576e+01] [ 9.63494386e-02 2.74771483e-03 9.95343778e-01 1.95191142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.217105681 meters 0.026614261670509634 Centerline is valid? [True, True] Translation: X:212.52, Y:49.13, Z:19.52 [[ 9.15580374e-01 -3.92314969e-01 -8.83263499e-02 2.12516114e+02] [ 3.90177713e-01 9.19825767e-01 -4.10110987e-02 4.91276737e+01] [ 9.73341205e-02 3.08598384e-03 9.95246977e-01 1.95213837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.277105681 meters 0.026426076197975632 Centerline is valid? [True, True] Translation: X:212.57, Y:49.15, Z:19.52 [[ 9.15114922e-01 -3.93281935e-01 -8.88481792e-02 2.12571041e+02] [ 3.91121761e-01 9.19412964e-01 -4.12743265e-02 4.91497069e+01] [ 9.79206147e-02 3.02029579e-03 9.95189646e-01 1.95233630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.337105681 meters 0.024324750090421832 Centerline is valid? [True, True] Translation: X:212.63, Y:49.17, Z:19.53 [[ 9.13333523e-01 -3.97141708e-01 -9.00018888e-02 2.12628760e+02] [ 3.94939928e-01 9.17753404e-01 -4.18466673e-02 4.91656062e+01] [ 9.92185967e-02 2.67462461e-03 9.95062067e-01 1.95260777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.397105681 meters 0.020958108836355235 Centerline is valid? [True, True] Translation: X:212.69, Y:49.18, Z:19.53 [[ 9.10593404e-01 -4.03317724e-01 -9.03020881e-02 2.12687222e+02] [ 4.01128091e-01 9.15057733e-01 -4.20190510e-02 4.91790328e+01] [ 9.95786520e-02 2.03956643e-03 9.95027604e-01 1.95311257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.457105681 meters 0.019042515103280137 Centerline is valid? [True, True] Translation: X:212.74, Y:49.20, Z:19.54 [[ 9.09021083e-01 -4.07256299e-01 -8.84475924e-02 2.12742340e+02] [ 4.05173241e-01 9.13312537e-01 -4.11686179e-02 4.91991437e+01] [ 9.75464739e-02 1.58654402e-03 9.95229706e-01 1.95371415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.517105681 meters 0.017558826549593003 Centerline is valid? [True, True] Translation: X:212.80, Y:49.22, Z:19.54 [[ 9.06257372e-01 -4.12736327e-01 -9.13580873e-02 2.12798860e+02] [ 4.10537420e-01 9.10849927e-01 -4.25609862e-02 4.92157527e+01] [ 1.00779972e-01 1.06529403e-03 9.94908168e-01 1.95377378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.577105681 meters 0.01637435407436403 Centerline is valid? [True, True] Translation: X:212.86, Y:49.22, Z:19.55 [[ 9.00005012e-01 -4.26600326e-01 -8.94602707e-02 2.12860177e+02] [ 4.24557989e-01 9.04440134e-01 -4.16960266e-02 4.92207133e+01] [ 9.86989977e-02 -4.54439613e-04 9.95117230e-01 1.95457552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637105681 meters 0.01871758831308354 Centerline is valid? [True, True] Translation: X:212.92, Y:49.24, Z:19.55 [[ 8.95382935e-01 -4.36188589e-01 -8.96042139e-02 2.12916960e+02] [ 4.34185403e-01 8.99854035e-01 -4.17822035e-02 4.92365128e+01] [ 9.88556338e-02 -1.49376967e-03 9.95100664e-01 1.95520177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69710568099998 meters 0.020284687546572356 Centerline is valid? [True, True] Translation: X:212.97, Y:49.26, Z:19.56 [[ 8.92700727e-01 -4.41791287e-01 -8.89149678e-02 2.12971689e+02] [ 4.39844417e-01 8.97115456e-01 -4.14818903e-02 4.92579329e+01] [ 9.80933296e-02 -2.07783862e-03 9.95175051e-01 1.95595259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75710568099998 meters 0.026562683281885918 Centerline is valid? [True, True] Translation: X:213.03, Y:49.28, Z:19.56 [[ 8.87460065e-01 -4.52138776e-01 -8.93597238e-02 2.13027915e+02] [ 4.50220830e-01 8.91941853e-01 -4.17245080e-02 4.92762044e+01] [ 9.85689456e-02 -3.20277447e-03 9.95125070e-01 1.95636278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.817105681 meters 0.029106047466803547 Centerline is valid? [True, True] Translation: X:213.08, Y:49.30, Z:19.57 [[ 8.85455215e-01 -4.56135501e-01 -8.89351896e-02 2.13081815e+02] [ 4.54255064e-01 8.89902961e-01 -4.15338096e-02 4.93005807e+01] [ 9.80887336e-02 -3.62293193e-03 9.95171078e-01 1.95688654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.877105681 meters 0.03551862444516115 Centerline is valid? [True, True] Translation: X:213.13, Y:49.33, Z:19.57 [[ 8.79559251e-01 -4.67273108e-01 -8.96178926e-02 2.13134844e+02] [ 4.65420018e-01 8.84099495e-01 -4.18603516e-02 4.93275201e+01] [ 9.87913502e-02 -4.89130163e-03 9.95096148e-01 1.95723310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.937105681 meters 0.03663401190947373 Centerline is valid? [True, True] Translation: X:213.18, Y:49.36, Z:19.58 [[ 8.77572863e-01 -4.71058160e-01 -8.92753012e-02 2.13184027e+02] [ 4.69237815e-01 8.82086299e-01 -4.17089196e-02 4.93616541e+01] [ 9.83958470e-02 -5.28873128e-03 9.95133301e-01 1.95777674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.997105681 meters 0.03684457467014753 Centerline is valid? [True, True] Translation: X:213.23, Y:49.40, Z:19.58 [[ 8.77558051e-01 -4.71027670e-01 -8.95812598e-02 2.13230668e+02] [ 4.69193611e-01 8.82102547e-01 -4.18622879e-02 4.93999035e+01] [ 9.87381534e-02 -5.29436697e-03 9.95099365e-01 1.95818839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.057105681 meters 0.037855903310440205 Centerline is valid? [True, True] Translation: X:213.28, Y:49.43, Z:19.58 [[ 8.77424217e-01 -4.71026272e-01 -9.08900140e-02 2.13278240e+02] [ 4.69134389e-01 8.82103022e-01 -4.25109880e-02 4.94341987e+01] [ 1.00198148e-01 -5.33946074e-03 9.94953175e-01 1.95829462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.117105681 meters 0.03524475147457657 Centerline is valid? [True, True] Translation: X:213.32, Y:49.48, Z:19.59 [[ 8.77947441e-01 -4.70594608e-01 -8.80284409e-02 2.13319292e+02] [ 4.68814339e-01 8.82334870e-01 -4.12103458e-02 4.94836408e+01] [ 9.70639295e-02 -5.08847769e-03 9.95265141e-01 1.95944288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.177105681 meters 0.031665812516588586 Centerline is valid? [True, True] Translation: X:213.36, Y:49.53, Z:19.60 [[ 8.82529226e-01 -4.61835670e-01 -8.86001146e-02 2.13361892e+02] [ 4.59984725e-01 8.86955942e-01 -4.15115572e-02 4.95305776e+01] [ 9.77559160e-02 -4.11953694e-03 9.95201894e-01 1.95971342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.237105681 meters 0.0257561015201653 Centerline is valid? [True, True] Translation: X:213.40, Y:49.58, Z:19.60 [[ 8.88726090e-01 -4.50219882e-01 -8.64175588e-02 2.13402692e+02] [ 4.48403461e-01 8.92913455e-01 -4.04956541e-02 4.95816772e+01] [ 9.53953496e-02 -2.76038814e-03 9.95435637e-01 1.96036978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.297105681 meters 0.019210577211276614 Centerline is valid? [True, True] Translation: X:213.44, Y:49.64, Z:19.61 [[ 8.95655151e-01 -4.36028749e-01 -8.76400633e-02 2.13444144e+02] [ 4.34091566e-01 8.99931862e-01 -4.10750152e-02 4.96355295e+01] [ 9.67799728e-02 -1.25476339e-03 9.95305010e-01 1.96065283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.357105681 meters 0.01770141389845095 Centerline is valid? [True, True] Translation: X:213.49, Y:49.68, Z:19.61 [[ 9.00828478e-01 -4.25085915e-01 -8.83743080e-02 2.13487631e+02] [ 4.23062661e-01 9.05153003e-01 -4.14249312e-02 4.96817079e+01] [ 9.76014251e-02 -7.11122524e-05 9.95225581e-01 1.96089539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417105681 meters 0.018708910761271392 Centerline is valid? [True, True] Translation: X:213.53, Y:49.72, Z:19.61 [[ 9.04396622e-01 -4.17162022e-01 -8.96805356e-02 2.13534477e+02] [ 4.15035639e-01 9.08831754e-01 -4.20744790e-02 4.97200793e+01] [ 9.90563931e-02 8.31398270e-04 9.95081474e-01 1.96085195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47710568099998 meters 0.019512169782650808 Centerline is valid? [True, True] Translation: X:213.58, Y:49.75, Z:19.61 [[ 9.05156472e-01 -4.15448609e-01 -8.99678499e-02 2.13584415e+02] [ 4.13296566e-01 9.09616040e-01 -4.22446125e-02 4.97485410e+01] [ 9.93866649e-02 1.05458099e-03 9.95048330e-01 1.96128833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53710568099999 meters 0.01890512246347018 Centerline is valid? [True, True] Translation: X:213.64, Y:49.77, Z:19.61 [[ 9.03336869e-01 -4.19059346e-01 -9.14973569e-02 2.13639397e+02] [ 4.16849439e-01 9.07958583e-01 -4.29855388e-02 4.97688337e+01] [ 1.01089302e-01 6.89800110e-04 9.94877117e-01 1.96131017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.597105681 meters 0.018061524752751235 Centerline is valid? [True, True] Translation: X:213.70, Y:49.79, Z:19.62 [[ 9.01200792e-01 -4.23710850e-01 -9.11386161e-02 2.13696407e+02] [ 4.21537758e-01 9.05797479e-01 -4.28584359e-02 4.97854291e+01] [ 1.00712713e-01 2.05688486e-04 9.94915528e-01 1.96184698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.657105681 meters 0.017979944543456344 Centerline is valid? [True, True] Translation: X:213.75, Y:49.80, Z:19.63 [[ 8.97718568e-01 -4.31020363e-01 -9.12294906e-02 2.13753479e+02] [ 4.28876707e-01 9.02342014e-01 -4.29378614e-02 4.98005959e+01] [ 1.00827295e-01 -5.80088087e-04 9.94903774e-01 1.96254491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.717105681 meters 0.021044006677812078 Centerline is valid? [True, True] Translation: X:213.82, Y:49.80, Z:19.64 [[ 8.91322260e-01 -4.44755268e-01 -8.79623818e-02 2.13816232e+02] [ 4.42825755e-01 8.95649855e-01 -4.14329306e-02 4.98043268e+01] [ 9.72110087e-02 -2.02191477e-03 9.95261740e-01 1.96359518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.777105681 meters 0.027686322921113914 Centerline is valid? [True, True] Translation: X:213.88, Y:49.81, Z:19.64 [[ 8.86407697e-01 -4.54898960e-01 -8.57224066e-02 2.13876371e+02] [ 4.53112716e-01 8.90537862e-01 -4.03879056e-02 4.98141345e+01] [ 9.47114650e-02 -3.04176215e-03 9.95500119e-01 1.96442393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.837105681 meters 0.031396299830814614 Centerline is valid? [True, True] Translation: X:213.93, Y:49.83, Z:19.65 [[ 8.80889961e-01 -4.65266839e-01 -8.69462183e-02 2.13934164e+02] [ 4.63478665e-01 8.85160470e-01 -4.09691258e-02 4.98305088e+01] [ 9.60229311e-02 -4.20842553e-03 9.95370226e-01 1.96487570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.897105681 meters 0.03557453694017089 Centerline is valid? [True, True] Translation: X:213.99, Y:49.85, Z:19.65 [[ 8.76958466e-01 -4.72176112e-01 -8.94067527e-02 2.13990143e+02] [ 4.70320114e-01 8.81489484e-01 -4.21340793e-02 4.98511129e+01] [ 9.87058181e-02 -5.09995655e-03 9.95103589e-01 1.96533176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.957105681 meters 0.029575603692940714 Centerline is valid? [True, True] Translation: X:214.04, Y:49.89, Z:19.66 [[ 8.81763453e-01 -4.63498429e-01 -8.75352396e-02 2.14036647e+02] [ 4.61676385e-01 8.86088551e-01 -4.12552530e-02 4.98920445e+01] [ 9.66857186e-02 -4.03557860e-03 9.95306780e-01 1.96634379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.017105681 meters 0.022106494098753367 Centerline is valid? [True, True] Translation: X:214.08, Y:49.94, Z:19.67 [[ 8.90949890e-01 -4.45618312e-01 -8.73648337e-02 2.14079441e+02] [ 4.43716658e-01 8.95220642e-01 -4.11767970e-02 4.99402521e+01] [ 9.65599374e-02 -2.07876930e-03 9.95325001e-01 1.96653329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.077105681 meters 0.018475467898916506 Centerline is valid? [True, True] Translation: X:214.12, Y:49.99, Z:19.67 [[ 9.00052880e-01 -4.26872136e-01 -8.76640880e-02 2.14122459e+02] [ 4.24867347e-01 9.04311991e-01 -4.13226376e-02 4.99887057e+01] [ 9.69151685e-02 -5.30495181e-05 9.95292644e-01 1.96662975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137105681 meters 0.020667302145887606 Centerline is valid? [True, True] Translation: X:214.17, Y:50.03, Z:19.67 [[ 9.05309635e-01 -4.14796010e-01 -9.14261196e-02 2.14167747e+02] [ 4.12552572e-01 9.09913498e-01 -4.31022286e-02 5.00293792e+01] [ 1.01068493e-01 1.30278207e-03 9.94878617e-01 1.96665684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19710568099998 meters 0.02161133355447162 Centerline is valid? [True, True] Translation: X:214.22, Y:50.05, Z:19.68 [[ 9.07176817e-01 -4.11374124e-01 -8.83264023e-02 2.14220995e+02] [ 4.09263171e-01 9.11465110e-01 -4.16534614e-02 5.00530380e+01] [ 9.76415901e-02 1.63831104e-03 9.95220295e-01 1.96759589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25710568099998 meters 0.021983458319513854 Centerline is valid? [True, True] Translation: X:214.27, Y:50.07, Z:19.68 [[ 9.08011250e-01 -4.09744946e-01 -8.73192361e-02 2.14274867e+02] [ 4.07671040e-01 9.12198305e-01 -4.12137739e-02 5.00749202e+01] [ 9.65395947e-02 1.82504661e-03 9.95327472e-01 1.96837273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.317105681 meters 0.021363284082207046 Centerline is valid? [True, True] Translation: X:214.33, Y:50.09, Z:19.69 [[ 9.07478790e-01 -4.11065789e-01 -8.66438806e-02 2.14333310e+02] [ 4.09026485e-01 9.11604088e-01 -4.09306878e-02 5.00875932e+01] [ 9.58101212e-02 1.70408909e-03 9.95398170e-01 1.96894957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.377105681 meters 0.019666697944879706 Centerline is valid? [True, True] Translation: X:214.39, Y:50.10, Z:19.70 [[ 9.05689631e-01 -4.14879662e-01 -8.71846193e-02 2.14392625e+02] [ 4.12828840e-01 9.09875301e-01 -4.12223895e-02 5.00982218e+01] [ 9.64294628e-02 1.34236553e-03 9.95338916e-01 1.96958377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.437105681 meters 0.017446568712728542 Centerline is valid? [True, True] Translation: X:214.45, Y:50.10, Z:19.70 [[ 9.00610733e-01 -4.24940301e-01 -9.12471800e-02 2.14454296e+02] [ 4.22740515e-01 9.05221321e-01 -4.31835301e-02 5.01048429e+01] [ 1.00949315e-01 3.17670855e-04 9.94891519e-01 1.96955337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.497105681 meters 0.018557456293634887 Centerline is valid? [True, True] Translation: X:214.52, Y:50.10, Z:19.70 [[ 8.93966294e-01 -4.38720165e-01 -9.13722129e-02 2.14518792e+02] [ 4.36581734e-01 8.98622933e-01 -4.32806316e-02 5.01047339e+01] [ 1.01097252e-01 -1.20001330e-03 9.94875824e-01 1.97022460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.557105681 meters 0.022761265014856064 Centerline is valid? [True, True] Translation: X:214.58, Y:50.11, Z:19.71 [[ 8.88165868e-01 -4.50034950e-01 -9.28974427e-02 2.14580505e+02] [ 4.47882044e-01 8.93007460e-01 -4.40380557e-02 5.01109215e+01] [ 1.02776774e-01 -2.49399857e-03 9.94701319e-01 1.97108888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.617105681 meters 0.021974705400409092 Centerline is valid? [True, True] Translation: X:214.64, Y:50.13, Z:19.72 [[ 8.87982796e-01 -4.50208343e-01 -9.38029958e-02 2.14636087e+02] [ 4.48012831e-01 8.92919962e-01 -4.44797114e-02 5.01289022e+01] [ 1.03783705e-01 -2.52772719e-03 9.94596679e-01 1.97157569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.677105681 meters 0.018429499641704997 Centerline is valid? [True, True] Translation: X:214.69, Y:50.16, Z:19.73 [[ 8.92614258e-01 -4.41474179e-01 -9.13254397e-02 2.14688472e+02] [ 4.39343743e-01 8.97272807e-01 -4.33426575e-02 5.01570092e+01] [ 1.01078498e-01 -1.43498642e-03 9.94877419e-01 1.97279969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.737105681 meters 0.016513831102642346 Centerline is valid? [True, True] Translation: X:214.74, Y:50.19, Z:19.74 [[ 8.98222432e-01 -4.30554743e-01 -8.84255443e-02 2.14736656e+02] [ 4.28504339e-01 9.02564445e-01 -4.19696942e-02 5.01917350e+01] [ 9.78800031e-02 -1.92608624e-04 9.95198205e-01 1.97380563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.797105681 meters 0.01835497165845418 Centerline is valid? [True, True] Translation: X:214.78, Y:50.23, Z:19.75 [[ 9.04829656e-01 -4.16955277e-01 -8.62066702e-02 2.14781894e+02] [ 4.14943562e-01 9.08926126e-01 -4.09284360e-02 5.02322570e+01] [ 9.54208221e-02 1.26235984e-03 9.95436223e-01 1.97470101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.857105681 meters 0.02099291071394639 Centerline is valid? [True, True] Translation: X:214.83, Y:50.26, Z:19.75 [[ 9.07294835e-01 -4.11345419e-01 -8.72412155e-02 2.14832348e+02] [ 4.09255698e-01 9.11477541e-01 -4.14543692e-02 5.02617800e+01] [ 9.65704735e-02 1.90737050e-03 9.95324322e-01 1.97491066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917105681 meters 0.021191910813432722 Centerline is valid? [True, True] Translation: X:214.89, Y:50.29, Z:19.75 [[ 9.07476720e-01 -4.10588595e-01 -8.88988643e-02 2.14885915e+02] [ 4.08413581e-01 9.11818432e-01 -4.22551104e-02 5.02859116e+01] [ 9.84090894e-02 2.03802547e-03 9.95143958e-01 1.97517737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97710568099998 meters 0.02183492793048245 Centerline is valid? [True, True] Translation: X:214.94, Y:50.31, Z:19.75 [[ 9.07580429e-01 -4.09791138e-01 -9.14821753e-02 2.14940558e+02] [ 4.07479544e-01 9.12176674e-01 -4.35216803e-02 5.03086561e+01] [ 1.01282705e-01 2.22231022e-03 9.94855203e-01 1.97545468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03710568099999 meters 0.018311524947409473 Centerline is valid? [True, True] Translation: X:215.00, Y:50.32, Z:19.76 [[ 9.03384557e-01 -4.18882401e-01 -9.18361451e-02 2.15001757e+02] [ 4.16595979e-01 9.08039644e-01 -4.37240925e-02 5.03184096e+01] [ 1.01706113e-01 1.24110116e-03 9.94813714e-01 1.97598908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.097105681 meters 0.016395909273021078 Centerline is valid? [True, True] Translation: X:215.06, Y:50.32, Z:19.77 [[ 8.97246407e-01 -4.31679013e-01 -9.27475911e-02 2.15063143e+02] [ 4.29413547e-01 9.02027267e-01 -4.41680331e-02 5.03249444e+01] [ 1.02727269e-01 -1.97463007e-04 9.94709540e-01 1.97659421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.157105681 meters 0.017263921761614988 Centerline is valid? [True, True] Translation: X:215.12, Y:50.34, Z:19.77 [[ 8.93558291e-01 -4.39193597e-01 -9.30729023e-02 2.15120145e+02] [ 4.36948560e-01 8.98391857e-01 -4.43624581e-02 5.03413359e+01] [ 1.03099645e-01 -1.02762846e-03 9.94670502e-01 1.97730320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.217105681 meters 0.018735326494198165 Centerline is valid? [True, True] Translation: X:215.18, Y:50.36, Z:19.77 [[ 8.91229223e-01 -4.43214775e-01 -9.62867375e-02 2.15175478e+02] [ 4.40830908e-01 8.96414180e-01 -4.59317800e-02 5.03598996e+01] [ 1.06670440e-01 -1.51042537e-03 9.94293285e-01 1.97739858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.277105681 meters 0.020463972935642488 Centerline is valid? [True, True] Translation: X:215.23, Y:50.38, Z:19.78 [[ 8.89260491e-01 -4.47450658e-01 -9.48877618e-02 2.15228407e+02] [ 4.45158274e-01 8.94306437e-01 -4.52781044e-02 5.03813508e+01] [ 1.05118454e-01 -1.97604289e-03 9.94457745e-01 1.97817152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.337105681 meters 0.024560777670863745 Centerline is valid? [True, True] Translation: X:215.28, Y:50.40, Z:19.79 [[ 8.85665853e-01 -4.54740844e-01 -9.38443513e-02 2.15280774e+02] [ 4.52537984e-01 8.90619417e-01 -4.47931674e-02 5.04047363e+01] [ 1.03948884e-01 -2.79635466e-03 9.94578710e-01 1.97929484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.397105681 meters 0.0261561395248445 Centerline is valid? [True, True] Translation: X:215.33, Y:50.44, Z:19.80 [[ 8.83468636e-01 -4.59322713e-01 -9.22269764e-02 2.15331269e+02] [ 4.57219096e-01 8.88263455e-01 -4.40310395e-02 5.04351064e+01] [ 1.02146309e-01 -3.26789239e-03 9.94764018e-01 1.98024723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.457105681 meters 0.025943754069263927 Centerline is valid? [True, True] Translation: X:215.38, Y:50.47, Z:19.81 [[ 8.82736179e-01 -4.60973668e-01 -9.09951386e-02 2.15380318e+02] [ 4.58933586e-01 8.87407293e-01 -4.34541251e-02 5.04684535e+01] [ 1.00780957e-01 -3.40219688e-03 9.94902821e-01 1.98106024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.517105681 meters 0.022903994281298648 Centerline is valid? [True, True] Translation: X:215.43, Y:50.51, Z:19.82 [[ 8.85740502e-01 -4.55401010e-01 -8.98536776e-02 2.15426993e+02] [ 4.53379928e-01 8.90282325e-01 -4.29420942e-02 5.05093202e+01] [ 9.95510141e-02 -2.70230180e-03 9.95028790e-01 1.98204410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.577105681 meters 0.01848168209066375 Centerline is valid? [True, True] Translation: X:215.47, Y:50.56, Z:19.82 [[ 8.92086831e-01 -4.41886425e-01 -9.44323779e-02 2.15470532e+02] [ 4.39577250e-01 8.97070137e-01 -4.51332543e-02 5.05580092e+01] [ 1.04656239e-01 -1.24754319e-03 9.94507675e-01 1.98187028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637105681 meters 0.01750881681749658 Centerline is valid? [True, True] Translation: X:215.52, Y:50.60, Z:19.82 [[ 8.95633067e-01 -4.34253775e-01 -9.62552248e-02 2.15515872e+02] [ 4.31809702e-01 9.00790504e-01 -4.60092373e-02 5.05973587e+01] [ 1.06685477e-01 -3.56545637e-04 9.94292755e-01 1.98211571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69710568099998 meters 0.02134090874476643 Centerline is valid? [True, True] Translation: X:215.56, Y:50.65, Z:19.82 [[ 9.04207767e-01 -4.15914438e-01 -9.70746804e-02 2.15558737e+02] [ 4.13320681e-01 9.09401879e-01 -4.64137596e-02 5.06469370e+01] [ 1.07584050e-01 1.84470893e-03 9.94194281e-01 1.98224735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75710568099998 meters 0.02311631958986682 Centerline is valid? [True, True] Translation: X:215.61, Y:50.68, Z:19.83 [[ 9.06859072e-01 -4.11186906e-01 -9.23685693e-02 2.15607122e+02] [ 4.08813770e-01 9.11548162e-01 -4.41729585e-02 5.06793633e+01] [ 1.02361742e-01 2.29710508e-03 9.94744589e-01 1.98333040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.817105681 meters 0.021846221548994627 Centerline is valid? [True, True] Translation: X:215.66, Y:50.70, Z:19.83 [[ 9.04997692e-01 -4.14696695e-01 -9.48990447e-02 2.15663974e+02] [ 4.12206366e-01 9.09957523e-01 -4.54226619e-02 5.06977480e+01] [ 1.05190727e-01 1.98941383e-03 9.94450076e-01 1.98346490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.877105681 meters 0.019905313246777884 Centerline is valid? [True, True] Translation: X:215.72, Y:50.72, Z:19.85 [[ 9.03129686e-01 -4.19423847e-01 -9.18716835e-02 2.15718123e+02] [ 4.17111206e-01 9.07789408e-01 -4.40071796e-02 5.07159759e+01] [ 1.01857802e-01 1.42348160e-03 9.94797950e-01 1.98466289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.937105681 meters 0.019011171523469022 Centerline is valid? [True, True] Translation: X:215.77, Y:50.73, Z:19.85 [[ 9.02468697e-01 -4.20874346e-01 -9.17335089e-02 2.15774353e+02] [ 4.18574481e-01 9.07118055e-01 -4.39572384e-02 5.07329568e+01] [ 1.01713596e-01 1.27272575e-03 9.94812909e-01 1.98524802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.997105681 meters 0.01833722127366883 Centerline is valid? [True, True] Translation: X:215.83, Y:50.75, Z:19.85 [[ 9.00443421e-01 -4.24813841e-01 -9.34603932e-02 2.15831347e+02] [ 4.22443671e-01 9.05280305e-01 -4.48209103e-02 5.07483138e+01] [ 1.03648396e-01 8.76942286e-04 9.94613614e-01 1.98524985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.057105681 meters 0.017385058407597215 Centerline is valid? [True, True] Translation: X:215.89, Y:50.76, Z:19.86 [[ 8.97980620e-01 -4.29839426e-01 -9.41747047e-02 2.15891020e+02] [ 4.27458431e-01 9.02905293e-01 -4.51809872e-02 5.07595998e+01] [ 1.04451409e-01 3.15879379e-04 9.94529941e-01 1.98571587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.117105681 meters 0.01734645887826603 Centerline is valid? [True, True] Translation: X:215.95, Y:50.78, Z:19.86 [[ 8.96530766e-01 -4.32590430e-01 -9.53839873e-02 2.15947550e+02] [ 4.30159036e-01 9.01590550e-01 -4.58004889e-02 5.07777662e+01] [ 1.05810155e-01 3.12634663e-05 9.94386349e-01 1.98613706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.177105681 meters 0.01726373468558653 Centerline is valid? [True, True] Translation: X:216.00, Y:50.80, Z:19.87 [[ 8.98163308e-01 -4.30355871e-01 -8.99805315e-02 2.16000913e+02] [ 4.28178205e-01 9.02659254e-01 -4.32399789e-02 5.08015688e+01] [ 9.98303382e-02 3.08860105e-04 9.95004426e-01 1.98745420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.237105681 meters 0.018070935754850834 Centerline is valid? [True, True] Translation: X:216.05, Y:50.83, Z:19.89 [[ 9.01108097e-01 -4.25029086e-01 -8.57582262e-02 2.16050899e+02] [ 4.23024405e-01 9.05179260e-01 -4.12414903e-02 5.08295246e+01] [ 9.51554006e-02 8.85218183e-04 9.95462037e-01 1.98867613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.297105681 meters 0.019348808843295807 Centerline is valid? [True, True] Translation: X:216.10, Y:50.85, Z:19.89 [[ 9.03388956e-01 -4.19687772e-01 -8.80373125e-02 2.16103296e+02] [ 4.17545680e-01 9.07667260e-01 -4.23762875e-02 5.08549727e+01] [ 9.76933959e-02 1.52267061e-03 9.95215395e-01 1.98893579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.357105681 meters 0.022520514938918965 Centerline is valid? [True, True] Translation: X:216.16, Y:50.88, Z:19.89 [[ 9.05932975e-01 -4.13271213e-01 -9.21539437e-02 2.16156975e+02] [ 4.10888879e-01 9.10604998e-01 -4.43719257e-02 5.08786745e+01] [ 1.02253481e-01 2.33296002e-03 9.94755640e-01 1.98876549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417105681 meters 0.02407774424636106 Centerline is valid? [True, True] Translation: X:216.21, Y:50.90, Z:19.89 [[ 9.07885563e-01 -4.09283960e-01 -9.07217935e-02 2.16212642e+02] [ 4.06954018e-01 9.12402909e-01 -4.36962067e-02 5.08970094e+01] [ 1.00658985e-01 2.75155685e-03 9.94917181e-01 1.98949852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47710568099998 meters 0.027087195847145595 Centerline is valid? [True, True] Translation: X:216.27, Y:50.92, Z:19.90 [[ 9.09691144e-01 -4.05195967e-01 -9.09848898e-02 2.16268043e+02] [ 4.02828403e-01 9.14224090e-01 -4.38587527e-02 5.09155449e+01] [ 1.00951968e-01 3.24662107e-03 9.94886003e-01 1.98985641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53710568099999 meters 0.02496902670843866 Centerline is valid? [True, True] Translation: X:216.33, Y:50.93, Z:19.91 [[ 9.08837361e-01 -4.07700398e-01 -8.82895033e-02 2.16326603e+02] [ 4.05481911e-01 9.13111179e-01 -4.25722301e-02 5.09277703e+01] [ 9.79748476e-02 2.89143673e-03 9.95184691e-01 1.99065725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.597105681 meters 0.020568080213728718 Centerline is valid? [True, True] Translation: X:216.39, Y:50.93, Z:19.91 [[ 9.04017231e-01 -4.18196300e-01 -8.86831504e-02 2.16390043e+02] [ 4.16004657e-01 9.08354903e-01 -4.27959698e-02 5.09344267e+01] [ 9.84528907e-02 1.79569058e-03 9.95140093e-01 1.99106878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.657105681 meters 0.017866702906003975 Centerline is valid? [True, True] Translation: X:216.45, Y:50.95, Z:19.92 [[ 8.99766326e-01 -4.27472745e-01 -8.76790221e-02 2.16448244e+02] [ 4.25373978e-01 9.04027903e-01 -4.23146591e-02 5.09474185e+01] [ 9.73526459e-02 7.76931011e-04 9.95249646e-01 1.99160148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.717105681 meters 0.017649291651171288 Centerline is valid? [True, True] Translation: X:216.51, Y:50.95, Z:19.92 [[ 8.93422138e-01 -4.40388985e-01 -8.86251946e-02 2.16509265e+02] [ 4.38306182e-01 8.97806860e-01 -4.27847303e-02 5.09543692e+01] [ 9.84102316e-02 -6.20145482e-04 9.95145739e-01 1.99189400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.777105681 meters 0.018243881950896542 Centerline is valid? [True, True] Translation: X:216.56, Y:50.97, Z:19.93 [[ 8.92268784e-01 -4.43238413e-01 -8.60007379e-02 2.16564822e+02] [ 4.41286873e-01 8.96403341e-01 -4.15565342e-02 5.09698941e+01] [ 9.55108011e-02 -8.71398447e-04 9.95428012e-01 1.99300584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.837105681 meters 0.018044583751378084 Centerline is valid? [True, True] Translation: X:216.61, Y:51.00, Z:19.94 [[ 8.99440094e-01 -4.28862645e-01 -8.41685704e-02 2.16612885e+02] [ 4.26926697e-01 9.03369452e-01 -4.07090715e-02 5.10044744e+01] [ 9.34939154e-02 6.81561335e-04 9.95619618e-01 1.99396559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.897105681 meters 0.02331801696952141 Centerline is valid? [True, True] Translation: X:216.66, Y:51.04, Z:19.95 [[ 9.05744490e-01 -4.15826280e-01 -8.19476882e-02 2.16661959e+02] [ 4.13934835e-01 9.09441849e-01 -3.96670646e-02 5.10355807e+01] [ 9.10212650e-02 2.00722242e-03 9.95846926e-01 1.99471323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.957105681 meters 0.02490893156223324 Centerline is valid? [True, True] Translation: X:216.72, Y:51.06, Z:19.95 [[ 9.08311345e-01 -4.10017851e-01 -8.28001392e-02 2.16716646e+02] [ 4.08061748e-01 9.12073718e-01 -4.00891922e-02 5.10587948e+01] [ 9.19571152e-02 2.62589861e-03 9.95759506e-01 1.99492597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.017105681 meters 0.02603790894798469 Centerline is valid? [True, True] Translation: X:216.77, Y:51.08, Z:19.95 [[ 9.08472612e-01 -4.09007337e-01 -8.59680791e-02 2.16774577e+02] [ 4.06892854e-01 9.12526667e-01 -4.16327624e-02 5.10755753e+01] [ 9.54762700e-02 2.84242738e-03 9.95427648e-01 1.99469081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.077105681 meters 0.027909749871906895 Centerline is valid? [True, True] Translation: X:216.83, Y:51.09, Z:19.95 [[ 9.09323649e-01 -4.06802457e-01 -8.74200319e-02 2.16831544e+02] [ 4.04602087e-01 9.13510689e-01 -4.23718268e-02 5.10925144e+01] [ 9.70960968e-02 3.15937677e-03 9.95269997e-01 1.99495625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137105681 meters 0.03192294253414722 Centerline is valid? [True, True] Translation: X:216.89, Y:51.11, Z:19.95 [[ 9.12564899e-01 -3.99074080e-01 -8.92478770e-02 2.16886956e+02] [ 3.96740229e-01 9.16909532e-01 -4.32908979e-02 5.11146052e+01] [ 9.91085043e-02 4.09753072e-03 9.95068196e-01 1.99525253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19710568099998 meters 0.03168450768648902 Centerline is valid? [True, True] Translation: X:216.95, Y:51.13, Z:19.96 [[ 9.12863179e-01 -3.98738926e-01 -8.76817221e-02 2.16945166e+02] [ 3.96484284e-01 9.17055466e-01 -4.25380287e-02 5.11283885e+01] [ 9.73705704e-02 4.06697528e-03 9.95239887e-01 1.99599502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25710568099998 meters 0.021143309240956015 Centerline is valid? [True, True] Translation: X:217.01, Y:51.12, Z:19.97 [[ 9.03387113e-01 -4.20414900e-01 -8.45164812e-02 2.17013905e+02] [ 4.18411058e-01 9.07330369e-01 -4.10339872e-02 5.11219439e+01] [ 9.39356697e-02 1.70694493e-03 9.95576806e-01 1.99710447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.317105681 meters 0.018740691478000508 Centerline is valid? [True, True] Translation: X:217.08, Y:51.12, Z:19.97 [[ 8.91543401e-01 -4.44336839e-01 -8.78358559e-02 2.17081842e+02] [ 4.42285882e-01 8.95859417e-01 -4.26509427e-02 5.11168191e+01] [ 9.76399638e-02 -8.23392490e-04 9.95221463e-01 1.99708973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.377105681 meters 0.02426999348713879 Centerline is valid? [True, True] Translation: X:217.14, Y:51.12, Z:19.98 [[ 8.86063863e-01 -4.55263518e-01 -8.73267401e-02 2.17143481e+02] [ 4.53287930e-01 8.90354490e-01 -4.24138430e-02 5.11234990e+01] [ 9.70612305e-02 -2.00278370e-03 9.95276397e-01 1.99770551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.437105681 meters 0.02299801165945945 Centerline is valid? [True, True] Translation: X:217.19, Y:51.15, Z:19.99 [[ 8.85389796e-01 -4.57334302e-01 -8.32480944e-02 2.17192617e+02] [ 4.55547664e-01 8.89292332e-01 -4.04409806e-02 5.11537659e+01] [ 9.25269397e-02 -2.11744346e-03 9.95707930e-01 1.99905112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.497105681 meters 0.022992900632623294 Centerline is valid? [True, True] Translation: X:217.24, Y:51.19, Z:19.99 [[ 8.84989816e-01 -4.57589757e-01 -8.60502230e-02 2.17242585e+02] [ 4.55678157e-01 8.89160755e-01 -4.18398087e-02 5.11854501e+01] [ 9.56579491e-02 -2.18340248e-03 9.95411869e-01 1.99918528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.557105681 meters 0.025868155708862882 Centerline is valid? [True, True] Translation: X:217.29, Y:51.21, Z:20.00 [[ 8.82384430e-01 -4.62683421e-01 -8.55673416e-02 2.17294827e+02] [ 4.60813801e-01 8.86519499e-01 -4.16391527e-02 5.12107985e+01] [ 9.51228625e-02 -2.68887187e-03 9.95461908e-01 1.99969219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.617105681 meters 0.03277285659210692 Centerline is valid? [True, True] Translation: X:217.35, Y:51.24, Z:20.00 [[ 8.76933643e-01 -4.73476459e-01 -8.25071442e-02 2.17345676e+02] [ 4.71784720e-01 8.80798671e-01 -4.01606709e-02 5.12383011e+01] [ 9.16873152e-02 -3.70736649e-03 9.95780946e-01 2.00048820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.677105681 meters 0.03367226302878492 Centerline is valid? [True, True] Translation: X:217.39, Y:51.28, Z:20.01 [[ 8.76008398e-01 -4.75096649e-01 -8.30208375e-02 2.17392970e+02] [ 4.73390200e-01 8.79925004e-01 -4.04191299e-02 5.12752649e+01] [ 9.22551039e-02 -3.89375361e-03 9.95727791e-01 2.00074608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.737105681 meters 0.03156661233698139 Centerline is valid? [True, True] Translation: X:217.44, Y:51.32, Z:20.01 [[ 8.76302364e-01 -4.73967402e-01 -8.63079926e-02 2.17437356e+02] [ 4.72114023e-01 8.80533779e-01 -4.20548869e-02 5.13195250e+01] [ 9.59297484e-02 -3.89441680e-03 9.95380489e-01 2.00063921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.797105681 meters 0.03312751811829763 Centerline is valid? [True, True] Translation: X:217.48, Y:51.36, Z:20.01 [[ 8.74037951e-01 -4.77990258e-01 -8.70802746e-02 2.17484086e+02] [ 4.76120009e-01 8.78354393e-01 -4.24652496e-02 5.13599703e+01] [ 9.67853174e-02 -4.34442141e-03 9.95295799e-01 2.00109401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.857105681 meters 0.04205098620714279 Centerline is valid? [True, True] Translation: X:217.53, Y:51.40, Z:20.02 [[ 8.64998640e-01 -4.94678095e-01 -8.40888509e-02 2.17532618e+02] [ 4.93010750e-01 8.69055737e-01 -4.10186121e-02 5.13954035e+01] [ 9.33689072e-02 -5.97566379e-03 9.95613649e-01 2.00205821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917105681 meters 0.04727455917056899 Centerline is valid? [True, True] Translation: X:217.58, Y:51.43, Z:20.02 [[ 8.62419368e-01 -4.99277355e-01 -8.33963853e-02 2.17580758e+02] [ 4.97657848e-01 8.66418500e-01 -4.06896655e-02 5.14310804e+01] [ 9.25715997e-02 -6.41131001e-03 9.95685389e-01 2.00249178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97710568099998 meters 0.04501584137860085 Centerline is valid? [True, True] Translation: X:217.62, Y:51.48, Z:20.03 [[ 8.64253603e-01 -4.96163850e-01 -8.29888185e-02 2.17622203e+02] [ 4.94544989e-01 8.68207904e-01 -4.05004894e-02 5.14816492e+01] [ 9.21464269e-02 -6.03901040e-03 9.95727155e-01 2.00307019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03710568099999 meters 0.04375427076508888 Centerline is valid? [True, True] Translation: X:217.66, Y:51.53, Z:20.03 [[ 8.64601634e-01 -4.95228752e-01 -8.49264216e-02 2.17664825e+02] [ 4.93527713e-01 8.68741417e-01 -4.14577752e-02 5.15280208e+01] [ 9.43101821e-02 -6.06908241e-03 9.95524362e-01 2.00319486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.097105681 meters 0.04524831570927311 Centerline is valid? [True, True] Translation: X:217.71, Y:51.57, Z:20.04 [[ 8.62492102e-01 -4.98891631e-01 -8.49383044e-02 2.17710120e+02] [ 4.97204640e-01 8.66640435e-01 -4.14958204e-02 5.15709724e+01] [ 9.43128865e-02 -6.44190173e-03 9.95521763e-01 2.00386396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.157105681 meters 0.04424368767768428 Centerline is valid? [True, True] Translation: X:217.75, Y:51.62, Z:20.05 [[ 8.59030077e-01 -5.05379627e-01 -8.16012245e-02 2.17753431e+02] [ 5.03851235e-01 8.62869806e-01 -3.98701756e-02 5.16174281e+01] [ 9.05608072e-02 -6.86519778e-03 9.95867265e-01 2.00473593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.217105681 meters 0.04623431556336543 Centerline is valid? [True, True] Translation: X:217.79, Y:51.66, Z:20.05 [[ 8.60144936e-01 -5.03843643e-01 -7.93238479e-02 2.17794304e+02] [ 5.02392719e-01 8.63770326e-01 -3.87605338e-02 5.16639738e+01] [ 8.80468346e-02 -6.51204681e-03 9.96095050e-01 2.00543817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.277105681 meters 0.03746426591287991 Centerline is valid? [True, True] Translation: X:217.83, Y:51.72, Z:20.06 [[ 8.68029622e-01 -4.90015906e-01 -8.00561563e-02 2.17832994e+02] [ 4.88478077e-01 8.71698341e-01 -3.91301781e-02 5.17213161e+01] [ 8.89592283e-02 -5.13952354e-03 9.96022008e-01 2.00564928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.337105681 meters 0.03032371655909708 Centerline is valid? [True, True] Translation: X:217.87, Y:51.77, Z:20.06 [[ 8.75349052e-01 -4.76778369e-01 -8.02896294e-02 2.17874036e+02] [ 4.75175244e-01 8.79015350e-01 -3.92492319e-02 5.17737850e+01] [ 8.92890015e-02 -3.79486631e-03 9.95998531e-01 2.00581648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.397105681 meters 0.025728143948499215 Centerline is valid? [True, True] Translation: X:217.92, Y:51.82, Z:20.06 [[ 8.80403919e-01 -4.67210636e-01 -8.12598347e-02 2.17918496e+02] [ 4.65527354e-01 8.84141437e-01 -3.97265862e-02 5.18203013e+01] [ 9.04058707e-02 -2.85323363e-03 9.95900918e-01 2.00617032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.457105681 meters 0.020095179867061913 Centerline is valid? [True, True] Translation: X:217.96, Y:51.87, Z:20.06 [[ 8.88595203e-01 -4.51163214e-01 -8.27666559e-02 2.17959235e+02] [ 4.49346682e-01 8.92440603e-01 -4.04639274e-02 5.18739149e+01] [ 9.21201598e-02 -1.23487045e-03 9.95747132e-01 2.00590761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.517105681 meters 0.01895599133486026 Centerline is valid? [True, True] Translation: X:218.01, Y:51.91, Z:20.07 [[ 8.91647404e-01 -4.45821071e-01 -7.87939019e-02 2.18006258e+02] [ 4.44153986e-01 8.95121865e-01 -3.85238032e-02 5.19112796e+01] [ 8.77048676e-02 -6.46976467e-04 9.96146293e-01 2.00670636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.577105681 meters 0.018881993110117665 Centerline is valid? [True, True] Translation: X:218.06, Y:51.94, Z:20.07 [[ 8.91701527e-01 -4.45758657e-01 -7.85341096e-02 2.18056045e+02] [ 4.44099534e-01 8.95152974e-01 -3.84285965e-02 5.19378249e+01] [ 8.74299214e-02 -6.10123224e-04 9.96170486e-01 2.00713216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637105681 meters 0.018976364330128115 Centerline is valid? [True, True] Translation: X:218.11, Y:51.96, Z:20.07 [[ 8.90570558e-01 -4.47755045e-01 -7.99968828e-02 2.18110094e+02] [ 4.46039189e-01 8.94155905e-01 -3.91696171e-02 5.19626271e+01] [ 8.90680788e-02 -7.98436951e-04 9.96025220e-01 2.00714290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69710568099998 meters 0.01970221655050062 Centerline is valid? [True, True] Translation: X:218.16, Y:51.98, Z:20.08 [[ 8.88146237e-01 -4.52286457e-01 -8.14446030e-02 2.18164814e+02] [ 4.50523702e-01 8.91871858e-01 -3.99121938e-02 5.19835385e+01] [ 9.06898941e-02 -1.24485931e-03 9.95878403e-01 2.00751616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75710568099998 meters 0.02231974049188125 Centerline is valid? [True, True] Translation: X:218.22, Y:52.00, Z:20.08 [[ 8.84573714e-01 -4.59231483e-01 -8.14603526e-02 2.18222706e+02] [ 4.57494298e-01 8.88314547e-01 -3.99528906e-02 5.19987443e+01] [ 9.07100414e-02 -1.92636994e-03 9.95875483e-01 2.00810827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.817105681 meters 0.02409442984647383 Centerline is valid? [True, True] Translation: X:218.28, Y:52.02, Z:20.09 [[ 8.81393245e-01 -4.65491327e-01 -8.03975863e-02 2.18279027e+02] [ 4.63824517e-01 8.85048827e-01 -3.94384651e-02 5.20190953e+01] [ 8.95140528e-02 -2.52957489e-03 9.95982347e-01 2.00876364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.877105681 meters 0.025304588205617613 Centerline is valid? [True, True] Translation: X:218.33, Y:52.04, Z:20.09 [[ 8.81042040e-01 -4.65817147e-01 -8.23365653e-02 2.18332458e+02] [ 4.64069757e-01 8.84877121e-01 -4.03948199e-02 5.20424690e+01] [ 9.16743426e-02 -2.62037530e-03 9.95785594e-01 2.00892334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.937105681 meters 0.021937765860718588 Centerline is valid? [True, True] Translation: X:218.38, Y:52.08, Z:20.09 [[ 8.84757695e-01 -4.58671661e-01 -8.26082827e-02 2.18382967e+02] [ 4.56880423e-01 8.88603846e-01 -4.05399071e-02 5.20756768e+01] [ 9.20005442e-02 -1.87411230e-03 9.95757193e-01 2.00945604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.997105681 meters 0.019680032700481066 Centerline is valid? [True, True] Translation: X:218.43, Y:52.11, Z:20.10 [[ 8.89063192e-01 -4.50724044e-01 -8.00904293e-02 2.18432136e+02] [ 4.49007689e-01 8.92662765e-01 -3.93100907e-02 5.21075401e+01] [ 8.92117471e-02 -1.01206385e-03 9.96012169e-01 2.01040975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.057105681 meters 0.01893439734711506 Centerline is valid? [True, True] Translation: X:218.48, Y:52.14, Z:20.11 [[ 8.95306097e-01 -4.38761458e-01 -7.69114843e-02 2.18478713e+02] [ 4.37133807e-01 8.98603555e-01 -3.77582562e-02 5.21414153e+01] [ 8.56798007e-02 1.84587061e-04 9.96322708e-01 2.01142741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.117105681 meters 0.020962200685412446 Centerline is valid? [True, True] Translation: X:218.53, Y:52.17, Z:20.12 [[ 9.00981332e-01 -4.27120092e-01 -7.61647360e-02 2.18530042e+02] [ 4.25481230e-01 9.04193982e-01 -3.74027533e-02 5.21721308e+01] [ 8.48431634e-02 1.29251690e-03 9.96393480e-01 2.01185911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.177105681 meters 0.021774371658588764 Centerline is valid? [True, True] Translation: X:218.59, Y:52.19, Z:20.12 [[ 9.02838460e-01 -4.22524410e-01 -7.97235123e-02 2.18585933e+02] [ 4.20710158e-01 9.06349737e-01 -3.91550371e-02 5.21914766e+01] [ 8.88013433e-02 1.81018197e-03 9.96047712e-01 2.01200880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.237105681 meters 0.023003360483880735 Centerline is valid? [True, True] Translation: X:218.64, Y:52.21, Z:20.12 [[ 9.03149000e-01 -4.21106026e-01 -8.36157741e-02 2.18642167e+02] [ 4.19100397e-01 9.07009037e-01 -4.11030876e-02 5.22085839e+01] [ 9.31490207e-02 2.07880830e-03 9.95650008e-01 2.01184797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.297105681 meters 0.023590602330307305 Centerline is valid? [True, True] Translation: X:218.70, Y:52.22, Z:20.12 [[ 9.02145627e-01 -4.23092816e-01 -8.44140848e-02 2.18699260e+02] [ 4.21056077e-01 9.06084348e-01 -4.15082338e-02 5.22236694e+01] [ 9.40481165e-02 1.90340815e-03 9.95565833e-01 2.01214767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.357105681 meters 0.01917407572124863 Centerline is valid? [True, True] Translation: X:218.77, Y:52.22, Z:20.13 [[ 8.98257072e-01 -4.31289329e-01 -8.44022876e-02 2.18765108e+02] [ 4.29287927e-01 9.02213054e-01 -4.15148321e-02 5.22236222e+01] [ 9.40537497e-02 1.05810845e-03 9.95566559e-01 2.01279503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41710568099998 meters 0.01764868903655068 Centerline is valid? [True, True] Translation: X:218.83, Y:52.22, Z:20.13 [[ 8.92392628e-01 -4.43572308e-01 -8.29397741e-02 2.18829766e+02] [ 4.41690886e-01 8.96238563e-01 -4.08117529e-02 5.22244711e+01] [ 9.24367874e-02 -2.13634927e-04 9.95718532e-01 2.01346912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47710568099998 meters 0.020310349737616973 Centerline is valid? [True, True] Translation: X:218.89, Y:52.23, Z:20.14 [[ 8.85255271e-01 -4.56942461e-01 -8.67565106e-02 2.18893949e+02] [ 4.54943697e-01 8.89494729e-01 -4.27242256e-02 5.22277534e+01] [ 9.66919717e-02 -1.64748179e-03 9.95312990e-01 2.01367437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53710568099999 meters 0.023241489879610895 Centerline is valid? [True, True] Translation: X:218.96, Y:52.24, Z:20.14 [[ 8.81016881e-01 -4.64399162e-01 -9.02367606e-02 2.18955349e+02] [ 4.62274464e-01 8.85622313e-01 -4.44459024e-02 5.22385730e+01] [ 1.00556329e-01 -2.55655977e-03 9.94928082e-01 2.01378666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.597105681 meters 0.022191036751219025 Centerline is valid? [True, True] Translation: X:219.01, Y:52.26, Z:20.15 [[ 8.82683958e-01 -4.61223704e-01 -9.02315087e-02 2.19009959e+02] [ 4.59082100e-01 8.87281186e-01 -4.44491130e-02 5.22569644e+01] [ 1.00561705e-01 -2.18915144e-03 9.94928415e-01 2.01457350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.657105681 meters 0.020806561174556898 Centerline is valid? [True, True] Translation: X:219.06, Y:52.28, Z:20.16 [[ 8.84133911e-01 -4.58913430e-01 -8.77820707e-02 2.19061421e+02] [ 4.56873988e-01 8.88479039e-01 -4.32568647e-02 5.22837747e+01] [ 9.78436860e-02 -1.86048376e-03 9.95200056e-01 2.01553388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.717105681 meters 0.021347346600446453 Centerline is valid? [True, True] Translation: X:219.12, Y:52.31, Z:20.16 [[ 8.83338063e-01 -4.60445431e-01 -8.77716974e-02 2.19115223e+02] [ 4.58410483e-01 8.87685763e-01 -4.32875958e-02 5.23077440e+01] [ 9.78452618e-02 -1.99788511e-03 9.95199635e-01 2.01618777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.777105681 meters 0.023644916343267687 Centerline is valid? [True, True] Translation: X:219.17, Y:52.33, Z:20.17 [[ 8.80879699e-01 -4.65741890e-01 -8.44715800e-02 2.19169141e+02] [ 4.63878533e-01 8.84917198e-01 -4.16924373e-02 5.23288486e+01] [ 9.41682684e-02 -2.45853101e-03 9.95553260e-01 2.01703853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.837105681 meters 0.028020560737514008 Centerline is valid? [True, True] Translation: X:219.23, Y:52.35, Z:20.18 [[ 8.75492345e-01 -4.75870744e-01 -8.40249239e-02 2.19227608e+02] [ 4.74071614e-01 8.79508223e-01 -4.14896418e-02 5.23458946e+01] [ 9.36443182e-02 -3.50996739e-03 9.95599529e-01 2.01750591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.897105681 meters 0.03108661919290999 Centerline is valid? [True, True] Translation: X:219.28, Y:52.37, Z:20.18 [[ 8.71096101e-01 -4.83619890e-01 -8.54598482e-02 2.19284060e+02] [ 4.81794992e-01 8.75267019e-01 -4.22046241e-02 5.23673061e+01] [ 9.52111823e-02 -4.40984338e-03 9.95447329e-01 2.01788561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.957105681 meters 0.03595670950805282 Centerline is valid? [True, True] Translation: X:219.34, Y:52.39, Z:20.18 [[ 8.68554483e-01 -4.87633046e-01 -8.84710273e-02 2.19340304e+02] [ 4.85697210e-01 8.73034271e-01 -4.36964810e-02 5.23858050e+01] [ 9.85460870e-02 -5.01735662e-03 9.95119839e-01 2.01794386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.017105681 meters 0.03334554541491904 Centerline is valid? [True, True] Translation: X:219.39, Y:52.42, Z:20.19 [[ 8.69547837e-01 -4.85958063e-01 -8.79279271e-02 2.19389036e+02] [ 4.84036528e-01 8.73969006e-01 -4.34374978e-02 5.24188076e+01] [ 9.79550853e-02 -4.78934634e-03 9.95179312e-01 2.01882157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.077105681 meters 0.03129205672787352 Centerline is valid? [True, True] Translation: X:219.44, Y:52.46, Z:20.19 [[ 8.70460078e-01 -4.83845011e-01 -9.05166152e-02 2.19437092e+02] [ 4.81795642e-01 8.75141220e-01 -4.47303562e-02 5.24553549e+01] [ 1.00857381e-01 -4.67452140e-03 9.94889912e-01 2.01910479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137105681 meters 0.02764094960666145 Centerline is valid? [True, True] Translation: X:219.48, Y:52.50, Z:20.19 [[ 8.76008024e-01 -4.73567279e-01 -9.13453592e-02 2.19481864e+02] [ 4.71420828e-01 8.80750730e-01 -4.51725083e-02 5.24980340e+01] [ 1.01844714e-01 -3.49062504e-03 9.94794185e-01 2.01924182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19710568099998 meters 0.02411204958927208 Centerline is valid? [True, True] Translation: X:219.53, Y:52.54, Z:20.20 [[ 8.79313039e-01 -4.67431166e-01 -9.11958593e-02 2.19528863e+02] [ 4.65257990e-01 8.84025139e-01 -4.51060521e-02 5.25377087e+01] [ 1.01703407e-01 -2.76726247e-03 9.94810916e-01 2.01987123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25710568099998 meters 0.02215454988106685 Centerline is valid? [True, True] Translation: X:219.57, Y:52.58, Z:20.20 [[ 8.81667184e-01 -4.63000435e-01 -9.10690635e-02 2.19574306e+02] [ 4.60808911e-01 8.86355208e-01 -4.50510014e-02 5.25776347e+01] [ 1.01578172e-01 -2.24544649e-03 9.94825026e-01 2.02034231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.317105681 meters 0.024135402777334083 Centerline is valid? [True, True] Translation: X:219.63, Y:52.60, Z:20.21 [[ 8.79633559e-01 -4.67458528e-01 -8.79052154e-02 2.19626496e+02] [ 4.65437890e-01 8.84011024e-01 -4.34980414e-02 5.26033761e+01] [ 9.80427099e-02 -2.65208104e-03 9.95178674e-01 2.02122909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.377105681 meters 0.024617435883908162 Centerline is valid? [True, True] Translation: X:219.68, Y:52.63, Z:20.22 [[ 8.79037263e-01 -4.69296598e-01 -8.39892399e-02 2.19676415e+02] [ 4.67457616e-01 8.83036474e-01 -4.15928295e-02 5.26345768e+01] [ 9.36849357e-02 -2.69976282e-03 9.95598234e-01 2.02223166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.437105681 meters 0.027700679484872377 Centerline is valid? [True, True] Translation: X:219.73, Y:52.66, Z:20.23 [[ 8.77282706e-01 -4.72535787e-01 -8.41723485e-02 2.19730812e+02] [ 4.70700457e-01 8.81306300e-01 -4.17167312e-02 5.26557783e+01] [ 9.38942695e-02 -3.02259603e-03 9.95577586e-01 2.02255534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.497105681 meters 0.031243838259264498 Centerline is valid? [True, True] Translation: X:219.79, Y:52.68, Z:20.23 [[ 8.72390922e-01 -4.80800528e-01 -8.81188481e-02 2.19787404e+02] [ 4.78829469e-01 8.76820484e-01 -4.36827031e-02 5.26763367e+01] [ 9.82670778e-02 -4.08550755e-03 9.95151692e-01 2.02251836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.557105681 meters 0.03398208836060502 Centerline is valid? [True, True] Translation: X:219.84, Y:52.70, Z:20.23 [[ 8.70176922e-01 -4.84699426e-01 -8.86486874e-02 2.19840622e+02] [ 4.82723985e-01 8.74668961e-01 -4.39518290e-02 5.27022355e+01] [ 9.88416816e-02 -4.54698041e-03 9.95092783e-01 2.02293396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.617105681 meters 0.029586402250087514 Centerline is valid? [True, True] Translation: X:219.89, Y:52.74, Z:20.23 [[ 8.73664683e-01 -4.77942527e-01 -9.09997955e-02 2.19887671e+02] [ 4.75822961e-01 8.78382572e-01 -4.51283375e-02 5.27410211e+01] [ 1.01501386e-01 -3.87275748e-03 9.94827860e-01 2.02324525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.677105681 meters 0.022489191874839387 Centerline is valid? [True, True] Translation: X:219.93, Y:52.79, Z:20.24 [[ 8.82163799e-01 -4.62150819e-01 -9.05740183e-02 2.19929961e+02] [ 4.59966749e-01 8.86799015e-01 -4.49232245e-02 5.27878769e+01] [ 1.01082255e-01 -2.03139436e-03 9.94875998e-01 2.02361454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.737105681 meters 0.018967679419230284 Centerline is valid? [True, True] Translation: X:219.97, Y:52.84, Z:20.24 [[ 8.91467239e-01 -4.43845083e-01 -9.10368324e-02 2.19971590e+02] [ 4.41541678e-01 8.96103531e-01 -4.51597993e-02 5.28377205e+01] [ 1.01622382e-01 6.19257926e-05 9.94823043e-01 2.02396584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.797105681 meters 0.02332717333597447 Centerline is valid? [True, True] Translation: X:220.02, Y:52.88, Z:20.25 [[ 9.00715850e-01 -4.25458766e-01 -8.77256804e-02 2.20016479e+02] [ 4.23231942e-01 9.04975437e-01 -4.35221998e-02 5.28810979e+01] [ 9.79064874e-02 2.07282511e-03 9.95193460e-01 2.02472719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.857105681 meters 0.02680309584044021 Centerline is valid? [True, True] Translation: X:220.07, Y:52.91, Z:20.25 [[ 9.04065642e-01 -4.18461549e-01 -8.69209259e-02 2.20067463e+02] [ 4.16242624e-01 9.08230165e-01 -4.31282442e-02 5.29108285e+01] [ 9.69917188e-02 2.81056950e-03 9.95281220e-01 2.02541011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91710568099998 meters 0.026296893941246548 Centerline is valid? [True, True] Translation: X:220.12, Y:52.93, Z:20.26 [[ 9.03143548e-01 -4.20732838e-01 -8.55313435e-02 2.20124281e+02] [ 4.18593875e-01 9.07181055e-01 -4.24464596e-02 5.29255602e+01] [ 9.54510338e-02 2.53234963e-03 9.95430905e-01 2.02585763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97710568099998 meters 0.02583626772001393 Centerline is valid? [True, True] Translation: X:220.18, Y:52.94, Z:20.27 [[ 9.03151745e-01 -4.21238069e-01 -8.29181151e-02 2.20183525e+02] [ 4.19229090e-01 9.06946891e-01 -4.11619631e-02 5.29376847e+01] [ 9.25413126e-02 2.41381284e-03 9.95705920e-01 2.02681445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03710568099999 meters 0.027638077384966812 Centerline is valid? [True, True] Translation: X:220.24, Y:52.95, Z:20.27 [[ 9.05246212e-01 -4.16326037e-01 -8.48641626e-02 2.20241769e+02] [ 4.14196684e-01 9.09210391e-01 -4.21612556e-02 5.29548816e+01] [ 9.47122069e-02 3.01586226e-03 9.95500127e-01 2.02720003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.097105681 meters 0.029120182248595382 Centerline is valid? [True, True] Translation: X:220.30, Y:52.97, Z:20.28 [[ 9.05572229e-01 -4.15593018e-01 -8.49787070e-02 2.20300960e+02] [ 4.13454157e-01 9.09545393e-01 -4.22236653e-02 5.29651536e+01] [ 9.48398519e-02 3.10177907e-03 9.95487710e-01 2.02777790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.157105681 meters 0.029196432389422995 Centerline is valid? [True, True] Translation: X:220.36, Y:52.97, Z:20.28 [[ 9.04787871e-01 -4.17381375e-01 -8.45677055e-02 2.20361510e+02] [ 4.15269823e-01 9.08726753e-01 -4.20316846e-02 5.29727424e+01] [ 9.43921787e-02 2.91134231e-03 9.95530834e-01 2.02835660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.217105681 meters 0.030561992223871168 Centerline is valid? [True, True] Translation: X:220.42, Y:52.99, Z:20.29 [[ 9.05938831e-01 -4.15061832e-01 -8.36570990e-02 2.20420662e+02] [ 4.12984569e-01 9.09787819e-01 -4.15917110e-02 5.29853765e+01] [ 9.33733415e-02 3.13045510e-03 9.95626245e-01 2.02887213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.277105681 meters 0.030441488214560785 Centerline is valid? [True, True] Translation: X:220.48, Y:52.99, Z:20.29 [[ 9.07845733e-01 -4.10843113e-01 -8.38096751e-02 2.20482202e+02] [ 4.08737376e-01 9.11698951e-01 -4.16986766e-02 5.29947829e+01] [ 9.35408070e-02 3.59981899e-03 9.95608939e-01 2.02937548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.337105681 meters 0.0342162103114788 Centerline is valid? [True, True] Translation: X:220.54, Y:53.01, Z:20.30 [[ 9.10049778e-01 -4.06163810e-01 -8.27064705e-02 2.20540944e+02] [ 4.04093525e-01 9.13791390e-01 -4.11548192e-02 5.30070436e+01] [ 9.22920587e-02 4.03178489e-03 9.95723817e-01 2.03007313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.397105681 meters 0.0352632108542108 Centerline is valid? [True, True] Translation: X:220.60, Y:53.02, Z:20.31 [[ 9.11748345e-01 -4.02479628e-01 -8.20067355e-02 2.20601156e+02] [ 4.00428604e-01 9.15418484e-01 -4.08158413e-02 5.30196542e+01] [ 9.14980261e-02 4.37593313e-03 9.95795643e-01 2.03055157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.457105681 meters 0.036434449080766027 Centerline is valid? [True, True] Translation: X:220.66, Y:53.03, Z:20.31 [[ 9.13538245e-01 -3.98320896e-01 -8.23913775e-02 2.20662236e+02] [ 3.96233236e-01 9.17233467e-01 -4.10120724e-02 5.30320167e+01] [ 9.19080943e-02 4.81989445e-03 9.95755829e-01 2.03082882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.517105681 meters 0.035244322159281145 Centerline is valid? [True, True] Translation: X:220.72, Y:53.04, Z:20.31 [[ 9.13212290e-01 -3.98907528e-01 -8.31630806e-02 2.20721940e+02] [ 3.96782484e-01 9.16978543e-01 -4.14006293e-02 5.30419542e+01] [ 9.27737832e-02 4.80990980e-03 9.95675595e-01 2.03111252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.577105681 meters 0.03196193680427278 Centerline is valid? [True, True] Translation: X:220.78, Y:53.05, Z:20.32 [[ 9.09246574e-01 -4.07925322e-01 -8.28709763e-02 2.20783218e+02] [ 4.05848726e-01 9.13006910e-01 -4.12939966e-02 5.30495875e+01] [ 9.25066408e-02 3.91334479e-03 9.95704377e-01 2.03164794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637105681 meters 0.024156774610515318 Centerline is valid? [True, True] Translation: X:220.85, Y:53.05, Z:20.32 [[ 9.02747969e-01 -4.21895503e-01 -8.39660025e-02 2.20848322e+02] [ 4.19822674e-01 9.06640946e-01 -4.18463583e-02 5.30516932e+01] [ 9.37818063e-02 2.52588325e-03 9.95589570e-01 2.03212346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69710568099998 meters 0.017191104503411544 Centerline is valid? [True, True] Translation: X:220.92, Y:53.05, Z:20.33 [[ 8.95215255e-01 -4.37693277e-01 -8.37510762e-02 2.20915401e+02] [ 4.35698892e-01 8.99123918e-01 -4.17451293e-02 5.30508446e+01] [ 9.35741582e-02 8.80625488e-04 9.95611923e-01 2.03282458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75710568099998 meters 0.0160575298179474 Centerline is valid? [True, True] Translation: X:220.97, Y:53.06, Z:20.33 [[ 8.90508803e-01 -4.47298173e-01 -8.31770213e-02 2.20973727e+02] [ 4.45370157e-01 8.94384892e-01 -4.14860037e-02 5.30647928e+01] [ 9.29488848e-02 -1.00911587e-04 9.95670877e-01 2.03347444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.817105681 meters 0.01626014600223813 Centerline is valid? [True, True] Translation: X:221.03, Y:53.09, Z:20.35 [[ 8.91998848e-01 -4.44587260e-01 -8.17326398e-02 2.21025449e+02] [ 4.42711297e-01 8.95735522e-01 -4.07992998e-02 5.30890299e+01] [ 9.13496777e-02 2.08965438e-04 9.95818855e-01 2.03471698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.877105681 meters 0.016320277915239628 Centerline is valid? [True, True] Translation: X:221.07, Y:53.12, Z:20.36 [[ 8.93077472e-01 -4.42963306e-01 -7.87155561e-02 2.21074920e+02] [ 4.41214042e-01 8.96539656e-01 -3.93295632e-02 5.31180710e+01] [ 8.79931710e-02 3.93938224e-04 9.96121000e-01 2.03560108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.937105681 meters 0.01654422818306479 Centerline is valid? [True, True] Translation: X:221.13, Y:53.15, Z:20.37 [[ 8.93367545e-01 -4.42957419e-01 -7.53867030e-02 2.21126008e+02] [ 4.41350334e-01 8.96542558e-01 -3.77004541e-02 5.31454414e+01] [ 8.42870834e-02 4.08415627e-04 9.96441429e-01 2.03662223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.997105681 meters 0.017073113713770228 Centerline is valid? [True, True] Translation: X:221.17, Y:53.18, Z:20.37 [[ 8.94496713e-01 -4.40930568e-01 -7.38638246e-02 2.21173158e+02] [ 4.39378266e-01 8.97541004e-01 -3.69714192e-02 5.31792767e+01] [ 8.25976402e-02 6.16653772e-04 9.96582786e-01 2.03736098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.057105681 meters 0.018790046673095338 Centerline is valid? [True, True] Translation: X:221.22, Y:53.22, Z:20.37 [[ 8.97678275e-01 -4.33981094e-01 -7.63814379e-02 2.21219898e+02] [ 4.32294772e-01 9.00921024e-01 -3.82431520e-02 5.32166572e+01] [ 8.54104482e-02 1.31075044e-03 9.96344989e-01 2.03746819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.117105681 meters 0.022725327577954896 Centerline is valid? [True, True] Translation: X:221.27, Y:53.26, Z:20.37 [[ 9.01315565e-01 -4.25525875e-01 -8.09813643e-02 2.21268043e+02] [ 4.23593959e-01 9.04943439e-01 -4.05651417e-02 5.32554168e+01] [ 9.05450717e-02 2.25877688e-03 9.95889797e-01 2.03715679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.177105681 meters 0.02953553765848154 Centerline is valid? [True, True] Translation: X:221.32, Y:53.30, Z:20.37 [[ 9.05968329e-01 -4.14717924e-01 -8.50319372e-02 2.21315561e+02] [ 4.12539126e-01 9.09943232e-01 -4.26002908e-02 5.32952523e+01] [ 9.50413399e-02 3.51551317e-03 9.95467119e-01 2.03712550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.237105681 meters 0.03408302873265895 Centerline is valid? [True, True] Translation: X:221.37, Y:53.32, Z:20.37 [[ 9.08535830e-01 -4.09005362e-01 -8.53068591e-02 2.21367658e+02] [ 4.06785399e-01 9.12522565e-01 -4.27575423e-02 5.33230697e+01] [ 9.53324980e-02 4.14517443e-03 9.95436855e-01 2.03746104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.297105681 meters 0.030760836402452005 Centerline is valid? [True, True] Translation: X:221.43, Y:53.34, Z:20.38 [[ 9.05973170e-01 -4.14845839e-01 -8.43536882e-02 2.21427412e+02] [ 4.12699990e-01 9.09884996e-01 -4.22848912e-02 5.33361270e+01] [ 9.42938664e-02 3.49621060e-03 9.95538268e-01 2.03807726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.357105681 meters 0.022717484984341358 Centerline is valid? [True, True] Translation: X:221.49, Y:53.34, Z:20.39 [[ 9.01252337e-01 -4.25267060e-01 -8.30189907e-02 2.21491636e+02] [ 4.23231891e-01 9.05064793e-01 -4.16231603e-02 5.33388693e+01] [ 9.28385247e-02 2.37668607e-03 9.95678341e-01 2.03906285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41710568099998 meters 0.021249280264307967 Centerline is valid? [True, True] Translation: X:221.55, Y:53.36, Z:20.40 [[ 8.99585816e-01 -4.28834086e-01 -8.27446988e-02 2.21546637e+02] [ 4.26826872e-01 9.03381037e-01 -4.14912531e-02 5.33592611e+01] [ 9.25428554e-02 2.00728181e-03 9.95706679e-01 2.03963883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47710568099998 meters 0.018086028839990918 Centerline is valid? [True, True] Translation: X:221.61, Y:53.37, Z:20.40 [[ 8.95944969e-01 -4.36189717e-01 -8.37922618e-02 2.21605749e+02] [ 4.34160012e-01 8.99853795e-01 -4.20503454e-02 5.33724644e+01] [ 9.37427130e-02 1.29554608e-03 9.95595613e-01 2.04002189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53710568099999 meters 0.016300760004530315 Centerline is valid? [True, True] Translation: X:221.67, Y:53.38, Z:20.41 [[ 8.90908754e-01 -4.46357087e-01 -8.39460749e-02 2.21665917e+02] [ 4.44363697e-01 8.94854901e-01 -4.21379969e-02 5.33808641e+01] [ 9.39281501e-02 2.38522055e-04 9.95578950e-01 2.04068251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.597105681 meters 0.01648628997859366 Centerline is valid? [True, True] Translation: X:221.72, Y:53.40, Z:20.42 [[ 8.90672143e-01 -4.47253617e-01 -8.16537595e-02 2.21719033e+02] [ 4.45370495e-01 8.94407166e-01 -4.09993032e-02 5.34018662e+01] [ 9.13687943e-02 1.50761897e-04 9.95817112e-01 2.04166867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.657105681 meters 0.016953501750821495 Centerline is valid? [True, True] Translation: X:221.77, Y:53.43, Z:20.42 [[ 8.92356777e-01 -4.43803310e-01 -8.20853459e-02 2.21771464e+02] [ 4.41884403e-01 8.96124072e-01 -4.12288960e-02 5.34269828e+01] [ 9.18561750e-02 5.18650742e-04 9.95772150e-01 2.04229413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.717105681 meters 0.019773891812805425 Centerline is valid? [True, True] Translation: X:221.82, Y:53.46, Z:20.43 [[ 8.97198765e-01 -4.33658968e-01 -8.35121245e-02 2.21822488e+02] [ 4.31625264e-01 9.01075623e-01 -4.19803846e-02 5.34570190e+01] [ 9.34559099e-02 1.61880647e-03 9.95622103e-01 2.04256983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.777105681 meters 0.026264369318675634 Centerline is valid? [True, True] Translation: X:221.87, Y:53.49, Z:20.43 [[ 9.03266481e-01 -4.20426285e-01 -8.57403242e-02 2.21872149e+02] [ 4.18221734e-01 9.07321472e-01 -4.31083269e-02 5.34904319e+01] [ 9.59179109e-02 3.07983969e-03 9.95384483e-01 2.04264301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.837105681 meters 0.032044195572125865 Centerline is valid? [True, True] Translation: X:221.92, Y:53.52, Z:20.43 [[ 9.07151946e-01 -4.11490871e-01 -8.80375481e-02 2.21921815e+02] [ 4.09123430e-01 9.11404468e-01 -4.42709183e-02 5.35228267e+01] [ 9.84548934e-02 4.14222601e-03 9.95132894e-01 2.04268075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.897105681 meters 0.03353674654554413 Centerline is valid? [True, True] Translation: X:221.98, Y:53.54, Z:20.43 [[ 9.07747085e-01 -4.10490930e-01 -8.65588001e-02 2.21978170e+02] [ 4.08197160e-01 9.11855069e-01 -4.35363288e-02 5.35403269e+01] [ 9.68003487e-02 4.18691919e-03 9.95295013e-01 2.04331671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.957105681 meters 0.03422054870152782 Centerline is valid? [True, True] Translation: X:222.03, Y:53.56, Z:20.44 [[ 9.07724628e-01 -4.10528442e-01 -8.66163813e-02 2.22032744e+02] [ 4.08228483e-01 9.11838043e-01 -4.35991814e-02 5.35626484e+01] [ 9.68788156e-02 4.21677673e-03 9.95287252e-01 2.04387763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.017105681 meters 0.03083283381263326 Centerline is valid? [True, True] Translation: X:222.09, Y:53.57, Z:20.45 [[ 9.04678824e-01 -4.17794296e-01 -8.36908145e-02 2.22094138e+02] [ 4.15675503e-01 9.08535472e-01 -4.21565146e-02 5.35706860e+01] [ 9.36488250e-02 3.34988462e-03 9.95599656e-01 2.04472139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.077105681 meters 0.022040687856089505 Centerline is valid? [True, True] Translation: X:222.16, Y:53.57, Z:20.45 [[ 8.99380431e-01 -4.29230793e-01 -8.29202402e-02 2.22160698e+02] [ 4.27198359e-01 9.03192286e-01 -4.17762564e-02 5.35713436e+01] [ 9.28245770e-02 2.14935699e-03 9.95680159e-01 2.04535024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137105681 meters 0.020664066179463883 Centerline is valid? [True, True] Translation: X:222.22, Y:53.59, Z:20.46 [[ 8.95803430e-01 -4.36329079e-01 -8.45762918e-02 2.22219153e+02] [ 4.34243041e-01 8.99785959e-01 -4.26404715e-02 5.35853166e+01] [ 9.47058375e-02 1.47081452e-03 9.95504214e-01 2.04552382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19710568099998 meters 0.020288048503035644 Centerline is valid? [True, True] Translation: X:222.27, Y:53.61, Z:20.46 [[ 8.94958600e-01 -4.37510406e-01 -8.73713285e-02 2.22274481e+02] [ 4.35288214e-01 8.99212254e-01 -4.40623710e-02 5.36050874e+01] [ 9.78431151e-02 1.40228836e-03 9.95200863e-01 2.04566104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25710568099998 meters 0.025884743527732797 Centerline is valid? [True, True] Translation: X:222.32, Y:53.64, Z:20.47 [[ 9.01300264e-01 -4.24332268e-01 -8.71777529e-02 2.22323648e+02] [ 4.22054596e-01 9.05502031e-01 -4.39998924e-02 5.36379870e+01] [ 9.76102065e-02 2.86334335e-03 9.95220603e-01 2.04660081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.317105681 meters 0.03277181560662403 Centerline is valid? [True, True] Translation: X:222.37, Y:53.67, Z:20.47 [[ 9.07157812e-01 -4.12006280e-01 -8.55308645e-02 2.22372772e+02] [ 4.09756454e-01 9.11171603e-01 -4.31967313e-02 5.36718865e+01] [ 9.57306194e-02 4.13942849e-03 9.95398671e-01 2.04719076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.377105681 meters 0.037116728804350366 Centerline is valid? [True, True] Translation: X:222.43, Y:53.70, Z:20.48 [[ 9.09868270e-01 -4.06588650e-01 -8.26159848e-02 2.22425380e+02] [ 4.04466810e-01 9.13599971e-01 -4.17335901e-02 5.36997546e+01] [ 9.24463654e-02 4.55664561e-03 9.95707239e-01 2.04799109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.437105681 meters 0.0404634644394199 Centerline is valid? [True, True] Translation: X:222.48, Y:53.72, Z:20.49 [[ 9.11334194e-01 -4.03286504e-01 -8.26437106e-02 2.22478739e+02] [ 4.01148291e-01 9.15060605e-01 -4.17628693e-02 5.37241392e+01] [ 9.24664054e-02 4.90754757e-03 9.95703711e-01 2.04850308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.497105681 meters 0.042522873167107005 Centerline is valid? [True, True] Translation: X:222.53, Y:53.75, Z:20.48 [[ 9.13580545e-01 -3.97235363e-01 -8.70324878e-02 2.22532542e+02] [ 3.94834972e-01 9.17698275e-01 -4.39911445e-02 5.37495819e+01] [ 9.73444022e-02 5.82598386e-03 9.95233704e-01 2.04842150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.557105681 meters 0.04023671741178591 Centerline is valid? [True, True] Translation: X:222.59, Y:53.77, Z:20.49 [[ 9.14446357e-01 -3.94703283e-01 -8.94269493e-02 2.22589827e+02] [ 3.92155625e-01 9.18787224e-01 -4.52106503e-02 5.37683662e+01] [ 1.00009131e-01 6.27343322e-03 9.94966742e-01 2.04852768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.617105681 meters 0.038098395372066496 Centerline is valid? [True, True] Translation: X:222.65, Y:53.78, Z:20.49 [[ 9.12760995e-01 -3.98718681e-01 -8.88300615e-02 2.22648093e+02] [ 3.96222871e-01 9.17054922e-01 -4.49188824e-02 5.37845905e+01] [ 9.93720427e-02 5.80370176e-03 9.95033424e-01 2.04910723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.677105681 meters 0.03256935012095995 Centerline is valid? [True, True] Translation: X:222.71, Y:53.79, Z:20.50 [[ 9.08906594e-01 -4.07648739e-01 -8.78140541e-02 2.22709690e+02] [ 4.05248503e-01 9.13126217e-01 -4.44315525e-02 5.37940155e+01] [ 9.82977814e-02 4.79761711e-03 9.95145481e-01 2.04984263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.737105681 meters 0.028502715908994822 Centerline is valid? [True, True] Translation: X:222.77, Y:53.80, Z:20.51 [[ 9.05029939e-01 -4.16704601e-01 -8.53116868e-02 2.22769264e+02] [ 4.14478876e-01 9.09034378e-01 -4.31712947e-02 5.38045056e+01] [ 9.55409333e-02 3.71142217e-03 9.95418583e-01 2.05062185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.797105681 meters 0.02407077171594204 Centerline is valid? [True, True] Translation: X:222.83, Y:53.82, Z:20.51 [[ 9.00338407e-01 -4.26049536e-01 -8.87273684e-02 2.22829575e+02] [ 4.23685566e-01 9.04695376e-01 -4.49089999e-02 5.38187558e+01] [ 9.94046984e-02 2.84079209e-03 9.95043032e-01 2.05055215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.857105681 meters 0.020076890300188586 Centerline is valid? [True, True] Translation: X:222.89, Y:53.83, Z:20.51 [[ 8.95709322e-01 -4.35512902e-01 -8.96288078e-02 2.22889845e+02] [ 4.33146227e-01 9.00180642e-01 -4.53779370e-02 5.38305920e+01] [ 1.00444795e-01 1.82306124e-03 9.94940963e-01 2.05132646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91710568099998 meters 0.016865834661736682 Centerline is valid? [True, True] Translation: X:222.95, Y:53.85, Z:20.52 [[ 8.90042976e-01 -4.47410103e-01 -8.74511317e-02 2.22946539e+02] [ 4.45211356e-01 8.94328771e-01 -4.43045924e-02 5.38457136e+01] [ 9.80323855e-02 4.98754337e-04 9.95183100e-01 2.05227324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97710568099998 meters 0.01663876245960474 Centerline is valid? [True, True] Translation: X:223.00, Y:53.87, Z:20.53 [[ 8.87143238e-01 -4.53249425e-01 -8.68437307e-02 2.22999540e+02] [ 4.51107821e-01 8.91383723e-01 -4.40090102e-02 5.38703363e+01] [ 9.73581465e-02 -1.33590222e-04 9.95249403e-01 2.05277575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03710568099999 meters 0.018654396720745352 Centerline is valid? [True, True] Translation: X:223.06, Y:53.89, Z:20.53 [[ 8.82009372e-01 -4.63216961e-01 -8.65419776e-02 2.23055473e+02] [ 4.61134540e-01 8.86244106e-01 -4.38898702e-02 5.38888699e+01] [ 9.70278499e-02 -1.19621815e-03 9.95280948e-01 2.05335468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.097105681 meters 0.024924528572369816 Centerline is valid? [True, True] Translation: X:223.11, Y:53.91, Z:20.54 [[ 8.72909264e-01 -4.79882128e-01 -8.79918192e-02 2.23111604e+02] [ 4.77809301e-01 8.77327637e-01 -4.46596912e-02 5.39106739e+01] [ 9.86290425e-02 -3.05945149e-03 9.95119567e-01 2.05357025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.157105681 meters 0.038366943421699835 Centerline is valid? [True, True] Translation: X:223.17, Y:53.93, Z:20.54 [[ 8.65563331e-01 -4.93173120e-01 -8.70654606e-02 2.23168956e+02] [ 4.91207067e-01 8.69919597e-01 -4.42211725e-02 5.39262074e+01] [ 9.75486439e-02 -4.49094423e-03 9.95220626e-01 2.05424349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.217105681 meters 0.044268808459831915 Centerline is valid? [True, True] Translation: X:223.22, Y:53.96, Z:20.55 [[ 8.62520855e-01 -4.98429237e-01 -8.73273754e-02 2.23216451e+02] [ 4.96476656e-01 8.66915458e-01 -4.43679996e-02 5.39602309e+01] [ 9.78197598e-02 -5.08767834e-03 9.95191143e-01 2.05472659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.277105681 meters 0.0437761236431348 Centerline is valid? [True, True] Translation: X:223.26, Y:54.00, Z:20.55 [[ 8.63288436e-01 -4.96890075e-01 -8.85060997e-02 2.23261860e+02] [ 4.94874965e-01 8.67799266e-01 -4.49800433e-02 5.40013577e+01] [ 9.91556654e-02 -4.96870173e-03 9.95059529e-01 2.05499642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.337105681 meters 0.04435773000803878 Centerline is valid? [True, True] Translation: X:223.30, Y:54.05, Z:20.55 [[ 8.63496327e-01 -4.96016643e-01 -9.13322718e-02 2.23304660e+02] [ 4.93862530e-01 8.68298624e-01 -4.64467537e-02 5.40453557e+01] [ 1.02342049e-01 -4.99898558e-03 9.94736706e-01 2.05512532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.397105681 meters 0.03683702255802525 Centerline is valid? [True, True] Translation: X:223.34, Y:54.10, Z:20.57 [[ 8.63029570e-01 -4.97582450e-01 -8.71301749e-02 2.23340252e+02] [ 4.95629002e-01 8.67402662e-01 -4.43228470e-02 5.41025784e+01] [ 9.76312165e-02 -4.93231397e-03 9.95210439e-01 2.05654231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.457105681 meters 0.040765375596500814 Centerline is valid? [True, True] Translation: X:223.38, Y:54.15, Z:20.57 [[ 8.60647708e-01 -5.01867299e-01 -8.61088647e-02 2.23383590e+02] [ 4.99977411e-01 8.64928246e-01 -4.38373997e-02 5.41456608e+01] [ 9.64785467e-02 -5.32392973e-03 9.95320826e-01 2.05712934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.517105681 meters 0.03905742528050657 Centerline is valid? [True, True] Translation: X:223.42, Y:54.20, Z:20.57 [[ 8.58635677e-01 -5.04840822e-01 -8.87722818e-02 2.23424358e+02] [ 5.02846690e-01 8.63192801e-01 -4.52039260e-02 5.41966362e+01] [ 9.94483818e-02 -5.82514446e-03 9.95025672e-01 2.05741762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.577105681 meters 0.04038720378705563 Centerline is valid? [True, True] Translation: X:223.46, Y:54.25, Z:20.58 [[ 8.59561914e-01 -5.03486760e-01 -8.74894261e-02 2.23459030e+02] [ 5.01542086e-01 8.63984937e-01 -4.45596798e-02 5.42548045e+01] [ 9.80247550e-02 -5.57782563e-03 9.95168345e-01 2.05803964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637105681 meters 0.03839628341284978 Centerline is valid? [True, True] Translation: X:223.50, Y:54.31, Z:20.58 [[ 8.59280341e-01 -5.04001726e-01 -8.72900612e-02 2.23498816e+02] [ 5.02066595e-01 8.63684450e-01 -4.44781292e-02 5.43055910e+01] [ 9.78081224e-02 -5.60624185e-03 9.95189500e-01 2.05838883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69710568099998 meters 0.03978294081440917 Centerline is valid? [True, True] Translation: X:223.54, Y:54.35, Z:20.59 [[ 8.59017448e-01 -5.04507946e-01 -8.69526156e-02 2.23541175e+02] [ 5.02586755e-01 8.63388824e-01 -4.43428934e-02 5.43505684e+01] [ 9.74452586e-02 -5.60991384e-03 9.95225075e-01 2.05896016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75710568099998 meters 0.03542248041309648 Centerline is valid? [True, True] Translation: X:223.58, Y:54.40, Z:20.59 [[ 8.61892060e-01 -4.99201370e-01 -8.91070679e-02 2.23580175e+02] [ 4.97151835e-01 8.66470970e-01 -4.54764853e-02 5.44045041e+01] [ 9.99106113e-02 -5.10392083e-03 9.94983326e-01 2.05914472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.817105681 meters 0.033744972364674816 Centerline is valid? [True, True] Translation: X:223.62, Y:54.46, Z:20.60 [[ 8.62472646e-01 -4.98272647e-01 -8.86865492e-02 2.23618262e+02] [ 4.96236193e-01 8.67006207e-01 -4.52755852e-02 5.44581743e+01] [ 9.94513743e-02 -4.96052171e-03 9.95030059e-01 2.05968567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.877105681 meters 0.03809998360998948 Centerline is valid? [True, True] Translation: X:223.66, Y:54.50, Z:20.61 [[ 8.59717780e-01 -5.03768236e-01 -8.42787202e-02 2.23662156e+02] [ 5.01952560e-01 8.63822680e-01 -4.30581642e-02 5.44982019e+01] [ 9.44932053e-02 -5.28605002e-03 9.95511472e-01 2.06089014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.937105681 meters 0.040161206743939845 Centerline is valid? [True, True] Translation: X:223.71, Y:54.54, Z:20.62 [[ 8.58201898e-01 -5.06742794e-01 -8.18611207e-02 2.23708085e+02] [ 5.05042637e-01 8.62080103e-01 -4.18309774e-02 5.45387346e+01] [ 9.17683898e-02 -5.44393204e-03 9.95765498e-01 2.06159811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.997105681 meters 0.040389547335569966 Centerline is valid? [True, True] Translation: X:223.75, Y:54.58, Z:20.61 [[ 8.57937845e-01 -5.06633420e-01 -8.52363311e-02 2.23751042e+02] [ 5.04788066e-01 8.62143084e-01 -4.35696140e-02 5.45819870e+01] [ 9.55597359e-02 -5.64626196e-03 9.95407684e-01 2.06149610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.057105681 meters 0.040144041424667994 Centerline is valid? [True, True] Translation: X:223.80, Y:54.62, Z:20.62 [[ 8.59436351e-01 -5.04063484e-01 -8.53765910e-02 2.23796986e+02] [ 5.02195820e-01 8.63650117e-01 -4.36787628e-02 5.46210977e+01] [ 9.57523721e-02 -5.33665062e-03 9.95390880e-01 2.06192257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.117105681 meters 0.03527590506412239 Centerline is valid? [True, True] Translation: X:223.84, Y:54.67, Z:20.62 [[ 8.63560419e-01 -4.96478875e-01 -8.81596796e-02 2.23840363e+02] [ 4.94447085e-01 8.68036426e-01 -4.51092435e-02 5.46674835e+01] [ 9.89215996e-02 -4.63573932e-03 9.95084432e-01 2.06221315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.177105681 meters 0.02507661635617051 Centerline is valid? [True, True] Translation: X:223.88, Y:54.72, Z:20.63 [[ 8.73442749e-01 -4.79165765e-01 -8.65906057e-02 2.23881154e+02] [ 4.77119592e-01 8.77720546e-01 -4.43118365e-02 5.47191469e+01] [ 9.72350687e-02 -2.61022213e-03 9.95258021e-01 2.06285811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.237105681 meters 0.017398375675035847 Centerline is valid? [True, True] Translation: X:223.92, Y:54.77, Z:20.64 [[ 8.83666107e-01 -4.60394077e-01 -8.46847401e-02 2.23919056e+02] [ 4.58349412e-01 8.87714498e-01 -4.33449659e-02 5.47748443e+01] [ 9.51316371e-02 -5.12723482e-04 9.95464569e-01 2.06363717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.297105681 meters 0.01898790532502923 Centerline is valid? [True, True] Translation: X:223.96, Y:54.82, Z:20.64 [[ 8.90401532e-01 -4.47184286e-01 -8.49195271e-02 2.23962239e+02] [ 4.45067442e-01 8.94441382e-01 -4.34693767e-02 5.48185839e+01] [ 9.53943614e-02 9.10282918e-04 9.95439143e-01 2.06373240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.357105681 meters 0.01972313713985981 Centerline is valid? [True, True] Translation: X:224.01, Y:54.85, Z:20.64 [[ 8.91916978e-01 -4.43245397e-01 -8.95411816e-02 2.24012272e+02] [ 4.40869712e-01 8.96399186e-01 -4.58518876e-02 5.48498368e+01] [ 1.00588280e-01 1.42008204e-03 9.94927124e-01 2.06378369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41710568099998 meters 0.020443983748826017 Centerline is valid? [True, True] Translation: X:224.07, Y:54.87, Z:20.64 [[ 8.92513712e-01 -4.41582352e-01 -9.17839901e-02 2.24066626e+02] [ 4.39072809e-01 8.97219141e-01 -4.70412729e-02 5.48737652e+01] [ 1.03122949e-01 1.68512674e-03 9.94667189e-01 2.06389205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47710568099998 meters 0.019512862841281217 Centerline is valid? [True, True] Translation: X:224.12, Y:54.89, Z:20.65 [[ 8.91642330e-01 -4.43837624e-01 -8.93427073e-02 2.24122560e+02] [ 4.41467618e-01 8.96106102e-01 -4.58278893e-02 5.48917570e+01] [ 1.00400687e-01 1.42017374e-03 9.94946072e-01 2.06483600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53710568099999 meters 0.018255748379261024 Centerline is valid? [True, True] Translation: X:224.18, Y:54.91, Z:20.66 [[ 8.90126290e-01 -4.47419523e-01 -8.65503162e-02 2.24179203e+02] [ 4.45209179e-01 8.94323621e-01 -4.44302640e-02 5.49061684e+01] [ 9.72829597e-02 1.01555087e-03 9.95256246e-01 2.06585188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.597105681 meters 0.01660836130648686 Centerline is valid? [True, True] Translation: X:224.24, Y:54.91, Z:20.67 [[ 8.86493788e-01 -4.54910958e-01 -8.47631092e-02 2.24240537e+02] [ 4.52823832e-01 8.90536905e-01 -4.35269801e-02 5.49146660e+01] [ 9.52855772e-02 2.03641517e-04 9.95449957e-01 2.06654000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.657105681 meters 0.016867132626604855 Centerline is valid? [True, True] Translation: X:224.30, Y:54.93, Z:20.67 [[ 8.82857705e-01 -4.61473662e-01 -8.72028224e-02 2.24301195e+02] [ 4.59292491e-01 8.87153777e-01 -4.48172164e-02 5.49252556e+01] [ 9.80442782e-02 -4.84376765e-04 9.95181936e-01 2.06669879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.717105681 meters 0.01691655272956714 Centerline is valid? [True, True] Translation: X:224.36, Y:54.95, Z:20.67 [[ 8.83078687e-01 -4.60977163e-01 -8.75904493e-02 2.24355756e+02] [ 4.58770442e-01 8.87411909e-01 -4.50531396e-02 5.49452314e+01] [ 9.84972763e-02 -3.98441780e-04 9.95137241e-01 2.06725083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.777105681 meters 0.017863027467719443 Centerline is valid? [True, True] Translation: X:224.41, Y:54.97, Z:20.68 [[ 8.89110635e-01 -4.49481571e-01 -8.63052545e-02 2.24405892e+02] [ 4.47281264e-01 8.93289151e-01 -4.44293067e-02 5.49722314e+01] [ 9.70657022e-02 8.99845739e-04 9.95277569e-01 2.06807320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.837105681 meters 0.022282780470795904 Centerline is valid? [True, True] Translation: X:224.46, Y:55.00, Z:20.70 [[ 8.95442033e-01 -4.37763376e-01 -8.09122565e-02 2.24456516e+02] [ 4.35781026e-01 8.99087891e-01 -4.16636765e-02 5.50022275e+01] [ 9.09860617e-02 2.04738100e-03 9.95850061e-01 2.06953584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.897105681 meters 0.024554892360589425 Centerline is valid? [True, True] Translation: X:224.51, Y:55.02, Z:20.69 [[ 8.97102928e-01 -4.33950997e-01 -8.30233002e-02 2.24512932e+02] [ 4.31846796e-01 9.00932998e-01 -4.27560332e-02 5.50225186e+01] [ 9.33524539e-02 2.50321644e-03 9.95629978e-01 2.06942565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.957105681 meters 0.02417392432362475 Centerline is valid? [True, True] Translation: X:224.57, Y:55.04, Z:20.69 [[ 8.96394755e-01 -4.34555687e-01 -8.73945008e-02 2.24570660e+02] [ 4.32224982e-01 9.00641264e-01 -4.50208631e-02 5.50399064e+01] [ 9.82751657e-02 2.58237901e-03 9.95155929e-01 2.06919284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.017105681 meters 0.022626928058770403 Centerline is valid? [True, True] Translation: X:224.63, Y:55.06, Z:20.70 [[ 8.94189585e-01 -4.39027958e-01 -8.76324074e-02 2.24628117e+02] [ 4.36702430e-01 8.98470880e-01 -4.51781628e-02 5.50552260e+01] [ 9.85696428e-02 2.12855745e-03 9.95127879e-01 2.06960974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.077105681 meters 0.018090760233839563 Centerline is valid? [True, True] Translation: X:224.69, Y:55.06, Z:20.70 [[ 8.88890091e-01 -4.49850961e-01 -8.66517099e-02 2.24689918e+02] [ 4.47627155e-01 8.93103155e-01 -4.46842902e-02 5.50647652e+01] [ 9.74901863e-02 9.31764394e-04 9.95236050e-01 2.07009553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137105681 meters 0.017589293731163625 Centerline is valid? [True, True] Translation: X:224.75, Y:55.07, Z:20.71 [[ 8.81054204e-01 -4.65427551e-01 -8.43841477e-02 2.24752606e+02] [ 4.63386893e-01 8.85085673e-01 -4.35423751e-02 5.50714688e+01] [ 9.49530212e-02 -7.39315417e-04 9.95481480e-01 2.07071896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19710568099998 meters 0.0204215861685513 Centerline is valid? [True, True] Translation: X:224.81, Y:55.09, Z:20.71 [[ 8.76496194e-01 -4.73951745e-01 -8.44047709e-02 2.24810461e+02] [ 4.71945969e-01 8.80549310e-01 -4.35880171e-02 5.50888038e+01] [ 9.49811795e-02 -1.62976027e-03 9.95477734e-01 2.07124516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25710568099998 meters 0.023076118250315192 Centerline is valid? [True, True] Translation: X:224.87, Y:55.11, Z:20.72 [[ 8.73681022e-01 -4.79035500e-01 -8.48908761e-02 2.24865619e+02] [ 4.77027477e-01 8.77792852e-01 -4.38690700e-02 5.51122752e+01] [ 9.55314461e-02 -2.16770654e-03 9.95424052e-01 2.07175499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.317105681 meters 0.0240903257576803 Centerline is valid? [True, True] Translation: X:224.92, Y:55.14, Z:20.72 [[ 8.72895149e-01 -4.79811537e-01 -8.85152342e-02 2.24917106e+02] [ 4.77628994e-01 8.77368503e-01 -4.57717645e-02 5.51392441e+01] [ 9.96222992e-02 -2.32349100e-03 9.95022612e-01 2.07154873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.377105681 meters 0.022163060355449918 Centerline is valid? [True, True] Translation: X:224.97, Y:55.17, Z:20.73 [[ 8.73500930e-01 -4.79208045e-01 -8.57658122e-02 2.24965891e+02] [ 4.77155048e-01 8.77698657e-01 -4.43635797e-02 5.51716247e+01] [ 9.65359224e-02 -2.17196207e-03 9.95327131e-01 2.07267627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.437105681 meters 0.01998252237914111 Centerline is valid? [True, True] Translation: X:225.01, Y:55.21, Z:20.74 [[ 8.76379454e-01 -4.74547961e-01 -8.22391956e-02 2.25011623e+02] [ 4.72637108e-01 8.80228265e-01 -4.25718858e-02 5.52092848e+01] [ 9.25916661e-02 -1.56016951e-03 9.95702942e-01 2.07371182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.497105681 meters 0.016690569451744325 Centerline is valid? [True, True] Translation: X:225.05, Y:55.26, Z:20.75 [[ 8.85709429e-01 -4.57914587e-01 -7.63743232e-02 2.25053536e+02] [ 4.56204007e-01 8.88996174e-01 -3.95437282e-02 5.52554284e+01] [ 8.60041311e-02 1.81980701e-04 9.96294764e-01 2.07497136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.557105681 meters 0.01865341386057957 Centerline is valid? [True, True] Translation: X:225.10, Y:55.30, Z:20.75 [[ 8.90953640e-01 -4.47608689e-01 -7.64726863e-02 2.25098104e+02] [ 4.45852980e-01 8.94228719e-01 -3.96247301e-02 5.52959829e+01] [ 8.61204458e-02 1.20822246e-03 9.96284000e-01 2.07526282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.617105681 meters 0.024094636335798697 Centerline is valid? [True, True] Translation: X:225.15, Y:55.33, Z:20.75 [[ 8.96570719e-01 -4.35878620e-01 -7.85542777e-02 2.25146758e+02] [ 4.33979522e-01 9.00002224e-01 -4.07157437e-02 5.53317816e+01] [ 8.84461469e-02 2.41359575e-03 9.96078036e-01 2.07503095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.677105681 meters 0.024299220356395416 Centerline is valid? [True, True] Translation: X:225.20, Y:55.35, Z:20.75 [[ 8.96448166e-01 -4.36097207e-01 -7.87395224e-02 2.25200972e+02] [ 4.34189596e-01 8.99896360e-01 -4.08158750e-02 5.53531203e+01] [ 8.86570987e-02 2.40143485e-03 9.96059311e-01 2.07548465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.737105681 meters 0.025142993238315724 Centerline is valid? [True, True] Translation: X:225.26, Y:55.37, Z:20.76 [[ 8.96806885e-01 -4.35455586e-01 -7.82038570e-02 2.25256178e+02] [ 4.33568193e-01 9.00206796e-01 -4.05752020e-02 5.53725932e+01] [ 8.80683419e-02 2.48141555e-03 9.96111344e-01 2.07584053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.797105681 meters 0.0246101660028178 Centerline is valid? [True, True] Translation: X:225.32, Y:55.39, Z:20.76 [[ 8.95981886e-01 -4.36683340e-01 -8.07720305e-02 2.25315265e+02] [ 4.34673489e-01 8.99611948e-01 -4.19201781e-02 5.53878823e+01] [ 9.09693271e-02 2.45025996e-03 9.95850680e-01 2.07582281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.857105681 meters 0.02161404408466248 Centerline is valid? [True, True] Translation: X:225.38, Y:55.40, Z:20.76 [[ 8.92634907e-01 -4.43159373e-01 -8.25390366e-02 2.25377540e+02] [ 4.41084841e-01 8.96440912e-01 -4.28702113e-02 5.53951119e+01] [ 9.29897051e-02 1.86072928e-03 9.95665332e-01 2.07590280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91710568099998 meters 0.017600776531086163 Centerline is valid? [True, True] Translation: X:225.44, Y:55.41, Z:20.77 [[ 8.88353593e-01 -4.51767766e-01 -8.20596118e-02 2.25438417e+02] [ 4.49752913e-01 8.92135054e-01 -4.26305224e-02 5.54057591e+01] [ 9.24673522e-02 9.64428258e-04 9.95715250e-01 2.07659597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97710568099998 meters 0.01749554461240895 Centerline is valid? [True, True] Translation: X:225.50, Y:55.41, Z:20.77 [[ 8.78858429e-01 -4.69720088e-01 -8.34919158e-02 2.25501740e+02] [ 4.67710908e-01 8.82814946e-01 -4.34082786e-02 5.54096185e+01] [ 9.40976516e-02 -9.00348142e-04 9.95562565e-01 2.07704707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03710568099999 meters 0.021201371054983625 Centerline is valid? [True, True] Translation: X:225.56, Y:55.42, Z:20.78 [[ 8.73767026e-01 -4.79334009e-01 -8.22805682e-02 2.25561141e+02] [ 4.77421364e-01 8.77630568e-01 -4.28185370e-02 5.54216168e+01] [ 9.27363228e-02 -1.86907537e-03 9.95688948e-01 2.07803439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.097105681 meters 0.01817574316701784 Centerline is valid? [True, True] Translation: X:225.61, Y:55.46, Z:20.78 [[ 8.77674403e-01 -4.71892022e-01 -8.36992355e-02 2.25608620e+02] [ 4.69878038e-01 8.81655673e-01 -4.35649395e-02 5.54582767e+01] [ 9.43518532e-02 -1.09260030e-03 9.95538314e-01 2.07829096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.157105681 meters 0.01700325743968057 Centerline is valid? [True, True] Translation: X:225.65, Y:55.50, Z:20.79 [[ 8.86097813e-01 -4.55873850e-01 -8.37239460e-02 2.25653089e+02] [ 4.53785513e-01 8.90044175e-01 -4.35898538e-02 5.55005287e+01] [ 9.43894849e-02 6.32160367e-04 9.95535145e-01 2.07882587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.217105681 meters 0.023059855104974773 Centerline is valid? [True, True] Translation: X:225.70, Y:55.54, Z:20.80 [[ 8.95202385e-01 -4.38206983e-01 -8.11623686e-02 2.25697871e+02] [ 4.36168487e-01 8.98870736e-01 -4.22900795e-02 5.55418896e+01] [ 9.14862861e-02 2.45771249e-03 9.95803303e-01 2.07963095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.277105681 meters 0.0289705183746378 Centerline is valid? [True, True] Translation: X:225.75, Y:55.57, Z:20.80 [[ 8.99345787e-01 -4.29647114e-01 -8.11203596e-02 2.25747616e+02] [ 4.27575388e-01 9.02990723e-01 -4.22734125e-02 5.55729577e+01] [ 9.14135819e-02 3.33334623e-03 9.95807434e-01 2.08020667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.337105681 meters 0.03012766573242668 Centerline is valid? [True, True] Translation: X:225.80, Y:55.60, Z:20.81 [[ 9.00277073e-01 -4.27975515e-01 -7.96124997e-02 2.25801989e+02] [ 4.25973111e-01 9.03783767e-01 -4.14947162e-02 5.55956752e+01] [ 8.97112074e-02 3.44395752e-03 9.95961866e-01 2.08079441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.397105681 meters 0.03040698557129012 Centerline is valid? [True, True] Translation: X:225.86, Y:55.61, Z:20.81 [[ 9.00512772e-01 -4.27256390e-01 -8.08005229e-02 2.25858613e+02] [ 4.25187677e-01 9.04123346e-01 -4.21475380e-02 5.56132176e+01] [ 9.10614441e-02 3.59900965e-03 9.95838772e-01 2.08115464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.457105681 meters 0.03246916471496422 Centerline is valid? [True, True] Translation: X:225.92, Y:55.63, Z:20.82 [[ 9.01407499e-01 -4.25357344e-01 -8.08433637e-02 2.25916194e+02] [ 4.23275762e-01 9.05017410e-01 -4.22032855e-02 5.56291869e+01] [ 9.11161291e-02 3.82332161e-03 9.95832934e-01 2.08196646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.517105681 meters 0.03441960891276993 Centerline is valid? [True, True] Translation: X:225.97, Y:55.65, Z:20.82 [[ 9.02931325e-01 -4.22143152e-01 -8.06856952e-02 2.25971894e+02] [ 4.20053971e-01 9.06519596e-01 -4.21530861e-02 5.56506421e+01] [ 9.09378005e-02 4.16899517e-03 9.95847848e-01 2.08235429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.577105681 meters 0.035020692990633956 Centerline is valid? [True, True] Translation: X:226.03, Y:55.66, Z:20.83 [[ 9.04854371e-01 -4.17686557e-01 -8.23195409e-02 2.26034750e+02] [ 4.15492641e-01 9.08578935e-01 -4.30137774e-02 5.56597104e+01] [ 9.27600774e-02 4.71804110e-03 9.95677311e-01 2.08282751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.637105681 meters 0.03511500757461781 Centerline is valid? [True, True] Translation: X:226.10, Y:55.67, Z:20.83 [[ 9.03482486e-01 -4.20267608e-01 -8.42290672e-02 2.26095473e+02] [ 4.17981207e-01 9.07388744e-01 -4.40156502e-02 5.56686756e+01] [ 9.49268595e-02 4.56120182e-03 9.95473800e-01 2.08296858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69710568099998 meters 0.03250084059537737 Centerline is valid? [True, True] Translation: X:226.16, Y:55.68, Z:20.84 [[ 9.02119582e-01 -4.23370641e-01 -8.32920209e-02 2.26157736e+02] [ 4.21146991e-01 9.05946840e-01 -4.35377442e-02 5.56759744e+01] [ 9.38907458e-02 4.19806762e-03 9.95573656e-01 2.08364359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75710568099998 meters 0.03834152549630437 Centerline is valid? [True, True] Translation: X:226.21, Y:55.70, Z:20.84 [[ 9.05048781e-01 -4.17364233e-01 -8.18156516e-02 2.26212800e+02] [ 4.15193698e-01 9.08726913e-01 -4.27737281e-02 5.56965344e+01] [ 9.22003087e-02 4.74296754e-03 9.95729184e-01 2.08445327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.817105681 meters 0.04148325125384847 Centerline is valid? [True, True] Translation: X:226.27, Y:55.71, Z:20.85 [[ 9.09036557e-01 -4.08470310e-01 -8.24896628e-02 2.26269945e+02] [ 4.06226512e-01 9.12753806e-01 -4.31336452e-02 5.57147257e+01] [ 9.29115670e-02 5.70057226e-03 9.95658046e-01 2.08500836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.877105681 meters 0.04414976005317728 Centerline is valid? [True, True] Translation: X:226.33, Y:55.73, Z:20.85 [[ 9.08913032e-01 -4.08784200e-01 -8.22956795e-02 2.26325270e+02] [ 4.06551661e-01 9.12613518e-01 -4.30385118e-02 5.57328020e+01] [ 9.26976132e-02 5.66081902e-03 9.95678215e-01 2.08541207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.937105681 meters 0.04067587077901976 Centerline is valid? [True, True] Translation: X:226.39, Y:55.74, Z:20.86 [[ 9.07839687e-01 -4.11389693e-01 -8.11518531e-02 2.26386386e+02] [ 4.09228184e-01 9.11443970e-01 -4.24521333e-02 5.57437608e+01] [ 9.14297372e-02 5.33010597e-03 9.95797265e-01 2.08599333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.997105681 meters 0.04075037144606197 Centerline is valid? [True, True] Translation: X:226.45, Y:55.75, Z:20.86 [[ 9.07266677e-01 -4.12227728e-01 -8.32795139e-02 2.26447277e+02] [ 4.09951820e-01 9.11064772e-01 -4.35945703e-02 5.57542331e+01] [ 9.38439220e-02 5.41131260e-03 9.95572215e-01 2.08646509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.057105681 meters 0.038782023944849336 Centerline is valid? [True, True] Translation: X:226.50, Y:55.78, Z:20.87 [[ 9.07543662e-01 -4.11693052e-01 -8.29055621e-02 2.26501839e+02] [ 4.09432343e-01 9.11306147e-01 -4.34311161e-02 5.57765848e+01] [ 9.34326372e-02 5.47141554e-03 9.95610569e-01 2.08697189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.117105681 meters 0.04041182791609657 Centerline is valid? [True, True] Translation: X:226.56, Y:55.80, Z:20.87 [[ 9.07744883e-01 -4.10780216e-01 -8.51988339e-02 2.26557111e+02] [ 4.08385086e-01 9.11716256e-01 -4.46664414e-02 5.57967938e+01] [ 9.60252522e-02 5.75180059e-03 9.95362280e-01 2.08714403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.177105681 meters 0.03733347437901779 Centerline is valid? [True, True] Translation: X:226.62, Y:55.81, Z:20.88 [[ 9.04614754e-01 -4.17789019e-01 -8.44066531e-02 2.26617900e+02] [ 4.15467334e-01 9.08530461e-01 -4.42639300e-02 5.58085048e+01] [ 9.51789993e-02 4.97359704e-03 9.95447749e-01 2.08800756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.237105681 meters 0.029101257162330075 Centerline is valid? [True, True] Translation: X:226.68, Y:55.81, Z:20.89 [[ 8.98103279e-01 -4.32542918e-01 -7.94803383e-02 2.26680556e+02] [ 4.30540032e-01 9.01607546e-01 -4.17026965e-02 5.58146756e+01] [ 8.96982788e-02 3.23386110e-03 9.95963735e-01 2.08916143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.297105681 meters 0.018647232609670366 Centerline is valid? [True, True] Translation: X:226.75, Y:55.81, Z:20.90 [[ 8.86275368e-01 -4.56397677e-01 -7.88487967e-02 2.26746597e+02] [ 4.54518804e-01 8.89775513e-01 -4.13786542e-02 5.58144895e+01] [ 8.90428502e-02 8.34621178e-04 9.96027447e-01 2.09010623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.357105681 meters 0.018383497443529635 Centerline is valid? [True, True] Translation: X:226.80, Y:55.83, Z:20.91 [[ 8.79632741e-01 -4.69190524e-01 -7.81440547e-02 2.26803864e+02] [ 4.67394498e-01 8.83096855e-01 -4.10162050e-02 5.58297564e+01] [ 8.82531837e-02 -4.44904340e-04 9.96097976e-01 2.09122134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41710568099998 meters 0.019821717155158534 Centerline is valid? [True, True] Translation: X:226.85, Y:55.86, Z:20.92 [[ 8.75937513e-01 -4.76356165e-01 -7.62776374e-02 2.26853538e+02] [ 4.74669417e-01 8.79251711e-01 -4.00671122e-02 5.58604521e+01] [ 8.61534591e-02 -1.11037507e-03 9.96281260e-01 2.09168481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47710568099998 meters 0.020790732593744792 Centerline is valid? [True, True] Translation: X:226.90, Y:55.89, Z:20.92 [[ 8.74152232e-01 -4.79448663e-01 -7.73747642e-02 2.26902062e+02] [ 4.77723466e-01 8.77568780e-01 -4.06611148e-02 5.58928167e+01] [ 8.73965945e-02 -1.41973620e-03 9.96172585e-01 2.09228044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53710568099999 meters 0.019637853369335566 Centerline is valid? [True, True] Translation: X:226.94, Y:55.94, Z:20.93 [[ 8.75960680e-01 -4.75822357e-01 -7.92841212e-02 2.26944696e+02] [ 4.73994338e-01 8.79540757e-01 -4.16824143e-02 5.59360403e+01] [ 8.95670406e-02 -1.06806858e-03 9.95980223e-01 2.09262916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.597105681 meters 0.018019890683858626 Centerline is valid? [True, True] Translation: X:226.98, Y:55.99, Z:20.93 [[ 8.82882630e-01 -4.62352954e-01 -8.21462521e-02 2.26981366e+02] [ 4.60330427e-01 8.86695911e-01 -4.32002151e-02 5.59938863e+01] [ 9.28124930e-02 3.26300205e-04 9.95683551e-01 2.09285503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.657105681 meters 0.02307323574188571 Centerline is valid? [True, True] Translation: X:227.02, Y:56.05, Z:20.93 [[ 8.90964745e-01 -4.46049056e-01 -8.49827248e-02 2.27017799e+02] [ 4.43806377e-01 8.95005976e-01 -4.47236219e-02 5.60500130e+01] [ 9.60089759e-02 2.13129516e-03 9.95378186e-01 2.09304227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.717105681 meters 0.030429747821269223 Centerline is valid? [True, True] Translation: X:227.06, Y:56.10, Z:20.93 [[ 8.96528100e-01 -4.34562969e-01 -8.59790230e-02 2.27057736e+02] [ 4.32213129e-01 9.00634977e-01 -4.52598020e-02 5.60988982e+01] [ 9.71039493e-02 3.41542177e-03 9.95268385e-01 2.09342473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.777105681 meters 0.028563867582952093 Centerline is valid? [True, True] Translation: X:227.11, Y:56.13, Z:20.94 [[ 8.95871125e-01 -4.35786101e-01 -8.66337239e-02 2.27108087e+02] [ 4.33404632e-01 9.00044139e-01 -4.56176871e-02 5.61295783e+01] [ 9.78537294e-02 3.32011141e-03 9.95195270e-01 2.09384301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.837105681 meters 0.02464558292041988 Centerline is valid? [True, True] Translation: X:227.16, Y:56.15, Z:20.94 [[ 8.91959383e-01 -4.43611998e-01 -8.72745954e-02 2.27162666e+02] [ 4.41229032e-01 8.96215427e-01 -4.59875095e-02 5.61523120e+01] [ 9.86174497e-02 2.51090533e-03 9.95122251e-01 2.09433837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.897105681 meters 0.024559024368254665 Centerline is valid? [True, True] Translation: X:227.22, Y:56.18, Z:20.95 [[ 8.91467479e-01 -4.43945929e-01 -9.05414012e-02 2.27215495e+02] [ 4.41381162e-01 8.96049867e-01 -4.77211356e-02 5.61778870e+01] [ 1.02315214e-01 2.57857159e-03 9.94748686e-01 2.09487496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.957105681 meters 0.026345632392744976 Centerline is valid? [True, True] Translation: X:227.26, Y:56.21, Z:20.95 [[ 8.92292996e-01 -4.42204434e-01 -9.09310063e-02 2.27263638e+02] [ 4.39604834e-01 8.96909848e-01 -4.79615993e-02 5.62099449e+01] [ 1.02765747e-01 2.82208923e-03 9.94701582e-01 2.09535338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.017105681 meters 0.025084491591973235 Centerline is valid? [True, True] Translation: X:227.32, Y:56.24, Z:20.96 [[ 8.90667038e-01 -4.45604213e-01 -9.02724359e-02 2.27316839e+02] [ 4.43057748e-01 8.95226779e-01 -4.76323994e-02 5.62351126e+01] [ 1.02039500e-01 2.42870597e-03 9.94777383e-01 2.09600788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.077105681 meters 0.021814774146783348 Centerline is valid? [True, True] Translation: X:227.37, Y:56.25, Z:20.97 [[ 8.87139310e-01 -4.52231490e-01 -9.20354502e-02 2.27373487e+02] [ 4.49618595e-01 8.91898960e-01 -4.85732948e-02 5.62526041e+01] [ 1.04052696e-01 1.71042946e-03 9.94570315e-01 2.09681172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.137105681 meters 0.022472639661642698 Centerline is valid? [True, True] Translation: X:227.42, Y:56.29, Z:20.98 [[ 8.88048627e-01 -4.50697586e-01 -9.07817318e-02 2.27421920e+02] [ 4.48146085e-01 8.92674723e-01 -4.79262507e-02 5.62867751e+01] [ 1.02638803e-01 1.87736347e-03 9.94716920e-01 2.09760459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19710568099998 meters 0.02679803702435505 Centerline is valid? [True, True] Translation: X:227.47, Y:56.33, Z:20.98 [[ 8.93057760e-01 -4.40638915e-01 -9.10229886e-02 2.27467835e+02] [ 4.38017689e-01 8.97679162e-01 -4.80897817e-02 5.63260331e+01] [ 1.02899669e-01 3.07727362e-03 9.94686980e-01 2.09846912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25710568099998 meters 0.031548514473829115 Centerline is valid? [True, True] Translation: X:227.51, Y:56.37, Z:20.99 [[ 8.97820992e-01 -4.31243364e-01 -8.91438604e-02 2.27513198e+02] [ 4.28681193e-01 9.02226384e-01 -4.71167298e-02 5.63652817e+01] [ 1.00746720e-01 4.08809273e-03 9.94903707e-01 2.09947291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.317105681 meters 0.03256390109879506 Centerline is valid? [True, True] Translation: X:227.56, Y:56.40, Z:21.00 [[ 8.99012782e-01 -4.28524806e-01 -9.02358483e-02 2.27562670e+02] [ 4.25882549e-01 9.03518936e-01 -4.77240604e-02 5.63985352e+01] [ 1.01980741e-01 4.47466718e-03 9.94776309e-01 2.09965847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.377105681 meters 0.031472997199723324 Centerline is valid? [True, True] Translation: X:227.62, Y:56.42, Z:21.00 [[ 8.97403556e-01 -4.31469293e-01 -9.22014481e-02 2.27618402e+02] [ 4.28724389e-01 9.02117644e-01 -4.87765808e-02 5.64186035e+01] [ 1.04222150e-01 4.24326759e-03 9.94544991e-01 2.09999397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.437105681 meters 0.03297804147590473 Centerline is valid? [True, True] Translation: X:227.67, Y:56.44, Z:21.00 [[ 8.98060752e-01 -4.30005438e-01 -9.26402125e-02 2.27670460e+02] [ 4.27222786e-01 9.02815249e-01 -4.90440374e-02 5.64448480e+01] [ 1.04726199e-01 4.46651541e-03 9.94491063e-01 2.10022034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.497105681 meters 0.0339144775159805 Centerline is valid? [True, True] Translation: X:227.73, Y:56.47, Z:21.01 [[ 8.99924061e-01 -4.25571336e-01 -9.50038038e-02 2.27726255e+02] [ 4.22618360e-01 9.04910376e-01 -5.03083735e-02 5.64663657e+01] [ 1.07379730e-01 5.12336402e-03 9.94204881e-01 2.10056365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.557105681 meters 0.035670570672202515 Centerline is valid? [True, True] Translation: X:227.78, Y:56.49, Z:21.01 [[ 9.00785854e-01 -4.23043378e-01 -9.80772463e-02 2.27781817e+02] [ 4.19879767e-01 9.06092067e-01 -5.19436908e-02 5.64891088e+01] [ 1.10841449e-01 5.60949053e-03 9.93822271e-01 2.10057270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.617105681 meters 0.037743284664157474 Centerline is valid? [True, True] Translation: X:227.84, Y:56.51, Z:21.00 [[ 9.00770911e-01 -4.22419394e-01 -1.00864374e-01 2.27837469e+02] [ 4.19067789e-01 9.06381563e-01 -5.34289355e-02 5.65100466e+01] [ 1.13991028e-01 5.85822058e-03 9.93464507e-01 2.10040662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.677105681 meters 0.03500436460301526 Centerline is valid? [True, True] Translation: X:227.90, Y:56.52, Z:21.02 [[ 8.99398024e-01 -4.25816024e-01 -9.88124943e-02 2.27896315e+02] [ 4.22618644e-01 9.04794073e-01 -5.23561506e-02 5.65240510e+01] [ 1.11699047e-01 5.32901601e-03 9.93727792e-01 2.10159230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.737105681 meters 0.033316155011139874 Centerline is valid? [True, True] Translation: X:227.95, Y:56.55, Z:21.02 [[ 8.97892938e-01 -4.29891131e-01 -9.47728252e-02 2.27951736e+02] [ 4.26969632e-01 9.02868741e-01 -5.02490800e-02 5.65465806e+01] [ 1.07169055e-01 4.65317584e-03 9.94229924e-01 2.10236559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.797105681 meters 0.02899131684534055 Centerline is valid? [True, True] Translation: X:228.01, Y:56.56, Z:21.03 [[ 8.93181036e-01 -4.39450505e-01 -9.54509847e-02 2.28012266e+02] [ 4.36537683e-01 8.98259744e-01 -5.06387441e-02 5.65582459e+01] [ 1.07992999e-01 3.56161415e-03 9.94145275e-01 2.10285144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.857105681 meters 0.028062700166316602 Centerline is valid? [True, True] Translation: X:228.07, Y:56.58, Z:21.03 [[ 8.92174809e-01 -4.41247815e-01 -9.65633307e-02 2.28068205e+02] [ 4.38275252e-01 8.97378862e-01 -5.12443242e-02 5.65791587e+01] [ 1.09265338e-01 3.39757696e-03 9.94006812e-01 2.10325767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91710568099998 meters 0.031048662351153892 Centerline is valid? [True, True] Translation: X:228.12, Y:56.61, Z:21.04 [[ 8.95537896e-01 -4.34671713e-01 -9.52490338e-02 2.28117485e+02] [ 4.31738849e-01 9.00579298e-01 -5.05815681e-02 5.66126726e+01] [ 1.07765685e-01 4.17500294e-03 9.94167555e-01 2.10403961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97710568099998 meters 0.033550937587612045 Centerline is valid? [True, True] Translation: X:228.17, Y:56.64, Z:21.04 [[ 8.96566822e-01 -4.32726643e-01 -9.44223833e-02 2.28166415e+02] [ 4.29831014e-01 9.01514471e-01 -5.01692937e-02 5.66442681e+01] [ 1.06832735e-01 4.39445551e-03 9.94267296e-01 2.10449977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03710568099999 meters 0.03266348379802862 Centerline is valid? [True, True] Translation: X:228.22, Y:56.67, Z:21.06 [[ 8.97666702e-01 -4.31549122e-01 -8.92179757e-02 2.28220544e+02] [ 4.28957478e-01 9.02079210e-01 -4.74192069e-02 5.66661809e+01] [ 1.00945398e-01 4.29592522e-03 9.94882692e-01 2.10569311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.097105681 meters 0.0315239695532638 Centerline is valid? [True, True] Translation: X:228.28, Y:56.69, Z:21.06 [[ 8.96322612e-01 -4.34226393e-01 -8.97397027e-02 2.28275124e+02] [ 4.31613994e-01 9.00794669e-01 -4.77318023e-02 5.66904809e+01] [ 1.01563454e-01 4.05018224e-03 9.94820818e-01 2.10582878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.157105681 meters 0.031657257633053076 Centerline is valid? [True, True] Translation: X:228.33, Y:56.72, Z:21.06 [[ 8.96472102e-01 -4.34092425e-01 -8.88905862e-02 2.28326606e+02] [ 4.31526662e-01 9.00859260e-01 -4.73004743e-02 5.67163737e+01] [ 1.00610685e-01 4.04489770e-03 9.94917649e-01 2.10620690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.217105681 meters 0.03659992612961044 Centerline is valid? [True, True] Translation: X:228.37, Y:56.75, Z:21.06 [[ 8.98828078e-01 -4.28967006e-01 -8.99744088e-02 2.28374187e+02] [ 4.26308345e-01 9.03307864e-01 -4.79176194e-02 5.67527769e+01] [ 1.01829669e-01 4.71286046e-03 9.94790685e-01 2.10610829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.277105681 meters 0.03498397342200908 Centerline is valid? [True, True] Translation: X:228.43, Y:56.78, Z:21.07 [[ 8.97066888e-01 -4.33069984e-01 -8.78714234e-02 2.28427276e+02] [ 4.30551928e-01 9.01350670e-01 -4.68188790e-02 5.67789576e+01] [ 9.94788176e-02 4.16645537e-03 9.95030957e-01 2.10650907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.337105681 meters 0.03092421003772343 Centerline is valid? [True, True] Translation: X:228.48, Y:56.80, Z:21.07 [[ 8.92992719e-01 -4.41181322e-01 -8.90114860e-02 2.28482536e+02] [ 4.38634063e-01 8.97411785e-01 -4.74578425e-02 5.68010466e+01] [ 1.00817470e-01 3.33603797e-03 9.94899346e-01 2.10668722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.397105681 meters 0.022456936965190348 Centerline is valid? [True, True] Translation: X:228.54, Y:56.81, Z:21.07 [[ 8.84862825e-01 -4.57554037e-01 -8.75333356e-02 2.28544101e+02] [ 4.55167290e-01 8.89180588e-01 -4.66971083e-02 5.68113568e+01] [ 9.91993933e-02 1.47822403e-03 9.95066478e-01 2.10727592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.457105681 meters 0.02029029155502128 Centerline is valid? [True, True] Translation: X:228.60, Y:56.83, Z:21.08 [[ 8.79636756e-01 -4.67693890e-01 -8.66117915e-02 2.28598203e+02] [ 4.65405204e-01 8.83890440e-01 -4.62134893e-02 5.68316223e+01] [ 9.81691010e-02 3.41505317e-04 9.95169690e-01 2.10794025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.517105681 meters 0.01992918546869558 Centerline is valid? [True, True] Translation: X:228.65, Y:56.86, Z:21.08 [[ 8.76994678e-01 -4.72658403e-01 -8.64544264e-02 2.28648775e+02] [ 4.70400563e-01 8.81245706e-01 -4.61445135e-02 5.68610386e+01] [ 9.79981841e-02 -1.99718116e-04 9.95186573e-01 2.10828407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.577105681 meters 0.020074272838263997 Centerline is valid? [True, True] Translation: X:228.70, Y:56.89, Z:21.09 [[ 8.74665855e-01 -4.77669252e-01 -8.24119381e-02 2.28697170e+02] [ 4.75636817e-01 8.78539473e-01 -4.40228618e-02 5.68914941e+01] [ 9.34305081e-02 -6.92857885e-04 9.95625562e-01 2.10920002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.637105681 meters 0.02391415786909873 Centerline is valid? [True, True] Translation: X:228.75, Y:56.92, Z:21.10 [[ 8.68550031e-01 -4.89527144e-01 -7.73564335e-02 2.28747767e+02] [ 4.87780369e-01 8.71986176e-01 -4.13572275e-02 5.69185453e+01] [ 8.76992261e-02 -1.81212846e-03 9.96145352e-01 2.11037194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69710568099998 meters 0.03034357973904378 Centerline is valid? [True, True] Translation: X:228.80, Y:56.94, Z:21.11 [[ 8.61492828e-01 -5.02372378e-01 -7.38383512e-02 2.28800920e+02] [ 5.00826913e-01 8.64646295e-01 -3.94865496e-02 5.69431161e+01] [ 8.36810086e-02 -2.96285422e-03 9.96488189e-01 2.11141009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75710568099998 meters 0.03573297566467092 Centerline is valid? [True, True] Translation: X:228.85, Y:56.98, Z:21.12 [[ 8.59514275e-01 -5.05803154e-01 -7.34736722e-02 2.28848820e+02] [ 5.04282965e-01 8.62642785e-01 -3.93206788e-02 5.69781128e+01] [ 8.32700566e-02 -3.25483655e-03 9.96521703e-01 2.11190063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.817105681 meters 0.028268515782675543 Centerline is valid? [True, True] Translation: X:228.88, Y:57.04, Z:21.12 [[ 8.63874170e-01 -4.98179304e-01 -7.44231118e-02 2.28884003e+02] [ 4.96590722e-01 8.67070296e-01 -3.98341194e-02 5.70373555e+01] [ 8.43746034e-02 -2.54616002e-03 9.96430852e-01 2.11208496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.877105681 meters 0.023877473326601024 Centerline is valid? [True, True] Translation: X:228.92, Y:57.09, Z:21.12 [[ 8.68322410e-01 -4.90146943e-01 -7.59747739e-02 2.28921952e+02] [ 4.88457912e-01 8.71638013e-01 -4.06945073e-02 5.70904537e+01] [ 8.61687893e-02 -1.77452672e-03 9.96278972e-01 2.11228208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.937105681 meters 0.019676387143873514 Centerline is valid? [True, True] Translation: X:228.96, Y:57.14, Z:21.13 [[ 8.74508913e-01 -4.79746890e-01 -7.12536541e-02 2.28959212e+02] [ 4.78226270e-01 8.77406657e-01 -3.81731956e-02 5.71441147e+01] [ 8.08319023e-02 -6.92569430e-04 9.96727507e-01 2.11324889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.997105681 meters 0.018625101722425163 Centerline is valid? [True, True] Translation: X:229.00, Y:57.20, Z:21.13 [[ 8.80108102e-01 -4.69236767e-01 -7.22951327e-02 2.28996460e+02] [ 4.67635171e-01 8.83072350e-01 -3.87372123e-02 5.71984847e+01] [ 8.20187570e-02 2.85187664e-04 9.96630745e-01 2.11345999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.057105681 meters 0.02497854401417077 Centerline is valid? [True, True] Translation: X:229.03, Y:57.25, Z:21.14 [[ 8.87652169e-01 -4.54455192e-01 -7.44587469e-02 2.29032775e+02] [ 4.52700938e-01 8.90767907e-01 -3.99299111e-02 5.72542869e+01] [ 8.44718175e-02 1.73632766e-03 9.96424356e-01 2.11353770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.117105681 meters 0.028841905998854236 Centerline is valid? [True, True] Translation: X:229.08, Y:57.30, Z:21.13 [[ 8.94164339e-01 -4.40734786e-01 -7.88858903e-02 2.29076537e+02] [ 4.38710735e-01 8.97631568e-01 -4.23138156e-02 5.72992197e+01] [ 8.94596359e-02 3.22741807e-03 9.95985219e-01 2.11329609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.177105681 meters 0.0306895789772655 Centerline is valid? [True, True] Translation: X:229.13, Y:57.33, Z:21.14 [[ 8.96270423e-01 -4.36573566e-01 -7.81207413e-02 2.29125640e+02] [ 4.34572317e-01 8.99661305e-01 -4.19098699e-02 5.73322333e+01] [ 8.85789494e-02 3.61346530e-03 9.96062605e-01 2.11381319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.237105681 meters 0.03169877366913525 Centerline is valid? [True, True] Translation: X:229.18, Y:57.36, Z:21.14 [[ 8.96942174e-01 -4.35047193e-01 -7.89219632e-02 2.29176197e+02] [ 4.32998034e-01 9.00399592e-01 -4.23471008e-02 5.73625310e+01] [ 8.94842908e-02 3.80984577e-03 9.95980947e-01 2.11419863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.297105681 meters 0.028364617359360772 Centerline is valid? [True, True] Translation: X:229.23, Y:57.38, Z:21.15 [[ 8.94065426e-01 -4.41541085e-01 -7.54220390e-02 2.29234208e+02] [ 4.39690315e-01 8.97235858e-01 -4.04999124e-02 5.73791565e+01] [ 8.55537331e-02 3.04723135e-03 9.96328898e-01 2.11522993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.357105681 meters 0.02267879289939037 Centerline is valid? [True, True] Translation: X:229.29, Y:57.40, Z:21.15 [[ 8.87859444e-01 -4.53813631e-01 -7.58867345e-02 2.29293190e+02] [ 4.51982057e-01 8.91094588e-01 -4.07756713e-02 5.73954156e+01] [ 8.61268139e-02 1.90362246e-03 9.96282364e-01 2.11547123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41710568099998 meters 0.018045790755987178 Centerline is valid? [True, True] Translation: X:229.36, Y:57.40, Z:21.16 [[ 8.80756917e-01 -4.66753915e-01 -8.00502065e-02 2.29355694e+02] [ 4.64766776e-01 8.84386963e-01 -4.30295529e-02 5.74045939e+01] [ 9.08795713e-02 6.93899951e-04 9.95861648e-01 2.11552179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47710568099998 meters 0.018132139151868485 Centerline is valid? [True, True] Translation: X:229.41, Y:57.43, Z:21.16 [[ 8.80274398e-01 -4.67688097e-01 -7.99051230e-02 2.29409791e+02] [ 4.65711236e-01 8.83893364e-01 -4.29600347e-02 5.74265992e+01] [ 9.07195049e-02 6.03905014e-04 9.95876301e-01 2.11622717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53710568099999 meters 0.019563818800664184 Centerline is valid? [True, True] Translation: X:229.46, Y:57.46, Z:21.17 [[ 8.83034491e-01 -4.62141190e-01 -8.17044021e-02 2.29457954e+02] [ 4.60046565e-01 8.86805497e-01 -4.39678101e-02 5.74611393e+01] [ 9.27752490e-02 1.23726329e-03 9.95686307e-01 2.11669387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.597105681 meters 0.023837293756777712 Centerline is valid? [True, True] Translation: X:229.50, Y:57.50, Z:21.18 [[ 8.88836903e-01 -4.51487808e-01 -7.82797497e-02 2.29504670e+02] [ 4.49521126e-01 8.92274369e-01 -4.21569308e-02 5.74979527e+01] [ 8.88803546e-02 2.28223453e-03 9.96039695e-01 2.11774204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.657105681 meters 0.028101359249345505 Centerline is valid? [True, True] Translation: X:229.55, Y:57.54, Z:21.18 [[ 8.92509817e-01 -4.44282888e-01 -7.77106365e-02 2.29552189e+02] [ 4.42316854e-01 8.95881580e-01 -4.18568302e-02 5.75353612e+01] [ 8.82158012e-02 2.98490754e-03 9.96096914e-01 2.11826241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.717105681 meters 0.029677623896247715 Centerline is valid? [True, True] Translation: X:229.60, Y:57.56, Z:21.19 [[ 8.93155486e-01 -4.42724899e-01 -7.91703348e-02 2.29604099e+02] [ 4.40676738e-01 8.96651745e-01 -4.26574886e-02 5.75619801e+01] [ 8.98737512e-02 3.21124506e-03 9.95947989e-01 2.11850450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.777105681 meters 0.029663807178197877 Centerline is valid? [True, True] Translation: X:229.66, Y:57.59, Z:21.18 [[ 8.93317836e-01 -4.41284963e-01 -8.51517777e-02 2.29657874e+02] [ 4.38906970e-01 8.97359710e-01 -4.58936031e-02 5.75861683e+01] [ 9.66639315e-02 3.62386546e-03 9.95310480e-01 2.11822914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.837105681 meters 0.032631417381018615 Centerline is valid? [True, True] Translation: X:229.71, Y:57.62, Z:21.19 [[ 8.95747113e-01 -4.35850789e-01 -8.75853780e-02 2.29710499e+02] [ 4.33307225e-01 9.00008451e-01 -4.72190397e-02 5.76150075e+01] [ 9.94080361e-02 4.34494138e-03 9.95037268e-01 2.11852922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.897105681 meters 0.033112116443621824 Centerline is valid? [True, True] Translation: X:229.76, Y:57.64, Z:21.19 [[ 8.96300463e-01 -4.34696362e-01 -8.76615827e-02 2.29763170e+02] [ 4.32140983e-01 9.00565865e-01 -4.72788850e-02 5.76413879e+01] [ 9.94969883e-02 4.49392394e-03 9.95027715e-01 2.11908479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.957105681 meters 0.03121459694833626 Centerline is valid? [True, True] Translation: X:229.82, Y:57.66, Z:21.19 [[ 8.93844149e-01 -4.39514524e-01 -8.87108878e-02 2.29817169e+02] [ 4.36917461e-01 8.98226409e-01 -4.78795390e-02 5.76645836e+01] [ 1.00726215e-01 4.03750995e-03 9.94905990e-01 2.11938764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.017105681 meters 0.028437140430332176 Centerline is valid? [True, True] Translation: X:229.87, Y:57.68, Z:21.20 [[ 8.90178666e-01 -4.47326268e-01 -8.64936534e-02 2.29873539e+02] [ 4.44893522e-01 8.94365533e-01 -4.66909904e-02 5.76827329e+01] [ 9.82430489e-02 3.08285749e-03 9.95157676e-01 2.12028054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.077105681 meters 0.022115227474773028 Centerline is valid? [True, True] Translation: X:229.93, Y:57.70, Z:21.21 [[ 8.85107943e-01 -4.57607632e-01 -8.47300696e-02 2.29932505e+02] [ 4.55319272e-01 8.89152181e-01 -4.57466792e-02 5.76975111e+01] [ 9.62719557e-02 1.91151553e-03 9.95353232e-01 2.12098556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.137105681 meters 0.020227082451138512 Centerline is valid? [True, True] Translation: X:229.99, Y:57.72, Z:21.21 [[ 8.82944323e-01 -4.61605510e-01 -8.56135272e-02 2.29986859e+02] [ 4.59286630e-01 8.87084042e-01 -4.62351978e-02 5.77216032e+01] [ 9.72888158e-02 1.50195705e-03 9.95255058e-01 2.12134538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19710568099998 meters 0.020740402242373435 Centerline is valid? [True, True] Translation: X:230.04, Y:57.76, Z:21.22 [[ 8.83059752e-01 -4.60734301e-01 -8.90470590e-02 2.30035462e+02] [ 4.58217079e-01 8.87536496e-01 -4.81256433e-02 5.77552996e+01] [ 1.01205649e-01 1.69493532e-03 9.94864083e-01 2.12174057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25710568099998 meters 0.02309953037092967 Centerline is valid? [True, True] Translation: X:230.08, Y:57.80, Z:21.22 [[ 8.85452363e-01 -4.55679241e-01 -9.12718015e-02 2.30081081e+02] [ 4.53003836e-01 8.90140917e-01 -4.93626682e-02 5.77953853e+01] [ 1.03738308e-01 2.36181499e-03 9.94601822e-01 2.12213690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.317105681 meters 0.02681048329005466 Centerline is valid? [True, True] Translation: X:230.13, Y:57.84, Z:21.24 [[ 8.89630420e-01 -4.48511170e-01 -8.59967834e-02 2.30125545e+02] [ 4.46102637e-01 8.93772126e-01 -4.65169218e-02 5.78367477e+01] [ 9.77248869e-02 3.01947685e-03 9.95208887e-01 2.12357379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.377105681 meters 0.030937861173670332 Centerline is valid? [True, True] Translation: X:230.17, Y:57.87, Z:21.24 [[ 8.92682876e-01 -4.42869664e-01 -8.35687943e-02 2.30171568e+02] [ 4.40570236e-01 8.96579014e-01 -4.52099533e-02 5.78732162e+01] [ 9.49481439e-02 3.54022776e-03 9.95475925e-01 2.12446748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.437105681 meters 0.03033649838687521 Centerline is valid? [True, True] Translation: X:230.22, Y:57.90, Z:21.25 [[ 8.92115319e-01 -4.44278810e-01 -8.21376642e-02 2.30224323e+02] [ 4.42062462e-01 8.95882339e-01 -4.44478855e-02 5.78983617e+01] [ 9.33329364e-02 3.34266151e-03 9.95629343e-01 2.12499484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.497105681 meters 0.031690363860527176 Centerline is valid? [True, True] Translation: X:230.28, Y:57.92, Z:21.25 [[ 8.92759014e-01 -4.41970147e-01 -8.74284367e-02 2.30278402e+02] [ 4.39443823e-01 8.97021507e-01 -4.73449306e-02 5.79233848e+01] [ 9.93502340e-02 3.84772709e-03 9.95045087e-01 2.12497314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.557105681 meters 0.04112045028341601 Centerline is valid? [True, True] Translation: X:230.32, Y:57.96, Z:21.25 [[ 8.98081245e-01 -4.30864151e-01 -8.83524838e-02 2.30324314e+02] [ 4.28229387e-01 9.02402157e-01 -4.78533000e-02 5.79608464e+01] [ 1.00347743e-01 5.14102126e-03 9.94939144e-01 2.12530417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.617105681 meters 0.043794383030783625 Centerline is valid? [True, True] Translation: X:230.38, Y:57.99, Z:21.26 [[ 9.02685608e-01 -4.20917239e-01 -8.93720905e-02 2.30378401e+02] [ 4.18171363e-01 9.07076947e-01 -4.84161439e-02 5.79854175e+01] [ 1.01446553e-01 6.33170741e-03 9.94820841e-01 2.12578195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.677105681 meters 0.04476943285257152 Centerline is valid? [True, True] Translation: X:230.43, Y:58.01, Z:21.26 [[ 9.03729523e-01 -4.18950036e-01 -8.80557597e-02 2.30431508e+02] [ 4.16274544e-01 9.07986286e-01 -4.77117255e-02 5.80112226e+01] [ 9.99422513e-02 6.46312373e-03 9.94972248e-01 2.12636332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.737105681 meters 0.04177847863406677 Centerline is valid? [True, True] Translation: X:230.49, Y:58.02, Z:21.26 [[ 8.99895977e-01 -4.26873677e-01 -8.92529777e-02 2.30491019e+02] [ 4.24162428e-01 9.04293497e-01 -4.83684395e-02 5.80242305e+01] [ 1.01358101e-01 5.66880440e-03 9.94833855e-01 2.12644114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.797105681 meters 0.03508569414638974 Centerline is valid? [True, True] Translation: X:230.55, Y:58.03, Z:21.27 [[ 8.94454873e-01 -4.38162709e-01 -8.92408021e-02 2.30554181e+02] [ 4.35506600e-01 8.98884897e-01 -4.83729521e-02 5.80327963e+01] [ 1.01412433e-01 4.40246442e-03 9.94834728e-01 2.12714267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.857105681 meters 0.028749815779071274 Centerline is valid? [True, True] Translation: X:230.61, Y:58.05, Z:21.28 [[ 8.89023395e-01 -4.49246178e-01 -8.84040445e-02 2.30613383e+02] [ 4.46691239e-01 8.93402504e-01 -4.79468850e-02 5.80452748e+01] [ 1.00520350e-01 3.13659029e-03 9.94930058e-01 2.12771860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91710568099998 meters 0.02918016815447228 Centerline is valid? [True, True] Translation: X:230.67, Y:58.06, Z:21.28 [[ 8.88766537e-01 -4.49664546e-01 -8.88585359e-02 2.30668103e+02] [ 4.47084229e-01 8.93192082e-01 -4.82036981e-02 5.80631277e+01] [ 1.01043235e-01 3.11458376e-03 9.94877160e-01 2.12843913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97710568099998 meters 0.03833817114185326 Centerline is valid? [True, True] Translation: X:230.71, Y:58.10, Z:21.29 [[ 8.95012915e-01 -4.37520042e-01 -8.67645953e-02 2.30713652e+02] [ 4.35001511e-01 8.99197908e-01 -4.70829860e-02 5.81022980e+01] [ 9.86182926e-02 4.39715054e-03 9.95115620e-01 2.12925855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03710568099999 meters 0.04702612023213896 Centerline is valid? [True, True] Translation: X:230.76, Y:58.14, Z:21.30 [[ 9.00222588e-01 -4.26774496e-01 -8.63876242e-02 2.30760409e+02] [ 4.24227678e-01 9.04340988e-01 -4.68855474e-02 5.81404474e+01] [ 9.81334252e-02 5.55940765e-03 9.95157738e-01 2.12971801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.097105681 meters 0.04241886295218367 Centerline is valid? [True, True] Translation: X:230.82, Y:58.16, Z:21.30 [[ 9.02866011e-01 -4.21229560e-01 -8.60152516e-02 2.30817186e+02] [ 4.18678539e-01 9.06933228e-01 -4.66947614e-02 5.81599530e+01] [ 9.76793036e-02 6.14637316e-03 9.95198963e-01 2.13032984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.157105681 meters 0.0444986372136022 Centerline is valid? [True, True] Translation: X:230.87, Y:58.19, Z:21.31 [[ 9.03923639e-01 -4.18579968e-01 -8.78229198e-02 2.30871374e+02] [ 4.15904858e-01 9.08155987e-01 -4.77058916e-02 5.81857163e+01] [ 9.97256410e-02 6.59650417e-03 9.94993107e-01 2.13064483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.217105681 meters 0.046812110825022124 Centerline is valid? [True, True] Translation: X:230.92, Y:58.21, Z:21.31 [[ 9.05113640e-01 -4.15984491e-01 -8.78988210e-02 2.30924373e+02] [ 4.13291127e-01 9.09345515e-01 -4.77616777e-02 5.82116735e+01] [ 9.97985159e-02 6.90194313e-03 9.94983728e-01 2.13110495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.277105681 meters 0.0498614835567935 Centerline is valid? [True, True] Translation: X:230.98, Y:58.24, Z:21.32 [[ 9.06277685e-01 -4.13211348e-01 -8.89783151e-02 2.30977244e+02] [ 4.10437065e-01 9.10605854e-01 -4.83569391e-02 5.82393984e+01] [ 1.01005811e-01 7.30481629e-03 9.94859018e-01 2.13152001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.337105681 meters 0.0480062493182209 Centerline is valid? [True, True] Translation: X:231.03, Y:58.26, Z:21.32 [[ 9.05772134e-01 -4.13791808e-01 -9.13957414e-02 2.31033616e+02] [ 4.10865138e-01 9.10341002e-01 -4.96900184e-02 5.82583405e+01] [ 1.03762613e-01 7.45651008e-03 9.94574140e-01 2.13182482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.397105681 meters 0.049371420725239375 Centerline is valid? [True, True] Translation: X:231.09, Y:58.28, Z:21.32 [[ 9.04965005e-01 -4.15356298e-01 -9.22902275e-02 2.31086294e+02] [ 4.12376241e-01 9.09628861e-01 -5.02112691e-02 5.82821158e+01] [ 1.04805421e-01 7.38114429e-03 9.94465355e-01 2.13196542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.457105681 meters 0.04160371365394528 Centerline is valid? [True, True] Translation: X:231.15, Y:58.29, Z:21.33 [[ 9.03033908e-01 -4.19535207e-01 -9.23036888e-02 2.31148380e+02] [ 4.16573609e-01 9.07712709e-01 -5.02400893e-02 5.82923630e+01] [ 1.04862718e-01 6.91722345e-03 9.94462650e-01 2.13279989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.517105681 meters 0.042485546742968186 Centerline is valid? [True, True] Translation: X:231.20, Y:58.31, Z:21.34 [[ 9.01648381e-01 -4.23086936e-01 -8.95971039e-02 2.31203462e+02] [ 4.20311391e-01 9.06066924e-01 -4.87961425e-02 5.83135323e+01] [ 1.01825983e-01 6.33827952e-03 9.94782034e-01 2.13367533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.577105681 meters 0.03740562486199274 Centerline is valid? [True, True] Translation: X:231.26, Y:58.32, Z:21.35 [[ 8.99146004e-01 -4.29695715e-01 -8.30545311e-02 2.31264235e+02] [ 4.27338982e-01 9.02958862e-01 -4.52403457e-02 5.83243005e+01] [ 9.44344075e-02 5.18523734e-03 9.95517582e-01 2.13547115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.637105681 meters 0.03639805370230532 Centerline is valid? [True, True] Translation: X:231.32, Y:58.35, Z:21.36 [[ 8.97469413e-01 -4.32853583e-01 -8.47728055e-02 2.31319491e+02] [ 4.30410952e-01 9.01450568e-01 -4.61875098e-02 5.83464517e+01] [ 9.64109228e-02 4.96473344e-03 9.95329235e-01 2.13564450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69710568099998 meters 0.043009586504972795 Centerline is valid? [True, True] Translation: X:231.37, Y:58.38, Z:21.36 [[ 9.00612149e-01 -4.26366382e-01 -8.43176477e-02 2.31368675e+02] [ 4.23920842e-01 9.04532992e-01 -4.59476533e-02 5.83790121e+01] [ 9.58586288e-02 5.63700659e-03 9.95378997e-01 2.13621656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75710568099998 meters 0.04544728562340155 Centerline is valid? [True, True] Translation: X:231.42, Y:58.41, Z:21.37 [[ 9.05237891e-01 -4.16044481e-01 -8.63212089e-02 2.31421473e+02] [ 4.13433119e-01 9.09318057e-01 -4.70502523e-02 5.84061954e+01] [ 9.80684318e-02 6.90362447e-03 9.95155728e-01 2.13654554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.817105681 meters 0.04620052096571467 Centerline is valid? [True, True] Translation: X:231.47, Y:58.43, Z:21.37 [[ 9.05239152e-01 -4.16030447e-01 -8.63756002e-02 2.31472937e+02] [ 4.13414566e-01 9.09324352e-01 -4.70915958e-02 5.84345187e+01] [ 9.81349743e-02 6.92022494e-03 9.95149053e-01 2.13697452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.877105681 meters 0.04560342929684271 Centerline is valid? [True, True] Translation: X:231.53, Y:58.46, Z:21.37 [[ 9.03290662e-01 -4.19835586e-01 -8.83406015e-02 2.31528516e+02] [ 4.17113343e-01 9.07575524e-01 -4.81988338e-02 5.84569536e+01] [ 1.00411353e-01 6.68951281e-03 9.94923520e-01 2.13722307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.937105681 meters 0.03618450770243981 Centerline is valid? [True, True] Translation: X:231.59, Y:58.47, Z:21.37 [[ 8.98115069e-01 -4.29814547e-01 -9.29988055e-02 2.31590901e+02] [ 4.26845846e-01 9.02897882e-01 -5.07743980e-02 5.84675973e+01] [ 1.05791999e-01 5.90509821e-03 9.94370747e-01 2.13718298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.997105681 meters 0.029010673733599272 Centerline is valid? [True, True] Translation: X:231.65, Y:58.48, Z:21.38 [[ 8.91083149e-01 -4.44785511e-01 -9.02034992e-02 2.31651071e+02] [ 4.42065824e-01 8.95628034e-01 -4.92770956e-02 5.84797081e+01] [ 1.02706521e-01 4.03410538e-03 9.94703522e-01 2.13814105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.057105681 meters 0.020884439641312466 Centerline is valid? [True, True] Translation: X:231.71, Y:58.49, Z:21.39 [[ 8.82592996e-01 -4.62106964e-01 -8.65260541e-02 2.31711730e+02] [ 4.59686077e-01 8.86822043e-01 -4.72797472e-02 5.84901641e+01] [ 9.85815125e-02 1.95395130e-03 9.95127061e-01 2.13939969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.117105681 meters 0.017515920764267296 Centerline is valid? [True, True] Translation: X:231.77, Y:58.51, Z:21.40 [[ 8.75668826e-01 -4.75072933e-01 -8.66591917e-02 2.31769635e+02] [ 4.72704391e-01 8.79946265e-01 -4.73827942e-02 5.85075958e+01] [ 9.87657152e-02 5.27455342e-04 9.95110574e-01 2.14004797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.177105681 meters 0.017452784619389282 Centerline is valid? [True, True] Translation: X:231.82, Y:58.54, Z:21.41 [[ 8.72659538e-01 -4.80581652e-01 -8.66406708e-02 2.31820507e+02] [ 4.78239497e-01 8.76949981e-01 -4.73889696e-02 5.85363349e+01] [ 9.87538039e-02 -8.05544945e-05 9.95111893e-01 2.14071561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.237105681 meters 0.017558272064470925 Centerline is valid? [True, True] Translation: X:231.87, Y:58.57, Z:21.42 [[ 8.73973613e-01 -4.78425508e-01 -8.53179722e-02 2.31865696e+02] [ 4.76140697e-01 8.78128121e-01 -4.67016082e-02 5.85728584e+01] [ 9.72633512e-02 1.92614474e-04 9.95258662e-01 2.14159966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.297105681 meters 0.019063589192736697 Centerline is valid? [True, True] Translation: X:231.91, Y:58.62, Z:21.41 [[ 8.77995095e-01 -4.70411527e-01 -8.85302688e-02 2.31907921e+02] [ 4.67905814e-01 8.82446399e-01 -4.85025999e-02 5.86159482e+01] [ 1.00939399e-01 1.16121731e-03 9.94891898e-01 2.14148578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.357105681 meters 0.021805059519139414 Centerline is valid? [True, True] Translation: X:231.95, Y:58.66, Z:21.42 [[ 8.81247613e-01 -4.64067593e-01 -8.96878681e-02 2.31953351e+02] [ 4.61460602e-01 8.85797680e-01 -4.91587466e-02 5.86552250e+01] [ 1.02258287e-01 1.93361046e-03 9.94756002e-01 2.14173010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41710568099998 meters 0.02570394372819826 Centerline is valid? [True, True] Translation: X:232.00, Y:58.69, Z:21.42 [[ 8.84989066e-01 -4.56402246e-01 -9.21484785e-02 2.32000852e+02] [ 4.53606929e-01 8.89768802e-01 -5.05196317e-02 5.86927707e+01] [ 1.05048115e-01 2.91013327e-03 9.94462883e-01 2.14202243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47710568099998 meters 0.026305601351818954 Centerline is valid? [True, True] Translation: X:232.05, Y:58.72, Z:21.43 [[ 8.87374162e-01 -4.51577969e-01 -9.29754486e-02 2.32051589e+02] [ 4.48702654e-01 8.92224644e-01 -5.10011102e-02 5.87224430e+01] [ 1.05985964e-01 3.53873688e-03 9.94361329e-01 2.14260456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53710568099999 meters 0.030626805374354905 Centerline is valid? [True, True] Translation: X:232.10, Y:58.76, Z:21.43 [[ 8.88519403e-01 -4.49660911e-01 -9.13144874e-02 2.32096588e+02] [ 4.46876678e-01 8.93191647e-01 -5.00990660e-02 5.87599718e+01] [ 1.04088929e-01 3.70767740e-03 9.94561083e-01 2.14297687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.597105681 meters 0.027024280672535917 Centerline is valid? [True, True] Translation: X:232.15, Y:58.78, Z:21.43 [[ 8.87265447e-01 -4.51659443e-01 -9.36150341e-02 2.32149608e+02] [ 4.48741758e-01 8.92183244e-01 -5.13798891e-02 5.87848243e+01] [ 1.06727977e-01 3.57862524e-03 9.94281817e-01 2.14341146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.657105681 meters 0.024622395618149374 Centerline is valid? [True, True] Translation: X:232.20, Y:58.81, Z:21.44 [[ 8.84503059e-01 -4.57060519e-01 -9.35415427e-02 2.32201697e+02] [ 4.54173678e-01 8.89430683e-01 -5.13744181e-02 5.88119401e+01] [ 1.06679936e-01 2.95672342e-03 9.94289017e-01 2.14396930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.717105681 meters 0.01847515852261499 Centerline is valid? [True, True] Translation: X:232.26, Y:58.83, Z:21.45 [[ 8.74911301e-01 -4.75535445e-01 -9.16310791e-02 2.32260832e+02] [ 4.72864149e-01 8.79696273e-01 -5.03385021e-02 5.88262820e+01] [ 1.04545261e-01 7.12672154e-04 9.94519874e-01 2.14480724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.777105681 meters 0.019078473631304386 Centerline is valid? [True, True] Translation: X:232.32, Y:58.84, Z:21.45 [[ 8.67040419e-01 -4.89984665e-01 -9.03102431e-02 2.32316025e+02] [ 4.87464178e-01 8.71730503e-01 -4.96447883e-02 5.88431164e+01] [ 1.03051379e-01 -9.78970380e-04 9.94675553e-01 2.14540187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.837105681 meters 0.01918888480121014 Centerline is valid? [True, True] Translation: X:232.37, Y:58.87, Z:21.47 [[ 8.65982960e-01 -4.92463504e-01 -8.69092085e-02 2.32366428e+02] [ 4.90140228e-01 8.70332257e-01 -4.77945567e-02 5.88724777e+01] [ 9.91769624e-02 -1.20842768e-03 9.95069078e-01 2.14667319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.897105681 meters 0.018407069270474873 Centerline is valid? [True, True] Translation: X:232.41, Y:58.91, Z:21.47 [[ 8.67889182e-01 -4.89273067e-01 -8.59082921e-02 2.32410482e+02] [ 4.86984076e-01 8.72130278e-01 -4.72788345e-02 5.89111319e+01] [ 9.80554830e-02 -8.03181327e-04 9.95180625e-01 2.14741508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.957105681 meters 0.017591135515356536 Centerline is valid? [True, True] Translation: X:232.45, Y:58.96, Z:21.48 [[ 8.72491684e-01 -4.80898632e-01 -8.65723174e-02 2.32452507e+02] [ 4.78531147e-01 8.76776187e-01 -4.76598353e-02 5.89555480e+01] [ 9.88240959e-02 1.55259632e-04 9.95104906e-01 2.14798149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.017105681 meters 0.019613123012363193 Centerline is valid? [True, True] Translation: X:232.49, Y:59.00, Z:21.48 [[ 8.78114381e-01 -4.70236886e-01 -8.82745997e-02 2.32493817e+02] [ 4.67717247e-01 8.82539096e-01 -4.86345535e-02 5.90042107e+01] [ 1.00775547e-01 1.41914803e-03 9.94908174e-01 2.14817575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.077105681 meters 0.0244291783031625 Centerline is valid? [True, True] Translation: X:232.54, Y:59.05, Z:21.48 [[ 8.83677445e-01 -4.58863680e-01 -9.25110624e-02 2.32535561e+02] [ 4.56029130e-01 8.88501997e-01 -5.10062231e-02 5.90519635e+01] [ 1.05601167e-01 2.88530962e-03 9.94404379e-01 2.14803479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.137105681 meters 0.02914691074920838 Centerline is valid? [True, True] Translation: X:232.58, Y:59.09, Z:21.49 [[ 8.88341584e-01 -4.49406889e-01 -9.42479568e-02 2.32581346e+02] [ 4.46407322e-01 8.93317673e-01 -5.20003712e-02 5.90922066e+01] [ 1.07562690e-01 4.12111419e-03 9.94189763e-01 2.14857434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19710568099998 meters 0.030753646638708377 Centerline is valid? [True, True] Translation: X:232.63, Y:59.13, Z:21.49 [[ 8.89693039e-01 -4.46211536e-01 -9.66517534e-02 2.32630488e+02] [ 4.43033992e-01 8.94915419e-01 -5.33598616e-02 5.91271319e+01] [ 1.10304930e-01 4.65388524e-03 9.93886897e-01 2.14859701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25710568099998 meters 0.03256943197630824 Centerline is valid? [True, True] Translation: X:232.68, Y:59.16, Z:21.49 [[ 8.89813182e-01 -4.45675038e-01 -9.80115378e-02 2.32680831e+02] [ 4.42401841e-01 8.95181926e-01 -5.41288295e-02 5.91551649e+01] [ 1.11862025e-01 4.80406125e-03 9.93712136e-01 2.14884073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.317105681 meters 0.030049916297744478 Centerline is valid? [True, True] Translation: X:232.74, Y:59.18, Z:21.49 [[ 8.87942002e-01 -4.49388242e-01 -9.80265715e-02 2.32736034e+02] [ 4.46133619e-01 8.93325918e-01 -5.41627035e-02 5.91774191e+01] [ 1.11909759e-01 4.36039032e-03 9.93708807e-01 2.14949306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.377105681 meters 0.024959860707215672 Centerline is valid? [True, True] Translation: X:232.79, Y:59.19, Z:21.51 [[ 8.83673764e-01 -4.58858608e-01 -9.25713577e-02 2.32794341e+02] [ 4.56005536e-01 8.88504195e-01 -5.11785708e-02 5.91919971e+01] [ 1.05733767e-01 3.01210870e-03 9.94389912e-01 2.15093927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.437105681 meters 0.021688516314189464 Centerline is valid? [True, True] Translation: X:232.85, Y:59.21, Z:21.52 [[ 8.80125569e-01 -4.66110922e-01 -9.01087783e-02 2.32849623e+02] [ 4.63444630e-01 8.84723810e-01 -4.98282466e-02 5.92131206e+01] [ 1.02946872e-01 2.09468443e-03 9.94684650e-01 2.15191038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.497105681 meters 0.021069542105689034 Centerline is valid? [True, True] Translation: X:232.90, Y:59.24, Z:21.52 [[ 8.78540745e-01 -4.68657064e-01 -9.23402197e-02 2.32899349e+02] [ 4.65867260e-01 8.83378208e-01 -5.10944004e-02 5.92430163e+01] [ 1.05517089e-01 1.87022739e-03 9.94415731e-01 2.15188915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.557105681 meters 0.019256348009372582 Centerline is valid? [True, True] Translation: X:232.96, Y:59.26, Z:21.52 [[ 8.74873233e-01 -4.74331041e-01 -9.80147414e-02 2.32955004e+02] [ 4.71219687e-01 8.80345629e-01 -5.42547774e-02 5.92644856e+01] [ 1.12021574e-01 1.27957678e-03 9.93704951e-01 2.15195422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.617105681 meters 0.018379955861886215 Centerline is valid? [True, True] Translation: X:233.00, Y:59.30, Z:21.53 [[ 8.73135998e-01 -4.77985777e-01 -9.57242160e-02 2.33004615e+02] [ 4.75036112e-01 8.78367186e-01 -5.30262067e-02 5.92954519e+01] [ 1.09426783e-01 8.26630579e-04 9.93994515e-01 2.15271162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.677105681 meters 0.018140187197186883 Centerline is valid? [True, True] Translation: X:233.06, Y:59.32, Z:21.53 [[ 8.72458076e-01 -4.79147537e-01 -9.60965335e-02 2.33055039e+02] [ 4.76177316e-01 8.77734083e-01 -5.32732974e-02 5.93234419e+01] [ 1.09872972e-01 7.19729154e-04 9.93945377e-01 2.15325944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.737105681 meters 0.017604136663519433 Centerline is valid? [True, True] Translation: X:233.11, Y:59.35, Z:21.54 [[ 8.69989674e-01 -4.83679010e-01 -9.57735988e-02 2.33106509e+02] [ 4.80751544e-01 8.75245441e-01 -5.31354039e-02 5.93501467e+01] [ 1.09525885e-01 1.83947191e-04 9.93983927e-01 2.15372980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.797105681 meters 0.018030320248521085 Centerline is valid? [True, True] Translation: X:233.16, Y:59.38, Z:21.55 [[ 8.66564240e-01 -4.90278400e-01 -9.32389882e-02 2.33157654e+02] [ 4.87539769e-01 8.71565670e-01 -5.17518764e-02 5.93790240e+01] [ 1.06636728e-01 -6.11389367e-04 9.94297860e-01 2.15451823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.857105681 meters 0.01869197587627268 Centerline is valid? [True, True] Translation: X:233.21, Y:59.41, Z:21.55 [[ 8.63675114e-01 -4.95518619e-01 -9.23395629e-02 2.33207155e+02] [ 4.92858502e-01 8.68596470e-01 -5.12900490e-02 5.94107284e+01] [ 1.05620993e-01 -1.21239965e-03 9.94405720e-01 2.15534212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91710568099998 meters 0.019444389752165205 Centerline is valid? [True, True] Translation: X:233.25, Y:59.45, Z:21.56 [[ 8.62381848e-01 -4.97832768e-01 -9.19787100e-02 2.33253030e+02] [ 4.95202682e-01 8.67271820e-01 -5.11262465e-02 5.94474583e+01] [ 1.05222864e-01 -1.45775693e-03 9.94447597e-01 2.15603701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97710568099998 meters 0.018532839717550233 Centerline is valid? [True, True] Translation: X:233.30, Y:59.49, Z:21.57 [[ 8.64335444e-01 -4.95199278e-01 -8.77605601e-02 2.33296625e+02] [ 4.92790570e-01 8.68778755e-01 -4.87947661e-02 5.94869297e+01] [ 1.00407643e-01 -1.07253060e-03 9.94945805e-01 2.15684703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03710568099999 meters 0.01771339886981694 Centerline is valid? [True, True] Translation: X:233.34, Y:59.53, Z:21.57 [[ 8.65730191e-01 -4.91999802e-01 -9.19099086e-02 2.33342349e+02] [ 4.89337348e-01 8.70595014e-01 -5.11202634e-02 5.95251723e+01] [ 1.05167468e-01 -7.18595558e-04 9.94454266e-01 2.15699000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.097105681 meters 0.01752081863429613 Centerline is valid? [True, True] Translation: X:233.39, Y:59.56, Z:21.58 [[ 8.65137581e-01 -4.93430699e-01 -8.97948273e-02 2.33390077e+02] [ 4.90893556e-01 8.69784709e-01 -4.99807532e-02 5.95603627e+01] [ 1.02764206e-01 -8.39474193e-04 9.94705390e-01 2.15783353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.157105681 meters 0.02185887742349561 Centerline is valid? [True, True] Translation: X:233.44, Y:59.59, Z:21.59 [[ 8.58633037e-01 -5.05166176e-01 -8.69278073e-02 2.33442268e+02] [ 5.02845244e-01 8.63019442e-01 -4.84159484e-02 5.95868138e+01] [ 9.94784873e-02 -2.13970166e-03 9.95037412e-01 2.15861946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.217105681 meters 0.02393500199866401 Centerline is valid? [True, True] Translation: X:233.50, Y:59.61, Z:21.59 [[ 8.55067820e-01 -5.10808861e-01 -8.90692436e-02 2.33495492e+02] [ 5.08401089e-01 8.59689573e-01 -4.96202695e-02 5.96140350e+01] [ 1.01918373e-01 -2.85420478e-03 9.94788670e-01 2.15885784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.277105681 meters 0.024572884578601715 Centerline is valid? [True, True] Translation: X:233.54, Y:59.66, Z:21.60 [[ 8.54573765e-01 -5.11925148e-01 -8.73860611e-02 2.33536891e+02] [ 5.09610380e-01 8.59025154e-01 -4.87139220e-02 5.96565712e+01] [ 1.00004706e-01 -2.90320407e-03 9.94982729e-01 2.15966088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.337105681 meters 0.020058939897947718 Centerline is valid? [True, True] Translation: X:233.58, Y:59.70, Z:21.60 [[ 8.61012639e-01 -5.00782676e-01 -8.87352622e-02 2.33577896e+02] [ 4.98334625e-01 8.65571547e-01 -4.94822953e-02 5.97032740e+01] [ 1.01586594e-01 -1.61497198e-03 9.94825390e-01 2.15971703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.397105681 meters 0.01603230960636171 Centerline is valid? [True, True] Translation: X:233.61, Y:59.76, Z:21.60 [[ 8.68636413e-01 -4.87213539e-01 -8.99652712e-02 2.33613798e+02] [ 4.84622691e-01 8.73282868e-01 -5.01784776e-02 5.97591877e+01] [ 1.03012764e-01 -1.23590708e-05 9.94680034e-01 2.15994923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.457105681 meters 0.01863189074605738 Centerline is valid? [True, True] Translation: X:233.65, Y:59.81, Z:21.61 [[ 8.76037351e-01 -4.74746837e-01 -8.46994744e-02 2.33651769e+02] [ 4.72391342e-01 8.80121312e-01 -4.72535238e-02 5.98101141e+01] [ 9.69792735e-02 1.38455337e-03 9.95285438e-01 2.16108899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.517105681 meters 0.01903109177690468 Centerline is valid? [True, True] Translation: X:233.70, Y:59.84, Z:21.62 [[ 8.77093271e-01 -4.73671605e-01 -7.96404735e-02 2.33699680e+02] [ 4.71582300e-01 8.80700365e-01 -4.44634835e-02 5.98419870e+01] [ 9.12004836e-02 1.44158454e-03 9.95831509e-01 2.16225139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.577105681 meters 0.01869253644375279 Centerline is valid? [True, True] Translation: X:233.75, Y:59.87, Z:21.62 [[ 8.76189616e-01 -4.74996678e-01 -8.16695336e-02 2.33748868e+02] [ 4.72801162e-01 8.79986516e-01 -4.56376137e-02 5.98730079e+01] [ 9.35458033e-02 1.37375279e-03 9.95614029e-01 2.16237242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.637105681 meters 0.022875964787343547 Centerline is valid? [True, True] Translation: X:233.80, Y:59.91, Z:21.62 [[ 8.80091457e-01 -4.67079623e-01 -8.52974431e-02 2.33796818e+02] [ 4.64643005e-01 8.84212132e-01 -4.77051753e-02 5.99090178e+01] [ 9.77031493e-02 2.35205692e-03 9.95212823e-01 2.16227311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69710568099998 meters 0.026202816841750763 Centerline is valid? [True, True] Translation: X:233.84, Y:59.95, Z:21.63 [[ 8.83813269e-01 -4.59857679e-01 -8.60524252e-02 2.33844928e+02] [ 4.57342518e-01 8.87986911e-01 -4.81359303e-02 5.99453877e+01] [ 9.85491044e-02 3.18774115e-03 9.95127084e-01 2.16277293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75710568099998 meters 0.027158970164638238 Centerline is valid? [True, True] Translation: X:233.90, Y:59.97, Z:21.63 [[ 8.84158349e-01 -4.59289148e-01 -8.55423473e-02 2.33897876e+02] [ 4.56799389e-01 8.88280886e-01 -4.78684225e-02 5.99710673e+01] [ 9.79710790e-02 3.24757344e-03 9.95183963e-01 2.16330139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.817105681 meters 0.02310172083344279 Centerline is valid? [True, True] Translation: X:233.96, Y:59.98, Z:21.64 [[ 8.80814164e-01 -4.65772711e-01 -8.49834758e-02 2.33958306e+02] [ 4.63342135e-01 8.84900744e-01 -4.75892806e-02 5.99848162e+01] [ 9.73677291e-02 2.54088729e-03 9.95245231e-01 2.16390410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.877105681 meters 0.019477129109837003 Centerline is valid? [True, True] Translation: X:234.02, Y:60.00, Z:21.65 [[ 8.76958656e-01 -4.73138978e-01 -8.41607051e-02 2.34016309e+02] [ 4.70787963e-01 8.80986128e-01 -4.71395410e-02 6.00019245e+01] [ 9.64479680e-02 1.71758155e-03 9.95336546e-01 2.16455164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.937105681 meters 0.016264615210481892 Centerline is valid? [True, True] Translation: X:234.08, Y:60.01, Z:21.65 [[ 8.71774587e-01 -4.82701015e-01 -8.37185748e-02 2.34076144e+02] [ 4.80417615e-01 8.75784954e-01 -4.69002015e-02 6.00148062e+01] [ 9.59582430e-02 6.66525801e-04 9.95385137e-01 2.16515058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.997105681 meters 0.015732468491519068 Centerline is valid? [True, True] Translation: X:234.13, Y:60.03, Z:21.66 [[ 8.69037049e-01 -4.87773826e-01 -8.27725947e-02 2.34131586e+02] [ 4.85563755e-01 8.72970034e-01 -4.63805812e-02 6.00344008e+01] [ 9.48812284e-02 1.15071453e-04 9.95488593e-01 2.16565429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.057105681 meters 0.016180124371911627 Centerline is valid? [True, True] Translation: X:234.18, Y:60.07, Z:21.66 [[ 8.70098257e-01 -4.85418540e-01 -8.54275411e-02 2.34180979e+02] [ 4.83051196e-01 8.74281810e-01 -4.78838085e-02 6.00660381e+01] [ 9.79314337e-02 3.97742368e-04 9.95193085e-01 2.16595326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.117105681 meters 0.016499678486118826 Centerline is valid? [True, True] Translation: X:234.23, Y:60.10, Z:21.67 [[ 8.70711696e-01 -4.84413930e-01 -8.48780723e-02 2.34229720e+02] [ 4.82068677e-01 8.74838758e-01 -4.76123717e-02 6.00976988e+01] [ 9.73187235e-02 5.39588882e-04 9.95253121e-01 2.16652231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.177105681 meters 0.017147899171177948 Centerline is valid? [True, True] Translation: X:234.28, Y:60.13, Z:21.68 [[ 8.71603859e-01 -4.83219202e-01 -8.24979805e-02 2.34279505e+02] [ 4.80994760e-01 8.75499131e-01 -4.63175298e-02 6.01270392e+01] [ 9.46084299e-02 6.89441363e-04 9.95514324e-01 2.16756083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.237105681 meters 0.01963194454130544 Centerline is valid? [True, True] Translation: X:234.32, Y:60.17, Z:21.69 [[ 8.75384987e-01 -4.77009617e-01 -7.85044528e-02 2.34322747e+02] [ 4.74967433e-01 8.78897071e-01 -4.41120779e-02 6.01657562e+01] [ 9.00392190e-02 1.32799226e-03 9.95937335e-01 2.16853915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.297105681 meters 0.026951814713286355 Centerline is valid? [True, True] Translation: X:234.37, Y:60.21, Z:21.69 [[ 8.81851888e-01 -4.64844183e-01 -7.91020465e-02 2.34366243e+02] [ 4.62719647e-01 8.85388649e-01 -4.44687438e-02 6.02078398e+01] [ 9.07070910e-02 2.61277459e-03 9.95874187e-01 2.16875928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.357105681 meters 0.028465179813362478 Centerline is valid? [True, True] Translation: X:234.42, Y:60.24, Z:21.69 [[ 8.85521661e-01 -4.57458355e-01 -8.11371709e-02 2.34415591e+02] [ 4.55191025e-01 8.89224293e-01 -4.56211365e-02 6.02426668e+01] [ 9.30189135e-02 3.46559264e-03 9.95658311e-01 2.16861196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41710568099998 meters 0.03381083855432264 Centerline is valid? [True, True] Translation: X:234.46, Y:60.28, Z:21.69 [[ 8.86696903e-01 -4.55056654e-01 -8.18049147e-02 2.34463669e+02] [ 4.52740977e-01 8.90454574e-01 -4.60028257e-02 6.02762603e+01] [ 9.37774524e-02 3.75412616e-03 9.95586107e-01 2.16893875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47710568099998 meters 0.03371595037309889 Centerline is valid? [True, True] Translation: X:234.52, Y:60.30, Z:21.70 [[ 8.88850896e-01 -4.50697620e-01 -8.25574968e-02 2.34516390e+02] [ 4.48319530e-01 8.92666513e-01 -4.64337792e-02 6.03034251e+01] [ 9.46239065e-02 4.26056807e-03 9.95503975e-01 2.16951257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53710568099999 meters 0.040392041653005265 Centerline is valid? [True, True] Translation: X:234.56, Y:60.34, Z:21.70 [[ 8.92553535e-01 -4.43227744e-01 -8.30503086e-02 2.34562814e+02] [ 4.40787867e-01 8.96394571e-01 -4.67207714e-02 6.03402384e+01] [ 9.51537878e-02 5.09322138e-03 9.95449555e-01 2.16973792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.597105681 meters 0.04236130483768412 Centerline is valid? [True, True] Translation: X:234.62, Y:60.37, Z:21.70 [[ 8.93777751e-01 -4.40430065e-01 -8.47507515e-02 2.34615682e+02] [ 4.37875716e-01 8.97770017e-01 -4.76849325e-02 6.03676605e+01] [ 9.70885615e-02 5.50943570e-03 9.95260497e-01 2.17005450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.657105681 meters 0.044738030618308854 Centerline is valid? [True, True] Translation: X:234.67, Y:60.39, Z:21.70 [[ 8.94468281e-01 -4.39177706e-01 -8.39609254e-02 2.34668935e+02] [ 4.36663941e-01 8.98382723e-01 -4.72555349e-02 6.03932575e+01] [ 9.61826221e-02 5.60586847e-03 9.95347918e-01 2.17045386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.717105681 meters 0.04343277481466821 Centerline is valid? [True, True] Translation: X:234.73, Y:60.41, Z:21.71 [[ 8.92866812e-01 -4.42230397e-01 -8.49772483e-02 2.34726470e+02] [ 4.39665824e-01 8.96885407e-01 -4.78594787e-02 6.04116711e+01] [ 9.73797701e-02 5.37054822e-03 9.95232806e-01 2.17053557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.777105681 meters 0.039458515048164895 Centerline is valid? [True, True] Translation: X:234.79, Y:60.42, Z:21.71 [[ 8.89338036e-01 -4.49155907e-01 -8.56552885e-02 2.34787756e+02] [ 4.46581026e-01 8.93441248e-01 -4.82506337e-02 6.04245503e+01] [ 9.82000250e-02 4.65909728e-03 9.95155791e-01 2.17106707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.837105681 meters 0.03435752981788752 Centerline is valid? [True, True] Translation: X:234.85, Y:60.44, Z:21.72 [[ 8.85295802e-01 -4.57065929e-01 -8.56859389e-02 2.34847175e+02] [ 4.54523569e-01 8.89424674e-01 -4.82915565e-02 6.04397562e+01] [ 9.82836134e-02 3.80603341e-03 9.95151167e-01 2.17163660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.897105681 meters 0.026455407608662676 Centerline is valid? [True, True] Translation: X:234.91, Y:60.45, Z:21.72 [[ 8.82026597e-01 -4.62980186e-01 -8.76266466e-02 2.34909751e+02] [ 4.60347116e-01 8.86362688e-01 -4.94137569e-02 6.04489525e+01] [ 1.00546580e-01 3.24557385e-03 9.94927058e-01 2.17229000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.957105681 meters 0.025866003327373037 Centerline is valid? [True, True] Translation: X:234.96, Y:60.47, Z:21.73 [[ 8.82085134e-01 -4.63402949e-01 -8.47556718e-02 2.34963874e+02] [ 4.60939046e-01 8.86142191e-01 -4.78248088e-02 6.04727198e+01] [ 9.72677341e-02 3.11835437e-03 9.95253367e-01 2.17308183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.017105681 meters 0.029183261304876088 Centerline is valid? [True, True] Translation: X:235.02, Y:60.50, Z:21.74 [[ 8.85389069e-01 -4.57574444e-01 -8.19257246e-02 2.35015698e+02] [ 4.55246081e-01 8.89163827e-01 -4.62460302e-02 6.05000756e+01] [ 9.40063923e-02 3.64936455e-03 9.95564905e-01 2.17419406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.077105681 meters 0.03203642597944023 Centerline is valid? [True, True] Translation: X:235.07, Y:60.53, Z:21.75 [[ 8.88060799e-01 -4.52667703e-01 -8.02494087e-02 2.35067964e+02] [ 4.50412914e-01 8.91669894e-01 -4.53101190e-02 6.05276553e+01] [ 9.20664093e-02 4.09277045e-03 9.95744458e-01 2.17492977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.137105681 meters 0.03421393664660938 Centerline is valid? [True, True] Translation: X:235.12, Y:60.56, Z:21.75 [[ 8.90985260e-01 -4.46545063e-01 -8.21143973e-02 2.35120462e+02] [ 4.44157228e-01 8.94748030e-01 -4.63715452e-02 6.05566388e+01] [ 9.41786798e-02 4.84466016e-03 9.95543523e-01 2.17512733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19710568099998 meters 0.037163001839964856 Centerline is valid? [True, True] Translation: X:235.17, Y:60.58, Z:21.76 [[ 8.91722344e-01 -4.45113911e-01 -8.18832563e-02 2.35172096e+02] [ 4.42730665e-01 8.95459946e-01 -4.62714054e-02 6.05811085e+01] [ 9.39192226e-02 5.00901760e-03 9.95567220e-01 2.17565632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25710568099998 meters 0.03891623259985635 Centerline is valid? [True, True] Translation: X:235.23, Y:60.61, Z:21.76 [[ 8.92292491e-01 -4.43751590e-01 -8.30580290e-02 2.35225828e+02] [ 4.41291814e-01 8.96134503e-01 -4.69519736e-02 6.06054639e+01] [ 9.52661784e-02 5.24206518e-03 9.95438032e-01 2.17602468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.317105681 meters 0.040821402963626574 Centerline is valid? [True, True] Translation: X:235.28, Y:60.63, Z:21.76 [[ 8.93087456e-01 -4.42075501e-01 -8.34508657e-02 2.35279008e+02] [ 4.39581935e-01 8.96961128e-01 -4.72065499e-02 6.06315309e+01] [ 9.57210417e-02 5.47608461e-03 9.95393136e-01 2.17622209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.377105681 meters 0.04205701520122454 Centerline is valid? [True, True] Translation: X:235.33, Y:60.65, Z:21.77 [[ 8.92619609e-01 -4.42913476e-01 -8.40112254e-02 2.35333025e+02] [ 4.40389157e-01 8.96547919e-01 -4.75312449e-02 6.06529948e+01] [ 9.63723182e-02 5.42968852e-03 9.95330545e-01 2.17659851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.437105681 meters 0.039701733903943895 Centerline is valid? [True, True] Translation: X:235.39, Y:60.67, Z:21.77 [[ 8.91213917e-01 -4.45060883e-01 -8.75132199e-02 2.35390181e+02] [ 4.42329796e-01 8.95483847e-01 -4.95280837e-02 6.06720548e+01] [ 1.00409687e-01 5.43041282e-03 9.94931357e-01 2.17681796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.497105681 meters 0.03478515102829633 Centerline is valid? [True, True] Translation: X:235.45, Y:60.69, Z:21.78 [[ 8.90485390e-01 -4.47137238e-01 -8.42855855e-02 2.35448896e+02] [ 4.44610673e-01 8.94451219e-01 -4.77322378e-02 6.06866042e+01] [ 9.67322057e-02 5.03058955e-03 9.95297731e-01 2.17793364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.557105681 meters 0.0351502584412838 Centerline is valid? [True, True] Translation: X:235.50, Y:60.71, Z:21.79 [[ 8.90277425e-01 -4.48058156e-01 -8.15475005e-02 2.35502712e+02] [ 4.45696341e-01 8.93991642e-01 -4.61921693e-02 6.07096398e+01] [ 9.35995620e-02 4.77842300e-03 9.95598458e-01 2.17879368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.617105681 meters 0.0373625239167418 Centerline is valid? [True, True] Translation: X:235.56, Y:60.74, Z:21.79 [[ 8.91341164e-01 -4.45444661e-01 -8.42020418e-02 2.35557271e+02] [ 4.42911051e-01 8.95294074e-01 -4.77317716e-02 6.07352233e+01] [ 9.66474519e-02 5.25127795e-03 9.95304825e-01 2.17893683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.677105681 meters 0.03561526039799204 Centerline is valid? [True, True] Translation: X:235.61, Y:60.75, Z:21.80 [[ 8.91774839e-01 -4.44874118e-01 -8.26114738e-02 2.35613645e+02] [ 4.42430647e-01 8.95577807e-01 -4.68563050e-02 6.07537737e+01] [ 9.48301600e-02 5.23542599e-03 9.95479699e-01 2.17992183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.737105681 meters 0.03536558305047447 Centerline is valid? [True, True] Translation: X:235.67, Y:60.78, Z:21.80 [[ 8.89645924e-01 -4.49372069e-01 -8.12088243e-02 2.35667156e+02] [ 4.47026559e-01 8.93332306e-01 -4.60938926e-02 6.07781571e+01] [ 9.32597742e-02 4.70474243e-03 9.95630695e-01 2.18034414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.797105681 meters 0.03225057455693897 Centerline is valid? [True, True] Translation: X:235.73, Y:60.79, Z:21.81 [[ 8.85448512e-01 -4.57832200e-01 -7.98161000e-02 2.35725678e+02] [ 4.55599959e-01 8.89030688e-01 -4.53112841e-02 6.07929587e+01] [ 9.17039272e-02 3.75659718e-03 9.95779231e-01 2.18112759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.857105681 meters 0.024582270042987922 Centerline is valid? [True, True] Translation: X:235.79, Y:60.81, Z:21.82 [[ 8.79684167e-01 -4.69062690e-01 -7.83323671e-02 2.35785910e+02] [ 4.66956052e-01 8.83161193e-01 -4.44786735e-02 6.08067619e+01] [ 9.00433930e-02 2.54941197e-03 9.95934580e-01 2.18189997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91710568099998 meters 0.019965988443297614 Centerline is valid? [True, True] Translation: X:235.84, Y:60.82, Z:21.82 [[ 8.73967440e-01 -4.79299730e-01 -8.03285917e-02 2.35842810e+02] [ 4.77124281e-01 8.77649890e-01 -4.56408909e-02 6.08232144e+01] [ 9.23760464e-02 1.56193099e-03 9.95722967e-01 2.18248753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97710568099998 meters 0.01748230424889301 Centerline is valid? [True, True] Translation: X:235.89, Y:60.85, Z:21.83 [[ 8.70522822e-01 -4.85381102e-01 -8.12108493e-02 2.35894555e+02] [ 4.83182595e-01 8.74302181e-01 -4.61549195e-02 6.08511306e+01] [ 9.34055484e-02 9.39241888e-04 9.95627702e-01 2.18284384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03710568099999 meters 0.01760370405426292 Centerline is valid? [True, True] Translation: X:235.94, Y:60.89, Z:21.83 [[ 8.70711086e-01 -4.85286590e-01 -7.97441583e-02 2.35940050e+02] [ 4.83163514e-01 8.74354620e-01 -4.53543470e-02 6.08857527e+01] [ 9.17345296e-02 9.61064945e-04 9.95783035e-01 2.18338648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.097105681 meters 0.017190839360042048 Centerline is valid? [True, True] Translation: X:235.99, Y:60.92, Z:21.84 [[ 8.69899817e-01 -4.87034045e-01 -7.79239822e-02 2.35987420e+02] [ 4.85012523e-01 8.73382643e-01 -4.43352162e-02 6.09201288e+01] [ 8.96502132e-02 7.73089239e-04 9.95973012e-01 2.18407020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.157105681 meters 0.017542992727282082 Centerline is valid? [True, True] Translation: X:236.03, Y:60.96, Z:21.84 [[ 8.70260826e-01 -4.85953118e-01 -8.05956754e-02 2.36032574e+02] [ 4.83782555e-01 8.73984368e-01 -4.58885991e-02 6.09582333e+01] [ 9.27390682e-02 9.44268330e-04 9.95689999e-01 2.18444644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.217105681 meters 0.020274577116821044 Centerline is valid? [True, True] Translation: X:236.08, Y:61.00, Z:21.85 [[ 8.74418474e-01 -4.77702813e-01 -8.48077477e-02 2.36076203e+02] [ 4.75258549e-01 8.78519378e-01 -4.83012860e-02 6.10020124e+01] [ 9.75789099e-02 1.92992971e-03 9.95225920e-01 2.18469073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.277105681 meters 0.02312237618019462 Centerline is valid? [True, True] Translation: X:236.12, Y:61.04, Z:21.85 [[ 8.77678698e-01 -4.71685714e-01 -8.48097266e-02 2.36119813e+02] [ 4.69210343e-01 8.81762831e-01 -4.83318086e-02 6.10442761e+01] [ 9.75794883e-02 2.62619793e-03 9.95224269e-01 2.18520546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.337105681 meters 0.021892310690292207 Centerline is valid? [True, True] Translation: X:236.17, Y:61.08, Z:21.86 [[ 8.76913655e-01 -4.73566005e-01 -8.22051157e-02 2.36167569e+02] [ 4.71247804e-01 8.80755190e-01 -4.68593921e-02 6.10781906e+01] [ 9.45935973e-02 2.35266051e-03 9.95513192e-01 2.18588187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.397105681 meters 0.020328058934280756 Centerline is valid? [True, True] Translation: X:236.22, Y:61.11, Z:21.86 [[ 8.73983646e-01 -4.78895133e-01 -8.25350732e-02 2.36216387e+02] [ 4.76578557e-01 8.77870240e-01 -4.70820616e-02 6.11086186e+01] [ 9.50024547e-02 1.81450576e-03 9.95475385e-01 2.18620728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.457105681 meters 0.01984476382703629 Centerline is valid? [True, True] Translation: X:236.26, Y:61.14, Z:21.86 [[ 8.72372891e-01 -4.81033985e-01 -8.70163432e-02 2.36264341e+02] [ 4.78467214e-01 8.76700332e-01 -4.96553445e-02 6.11429913e+01] [ 1.00173165e-01 1.68350908e-03 9.94968594e-01 2.18613566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.517105681 meters 0.019703463718976875 Centerline is valid? [True, True] Translation: X:236.31, Y:61.17, Z:21.87 [[ 8.72609927e-01 -4.80647670e-01 -8.67740355e-02 2.36313953e+02] [ 4.78089219e-01 8.76912039e-01 -4.95577968e-02 6.11741325e+01] [ 9.99130359e-02 1.75889454e-03 9.94994619e-01 2.18679930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.577105681 meters 0.01902987537604909 Centerline is valid? [True, True] Translation: X:236.36, Y:61.21, Z:21.88 [[ 8.72095068e-01 -4.82576998e-01 -8.10532763e-02 2.36361068e+02] [ 4.80350729e-01 8.75852325e-01 -4.63236614e-02 6.12081040e+01] [ 9.33454339e-02 1.46463627e-03 9.95632706e-01 2.18811448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.637105681 meters 0.017715666246872565 Centerline is valid? [True, True] Translation: X:236.41, Y:61.24, Z:21.89 [[ 8.69916042e-01 -4.86698332e-01 -7.98173802e-02 2.36411377e+02] [ 4.84553715e-01 8.73569493e-01 -4.56512767e-02 6.12377225e+01] [ 9.19444285e-02 1.03696983e-03 9.95763600e-01 2.18879404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69710568099998 meters 0.01660441216472962 Centerline is valid? [True, True] Translation: X:236.46, Y:61.27, Z:21.89 [[ 8.65929130e-01 -4.93317486e-01 -8.24900017e-02 2.36461698e+02] [ 4.91052946e-01 8.69849248e-01 -4.72153487e-02 6.12667796e+01] [ 9.50460231e-02 3.78187484e-04 9.95472808e-01 2.18877716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75710568099998 meters 0.016448771346205655 Centerline is valid? [True, True] Translation: X:236.51, Y:61.30, Z:21.89 [[ 8.62873793e-01 -4.98674574e-01 -8.22951217e-02 2.36511940e+02] [ 4.96443623e-01 8.66789265e-01 -4.71179370e-02 6.12965111e+01] [ 9.48290453e-02 -1.98055326e-04 9.95493552e-01 2.18919610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.817105681 meters 0.01682965262225934 Centerline is valid? [True, True] Translation: X:236.56, Y:61.33, Z:21.90 [[ 8.61690605e-01 -5.00637666e-01 -8.27721478e-02 2.36560872e+02] [ 4.98386046e-01 8.65656849e-01 -4.74296144e-02 6.13262570e+01] [ 9.53973281e-02 -3.82830370e-04 9.95439201e-01 2.19010329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.877105681 meters 0.016601441462044498 Centerline is valid? [True, True] Translation: X:236.60, Y:61.37, Z:21.91 [[ 8.65292535e-01 -4.95231053e-01 -7.75566393e-02 2.36603001e+02] [ 4.93232054e-01 8.68761279e-01 -4.44520121e-02 6.13692357e+01] [ 8.93922219e-02 2.10573733e-04 9.95996479e-01 2.19148345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.937105681 meters 0.01963525334639214 Centerline is valid? [True, True] Translation: X:236.64, Y:61.42, Z:21.91 [[ 8.71759063e-01 -4.83413358e-01 -7.96722180e-02 2.36643015e+02] [ 4.81250791e-01 8.75390934e-01 -4.56988896e-02 6.14204659e+01] [ 9.18357910e-02 1.49610313e-03 9.95773041e-01 2.19149002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.997105681 meters 0.027665328826996665 Centerline is valid? [True, True] Translation: X:236.68, Y:61.47, Z:21.92 [[ 8.78875245e-01 -4.69740026e-01 -8.32022358e-02 2.36681463e+02] [ 4.67316505e-01 8.82799393e-01 -4.77547560e-02 6.14734918e+01] [ 9.58832036e-02 3.08869486e-03 9.95387799e-01 2.19154842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.057105681 meters 0.031298225922261246 Centerline is valid? [True, True] Translation: X:236.73, Y:61.51, Z:21.92 [[ 8.80762721e-01 -4.65590827e-01 -8.64997775e-02 2.36728634e+02] [ 4.62947699e-01 8.84992324e-01 -4.96791203e-02 6.15119177e+01] [ 9.96817818e-02 3.71064427e-03 9.95012449e-01 2.19168586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.117105681 meters 0.03438534143049645 Centerline is valid? [True, True] Translation: X:236.78, Y:61.55, Z:21.92 [[ 8.82490045e-01 -4.62300502e-01 -8.65422833e-02 2.36775957e+02] [ 4.59636353e-01 8.86713803e-01 -4.97298047e-02 6.15496530e+01] [ 9.97283509e-02 4.10807803e-03 9.95006221e-01 2.19198612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.177105681 meters 0.04144398954422911 Centerline is valid? [True, True] Translation: X:236.82, Y:61.59, Z:21.93 [[ 8.86854097e-01 -4.54215195e-01 -8.47252453e-02 2.36821208e+02] [ 4.51622863e-01 8.90878337e-01 -4.87091177e-02 6.15877535e+01] [ 9.76043071e-02 4.93402274e-03 9.95213070e-01 2.19272060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.237105681 meters 0.039201552283010525 Centerline is valid? [True, True] Translation: X:236.87, Y:61.61, Z:21.93 [[ 8.84645475e-01 -4.58495664e-01 -8.47591331e-02 2.36874832e+02] [ 4.55919557e-01 8.88685378e-01 -4.87406952e-02 6.16128377e+01] [ 9.76715997e-02 4.47488901e-03 9.95208638e-01 2.19315636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.297105681 meters 0.03120936600334345 Centerline is valid? [True, True] Translation: X:236.94, Y:61.63, Z:21.93 [[ 8.78540581e-01 -4.70121207e-01 -8.45724436e-02 2.36935153e+02] [ 4.67606899e-01 8.82596045e-01 -4.86622014e-02 6.16272382e+01] [ 9.75204371e-02 3.20506055e-03 9.95228362e-01 2.19341576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.357105681 meters 0.02280520235326362 Centerline is valid? [True, True] Translation: X:237.00, Y:61.64, Z:21.94 [[ 8.71585494e-01 -4.82847148e-01 -8.48372477e-02 2.36995835e+02] [ 4.80373874e-01 8.75702763e-01 -4.88427255e-02 6.16412573e+01] [ 9.78757830e-02 1.81701367e-03 9.95196980e-01 2.19379644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41710568099998 meters 0.018172067760513454 Centerline is valid? [True, True] Translation: X:237.05, Y:61.66, Z:21.95 [[ 8.66767030e-01 -4.91614368e-01 -8.38464603e-02 2.37052114e+02] [ 4.89236725e-01 8.70812610e-01 -4.82993232e-02 6.16618176e+01] [ 9.67591962e-02 8.43493227e-04 9.95307463e-01 2.19463895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47710568099998 meters 0.018941092324532532 Centerline is valid? [True, True] Translation: X:237.10, Y:61.70, Z:21.95 [[ 8.69330578e-01 -4.86601335e-01 -8.65071500e-02 2.37098561e+02] [ 4.84042082e-01 8.73622898e-01 -4.98627702e-02 6.16988001e+01] [ 9.98379176e-02 1.47412986e-03 9.95002622e-01 2.19524073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53710568099999 meters 0.022265765062205525 Centerline is valid? [True, True] Translation: X:237.14, Y:61.74, Z:21.96 [[ 8.73750742e-01 -4.78588248e-01 -8.66771613e-02 2.37142365e+02] [ 4.75975639e-01 8.78036096e-01 -4.99980510e-02 6.17423533e+01] [ 1.00034156e-01 2.42961691e-03 9.94981037e-01 2.19576115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.597105681 meters 0.02921194143600029 Centerline is valid? [True, True] Translation: X:237.19, Y:61.78, Z:21.96 [[ 8.78653707e-01 -4.69659404e-01 -8.59517785e-02 2.37187265e+02] [ 4.67044969e-01 8.82840974e-01 -4.96065656e-02 6.17801092e+01] [ 9.91799419e-02 3.44364704e-03 9.95063556e-01 2.19635766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.657105681 meters 0.03147839806943543 Centerline is valid? [True, True] Translation: X:237.24, Y:61.81, Z:21.97 [[ 8.82466138e-01 -4.62512233e-01 -8.56501625e-02 2.37237141e+02] [ 4.59881439e-01 8.86602747e-01 -4.94432101e-02 6.18130618e+01] [ 9.88057588e-02 4.24303863e-03 9.95097693e-01 2.19694826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.717105681 meters 0.03564142082766092 Centerline is valid? [True, True] Translation: X:237.29, Y:61.85, Z:21.97 [[ 8.85458636e-01 -4.56839078e-01 -8.52118516e-02 2.37285748e+02] [ 4.54206964e-01 8.89536023e-01 -4.92107438e-02 6.18487141e+01] [ 9.82804025e-02 4.87026175e-03 9.95146845e-01 2.19719297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.777105681 meters 0.03673515742867729 Centerline is valid? [True, True] Translation: X:237.34, Y:61.87, Z:21.98 [[ 8.87244623e-01 -4.53353697e-01 -8.52490729e-02 2.37339408e+02] [ 4.50701092e-01 8.91315074e-01 -4.92540750e-02 6.18736610e+01] [ 9.83133008e-02 5.27856297e-03 9.95141513e-01 2.19791146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.837105681 meters 0.03796642943452072 Centerline is valid? [True, True] Translation: X:237.39, Y:61.90, Z:21.98 [[ 8.87425401e-01 -4.53030830e-01 -8.50836360e-02 2.37391382e+02] [ 4.50386006e-01 8.91479015e-01 -4.91692203e-02 6.19009811e+01] [ 9.81254487e-02 5.31353606e-03 9.95159868e-01 2.19822798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.897105681 meters 0.03787694833581101 Centerline is valid? [True, True] Translation: X:237.45, Y:61.92, Z:21.99 [[ 8.86116513e-01 -4.56109072e-01 -8.22316197e-02 2.37446824e+02] [ 4.53649067e-01 8.89910752e-01 -4.75539430e-02 6.19211246e+01] [ 9.48685874e-02 4.83403661e-03 9.95478068e-01 2.19879737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.957105681 meters 0.03401707328812149 Centerline is valid? [True, True] Translation: X:237.50, Y:61.94, Z:21.99 [[ 8.85325839e-01 -4.57564779e-01 -8.26597317e-02 2.37504053e+02] [ 4.55084360e-01 8.89163805e-01 -4.78116395e-02 6.19393822e+01] [ 9.53749639e-02 4.71172875e-03 9.95430267e-01 2.19935244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.017105681 meters 0.03537301906644762 Centerline is valid? [True, True] Translation: X:237.56, Y:61.96, Z:21.99 [[ 8.85628956e-01 -4.56392092e-01 -8.58347876e-02 2.37557923e+02] [ 4.53707735e-01 8.89764388e-01 -4.96852536e-02 6.19631545e+01] [ 9.90486942e-02 5.05879223e-03 9.95069729e-01 2.19942580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.077105681 meters 0.03844464713484013 Centerline is valid? [True, True] Translation: X:237.61, Y:61.99, Z:22.00 [[ 8.86133295e-01 -4.55275742e-01 -8.65550792e-02 2.37610809e+02] [ 4.52539349e-01 8.90335074e-01 -5.01157997e-02 6.19865978e+01] [ 9.98795308e-02 5.23969952e-03 9.94985741e-01 2.19974202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.137105681 meters 0.03559412140599693 Centerline is valid? [True, True] Translation: X:237.67, Y:62.00, Z:22.00 [[ 8.84378073e-01 -4.58415753e-01 -8.79228119e-02 2.37671730e+02] [ 4.55605992e-01 8.88723942e-01 -5.09208640e-02 6.19984189e+01] [ 1.01482034e-01 4.97513561e-03 9.94824932e-01 2.20036579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19710568099998 meters 0.03491407239809674 Centerline is valid? [True, True] Translation: X:237.73, Y:62.02, Z:22.01 [[ 8.84210571e-01 -4.59159641e-01 -8.56976678e-02 2.37727053e+02] [ 4.56492981e-01 8.88340936e-01 -4.96441331e-02 6.20192361e+01] [ 9.89233287e-02 4.77548346e-03 9.95083599e-01 2.20119922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25710568099998 meters 0.03612772305767822 Centerline is valid? [True, True] Translation: X:237.78, Y:62.04, Z:22.02 [[ 8.84649213e-01 -4.58239961e-01 -8.60924344e-02 2.37781816e+02] [ 4.55540620e-01 8.88814827e-01 -4.99093916e-02 6.20423517e+01] [ 9.93907099e-02 4.93370307e-03 9.95036253e-01 2.20170479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.317105681 meters 0.04039634855233246 Centerline is valid? [True, True] Translation: X:237.83, Y:62.07, Z:22.02 [[ 8.87207434e-01 -4.53369060e-01 -8.55538700e-02 2.37833404e+02] [ 4.50677406e-01 8.91306063e-01 -4.96324337e-02 6.20709822e+01] [ 9.87564928e-02 5.47706789e-03 9.95096557e-01 2.20232833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.377105681 meters 0.0438717802983947 Centerline is valid? [True, True] Translation: X:237.89, Y:62.10, Z:22.03 [[ 8.89343136e-01 -4.49725702e-01 -8.25565231e-02 2.37886045e+02] [ 4.47201511e-01 8.93148537e-01 -4.79218176e-02 6.20955510e+01] [ 9.52869108e-02 5.69953772e-03 9.95433534e-01 2.20339844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.437105681 meters 0.04201700534120061 Centerline is valid? [True, True] Translation: X:237.94, Y:62.12, Z:22.04 [[ 8.87958117e-01 -4.52817110e-01 -8.05422124e-02 2.37941621e+02] [ 4.50426690e-01 8.91588003e-01 -4.67614133e-02 6.21168638e+01] [ 9.29848384e-02 5.24381439e-03 9.95653716e-01 2.20410968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.497105681 meters 0.038271117626880104 Centerline is valid? [True, True] Translation: X:238.00, Y:62.13, Z:22.04 [[ 8.84194931e-01 -4.59585457e-01 -8.35495701e-02 2.37999526e+02] [ 4.57041429e-01 8.88121036e-01 -4.85196698e-02 6.21344812e+01] [ 9.65010653e-02 4.71523122e-03 9.95321712e-01 2.20402283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.557105681 meters 0.03365405001880167 Centerline is valid? [True, True] Translation: X:238.06, Y:62.15, Z:22.04 [[ 8.83447781e-01 -4.60566722e-01 -8.60134469e-02 2.38057454e+02] [ 4.57873352e-01 8.87612341e-01 -4.99632405e-02 6.21511351e+01] [ 9.93580030e-02 4.75664873e-03 9.95040382e-01 2.20439994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.617105681 meters 0.036857074773503425 Centerline is valid? [True, True] Translation: X:238.11, Y:62.18, Z:22.05 [[ 8.86231462e-01 -4.55001684e-01 -8.69900239e-02 2.38108328e+02] [ 4.52215889e-01 8.90473724e-01 -5.05701186e-02 6.21823648e+01] [ 1.00471820e-01 5.47855919e-03 9.94924821e-01 2.20498540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.677105681 meters 0.040421871373245884 Centerline is valid? [True, True] Translation: X:238.16, Y:62.21, Z:22.05 [[ 8.88599630e-01 -4.50189916e-01 -8.78620380e-02 2.38159143e+02] [ 4.47320920e-01 8.92911893e-01 -5.11111133e-02 6.22140728e+01] [ 1.01462766e-01 6.11478867e-03 9.94820545e-01 2.20532233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.737105681 meters 0.03712637017806831 Centerline is valid? [True, True] Translation: X:238.22, Y:62.24, Z:22.05 [[ 8.86078149e-01 -4.54614490e-01 -9.05051341e-02 2.38215822e+02] [ 4.51588879e-01 8.90669355e-01 -5.26838198e-02 6.22354565e+01] [ 1.04560977e-01 5.81086946e-03 9.94501501e-01 2.20521034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.797105681 meters 0.029759905551884697 Centerline is valid? [True, True] Translation: X:238.28, Y:62.25, Z:22.06 [[ 8.79954551e-01 -4.66481567e-01 -8.98606416e-02 2.38277926e+02] [ 4.63556495e-01 8.84519954e-01 -5.23433520e-02 6.22465942e+01] [ 1.03900740e-01 4.40428682e-03 9.94577920e-01 2.20610692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.857105681 meters 0.02101122938112911 Centerline is valid? [True, True] Translation: X:238.34, Y:62.26, Z:22.07 [[ 8.70740446e-01 -4.84481798e-01 -8.41930134e-02 2.38340194e+02] [ 4.81994929e-01 8.74798702e-01 -4.90725837e-02 6.22567279e+01] [ 9.74267125e-02 2.14887790e-03 9.95240382e-01 2.20740124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91710568099998 meters 0.017124123531291748 Centerline is valid? [True, True] Translation: X:238.40, Y:62.28, Z:22.08 [[ 8.62869441e-01 -4.98612913e-01 -8.27133022e-02 2.38397804e+02] [ 4.96274421e-01 8.66824569e-01 -4.82375905e-02 6.22755648e+01] [ 9.57498081e-02 5.74246593e-04 9.95405266e-01 2.20796406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97710568099998 meters 0.016869907335732404 Centerline is valid? [True, True] Translation: X:238.45, Y:62.30, Z:22.09 [[ 8.59728283e-01 -5.03850987e-01 -8.36747467e-02 2.38449735e+02] [ 5.01480891e-01 8.63790590e-01 -4.88132446e-02 6.23000605e+01] [ 9.68720603e-02 4.84040517e-06 9.95296842e-01 2.20855714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03710568099999 meters 0.016988529633830202 Centerline is valid? [True, True] Translation: X:238.50, Y:62.33, Z:22.09 [[ 8.58816798e-01 -5.05537425e-01 -8.28590272e-02 2.38496589e+02] [ 5.03219371e-01 8.62804662e-01 -4.83568089e-02 6.23339133e+01] [ 9.59373316e-02 -1.66627696e-04 9.95387362e-01 2.20931836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.097105681 meters 0.017419632679881593 Centerline is valid? [True, True] Translation: X:238.54, Y:62.38, Z:22.10 [[ 8.62842860e-01 -4.98496893e-01 -8.36842110e-02 2.38537487e+02] [ 4.96095102e-01 8.66891234e-01 -4.88798297e-02 6.23809245e+01] [ 9.69115521e-02 6.60284846e-04 9.95292779e-01 2.20960140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.157105681 meters 0.019242497890880915 Centerline is valid? [True, True] Translation: X:238.58, Y:62.42, Z:22.10 [[ 8.66720748e-01 -4.91931107e-01 -8.24556340e-02 2.38579674e+02] [ 4.89566338e-01 8.70632993e-01 -4.81974322e-02 6.24242048e+01] [ 9.54984116e-02 1.40621177e-03 9.95428589e-01 2.21018840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.217105681 meters 0.023400831987438035 Centerline is valid? [True, True] Translation: X:238.62, Y:62.47, Z:22.10 [[ 8.72103206e-01 -4.81904026e-01 -8.48793680e-02 2.38623243e+02] [ 4.79346619e-01 8.76220109e-01 -4.96501689e-02 6.24678051e+01] [ 9.82996254e-02 2.61343342e-03 9.95153432e-01 2.21026108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.277105681 meters 0.03022214131865955 Centerline is valid? [True, True] Translation: X:238.66, Y:62.52, Z:22.10 [[ 8.77085311e-01 -4.71872710e-01 -8.97635973e-02 2.38663840e+02] [ 4.68957538e-01 8.81657748e-01 -5.25208810e-02 6.25152012e+01] [ 1.03923941e-01 3.96997762e-03 9.94577324e-01 2.20983921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.337105681 meters 0.035605142886485405 Centerline is valid? [True, True] Translation: X:238.71, Y:62.56, Z:22.10 [[ 8.81536833e-01 -4.63353822e-01 -9.05320235e-02 2.38707404e+02] [ 4.60342050e-01 8.86159083e-01 -5.29837465e-02 6.25579482e+01] [ 1.04775996e-01 5.03142679e-03 9.94483120e-01 2.21043891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.397105681 meters 0.04001453804156405 Centerline is valid? [True, True] Translation: X:238.75, Y:62.60, Z:22.11 [[ 8.84446371e-01 -4.57921063e-01 -8.97937467e-02 2.38751143e+02] [ 4.54927012e-01 8.88974848e-01 -5.25845402e-02 6.25994716e+01] [ 1.03903951e-01 5.65860490e-03 9.94571239e-01 2.21100976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.457105681 meters 0.042105943566734784 Centerline is valid? [True, True] Translation: X:238.80, Y:62.64, Z:22.11 [[ 8.85356307e-01 -4.55964396e-01 -9.07781912e-02 2.38798964e+02] [ 4.52890728e-01 8.89977924e-01 -5.31910170e-02 6.26354791e+01] [ 1.05043796e-01 5.98040134e-03 9.94449614e-01 2.21123594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.517105681 meters 0.03860325704795478 Centerline is valid? [True, True] Translation: X:238.85, Y:62.66, Z:22.11 [[ 8.81272302e-01 -4.63410712e-01 -9.27881597e-02 2.38853700e+02] [ 4.60238830e-01 8.86128263e-01 -5.43775813e-02 6.26584102e+01] [ 1.07421364e-01 5.21674209e-03 9.94199897e-01 2.21132590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.577105681 meters 0.030138790744340668 Centerline is valid? [True, True] Translation: X:238.91, Y:62.67, Z:22.12 [[ 8.74082319e-01 -4.76719801e-01 -9.33720048e-02 2.38913405e+02] [ 4.73581362e-01 8.79047849e-01 -5.47318211e-02 6.26742139e+01] [ 1.08170203e-01 3.62087582e-03 9.94125795e-01 2.21166941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.637105681 meters 0.021176994936950824 Centerline is valid? [True, True] Translation: X:238.97, Y:62.69, Z:22.13 [[ 8.67074273e-01 -4.89800967e-01 -9.09792179e-02 2.38974256e+02] [ 4.86891333e-01 8.71832085e-01 -5.33445909e-02 6.26860433e+01] [ 1.05446833e-01 1.95672968e-03 9.94423017e-01 2.21268180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69710568099998 meters 0.01773796918716711 Centerline is valid? [True, True] Translation: X:239.03, Y:62.70, Z:22.14 [[ 8.58855120e-01 -5.04453122e-01 -8.88534174e-02 2.39034267e+02] [ 5.01752392e-01 8.63439061e-01 -5.21298963e-02 6.26999287e+01] [ 1.03016600e-01 1.89613661e-04 9.94679619e-01 2.21368844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75710568099998 meters 0.020498474411378302 Centerline is valid? [True, True] Translation: X:239.09, Y:62.72, Z:22.14 [[ 8.51136821e-01 -5.17721231e-01 -8.67803992e-02 2.39087620e+02] [ 5.15210383e-01 8.55548307e-01 -5.09446282e-02 6.27228856e+01] [ 1.00619939e-01 -1.34931383e-03 9.94924021e-01 2.21433751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.817105681 meters 0.02513393956900388 Centerline is valid? [True, True] Translation: X:239.14, Y:62.75, Z:22.15 [[ 8.45859147e-01 -5.26748469e-01 -8.40140054e-02 2.39138898e+02] [ 5.24438430e-01 8.50018008e-01 -4.93327387e-02 6.27505848e+01] [ 9.73993621e-02 -2.33162478e-03 9.95242648e-01 2.21528384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.877105681 meters 0.031005597127578992 Centerline is valid? [True, True] Translation: X:239.19, Y:62.78, Z:22.16 [[ 8.40369089e-01 -5.35853566e-01 -8.14908002e-02 2.39188489e+02] [ 5.33721639e-01 8.44304603e-01 -4.78638684e-02 6.27823738e+01] [ 9.44510822e-02 -3.27008797e-03 9.95524133e-01 2.21608517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.937105681 meters 0.03019344985218169 Centerline is valid? [True, True] Translation: X:239.23, Y:62.82, Z:22.16 [[ 8.37769141e-01 -5.39415479e-01 -8.46983356e-02 2.39232808e+02] [ 5.37126879e-01 8.42031226e-01 -4.97808257e-02 6.28246447e+01] [ 9.81711913e-02 -3.78891311e-03 9.95162329e-01 2.21601685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.997105681 meters 0.03294673746756014 Centerline is valid? [True, True] Translation: X:239.27, Y:62.87, Z:22.16 [[ 8.36088475e-01 -5.41318215e-01 -8.90542093e-02 2.39272852e+02] [ 5.38797336e-01 8.40807258e-01 -5.23505964e-02 6.28721563e+01] [ 1.03215757e-01 -4.21244045e-03 9.94650071e-01 2.21570727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.057105681 meters 0.03380546381536898 Centerline is valid? [True, True] Translation: X:239.31, Y:62.92, Z:22.16 [[ 8.34617604e-01 -5.43541787e-01 -8.93072307e-02 2.39313522e+02] [ 5.41017491e-01 8.39370120e-01 -5.25154866e-02 6.29181847e+01] [ 1.03506182e-01 -4.48642435e-03 9.94618692e-01 2.21619892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.117105681 meters 0.03679230214154007 Centerline is valid? [True, True] Translation: X:239.35, Y:62.96, Z:22.17 [[ 8.32125190e-01 -5.47992152e-01 -8.52776011e-02 2.39354931e+02] [ 5.45710463e-01 8.36469825e-01 -5.01828924e-02 6.29627778e+01] [ 9.88319713e-02 -4.77843028e-03 9.95092663e-01 2.21740526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.177105681 meters 0.039720030427879964 Centerline is valid? [True, True] Translation: X:239.40, Y:63.01, Z:22.19 [[ 8.29952250e-01 -5.51883180e-01 -8.12663387e-02 2.39396031e+02] [ 5.49826942e-01 8.33906648e-01 -4.78543199e-02 6.30081293e+01] [ 9.41785344e-02 -4.96562196e-03 9.95542940e-01 2.21861954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.237105681 meters 0.04316783354469244 Centerline is valid? [True, True] Translation: X:239.44, Y:63.06, Z:22.19 [[ 8.27848908e-01 -5.55319030e-01 -7.92903563e-02 2.39435389e+02] [ 5.53374572e-01 8.31621152e-01 -4.67209003e-02 6.30550901e+01] [ 9.18845425e-02 -5.19942069e-03 9.95756093e-01 2.21942737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.297105681 meters 0.045035419994218 Centerline is valid? [True, True] Translation: X:239.47, Y:63.10, Z:22.20 [[ 8.26541353e-01 -5.57579278e-01 -7.70372664e-02 2.39474228e+02] [ 5.55752728e-01 8.30106867e-01 -4.54036881e-02 6.31042071e+01] [ 8.92653195e-02 -5.28564513e-03 9.95993858e-01 2.22032687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.357105681 meters 0.04639674459975197 Centerline is valid? [True, True] Translation: X:239.52, Y:63.15, Z:22.21 [[ 8.26002086e-01 -5.58211156e-01 -7.82359161e-02 2.39516442e+02] [ 5.56329143e-01 8.29681158e-01 -4.61200627e-02 6.31488470e+01] [ 9.06555990e-02 -5.42965216e-03 9.95867502e-01 2.22055364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41710568099998 meters 0.040499960262917294 Centerline is valid? [True, True] Translation: X:239.55, Y:63.21, Z:22.21 [[ 8.28567067e-01 -5.54179281e-01 -7.97617722e-02 2.39550682e+02] [ 5.52201395e-01 8.32381963e-01 -4.70519584e-02 6.32076124e+01] [ 9.24674810e-02 -5.05885870e-03 9.95702854e-01 2.22079893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47710568099998 meters 0.03269344279020064 Centerline is valid? [True, True] Translation: X:239.58, Y:63.27, Z:22.21 [[ 8.37235788e-01 -5.40841147e-01 -8.07903970e-02 2.39582040e+02] [ 5.38748173e-01 8.41116995e-01 -4.76718724e-02 6.32676007e+01] [ 9.37370861e-02 -3.61308106e-03 9.95590430e-01 2.22140767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53710568099999 meters 0.019260322486586857 Centerline is valid? [True, True] Translation: X:239.61, Y:63.34, Z:22.22 [[ 8.49987561e-01 -5.20621711e-01 -8.04622889e-02 2.39608386e+02] [ 5.18453162e-01 8.53786394e-01 -4.74880169e-02 6.33379537e+01] [ 9.34209001e-02 -1.35170448e-03 9.95625787e-01 2.22233159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.597105681 meters 0.017042249588887143 Centerline is valid? [True, True] Translation: X:239.64, Y:63.40, Z:22.23 [[ 8.59621294e-01 -5.04341028e-01 -8.18007218e-02 2.39642660e+02] [ 5.02024126e-01 8.63504447e-01 -4.82891958e-02 6.33955765e+01] [ 9.49895097e-02 4.44485134e-04 9.95478174e-01 2.22269017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.657105681 meters 0.018421886215746426 Centerline is valid? [True, True] Translation: X:239.69, Y:63.44, Z:22.23 [[ 8.62339696e-01 -4.99379567e-01 -8.36079974e-02 2.39686363e+02] [ 4.96931879e-01 8.66382682e-01 -4.93938813e-02 6.34375073e+01] [ 9.71028161e-02 1.04682525e-03 9.95273805e-01 2.22292092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.717105681 meters 0.018338201981811672 Centerline is valid? [True, True] Translation: X:239.74, Y:63.47, Z:22.23 [[ 8.61342950e-01 -5.00731262e-01 -8.57701937e-02 2.39735557e+02] [ 4.98158089e-01 8.65602277e-01 -5.07071585e-02 6.34686270e+01] [ 9.96335345e-02 9.49137645e-04 9.95023747e-01 2.22289975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.777105681 meters 0.017394386347179817 Centerline is valid? [True, True] Translation: X:239.79, Y:63.50, Z:22.23 [[ 8.59686109e-01 -5.03383495e-01 -8.68611073e-02 2.39786014e+02] [ 5.00756019e-01 8.64062853e-01 -5.13692038e-02 6.34968838e+01] [ 1.00911866e-01 6.65168653e-04 9.94895147e-01 2.22346005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.837105681 meters 0.017329226861844096 Centerline is valid? [True, True] Translation: X:239.84, Y:63.53, Z:22.24 [[ 8.59844257e-01 -5.03357079e-01 -8.54371385e-02 2.39836218e+02] [ 5.00810911e-01 8.64078220e-01 -5.05693757e-02 6.35263832e+01] [ 9.92788237e-02 6.93936175e-04 9.95059412e-01 2.22437886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.897105681 meters 0.016823573523820898 Centerline is valid? [True, True] Translation: X:239.89, Y:63.55, Z:22.25 [[ 8.57934512e-01 -5.06723107e-01 -8.47352742e-02 2.39890235e+02] [ 5.04231266e-01 8.62108799e-01 -5.01921276e-02 6.35505024e+01] [ 9.84845362e-02 3.35383904e-04 9.95138525e-01 2.22504809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.957105681 meters 0.01676096491270826 Centerline is valid? [True, True] Translation: X:239.94, Y:63.58, Z:22.25 [[ 8.56978225e-01 -5.08087323e-01 -8.62298909e-02 2.39943607e+02] [ 5.05509491e-01 8.61305535e-01 -5.11168175e-02 6.35755159e+01] [ 1.00242089e-01 2.15971268e-04 9.94963053e-01 2.22534076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.017105681 meters 0.01705130250957125 Centerline is valid? [True, True] Translation: X:240.00, Y:63.60, Z:22.25 [[ 8.54122311e-01 -5.11896383e-01 -9.18540729e-02 2.39999754e+02] [ 5.08987512e-01 8.59047176e-01 -5.44946105e-02 6.35963835e+01] [ 1.06802576e-01 -2.07513313e-04 9.94280225e-01 2.22518861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.077105681 meters 0.017516172870085625 Centerline is valid? [True, True] Translation: X:240.05, Y:63.62, Z:22.25 [[ 8.55081236e-01 -5.09599806e-01 -9.56248775e-02 2.40052431e+02] [ 5.06427039e-01 8.60411543e-01 -5.67770281e-02 6.36227988e+01] [ 1.11210311e-01 1.21947806e-04 9.93796887e-01 2.22531768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.137105681 meters 0.020469144737994643 Centerline is valid? [True, True] Translation: X:240.09, Y:63.66, Z:22.26 [[ 8.61696571e-01 -4.98934100e-01 -9.24325887e-02 2.40094657e+02] [ 4.95904458e-01 8.66638652e-01 -5.49200850e-02 6.36640960e+01] [ 1.07507157e-01 1.48671611e-03 9.94203199e-01 2.22632749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19710568099998 meters 0.02495779001293367 Centerline is valid? [True, True] Translation: X:240.14, Y:63.70, Z:22.28 [[ 8.68381288e-01 -4.88380136e-01 -8.60161691e-02 2.40142063e+02] [ 4.85703731e-01 8.72627059e-01 -5.11263250e-02 6.36977399e+01] [ 1.00029118e-01 2.61876971e-03 9.94981064e-01 2.22812265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25710568099998 meters 0.026063662780090625 Centerline is valid? [True, True] Translation: X:240.19, Y:63.72, Z:22.29 [[ 8.70501624e-01 -4.85056353e-01 -8.33502062e-02 2.40193706e+02] [ 4.82527440e-01 8.74478032e-01 -4.95524148e-02 6.37239216e+01] [ 9.69236378e-02 2.91669601e-03 9.95287547e-01 2.22898055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.317105681 meters 0.03219801354537859 Centerline is valid? [True, True] Translation: X:240.24, Y:63.76, Z:22.29 [[ 8.75049724e-01 -4.75855056e-01 -8.85999194e-02 2.40243264e+02] [ 4.72947703e-01 8.79513674e-01 -5.26893479e-02 6.37591146e+01] [ 1.02997333e-01 4.20267098e-03 9.94672754e-01 2.22879432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.377105681 meters 0.03738535832823279 Centerline is valid? [True, True] Translation: X:240.30, Y:63.79, Z:22.29 [[ 8.78788579e-01 -4.68670147e-01 -8.98828512e-02 2.40295433e+02] [ 4.65638065e-01 8.83358304e-01 -5.34724130e-02 6.37872465e+01] [ 1.04459687e-01 5.13806886e-03 9.94515849e-01 2.22930855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.437105681 meters 0.0322214195228357 Centerline is valid? [True, True] Translation: X:240.36, Y:63.80, Z:22.30 [[ 8.76473195e-01 -4.73396848e-01 -8.76935737e-02 2.40356590e+02] [ 4.70532078e-01 8.80837848e-01 -5.21943331e-02 6.38003838e+01] [ 1.01952452e-01 4.48429438e-03 9.94779166e-01 2.23028614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.497105681 meters 0.024842401818376065 Centerline is valid? [True, True] Translation: X:240.42, Y:63.81, Z:22.31 [[ 8.68212614e-01 -4.88103781e-01 -8.92275517e-02 2.40422791e+02] [ 4.85212961e-01 8.72781027e-01 -5.31193038e-02 6.38063180e+01] [ 1.03803847e-01 2.82448504e-03 9.94593778e-01 2.23067798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.557105681 meters 0.019884975884799375 Centerline is valid? [True, True] Translation: X:240.49, Y:63.82, Z:22.31 [[ 8.60693174e-01 -5.01031085e-01 -9.04163239e-02 2.40485666e+02] [ 4.98130776e-01 8.65428300e-01 -5.38478128e-02 6.38150219e+01] [ 1.05228274e-01 1.30729135e-03 9.94447234e-01 2.23092155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.617105681 meters 0.01876103953073444 Centerline is valid? [True, True] Translation: X:240.55, Y:63.83, Z:22.31 [[ 8.54607192e-01 -5.10374983e-01 -9.57283842e-02 2.40546761e+02] [ 5.07178861e-01 8.59951942e-01 -5.70285977e-02 6.38274670e+01] [ 1.11427779e-01 1.85636943e-04 9.93772517e-01 2.23081993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.677105681 meters 0.019136504363723283 Centerline is valid? [True, True] Translation: X:240.60, Y:63.86, Z:22.31 [[ 8.55289187e-01 -5.08941008e-01 -9.72597399e-02 2.40597856e+02] [ 5.05627600e-01 8.60801300e-01 -5.79814739e-02 6.38552474e+01] [ 1.13230460e-01 4.13718805e-04 9.93568665e-01 2.23127105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.737105681 meters 0.020023518969816485 Centerline is valid? [True, True] Translation: X:240.65, Y:63.89, Z:22.32 [[ 8.58184578e-01 -5.04236533e-01 -9.62535663e-02 2.40645935e+02] [ 5.00958844e-01 8.63564948e-01 -5.74092158e-02 6.38878110e+01] [ 1.12069030e-01 1.04862835e-03 9.93699871e-01 2.23207461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.797105681 meters 0.021836276839846704 Centerline is valid? [True, True] Translation: X:240.69, Y:63.92, Z:22.33 [[ 8.60706518e-01 -4.99873793e-01 -9.64908330e-02 2.40691407e+02] [ 4.96548033e-01 8.66096675e-01 -5.75899415e-02 6.39239317e+01] [ 1.12358092e-01 1.65570473e-03 9.93666402e-01 2.23253921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.857105681 meters 0.022426743456800513 Centerline is valid? [True, True] Translation: X:240.74, Y:63.95, Z:22.34 [[ 8.62584512e-01 -4.97722447e-01 -9.06660153e-02 2.40741615e+02] [ 4.94773459e-01 8.67334424e-01 -5.41315190e-02 6.39527072e+01] [ 1.05580228e-01 1.83387183e-03 9.94409097e-01 2.23417068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91710568099998 meters 0.02382054673043826 Centerline is valid? [True, True] Translation: X:240.79, Y:63.98, Z:22.35 [[ 8.64856272e-01 -4.94800865e-01 -8.48276617e-02 2.40789569e+02] [ 4.92202782e-01 8.69003900e-01 -5.06817956e-02 6.39848080e+01] [ 9.87929651e-02 2.08005779e-03 9.95105835e-01 2.23547178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97710568099998 meters 0.026892114152966762 Centerline is valid? [True, True] Translation: X:240.84, Y:64.02, Z:22.36 [[ 8.69448346e-01 -4.86714906e-01 -8.46650695e-02 2.40837042e+02] [ 4.84084964e-01 8.73555634e-01 -5.06191907e-02 6.40211225e+01] [ 9.85967631e-02 3.02568454e-03 9.95122869e-01 2.23585290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03710568099996 meters 0.028792768625142184 Centerline is valid? [True, True] Translation: X:240.89, Y:64.05, Z:22.36 [[ 8.71400360e-01 -4.82409815e-01 -8.91189247e-02 2.40889908e+02] [ 4.79471703e-01 8.75937799e-01 -5.32903333e-02 6.40487094e+01] [ 1.03770415e-01 3.70721309e-03 9.94594368e-01 2.23560888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09710568099996 meters 0.03116498597083503 Centerline is valid? [True, True] Translation: X:240.94, Y:64.08, Z:22.36 [[ 8.72477214e-01 -4.80360481e-01 -8.96510995e-02 2.40937426e+02] [ 4.77375307e-01 8.77062109e-01 -5.36178460e-02 6.40825406e+01] [ 1.04385477e-01 3.98312779e-03 9.94528937e-01 2.23588820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15710568099996 meters 0.03329837689019796 Centerline is valid? [True, True] Translation: X:240.99, Y:64.11, Z:22.36 [[ 8.74404777e-01 -4.76493656e-01 -9.14881523e-02 2.40988667e+02] [ 4.73361729e-01 8.79166131e-01 -5.47319713e-02 6.41132861e+01] [ 1.06512722e-01 4.55090727e-03 9.94300925e-01 2.23612635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21710568099996 meters 0.03271155856913243 Centerline is valid? [True, True] Translation: X:241.04, Y:64.14, Z:22.37 [[ 8.74116326e-01 -4.76923279e-01 -9.20045406e-02 2.41041610e+02] [ 4.73755730e-01 8.78933182e-01 -5.50633343e-02 6.41379623e+01] [ 1.07126830e-01 4.54408114e-03 9.94234979e-01 2.23674651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27710568099997 meters 0.028598074313903626 Centerline is valid? [True, True] Translation: X:241.10, Y:64.16, Z:22.38 [[ 8.70950986e-01 -4.83551181e-01 -8.73077010e-02 2.41098015e+02] [ 4.80728443e-01 8.75308790e-01 -5.22942227e-02 6.41580061e+01] [ 1.01708131e-01 3.57440972e-03 9.94807861e-01 2.23792663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.33710568099997 meters 0.024391451927544626 Centerline is valid? [True, True] Translation: X:241.16, Y:64.17, Z:22.39 [[ 8.66151140e-01 -4.92362806e-01 -8.57966785e-02 2.41157413e+02] [ 4.89676956e-01 8.70386405e-01 -5.14196993e-02 6.41728946e+01] [ 9.99934099e-02 2.52457478e-03 9.94984897e-01 2.23875548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.39710568099997 meters 0.020983224065195753 Centerline is valid? [True, True] Translation: X:241.22, Y:64.19, Z:22.39 [[ 8.61339525e-01 -5.00707804e-01 -8.59413676e-02 2.41217572e+02] [ 4.98053119e-01 8.65614945e-01 -5.15156027e-02 6.41884036e+01] [ 1.00186397e-01 1.56905855e-03 9.94967449e-01 2.23923930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457105681 meters 0.019307228075743522 Centerline is valid? [True, True] Translation: X:241.27, Y:64.21, Z:22.40 [[ 8.58866003e-01 -5.05274896e-01 -8.39432441e-02 2.41273509e+02] [ 5.02762698e-01 8.62957836e-01 -5.03333145e-02 6.42086124e+01] [ 9.78716405e-02 1.02604074e-03 9.95198517e-01 2.24002749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517105681 meters 0.02095563672535097 Centerline is valid? [True, True] Translation: X:241.32, Y:64.24, Z:22.41 [[ 8.61683854e-01 -5.00629007e-01 -8.28947167e-02 2.41323445e+02] [ 4.98154233e-01 8.65660523e-01 -4.97415157e-02 6.42395761e+01] [ 9.66607294e-02 1.56710692e-03 9.95316155e-01 2.24076153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577105681 meters 0.023598316502929036 Centerline is valid? [True, True] Translation: X:241.37, Y:64.27, Z:22.41 [[ 8.65083469e-01 -4.95125574e-01 -8.05062566e-02 2.41372412e+02] [ 4.92764560e-01 8.68818763e-01 -4.83430019e-02 6.42734373e+01] [ 9.38812028e-02 2.15010166e-03 9.95581085e-01 2.24138612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637105681 meters 0.023029914659814712 Centerline is valid? [True, True] Translation: X:241.43, Y:64.30, Z:22.42 [[ 8.63892519e-01 -4.97106575e-01 -8.10849478e-02 2.41425331e+02] [ 4.94717108e-01 8.67687240e-01 -4.87220376e-02 6.42999613e+01] [ 9.45764198e-02 1.97649296e-03 9.95515642e-01 2.24155932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697105681 meters 0.022039015043027462 Centerline is valid? [True, True] Translation: X:241.48, Y:64.33, Z:22.42 [[ 8.62861416e-01 -4.98605228e-01 -8.28432421e-02 2.41477562e+02] [ 4.96114066e-01 8.66827132e-01 -4.98152207e-02 6.43254147e+01] [ 9.66488995e-02 1.88393420e-03 9.95316754e-01 2.24178588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757105681 meters 0.021636839146079362 Centerline is valid? [True, True] Translation: X:241.53, Y:64.35, Z:22.42 [[ 8.62299404e-01 -4.99908458e-01 -8.08162800e-02 2.41527549e+02] [ 4.97540035e-01 8.66076524e-01 -4.86350540e-02 6.43534865e+01] [ 9.43061577e-02 1.72864326e-03 9.95541742e-01 2.24228866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817105681 meters 0.019452785338813908 Centerline is valid? [True, True] Translation: X:241.58, Y:64.37, Z:22.43 [[ 8.59065436e-01 -5.06052085e-01 -7.69276574e-02 2.41582546e+02] [ 5.03929544e-01 8.62502319e-01 -4.63116064e-02 6.43728884e+01] [ 8.97863678e-02 1.01858097e-03 9.95960527e-01 2.24338719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877105681 meters 0.01760857888017406 Centerline is valid? [True, True] Translation: X:241.64, Y:64.39, Z:22.44 [[ 8.53917705e-01 -5.14948368e-01 -7.51846477e-02 2.41639172e+02] [ 5.12954377e-01 8.57221191e-01 -4.52729213e-02 6.43922621e+01] [ 8.77630902e-02 9.30550055e-05 9.96141371e-01 2.24393719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937105681 meters 0.018216774569291053 Centerline is valid? [True, True] Translation: X:241.69, Y:64.41, Z:22.45 [[ 8.49704855e-01 -5.22072033e-01 -7.37729792e-02 2.41694435e+02] [ 5.20176328e-01 8.52901184e-01 -4.44539910e-02 6.44131303e+01] [ 8.61292468e-02 -6.02185541e-04 9.96283790e-01 2.24460918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997105681 meters 0.018881407544367595 Centerline is valid? [True, True] Translation: X:241.75, Y:64.44, Z:22.45 [[ 8.47591194e-01 -5.25551590e-01 -7.33804702e-02 2.41745543e+02] [ 5.23686057e-01 8.50761235e-01 -4.42519506e-02 6.44392669e+01] [ 8.56859425e-02 -9.20765459e-04 9.96321771e-01 2.24511443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05710568099994 meters 0.01791222541693807 Centerline is valid? [True, True] Translation: X:241.79, Y:64.48, Z:22.46 [[ 8.51573846e-01 -5.19467566e-01 -7.05367462e-02 2.41790747e+02] [ 5.17721870e-01 8.54490122e-01 -4.25522849e-02 6.44771820e+01] [ 8.23774847e-02 -2.82003251e-04 9.96601159e-01 2.24603527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11710568099994 meters 0.019402774484187015 Centerline is valid? [True, True] Translation: X:241.83, Y:64.52, Z:22.46 [[ 8.59300889e-01 -5.06100154e-01 -7.39230448e-02 2.41831451e+02] [ 5.04129622e-01 8.62474034e-01 -4.46303207e-02 6.45244905e+01] [ 8.63441188e-02 1.08407759e-03 9.96264783e-01 2.24612262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17710568099994 meters 0.026082858720692964 Centerline is valid? [True, True] Translation: X:241.87, Y:64.57, Z:22.46 [[ 8.67322520e-01 -4.91650823e-01 -7.76602469e-02 2.41873260e+02] [ 4.89413943e-01 8.70788284e-01 -4.69228756e-02 6.45704120e+01] [ 9.06953036e-02 2.68925901e-03 9.95875057e-01 2.24596084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23710568099995 meters 0.030682691338895837 Centerline is valid? [True, True] Translation: X:241.92, Y:64.61, Z:22.46 [[ 8.71703450e-01 -4.83620875e-01 -7.90186347e-02 2.41920877e+02] [ 4.81268885e-01 8.75270112e-01 -4.77754281e-02 6.46066627e+01] [ 9.22678435e-02 3.61679525e-03 9.95727655e-01 2.24612686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29710568099995 meters 0.03621816882692455 Centerline is valid? [True, True] Translation: X:241.97, Y:64.64, Z:22.47 [[ 8.76410256e-01 -4.75380367e-01 -7.69322479e-02 2.41970502e+02] [ 4.73116798e-01 8.79769405e-01 -4.65434018e-02 6.46383543e+01] [ 8.98084574e-02 4.39317580e-03 9.95949367e-01 2.24699509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35710568099995 meters 0.03905614221354977 Centerline is valid? [True, True] Translation: X:242.02, Y:64.67, Z:22.47 [[ 8.79215595e-01 -4.70026408e-01 -7.78146123e-02 2.42024050e+02] [ 4.67688699e-01 8.82638154e-01 -4.70868298e-02 6.46653837e+01] [ 9.08141993e-02 5.00646024e-03 9.95855269e-01 2.24722641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41710568099995 meters 0.03611253223878764 Centerline is valid? [True, True] Translation: X:242.08, Y:64.68, Z:22.48 [[ 8.78742537e-01 -4.71130150e-01 -7.64718002e-02 2.42082724e+02] [ 4.68874166e-01 8.82050466e-01 -4.63032640e-02 6.46823183e+01] [ 8.92668506e-02 4.83299606e-03 9.95996020e-01 2.24780548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47710568099995 meters 0.03146254467459324 Centerline is valid? [True, True] Translation: X:242.14, Y:64.69, Z:22.48 [[ 8.73568989e-01 -4.80835161e-01 -7.53310703e-02 2.42144838e+02] [ 4.78678803e-01 8.76802706e-01 -4.56466688e-02 6.46948707e+01] [ 8.79990096e-02 3.81612774e-03 9.96113252e-01 2.24849467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53710568099996 meters 0.028107534760080596 Centerline is valid? [True, True] Translation: X:242.20, Y:64.71, Z:22.49 [[ 8.70027337e-01 -4.87081412e-01 -7.61848429e-02 2.42204510e+02] [ 4.84897027e-01 8.73350535e-01 -4.61921693e-02 6.47116074e+01] [ 8.90354204e-02 3.24664624e-03 9.96023169e-01 2.24903025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59710568099996 meters 0.029333708144096873 Centerline is valid? [True, True] Translation: X:242.26, Y:64.74, Z:22.49 [[ 8.70232457e-01 -4.86691348e-01 -7.63348061e-02 2.42257067e+02] [ 4.84494101e-01 8.73567691e-01 -4.63136680e-02 6.47353548e+01] [ 8.92240818e-02 3.31989386e-03 9.96006045e-01 2.24936715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65710568099996 meters 0.03209477526330889 Centerline is valid? [True, True] Translation: X:242.31, Y:64.76, Z:22.49 [[ 8.72918423e-01 -4.81055310e-01 -8.12355581e-02 2.42310548e+02] [ 4.78539423e-01 8.76680327e-01 -4.93115124e-02 6.47621064e+01] [ 9.49391805e-02 4.17051063e-03 9.95474339e-01 2.24937582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71710568099996 meters 0.0363052030710648 Centerline is valid? [True, True] Translation: X:242.36, Y:64.79, Z:22.50 [[ 8.77176129e-01 -4.73602622e-01 -7.91365660e-02 2.42361087e+02] [ 4.71182716e-01 8.80725169e-01 -4.80627184e-02 6.47930277e+01] [ 9.24601949e-02 4.87168717e-03 9.95704464e-01 2.25014503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77710568099997 meters 0.03887214599600575 Centerline is valid? [True, True] Translation: X:242.41, Y:64.82, Z:22.50 [[ 8.78851621e-01 -4.70048712e-01 -8.16947738e-02 2.42412856e+02] [ 4.67451146e-01 8.82623684e-01 -4.96473399e-02 6.48218091e+01] [ 9.54424104e-02 5.44432950e-03 9.95420065e-01 2.25041857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.83710568099997 meters 0.03902712021374868 Centerline is valid? [True, True] Translation: X:242.46, Y:64.85, Z:22.50 [[ 8.77448251e-01 -4.72327681e-01 -8.36129704e-02 2.42463932e+02] [ 4.69615784e-01 8.81406933e-01 -5.08215896e-02 6.48497841e+01] [ 9.77014954e-02 5.32734418e-03 9.95201506e-01 2.25048578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.89710568099997 meters 0.03191061385632917 Centerline is valid? [True, True] Translation: X:242.52, Y:64.86, Z:22.52 [[ 8.71609480e-01 -4.83690502e-01 -7.96267007e-02 2.42524665e+02] [ 4.81276902e-01 8.75230522e-01 -4.84156717e-02 6.48625804e+01] [ 9.31099194e-02 3.87706661e-03 9.95648287e-01 2.25175034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957105681 meters 0.026515978406534683 Centerline is valid? [True, True] Translation: X:242.58, Y:64.88, Z:22.53 [[ 8.65572848e-01 -4.94799257e-01 -7.71838046e-02 2.42582254e+02] [ 4.92572906e-01 8.69003332e-01 -4.69589371e-02 6.48785832e+01] [ 9.03082305e-02 2.62773004e-03 9.95910397e-01 2.25254611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017105681 meters 0.023790431412373757 Centerline is valid? [True, True] Translation: X:242.64, Y:64.90, Z:22.53 [[ 8.62501385e-01 -4.99928483e-01 -7.85039690e-02 2.42638363e+02] [ 4.97645321e-01 8.66064055e-01 -4.77722500e-02 6.49002393e+01] [ 9.18721742e-02 2.13649894e-03 9.95768517e-01 2.25270455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077105681 meters 0.022888825866510087 Centerline is valid? [True, True] Translation: X:242.69, Y:64.93, Z:22.53 [[ 8.62099799e-01 -5.00433898e-01 -7.96859446e-02 2.42690395e+02] [ 4.98082454e-01 8.65772143e-01 -4.85022161e-02 6.49261571e+01] [ 9.32620241e-02 2.12357989e-03 9.95639335e-01 2.25316726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137105681 meters 0.024180307055839755 Centerline is valid? [True, True] Translation: X:242.74, Y:64.96, Z:22.54 [[ 8.63223731e-01 -4.98165997e-01 -8.17033068e-02 2.42739498e+02] [ 4.95679592e-01 8.67078176e-01 -4.97712644e-02 6.49583535e+01] [ 9.56375057e-02 2.46507475e-03 9.95413176e-01 2.25355632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197105681 meters 0.026712787096752455 Centerline is valid? [True, True] Translation: X:242.79, Y:64.99, Z:22.54 [[ 8.65957963e-01 -4.93362696e-01 -8.19149365e-02 2.42786557e+02] [ 4.90838638e-01 8.69818399e-01 -4.99337928e-02 6.49946404e+01] [ 9.58865896e-02 3.03354954e-03 9.95387643e-01 2.25398412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257105681 meters 0.029019039637198298 Centerline is valid? [True, True] Translation: X:242.84, Y:65.03, Z:22.55 [[ 8.68279077e-01 -4.89623644e-01 -7.97504281e-02 2.42835954e+02] [ 4.87215008e-01 8.71927395e-01 -4.86225745e-02 6.50278431e+01] [ 9.33433451e-02 3.36235868e-03 9.95628301e-01 2.25488731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317105681 meters 0.03253013974350466 Centerline is valid? [True, True] Translation: X:242.88, Y:65.06, Z:22.56 [[ 8.70877678e-01 -4.85582859e-01 -7.60352376e-02 2.42884681e+02] [ 4.83376122e-01 8.74183063e-01 -4.63842349e-02 6.50580479e+01] [ 8.89921063e-02 3.64137651e-03 9.96025675e-01 2.25591968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377105681 meters 0.03571900462526979 Centerline is valid? [True, True] Translation: X:242.93, Y:65.09, Z:22.56 [[ 8.73158546e-01 -4.81127254e-01 -7.81710928e-02 2.42934620e+02] [ 4.78775421e-01 8.76640589e-01 -4.77008719e-02 6.50890770e+01] [ 9.14781424e-02 4.22402605e-03 9.95798126e-01 2.25630556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437105681 meters 0.0415139724018996 Centerline is valid? [True, True] Translation: X:242.98, Y:65.13, Z:22.56 [[ 8.76831899e-01 -4.74299057e-01 -7.87796044e-02 2.42981373e+02] [ 4.71880338e-01 8.80349589e-01 -4.80993487e-02 6.51259718e+01] [ 9.21670681e-02 5.00049691e-03 9.95731001e-01 2.25645587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497105681 meters 0.046239336461994525 Centerline is valid? [True, True] Translation: X:243.03, Y:65.16, Z:22.57 [[ 8.79522212e-01 -4.68860405e-01 -8.13055948e-02 2.43031936e+02] [ 4.66259688e-01 8.83253506e-01 -4.96502594e-02 6.51567138e+01] [ 9.50924924e-02 5.75898470e-03 9.95451783e-01 2.25681610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55710568099994 meters 0.04793739662613975 Centerline is valid? [True, True] Translation: X:243.08, Y:65.19, Z:22.57 [[ 8.79909381e-01 -4.68351048e-01 -8.00423513e-02 2.43083070e+02] [ 4.65827570e-01 8.83523870e-01 -4.88901357e-02 6.51862262e+01] [ 9.36170743e-02 5.73295502e-03 9.95591772e-01 2.25731052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61710568099994 meters 0.04755758591576361 Centerline is valid? [True, True] Translation: X:243.14, Y:65.21, Z:22.57 [[ 8.78539775e-01 -4.70516710e-01 -8.23522302e-02 2.43137039e+02] [ 4.67851484e-01 8.82372736e-01 -5.03323240e-02 6.52105099e+01] [ 9.63475622e-02 5.69033551e-03 9.95331486e-01 2.25738052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67710568099994 meters 0.04208644960804098 Centerline is valid? [True, True] Translation: X:243.20, Y:65.23, Z:22.57 [[ 8.73735052e-01 -4.78928176e-01 -8.49403388e-02 2.43195382e+02] [ 4.76130638e-01 8.77840275e-01 -5.19236692e-02 6.52276258e+01] [ 9.94317586e-02 4.92483210e-03 9.95032196e-01 2.25732714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73710568099995 meters 0.029353434986437027 Centerline is valid? [True, True] Translation: X:243.26, Y:65.23, Z:22.58 [[ 8.64450844e-01 -4.96092433e-01 -8.13451612e-02 2.43261127e+02] [ 4.93601230e-01 8.68265065e-01 -4.97353336e-02 6.52320657e+01] [ 9.53024843e-02 2.84167950e-03 9.95444303e-01 2.25844783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79710568099995 meters 0.017261106316915867 Centerline is valid? [True, True] Translation: X:243.33, Y:65.22, Z:22.59 [[ 8.48362393e-01 -5.23388897e-01 -7.96574719e-02 2.43333166e+02] [ 5.21115488e-01 8.52093911e-01 -4.87300153e-02 6.52241604e+01] [ 9.33803957e-02 -1.70029982e-04 9.95630490e-01 2.25923966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85710568099995 meters 0.018137267542929675 Centerline is valid? [True, True] Translation: X:243.39, Y:65.25, Z:22.60 [[ 8.44076616e-01 -5.30261140e-01 -7.97357439e-02 2.43387461e+02] [ 5.28012549e-01 8.47833875e-01 -4.87900538e-02 6.52481583e+01] [ 9.34741343e-02 -9.18929850e-04 9.95621284e-01 2.26007025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91710568099995 meters 0.017312174274997285 Centerline is valid? [True, True] Translation: X:243.43, Y:65.29, Z:22.60 [[ 8.46885824e-01 -5.25539184e-01 -8.11970919e-02 2.43430541e+02] [ 5.23181949e-01 8.50769315e-01 -4.97214385e-02 6.52897992e+01] [ 9.52105585e-02 -3.72471373e-04 9.95457086e-01 2.26046541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97710568099995 meters 0.018818479722042626 Centerline is valid? [True, True] Translation: X:243.47, Y:65.34, Z:22.61 [[ 8.54990494e-01 -5.11937700e-01 -8.31326986e-02 2.43467822e+02] [ 5.09398200e-01 8.59021730e-01 -5.09425284e-02 6.53405823e+01] [ 9.74921954e-02 1.20773046e-03 9.95235557e-01 2.26088135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03710568099996 meters 0.028153391048110914 Centerline is valid? [True, True] Translation: X:243.50, Y:65.40, Z:22.62 [[ 8.67490007e-01 -4.90914480e-01 -8.03993863e-02 2.43502266e+02] [ 4.88447047e-01 8.71200817e-01 -4.92810220e-02 6.53972499e+01] [ 9.42367783e-02 3.47995128e-03 9.95543731e-01 2.26175712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09710568099996 meters 0.030350414904947758 Centerline is valid? [True, True] Translation: X:243.55, Y:65.44, Z:22.62 [[ 8.70226286e-01 -4.86140572e-01 -7.98345475e-02 2.43548253e+02] [ 4.83684766e-01 8.73871483e-01 -4.89660841e-02 6.54368061e+01] [ 9.35695346e-02 3.99681907e-03 9.95604725e-01 2.26197975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15710568099996 meters 0.02863599306305783 Centerline is valid? [True, True] Translation: X:243.60, Y:65.47, Z:22.62 [[ 8.68577289e-01 -4.88210755e-01 -8.49926561e-02 2.43599104e+02] [ 4.85432750e-01 8.72716361e-01 -5.21651051e-02 6.54670444e+01] [ 9.96420468e-02 4.05120684e-03 9.95015101e-01 2.26184083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21710568099996 meters 0.029369109346998382 Centerline is valid? [True, True] Translation: X:243.65, Y:65.50, Z:22.62 [[ 8.67522570e-01 -4.89974774e-01 -8.56113998e-02 2.43646657e+02] [ 4.87160900e-01 8.71727847e-01 -5.25815383e-02 6.55001786e+01] [ 1.00393469e-01 3.90914473e-03 9.94940134e-01 2.26230390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27710568099997 meters 0.0290143454438027 Centerline is valid? [True, True] Translation: X:243.69, Y:65.53, Z:22.63 [[ 8.66215633e-01 -4.93048362e-01 -8.10789119e-02 2.43694343e+02] [ 4.90537507e-01 8.69995362e-01 -4.98098817e-02 6.55334659e+01] [ 9.50969579e-02 3.37385083e-03 9.95462297e-01 2.26324105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.33710568099997 meters 0.027380465095615477 Centerline is valid? [True, True] Translation: X:243.75, Y:65.56, Z:22.64 [[ 8.65324726e-01 -4.94774590e-01 -8.00701172e-02 2.43745942e+02] [ 4.92332395e-01 8.69015629e-01 -4.92000903e-02 6.55619008e+01] [ 9.39251378e-02 3.15294216e-03 9.95574270e-01 2.26405709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.39710568099997 meters 0.026586511604647936 Centerline is valid? [True, True] Translation: X:243.79, Y:65.60, Z:22.63 [[ 8.64996064e-01 -4.94383601e-01 -8.58292715e-02 2.43794363e+02] [ 4.91570770e-01 8.69236956e-01 -5.27758687e-02 6.55966011e+01] [ 1.00697499e-01 3.45975762e-03 9.94911073e-01 2.26342039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457105681 meters 0.029038439969170656 Centerline is valid? [True, True] Translation: X:243.84, Y:65.63, Z:22.63 [[ 8.64113018e-01 -4.95329986e-01 -8.92014401e-02 2.43842227e+02] [ 4.92292168e-01 8.68697788e-01 -5.48869247e-02 6.56300014e+01] [ 1.04676233e-01 3.51533581e-03 9.94500140e-01 2.26338857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517105681 meters 0.026986274469876833 Centerline is valid? [True, True] Translation: X:243.89, Y:65.66, Z:22.64 [[ 8.64165315e-01 -4.95549857e-01 -8.74565486e-02 2.43893303e+02] [ 4.92629450e-01 8.68572705e-01 -5.38301137e-02 6.56587672e+01] [ 1.02637876e-01 3.43444575e-03 9.94712859e-01 2.26444899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577105681 meters 0.030923579268151095 Centerline is valid? [True, True] Translation: X:243.94, Y:65.70, Z:22.65 [[ 8.67299256e-01 -4.90271304e-01 -8.61745312e-02 2.43938411e+02] [ 4.87406559e-01 8.71560556e-01 -5.30758244e-02 6.56960957e+01] [ 1.01127876e-01 4.03059124e-03 9.94865271e-01 2.26517506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637105681 meters 0.03234646899835285 Centerline is valid? [True, True] Translation: X:243.99, Y:65.73, Z:22.66 [[ 8.71263522e-01 -4.83156379e-01 -8.63700748e-02 2.43988256e+02] [ 4.80241874e-01 8.75520448e-01 -5.32136036e-02 6.57286240e+01] [ 1.01329259e-01 4.88454510e-03 9.94840953e-01 2.26585445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697105681 meters 0.03423296645775988 Centerline is valid? [True, True] Translation: X:244.04, Y:65.76, Z:22.67 [[ 8.72311401e-01 -4.81561242e-01 -8.46852396e-02 2.44037415e+02] [ 4.78748980e-01 8.76398190e-01 -5.22075378e-02 6.57594237e+01] [ 9.93591175e-02 4.99825837e-03 9.95039086e-01 2.26654589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757105681 meters 0.03451769984634778 Centerline is valid? [True, True] Translation: X:244.09, Y:65.78, Z:22.68 [[ 8.71976950e-01 -4.82538440e-01 -8.25400010e-02 2.44089668e+02] [ 4.79870155e-01 8.75861778e-01 -5.08997035e-02 6.57849734e+01] [ 9.68546956e-02 4.77488510e-03 9.95287078e-01 2.26755670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817105681 meters 0.030723004408229348 Centerline is valid? [True, True] Translation: X:244.15, Y:65.81, Z:22.68 [[ 8.70395248e-01 -4.85205651e-01 -8.35917928e-02 2.44145804e+02] [ 4.82477537e-01 8.74388143e-01 -5.15829694e-02 6.58063012e+01] [ 9.81200207e-02 4.56640919e-03 9.95164112e-01 2.26793931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877105681 meters 0.02904165932214586 Centerline is valid? [True, True] Translation: X:244.20, Y:65.83, Z:22.68 [[ 8.67444673e-01 -4.90118375e-01 -8.55787237e-02 2.44200564e+02] [ 4.87280929e-01 8.71646145e-01 -5.28232422e-02 6.58315002e+01] [ 1.00484006e-01 4.12036011e-03 9.94930142e-01 2.26785330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937105681 meters 0.024515673417453726 Centerline is valid? [True, True] Translation: X:244.26, Y:65.85, Z:22.69 [[ 8.62401708e-01 -4.98978713e-01 -8.53436425e-02 2.44258924e+02] [ 4.96196577e-01 8.66608660e-01 -5.27104126e-02 6.58497183e+01] [ 1.00260914e-01 3.11032657e-03 9.94956318e-01 2.26857571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997105681 meters 0.019654960367089348 Centerline is valid? [True, True] Translation: X:244.32, Y:65.87, Z:22.70 [[ 8.55764447e-01 -5.11074874e-01 -8.04343438e-02 2.44315600e+02] [ 5.08656007e-01 8.59534688e-01 -4.96909124e-02 6.58693272e+01] [ 9.45318854e-02 1.61030405e-03 9.95520532e-01 2.26982639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05710568099994 meters 0.018240340590264907 Centerline is valid? [True, True] Translation: X:244.37, Y:65.90, Z:22.70 [[ 8.52904466e-01 -5.15978536e-01 -7.94992030e-02 2.44367639e+02] [ 5.13633755e-01 8.56600827e-01 -4.91466144e-02 6.58961892e+01] [ 9.34576811e-02 1.08389269e-03 9.95622663e-01 2.27049371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11710568099994 meters 0.01686027788048269 Centerline is valid? [True, True] Translation: X:244.42, Y:65.92, Z:22.71 [[ 8.47356009e-01 -5.25361167e-01 -7.73526877e-02 2.44421155e+02] [ 5.23177221e-01 8.50879332e-01 -4.78535041e-02 6.59195868e+01] [ 9.09581760e-02 7.97900691e-05 9.95854710e-01 2.27139728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17710568099994 meters 0.017002952889455216 Centerline is valid? [True, True] Translation: X:244.47, Y:65.96, Z:22.72 [[ 8.47750910e-01 -5.24603113e-01 -7.81662940e-02 2.44466714e+02] [ 5.22366432e-01 8.51346896e-01 -4.83918800e-02 6.59565382e+01] [ 9.19331627e-02 1.92812211e-04 9.95765161e-01 2.27167846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23710568099995 meters 0.017954777168513028 Centerline is valid? [True, True] Translation: X:244.51, Y:66.00, Z:22.72 [[ 8.51171992e-01 -5.18663246e-01 -8.05895648e-02 2.44510227e+02] [ 5.16254817e-01 8.54978147e-01 -4.99332717e-02 6.59992295e+01] [ 9.48008696e-02 8.97051332e-04 9.95495852e-01 2.27171888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29710568099995 meters 0.02028395775784814 Centerline is valid? [True, True] Translation: X:244.55, Y:66.04, Z:22.72 [[ 8.53876157e-01 -5.13449614e-01 -8.52349902e-02 2.44554049e+02] [ 5.10725108e-01 8.58118263e-01 -5.28479954e-02 6.60402707e+01] [ 1.00276485e-01 1.59399363e-03 9.94958334e-01 2.27152703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35710568099995 meters 0.023580776964620017 Centerline is valid? [True, True] Translation: X:244.60, Y:66.08, Z:22.72 [[ 8.58410157e-01 -5.05480224e-01 -8.73026110e-02 2.44597611e+02] [ 5.02578802e-01 8.62834269e-01 -5.41439900e-02 6.60826404e+01] [ 1.02696401e-01 2.60130929e-03 9.94709346e-01 2.27178547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41710568099995 meters 0.028742387289731088 Centerline is valid? [True, True] Translation: X:244.64, Y:66.13, Z:22.72 [[ 8.63268005e-01 -4.97060691e-01 -8.77440618e-02 2.44640656e+02] [ 4.94083148e-01 8.67708102e-01 -5.44471580e-02 6.61262258e+01] [ 1.03199775e-01 3.64962719e-03 9.94653953e-01 2.27187718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47710568099995 meters 0.03576971077764536 Centerline is valid? [True, True] Translation: X:244.68, Y:66.16, Z:22.73 [[ 8.68563839e-01 -4.88043230e-01 -8.60852102e-02 2.44684718e+02] [ 4.85130003e-01 8.72807010e-01 -5.34490698e-02 6.61636918e+01] [ 1.01221232e-01 4.66141095e-03 9.94853021e-01 2.27285009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53710568099996 meters 0.03398730089986222 Centerline is valid? [True, True] Translation: X:244.74, Y:66.19, Z:22.74 [[ 8.70328690e-01 -4.85151264e-01 -8.45944581e-02 2.44736677e+02] [ 4.82323612e-01 8.74416399e-01 -5.25346973e-02 6.61910294e+01] [ 9.94580562e-02 4.92054972e-03 9.95029589e-01 2.27362210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59710568099996 meters 0.038759419835417724 Centerline is valid? [True, True] Translation: X:244.78, Y:66.22, Z:22.74 [[ 8.69075809e-01 -4.87261396e-01 -8.53438361e-02 2.44784713e+02] [ 4.84392219e-01 8.73243349e-01 -5.30116109e-02 6.62248677e+01] [ 1.00356449e-01 4.73121847e-03 9.94940299e-01 2.27366520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65710568099996 meters 0.03236635066175099 Centerline is valid? [True, True] Translation: X:244.84, Y:66.24, Z:22.74 [[ 8.67650716e-01 -4.89713795e-01 -8.58057935e-02 2.44841574e+02] [ 4.86821780e-01 8.71871623e-01 -5.33331699e-02 6.62443950e+01] [ 1.00929625e-01 4.50243390e-03 9.94883379e-01 2.27440056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71710568099996 meters 0.03347310428817819 Centerline is valid? [True, True] Translation: X:244.89, Y:66.27, Z:22.75 [[ 8.68342571e-01 -4.88237113e-01 -8.72106666e-02 2.44892142e+02] [ 4.85240755e-01 8.72698029e-01 -5.42177054e-02 6.62735099e+01] [ 1.02579673e-01 4.76137209e-03 9.94713396e-01 2.27488212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77710568099997 meters 0.03280394368494676 Centerline is valid? [True, True] Translation: X:244.94, Y:66.30, Z:22.75 [[ 8.69379907e-01 -4.86435552e-01 -8.69426901e-02 2.44943040e+02] [ 4.83447313e-01 8.73702324e-01 -5.40642647e-02 6.63015600e+01] [ 1.02260811e-01 4.97017549e-03 9.94745206e-01 2.27548179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.83710568099997 meters 0.033483924602232214 Centerline is valid? [True, True] Translation: X:245.00, Y:66.33, Z:22.76 [[ 8.69476005e-01 -4.86345411e-01 -8.64847821e-02 2.44997277e+02] [ 4.83386484e-01 8.73752510e-01 -5.37964549e-02 6.63257939e+01] [ 1.01729954e-01 4.96915196e-03 9.94799640e-01 2.27610927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.89710568099997 meters 0.034342533511315686 Centerline is valid? [True, True] Translation: X:245.05, Y:66.35, Z:22.77 [[ 8.70775362e-01 -4.84020516e-01 -8.64546620e-02 2.45049550e+02] [ 4.81048365e-01 8.75040765e-01 -5.38157093e-02 6.63547618e+01] [ 1.01699261e-01 5.27251995e-03 9.94801217e-01 2.27671270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957105681 meters 0.03768563867978784 Centerline is valid? [True, True] Translation: X:245.10, Y:66.38, Z:22.77 [[ 8.72484373e-01 -4.80972797e-01 -8.62333280e-02 2.45099430e+02] [ 4.77997899e-01 8.76717371e-01 -5.37090282e-02 6.63844904e+01] [ 1.01434838e-01 5.64093814e-03 9.94826193e-01 2.27735778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017105681 meters 0.03981325744572015 Centerline is valid? [True, True] Translation: X:245.15, Y:66.42, Z:22.78 [[ 8.74332128e-01 -4.77843579e-01 -8.49049107e-02 2.45150334e+02] [ 4.74943561e-01 8.78424955e-01 -5.28981191e-02 6.64150681e+01] [ 9.98596189e-02 5.92548434e-03 9.94983892e-01 2.27792733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077105681 meters 0.03986523022618839 Centerline is valid? [True, True] Translation: X:245.20, Y:66.44, Z:22.79 [[ 8.74668215e-01 -4.77465640e-01 -8.35588231e-02 2.45201905e+02] [ 4.74652301e-01 8.78630607e-01 -5.20907843e-02 6.64429402e+01] [ 9.82888991e-02 5.90076574e-03 9.95140429e-01 2.27853109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137105681 meters 0.04018378587023843 Centerline is valid? [True, True] Translation: X:245.26, Y:66.47, Z:22.79 [[ 8.74578029e-01 -4.77651905e-01 -8.34381758e-02 2.45255076e+02] [ 4.74843885e-01 8.78529339e-01 -5.20527130e-02 6.64663655e+01] [ 9.81659630e-02 5.90405156e-03 9.95152544e-01 2.27937028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197105681 meters 0.04019424247416295 Centerline is valid? [True, True] Translation: X:245.31, Y:66.50, Z:22.79 [[ 8.74717173e-01 -4.76413947e-01 -8.88797990e-02 2.45307165e+02] [ 4.73215385e-01 8.79197216e-01 -5.54928393e-02 6.64974517e+01] [ 1.04580434e-01 6.48125123e-03 9.94495312e-01 2.27877533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257105681 meters 0.03990303233394479 Centerline is valid? [True, True] Translation: X:245.36, Y:66.53, Z:22.79 [[ 8.73710685e-01 -4.77851411e-01 -9.10366238e-02 2.45359698e+02] [ 4.74499017e-01 8.78416660e-01 -5.68757836e-02 6.65251108e+01] [ 1.07146260e-01 6.49619138e-03 9.94222047e-01 2.27904111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317105681 meters 0.032322638951932166 Centerline is valid? [True, True] Translation: X:245.42, Y:66.54, Z:22.80 [[ 8.67590052e-01 -4.89430102e-01 -8.80095255e-02 2.45418775e+02] [ 4.86352483e-01 8.72028578e-01 -5.50220023e-02 6.65408496e+01] [ 1.03676246e-01 4.93289057e-03 9.94598865e-01 2.28016368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377105681 meters 0.0288728342763672 Centerline is valid? [True, True] Translation: X:245.47, Y:66.57, Z:22.81 [[ 8.63881349e-01 -4.95951851e-01 -8.79816771e-02 2.45473210e+02] [ 4.92905852e-01 8.68339949e-01 -5.50413784e-02 6.65652146e+01] [ 1.03695879e-01 4.18253678e-03 9.94600257e-01 2.28066241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437105681 meters 0.02831680178913078 Centerline is valid? [True, True] Translation: X:245.52, Y:66.59, Z:22.82 [[ 8.62941514e-01 -4.98498051e-01 -8.26537129e-02 2.45522750e+02] [ 4.95819349e-01 8.66883066e-01 -5.17389837e-02 6.65944837e+01] [ 9.74428866e-02 3.66640683e-03 9.95234365e-01 2.28184800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497105681 meters 0.03118424210511075 Centerline is valid? [True, True] Translation: X:245.57, Y:66.63, Z:22.82 [[ 8.65245426e-01 -4.94561877e-01 -8.22125416e-02 2.45571124e+02] [ 4.91892895e-01 8.69132759e-01 -5.14745225e-02 6.66294209e+01] [ 9.69109496e-02 4.09833008e-03 9.95284618e-01 2.28245927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55710568099994 meters 0.03532214768858673 Centerline is valid? [True, True] Translation: X:245.61, Y:66.67, Z:22.83 [[ 8.68102418e-01 -4.89592774e-01 -8.18358597e-02 2.45614838e+02] [ 4.86923413e-01 8.71938772e-01 -5.12676163e-02 6.66688604e+01] [ 9.64561134e-02 4.65774554e-03 9.95326340e-01 2.28281342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61710568099994 meters 0.03683645230323585 Centerline is valid? [True, True] Translation: X:245.66, Y:66.70, Z:22.83 [[ 8.68500669e-01 -4.88717069e-01 -8.28384777e-02 2.45662300e+02] [ 4.85976735e-01 8.72429003e-01 -5.19061415e-02 6.67023801e+01] [ 9.76381079e-02 4.82294566e-03 9.95210299e-01 2.28316043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67710568099994 meters 0.03822162730169695 Centerline is valid? [True, True] Translation: X:245.71, Y:66.74, Z:22.83 [[ 8.68576070e-01 -4.88129682e-01 -8.54694344e-02 2.45708520e+02] [ 4.85207577e-01 8.72756446e-01 -5.35704507e-02 6.67409317e+01] [ 1.00743327e-01 5.05959437e-03 9.94899584e-01 2.28282855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73710568099995 meters 0.039280689692937944 Centerline is valid? [True, True] Translation: X:245.76, Y:66.77, Z:22.83 [[ 8.68533877e-01 -4.87910868e-01 -8.71314477e-02 2.45756626e+02] [ 4.84868804e-01 8.72877866e-01 -5.46486381e-02 6.67748172e+01] [ 1.02718777e-01 5.21687269e-03 9.94696756e-01 2.28289174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79710568099995 meters 0.03624311662315129 Centerline is valid? [True, True] Translation: X:245.81, Y:66.80, Z:22.84 [[ 8.66384132e-01 -4.91860336e-01 -8.63246501e-02 2.45808646e+02] [ 4.88890419e-01 8.70661237e-01 -5.41771943e-02 6.68030283e+01] [ 1.01807140e-01 4.73496717e-03 9.94792886e-01 2.28372321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85710568099995 meters 0.02928742560941956 Centerline is valid? [True, True] Translation: X:245.86, Y:66.83, Z:22.85 [[ 8.62049384e-01 -5.00117661e-01 -8.21777660e-02 2.45861596e+02] [ 4.97461206e-01 8.65949956e-01 -5.16044732e-02 6.68298924e+01] [ 9.69701413e-02 3.60535378e-03 9.95280761e-01 2.28461633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91710568099995 meters 0.02729355767049439 Centerline is valid? [True, True] Translation: X:245.91, Y:66.86, Z:22.85 [[ 8.60825796e-01 -5.02231507e-01 -8.21124964e-02 2.45913206e+02] [ 4.99585747e-01 8.64726550e-01 -5.15953057e-02 6.68582582e+01] [ 9.69176438e-02 3.39233721e-03 9.95286623e-01 2.28520591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97710568099995 meters 0.022347471368039367 Centerline is valid? [True, True] Translation: X:245.97, Y:66.88, Z:22.86 [[ 8.54605740e-01 -5.12924588e-01 -8.09777547e-02 2.45966720e+02] [ 5.10395725e-01 8.58430893e-01 -5.09176351e-02 6.68838019e+01] [ 9.56307133e-02 2.18380342e-03 9.95414485e-01 2.28590746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03710568099996 meters 0.018315511956958366 Centerline is valid? [True, True] Translation: X:246.02, Y:66.91, Z:22.86 [[ 8.47640011e-01 -5.24215996e-01 -8.18779682e-02 2.46019271e+02] [ 5.21679405e-01 8.51584806e-01 -5.15161871e-02 6.69106317e+01] [ 9.67316430e-02 9.53131742e-04 9.95310043e-01 2.28619322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09710568099996 meters 0.01742606284841527 Centerline is valid? [True, True] Translation: X:246.07, Y:66.94, Z:22.87 [[ 8.43092964e-01 -5.31433330e-01 -8.22974483e-02 2.46067746e+02] [ 5.28903530e-01 8.47100110e-01 -5.17924603e-02 6.69442227e+01] [ 9.72384172e-02 1.38447936e-04 9.95261107e-01 2.28655672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15710568099996 meters 0.01772676260290725 Centerline is valid? [True, True] Translation: X:246.11, Y:66.98, Z:22.87 [[ 8.39887383e-01 -5.36605774e-01 -8.15072261e-02 2.46110179e+02] [ 5.34145269e-01 8.43832959e-01 -5.13299992e-02 6.69838909e+01] [ 9.63224577e-02 -4.25280529e-04 9.95350091e-01 2.28716841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21710568099996 meters 0.01741478864459125 Centerline is valid? [True, True] Translation: X:246.15, Y:67.03, Z:22.88 [[ 8.41796696e-01 -5.33712218e-01 -8.08058845e-02 2.46150207e+02] [ 5.31278826e-01 8.45666165e-01 -5.09072342e-02 6.70306283e+01] [ 9.55046153e-02 -7.69139154e-05 9.95428984e-01 2.28783211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27710568099997 meters 0.019597587441173302 Centerline is valid? [True, True] Translation: X:246.18, Y:67.09, Z:22.88 [[ 8.49094002e-01 -5.22111764e-01 -8.02414035e-02 2.46182730e+02] [ 5.19656943e-01 8.52876154e-01 -5.05858490e-02 6.70866403e+01] [ 9.48474464e-02 1.25413851e-03 9.95491029e-01 2.28827747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.33710568099997 meters 0.02456620230918994 Centerline is valid? [True, True] Translation: X:246.22, Y:67.14, Z:22.89 [[ 8.56818679e-01 -5.09532156e-01 -7.89856515e-02 2.46219453e+02] [ 5.07098734e-01 8.60447620e-01 -4.98073095e-02 6.71394742e+01] [ 9.33414416e-02 2.62230932e-03 9.95630704e-01 2.28882921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.39710568099997 meters 0.029804107755711233 Centerline is valid? [True, True] Translation: X:246.26, Y:67.19, Z:22.89 [[ 8.62277080e-01 -5.00298735e-01 -7.86092416e-02 2.46258565e+02] [ 4.97847054e-01 8.65845229e-01 -4.96019125e-02 6.71889836e+01] [ 9.28792108e-02 3.63521288e-03 9.95670747e-01 2.28907532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457105681 meters 0.03009283874924281 Centerline is valid? [True, True] Translation: X:246.30, Y:67.23, Z:22.89 [[ 8.61969587e-01 -5.00441878e-01 -8.10330605e-02 2.46304791e+02] [ 4.97835569e-01 8.65762037e-01 -5.11452941e-02 6.72271055e+01] [ 9.57505946e-02 3.74454833e-03 9.95398313e-01 2.28906163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517105681 meters 0.026557533705362547 Centerline is valid? [True, True] Translation: X:246.36, Y:67.26, Z:22.90 [[ 8.59286598e-01 -5.05029090e-01 -8.10688659e-02 2.46355249e+02] [ 5.02437313e-01 8.63096141e-01 -5.12034944e-02 6.72582820e+01] [ 9.58294795e-02 3.26645337e-03 9.95392406e-01 2.28950550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577105681 meters 0.02579114529497543 Centerline is valid? [True, True] Translation: X:246.41, Y:67.29, Z:22.90 [[ 8.57501313e-01 -5.07971913e-01 -8.15845175e-02 2.46405505e+02] [ 5.05357167e-01 8.61368465e-01 -5.15606598e-02 6.72870018e+01] [ 9.64656976e-02 2.98401284e-03 9.95331837e-01 2.29011693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637105681 meters 0.023986973140100596 Centerline is valid? [True, True] Translation: X:246.46, Y:67.32, Z:22.91 [[ 8.55302740e-01 -5.11827655e-01 -8.05585190e-02 2.46456324e+02] [ 5.09294212e-01 8.59084431e-01 -5.09249046e-02 6.73166293e+01] [ 9.52713439e-02 2.52822297e-03 9.95448130e-01 2.29057192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697105681 meters 0.022611928707468486 Centerline is valid? [True, True] Translation: X:246.51, Y:67.34, Z:22.91 [[ 8.52979604e-01 -5.15376254e-01 -8.25415755e-02 2.46507835e+02] [ 5.12731662e-01 8.56961201e-01 -5.21894923e-02 6.73437392e+01] [ 9.76321527e-02 2.19489328e-03 9.95220149e-01 2.29069571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757105681 meters 0.02203437447257164 Centerline is valid? [True, True] Translation: X:246.56, Y:67.37, Z:22.91 [[ 8.52384792e-01 -5.16142820e-01 -8.38853703e-02 2.46560564e+02] [ 5.13413248e-01 8.56499820e-01 -5.30555917e-02 6.73686637e+01] [ 9.92320672e-02 2.15591908e-03 9.95061982e-01 2.29126340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817105681 meters 0.023879952679459807 Centerline is valid? [True, True] Translation: X:246.61, Y:67.40, Z:22.92 [[ 8.54869118e-01 -5.12494207e-01 -8.09226698e-02 2.46608258e+02] [ 5.09934312e-01 8.58686977e-01 -5.12218136e-02 6.74023569e+01] [ 9.57381254e-02 2.52270071e-03 9.95403359e-01 2.29217261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877105681 meters 0.027993963187337486 Centerline is valid? [True, True] Translation: X:246.66, Y:67.44, Z:22.93 [[ 8.59556733e-01 -5.04716084e-01 -8.01492237e-02 2.46656421e+02] [ 5.02167757e-01 8.63278742e-01 -5.07676750e-02 6.74375220e+01] [ 9.48143832e-02 3.38934096e-03 9.95489199e-01 2.29278398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937105681 meters 0.02863830006741758 Centerline is valid? [True, True] Translation: X:246.71, Y:67.47, Z:22.93 [[ 8.60710650e-01 -5.02917307e-01 -7.90655390e-02 2.46706199e+02] [ 5.00427206e-01 8.64327180e-01 -5.01112491e-02 6.74685815e+01] [ 9.35403089e-02 3.56473904e-03 9.95609112e-01 2.29347143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997105681 meters 0.02732421194590385 Centerline is valid? [True, True] Translation: X:246.76, Y:67.50, Z:22.94 [[ 8.59980316e-01 -5.03919514e-01 -8.06162551e-02 2.46756754e+02] [ 5.01331326e-01 8.63743292e-01 -5.11314699e-02 6.74994268e+01] [ 9.53978950e-02 3.55660351e-03 9.95432867e-01 2.29376190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05710568099994 meters 0.02685737244710407 Centerline is valid? [True, True] Translation: X:246.81, Y:67.53, Z:22.94 [[ 8.58625550e-01 -5.06241196e-01 -8.05109709e-02 2.46806961e+02] [ 5.03666349e-01 8.62385519e-01 -5.11021127e-02 6.75291112e+01] [ 9.53014901e-02 3.32691286e-03 9.95442895e-01 2.29435031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11710568099994 meters 0.026962296752724938 Centerline is valid? [True, True] Translation: X:246.85, Y:67.56, Z:22.95 [[ 8.58145968e-01 -5.06852403e-01 -8.17688121e-02 2.46854200e+02] [ 5.04195285e-01 8.62026369e-01 -5.19389438e-02 6.75636360e+01] [ 9.68122507e-02 3.34374568e-03 9.95297045e-01 2.29456556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17710568099994 meters 0.024529491876051364 Centerline is valid? [True, True] Translation: X:246.91, Y:67.59, Z:22.95 [[ 8.54716485e-01 -5.12473110e-01 -8.26501170e-02 2.46906996e+02] [ 5.09780131e-01 8.58698790e-01 -5.25414589e-02 6.75905780e+01] [ 9.78976404e-02 2.77466356e-03 9.95192621e-01 2.29505593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23710568099995 meters 0.02025186837045151 Centerline is valid? [True, True] Translation: X:246.96, Y:67.62, Z:22.96 [[ 8.49319307e-01 -5.21550611e-01 -8.14964737e-02 2.46960670e+02] [ 5.18970648e-01 8.53218582e-01 -5.18412845e-02 6.76157522e+01] [ 9.65721593e-02 1.73552613e-03 9.95324473e-01 2.29582813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29710568099995 meters 0.018067005886858774 Centerline is valid? [True, True] Translation: X:247.01, Y:67.64, Z:22.96 [[ 8.43828637e-01 -5.30423224e-01 -8.12676771e-02 2.47012216e+02] [ 5.27895411e-01 8.47732648e-01 -5.17280533e-02 6.76428372e+01] [ 9.63310239e-02 7.48778854e-04 9.95349071e-01 2.29641288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35710568099995 meters 0.01756092219490461 Centerline is valid? [True, True] Translation: X:247.06, Y:67.67, Z:22.97 [[ 8.39697906e-01 -5.36719238e-01 -8.27036081e-02 2.47062552e+02] [ 5.34130085e-01 8.43760901e-01 -5.26554369e-02 6.76736261e+01] [ 9.80432568e-02 4.01748859e-05 9.95182153e-01 2.29676273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41710568099995 meters 0.01803591126910575 Centerline is valid? [True, True] Translation: X:247.11, Y:67.71, Z:22.97 [[ 8.37250601e-01 -5.40133181e-01 -8.52500961e-02 2.47110608e+02] [ 5.37395308e-01 8.41579487e-01 -5.43162030e-02 6.77082884e+01] [ 1.01082716e-01 -3.36728026e-04 9.94877968e-01 2.29692140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47710568099995 meters 0.018633779710776396 Centerline is valid? [True, True] Translation: X:247.16, Y:67.74, Z:22.98 [[ 8.33965618e-01 -5.45838698e-01 -8.10028619e-02 2.47156723e+02] [ 5.43390739e-01 8.37889744e-01 -5.16457355e-02 6.77428031e+01] [ 9.60617082e-02 -9.45437303e-04 9.95374932e-01 2.29821957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53710568099996 meters 0.021700842862360733 Centerline is valid? [True, True] Translation: X:247.20, Y:67.78, Z:22.99 [[ 8.28862203e-01 -5.53956091e-01 -7.82310515e-02 2.47201785e+02] [ 5.51705296e-01 8.32543970e-01 -4.99179781e-02 6.77801559e+01] [ 9.27831582e-02 -1.78536018e-03 9.95684738e-01 2.29897435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59710568099996 meters 0.023358630374100953 Centerline is valid? [True, True] Translation: X:247.25, Y:67.82, Z:23.00 [[ 8.26402348e-01 -5.57888900e-01 -7.62832565e-02 2.47246217e+02] [ 5.55764121e-01 8.29912842e-01 -4.86920498e-02 6.78181195e+01] [ 9.04732083e-02 -2.15627280e-03 9.95896555e-01 2.30008622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65710568099996 meters 0.026333731559924474 Centerline is valid? [True, True] Translation: X:247.29, Y:67.86, Z:23.00 [[ 8.23099223e-01 -5.62570693e-01 -7.76008040e-02 2.47290059e+02] [ 5.60389021e-01 8.26744822e-01 -4.95695899e-02 6.78592502e+01] [ 9.20424615e-02 -2.68594763e-03 9.95751460e-01 2.30038876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71710568099996 meters 0.029348671164381505 Centerline is valid? [True, True] Translation: X:247.33, Y:67.90, Z:23.00 [[ 8.19299965e-01 -5.67635084e-01 -8.08577645e-02 2.47332179e+02] [ 5.65287067e-01 8.23273412e-01 -5.16857946e-02 6.79031956e+01] [ 9.59067180e-02 -3.36167881e-03 9.95384650e-01 2.30035889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77710568099997 meters 0.028947081664433966 Centerline is valid? [True, True] Translation: X:247.37, Y:67.95, Z:23.02 [[ 8.19985347e-01 -5.66865409e-01 -7.92946282e-02 2.47370930e+02] [ 5.64600949e-01 8.23804274e-01 -5.07177092e-02 6.79509094e+01] [ 9.40733686e-02 -3.18204391e-03 9.95560182e-01 2.30150077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.83710568099997 meters 0.024475768436516866 Centerline is valid? [True, True] Translation: X:247.41, Y:68.00, Z:23.02 [[ 8.23033167e-01 -5.62640850e-01 -7.77925496e-02 2.47408988e+02] [ 5.60439433e-01 8.26697297e-01 -4.97917750e-02 6.80014041e+01] [ 9.23257771e-02 -2.61773016e-03 9.95725413e-01 2.30213150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.89710568099997 meters 0.019355491646953656 Centerline is valid? [True, True] Translation: X:247.44, Y:68.06, Z:23.02 [[ 8.30548502e-01 -5.51417840e-01 -7.82786860e-02 2.47442196e+02] [ 5.49135351e-01 8.34228123e-01 -5.01378674e-02 6.80587087e+01] [ 9.29491958e-02 -1.34366304e-03 9.95669946e-01 2.30242290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957105681 meters 0.017070790295317696 Centerline is valid? [True, True] Translation: X:247.48, Y:68.11, Z:23.02 [[ 8.39767108e-01 -5.36760639e-01 -8.17265007e-02 2.47475726e+02] [ 5.34198622e-01 8.43734500e-01 -5.23824920e-02 6.81135607e+01] [ 9.70723281e-02 3.30909705e-04 9.95277275e-01 2.30222126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017105681 meters 0.022283218843678624 Centerline is valid? [True, True] Translation: X:247.51, Y:68.17, Z:23.02 [[ 8.48600657e-01 -5.22079696e-01 -8.54968749e-02 2.47510457e+02] [ 5.19198547e-01 8.52894058e-01 -5.48141869e-02 6.81700275e+01] [ 1.01537151e-01 2.12550181e-03 9.94829478e-01 2.30192430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077105681 meters 0.028209522188946252 Centerline is valid? [True, True] Translation: X:247.55, Y:68.21, Z:23.02 [[ 8.52851023e-01 -5.15198790e-01 -8.49431603e-02 2.47552039e+02] [ 5.12319344e-01 8.57065672e-01 -5.44731372e-02 6.82126317e+01] [ 1.00866361e-01 2.93944659e-03 9.94895641e-01 2.30245172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137105681 meters 0.02603966314901598 Centerline is valid? [True, True] Translation: X:247.60, Y:68.24, Z:23.03 [[ 8.53542108e-01 -5.14004549e-01 -8.52361014e-02 2.47601511e+02] [ 5.11097765e-01 8.57781843e-01 -5.46752576e-02 6.82439352e+01] [ 1.01217311e-01 3.10365372e-03 9.94859499e-01 2.30331567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197105681 meters 0.025037487556458064 Centerline is valid? [True, True] Translation: X:247.65, Y:68.27, Z:23.04 [[ 8.52029403e-01 -5.16613361e-01 -8.45962888e-02 2.47651044e+02] [ 5.13759008e-01 8.56214201e-01 -5.43039846e-02 6.82745732e+01] [ 1.00486708e-01 2.80648617e-03 9.94934443e-01 2.30397621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257105681 meters 0.019885423233638087 Centerline is valid? [True, True] Translation: X:247.71, Y:68.29, Z:23.05 [[ 8.45699181e-01 -5.27299457e-01 -8.21472964e-02 2.47709926e+02] [ 5.24654703e-01 8.49678145e-01 -5.27682798e-02 6.82924006e+01] [ 9.76234478e-02 1.52712559e-03 9.95222252e-01 2.30483538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317105681 meters 0.01682941076174975 Centerline is valid? [True, True] Translation: X:247.77, Y:68.31, Z:23.06 [[ 8.39041458e-01 -5.38238662e-01 -7.94265363e-02 2.47767541e+02] [ 5.35812241e-01 8.42792422e-01 -5.10507197e-02 6.83100397e+01] [ 9.44175540e-02 2.75959950e-04 9.95532646e-01 2.30585636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377105681 meters 0.017526514531392864 Centerline is valid? [True, True] Translation: X:247.82, Y:68.33, Z:23.06 [[ 8.33533212e-01 -5.46672129e-01 -7.98246124e-02 2.47822724e+02] [ 5.44258443e-01 8.37346485e-01 -5.13187288e-02 6.83326492e+01] [ 9.48953773e-02 -6.69354421e-04 9.95487026e-01 2.30648972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437105681 meters 0.01721699010532412 Centerline is valid? [True, True] Translation: X:247.87, Y:68.36, Z:23.07 [[ 8.34091731e-01 -5.45815339e-01 -7.98536187e-02 2.47871944e+02] [ 5.43392431e-01 8.37905319e-01 -5.13745394e-02 6.83619342e+01] [ 9.49507835e-02 -5.40773489e-04 9.95481821e-01 2.30740379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497105681 meters 0.017563700899259592 Centerline is valid? [True, True] Translation: X:247.91, Y:68.41, Z:23.08 [[ 8.40803514e-01 -5.35716046e-01 -7.78316671e-02 2.47910343e+02] [ 5.33367265e-01 8.44397968e-01 -5.01141824e-02 6.84063879e+01] [ 9.25678732e-02 6.23317244e-04 9.95706182e-01 2.30843051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55710568099994 meters 0.02415851416140579 Centerline is valid? [True, True] Translation: X:247.95, Y:68.45, Z:23.10 [[ 8.50587793e-01 -5.20599903e-01 -7.40010032e-02 2.47949192e+02] [ 5.18417932e-01 8.53797982e-01 -4.76639757e-02 6.84543226e+01] [ 8.79957683e-02 2.17894887e-03 9.96118465e-01 2.30954906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61710568099994 meters 0.031360938789004804 Centerline is valid? [True, True] Translation: X:247.99, Y:68.50, Z:23.09 [[ 8.56142369e-01 -5.10410871e-01 -8.06287038e-02 2.47991859e+02] [ 5.07771364e-01 8.59923350e-01 -5.19622320e-02 6.84997502e+01] [ 9.58565932e-02 3.54612149e-03 9.95388838e-01 2.30895746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67710568099994 meters 0.03521048110134246 Centerline is valid? [True, True] Translation: X:248.04, Y:68.54, Z:23.08 [[ 8.57445766e-01 -5.07005471e-01 -8.79329890e-02 2.48038610e+02] [ 5.03845464e-01 8.61932128e-01 -5.66811649e-02 6.85368096e+01] [ 1.04529929e-01 4.29638714e-03 9.94512461e-01 2.30813455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73710568099995 meters 0.03458221515967265 Centerline is valid? [True, True] Translation: X:248.09, Y:68.56, Z:23.09 [[ 8.56634380e-01 -5.08532133e-01 -8.70207442e-02 2.48091365e+02] [ 5.05444016e-01 8.61033354e-01 -5.61062406e-02 6.85637571e+01] [ 1.03459589e-01 4.07842019e-03 9.94625296e-01 2.30890859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79710568099995 meters 0.03329668141482072 Centerline is valid? [True, True] Translation: X:248.14, Y:68.59, Z:23.10 [[ 8.55334712e-01 -5.10889967e-01 -8.59882122e-02 2.48144398e+02] [ 5.07883632e-01 8.59637829e-01 -5.54708865e-02 6.85885800e+01] [ 1.02258239e-01 3.77416917e-03 9.94750727e-01 2.30981558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85710568099995 meters 0.031323928457640086 Centerline is valid? [True, True] Translation: X:248.20, Y:68.61, Z:23.11 [[ 8.53850365e-01 -5.13908001e-01 -8.26929292e-02 2.48197501e+02] [ 5.11141217e-01 8.57838993e-01 -5.33565290e-02 6.86149101e+01] [ 9.83575663e-02 3.29072733e-03 9.95145698e-01 2.31083208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91710568099995 meters 0.02504688884875163 Centerline is valid? [True, True] Translation: X:248.26, Y:68.63, Z:23.11 [[ 8.49989895e-01 -5.20222462e-01 -8.29805355e-02 2.48258131e+02] [ 5.17463314e-01 8.54026846e-01 -5.35711215e-02 6.86305462e+01] [ 9.87365057e-02 2.59552905e-03 9.95110228e-01 2.31145642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97710568099995 meters 0.01856941202409891 Centerline is valid? [True, True] Translation: X:248.32, Y:68.64, Z:23.12 [[ 8.42218749e-01 -5.32887487e-01 -8.18444005e-02 2.48319128e+02] [ 5.30261209e-01 8.46185373e-01 -5.28522908e-02 6.86448876e+01] [ 9.74198589e-02 1.11427945e-03 9.95242749e-01 2.31223006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03710568099996 meters 0.017405211965697418 Centerline is valid? [True, True] Translation: X:248.37, Y:68.67, Z:23.13 [[ 8.38171211e-01 -5.39016167e-01 -8.32501812e-02 2.48372533e+02] [ 5.36325437e-01 8.42295304e-01 -5.37926243e-02 6.86683664e+01] [ 9.91163309e-02 4.38239306e-04 9.95075756e-01 2.31279833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09710568099996 meters 0.01905645758017415 Centerline is valid? [True, True] Translation: X:248.42, Y:68.71, Z:23.14 [[ 8.42716965e-01 -5.32330001e-01 -8.03298651e-02 2.48415342e+02] [ 5.29793356e-01 8.46536084e-01 -5.19197314e-02 6.87095968e+01] [ 9.56405601e-02 1.19540966e-03 9.95415217e-01 2.31397022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15710568099996 meters 0.023576269091266547 Centerline is valid? [True, True] Translation: X:248.46, Y:68.75, Z:23.15 [[ 8.49609877e-01 -5.22021908e-01 -7.52076095e-02 2.48457271e+02] [ 5.19755610e-01 8.52929144e-01 -4.86413480e-02 6.87528366e+01] [ 8.95386113e-02 2.23659281e-03 9.95980841e-01 2.31527466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21710568099996 meters 0.02842886412962641 Centerline is valid? [True, True] Translation: X:248.50, Y:68.79, Z:23.16 [[ 8.53117071e-01 -5.16258571e-01 -7.52884549e-02 2.48501467e+02] [ 5.13962544e-01 8.56427965e-01 -4.87200580e-02 6.87919263e+01] [ 8.96312857e-02 2.86846738e-03 9.95970885e-01 2.31572020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27710568099997 meters 0.031084211454444663 Centerline is valid? [True, True] Translation: X:248.55, Y:68.83, Z:23.16 [[ 8.55985983e-01 -5.11246180e-01 -7.69112506e-02 2.48547354e+02] [ 5.08828942e-01 8.59427293e-01 -4.97778721e-02 6.88302034e+01] [ 9.15483749e-02 3.47449055e-03 9.95794569e-01 2.31582570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.33710568099997 meters 0.03399602795279465 Centerline is valid? [True, True] Translation: X:248.59, Y:68.86, Z:23.17 [[ 8.56612628e-01 -5.10288847e-01 -7.62895699e-02 2.48594863e+02] [ 5.07905871e-01 8.59995722e-01 -4.93860753e-02 6.88617254e+01] [ 9.08098672e-02 3.55681529e-03 9.95861897e-01 2.31652765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.39710568099997 meters 0.026498004903154213 Centerline is valid? [True, True] Translation: X:248.65, Y:68.88, Z:23.17 [[ 8.53209239e-01 -5.15983420e-01 -7.61255825e-02 2.48653673e+02] [ 5.13631325e-01 8.56593445e-01 -4.93004255e-02 6.88791119e+01] [ 9.06468771e-02 2.96309476e-03 9.95878689e-01 2.31708562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457105681 meters 0.024524667016541855 Centerline is valid? [True, True] Translation: X:248.71, Y:68.91, Z:23.17 [[ 8.50181120e-01 -5.20645706e-01 -7.82311499e-02 2.48706205e+02] [ 5.18180158e-01 8.53769044e-01 -5.06728994e-02 6.89068958e+01] [ 9.31739615e-02 2.54331268e-03 9.95646596e-01 2.31712009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517105681 meters 0.02201843166462993 Centerline is valid? [True, True] Translation: X:248.76, Y:68.93, Z:23.17 [[ 8.47120966e-01 -5.25671864e-01 -7.78149093e-02 2.48761057e+02] [ 5.23252599e-01 8.50685095e-01 -5.04141507e-02 6.89313861e+01] [ 9.26972841e-02 1.99003051e-03 9.95692349e-01 2.31740714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577105681 meters 0.018447120433526507 Centerline is valid? [True, True] Translation: X:248.82, Y:68.95, Z:23.18 [[ 8.40833426e-01 -5.35519941e-01 -7.88513947e-02 2.48817403e+02] [ 5.33075379e-01 8.44522050e-01 -5.11189528e-02 6.89520175e+01] [ 9.39669601e-02 9.48787127e-04 9.95574864e-01 2.31780181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637105681 meters 0.017223768381368545 Centerline is valid? [True, True] Translation: X:248.87, Y:68.98, Z:23.18 [[ 8.34420958e-01 -5.45258462e-01 -8.02176761e-02 2.48870714e+02] [ 5.42771865e-01 8.38267971e-01 -5.20145357e-02 6.89765740e+01] [ 9.56052743e-02 -1.37878919e-04 9.95419315e-01 2.31806589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697105681 meters 0.020205783338775932 Centerline is valid? [True, True] Translation: X:248.93, Y:69.00, Z:23.19 [[ 8.26967466e-01 -5.56617460e-01 -7.93839609e-02 2.48926717e+02] [ 5.54232817e-01 8.30767712e-01 -5.14877948e-02 6.89970265e+01] [ 9.46086371e-02 -1.41846503e-03 9.95513533e-01 2.31899612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757105681 meters 0.023845429203428966 Centerline is valid? [True, True] Translation: X:248.98, Y:69.03, Z:23.20 [[ 8.20917825e-01 -5.66013751e-01 -7.56462734e-02 2.48977608e+02] [ 5.63885403e-01 8.24392443e-01 -4.90953437e-02 6.90254378e+01] [ 9.01508557e-02 -2.35258659e-03 9.95925343e-01 2.32017838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817105681 meters 0.029968129860459148 Centerline is valid? [True, True] Translation: X:249.03, Y:69.05, Z:23.22 [[ 8.13373085e-01 -5.77590144e-01 -6.93819074e-02 2.49028736e+02] [ 5.75841055e-01 8.16320160e-01 -4.50385977e-02 6.90538250e+01] [ 8.26516999e-02 -3.31976760e-03 9.96572966e-01 2.32168436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877105681 meters 0.031162854717151717 Centerline is valid? [True, True] Translation: X:249.07, Y:69.10, Z:23.22 [[ 8.13298870e-01 -5.77775528e-01 -6.87050734e-02 2.49069592e+02] [ 5.76058505e-01 8.16189121e-01 -4.46308940e-02 6.90959213e+01] [ 8.18629719e-02 -3.27988618e-03 9.96638197e-01 2.32227127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937105681 meters 0.025446714377615243 Centerline is valid? [True, True] Translation: X:249.10, Y:69.15, Z:23.23 [[ 8.19532481e-01 -5.69110851e-01 -6.69279594e-02 2.49103810e+02] [ 5.67451911e-01 8.22257478e-01 -4.34852722e-02 6.91509851e+01] [ 7.97799553e-02 -2.34080542e-03 9.96809751e-01 2.32287471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997105681 meters 0.01881342873208958 Centerline is valid? [True, True] Translation: X:249.13, Y:69.22, Z:23.23 [[ 8.29691955e-01 -5.53799412e-01 -7.01246797e-02 2.49132933e+02] [ 5.51919908e-01 8.32649656e-01 -4.55956698e-02 6.92151596e+01] [ 8.36401456e-02 -8.72846433e-04 9.96495642e-01 2.32277521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05710568099994 meters 0.0176691797063217 Centerline is valid? [True, True] Translation: X:249.17, Y:69.26, Z:23.23 [[ 8.34416928e-01 -5.46729140e-01 -6.95387533e-02 2.49172811e+02] [ 5.44855602e-01 8.37309515e-01 -4.52233261e-02 6.92614549e+01] [ 8.29503700e-02 -1.53470465e-04 9.96553668e-01 2.32334207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11710568099994 meters 0.020035921773985946 Centerline is valid? [True, True] Translation: X:249.21, Y:69.32, Z:23.24 [[ 8.42834693e-01 -5.33996520e-01 -6.69133441e-02 2.49206415e+02] [ 5.32218959e-01 8.45485970e-01 -4.35483096e-02 6.93175104e+01] [ 7.98289394e-02 1.09147592e-03 9.96807980e-01 2.32397993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17710568099994 meters 0.02113455051588142 Centerline is valid? [True, True] Translation: X:249.25, Y:69.36, Z:23.24 [[ 8.44245465e-01 -5.31656887e-01 -6.77535929e-02 2.49251134e+02] [ 5.29826431e-01 8.46958781e-01 -4.40996096e-02 6.93565997e+01] [ 8.08303616e-02 1.33325113e-03 9.96726981e-01 2.32421340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23710568099995 meters 0.020176787601853725 Centerline is valid? [True, True] Translation: X:249.30, Y:69.39, Z:23.24 [[ 8.42723251e-01 -5.33659563e-01 -7.08871788e-02 2.49299895e+02] [ 5.31659666e-01 8.45698511e-01 -4.61738820e-02 6.93899564e+01] [ 8.45903153e-02 1.22395018e-03 9.96415064e-01 2.32411988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29710568099995 meters 0.020090467402787502 Centerline is valid? [True, True] Translation: X:249.35, Y:69.42, Z:23.25 [[ 8.42036722e-01 -5.34692970e-01 -7.12571897e-02 2.49348391e+02] [ 5.32672860e-01 8.45045616e-01 -4.64492260e-02 6.94236319e+01] [ 8.50516504e-02 1.15518290e-03 9.96375874e-01 2.32461322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35710568099995 meters 0.02335664515400488 Centerline is valid? [True, True] Translation: X:249.39, Y:69.46, Z:23.25 [[ 8.47374029e-01 -5.25970841e-01 -7.28829882e-02 2.49393149e+02] [ 5.23821795e-01 8.50499982e-01 -4.75447864e-02 6.94637457e+01] [ 8.69941514e-02 2.11051950e-03 9.96206587e-01 2.32491053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41710568099995 meters 0.03041967920748967 Centerline is valid? [True, True] Translation: X:249.44, Y:69.51, Z:23.25 [[ 8.55825000e-01 -5.11655863e-01 -7.59726715e-02 2.49437357e+02] [ 5.09262787e-01 8.59182372e-01 -4.95687895e-02 6.95059473e+01] [ 9.06365419e-02 3.73215488e-03 9.95877045e-01 2.32509974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47710568099995 meters 0.03717602473292469 Centerline is valid? [True, True] Translation: X:249.49, Y:69.54, Z:23.25 [[ 8.60255418e-01 -5.03918217e-01 -7.76340505e-02 2.49485040e+02] [ 5.01385482e-01 8.63738752e-01 -5.06751166e-02 6.95396978e+01] [ 9.25916523e-02 4.66895775e-03 9.95693219e-01 2.32532859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53710568099996 meters 0.034696571279709015 Centerline is valid? [True, True] Translation: X:249.54, Y:69.56, Z:23.26 [[ 8.56816483e-01 -5.10231349e-01 -7.43605075e-02 2.49541394e+02] [ 5.07931119e-01 8.60028689e-01 -4.85451660e-02 6.95590600e+01] [ 8.87214353e-02 3.82428259e-03 9.96049136e-01 2.32629231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59710568099996 meters 0.030273579243488318 Centerline is valid? [True, True] Translation: X:249.60, Y:69.58, Z:23.27 [[ 8.53789229e-01 -5.15270870e-01 -7.44303929e-02 2.49600415e+02] [ 5.12984635e-01 8.57020984e-01 -4.85983226e-02 6.95766925e+01] [ 8.88297086e-02 3.31107642e-03 9.96041324e-01 2.32681592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65710568099996 meters 0.02950338968902914 Centerline is valid? [True, True] Translation: X:249.66, Y:69.60, Z:23.27 [[ 8.52183182e-01 -5.17954249e-01 -7.42106492e-02 2.49655669e+02] [ 5.15688972e-01 8.55402890e-01 -4.84848459e-02 6.95980082e+01] [ 8.85929357e-02 3.04835683e-03 9.96063251e-01 2.32739057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71710568099996 meters 0.025692574885849213 Centerline is valid? [True, True] Translation: X:249.71, Y:69.62, Z:23.28 [[ 8.48057910e-01 -5.24821004e-01 -7.32167706e-02 2.49712058e+02] [ 5.22640693e-01 8.51209482e-01 -4.78447980e-02 6.96179579e+01] [ 8.74327643e-02 2.30909574e-03 9.96167747e-01 2.32796299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77710568099997 meters 0.02114098715017652 Centerline is valid? [True, True] Translation: X:249.77, Y:69.64, Z:23.28 [[ 8.42476847e-01 -5.33392953e-01 -7.56618792e-02 2.49770997e+02] [ 5.31097681e-01 8.45866286e-01 -4.94518014e-02 6.96367779e+01] [ 9.03770751e-02 1.47814916e-03 9.95906521e-01 2.32823505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.83710568099997 meters 0.0264102407071731 Centerline is valid? [True, True] Translation: X:249.82, Y:69.67, Z:23.28 [[ 8.46879860e-01 -5.25778007e-01 -7.96993708e-02 2.49818225e+02] [ 5.23193722e-01 8.50618314e-01 -5.21230682e-02 6.96725807e+01] [ 9.51989073e-02 2.44376632e-03 9.95455271e-01 2.32809256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.89710568099997 meters 0.028567237398649147 Centerline is valid? [True, True] Translation: X:249.87, Y:69.70, Z:23.28 [[ 8.49259264e-01 -5.21702118e-01 -8.11517204e-02 2.49869052e+02] [ 5.19001416e-01 8.53122522e-01 -5.30988927e-02 6.97041750e+01] [ 9.69341652e-02 2.97686873e-03 9.95286344e-01 2.32847776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957105681 meters 0.02746255022029245 Centerline is valid? [True, True] Translation: X:249.92, Y:69.73, Z:23.29 [[ 8.48228347e-01 -5.22889695e-01 -8.42320549e-02 2.49920425e+02] [ 5.19981940e-01 8.52395151e-01 -5.51478741e-02 6.97314929e+01] [ 1.00635250e-01 2.97884270e-03 9.94918928e-01 2.32853839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017105681 meters 0.02839140744636341 Centerline is valid? [True, True] Translation: X:249.97, Y:69.76, Z:23.29 [[ 8.48230050e-01 -5.22667504e-01 -8.55830750e-02 2.49970549e+02] [ 5.19660218e-01 8.52531022e-01 -5.60724039e-02 6.97599844e+01] [ 1.02269450e-01 3.08817861e-03 9.94751940e-01 2.32885056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077105681 meters 0.031046526741536514 Centerline is valid? [True, True] Translation: X:250.02, Y:69.79, Z:23.30 [[ 8.50062928e-01 -5.20083300e-01 -8.31046318e-02 2.50016291e+02] [ 5.17234529e-01 8.54109126e-01 -5.44613979e-02 6.97935329e+01] [ 9.93048879e-02 3.31103027e-03 9.95051545e-01 2.32980278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137105681 meters 0.03228033255500782 Centerline is valid? [True, True] Translation: X:250.06, Y:69.82, Z:23.30 [[ 8.50144894e-01 -5.20079251e-01 -8.22875003e-02 2.50064058e+02] [ 5.17284867e-01 8.54111666e-01 -5.39409659e-02 6.98243332e+01] [ 9.83362911e-02 3.29155808e-03 9.95147798e-01 2.33025635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197105681 meters 0.02648660760350993 Centerline is valid? [True, True] Translation: X:250.12, Y:69.85, Z:23.32 [[ 8.45909872e-01 -5.27566040e-01 -7.81700887e-02 2.50119471e+02] [ 5.25075212e-01 8.49510871e-01 -5.12572180e-02 6.98453610e+01] [ 9.34479077e-02 2.31381085e-03 9.95621482e-01 2.33156404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257105681 meters 0.020801417722592575 Centerline is valid? [True, True] Translation: X:250.18, Y:69.87, Z:23.32 [[ 8.42576162e-01 -5.32667893e-01 -7.95633573e-02 2.50175951e+02] [ 5.30108697e-01 8.46322461e-01 -5.21829583e-02 6.98660654e+01] [ 9.51324428e-02 1.79088910e-03 9.95463013e-01 2.33199227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317105681 meters 0.02209348896236502 Centerline is valid? [True, True] Translation: X:250.22, Y:69.90, Z:23.32 [[ 8.43854474e-01 -5.30415594e-01 -8.10489026e-02 2.50221945e+02] [ 5.27748109e-01 8.47735166e-01 -5.31697359e-02 6.99004123e+01] [ 9.69100620e-02 2.09411434e-03 9.95290940e-01 2.33224017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377105681 meters 0.03079459806409331 Centerline is valid? [True, True] Translation: X:250.26, Y:69.95, Z:23.33 [[ 8.53087120e-01 -5.15307014e-01 -8.18599265e-02 2.50263023e+02] [ 5.12513191e-01 8.56996867e-01 -5.37270714e-02 6.99466176e+01] [ 9.78396373e-02 3.87958040e-03 9.95194631e-01 2.33257218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437105681 meters 0.037001646600227776 Centerline is valid? [True, True] Translation: X:250.31, Y:69.99, Z:23.33 [[ 8.58958967e-01 -5.05320456e-01 -8.27087051e-02 2.50308245e+02] [ 5.02418669e-01 8.62916691e-01 -5.43163510e-02 6.99866763e+01] [ 9.88178854e-02 5.10111920e-03 9.95092460e-01 2.33288403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497105681 meters 0.039820620470886164 Centerline is valid? [True, True] Translation: X:250.36, Y:70.02, Z:23.33 [[ 8.60537251e-01 -5.02563653e-01 -8.30988255e-02 2.50356064e+02] [ 4.99618497e-01 8.64522903e-01 -5.46031834e-02 7.00228160e+01] [ 9.92824131e-02 5.47036300e-03 9.95044259e-01 2.33317356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55710568099994 meters 0.04233445902844519 Centerline is valid? [True, True] Translation: X:250.41, Y:70.05, Z:23.34 [[ 8.62006463e-01 -5.00211755e-01 -8.20552157e-02 2.50406675e+02] [ 4.97326951e-01 8.65884397e-01 -5.39454831e-02 7.00541722e+01] [ 9.80344958e-02 5.69308481e-03 9.95166733e-01 2.33381737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61710568099994 meters 0.04300858900429906 Centerline is valid? [True, True] Translation: X:250.46, Y:70.08, Z:23.35 [[ 8.62117166e-01 -5.00600759e-01 -7.84402481e-02 2.50458499e+02] [ 4.97964342e-01 8.65661308e-01 -5.15947028e-02 7.00820009e+01] [ 9.37310351e-02 5.42023242e-03 9.95582801e-01 2.33475538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67710568099994 meters 0.04306736125782094 Centerline is valid? [True, True] Translation: X:250.51, Y:70.11, Z:23.35 [[ 8.60618340e-01 -5.03061962e-01 -7.91500765e-02 2.50510076e+02] [ 5.00384581e-01 8.64234528e-01 -5.20955964e-02 7.01095475e+01] [ 9.46115420e-02 5.22894786e-03 9.95500535e-01 2.33500326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73710568099995 meters 0.034523469593980165 Centerline is valid? [True, True] Translation: X:250.57, Y:70.12, Z:23.35 [[ 8.56708652e-01 -5.09347233e-01 -8.13368359e-02 2.50574764e+02] [ 5.06546176e-01 8.60548398e-01 -5.35483518e-02 7.01200710e+01] [ 9.72689886e-02 4.67447305e-03 9.95247152e-01 2.33536316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79710568099995 meters 0.03606443565201873 Centerline is valid? [True, True] Translation: X:250.63, Y:70.15, Z:23.36 [[ 8.56624861e-01 -5.09394992e-01 -8.19181869e-02 2.50626177e+02] [ 5.06550676e-01 8.60519822e-01 -5.39634080e-02 7.01464432e+01] [ 9.79809134e-02 4.73068394e-03 9.95177050e-01 2.33559243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85710568099995 meters 0.04113332196351067 Centerline is valid? [True, True] Translation: X:250.68, Y:70.18, Z:23.36 [[ 8.60462774e-01 -5.02434945e-01 -8.46341640e-02 2.50677771e+02] [ 4.99363041e-01 8.64596068e-01 -5.57690970e-02 7.01769960e+01] [ 1.01194709e-01 5.72405842e-03 9.94850173e-01 2.33560790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91710568099995 meters 0.047004494244458336 Centerline is valid? [True, True] Translation: X:250.73, Y:70.21, Z:23.36 [[ 8.66354050e-01 -4.91864896e-01 -8.66001346e-02 2.50728177e+02] [ 4.88592194e-01 8.70642154e-01 -5.70956031e-02 7.02075536e+01] [ 1.03481051e-01 7.15285726e-03 9.94605705e-01 2.33602255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97710568099995 meters 0.04263255737681651 Centerline is valid? [True, True] Translation: X:250.78, Y:70.23, Z:23.37 [[ 8.66331254e-01 -4.92155012e-01 -8.51680844e-02 2.50784442e+02] [ 4.88989816e-01 8.70479332e-01 -5.61666450e-02 7.02292612e+01] [ 1.01779753e-01 7.01259409e-03 9.94782240e-01 2.33677053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03710568099996 meters 0.041017802154885055 Centerline is valid? [True, True] Translation: X:250.84, Y:70.25, Z:23.37 [[ 8.62457085e-01 -4.99089016e-01 -8.41304382e-02 2.50841174e+02] [ 4.96029838e-01 8.66528904e-01 -5.55162950e-02 7.02493135e+01] [ 1.00609029e-01 6.14921428e-03 9.94907036e-01 2.33721495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09710568099996 meters 0.031849525664010454 Centerline is valid? [True, True] Translation: X:250.90, Y:70.26, Z:23.38 [[ 8.55134344e-01 -5.12096252e-01 -8.06392152e-02 2.50904016e+02] [ 5.09342404e-01 8.58916599e-01 -5.32221027e-02 7.02602343e+01] [ 9.65171997e-02 4.43907620e-03 9.95321418e-01 2.33834107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15710568099996 meters 0.026783145565688848 Centerline is valid? [True, True] Translation: X:250.96, Y:70.28, Z:23.39 [[ 8.48691892e-01 -5.22363904e-01 -8.28131881e-02 2.50963244e+02] [ 5.19506119e-01 8.52715986e-01 -5.46702850e-02 7.02780803e+01] [ 9.91739128e-02 3.37626968e-03 9.95064388e-01 2.33863185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21710568099996 meters 0.02553293125949349 Centerline is valid? [True, True] Translation: X:251.01, Y:70.31, Z:23.39 [[ 8.46506527e-01 -5.25858223e-01 -8.30652077e-02 2.51014980e+02] [ 5.22996515e-01 8.50566933e-01 -5.48683698e-02 7.03075703e+01] [ 9.95055024e-02 3.00361901e-03 9.95032478e-01 2.33893223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27710568099997 meters 0.02424594691153771 Centerline is valid? [True, True] Translation: X:251.07, Y:70.33, Z:23.40 [[ 8.44336924e-01 -5.29334849e-01 -8.30648955e-02 2.51067804e+02] [ 5.26486591e-01 8.48408946e-01 -5.49010819e-02 7.03333598e+01] [ 9.95340563e-02 2.62245689e-03 9.95030700e-01 2.33976331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.33710568099997 meters 0.02253646475208603 Centerline is valid? [True, True] Translation: X:251.12, Y:70.37, Z:23.40 [[ 8.42354447e-01 -5.32640265e-01 -8.20568951e-02 2.51115969e+02] [ 5.29875426e-01 8.46338848e-01 -5.42456132e-02 7.03660299e+01] [ 9.83413359e-02 2.21410126e-03 9.95150280e-01 2.34034596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.39710568099997 meters 0.0256276485943676 Centerline is valid? [True, True] Translation: X:251.16, Y:70.40, Z:23.41 [[ 8.45545476e-01 -5.27357483e-01 -8.33482642e-02 2.51162518e+02] [ 5.24477697e-01 8.49638604e-01 -5.51125116e-02 7.04027689e+01] [ 9.98798982e-02 2.88582926e-03 9.94995316e-01 2.34064173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457105681 meters 0.029381878668983754 Centerline is valid? [True, True] Translation: X:251.21, Y:70.44, Z:23.42 [[ 8.50162235e-01 -5.20183790e-01 -8.14432246e-02 2.51208829e+02] [ 5.17400537e-01 8.54046531e-01 -5.38628541e-02 7.04395040e+01] [ 9.75748870e-02 3.65339632e-03 9.95221480e-01 2.34156327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517105681 meters 0.034418850078356905 Centerline is valid? [True, True] Translation: X:251.25, Y:70.48, Z:23.42 [[ 8.54261773e-01 -5.13356874e-01 -8.18629551e-02 2.51254140e+02] [ 5.10509967e-01 8.58163490e-01 -5.41756271e-02 7.04788704e+01] [ 9.80632298e-02 4.48831274e-03 9.95170065e-01 2.34184106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577105681 meters 0.04337380642040962 Centerline is valid? [True, True] Translation: X:251.30, Y:70.52, Z:23.42 [[ 8.56844962e-01 -5.08869708e-01 -8.28753946e-02 2.51297561e+02] [ 5.05927585e-01 8.60828485e-01 -5.48780291e-02 7.05188537e+01] [ 9.92672671e-02 5.09301450e-03 9.95047773e-01 2.34212296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637105681 meters 0.0403431155488198 Centerline is valid? [True, True] Translation: X:251.35, Y:70.55, Z:23.43 [[ 8.58515927e-01 -5.06186795e-01 -8.20081142e-02 2.51348340e+02] [ 5.03292926e-01 8.62407242e-01 -5.43137135e-02 7.05483632e+01] [ 9.82172762e-02 5.35508437e-03 9.95150586e-01 2.34284872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697105681 meters 0.03751308141230393 Centerline is valid? [True, True] Translation: X:251.40, Y:70.57, Z:23.44 [[ 8.59392640e-01 -5.04995924e-01 -8.01461645e-02 2.51400608e+02] [ 5.02226239e-01 8.63104999e-01 -5.30901619e-02 7.05748357e+01] [ 9.59848706e-02 5.37378762e-03 9.95368287e-01 2.34385194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757105681 meters 0.04038767133548834 Centerline is valid? [True, True] Translation: X:251.45, Y:70.61, Z:23.44 [[ 8.60481828e-01 -5.02864449e-01 -8.18435730e-02 2.51448414e+02] [ 4.99962686e-01 8.64346071e-01 -5.42511096e-02 7.06086410e+01] [ 9.80221251e-02 5.76336138e-03 9.95167547e-01 2.34400616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817105681 meters 0.04208760935485658 Centerline is valid? [True, True] Translation: X:251.50, Y:70.64, Z:23.44 [[ 8.60705603e-01 -5.01651926e-01 -8.67825465e-02 2.51498956e+02] [ 4.98380914e-01 8.65046830e-01 -5.75364835e-02 7.06406353e+01] [ 1.03934254e-01 6.27120885e-03 9.94564398e-01 2.34383550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877105681 meters 0.04145852788833492 Centerline is valid? [True, True] Translation: X:251.55, Y:70.67, Z:23.45 [[ 8.59851964e-01 -5.03381722e-01 -8.52140940e-02 2.51551703e+02] [ 5.00235701e-01 8.64043590e-01 -5.65059146e-02 7.06673370e+01] [ 1.02072736e-01 5.95958958e-03 9.94759086e-01 2.34458013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937105681 meters 0.04020864202824194 Centerline is valid? [True, True] Translation: X:251.60, Y:70.69, Z:23.45 [[ 8.57126944e-01 -5.07975580e-01 -8.54061607e-02 2.51604117e+02] [ 5.04836165e-01 8.61354291e-01 -5.66500768e-02 7.06929388e+01] [ 1.02341819e-01 5.44018853e-03 9.94734415e-01 2.34490339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997105681 meters 0.03511007616560129 Centerline is valid? [True, True] Translation: X:251.66, Y:70.71, Z:23.46 [[ 8.55629946e-01 -5.10845097e-01 -8.32747390e-02 2.51660340e+02] [ 5.07873346e-01 8.59658370e-01 -5.52462817e-02 7.07133481e+01] [ 9.98101185e-02 4.97735272e-03 9.94994053e-01 2.34603957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05710568099994 meters 0.0366052194712998 Centerline is valid? [True, True] Translation: X:251.71, Y:70.74, Z:23.47 [[ 8.53184662e-01 -5.15205461e-01 -8.14816875e-02 2.51709680e+02] [ 5.12379421e-01 8.57055516e-01 -5.40663666e-02 7.07428612e+01] [ 9.76896170e-02 4.37905485e-03 9.95207296e-01 2.34689201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11710568099994 meters 0.03201816655077224 Centerline is valid? [True, True] Translation: X:251.76, Y:70.77, Z:23.48 [[ 8.48771861e-01 -5.22680744e-01 -7.99447805e-02 2.51762243e+02] [ 5.19992299e-01 8.52521462e-01 -5.30581354e-02 7.07695872e+01] [ 9.58871069e-02 3.46358211e-03 9.95386190e-01 2.34758625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17710568099994 meters 0.021472036554892115 Centerline is valid? [True, True] Translation: X:251.82, Y:70.78, Z:23.48 [[ 8.39135450e-01 -5.37869725e-01 -8.09188209e-02 2.51822534e+02] [ 5.35181698e-01 8.43026080e-01 -5.37361968e-02 7.07847560e+01] [ 9.71197497e-02 1.78567567e-03 9.95271102e-01 2.34820880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23710568099995 meters 0.017513971272988035 Centerline is valid? [True, True] Translation: X:251.88, Y:70.80, Z:23.49 [[ 8.26708145e-01 -5.57029136e-01 -7.91971253e-02 2.51882103e+02] [ 5.54539166e-01 8.30492843e-01 -5.26113255e-02 7.08005774e+01] [ 9.50786869e-02 -4.23696445e-04 9.95469670e-01 2.34931196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29710568099995 meters 0.021607627239466447 Centerline is valid? [True, True] Translation: X:251.93, Y:70.83, Z:23.49 [[ 8.17488512e-01 -5.70327326e-01 -8.02450932e-02 2.51934743e+02] [ 5.67832890e-01 8.21415139e-01 -5.33195933e-02 7.08287532e+01] [ 9.63241555e-02 -1.97764821e-03 9.95348053e-01 2.34940510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35710568099995 meters 0.027174225803578336 Centerline is valid? [True, True] Translation: X:251.98, Y:70.86, Z:23.50 [[ 8.09908941e-01 -5.80974653e-01 -8.07214985e-02 2.51984854e+02] [ 5.78499253e-01 8.13915247e-01 -5.36710901e-02 7.08596082e+01] [ 9.68820013e-02 -3.22863078e-03 9.95290638e-01 2.35003792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41710568099995 meters 0.03127684096099216 Centerline is valid? [True, True] Translation: X:252.02, Y:70.91, Z:23.51 [[ 8.03925585e-01 -5.89081515e-01 -8.17717683e-02 2.52024943e+02] [ 5.86578744e-01 8.08062568e-01 -5.44082919e-02 7.09063168e+01] [ 9.81276242e-02 -4.22536333e-03 9.95164869e-01 2.35058882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47710568099995 meters 0.031119312893583405 Centerline is valid? [True, True] Translation: X:252.06, Y:70.96, Z:23.51 [[ 8.05452017e-01 -5.86865784e-01 -8.26776833e-02 2.52058882e+02] [ 5.84291700e-01 8.09674504e-01 -5.50491308e-02 7.09587816e+01] [ 9.92484635e-02 -3.96845059e-03 9.95054769e-01 2.35111097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53710568099996 meters 0.029690283805628808 Centerline is valid? [True, True] Translation: X:252.10, Y:71.00, Z:23.52 [[ 8.07439479e-01 -5.84129758e-01 -8.26674888e-02 2.52101941e+02] [ 5.81540312e-01 8.11652228e-01 -5.50592945e-02 7.10007015e+01] [ 9.92590239e-02 -3.61742915e-03 9.95055054e-01 2.35173904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59710568099996 meters 0.023256730885928546 Centerline is valid? [True, True] Translation: X:252.13, Y:71.07, Z:23.52 [[ 8.14280356e-01 -5.74660935e-01 -8.19287005e-02 2.52129697e+02] [ 5.72066134e-01 8.18388057e-01 -5.46015179e-02 7.10653437e+01] [ 9.84268294e-02 -2.40769159e-03 9.95141378e-01 2.35240490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65710568099996 meters 0.0197658804093736 Centerline is valid? [True, True] Translation: X:252.16, Y:71.13, Z:23.52 [[ 8.19071124e-01 -5.67305482e-01 -8.53638301e-02 2.52161112e+02] [ 5.64445810e-01 8.23505937e-01 -5.69113286e-02 7.11259978e+01] [ 1.02583730e-01 -1.56883034e-03 9.94723136e-01 2.35222366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71710568099996 meters 0.02067828877392232 Centerline is valid? [True, True] Translation: X:252.20, Y:71.18, Z:23.52 [[ 8.17995201e-01 -5.67866262e-01 -9.17156471e-02 2.52196486e+02] [ 5.64562635e-01 8.23119023e-01 -6.11890953e-02 7.11821792e+01] [ 1.10240117e-01 -1.72684109e-03 9.93903484e-01 2.35155534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77710568099997 meters 0.022671485246238857 Centerline is valid? [True, True] Translation: X:252.24, Y:71.22, Z:23.52 [[ 8.14824244e-01 -5.72352113e-01 -9.20571082e-02 2.52240630e+02] [ 5.69047781e-01 8.20004713e-01 -6.14564423e-02 7.12212861e+01] [ 1.10661987e-01 -2.30869399e-03 9.93855419e-01 2.35204192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.83710568099997 meters 0.024768221299826657 Centerline is valid? [True, True] Translation: X:252.28, Y:71.26, Z:23.53 [[ 8.12611882e-01 -5.75902623e-01 -8.94320837e-02 2.52281984e+02] [ 5.72801751e-01 8.17513908e-01 -5.97424860e-02 7.12631559e+01] [ 1.07517827e-01 -2.67940014e-03 9.94199546e-01 2.35297821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.89710568099997 meters 0.01857938457827957 Centerline is valid? [True, True] Translation: X:252.31, Y:71.33, Z:23.54 [[ 8.24060651e-01 -5.60073054e-01 -8.51012197e-02 2.52306205e+02] [ 5.57178694e-01 8.28443038e-01 -5.68685803e-02 7.13303943e+01] [ 1.02352072e-01 -5.53427191e-04 9.94748082e-01 2.35411073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957105681 meters 0.024319031795114337 Centerline is valid? [True, True] Translation: X:252.33, Y:71.40, Z:23.55 [[ 8.39557944e-01 -5.36471547e-01 -8.56781009e-02 2.52333806e+02] [ 5.33411684e-01 8.43915063e-01 -5.72655350e-02 7.13954082e+01] [ 1.03026370e-01 2.37603471e-03 9.94675787e-01 2.35464945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017105681 meters 0.03181825877810604 Centerline is valid? [True, True] Translation: X:252.37, Y:71.45, Z:23.55 [[ 8.46653241e-01 -5.24959962e-01 -8.71511771e-02 2.52372227e+02] [ 5.21731095e-01 8.51118176e-01 -5.82624687e-02 7.14453792e+01] [ 1.04761414e-01 3.85862883e-03 9.94489898e-01 2.35477511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077105681 meters 0.03058982169165979 Centerline is valid? [True, True] Translation: X:252.42, Y:71.48, Z:23.56 [[ 8.45888779e-01 -5.26717497e-01 -8.39097845e-02 2.52418885e+02] [ 5.23730570e-01 8.50033069e-01 -5.61254989e-02 7.14801778e+01] [ 1.00888374e-01 3.52981047e-03 9.94891490e-01 2.35592420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137105681 meters 0.03075340750942834 Centerline is valid? [True, True] Translation: X:252.47, Y:71.51, Z:23.57 [[ 8.43315303e-01 -5.31340476e-01 -8.06014779e-02 2.52468233e+02] [ 5.28605002e-01 8.47153513e-01 -5.39228744e-02 7.15101561e+01] [ 9.69332309e-02 2.86764075e-03 9.95286755e-01 2.35685262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197105681 meters 0.026452154912632874 Centerline is valid? [True, True] Translation: X:252.52, Y:71.53, Z:23.58 [[ 8.42301181e-01 -5.33119708e-01 -7.94487146e-02 2.52522023e+02] [ 5.30468905e-01 8.46035719e-01 -5.31629829e-02 7.15349044e+01] [ 9.55586843e-02 2.63417062e-03 9.95420313e-01 2.35763225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257105681 meters 0.028035865305552323 Centerline is valid? [True, True] Translation: X:252.57, Y:71.57, Z:23.58 [[ 8.43446712e-01 -5.31249014e-01 -7.98256171e-02 2.52569910e+02] [ 5.28560886e-01 8.47210788e-01 -5.34534369e-02 7.15696070e+01] [ 9.60262096e-02 2.89242669e-03 9.95374603e-01 2.35786775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317105681 meters 0.02816619430598337 Centerline is valid? [True, True] Translation: X:252.62, Y:71.60, Z:23.57 [[ 8.42564172e-01 -5.31517320e-01 -8.70342188e-02 2.52622804e+02] [ 5.28317030e-01 8.47041527e-01 -5.83246667e-02 7.15973005e+01] [ 1.04722168e-01 3.16061452e-03 9.94496495e-01 2.35725463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377105681 meters 0.02493809026608682 Centerline is valid? [True, True] Translation: X:252.68, Y:71.62, Z:23.58 [[ 8.37632307e-01 -5.38872048e-01 -8.93813998e-02 2.52678506e+02] [ 5.35533622e-01 8.42384385e-01 -5.99356928e-02 7.16199592e+01] [ 1.07591165e-01 2.33732790e-03 9.94192475e-01 2.35761504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437105681 meters 0.020692744362092584 Centerline is valid? [True, True] Translation: X:252.74, Y:71.64, Z:23.58 [[ 8.30572260e-01 -5.49892016e-01 -8.81390419e-02 2.52738084e+02] [ 5.46705812e-01 8.35235256e-01 -5.91170154e-02 7.16373600e+01] [ 1.06124810e-01 9.14826668e-04 9.94352396e-01 2.35844549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497105681 meters 0.019607997176119014 Centerline is valid? [True, True] Translation: X:252.80, Y:71.66, Z:23.59 [[ 8.22403252e-01 -5.62191497e-01 -8.71413270e-02 2.52795119e+02] [ 5.59141318e-01 8.27006850e-01 -5.84863855e-02 7.16575190e+01] [ 1.04947023e-01 -6.24922755e-04 9.94477618e-01 2.35933302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55710568099994 meters 0.02354853764672723 Centerline is valid? [True, True] Translation: X:252.85, Y:71.68, Z:23.61 [[ 8.13194527e-01 -5.76129450e-01 -8.23985350e-02 2.52854070e+02] [ 5.73469771e-01 8.17355366e-01 -5.53410139e-02 7.16753251e+01] [ 9.92324726e-02 -2.25005941e-03 9.95061734e-01 2.36057213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61710568099994 meters 0.03313564656592993 Centerline is valid? [True, True] Translation: X:252.91, Y:71.70, Z:23.62 [[ 8.02042476e-01 -5.91985890e-01 -7.92500693e-02 2.52909484e+02] [ 5.89599077e-01 8.05938345e-01 -5.32570407e-02 7.16959127e+01] [ 9.53980863e-02 -4.01135898e-03 9.95431120e-01 2.36160398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67710568099994 meters 0.03427124994603015 Centerline is valid? [True, True] Translation: X:252.96, Y:71.73, Z:23.62 [[ 7.99084886e-01 -5.95968017e-01 -7.92809426e-02 2.52955373e+02] [ 5.93597187e-01 8.02995705e-01 -5.32942520e-02 7.17331921e+01] [ 9.54239261e-02 -4.47431318e-03 9.95426670e-01 2.36208725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73710568099995 meters 0.037540025732749324 Centerline is valid? [True, True] Translation: X:253.00, Y:71.77, Z:23.63 [[ 7.95430425e-01 -6.00970375e-01 -7.82626769e-02 2.53001113e+02] [ 5.98682822e-01 7.99255683e-01 -5.26235010e-02 7.17718073e+01] [ 9.41770544e-02 -4.99618645e-03 9.95542928e-01 2.36254022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79710568099995 meters 0.03981020425978503 Centerline is valid? [True, True] Translation: X:253.04, Y:71.81, Z:23.63 [[ 7.91460664e-01 -6.05942595e-01 -8.01472912e-02 2.53044859e+02] [ 6.03565244e-01 7.95487988e-01 -5.39245456e-02 7.18123322e+01] [ 9.64313865e-02 -5.69496269e-03 9.95323342e-01 2.36264009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85710568099995 meters 0.041526266873635156 Centerline is valid? [True, True] Translation: X:253.09, Y:71.85, Z:23.63 [[ 7.89202159e-01 -6.08923215e-01 -7.98277565e-02 2.53088342e+02] [ 6.06576494e-01 7.93206433e-01 -5.37448733e-02 7.18542373e+01] [ 9.60463910e-02 -6.00607066e-03 9.95358738e-01 2.36326856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91710568099995 meters 0.043610315515548594 Centerline is valid? [True, True] Translation: X:253.13, Y:71.90, Z:23.64 [[ 7.87931213e-01 -6.10334310e-01 -8.15869646e-02 2.53130112e+02] [ 6.07886898e-01 7.92118989e-01 -5.49638727e-02 7.18980804e+01] [ 9.81729212e-02 -6.28789596e-03 9.95149506e-01 2.36351302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97710568099995 meters 0.043250224490937815 Centerline is valid? [True, True] Translation: X:253.17, Y:71.95, Z:23.64 [[ 7.89316084e-01 -6.08485150e-01 -8.20118442e-02 2.53168328e+02] [ 6.05998665e-01 7.93542114e-01 -5.52859019e-02 7.19459614e+01] [ 9.87205025e-02 -6.06101657e-03 9.95096742e-01 2.36386757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03710568099996 meters 0.04276635615918395 Centerline is valid? [True, True] Translation: X:253.20, Y:72.00, Z:23.64 [[ 7.89382399e-01 -6.07710447e-01 -8.69680435e-02 2.53203145e+02] [ 6.04907214e-01 7.94133574e-01 -5.86440838e-02 7.19983474e+01] [ 1.04702866e-01 -6.31498932e-03 9.94483500e-01 2.36352378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09710568099996 meters 0.046159254641513485 Centerline is valid? [True, True] Translation: X:253.24, Y:72.05, Z:23.64 [[ 7.87024698e-01 -6.10656667e-01 -8.76958416e-02 2.53241804e+02] [ 6.07819661e-01 7.91866886e-01 -5.91784990e-02 7.20454197e+01] [ 1.05581178e-01 -6.72831643e-03 9.94387925e-01 2.36399568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15710568099996 meters 0.055170767496908205 Centerline is valid? [True, True] Translation: X:253.28, Y:72.09, Z:23.65 [[ 7.79855117e-01 -6.20185666e-01 -8.48276857e-02 2.53284144e+02] [ 6.17584098e-01 7.84417011e-01 -5.72698365e-02 7.20859634e+01] [ 1.02058211e-01 -7.72605471e-03 9.94748425e-01 2.36487436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21710568099996 meters 0.05491557929369866 Centerline is valid? [True, True] Translation: X:253.32, Y:72.14, Z:23.66 [[ 7.73400714e-01 -6.28517479e-01 -8.25658126e-02 2.53320094e+02] [ 6.26098250e-01 7.77748214e-01 -5.57556794e-02 7.21370008e+01] [ 9.92588324e-02 -8.57282853e-03 9.95024719e-01 2.36585242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27710568099997 meters 0.06355112920847002 Centerline is valid? [True, True] Translation: X:253.36, Y:72.18, Z:23.67 [[ 7.75074999e-01 -6.26754933e-01 -8.02309198e-02 2.53359922e+02] [ 6.24460676e-01 7.79174315e-01 -5.41871814e-02 7.21804723e+01] [ 9.64759553e-02 -8.10192485e-03 9.95302340e-01 2.36662612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.33710568099997 meters 0.04391404203348413 Centerline is valid? [True, True] Translation: X:253.38, Y:72.26, Z:23.68 [[ 7.84736631e-01 -6.15281071e-01 -7.49508056e-02 2.53375246e+02] [ 6.13225970e-01 7.88283195e-01 -5.06311645e-02 7.22630709e+01] [ 9.02348576e-02 -6.22965097e-03 9.95901030e-01 2.36783772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.39710568099997 meters 0.04037104650734365 Centerline is valid? [True, True] Translation: X:253.41, Y:72.32, Z:23.68 [[ 7.91209939e-01 -6.06889984e-01 -7.53085646e-02 2.53409609e+02] [ 6.04776469e-01 7.94768260e-01 -5.08805909e-02 7.23170619e+01] [ 9.07317778e-02 -5.28761860e-03 9.95861328e-01 2.36825629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457105681 meters 0.038234041522332944 Centerline is valid? [True, True] Translation: X:253.45, Y:72.36, Z:23.69 [[ 7.93993112e-01 -6.03064080e-01 -7.67375647e-02 2.53453894e+02] [ 6.00850901e-01 7.97677473e-01 -5.18540644e-02 7.23586146e+01] [ 9.24831504e-02 -4.93606491e-03 9.95702015e-01 2.36853884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517105681 meters 0.0257996781354925 Centerline is valid? [True, True] Translation: X:253.48, Y:72.43, Z:23.69 [[ 8.09466362e-01 -5.81947418e-01 -7.81115302e-02 2.53479584e+02] [ 5.79551909e-01 8.13222502e-01 -5.28085943e-02 7.24282401e+01] [ 9.42538791e-02 -2.52290570e-03 9.95544997e-01 2.36862881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577105681 meters 0.021495057312943138 Centerline is valid? [True, True] Translation: X:253.52, Y:72.48, Z:23.69 [[ 8.16709872e-01 -5.71873486e-01 -7.71083777e-02 2.53515596e+02] [ 5.69493863e-01 8.20340742e-01 -5.21325887e-02 7.24808436e+01] [ 9.30683890e-02 -1.33554808e-03 9.95658823e-01 2.36914681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637105681 meters 0.020398871137676917 Centerline is valid? [True, True] Translation: X:253.55, Y:72.54, Z:23.69 [[ 8.24080488e-01 -5.61043002e-01 -7.82438411e-02 2.53548601e+02] [ 5.58542920e-01 8.27786651e-01 -5.29062085e-02 7.25359051e+01] [ 9.44518653e-02 -1.03569355e-04 9.95529424e-01 2.36898115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697105681 meters 0.02045835970736914 Centerline is valid? [True, True] Translation: X:253.60, Y:72.57, Z:23.69 [[ 8.21578306e-01 -5.64643400e-01 -7.86569660e-02 2.53597005e+02] [ 5.62131885e-01 8.25334825e-01 -5.31993550e-02 7.25692292e+01] [ 9.49569979e-02 -5.08152580e-04 9.95481246e-01 2.36949145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757105681 meters 0.021567080343858715 Centerline is valid? [True, True] Translation: X:253.65, Y:72.60, Z:23.70 [[ 8.17498186e-01 -5.70390193e-01 -7.96978275e-02 2.53647534e+02] [ 5.67835096e-01 8.21373048e-01 -5.39408858e-02 7.25975221e+01] [ 9.62289998e-02 -1.15864722e-03 9.95358547e-01 2.37012489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817105681 meters 0.024091137160877265 Centerline is valid? [True, True] Translation: X:253.70, Y:72.62, Z:23.71 [[ 8.14115120e-01 -5.75519488e-01 -7.74202195e-02 2.53700942e+02] [ 5.73130478e-01 8.17786293e-01 -5.24121605e-02 7.26213825e+01] [ 9.34774141e-02 -1.70235505e-03 9.95619945e-01 2.37075910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877105681 meters 0.02568359426985685 Centerline is valid? [True, True] Translation: X:253.76, Y:72.65, Z:23.71 [[ 8.07347705e-01 -5.84639698e-01 -7.99131175e-02 2.53755506e+02] [ 5.82136948e-01 8.11288111e-01 -5.41126082e-02 7.26479865e+01] [ 9.64689411e-02 -2.83268832e-03 9.95331964e-01 2.37084866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937105681 meters 0.03453472892898595 Centerline is valid? [True, True] Translation: X:253.81, Y:72.67, Z:23.71 [[ 8.03299930e-01 -5.89896882e-01 -8.20420038e-02 2.53814571e+02] [ 5.87285572e-01 8.07470770e-01 -5.55572854e-02 7.26662720e+01] [ 9.90195894e-02 -3.55292168e-03 9.95079141e-01 2.37112453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997105681 meters 0.027812387276672134 Centerline is valid? [True, True] Translation: X:253.86, Y:72.71, Z:23.72 [[ 8.04137973e-01 -5.88460108e-01 -8.41238528e-02 2.53855753e+02] [ 5.85705519e-01 8.08518870e-01 -5.69761497e-02 7.27101094e+01] [ 1.01543914e-01 -3.45511926e-03 9.94825058e-01 2.37204655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05710568099994 meters 0.02168491886965141 Centerline is valid? [True, True] Translation: X:253.89, Y:72.76, Z:23.73 [[ 8.15879134e-01 -5.72444906e-01 -8.15356896e-02 2.53894140e+02] [ 5.69773566e-01 8.19942034e-01 -5.52552733e-02 7.27587594e+01] [ 9.84851389e-02 -1.37525608e-03 9.95137571e-01 2.37310820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11710568099994 meters 0.02035204876571467 Centerline is valid? [True, True] Translation: X:253.93, Y:72.80, Z:23.74 [[ 8.25437153e-01 -5.58690412e-01 -8.07374174e-02 2.53934243e+02] [ 5.56004296e-01 8.29376239e-01 -5.47199830e-02 7.28028836e+01] [ 9.75332255e-02 2.77555982e-04 9.95232231e-01 2.37378494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17710568099994 meters 0.024871018263389087 Centerline is valid? [True, True] Translation: X:253.97, Y:72.85, Z:23.75 [[ 8.35434601e-01 -5.43737014e-01 -7.99942999e-02 2.53970801e+02] [ 5.41030044e-01 8.39253219e-01 -5.42266218e-02 7.28522643e+01] [ 9.66204950e-02 2.02347656e-03 9.95319238e-01 2.37465720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23710568099995 meters 0.03106337940270763 Centerline is valid? [True, True] Translation: X:254.02, Y:72.89, Z:23.75 [[ 8.43030961e-01 -5.32115585e-01 -7.84334331e-02 2.54015699e+02] [ 5.29462213e-01 8.46665286e-01 -5.31757396e-02 7.28928045e+01] [ 9.47025049e-02 3.30125582e-03 9.95500144e-01 2.37534764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29710568099995 meters 0.03240810791656189 Centerline is valid? [True, True] Translation: X:254.07, Y:72.92, Z:23.76 [[ 8.47048354e-01 -5.25918663e-01 -7.69327370e-02 2.54068848e+02] [ 5.23340289e-01 8.50525830e-01 -5.21608448e-02 7.29206360e+01] [ 9.28656417e-02 3.92075690e-03 9.95670930e-01 2.37607240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35710568099995 meters 0.032055943224038326 Centerline is valid? [True, True] Translation: X:254.13, Y:72.94, Z:23.76 [[ 8.45320955e-01 -5.28340613e-01 -7.93011983e-02 2.54126911e+02] [ 5.25610877e-01 8.49024130e-01 -5.37701927e-02 7.29380660e+01] [ 9.57376074e-02 3.77149827e-03 9.95399461e-01 2.37635471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41710568099995 meters 0.02474879970474188 Centerline is valid? [True, True] Translation: X:254.19, Y:72.95, Z:23.77 [[ 8.37716755e-01 -5.40290722e-01 -7.94768805e-02 2.54192823e+02] [ 5.37600721e-01 8.41474920e-01 -5.39019828e-02 7.29472615e+01] [ 9.60005429e-02 2.42776585e-03 9.95378321e-01 2.37690606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47710568099995 meters 0.019940687861393 Centerline is valid? [True, True] Translation: X:254.26, Y:72.96, Z:23.77 [[ 8.31183646e-01 -5.50244809e-01 -7.97771667e-02 2.54255909e+02] [ 5.47579295e-01 8.35002385e-01 -5.41103790e-02 7.29582699e+01] [ 9.63880796e-02 1.29133735e-03 9.95342991e-01 2.37722499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53710568099996 meters 0.0179563616868055 Centerline is valid? [True, True] Translation: X:254.31, Y:72.98, Z:23.78 [[ 8.26972151e-01 -5.56294721e-01 -8.15674280e-02 2.54311548e+02] [ 5.53536093e-01 8.30984844e-01 -5.53351800e-02 7.29814853e+01] [ 9.85639649e-02 6.10137375e-04 9.95130530e-01 2.37762020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59710568099996 meters 0.01731254389757937 Centerline is valid? [True, True] Translation: X:254.37, Y:73.00, Z:23.78 [[ 8.21904266e-01 -5.63189169e-01 -8.53893277e-02 2.54370152e+02] [ 5.60198603e-01 8.26327975e-01 -5.79620901e-02 7.29977235e+01] [ 1.03203212e-01 -1.95692933e-04 9.94660273e-01 2.37765251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65710568099996 meters 0.017586740175523783 Centerline is valid? [True, True] Translation: X:254.42, Y:73.03, Z:23.79 [[ 8.26666061e-01 -5.56495428e-01 -8.32830221e-02 2.54416259e+02] [ 5.53615594e-01 8.30850427e-01 -5.65450417e-02 7.30315817e+01] [ 1.00662792e-01 6.37087174e-04 9.94920397e-01 2.37888981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71710568099996 meters 0.02185199860735104 Centerline is valid? [True, True] Translation: X:254.46, Y:73.07, Z:23.80 [[ 8.34193875e-01 -5.45584057e-01 -8.03655144e-02 2.54461036e+02] [ 5.42850887e-01 8.38053952e-01 -5.45755263e-02 7.30700396e+01] [ 9.71261739e-02 1.90007892e-03 9.95270263e-01 2.38022456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77710568099997 meters 0.02288426944213777 Centerline is valid? [True, True] Translation: X:254.51, Y:73.10, Z:23.81 [[ 8.37926758e-01 -5.40329364e-01 -7.69605457e-02 2.54510786e+02] [ 5.37800768e-01 8.41450166e-01 -5.22680742e-02 7.31010577e+01] [ 9.30004393e-02 2.40737735e-03 9.95663157e-01 2.38118825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.83710568099997 meters 0.025672692483658725 Centerline is valid? [True, True] Translation: X:254.56, Y:73.13, Z:23.82 [[ 8.38158349e-01 -5.40105659e-01 -7.60030250e-02 2.54560531e+02] [ 5.37638068e-01 8.41593772e-01 -5.16258810e-02 7.31311767e+01] [ 9.18471029e-02 2.40854370e-03 9.95770209e-01 2.38169756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.89710568099997 meters 0.020099671281874867 Centerline is valid? [True, True] Translation: X:254.62, Y:73.15, Z:23.82 [[ 8.33877485e-01 -5.46583387e-01 -7.67785251e-02 2.54620247e+02] [ 5.44091091e-01 8.37402905e-01 -5.21656996e-02 7.31487633e+01] [ 9.28074647e-02 1.72529095e-03 9.95682579e-01 2.38219432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957105681 meters 0.01703424800172618 Centerline is valid? [True, True] Translation: X:254.68, Y:73.17, Z:23.82 [[ 8.27280258e-01 -5.56189262e-01 -7.91257218e-02 2.54678197e+02] [ 5.53584782e-01 8.31055381e-01 -5.37665632e-02 7.31667384e+01] [ 9.56622420e-02 6.77220807e-04 9.95413621e-01 2.38243031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017105681 meters 0.01715705258453293 Centerline is valid? [True, True] Translation: X:254.73, Y:73.19, Z:23.82 [[ 8.26803542e-01 -5.56531422e-01 -8.16619804e-02 2.54733263e+02] [ 5.53756911e-01 8.30826291e-01 -5.55063779e-02 7.31911798e+01] [ 9.87379637e-02 6.71983869e-04 9.95113241e-01 2.38241819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077105681 meters 0.020975292828940874 Centerline is valid? [True, True] Translation: X:254.78, Y:73.23, Z:23.83 [[ 8.33896292e-01 -5.45791171e-01 -8.20303133e-02 2.54780152e+02] [ 5.42935767e-01 8.37918879e-01 -5.57916118e-02 7.32274009e+01] [ 9.91853173e-02 1.98722710e-03 9.95066995e-01 2.38294797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137105681 meters 0.029226740965087913 Centerline is valid? [True, True] Translation: X:254.82, Y:73.27, Z:23.84 [[ 8.43029245e-01 -5.31820579e-01 -8.04273854e-02 2.54824416e+02] [ 5.29011155e-01 8.46849511e-01 -5.47092591e-02 7.32679667e+01] [ 9.72054019e-02 3.57452130e-03 9.95257923e-01 2.38382693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197105681 meters 0.032851548221433054 Centerline is valid? [True, True] Translation: X:254.87, Y:73.30, Z:23.84 [[ 8.45883375e-01 -5.27374871e-01 -7.97311833e-02 2.54873586e+02] [ 5.24593832e-01 8.49623038e-01 -5.42402470e-02 7.33004671e+01] [ 9.63463934e-02 4.05443627e-03 9.95339607e-01 2.38441809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257105681 meters 0.03152582795700434 Centerline is valid? [True, True] Translation: X:254.93, Y:73.31, Z:23.85 [[ 8.44095166e-01 -5.30362839e-01 -7.88581610e-02 2.54934440e+02] [ 5.27654687e-01 8.47762773e-01 -5.36545604e-02 7.33146023e+01] [ 9.53093982e-02 3.67967678e-03 9.95440897e-01 2.38485346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317105681 meters 0.026761706134244286 Centerline is valid? [True, True] Translation: X:254.99, Y:73.33, Z:23.86 [[ 8.39421832e-01 -5.38285125e-01 -7.49674100e-02 2.54994404e+02] [ 5.35868623e-01 8.42758620e-01 -5.10169335e-02 7.33295369e+01] [ 9.06410874e-02 2.65204500e-03 9.95880093e-01 2.38610930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377105681 meters 0.019680777170394348 Centerline is valid? [True, True] Translation: X:255.06, Y:73.35, Z:23.87 [[ 8.32933947e-01 -5.48296380e-01 -7.47804731e-02 2.55055440e+02] [ 5.45931174e-01 8.36282618e-01 -5.08973085e-02 7.33458610e+01] [ 9.04444198e-02 1.56910466e-03 9.95900269e-01 2.38677694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437105681 meters 0.016740503973003865 Centerline is valid? [True, True] Translation: X:255.11, Y:73.37, Z:23.87 [[ 8.26698884e-01 -5.57665529e-01 -7.46867652e-02 2.55113739e+02] [ 5.55343248e-01 8.30065570e-01 -5.08431575e-02 7.33653044e+01] [ 9.03483886e-02 5.55190790e-04 9.95910066e-01 2.38731692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497105681 meters 0.01903449618470625 Centerline is valid? [True, True] Translation: X:255.18, Y:73.38, Z:23.88 [[ 8.13830085e-01 -5.76608030e-01 -7.21371804e-02 2.55176176e+02] [ 5.74512223e-01 8.17019626e-01 -4.91389598e-02 7.33770398e+01] [ 8.72714110e-02 -1.45292806e-03 9.96183512e-01 2.38834558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55710568099994 meters 0.02514814583465194 Centerline is valid? [True, True] Translation: X:255.23, Y:73.40, Z:23.89 [[ 8.04497582e-01 -5.89391077e-01 -7.34969308e-02 2.55233028e+02] [ 5.87264671e-01 8.07842810e-01 -5.01019048e-02 7.33987732e+01] [ 8.89035827e-02 -2.85528961e-03 9.96036144e-01 2.38861408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61710568099994 meters 0.03168283780533445 Centerline is valid? [True, True] Translation: X:255.29, Y:73.42, Z:23.89 [[ 7.98301532e-01 -5.97658597e-01 -7.42890684e-02 2.55286896e+02] [ 5.95518490e-01 8.01741765e-01 -5.06741511e-02 7.34239125e+01] [ 8.98464909e-02 -3.78726148e-03 9.95948425e-01 2.38883573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67710568099994 meters 0.03733825541444238 Centerline is valid? [True, True] Translation: X:255.34, Y:73.46, Z:23.89 [[ 7.93014775e-01 -6.04201106e-01 -7.79011541e-02 2.55336522e+02] [ 6.01877298e-01 7.96817788e-01 -5.31519510e-02 7.34559767e+01] [ 9.41874929e-02 -4.73665370e-03 9.95543209e-01 2.38856885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73710568099995 meters 0.03820624176697822 Centerline is valid? [True, True] Translation: X:255.38, Y:73.49, Z:23.89 [[ 7.90456836e-01 -6.07639887e-01 -7.71476430e-02 2.55381809e+02] [ 6.05375781e-01 7.94196399e-01 -5.26521038e-02 7.34949914e+01] [ 9.32638986e-02 -5.08409929e-03 9.95628443e-01 2.38921563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79710568099995 meters 0.032777559532829265 Centerline is valid? [True, True] Translation: X:255.42, Y:73.55, Z:23.89 [[ 7.94146826e-01 -6.02069207e-01 -8.27253839e-02 2.55417424e+02] [ 5.99431404e-01 7.98429935e-01 -5.64945181e-02 7.35496231e+01] [ 1.00064033e-01 -4.72325087e-03 9.94969789e-01 2.38898659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85710568099995 meters 0.021021390308765417 Centerline is valid? [True, True] Translation: X:255.44, Y:73.62, Z:23.90 [[ 8.10254910e-01 -5.80251317e-01 -8.24341603e-02 2.55443648e+02] [ 5.77514118e-01 8.14435106e-01 -5.63285123e-02 7.36164877e+01] [ 9.98219676e-02 -1.96643771e-03 9.95003371e-01 2.38972426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91710568099995 meters 0.018552344043213306 Centerline is valid? [True, True] Translation: X:255.47, Y:73.68, Z:23.90 [[ 8.25693266e-01 -5.58131448e-01 -8.19751040e-02 2.55468218e+02] [ 5.55312848e-01 8.29752217e-01 -5.60258763e-02 7.36844052e+01] [ 9.92888277e-02 7.38360266e-04 9.95058382e-01 2.39009277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97710568099995 meters 0.021837570739930257 Centerline is valid? [True, True] Translation: X:255.51, Y:73.73, Z:23.91 [[ 8.31750466e-01 -5.49705780e-01 -7.75546185e-02 2.55505811e+02] [ 5.47146081e-01 8.35356691e-01 -5.30128815e-02 7.37323154e+01] [ 9.39272568e-02 1.65978333e-03 9.95577679e-01 2.39087133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03710568099996 meters 0.021425283083123317 Centerline is valid? [True, True] Translation: X:255.55, Y:73.77, Z:23.91 [[ 8.30976159e-01 -5.50506920e-01 -8.01296102e-02 2.55551649e+02] [ 5.47773915e-01 8.34828961e-01 -5.48119012e-02 7.37676487e+01] [ 9.70688501e-02 1.65447277e-03 9.95276294e-01 2.39104192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09710568099996 meters 0.01896896269285133 Centerline is valid? [True, True] Translation: X:255.61, Y:73.79, Z:23.92 [[ 8.26934381e-01 -5.56705810e-01 -7.91086018e-02 2.55605368e+02] [ 5.54066434e-01 8.30709178e-01 -5.41539327e-02 7.37926927e+01] [ 9.58640505e-02 9.50327899e-04 9.95393983e-01 2.39174220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15710568099996 meters 0.017371774462749692 Centerline is valid? [True, True] Translation: X:255.66, Y:73.81, Z:23.93 [[ 8.23348827e-01 -5.62650494e-01 -7.43043070e-02 2.55661340e+02] [ 5.60345789e-01 8.26694840e-01 -5.08747368e-02 7.38141762e+01] [ 9.00516830e-02 2.51549375e-04 9.95937062e-01 2.39304873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21710568099996 meters 0.017121922947077414 Centerline is valid? [True, True] Translation: X:255.71, Y:73.84, Z:23.94 [[ 8.21893142e-01 -5.64721978e-01 -7.47044261e-02 2.55712041e+02] [ 5.62397937e-01 8.25281216e-01 -5.11808066e-02 7.38415693e+01] [ 9.05550859e-02 5.15388362e-05 9.95891447e-01 2.39350210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27710568099997 meters 0.018037853600610543 Centerline is valid? [True, True] Translation: X:255.76, Y:73.88, Z:23.93 [[ 8.23932288e-01 -5.60747343e-01 -8.18413244e-02 2.55760553e+02] [ 5.57932765e-01 8.27986768e-01 -5.61154316e-02 7.38765246e+01] [ 9.92301129e-02 5.73359538e-04 9.95064348e-01 2.39270442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.33710568099997 meters 0.02090505961020346 Centerline is valid? [True, True] Translation: X:255.81, Y:73.92, Z:23.93 [[ 8.29017975e-01 -5.52680251e-01 -8.52862122e-02 2.55806436e+02] [ 5.49576534e-01 8.33391781e-01 -5.85130084e-02 7.39150642e+01] [ 1.03415812e-01 1.63703486e-03 9.94636863e-01 2.39297542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.39710568099997 meters 0.023740336815891355 Centerline is valid? [True, True] Translation: X:255.85, Y:73.95, Z:23.94 [[ 8.34391862e-01 -5.45015965e-01 -8.21451098e-02 2.55853557e+02] [ 5.42099052e-01 8.38421934e-01 -5.63673468e-02 7.39502018e+01] [ 9.95933658e-02 2.50166921e-03 9.95025077e-01 2.39397178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457105681 meters 0.028027599036938623 Centerline is valid? [True, True] Translation: X:255.90, Y:73.98, Z:23.95 [[ 8.39284367e-01 -5.38048830e-01 -7.81358329e-02 2.55901583e+02] [ 5.35379595e-01 8.42907704e-01 -5.36217422e-02 7.39823697e+01] [ 9.47124112e-02 3.17155936e-03 9.95499623e-01 2.39509769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517105681 meters 0.035265623746622864 Centerline is valid? [True, True] Translation: X:255.95, Y:74.02, Z:23.95 [[ 8.43677182e-01 -5.31030661e-01 -7.88368590e-02 2.55948560e+02] [ 5.28281710e-01 8.47343143e-01 -5.41113020e-02 7.40176370e+01] [ 9.55366324e-02 4.00440011e-03 9.95417860e-01 2.39536196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577105681 meters 0.03457226339368639 Centerline is valid? [True, True] Translation: X:256.00, Y:74.04, Z:23.96 [[ 8.45352945e-01 -5.28004674e-01 -8.11755070e-02 2.56004589e+02] [ 5.25074893e-01 8.49229621e-01 -5.57261923e-02 7.40411380e+01] [ 9.83603350e-02 4.48508021e-03 9.95140758e-01 2.39554167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637105681 meters 0.028030904921400847 Centerline is valid? [True, True] Translation: X:256.07, Y:74.05, Z:23.96 [[ 8.38938868e-01 -5.38215228e-01 -8.06594345e-02 2.56067555e+02] [ 5.35368369e-01 8.42801053e-01 -5.53813492e-02 7.40549432e+01] [ 9.77869419e-02 3.27905644e-03 9.95201970e-01 2.39609585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697105681 meters 0.016826661656553634 Centerline is valid? [True, True] Translation: X:256.14, Y:74.05, Z:23.97 [[ 8.24365760e-01 -5.60695958e-01 -7.77247463e-02 2.56140265e+02] [ 5.58149138e-01 8.28021528e-01 -5.33843521e-02 7.40535428e+01] [ 9.42901536e-02 6.26231865e-04 9.95544562e-01 2.39712911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757105681 meters 0.016317275648152312 Centerline is valid? [True, True] Translation: X:256.20, Y:74.07, Z:23.97 [[ 8.18503948e-01 -5.68822502e-01 -8.05744974e-02 2.56200091e+02] [ 5.66122570e-01 8.22460253e-01 -5.53567269e-02 7.40700043e+01] [ 9.77574735e-02 -3.05342065e-04 9.95210221e-01 2.39710217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817105681 meters 0.016473670178267775 Centerline is valid? [True, True] Translation: X:256.25, Y:74.10, Z:23.97 [[ 8.19015268e-01 -5.67605267e-01 -8.38942844e-02 2.56252283e+02] [ 5.64666518e-01 8.23300822e-01 -5.76843105e-02 7.40978633e+01] [ 1.01812152e-01 -1.27962447e-04 9.94803634e-01 2.39715962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877105681 meters 0.016557239663286608 Centerline is valid? [True, True] Translation: X:256.30, Y:74.13, Z:23.98 [[ 8.21484034e-01 -5.64132002e-01 -8.31809232e-02 2.56297946e+02] [ 5.61221645e-01 8.25684549e-01 -5.72301542e-02 7.41322062e+01] [ 1.00966565e-01 3.30723416e-04 9.94889764e-01 2.39782805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937105681 meters 0.016640123689634453 Centerline is valid? [True, True] Translation: X:256.35, Y:74.15, Z:23.99 [[ 8.16784852e-01 -5.71290057e-01 -8.05616302e-02 2.56352453e+02] [ 5.68593556e-01 8.20748073e-01 -5.54433787e-02 7.41548429e+01] [ 9.77950537e-02 -5.21511921e-04 9.95206439e-01 2.39890934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997105681 meters 0.02005189396998456 Centerline is valid? [True, True] Translation: X:256.41, Y:74.18, Z:24.00 [[ 8.08901147e-01 -5.83110201e-01 -7.52424581e-02 2.56408686e+02] [ 5.80806203e-01 8.12391099e-01 -5.18156027e-02 7.41756648e+01] [ 9.13405097e-02 -1.78758597e-03 9.95818114e-01 2.40023149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05710568099994 meters 0.027656195095826255 Centerline is valid? [True, True] Translation: X:256.46, Y:74.20, Z:24.01 [[ 7.98792408e-01 -5.96806854e-01 -7.58437126e-02 2.56463090e+02] [ 5.94525800e-01 8.02377882e-01 -5.22380011e-02 7.42016957e+01] [ 9.20313146e-02 -3.36372520e-03 9.95750432e-01 2.40082636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11710568099994 meters 0.03128549601593777 Centerline is valid? [True, True] Translation: X:256.51, Y:74.24, Z:24.02 [[ 7.93673723e-01 -6.03834389e-01 -7.39327545e-02 2.56510075e+02] [ 6.01696249e-01 7.97099451e-01 -5.09322038e-02 7.42371609e+01] [ 8.96863742e-02 -4.06150923e-03 9.95961776e-01 2.40170145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17710568099994 meters 0.035504751047394444 Centerline is valid? [True, True] Translation: X:256.55, Y:74.28, Z:24.02 [[ 7.88814292e-01 -6.10072440e-01 -7.47236955e-02 2.56554316e+02] [ 6.07912771e-01 7.92331149e-01 -5.15112962e-02 7.42772586e+01] [ 9.06315336e-02 -4.79264216e-03 9.95872962e-01 2.40221102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23710568099995 meters 0.03749155487446195 Centerline is valid? [True, True] Translation: X:256.60, Y:74.32, Z:24.03 [[ 7.87766995e-01 -6.11674969e-01 -7.26422339e-02 2.56596634e+02] [ 6.09638091e-01 7.91094544e-01 -5.01080889e-02 7.43179094e+01] [ 8.81167387e-02 -4.81197421e-03 9.96098532e-01 2.40276019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29710568099995 meters 0.03692103525654874 Centerline is valid? [True, True] Translation: X:256.64, Y:74.36, Z:24.03 [[ 7.88092111e-01 -6.11328159e-01 -7.20326734e-02 2.56637177e+02] [ 6.09322326e-01 7.91363141e-01 -4.97059623e-02 7.43626815e+01] [ 8.73906570e-02 -4.71823934e-03 9.96162944e-01 2.40335179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35710568099995 meters 0.03514741558916144 Centerline is valid? [True, True] Translation: X:256.68, Y:74.41, Z:24.03 [[ 7.88763493e-01 -6.09974902e-01 -7.60445367e-02 2.56675303e+02] [ 6.07729206e-01 7.92406230e-01 -5.25126574e-02 7.44117431e+01] [ 9.22895676e-02 -4.79441882e-03 9.95720668e-01 2.40322709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41710568099995 meters 0.030050856341712544 Centerline is valid? [True, True] Translation: X:256.71, Y:74.47, Z:24.03 [[ 7.95255638e-01 -6.01130687e-01 -7.88058776e-02 2.56709006e+02] [ 5.98671575e-01 7.99141352e-01 -5.44558908e-02 7.44679879e+01] [ 9.57121427e-02 -3.87248467e-03 9.95401522e-01 2.40339379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47710568099995 meters 0.020832843769943984 Centerline is valid? [True, True] Translation: X:256.74, Y:74.53, Z:24.04 [[ 8.07654443e-01 -5.84057434e-01 -8.10630270e-02 2.56738354e+02] [ 5.81366647e-01 8.11710171e-01 -5.60305206e-02 7.45303459e+01] [ 9.85247256e-02 -1.87404137e-03 9.95132839e-01 2.40359081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53710568099996 meters 0.01785591341825097 Centerline is valid? [True, True] Translation: X:256.77, Y:74.59, Z:24.04 [[ 8.15083564e-01 -5.73312909e-01 -8.33732066e-02 2.56771667e+02] [ 5.70406293e-01 8.19336314e-01 -5.76599073e-02 7.45860905e+01] [ 1.01367865e-01 -5.58958960e-04 9.94848855e-01 2.40379181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59710568099996 meters 0.017895638543248042 Centerline is valid? [True, True] Translation: X:256.81, Y:74.63, Z:24.04 [[ 8.15618522e-01 -5.72959460e-01 -8.05225675e-02 2.56811074e+02] [ 5.70245641e-01 8.19583565e-01 -5.57017854e-02 7.46324106e+01] [ 9.79098379e-02 -4.86235279e-04 9.95195170e-01 2.40441397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65710568099996 meters 0.019806245137411266 Centerline is valid? [True, True] Translation: X:256.86, Y:74.66, Z:24.05 [[ 8.10836563e-01 -5.79522828e-01 -8.18374060e-02 2.56860033e+02] [ 5.76748738e-01 8.14955023e-01 -5.66498295e-02 7.46624691e+01] [ 9.95236745e-02 -1.26586762e-03 9.95034389e-01 2.40467757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71710568099996 meters 0.022201542160961932 Centerline is valid? [True, True] Translation: X:256.91, Y:74.69, Z:24.06 [[ 8.05589140e-01 -5.87156273e-01 -7.92063649e-02 2.56909626e+02] [ 5.84592523e-01 8.09470834e-01 -5.48502627e-02 7.46937814e+01] [ 9.63209180e-02 -2.11667277e-03 9.95348080e-01 2.40560652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77710568099997 meters 0.022877259192922945 Centerline is valid? [True, True] Translation: X:256.96, Y:74.73, Z:24.06 [[ 8.04328471e-01 -5.88676835e-01 -8.07173820e-02 2.56957501e+02] [ 5.86020603e-01 8.08365102e-01 -5.59080879e-02 7.47273268e+01] [ 9.81609110e-02 -2.33358207e-03 9.95167820e-01 2.40578121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83710568099997 meters 0.0230557728043185 Centerline is valid? [True, True] Translation: X:257.00, Y:74.77, Z:24.06 [[ 8.04110441e-01 -5.88767779e-01 -8.22125393e-02 2.57002297e+02] [ 5.86008409e-01 8.08298802e-01 -5.69841266e-02 7.47658027e+01] [ 1.00002715e-01 -2.35570820e-03 9.94984376e-01 2.40608017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.89710568099997 meters 0.021587047356688965 Centerline is valid? [True, True] Translation: X:257.05, Y:74.81, Z:24.06 [[ 8.07761226e-01 -5.83617318e-01 -8.31422170e-02 2.57045244e+02] [ 5.80763896e-01 8.12027042e-01 -5.76661080e-02 7.48052944e+01] [ 1.01168668e-01 -1.70555173e-03 9.94867826e-01 2.40619818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957105681 meters 0.019374373957705145 Centerline is valid? [True, True] Translation: X:257.08, Y:74.86, Z:24.06 [[ 8.15538944e-01 -5.72220559e-01 -8.63704905e-02 2.57079533e+02] [ 5.69073761e-01 8.20099723e-01 -5.99291230e-02 7.48596137e+01] [ 1.05125092e-01 -2.76646123e-04 9.94458968e-01 2.40621491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017105681 meters 0.019325910907706804 Centerline is valid? [True, True] Translation: X:257.12, Y:74.90, Z:24.07 [[ 8.19764279e-01 -5.66443461e-01 -8.44294562e-02 2.57124016e+02] [ 5.63402532e-01 8.24100462e-01 -5.86175460e-02 7.48965351e+01] [ 1.02781879e-01 4.84800897e-04 9.94703800e-01 2.40676430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077105681 meters 0.019487155621761183 Centerline is valid? [True, True] Translation: X:257.17, Y:74.93, Z:24.08 [[ 8.21437511e-01 -5.64457386e-01 -8.14142203e-02 2.57168206e+02] [ 5.61619047e-01 8.25461896e-01 -5.65394122e-02 7.49333074e+01] [ 9.91184254e-02 7.19817249e-04 9.95075384e-01 2.40810880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137105681 meters 0.022429799850146197 Centerline is valid? [True, True] Translation: X:257.21, Y:74.97, Z:24.09 [[ 8.28186549e-01 -5.54733135e-01 -7.98635633e-02 2.57212865e+02] [ 5.51953465e-01 8.32026211e-01 -5.54955537e-02 7.49718675e+01] [ 9.72338005e-02 1.87970064e-03 9.95259793e-01 2.40890889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197105681 meters 0.025642907946331263 Centerline is valid? [True, True] Translation: X:257.26, Y:75.01, Z:24.09 [[ 8.33568578e-01 -5.46593145e-01 -7.99960043e-02 2.57263020e+02] [ 5.43765861e-01 8.37393485e-01 -5.55953214e-02 7.50050873e+01] [ 9.73761544e-02 2.84341683e-03 9.95243588e-01 2.40913846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257105681 meters 0.026016679396752156 Centerline is valid? [True, True] Translation: X:257.32, Y:75.03, Z:24.10 [[ 8.34207723e-01 -5.45825037e-01 -7.85652796e-02 2.57315065e+02] [ 5.43094326e-01 8.37894210e-01 -5.46062758e-02 7.50322327e+01] [ 9.56348654e-02 2.88461948e-03 9.95412302e-01 2.40982312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317105681 meters 0.021260912051220132 Centerline is valid? [True, True] Translation: X:257.38, Y:75.05, Z:24.11 [[ 8.28270749e-01 -5.55327848e-01 -7.46896707e-02 2.57377377e+02] [ 5.52895507e-01 8.31629716e-01 -5.19478060e-02 7.50459888e+01] [ 9.09622129e-02 1.73126480e-03 9.95852840e-01 2.41104644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377105681 meters 0.018037680052484923 Centerline is valid? [True, True] Translation: X:257.44, Y:75.06, Z:24.11 [[ 8.21448440e-01 -5.65237307e-01 -7.56917944e-02 2.57440244e+02] [ 5.62780369e-01 8.24928096e-01 -5.26487620e-02 7.50585747e+01] [ 9.21993323e-02 6.50387441e-04 9.95740358e-01 2.41111581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437105681 meters 0.017442041871007233 Centerline is valid? [True, True] Translation: X:257.50, Y:75.08, Z:24.12 [[ 8.13782919e-01 -5.76235138e-01 -7.55673611e-02 2.57498887e+02] [ 5.73832198e-01 8.17283751e-01 -5.25726097e-02 7.50750217e+01] [ 9.20541613e-02 -5.80293139e-04 9.95753832e-01 2.41167003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497105681 meters 0.01783317515237409 Centerline is valid? [True, True] Translation: X:257.55, Y:75.09, Z:24.13 [[ 8.13295983e-01 -5.77534999e-01 -7.07316623e-02 2.57554501e+02] [ 5.75432052e-01 8.16365666e-01 -4.92448163e-02 7.50947802e+01] [ 8.61835056e-02 -6.50654321e-04 9.96279067e-01 2.41281152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55710568099994 meters 0.017156093889860117 Centerline is valid? [True, True] Translation: X:257.60, Y:75.13, Z:24.13 [[ 8.18937187e-01 -5.68789590e-01 -7.62907965e-02 2.57600919e+02] [ 5.66300096e-01 8.22483005e-01 -5.31592692e-02 7.51318922e+01] [ 9.29843225e-02 3.30617059e-04 9.95667518e-01 2.41279301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61710568099994 meters 0.020842182788768766 Centerline is valid? [True, True] Translation: X:257.65, Y:75.17, Z:24.13 [[ 8.25690848e-01 -5.58451427e-01 -7.97911487e-02 2.57648818e+02] [ 5.55675406e-01 8.29535679e-01 -5.56363264e-02 7.51675569e+01] [ 9.72597906e-02 1.60042654e-03 9.95257741e-01 2.41277275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67710568099994 meters 0.023766344878611824 Centerline is valid? [True, True] Translation: X:257.70, Y:75.19, Z:24.14 [[ 8.29589948e-01 -5.53073068e-01 -7.67508901e-02 2.57703823e+02] [ 5.50479658e-01 8.33129932e-01 -5.35412275e-02 7.51902018e+01] [ 9.35556748e-02 2.16746038e-03 9.95611690e-01 2.41389662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73710568099995 meters 0.025255212332150095 Centerline is valid? [True, True] Translation: X:257.76, Y:75.22, Z:24.14 [[ 8.32747412e-01 -5.48187771e-01 -7.76010043e-02 2.57757125e+02] [ 5.45514437e-01 8.36350752e-01 -5.41425792e-02 7.52168868e+01] [ 9.45819580e-02 2.75462451e-03 9.95513267e-01 2.41430184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79710568099995 meters 0.025209005293756272 Centerline is valid? [True, True] Translation: X:257.81, Y:75.24, Z:24.15 [[ 8.32657637e-01 -5.48179165e-01 -7.86184637e-02 2.57814141e+02] [ 5.45434038e-01 8.36356238e-01 -5.48630342e-02 7.52377589e+01] [ 9.58278148e-02 2.80093827e-03 9.95393985e-01 2.41479339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85710568099995 meters 0.021760716119183923 Centerline is valid? [True, True] Translation: X:257.87, Y:75.26, Z:24.16 [[ 8.26860919e-01 -5.57105819e-01 -7.70332928e-02 2.57868812e+02] [ 5.54505483e-01 8.30439640e-01 -5.37928743e-02 7.52599709e+01] [ 9.39398233e-02 1.76384222e-03 9.95576315e-01 2.41563975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91710568099995 meters 0.015419386077748294 Centerline is valid? [True, True] Translation: X:257.93, Y:75.27, Z:24.16 [[ 8.17259065e-01 -5.71398410e-01 -7.47761854e-02 2.57933619e+02] [ 5.69006520e-01 8.20672796e-01 -5.22277845e-02 7.52703539e+01] [ 9.12096542e-02 1.35493238e-04 9.95831703e-01 2.41647218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97710568099995 meters 0.01790015437871195 Centerline is valid? [True, True] Translation: X:257.99, Y:75.29, Z:24.17 [[ 8.07583515e-01 -5.85253692e-01 -7.27116346e-02 2.57994002e+02] [ 5.83044918e-01 8.10849110e-01 -5.08167751e-02 7.52860789e+01] [ 8.86988694e-02 -1.35535919e-03 9.96057565e-01 2.41734471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03710568099996 meters 0.02208445611256214 Centerline is valid? [True, True] Translation: X:258.05, Y:75.31, Z:24.17 [[ 8.02184553e-01 -5.92431362e-01 -7.43305059e-02 2.58048108e+02] [ 5.90150053e-01 8.05618023e-01 -5.19857390e-02 7.53101466e+01] [ 9.06799774e-02 -2.16399516e-03 9.95877733e-01 2.41749168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09710568099996 meters 0.020314457482853775 Centerline is valid? [True, True] Translation: X:258.10, Y:75.34, Z:24.18 [[ 8.02902465e-01 -5.91171610e-01 -7.65751934e-02 2.58096983e+02] [ 5.88743283e-01 8.06543135e-01 -5.35678817e-02 7.53430450e+01] [ 9.34290074e-02 -2.07334654e-03 9.95623785e-01 2.41789955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15710568099996 meters 0.018671495079285935 Centerline is valid? [True, True] Translation: X:258.14, Y:75.38, Z:24.19 [[ 8.05382831e-01 -5.87928105e-01 -7.54919744e-02 2.58142342e+02] [ 5.85550420e-01 8.08911520e-01 -5.28475000e-02 7.53798566e+01] [ 9.21368583e-02 -1.64188816e-03 9.95744999e-01 2.41862518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21710568099996 meters 0.016415213237694633 Centerline is valid? [True, True] Translation: X:258.17, Y:75.44, Z:24.19 [[ 8.21008141e-01 -5.65906538e-01 -7.54680280e-02 2.58172078e+02] [ 5.63432369e-01 8.24468926e-01 -5.28673384e-02 7.54382309e+01] [ 9.21390164e-02 8.83385441e-04 9.95745761e-01 2.41947733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27710568099997 meters 0.023848839623924152 Centerline is valid? [True, True] Translation: X:258.21, Y:75.49, Z:24.20 [[ 8.30506987e-01 -5.51991023e-01 -7.45925889e-02 2.58208093e+02] [ 5.49516443e-01 8.33846552e-01 -5.22647818e-02 7.54897440e+01] [ 9.10484634e-02 2.41641236e-03 9.95843531e-01 2.41998900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33710568099997 meters 0.027950092688885052 Centerline is valid? [True, True] Translation: X:258.25, Y:75.53, Z:24.20 [[ 8.35037637e-01 -5.44801435e-01 -7.68345009e-02 2.58250541e+02] [ 5.42141925e-01 8.38558482e-01 -5.38684050e-02 7.55332104e+01] [ 9.37778068e-02 3.32694147e-03 9.95587593e-01 2.42000327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.39710568099997 meters 0.030323997370036188 Centerline is valid? [True, True] Translation: X:258.30, Y:75.57, Z:24.20 [[ 8.35925084e-01 -5.42973464e-01 -8.00566775e-02 2.58296987e+02] [ 5.40076531e-01 8.39741756e-01 -5.61348666e-02 7.55690888e+01] [ 9.77066779e-02 3.68781035e-03 9.95208423e-01 2.41988172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457105681 meters 0.025825640925791128 Centerline is valid? [True, True] Translation: X:258.35, Y:75.59, Z:24.21 [[ 8.33166744e-01 -5.47522389e-01 -7.77972459e-02 2.58353070e+02] [ 5.44805826e-01 8.36785390e-01 -5.45602754e-02 7.55913494e+01] [ 9.49725710e-02 3.07341420e-03 9.95475145e-01 2.42076518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517105681 meters 0.0218819414882688 Centerline is valid? [True, True] Translation: X:258.41, Y:75.61, Z:24.22 [[ 8.28592706e-01 -5.54708654e-01 -7.57128543e-02 2.58409411e+02] [ 5.52164895e-01 8.32041750e-01 -5.31079498e-02 7.56135765e+01] [ 9.24556952e-02 2.19887964e-03 9.95714371e-01 2.42160718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577105681 meters 0.016172775044359967 Centerline is valid? [True, True] Translation: X:258.47, Y:75.63, Z:24.22 [[ 8.20220143e-01 -5.67033135e-01 -7.55800326e-02 2.58470188e+02] [ 5.64547012e-01 8.23694553e-01 -5.30467247e-02 7.56298427e+01] [ 9.23341117e-02 8.41510519e-04 9.95727726e-01 2.42179775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637105681 meters 0.015288344950550982 Centerline is valid? [True, True] Translation: X:258.53, Y:75.65, Z:24.22 [[ 8.12739267e-01 -5.77377218e-01 -7.80412212e-02 2.58528422e+02] [ 5.74772291e-01 8.16477458e-01 -5.47848038e-02 7.56479210e+01] [ 9.53503955e-02 -3.30170271e-04 9.95443717e-01 2.42190034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697105681 meters 0.015356219079527611 Centerline is valid? [True, True] Translation: X:258.58, Y:75.68, Z:24.22 [[ 8.15208076e-01 -5.73582525e-01 -8.02426261e-02 2.58575170e+02] [ 5.70808169e-01 8.19147770e-01 -5.63468258e-02 7.56834673e+01] [ 9.80501229e-02 1.31241021e-04 9.95181469e-01 2.42237590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757105681 meters 0.019715599039476464 Centerline is valid? [True, True] Translation: X:258.61, Y:75.73, Z:24.24 [[ 8.25527692e-01 -5.59058716e-01 -7.71840795e-02 2.58614730e+02] [ 5.56424966e-01 8.29126062e-01 -5.42331180e-02 7.57288655e+01] [ 9.43148292e-02 1.82379189e-03 9.95540751e-01 2.42361788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817105681 meters 0.02389464184374123 Centerline is valid? [True, True] Translation: X:258.66, Y:75.77, Z:24.25 [[ 8.30233490e-01 -5.52342110e-01 -7.50369560e-02 2.58655997e+02] [ 5.49824939e-01 8.33613716e-01 -5.27324350e-02 7.57701962e+01] [ 9.16781802e-02 2.52304381e-03 9.95785492e-01 2.42455531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877105681 meters 0.029881604918229644 Centerline is valid? [True, True] Translation: X:258.70, Y:75.81, Z:24.25 [[ 8.35696172e-01 -5.44211305e-01 -7.37967712e-02 2.58697919e+02] [ 5.41743927e-01 8.38941410e-01 -5.18731955e-02 7.58136439e+01] [ 9.01411467e-02 3.37127836e-03 9.95923294e-01 2.42510291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937105681 meters 0.033631364104033015 Centerline is valid? [True, True] Translation: X:258.74, Y:75.85, Z:24.25 [[ 8.38090233e-01 -5.39991026e-01 -7.75529078e-02 2.58743078e+02] [ 5.37244211e-01 8.41661028e-01 -5.45469679e-02 7.58529503e+01] [ 9.47281332e-02 4.05043023e-03 9.95494940e-01 2.42503270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99710568099994 meters 0.030760938866043516 Centerline is valid? [True, True] Translation: X:258.80, Y:75.88, Z:24.25 [[ 8.37854905e-01 -5.40104280e-01 -7.92876148e-02 2.58796105e+02] [ 5.37232363e-01 8.41587932e-01 -5.57776117e-02 7.58793998e+01] [ 9.68532265e-02 4.13767295e-03 9.95290074e-01 2.42537930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05710568099994 meters 0.03035939938293633 Centerline is valid? [True, True] Translation: X:258.85, Y:75.91, Z:24.27 [[ 8.37018860e-01 -5.42093812e-01 -7.43890228e-02 2.58846825e+02] [ 5.39571204e-01 8.40309857e-01 -5.23665969e-02 7.59059460e+01] [ 9.08974373e-02 3.69365469e-03 9.95853409e-01 2.42650451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11710568099994 meters 0.024279243479270976 Centerline is valid? [True, True] Translation: X:258.91, Y:75.92, Z:24.27 [[ 8.30762386e-01 -5.52047023e-01 -7.12596849e-02 2.58906680e+02] [ 5.49767757e-01 8.33809208e-01 -5.01758723e-02 7.59234838e+01] [ 8.71164223e-02 2.50795023e-03 9.96194980e-01 2.42740196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17710568099994 meters 0.01567405927453419 Centerline is valid? [True, True] Translation: X:258.97, Y:75.93, Z:24.28 [[ 8.18446956e-01 -5.70137424e-01 -7.13295084e-02 2.58971253e+02] [ 5.67920418e-01 8.21549118e-01 -5.02339149e-02 7.59340728e+01] [ 8.72409295e-02 6.04310506e-04 9.96187058e-01 2.42776381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23710568099995 meters 0.01697621204397276 Centerline is valid? [True, True] Translation: X:259.03, Y:75.95, Z:24.28 [[ 8.06496271e-01 -5.86362806e-01 -7.57787927e-02 2.59032189e+02] [ 5.83927021e-01 8.10047696e-01 -5.34037907e-02 7.59479383e+01] [ 9.26984330e-02 -1.17932662e-03 9.95693532e-01 2.42754993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29710568099995 meters 0.019049674713190218 Centerline is valid? [True, True] Translation: X:259.08, Y:75.98, Z:24.28 [[ 8.03193537e-01 -5.90842166e-01 -7.60636425e-02 2.59084031e+02] [ 5.88406417e-01 8.06785402e-01 -5.36209220e-02 7.59752428e+01] [ 9.30485381e-02 -1.68835738e-03 9.95660142e-01 2.42817341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35710568099995 meters 0.015838213499444143 Centerline is valid? [True, True] Translation: X:259.11, Y:76.04, Z:24.30 [[ 8.18831914e-01 -5.69453811e-01 -7.23647267e-02 2.59112554e+02] [ 5.67163636e-01 8.22022999e-01 -5.10254726e-02 7.60350205e+01] [ 8.85421195e-02 7.38643926e-04 9.96072160e-01 2.42958553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41710568099995 meters 0.025732070054342006 Centerline is valid? [True, True] Translation: X:259.15, Y:76.09, Z:24.31 [[ 8.32447964e-01 -5.49843564e-01 -6.85743623e-02 2.59145116e+02] [ 5.47719182e-01 8.35263292e-01 -4.83624908e-02 7.60896793e+01] [ 8.38694519e-02 2.69976337e-03 9.96473094e-01 2.43059949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47710568099995 meters 0.028315054566584574 Centerline is valid? [True, True] Translation: X:259.19, Y:76.13, Z:24.31 [[ 8.34675532e-01 -5.46206562e-01 -7.05347319e-02 2.59190244e+02] [ 5.43945068e-01 8.37644556e-01 -4.97529986e-02 7.61283121e+01] [ 8.62584485e-02 3.16059105e-03 9.96267781e-01 2.43078154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53710568099996 meters 0.0284190512263586 Centerline is valid? [True, True] Translation: X:259.24, Y:76.16, Z:24.31 [[ 8.35534207e-01 -5.44508438e-01 -7.34380612e-02 2.59238962e+02] [ 5.42048928e-01 8.38748128e-01 -5.18125281e-02 7.61619395e+01] [ 8.98083951e-02 3.48411730e-03 9.95952967e-01 2.43086885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59710568099996 meters 0.03156882345949675 Centerline is valid? [True, True] Translation: X:259.29, Y:76.19, Z:24.31 [[ 8.36888332e-01 -5.42132644e-01 -7.55653046e-02 2.59288947e+02] [ 5.39515017e-01 8.40283961e-01 -5.33517766e-02 7.61919569e+01] [ 9.24200532e-02 3.88086280e-03 9.95712545e-01 2.43103183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65710568099996 meters 0.029219770469558305 Centerline is valid? [True, True] Translation: X:259.34, Y:76.22, Z:24.32 [[ 8.37012386e-01 -5.42505519e-01 -7.14004751e-02 2.59339294e+02] [ 5.40169465e-01 8.40044370e-01 -5.04222775e-02 7.62194270e+01] [ 8.73339310e-02 3.63571435e-03 9.96172458e-01 2.43207233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71710568099996 meters 0.02679358457485744 Centerline is valid? [True, True] Translation: X:259.40, Y:76.24, Z:24.32 [[ 8.34093590e-01 -5.46808032e-01 -7.27245410e-02 2.59395107e+02] [ 5.44396666e-01 8.37251577e-01 -5.14010463e-02 7.62439484e+01] [ 8.89952416e-02 3.28228560e-03 9.96026643e-01 2.43228873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77710568099997 meters 0.02387310385824956 Centerline is valid? [True, True] Translation: X:259.45, Y:76.27, Z:24.32 [[ 8.28665001e-01 -5.54619790e-01 -7.55725088e-02 2.59450681e+02] [ 5.52044379e-01 8.32099920e-01 -5.34483560e-02 7.62663043e+01] [ 9.25273945e-02 2.57140328e-03 9.95706819e-01 2.43229558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83710568099997 meters 0.019563042034311365 Centerline is valid? [True, True] Translation: X:259.51, Y:76.29, Z:24.32 [[ 8.23042843e-01 -5.62454181e-01 -7.90302072e-02 2.59507592e+02] [ 5.59671855e-01 8.26826538e-01 -5.59043040e-02 7.62882667e+01] [ 9.67878821e-02 1.78065464e-03 9.95303439e-01 2.43239733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.89710568099997 meters 0.01849807157069416 Centerline is valid? [True, True] Translation: X:259.56, Y:76.31, Z:24.33 [[ 8.21349491e-01 -5.64616620e-01 -8.11978213e-02 2.59560950e+02] [ 5.61688329e-01 8.25351790e-01 -5.74512330e-02 7.63146034e+01] [ 9.94546882e-02 1.57967243e-03 9.95040838e-01 2.43281283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957105681 meters 0.02163052958774373 Centerline is valid? [True, True] Translation: X:259.61, Y:76.35, Z:24.34 [[ 8.25302887e-01 -5.59238580e-01 -7.82774183e-02 2.59606863e+02] [ 5.56489806e-01 8.29003896e-01 -5.54223453e-02 7.63505357e+01] [ 9.58865984e-02 2.17963629e-03 9.95389878e-01 2.43397786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017105681 meters 0.02599061631065261 Centerline is valid? [True, True] Translation: X:259.65, Y:76.39, Z:24.35 [[ 8.30372054e-01 -5.51977289e-01 -7.61795466e-02 2.59652965e+02] [ 5.49340201e-01 8.33853858e-01 -5.39730312e-02 7.63876354e+01] [ 9.33144963e-02 2.96920942e-03 9.95632256e-01 2.43499578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077105681 meters 0.02869111136672499 Centerline is valid? [True, True] Translation: X:259.70, Y:76.42, Z:24.36 [[ 8.32670907e-01 -5.48556218e-01 -7.57973336e-02 2.59700044e+02] [ 5.45928582e-01 8.36106916e-01 -5.37327595e-02 7.64229067e+01] [ 9.28501141e-02 3.36177478e-03 9.95674422e-01 2.43560504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137105681 meters 0.03173378329236735 Centerline is valid? [True, True] Translation: X:259.75, Y:76.45, Z:24.37 [[ 8.35165136e-01 -5.45223706e-01 -7.23208581e-02 2.59751735e+02] [ 5.42818986e-01 8.38283003e-01 -5.12752940e-02 7.64520234e+01] [ 8.85818519e-02 3.56620305e-03 9.96062517e-01 2.43686943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197105681 meters 0.03536075246755489 Centerline is valid? [True, True] Translation: X:259.80, Y:76.49, Z:24.37 [[ 8.37773390e-01 -5.40940985e-01 -7.42872729e-02 2.59800610e+02] [ 5.38383788e-01 8.41050284e-01 -5.27002436e-02 7.64859715e+01] [ 9.09870536e-02 4.15579828e-03 9.95843404e-01 2.43702872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257105681 meters 0.04288443822465602 Centerline is valid? [True, True] Translation: X:259.85, Y:76.52, Z:24.37 [[ 8.42837564e-01 -5.32559491e-01 -7.74934101e-02 2.59850993e+02] [ 5.29738197e-01 8.46375939e-01 -5.50019320e-02 7.65169323e+01] [ 9.48803587e-02 5.30647501e-03 9.95474540e-01 2.43700069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317105681 meters 0.04433449518941199 Centerline is valid? [True, True] Translation: X:259.90, Y:76.55, Z:24.37 [[ 8.43227270e-01 -5.31767989e-01 -7.86802184e-02 2.59902379e+02] [ 5.28853215e-01 8.46872200e-01 -5.58726624e-02 7.65463125e+01] [ 9.63433829e-02 5.50306612e-03 9.95332944e-01 2.43737478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377105681 meters 0.044044907194719124 Centerline is valid? [True, True] Translation: X:259.96, Y:76.57, Z:24.37 [[ 8.41583694e-01 -5.34035639e-01 -8.08877206e-02 2.59959669e+02] [ 5.30961438e-01 8.45444580e-01 -5.74753290e-02 7.65654235e+01] [ 9.90799590e-02 5.42203920e-03 9.95064703e-01 2.43741259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437105681 meters 0.04097697209750639 Centerline is valid? [True, True] Translation: X:260.02, Y:76.58, Z:24.38 [[ 8.37970978e-01 -5.39592055e-01 -8.15172049e-02 2.60020354e+02] [ 5.36493721e-01 8.41912809e-01 -5.79423030e-02 7.65820926e+01] [ 9.98955852e-02 4.82049975e-03 9.94986249e-01 2.43778887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49710568099994 meters 0.029950126252564487 Centerline is valid? [True, True] Translation: X:260.09, Y:76.59, Z:24.38 [[ 8.33530110e-01 -5.46156359e-01 -8.33113853e-02 2.60086219e+02] [ 5.42948935e-01 8.37672962e-01 -5.92491631e-02 7.65904868e+01] [ 1.02147002e-01 4.15213355e-03 9.94760649e-01 2.43838275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55710568099994 meters 0.027330598577963716 Centerline is valid? [True, True] Translation: X:260.14, Y:76.61, Z:24.39 [[ 8.29639873e-01 -5.52007814e-01 -8.35766339e-02 2.60141489e+02] [ 5.48808137e-01 8.33831785e-01 -5.94490019e-02 7.66127186e+01] [ 1.02505167e-01 3.45372561e-03 9.94726476e-01 2.43875867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61710568099994 meters 0.02970681949703974 Centerline is valid? [True, True] Translation: X:260.19, Y:76.64, Z:24.40 [[ 8.31163465e-01 -5.49920732e-01 -8.21856654e-02 2.60191724e+02] [ 5.46815639e-01 8.35208839e-01 -5.84709514e-02 7.66410961e+01] [ 1.00796583e-01 3.65851140e-03 9.94900329e-01 2.43985409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67710568099994 meters 0.036398521318255786 Centerline is valid? [True, True] Translation: X:260.24, Y:76.68, Z:24.41 [[ 8.40204224e-01 -5.36506751e-01 -7.88502933e-02 2.60235974e+02] [ 5.33588417e-01 8.43880783e-01 -5.61126030e-02 7.66792611e+01] [ 9.66450376e-02 5.07244283e-03 9.95305987e-01 2.44120192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73710568099995 meters 0.041462971354422895 Centerline is valid? [True, True] Translation: X:260.28, Y:76.72, Z:24.42 [[ 8.43611791e-01 -5.31594737e-01 -7.56715443e-02 2.60280538e+02] [ 5.28884839e-01 8.46981407e-01 -5.38824928e-02 7.67158690e+01] [ 9.27360406e-02 5.43437373e-03 9.95675898e-01 2.44198252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79710568099995 meters 0.03875553358024997 Centerline is valid? [True, True] Translation: X:260.34, Y:76.74, Z:24.42 [[ 8.40926259e-01 -5.35689695e-01 -7.66784013e-02 2.60335892e+02] [ 5.32922892e-01 8.44399760e-01 -5.46098548e-02 7.67392048e+01] [ 9.40011601e-02 5.05918553e-03 9.95559233e-01 2.44242208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85710568099995 meters 0.03807818683834445 Centerline is valid? [True, True] Translation: X:260.39, Y:76.77, Z:24.42 [[ 8.42066158e-01 -5.33243035e-01 -8.10953244e-02 2.60387826e+02] [ 5.30134727e-01 8.45943201e-01 -5.77691340e-02 7.67699530e+01] [ 9.94070266e-02 5.65398502e-03 9.95030791e-01 2.44222668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91710568099995 meters 0.04179624515430167 Centerline is valid? [True, True] Translation: X:260.44, Y:76.80, Z:24.42 [[ 8.45606929e-01 -5.26669172e-01 -8.69971521e-02 2.60438807e+02] [ 5.23051736e-01 8.50042068e-01 -6.20109959e-02 7.68016805e+01] [ 1.06610519e-01 6.93291637e-03 9.94276688e-01 2.44191967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97710568099995 meters 0.0431742428459385 Centerline is valid? [True, True] Translation: X:260.49, Y:76.83, Z:24.42 [[ 8.44565027e-01 -5.27642287e-01 -9.11237197e-02 2.60491125e+02] [ 5.23674350e-01 8.49436459e-01 -6.49836711e-02 7.68289874e+01] [ 1.11691943e-01 7.16378120e-03 9.93717057e-01 2.44178009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03710568099996 meters 0.03944301607565146 Centerline is valid? [True, True] Translation: X:260.54, Y:76.85, Z:24.42 [[ 8.41958321e-01 -5.31840685e-01 -9.08387064e-02 2.60544911e+02] [ 5.27919444e-01 8.46818675e-01 -6.48011836e-02 7.68548976e+01] [ 1.11387819e-01 6.60437643e-03 9.93755068e-01 2.44220333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09710568099996 meters 0.03329690754616219 Centerline is valid? [True, True] Translation: X:260.60, Y:76.87, Z:24.44 [[ 8.36068560e-01 -5.41890443e-01 -8.56977875e-02 2.60604346e+02] [ 5.38449962e-01 8.40434267e-01 -6.11709202e-02 7.68714258e+01] [ 1.05171294e-01 4.99911274e-03 9.94441556e-01 2.44366101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15710568099996 meters 0.027852166693197167 Centerline is valid? [True, True] Translation: X:260.66, Y:76.89, Z:24.44 [[ 8.28777554e-01 -5.52869516e-01 -8.63890320e-02 2.60662055e+02] [ 5.49427705e-01 8.33259741e-01 -6.17041422e-02 7.68929889e+01] [ 1.06098842e-01 3.67448049e-03 9.94348799e-01 2.44408380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21710568099996 meters 0.02190527541977251 Centerline is valid? [True, True] Translation: X:260.72, Y:76.92, Z:24.45 [[ 8.21155362e-01 -5.64544310e-01 -8.36277021e-02 2.60717167e+02] [ 5.61375929e-01 8.25400015e-01 -5.97652158e-02 7.69173540e+01] [ 1.02766419e-01 2.12994845e-03 9.94703235e-01 2.44489995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27710568099997 meters 0.02093460359667769 Centerline is valid? [True, True] Translation: X:260.77, Y:76.95, Z:24.46 [[ 8.18736114e-01 -5.68047282e-01 -8.36269206e-02 2.60765902e+02] [ 5.64895225e-01 8.22994153e-01 -5.97830241e-02 7.69478921e+01] [ 1.02784051e-01 1.70607270e-03 9.94702231e-01 2.44555874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33710568099997 meters 0.02294582843407846 Centerline is valid? [True, True] Translation: X:260.81, Y:76.99, Z:24.46 [[ 8.21102456e-01 -5.64940086e-01 -8.14460341e-02 2.60809595e+02] [ 5.61933826e-01 8.25129372e-01 -5.82399722e-02 7.69873060e+01] [ 1.00105610e-01 2.05370262e-03 9.94974698e-01 2.44644891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.39710568099997 meters 0.02677028994964426 Centerline is valid? [True, True] Translation: X:260.85, Y:77.03, Z:24.47 [[ 8.25521801e-01 -5.58598760e-01 -8.05057887e-02 2.60849713e+02] [ 5.55627924e-01 8.29433219e-01 -5.76033464e-02 7.70325393e+01] [ 9.89513333e-02 2.82155402e-03 9.95088274e-01 2.44693785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457105681 meters 0.03115423507139593 Centerline is valid? [True, True] Translation: X:260.89, Y:77.08, Z:24.47 [[ 8.29469574e-01 -5.52571134e-01 -8.15191251e-02 2.60890592e+02] [ 5.49492857e-01 8.33457919e-01 -5.83566335e-02 7.70767601e+01] [ 1.00188952e-01 3.61087495e-03 9.94961876e-01 2.44711224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517105681 meters 0.03163596386553135 Centerline is valid? [True, True] Translation: X:260.94, Y:77.12, Z:24.47 [[ 8.31781519e-01 -5.48896070e-01 -8.27804924e-02 2.60935182e+02] [ 5.45699878e-01 8.35880324e-01 -5.92935719e-02 7.71162131e+01] [ 1.01740593e-01 4.14599265e-03 9.94802323e-01 2.44739665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577105681 meters 0.03238254191067389 Centerline is valid? [True, True] Translation: X:260.98, Y:77.16, Z:24.48 [[ 8.33462413e-01 -5.46121614e-01 -8.42115670e-02 2.60979977e+02] [ 5.42798200e-01 8.37693418e-01 -6.03311830e-02 7.71565639e+01] [ 1.03491638e-01 4.57388638e-03 9.94619807e-01 2.44750850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637105681 meters 0.03342085791361275 Centerline is valid? [True, True] Translation: X:261.03, Y:77.19, Z:24.48 [[ 8.34041563e-01 -5.45212332e-01 -8.43693367e-02 2.61025855e+02] [ 5.41867979e-01 8.38284662e-01 -6.04807312e-02 7.71942949e+01] [ 1.03700361e-01 4.72640158e-03 9.94597354e-01 2.44774579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697105681 meters 0.037436005175159735 Centerline is valid? [True, True] Translation: X:261.07, Y:77.23, Z:24.48 [[ 8.36360082e-01 -5.41604630e-01 -8.46536399e-02 2.61071103e+02] [ 5.38215286e-01 8.40617118e-01 -6.07220475e-02 7.72324333e+01] [ 1.04048641e-01 5.22361364e-03 9.94558492e-01 2.44784755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757105681 meters 0.038125913374493225 Centerline is valid? [True, True] Translation: X:261.12, Y:77.27, Z:24.48 [[ 8.36342548e-01 -5.41581830e-01 -8.49721363e-02 2.61118320e+02] [ 5.38165266e-01 8.40631592e-01 -6.09645304e-02 7.72658858e+01] [ 1.04447544e-01 5.25817835e-03 9.94516497e-01 2.44800236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817105681 meters 0.03970504280997317 Centerline is valid? [True, True] Translation: X:261.17, Y:77.30, Z:24.48 [[ 8.36380283e-01 -5.41323267e-01 -8.62388658e-02 2.61167922e+02] [ 5.37800421e-01 8.40797308e-01 -6.18917893e-02 7.72982218e+01] [ 1.06012872e-01 5.38577395e-03 9.94350172e-01 2.44828149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877105681 meters 0.0359159970843815 Centerline is valid? [True, True] Translation: X:261.22, Y:77.32, Z:24.49 [[ 8.36365813e-01 -5.41763172e-01 -8.35756749e-02 2.61222535e+02] [ 5.38453529e-01 8.40515126e-01 -6.00176685e-02 7.73222100e+01] [ 1.02761981e-01 5.19510900e-03 9.94692408e-01 2.44936957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937105681 meters 0.03523617180738997 Centerline is valid? [True, True] Translation: X:261.27, Y:77.35, Z:24.50 [[ 8.35307978e-01 -5.43963464e-01 -7.97767636e-02 2.61270867e+02] [ 5.40955214e-01 8.39095584e-01 -5.73241355e-02 7.73546277e+01] [ 9.81225654e-02 4.72765148e-03 9.95163108e-01 2.45024026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99710568099994 meters 0.03520379707756925 Centerline is valid? [True, True] Translation: X:261.32, Y:77.39, Z:24.51 [[ 8.34970704e-01 -5.44584673e-01 -7.90661594e-02 2.61319522e+02] [ 5.41631454e-01 8.38693125e-01 -5.68261365e-02 7.73876337e+01] [ 9.72588872e-02 4.62344032e-03 9.95248377e-01 2.45083927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05710568099994 meters 0.03371068146224379 Centerline is valid? [True, True] Translation: X:261.37, Y:77.41, Z:24.52 [[ 8.35212209e-01 -5.44264376e-01 -7.87201080e-02 2.61372335e+02] [ 5.41331952e-01 8.38900747e-01 -5.66149672e-02 7.74137345e+01] [ 9.68518672e-02 4.67180207e-03 9.95287843e-01 2.45159361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11710568099994 meters 0.03877780067553368 Centerline is valid? [True, True] Translation: X:261.41, Y:77.46, Z:24.51 [[ 8.36398964e-01 -5.42274704e-01 -7.98430861e-02 2.61414521e+02] [ 5.39245109e-01 8.40186351e-01 -5.74596284e-02 7.74558996e+01] [ 9.82419741e-02 5.00417998e-03 9.95149975e-01 2.45144101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17710568099994 meters 0.03738012492146283 Centerline is valid? [True, True] Translation: X:261.47, Y:77.49, Z:24.52 [[ 8.38911273e-01 -5.38285762e-01 -8.04755539e-02 2.61465072e+02] [ 5.35188440e-01 8.42744274e-01 -5.79260085e-02 7.74874266e+01] [ 9.90010578e-02 5.52519538e-03 9.95071989e-01 2.45216395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23710568099995 meters 0.043947657001768795 Centerline is valid? [True, True] Translation: X:261.51, Y:77.53, Z:24.53 [[ 8.40770597e-01 -5.35605788e-01 -7.89382217e-02 2.61508075e+02] [ 5.32611225e-01 8.44448532e-01 -5.68503263e-02 7.75275093e+01] [ 9.71086293e-02 5.75469986e-03 9.95257151e-01 2.45260605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29710568099995 meters 0.039553399442339834 Centerline is valid? [True, True] Translation: X:261.56, Y:77.55, Z:24.53 [[ 8.41099912e-01 -5.35303316e-01 -7.74680409e-02 2.61563348e+02] [ 5.32416925e-01 8.44640724e-01 -5.58056059e-02 7.75510625e+01] [ 9.53055880e-02 5.69279409e-03 9.95431784e-01 2.45309556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35710568099995 meters 0.040658280345339665 Centerline is valid? [True, True] Translation: X:261.61, Y:77.58, Z:24.54 [[ 8.41410105e-01 -5.35006995e-01 -7.61350814e-02 2.61614428e+02] [ 5.32214703e-01 8.44828683e-01 -5.48817474e-02 7.75806908e+01] [ 9.36832194e-02 5.65784709e-03 9.95585980e-01 2.45373404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41710568099995 meters 0.04217757881264341 Centerline is valid? [True, True] Translation: X:261.67, Y:77.61, Z:24.54 [[ 8.42810824e-01 -5.32339790e-01 -7.92733416e-02 2.61666233e+02] [ 5.29296535e-01 8.46507819e-01 -5.71812073e-02 7.76109617e+01] [ 9.75453354e-02 6.23383542e-03 9.95211559e-01 2.45382637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47710568099995 meters 0.0430510074501916 Centerline is valid? [True, True] Translation: X:261.72, Y:77.64, Z:24.54 [[ 8.42825305e-01 -5.32578521e-01 -7.74959574e-02 2.61716376e+02] [ 5.29670194e-01 8.46358776e-01 -5.59134012e-02 7.76411800e+01] [ 9.53676602e-02 6.07793068e-03 9.95423562e-01 2.45437825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53710568099996 meters 0.04069261077219955 Centerline is valid? [True, True] Translation: X:261.77, Y:77.66, Z:24.55 [[ 8.41862294e-01 -5.34306633e-01 -7.60545781e-02 2.61771918e+02] [ 5.31509545e-01 8.45270828e-01 -5.49074759e-02 7.76634969e+01] [ 9.36241447e-02 5.80079942e-03 9.95590714e-01 2.45531982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59710568099996 meters 0.03721203336460355 Centerline is valid? [True, True] Translation: X:261.83, Y:77.69, Z:24.56 [[ 8.37955446e-01 -5.40591624e-01 -7.47754458e-02 2.61826761e+02] [ 5.37911840e-01 8.41270155e-01 -5.39942466e-02 7.76880273e+01] [ 9.20951883e-02 5.02217537e-03 9.95737543e-01 2.45578542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65710568099996 meters 0.03161545136600849 Centerline is valid? [True, True] Translation: X:261.88, Y:77.71, Z:24.56 [[ 8.32061752e-01 -5.49831270e-01 -7.32039295e-02 2.61883987e+02] [ 5.47297337e-01 8.35266508e-01 -5.28723535e-02 7.77103472e+01] [ 9.02156638e-02 3.92874745e-03 9.95914504e-01 2.45627622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71710568099996 meters 0.02403970950031366 Centerline is valid? [True, True] Translation: X:261.94, Y:77.73, Z:24.57 [[ 8.22180715e-01 -5.64363793e-01 -7.42454153e-02 2.61943471e+02] [ 5.61812337e-01 8.25522700e-01 -5.36579059e-02 7.77287315e+01] [ 9.15738550e-02 2.40450522e-03 9.95795384e-01 2.45690834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77710568099997 meters 0.01951306946167544 Centerline is valid? [True, True] Translation: X:262.00, Y:77.75, Z:24.58 [[ 8.14456223e-01 -5.75592079e-01 -7.31766228e-02 2.61999038e+02] [ 5.73155529e-01 8.17736154e-01 -5.29180745e-02 7.77519546e+01] [ 9.02983946e-02 1.15786919e-03 9.95914082e-01 2.45755132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83710568099997 meters 0.018952380434659893 Centerline is valid? [True, True] Translation: X:262.05, Y:77.78, Z:24.58 [[ 8.12844065e-01 -5.77693064e-01 -7.45335419e-02 2.62047160e+02] [ 5.75172425e-01 8.16253521e-01 -5.39153991e-02 7.77835077e+01] [ 9.19848182e-02 9.55174135e-04 9.95759951e-01 2.45790038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.89710568099997 meters 0.02156232284401821 Centerline is valid? [True, True] Translation: X:262.09, Y:77.82, Z:24.58 [[ 8.16945960e-01 -5.71411685e-01 -7.80255341e-02 2.62089635e+02] [ 5.68618565e-01 8.20661688e-01 -5.64563657e-02 7.78247096e+01] [ 9.62923936e-02 1.75503263e-03 9.95351543e-01 2.45800350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957105681 meters 0.0242104132084752 Centerline is valid? [True, True] Translation: X:262.13, Y:77.86, Z:24.59 [[ 8.21796950e-01 -5.64348933e-01 -7.84860180e-02 2.62134818e+02] [ 5.61487414e-01 8.25532185e-01 -5.68198443e-02 7.78625526e+01] [ 9.68589525e-02 2.62546345e-03 9.95294655e-01 2.45873580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017105681 meters 0.030720707447216198 Centerline is valid? [True, True] Translation: X:262.18, Y:77.91, Z:24.59 [[ 8.28528074e-01 -5.54458110e-01 -7.82140254e-02 2.62175219e+02] [ 5.51570684e-01 8.32203022e-01 -5.66384123e-02 7.79055124e+01] [ 9.64935754e-02 3.78595120e-03 9.95326407e-01 2.45925821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077105681 meters 0.037938820376839676 Centerline is valid? [True, True] Translation: X:262.22, Y:77.95, Z:24.60 [[ 8.34629665e-01 -5.45286548e-01 -7.78196827e-02 2.62215822e+02] [ 5.42387107e-01 8.38235765e-01 -5.63651359e-02 7.79491315e+01] [ 9.59663916e-02 4.83562193e-03 9.95372829e-01 2.45965545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137105681 meters 0.04133950897848167 Centerline is valid? [True, True] Translation: X:262.26, Y:77.99, Z:24.60 [[ 8.38676646e-01 -5.38763237e-01 -7.97223794e-02 2.62262291e+02] [ 5.35688724e-01 8.42437694e-01 -5.77609110e-02 7.79851268e+01] [ 9.82805929e-02 5.73634741e-03 9.95142211e-01 2.46001323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197105681 meters 0.04240849989229762 Centerline is valid? [True, True] Translation: X:262.31, Y:78.02, Z:24.60 [[ 8.38714812e-01 -5.38402043e-01 -8.17355778e-02 2.62310000e+02] [ 5.35166075e-01 8.42667146e-01 -5.92397943e-02 7.80202000e+01] [ 1.00770712e-01 5.94318458e-03 9.94891925e-01 2.45998066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257105681 meters 0.039082824497819656 Centerline is valid? [True, True] Translation: X:262.37, Y:78.05, Z:24.60 [[ 8.35201934e-01 -5.43734121e-01 -8.24071292e-02 2.62365028e+02] [ 5.40466670e-01 8.39240322e-01 -5.97617036e-02 7.80452481e+01] [ 1.01653863e-01 5.37478376e-03 9.94805310e-01 2.46045077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317105681 meters 0.03746163142240072 Centerline is valid? [True, True] Translation: X:262.42, Y:78.07, Z:24.61 [[ 8.33370625e-01 -5.46123021e-01 -8.51060971e-02 2.62417213e+02] [ 5.42647617e-01 8.37688419e-01 -6.17387750e-02 7.80745390e+01] [ 1.05009358e-01 5.26866077e-03 9.94457277e-01 2.46056402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377105681 meters 0.03851415627582707 Centerline is valid? [True, True] Translation: X:262.47, Y:78.10, Z:24.61 [[ 8.32646918e-01 -5.47223175e-01 -8.51228942e-02 2.62467418e+02] [ 5.43748683e-01 8.36970841e-01 -6.17833367e-02 7.81034245e+01] [ 1.05054654e-01 5.15824332e-03 9.94453072e-01 2.46094038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437105681 meters 0.030694754909100733 Centerline is valid? [True, True] Translation: X:262.52, Y:78.12, Z:24.62 [[ 8.32317580e-01 -5.47998261e-01 -8.33387775e-02 2.62523425e+02] [ 5.44670455e-01 8.36464722e-01 -6.05050695e-02 7.81248693e+01] [ 1.02866620e-01 4.96726312e-03 9.94682756e-01 2.46210495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49710568099994 meters 0.02834894673172038 Centerline is valid? [True, True] Translation: X:262.58, Y:78.15, Z:24.64 [[ 8.29398708e-01 -5.53203917e-01 -7.78666123e-02 2.62578256e+02] [ 5.50319148e-01 8.33035950e-01 -5.65680148e-02 7.81476153e+01] [ 9.61593347e-02 4.06595064e-03 9.95357649e-01 2.46361719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55710568099994 meters 0.028256006328243016 Centerline is valid? [True, True] Translation: X:262.63, Y:78.18, Z:24.64 [[ 8.28396237e-01 -5.54652454e-01 -7.82325337e-02 2.62626894e+02] [ 5.51743606e-01 8.32072771e-01 -5.68673563e-02 7.81791095e+01] [ 9.66367799e-02 3.94440369e-03 9.95311898e-01 2.46394870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61710568099994 meters 0.027224474196186885 Centerline is valid? [True, True] Translation: X:262.68, Y:78.21, Z:24.64 [[ 8.26347266e-01 -5.57626923e-01 -7.87553925e-02 2.62677929e+02] [ 5.54690973e-01 8.30083740e-01 -5.72617573e-02 7.82086289e+01] [ 9.73042683e-02 3.63319121e-03 9.95248049e-01 2.46448034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67710568099994 meters 0.02441056225381248 Centerline is valid? [True, True] Translation: X:262.73, Y:78.24, Z:24.65 [[ 8.21859983e-01 -5.63900705e-01 -8.10071768e-02 2.62732011e+02] [ 5.60821127e-01 8.25837144e-01 -5.89294089e-02 7.82352519e+01] [ 1.00129071e-01 3.00118678e-03 9.94969930e-01 2.46490755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73710568099995 meters 0.020697980724319928 Centerline is valid? [True, True] Translation: X:262.79, Y:78.26, Z:24.65 [[ 8.15647602e-01 -5.73011619e-01 -7.98540798e-02 2.62785114e+02] [ 5.70059417e-01 8.19545075e-01 -5.81216856e-02 7.82614514e+01] [ 9.87484190e-02 1.88524335e-03 9.95110645e-01 2.46533672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79710568099995 meters 0.01758030363754034 Centerline is valid? [True, True] Translation: X:262.84, Y:78.28, Z:24.66 [[ 8.09274966e-01 -5.82070825e-01 -7.91680780e-02 2.62840031e+02] [ 5.79210969e-01 8.13137710e-01 -5.76343490e-02 7.82834033e+01] [ 9.79218227e-02 7.87016631e-04 9.95193799e-01 2.46621774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85710568099995 meters 0.01688245853170972 Centerline is valid? [True, True] Translation: X:262.90, Y:78.31, Z:24.67 [[ 8.01430941e-01 -5.92916139e-01 -7.84786581e-02 2.62895111e+02] [ 5.90155896e-01 8.05264048e-01 -5.71474542e-02 7.83069825e+01] [ 9.70796898e-02 -5.14904768e-04 9.95276479e-01 2.46709581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91710568099995 meters 0.01840892148196613 Centerline is valid? [True, True] Translation: X:262.94, Y:78.34, Z:24.67 [[ 7.98166993e-01 -5.97319590e-01 -7.83502332e-02 2.62944489e+02] [ 5.94585833e-01 8.02002663e-01 -5.70912929e-02 7.83371191e+01] [ 9.69388434e-02 -1.01755305e-03 9.95289820e-01 2.46744867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97710568099995 meters 0.01705714953390337 Centerline is valid? [True, True] Translation: X:262.99, Y:78.38, Z:24.69 [[ 8.01679715e-01 -5.92928865e-01 -7.57957439e-02 2.62987093e+02] [ 5.90349860e-01 8.05254712e-01 -5.52439287e-02 7.83773472e+01] [ 9.37905999e-02 -4.58069747e-04 9.95591841e-01 2.46868846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03710568099996 meters 0.020847239121281867 Centerline is valid? [True, True] Translation: X:263.02, Y:78.44, Z:24.69 [[ 8.15481134e-01 -5.73806683e-01 -7.57390970e-02 2.63016444e+02] [ 5.71144713e-01 8.18988828e-01 -5.52360057e-02 7.84363601e+01] [ 9.37242636e-02 1.78593574e-03 9.95596591e-01 2.46910850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09710568099996 meters 0.02389498779161526 Centerline is valid? [True, True] Translation: X:263.06, Y:78.48, Z:24.69 [[ 8.21128092e-01 -5.65638848e-01 -7.61665932e-02 2.63058378e+02] [ 5.62908127e-01 8.24648438e-01 -5.55823260e-02 7.84781085e+01] [ 9.42501850e-02 2.76541498e-03 9.95544703e-01 2.46942591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15710568099996 meters 0.026015274840092976 Centerline is valid? [True, True] Translation: X:263.11, Y:78.51, Z:24.69 [[ 8.21016131e-01 -5.65386403e-01 -7.91879285e-02 2.63105248e+02] [ 5.62430937e-01 8.24820991e-01 -5.78080763e-02 7.85136096e+01] [ 9.79997660e-02 2.92362230e-03 9.95182143e-01 2.46949452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21710568099996 meters 0.023905422584419 Centerline is valid? [True, True] Translation: X:263.16, Y:78.55, Z:24.70 [[ 8.18557021e-01 -5.68711609e-01 -8.08177519e-02 2.63155200e+02] [ 5.65645453e-01 8.22532859e-01 -5.90331856e-02 7.85450644e+01] [ 1.00048115e-01 2.60783471e-03 9.94979183e-01 2.46971163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27710568099997 meters 0.021129631874392794 Centerline is valid? [True, True] Translation: X:263.21, Y:78.57, Z:24.70 [[ 8.14154764e-01 -5.74717251e-01 -8.27774232e-02 2.63207491e+02] [ 5.71526783e-01 8.18349727e-01 -6.05050419e-02 7.85732729e+01] [ 1.02514173e-01 1.95095372e-03 9.94729631e-01 2.47007205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33710568099997 meters 0.01826833100088008 Centerline is valid? [True, True] Translation: X:263.26, Y:78.60, Z:24.71 [[ 8.08663326e-01 -5.82777347e-01 -8.02133940e-02 2.63259658e+02] [ 5.79817671e-01 8.12631340e-01 -5.86666377e-02 7.86019185e+01] [ 9.93735054e-02 9.32415078e-04 9.95049766e-01 2.47088516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.39710568099997 meters 0.01763489579591004 Centerline is valid? [True, True] Translation: X:263.31, Y:78.63, Z:24.71 [[ 8.04330668e-01 -5.88652420e-01 -8.08733890e-02 2.63308314e+02] [ 5.85671052e-01 8.08386217e-01 -5.91704557e-02 7.86347428e+01] [ 1.00207765e-01 2.27409373e-04 9.94966508e-01 2.47113225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457105681 meters 0.01805062008542654 Centerline is valid? [True, True] Translation: X:263.35, Y:78.67, Z:24.72 [[ 8.05567529e-01 -5.87086130e-01 -7.99426808e-02 2.63350907e+02] [ 5.84161646e-01 8.09524351e-01 -5.85277424e-02 7.86734217e+01] [ 9.90763726e-02 4.48600836e-04 9.95079731e-01 2.47210018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517105681 meters 0.019685899010748832 Centerline is valid? [True, True] Translation: X:263.39, Y:78.72, Z:24.72 [[ 8.10265822e-01 -5.80439632e-01 -8.09884610e-02 2.63386981e+02] [ 5.77400481e-01 8.14302221e-01 -5.93344531e-02 7.87228352e+01] [ 1.00389152e-01 1.31390306e-03 9.94947381e-01 2.47248857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577105681 meters 0.02673225106863215 Centerline is valid? [True, True] Translation: X:263.42, Y:78.78, Z:24.74 [[ 8.21480211e-01 -5.65155934e-01 -7.59541562e-02 2.63416706e+02] [ 5.62416457e-01 8.24978629e-01 -5.56596000e-02 7.87795770e+01] [ 9.41169089e-02 3.00539255e-03 9.95556616e-01 2.47392320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637105681 meters 0.028726622720744773 Centerline is valid? [True, True] Translation: X:263.46, Y:78.82, Z:24.75 [[ 8.24031998e-01 -5.61793710e-01 -7.32058343e-02 2.63459469e+02] [ 5.59233011e-01 8.27270799e-01 -5.36792717e-02 7.88204513e+01] [ 9.07177263e-02 3.29431832e-03 9.95871197e-01 2.47476982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697105681 meters 0.024265868770730413 Centerline is valid? [True, True] Translation: X:263.51, Y:78.85, Z:24.75 [[ 8.18334772e-01 -5.69931712e-01 -7.42027307e-02 2.63511568e+02] [ 5.67330663e-01 8.21688392e-01 -5.44435965e-02 7.88487432e+01] [ 9.20006546e-02 2.45560378e-03 9.95755919e-01 2.47494269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757105681 meters 0.021695992976653155 Centerline is valid? [True, True] Translation: X:263.56, Y:78.88, Z:24.75 [[ 8.13733119e-01 -5.76210172e-01 -7.62905489e-02 2.63562355e+02] [ 5.73486157e-01 8.17299553e-01 -5.59916913e-02 7.88775921e+01] [ 9.46152136e-02 1.81071992e-03 9.95512271e-01 2.47525748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817105681 meters 0.019357574855868438 Centerline is valid? [True, True] Translation: X:263.61, Y:78.91, Z:24.76 [[ 8.10100692e-01 -5.81187379e-01 -7.71887232e-02 2.63613201e+02] [ 5.78419715e-01 8.13768794e-01 -5.66655385e-02 7.89082899e+01] [ 9.57470700e-02 1.25731264e-03 9.95404901e-01 2.47570696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877105681 meters 0.017364026665782413 Centerline is valid? [True, True] Translation: X:263.67, Y:78.93, Z:24.76 [[ 8.03258258e-01 -5.90520589e-01 -7.78563093e-02 2.63666421e+02] [ 5.87744714e-01 8.07022553e-01 -5.71904672e-02 7.89333989e+01] [ 9.66039459e-02 1.79080773e-04 9.95322885e-01 2.47613930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937105681 meters 0.018546632752847497 Centerline is valid? [True, True] Translation: X:263.72, Y:78.96, Z:24.76 [[ 7.96577454e-01 -5.99040714e-01 -8.13300803e-02 2.63720822e+02] [ 5.96052494e-01 8.00718095e-01 -5.97658495e-02 7.89595663e+01] [ 1.00924644e-01 -8.68868931e-04 9.94893693e-01 2.47608888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99710568099994 meters 0.01856090709333635 Centerline is valid? [True, True] Translation: X:263.77, Y:78.99, Z:24.76 [[ 7.95691721e-01 -5.99962890e-01 -8.31818232e-02 2.63767681e+02] [ 5.96837392e-01 8.00027237e-01 -6.11681842e-02 7.89947934e+01] [ 1.03246365e-01 -9.75004668e-04 9.94655336e-01 2.47642192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05710568099994 meters 0.01744863164271161 Centerline is valid? [True, True] Translation: X:263.80, Y:79.04, Z:24.77 [[ 8.04075490e-01 -5.88574460e-01 -8.39208681e-02 2.63802078e+02] [ 5.85326428e-01 8.08442838e-01 -6.17507108e-02 7.90440957e+01] [ 1.04190116e-01 5.31131091e-04 9.94557257e-01 2.47697123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11710568099994 meters 0.019653405690535152 Centerline is valid? [True, True] Translation: X:263.84, Y:79.09, Z:24.78 [[ 8.11421403e-01 -5.78670420e-01 -8.20722317e-02 2.63839232e+02] [ 5.75511260e-01 8.15559537e-01 -6.04105236e-02 7.90913894e+01] [ 1.01892574e-01 1.78489840e-03 9.94793806e-01 2.47788137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17710568099994 meters 0.023226613312350528 Centerline is valid? [True, True] Translation: X:263.88, Y:79.14, Z:24.78 [[ 8.15679596e-01 -5.72775277e-01 -8.12113243e-02 2.63877631e+02] [ 5.69651529e-01 8.19708602e-01 -5.97908313e-02 7.91373492e+01] [ 1.00816331e-01 2.50800604e-03 9.94901893e-01 2.47831625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23710568099995 meters 0.022772605979681015 Centerline is valid? [True, True] Translation: X:263.92, Y:79.17, Z:24.79 [[ 8.16385008e-01 -5.72048766e-01 -7.92194937e-02 2.63923891e+02] [ 5.69071930e-01 8.20215661e-01 -5.83387297e-02 7.91709008e+01] [ 9.83496678e-02 2.54527412e-03 9.95148664e-01 2.47947290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29710568099995 meters 0.022132600808748314 Centerline is valid? [True, True] Translation: X:263.97, Y:79.21, Z:24.80 [[ 8.15892994e-01 -5.73239663e-01 -7.55970245e-02 2.63968778e+02] [ 5.70530689e-01 8.19384454e-01 -5.57121936e-02 7.92088373e+01] [ 9.38794658e-02 2.32476599e-03 9.95580856e-01 2.48027487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35710568099995 meters 0.022505946801752205 Centerline is valid? [True, True] Translation: X:264.01, Y:79.25, Z:24.81 [[ 8.15830523e-01 -5.73076608e-01 -7.74839241e-02 2.64013332e+02] [ 5.70225939e-01 8.19498186e-01 -5.71410798e-02 7.92465486e+01] [ 9.62441514e-02 2.43409367e-03 9.95354780e-01 2.48065107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41710568099995 meters 0.020685992550556236 Centerline is valid? [True, True] Translation: X:264.06, Y:79.28, Z:24.81 [[ 8.12208709e-01 -5.78009599e-01 -7.88791315e-02 2.64063351e+02] [ 5.75076571e-01 8.16027758e-01 -5.81862150e-02 7.92779249e+01] [ 9.79997516e-02 1.89781004e-03 9.95184630e-01 2.48111319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47710568099995 meters 0.0175683541928771 Centerline is valid? [True, True] Translation: X:264.12, Y:79.30, Z:24.81 [[ 8.03921610e-01 -5.89361827e-01 -7.97664201e-02 2.64118352e+02] [ 5.86414078e-01 8.07869005e-01 -5.88744430e-02 7.93038954e+01] [ 9.91391678e-02 5.54285295e-04 9.95073424e-01 2.48113244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53710568099996 meters 0.018104272808549267 Centerline is valid? [True, True] Translation: X:264.17, Y:79.32, Z:24.82 [[ 7.95902969e-01 -6.00211620e-01 -7.92746819e-02 2.64174647e+02] [ 5.97351606e-01 7.99840869e-01 -5.85289867e-02 7.93244130e+01] [ 9.85369084e-02 -7.71464302e-04 9.95133098e-01 2.48160971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59710568099996 meters 0.019660229306659095 Centerline is valid? [True, True] Translation: X:264.23, Y:79.35, Z:24.82 [[ 7.91515884e-01 -6.05698981e-01 -8.14331025e-02 2.64226516e+02] [ 6.02707233e-01 7.95692510e-01 -6.01450024e-02 7.93537993e+01] [ 1.01225476e-01 -1.47459515e-03 9.94862417e-01 2.48196264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65710568099996 meters 0.020559891517142315 Centerline is valid? [True, True] Translation: X:264.27, Y:79.39, Z:24.83 [[ 7.90790119e-01 -6.07052419e-01 -7.83476163e-02 2.64271883e+02] [ 6.04286631e-01 7.94660268e-01 -5.79027304e-02 7.93885593e+01] [ 9.74097303e-02 -1.55551005e-03 9.95243149e-01 2.48287797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71710568099996 meters 0.019180006420594573 Centerline is valid? [True, True] Translation: X:264.31, Y:79.43, Z:24.85 [[ 7.92724749e-01 -6.05039047e-01 -7.42645525e-02 2.64311000e+02] [ 6.02544285e-01 7.96194855e-01 -5.49011602e-02 7.94324684e+01] [ 9.23464003e-02 -1.22617321e-03 9.95726187e-01 2.48458279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77710568099997 meters 0.018222417259198893 Centerline is valid? [True, True] Translation: X:264.35, Y:79.47, Z:24.85 [[ 7.95803495e-01 -6.01147735e-01 -7.29259772e-02 2.64352259e+02] [ 5.98722660e-01 7.99137577e-01 -5.39472849e-02 7.94738282e+01] [ 9.07081768e-02 -7.30997239e-04 9.95877248e-01 2.48524483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83710568099997 meters 0.018551854690107002 Centerline is valid? [True, True] Translation: X:264.38, Y:79.53, Z:24.86 [[ 8.06453693e-01 -5.86862716e-01 -7.22813455e-02 2.64383298e+02] [ 5.84421237e-01 8.09685965e-01 -5.34832280e-02 7.95300271e+01] [ 8.99125035e-02 8.88993326e-04 9.95949272e-01 2.48582674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.89710568099997 meters 0.02364543864551248 Centerline is valid? [True, True] Translation: X:264.42, Y:79.58, Z:24.86 [[ 8.13538730e-01 -5.76531943e-01 -7.59319014e-02 2.64416495e+02] [ 5.73787978e-01 8.17071724e-01 -5.62241433e-02 7.95837003e+01] [ 9.44568242e-02 2.17170592e-03 9.95526590e-01 2.48560901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957105681 meters 0.024616735618452037 Centerline is valid? [True, True] Translation: X:264.46, Y:79.63, Z:24.85 [[ 8.15273766e-01 -5.73443300e-01 -8.05696484e-02 2.64458898e+02] [ 5.70335597e-01 8.19240786e-01 -5.96811624e-02 7.96265064e+01] [ 1.00229705e-01 2.70474745e-03 9.94960648e-01 2.48534400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017105681 meters 0.021828412170434176 Centerline is valid? [True, True] Translation: X:264.51, Y:79.66, Z:24.86 [[ 8.12236463e-01 -5.77910509e-01 -7.93181651e-02 2.64508142e+02] [ 5.74916655e-01 8.16097316e-01 -5.87878462e-02 7.96592225e+01] [ 9.87054557e-02 2.14829808e-03 9.95114374e-01 2.48610114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077105681 meters 0.01936415721758198 Centerline is valid? [True, True] Translation: X:264.56, Y:79.69, Z:24.87 [[ 8.06601716e-01 -5.85737603e-01 -7.94048699e-02 2.64558392e+02] [ 5.82772824e-01 8.10499843e-01 -5.88713924e-02 7.96893049e+01] [ 9.88408228e-02 1.21076580e-03 9.95102520e-01 2.48656834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137105681 meters 0.018097885408507434 Centerline is valid? [True, True] Translation: X:264.61, Y:79.72, Z:24.87 [[ 8.01058812e-01 -5.92962306e-01 -8.18564830e-02 2.64609693e+02] [ 5.89845504e-01 8.05230139e-01 -6.07182341e-02 7.97196449e+01] [ 1.01916931e-01 3.56197991e-04 9.94792849e-01 2.48659041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197105681 meters 0.01834668956468579 Centerline is valid? [True, True] Translation: X:264.66, Y:79.75, Z:24.86 [[ 7.97962189e-01 -5.96758958e-01 -8.44694661e-02 2.64657132e+02] [ 5.93456444e-01 8.02420548e-01 -6.26954009e-02 7.97541829e+01] [ 1.05194077e-01 -1.00389566e-04 9.94451706e-01 2.48649139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257105681 meters 0.01818793258970081 Centerline is valid? [True, True] Translation: X:264.70, Y:79.79, Z:24.87 [[ 7.97568376e-01 -5.97419193e-01 -8.35164315e-02 2.64703887e+02] [ 5.94192690e-01 8.01929099e-01 -6.20061883e-02 7.97889985e+01] [ 1.04017944e-01 -1.70678216e-04 9.94575406e-01 2.48724558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317105681 meters 0.01827263706999529 Centerline is valid? [True, True] Translation: X:264.75, Y:79.83, Z:24.88 [[ 7.95864669e-01 -5.99599472e-01 -8.41421527e-02 2.64748392e+02] [ 5.96332063e-01 8.00300126e-01 -6.25122302e-02 7.98278177e+01] [ 1.04821276e-01 -4.25388121e-04 9.94490985e-01 2.48782120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377105681 meters 0.0186906330596611 Centerline is valid? [True, True] Translation: X:264.79, Y:79.86, Z:24.89 [[ 7.93440491e-01 -6.03070300e-01 -8.22094890e-02 2.64793018e+02] [ 5.99965867e-01 7.97687611e-01 -6.11181927e-02 7.98648260e+01] [ 1.02436058e-01 -8.29238508e-04 9.94739245e-01 2.48853282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437105681 meters 0.02122563509117933 Centerline is valid? [True, True] Translation: X:264.84, Y:79.90, Z:24.89 [[ 7.87454832e-01 -6.10924953e-01 -8.17654515e-02 2.64840209e+02] [ 6.07891499e-01 7.91686461e-01 -6.08315128e-02 7.98985444e+01] [ 1.01896090e-01 -1.80245416e-03 9.94793415e-01 2.48924486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49710568099994 meters 0.029569609137797704 Centerline is valid? [True, True] Translation: X:264.89, Y:79.93, Z:24.90 [[ 7.75320457e-01 -6.26569368e-01 -7.93033099e-02 2.64889233e+02] [ 6.23794395e-01 7.79356832e-01 -5.90210205e-02 7.99304082e+01] [ 9.87863399e-02 -3.70875566e-03 9.95101756e-01 2.49006852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55710568099994 meters 0.032840073653753785 Centerline is valid? [True, True] Translation: X:264.93, Y:79.97, Z:24.91 [[ 7.71606208e-01 -6.31256063e-01 -7.83558703e-02 2.64933812e+02] [ 6.28567246e-01 7.75562977e-01 -5.83548200e-02 7.99690231e+01] [ 9.76067461e-02 -4.22499226e-03 9.95216093e-01 2.49079729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61710568099994 meters 0.032745843425384544 Centerline is valid? [True, True] Translation: X:264.97, Y:80.02, Z:24.91 [[ 7.72009050e-01 -6.30638307e-01 -7.93558592e-02 2.64970205e+02] [ 6.27873085e-01 7.76065681e-01 -5.91392224e-02 8.00184636e+01] [ 9.88808180e-02 -4.16939325e-03 9.95090549e-01 2.49086090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67710568099994 meters 0.03388543930688888 Centerline is valid? [True, True] Translation: X:265.01, Y:80.06, Z:24.91 [[ 7.71239530e-01 -6.31590674e-01 -7.92641635e-02 2.65011013e+02] [ 6.28832819e-01 7.75290344e-01 -5.91114917e-02 8.00614646e+01] [ 9.87870075e-02 -4.25478832e-03 9.95099505e-01 2.49146423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73710568099995 meters 0.03759359278112582 Centerline is valid? [True, True] Translation: X:265.05, Y:80.11, Z:24.92 [[ 7.67744987e-01 -6.35682663e-01 -8.04685537e-02 2.65050701e+02] [ 6.32858457e-01 7.71935420e-01 -6.00489898e-02 8.01064483e+01] [ 1.00288629e-01 -4.82289381e-03 9.94946697e-01 2.49159434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79710568099995 meters 0.03825715403492691 Centerline is valid? [True, True] Translation: X:265.09, Y:80.16, Z:24.92 [[ 7.67254537e-01 -6.36334315e-01 -7.99944700e-02 2.65087212e+02] [ 6.33544572e-01 7.71398088e-01 -5.97182138e-02 8.01553867e+01] [ 9.97083298e-02 -4.86099174e-03 9.95004834e-01 2.49216632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85710568099995 meters 0.032655806406034694 Centerline is valid? [True, True] Translation: X:265.11, Y:80.22, Z:24.94 [[ 7.72557543e-01 -6.30531976e-01 -7.47279747e-02 2.65113748e+02] [ 6.28067753e-01 7.76153926e-01 -5.58209739e-02 8.02165218e+01] [ 9.31973199e-02 -3.80931667e-03 9.95640371e-01 2.49350549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91710568099995 meters 0.027909222637476166 Centerline is valid? [True, True] Translation: X:265.14, Y:80.28, Z:24.94 [[ 7.77892700e-01 -6.23813751e-01 -7.57585043e-02 2.65139246e+02] [ 6.21247125e-01 7.81567167e-01 -5.66107135e-02 8.02803870e+01] [ 9.45249011e-02 -3.02769217e-03 9.95517893e-01 2.49350150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97710568099995 meters 0.020972935056462895 Centerline is valid? [True, True] Translation: X:265.17, Y:80.34, Z:24.94 [[ 7.85810857e-01 -6.13756188e-01 -7.61881769e-02 2.65167676e+02] [ 6.11109055e-01 7.89493592e-01 -5.69700913e-02 8.03400720e+01] [ 9.51158235e-02 -1.79156851e-03 9.95464600e-01 2.49391146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03710568099996 meters 0.017290315268651685 Centerline is valid? [True, True] Translation: X:265.19, Y:80.40, Z:24.94 [[ 7.93350109e-01 -6.03884656e-01 -7.69345621e-02 2.65194316e+02] [ 6.01134876e-01 7.97071508e-01 -5.75662486e-02 8.04017071e+01] [ 9.60857217e-02 -5.77858835e-04 9.95372895e-01 2.49427596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09710568099996 meters 0.017167924577003876 Centerline is valid? [True, True] Translation: X:265.23, Y:80.46, Z:24.95 [[ 8.01288926e-01 -5.93775282e-01 -7.32596206e-02 2.65225176e+02] [ 5.91237388e-01 8.04630670e-01 -5.48437314e-02 8.04563305e+01] [ 9.15117897e-02 6.31847940e-04 9.95803792e-01 2.49525496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15710568099996 meters 0.019476073038694103 Centerline is valid? [True, True] Translation: X:265.26, Y:80.50, Z:24.96 [[ 8.05973358e-01 -5.87523072e-01 -7.22743787e-02 2.65262469e+02] [ 5.85023999e-01 8.09206271e-01 -5.41491619e-02 8.05032221e+01] [ 9.02987624e-02 1.36053586e-03 9.95913793e-01 2.49566545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21710568099996 meters 0.0225881230246283 Centerline is valid? [True, True] Translation: X:265.31, Y:80.54, Z:24.95 [[ 8.09900675e-01 -5.81206186e-01 -7.91218456e-02 2.65306260e+02] [ 5.78178135e-01 8.13753150e-01 -5.92946521e-02 8.05446703e+01] [ 9.88480696e-02 2.27625769e-03 9.95099934e-01 2.49497270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27710568099997 meters 0.026890051981335168 Centerline is valid? [True, True] Translation: X:265.35, Y:80.59, Z:24.95 [[ 8.14707220e-01 -5.74261983e-01 -8.04693770e-02 2.65349689e+02] [ 5.71094465e-01 8.18665397e-01 -6.03164973e-02 8.05851544e+01] [ 1.00514966e-01 3.18467003e-03 9.94930450e-01 2.49521132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33710568099997 meters 0.03205569676841745 Centerline is valid? [True, True] Translation: X:265.40, Y:80.62, Z:24.96 [[ 8.19635001e-01 -5.67224892e-01 -8.03391969e-02 2.65395001e+02] [ 5.64030178e-01 8.23552871e-01 -6.02546796e-02 8.06228384e+01] [ 1.00341530e-01 4.07311289e-03 9.94944716e-01 2.49593551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.39710568099997 meters 0.033099554971415604 Centerline is valid? [True, True] Translation: X:265.45, Y:80.65, Z:24.97 [[ 8.23003520e-01 -5.62674209e-01 -7.78648904e-02 2.65446463e+02] [ 5.59650215e-01 8.26666422e-01 -5.84317028e-02 8.06523162e+01] [ 9.72463024e-02 4.51239445e-03 9.95250117e-01 2.49679012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457105681 meters 0.0334444444442028 Centerline is valid? [True, True] Translation: X:265.50, Y:80.67, Z:24.97 [[ 8.22337077e-01 -5.63345240e-01 -8.00242001e-02 2.65502463e+02] [ 5.60152557e-01 8.26208977e-01 -6.00652930e-02 8.06739403e+01] [ 9.99542093e-02 4.56815711e-03 9.94981552e-01 2.49688173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517105681 meters 0.03112698203545579 Centerline is valid? [True, True] Translation: X:265.56, Y:80.70, Z:24.98 [[ 8.21243814e-01 -5.65141800e-01 -7.85706324e-02 2.65558951e+02] [ 5.62068323e-01 8.24982552e-01 -5.90168534e-02 8.06960100e+01] [ 9.81722916e-02 4.30516211e-03 9.95160121e-01 2.49772947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577105681 meters 0.028004467784253514 Centerline is valid? [True, True] Translation: X:265.62, Y:80.72, Z:24.99 [[ 8.17149865e-01 -5.71184861e-01 -7.75496832e-02 2.65617427e+02] [ 5.68216098e-01 8.20813779e-01 -5.82684045e-02 8.07154757e+01] [ 9.69358791e-02 3.54904049e-03 9.95284301e-01 2.49852176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637105681 meters 0.022859789424713974 Centerline is valid? [True, True] Translation: X:265.68, Y:80.74, Z:24.99 [[ 8.09960689e-01 -5.80915065e-01 -8.06310725e-02 2.65675083e+02] [ 5.77748937e-01 8.13960294e-01 -6.06201851e-02 8.07357880e+01] [ 1.00845670e-01 2.51545043e-03 9.94898901e-01 2.49858864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697105681 meters 0.020521292383367775 Centerline is valid? [True, True] Translation: X:265.73, Y:80.77, Z:24.99 [[ 8.07344474e-01 -5.84405728e-01 -8.16385054e-02 2.65727288e+02] [ 5.81175921e-01 8.11458844e-01 -6.13929394e-02 8.07650582e+01] [ 1.02124673e-01 2.11891680e-03 9.94769351e-01 2.49894152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757105681 meters 0.016097817294882584 Centerline is valid? [True, True] Translation: X:265.79, Y:80.78, Z:24.99 [[ 7.96633639e-01 -5.98641332e-01 -8.36863247e-02 2.65790540e+02] [ 5.95319971e-01 8.01017125e-01 -6.29737752e-02 8.07794897e+01] [ 1.04732884e-01 3.46887230e-04 9.94500328e-01 2.49911175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817105681 meters 0.01748504110217906 Centerline is valid? [True, True] Translation: X:265.85, Y:80.80, Z:25.00 [[ 7.87552345e-01 -6.10638049e-01 -8.29607022e-02 2.65848686e+02] [ 6.07435702e-01 7.91908922e-01 -6.24670172e-02 8.07985216e+01] [ 1.03842058e-01 -1.19724654e-03 9.94593079e-01 2.50022226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877105681 meters 0.021003340267829046 Centerline is valid? [True, True] Translation: X:265.90, Y:80.83, Z:25.01 [[ 7.81684929e-01 -6.18104825e-01 -8.31570629e-02 2.65900654e+02] [ 6.14924495e-01 7.86092728e-01 -6.26585071e-02 8.08269101e+01] [ 1.04098688e-01 -2.15610426e-03 9.94564636e-01 2.50093879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937105681 meters 0.023518899776116303 Centerline is valid? [True, True] Translation: X:265.95, Y:80.86, Z:25.03 [[ 7.77565611e-01 -6.24196492e-01 -7.59635462e-02 2.65945881e+02] [ 6.21569343e-01 7.81262782e-01 -5.72714424e-02 8.08618259e+01] [ 9.50961248e-02 -2.68430739e-03 9.95464475e-01 2.50271127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99710568099994 meters 0.02776197508667762 Centerline is valid? [True, True] Translation: X:265.99, Y:80.90, Z:25.03 [[ 7.71814823e-01 -6.31199571e-01 -7.67396932e-02 2.65990659e+02] [ 6.28550946e-01 7.75612259e-01 -5.78734170e-02 8.08994577e+01] [ 9.60499228e-02 -3.56724572e-03 9.95370126e-01 2.50316951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05710568099994 meters 0.03237653911604538 Centerline is valid? [True, True] Translation: X:266.03, Y:80.94, Z:25.03 [[ 7.65558650e-01 -6.38693161e-01 -7.74015403e-02 2.66031287e+02] [ 6.36032469e-01 7.69448302e-01 -5.84123986e-02 8.09427604e+01] [ 9.68640833e-02 -4.51177575e-03 9.95287392e-01 2.50342977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11710568099994 meters 0.03757881884365986 Centerline is valid? [True, True] Translation: X:266.07, Y:80.99, Z:25.04 [[ 7.59333965e-01 -6.46094186e-01 -7.72931629e-02 2.66071959e+02] [ 6.43476499e-01 7.63238401e-01 -5.83535667e-02 8.09864164e+01] [ 9.66950102e-02 -5.42648870e-03 9.95299266e-01 2.50386900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17710568099994 meters 0.044145875035644495 Centerline is valid? [True, True] Translation: X:266.11, Y:81.03, Z:25.04 [[ 7.51843812e-01 -6.54631273e-01 -7.86687884e-02 2.66112443e+02] [ 6.51961429e-01 7.55919476e-01 -5.94309786e-02 8.10304444e+01] [ 9.83726465e-02 -6.60620218e-03 9.95127721e-01 2.50423017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23710568099995 meters 0.05184082537818659 Centerline is valid? [True, True] Translation: X:266.15, Y:81.08, Z:25.05 [[ 7.45469674e-01 -6.62021656e-01 -7.74744595e-02 2.66150559e+02] [ 6.59469823e-01 7.49447705e-01 -5.85464808e-02 8.10764982e+01] [ 9.68220940e-02 -7.44744210e-03 9.95273841e-01 2.50465055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29710568099995 meters 0.05454975999651957 Centerline is valid? [True, True] Translation: X:266.19, Y:81.13, Z:25.05 [[ 7.41084940e-01 -6.67167984e-01 -7.53657275e-02 2.66187538e+02] [ 6.64778151e-01 7.44865576e-01 -5.69673864e-02 8.11252401e+01] [ 9.41441524e-02 -7.88381684e-03 9.95527360e-01 2.50538049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35710568099995 meters 0.05187812317616743 Centerline is valid? [True, True] Translation: X:266.22, Y:81.18, Z:25.06 [[ 7.43595195e-01 -6.64367771e-01 -7.53767229e-02 2.66216964e+02] [ 6.61959555e-01 7.47368167e-01 -5.70120154e-02 8.11831722e+01] [ 9.42111089e-02 -7.50248129e-03 9.95523972e-01 2.50598747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41710568099995 meters 0.04700671415370636 Centerline is valid? [True, True] Translation: X:266.25, Y:81.24, Z:25.07 [[ 7.52845427e-01 -6.53635210e-01 -7.73613304e-02 2.66246258e+02] [ 6.51037947e-01 7.56783653e-01 -5.85499247e-02 8.12394476e+01] [ 9.68160826e-02 -6.28611872e-03 9.95282438e-01 2.50652352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47710568099995 meters 0.02020323074629618 Centerline is valid? [True, True] Translation: X:266.24, Y:81.34, Z:25.07 [[ 7.80194964e-01 -6.20186292e-01 -8.16381106e-02 2.66242512e+02] [ 6.17103200e-01 7.84451584e-01 -6.18009246e-02 8.13419858e+01] [ 1.02369231e-01 -2.16236915e-03 9.94744120e-01 2.50670214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53710568099996 meters 0.015158571636516065 Centerline is valid? [True, True] Translation: X:266.26, Y:81.41, Z:25.07 [[ 7.91370056e-01 -6.05652969e-01 -8.31740056e-02 2.66263615e+02] [ 6.02369372e-01 7.95728857e-01 -6.29819424e-02 8.14121324e+01] [ 1.04329157e-01 -2.59450218e-04 9.94542789e-01 2.50702405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59710568099996 meters 0.015240129795280012 Centerline is valid? [True, True] Translation: X:266.30, Y:81.46, Z:25.08 [[ 7.92889843e-01 -6.03803590e-01 -8.21396493e-02 2.66297333e+02] [ 6.00587495e-01 7.97133129e-01 -6.22369367e-02 8.14640357e+01] [ 1.03055121e-01 1.49887724e-05 9.94675646e-01 2.50762499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65710568099996 meters 0.015489194430034946 Centerline is valid? [True, True] Translation: X:266.34, Y:81.51, Z:25.08 [[ 7.91908009e-01 -6.04835093e-01 -8.40012835e-02 2.66336639e+02] [ 6.01472680e-01 7.96350741e-01 -6.36876268e-02 8.15088691e+01] [ 1.05414996e-01 -8.97353702e-05 9.94428313e-01 2.50778928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71710568099996 meters 0.01589739347500904 Centerline is valid? [True, True] Translation: X:266.38, Y:81.55, Z:25.08 [[ 7.88917102e-01 -6.08837428e-01 -8.32273510e-02 2.66378925e+02] [ 6.05556860e-01 7.93294790e-01 -6.31210326e-02 8.15489317e+01] [ 1.04454271e-01 -6.01631167e-04 9.94529509e-01 2.50846263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77710568099997 meters 0.018054463484363174 Centerline is valid? [True, True] Translation: X:266.43, Y:81.58, Z:25.10 [[ 7.82458138e-01 -6.18030901e-01 -7.61384727e-02 2.66427427e+02] [ 6.15325603e-01 7.86152106e-01 -5.77864023e-02 8.15809112e+01] [ 9.55702030e-02 -1.63451088e-03 9.95421350e-01 2.51007998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83710568099997 meters 0.02103397848711729 Centerline is valid? [True, True] Translation: X:266.48, Y:81.61, Z:25.10 [[ 7.78503877e-01 -6.22627760e-01 -7.91605127e-02 2.66478696e+02] [ 6.19722556e-01 7.82514914e-01 -6.01195704e-02 8.16110238e+01] [ 9.93763952e-02 -2.25423661e-03 9.95047361e-01 2.51001551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.89710568099997 meters 0.018639164235683504 Centerline is valid? [True, True] Translation: X:266.52, Y:81.65, Z:25.10 [[ 7.82099012e-01 -6.17877848e-01 -8.09203396e-02 2.66520866e+02] [ 6.14814946e-01 7.86272316e-01 -6.14689119e-02 8.16532636e+01] [ 1.01605702e-01 -1.67625898e-03 9.94823337e-01 2.51019300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957105681 meters 0.016128424759858373 Centerline is valid? [True, True] Translation: X:266.56, Y:81.70, Z:25.11 [[ 7.89320571e-01 -6.08392429e-01 -8.26540258e-02 2.66561418e+02] [ 6.05139921e-01 7.93636233e-01 -6.28267922e-02 8.16975729e+01] [ 1.03820574e-01 -4.26771185e-04 9.94595951e-01 2.51060996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017105681 meters 0.01699177064416964 Centerline is valid? [True, True] Translation: X:266.60, Y:81.74, Z:25.12 [[ 7.97410652e-01 -5.98200789e-01 -7.93225657e-02 2.66602229e+02] [ 5.95151411e-01 8.01345748e-01 -6.03306720e-02 8.17399418e+01] [ 9.96546563e-02 8.99383555e-04 9.95021678e-01 2.51161098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077105681 meters 0.020868349445849727 Centerline is valid? [True, True] Translation: X:266.64, Y:81.78, Z:25.13 [[ 8.04320519e-01 -5.89094779e-01 -7.76906950e-02 2.66644485e+02] [ 5.86123588e-01 8.08061422e-01 -5.91259443e-02 8.17812071e+01] [ 9.76096386e-02 2.01986134e-03 9.95222728e-01 2.51267888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137105681 meters 0.026604646305109652 Centerline is valid? [True, True] Translation: X:266.69, Y:81.82, Z:25.13 [[ 8.10139901e-01 -5.80767048e-01 -7.98935407e-02 2.66691256e+02] [ 5.77582937e-01 8.14063816e-01 -6.08116236e-02 8.18164124e+01] [ 1.00355828e-01 3.12077682e-03 9.94946716e-01 2.51278940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197105681 meters 0.03329279404483939 Centerline is valid? [True, True] Translation: X:266.74, Y:81.85, Z:25.13 [[ 8.15915680e-01 -5.72765943e-01 -7.88719083e-02 2.66738620e+02] [ 5.69624285e-01 8.19708881e-01 -6.00460229e-02 8.18520928e+01] [ 9.90443206e-02 4.06513723e-03 9.95074719e-01 2.51348124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257105681 meters 0.03698608445803991 Centerline is valid? [True, True] Translation: X:266.79, Y:81.88, Z:25.15 [[ 8.19542318e-01 -5.67846808e-01 -7.68140100e-02 2.66788236e+02] [ 5.64842733e-01 8.23121601e-01 -5.85108323e-02 8.18838772e+01] [ 9.64524602e-02 4.56426783e-03 9.95327127e-01 2.51452643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317105681 meters 0.0351476236559189 Centerline is valid? [True, True] Translation: X:266.85, Y:81.90, Z:25.14 [[ 8.19429611e-01 -5.67616822e-01 -7.96633936e-02 2.66848934e+02] [ 5.64382425e-01 8.23279010e-01 -6.06972010e-02 8.19012298e+01] [ 1.00037952e-01 4.77646454e-03 9.94972157e-01 2.51448577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377105681 meters 0.02970772758283383 Centerline is valid? [True, True] Translation: X:266.92, Y:81.91, Z:25.15 [[ 8.13730903e-01 -5.75733495e-01 -7.98308192e-02 2.66919897e+02] [ 5.72519794e-01 8.17628470e-01 -6.08668224e-02 8.19054981e+01] [ 1.00315019e-01 3.82449026e-03 9.94948376e-01 2.51500486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437105681 meters 0.022162924526115513 Centerline is valid? [True, True] Translation: X:266.99, Y:81.91, Z:25.16 [[ 8.06199437e-01 -5.86552207e-01 -7.74530609e-02 2.66987842e+02] [ 5.83573398e-01 8.09907751e-01 -5.90891295e-02 8.19137472e+01] [ 9.73886936e-02 2.43807702e-03 9.95243437e-01 2.51592814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49710568099994 meters 0.016333363235429596 Centerline is valid? [True, True] Translation: X:267.06, Y:81.92, Z:25.16 [[ 7.96479612e-01 -5.99745776e-01 -7.69755210e-02 2.67056754e+02] [ 5.96861152e-01 8.00190147e-01 -5.87579262e-02 8.19212186e+01] [ 9.68348716e-02 8.55792151e-04 9.95300093e-01 2.51643355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55710568099994 meters 0.015414446588141189 Centerline is valid? [True, True] Translation: X:267.12, Y:81.93, Z:25.16 [[ 7.90421030e-01 -6.07293497e-01 -8.01823191e-02 2.67118748e+02] [ 6.04197517e-01 7.94477569e-01 -6.12433901e-02 8.19340724e+01] [ 1.00895766e-01 -3.78946872e-05 9.94897001e-01 2.51645052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61710568099994 meters 0.01551003585245871 Centerline is valid? [True, True] Translation: X:267.17, Y:81.97, Z:25.17 [[ 7.90775403e-01 -6.06474713e-01 -8.28413161e-02 2.67167231e+02] [ 6.03162266e-01 7.95102770e-01 -6.32998136e-02 8.19677336e+01] [ 1.04257096e-01 8.91797064e-05 9.94550376e-01 2.51667596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67710568099994 meters 0.019878209995096128 Centerline is valid? [True, True] Translation: X:267.21, Y:82.01, Z:25.17 [[ 8.01293483e-01 -5.92482002e-01 -8.30290982e-02 2.67212264e+02] [ 5.89074413e-01 8.05581307e-01 -6.34830161e-02 8.20053520e+01] [ 1.04499234e-01 1.95820975e-03 9.94523039e-01 2.51732899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73710568099995 meters 0.025209077816877864 Centerline is valid? [True, True] Translation: X:267.26, Y:82.04, Z:25.18 [[ 8.08292449e-01 -5.83205953e-01 -8.08339797e-02 2.67258685e+02] [ 5.79929049e-01 8.12318467e-01 -6.18142893e-02 8.20413230e+01] [ 1.01713396e-01 3.08605036e-03 9.94808957e-01 2.51849386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79710568099995 meters 0.025512134145311498 Centerline is valid? [True, True] Translation: X:267.31, Y:82.07, Z:25.19 [[ 8.07676437e-01 -5.84074430e-01 -8.07207079e-02 2.67311377e+02] [ 5.80809554e-01 8.11694618e-01 -6.17422772e-02 8.20680269e+01] [ 1.01582649e-01 2.98442409e-03 9.94822627e-01 2.51897213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85710568099995 meters 0.021276385244070137 Centerline is valid? [True, True] Translation: X:267.37, Y:82.09, Z:25.20 [[ 8.02655691e-01 -5.91226743e-01 -7.87069195e-02 2.67368614e+02] [ 5.88155821e-01 8.06502804e-01 -6.02159140e-02 8.20896096e+01] [ 9.90786100e-02 2.04071317e-03 9.95077517e-01 2.51976840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91710568099995 meters 0.018213522821066797 Centerline is valid? [True, True] Translation: X:267.42, Y:82.12, Z:25.20 [[ 7.98052689e-01 -5.97421513e-01 -7.87365279e-02 2.67423597e+02] [ 5.94376413e-01 8.01926353e-01 -6.02561602e-02 8.21150070e+01] [ 9.91392231e-02 1.28845571e-03 9.95072738e-01 2.52045258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97710568099995 meters 0.016402227436027157 Centerline is valid? [True, True] Translation: X:267.48, Y:82.14, Z:25.21 [[ 7.93351214e-01 -6.03354986e-01 -8.09729112e-02 2.67475329e+02] [ 6.00161054e-01 7.97472514e-01 -6.20024162e-02 8.21427085e+01] [ 1.01983138e-01 5.92904391e-04 9.94785951e-01 2.52053902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03710568099996 meters 0.016586974485207285 Centerline is valid? [True, True] Translation: X:267.53, Y:82.17, Z:25.21 [[ 7.86171208e-01 -6.12729519e-01 -8.06062574e-02 2.67530384e+02] [ 6.09611445e-01 7.90292462e-01 -6.17390549e-02 8.21658438e+01] [ 1.01531859e-01 -6.01029665e-04 9.94832107e-01 2.52105383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09710568099996 meters 0.019768066534798068 Centerline is valid? [True, True] Translation: X:267.58, Y:82.19, Z:25.22 [[ 7.80521256e-01 -6.20173068e-01 -7.85616617e-02 2.67584941e+02] [ 6.17244796e-01 7.84463597e-01 -6.02140023e-02 8.21905257e+01] [ 9.89718663e-02 -1.49346813e-03 9.95089111e-01 2.52194005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15710568099996 meters 0.026141258317804 Centerline is valid? [True, True] Translation: X:267.64, Y:82.22, Z:25.22 [[ 7.73652539e-01 -6.28801273e-01 -7.79147423e-02 2.67638518e+02] [ 6.25960753e-01 7.77561892e-01 -5.97548287e-02 8.22163674e+01] [ 9.81574469e-02 -2.54209578e-03 9.95167651e-01 2.52244201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21710568099996 meters 0.03267794202676095 Centerline is valid? [True, True] Translation: X:267.69, Y:82.25, Z:25.23 [[ 7.62137556e-01 -6.42661139e-01 -7.83135130e-02 2.67690372e+02] [ 6.39859340e-01 7.66138447e-01 -6.00991231e-02 8.22450854e+01] [ 9.86223642e-02 -4.30583399e-03 9.95115616e-01 2.52302891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27710568099997 meters 0.04059902518446442 Centerline is valid? [True, True] Translation: X:267.74, Y:82.27, Z:25.24 [[ 7.52106906e-01 -6.54532212e-01 -7.69596393e-02 2.67741516e+02] [ 6.51883649e-01 7.56012484e-01 -5.91001917e-02 8.22739047e+01] [ 9.68654272e-02 -5.71906820e-03 9.95281056e-01 2.52389058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33710568099997 meters 0.04395415269998667 Centerline is valid? [True, True] Translation: X:267.78, Y:82.32, Z:25.25 [[ 7.48384272e-01 -6.59237896e-01 -7.29820354e-02 2.67782647e+02] [ 6.56875241e-01 7.51910740e-01 -5.60816880e-02 8.23152727e+01] [ 9.18471503e-02 -5.96943886e-03 9.95755224e-01 2.52512931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.39710568099997 meters 0.044621779453304075 Centerline is valid? [True, True] Translation: X:267.82, Y:82.36, Z:25.26 [[ 7.47472267e-01 -6.60549308e-01 -7.04259984e-02 2.67820600e+02] [ 6.58352132e-01 7.50759582e-01 -5.41527532e-02 8.23614790e+01] [ 8.86435568e-02 -5.88742491e-03 9.96046012e-01 2.52591328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457105681 meters 0.04859011428005462 Centerline is valid? [True, True] Translation: X:267.86, Y:82.41, Z:25.26 [[ 7.46642699e-01 -6.61145575e-01 -7.35609218e-02 2.67857639e+02] [ 6.58747349e-01 7.50232052e-01 -5.66020994e-02 8.24084217e+01] [ 9.26099889e-02 -6.19651800e-03 9.95683179e-01 2.52574934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517105681 meters 0.04795216418983282 Centerline is valid? [True, True] Translation: X:267.89, Y:82.46, Z:25.27 [[ 7.44244322e-01 -6.63970307e-01 -7.24142245e-02 2.67891475e+02] [ 6.61658353e-01 7.47731256e-01 -5.57332285e-02 8.24613330e+01] [ 9.11515879e-02 -6.43433765e-03 9.95816242e-01 2.52656248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577105681 meters 0.048076292918269495 Centerline is valid? [True, True] Translation: X:267.92, Y:82.52, Z:25.28 [[ 7.46047837e-01 -6.62252153e-01 -6.95320897e-02 2.67921998e+02] [ 6.60110726e-01 7.49257413e-01 -5.35458576e-02 8.25162111e+01] [ 8.75582931e-02 -5.95110698e-03 9.96141621e-01 2.52769234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637105681 meters 0.042098771986180804 Centerline is valid? [True, True] Translation: X:267.95, Y:82.58, Z:25.29 [[ 7.51128926e-01 -6.56922057e-01 -6.52590844e-02 2.67948838e+02] [ 6.55013781e-01 7.53942067e-01 -5.02822696e-02 8.25763572e+01] [ 8.22331009e-02 -4.97713249e-03 9.96600695e-01 2.52901231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697105681 meters 0.03327955101708444 Centerline is valid? [True, True] Translation: X:267.97, Y:82.64, Z:25.30 [[ 7.60749713e-01 -6.45939113e-01 -6.34234689e-02 2.67973033e+02] [ 6.44095833e-01 7.63380206e-01 -4.89000915e-02 8.26404489e+01] [ 8.00027025e-02 -3.65006143e-03 9.96787964e-01 2.52990540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757105681 meters 0.021794569722476988 Centerline is valid? [True, True] Translation: X:268.00, Y:82.71, Z:25.30 [[ 7.74765942e-01 -6.28598667e-01 -6.78339965e-02 2.67995039e+02] [ 6.26421066e-01 7.77727375e-01 -5.23142255e-02 8.27103211e+01] [ 8.56410084e-02 -1.96136424e-03 9.96324129e-01 2.52982840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817105681 meters 0.01639058570600562 Centerline is valid? [True, True] Translation: X:268.02, Y:82.78, Z:25.30 [[ 7.87189883e-01 -6.12614210e-01 -7.09642068e-02 2.68016749e+02] [ 6.10163383e-01 7.90382052e-01 -5.47435674e-02 8.27779145e+01] [ 8.96255227e-02 -2.06178127e-04 9.95975513e-01 2.53001162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877105681 meters 0.01707411741409862 Centerline is valid? [True, True] Translation: X:268.05, Y:82.83, Z:25.30 [[ 7.92702957e-01 -6.05228039e-01 -7.29454759e-02 2.68051526e+02] [ 6.02605754e-01 7.96051875e-01 -5.62824776e-02 8.28289723e+01] [ 9.21321164e-02 6.57922929e-04 9.95746574e-01 2.53020964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937105681 meters 0.017337326327840765 Centerline is valid? [True, True] Translation: X:268.09, Y:82.87, Z:25.31 [[ 7.93356836e-01 -6.04616907e-01 -7.08754317e-02 2.68091618e+02] [ 6.02135992e-01 7.96516072e-01 -5.47210557e-02 8.28711298e+01] [ 8.95386959e-02 7.36675244e-04 9.95983072e-01 2.53076059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99710568099994 meters 0.017176564701478766 Centerline is valid? [True, True] Translation: X:268.14, Y:82.91, Z:25.32 [[ 7.92356795e-01 -6.06188607e-01 -6.86008900e-02 2.68135503e+02] [ 6.03867022e-01 7.95320718e-01 -5.30054230e-02 8.29082698e+01] [ 8.66909926e-02 5.73391921e-04 9.96235084e-01 2.53163270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05710568099994 meters 0.016428315929380693 Centerline is valid? [True, True] Translation: X:268.19, Y:82.93, Z:25.32 [[ 7.87501784e-01 -6.12497869e-01 -6.84638606e-02 2.68190105e+02] [ 6.10208198e-01 7.90472231e-01 -5.29113119e-02 8.29340559e+01] [ 8.65268465e-02 -1.09456464e-04 9.96249513e-01 2.53197728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11710568099994 meters 0.017369186832575167 Centerline is valid? [True, True] Translation: X:268.24, Y:82.96, Z:25.32 [[ 7.81603272e-01 -6.19646453e-01 -7.16561209e-02 2.68243837e+02] [ 6.17164089e-01 7.84880530e-01 -5.54169727e-02 8.29606807e+01] [ 9.05804247e-02 -9.09497369e-04 9.95888728e-01 2.53205239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17710568099994 meters 0.018775083245446886 Centerline is valid? [True, True] Translation: X:268.30, Y:82.99, Z:25.32 [[ 7.77560269e-01 -6.24375851e-01 -7.45306992e-02 2.68297590e+02] [ 6.21707583e-01 7.81122647e-01 -5.76809474e-02 8.29874694e+01] [ 9.42322077e-02 -1.48588793e-03 9.95549136e-01 2.53196894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23710568099995 meters 0.018883540480465894 Centerline is valid? [True, True] Translation: X:268.35, Y:83.02, Z:25.32 [[ 7.77328039e-01 -6.24411399e-01 -7.66258764e-02 2.68345903e+02] [ 6.21586857e-01 7.81094203e-01 -5.93432861e-02 8.30206952e+01] [ 9.69066521e-02 -1.50043751e-03 9.95292344e-01 2.53236425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29710568099995 meters 0.01660925141605961 Centerline is valid? [True, True] Translation: X:268.38, Y:83.07, Z:25.34 [[ 7.89021772e-01 -6.09992255e-01 -7.31716668e-02 2.68381575e+02] [ 6.07351108e-01 7.92407319e-01 -5.67033675e-02 8.30687960e+01] [ 9.25703794e-02 2.99298558e-04 9.95706099e-01 2.53361240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35710568099995 meters 0.019349678974010544 Centerline is valid? [True, True] Translation: X:268.42, Y:83.11, Z:25.34 [[ 7.96779527e-01 -6.00074202e-01 -7.10868315e-02 2.68423469e+02] [ 5.97541029e-01 7.99943076e-01 -5.50980352e-02 8.31109719e+01] [ 8.99283282e-02 1.42368802e-03 9.95947222e-01 2.53442221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41710568099995 meters 0.02013504489913553 Centerline is valid? [True, True] Translation: X:268.47, Y:83.14, Z:25.35 [[ 7.97653217e-01 -5.99185276e-01 -6.87484612e-02 2.68472252e+02] [ 5.96810208e-01 8.00608991e-01 -5.33180934e-02 8.31423906e+01] [ 8.69880527e-02 1.49956536e-03 9.96208226e-01 2.53521012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47710568099995 meters 0.020306244536407045 Centerline is valid? [True, True] Translation: X:268.52, Y:83.17, Z:25.36 [[ 7.97955480e-01 -5.98950447e-01 -6.72712061e-02 2.68523091e+02] [ 5.96674741e-01 8.00784683e-01 -5.21837562e-02 8.31723107e+01] [ 8.51252356e-02 1.50128473e-03 9.96369129e-01 2.53598646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53710568099996 meters 0.020296324773481728 Centerline is valid? [True, True] Translation: X:268.57, Y:83.21, Z:25.37 [[ 7.97401835e-01 -5.99726596e-01 -6.69202797e-02 2.68569265e+02] [ 5.97474338e-01 8.00203686e-01 -5.19468644e-02 8.32062376e+01] [ 8.47037706e-02 1.43937521e-03 9.96405138e-01 2.53651642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59710568099996 meters 0.018547330333680185 Centerline is valid? [True, True] Translation: X:268.62, Y:83.23, Z:25.37 [[ 7.93424954e-01 -6.05025332e-01 -6.64920345e-02 2.68624074e+02] [ 6.02816849e-01 7.96205710e-01 -5.16557162e-02 8.32297583e+01] [ 8.41943544e-02 9.02415498e-04 9.96448943e-01 2.53694263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65710568099996 meters 0.017140666319946183 Centerline is valid? [True, True] Translation: X:268.68, Y:83.25, Z:25.37 [[ 7.87950771e-01 -6.12103021e-01 -6.68092398e-02 2.68681362e+02] [ 6.09897657e-01 7.90778013e-01 -5.19132167e-02 8.32519532e+01] [ 8.46075147e-02 1.58260262e-04 9.96414343e-01 2.53728897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71710568099996 meters 0.017045026723349076 Centerline is valid? [True, True] Translation: X:268.73, Y:83.28, Z:25.37 [[ 7.88189546e-01 -6.11386301e-01 -7.04558776e-02 2.68731459e+02] [ 6.08926819e-01 7.91332240e-01 -5.47851729e-02 8.32827658e+01] [ 8.92489116e-02 2.78627106e-04 9.96009314e-01 2.53705930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77710568099997 meters 0.018692112463287707 Centerline is valid? [True, True] Translation: X:268.78, Y:83.32, Z:25.37 [[ 7.93243802e-01 -6.04861638e-01 -7.00476214e-02 2.68777203e+02] [ 6.02401388e-01 7.96329901e-01 -5.45092275e-02 8.33192290e+01] [ 8.87515561e-02 1.04232245e-03 9.96053249e-01 2.53715682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83710568099997 meters 0.02055430143794453 Centerline is valid? [True, True] Translation: X:268.82, Y:83.36, Z:25.37 [[ 7.96522808e-01 -6.00407646e-01 -7.11482574e-02 2.68823532e+02] [ 5.97850254e-01 7.99692552e-01 -5.53795734e-02 8.33554816e+01] [ 9.01470508e-02 1.57508963e-03 9.95927220e-01 2.53733644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.89710568099997 meters 0.020969197434602484 Centerline is valid? [True, True] Translation: X:268.87, Y:83.38, Z:25.38 [[ 7.96478110e-01 -6.00421346e-01 -7.15320099e-02 2.68874975e+02] [ 5.97832840e-01 7.99682191e-01 -5.57161367e-02 8.33830231e+01] [ 9.06560322e-02 1.61249864e-03 9.95880959e-01 2.53751144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957105681 meters 0.019913269533936507 Centerline is valid? [True, True] Translation: X:268.93, Y:83.41, Z:25.38 [[ 7.94268721e-01 -6.03417457e-01 -7.08842170e-02 2.68928569e+02] [ 6.00885945e-01 7.97424448e-01 -5.52298075e-02 8.34080585e+01] [ 8.98514376e-02 1.27397881e-03 9.95954364e-01 2.53795430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017105681 meters 0.02027113248970139 Centerline is valid? [True, True] Translation: X:268.98, Y:83.44, Z:25.38 [[ 7.94376308e-01 -6.03351024e-01 -7.02411742e-02 2.68978860e+02] [ 6.00863939e-01 7.97474704e-01 -5.47414255e-02 8.34379849e+01] [ 8.90438548e-02 1.27990291e-03 9.96026884e-01 2.53845349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077105681 meters 0.024043490165473094 Centerline is valid? [True, True] Translation: X:269.03, Y:83.48, Z:25.39 [[ 8.00547186e-01 -5.94925226e-01 -7.20290095e-02 2.69025327e+02] [ 5.92271511e-01 8.03777726e-01 -5.61767316e-02 8.34750311e+01] [ 9.13162682e-02 2.31139415e-03 9.95819259e-01 2.53879083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137105681 meters 0.02884966128422672 Centerline is valid? [True, True] Translation: X:269.07, Y:83.51, Z:25.39 [[ 8.06508627e-01 -5.86316079e-01 -7.60084842e-02 2.69071819e+02] [ 5.83320806e-01 8.10074892e-01 -5.92916978e-02 8.35115625e+01] [ 9.63362405e-02 3.48193549e-03 9.95342757e-01 2.53878939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197105681 meters 0.0329347104716206 Centerline is valid? [True, True] Translation: X:269.12, Y:83.54, Z:25.39 [[ 8.08844381e-01 -5.83082692e-01 -7.60614305e-02 2.69123253e+02] [ 5.80065559e-01 8.12403454e-01 -5.93681301e-02 8.35407139e+01] [ 9.64090980e-02 3.89896230e-03 9.95334157e-01 2.53924375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257105681 meters 0.027020983450932866 Centerline is valid? [True, True] Translation: X:269.18, Y:83.56, Z:25.40 [[ 8.03667710e-01 -5.90434764e-01 -7.41956954e-02 2.69184735e+02] [ 5.87594271e-01 8.07079965e-01 -5.79215216e-02 8.35579934e+01] [ 9.40807392e-02 2.95269106e-03 9.95560192e-01 2.54003511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317105681 meters 0.02108146837806302 Centerline is valid? [True, True] Translation: X:269.25, Y:83.57, Z:25.41 [[ 7.96051887e-01 -6.00608027e-01 -7.46417510e-02 2.69247395e+02] [ 5.97773910e-01 7.99541602e-01 -5.83059086e-02 8.35739009e+01] [ 9.46981819e-02 1.79563720e-03 9.95504410e-01 2.54057393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377105681 meters 0.019112275524553836 Centerline is valid? [True, True] Translation: X:269.31, Y:83.59, Z:25.41 [[ 7.93138643e-01 -6.04584828e-01 -7.35409995e-02 2.69306656e+02] [ 6.01847531e-01 7.96539651e-01 -5.74815892e-02 8.35926499e+01] [ 9.33308188e-02 1.33040064e-03 9.95634264e-01 2.54124366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437105681 meters 0.018071950182836687 Centerline is valid? [True, True] Translation: X:269.36, Y:83.62, Z:25.42 [[ 7.90664202e-01 -6.07740162e-01 -7.41755688e-02 2.69357516e+02] [ 6.04965370e-01 7.94135315e-01 -5.80172601e-02 8.36226128e+01] [ 9.41648577e-02 9.98520237e-04 9.95556117e-01 2.54164043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49710568099994 meters 0.017827909362526952 Centerline is valid? [True, True] Translation: X:269.41, Y:83.65, Z:25.42 [[ 7.89109670e-01 -6.09810305e-01 -7.37381872e-02 2.69409331e+02] [ 6.07073578e-01 7.92547025e-01 -5.77138110e-02 8.36506465e+01] [ 9.36354575e-02 7.78021249e-04 9.95606245e-01 2.54238112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55710568099994 meters 0.021879805806118015 Centerline is valid? [True, True] Translation: X:269.45, Y:83.69, Z:25.43 [[ 7.96268706e-01 -6.00663202e-01 -7.18322074e-02 2.69451276e+02] [ 5.98025618e-01 7.99500052e-01 -5.62585690e-02 8.36920411e+01] [ 9.12223058e-02 1.83943770e-03 9.95828854e-01 2.54343711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61710568099994 meters 0.026047281968594103 Centerline is valid? [True, True] Translation: X:269.49, Y:83.74, Z:25.44 [[ 8.02121917e-01 -5.92667425e-01 -7.31146571e-02 2.69492107e+02] [ 5.89897945e-01 8.05442309e-01 -5.72983484e-02 8.37367380e+01] [ 9.28485029e-02 2.83007509e-03 9.95676226e-01 2.54364918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67710568099994 meters 0.027237689671759685 Centerline is valid? [True, True] Translation: X:269.54, Y:83.77, Z:25.44 [[ 8.02929737e-01 -5.91479346e-01 -7.38648801e-02 2.69541914e+02] [ 5.88644391e-01 8.06314472e-01 -5.79202256e-02 8.37685850e+01] [ 9.38169390e-02 3.02572411e-03 9.95584867e-01 2.54407422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73710568099995 meters 0.02610058578605331 Centerline is valid? [True, True] Translation: X:269.59, Y:83.80, Z:25.45 [[ 8.01712276e-01 -5.93312452e-01 -7.23723783e-02 2.69594571e+02] [ 5.90595207e-01 8.04967444e-01 -5.67865774e-02 8.37963860e+01] [ 9.19495918e-02 2.78371647e-03 9.95759772e-01 2.54480230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79710568099995 meters 0.02611937962351417 Centerline is valid? [True, True] Translation: X:269.65, Y:83.83, Z:25.45 [[ 8.01850124e-01 -5.92944788e-01 -7.38434627e-02 2.69646058e+02] [ 5.90110466e-01 8.05237840e-01 -5.79798159e-02 8.38258075e+01] [ 9.38403801e-02 2.91532235e-03 9.95582987e-01 2.54493580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85710568099995 meters 0.020500932271038958 Centerline is valid? [True, True] Translation: X:269.70, Y:83.85, Z:25.46 [[ 7.94255208e-01 -6.03175934e-01 -7.30579066e-02 2.69704632e+02] [ 6.00440947e-01 7.97606307e-01 -5.74007688e-02 8.38471726e+01] [ 9.28942094e-02 1.72390093e-03 9.95674492e-01 2.54562673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91710568099995 meters 0.017061101906105967 Centerline is valid? [True, True] Translation: X:269.77, Y:83.87, Z:25.46 [[ 7.80293220e-01 -6.20702104e-01 -7.66249818e-02 2.69765148e+02] [ 6.17771898e-01 7.84046420e-01 -6.02419596e-02 8.38655696e+01] [ 9.74698538e-02 -3.30367735e-04 9.95238423e-01 2.54570185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97710568099995 meters 0.021177730575233297 Centerline is valid? [True, True] Translation: X:269.82, Y:83.89, Z:25.46 [[ 7.70840705e-01 -6.32542035e-01 -7.54664274e-02 2.69817728e+02] [ 6.29752979e-01 7.74524016e-01 -5.93610534e-02 8.38918296e+01] [ 9.59989220e-02 -1.76729120e-03 9.95379869e-01 2.54612445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03710568099996 meters 0.02446996891063956 Centerline is valid? [True, True] Translation: X:269.87, Y:83.93, Z:25.47 [[ 7.65432551e-01 -6.39501901e-01 -7.17657868e-02 2.69865081e+02] [ 6.37008448e-01 7.68785484e-01 -5.64722686e-02 8.39262754e+01] [ 9.12866183e-02 -2.48969986e-03 9.95821548e-01 2.54726411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09710568099996 meters 0.025495170960701374 Centerline is valid? [True, True] Translation: X:269.90, Y:83.97, Z:25.48 [[ 7.65169598e-01 -6.40139080e-01 -6.88290974e-02 2.69902827e+02] [ 6.37845549e-01 7.68255186e-01 -5.41943268e-02 8.39712104e+01] [ 8.75702175e-02 -2.43448213e-03 9.96155375e-01 2.54822901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15710568099996 meters 0.021366483217641348 Centerline is valid? [True, True] Translation: X:269.94, Y:84.03, Z:25.49 [[ 7.69867544e-01 -6.34917115e-01 -6.46855578e-02 2.69935229e+02] [ 6.32872549e-01 7.72578346e-01 -5.09414969e-02 8.40250410e+01] [ 8.23182895e-02 -1.71950875e-03 9.96604607e-01 2.54913448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21710568099996 meters 0.017830052018905064 Centerline is valid? [True, True] Translation: X:269.97, Y:84.08, Z:25.49 [[ 7.76775383e-01 -6.26170224e-01 -6.73116276e-02 2.69966017e+02] [ 6.23919884e-01 7.79685976e-01 -5.30448506e-02 8.40817200e+01] [ 8.56970380e-02 -7.93128711e-04 9.96320927e-01 2.54930546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27710568099997 meters 0.017258015157517365 Centerline is valid? [True, True] Translation: X:269.99, Y:84.14, Z:25.50 [[ 7.85830009e-01 -6.14782015e-01 -6.71883153e-02 2.69994172e+02] [ 6.12495028e-01 7.88696926e-01 -5.29811188e-02 8.41414385e+01] [ 8.55630568e-02 4.81644049e-04 9.96332641e-01 2.54972131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33710568099997 meters 0.021786730936838524 Centerline is valid? [True, True] Translation: X:270.03, Y:84.20, Z:25.50 [[ 7.94546882e-01 -6.03081705e-01 -7.06237237e-02 2.70027049e+02] [ 6.00504193e-01 7.97677229e-01 -5.57292852e-02 8.41955047e+01] [ 8.99442486e-02 1.86968756e-03 9.95945047e-01 2.54963587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.39710568099997 meters 0.02447940008772681 Centerline is valid? [True, True] Translation: X:270.07, Y:84.24, Z:25.50 [[ 7.98050656e-01 -5.98244901e-01 -7.22370347e-02 2.70067692e+02] [ 5.95527333e-01 8.01309487e-01 -5.70114201e-02 8.42408874e+01] [ 9.19910126e-02 2.47887257e-03 9.95756752e-01 2.54972020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457105681 meters 0.024551943281766957 Centerline is valid? [True, True] Translation: X:270.11, Y:84.28, Z:25.50 [[ 7.98400406e-01 -5.98007363e-01 -7.03134815e-02 2.70109569e+02] [ 5.95429203e-01 8.01486820e-01 -5.55242325e-02 8.42823698e+01] [ 8.95592286e-02 2.46386949e-03 9.95978451e-01 2.55026466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517105681 meters 0.020427586679440814 Centerline is valid? [True, True] Translation: X:270.16, Y:84.31, Z:25.50 [[ 7.91826128e-01 -6.06151539e-01 -7.47776393e-02 2.70161606e+02] [ 6.03266865e-01 7.95347406e-01 -5.90897050e-02 8.43121416e+01] [ 9.52915171e-02 1.67790026e-03 9.95447995e-01 2.55002766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577105681 meters 0.01663442488163689 Centerline is valid? [True, True] Translation: X:270.22, Y:84.33, Z:25.50 [[ 7.80849681e-01 -6.20190687e-01 -7.50818697e-02 2.70219417e+02] [ 6.17345035e-01 7.84451089e-01 -5.93430447e-02 8.43344674e+01] [ 9.57020581e-02 -1.34219018e-05 9.95410024e-01 2.55030753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637105681 meters 0.021208395161391284 Centerline is valid? [True, True] Translation: X:270.28, Y:84.35, Z:25.51 [[ 7.69547745e-01 -6.34349006e-01 -7.34684010e-02 2.70278227e+02] [ 6.31684735e-01 7.73044929e-01 -5.81027821e-02 8.43532730e+01] [ 9.36518169e-02 -1.69600241e-03 9.95603566e-01 2.55111629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697105681 meters 0.024021032511289734 Centerline is valid? [True, True] Translation: X:270.33, Y:84.38, Z:25.52 [[ 7.64297411e-01 -6.40680406e-01 -7.33354275e-02 2.70328445e+02] [ 6.38052956e-01 7.67803758e-01 -5.80156343e-02 8.43849665e+01] [ 9.34766970e-02 -2.45068721e-03 9.95618452e-01 2.55162131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757105681 meters 0.030548376271590752 Centerline is valid? [True, True] Translation: X:270.38, Y:84.41, Z:25.52 [[ 7.56934513e-01 -6.49505958e-01 -7.20565988e-02 2.70382675e+02] [ 6.47005821e-01 7.60348689e-01 -5.70380429e-02 8.44086964e+01] [ 9.18346891e-02 -3.44697557e-03 9.95768300e-01 2.55232401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817105681 meters 0.035649487737344394 Centerline is valid? [True, True] Translation: X:270.43, Y:84.44, Z:25.53 [[ 7.52115650e-01 -6.55174966e-01 -7.11885753e-02 2.70431375e+02] [ 6.52758145e-01 7.55466203e-01 -5.63703838e-02 8.44389959e+01] [ 9.07130270e-02 -4.07187450e-03 9.95868750e-01 2.55298712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877105681 meters 0.033075110791155056 Centerline is valid? [True, True] Translation: X:270.47, Y:84.48, Z:25.54 [[ 7.55084272e-01 -6.51915606e-01 -6.96691099e-02 2.70472629e+02] [ 6.49585367e-01 7.58283055e-01 -5.51874840e-02 8.44801272e+01] [ 8.88064876e-02 -3.58483316e-03 9.96042447e-01 2.55383404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937105681 meters 0.021220152366817003 Centerline is valid? [True, True] Translation: X:270.50, Y:84.54, Z:25.55 [[ 7.70295222e-01 -6.34339966e-01 -6.52539498e-02 2.70497680e+02] [ 6.32229252e-01 7.73052916e-01 -5.17239034e-02 8.45391715e+01] [ 8.32552953e-02 -1.41278021e-03 9.96527250e-01 2.55545863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99710568099994 meters 0.016809885899667847 Centerline is valid? [True, True] Translation: X:270.52, Y:84.60, Z:25.56 [[ 7.82640003e-01 -6.18841279e-01 -6.71572611e-02 2.70524827e+02] [ 6.16546576e-01 7.85516010e-01 -5.32439538e-02 8.46000328e+01] [ 8.57026603e-02 2.65268803e-04 9.96320723e-01 2.55550225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05710568099994 meters 0.021552617495190423 Centerline is valid? [True, True] Translation: X:270.56, Y:84.65, Z:25.55 [[ 7.92323710e-01 -6.05950011e-01 -7.10473270e-02 2.70557709e+02] [ 6.03326539e-01 7.95500721e-01 -5.63532696e-02 8.46544339e+01] [ 9.06654642e-02 1.78529369e-03 9.95879805e-01 2.55518515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11710568099994 meters 0.02650496016305301 Centerline is valid? [True, True] Translation: X:270.60, Y:84.70, Z:25.55 [[ 7.99053259e-01 -5.96408333e-01 -7.62298458e-02 2.70596875e+02] [ 5.93340893e-01 8.02675189e-01 -6.04907065e-02 8.47014427e+01] [ 9.72649673e-02 3.10501139e-03 9.95253679e-01 2.55469661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17710568099994 meters 0.03192620989718687 Centerline is valid? [True, True] Translation: X:270.64, Y:84.74, Z:25.55 [[ 8.03893588e-01 -5.89741803e-01 -7.71991258e-02 2.70640783e+02] [ 5.86563425e-01 8.07582069e-01 -6.12743913e-02 8.47400980e+01] [ 9.84806998e-02 3.97590666e-03 9.95131018e-01 2.55508016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23710568099995 meters 0.03707111534334763 Centerline is valid? [True, True] Translation: X:270.69, Y:84.78, Z:25.56 [[ 8.10348107e-01 -5.81070239e-01 -7.54541160e-02 2.70687245e+02] [ 5.77995516e-01 8.13838491e-01 -5.99006949e-02 8.47759466e+01] [ 9.62139750e-02 4.92827393e-03 9.95348473e-01 2.55583807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29710568099995 meters 0.03904485410581624 Centerline is valid? [True, True] Translation: X:270.74, Y:84.81, Z:25.57 [[ 8.13828940e-01 -5.76710089e-01 -7.13297262e-02 2.70738528e+02] [ 5.73945137e-01 8.16932610e-01 -5.66400123e-02 8.48056276e+01] [ 9.09364459e-02 5.15593171e-03 9.95843351e-01 2.55688675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35710568099995 meters 0.038209051997894906 Centerline is valid? [True, True] Translation: X:270.80, Y:84.83, Z:25.58 [[ 8.11132370e-01 -5.80658644e-01 -6.99986941e-02 2.70795349e+02] [ 5.78008690e-01 8.14133881e-01 -5.56055661e-02 8.48272976e+01] [ 8.92761611e-02 4.64362115e-03 9.95996086e-01 2.55759898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41710568099995 meters 0.034290124148173604 Centerline is valid? [True, True] Translation: X:270.86, Y:84.85, Z:25.58 [[ 8.08012706e-01 -5.84580559e-01 -7.33555526e-02 2.70855601e+02] [ 5.81684628e-01 8.11323608e-01 -5.82837557e-02 8.48471312e+01] [ 9.35866421e-02 4.42421784e-03 9.95601309e-01 2.55769169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47710568099995 meters 0.036250532778830113 Centerline is valid? [True, True] Translation: X:270.91, Y:84.87, Z:25.58 [[ 8.10318950e-01 -5.81103659e-01 -7.55098446e-02 2.70909920e+02] [ 5.78015990e-01 8.13814191e-01 -6.00331460e-02 8.48747953e+01] [ 9.63364639e-02 5.00009833e-03 9.95336267e-01 2.55809680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53710568099996 meters 0.04124829008135906 Centerline is valid? [True, True] Translation: X:270.96, Y:84.91, Z:25.59 [[ 8.14062954e-01 -5.75842742e-01 -7.55423254e-02 2.70957970e+02] [ 5.72726635e-01 8.17540932e-01 -6.00918157e-02 8.49070959e+01] [ 9.63623790e-02 5.65341915e-03 9.95330262e-01 2.55868923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59710568099996 meters 0.041694149877659244 Centerline is valid? [True, True] Translation: X:271.01, Y:84.93, Z:25.59 [[ 8.14695169e-01 -5.74613618e-01 -7.80446773e-02 2.71013455e+02] [ 5.71280026e-01 8.18402796e-01 -6.20966571e-02 8.49334272e+01] [ 9.95535670e-02 6.00448124e-03 9.95014087e-01 2.55896152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65710568099996 meters 0.03719278556103361 Centerline is valid? [True, True] Translation: X:271.07, Y:84.95, Z:25.59 [[ 8.11109846e-01 -5.79332091e-01 -8.04682907e-02 2.71072238e+02] [ 5.75806642e-01 8.15072178e-01 -6.40629003e-02 8.49547290e+01] [ 1.02701159e-01 5.62787292e-03 9.94696335e-01 2.55902347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71710568099996 meters 0.033410021544650656 Centerline is valid? [True, True] Translation: X:271.13, Y:84.98, Z:25.59 [[ 8.01984090e-01 -5.91349189e-01 -8.44254404e-02 2.71130601e+02] [ 5.87528578e-01 8.06403972e-01 -6.72517984e-02 8.49756176e+01] [ 1.07850307e-01 4.33251346e-03 9.94157704e-01 2.55882420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77710568099997 meters 0.02247736162916445 Centerline is valid? [True, True] Translation: X:271.19, Y:84.99, Z:25.60 [[ 7.91679825e-01 -6.05073316e-01 -8.44354057e-02 2.71194997e+02] [ 6.01326609e-01 7.96165868e-01 -6.72771935e-02 8.49893018e+01] [ 1.07932223e-01 2.48874059e-03 9.94155140e-01 2.55978834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83710568099997 meters 0.01756399656605235 Centerline is valid? [True, True] Translation: X:271.25, Y:85.01, Z:25.61 [[ 7.81102598e-01 -6.19101004e-01 -8.11953086e-02 2.71254292e+02] [ 6.15707642e-01 7.85311161e-01 -6.47339098e-02 8.50089445e+01] [ 1.03840411e-01 5.71253130e-04 9.94593808e-01 2.56085376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.89710568099997 meters 0.019363246809153908 Centerline is valid? [True, True] Translation: X:271.31, Y:85.03, Z:25.61 [[ 7.70699395e-01 -6.32063918e-01 -8.07319391e-02 2.71312524e+02] [ 6.28774951e-01 7.74915440e-01 -6.44059150e-02 8.50293166e+01] [ 1.03269081e-01 -1.12462127e-03 9.94652820e-01 2.56145323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957105681 meters 0.026250995350613728 Centerline is valid? [True, True] Translation: X:271.37, Y:85.05, Z:25.62 [[ 7.60945941e-01 -6.43977881e-01 -7.90807439e-02 2.71367719e+02] [ 6.40881517e-01 7.65039544e-01 -6.31298518e-02 8.50525794e+01] [ 1.01154124e-01 -2.64298265e-03 9.94867256e-01 2.56228227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017105681 meters 0.033986106423146555 Centerline is valid? [True, True] Translation: X:271.42, Y:85.08, Z:25.63 [[ 7.52979748e-01 -6.53174965e-01 -7.98997191e-02 2.71417915e+02] [ 6.50060522e-01 7.57197080e-01 -6.38271127e-02 8.50833324e+01] [ 1.02190106e-01 -3.87912992e-03 9.94757324e-01 2.56259892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077105681 meters 0.0398636374460865 Centerline is valid? [True, True] Translation: X:271.46, Y:85.12, Z:25.63 [[ 7.40968944e-01 -6.66674512e-01 -8.06853077e-02 2.71460443e+02] [ 6.63572166e-01 7.45326798e-01 -6.44976341e-02 8.51236227e+01] [ 1.03135851e-01 -5.74978058e-03 9.94650660e-01 2.56335450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137105681 meters 0.04642625194786115 Centerline is valid? [True, True] Translation: X:271.50, Y:85.16, Z:25.64 [[ 7.35252238e-01 -6.73008744e-01 -8.03951271e-02 2.71502320e+02] [ 6.69961753e-01 7.39605253e-01 -6.43064413e-02 8.51627917e+01] [ 1.02739456e-01 -6.58020549e-03 9.94686536e-01 2.56371598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197105681 meters 0.0530007882728614 Centerline is valid? [True, True] Translation: X:271.53, Y:85.21, Z:25.65 [[ 7.26476236e-01 -6.82813693e-01 -7.74450772e-02 2.71534841e+02] [ 6.80039339e-01 7.30552487e-01 -6.19641981e-02 8.52146343e+01] [ 9.88876967e-02 -7.65018172e-03 9.95069193e-01 2.56451703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257105681 meters 0.056386484138490914 Centerline is valid? [True, True] Translation: X:271.57, Y:85.27, Z:25.65 [[ 7.21578847e-01 -6.87758737e-01 -7.94473820e-02 2.71566409e+02] [ 6.84865714e-01 7.25889273e-01 -6.35902313e-02 8.52688787e+01] [ 1.01404740e-01 -8.52542221e-03 9.94808723e-01 2.56467810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317105681 meters 0.055003048401470224 Centerline is valid? [True, True] Translation: X:271.60, Y:85.32, Z:25.65 [[ 7.19882039e-01 -6.89496040e-01 -7.97813303e-02 2.71603934e+02] [ 6.86586463e-01 7.24236131e-01 -6.38831382e-02 8.53150971e+01] [ 1.01827693e-01 -8.78845761e-03 9.94763230e-01 2.56513854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377105681 meters 0.059690426775216625 Centerline is valid? [True, True] Translation: X:271.63, Y:85.37, Z:25.66 [[ 7.16911635e-01 -6.92833213e-01 -7.75876668e-02 2.71631026e+02] [ 6.90097121e-01 7.21041994e-01 -6.21643470e-02 8.53733936e+01] [ 9.90134903e-02 -8.97668188e-03 9.95045601e-01 2.56585685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437105681 meters 0.05546729593616435 Centerline is valid? [True, True] Translation: X:271.65, Y:85.44, Z:25.66 [[ 7.21736631e-01 -6.87896140e-01 -7.67797889e-02 2.71654019e+02] [ 6.85186687e-01 7.25762910e-01 -6.15418755e-02 8.54382407e+01] [ 9.80583416e-02 -8.19146331e-03 9.95146955e-01 2.56647381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49710568099994 meters 0.046163506897237576 Centerline is valid? [True, True] Translation: X:271.67, Y:85.51, Z:25.67 [[ 7.33469116e-01 -6.75538897e-01 -7.53010936e-02 2.71674602e+02] [ 6.72864103e-01 7.37296824e-01 -6.03928090e-02 8.55058292e+01] [ 9.63169488e-02 -6.37114254e-03 9.95330324e-01 2.56705668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55710568099994 meters 0.03378522977621402 Centerline is valid? [True, True] Translation: X:271.69, Y:85.58, Z:25.67 [[ 7.47951199e-01 -6.59314153e-01 -7.66410557e-02 2.71689227e+02] [ 6.56455621e-01 7.51855123e-01 -6.14808244e-02 8.55815246e+01] [ 9.81581481e-02 -4.32679545e-03 9.95161422e-01 2.56733741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61710568099994 meters 0.022635286569759567 Centerline is valid? [True, True] Translation: X:271.71, Y:85.65, Z:25.67 [[ 7.62696515e-01 -6.41662596e-01 -8.10131945e-02 2.71710069e+02] [ 6.38364609e-01 7.66984066e-01 -6.50082289e-02 8.56505047e+01] [ 1.03849178e-01 -2.13440652e-03 9.94590766e-01 2.56702620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67710568099994 meters 0.02122239786172409 Centerline is valid? [True, True] Translation: X:271.74, Y:85.71, Z:25.68 [[ 7.65022785e-01 -6.39029434e-01 -7.98844274e-02 2.71738499e+02] [ 6.35804849e-01 7.69180351e-01 -6.41387669e-02 8.57093159e+01] [ 1.02432092e-01 -1.72328819e-03 9.94738507e-01 2.56771377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73710568099995 meters 0.023302385752454385 Centerline is valid? [True, True] Translation: X:271.78, Y:85.75, Z:25.68 [[ 7.62100436e-01 -6.42342069e-01 -8.12378777e-02 2.71782556e+02] [ 6.39023524e-01 7.66414950e-01 -6.52461442e-02 8.57481714e+01] [ 1.04172267e-01 -2.18879996e-03 9.94556860e-01 2.56775750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79710568099995 meters 0.024994990883824137 Centerline is valid? [True, True] Translation: X:271.83, Y:85.79, Z:25.68 [[ 7.57612765e-01 -6.47586004e-01 -8.15798102e-02 2.71827982e+02] [ 6.44268079e-01 7.61986812e-01 -6.55342696e-02 8.57860142e+01] [ 1.04601815e-01 -2.90966837e-03 9.94509927e-01 2.56812552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85710568099995 meters 0.022840299526656484 Centerline is valid? [True, True] Translation: X:271.86, Y:85.84, Z:25.69 [[ 7.61102497e-01 -6.43793190e-01 -7.90779253e-02 2.71863391e+02] [ 6.40654384e-01 7.65196068e-01 -6.35368971e-02 8.58356141e+01] [ 1.01414739e-01 -2.30352854e-03 9.94841568e-01 2.56917405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91710568099995 meters 0.022125645242867056 Centerline is valid? [True, True] Translation: X:271.91, Y:85.88, Z:25.70 [[ 7.62383762e-01 -6.42377599e-01 -7.82433374e-02 2.71906144e+02] [ 6.39293613e-01 7.66385518e-01 -6.29040121e-02 8.58759350e+01] [ 1.00372689e-01 -2.06346855e-03 9.94947770e-01 2.56966607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97710568099995 meters 0.023497142075609587 Centerline is valid? [True, True] Translation: X:271.95, Y:85.91, Z:25.69 [[ 7.60185514e-01 -6.44619733e-01 -8.11380536e-02 2.71951338e+02] [ 6.41311281e-01 7.64499548e-01 -6.52708382e-02 8.59143088e+01] [ 1.04104876e-01 -2.41680335e-03 9.94563389e-01 2.56927081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03710568099996 meters 0.022649387871628512 Centerline is valid? [True, True] Translation: X:271.99, Y:85.96, Z:25.70 [[ 7.61237104e-01 -6.43426750e-01 -8.07470657e-02 2.71990435e+02] [ 6.40141723e-01 7.65504440e-01 -6.49732809e-02 8.59578875e+01] [ 1.03617784e-01 -2.22949356e-03 9.94614691e-01 2.57022492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09710568099996 meters 0.018318327127911118 Centerline is valid? [True, True] Translation: X:272.02, Y:86.01, Z:25.72 [[ 7.70716123e-01 -6.32540225e-01 -7.67432104e-02 2.72021905e+02] [ 6.29515631e-01 7.74527202e-01 -6.17874040e-02 8.60093488e+01] [ 9.85227225e-02 -6.90502060e-04 9.95134562e-01 2.57177185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15710568099996 meters 0.0182587584218599 Centerline is valid? [True, True] Translation: X:272.06, Y:86.05, Z:25.72 [[ 7.79087607e-01 -6.22258345e-01 -7.62696093e-02 2.72060586e+02] [ 6.19219843e-01 7.82811703e-01 -6.14216911e-02 8.60526879e+01] [ 9.79249025e-02 6.25222878e-04 9.95193611e-01 2.57221001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21710568099996 meters 0.02136797448495921 Centerline is valid? [True, True] Translation: X:272.10, Y:86.10, Z:25.73 [[ 7.86325293e-01 -6.13035447e-01 -7.66816380e-02 2.72097808e+02] [ 6.09915610e-01 7.90053302e-01 -6.17958714e-02 8.61010121e+01] [ 9.84656409e-02 1.82232868e-03 9.95138783e-01 2.57284290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27710568099997 meters 0.02627823392668626 Centerline is valid? [True, True] Translation: X:272.14, Y:86.14, Z:25.73 [[ 7.91592260e-01 -6.06021026e-01 -7.82317677e-02 2.72140014e+02] [ 6.02738116e-01 7.95443837e-01 -6.30544730e-02 8.61419804e+01] [ 1.00441314e-01 2.76016457e-03 9.94939156e-01 2.57297432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33710568099997 meters 0.025777123280198946 Centerline is valid? [True, True] Translation: X:272.19, Y:86.17, Z:25.74 [[ 7.92410907e-01 -6.04811582e-01 -7.92963110e-02 2.72194332e+02] [ 6.01430707e-01 7.96363075e-01 -6.39293146e-02 8.61683596e+01] [ 1.01813844e-01 2.96704974e-03 9.94799044e-01 2.57353422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.39710568099997 meters 0.021848693805173486 Centerline is valid? [True, True] Translation: X:272.25, Y:86.19, Z:25.74 [[ 7.85643179e-01 -6.13410558e-01 -8.05747033e-02 2.72249761e+02] [ 6.09959872e-01 7.89761863e-01 -6.50011914e-02 8.61915353e+01] [ 1.03507245e-01 1.92040696e-03 9.94626846e-01 2.57414366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457105681 meters 0.017933168745488833 Centerline is valid? [True, True] Translation: X:272.31, Y:86.21, Z:25.75 [[ 7.78865767e-01 -6.22195099e-01 -7.90023838e-02 2.72311101e+02] [ 6.18921543e-01 7.82861860e-01 -6.37450480e-02 8.62089170e+01] [ 1.01509810e-01 7.52558389e-04 9.94834254e-01 2.57482078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517105681 meters 0.017304372679047414 Centerline is valid? [True, True] Translation: X:272.36, Y:86.23, Z:25.75 [[ 7.76219447e-01 -6.25582778e-01 -7.82914934e-02 2.72364752e+02] [ 6.22384010e-01 7.80157733e-01 -6.31827211e-02 8.62346082e+01] [ 1.00605736e-01 3.16283262e-04 9.94926322e-01 2.57541339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577105681 meters 0.017365225014910085 Centerline is valid? [True, True] Translation: X:272.41, Y:86.27, Z:25.76 [[ 7.77189073e-01 -6.24488018e-01 -7.74071012e-02 2.72413161e+02] [ 6.21354055e-01 7.81034248e-01 -6.24871328e-02 8.62655991e+01] [ 9.94800628e-02 4.67100692e-04 9.95039446e-01 2.57618043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637105681 meters 0.018429786081875125 Centerline is valid? [True, True] Translation: X:272.46, Y:86.30, Z:25.77 [[ 7.79677116e-01 -6.21326054e-01 -7.78301344e-02 2.72464120e+02] [ 6.18137177e-01 7.83551595e-01 -6.28755037e-02 8.62961135e+01] [ 1.00050114e-01 9.12891836e-04 9.94981980e-01 2.57678086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697105681 meters 0.019480610720292696 Centerline is valid? [True, True] Translation: X:272.51, Y:86.33, Z:25.78 [[ 7.81745990e-01 -6.18788494e-01 -7.72917027e-02 2.72512054e+02] [ 6.15627232e-01 7.85556623e-01 -6.24812232e-02 8.63289672e+01] [ 9.93796709e-02 1.26156872e-03 9.95048787e-01 2.57756775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757105681 meters 0.021852041836767006 Centerline is valid? [True, True] Translation: X:272.56, Y:86.36, Z:25.78 [[ 7.84485732e-01 -6.15474520e-01 -7.59819202e-02 2.72560196e+02] [ 6.12400407e-01 7.88154985e-01 -6.14610626e-02 8.63605894e+01] [ 9.77132471e-02 1.68396781e-03 9.95213186e-01 2.57830542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817105681 meters 0.028221391742337943 Centerline is valid? [True, True] Translation: X:272.61, Y:86.39, Z:25.79 [[ 7.93959568e-01 -6.03324887e-01 -7.50152334e-02 2.72608541e+02] [ 6.00272440e-01 7.97489245e-01 -6.06951614e-02 8.63946407e+01] [ 9.64427432e-02 3.15992691e-03 9.95333518e-01 2.57917824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877105681 meters 0.03546371408671953 Centerline is valid? [True, True] Translation: X:272.65, Y:86.43, Z:25.80 [[ 8.01308213e-01 -5.93452680e-01 -7.56244943e-02 2.72653404e+02] [ 5.90302662e-01 8.04856756e-01 -6.12239216e-02 8.64331108e+01] [ 9.72003856e-02 4.41789089e-03 9.95255026e-01 2.57957145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937105681 meters 0.03690016169940657 Centerline is valid? [True, True] Translation: X:272.71, Y:86.46, Z:25.80 [[ 8.03461490e-01 -5.90286001e-01 -7.75375434e-02 2.72706737e+02] [ 5.86958449e-01 8.07179107e-01 -6.27827088e-02 8.64617821e+01] [ 9.96464391e-02 4.93217261e-03 9.95010684e-01 2.57968048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99710568099994 meters 0.03642649122810854 Centerline is valid? [True, True] Translation: X:272.76, Y:86.49, Z:25.80 [[ 8.03237946e-01 -5.90344490e-01 -7.93862998e-02 2.72759090e+02] [ 5.86854345e-01 8.07135552e-01 -6.42975771e-02 8.64907309e+01] [ 1.02033225e-01 5.05805875e-03 9.94768132e-01 2.57994934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05710568099994 meters 0.040957296815918816 Centerline is valid? [True, True] Translation: X:272.81, Y:86.52, Z:25.80 [[ 8.04669454e-01 -5.88058791e-01 -8.18164302e-02 2.72813739e+02] [ 5.84334815e-01 8.08799160e-01 -6.63079386e-02 8.65170259e+01] [ 1.05166026e-01 5.54778408e-03 9.94439203e-01 2.58001068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11710568099994 meters 0.044170207617196894 Centerline is valid? [True, True] Translation: X:272.87, Y:86.54, Z:25.81 [[ 8.09363182e-01 -5.81749708e-01 -8.06133761e-02 2.72867437e+02] [ 5.78101766e-01 8.13343546e-01 -6.53500195e-02 8.65446404e+01] [ 1.03583724e-01 6.28916467e-03 9.94600854e-01 2.58100645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17710568099994 meters 0.04826697039541606 Centerline is valid? [True, True] Translation: X:272.92, Y:86.57, Z:25.81 [[ 8.13456675e-01 -5.75326881e-01 -8.53652016e-02 2.72920497e+02] [ 5.71195234e-01 8.17888603e-01 -6.92404300e-02 8.65734561e+01] [ 1.09655106e-01 7.56389365e-03 9.93940916e-01 2.58079142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23710568099995 meters 0.05030785910358371 Centerline is valid? [True, True] Translation: X:272.97, Y:86.60, Z:25.81 [[ 8.14743188e-01 -5.73282066e-01 -8.68401451e-02 2.72973064e+02] [ 5.68992780e-01 8.19319146e-01 -7.04510721e-02 8.66025649e+01] [ 1.11538130e-01 7.98811555e-03 9.93728049e-01 2.58122374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29710568099995 meters 0.0485564379371968 Centerline is valid? [True, True] Translation: X:273.03, Y:86.62, Z:25.82 [[ 8.12874375e-01 -5.75926847e-01 -8.68534255e-02 2.73031287e+02] [ 5.71650007e-01 8.17465579e-01 -7.04719577e-02 8.66233386e+01] [ 1.11586378e-01 7.63508727e-03 9.93725408e-01 2.58201317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35710568099995 meters 0.04348425059541637 Centerline is valid? [True, True] Translation: X:273.09, Y:86.64, Z:25.83 [[ 8.10115411e-01 -5.79722654e-01 -8.73765672e-02 2.73092238e+02] [ 5.75414341e-01 8.14782354e-01 -7.09087549e-02 8.66411710e+01] [ 1.12300297e-01 7.16654529e-03 9.93648471e-01 2.58273239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41710568099995 meters 0.04250463221301899 Centerline is valid? [True, True] Translation: X:273.15, Y:86.66, Z:25.83 [[ 8.08285185e-01 -5.82047127e-01 -8.88605810e-02 2.73149056e+02] [ 5.77603077e-01 8.13125163e-01 -7.21259648e-02 8.66641278e+01] [ 1.14235485e-01 6.97220378e-03 9.93429234e-01 2.58341095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47710568099995 meters 0.042469679089789276 Centerline is valid? [True, True] Translation: X:273.20, Y:86.69, Z:25.85 [[ 8.08150976e-01 -5.82596286e-01 -8.64497985e-02 2.73203504e+02] [ 5.78392583e-01 8.12733943e-01 -7.01823127e-02 8.66895626e+01] [ 1.11148640e-01 6.71598224e-03 9.93781100e-01 2.58455756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53710568099996 meters 0.03853710064514476 Centerline is valid? [True, True] Translation: X:273.26, Y:86.71, Z:25.85 [[ 8.03868622e-01 -5.88296202e-01 -8.77656952e-02 2.73260757e+02] [ 5.83994308e-01 8.08622981e-01 -7.12707666e-02 8.67123782e+01] [ 1.12897679e-01 6.03766658e-03 9.93588275e-01 2.58518590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59710568099996 meters 0.03169093651827837 Centerline is valid? [True, True] Translation: X:273.32, Y:86.73, Z:25.86 [[ 7.94026136e-01 -6.01586918e-01 -8.72678424e-02 2.73324521e+02] [ 5.97408340e-01 7.98796488e-01 -7.09044845e-02 8.67260698e+01] [ 1.12364456e-01 4.16547697e-03 9.93658330e-01 2.58552007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65710568099996 meters 0.02390731706764529 Centerline is valid? [True, True] Translation: X:273.39, Y:86.74, Z:25.87 [[ 7.83522951e-01 -6.15634173e-01 -8.41804640e-02 2.73385165e+02] [ 6.11824861e-01 7.88029289e-01 -6.84118322e-02 8.67415251e+01] [ 1.08453333e-01 2.09853997e-03 9.94099326e-01 2.58652309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71710568099996 meters 0.02058790679048402 Centerline is valid? [True, True] Translation: X:273.45, Y:86.75, Z:25.87 [[ 7.68402570e-01 -6.34599695e-01 -8.27086280e-02 2.73451457e+02] [ 6.31028009e-01 7.72840830e-01 -6.72361741e-02 8.67521802e+01] [ 1.06588660e-01 -5.27011882e-04 9.94303062e-01 2.58744696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77710568099997 meters 0.030501018146599085 Centerline is valid? [True, True] Translation: X:273.51, Y:86.77, Z:25.88 [[ 7.53549751e-01 -6.52136756e-01 -8.29483178e-02 2.73513271e+02] [ 6.48643715e-01 7.58095566e-01 -6.74718054e-02 8.67666148e+01] [ 1.06883596e-01 -2.96054283e-03 9.94267133e-01 2.58785885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83710568099997 meters 0.039466888845543564 Centerline is valid? [True, True] Translation: X:273.57, Y:86.79, Z:25.89 [[ 7.44728281e-01 -6.62212831e-01 -8.27886107e-02 2.73566465e+02] [ 6.58790871e-01 7.49303092e-01 -6.73755510e-02 8.67925988e+01] [ 1.06650716e-01 -4.36390263e-03 9.94286971e-01 2.58855998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.89710568099997 meters 0.036465809864637835 Centerline is valid? [True, True] Translation: X:273.60, Y:86.84, Z:25.90 [[ 7.40950135e-01 -6.66443154e-01 -8.27430916e-02 2.73604645e+02] [ 6.63046180e-01 7.45539519e-01 -6.73838927e-02 8.68375166e+01] [ 1.06595779e-01 -4.93438644e-03 9.94290195e-01 2.58959744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957105681 meters 0.043241033259983984 Centerline is valid? [True, True] Translation: X:273.65, Y:86.88, Z:25.90 [[ 7.38308445e-01 -6.69243142e-01 -8.37511625e-02 2.73647578e+02] [ 6.65775190e-01 7.43024099e-01 -6.82538253e-02 8.68766354e+01] [ 1.07907537e-01 -5.36707053e-03 9.94146447e-01 2.58988194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017105681 meters 0.0317529769517029 Centerline is valid? [True, True] Translation: X:273.67, Y:86.94, Z:25.90 [[ 7.47158736e-01 -6.59111359e-01 -8.55922872e-02 2.73667494e+02] [ 6.55416667e-01 7.52035006e-01 -6.98021670e-02 8.69445825e+01] [ 1.10375797e-01 -3.94531267e-03 9.93882095e-01 2.59035463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077105681 meters 0.025682515037947502 Centerline is valid? [True, True] Translation: X:273.69, Y:87.00, Z:25.91 [[ 7.54560434e-01 -6.50952993e-01 -8.30587311e-02 2.73694583e+02] [ 6.47419608e-01 7.59113495e-01 -6.77831322e-02 8.70033979e+01] [ 1.07174636e-01 -2.62738149e-03 9.94236740e-01 2.59138514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137105681 meters 0.02338862877248282 Centerline is valid? [True, True] Translation: X:273.73, Y:87.06, Z:25.92 [[ 7.55651796e-01 -6.49709708e-01 -8.28713411e-02 2.73725797e+02] [ 6.46179860e-01 7.60178589e-01 -6.76764479e-02 8.70577815e+01] [ 1.06967064e-01 -2.40996220e-03 9.94259644e-01 2.59215502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197105681 meters 0.03019517838446139 Centerline is valid? [True, True] Translation: X:273.77, Y:87.10, Z:25.92 [[ 7.48204629e-01 -6.58209713e-01 -8.33654954e-02 2.73769208e+02] [ 6.54684776e-01 7.52825983e-01 -6.81240390e-02 8.70969944e+01] [ 1.07599615e-01 -3.60739927e-03 9.94187764e-01 2.59214277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257105681 meters 0.04123586234831835 Centerline is valid? [True, True] Translation: X:273.81, Y:87.13, Z:25.93 [[ 7.33991998e-01 -6.73842200e-01 -8.48082284e-02 2.73814496e+02] [ 6.70292615e-01 7.38851259e-01 -6.93298445e-02 8.71332789e+01] [ 1.09378041e-01 -5.95877816e-03 9.93982363e-01 2.59270795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317105681 meters 0.04834289397966362 Centerline is valid? [True, True] Translation: X:273.85, Y:87.19, Z:25.94 [[ 7.23248942e-01 -6.85715612e-01 -8.18844739e-02 2.73846797e+02] [ 6.82478572e-01 7.27831420e-01 -6.69658363e-02 8.71850509e+01] [ 1.05517612e-01 -7.45142853e-03 9.94389516e-01 2.59391016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377105681 meters 0.05004307705375924 Centerline is valid? [True, True] Translation: X:273.88, Y:87.24, Z:25.94 [[ 7.20445628e-01 -6.88712874e-01 -8.14412390e-02 2.73878683e+02] [ 6.85524858e-01 7.24992095e-01 -6.66493174e-02 8.72384790e+01] [ 1.04946497e-01 -7.81278448e-03 9.94447180e-01 2.59448707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437105681 meters 0.050679578924284395 Centerline is valid? [True, True] Translation: X:273.91, Y:87.29, Z:25.95 [[ 7.18768837e-01 -6.90148543e-01 -8.40615677e-02 2.73909356e+02] [ 6.86756345e-01 7.23620700e-01 -6.88389771e-02 8.72941835e+01] [ 1.08337810e-01 -8.25050347e-03 9.94079900e-01 2.59473897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49710568099994 meters 0.048167176243836304 Centerline is valid? [True, True] Translation: X:273.94, Y:87.35, Z:25.96 [[ 7.22455139e-01 -6.86640113e-01 -8.11414042e-02 2.73937846e+02] [ 6.83454678e-01 7.26959544e-01 -6.64794999e-02 8.73506608e+01] [ 1.04634010e-01 -7.42801596e-03 9.94483056e-01 2.59596556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55710568099994 meters 0.037088869046684174 Centerline is valid? [True, True] Translation: X:273.96, Y:87.42, Z:25.97 [[ 7.35689803e-01 -6.72302369e-01 -8.22802493e-02 2.73957452e+02] [ 6.68931828e-01 7.40256850e-01 -6.74537251e-02 8.74195869e+01] [ 1.06257817e-01 -5.41485987e-03 9.94323869e-01 2.59662954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61710568099994 meters 0.022880052133136788 Centerline is valid? [True, True] Translation: X:273.97, Y:87.49, Z:25.97 [[ 7.55552217e-01 -6.49690143e-01 -8.39259493e-02 2.73972982e+02] [ 6.46038294e-01 7.60195891e-01 -6.88239035e-02 8.74935723e+01] [ 1.08514374e-01 -2.21932422e-03 9.94092403e-01 2.59685731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67710568099994 meters 0.018999118498417063 Centerline is valid? [True, True] Translation: X:273.99, Y:87.56, Z:25.98 [[ 7.69969709e-01 -6.32545821e-01 -8.38595891e-02 2.73993589e+02] [ 6.28794159e-01 7.74522904e-01 -6.87908294e-02 8.75611775e+01] [ 1.08464524e-01 2.36435144e-04 9.94100292e-01 2.59751995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73710568099995 meters 0.020658111945455866 Centerline is valid? [True, True] Translation: X:274.03, Y:87.61, Z:25.98 [[ 7.74950658e-01 -6.26339927e-01 -8.45563298e-02 2.74028617e+02] [ 6.22483723e-01 7.79549211e-01 -6.94049136e-02 8.76107232e+01] [ 1.09386889e-01 1.15044450e-03 9.93998584e-01 2.59775969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79710568099995 meters 0.021203481433015252 Centerline is valid? [True, True] Translation: X:274.07, Y:87.65, Z:25.98 [[ 7.74718750e-01 -6.26216562e-01 -8.75424173e-02 2.74070372e+02] [ 6.22075896e-01 7.79648164e-01 -7.19049408e-02 8.76533593e+01] [ 1.13280350e-01 1.24807819e-03 9.93562280e-01 2.59762687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85710568099995 meters 0.02140245632656878 Centerline is valid? [True, True] Translation: X:274.12, Y:87.69, Z:25.98 [[ 7.73751152e-01 -6.27058714e-01 -9.00362351e-02 2.74116768e+02] [ 6.22677775e-01 7.78971076e-01 -7.40030515e-02 8.76892281e+01] [ 1.16539881e-01 1.19638385e-03 9.93185292e-01 2.59794614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91710568099995 meters 0.02044999229331927 Centerline is valid? [True, True] Translation: X:274.17, Y:87.72, Z:25.98 [[ 7.68570281e-01 -6.33276811e-01 -9.08856675e-02 2.74169368e+02] [ 6.28849750e-01 7.73925315e-01 -7.47502446e-02 8.77180187e+01] [ 1.17676315e-01 2.97387144e-04 9.93051961e-01 2.59844146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97710568099995 meters 0.020664697423104172 Centerline is valid? [True, True] Translation: X:274.22, Y:87.74, Z:26.00 [[ 7.60258888e-01 -6.43411805e-01 -8.95972730e-02 2.74224386e+02] [ 6.39173495e-01 7.65519295e-01 -7.37390869e-02 8.77406642e+01] [ 1.16033040e-01 -1.20740580e-03 9.93244620e-01 2.59955912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03710568099996 meters 0.023427285876106655 Centerline is valid? [True, True] Translation: X:274.28, Y:87.76, Z:26.01 [[ 7.51406759e-01 -6.54060296e-01 -8.71378837e-02 2.74281597e+02] [ 6.50117875e-01 7.56437486e-01 -7.17570885e-02 8.77630286e+01] [ 1.12847824e-01 -2.73113441e-03 9.93608529e-01 2.60078405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09710568099996 meters 0.027922433207011106 Centerline is valid? [True, True] Translation: X:274.33, Y:87.79, Z:26.01 [[ 7.46435664e-01 -6.59726419e-01 -8.71484400e-02 2.74334039e+02] [ 6.55820011e-01 7.51497342e-01 -7.17764410e-02 8.77914589e+01] [ 1.12844635e-01 -3.57719541e-03 9.93606206e-01 2.60141633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15710568099996 meters 0.028528205743298 Centerline is valid? [True, True] Translation: X:274.38, Y:87.83, Z:26.02 [[ 7.44419238e-01 -6.61909127e-01 -8.78425047e-02 2.74378563e+02] [ 6.57953809e-01 7.49573786e-01 -7.23596943e-02 8.78289991e+01] [ 1.13739981e-01 -3.93036208e-03 9.93502778e-01 2.60198328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21710568099996 meters 0.031673864746859334 Centerline is valid? [True, True] Translation: X:274.43, Y:87.86, Z:26.03 [[ 7.38620574e-01 -6.68595255e-01 -8.61396084e-02 2.74427174e+02] [ 6.64834741e-01 7.43610738e-01 -7.09777237e-02 8.78620782e+01] [ 1.11509707e-01 -4.84299721e-03 9.93751544e-01 2.60299848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27710568099997 meters 0.036756979224929695 Centerline is valid? [True, True] Translation: X:274.47, Y:87.90, Z:26.04 [[ 7.32772668e-01 -6.75338935e-01 -8.34358474e-02 2.74472451e+02] [ 6.71849828e-01 7.37485886e-01 -6.87922778e-02 8.78985531e+01] [ 1.07990863e-01 -5.64725877e-03 9.94135847e-01 2.60404739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33710568099997 meters 0.038606334260355105 Centerline is valid? [True, True] Translation: X:274.51, Y:87.94, Z:26.05 [[ 7.31446463e-01 -6.76931995e-01 -8.21531865e-02 2.74512751e+02] [ 6.73555046e-01 7.36023031e-01 -6.77768324e-02 8.79419496e+01] [ 1.06346944e-01 -5.75956897e-03 9.94312403e-01 2.60459843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.39710568099997 meters 0.0326439019878723 Centerline is valid? [True, True] Translation: X:274.54, Y:88.00, Z:26.05 [[ 7.38681768e-01 -6.68928112e-01 -8.29724445e-02 2.74539891e+02] [ 6.65428381e-01 7.43312756e-01 -6.84924529e-02 8.80012833e+01] [ 1.07491004e-01 -4.61809320e-03 9.94195332e-01 2.60493651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457105681 meters 0.030355798391786985 Centerline is valid? [True, True] Translation: X:274.57, Y:88.05, Z:26.05 [[ 7.41863347e-01 -6.64965886e-01 -8.63663389e-02 2.74574341e+02] [ 6.61144544e-01 7.46861932e-01 -7.13102111e-02 8.80529047e+01] [ 1.11922588e-01 -4.19820193e-03 9.93708060e-01 2.60468018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517105681 meters 0.028364089878096334 Centerline is valid? [True, True] Translation: X:274.61, Y:88.10, Z:26.05 [[ 7.44480918e-01 -6.61542091e-01 -9.00567915e-02 2.74612359e+02] [ 6.57358543e-01 7.49898279e-01 -7.43795487e-02 8.81002110e+01] [ 1.16738635e-01 -3.82544662e-03 9.93155304e-01 2.60458488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577105681 meters 0.023050677735346574 Centerline is valid? [True, True] Translation: X:274.64, Y:88.15, Z:26.06 [[ 7.52861012e-01 -6.52572628e-01 -8.57278323e-02 2.74643149e+02] [ 6.48720057e-01 7.57722752e-01 -7.08415093e-02 8.81537994e+01] [ 1.11187159e-01 -2.27955381e-03 9.93796870e-01 2.60594401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637105681 meters 0.020046068871621237 Centerline is valid? [True, True] Translation: X:274.68, Y:88.20, Z:26.07 [[ 7.61556086e-01 -6.42808377e-01 -8.26421092e-02 2.74680012e+02] [ 6.39169716e-01 7.66026593e-01 -6.83032454e-02 8.82007728e+01] [ 1.07211952e-01 -8.05581216e-04 9.94235862e-01 2.60665733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697105681 meters 0.01940293249923673 Centerline is valid? [True, True] Translation: X:274.72, Y:88.25, Z:26.07 [[ 7.67062230e-01 -6.36226082e-01 -8.26553597e-02 2.74718092e+02] [ 6.32546574e-01 7.71502662e-01 -6.83262419e-02 8.82451152e+01] [ 1.07239767e-01 1.27114897e-04 9.94233180e-01 2.60705485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757105681 meters 0.02084717189643578 Centerline is valid? [True, True] Translation: X:274.76, Y:88.29, Z:26.08 [[ 7.73994203e-01 -6.28002917e-01 -8.09030907e-02 2.74755157e+02] [ 6.24431012e-01 7.78209966e-01 -6.68966415e-02 8.82912163e+01] [ 1.04970877e-01 1.25921390e-03 9.94474499e-01 2.60802824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817105681 meters 0.026028051565671007 Centerline is valid? [True, True] Translation: X:274.79, Y:88.34, Z:26.09 [[ 7.81862893e-01 -6.18399270e-01 -7.92007531e-02 2.74793480e+02] [ 6.14922997e-01 7.85859999e-01 -6.55268556e-02 8.83359995e+01] [ 1.02762463e-01 2.53065236e-03 9.94702705e-01 2.60874026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877105681 meters 0.028693478549860964 Centerline is valid? [True, True] Translation: X:274.84, Y:88.37, Z:26.09 [[ 7.85729837e-01 -6.13403898e-01 -7.97764379e-02 2.74842041e+02] [ 6.09849758e-01 7.89762813e-01 -6.60149389e-02 8.83698986e+01] [ 1.03498285e-01 3.21826584e-03 9.94624425e-01 2.60919384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937105681 meters 0.031974874403544934 Centerline is valid? [True, True] Translation: X:274.89, Y:88.40, Z:26.09 [[ 7.88092813e-01 -6.10114310e-01 -8.16715758e-02 2.74892483e+02] [ 6.06370063e-01 7.92304545e-01 -6.75933062e-02 8.84018228e+01] [ 1.05948404e-01 3.74660027e-03 9.94364570e-01 2.60927518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99710568099994 meters 0.03220799121572124 Centerline is valid? [True, True] Translation: X:274.95, Y:88.43, Z:26.10 [[ 7.89403729e-01 -6.08085046e-01 -8.41090321e-02 2.74948191e+02] [ 6.04100295e-01 7.93861036e-01 -6.96239061e-02 8.84274639e+01] [ 1.09108140e-01 4.15107999e-03 9.94021218e-01 2.60959962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05710568099994 meters 0.02715996888485347 Centerline is valid? [True, True] Translation: X:275.01, Y:88.44, Z:26.10 [[ 7.83392006e-01 -6.16010053e-01 -8.26352205e-02 2.75008959e+02] [ 6.12206628e-01 7.87732559e-01 -6.84138917e-02 8.84440817e+01] [ 1.07238099e-01 3.00506615e-03 9.94228827e-01 2.61044578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11710568099994 meters 0.019547729153606034 Centerline is valid? [True, True] Translation: X:275.08, Y:88.45, Z:26.12 [[ 7.75134879e-01 -6.26964040e-01 -7.79872574e-02 2.75076689e+02] [ 6.23630787e-01 7.79046897e-01 -6.45799758e-02 8.84541453e+01] [ 1.01245053e-01 1.42293697e-03 9.94860500e-01 2.61174742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17710568099994 meters 0.01724647284171404 Centerline is valid? [True, True] Translation: X:275.14, Y:88.47, Z:26.12 [[ 7.67596507e-01 -6.36088561e-01 -7.86571332e-02 2.75135725e+02] [ 6.32740763e-01 7.71616016e-01 -6.51755454e-02 8.84743895e+01] [ 1.02150523e-01 2.58946574e-04 9.94768920e-01 2.61183638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23710568099995 meters 0.016915739902334363 Centerline is valid? [True, True] Translation: X:275.19, Y:88.50, Z:26.12 [[ 7.64939840e-01 -6.39160711e-01 -7.96280521e-02 2.75191216e+02] [ 6.35741492e-01 7.69073190e-01 -6.60241093e-02 8.84986535e+01] [ 1.03439817e-01 -1.18385018e-04 9.94635707e-01 2.61228560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29710568099995 meters 0.019160399521325533 Centerline is valid? [True, True] Translation: X:275.23, Y:88.54, Z:26.14 [[ 7.73994073e-01 -6.28712868e-01 -7.51884669e-02 2.75233065e+02] [ 6.25611543e-01 7.77636535e-01 -6.23828253e-02 8.85379026e+01] [ 9.76901839e-02 1.24516421e-03 9.95216096e-01 2.61376990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35710568099995 meters 0.022240099881334238 Centerline is valid? [True, True] Translation: X:275.28, Y:88.58, Z:26.15 [[ 7.80174802e-01 -6.21249669e-01 -7.33220771e-02 2.75275986e+02] [ 6.18263871e-01 7.83609714e-01 -6.08736515e-02 8.85788511e+01] [ 9.52736277e-02 2.15969783e-03 9.95448779e-01 2.61473258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41710568099995 meters 0.02586258553245331 Centerline is valid? [True, True] Translation: X:275.33, Y:88.61, Z:26.16 [[ 7.84772777e-01 -6.15872009e-01 -6.95223485e-02 2.75325439e+02] [ 6.13164217e-01 7.87841618e-01 -5.77514337e-02 8.86104476e+01] [ 9.03400911e-02 2.69313660e-03 9.95907333e-01 2.61561273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47710568099995 meters 0.028104342651113088 Centerline is valid? [True, True] Translation: X:275.38, Y:88.64, Z:26.16 [[ 7.87380291e-01 -6.12205836e-01 -7.23622179e-02 2.75375902e+02] [ 6.09255429e-01 7.90691755e-01 -6.01196334e-02 8.86426962e+01] [ 9.40217996e-02 3.24994035e-03 9.95564834e-01 2.61551525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53710568099996 meters 0.03199331246002248 Centerline is valid? [True, True] Translation: X:275.43, Y:88.68, Z:26.15 [[ 7.90508615e-01 -6.07171080e-01 -8.02459269e-02 2.75425352e+02] [ 6.03513234e-01 7.94559573e-01 -6.66847956e-02 8.86779583e+01] [ 1.04249249e-01 4.28542660e-03 9.94541970e-01 2.61468786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59710568099996 meters 0.034833814858646214 Centerline is valid? [True, True] Translation: X:275.47, Y:88.71, Z:26.15 [[ 7.92874274e-01 -6.03800416e-01 -8.23130837e-02 2.75474044e+02] [ 5.99928353e-01 7.97120554e-01 -6.84455545e-02 8.87127715e+01] [ 1.06940905e-01 4.88676656e-03 9.94253369e-01 2.61490378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65710568099996 meters 0.03417166084258831 Centerline is valid? [True, True] Translation: X:275.53, Y:88.74, Z:26.15 [[ 7.91868460e-01 -6.05185808e-01 -8.18198043e-02 2.75530123e+02] [ 6.01363284e-01 7.96070362e-01 -6.80748082e-02 8.87377727e+01] [ 1.06332229e-01 4.70286736e-03 9.94319536e-01 2.61546631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71710568099996 meters 0.033760403899461215 Centerline is valid? [True, True] Translation: X:275.58, Y:88.77, Z:26.17 [[ 7.92342478e-01 -6.05263467e-01 -7.64822420e-02 2.75582438e+02] [ 6.01921332e-01 7.96012976e-01 -6.36714425e-02 8.87652658e+01] [ 9.94188552e-02 4.41329556e-03 9.95035886e-01 2.61697263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77710568099997 meters 0.036482289587934716 Centerline is valid? [True, True] Translation: X:275.63, Y:88.80, Z:26.18 [[ 7.95387919e-01 -6.01132908e-01 -7.74421441e-02 2.75633858e+02] [ 5.97682188e-01 7.99133248e-01 -6.45139886e-02 8.87954222e+01] [ 1.00668074e-01 5.02785697e-03 9.94907362e-01 2.61758804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83710568099997 meters 0.03943960450783072 Centerline is valid? [True, True] Translation: X:275.68, Y:88.83, Z:26.18 [[ 7.96936155e-01 -5.99086028e-01 -7.73866633e-02 2.75684513e+02] [ 5.95626886e-01 8.00667037e-01 -6.45051057e-02 8.88254945e+01] [ 1.00605058e-01 5.31287361e-03 9.94912255e-01 2.61824432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.89710568099997 meters 0.037741346870688613 Centerline is valid? [True, True] Translation: X:275.74, Y:88.85, Z:26.19 [[ 7.94163825e-01 -6.02584488e-01 -7.87131130e-02 2.75740480e+02] [ 5.99020539e-01 7.98039623e-01 -6.56289039e-02 8.88502697e+01] [ 1.02363142e-01 4.96932991e-03 9.94734685e-01 2.61884610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957105681 meters 0.034527922769647265 Centerline is valid? [True, True] Translation: X:275.80, Y:88.87, Z:26.19 [[ 7.92322082e-01 -6.04706681e-01 -8.09663389e-02 2.75800271e+02] [ 6.00942079e-01 7.96433420e-01 -6.75457346e-02 8.88706949e+01] [ 1.05329655e-01 4.86189704e-03 9.94425475e-01 2.61941559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017105681 meters 0.03965567660107894 Centerline is valid? [True, True] Translation: X:275.85, Y:88.91, Z:26.20 [[ 7.93863613e-01 -6.02685137e-01 -8.09394137e-02 2.75846394e+02] [ 5.98910327e-01 7.97962497e-01 -6.75446073e-02 8.89065298e+01] [ 1.05294748e-01 5.14575529e-03 9.94427744e-01 2.61998234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077105681 meters 0.04125554611533058 Centerline is valid? [True, True] Translation: X:275.90, Y:88.94, Z:26.21 [[ 7.99542905e-01 -5.95135154e-01 -8.09029692e-02 2.75896191e+02] [ 5.91323952e-01 8.03602098e-01 -6.75251913e-02 8.89382294e+01] [ 1.05200411e-01 6.14942418e-03 9.94432028e-01 2.62091202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137105681 meters 0.046234005374673155 Centerline is valid? [True, True] Translation: X:275.94, Y:88.97, Z:26.21 [[ 8.03090744e-01 -5.90033840e-01 -8.30982763e-02 2.75944638e+02] [ 5.85983705e-01 8.07348026e-01 -6.93704665e-02 8.89722507e+01] [ 1.08020152e-01 7.01654370e-03 9.94123943e-01 2.62115745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197105681 meters 0.04157557717286646 Centerline is valid? [True, True] Translation: X:276.00, Y:88.99, Z:26.22 [[ 7.99354746e-01 -5.95251795e-01 -8.18980518e-02 2.76003605e+02] [ 5.91342889e-01 8.03515019e-01 -6.83900658e-02 8.89937685e+01] [ 1.06515624e-01 6.23809309e-03 9.94291460e-01 2.62187699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257105681 meters 0.03352881639063554 Centerline is valid? [True, True] Translation: X:276.07, Y:89.01, Z:26.23 [[ 7.89599220e-01 -6.08269253e-01 -8.08800846e-02 2.76067502e+02] [ 6.04520133e-01 7.93718192e-01 -6.75784048e-02 8.90093254e+01] [ 1.05301860e-01 4.46621627e-03 9.94430275e-01 2.62253057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317105681 meters 0.027555582599272772 Centerline is valid? [True, True] Translation: X:276.13, Y:89.03, Z:26.23 [[ 7.82145485e-01 -6.17883729e-01 -8.04247334e-02 2.76127635e+02] [ 6.14224513e-01 7.86263060e-01 -6.72208860e-02 8.90284589e+01] [ 1.04769689e-01 3.17766979e-03 9.94491435e-01 2.62312636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377105681 meters 0.026217579953154362 Centerline is valid? [True, True] Translation: X:276.18, Y:89.05, Z:26.23 [[ 7.78454940e-01 -6.22173668e-01 -8.31133744e-02 2.76183937e+02] [ 6.18284155e-01 7.82874508e-01 -6.95140861e-02 8.90544963e+01] [ 1.08317176e-01 2.72590135e-03 9.94112649e-01 2.62288163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437105681 meters 0.02706986000671071 Centerline is valid? [True, True] Translation: X:276.23, Y:89.09, Z:26.23 [[ 7.77947090e-01 -6.22683789e-01 -8.40429889e-02 2.76231875e+02] [ 6.18705222e-01 7.82468866e-01 -7.03300955e-02 8.90875808e+01] [ 1.09554433e-01 2.71525707e-03 9.93977089e-01 2.62308446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49710568099994 meters 0.024318271547357127 Centerline is valid? [True, True] Translation: X:276.28, Y:89.12, Z:26.25 [[ 7.74576458e-01 -6.27265050e-01 -8.10547239e-02 2.76280466e+02] [ 6.23588095e-01 7.78803263e-01 -6.78481073e-02 8.91196288e+01] [ 1.05684430e-01 2.00878577e-03 9.94397690e-01 2.62451560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55710568099994 meters 0.021671609563315587 Centerline is valid? [True, True] Translation: X:276.33, Y:89.15, Z:26.25 [[ 7.69563115e-01 -6.33634642e-01 -7.92448889e-02 2.76330110e+02] [ 6.30150152e-01 7.73631593e-01 -6.63697555e-02 8.91519365e+01] [ 1.03360526e-01 1.13953702e-03 9.94643304e-01 2.62542839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61710568099994 meters 0.020290719009598113 Centerline is valid? [True, True] Translation: X:276.38, Y:89.18, Z:26.26 [[ 7.63184214e-01 -6.41353678e-01 -7.88372756e-02 2.76380384e+02] [ 6.37941652e-01 7.67245361e-01 -6.60681892e-02 8.91832250e+01] [ 1.02860610e-01 1.28617234e-04 9.94695772e-01 2.62611426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67710568099994 meters 0.020201765666125828 Centerline is valid? [True, True] Translation: X:276.42, Y:89.22, Z:26.27 [[ 7.58301484e-01 -6.47228461e-01 -7.79370158e-02 2.76422386e+02] [ 6.43920485e-01 7.62295827e-01 -6.53565624e-02 8.92224655e+01] [ 1.01711689e-01 -6.25262787e-04 9.94813722e-01 2.62683425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73710568099995 meters 0.02065049698281607 Centerline is valid? [True, True] Translation: X:276.46, Y:89.26, Z:26.27 [[ 7.56846991e-01 -6.48746567e-01 -7.94388015e-02 2.76462161e+02] [ 6.45312736e-01 7.61004099e-01 -6.66650832e-02 8.92648182e+01] [ 1.03701997e-01 -8.07602643e-04 9.94608085e-01 2.62721019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79710568099995 meters 0.01991810966627182 Centerline is valid? [True, True] Translation: X:276.49, Y:89.32, Z:26.28 [[ 7.61542119e-01 -6.43381042e-01 -7.81948573e-02 2.76493534e+02] [ 6.40023522e-01 7.65546101e-01 -6.56434235e-02 8.93175955e+01] [ 1.02095502e-01 -5.63161411e-05 9.94774600e-01 2.62777702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85710568099995 meters 0.023408376659740292 Centerline is valid? [True, True] Translation: X:276.52, Y:89.38, Z:26.29 [[ 7.72906342e-01 -6.29517833e-01 -7.95178219e-02 2.76518507e+02] [ 6.25969122e-01 7.76983870e-01 -6.67736839e-02 8.93786601e+01] [ 1.03819290e-01 1.83410266e-03 9.94594486e-01 2.62860465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91710568099995 meters 0.02922509503688265 Centerline is valid? [True, True] Translation: X:276.55, Y:89.44, Z:26.29 [[ 7.82003539e-01 -6.18145154e-01 -7.97936905e-02 2.76547096e+02] [ 6.14507591e-01 7.86056629e-01 -6.70477201e-02 8.94357404e+01] [ 1.04167583e-01 3.39772589e-03 9.94553955e-01 2.62900579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97710568099995 meters 0.031066234108080463 Centerline is valid? [True, True] Translation: X:276.59, Y:89.48, Z:26.29 [[ 7.82543709e-01 -6.17333143e-01 -8.07783042e-02 2.76586154e+02] [ 6.13596422e-01 7.86693692e-01 -6.79151402e-02 8.94786936e+01] [ 1.05474049e-01 3.58128733e-03 9.94415607e-01 2.62907767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03710568099996 meters 0.027039376582189266 Centerline is valid? [True, True] Translation: X:276.64, Y:89.51, Z:26.29 [[ 7.78541621e-01 -6.22086030e-01 -8.29573121e-02 2.76635628e+02] [ 6.18168483e-01 7.82943001e-01 -6.97709411e-02 8.95120647e+01] [ 1.08354375e-01 3.03798581e-03 9.94107690e-01 2.62946544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09710568099996 meters 0.026528142696887785 Centerline is valid? [True, True] Translation: X:276.68, Y:89.55, Z:26.29 [[ 7.76437711e-01 -6.24304318e-01 -8.59569610e-02 2.76678982e+02] [ 6.20105648e-01 7.81175979e-01 -7.23400046e-02 8.95529823e+01] [ 1.12309690e-01 2.86511067e-03 9.93669122e-01 2.62922441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15710568099996 meters 0.025934264675790304 Centerline is valid? [True, True] Translation: X:276.72, Y:89.59, Z:26.30 [[ 7.74476508e-01 -6.26635890e-01 -8.66810221e-02 2.76724714e+02] [ 6.22375028e-01 7.79307881e-01 -7.29969302e-02 8.95902006e+01] [ 1.13293700e-01 2.58630408e-03 9.93558176e-01 2.62972676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21710568099996 meters 0.02565113854387396 Centerline is valid? [True, True] Translation: X:276.77, Y:89.63, Z:26.31 [[ 7.74242357e-01 -6.27520386e-01 -8.22614003e-02 2.76766636e+02] [ 6.23684632e-01 7.78596545e-01 -6.93173777e-02 8.96298781e+01] [ 1.07546510e-01 2.36327869e-03 9.94197246e-01 2.63099707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27710568099997 meters 0.02510402750387882 Centerline is valid? [True, True] Translation: X:276.81, Y:89.67, Z:26.32 [[ 7.73749359e-01 -6.28390447e-01 -8.02332553e-02 2.76812744e+02] [ 6.24742294e-01 7.77894929e-01 -6.76501638e-02 8.96652622e+01] [ 1.04923759e-01 2.21916287e-03 9.94477793e-01 2.63178499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33710568099997 meters 0.02471557344959161 Centerline is valid? [True, True] Translation: X:276.86, Y:89.70, Z:26.32 [[ 7.70952579e-01 -6.31668061e-01 -8.14099567e-02 2.76858638e+02] [ 6.27925667e-01 7.75236807e-01 -6.86822383e-02 8.97013778e+01] [ 1.06496371e-01 1.83134746e-03 9.94311404e-01 2.63184863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.39710568099997 meters 0.02407452789157504 Centerline is valid? [True, True] Translation: X:276.90, Y:89.74, Z:26.33 [[ 7.72022761e-01 -6.30610191e-01 -7.94458452e-02 2.76902676e+02] [ 6.27039039e-01 7.76097291e-01 -6.70450534e-02 8.97383828e+01] [ 1.03936999e-01 1.94466087e-03 9.94581982e-01 2.63315741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457105681 meters 0.02928643953021047 Centerline is valid? [True, True] Translation: X:276.94, Y:89.79, Z:26.34 [[ 7.79573951e-01 -6.21393342e-01 -7.83247668e-02 2.76939224e+02] [ 6.17871072e-01 7.83492353e-01 -6.61443211e-02 8.97852003e+01] [ 1.02468497e-01 3.16978218e-03 9.94731200e-01 2.63409853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517105681 meters 0.03591566615207856 Centerline is valid? [True, True] Translation: X:276.98, Y:89.83, Z:26.35 [[ 7.88065669e-01 -6.10832428e-01 -7.63953293e-02 2.76976022e+02] [ 6.07430089e-01 7.91747381e-01 -6.45350353e-02 8.98323269e+01] [ 9.99058942e-02 4.45302410e-03 9.94986926e-01 2.63483789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577105681 meters 0.04027158451667936 Centerline is valid? [True, True] Translation: X:277.02, Y:89.87, Z:26.35 [[ 7.91596014e-01 -6.05985673e-01 -7.84672814e-02 2.77018969e+02] [ 6.02367699e-01 7.95458314e-01 -6.63266617e-02 8.98726352e+01] [ 1.02610458e-01 5.23776532e-03 9.94707826e-01 2.63483325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637105681 meters 0.043784822116480895 Centerline is valid? [True, True] Translation: X:277.06, Y:89.91, Z:26.34 [[ 7.92943893e-01 -6.03681710e-01 -8.25128810e-02 2.77064307e+02] [ 5.99663127e-01 7.97203925e-01 -6.97856446e-02 8.99101982e+01] [ 1.07907910e-01 5.85616842e-03 9.94143646e-01 2.63421695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697105681 meters 0.03920765594167073 Centerline is valid? [True, True] Translation: X:277.12, Y:89.93, Z:26.35 [[ 7.92153313e-01 -6.04516543e-01 -8.39814111e-02 2.77119336e+02] [ 6.00355327e-01 7.96571004e-01 -7.10501000e-02 8.99336928e+01] [ 1.09848118e-01 5.86388460e-03 9.93931087e-01 2.63489186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757105681 meters 0.035986892388470124 Centerline is valid? [True, True] Translation: X:277.17, Y:89.96, Z:26.36 [[ 7.89529545e-01 -6.08196279e-01 -8.20998449e-02 2.77170291e+02] [ 6.04234857e-01 7.93769200e-01 -6.95032059e-02 8.99637150e+01] [ 1.07439919e-01 5.26724648e-03 9.94197626e-01 2.63569352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817105681 meters 0.02852555827252309 Centerline is valid? [True, True] Translation: X:277.23, Y:89.99, Z:26.37 [[ 7.79050545e-01 -6.21775462e-01 -8.04706337e-02 2.77228897e+02] [ 6.18039394e-01 7.83188381e-01 -6.81415172e-02 8.99857722e+01] [ 1.05392389e-01 3.35166442e-03 9.94425065e-01 2.63652165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877105681 meters 0.02371007565335103 Centerline is valid? [True, True] Translation: X:277.29, Y:90.01, Z:26.37 [[ 7.69355437e-01 -6.33668127e-01 -8.09747888e-02 2.77286200e+02] [ 6.29945482e-01 7.73602970e-01 -6.86085570e-02 9.00085293e+01] [ 1.06117393e-01 1.77466400e-03 9.94352025e-01 2.63692911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937105681 meters 0.02267552898742071 Centerline is valid? [True, True] Translation: X:277.33, Y:90.04, Z:26.38 [[ 7.67023580e-01 -6.36492633e-01 -8.09441519e-02 2.77333561e+02] [ 6.32785897e-01 7.71281506e-01 -6.86064598e-02 9.00428521e+01] [ 1.06098234e-01 1.40245467e-03 9.94354664e-01 2.63766416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99710568099994 meters 0.021639768983862682 Centerline is valid? [True, True] Translation: X:277.38, Y:90.08, Z:26.38 [[ 7.62920698e-01 -6.41144204e-01 -8.29826356e-02 2.77380451e+02] [ 6.37269745e-01 7.67419993e-01 -7.03834288e-02 9.00773308e+01] [ 1.08808461e-01 8.14651626e-04 9.94062400e-01 2.63831115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05710568099994 meters 0.023342748464305837 Centerline is valid? [True, True] Translation: X:277.42, Y:90.12, Z:26.39 [[ 7.67962571e-01 -6.34987465e-01 -8.38117414e-02 2.77417044e+02] [ 6.30992799e-01 7.72520469e-01 -7.11351664e-02 9.01238956e+01] [ 1.09916225e-01 1.74453993e-03 9.93939324e-01 2.63898520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11710568099994 meters 0.03319397585782011 Centerline is valid? [True, True] Translation: X:277.44, Y:90.18, Z:26.40 [[ 7.84770026e-01 -6.14754021e-01 -7.88257522e-02 2.77443957e+02] [ 6.11116094e-01 7.88706917e-01 -6.69217347e-02 9.01810332e+01] [ 1.03310822e-01 4.34648573e-03 9.94639624e-01 2.64038826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17710568099994 meters 0.0375368630502328 Centerline is valid? [True, True] Translation: X:277.49, Y:90.22, Z:26.41 [[ 7.88190830e-01 -6.10280259e-01 -7.94557885e-02 2.77487073e+02] [ 6.06556678e-01 7.92169762e-01 -6.74986231e-02 9.02202361e+01] [ 1.04135550e-01 5.00735664e-03 9.94550508e-01 2.64076646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23710568099995 meters 0.0375718203677678 Centerline is valid? [True, True] Translation: X:277.53, Y:90.26, Z:26.41 [[ 7.87567872e-01 -6.10761022e-01 -8.19012930e-02 2.77532707e+02] [ 6.06803683e-01 7.91798442e-01 -6.96025714e-02 9.02586337e+01] [ 1.07359854e-01 5.11874279e-03 9.94207051e-01 2.64050832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29710568099995 meters 0.03978122338755288 Centerline is valid? [True, True] Translation: X:277.58, Y:90.29, Z:26.41 [[ 7.88671885e-01 -6.09089563e-01 -8.37052031e-02 2.77580112e+02] [ 6.04941598e-01 7.93082392e-01 -7.11757163e-02 9.02940927e+01] [ 1.09737509e-01 5.49752706e-03 9.93945399e-01 2.64066559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35710568099995 meters 0.04218789882545584 Centerline is valid? [True, True] Translation: X:277.63, Y:90.33, Z:26.41 [[ 7.90715256e-01 -6.06607420e-01 -8.24428439e-02 2.77625778e+02] [ 6.02568720e-01 7.94980615e-01 -7.01196100e-02 9.03317817e+01] [ 1.08075538e-01 5.76716644e-03 9.94125957e-01 2.64129138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41710568099995 meters 0.0369350577618717 Centerline is valid? [True, True] Translation: X:277.68, Y:90.36, Z:26.42 [[ 7.89915389e-01 -6.07801200e-01 -8.13103866e-02 2.77678208e+02] [ 6.03874928e-01 7.94069771e-01 -6.91973294e-02 9.03601461e+01] [ 1.06624340e-01 5.55873159e-03 9.94283838e-01 2.64201413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47710568099995 meters 0.03196940993836159 Centerline is valid? [True, True] Translation: X:277.73, Y:90.39, Z:26.43 [[ 7.82414927e-01 -6.17675674e-01 -7.93954932e-02 2.77734435e+02] [ 6.13978109e-01 7.86421967e-01 -6.76119178e-02 9.03855125e+01] [ 1.04200597e-01 4.15347891e-03 9.94547628e-01 2.64275549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53710568099996 meters 0.027207757185664434 Centerline is valid? [True, True] Translation: X:277.79, Y:90.41, Z:26.43 [[ 7.74059404e-01 -6.27840474e-01 -8.15375941e-02 2.77787961e+02] [ 6.23990873e-01 7.78336632e-01 -6.94800505e-02 9.04133331e+01] [ 1.07086084e-01 2.90297192e-03 9.94245515e-01 2.64284691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59710568099996 meters 0.02364705819283529 Centerline is valid? [True, True] Translation: X:277.84, Y:90.44, Z:26.43 [[ 7.65843982e-01 -6.37780326e-01 -8.19710404e-02 2.77844013e+02] [ 6.33940775e-01 7.70216730e-01 -6.98948031e-02 9.04384997e+01] [ 1.07712997e-01 1.56372943e-03 9.94180801e-01 2.64315752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65710568099996 meters 0.023181060679364027 Centerline is valid? [True, True] Translation: X:277.89, Y:90.47, Z:26.44 [[ 7.63466602e-01 -6.40677469e-01 -8.15544460e-02 2.77890988e+02] [ 6.36889171e-01 7.67809214e-01 -6.95787026e-02 9.04721456e+01] [ 1.07195762e-01 1.17987218e-03 9.94237234e-01 2.64378657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71710568099996 meters 0.024721835233649587 Centerline is valid? [True, True] Translation: X:277.93, Y:90.52, Z:26.45 [[ 7.69612439e-01 -6.33574167e-01 -7.92494063e-02 2.77929437e+02] [ 6.29957667e-01 7.73679037e-01 -6.76319863e-02 9.05161073e+01] [ 1.04163484e-01 2.12664685e-03 9.94557915e-01 2.64494480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77710568099997 meters 0.029160079238365465 Centerline is valid? [True, True] Translation: X:277.97, Y:90.56, Z:26.46 [[ 7.77441314e-01 -6.24175197e-01 -7.73972056e-02 2.77966362e+02] [ 6.20674885e-01 7.81277239e-01 -6.60951045e-02 9.05636058e+01] [ 1.01723600e-01 3.34656322e-03 9.94807072e-01 2.64570333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83710568099997 meters 0.03529400321307266 Centerline is valid? [True, True] Translation: X:278.00, Y:90.61, Z:26.46 [[ 7.85101692e-01 -6.14505412e-01 -7.74495415e-02 2.78004374e+02] [ 6.10949199e-01 7.88898969e-01 -6.61777390e-02 9.06107363e+01] [ 1.01766442e-01 4.63851952e-03 9.94797505e-01 2.64593423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.89710568099997 meters 0.04128022385669233 Centerline is valid? [True, True] Translation: X:278.04, Y:90.66, Z:26.46 [[ 7.91119395e-01 -6.06474649e-01 -7.94896423e-02 2.78042308e+02] [ 6.02685143e-01 7.95081348e-01 -6.79431261e-02 9.06571280e+01] [ 1.04406515e-01 5.84389830e-03 9.94517535e-01 2.64594449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957105681 meters 0.04420315184328716 Centerline is valid? [True, True] Translation: X:278.09, Y:90.70, Z:26.46 [[ 7.92683019e-01 -6.03842171e-01 -8.38347353e-02 2.78088318e+02] [ 5.99605693e-01 7.97076816e-01 -7.17046939e-02 9.06952465e+01] [ 1.10121042e-01 6.57130875e-03 9.93896460e-01 2.64559245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017105681 meters 0.04424490470321878 Centerline is valid? [True, True] Translation: X:278.14, Y:90.73, Z:26.47 [[ 7.92191667e-01 -6.04776666e-01 -8.17162592e-02 2.78135232e+02] [ 6.00752723e-01 7.96370119e-01 -6.99342506e-02 9.07294871e+01] [ 1.07370990e-01 6.31006534e-03 9.94199001e-01 2.64670457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077105681 meters 0.044019218401791314 Centerline is valid? [True, True] Translation: X:278.18, Y:90.77, Z:26.47 [[ 7.91283987e-01 -6.06184535e-01 -8.00622391e-02 2.78181843e+02] [ 6.02325564e-01 7.95301218e-01 -6.85557248e-02 9.07653016e+01] [ 1.05231016e-01 6.02351395e-03 9.94429560e-01 2.64738203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137105681 meters 0.0448405240665685 Centerline is valid? [True, True] Translation: X:278.23, Y:90.80, Z:26.48 [[ 7.90649978e-01 -6.06926643e-01 -8.07010648e-02 2.78231430e+02] [ 6.03005653e-01 7.94735198e-01 -6.91386087e-02 9.07983810e+01] [ 1.06098040e-01 6.00124110e-03 9.94337564e-01 2.64775819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197105681 meters 0.04595777220684087 Centerline is valid? [True, True] Translation: X:278.28, Y:90.83, Z:26.49 [[ 7.90917486e-01 -6.06804403e-01 -7.89806802e-02 2.78278019e+02] [ 6.03044414e-01 7.94829139e-01 -6.77057855e-02 9.08324760e+01] [ 1.03860315e-01 5.92083160e-03 9.94574270e-01 2.64860957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257105681 meters 0.0416997189087444 Centerline is valid? [True, True] Translation: X:278.33, Y:90.86, Z:26.50 [[ 7.90786077e-01 -6.07202914e-01 -7.72139977e-02 2.78331347e+02] [ 6.03607116e-01 7.94525843e-01 -6.62354488e-02 9.08604258e+01] [ 1.01566874e-01 5.77115226e-03 9.94811974e-01 2.64956617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317105681 meters 0.04234208335183525 Centerline is valid? [True, True] Translation: X:278.38, Y:90.89, Z:26.50 [[ 7.89985892e-01 -6.08418285e-01 -7.58253264e-02 2.78379273e+02] [ 6.04952464e-01 7.93597150e-01 -6.50851733e-02 9.08935649e+01] [ 9.97737724e-02 5.54565068e-03 9.94994694e-01 2.65019037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377105681 meters 0.044252642780362894 Centerline is valid? [True, True] Translation: X:278.43, Y:90.93, Z:26.51 [[ 7.90577266e-01 -6.07580643e-01 -7.63763639e-02 2.78426160e+02] [ 6.04056383e-01 7.94237373e-01 -6.55963492e-02 9.09277204e+01] [ 1.00516035e-01 5.72335230e-03 9.94918977e-01 2.65051686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437105681 meters 0.04704056106046771 Centerline is valid? [True, True] Translation: X:278.47, Y:90.97, Z:26.51 [[ 7.92176389e-01 -6.05342500e-01 -7.75694959e-02 2.78471374e+02] [ 6.01694468e-01 7.95941610e-01 -6.66387327e-02 9.09658783e+01] [ 1.02080046e-01 6.11649397e-03 9.94757384e-01 2.65071720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49710568099994 meters 0.04392840040209933 Centerline is valid? [True, True] Translation: X:278.52, Y:91.00, Z:26.51 [[ 7.91335031e-01 -6.06299068e-01 -7.86785178e-02 2.78523124e+02] [ 6.02546300e-01 7.95213241e-01 -6.76302969e-02 9.09955690e+01] [ 1.03570385e-01 6.11077330e-03 9.94603355e-01 2.65105811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55710568099994 meters 0.04162589496661344 Centerline is valid? [True, True] Translation: X:278.57, Y:91.03, Z:26.52 [[ 7.88800023e-01 -6.09547958e-01 -7.90304430e-02 2.78574216e+02] [ 6.05773160e-01 7.92728385e-01 -6.79749008e-02 9.10263718e+01] [ 1.04083637e-01 5.74408218e-03 9.94551960e-01 2.65163236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61710568099994 meters 0.037311219118407304 Centerline is valid? [True, True] Translation: X:278.63, Y:91.06, Z:26.52 [[ 7.86543147e-01 -6.12578633e-01 -7.80851938e-02 2.78625083e+02] [ 6.08904665e-01 7.90391819e-01 -6.72003015e-02 9.10566818e+01] [ 1.02883367e-01 5.30949786e-03 9.94679256e-01 2.65242134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67710568099994 meters 0.03714524477863011 Centerline is valid? [True, True] Translation: X:278.67, Y:91.09, Z:26.53 [[ 7.85381316e-01 -6.13777680e-01 -8.03314881e-02 2.78671620e+02] [ 6.09890761e-01 7.89460905e-01 -6.91718054e-02 9.10912501e+01] [ 1.05874679e-01 5.33281111e-03 9.94365181e-01 2.65275906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73710568099995 meters 0.036428709629016516 Centerline is valid? [True, True] Translation: X:278.72, Y:91.13, Z:26.53 [[ 7.84682018e-01 -6.14929910e-01 -7.83283884e-02 2.78715525e+02] [ 6.11235613e-01 7.88565370e-01 -6.74957980e-02 9.11294479e+01] [ 1.03272240e-01 5.08563854e-03 9.94640126e-01 2.65337098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79710568099995 meters 0.03691011535086319 Centerline is valid? [True, True] Translation: X:278.76, Y:91.17, Z:26.54 [[ 7.84161045e-01 -6.15818031e-01 -7.65480734e-02 2.78759877e+02] [ 6.12290128e-01 7.87873250e-01 -6.60041080e-02 9.11673456e+01] [ 1.00956699e-01 4.88822072e-03 9.94878812e-01 2.65438000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85710568099995 meters 0.0347766693089869 Centerline is valid? [True, True] Translation: X:278.81, Y:91.20, Z:26.55 [[ 7.82413035e-01 -6.18159957e-01 -7.55520341e-02 2.78805499e+02] [ 6.14730245e-01 7.86039114e-01 -6.51861743e-02 9.12035617e+01] [ 9.96823367e-02 4.55839205e-03 9.95008871e-01 2.65503411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91710568099995 meters 0.031821683060491476 Centerline is valid? [True, True] Translation: X:278.85, Y:91.24, Z:26.56 [[ 7.76110673e-01 -6.26118669e-01 -7.50175669e-02 2.78853675e+02] [ 6.22770967e-01 7.79719746e-01 -6.47567765e-02 9.12362565e+01] [ 9.90381049e-02 3.53966278e-03 9.95077346e-01 2.65572993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97710568099995 meters 0.0290030884715949 Centerline is valid? [True, True] Translation: X:278.90, Y:91.27, Z:26.56 [[ 7.72679124e-01 -6.30332434e-01 -7.51531393e-02 2.78899339e+02] [ 6.26990613e-01 7.76319460e-01 -6.48911905e-02 9.12743919e+01] [ 9.92458666e-02 3.01975530e-03 9.95058360e-01 2.65609477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03710568099996 meters 0.030578506725473104 Centerline is valid? [True, True] Translation: X:278.94, Y:91.32, Z:26.56 [[ 7.73951743e-01 -6.28568397e-01 -7.68145188e-02 2.78939993e+02] [ 6.25063811e-01 7.77747091e-01 -6.63678734e-02 9.13169518e+01] [ 1.01459016e-01 3.35155541e-03 9.94834074e-01 2.65644990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09710568099996 meters 0.03234861706199211 Centerline is valid? [True, True] Translation: X:278.98, Y:91.36, Z:26.57 [[ 7.76583510e-01 -6.25281424e-01 -7.70791300e-02 2.78981442e+02] [ 6.21731946e-01 7.80389953e-01 -6.66401369e-02 9.13599212e+01] [ 1.01820618e-01 3.82907394e-03 9.94795406e-01 2.65680172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15710568099996 meters 0.03498522390277902 Centerline is valid? [True, True] Translation: X:279.02, Y:91.40, Z:26.57 [[ 7.79640862e-01 -6.21292035e-01 -7.84623088e-02 2.79023210e+02] [ 6.17589095e-01 7.83566391e-01 -6.78779904e-02 9.14021777e+01] [ 1.03652483e-01 4.46298869e-03 9.94603561e-01 2.65691831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21710568099996 meters 0.036823496390881165 Centerline is valid? [True, True] Translation: X:279.07, Y:91.44, Z:26.58 [[ 7.81959989e-01 -6.18695425e-01 -7.58587328e-02 2.79066725e+02] [ 6.15218836e-01 7.85617020e-01 -6.56633938e-02 9.14399076e+01] [ 1.00221553e-01 4.67642539e-03 9.94954155e-01 2.65795748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27710568099997 meters 0.03925160275068813 Centerline is valid? [True, True] Translation: X:279.11, Y:91.48, Z:26.58 [[ 7.83454176e-01 -6.16782057e-01 -7.60226864e-02 2.79109050e+02] [ 6.13279899e-01 7.87118448e-01 -6.58203225e-02 9.14791347e+01] [ 1.00435653e-01 4.94402109e-03 9.94931272e-01 2.65836337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33710568099997 meters 0.04249193169478982 Centerline is valid? [True, True] Translation: X:279.15, Y:91.52, Z:26.58 [[ 7.87127568e-01 -6.11604822e-01 -7.98106047e-02 2.79152538e+02] [ 6.07715079e-01 7.91141374e-01 -6.91209738e-02 9.15201987e+01] [ 1.05416192e-01 5.90491609e-03 9.94410659e-01 2.65819980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39710568099997 meters 0.048695455071975334 Centerline is valid? [True, True] Translation: X:279.20, Y:91.56, Z:26.59 [[ 7.94122940e-01 -6.02606090e-01 -7.89598380e-02 2.79195039e+02] [ 5.98750283e-01 7.98007545e-01 -6.84255535e-02 9.15595271e+01] [ 1.04244202e-01 7.06107635e-03 9.94526665e-01 2.65924870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457105681 meters 0.048980493657141404 Centerline is valid? [True, True] Translation: X:279.24, Y:91.60, Z:26.60 [[ 7.98494509e-01 -5.97108442e-01 -7.66030549e-02 2.79239283e+02] [ 5.93451167e-01 8.02124752e-01 -6.64198414e-02 9.15979426e+01] [ 1.01105054e-01 7.57570637e-03 9.94846911e-01 2.65974728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517105681 meters 0.05047885890832648 Centerline is valid? [True, True] Translation: X:279.29, Y:91.63, Z:26.60 [[ 8.00383124e-01 -5.94434596e-01 -7.76811812e-02 2.79288515e+02] [ 5.90659082e-01 8.04103765e-01 -6.73719842e-02 9.16304272e+01] [ 1.02511969e-01 8.04030399e-03 9.94699276e-01 2.66048713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577105681 meters 0.05132120735925207 Centerline is valid? [True, True] Translation: X:279.34, Y:91.66, Z:26.61 [[ 7.98316340e-01 -5.97385201e-01 -7.63016576e-02 2.79335225e+02] [ 5.93752443e-01 8.01918853e-01 -6.62132094e-02 9.16646379e+01] [ 1.00742529e-01 7.55479133e-03 9.94883846e-01 2.66108711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637105681 meters 0.04596269131432984 Centerline is valid? [True, True] Translation: X:279.39, Y:91.69, Z:26.61 [[ 7.95031636e-01 -6.01314515e-01 -7.96589675e-02 2.79388850e+02] [ 5.97371807e-01 7.98978305e-01 -6.91418259e-02 9.16931717e+01] [ 1.05221770e-01 7.38391760e-03 9.94421368e-01 2.66108517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697105681 meters 0.046080672691148364 Centerline is valid? [True, True] Translation: X:279.44, Y:91.72, Z:26.62 [[ 7.92759304e-01 -6.04365062e-01 -7.92184175e-02 2.79440780e+02] [ 6.00479044e-01 7.96677157e-01 -6.87780808e-02 9.17214440e+01] [ 1.04678573e-01 6.95546382e-03 9.94481784e-01 2.66217636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757105681 meters 0.04376614293213107 Centerline is valid? [True, True] Translation: X:279.49, Y:91.75, Z:26.63 [[ 7.91158901e-01 -6.06389986e-01 -7.97419414e-02 2.79490587e+02] [ 6.02460637e-01 7.95138777e-01 -6.92495891e-02 9.17532684e+01] [ 1.05398167e-01 6.74604797e-03 9.94407219e-01 2.66263593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817105681 meters 0.04241125021404257 Centerline is valid? [True, True] Translation: X:279.54, Y:91.78, Z:26.63 [[ 7.91284295e-01 -6.05763993e-01 -8.31814243e-02 2.79541802e+02] [ 6.01479449e-01 7.95612180e-01 -7.22753882e-02 9.17844890e+01] [ 1.09961982e-01 7.15846235e-03 9.93910016e-01 2.66298859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877105681 meters 0.04422115009546626 Centerline is valid? [True, True] Translation: X:279.59, Y:91.82, Z:26.64 [[ 7.93407668e-01 -6.03074986e-01 -8.24914137e-02 2.79589003e+02] [ 5.98842246e-01 7.97649207e-01 -7.17196478e-02 9.18187732e+01] [ 1.09051536e-01 7.50357513e-03 9.94007776e-01 2.66423984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937105681 meters 0.04816735740892593 Centerline is valid? [True, True] Translation: X:279.63, Y:91.86, Z:26.65 [[ 7.96276688e-01 -5.99743551e-01 -7.90639531e-02 2.79628247e+02] [ 5.95835900e-01 8.00155628e-01 -6.87790060e-02 9.18615408e+01] [ 1.04513232e-01 7.65797743e-03 9.94494012e-01 2.66488160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99710568099994 meters 0.0476905568637034 Centerline is valid? [True, True] Translation: X:279.68, Y:91.89, Z:26.66 [[ 7.97136327e-01 -5.98953703e-01 -7.63422415e-02 2.79677438e+02] [ 5.95305311e-01 8.00748435e-01 -6.64344051e-02 9.18933691e+01] [ 1.00922063e-01 7.51033576e-03 9.94865987e-01 2.66646836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05710568099994 meters 0.04509818667359225 Centerline is valid? [True, True] Translation: X:279.72, Y:91.93, Z:26.66 [[ 7.93691007e-01 -6.03044403e-01 -7.99501936e-02 2.79724118e+02] [ 5.99057402e-01 7.97673646e-01 -6.96202797e-02 9.19298302e+01] [ 1.05758282e-01 7.36223465e-03 9.94364613e-01 2.66632090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11710568099994 meters 0.042765588191866814 Centerline is valid? [True, True] Translation: X:279.77, Y:91.96, Z:26.67 [[ 7.89279096e-01 -6.08575443e-01 -8.16972425e-02 2.79772167e+02] [ 6.04436011e-01 7.93466837e-01 -7.11862835e-02 9.19645308e+01] [ 1.08146277e-01 6.80509008e-03 9.94111701e-01 2.66655570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17710568099994 meters 0.03699564399329055 Centerline is valid? [True, True] Translation: X:279.82, Y:91.99, Z:26.67 [[ 7.84451009e-01 -6.14693148e-01 -8.23950730e-02 2.79823398e+02] [ 6.10511200e-01 7.88743147e-01 -7.18353791e-02 9.19943107e+01] [ 1.09145265e-01 6.04822070e-03 9.94007410e-01 2.66739465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23710568099995 meters 0.03879843888031151 Centerline is valid? [True, True] Translation: X:279.87, Y:92.04, Z:26.68 [[ 7.82473699e-01 -6.17363147e-01 -8.12259434e-02 2.79865279e+02] [ 6.13311235e-01 7.86658277e-01 -7.08384419e-02 9.20350596e+01] [ 1.07630104e-01 5.61243406e-03 9.94175166e-01 2.66770361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29710568099995 meters 0.03508247515690075 Centerline is valid? [True, True] Translation: X:279.92, Y:92.07, Z:26.69 [[ 7.83189494e-01 -6.16411403e-01 -8.15548784e-02 2.79915004e+02] [ 6.12317805e-01 7.87402963e-01 -7.11581299e-02 9.20656671e+01] [ 1.08079236e-01 5.79279559e-03 9.94125406e-01 2.66889591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35710568099995 meters 0.0390397684796685 Centerline is valid? [True, True] Translation: X:279.95, Y:92.11, Z:26.70 [[ 7.86487310e-01 -6.12497027e-01 -7.92786406e-02 2.79952668e+02] [ 6.08607843e-01 7.90448836e-01 -6.91890954e-02 9.21098644e+01] [ 1.05043825e-01 6.16674307e-03 9.94448473e-01 2.66958265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41710568099995 meters 0.03692495006019402 Centerline is valid? [True, True] Translation: X:280.00, Y:92.15, Z:26.71 [[ 7.85273474e-01 -6.14291453e-01 -7.74053145e-02 2.79998918e+02] [ 6.10590689e-01 7.89057874e-01 -6.75772333e-02 9.21453632e+01] [ 1.02589390e-01 5.80364444e-03 9.94706859e-01 2.67060822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47710568099995 meters 0.03342992582668613 Centerline is valid? [True, True] Translation: X:280.05, Y:92.18, Z:26.71 [[ 7.80126387e-01 -6.20606161e-01 -7.90620840e-02 2.80049249e+02] [ 6.16772954e-01 7.84105771e-01 -6.90598546e-02 9.21771617e+01] [ 1.04852008e-01 5.11205973e-03 9.94474697e-01 2.67115928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53710568099996 meters 0.032692331970263416 Centerline is valid? [True, True] Translation: X:280.09, Y:92.22, Z:26.71 [[ 7.77581018e-01 -6.23546864e-01 -8.09757345e-02 2.80092670e+02] [ 6.19535961e-01 7.81770814e-01 -7.07784395e-02 9.22179509e+01] [ 1.07438140e-01 4.86859147e-03 9.94199851e-01 2.67104478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59710568099996 meters 0.033990243846959305 Centerline is valid? [True, True] Translation: X:280.14, Y:92.26, Z:26.72 [[ 7.79162801e-01 -6.21070607e-01 -8.47150037e-02 2.80136283e+02] [ 6.16659767e-01 7.83735397e-01 -7.40915677e-02 9.22566371e+01] [ 1.12410242e-01 5.48905900e-03 9.93646722e-01 2.67152505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65710568099996 meters 0.03748055973588803 Centerline is valid? [True, True] Translation: X:280.18, Y:92.30, Z:26.72 [[ 7.81461467e-01 -6.17931860e-01 -8.64765453e-02 2.80175532e+02] [ 6.13312936e-01 7.86208098e-01 -7.56575754e-02 9.22999567e+01] [ 1.14739787e-01 6.08629591e-03 9.93376937e-01 2.67191333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71710568099996 meters 0.04058380662643177 Centerline is valid? [True, True] Translation: X:280.21, Y:92.34, Z:26.72 [[ 7.84569229e-01 -6.13855619e-01 -8.73636290e-02 2.80214384e+02] [ 6.09112962e-01 7.89389260e-01 -7.64591066e-02 9.23442230e+01] [ 1.15898763e-01 6.77314351e-03 9.93237938e-01 2.67227474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77710568099997 meters 0.03842728865623217 Centerline is valid? [True, True] Translation: X:280.26, Y:92.38, Z:26.73 [[ 7.84824039e-01 -6.13591310e-01 -8.69306125e-02 2.80260422e+02] [ 6.08890690e-01 7.89594481e-01 -7.61096769e-02 9.23799563e+01] [ 1.15340168e-01 6.80146344e-03 9.93302766e-01 2.67317265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83710568099997 meters 0.03838934626069753 Centerline is valid? [True, True] Translation: X:280.30, Y:92.42, Z:26.74 [[ 7.84537940e-01 -6.14316983e-01 -8.43496606e-02 2.80303128e+02] [ 6.09891171e-01 7.89032314e-01 -7.38970092e-02 9.24193979e+01] [ 1.11950796e-01 6.53089414e-03 9.93692290e-01 2.67411991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89710568099997 meters 0.03680274623036543 Centerline is valid? [True, True] Translation: X:280.35, Y:92.46, Z:26.75 [[ 7.82888370e-01 -6.16424419e-01 -8.43014533e-02 2.80347480e+02] [ 6.12010369e-01 7.87389163e-01 -7.39027330e-02 9.24580175e+01] [ 1.11933500e-01 6.26422668e-03 9.93695955e-01 2.67472455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957105681 meters 0.03745144144137407 Centerline is valid? [True, True] Translation: X:280.39, Y:92.50, Z:26.75 [[ 7.79268076e-01 -6.20993044e-01 -8.43143236e-02 2.80389588e+02] [ 6.16599344e-01 7.83795760e-01 -7.39557671e-02 9.24969447e+01] [ 1.12011226e-01 5.64321170e-03 9.93690917e-01 2.67543411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017105681 meters 0.030140810560907703 Centerline is valid? [True, True] Translation: X:280.44, Y:92.53, Z:26.76 [[ 7.71104908e-01 -6.31016511e-01 -8.49434177e-02 2.80441105e+02] [ 6.26614510e-01 7.75757812e-01 -7.45256582e-02 9.25267346e+01] [ 1.12922441e-01 4.24032275e-03 9.93594757e-01 2.67605711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077105681 meters 0.02491842726695968 Centerline is valid? [True, True] Translation: X:280.49, Y:92.56, Z:26.77 [[ 7.63075469e-01 -6.40897565e-01 -8.34634023e-02 2.80491889e+02] [ 6.36703142e-01 7.67621459e-01 -7.32557544e-02 9.25578530e+01] [ 1.11017733e-01 2.75825865e-03 9.93814598e-01 2.67677529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137105681 meters 0.02283759944103068 Centerline is valid? [True, True] Translation: X:280.54, Y:92.59, Z:26.77 [[ 7.56236935e-01 -6.48977023e-01 -8.32737749e-02 2.80538612e+02] [ 6.44844992e-01 7.60806307e-01 -7.31348009e-02 9.25923173e+01] [ 1.10818019e-01 1.60856097e-03 9.93839413e-01 2.67702719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197105681 meters 0.022000590619008 Centerline is valid? [True, True] Translation: X:280.58, Y:92.63, Z:26.78 [[ 7.53838250e-01 -6.52049178e-01 -8.09923531e-02 2.80581938e+02] [ 6.48153840e-01 7.58175787e-01 -7.11763717e-02 9.26317289e+01] [ 1.07816936e-01 1.15996685e-03 9.94170087e-01 2.67788963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257105681 meters 0.02157497052773593 Centerline is valid? [True, True] Translation: X:280.62, Y:92.67, Z:26.79 [[ 7.52032310e-01 -6.54463215e-01 -7.82643285e-02 2.80623641e+02] [ 6.50835573e-01 7.56093404e-01 -6.88173050e-02 9.26701792e+01] [ 1.04213537e-01 8.15627679e-04 9.94554611e-01 2.67925187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317105681 meters 0.021716935847817607 Centerline is valid? [True, True] Translation: X:280.66, Y:92.72, Z:26.80 [[ 7.51247353e-01 -6.55823584e-01 -7.43158211e-02 2.80659136e+02] [ 6.52558664e-01 7.54913941e-01 -6.53615488e-02 9.27186239e+01] [ 9.89676946e-02 6.07257529e-04 9.95090462e-01 2.68021587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377105681 meters 0.024081028074111315 Centerline is valid? [True, True] Translation: X:280.69, Y:92.78, Z:26.80 [[ 7.56857091e-01 -6.49031810e-01 -7.69743653e-02 2.80687520e+02] [ 6.45489040e-01 7.60759622e-01 -6.77399215e-02 9.27758865e+01] [ 1.02524353e-01 1.58333085e-03 9.94729235e-01 2.68034637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437105681 meters 0.026466015147530907 Centerline is valid? [True, True] Translation: X:280.72, Y:92.83, Z:26.80 [[ 7.61000459e-01 -6.44087209e-01 -7.76528689e-02 2.80719307e+02] [ 6.40451345e-01 7.64948600e-01 -6.83792007e-02 9.28296239e+01] [ 1.03442622e-01 2.30371885e-03 9.94632755e-01 2.68030213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49710568099994 meters 0.0340053790853345 Centerline is valid? [True, True] Translation: X:280.75, Y:92.88, Z:26.80 [[ 7.68457189e-01 -6.34772304e-01 -8.08558636e-02 2.80747671e+02] [ 6.30772943e-01 7.72690171e-01 -7.12418003e-02 9.28849867e+01] [ 1.07698853e-01 3.74458264e-03 9.94176511e-01 2.68006186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55710568099994 meters 0.03852802457136381 Centerline is valid? [True, True] Translation: X:280.78, Y:92.93, Z:26.81 [[ 7.72957370e-01 -6.29346773e-01 -8.03712849e-02 2.80782442e+02] [ 6.25362613e-01 7.77111568e-01 -7.08464116e-02 9.29330519e+01] [ 1.07044416e-01 4.50005927e-03 9.94244056e-01 2.68104170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61710568099994 meters 0.0375541123584007 Centerline is valid? [True, True] Translation: X:280.82, Y:92.97, Z:26.82 [[ 7.73666098e-01 -6.28640160e-01 -7.90716006e-02 2.80824805e+02] [ 6.24776136e-01 7.77682969e-01 -6.97422458e-02 9.29727029e+01] [ 1.05335414e-01 4.55516214e-03 9.94426318e-01 2.68189739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67710568099994 meters 0.03451057981892578 Centerline is valid? [True, True] Translation: X:280.87, Y:93.01, Z:26.83 [[ 7.72318970e-01 -6.30335907e-01 -7.87404179e-02 2.80870684e+02] [ 6.26508688e-01 7.76310394e-01 -6.94912694e-02 9.30091999e+01] [ 1.04929847e-01 4.33786976e-03 9.94470166e-01 2.68252922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73710568099995 meters 0.031635060277950024 Centerline is valid? [True, True] Translation: X:280.92, Y:93.05, Z:26.83 [[ 7.67799331e-01 -6.35910207e-01 -7.81178323e-02 2.80916728e+02] [ 6.32167503e-01 7.71754736e-01 -6.89846009e-02 9.30457825e+01] [ 1.04155819e-01 3.58277548e-03 9.94554538e-01 2.68313276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79710568099995 meters 0.026979653984060492 Centerline is valid? [True, True] Translation: X:280.97, Y:93.08, Z:26.84 [[ 7.60805064e-01 -6.44058457e-01 -7.97769370e-02 2.80965866e+02] [ 6.40194241e-01 7.64972000e-01 -7.04923674e-02 9.30780324e+01] [ 1.06428328e-01 2.55821443e-03 9.94317085e-01 2.68356154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85710568099995 meters 0.023123599503665295 Centerline is valid? [True, True] Translation: X:281.02, Y:93.11, Z:26.84 [[ 7.50661696e-01 -6.55827658e-01 -7.99818810e-02 2.81015676e+02] [ 6.52005645e-01 7.54910075e-01 -7.07065583e-02 9.31096115e+01] [ 1.06750444e-01 9.28067024e-04 9.94285412e-01 2.68441816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91710568099995 meters 0.02272505719232386 Centerline is valid? [True, True] Translation: X:281.06, Y:93.14, Z:26.85 [[ 7.44712680e-01 -6.62592434e-01 -7.98391538e-02 2.81062755e+02] [ 6.58817577e-01 7.48980151e-01 -7.06267229e-02 9.31443516e+01] [ 1.06594674e-01 -2.82175498e-06 9.94302557e-01 2.68519677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97710568099995 meters 0.023271434510437665 Centerline is valid? [True, True] Translation: X:281.11, Y:93.18, Z:26.86 [[ 7.40675909e-01 -6.67118818e-01 -7.96974359e-02 2.81108137e+02] [ 6.63378924e-01 7.44951071e-01 -7.05429312e-02 9.31804212e+01] [ 1.06431207e-01 -6.20149559e-04 9.94319875e-01 2.68580168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03710568099996 meters 0.02334285445886941 Centerline is valid? [True, True] Translation: X:281.15, Y:93.22, Z:26.86 [[ 7.40937354e-01 -6.66821027e-01 -7.97593599e-02 2.81146036e+02] [ 6.63071016e-01 7.45217689e-01 -7.06216905e-02 9.32238299e+01] [ 1.06530114e-01 -5.59871379e-04 9.94309319e-01 2.68613524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09710568099996 meters 0.023170041140875 Centerline is valid? [True, True] Translation: X:281.18, Y:93.27, Z:26.87 [[ 7.43184283e-01 -6.64337735e-01 -7.95769764e-02 2.81181630e+02] [ 6.60587342e-01 7.47432500e-01 -7.04912861e-02 9.32701838e+01] [ 1.06308440e-01 -1.79527426e-04 9.94333185e-01 2.68694759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15710568099996 meters 0.024099069222006577 Centerline is valid? [True, True] Translation: X:281.21, Y:93.32, Z:26.88 [[ 7.51393730e-01 -6.55234631e-01 -7.79425512e-02 2.81213020e+02] [ 6.51582945e-01 7.55424588e-01 -6.90894934e-02 9.33215220e+01] [ 1.04149548e-01 1.12737507e-03 9.94561009e-01 2.68832989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21710568099996 meters 0.02712877957446098 Centerline is valid? [True, True] Translation: X:281.25, Y:93.37, Z:26.89 [[ 7.59785918e-01 -6.45553126e-01 -7.73726073e-02 2.81247454e+02] [ 6.41899754e-01 7.63711351e-01 -6.86270938e-02 9.33713203e+01] [ 1.03392773e-01 2.47644193e-03 9.94637523e-01 2.68912816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27710568099997 meters 0.035078511329712646 Centerline is valid? [True, True] Translation: X:281.28, Y:93.42, Z:26.89 [[ 7.70217951e-01 -6.32711284e-01 -8.02542198e-02 2.81278653e+02] [ 6.28704874e-01 7.74375260e-01 -7.12259706e-02 9.34242672e+01] [ 1.07212358e-01 4.40330199e-03 9.94226393e-01 2.68905828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33710568099997 meters 0.04286593926460078 Centerline is valid? [True, True] Translation: X:281.31, Y:93.48, Z:26.89 [[ 7.78749488e-01 -6.21926173e-01 -8.22014007e-02 2.81312451e+02] [ 6.17658875e-01 7.83052412e-01 -7.29824202e-02 9.34755572e+01] [ 1.09757682e-01 6.06259766e-03 9.93939886e-01 2.68933227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39710568099997 meters 0.0501961725678189 Centerline is valid? [True, True] Translation: X:281.35, Y:93.52, Z:26.89 [[ 7.85852831e-01 -6.12646198e-01 -8.42612858e-02 2.81349887e+02] [ 6.08103532e-01 7.90320898e-01 -7.48530078e-02 9.35225967e+01] [ 1.12451866e-01 7.58386255e-03 9.93628232e-01 2.68941486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457105681 meters 0.05286263675940148 Centerline is valid? [True, True] Translation: X:281.39, Y:93.56, Z:26.89 [[ 7.86549848e-01 -6.11435499e-01 -8.65214881e-02 2.81392896e+02] [ 6.06635347e-01 7.91254000e-01 -7.68808396e-02 9.35614860e+01] [ 1.15468148e-01 7.98361972e-03 9.93279099e-01 2.68949773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517105681 meters 0.047014490200010244 Centerline is valid? [True, True] Translation: X:281.45, Y:93.59, Z:26.90 [[ 7.83970054e-01 -6.14267527e-01 -8.98129175e-02 2.81446941e+02] [ 6.09108955e-01 7.89058505e-01 -7.98307953e-02 9.35896283e+01] [ 1.19905112e-01 7.87910057e-03 9.92754090e-01 2.68981707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577105681 meters 0.042331198493073284 Centerline is valid? [True, True] Translation: X:281.50, Y:93.62, Z:26.91 [[ 7.79906569e-01 -6.19657063e-01 -8.81525240e-02 2.81500113e+02] [ 6.14716340e-01 7.84841832e-01 -7.84035718e-02 9.36179576e+01] [ 1.17769115e-01 6.95866371e-03 9.93016622e-01 2.69084563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637105681 meters 0.04024297525392574 Centerline is valid? [True, True] Translation: X:281.55, Y:93.65, Z:26.91 [[ 7.74567423e-01 -6.26369695e-01 -8.77855997e-02 2.81548667e+02] [ 6.21506964e-01 7.79503404e-01 -7.81251357e-02 9.36510401e+01] [ 1.17364391e-01 5.95382351e-03 9.93071071e-01 2.69123446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697105681 meters 0.031995849078677155 Centerline is valid? [True, True] Translation: X:281.61, Y:93.67, Z:26.92 [[ 7.65173698e-01 -6.38046941e-01 -8.60541249e-02 2.81606505e+02] [ 6.33441603e-01 7.69986405e-01 -7.66333605e-02 9.36733369e+01] [ 1.15156188e-01 4.12756904e-03 9.93338822e-01 2.69229307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757105681 meters 0.028406996018087705 Centerline is valid? [True, True] Translation: X:281.66, Y:93.70, Z:26.93 [[ 7.57058090e-01 -6.47913652e-01 -8.40889241e-02 2.81657069e+02] [ 6.43571495e-01 7.61709320e-01 -7.49309200e-02 9.37031741e+01] [ 1.12600083e-01 2.60982458e-03 9.93636961e-01 2.69319378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817105681 meters 0.026704089599635175 Centerline is valid? [True, True] Translation: X:281.70, Y:93.74, Z:26.94 [[ 7.53575768e-01 -6.51880890e-01 -8.47045845e-02 2.81702512e+02] [ 6.47493914e-01 7.58318545e-01 -7.55289101e-02 9.37401448e+01] [ 1.13468910e-01 2.07105348e-03 9.93539389e-01 2.69385806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877105681 meters 0.026853104028708982 Centerline is valid? [True, True] Translation: X:281.74, Y:93.78, Z:26.94 [[ 7.51924401e-01 -6.53409403e-01 -8.75548218e-02 2.81742910e+02] [ 6.48726103e-01 7.57002243e-01 -7.81155985e-02 9.37823220e+01] [ 1.17320663e-01 1.93792634e-03 9.93092194e-01 2.69402507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937105681 meters 0.02639603255223088 Centerline is valid? [True, True] Translation: X:281.78, Y:93.83, Z:26.94 [[ 7.50746918e-01 -6.54562054e-01 -8.90369701e-02 2.81782794e+02] [ 6.49723054e-01 7.56006115e-01 -7.94651349e-02 9.38257898e+01] [ 1.19327356e-01 1.80883302e-03 9.92853318e-01 2.69437385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99710568099994 meters 0.025978675442932544 Centerline is valid? [True, True] Translation: X:281.82, Y:93.87, Z:26.95 [[ 7.48600107e-01 -6.57168427e-01 -8.79064149e-02 2.81822783e+02] [ 6.52463863e-01 7.53742435e-01 -7.85063643e-02 9.38681019e+01] [ 1.17850699e-01 1.41411370e-03 9.93030318e-01 2.69505906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05710568099994 meters 0.026590215934925863 Centerline is valid? [True, True] Translation: X:281.86, Y:93.92, Z:26.96 [[ 7.50741821e-01 -6.55276529e-01 -8.36623508e-02 2.81856889e+02] [ 6.50999905e-01 7.55387257e-01 -7.47610574e-02 9.39179941e+01] [ 1.12186640e-01 1.66207000e-03 9.93685763e-01 2.69614430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11710568099994 meters 0.027389474886604075 Centerline is valid? [True, True] Translation: X:281.89, Y:93.97, Z:26.97 [[ 7.54266049e-01 -6.51304395e-01 -8.29777802e-02 2.81892927e+02] [ 6.47068667e-01 7.58813175e-01 -7.41937098e-02 9.39653357e+01] [ 1.11287322e-01 2.26947474e-03 9.93785682e-01 2.69687361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17710568099994 meters 0.03301060886208935 Centerline is valid? [True, True] Translation: X:281.92, Y:94.02, Z:26.97 [[ 7.62111896e-01 -6.41892825e-01 -8.46112184e-02 2.81919518e+02] [ 6.37424746e-01 7.66785162e-01 -7.56981445e-02 9.40225936e+01] [ 1.13468723e-01 3.75717212e-03 9.93534465e-01 2.69704921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23710568099995 meters 0.03752559800573917 Centerline is valid? [True, True] Translation: X:281.95, Y:94.08, Z:26.97 [[ 7.68336040e-01 -6.34380690e-01 -8.49756983e-02 2.81951141e+02] [ 6.29825080e-01 7.73005190e-01 -7.60483075e-02 9.40757631e+01] [ 1.13930234e-01 4.91082952e-03 9.93476616e-01 2.69735408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29710568099995 meters 0.04133847608514284 Centerline is valid? [True, True] Translation: X:281.99, Y:94.12, Z:26.98 [[ 7.71998229e-01 -6.29914214e-01 -8.50106883e-02 2.81986743e+02] [ 6.25322335e-01 7.76644447e-01 -7.61273941e-02 9.41241901e+01] [ 1.13976807e-01 5.61113137e-03 9.93467565e-01 2.69768545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35710568099995 meters 0.03686055295932955 Centerline is valid? [True, True] Translation: X:282.03, Y:94.16, Z:26.98 [[ 7.70127754e-01 -6.32206970e-01 -8.49563957e-02 2.82034547e+02] [ 6.27629306e-01 7.74781383e-01 -7.61266190e-02 9.41589042e+01] [ 1.13950413e-01 5.30609849e-03 9.93472269e-01 2.69838642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41710568099995 meters 0.034677384113219474 Centerline is valid? [True, True] Translation: X:282.08, Y:94.19, Z:26.98 [[ 7.64212285e-01 -6.39150798e-01 -8.64051025e-02 2.82081857e+02] [ 6.34454056e-01 7.69068963e-01 -7.74659987e-02 9.41936141e+01] [ 1.15963937e-01 4.38040012e-03 9.93243765e-01 2.69828728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47710568099995 meters 0.029212237252250573 Centerline is valid? [True, True] Translation: X:282.13, Y:94.22, Z:26.99 [[ 7.57261178e-01 -6.47403093e-01 -8.61669536e-02 2.82132540e+02] [ 6.42782113e-01 7.62141341e-01 -7.72769790e-02 9.42243185e+01] [ 1.15700753e-01 3.13227967e-03 9.93279178e-01 2.69885775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53710568099996 meters 0.0269698292580381 Centerline is valid? [True, True] Translation: X:282.18, Y:94.26, Z:27.00 [[ 7.53151603e-01 -6.52569430e-01 -8.31612996e-02 2.82177706e+02] [ 6.48292434e-01 7.57725469e-01 -7.46259594e-02 9.42594954e+01] [ 1.11712055e-01 2.29181966e-03 9.93737976e-01 2.69995393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59710568099996 meters 0.023704296775749024 Centerline is valid? [True, True] Translation: X:282.23, Y:94.29, Z:27.01 [[ 7.47365423e-01 -6.59701894e-01 -7.89831374e-02 2.82226233e+02] [ 6.55880741e-01 7.51526438e-01 -7.09116872e-02 9.42921097e+01] [ 1.06138490e-01 1.19342445e-03 9.94350641e-01 2.70128362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65710568099996 meters 0.022242120772367344 Centerline is valid? [True, True] Translation: X:282.27, Y:94.33, Z:27.02 [[ 7.42229945e-01 -6.65438046e-01 -7.92900724e-02 2.82272430e+02] [ 6.61614649e-01 7.46452971e-01 -7.12321385e-02 9.43277968e+01] [ 1.06586885e-01 4.11152779e-04 9.94303307e-01 2.70172424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71710568099996 meters 0.02157117719046315 Centerline is valid? [True, True] Translation: X:282.31, Y:94.37, Z:27.02 [[ 7.38607764e-01 -6.69223480e-01 -8.12311844e-02 2.82312950e+02] [ 6.65228301e-01 7.43061184e-01 -7.30163289e-02 9.43700313e+01] [ 1.09223982e-01 -1.06855368e-04 9.94017158e-01 2.70191254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77710568099997 meters 0.021550707109382616 Centerline is valid? [True, True] Translation: X:282.35, Y:94.42, Z:27.02 [[ 7.41132386e-01 -6.66409227e-01 -8.13727744e-02 2.82348716e+02] [ 6.62380427e-01 7.45586102e-01 -7.31678530e-02 9.44168852e+01] [ 1.09430142e-01 3.27332389e-04 9.93994435e-01 2.70229854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83710568099997 meters 0.021109280488507708 Centerline is valid? [True, True] Translation: X:282.39, Y:94.46, Z:27.03 [[ 7.43357563e-01 -6.64207325e-01 -7.90453178e-02 2.82385107e+02] [ 6.60388457e-01 7.47548111e-01 -7.11259966e-02 9.44636896e+01] [ 1.06332586e-01 6.71432112e-04 9.94330393e-01 2.70338334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89710568099997 meters 0.022566456488077938 Centerline is valid? [True, True] Translation: X:282.42, Y:94.51, Z:27.04 [[ 7.47040990e-01 -6.60429473e-01 -7.59122547e-02 2.82423066e+02] [ 6.56884603e-01 7.50887137e-01 -6.83456351e-02 9.45074024e+01] [ 1.02139007e-01 1.19139962e-03 9.94769422e-01 2.70421663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957105681 meters 0.025336241138181493 Centerline is valid? [True, True] Translation: X:282.46, Y:94.56, Z:27.05 [[ 7.53697216e-01 -6.53014342e-01 -7.42480622e-02 2.82458559e+02] [ 6.49585573e-01 7.57342444e-01 -6.68655859e-02 9.45552841e+01] [ 9.98953955e-02 2.16593600e-03 9.94995587e-01 2.70523043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017105681 meters 0.03238838660603669 Centerline is valid? [True, True] Translation: X:282.49, Y:94.60, Z:27.05 [[ 7.61353781e-01 -6.43922828e-01 -7.55235863e-02 2.82493851e+02] [ 6.40325801e-01 7.65082651e-01 -6.80544268e-02 9.46028568e+01] [ 1.01603585e-01 3.45379426e-03 9.94818970e-01 2.70537812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077105681 meters 0.036207656741255735 Centerline is valid? [True, True] Translation: X:282.54, Y:94.64, Z:27.06 [[ 7.67192715e-01 -6.36905409e-01 -7.59396940e-02 2.82535964e+02] [ 6.33232124e-01 7.70929254e-01 -6.84482458e-02 9.46445768e+01] [ 1.02139190e-01 4.42554185e-03 9.94760273e-01 2.70577125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137105681 meters 0.04184625343852314 Centerline is valid? [True, True] Translation: X:282.58, Y:94.68, Z:27.06 [[ 7.72280454e-01 -6.30823711e-01 -7.51288633e-02 2.82578730e+02] [ 6.27196008e-01 7.75908722e-01 -6.77556098e-02 9.46822222e+01] [ 1.01034986e-01 5.20580993e-03 9.94869253e-01 2.70649116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197105681 meters 0.04797096333804424 Centerline is valid? [True, True] Translation: X:282.63, Y:94.72, Z:27.07 [[ 7.76731918e-01 -6.25315589e-01 -7.52857410e-02 2.82625778e+02] [ 6.21645001e-01 7.80349281e-01 -6.79153290e-02 9.47156637e+01] [ 1.01217688e-01 5.95099916e-03 9.94846503e-01 2.70679038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257105681 meters 0.040417237931018875 Centerline is valid? [True, True] Translation: X:282.69, Y:94.74, Z:27.07 [[ 7.74515761e-01 -6.27670546e-01 -7.84539440e-02 2.82687134e+02] [ 6.23692206e-01 7.78456667e-01 -7.08043097e-02 9.47363321e+01] [ 1.05514775e-01 5.90794045e-03 9.94400185e-01 2.70671635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317105681 meters 0.035264401502186085 Centerline is valid? [True, True] Translation: X:282.75, Y:94.76, Z:27.07 [[ 7.65737584e-01 -6.37999944e-01 -8.12528393e-02 2.82748298e+02] [ 6.33783459e-01 7.70022112e-01 -7.33789750e-02 9.47570497e+01] [ 1.09382265e-01 4.69233350e-03 9.93988683e-01 2.70678653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377105681 meters 0.028823893191770783 Centerline is valid? [True, True] Translation: X:282.81, Y:94.78, Z:27.08 [[ 7.56280999e-01 -6.49622742e-01 -7.76488471e-02 2.82808418e+02] [ 6.45829309e-01 7.60251142e-01 -7.01619855e-02 9.47750095e+01] [ 1.04611446e-01 2.91427523e-03 9.94508900e-01 2.70782868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437105681 meters 0.025106652244620862 Centerline is valid? [True, True] Translation: X:282.86, Y:94.80, Z:27.09 [[ 7.49473122e-01 -6.57811616e-01 -7.46586713e-02 2.82864908e+02] [ 6.54343522e-01 7.53180530e-01 -6.74807009e-02 9.47987849e+01] [ 1.00621047e-01 1.72255370e-03 9.94923333e-01 2.70870413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49710568099994 meters 0.02468749787786465 Centerline is valid? [True, True] Translation: X:282.91, Y:94.83, Z:27.09 [[ 7.48014024e-01 -6.59621350e-01 -7.33123003e-02 2.82914534e+02] [ 6.56282074e-01 7.51596616e-01 -6.63051026e-02 9.48311026e+01] [ 9.88375381e-02 1.48359820e-03 9.95102477e-01 2.70920581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55710568099994 meters 0.025188033980010464 Centerline is valid? [True, True] Translation: X:282.96, Y:94.87, Z:27.10 [[ 7.49504435e-01 -6.57949986e-01 -7.31089524e-02 2.82957395e+02] [ 6.54617551e-01 7.53059646e-01 -6.61591444e-02 9.48703107e+01] [ 9.85848099e-02 1.72816873e-03 9.95127152e-01 2.70977829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61710568099994 meters 0.028382963811592613 Centerline is valid? [True, True] Translation: X:282.99, Y:94.92, Z:27.10 [[ 7.56861332e-01 -6.49686686e-01 -7.11908346e-02 2.82994437e+02] [ 6.46488905e-01 7.60197120e-01 -6.44393900e-02 9.49172239e+01] [ 9.59844811e-02 2.74759786e-03 9.95379038e-01 2.71038244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67710568099994 meters 0.0329139820866516 Centerline is valid? [True, True] Translation: X:283.03, Y:94.96, Z:27.11 [[ 7.65284501e-01 -6.39906251e-01 -6.97109990e-02 2.83030548e+02] [ 6.36795910e-01 7.68442952e-01 -6.31379341e-02 9.49643122e+01] [ 9.39712845e-02 3.92680339e-03 9.95567164e-01 2.71062850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73710568099995 meters 0.03788584364699705 Centerline is valid? [True, True] Translation: X:283.07, Y:95.01, Z:27.11 [[ 7.70889906e-01 -6.33501058e-01 -6.63714016e-02 2.83067868e+02] [ 6.30656343e-01 7.73728731e-01 -6.01367427e-02 9.50096937e+01] [ 8.94501504e-02 4.50126243e-03 9.95981129e-01 2.71114697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79710568099995 meters 0.03839957770825629 Centerline is valid? [True, True] Translation: X:283.11, Y:95.05, Z:27.11 [[ 7.70210477e-01 -6.34041019e-01 -6.90493128e-02 2.83111044e+02] [ 6.30962360e-01 7.73285552e-01 -6.25775893e-02 9.50483973e+01] [ 9.30715945e-02 4.63039748e-03 9.95648652e-01 2.71111355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85710568099995 meters 0.036005986839036726 Centerline is valid? [True, True] Translation: X:283.16, Y:95.08, Z:27.12 [[ 7.69192501e-01 -6.35298141e-01 -6.88416206e-02 2.83157550e+02] [ 6.32241618e-01 7.72253995e-01 -6.24043531e-02 9.50847626e+01] [ 9.28085861e-02 4.47642280e-03 9.95673906e-01 2.71160083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91710568099995 meters 0.03649294623502038 Centerline is valid? [True, True] Translation: X:283.20, Y:95.12, Z:27.13 [[ 7.69162660e-01 -6.35635486e-01 -6.60025065e-02 2.83201792e+02] [ 6.32824342e-01 7.71977467e-01 -5.98677091e-02 9.51220153e+01] [ 8.90064882e-02 4.28001367e-03 9.96021850e-01 2.71263046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97710568099995 meters 0.03714423905646883 Centerline is valid? [True, True] Translation: X:283.24, Y:95.16, Z:27.13 [[ 7.69828351e-01 -6.34794314e-01 -6.63361843e-02 2.83244946e+02] [ 6.31948040e-01 7.72668466e-01 -6.02089384e-02 9.51614397e+01] [ 8.94761695e-02 4.42952604e-03 9.95979113e-01 2.71306641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03710568099996 meters 0.03855519088354749 Centerline is valid? [True, True] Translation: X:283.29, Y:95.20, Z:27.14 [[ 7.71217428e-01 -6.33063671e-01 -6.67388006e-02 2.83289596e+02] [ 6.30172716e-01 7.74085527e-01 -6.06130797e-02 9.51997080e+01] [ 9.00334784e-02 4.68889213e-03 9.95927702e-01 2.71353300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09710568099996 meters 0.040128982832124314 Centerline is valid? [True, True] Translation: X:283.33, Y:95.24, Z:27.14 [[ 7.71653147e-01 -6.32419936e-01 -6.77970849e-02 2.83332598e+02] [ 6.29430347e-01 7.74610422e-01 -6.16127655e-02 9.52400235e+01] [ 9.14814698e-02 4.87014178e-03 9.95794870e-01 2.71365136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15710568099996 meters 0.040924964690211375 Centerline is valid? [True, True] Translation: X:283.38, Y:95.27, Z:27.14 [[ 7.73160233e-01 -6.30471660e-01 -6.87658321e-02 2.83381824e+02] [ 6.27384543e-01 7.76194820e-01 -6.25318886e-02 9.52728979e+01] [ 9.28002663e-02 5.20454942e-03 9.95671142e-01 2.71408823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21710568099996 meters 0.04064816957611903 Centerline is valid? [True, True] Translation: X:283.43, Y:95.31, Z:27.15 [[ 7.74341501e-01 -6.29104894e-01 -6.79872938e-02 2.83429152e+02] [ 6.26078983e-01 7.77302113e-01 -6.18589676e-02 9.53076787e+01] [ 9.17624464e-02 5.33455011e-03 9.95766637e-01 2.71487831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27710568099997 meters 0.0399008225372202 Centerline is valid? [True, True] Translation: X:283.48, Y:95.34, Z:27.16 [[ 7.74864844e-01 -6.28784509e-01 -6.49192865e-02 2.83477550e+02] [ 6.26021904e-01 7.77562512e-01 -5.91025770e-02 9.53413878e+01] [ 8.76415884e-02 5.15561376e-03 9.96138731e-01 2.71599601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33710568099997 meters 0.04065921412810879 Centerline is valid? [True, True] Translation: X:283.52, Y:95.38, Z:27.16 [[ 7.74091165e-01 -6.29704214e-01 -6.52339635e-02 2.83522023e+02] [ 6.26914488e-01 7.76818205e-01 -5.94281107e-02 9.53776939e+01] [ 8.80970622e-02 5.10665867e-03 9.96098805e-01 2.71641591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39710568099997 meters 0.03893228929445964 Centerline is valid? [True, True] Translation: X:283.57, Y:95.41, Z:27.17 [[ 7.73782802e-01 -6.30099187e-01 -6.50783275e-02 2.83569516e+02] [ 6.27323016e-01 7.76498173e-01 -5.92994149e-02 9.54111002e+01] [ 8.78977155e-02 5.05973477e-03 9.96116655e-01 2.71686557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457105681 meters 0.04010489889620779 Centerline is valid? [True, True] Translation: X:283.61, Y:95.45, Z:27.17 [[ 7.72524824e-01 -6.31795647e-01 -6.35582942e-02 2.83612847e+02] [ 6.29149942e-01 7.75120224e-01 -5.79567931e-02 9.54498136e+01] [ 8.58821688e-02 4.78536427e-03 9.96293809e-01 2.71742708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517105681 meters 0.040126949706027516 Centerline is valid? [True, True] Translation: X:283.66, Y:95.49, Z:27.18 [[ 7.70507367e-01 -6.33986489e-01 -6.61780072e-02 2.83658769e+02] [ 6.31122306e-01 7.73329476e-01 -6.03834054e-02 9.54850092e+01] [ 8.94596669e-02 4.75944219e-03 9.95979074e-01 2.71771050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577105681 meters 0.03570616466283665 Centerline is valid? [True, True] Translation: X:283.71, Y:95.52, Z:27.18 [[ 7.65126092e-01 -6.40335180e-01 -6.74753370e-02 2.83710286e+02] [ 6.37380448e-01 7.68084610e-01 -6.15808050e-02 9.55154124e+01] [ 9.12591237e-02 4.10962010e-03 9.95818700e-01 2.71794359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637105681 meters 0.02900603319851516 Centerline is valid? [True, True] Translation: X:283.76, Y:95.54, Z:27.18 [[ 7.56141998e-01 -6.50993299e-01 -6.67607893e-02 2.83762986e+02] [ 6.48140161e-01 7.59078260e-01 -6.09469093e-02 9.55444088e+01] [ 9.03526934e-02 2.81416906e-03 9.95905855e-01 2.71843172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697105681 meters 0.022289513668118335 Centerline is valid? [True, True] Translation: X:283.82, Y:95.57, Z:27.20 [[ 7.43899407e-01 -6.65134443e-01 -6.48833251e-02 2.83820179e+02] [ 6.62489484e-01 7.46722808e-01 -5.92683050e-02 9.55677071e+01] [ 8.78712498e-02 1.10513636e-03 9.96131227e-01 2.71972638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757105681 meters 0.02033906633204104 Centerline is valid? [True, True] Translation: X:283.87, Y:95.60, Z:27.20 [[ 7.34036590e-01 -6.75988566e-01 -6.50364828e-02 2.83868816e+02] [ 6.73369884e-01 7.36912093e-01 -5.94438052e-02 9.56006552e+01] [ 8.81095033e-02 -1.59680842e-04 9.96110782e-01 2.72022778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817105681 meters 0.02061669127768127 Centerline is valid? [True, True] Translation: X:283.91, Y:95.64, Z:27.21 [[ 7.31821646e-01 -6.78392487e-01 -6.49670056e-02 2.83908813e+02] [ 6.75785734e-01 7.34699568e-01 -5.94153745e-02 9.56429465e+01] [ 8.80381746e-02 -4.22318404e-04 9.96117012e-01 2.72064519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877105681 meters 0.020635662158802776 Centerline is valid? [True, True] Translation: X:283.94, Y:95.69, Z:27.21 [[ 7.32687154e-01 -6.77118399e-01 -6.84120486e-02 2.83943055e+02] [ 6.74217502e-01 7.35874046e-01 -6.26110863e-02 9.56924608e+01] [ 9.27377695e-02 -2.50261846e-04 9.95690536e-01 2.72069685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937105681 meters 0.020689866534168357 Centerline is valid? [True, True] Translation: X:283.98, Y:95.74, Z:27.21 [[ 7.34969710e-01 -6.74514667e-01 -6.96382809e-02 2.83977489e+02] [ 6.71492526e-01 7.38261438e-01 -6.37795919e-02 9.57400899e+01] [ 9.44315276e-02 1.14483023e-04 9.95531352e-01 2.72104401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99710568099994 meters 0.02332308768437532 Centerline is valid? [True, True] Translation: X:284.00, Y:95.79, Z:27.22 [[ 7.44472032e-01 -6.64017816e-01 -6.95825671e-02 2.84004967e+02] [ 6.60949998e-01 7.47715273e-01 -6.37728004e-02 9.57945293e+01] [ 9.43742239e-02 1.48646869e-03 9.95535683e-01 2.72185448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05710568099994 meters 0.02758000920271954 Centerline is valid? [True, True] Translation: X:284.03, Y:95.85, Z:27.22 [[ 7.51091480e-01 -6.56457980e-01 -7.01748465e-02 2.84034924e+02] [ 6.53302774e-01 7.54358534e-01 -6.43326304e-02 9.58475398e+01] [ 9.51686629e-02 2.47426867e-03 9.95458087e-01 2.72180646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11710568099994 meters 0.02987462476459368 Centerline is valid? [True, True] Translation: X:284.07, Y:95.89, Z:27.22 [[ 7.53419394e-01 -6.53832355e-01 -6.97313989e-02 2.84072140e+02] [ 6.50704102e-01 7.56634259e-01 -6.39434900e-02 9.58922378e+01] [ 9.45694880e-02 2.80175824e-03 9.95514320e-01 2.72249869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17710568099994 meters 0.027184135464374422 Centerline is valid? [True, True] Translation: X:284.12, Y:95.93, Z:27.23 [[ 7.53295313e-01 -6.53966382e-01 -6.98150602e-02 2.84115249e+02] [ 6.50827689e-01 7.56518367e-01 -6.40568472e-02 9.59305245e+01] [ 9.47074000e-02 2.81614852e-03 9.95501169e-01 2.72319596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23710568099995 meters 0.034217981972449546 Centerline is valid? [True, True] Translation: X:284.14, Y:95.98, Z:27.24 [[ 7.56938459e-01 -6.49763608e-01 -6.96521620e-02 2.84143683e+02] [ 6.46617439e-01 7.60128868e-01 -6.39530440e-02 9.59845153e+01] [ 9.44989797e-02 3.37021589e-03 9.95519254e-01 2.72366040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29710568099995 meters 0.03472760899033955 Centerline is valid? [True, True] Translation: X:284.18, Y:96.03, Z:27.24 [[ 7.63164530e-01 -6.42320540e-01 -7.07405320e-02 2.84183377e+02] [ 6.39041210e-01 7.66423620e-01 -6.49705119e-02 9.60287327e+01] [ 9.59491089e-02 4.37707506e-03 9.95376617e-01 2.72399858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35710568099995 meters 0.03875859223934738 Centerline is valid? [True, True] Translation: X:284.22, Y:96.08, Z:27.24 [[ 7.68183110e-01 -6.36074188e-01 -7.28308825e-02 2.84221415e+02] [ 6.32565294e-01 7.71609381e-01 -6.69336368e-02 9.60752567e+01] [ 9.87717508e-02 5.34700074e-03 9.95095750e-01 2.72409469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41710568099995 meters 0.039549538033698615 Centerline is valid? [True, True] Translation: X:284.27, Y:96.11, Z:27.25 [[ 7.69424099e-01 -6.34572917e-01 -7.28269866e-02 2.84268213e+02] [ 6.31053582e-01 7.72842912e-01 -6.69717030e-02 9.61116665e+01] [ 9.87822493e-02 5.57191144e-03 9.95093474e-01 2.72455724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47710568099995 meters 0.03722432591694291 Centerline is valid? [True, True] Translation: X:284.32, Y:96.14, Z:27.25 [[ 7.67916819e-01 -6.36543134e-01 -7.15303944e-02 2.84317310e+02] [ 6.33152987e-01 7.71223211e-01 -6.58183429e-02 9.61444878e+01] [ 9.70621148e-02 5.25332970e-03 9.95264462e-01 2.72531142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53710568099996 meters 0.038186085427866896 Centerline is valid? [True, True] Translation: X:284.36, Y:96.18, Z:27.26 [[ 7.65627695e-01 -6.39437738e-01 -7.02396765e-02 2.84364069e+02] [ 6.36178076e-01 7.68827755e-01 -6.46632701e-02 9.61788549e+01] [ 9.53503480e-02 4.82304815e-03 9.95432092e-01 2.72603965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59710568099996 meters 0.03736511514620272 Centerline is valid? [True, True] Translation: X:284.41, Y:96.21, Z:27.27 [[ 7.63146738e-01 -6.42552877e-01 -6.87957504e-02 2.84410071e+02] [ 6.39435512e-01 7.66228892e-01 -6.33680643e-02 9.62128296e+01] [ 9.34306237e-02 4.36868574e-03 9.95616208e-01 2.72665523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65710568099996 meters 0.031265986903168806 Centerline is valid? [True, True] Translation: X:284.46, Y:96.24, Z:27.27 [[ 7.57621437e-01 -6.49130746e-01 -6.81104472e-02 2.84461475e+02] [ 6.46099947e-01 7.60668626e-01 -6.27542775e-02 9.62437125e+01] [ 9.25452112e-02 3.53782959e-03 9.95702198e-01 2.72716577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71710568099996 meters 0.027241254306925637 Centerline is valid? [True, True] Translation: X:284.51, Y:96.28, Z:27.28 [[ 7.50042294e-01 -6.57844181e-01 -6.83929213e-02 2.84509993e+02] [ 6.54820217e-01 7.53149883e-01 -6.30534500e-02 9.62762993e+01] [ 9.29894658e-02 2.50768667e-03 9.95663935e-01 2.72752332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77710568099997 meters 0.02330039043331043 Centerline is valid? [True, True] Translation: X:284.56, Y:96.31, Z:27.28 [[ 7.41621327e-01 -6.67147656e-01 -7.00843224e-02 2.84559044e+02] [ 6.64011200e-01 7.44924198e-01 -6.46302160e-02 9.63102933e+01] [ 9.53254048e-02 1.39437149e-03 9.95445188e-01 2.72757813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83710568099997 meters 0.021737698608105926 Centerline is valid? [True, True] Translation: X:284.61, Y:96.35, Z:27.28 [[ 7.35616373e-01 -6.73978681e-01 -6.79800675e-02 2.84605646e+02] [ 6.71053480e-01 7.38750608e-01 -6.27277112e-02 9.63457522e+01] [ 9.24974564e-02 5.25270517e-04 9.95712782e-01 2.72837538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89710568099997 meters 0.021736850464389123 Centerline is valid? [True, True] Translation: X:284.64, Y:96.39, Z:27.29 [[ 7.34572777e-01 -6.75027219e-01 -6.88555656e-02 2.84644381e+02] [ 6.72026637e-01 7.37792700e-01 -6.35777460e-02 9.63888876e+01] [ 9.37178428e-02 4.29707261e-04 9.95598705e-01 2.72870110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957105681 meters 0.022695620276556253 Centerline is valid? [True, True] Translation: X:284.68, Y:96.44, Z:27.29 [[ 7.38283399e-01 -6.71009238e-01 -6.84414067e-02 2.84678141e+02] [ 6.68023275e-01 7.41448356e-01 -6.32395318e-02 9.64382595e+01] [ 9.31800785e-02 9.68243765e-04 9.95648801e-01 2.72937359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017105681 meters 0.02319016602636022 Centerline is valid? [True, True] Translation: X:284.71, Y:96.49, Z:27.29 [[ 7.39513442e-01 -6.69517941e-01 -6.97538287e-02 2.84712711e+02] [ 6.66405698e-01 7.42794903e-01 -6.44916962e-02 9.64869517e+01] [ 9.49911361e-02 1.20812734e-03 9.95477385e-01 2.72949936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077105681 meters 0.023489490698893133 Centerline is valid? [True, True] Translation: X:284.75, Y:96.53, Z:27.30 [[ 7.40434279e-01 -6.68417349e-01 -7.05359860e-02 2.84749312e+02] [ 6.65227487e-01 7.43785142e-01 -6.52384355e-02 9.65343501e+01] [ 9.60701205e-02 1.38229721e-03 9.95373609e-01 2.72983990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137105681 meters 0.026667033266427262 Centerline is valid? [True, True] Translation: X:284.78, Y:96.59, Z:27.31 [[ 7.46035463e-01 -6.62356721e-01 -6.86633989e-02 2.84778140e+02] [ 6.59304966e-01 7.49185564e-01 -6.35448823e-02 9.65869687e+01] [ 9.35310071e-02 2.13661586e-03 9.95614075e-01 2.73088529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197105681 meters 0.031175046615188755 Centerline is valid? [True, True] Translation: X:284.81, Y:96.64, Z:27.31 [[ 7.52350833e-01 -6.55002204e-01 -7.02875275e-02 2.84808963e+02] [ 6.51769352e-01 7.55620416e-01 -6.50730295e-02 9.66398963e+01] [ 9.57336684e-02 3.14649174e-03 9.95402011e-01 2.73092107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257105681 meters 0.03461556178968339 Centerline is valid? [True, True] Translation: X:284.85, Y:96.69, Z:27.31 [[ 7.55529920e-01 -6.51113221e-01 -7.22918651e-02 2.84845076e+02] [ 6.47672668e-01 7.58971284e-01 -6.69530118e-02 9.66867745e+01] [ 9.84614408e-02 3.76353841e-03 9.95133750e-01 2.73101262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317105681 meters 0.03567633594994849 Centerline is valid? [True, True] Translation: X:284.89, Y:96.73, Z:27.32 [[ 7.57524296e-01 -6.48726796e-01 -7.28730728e-02 2.84886225e+02] [ 6.45215374e-01 7.61010126e-01 -6.75330191e-02 9.67283523e+01] [ 9.92676254e-02 4.13907578e-03 9.95052163e-01 2.73174776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377105681 meters 0.036801303289557566 Centerline is valid? [True, True] Translation: X:284.93, Y:96.77, Z:27.32 [[ 7.56166402e-01 -6.50266331e-01 -7.32534764e-02 2.84927128e+02] [ 6.46721450e-01 7.59695864e-01 -6.79231972e-02 9.67693914e+01] [ 9.98185313e-02 3.98664516e-03 9.94997672e-01 2.73210734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437105681 meters 0.03160701981337634 Centerline is valid? [True, True] Translation: X:284.98, Y:96.80, Z:27.32 [[ 7.49644463e-01 -6.57682147e-01 -7.40768011e-02 2.84976772e+02] [ 6.54090818e-01 7.53289377e-01 -6.87045634e-02 9.68023755e+01] [ 1.00987032e-01 3.05104011e-03 9.94883064e-01 2.73223606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49710568099994 meters 0.024250475509216426 Centerline is valid? [True, True] Translation: X:285.03, Y:96.83, Z:27.33 [[ 7.40123155e-01 -6.68622926e-01 -7.18407883e-02 2.85030153e+02] [ 6.65292692e-01 7.43600019e-01 -6.66681827e-02 9.68298833e+01] [ 9.79966869e-02 1.54751426e-03 9.95185538e-01 2.73348953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55710568099994 meters 0.021439309719938286 Centerline is valid? [True, True] Translation: X:285.08, Y:96.86, Z:27.34 [[ 7.28567826e-01 -6.81199378e-01 -7.18075878e-02 2.85079072e+02] [ 6.77929882e-01 7.32097940e-01 -6.66609432e-02 9.68623039e+01] [ 9.79795802e-02 -1.13491050e-04 9.95188419e-01 2.73396341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61710568099994 meters 0.024044918522252875 Centerline is valid? [True, True] Translation: X:285.13, Y:96.90, Z:27.35 [[ 7.17007943e-01 -6.93688309e-01 -6.85283882e-02 2.85126586e+02] [ 6.90763461e-01 7.20273322e-01 -6.36567570e-02 9.68963858e+01] [ 9.35171179e-02 -1.69450624e-03 9.95616230e-01 2.73506684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67710568099994 meters 0.028968857685731538 Centerline is valid? [True, True] Translation: X:285.17, Y:96.93, Z:27.36 [[ 7.05846667e-01 -7.05104117e-01 -6.78871635e-02 2.85172351e+02] [ 7.02281851e-01 7.09096856e-01 -6.31019085e-02 9.69329945e+01] [ 9.26319897e-02 -3.13565102e-03 9.95695477e-01 2.73588860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73710568099995 meters 0.03686071471454179 Centerline is valid? [True, True] Translation: X:285.22, Y:96.97, Z:27.36 [[ 6.98906557e-01 -7.11764024e-01 -7.01541029e-02 2.85215123e+02] [ 7.08780402e-01 7.02406509e-01 -6.52337183e-02 9.69715865e+01] [ 9.57077124e-02 -4.13157986e-03 9.95400906e-01 2.73580508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79710568099995 meters 0.035197971779702325 Centerline is valid? [True, True] Translation: X:285.24, Y:97.03, Z:27.37 [[ 6.98648443e-01 -7.12048731e-01 -6.98352230e-02 2.85244423e+02] [ 7.09090849e-01 7.02117897e-01 -6.49663515e-02 9.70253757e+01] [ 9.52917680e-02 -4.13087719e-03 9.95440814e-01 2.73650203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85710568099995 meters 0.03331739321378413 Centerline is valid? [True, True] Translation: X:285.27, Y:97.08, Z:27.37 [[ 7.00523651e-01 -7.10279513e-01 -6.90624997e-02 2.85272984e+02] [ 7.07373690e-01 7.03909427e-01 -6.42960423e-02 9.70795261e+01] [ 9.42819063e-02 -3.81209695e-03 9.95538241e-01 2.73740531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91710568099995 meters 0.030824455450883487 Centerline is valid? [True, True] Translation: X:285.30, Y:97.14, Z:27.38 [[ 7.04899251e-01 -7.05826087e-01 -7.01896104e-02 2.85295963e+02] [ 7.02797653e-01 7.08377783e-01 -6.53939982e-02 9.71393621e+01] [ 9.58775504e-02 -3.23291315e-03 9.95387886e-01 2.73776422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97710568099995 meters 0.026231920425199954 Centerline is valid? [True, True] Translation: X:285.32, Y:97.20, Z:27.39 [[ 7.11779614e-01 -6.98999863e-01 -6.90577509e-02 2.85317015e+02] [ 6.96032181e-01 7.15118292e-01 -6.43819159e-02 9.72028380e+01] [ 9.43874112e-02 -2.24068176e-03 9.95533021e-01 2.73858428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03710568099996 meters 0.02149328826299148 Centerline is valid? [True, True] Translation: X:285.33, Y:97.27, Z:27.39 [[ 7.22505094e-01 -6.87693903e-01 -7.11581672e-02 2.85334012e+02] [ 6.84482553e-01 7.26000375e-01 -6.63859203e-02 9.72718319e+01] [ 9.73140487e-02 -7.42358351e-04 9.95253448e-01 2.73890037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09710568099996 meters 0.02192828829666389 Centerline is valid? [True, True] Translation: X:285.35, Y:97.34, Z:27.39 [[ 7.33374752e-01 -6.76092431e-01 -7.11371838e-02 2.85352665e+02] [ 6.72823474e-01 7.36816340e-01 -6.64097468e-02 9.73381514e+01] [ 9.73141665e-02 8.40464447e-04 9.95253358e-01 2.73941075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15710568099996 meters 0.025335784498744622 Centerline is valid? [True, True] Translation: X:285.38, Y:97.40, Z:27.40 [[ 7.41121096e-01 -6.67410529e-01 -7.28196948e-02 2.85378656e+02] [ 6.63937847e-01 7.44687121e-01 -6.80266669e-02 9.73958420e+01] [ 9.96296026e-02 2.06824654e-03 9.95022444e-01 2.73983316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21710568099996 meters 0.02614974961916612 Centerline is valid? [True, True] Translation: X:285.41, Y:97.44, Z:27.40 [[ 7.42482459e-01 -6.65649410e-01 -7.50377309e-02 2.85413538e+02] [ 6.61948862e-01 7.46260743e-01 -7.01327816e-02 9.74444236e+01] [ 1.02681558e-01 2.40121952e-03 9.94711381e-01 2.73976199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27710568099997 meters 0.024477343323546577 Centerline is valid? [True, True] Translation: X:285.46, Y:97.48, Z:27.41 [[ 7.39342118e-01 -6.69307904e-01 -7.34857984e-02 2.85457732e+02] [ 6.65774576e-01 7.42982785e-01 -6.87080402e-02 9.74821015e+01] [ 1.00585518e-01 1.87377171e-03 9.94926652e-01 2.74056262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33710568099997 meters 0.022698237327451246 Centerline is valid? [True, True] Translation: X:285.50, Y:97.52, Z:27.41 [[ 7.34505980e-01 -6.74600408e-01 -7.35884201e-02 2.85504881e+02] [ 6.71079462e-01 7.38182153e-01 -6.88437705e-02 9.75167758e+01] [ 1.00763694e-01 1.18248372e-03 9.94909684e-01 2.74103828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39710568099997 meters 0.022300493986365685 Centerline is valid? [True, True] Translation: X:285.55, Y:97.56, Z:27.41 [[ 7.33233322e-01 -6.75972823e-01 -7.36860754e-02 2.85548000e+02] [ 6.72445039e-01 7.36925835e-01 -6.89781363e-02 9.75561822e+01] [ 1.00928518e-01 1.02723220e-03 9.94893150e-01 2.74142532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457105681 meters 0.021773847569228132 Centerline is valid? [True, True] Translation: X:285.59, Y:97.59, Z:27.42 [[ 7.32127014e-01 -6.77222073e-01 -7.32140614e-02 2.85593680e+02] [ 6.73741248e-01 7.35778150e-01 -6.85802088e-02 9.75927893e+01] [ 1.00313338e-01 8.82090365e-04 9.94955505e-01 2.74204041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517105681 meters 0.021231888116110334 Centerline is valid? [True, True] Translation: X:285.64, Y:97.63, Z:27.42 [[ 7.29050378e-01 -6.80327780e-01 -7.50976593e-02 2.85640546e+02] [ 6.76676443e-01 7.32907811e-01 -7.03926969e-02 9.76273725e+01] [ 1.02929768e-01 5.03005324e-04 9.94688499e-01 2.74216891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577105681 meters 0.02099517323610981 Centerline is valid? [True, True] Translation: X:285.69, Y:97.66, Z:27.42 [[ 7.27867754e-01 -6.81412633e-01 -7.67160747e-02 2.85685775e+02] [ 6.77602627e-01 7.31899357e-01 -7.19583977e-02 9.76644222e+01] [ 1.05181807e-01 3.93183574e-04 9.94452931e-01 2.74244975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637105681 meters 0.02080968223900401 Centerline is valid? [True, True] Translation: X:285.73, Y:97.70, Z:27.43 [[ 7.26062705e-01 -6.83238170e-01 -7.75793234e-02 2.85730634e+02] [ 6.79349746e-01 7.30195578e-01 -7.27897044e-02 9.77025621e+01] [ 1.06380783e-01 1.46396039e-04 9.94325454e-01 2.74267986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697105681 meters 0.022463338222961978 Centerline is valid? [True, True] Translation: X:285.79, Y:97.73, Z:27.44 [[ 7.16017583e-01 -6.94078966e-01 -7.46539342e-02 2.85785702e+02] [ 6.90532493e-01 7.19897577e-01 -7.00881964e-02 9.77290751e+01] [ 1.02389929e-01 -1.36658636e-03 9.94743402e-01 2.74392317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757105681 meters 0.03181896789932597 Centerline is valid? [True, True] Translation: X:285.85, Y:97.75, Z:27.45 [[ 7.00346260e-01 -7.10175228e-01 -7.18767093e-02 2.85846134e+02] [ 7.06966640e-01 7.04016139e-01 -6.75236703e-02 9.77501206e+01] [ 9.85560013e-02 -3.52448575e-03 9.95125265e-01 2.74488324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817105681 meters 0.03997564359383512 Centerline is valid? [True, True] Translation: X:285.90, Y:97.78, Z:27.45 [[ 6.90440960e-01 -7.19842769e-01 -7.15378850e-02 2.85898889e+02] [ 7.16711212e-01 6.94120264e-01 -6.72465501e-02 9.77786692e+01] [ 9.80628385e-02 -4.84223165e-03 9.95168444e-01 2.74539454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877105681 meters 0.03767865776221734 Centerline is valid? [True, True] Translation: X:285.93, Y:97.83, Z:27.46 [[ 6.90100057e-01 -7.20026878e-01 -7.29603086e-02 2.85934584e+02] [ 7.16767464e-01 6.93928545e-01 -6.86117776e-02 9.78269301e+01] [ 1.00031565e-01 -4.94658382e-03 9.94971968e-01 2.74562561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937105681 meters 0.03756290106103447 Centerline is valid? [True, True] Translation: X:285.97, Y:97.87, Z:27.46 [[ 6.91834017e-01 -7.18593078e-01 -7.06376793e-02 2.85972744e+02] [ 7.15526959e-01 6.95415853e-01 -6.64677565e-02 9.78701783e+01] [ 9.68858317e-02 -4.55850897e-03 9.95285062e-01 2.74643281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99710568099994 meters 0.036846824978800596 Centerline is valid? [True, True] Translation: X:286.01, Y:97.92, Z:27.47 [[ 6.91481950e-01 -7.19119884e-01 -6.86971921e-02 2.86007220e+02] [ 7.16221276e-01 6.94871506e-01 -6.46581381e-02 9.79175893e+01] [ 9.42326742e-02 -4.49245510e-03 9.95540065e-01 2.74733743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05710568099994 meters 0.038020663771606726 Centerline is valid? [True, True] Translation: X:286.04, Y:97.97, Z:27.47 [[ 6.91476235e-01 -7.19080671e-01 -6.91636061e-02 2.86040156e+02] [ 7.16137788e-01 6.94912134e-01 -6.51444101e-02 9.79663491e+01] [ 9.49067153e-02 -4.48486043e-03 9.95476068e-01 2.74747298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11710568099994 meters 0.03941057767398285 Centerline is valid? [True, True] Translation: X:286.08, Y:98.01, Z:27.48 [[ 6.90829695e-01 -7.19637596e-01 -6.98288121e-02 2.86076437e+02] [ 7.16638115e-01 6.94334703e-01 -6.57961418e-02 9.80120058e+01] [ 9.58339448e-02 -4.58805967e-03 9.95386761e-01 2.74777821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17710568099994 meters 0.03785156184239002 Centerline is valid? [True, True] Translation: X:286.11, Y:98.06, Z:27.48 [[ 6.90748907e-01 -7.19727814e-01 -6.96980792e-02 2.86107278e+02] [ 7.16738430e-01 6.94241237e-01 -6.56896324e-02 9.80634905e+01] [ 9.56659362e-02 -4.58025007e-03 9.95402959e-01 2.74838479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23710568099995 meters 0.037984035999485376 Centerline is valid? [True, True] Translation: X:286.14, Y:98.11, Z:27.49 [[ 6.91524074e-01 -7.18863430e-01 -7.09212567e-02 2.86139339e+02] [ 7.15758965e-01 6.95136714e-01 -6.68883651e-02 9.81137094e+01] [ 9.73835689e-02 -4.50761050e-03 9.95236717e-01 2.74874835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29710568099995 meters 0.03603630552578377 Centerline is valid? [True, True] Translation: X:286.17, Y:98.16, Z:27.49 [[ 6.93484786e-01 -7.17002637e-01 -7.06121126e-02 2.86172102e+02] [ 7.13914002e-01 6.97057707e-01 -6.66134408e-02 9.81641124e+01] [ 9.69827301e-02 -4.21556819e-03 9.95277137e-01 2.74926402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35710568099995 meters 0.03405927595725534 Centerline is valid? [True, True] Translation: X:286.20, Y:98.22, Z:27.50 [[ 6.96801195e-01 -7.13740019e-01 -7.10160545e-02 2.86203444e+02] [ 7.10594898e-01 7.00400671e-01 -6.70357398e-02 9.82153415e+01] [ 9.75857824e-02 -3.75306239e-03 9.95220041e-01 2.74953620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41710568099995 meters 0.02891271276530729 Centerline is valid? [True, True] Translation: X:286.23, Y:98.27, Z:27.50 [[ 7.03999282e-01 -7.06738773e-01 -7.00379717e-02 2.86229728e+02] [ 7.03641282e-01 7.07469403e-01 -6.61512727e-02 9.82711645e+01] [ 9.63013913e-02 -2.71115968e-03 9.95348528e-01 2.75030190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47710568099995 meters 0.021492915932239055 Centerline is valid? [True, True] Translation: X:286.25, Y:98.33, Z:27.51 [[ 7.14088192e-01 -6.96776153e-01 -6.76834298e-02 2.86251174e+02] [ 6.93837199e-01 7.17287460e-01 -6.39424829e-02 9.83340719e+01] [ 9.31020727e-02 -1.30070930e-03 9.95655720e-01 2.75126859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53710568099996 meters 0.02088235710803074 Centerline is valid? [True, True] Translation: X:286.28, Y:98.38, Z:27.52 [[ 7.17209588e-01 -6.94025334e-01 -6.27633813e-02 2.86282937e+02] [ 6.91485345e-01 7.19950078e-01 -5.93287704e-02 9.83842862e+01] [ 8.63621710e-02 -8.48795397e-04 9.96263447e-01 2.75247950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59710568099996 meters 0.021435085952584816 Centerline is valid? [True, True] Translation: X:286.32, Y:98.43, Z:27.53 [[ 7.14761182e-01 -6.96409350e-01 -6.42687263e-02 2.86321007e+02] [ 6.93751751e-01 7.17643874e-01 -6.07929058e-02 9.84301866e+01] [ 8.84588058e-02 -1.13413223e-03 9.96079190e-01 2.75278488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65710568099996 meters 0.020208259517169758 Centerline is valid? [True, True] Translation: X:286.36, Y:98.48, Z:27.53 [[ 7.18562076e-01 -6.92175695e-01 -6.75377760e-02 2.86356934e+02] [ 6.89217407e-01 7.21728782e-01 -6.39291158e-02 9.84782046e+01] [ 9.29941369e-02 -6.11172666e-04 9.95666469e-01 2.75267975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71710568099996 meters 0.020328443357824022 Centerline is valid? [True, True] Translation: X:286.39, Y:98.53, Z:27.53 [[ 7.27234492e-01 -6.83117157e-01 -6.69398576e-02 2.86388752e+02] [ 6.80168595e-01 7.30308575e-01 -6.34040013e-02 9.85281234e+01] [ 9.21991131e-02 5.79187762e-04 9.95740422e-01 2.75343034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77710568099997 meters 0.02416483411817373 Centerline is valid? [True, True] Translation: X:286.43, Y:98.57, Z:27.54 [[ 7.37564335e-01 -6.71921419e-01 -6.72343509e-02 2.86427099e+02] [ 6.68895487e-01 7.40619660e-01 -6.37286977e-02 9.85737353e+01] [ 9.26157591e-02 2.03126067e-03 9.95699852e-01 2.75389797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83710568099997 meters 0.026929098017529306 Centerline is valid? [True, True] Translation: X:286.47, Y:98.61, Z:27.54 [[ 7.40600457e-01 -6.68508788e-01 -6.78746156e-02 2.86468712e+02] [ 6.65409575e-01 7.43700076e-01 -6.43451259e-02 9.86140505e+01] [ 9.34936389e-02 2.48961056e-03 9.95616764e-01 2.75421966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89710568099997 meters 0.027424758756398895 Centerline is valid? [True, True] Translation: X:286.52, Y:98.65, Z:27.55 [[ 7.43731197e-01 -6.64962093e-01 -6.84786215e-02 2.86517012e+02] [ 6.61790787e-01 7.46871185e-01 -6.49337174e-02 9.86499264e+01] [ 9.43231698e-02 2.97471060e-03 9.95537187e-01 2.75452591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957105681 meters 0.03095446786097954 Centerline is valid? [True, True] Translation: X:286.57, Y:98.68, Z:27.55 [[ 7.45627225e-01 -6.62840039e-01 -6.84333608e-02 2.86566175e+02] [ 6.59660417e-01 7.48753892e-01 -6.49287600e-02 9.86824873e+01] [ 9.42771271e-02 3.26987181e-03 9.95540623e-01 2.75475664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017105681 meters 0.02709154137631695 Centerline is valid? [True, True] Translation: X:286.62, Y:98.71, Z:27.56 [[ 7.41110620e-01 -6.68109525e-01 -6.62171507e-02 2.86621058e+02] [ 6.65152429e-01 7.44058649e-01 -6.28408462e-02 9.87090257e+01] [ 9.12540117e-02 2.52751980e-03 9.95824441e-01 2.75587293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077105681 meters 0.022772062082025656 Centerline is valid? [True, True] Translation: X:286.68, Y:98.73, Z:27.56 [[ 7.33020048e-01 -6.76997381e-01 -6.60011737e-02 2.86681036e+02] [ 6.74094028e-01 7.35984034e-01 -6.26477772e-02 9.87309743e+01] [ 9.09881912e-02 1.43107963e-03 9.95850943e-01 2.75629708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137105681 meters 0.02075934456410004 Centerline is valid? [True, True] Translation: X:286.74, Y:98.76, Z:27.57 [[ 7.26992891e-01 -6.83455057e-01 -6.61099228e-02 2.86736908e+02] [ 6.80567409e-01 7.29992316e-01 -6.27632137e-02 9.87578558e+01] [ 9.11555715e-02 6.36151313e-04 9.95836461e-01 2.75690633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197105681 meters 0.020132826032648217 Centerline is valid? [True, True] Translation: X:286.80, Y:98.78, Z:27.57 [[ 7.20102301e-01 -6.90430706e-01 -6.89791009e-02 2.86795373e+02] [ 6.87315682e-01 7.23398497e-01 -6.55115858e-02 9.87811846e+01] [ 9.51305883e-02 -2.35374163e-04 9.95464774e-01 2.75706774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257105681 meters 0.020051060007830634 Centerline is valid? [True, True] Translation: X:286.84, Y:98.82, Z:27.57 [[ 7.20424967e-01 -6.89916555e-01 -7.07319911e-02 2.86839272e+02] [ 6.86633259e-01 7.23888893e-01 -6.72282581e-02 9.88201709e+01] [ 9.75839910e-02 -1.34021989e-04 9.95227284e-01 2.75731896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317105681 meters 0.020920432274012527 Centerline is valid? [True, True] Translation: X:286.88, Y:98.86, Z:27.58 [[ 7.26490614e-01 -6.83162753e-01 -7.41622525e-02 2.86882367e+02] [ 6.79511883e-01 7.30265656e-01 -7.05384502e-02 9.88605703e+01] [ 1.02347388e-01 8.51390185e-04 9.94748354e-01 2.75751064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377105681 meters 0.023772516765413778 Centerline is valid? [True, True] Translation: X:286.92, Y:98.90, Z:27.59 [[ 7.34316487e-01 -6.75161197e-01 -7.02613285e-02 2.86921513e+02] [ 6.71844135e-01 7.37667777e-01 -6.68708372e-02 9.89034473e+01] [ 9.69781124e-02 1.89969681e-03 9.95284701e-01 2.75893018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437105681 meters 0.027052940358824096 Centerline is valid? [True, True] Translation: X:286.96, Y:98.95, Z:27.60 [[ 7.40618691e-01 -6.68409746e-01 -6.86466725e-02 2.86960793e+02] [ 6.65210468e-01 7.43788155e-01 -6.53774751e-02 9.89465430e+01] [ 9.47575234e-02 2.75529497e-03 9.95496570e-01 2.75982905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49710568099994 meters 0.030717897414675267 Centerline is valid? [True, True] Translation: X:287.00, Y:98.99, Z:27.60 [[ 7.46165016e-01 -6.61906397e-01 -7.15380397e-02 2.87003888e+02] [ 6.58397042e-01 7.49577029e-01 -6.81733916e-02 9.89869732e+01] [ 9.87476753e-02 3.76816610e-03 9.95105370e-01 2.75967684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55710568099994 meters 0.03072968781328926 Centerline is valid? [True, True] Translation: X:287.05, Y:99.02, Z:27.60 [[ 7.45548524e-01 -6.62459129e-01 -7.28374929e-02 2.87051166e+02] [ 6.58818680e-01 7.49088431e-01 -6.94584015e-02 9.90220001e+01] [ 1.00575075e-01 3.79790781e-03 9.94922223e-01 2.75978337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61710568099994 meters 0.02623269967702204 Centerline is valid? [True, True] Translation: X:287.11, Y:99.05, Z:27.61 [[ 7.38630770e-01 -6.70351906e-01 -7.10837983e-02 2.87105720e+02] [ 6.66916123e-01 7.42038432e-01 -6.78369438e-02 9.90491262e+01] [ 9.82215348e-02 2.69952287e-03 9.95160913e-01 2.76052406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67710568099994 meters 0.022168074658958977 Centerline is valid? [True, True] Translation: X:287.16, Y:99.08, Z:27.61 [[ 7.30260893e-01 -6.79512883e-01 -7.05781083e-02 2.87160832e+02] [ 6.76164013e-01 7.33662053e-01 -6.73959868e-02 9.90768955e+01] [ 9.75769212e-02 1.49427659e-03 9.95226864e-01 2.76108333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73710568099995 meters 0.019961847442440568 Centerline is valid? [True, True] Translation: X:287.22, Y:99.11, Z:27.61 [[ 7.22644385e-01 -6.87347005e-01 -7.30697464e-02 2.87216143e+02] [ 6.83793915e-01 7.26329036e-01 -6.97998132e-02 9.91050378e+01] [ 1.01049371e-01 4.75795185e-04 9.94881299e-01 2.76112968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79710568099995 meters 0.019777410468037628 Centerline is valid? [True, True] Translation: X:287.26, Y:99.14, Z:27.61 [[ 7.20866996e-01 -6.88891800e-01 -7.60188313e-02 2.87263322e+02] [ 6.85048786e-01 7.24864122e-01 -7.26647490e-02 9.91417332e+01] [ 1.05161473e-01 3.05011195e-04 9.94455113e-01 2.76112535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85710568099995 meters 0.020025947986900612 Centerline is valid? [True, True] Translation: X:287.30, Y:99.18, Z:27.62 [[ 7.22312975e-01 -6.87337022e-01 -7.63661151e-02 2.87304905e+02] [ 6.83444680e-01 7.26338414e-01 -7.30470917e-02 9.91826881e+01] [ 1.05675613e-01 5.70847009e-04 9.94400492e-01 2.76167929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91710568099995 meters 0.020002840486422806 Centerline is valid? [True, True] Translation: X:287.35, Y:99.22, Z:27.63 [[ 7.23431160e-01 -6.86548475e-01 -7.27911354e-02 2.87345004e+02] [ 6.83004365e-01 7.27083709e-01 -6.96729293e-02 9.92238536e+01] [ 1.00759092e-01 6.86904810e-04 9.94910616e-01 2.76286476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97710568099995 meters 0.019401426286775145 Centerline is valid? [True, True] Translation: X:287.39, Y:99.26, Z:27.64 [[ 7.19252631e-01 -6.91466940e-01 -6.74471964e-02 2.87390134e+02] [ 6.88442919e-01 7.22408105e-01 -6.45978061e-02 9.92609223e+01] [ 9.33916487e-02 2.85972419e-05 9.95629449e-01 2.76428637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03710568099996 meters 0.020954455513397387 Centerline is valid? [True, True] Translation: X:287.44, Y:99.29, Z:27.65 [[ 7.10013179e-01 -7.01198543e-01 -6.48219796e-02 2.87438604e+02] [ 6.98442360e-01 7.12965104e-01 -6.21210855e-02 9.92941815e+01] [ 8.97750241e-02 -1.16762704e-03 9.95961386e-01 2.76515280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09710568099996 meters 0.025558865959800982 Centerline is valid? [True, True] Translation: X:287.49, Y:99.33, Z:27.65 [[ 7.00086293e-01 -7.11157479e-01 -6.42979263e-02 2.87488532e+02] [ 7.08483257e-01 7.03028697e-01 -6.16613773e-02 9.93275281e+01] [ 8.90542370e-02 -2.38571916e-03 9.96023921e-01 2.76542628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15710568099996 meters 0.029830890077600147 Centerline is valid? [True, True] Translation: X:287.53, Y:99.37, Z:27.66 [[ 6.92660952e-01 -7.18250854e-01 -6.58522344e-02 2.87533197e+02] [ 7.15473205e-01 6.95776210e-01 -6.31946113e-02 9.93663986e+01] [ 9.12080017e-02 -3.34306958e-03 9.95826252e-01 2.76554534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21710568099996 meters 0.031323492747470386 Centerline is valid? [True, True] Translation: X:287.57, Y:99.41, Z:27.66 [[ 6.92641041e-01 -7.18475512e-01 -6.35714345e-02 2.87568907e+02] [ 7.15884579e-01 6.95544773e-01 -6.10470202e-02 9.94101115e+01] [ 8.80775681e-02 -3.22613792e-03 9.96108395e-01 2.76640937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27710568099997 meters 0.03040657125291221 Centerline is valid? [True, True] Translation: X:287.60, Y:99.46, Z:27.67 [[ 6.93934273e-01 -7.17247978e-01 -6.33290050e-02 2.87602211e+02] [ 7.14669438e-01 6.96811376e-01 -6.08399595e-02 9.94603769e+01] [ 8.77657091e-02 -3.04037136e-03 9.96136505e-01 2.76683159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33710568099997 meters 0.027875741034497012 Centerline is valid? [True, True] Translation: X:287.63, Y:99.51, Z:27.66 [[ 6.96457112e-01 -7.14428242e-01 -6.73778830e-02 2.87634386e+02] [ 7.11491441e-01 6.99703007e-01 -6.47736934e-02 9.95129894e+01] [ 9.34206632e-02 -2.82668768e-03 9.95622714e-01 2.76642897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39710568099997 meters 0.025330241495868516 Centerline is valid? [True, True] Translation: X:287.66, Y:99.57, Z:27.67 [[ 7.00986418e-01 -7.09731261e-01 -6.99969908e-02 2.87660561e+02] [ 7.06533281e-01 7.04468922e-01 -6.73369212e-02 9.95707026e+01] [ 9.71018226e-02 -2.25293641e-03 9.95271903e-01 2.76653598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457105681 meters 0.023594964040340876 Centerline is valid? [True, True] Translation: X:287.69, Y:99.62, Z:27.67 [[ 7.04415026e-01 -7.06396675e-01 -6.93051862e-02 2.87693987e+02] [ 7.03241469e-01 7.07814027e-01 -6.67138653e-02 9.96201363e+01] [ 9.61816355e-02 -1.74403182e-03 9.95362271e-01 2.76731638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517105681 meters 0.022914390330666112 Centerline is valid? [True, True] Translation: X:287.72, Y:99.67, Z:27.68 [[ 7.08539556e-01 -7.02358970e-01 -6.82903677e-02 2.87723536e+02] [ 6.99272929e-01 7.11822001e-01 -6.57784860e-02 9.96714420e+01] [ 9.48106959e-02 -1.14694618e-03 9.95494659e-01 2.76823838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577105681 meters 0.022477937851983692 Centerline is valid? [True, True] Translation: X:287.76, Y:99.72, Z:27.69 [[ 7.10330984e-01 -7.00683853e-01 -6.68732518e-02 2.87755857e+02] [ 6.97715342e-01 7.13471338e-01 -6.44356327e-02 9.97223872e+01] [ 9.28611558e-02 -8.87867361e-04 9.95678672e-01 2.76901923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637105681 meters 0.023803744200755803 Centerline is valid? [True, True] Translation: X:287.80, Y:99.76, Z:27.70 [[ 7.06397075e-01 -7.04544309e-01 -6.79741727e-02 2.87797004e+02] [ 7.01490683e-01 7.09658646e-01 -6.55395085e-02 9.97638261e+01] [ 9.44139471e-02 -1.38633174e-03 9.95532061e-01 2.76956989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697105681 meters 0.023573037404153847 Centerline is valid? [True, True] Translation: X:287.84, Y:99.81, Z:27.70 [[ 7.06980354e-01 -7.03902102e-01 -6.85609938e-02 2.87835677e+02] [ 7.00788123e-01 7.10295848e-01 -6.61499365e-02 9.98072800e+01] [ 9.52616686e-02 -1.28002472e-03 9.95451443e-01 2.77027807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757105681 meters 0.02254799859339386 Centerline is valid? [True, True] Translation: X:287.87, Y:99.85, Z:27.71 [[ 7.12654176e-01 -6.97959403e-01 -7.05457099e-02 2.87871941e+02] [ 6.94627531e-01 7.16137181e-01 -6.81185088e-02 9.98544107e+01] [ 9.80643595e-02 -4.58052523e-04 9.95179969e-01 2.77071602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817105681 meters 0.024218034994969048 Centerline is valid? [True, True] Translation: X:287.91, Y:99.90, Z:27.71 [[ 7.23740397e-01 -6.86421375e-01 -7.08909944e-02 2.87905499e+02] [ 6.82996105e-01 7.27203107e-01 -6.84978994e-02 9.99043444e+01] [ 9.85705736e-02 1.15642390e-03 9.95129391e-01 2.77127495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877105681 meters 0.029106835123817627 Centerline is valid? [True, True] Translation: X:287.94, Y:99.95, Z:27.72 [[ 7.34156249e-01 -6.75345244e-01 -7.01669655e-02 2.87939860e+02] [ 6.71934275e-01 7.37496935e-01 -6.78424712e-02 9.99529862e+01] [ 9.75650123e-02 2.65938504e-03 9.95225601e-01 2.77195374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937105681 meters 0.0343241451704678 Centerline is valid? [True, True] Translation: X:287.98, Y:100.00, Z:27.72 [[ 7.40125518e-01 -6.68568746e-01 -7.23190818e-02 2.87979861e+02] [ 6.64907908e-01 7.43641146e-01 -6.99665692e-02 9.99957291e+01] [ 1.00556906e-01 3.69851396e-03 9.94924434e-01 2.77208421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99710568099994 meters 0.036772019491214336 Centerline is valid? [True, True] Translation: X:288.02, Y:100.03, Z:27.73 [[ 7.44175161e-01 -6.64009936e-01 -7.27608069e-02 2.88024422e+02] [ 6.60280794e-01 7.47711072e-01 -7.04089870e-02 1.00034641e+02] [ 1.01156328e-01 4.35405586e-03 9.94861015e-01 2.77271301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05710568099994 meters 0.03761900770699643 Centerline is valid? [True, True] Translation: X:288.07, Y:100.07, Z:27.74 [[ 7.46141554e-01 -6.62215241e-01 -6.88749242e-02 2.88074568e+02] [ 6.58865723e-01 7.49300978e-01 -6.66633518e-02 1.00065183e+02] [ 9.57535357e-02 4.36097015e-03 9.95395521e-01 2.77423984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11710568099994 meters 0.037838707282066564 Centerline is valid? [True, True] Translation: X:288.13, Y:100.10, Z:27.75 [[ 7.45288129e-01 -6.63190421e-01 -6.87318654e-02 2.88125099e+02] [ 6.59857262e-01 7.48438699e-01 -6.65425181e-02 1.00097282e+02] [ 9.55719485e-02 4.24012832e-03 9.95413494e-01 2.77472330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17710568099994 meters 0.03721236015374314 Centerline is valid? [True, True] Translation: X:288.18, Y:100.13, Z:27.75 [[ 7.43285439e-01 -6.65260568e-01 -7.03927047e-02 2.88177886e+02] [ 6.61768746e-01 7.46599977e-01 -6.81953137e-02 1.00128127e+02] [ 9.79228449e-02 4.10489174e-03 9.95185544e-01 2.77498187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23710568099995 meters 0.036086200602622125 Centerline is valid? [True, True] Translation: X:288.23, Y:100.15, Z:27.75 [[ 7.41167873e-01 -6.67365980e-01 -7.27518593e-02 2.88234588e+02] [ 6.63641193e-01 7.44719234e-01 -7.05239605e-02 1.00154919e+02] [ 1.01245001e-01 3.98896308e-03 9.94853526e-01 2.77519623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29710568099995 meters 0.03957223897794907 Centerline is valid? [True, True] Translation: X:288.28, Y:100.19, Z:27.75 [[ 7.44333714e-01 -6.63318081e-01 -7.73074724e-02 2.88283440e+02] [ 6.59083834e-01 7.48321771e-01 -7.49868388e-02 1.00189457e+02] [ 1.07590991e-01 4.86312693e-03 9.94183348e-01 2.77494368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35710568099995 meters 0.040466374594835895 Centerline is valid? [True, True] Translation: X:288.34, Y:100.22, Z:27.76 [[ 7.48274018e-01 -6.58779572e-01 -7.80734930e-02 2.88335992e+02] [ 6.54430896e-01 7.52315108e-01 -7.57771768e-02 1.00219470e+02] [ 1.08656324e-01 5.60838656e-03 9.94063554e-01 2.77581115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41710568099995 meters 0.042094692105264585 Centerline is valid? [True, True] Translation: X:288.39, Y:100.25, Z:27.77 [[ 7.50772814e-01 -6.56197920e-01 -7.57922943e-02 2.88386510e+02] [ 6.52082498e-01 7.54566218e-01 -7.36086848e-02 1.00251172e+02] [ 1.05492171e-01 5.84057078e-03 9.94402982e-01 2.77688447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47710568099995 meters 0.04145250461271697 Centerline is valid? [True, True] Translation: X:288.44, Y:100.28, Z:27.77 [[ 7.51112503e-01 -6.55818235e-01 -7.57129490e-02 2.88438635e+02] [ 6.51704707e-01 7.54895601e-01 -7.35772068e-02 1.00281838e+02] [ 1.05408646e-01 5.92227465e-03 9.94411356e-01 2.77744858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53710568099996 meters 0.039834886643136905 Centerline is valid? [True, True] Translation: X:288.49, Y:100.31, Z:27.78 [[ 7.47519697e-01 -6.59964293e-01 -7.52425084e-02 2.88494393e+02] [ 6.55918090e-01 7.51278004e-01 -7.31629628e-02 1.00307561e+02] [ 1.04812985e-01 5.33783339e-03 9.94477625e-01 2.77796514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59710568099996 meters 0.035482779148636866 Centerline is valid? [True, True] Translation: X:288.55, Y:100.33, Z:27.78 [[ 7.41035273e-01 -6.67231002e-01 -7.52961778e-02 2.88553296e+02] [ 6.63213837e-01 7.44838251e-01 -7.32351426e-02 1.00331416e+02] [ 1.04948231e-01 4.33235686e-03 9.94468250e-01 2.77847832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65710568099996 meters 0.03214269197217582 Centerline is valid? [True, True] Translation: X:288.61, Y:100.36, Z:27.79 [[ 7.35469822e-01 -6.73195928e-01 -7.67553547e-02 2.88607055e+02] [ 6.69047847e-01 7.39455449e-01 -7.47035285e-02 1.00360609e+02] [ 1.07047276e-01 3.58918596e-03 9.94247453e-01 2.77873227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71710568099996 meters 0.031520975146847714 Centerline is valid? [True, True] Translation: X:288.66, Y:100.39, Z:27.79 [[ 7.32960532e-01 -6.75678279e-01 -7.89159173e-02 2.88656536e+02] [ 6.71301945e-01 7.37189002e-01 -7.68509841e-02 1.00393501e+02] [ 1.10102487e-01 3.35232938e-03 9.93914586e-01 2.77874036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77710568099997 meters 0.030528532949979263 Centerline is valid? [True, True] Translation: X:288.70, Y:100.43, Z:27.79 [[ 7.31344313e-01 -6.77338593e-01 -7.96738727e-02 2.88703026e+02] [ 6.72884641e-01 7.35664669e-01 -7.76128508e-02 1.00429601e+02] [ 1.11183432e-01 3.15039189e-03 9.93794908e-01 2.77944275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83710568099997 meters 0.03038088094632657 Centerline is valid? [True, True] Translation: X:288.74, Y:100.47, Z:27.80 [[ 7.31560151e-01 -6.77087110e-01 -7.98297616e-02 2.88744449e+02] [ 6.72608675e-01 7.35895784e-01 -7.78136621e-02 1.00471490e+02] [ 1.11433013e-01 3.23118418e-03 9.93766695e-01 2.78005153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89710568099997 meters 0.0335755188840919 Centerline is valid? [True, True] Translation: X:288.78, Y:100.52, Z:27.80 [[ 7.33957834e-01 -6.74203150e-01 -8.21949507e-02 2.88780251e+02] [ 6.69431263e-01 7.38536102e-01 -8.01636433e-02 1.00517377e+02] [ 1.14750519e-01 3.81286434e-03 9.93387024e-01 2.77997170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957105681 meters 0.03352700703879809 Centerline is valid? [True, True] Translation: X:288.82, Y:100.56, Z:27.81 [[ 7.37257534e-01 -6.70492312e-01 -8.30143902e-02 2.88820958e+02] [ 6.65597750e-01 7.41903093e-01 -8.09903419e-02 1.00558371e+02] [ 1.15892034e-01 4.45654839e-03 9.93251819e-01 2.78117596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017105681 meters 0.038509757975864436 Centerline is valid? [True, True] Translation: X:288.85, Y:100.61, Z:27.82 [[ 7.41940056e-01 -6.65720203e-01 -7.96339420e-02 2.88854197e+02] [ 6.61184512e-01 7.46184524e-01 -7.77412177e-02 1.00606401e+02] [ 1.11175514e-01 5.02659431e-03 9.93788075e-01 2.78231642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077105681 meters 0.03582629739015422 Centerline is valid? [True, True] Translation: X:288.90, Y:100.64, Z:27.83 [[ 7.43560699e-01 -6.64104982e-01 -7.79875625e-02 2.88899473e+02] [ 6.59741722e-01 7.47621305e-01 -7.61790356e-02 1.00642832e+02] [ 1.08896040e-01 5.19208815e-03 9.94039584e-01 2.78346288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137105681 meters 0.03839676519583029 Centerline is valid? [True, True] Translation: X:288.94, Y:100.68, Z:27.83 [[ 7.43925456e-01 -6.63410675e-01 -8.03815473e-02 2.88944914e+02] [ 6.58765212e-01 7.48235325e-01 -7.85639415e-02 1.00679595e+02] [ 1.12264471e-01 5.49314897e-03 9.93663179e-01 2.78325248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197105681 meters 0.04007504232382194 Centerline is valid? [True, True] Translation: X:288.99, Y:100.72, Z:27.83 [[ 7.44662574e-01 -6.62428637e-01 -8.16452823e-02 2.88990700e+02] [ 6.57626804e-01 7.49102962e-01 -7.98231705e-02 1.00716966e+02] [ 1.14037877e-01 5.74920150e-03 9.93459767e-01 2.78342268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257105681 meters 0.04362080761630525 Centerline is valid? [True, True] Translation: X:289.03, Y:100.76, Z:27.83 [[ 7.47535873e-01 -6.58824651e-01 -8.44996856e-02 2.89033724e+02] [ 6.53650697e-01 7.52267909e-01 -8.26665606e-02 1.00757651e+02] [ 1.18029170e-01 6.56294122e-03 9.92988440e-01 2.78328288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317105681 meters 0.04473028941046786 Centerline is valid? [True, True] Translation: X:289.08, Y:100.80, Z:27.84 [[ 7.50969713e-01 -6.54844959e-01 -8.49857024e-02 2.89079668e+02] [ 6.49579500e-01 7.55728263e-01 -8.31941439e-02 1.00795149e+02] [ 1.18705363e-01 7.27131229e-03 9.92902898e-01 2.78376303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377105681 meters 0.04558968882487 Centerline is valid? [True, True] Translation: X:289.12, Y:100.83, Z:27.84 [[ 7.50870673e-01 -6.55119516e-01 -8.37356089e-02 2.89124816e+02] [ 6.50004047e-01 7.55491340e-01 -8.20217896e-02 1.00832593e+02] [ 1.16995602e-01 7.15927163e-03 9.93106628e-01 2.78410755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437105681 meters 0.04079717419174504 Centerline is valid? [True, True] Translation: X:289.18, Y:100.86, Z:27.85 [[ 7.44068602e-01 -6.62926181e-01 -8.30108019e-02 2.89179013e+02] [ 6.57941041e-01 7.48661338e-01 -8.13620759e-02 1.00860603e+02] [ 1.16084028e-01 5.92275271e-03 9.93221737e-01 2.78471647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49710568099994 meters 0.029558925434894346 Centerline is valid? [True, True] Translation: X:289.24, Y:100.88, Z:27.86 [[ 7.31269645e-01 -6.77381204e-01 -7.99963122e-02 2.89238846e+02] [ 6.72832481e-01 7.35623645e-01 -7.84493820e-02 1.00882459e+02] [ 1.11987316e-01 3.54353454e-03 9.93703318e-01 2.78565942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55710568099994 meters 0.02384282818650197 Centerline is valid? [True, True] Translation: X:289.29, Y:100.91, Z:27.87 [[ 7.19490760e-01 -6.90353290e-01 -7.57982929e-02 2.89294884e+02] [ 6.86338645e-01 7.23470908e-01 -7.43579863e-02 1.00907320e+02] [ 1.06171140e-01 1.47658643e-03 9.94346775e-01 2.78707639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61710568099994 meters 0.022430359715476453 Centerline is valid? [True, True] Translation: X:289.34, Y:100.94, Z:27.87 [[ 7.13004536e-01 -6.97026382e-01 -7.60181212e-02 2.89340977e+02] [ 6.93020829e-01 7.17045291e-01 -7.46202475e-02 1.00943550e+02] [ 1.06520717e-01 5.22433545e-04 9.94310346e-01 2.78719171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67710568099994 meters 0.022215081239065387 Centerline is valid? [True, True] Translation: X:289.39, Y:100.98, Z:27.87 [[ 7.09646674e-01 -7.00274892e-01 -7.75672215e-02 2.89385273e+02] [ 6.96120597e-01 7.13873289e-01 -7.61645694e-02 1.00983088e+02] [ 1.08709303e-01 5.37928680e-05 9.94073581e-01 2.78717405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73710568099995 meters 0.02220704860228094 Centerline is valid? [True, True] Translation: X:289.43, Y:101.02, Z:27.88 [[ 7.05478536e-01 -7.04587508e-01 -7.65276319e-02 2.89427087e+02] [ 7.00564084e-01 7.09616885e-01 -7.51920250e-02 1.01024228e+02] [ 1.07284661e-01 -5.66150656e-04 9.94228184e-01 2.78775432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79710568099995 meters 0.022986135833092634 Centerline is valid? [True, True] Translation: X:289.46, Y:101.07, Z:27.88 [[ 7.02757706e-01 -7.07011508e-01 -7.91601767e-02 2.89464029e+02] [ 7.02715007e-01 7.07201429e-01 -7.78315953e-02 1.01070621e+02] [ 1.11010024e-01 -9.30290779e-04 9.93818851e-01 2.78754107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85710568099995 meters 0.022557395835467235 Centerline is valid? [True, True] Translation: X:289.50, Y:101.12, Z:27.88 [[ 7.06581214e-01 -7.03236687e-01 -7.87473814e-02 2.89497278e+02] [ 6.98956226e-01 7.10955746e-01 -7.74733597e-02 1.01119744e+02] [ 1.10468012e-01 -2.99751955e-04 9.93879635e-01 2.78823215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91710568099995 meters 0.024053816752507715 Centerline is valid? [True, True] Translation: X:289.52, Y:101.18, Z:27.89 [[ 7.16924284e-01 -6.92881110e-01 -7.70411543e-02 2.89519463e+02] [ 6.88718905e-01 7.21050650e-01 -7.58434492e-02 1.01179787e+02] [ 1.08101068e-01 1.31431109e-03 9.94139040e-01 2.78925664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97710568099995 meters 0.02889545814995837 Centerline is valid? [True, True] Translation: X:289.54, Y:101.24, Z:27.90 [[ 7.25771896e-01 -6.83770643e-01 -7.55834784e-02 2.89538050e+02] [ 6.79710344e-01 7.29692145e-01 -7.44528137e-02 1.01243405e+02] [ 1.06061319e-01 2.66088772e-03 9.94356031e-01 2.78953172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03710568099996 meters 0.02765658605029515 Centerline is valid? [True, True] Translation: X:289.58, Y:101.29, Z:27.90 [[ 7.23529073e-01 -6.86044244e-01 -7.64785965e-02 2.89579087e+02] [ 6.81896921e-01 7.27555951e-01 -7.53586576e-02 1.01285970e+02] [ 1.07341831e-01 2.37366018e-03 9.94219340e-01 2.78983569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09710568099996 meters 0.025924858783405735 Centerline is valid? [True, True] Translation: X:289.62, Y:101.32, Z:27.91 [[ 7.21793873e-01 -6.87858746e-01 -7.65764325e-02 2.89622921e+02] [ 6.83705730e-01 7.25841413e-01 -7.55030928e-02 1.01324553e+02] [ 1.07517809e-01 2.14192409e-03 9.94200851e-01 2.79052831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15710568099996 meters 0.025351473046997246 Centerline is valid? [True, True] Translation: X:289.66, Y:101.37, Z:27.91 [[ 7.19252906e-01 -6.90527214e-01 -7.64684504e-02 2.89663489e+02] [ 6.86396022e-01 7.23304237e-01 -7.54419105e-02 1.01365630e+02] [ 1.07404646e-01 1.77417312e-03 9.94213807e-01 2.79071144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21710568099996 meters 0.030357964231439365 Centerline is valid? [True, True] Translation: X:289.70, Y:101.41, Z:27.91 [[ 7.27857977e-01 -6.81438744e-01 -7.65767825e-02 2.89696254e+02] [ 6.77242936e-01 7.31868406e-01 -7.55687893e-02 1.01414193e+02] [ 1.07539629e-01 3.14226114e-03 9.94195833e-01 2.79109235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27710568099997 meters 0.0431249080291795 Centerline is valid? [True, True] Translation: X:289.73, Y:101.47, Z:27.91 [[ 7.44465559e-01 -6.63250159e-01 -7.66176047e-02 2.89725191e+02] [ 6.58948801e-01 7.48375119e-01 -7.56383483e-02 1.01469006e+02] [ 1.07505856e-01 5.82306658e-03 9.94187398e-01 2.79130620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33710568099997 meters 0.0463066158475377 Centerline is valid? [True, True] Translation: X:289.77, Y:101.51, Z:27.92 [[ 7.48282658e-01 -6.58860393e-01 -7.73048900e-02 2.89765520e+02] [ 6.54455293e-01 7.52236874e-01 -7.63410400e-02 1.01511775e+02] [ 1.08449676e-01 6.53208186e-03 9.94080479e-01 2.79152408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39710568099997 meters 0.04541085344733569 Centerline is valid? [True, True] Translation: X:289.82, Y:101.54, Z:27.93 [[ 7.46961749e-01 -6.60731638e-01 -7.40395109e-02 2.89816017e+02] [ 6.56698444e-01 7.50598135e-01 -7.31409111e-02 1.01543733e+02] [ 1.03900433e-01 6.01183125e-03 9.94569534e-01 2.79251177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457105681 meters 0.03909499732356471 Centerline is valid? [True, True] Translation: X:289.87, Y:101.57, Z:27.93 [[ 7.41815526e-01 -6.66497033e-01 -7.41041862e-02 2.89871640e+02] [ 6.62480601e-01 7.45489240e-01 -7.32478406e-02 1.01571200e+02] [ 1.04063342e-01 5.24379965e-03 9.94556848e-01 2.79326309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517105681 meters 0.03788247411837021 Centerline is valid? [True, True] Translation: X:289.92, Y:101.61, Z:27.93 [[ 7.39112196e-01 -6.69309889e-01 -7.57458592e-02 2.89919858e+02] [ 6.65124390e-01 7.42966674e-01 -7.49003800e-02 1.01606627e+02] [ 1.06408214e-01 4.97936594e-03 9.94310061e-01 2.79346701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577105681 meters 0.03892793966166289 Centerline is valid? [True, True] Translation: X:289.96, Y:101.65, Z:27.94 [[ 7.42094311e-01 -6.66102546e-01 -7.48560663e-02 2.89962657e+02] [ 6.61994150e-01 7.45840561e-01 -7.40648622e-02 1.01646365e+02] [ 1.05165484e-01 5.40883502e-03 9.94440026e-01 2.79415144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637105681 meters 0.04217860897996888 Centerline is valid? [True, True] Translation: X:290.00, Y:101.69, Z:27.95 [[ 7.42729778e-01 -6.65491681e-01 -7.39817453e-02 2.90003862e+02] [ 6.61471142e-01 7.46385258e-01 -7.32459826e-02 1.01685934e+02] [ 1.03963476e-01 5.46518287e-03 9.94566100e-01 2.79471531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697105681 meters 0.03635686553051959 Centerline is valid? [True, True] Translation: X:290.06, Y:101.72, Z:27.96 [[ 7.38442495e-01 -6.70577008e-01 -7.09165595e-02 2.90056985e+02] [ 6.66903840e-01 7.41825825e-01 -7.02403989e-02 1.01715090e+02] [ 9.97093319e-02 4.57396957e-03 9.95006094e-01 2.79555903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757105681 meters 0.03094143069645498 Centerline is valid? [True, True] Translation: X:290.11, Y:101.74, Z:27.96 [[ 7.30824473e-01 -6.78960023e-01 -7.00633751e-02 2.90110334e+02] [ 6.75408408e-01 7.34167244e-01 -6.94401998e-02 1.01744334e+02] [ 9.85853546e-02 3.42720480e-03 9.95122697e-01 2.79620900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817105681 meters 0.027611992974730954 Centerline is valid? [True, True] Translation: X:290.16, Y:101.78, Z:27.96 [[ 7.23715940e-01 -6.86507579e-01 -7.03035021e-02 2.90160311e+02] [ 6.82962169e-01 7.27118536e-01 -6.97230972e-02 1.01776120e+02] [ 9.89844142e-02 2.44508450e-03 9.95085980e-01 2.79645741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877105681 meters 0.024394974317246895 Centerline is valid? [True, True] Translation: X:290.21, Y:101.81, Z:27.97 [[ 7.16914537e-01 -6.93645561e-01 -6.99241154e-02 2.90208543e+02] [ 6.90169102e-01 7.20314969e-01 -6.93754725e-02 1.01810665e+02] [ 9.84893756e-02 1.47682074e-03 9.95137007e-01 2.79693917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937105681 meters 0.02221314302504931 Centerline is valid? [True, True] Translation: X:290.26, Y:101.84, Z:27.97 [[ 7.05413487e-01 -7.05252227e-01 -7.07891857e-02 2.90263179e+02] [ 7.01743628e-01 7.08956475e-01 -7.02609214e-02 1.01839547e+02] [ 9.97381228e-02 -1.12858391e-04 9.95013716e-01 2.79725474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99710568099994 meters 0.022822882194817175 Centerline is valid? [True, True] Translation: X:290.31, Y:101.88, Z:27.97 [[ 6.99509944e-01 -7.10991038e-01 -7.19554191e-02 2.90308363e+02] [ 7.07391095e-01 7.03200479e-01 -7.14627524e-02 1.01877287e+02] [ 1.01408462e-01 -9.11716841e-04 9.94844457e-01 2.79748407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05710568099994 meters 0.022671231562011677 Centerline is valid? [True, True] Translation: X:290.35, Y:101.92, Z:27.98 [[ 7.01344720e-01 -7.08976586e-01 -7.39444615e-02 2.90347720e+02] [ 7.05157866e-01 7.05231762e-01 -7.34884071e-02 1.01921643e+02] [ 1.04249543e-01 -6.01812328e-04 9.94550989e-01 2.79788248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11710568099994 meters 0.02289811541742544 Centerline is valid? [True, True] Translation: X:290.38, Y:101.97, Z:27.99 [[ 7.10092787e-01 -7.00307618e-01 -7.30580230e-02 2.90376596e+02] [ 6.96528768e-01 7.13840839e-01 -7.26562604e-02 1.01974028e+02] [ 1.03033533e-01 7.05671622e-04 9.94677633e-01 2.79854393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17710568099994 meters 0.026641536161120895 Centerline is valid? [True, True] Translation: X:290.40, Y:102.03, Z:27.99 [[ 7.20495269e-01 -6.89812372e-01 -7.10313905e-02 2.90404379e+02] [ 6.86184089e-01 7.23984865e-01 -7.06916647e-02 1.02028699e+02] [ 1.00189637e-01 2.19240007e-03 9.94965944e-01 2.79942270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23710568099995 meters 0.03150040773195842 Centerline is valid? [True, True] Translation: X:290.44, Y:102.08, Z:28.00 [[ 7.29238624e-01 -6.80614400e-01 -7.05341612e-02 2.90435623e+02] [ 6.76989228e-01 7.32633602e-01 -7.02395203e-02 1.02079676e+02] [ 9.94817255e-02 3.47050380e-03 9.95033337e-01 2.80025408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29710568099995 meters 0.03025751011994982 Centerline is valid? [True, True] Translation: X:290.48, Y:102.12, Z:28.01 [[ 7.27308987e-01 -6.82904761e-01 -6.82841548e-02 2.90475444e+02] [ 6.79515443e-01 7.30500952e-01 -6.80229514e-02 1.02122808e+02] [ 9.63348375e-02 3.07356613e-03 9.95344238e-01 2.80077900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35710568099995 meters 0.029883869409182705 Centerline is valid? [True, True] Translation: X:290.52, Y:102.16, Z:28.01 [[ 7.24942609e-01 -6.85484028e-01 -6.76007482e-02 2.90517701e+02] [ 6.82169374e-01 7.28082527e-01 -6.73853095e-02 1.02162857e+02] [ 9.54104769e-02 2.73532199e-03 9.95434256e-01 2.80119243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41710568099995 meters 0.031053767150378712 Centerline is valid? [True, True] Translation: X:290.55, Y:102.21, Z:28.01 [[ 7.29384576e-01 -6.80752013e-01 -6.76375432e-02 2.90553689e+02] [ 6.77409389e-01 7.32506120e-01 -6.74633502e-02 1.02209942e+02] [ 9.54707258e-02 3.38842027e-03 9.95426471e-01 2.80145968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47710568099995 meters 0.032960834712281735 Centerline is valid? [True, True] Translation: X:290.59, Y:102.25, Z:28.01 [[ 7.34176426e-01 -6.75307210e-01 -7.03217399e-02 2.90591998e+02] [ 6.71665604e-01 7.37524122e-01 -7.01675530e-02 1.02254885e+02] [ 9.92486339e-02 4.28266939e-03 9.95053450e-01 2.80117804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53710568099996 meters 0.03481891429983408 Centerline is valid? [True, True] Translation: X:290.63, Y:102.30, Z:28.02 [[ 7.36461819e-01 -6.72943916e-01 -6.90686291e-02 2.90633253e+02] [ 6.69416399e-01 7.39679495e-01 -6.89632425e-02 1.02296757e+02] [ 9.74970432e-02 4.55312199e-03 9.95225399e-01 2.80175261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59710568099996 meters 0.034389128192189734 Centerline is valid? [True, True] Translation: X:290.68, Y:102.33, Z:28.02 [[ 7.33345180e-01 -6.76446145e-01 -6.80107296e-02 2.90678651e+02] [ 6.73036804e-01 7.36480922e-01 -6.79508054e-02 1.02332624e+02] [ 9.60536652e-02 4.05767149e-03 9.95367886e-01 2.80230675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65710568099996 meters 0.028181508297791206 Centerline is valid? [True, True] Translation: X:290.73, Y:102.36, Z:28.03 [[ 7.26237936e-01 -6.84223859e-01 -6.64542819e-02 2.90733242e+02] [ 6.80997039e-01 7.29265887e-01 -6.64401891e-02 1.02361559e+02] [ 9.39228034e-02 2.99621659e-03 9.95574974e-01 2.80276942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71710568099996 meters 0.02691607662081142 Centerline is valid? [True, True] Translation: X:290.78, Y:102.40, Z:28.03 [[ 7.24008983e-01 -6.86754973e-01 -6.46420968e-02 2.90779388e+02] [ 6.83708543e-01 7.26884258e-01 -6.46676455e-02 1.02397895e+02] [ 9.13981497e-02 2.62360241e-03 9.95810974e-01 2.80346165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77710568099997 meters 0.027917133090788963 Centerline is valid? [True, True] Translation: X:290.82, Y:102.44, Z:28.04 [[ 7.25352589e-01 -6.85442671e-01 -6.34977588e-02 2.90821254e+02] [ 6.82494649e-01 7.28121332e-01 -6.35639814e-02 1.02439017e+02] [ 8.98035379e-02 2.76941787e-03 9.95955649e-01 2.80416477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83710568099997 meters 0.030447239452203668 Centerline is valid? [True, True] Translation: X:290.86, Y:102.49, Z:28.05 [[ 7.29165039e-01 -6.81518299e-01 -6.20576633e-02 2.90858299e+02] [ 6.78685011e-01 7.31794036e-01 -6.21622501e-02 1.02485291e+02] [ 8.77781389e-02 3.20893366e-03 9.96134881e-01 2.80462007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89710568099997 meters 0.03211076880389897 Centerline is valid? [True, True] Translation: X:290.90, Y:102.52, Z:28.05 [[ 7.30444461e-01 -6.80066568e-01 -6.29313238e-02 2.90900608e+02] [ 6.77143799e-01 7.33142198e-01 -6.30776718e-02 1.02523674e+02] [ 8.90346249e-02 3.46118028e-03 9.96022518e-01 2.80530850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957105681 meters 0.030098177813669587 Centerline is valid? [True, True] Translation: X:290.95, Y:102.56, Z:28.06 [[ 7.27692627e-01 -6.83057988e-01 -6.24117435e-02 2.90947394e+02] [ 6.80192805e-01 7.30357642e-01 -6.25736676e-02 1.02560416e+02] [ 8.83243372e-02 3.08237770e-03 9.96086999e-01 2.80564087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017105681 meters 0.02871144342049334 Centerline is valid? [True, True] Translation: X:290.99, Y:102.60, Z:28.06 [[ 7.26312080e-01 -6.84637746e-01 -6.11712316e-02 2.90992155e+02] [ 6.81887832e-01 7.28877888e-01 -6.13678157e-02 1.02598209e+02] [ 8.66010811e-02 2.86026726e-03 9.96238963e-01 2.80630808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077105681 meters 0.02659526003834127 Centerline is valid? [True, True] Translation: X:291.04, Y:102.63, Z:28.07 [[ 7.21062710e-01 -6.90330147e-01 -5.92693492e-02 2.91042187e+02] [ 6.87764809e-01 7.23491340e-01 -5.94966284e-02 1.02629312e+02] [ 8.39531771e-02 2.13742756e-03 9.96467408e-01 2.80731083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137105681 meters 0.02273315075140366 Centerline is valid? [True, True] Translation: X:291.09, Y:102.66, Z:28.08 [[ 7.15229909e-01 -6.96339987e-01 -5.96389090e-02 2.91092982e+02] [ 6.93759839e-01 7.17710565e-01 -5.99068476e-02 1.02662101e+02] [ 8.45190086e-02 1.47208930e-03 9.96420780e-01 2.80783524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197105681 meters 0.022102380934503313 Centerline is valid? [True, True] Translation: X:291.14, Y:102.70, Z:28.08 [[ 7.13790863e-01 -6.97747656e-01 -6.04219508e-02 2.91135006e+02] [ 6.95100971e-01 7.16342367e-01 -6.07309926e-02 1.02703085e+02] [ 8.56577110e-02 1.34987089e-03 9.96323710e-01 2.80837569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257105681 meters 0.02395533588508456 Centerline is valid? [True, True] Translation: X:291.17, Y:102.75, Z:28.09 [[ 7.17928317e-01 -6.93377581e-01 -6.16965263e-02 2.91169830e+02] [ 6.90597965e-01 7.20571825e-01 -6.20539707e-02 1.02750749e+02] [ 8.74836107e-02 1.94280722e-03 9.96164064e-01 2.80875973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317105681 meters 0.02863322718569853 Centerline is valid? [True, True] Translation: X:291.20, Y:102.80, Z:28.09 [[ 7.26428121e-01 -6.84342492e-01 -6.30677394e-02 2.91201792e+02] [ 6.81401498e-01 7.29154043e-01 -6.34537590e-02 1.02801260e+02] [ 8.94102007e-02 3.12014277e-03 9.95990000e-01 2.80902407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377105681 meters 0.03167241098513881 Centerline is valid? [True, True] Translation: X:291.24, Y:102.85, Z:28.09 [[ 7.30847641e-01 -6.79305879e-01 -6.63720362e-02 2.91240360e+02] [ 6.76024724e-01 7.33844594e-01 -6.68033252e-02 1.02845573e+02] [ 9.40866516e-02 3.95391522e-03 9.95556160e-01 2.80929335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437105681 meters 0.032850457198872904 Centerline is valid? [True, True] Translation: X:291.28, Y:102.89, Z:28.09 [[ 7.30946378e-01 -6.78818803e-01 -7.01599979e-02 2.91282198e+02] [ 6.75144413e-01 7.34293326e-01 -7.06635285e-02 1.02885592e+02] [ 9.94857500e-02 4.28311968e-03 9.95029769e-01 2.80902830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49710568099994 meters 0.029223385027786552 Centerline is valid? [True, True] Translation: X:291.33, Y:102.92, Z:28.10 [[ 7.24059949e-01 -6.86083034e-01 -7.09031790e-02 2.91332246e+02] [ 6.82362505e-01 7.27515581e-01 -7.14317284e-02 1.02916975e+02] [ 1.00591264e-01 3.33918275e-03 9.94922232e-01 2.80962547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55710568099994 meters 0.02319436382804898 Centerline is valid? [True, True] Translation: X:291.39, Y:102.94, Z:28.11 [[ 7.12078995e-01 -6.98753714e-01 -6.84598604e-02 2.91388573e+02] [ 6.95341558e-01 7.15360702e-01 -6.89868345e-02 1.02940711e+02] [ 9.71783006e-02 1.52108981e-03 9.95265826e-01 2.81095502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61710568099994 meters 0.021284529952169538 Centerline is valid? [True, True] Translation: X:291.44, Y:102.97, Z:28.12 [[ 7.06106248e-01 -7.04953847e-01 -6.67385950e-02 2.91436680e+02] [ 7.01737056e-01 7.09252866e-01 -6.72716689e-02 1.02974115e+02] [ 9.47579616e-02 6.68000556e-04 9.95500117e-01 2.81180875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67710568099994 meters 0.020924583304061186 Centerline is valid? [True, True] Translation: X:291.48, Y:103.01, Z:28.13 [[ 7.00606912e-01 -7.10443407e-01 -6.64839843e-02 2.91483379e+02] [ 7.07271424e-01 7.03754335e-01 -6.70594417e-02 1.03010364e+02] [ 9.44303304e-02 -3.99138846e-05 9.95531472e-01 2.81288704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73710568099995 meters 0.021786778048853827 Centerline is valid? [True, True] Translation: X:291.52, Y:103.06, Z:28.13 [[ 7.06052611e-01 -7.04797776e-01 -6.89188349e-02 2.91515931e+02] [ 7.01358895e-01 7.09407860e-01 -6.95427180e-02 1.03059188e+02] [ 9.79051161e-02 7.63979793e-04 9.95195460e-01 2.81309712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79710568099995 meters 0.023789278400207215 Centerline is valid? [True, True] Translation: X:291.55, Y:103.11, Z:28.14 [[ 7.12260814e-01 -6.98413080e-01 -7.00264392e-02 2.91548569e+02] [ 6.94828258e-01 7.15692879e-01 -7.06922551e-02 1.03108722e+02] [ 9.94898195e-02 1.69497438e-03 9.95037136e-01 2.81351002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85710568099995 meters 0.025900649278748997 Centerline is valid? [True, True] Translation: X:291.59, Y:103.16, Z:28.14 [[ 7.16576383e-01 -6.93554667e-01 -7.41634116e-02 2.91585157e+02] [ 6.89500882e-01 7.20399485e-01 -7.49207334e-02 1.03155919e+02] [ 1.05388908e-01 2.55069050e-03 9.94427811e-01 2.81376552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91710568099995 meters 0.02826012859062988 Centerline is valid? [True, True] Translation: X:291.62, Y:103.20, Z:28.14 [[ 7.20087392e-01 -6.89840391e-01 -7.47956059e-02 2.91618686e+02] [ 6.85692263e-01 7.23954616e-01 -7.56031356e-02 1.03203633e+02] [ 1.06302721e-01 3.15409648e-03 9.94328810e-01 2.81403723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97710568099995 meters 0.02894286357966421 Centerline is valid? [True, True] Translation: X:291.66, Y:103.24, Z:28.15 [[ 7.19906047e-01 -6.90267407e-01 -7.25685150e-02 2.91660543e+02] [ 6.86363430e-01 7.23548085e-01 -7.33717222e-02 1.03242052e+02] [ 1.03152919e-01 3.01237163e-03 9.94660948e-01 2.81524576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03710568099996 meters 0.02953259568806403 Centerline is valid? [True, True] Translation: X:291.70, Y:103.28, Z:28.16 [[ 7.21330883e-01 -6.88943520e-01 -7.09829881e-02 2.91700912e+02] [ 6.85199445e-01 7.24808176e-01 -7.17971362e-02 1.03284668e+02] [ 1.00913222e-01 3.15198755e-03 9.94890238e-01 2.81609579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09710568099996 meters 0.034120778874109255 Centerline is valid? [True, True] Translation: X:291.74, Y:103.33, Z:28.17 [[ 7.27394062e-01 -6.82792201e-01 -6.85032023e-02 2.91735626e+02] [ 6.79274289e-01 7.30602224e-01 -6.93313152e-02 1.03332995e+02] [ 9.73874733e-02 3.89872290e-03 9.95238906e-01 2.81677731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15710568099996 meters 0.03887092731007646 Centerline is valid? [True, True] Translation: X:291.77, Y:103.38, Z:28.17 [[ 7.32658317e-01 -6.77080038e-01 -6.90971291e-02 2.91770093e+02] [ 6.73471145e-01 7.35894169e-01 -6.99742047e-02 1.03380714e+02] [ 9.82263116e-02 4.73226041e-03 9.95152851e-01 2.81688292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21710568099996 meters 0.041493465180991354 Centerline is valid? [True, True] Translation: X:291.81, Y:103.42, Z:28.17 [[ 7.34729044e-01 -6.74735077e-01 -7.00414660e-02 2.91811683e+02] [ 6.71012293e-01 7.38042088e-01 -7.09674558e-02 1.03421317e+02] [ 9.95777816e-02 5.14316625e-03 9.95016489e-01 2.81745511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27710568099997 meters 0.04146104089209992 Centerline is valid? [True, True] Translation: X:291.86, Y:103.46, Z:28.17 [[ 7.33449351e-01 -6.75917153e-01 -7.20281324e-02 2.91855396e+02] [ 6.71980352e-01 7.36959545e-01 -7.30276335e-02 1.03460842e+02] [ 1.02442450e-01 5.16058067e-03 9.94725547e-01 2.81735599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33710568099997 meters 0.03706982918405627 Centerline is valid? [True, True] Translation: X:291.91, Y:103.49, Z:28.17 [[ 7.28946055e-01 -6.80575715e-01 -7.38535297e-02 2.91908587e+02] [ 6.76455087e-01 7.32662960e-01 -7.49233063e-02 1.03491513e+02] [ 1.05100728e-01 4.65645274e-03 9.94450680e-01 2.81743897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39710568099997 meters 0.026513111520255817 Centerline is valid? [True, True] Translation: X:291.97, Y:103.51, Z:28.18 [[ 7.16716185e-01 -6.93551492e-01 -7.28301989e-02 2.91970441e+02] [ 6.89605787e-01 7.20401769e-01 -7.39266548e-02 1.03511825e+02] [ 1.03738946e-01 2.76030329e-03 9.94600730e-01 2.81834997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457105681 meters 0.022105883022380503 Centerline is valid? [True, True] Translation: X:292.02, Y:103.54, Z:28.18 [[ 7.03339089e-01 -7.07116092e-01 -7.28076781e-02 2.92022353e+02] [ 7.03241107e-01 7.07097021e-01 -7.39307059e-02 1.03541919e+02] [ 1.03759684e-01 7.97003277e-04 9.94602078e-01 2.81821991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517105681 meters 0.02135758254772056 Centerline is valid? [True, True] Translation: X:292.07, Y:103.58, Z:28.20 [[ 6.96250100e-01 -7.14299002e-01 -7.08006631e-02 2.92070404e+02] [ 7.10668437e-01 6.99840610e-01 -7.19270021e-02 1.03576205e+02] [ 1.00926565e-01 -2.36614185e-04 9.94893850e-01 2.81982402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577105681 meters 0.02127893546543809 Centerline is valid? [True, True] Translation: X:292.10, Y:103.62, Z:28.21 [[ 6.97312681e-01 -7.13388627e-01 -6.95103755e-02 2.92103105e+02] [ 7.09880920e-01 7.00768622e-01 -7.06570409e-02 1.03623745e+02] [ 9.91166195e-02 -7.40387033e-05 9.95075821e-01 2.82064624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637105681 meters 0.021493264502472992 Centerline is valid? [True, True] Translation: X:292.14, Y:103.67, Z:28.22 [[ 7.00208325e-01 -7.10643315e-01 -6.85155477e-02 2.92136981e+02] [ 7.07218332e-01 7.03552388e-01 -6.96869293e-02 1.03671749e+02] [ 9.77268276e-02 3.39916716e-04 9.95213219e-01 2.82151840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697105681 meters 0.022033131527657672 Centerline is valid? [True, True] Translation: X:292.17, Y:103.72, Z:28.22 [[ 7.02504460e-01 -7.08368605e-01 -6.85667781e-02 2.92171361e+02] [ 7.04922864e-01 7.05842363e-01 -6.97876419e-02 1.03718833e+02] [ 9.78327112e-02 6.91840066e-04 9.95202634e-01 2.82189848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757105681 meters 0.022209176260611606 Centerline is valid? [True, True] Translation: X:292.21, Y:103.77, Z:28.21 [[ 7.02774928e-01 -7.07734451e-01 -7.22450557e-02 2.92208718e+02] [ 7.03901853e-01 7.06478052e-01 -7.35591212e-02 1.03765167e+02] [ 1.03099870e-01 8.42077532e-04 9.94670653e-01 2.82147091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817105681 meters 0.02302700358107947 Centerline is valid? [True, True] Translation: X:292.25, Y:103.81, Z:28.22 [[ 7.04695834e-01 -7.05662651e-01 -7.37834984e-02 2.92246421e+02] [ 7.01648317e-01 7.08546946e-01 -7.51722321e-02 1.03810151e+02] [ 1.05325309e-01 1.20349126e-03 9.94437092e-01 2.82182864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877105681 meters 0.023358066218575994 Centerline is valid? [True, True] Translation: X:292.28, Y:103.86, Z:28.23 [[ 7.06759099e-01 -7.03727342e-01 -7.25217465e-02 2.92283767e+02] [ 6.99834696e-01 7.10468566e-01 -7.39311527e-02 1.03855534e+02] [ 1.03551795e-01 1.49828044e-03 9.94622934e-01 2.82282135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937105681 meters 0.026590301965890954 Centerline is valid? [True, True] Translation: X:292.31, Y:103.91, Z:28.24 [[ 7.11189204e-01 -6.99523671e-01 -6.98322931e-02 2.92312398e+02] [ 6.95890601e-01 7.14606448e-01 -7.12312768e-02 1.03907191e+02] [ 9.97305712e-02 2.06327860e-03 9.95012340e-01 2.82362227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99710568099994 meters 0.027921582971278502 Centerline is valid? [True, True] Translation: X:292.35, Y:103.95, Z:28.25 [[ 7.16521492e-01 -6.94339951e-01 -6.69998801e-02 2.92346500e+02] [ 6.90971711e-01 7.19642141e-01 -6.83614189e-02 1.03954758e+02] [ 9.56820014e-02 2.68740409e-03 9.95408324e-01 2.82483743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05710568099994 meters 0.033531995851819825 Centerline is valid? [True, True] Translation: X:292.37, Y:104.01, Z:28.25 [[ 7.24339908e-01 -6.85822688e-01 -7.05615902e-02 2.92374764e+02] [ 6.82041000e-01 7.27757386e-01 -7.20365326e-02 1.04009940e+02] [ 1.00756007e-01 4.05303788e-03 9.94902910e-01 2.82465492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11710568099994 meters 0.03907068376718483 Centerline is valid? [True, True] Translation: X:292.41, Y:104.06, Z:28.25 [[ 7.32558455e-01 -6.76831345e-01 -7.25082137e-02 2.92406118e+02] [ 6.72790381e-01 7.36117839e-01 -7.40515437e-02 1.04061824e+02] [ 1.03494996e-01 5.46425572e-03 9.94614965e-01 2.82484057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17710568099994 meters 0.03913068844436764 Centerline is valid? [True, True] Translation: X:292.45, Y:104.10, Z:28.26 [[ 7.32598602e-01 -6.77013881e-01 -7.03668478e-02 2.92448596e+02] [ 6.73204850e-01 7.35951086e-01 -7.19112600e-02 1.04102542e+02] [ 1.00471479e-01 5.31078536e-03 9.94925765e-01 2.82570856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23710568099995 meters 0.033286596988939786 Centerline is valid? [True, True] Translation: X:292.50, Y:104.13, Z:28.26 [[ 7.23463976e-01 -6.86785516e-01 -7.01821312e-02 2.92500679e+02] [ 6.83037495e-01 7.26849232e-01 -7.17633230e-02 1.04134389e+02] [ 1.00297839e-01 3.98115186e-03 9.94949493e-01 2.82590040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29710568099995 meters 0.028527263199428835 Centerline is valid? [True, True] Translation: X:292.55, Y:104.16, Z:28.26 [[ 7.15332961e-01 -6.95147244e-01 -7.11973507e-02 2.92553885e+02] [ 6.91327610e-01 7.18861624e-01 -7.28292658e-02 1.04163716e+02] [ 1.01808107e-01 2.87648009e-03 9.94799897e-01 2.82617442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35710568099995 meters 0.024758223622084467 Centerline is valid? [True, True] Translation: X:292.60, Y:104.20, Z:28.27 [[ 7.07350839e-01 -7.03373072e-01 -7.01506410e-02 2.92602884e+02] [ 6.99700397e-01 7.10818830e-01 -7.18049133e-02 1.04195743e+02] [ 1.00370039e-01 1.70683430e-03 9.94948713e-01 2.82653667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41710568099995 meters 0.0230793265650975 Centerline is valid? [True, True] Translation: X:292.65, Y:104.23, Z:28.27 [[ 7.02965346e-01 -7.07853624e-01 -6.91590156e-02 2.92648931e+02] [ 7.04301437e-01 7.06358316e-01 -7.08337150e-02 1.04232388e+02] [ 9.89909476e-02 1.08485293e-03 9.95087743e-01 2.82694413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47710568099995 meters 0.023085347033957915 Centerline is valid? [True, True] Translation: X:292.69, Y:104.27, Z:28.28 [[ 7.02891514e-01 -7.07856122e-01 -6.98801040e-02 2.92689350e+02] [ 7.04224593e-01 7.06355742e-01 -7.16190505e-02 1.04274086e+02] [ 1.00056196e-01 1.12913509e-03 9.94981147e-01 2.82752495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53710568099996 meters 0.022398330758323766 Centerline is valid? [True, True] Translation: X:292.73, Y:104.32, Z:28.28 [[ 6.98541618e-01 -7.12193926e-01 -6.94220378e-02 2.92729179e+02] [ 7.08626580e-01 7.01982565e-01 -7.11958473e-02 1.04316166e+02] [ 9.94383101e-02 5.38961170e-04 9.95043583e-01 2.82782133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59710568099996 meters 0.022438055222629462 Centerline is valid? [True, True] Translation: X:292.77, Y:104.35, Z:28.29 [[ 6.91181683e-01 -7.19402274e-01 -6.87622679e-02 2.92774040e+02] [ 7.15935929e-01 6.94593509e-01 -7.05379516e-02 1.04353173e+02] [ 9.85069877e-02 -4.74838065e-04 9.95136246e-01 2.82859856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65710568099996 meters 0.023627166406790436 Centerline is valid? [True, True] Translation: X:292.81, Y:104.39, Z:28.30 [[ 6.84785624e-01 -7.25703917e-01 -6.65016867e-02 2.92814884e+02] [ 7.22487292e-01 6.88005912e-01 -6.82640335e-02 1.04393966e+02] [ 9.52930300e-02 -1.30039474e-03 9.95448415e-01 2.82960613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71710568099996 meters 0.024458154158580735 Centerline is valid? [True, True] Translation: X:292.85, Y:104.44, Z:28.30 [[ 6.82976525e-01 -7.27447414e-01 -6.60554794e-02 2.92852388e+02] [ 7.24279338e-01 6.86161766e-01 -6.78341385e-02 1.04437683e+02] [ 9.46705131e-02 -1.51349470e-03 9.95507510e-01 2.83033897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77710568099997 meters 0.022508411871193817 Centerline is valid? [True, True] Translation: X:292.88, Y:104.49, Z:28.31 [[ 6.89603643e-01 -7.21194693e-01 -6.57649688e-02 2.92879545e+02] [ 7.18023461e-01 6.92732140e-01 -6.75610216e-02 1.04492927e+02] [ 9.42821578e-02 -6.30463967e-04 9.95545317e-01 2.83100936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83710568099997 meters 0.024463266179323206 Centerline is valid? [True, True] Translation: X:292.90, Y:104.56, Z:28.31 [[ 7.05654830e-01 -7.05212422e-01 -6.87510027e-02 2.92897998e+02] [ 7.01663548e-01 7.08994194e-01 -7.06788409e-02 1.04556350e+02] [ 9.85876583e-02 1.63479297e-03 9.95127028e-01 2.83133596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89710568099997 meters 0.03283463610169441 Centerline is valid? [True, True] Translation: X:292.92, Y:104.62, Z:28.31 [[ 7.20504994e-01 -6.89862542e-01 -7.04430712e-02 2.92915410e+02] [ 6.86056550e-01 7.23929946e-01 -7.24696086e-02 1.04622625e+02] [ 1.00989917e-01 3.88678453e-03 9.94879857e-01 2.83101403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957105681 meters 0.03745661118707868 Centerline is valid? [True, True] Translation: X:292.95, Y:104.67, Z:28.31 [[ 7.26620575e-01 -6.83456216e-01 -7.00723921e-02 2.92946863e+02] [ 6.79655883e-01 7.29975802e-01 -7.21332686e-02 1.04673534e+02] [ 1.00451081e-01 4.78840365e-03 9.94930476e-01 2.83141172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017105681 meters 0.035910096752490586 Centerline is valid? [True, True] Translation: X:292.99, Y:104.71, Z:28.32 [[ 7.24643085e-01 -6.85589824e-01 -6.97064779e-02 2.92990709e+02] [ 6.81834433e-01 7.27974122e-01 -7.18017020e-02 1.04713184e+02] [ 9.99710283e-02 4.50233000e-03 9.94980162e-01 2.83199188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077105681 meters 0.0338602802390601 Centerline is valid? [True, True] Translation: X:293.04, Y:104.75, Z:28.32 [[ 7.20654891e-01 -6.89448643e-01 -7.29184313e-02 2.93037067e+02] [ 6.85352801e-01 7.24322468e-01 -7.51565054e-02 1.04750593e+02] [ 1.04633009e-01 4.18705210e-03 9.94502088e-01 2.83163948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137105681 meters 0.030695772692408765 Centerline is valid? [True, True] Translation: X:293.09, Y:104.78, Z:28.32 [[ 7.14602118e-01 -6.95627428e-01 -7.37990114e-02 2.93088265e+02] [ 6.91459135e-01 7.18394867e-01 -7.61122809e-02 1.04782414e+02] [ 1.05962621e-01 3.36099653e-03 9.94364434e-01 2.83206539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197105681 meters 0.026060478378518867 Centerline is valid? [True, True] Translation: X:293.14, Y:104.81, Z:28.32 [[ 7.06302942e-01 -7.04018977e-01 -7.41177012e-02 2.93138897e+02] [ 6.99854862e-01 7.10177897e-01 -7.64887375e-02 1.04813218e+02] [ 1.06486276e-01 2.15258679e-03 9.94311842e-01 2.83241416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257105681 meters 0.024241499272560068 Centerline is valid? [True, True] Translation: X:293.18, Y:104.85, Z:28.33 [[ 7.02483148e-01 -7.08124414e-01 -7.12547597e-02 2.93183405e+02] [ 7.04293157e-01 7.06086083e-01 -7.35771124e-02 1.04851546e+02] [ 1.02413744e-01 1.50244187e-03 9.94740754e-01 2.83330544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317105681 meters 0.023313586191420325 Centerline is valid? [True, True] Translation: X:293.23, Y:104.89, Z:28.34 [[ 7.00043154e-01 -7.10589432e-01 -7.07265241e-02 2.93226769e+02] [ 7.06823275e-01 7.03605932e-01 -7.30722274e-02 1.04889200e+02] [ 1.01687954e-01 1.16255917e-03 9.94815666e-01 2.83409518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377105681 meters 0.021807738136012573 Centerline is valid? [True, True] Translation: X:293.27, Y:104.93, Z:28.35 [[ 6.95127552e-01 -7.15561968e-01 -6.90561780e-02 2.93267486e+02] [ 7.11994613e-01 6.98549122e-01 -7.13638211e-02 1.04930433e+02] [ 9.93043688e-02 4.39331547e-04 9.95057008e-01 2.83473814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437105681 meters 0.022277606903133847 Centerline is valid? [True, True] Translation: X:293.31, Y:104.96, Z:28.36 [[ 6.84565701e-01 -7.25828790e-01 -6.73970902e-02 2.93314901e+02] [ 7.22476170e-01 6.87874694e-01 -6.96892264e-02 1.04964093e+02] [ 9.69431997e-02 -9.85937427e-04 9.95289427e-01 2.83576000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49710568099994 meters 0.02740849455834948 Centerline is valid? [True, True] Translation: X:293.36, Y:105.00, Z:28.37 [[ 6.71195789e-01 -7.38395679e-01 -6.53301927e-02 2.93359248e+02] [ 7.35299911e-01 6.74362447e-01 -6.75968205e-02 1.05002316e+02] [ 9.39694288e-02 -2.66658361e-03 9.95571512e-01 2.83672475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55710568099994 meters 0.030212821143034592 Centerline is valid? [True, True] Translation: X:293.40, Y:105.05, Z:28.37 [[ 6.66189984e-01 -7.42881699e-01 -6.57091149e-02 2.93397186e+02] [ 7.39767055e-01 6.69414661e-01 -6.80346699e-02 1.05047084e+02] [ 9.45283560e-02 -3.28542282e-03 9.95516748e-01 2.83680848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61710568099994 meters 0.03094925101340139 Centerline is valid? [True, True] Translation: X:293.43, Y:105.09, Z:28.37 [[ 6.64383193e-01 -7.44460981e-01 -6.61273103e-02 2.93432969e+02] [ 7.41309480e-01 6.67656802e-01 -6.85175122e-02 1.05094186e+02] [ 9.51589629e-02 -3.49891845e-03 9.95455940e-01 2.83705587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67710568099994 meters 0.03381286970678642 Centerline is valid? [True, True] Translation: X:293.47, Y:105.14, Z:28.37 [[ 6.59221216e-01 -7.49026352e-01 -6.62337739e-02 2.93465087e+02] [ 7.45883054e-01 6.62527322e-01 -6.86732573e-02 1.05144074e+02] [ 9.53197643e-02 -4.13178136e-03 9.95438130e-01 2.83742553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73710568099995 meters 0.034444192408068584 Centerline is valid? [True, True] Translation: X:293.49, Y:105.20, Z:28.38 [[ 6.56690154e-01 -7.51295058e-01 -6.56793567e-02 2.93493276e+02] [ 7.48212686e-01 6.59951777e-01 -6.81280283e-02 1.05198172e+02] [ 9.45294592e-02 -4.40312249e-03 9.95512327e-01 2.83786023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79710568099995 meters 0.03613224313250795 Centerline is valid? [True, True] Translation: X:293.53, Y:105.25, Z:28.38 [[ 6.54450784e-01 -7.53229559e-01 -6.58741422e-02 2.93526589e+02] [ 7.50133967e-01 6.57741192e-01 -6.83780421e-02 1.05247808e+02] [ 9.48324993e-02 -4.66436835e-03 9.95482316e-01 2.83836853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85710568099995 meters 0.03840751250391477 Centerline is valid? [True, True] Translation: X:293.55, Y:105.30, Z:28.39 [[ 6.50669834e-01 -7.56561282e-01 -6.51444136e-02 2.93554618e+02] [ 7.53546151e-01 6.53903217e-01 -6.76666924e-02 1.05301335e+02] [ 9.37921411e-02 -5.06064668e-03 9.95578939e-01 2.83892054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91710568099995 meters 0.038424022752875396 Centerline is valid? [True, True] Translation: X:293.58, Y:105.36, Z:28.39 [[ 6.51342994e-01 -7.55926984e-01 -6.57776502e-02 2.93579995e+02] [ 7.52844859e-01 6.54636956e-01 -6.83745124e-02 1.05358850e+02] [ 9.47466196e-02 -4.98510614e-03 9.95488939e-01 2.83932283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97710568099995 meters 0.03463830878437375 Centerline is valid? [True, True] Translation: X:293.60, Y:105.42, Z:28.40 [[ 6.57866421e-01 -7.50269034e-01 -6.56364848e-02 2.93599856e+02] [ 7.47167796e-01 6.61119758e-01 -6.82711506e-02 1.05418641e+02] [ 9.46153072e-02 -4.12817020e-03 9.95505350e-01 2.83989716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03710568099996 meters 0.025412823258021622 Centerline is valid? [True, True] Translation: X:293.62, Y:105.48, Z:28.40 [[ 6.68444269e-01 -7.40816385e-01 -6.61312507e-02 2.93616186e+02] [ 7.37619291e-01 6.71701811e-01 -6.88074034e-02 1.05483832e+02] [ 9.53941328e-02 -2.78577178e-03 9.95435683e-01 2.84036359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09710568099996 meters 0.02223214955039122 Centerline is valid? [True, True] Translation: X:293.64, Y:105.54, Z:28.41 [[ 6.74436197e-01 -7.35413342e-01 -6.55975065e-02 2.93639047e+02] [ 7.32237544e-01 6.77615923e-01 -6.82996420e-02 1.05543031e+02] [ 9.46783828e-02 -1.96920623e-03 9.95505965e-01 2.84100650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15710568099996 meters 0.022463017543928515 Centerline is valid? [True, True] Translation: X:293.67, Y:105.59, Z:28.41 [[ 6.73743067e-01 -7.36206094e-01 -6.38033449e-02 2.93669159e+02] [ 7.33203108e-01 6.76754435e-01 -6.64577805e-02 1.05593858e+02] [ 9.21058196e-02 -2.00534191e-03 9.95747205e-01 2.84146178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21710568099996 meters 0.020860975369301274 Centerline is valid? [True, True] Translation: X:293.70, Y:105.65, Z:28.42 [[ 6.76943716e-01 -7.33255589e-01 -6.39018488e-02 2.93699717e+02] [ 7.30225431e-01 6.79951302e-01 -6.66111534e-02 1.05645832e+02] [ 9.22931459e-02 -1.57075342e-03 9.95730640e-01 2.84186334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27710568099997 meters 0.018247546387484877 Centerline is valid? [True, True] Translation: X:293.72, Y:105.71, Z:28.42 [[ 6.92417555e-01 -7.18388854e-01 -6.68983158e-02 2.93718314e+02] [ 7.14991711e-01 6.95641587e-01 -6.97827789e-02 1.05710797e+02] [ 9.66684211e-02 4.87079897e-04 9.95316522e-01 2.84164444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33710568099997 meters 0.022968334791601586 Centerline is valid? [True, True] Translation: X:293.75, Y:105.77, Z:28.42 [[ 7.03465857e-01 -7.07601890e-01 -6.65984563e-02 2.93745194e+02] [ 7.04182286e-01 7.06608492e-01 -6.95107683e-02 1.05766042e+02] [ 9.62449859e-02 2.00099899e-03 9.95355664e-01 2.84215300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39710568099997 meters 0.02856612717170945 Centerline is valid? [True, True] Translation: X:293.78, Y:105.82, Z:28.43 [[ 7.11756452e-01 -6.99413631e-01 -6.49871122e-02 2.93778166e+02] [ 6.96121390e-01 7.14710600e-01 -6.78510771e-02 1.05815365e+02] [ 9.39029462e-02 3.05452301e-03 9.95576670e-01 2.84302493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457105681 meters 0.026039600647921712 Centerline is valid? [True, True] Translation: X:293.83, Y:105.85, Z:28.43 [[ 7.08939374e-01 -7.02293173e-01 -6.47245147e-02 2.93827387e+02] [ 6.99037520e-01 7.11882806e-01 -6.75974524e-02 1.05849054e+02] [ 9.35494984e-02 2.67763135e-03 9.95611029e-01 2.84337801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517105681 meters 0.025915297430777116 Centerline is valid? [True, True] Translation: X:293.88, Y:105.88, Z:28.44 [[ 7.06518905e-01 -7.04782243e-01 -6.41328782e-02 2.93875431e+02] [ 7.01592614e-01 7.09419797e-01 -6.70175742e-02 1.05882688e+02] [ 9.27299297e-02 2.35402947e-03 9.95688515e-01 2.84435071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577105681 meters 0.02813409416810156 Centerline is valid? [True, True] Translation: X:293.92, Y:105.92, Z:28.45 [[ 7.10004008e-01 -7.01258540e-01 -6.42710646e-02 2.93919602e+02] [ 6.98039115e-01 7.12901419e-01 -6.71785739e-02 1.05921882e+02] [ 9.29284817e-02 2.83333966e-03 9.95668755e-01 2.84486219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637105681 meters 0.030527431734590844 Centerline is valid? [True, True] Translation: X:293.97, Y:105.96, Z:28.45 [[ 7.15699156e-01 -6.95183415e-01 -6.70428053e-02 2.93966752e+02] [ 6.91648684e-01 7.18822283e-01 -7.01186403e-02 1.05959046e+02] [ 9.69371782e-02 3.81378362e-03 9.95283195e-01 2.84492051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697105681 meters 0.0354207796093836 Centerline is valid? [True, True] Translation: X:294.01, Y:106.00, Z:28.46 [[ 7.20188637e-01 -6.90680867e-01 -6.54848553e-02 2.94008876e+02] [ 6.87288352e-01 7.23146712e-01 -6.85095277e-02 1.05998098e+02] [ 9.46733778e-02 4.33280515e-03 9.95498959e-01 2.84562146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757105681 meters 0.0369779441674204 Centerline is valid? [True, True] Translation: X:294.06, Y:106.03, Z:28.46 [[ 7.21813898e-01 -6.88804831e-01 -6.73245965e-02 2.94057365e+02] [ 6.85207885e-01 7.24931414e-01 -7.04599127e-02 1.06033443e+02] [ 9.73388432e-02 4.72759986e-03 9.95240071e-01 2.84575866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817105681 meters 0.03585325487025367 Centerline is valid? [True, True] Translation: X:294.11, Y:106.07, Z:28.46 [[ 7.18990436e-01 -6.91417038e-01 -7.06769605e-02 2.94108823e+02] [ 6.87459474e-01 7.22441034e-01 -7.40163801e-02 1.06066271e+02] [ 1.02236123e-01 4.62952329e-03 9.94749387e-01 2.84572761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877105681 meters 0.03054288124505589 Centerline is valid? [True, True] Translation: X:294.16, Y:106.10, Z:28.46 [[ 7.12093180e-01 -6.98361092e-01 -7.22155689e-02 2.94163727e+02] [ 6.94258911e-01 7.15735781e-01 -7.56760023e-02 1.06095600e+02] [ 1.04536442e-01 3.75206296e-03 9.94513979e-01 2.84590836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937105681 meters 0.024452324041533843 Centerline is valid? [True, True] Translation: X:294.22, Y:106.12, Z:28.47 [[ 7.03259061e-01 -7.07403138e-01 -7.07636367e-02 2.94218538e+02] [ 7.03505308e-01 7.06806234e-01 -7.41972286e-02 1.06121938e+02] [ 1.02503532e-01 2.39727928e-03 9.94729752e-01 2.84671274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99710568099994 meters 0.018205588718401357 Centerline is valid? [True, True] Translation: X:294.28, Y:106.14, Z:28.48 [[ 6.89104280e-01 -7.21386607e-01 -6.88233657e-02 2.94279474e+02] [ 7.17766203e-01 6.92532488e-01 -7.21833217e-02 1.06143910e+02] [ 9.97344982e-02 3.42750073e-04 9.95014026e-01 2.84795256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05710568099994 meters 0.02118461951855548 Centerline is valid? [True, True] Translation: X:294.34, Y:106.17, Z:28.49 [[ 6.75329398e-01 -7.34661930e-01 -6.48232394e-02 2.94337007e+02] [ 7.31506805e-01 6.78431773e-01 -6.80303134e-02 1.06169144e+02] [ 9.39574266e-02 -1.47577019e-03 9.95575122e-01 2.84936942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11710568099994 meters 0.022056240976826853 Centerline is valid? [True, True] Translation: X:294.38, Y:106.21, Z:28.50 [[ 6.74381236e-01 -7.35557562e-01 -6.45369747e-02 2.94377925e+02] [ 7.32430313e-01 6.77460425e-01 -6.77732158e-02 1.06208499e+02] [ 9.35723477e-02 -1.56385151e-03 9.95611255e-01 2.85005138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17710568099994 meters 0.020999166807791562 Centerline is valid? [True, True] Translation: X:294.41, Y:106.26, Z:28.51 [[ 6.75504983e-01 -7.34668369e-01 -6.28920169e-02 2.94413118e+02] [ 7.31691109e-01 6.78425013e-01 -6.60879930e-02 1.06255944e+02] [ 9.12202753e-02 -1.37476097e-03 9.95829790e-01 2.85088275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23710568099995 meters 0.021000262895159046 Centerline is valid? [True, True] Translation: X:294.45, Y:106.30, Z:28.52 [[ 6.75010832e-01 -7.35310737e-01 -6.06506134e-02 2.94448343e+02] [ 7.32541295e-01 6.77728715e-01 -6.37733405e-02 1.06301561e+02] [ 8.79978843e-02 -1.38138330e-03 9.96119704e-01 2.85175541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29710568099995 meters 0.02727960967428666 Centerline is valid? [True, True] Translation: X:294.50, Y:106.34, Z:28.51 [[ 6.64895056e-01 -7.44065991e-01 -6.54245012e-02 2.94496201e+02] [ 7.40878752e-01 6.68100696e-01 -6.88486367e-02 1.06336908e+02] [ 9.49380839e-02 -2.69450467e-03 9.95479533e-01 2.85124928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35710568099995 meters 0.0354597832422661 Centerline is valid? [True, True] Translation: X:294.54, Y:106.38, Z:28.51 [[ 6.56833701e-01 -7.51004906e-01 -6.75360622e-02 2.94539030e+02] [ 7.47642138e-01 6.60285704e-01 -7.10916508e-02 1.06375133e+02] [ 9.79832749e-02 -3.79741381e-03 9.95180816e-01 2.85120426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41710568099995 meters 0.03435107830325873 Centerline is valid? [True, True] Translation: X:294.57, Y:106.42, Z:28.52 [[ 6.53675879e-01 -7.53729695e-01 -6.78188277e-02 2.94573398e+02] [ 7.50349803e-01 6.57171139e-01 -7.14231616e-02 1.06422908e+02] [ 9.84023340e-02 -4.20024610e-03 9.95137849e-01 2.85181684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47710568099995 meters 0.032749248380839056 Centerline is valid? [True, True] Translation: X:294.61, Y:106.47, Z:28.52 [[ 6.54607114e-01 -7.52906494e-01 -6.79804150e-02 2.94606226e+02] [ 7.49501380e-01 6.58115010e-01 -7.16401793e-02 1.06472419e+02] [ 9.86772877e-02 -4.05524375e-03 9.95111224e-01 2.85248072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53710568099996 meters 0.03240553274573817 Centerline is valid? [True, True] Translation: X:294.64, Y:106.52, Z:28.53 [[ 6.54891237e-01 -7.52691577e-01 -6.76229145e-02 2.94639588e+02] [ 7.49316482e-01 6.58361319e-01 -7.13104726e-02 1.06521802e+02] [ 9.81951033e-02 -3.97036082e-03 9.95159263e-01 2.85305386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59710568099996 meters 0.03071813563982638 Centerline is valid? [True, True] Translation: X:294.67, Y:106.58, Z:28.54 [[ 6.58220285e-01 -7.49726531e-01 -6.82362409e-02 2.94666644e+02] [ 7.46269102e-01 6.61738382e-01 -7.20051492e-02 1.06576624e+02] [ 9.91387104e-02 -3.52734839e-03 9.95067372e-01 2.85376932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65710568099996 meters 0.02362759040534095 Centerline is valid? [True, True] Translation: X:294.69, Y:106.64, Z:28.55 [[ 6.68981370e-01 -7.40418412e-01 -6.51498369e-02 2.94688000e+02] [ 7.37218659e-01 6.72143239e-01 -6.87903674e-02 1.06636186e+02] [ 9.47236770e-02 -2.01020117e-03 9.95501574e-01 2.85527488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71710568099996 meters 0.021063984210428845 Centerline is valid? [True, True] Translation: X:294.72, Y:106.69, Z:28.56 [[ 6.73925747e-01 -7.35877873e-01 -6.56341663e-02 2.94721553e+02] [ 7.32605807e-01 6.77112921e-01 -6.93312637e-02 1.06685423e+02] [ 9.54610849e-02 -1.35984766e-03 9.95432234e-01 2.85584845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77710568099997 meters 0.01916946158967438 Centerline is valid? [True, True] Translation: X:294.74, Y:106.75, Z:28.56 [[ 6.86464826e-01 -7.23958215e-01 -6.81949132e-02 2.94743373e+02] [ 7.20360441e-01 6.89843732e-01 -7.20864833e-02 1.06745757e+02] [ 9.92314351e-02 3.59917416e-04 9.95064316e-01 2.85587751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83710568099997 meters 0.020999900269857336 Centerline is valid? [True, True] Translation: X:294.78, Y:106.80, Z:28.56 [[ 6.92718864e-01 -7.17769861e-01 -7.03349266e-02 2.94776840e+02] [ 7.13904808e-01 6.96279161e-01 -7.43993000e-02 1.06795408e+02] [ 1.02374319e-01 1.32535632e-03 9.94745064e-01 2.85592633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89710568099997 meters 0.020091238023303096 Centerline is valid? [True, True] Translation: X:294.82, Y:106.83, Z:28.56 [[ 6.89208544e-01 -7.21130826e-01 -7.04408594e-02 2.94821455e+02] [ 7.17266526e-01 6.92798375e-01 -7.45596606e-02 1.06833666e+02] [ 1.02568583e-01 8.62284601e-04 9.94725561e-01 2.85642270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957105681 meters 0.019709228232409583 Centerline is valid? [True, True] Translation: X:294.87, Y:106.87, Z:28.57 [[ 6.87226258e-01 -7.22965028e-01 -7.10044917e-02 2.94865504e+02] [ 7.19043038e-01 6.90884341e-01 -7.52059604e-02 1.06871699e+02] [ 1.03427171e-01 6.28225302e-04 9.94636831e-01 2.85685599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017105681 meters 0.01933358995701564 Centerline is valid? [True, True] Translation: X:294.91, Y:106.91, Z:28.58 [[ 6.85109933e-01 -7.25167722e-01 -6.89648813e-02 2.94911915e+02] [ 7.21474251e-01 6.88572197e-01 -7.30974269e-02 1.06907209e+02] [ 1.00495194e-01 3.23387183e-04 9.94937491e-01 2.85809159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077105681 meters 0.019322862992782765 Centerline is valid? [True, True] Translation: X:294.95, Y:106.95, Z:28.59 [[ 6.83583586e-01 -7.26827939e-01 -6.65930114e-02 2.94953467e+02] [ 7.23388578e-01 6.86819581e-01 -7.06245563e-02 1.06945964e+02] [ 9.70692848e-02 1.05163541e-04 9.95277621e-01 2.85923636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137105681 meters 0.019387751233578495 Centerline is valid? [True, True] Translation: X:295.00, Y:106.99, Z:28.60 [[ 6.82613756e-01 -7.27484670e-01 -6.93146088e-02 2.94995473e+02] [ 7.23758947e-01 6.86123935e-01 -7.35318492e-02 1.06987361e+02] [ 1.01051705e-01 2.67834997e-05 9.94881175e-01 2.85954740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197105681 meters 0.019550123382119367 Centerline is valid? [True, True] Translation: X:295.04, Y:107.03, Z:28.60 [[ 6.81377929e-01 -7.28417150e-01 -7.16419845e-02 2.95037430e+02] [ 7.24435791e-01 6.85133892e-01 -7.60548131e-02 1.07028944e+02] [ 1.04483982e-01 -7.79466684e-05 9.94526566e-01 2.85980053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257105681 meters 0.019884312852390663 Centerline is valid? [True, True] Translation: X:295.07, Y:107.07, Z:28.60 [[ 6.81889933e-01 -7.27851674e-01 -7.25124805e-02 2.95074848e+02] [ 7.23764349e-01 6.85734598e-01 -7.70274540e-02 1.07073553e+02] [ 1.05788878e-01 4.22972600e-05 9.94388612e-01 2.86015090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317105681 meters 0.01999525660512071 Centerline is valid? [True, True] Translation: X:295.12, Y:107.11, Z:28.61 [[ 6.79852485e-01 -7.29881563e-01 -7.12285189e-02 2.95117745e+02] [ 7.25946821e-01 6.83573580e-01 -7.56860133e-02 1.07112836e+02] [ 1.03931759e-01 -2.52792642e-04 9.94584398e-01 2.86120043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377105681 meters 0.020905447344807107 Centerline is valid? [True, True] Translation: X:295.16, Y:107.15, Z:28.62 [[ 6.75924874e-01 -7.33396905e-01 -7.24882348e-02 2.95162567e+02] [ 7.29336546e-01 6.79800250e-01 -7.70702534e-02 1.07150347e+02] [ 1.05800605e-01 -7.74617432e-04 9.94387063e-01 2.86178755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437105681 meters 0.020487635473002704 Centerline is valid? [True, True] Translation: X:295.20, Y:107.20, Z:28.63 [[ 6.80205933e-01 -7.29504995e-01 -7.17101895e-02 2.95197552e+02] [ 7.25507470e-01 6.83975467e-01 -7.62657938e-02 1.07196844e+02] [ 1.04684288e-01 -1.49832757e-04 9.94505494e-01 2.86267616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49710568099994 meters 0.020942757250053116 Centerline is valid? [True, True] Translation: X:295.23, Y:107.24, Z:28.64 [[ 6.85599116e-01 -7.24677980e-01 -6.92508257e-02 2.95230115e+02] [ 7.20921346e-01 6.89087414e-01 -7.36949754e-02 1.07244444e+02] [ 1.01124998e-01 6.00811567e-04 9.94873547e-01 2.86405079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55710568099994 meters 0.02256342481198428 Centerline is valid? [True, True] Translation: X:295.26, Y:107.29, Z:28.65 [[ 6.91039872e-01 -7.19526976e-01 -6.88826991e-02 2.95264250e+02] [ 7.15781511e-01 6.94463138e-01 -7.33333327e-02 1.07292545e+02] [ 1.00601807e-01 1.37129432e-03 9.94925824e-01 2.86476868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61710568099994 meters 0.025795985410953997 Centerline is valid? [True, True] Translation: X:295.30, Y:107.34, Z:28.65 [[ 6.96692776e-01 -7.13911107e-01 -7.03569917e-02 2.95299975e+02] [ 7.09969373e-01 7.00232671e-01 -7.49512963e-02 1.07340251e+02] [ 1.02774827e-01 2.26671749e-03 9.94702064e-01 2.86503635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67710568099994 meters 0.025946099647653226 Centerline is valid? [True, True] Translation: X:295.34, Y:107.38, Z:28.66 [[ 6.98143970e-01 -7.12485030e-01 -7.04278254e-02 2.95343202e+02] [ 7.08523328e-01 7.01682815e-01 -7.50727720e-02 1.07380474e+02] [ 1.02906221e-01 2.51184591e-03 9.94687891e-01 2.86567315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73710568099995 meters 0.023915371894368275 Centerline is valid? [True, True] Translation: X:295.39, Y:107.41, Z:28.66 [[ 6.93498291e-01 -7.16779281e-01 -7.27157708e-02 2.95394606e+02] [ 7.12573035e-01 6.97297327e-01 -7.75635752e-02 1.07413682e+02] [ 1.06300476e-01 1.97490939e-03 9.94332092e-01 2.86586344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79710568099995 meters 0.021030269835243517 Centerline is valid? [True, True] Translation: X:295.46, Y:107.43, Z:28.67 [[ 6.77757083e-01 -7.31765132e-01 -7.18688216e-02 2.95457304e+02] [ 7.27733563e-01 6.81556816e-01 -7.67083308e-02 1.07433803e+02] [ 1.05115167e-01 -3.11739076e-04 9.94460006e-01 2.86691383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85710568099995 meters 0.023571773037260782 Centerline is valid? [True, True] Translation: X:295.51, Y:107.46, Z:28.68 [[ 6.68145807e-01 -7.40691353e-01 -7.04095186e-02 2.95509834e+02] [ 7.36865551e-01 6.71843467e-01 -7.52031625e-02 1.07464594e+02] [ 1.03006507e-01 -1.63567103e-03 9.94679337e-01 2.86759856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91710568099995 meters 0.02528048297376184 Centerline is valid? [True, True] Translation: X:295.55, Y:107.50, Z:28.69 [[ 6.64560316e-01 -7.44026030e-01 -6.91726361e-02 2.95554806e+02] [ 7.40346833e-01 6.68147392e-01 -7.39298948e-02 1.07502271e+02] [ 1.01223283e-01 -2.08086789e-03 9.94861557e-01 2.86862766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97710568099995 meters 0.02352537410263969 Centerline is valid? [True, True] Translation: X:295.59, Y:107.55, Z:28.69 [[ 6.68920092e-01 -7.40123041e-01 -6.90202483e-02 2.95586846e+02] [ 7.36434553e-01 6.72469903e-01 -7.38131297e-02 1.07550934e+02] [ 1.01044838e-01 -1.45381017e-03 9.94880811e-01 2.86919437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03710568099996 meters 0.02160272244252937 Centerline is valid? [True, True] Translation: X:295.61, Y:107.61, Z:28.69 [[ 6.77420801e-01 -7.32111884e-01 -7.15069728e-02 2.95614335e+02] [ 7.28103377e-01 6.81184360e-01 -7.65071205e-02 1.07605507e+02] [ 1.04721204e-01 -2.36953547e-04 9.94501590e-01 2.86939732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09710568099996 meters 0.022263404382156758 Centerline is valid? [True, True] Translation: X:295.65, Y:107.65, Z:28.70 [[ 6.84169912e-01 -7.25711038e-01 -7.24915285e-02 2.95647288e+02] [ 7.21549533e-01 6.87999173e-01 -7.76106275e-02 1.07654521e+02] [ 1.06197001e-01 7.92627635e-04 9.94344794e-01 2.87005167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15710568099996 meters 0.02494191168082747 Centerline is valid? [True, True] Translation: X:295.68, Y:107.70, Z:28.70 [[ 6.90152105e-01 -7.20141005e-01 -7.13232363e-02 2.95677661e+02] [ 7.16078287e-01 6.93825759e-01 -7.64048612e-02 1.07704743e+02] [ 1.04508172e-01 1.65795488e-03 9.94522646e-01 2.87043678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21710568099996 meters 0.02714065198820774 Centerline is valid? [True, True] Translation: X:295.72, Y:107.75, Z:28.71 [[ 6.94897459e-01 -7.15350266e-01 -7.34269623e-02 2.95715804e+02] [ 7.11014157e-01 6.98761692e-01 -7.86826909e-02 1.07749607e+02] [ 1.07593632e-01 2.46879227e-03 9.94191891e-01 2.87061314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27710568099997 meters 0.027565352816799647 Centerline is valid? [True, True] Translation: X:295.76, Y:107.79, Z:28.71 [[ 6.92821818e-01 -7.17304493e-01 -7.39742700e-02 2.95758408e+02] [ 7.12909368e-01 6.96756315e-01 -7.93150100e-02 1.07788757e+02] [ 1.08435053e-01 2.21421938e-03 9.94101070e-01 2.87076637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33710568099997 meters 0.023809894288640093 Centerline is valid? [True, True] Translation: X:295.81, Y:107.82, Z:28.72 [[ 6.87680889e-01 -7.22278528e-01 -7.35440154e-02 2.95805832e+02] [ 7.17960118e-01 6.91600790e-01 -7.88772251e-02 1.07824421e+02] [ 1.07834425e-01 1.44069033e-03 9.94167823e-01 2.87174344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39710568099997 meters 0.023007913351893425 Centerline is valid? [True, True] Translation: X:295.85, Y:107.86, Z:28.73 [[ 6.84127431e-01 -7.25833985e-01 -7.16567138e-02 2.95851832e+02] [ 7.21748968e-01 6.87869339e-01 -7.69038380e-02 1.07860903e+02] [ 1.05109876e-01 8.93865909e-04 9.94460213e-01 2.87285470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457105681 meters 0.024108119754930445 Centerline is valid? [True, True] Translation: X:295.89, Y:107.91, Z:28.73 [[ 6.86685711e-01 -7.23350128e-01 -7.23002501e-02 2.95888440e+02] [ 7.19172209e-01 6.90480158e-01 -7.76433168e-02 1.07905780e+02] [ 1.06085191e-01 1.32022564e-03 9.94356168e-01 2.87338932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517105681 meters 0.023835674696362413 Centerline is valid? [True, True] Translation: X:295.93, Y:107.94, Z:28.74 [[ 6.85034452e-01 -7.25159644e-01 -6.97946252e-02 2.95932782e+02] [ 7.21274178e-01 6.88580026e-01 -7.49740481e-02 1.07944625e+02] [ 1.02427339e-01 1.01874503e-03 9.94739967e-01 2.87444607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577105681 meters 0.023195413048063707 Centerline is valid? [True, True] Translation: X:295.98, Y:107.98, Z:28.75 [[ 6.77158967e-01 -7.32434375e-01 -7.06796965e-02 2.95983679e+02] [ 7.28483365e-01 6.80837635e-01 -7.59743491e-02 1.07977288e+02] [ 1.03767622e-01 -4.22713674e-05 9.94601568e-01 2.87489014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637105681 meters 0.023447911263608623 Centerline is valid? [True, True] Translation: X:296.03, Y:108.02, Z:28.75 [[ 6.73843782e-01 -7.35490500e-01 -7.06277696e-02 2.96026399e+02] [ 7.31556484e-01 6.77534869e-01 -7.59711242e-02 1.08016094e+02] [ 1.03728817e-01 -4.75533162e-04 9.94605503e-01 2.87538444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697105681 meters 0.0252980465730664 Centerline is valid? [True, True] Translation: X:296.08, Y:108.05, Z:28.76 [[ 6.65124202e-01 -7.43437043e-01 -7.00796600e-02 2.96075393e+02] [ 7.39601533e-01 6.68803875e-01 -7.54383774e-02 1.08050168e+02] [ 1.02953232e-01 -1.65513346e-03 9.94684821e-01 2.87598794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757105681 meters 0.02667462216323163 Centerline is valid? [True, True] Translation: X:296.12, Y:108.09, Z:28.76 [[ 6.62143198e-01 -7.46018713e-01 -7.08693475e-02 2.96117297e+02] [ 7.42105582e-01 6.65921837e-01 -7.63374890e-02 1.08089794e+02] [ 1.04142641e-01 -2.04618928e-03 9.94560266e-01 2.87636275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817105681 meters 0.024627796224401213 Centerline is valid? [True, True] Translation: X:296.15, Y:108.14, Z:28.77 [[ 6.66426189e-01 -7.42256253e-01 -7.02266978e-02 2.96148111e+02] [ 7.38389611e-01 6.70114643e-01 -7.56779184e-02 1.08140479e+02] [ 1.03232347e-01 -1.42091726e-03 9.94656254e-01 2.87714473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877105681 meters 0.02317103626369994 Centerline is valid? [True, True] Translation: X:296.17, Y:108.20, Z:28.78 [[ 6.79239001e-01 -7.30703233e-01 -6.86087829e-02 2.96170529e+02] [ 7.26948040e-01 6.82695131e-01 -7.39858450e-02 1.08199611e+02] [ 1.00900578e-01 3.79051209e-04 9.94896442e-01 2.87789069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937105681 meters 0.028641537950275908 Centerline is valid? [True, True] Translation: X:296.19, Y:108.26, Z:28.78 [[ 6.95433100e-01 -7.15303077e-01 -6.86608453e-02 2.96191149e+02] [ 7.11460500e-01 6.98809234e-01 -7.40919130e-02 1.08260881e+02] [ 1.00979006e-01 2.67648940e-03 9.94884957e-01 2.87845068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99710568099994 meters 0.03204035759947989 Centerline is valid? [True, True] Translation: X:296.23, Y:108.31, Z:28.79 [[ 7.00503201e-01 -7.10307795e-01 -6.89789871e-02 2.96226132e+02] [ 7.06399949e-01 7.03882750e-01 -7.44861407e-02 1.08308264e+02] [ 1.01461206e-01 3.45102704e-03 9.94833511e-01 2.87885260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05710568099994 meters 0.03231197836206685 Centerline is valid? [True, True] Translation: X:296.27, Y:108.35, Z:28.79 [[ 7.00303210e-01 -7.10398097e-01 -7.00710895e-02 2.96269045e+02] [ 7.06360281e-01 7.03791224e-01 -7.57170176e-02 1.08348879e+02] [ 1.03104643e-01 3.52943608e-03 9.94664253e-01 2.87912637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11710568099994 meters 0.032473796252470204 Centerline is valid? [True, True] Translation: X:296.31, Y:108.39, Z:28.79 [[ 7.00322563e-01 -7.10453279e-01 -6.93141149e-02 2.96311768e+02] [ 7.06497772e-01 7.03735581e-01 -7.49475135e-02 1.08387853e+02] [ 1.02025516e-01 3.51716698e-03 9.94775564e-01 2.87943099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17710568099994 meters 0.031059986066647127 Centerline is valid? [True, True] Translation: X:296.36, Y:108.42, Z:28.80 [[ 6.99312137e-01 -7.11327323e-01 -7.05405877e-02 2.96360370e+02] [ 7.07228705e-01 7.02852230e-01 -7.63302117e-02 1.08422026e+02] [ 1.03875375e-01 3.49031496e-03 9.94584197e-01 2.87983696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23710568099995 meters 0.03146161413955676 Centerline is valid? [True, True] Translation: X:296.40, Y:108.46, Z:28.81 [[ 6.99013492e-01 -7.11701957e-01 -6.97170209e-02 2.96404963e+02] [ 7.07695283e-01 7.02473171e-01 -7.54905990e-02 1.08458539e+02] [ 1.02701144e-01 3.43054040e-03 9.94706342e-01 2.88052876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29710568099995 meters 0.02979277774588844 Centerline is valid? [True, True] Translation: X:296.45, Y:108.49, Z:28.82 [[ 6.96878345e-01 -7.14091550e-01 -6.65870147e-02 2.96452873e+02] [ 7.10446425e-01 7.00046099e-01 -7.21202925e-02 1.08493180e+02] [ 9.81144713e-02 2.95256358e-03 9.95170756e-01 2.88152831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35710568099995 meters 0.02692772953572684 Centerline is valid? [True, True] Translation: X:296.51, Y:108.52, Z:28.82 [[ 6.91410797e-01 -7.19247826e-01 -6.80711062e-02 2.96506135e+02] [ 7.15457709e-01 6.94749766e-01 -7.37768898e-02 1.08523997e+02] [ 1.00356253e-01 2.30814051e-03 9.94948891e-01 2.88178683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41710568099995 meters 0.022629484057841164 Centerline is valid? [True, True] Translation: X:296.56, Y:108.55, Z:28.82 [[ 6.79129421e-01 -7.30815855e-01 -6.84939087e-02 2.96564095e+02] [ 7.27031151e-01 6.82574364e-01 -7.42828588e-02 1.08549725e+02] [ 1.01039277e-01 6.50469619e-04 9.94882225e-01 2.88181589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47710568099995 meters 0.021879626486876826 Centerline is valid? [True, True] Translation: X:296.61, Y:108.58, Z:28.83 [[ 6.72607868e-01 -7.36933502e-01 -6.72879609e-02 2.96614817e+02] [ 7.33306963e-01 6.75965207e-01 -7.30201161e-02 1.08583060e+02] [ 9.92952903e-02 -2.28825624e-04 9.95057985e-01 2.88253701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53710568099996 meters 0.022388805684285584 Centerline is valid? [True, True] Translation: X:296.66, Y:108.62, Z:28.83 [[ 6.67862530e-01 -7.41300164e-01 -6.65860991e-02 2.96661539e+02] [ 7.37765976e-01 6.71173129e-01 -7.23048746e-02 1.08617915e+02] [ 9.82904159e-02 -8.35241959e-04 9.95157423e-01 2.88317985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59710568099996 meters 0.02174889822771701 Centerline is valid? [True, True] Translation: X:296.70, Y:108.66, Z:28.84 [[ 6.71147740e-01 -7.38322006e-01 -6.66432839e-02 2.96696961e+02] [ 7.34763987e-01 6.74448273e-01 -7.23975809e-02 1.08664742e+02] [ 9.84001749e-02 -3.77612221e-04 9.95146855e-01 2.88362363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65710568099996 meters 0.021975485829724424 Centerline is valid? [True, True] Translation: X:296.73, Y:108.71, Z:28.84 [[ 6.77852504e-01 -7.32214149e-01 -6.61696518e-02 2.96729065e+02] [ 7.28672131e-01 6.81074256e-01 -7.19359689e-02 1.08713795e+02] [ 9.77389806e-02 5.45995479e-04 9.95211934e-01 2.88413737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71710568099996 meters 0.02270019015967545 Centerline is valid? [True, True] Translation: X:296.77, Y:108.76, Z:28.85 [[ 6.81808239e-01 -7.28706146e-01 -6.42252127e-02 2.96765088e+02] [ 7.25349261e-01 6.84825702e-01 -6.98727992e-02 1.08760012e+02] [ 9.48998145e-02 1.05413970e-03 9.95486270e-01 2.88518305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77710568099997 meters 0.022791925117321032 Centerline is valid? [True, True] Translation: X:296.80, Y:108.81, Z:28.85 [[ 6.82472457e-01 -7.27969668e-01 -6.55096043e-02 2.96801788e+02] [ 7.24468786e-01 6.85608264e-01 -7.13182059e-02 1.08806837e+02] [ 9.68314167e-02 1.21304767e-03 9.95300058e-01 2.88525522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83710568099997 meters 0.02469492100764857 Centerline is valid? [True, True] Translation: X:296.84, Y:108.85, Z:28.86 [[ 6.86716423e-01 -7.23923828e-01 -6.59912530e-02 2.96836542e+02] [ 7.20347942e-01 6.89877484e-01 -7.18881129e-02 1.08852458e+02] [ 9.75673974e-02 1.83008448e-03 9.95227237e-01 2.88564307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89710568099997 meters 0.02939452497131471 Centerline is valid? [True, True] Translation: X:296.87, Y:108.90, Z:28.86 [[ 6.94156250e-01 -7.16651709e-01 -6.75087216e-02 2.96869987e+02] [ 7.12870911e-01 6.97425003e-01 -7.35760056e-02 1.08901499e+02] [ 9.98106406e-02 2.94824028e-03 9.95002082e-01 2.88600039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957105681 meters 0.0345831766013802 Centerline is valid? [True, True] Translation: X:296.91, Y:108.95, Z:28.87 [[ 7.00436839e-01 -7.10615755e-01 -6.64340429e-02 2.96906968e+02] [ 7.06922741e-01 7.03570129e-01 -7.24521361e-02 1.08947298e+02] [ 9.82266375e-02 3.78440954e-03 9.95156875e-01 2.88652396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.017105681 meters 0.03299147866252917 Centerline is valid? [True, True] Translation: X:296.95, Y:108.98, Z:28.87 [[ 7.02540320e-01 -7.08387937e-01 -6.79972789e-02 2.96954497e+02] [ 7.04503496e-01 7.05810645e-01 -7.42034815e-02 1.08984168e+02] [ 1.00558054e-01 4.22661694e-03 9.94922215e-01 2.88662214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077105681 meters 0.03206424377639509 Centerline is valid? [True, True] Translation: X:297.00, Y:109.02, Z:28.87 [[ 7.01488897e-01 -7.09461466e-01 -6.76591141e-02 2.97002197e+02] [ 7.05615832e-01 7.04732383e-01 -7.38821145e-02 1.09020322e+02] [ 1.00098082e-01 4.08614093e-03 9.94969184e-01 2.88719557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137105681 meters 0.02933026388294731 Centerline is valid? [True, True] Translation: X:297.05, Y:109.06, Z:28.88 [[ 6.96462675e-01 -7.14392375e-01 -6.76999040e-02 2.97050273e+02] [ 7.10560138e-01 6.99736995e-01 -7.39758632e-02 1.09055704e+02] [ 1.00219920e-01 3.41657448e-03 9.94959444e-01 2.88771282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197105681 meters 0.02585548435134634 Centerline is valid? [True, True] Translation: X:297.10, Y:109.09, Z:28.89 [[ 6.90423064e-01 -7.20461163e-01 -6.52051041e-02 2.97098270e+02] [ 7.16929070e-01 6.93490863e-01 -7.12960809e-02 1.09090422e+02] [ 9.65852012e-02 2.47702402e-03 9.95321638e-01 2.88862649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257105681 meters 0.023959089559400553 Centerline is valid? [True, True] Translation: X:297.14, Y:109.13, Z:28.89 [[ 6.85684359e-01 -7.24863040e-01 -6.64118379e-02 2.97142351e+02] [ 7.21214228e-01 6.88890307e-01 -7.26648552e-02 1.09130613e+02] [ 9.84225393e-02 1.92799225e-03 9.95142847e-01 2.88891994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317105681 meters 0.023060376141322874 Centerline is valid? [True, True] Translation: X:297.18, Y:109.17, Z:28.89 [[ 6.83194819e-01 -7.27075862e-01 -6.78640479e-02 2.97182128e+02] [ 7.23271432e-01 6.86555079e-01 -7.43004634e-02 1.09173853e+02] [ 1.00614480e-01 1.67756451e-03 9.94924074e-01 2.88916761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377105681 meters 0.022062414966284527 Centerline is valid? [True, True] Translation: X:297.22, Y:109.21, Z:28.90 [[ 6.80335677e-01 -7.29857153e-01 -6.67225840e-02 2.97224218e+02] [ 7.26188487e-01 6.83598495e-01 -7.30984211e-02 1.09214771e+02] [ 9.89628635e-02 1.27829153e-03 9.95090306e-01 2.89015499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437105681 meters 0.021422946672740074 Centerline is valid? [True, True] Translation: X:297.26, Y:109.26, Z:28.91 [[ 6.78013082e-01 -7.32173088e-01 -6.49679227e-02 2.97264345e+02] [ 7.28701303e-01 6.81117957e-01 -7.12231752e-02 1.09257418e+02] [ 9.63985109e-02 9.48034557e-04 9.95342367e-01 2.89098467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49710568099994 meters 0.021408807599682 Centerline is valid? [True, True] Translation: X:297.30, Y:109.30, Z:28.92 [[ 6.78516212e-01 -7.31820800e-01 -6.36715585e-02 2.97302209e+02] [ 7.28480553e-01 6.81496367e-01 -6.98483061e-02 1.09300659e+02] [ 9.45083789e-02 1.00971590e-03 9.95523554e-01 2.89170863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55710568099994 meters 0.022688671448609875 Centerline is valid? [True, True] Translation: X:297.34, Y:109.35, Z:28.92 [[ 6.82385465e-01 -7.28274709e-01 -6.29763868e-02 2.97337173e+02] [ 7.24986973e-01 6.85283613e-01 -6.91394109e-02 1.09347796e+02] [ 9.35091703e-02 1.52266902e-03 9.95617254e-01 2.89235470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61710568099994 meters 0.029895701717599983 Centerline is valid? [True, True] Translation: X:297.36, Y:109.41, Z:28.92 [[ 6.91231599e-01 -7.19616733e-01 -6.59593330e-02 2.97359834e+02] [ 7.15964830e-01 6.94365578e-01 -7.24624461e-02 1.09405283e+02] [ 9.79450791e-02 2.86376983e-03 9.95187701e-01 2.89194493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67710568099994 meters 0.0322414305209787 Centerline is valid? [True, True] Translation: X:297.39, Y:109.45, Z:28.92 [[ 6.99746870e-01 -7.11100057e-01 -6.84910768e-02 2.97394300e+02] [ 7.07118095e-01 7.03078058e-01 -7.52678128e-02 1.09453328e+02] [ 1.01677519e-01 4.23713661e-03 9.94808388e-01 2.89215368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73710568099995 meters 0.03585662070339064 Centerline is valid? [True, True] Translation: X:297.43, Y:109.50, Z:28.93 [[ 7.03841149e-01 -7.07059725e-01 -6.83679858e-02 2.97429390e+02] [ 7.03068010e-01 7.07137210e-01 -7.51820477e-02 1.09500697e+02] [ 1.01503745e-01 4.84887511e-03 9.94823340e-01 2.89259300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79710568099995 meters 0.03733250622260946 Centerline is valid? [True, True] Translation: X:297.47, Y:109.54, Z:28.93 [[ 7.06243290e-01 -7.04554915e-01 -6.94462855e-02 2.97471885e+02] [ 7.00418500e-01 7.09629459e-01 -7.64196007e-02 1.09542002e+02] [ 1.03122935e-01 5.32936712e-03 9.94654341e-01 2.89302035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85710568099995 meters 0.03654900586149236 Centerline is valid? [True, True] Translation: X:297.52, Y:109.58, Z:28.93 [[ 7.04114420e-01 -7.06722231e-01 -6.90403606e-02 2.97521220e+02] [ 7.02639587e-01 7.07473337e-01 -7.60203112e-02 1.09577029e+02] [ 1.02569458e-01 5.01650685e-03 9.94713195e-01 2.89338304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91710568099995 meters 0.03196595914985066 Centerline is valid? [True, True] Translation: X:297.57, Y:109.61, Z:28.94 [[ 6.99417663e-01 -7.11550204e-01 -6.71657632e-02 2.97574013e+02] [ 7.07704669e-01 7.02622577e-01 -7.39974065e-02 1.09607550e+02] [ 9.98450513e-02 4.22156897e-03 9.94994042e-01 2.89439988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97710568099995 meters 0.03049719337039629 Centerline is valid? [True, True] Translation: X:297.62, Y:109.64, Z:28.95 [[ 6.93807188e-01 -7.17086163e-01 -6.64757122e-02 2.97620576e+02] [ 7.13341961e-01 6.96976186e-01 -7.32628341e-02 1.09642578e+02] [ 9.88677530e-02 3.41036600e-03 9.95094738e-01 2.89511035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03710568099996 meters 0.026972084104676438 Centerline is valid? [True, True] Translation: X:297.67, Y:109.67, Z:28.96 [[ 6.87486451e-01 -7.23280735e-01 -6.50181338e-02 2.97670053e+02] [ 7.19723534e-01 6.90549621e-01 -7.16885994e-02 1.09674226e+02] [ 9.67492305e-02 2.48985978e-03 9.95305675e-01 2.89616541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09710568099996 meters 0.026756662380825143 Centerline is valid? [True, True] Translation: X:297.71, Y:109.72, Z:28.96 [[ 6.86057018e-01 -7.24550744e-01 -6.59695959e-02 2.97711568e+02] [ 7.20889573e-01 6.89217357e-01 -7.27850108e-02 1.09715946e+02] [ 9.82038242e-02 2.37787359e-03 9.95163481e-01 2.89639051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15710568099996 meters 0.028459813546160014 Centerline is valid? [True, True] Translation: X:297.75, Y:109.76, Z:28.97 [[ 6.90713945e-01 -7.19919449e-01 -6.80458191e-02 2.97752355e+02] [ 7.15996082e-01 6.94050391e-01 -7.51243297e-02 1.09758644e+02] [ 1.01310693e-01 3.16888222e-03 9.94849788e-01 2.89668906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21710568099996 meters 0.03181363944127365 Centerline is valid? [True, True] Translation: X:297.79, Y:109.80, Z:28.97 [[ 6.97360689e-01 -7.13221000e-01 -7.07380730e-02 2.97790332e+02] [ 7.08939871e-01 7.00925736e-01 -7.81496800e-02 1.09803368e+02] [ 1.05320129e-01 4.34947441e-03 9.94428857e-01 2.89695049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27710568099997 meters 0.03409918104493347 Centerline is valid? [True, True] Translation: X:297.83, Y:109.85, Z:28.97 [[ 7.01298974e-01 -7.09186617e-01 -7.23470175e-02 2.97829596e+02] [ 7.04680933e-01 7.05002311e-01 -7.99782669e-02 1.09846705e+02] [ 1.07724331e-01 5.10711276e-03 9.94167685e-01 2.89697058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33710568099997 meters 0.03953015412823748 Centerline is valid? [True, True] Translation: X:297.87, Y:109.89, Z:28.97 [[ 7.04433420e-01 -7.05966522e-01 -7.33813783e-02 2.97868971e+02] [ 7.01309505e-01 7.08222221e-01 -8.11558068e-02 1.09889092e+02] [ 1.09263605e-01 5.70580453e-03 9.93996433e-01 2.89748784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39710568099997 meters 0.03566273348891822 Centerline is valid? [True, True] Translation: X:297.92, Y:109.93, Z:28.98 [[ 7.02020149e-01 -7.08558895e-01 -7.14982776e-02 2.97915959e+02] [ 7.04146259e-01 7.05632503e-01 -7.91253295e-02 1.09925074e+02] [ 1.06516465e-01 5.20233096e-03 9.94297329e-01 2.89839527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457105681 meters 0.03199747810081196 Centerline is valid? [True, True] Translation: X:297.97, Y:109.96, Z:28.99 [[ 6.95858398e-01 -7.14432936e-01 -7.32575600e-02 2.97965771e+02] [ 7.09825726e-01 6.99689752e-01 -8.11276209e-02 1.09958976e+02] [ 1.09217808e-01 4.45323556e-03 9.94007867e-01 2.89873826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517105681 meters 0.028155615557447194 Centerline is valid? [True, True] Translation: X:298.01, Y:109.99, Z:28.99 [[ 6.88571833e-01 -7.21394327e-01 -7.38854253e-02 2.98013661e+02] [ 7.16740774e-01 6.92516072e-01 -8.18788962e-02 1.09994879e+02] [ 1.10233816e-01 3.42280471e-03 9.93899789e-01 2.89921025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577105681 meters 0.026540891890122726 Centerline is valid? [True, True] Translation: X:298.06, Y:110.03, Z:29.00 [[ 6.84529649e-01 -7.25155151e-01 -7.46268442e-02 2.98057750e+02] [ 7.20423102e-01 6.88579458e-01 -8.27579885e-02 1.10033738e+02] [ 1.11398894e-01 2.88739427e-03 9.93771578e-01 2.89971322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637105681 meters 0.024987215382094235 Centerline is valid? [True, True] Translation: X:298.10, Y:110.07, Z:29.00 [[ 6.78970228e-01 -7.30314852e-01 -7.50975816e-02 2.98100049e+02] [ 7.25547447e-01 6.83107474e-01 -8.33371478e-02 1.10074505e+02] [ 1.12162076e-01 2.09658357e-03 9.93687714e-01 2.90009795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697105681 meters 0.022869925414558977 Centerline is valid? [True, True] Translation: X:298.15, Y:110.11, Z:29.01 [[ 6.69188210e-01 -7.39399949e-01 -7.39922686e-02 2.98147082e+02] [ 7.34820613e-01 6.73266172e-01 -8.21664648e-02 1.10110212e+02] [ 1.10570371e-01 6.13785268e-04 9.93868108e-01 2.90091530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757105681 meters 0.023442609756098937 Centerline is valid? [True, True] Translation: X:298.19, Y:110.15, Z:29.02 [[ 6.56356377e-01 -7.50936375e-01 -7.27383546e-02 2.98190676e+02] [ 7.46574390e-01 6.60373377e-01 -8.08311950e-02 1.10148332e+02] [ 1.08733557e-01 -1.25052250e-03 9.94070143e-01 2.90186739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817105681 meters 0.025022934497987523 Centerline is valid? [True, True] Translation: X:298.23, Y:110.19, Z:29.03 [[ 6.51094058e-01 -7.55573262e-01 -7.20109227e-02 2.98229801e+02] [ 7.51320056e-01 6.55061213e-01 -8.00810851e-02 1.10191148e+02] [ 1.07678689e-01 -1.96293181e-03 9.94183809e-01 2.90251917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877105681 meters 0.025702260518979017 Centerline is valid? [True, True] Translation: X:298.26, Y:110.24, Z:29.03 [[ 6.48877843e-01 -7.57585735e-01 -7.08618209e-02 2.98261327e+02] [ 7.53475375e-01 6.52731846e-01 -7.88415898e-02 1.10240844e+02] [ 1.05983031e-01 -2.23407637e-03 9.94365429e-01 2.90313331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937105681 meters 0.025270548514196876 Centerline is valid? [True, True] Translation: X:298.29, Y:110.29, Z:29.04 [[ 6.50842489e-01 -7.56045156e-01 -6.92804145e-02 2.98289912e+02] [ 7.52104831e-01 6.54516648e-01 -7.71121294e-02 1.10293724e+02] [ 1.03645437e-01 -1.91828422e-03 9.94612459e-01 2.90396793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99710568099994 meters 0.024773492304607483 Centerline is valid? [True, True] Translation: X:298.32, Y:110.35, Z:29.05 [[ 6.51583674e-01 -7.55483598e-01 -6.84342700e-02 2.98317204e+02] [ 7.51630978e-01 6.55165160e-01 -7.62199845e-02 1.10347682e+02] [ 1.02418698e-01 -1.77361978e-03 9.94739797e-01 2.90462994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05710568099994 meters 0.024197482621591496 Centerline is valid? [True, True] Translation: X:298.34, Y:110.40, Z:29.05 [[ 6.53487703e-01 -7.53702743e-01 -6.98999078e-02 2.98342091e+02] [ 7.49666971e-01 6.57213781e-01 -7.79068616e-02 1.10404288e+02] [ 1.04657798e-01 -1.49047617e-03 9.94507176e-01 2.90458051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11710568099994 meters 0.024072712531695996 Centerline is valid? [True, True] Translation: X:298.37, Y:110.46, Z:29.05 [[ 6.55891539e-01 -7.51478371e-01 -7.13200245e-02 2.98366662e+02] [ 7.47256677e-01 6.59756780e-01 -7.95515565e-02 1.10458681e+02] [ 1.06835144e-01 -1.11717164e-03 9.94276121e-01 2.90474764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17710568099994 meters 0.023344843182549483 Centerline is valid? [True, True] Translation: X:298.39, Y:110.51, Z:29.06 [[ 6.57643684e-01 -7.50035482e-01 -7.03673255e-02 2.98393811e+02] [ 7.45912190e-01 6.61397066e-01 -7.85425134e-02 1.10512978e+02] [ 1.05450415e-01 -8.34857970e-04 9.94424212e-01 2.90563309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23710568099995 meters 0.023015997670191912 Centerline is valid? [True, True] Translation: X:298.42, Y:110.57, Z:29.07 [[ 6.64576062e-01 -7.44102508e-01 -6.81917544e-02 2.98420829e+02] [ 7.40194630e-01 6.68065445e-01 -7.61608222e-02 1.10565706e+02] [ 1.02228014e-01 1.39488906e-04 9.94760983e-01 2.90665819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29710568099995 meters 0.025227410250635417 Centerline is valid? [True, True] Translation: X:298.44, Y:110.63, Z:29.07 [[ 6.76054000e-01 -7.33589586e-01 -6.92626045e-02 2.98441911e+02] [ 7.29499251e-01 6.79590412e-01 -7.73803255e-02 1.10625866e+02] [ 1.03835603e-01 1.78626054e-03 9.94592870e-01 2.90714940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35710568099995 meters 0.028673840075717563 Centerline is valid? [True, True] Translation: X:298.47, Y:110.68, Z:29.08 [[ 6.83158723e-01 -7.26966341e-01 -6.93836979e-02 2.98469333e+02] [ 7.22821901e-01 6.86667228e-01 -7.75668598e-02 1.10679044e+02] [ 1.04032008e-01 2.83842053e-03 9.94569899e-01 2.90779765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41710568099995 meters 0.028346888783586762 Centerline is valid? [True, True] Translation: X:298.51, Y:110.72, Z:29.09 [[ 6.84821174e-01 -7.25536231e-01 -6.79495191e-02 2.98506060e+02] [ 7.21550009e-01 6.88177324e-01 -7.60102275e-02 1.10723645e+02] [ 1.01909492e-01 3.02443711e-03 9.94789077e-01 2.90873051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47710568099995 meters 0.02964581834777543 Centerline is valid? [True, True] Translation: X:298.55, Y:110.77, Z:29.09 [[ 6.86752687e-01 -7.23795541e-01 -6.70131483e-02 2.98545067e+02] [ 7.19908240e-01 6.90006837e-01 -7.49845972e-02 1.10767572e+02] [ 1.00513048e-01 3.25255590e-03 9.94930424e-01 2.90936022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53710568099996 meters 0.031002953685431683 Centerline is valid? [True, True] Translation: X:298.58, Y:110.81, Z:29.10 [[ 6.89666698e-01 -7.21048437e-01 -6.67008052e-02 2.98583140e+02] [ 7.17179490e-01 6.92874932e-01 -7.46853976e-02 1.10812942e+02] [ 1.00067105e-01 3.67158216e-03 9.94973916e-01 2.90960678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59710568099996 meters 0.03266733618820339 Centerline is valid? [True, True] Translation: X:298.63, Y:110.85, Z:29.10 [[ 6.91062667e-01 -7.19507570e-01 -6.88567147e-02 2.98628037e+02] [ 7.15370857e-01 6.94472745e-01 -7.71501394e-02 1.10851464e+02] [ 1.03329221e-01 4.05749413e-03 9.94638934e-01 2.90963182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65710568099996 meters 0.02937686466412416 Centerline is valid? [True, True] Translation: X:298.68, Y:110.88, Z:29.10 [[ 6.85342455e-01 -7.25045226e-01 -6.79348113e-02 2.98679891e+02] [ 7.21041835e-01 6.88693783e-01 -7.61547428e-02 1.10883932e+02] [ 1.02001915e-01 3.20823741e-03 9.94779029e-01 2.91017028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71710568099996 meters 0.02633873232240124 Centerline is valid? [True, True] Translation: X:298.73, Y:110.92, Z:29.11 [[ 6.78713316e-01 -7.31407603e-01 -6.62657724e-02 2.98728104e+02] [ 7.27624274e-01 6.81936900e-01 -7.43302178e-02 1.10917080e+02] [ 9.95547618e-02 2.23232413e-03 9.95029581e-01 2.91088569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77710568099997 meters 0.024913498654476604 Centerline is valid? [True, True] Translation: X:298.78, Y:110.95, Z:29.11 [[ 6.73969919e-01 -7.35662564e-01 -6.75658226e-02 2.98778545e+02] [ 7.31747447e-01 6.77346183e-01 -7.58143945e-02 1.10950965e+02] [ 1.01539264e-01 1.65550308e-03 9.94830155e-01 2.91115505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83710568099997 meters 0.023943948373779222 Centerline is valid? [True, True] Translation: X:298.82, Y:110.99, Z:29.11 [[ 6.71050117e-01 -7.38211380e-01 -6.88164092e-02 2.98819130e+02] [ 7.34157445e-01 6.74568150e-01 -7.72700202e-02 1.10992841e+02] [ 1.03462966e-01 1.32997690e-03 9.94632417e-01 2.91141053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89710568099997 meters 0.022944831354960084 Centerline is valid? [True, True] Translation: X:298.86, Y:111.03, Z:29.12 [[ 6.67686712e-01 -7.41344930e-01 -6.78391440e-02 2.98860966e+02] [ 7.37416188e-01 6.71123639e-01 -7.62261566e-02 1.11033380e+02] [ 1.02038328e-01 8.69508845e-04 9.94780088e-01 2.91201424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.957105681 meters 0.022931310837935218 Centerline is valid? [True, True] Translation: X:298.90, Y:111.07, Z:29.13 [[ 6.68112029e-01 -7.40871275e-01 -6.88191055e-02 2.98901876e+02] [ 7.36820161e-01 6.71646316e-01 -7.73774970e-02 1.11074560e+02] [ 1.03548864e-01 9.89532217e-04 9.94623875e-01 2.91286492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017105681 meters 0.02511813444633135 Centerline is valid? [True, True] Translation: X:298.93, Y:111.12, Z:29.13 [[ 6.74354485e-01 -7.35285403e-01 -6.78336513e-02 2.98932263e+02] [ 7.31316147e-01 6.77755059e-01 -7.63202048e-02 1.11124315e+02] [ 1.02091733e-01 1.85902786e-03 9.94773252e-01 2.91347387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077105681 meters 0.027717038699478586 Centerline is valid? [True, True] Translation: X:298.97, Y:111.17, Z:29.15 [[ 6.80429151e-01 -7.29981172e-01 -6.43712618e-02 2.98967404e+02] [ 7.26379667e-01 6.83462493e-01 -7.24679247e-02 1.11170795e+02] [ 9.68955637e-02 2.55131274e-03 9.95291284e-01 2.91451746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137105681 meters 0.02817921922462213 Centerline is valid? [True, True] Translation: X:299.01, Y:111.21, Z:29.15 [[ 6.81520576e-01 -7.28971231e-01 -6.42701235e-02 2.99006819e+02] [ 7.25371975e-01 6.84538916e-01 -7.24014584e-02 1.11213946e+02] [ 9.67739809e-02 2.72333716e-03 9.95302658e-01 2.91501945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197105681 meters 0.029759778940071636 Centerline is valid? [True, True] Translation: X:299.04, Y:111.26, Z:29.15 [[ 6.84567798e-01 -7.25876242e-01 -6.68626268e-02 2.99044895e+02] [ 7.21960321e-01 6.87817296e-01 -7.53701679e-02 1.11258562e+02] [ 1.00698685e-01 3.32382637e-03 9.94911417e-01 2.91510583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257105681 meters 0.033264268757997505 Centerline is valid? [True, True] Translation: X:299.08, Y:111.31, Z:29.15 [[ 6.88617753e-01 -7.21931862e-01 -6.79704167e-02 2.99078350e+02] [ 7.17862415e-01 6.91952657e-01 -7.66490349e-02 1.11306301e+02] [ 1.02367691e-01 3.98847868e-03 9.94738633e-01 2.91527631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317105681 meters 0.03447783478036052 Centerline is valid? [True, True] Translation: X:299.12, Y:111.35, Z:29.16 [[ 6.91800354e-01 -7.18824303e-01 -6.85849246e-02 2.99120768e+02] [ 7.14659861e-01 6.95177042e-01 -7.73961452e-02 1.11346731e+02] [ 1.03312895e-01 4.52778796e-03 9.94638600e-01 2.91576472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377105681 meters 0.03578814983534491 Centerline is valid? [True, True] Translation: X:299.16, Y:111.39, Z:29.16 [[ 6.92370589e-01 -7.18093405e-01 -7.04615404e-02 2.99163580e+02] [ 7.13688207e-01 6.95930187e-01 -7.95633022e-02 1.11387142e+02] [ 1.06170196e-01 4.79972008e-03 9.94336388e-01 2.91568361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437105681 meters 0.03477982898035332 Centerline is valid? [True, True] Translation: X:299.21, Y:111.42, Z:29.16 [[ 6.91400698e-01 -7.18943872e-01 -7.13076685e-02 2.99210163e+02] [ 7.14433557e-01 6.95051941e-01 -8.05449638e-02 1.11423846e+02] [ 1.07469842e-01 4.74425295e-03 9.94197025e-01 2.91601047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49710568099994 meters 0.03347779299010234 Centerline is valid? [True, True] Translation: X:299.26, Y:111.46, Z:29.17 [[ 6.88226158e-01 -7.22073124e-01 -7.03928983e-02 2.99258503e+02] [ 7.17688738e-01 6.91803762e-01 -7.95639988e-02 1.11457035e+02] [ 1.06149097e-01 4.23783476e-03 9.94341194e-01 2.91694985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55710568099994 meters 0.028576373498460053 Centerline is valid? [True, True] Translation: X:299.31, Y:111.49, Z:29.18 [[ 6.81639013e-01 -7.28545715e-01 -6.77450936e-02 2.99309241e+02] [ 7.24511873e-01 6.84989949e-01 -7.66245093e-02 1.11489331e+02] [ 1.02229166e-01 3.14813029e-03 9.94755893e-01 2.91802316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61710568099994 meters 0.024220795759019396 Centerline is valid? [True, True] Translation: X:299.36, Y:111.52, Z:29.19 [[ 6.73787260e-01 -7.35850849e-01 -6.73368895e-02 2.99362455e+02] [ 7.31896533e-01 6.77140500e-01 -7.62116036e-02 1.11519964e+02] [ 1.01676908e-01 2.06677157e-03 9.94815327e-01 2.91874157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67710568099994 meters 0.021866813619136265 Centerline is valid? [True, True] Translation: X:299.41, Y:111.55, Z:29.19 [[ 6.64864809e-01 -7.43884212e-01 -6.77573997e-02 2.99413294e+02] [ 7.39918008e-01 6.68307951e-01 -7.67191257e-02 1.11553638e+02] [ 1.02352955e-01 8.72926570e-04 9.94747762e-01 2.91918823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73710568099995 meters 0.021327202447942808 Centerline is valid? [True, True] Translation: X:299.46, Y:111.59, Z:29.20 [[ 6.62410004e-01 -7.46126472e-01 -6.71436851e-02 2.99455405e+02] [ 7.42238141e-01 6.65804009e-01 -7.60760377e-02 1.11593239e+02] [ 1.01466880e-01 5.56924412e-04 9.94838762e-01 2.91981234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79710568099995 meters 0.0232701804442985 Centerline is valid? [True, True] Translation: X:299.49, Y:111.64, Z:29.20 [[ 6.69685541e-01 -7.39684147e-01 -6.62468042e-02 2.99488407e+02] [ 7.35862078e-01 6.72952412e-01 -7.51136006e-02 1.11640881e+02] [ 1.00141286e-01 1.55398126e-03 9.94972014e-01 2.92040430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85710568099995 meters 0.027518292826279735 Centerline is valid? [True, True] Translation: X:299.52, Y:111.69, Z:29.21 [[ 6.78288070e-01 -7.31680010e-01 -6.75992394e-02 2.99518852e+02] [ 7.27654940e-01 6.81642388e-01 -7.66938278e-02 1.11691595e+02] [ 1.02193848e-01 2.83158790e-03 9.94760473e-01 2.92056175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91710568099995 meters 0.03145412241829121 Centerline is valid? [True, True] Translation: X:299.55, Y:111.74, Z:29.21 [[ 6.84321744e-01 -7.26222000e-01 -6.56152199e-02 2.99550090e+02] [ 7.22400280e-01 6.87450958e-01 -7.44917135e-02 1.11740188e+02] [ 9.92047669e-02 3.57584606e-03 9.95060615e-01 2.92112455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97710568099995 meters 0.030386595880266837 Centerline is valid? [True, True] Translation: X:299.59, Y:111.78, Z:29.22 [[ 6.81670035e-01 -7.28800809e-01 -6.46169092e-02 2.99592382e+02] [ 7.25102934e-01 6.84718408e-01 -7.33923547e-02 1.11779918e+02] [ 9.77327946e-02 3.17545856e-03 9.95207625e-01 2.92207836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03710568099996 meters 0.027109934452121773 Centerline is valid? [True, True] Translation: X:299.64, Y:111.82, Z:29.22 [[ 6.75581528e-01 -7.34433378e-01 -6.47858960e-02 2.99636558e+02] [ 7.30736816e-01 6.78676532e-01 -7.36333559e-02 1.11819165e+02] [ 9.80474615e-02 2.40389575e-03 9.95178836e-01 2.92249230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09710568099996 meters 0.025504632507231312 Centerline is valid? [True, True] Translation: X:299.68, Y:111.86, Z:29.23 [[ 6.71504484e-01 -7.38028697e-01 -6.62975916e-02 2.99676939e+02] [ 7.34169467e-01 6.74766483e-01 -7.54015119e-02 1.11860669e+02] [ 1.00383872e-01 1.95878590e-03 9.94946854e-01 2.92261922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15710568099996 meters 0.024917049610403665 Centerline is valid? [True, True] Translation: X:299.71, Y:111.90, Z:29.23 [[ 6.69760022e-01 -7.39536801e-01 -6.71329518e-02 2.99714854e+02] [ 7.35581743e-01 6.73113748e-01 -7.64027591e-02 1.11904764e+02] [ 1.01690765e-01 1.78973991e-03 9.94814448e-01 2.92291072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21710568099996 meters 0.02290957624314806 Centerline is valid? [True, True] Translation: X:299.76, Y:111.95, Z:29.23 [[ 6.64205955e-01 -7.44456190e-01 -6.79369646e-02 2.99757003e+02] [ 7.40425671e-01 6.67670428e-01 -7.73694106e-02 1.11945785e+02] [ 1.02957639e-01 1.08695063e-03 9.94685148e-01 2.92320319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27710568099997 meters 0.02141409519615967 Centerline is valid? [True, True] Translation: X:299.81, Y:111.98, Z:29.24 [[ 6.53507459e-01 -7.53836949e-01 -6.82484777e-02 2.99805071e+02] [ 7.49814574e-01 6.57061437e-01 -7.77712866e-02 1.11980870e+02] [ 1.03470312e-01 -3.49587286e-04 9.94632481e-01 2.92397952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33710568099997 meters 0.02276601044172301 Centerline is valid? [True, True] Translation: X:299.85, Y:112.02, Z:29.24 [[ 6.47376397e-01 -7.59068123e-01 -6.86977890e-02 2.99847133e+02] [ 7.55016466e-01 6.51010173e-01 -7.83319275e-02 1.12020463e+02] [ 1.04182229e-01 -1.15772093e-03 9.94557551e-01 2.92432318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39710568099997 meters 0.023238494637119297 Centerline is valid? [True, True] Translation: X:299.88, Y:112.07, Z:29.25 [[ 6.45355753e-01 -7.60820819e-01 -6.83200836e-02 2.99881531e+02] [ 7.56819554e-01 6.48960477e-01 -7.79388435e-02 1.12067425e+02] [ 1.03634529e-01 -1.40769410e-03 9.94614449e-01 2.92493387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.457105681 meters 0.022005501643976404 Centerline is valid? [True, True] Translation: X:299.91, Y:112.12, Z:29.26 [[ 6.49429500e-01 -7.57491638e-01 -6.66913994e-02 2.99909563e+02] [ 7.53656533e-01 6.52844350e-01 -7.61320244e-02 1.12120850e+02] [ 1.01208475e-01 -8.20026292e-04 9.94864901e-01 2.92586284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517105681 meters 0.021821077510613313 Centerline is valid? [True, True] Translation: X:299.93, Y:112.18, Z:29.27 [[ 6.58122200e-01 -7.50092085e-01 -6.50924973e-02 2.99931835e+02] [ 7.46398061e-01 6.61333307e-01 -7.43518092e-02 1.12178604e+02] [ 9.88185401e-02 3.47662487e-04 9.95105409e-01 2.92685606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577105681 meters 0.02456360778950797 Centerline is valid? [True, True] Translation: X:299.95, Y:112.24, Z:29.28 [[ 6.67660938e-01 -7.41778903e-01 -6.31896443e-02 2.99951351e+02] [ 7.38256024e-01 6.70642669e-01 -7.22250248e-02 1.12238101e+02] [ 9.59526713e-02 1.57169229e-03 9.95384657e-01 2.92774315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637105681 meters 0.02807998555278528 Centerline is valid? [True, True] Translation: X:299.98, Y:112.29, Z:29.28 [[ 6.73846289e-01 -7.36175248e-01 -6.30649121e-02 2.99975576e+02] [ 7.32637566e-01 6.76786715e-01 -7.21244692e-02 1.12293092e+02] [ 9.57777437e-02 2.39708221e-03 9.95399858e-01 2.92812592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697105681 meters 0.029614729750073746 Centerline is valid? [True, True] Translation: X:300.01, Y:112.34, Z:29.29 [[ 6.75347062e-01 -7.34764760e-01 -6.34593875e-02 3.00005802e+02] [ 7.31174446e-01 6.78316921e-01 -7.25953443e-02 1.12343061e+02] [ 9.63860770e-02 2.62717001e-03 9.95340556e-01 2.92857192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757105681 meters 0.03002330615700174 Centerline is valid? [True, True] Translation: X:300.04, Y:112.39, Z:29.29 [[ 6.75242791e-01 -7.34779068e-01 -6.43963863e-02 3.00041766e+02] [ 7.31078970e-01 6.78301202e-01 -7.36954462e-02 1.12389021e+02] [ 9.78300175e-02 2.68347505e-03 9.95199521e-01 2.92882803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817105681 meters 0.029206190882154953 Centerline is valid? [True, True] Translation: X:300.08, Y:112.43, Z:29.29 [[ 6.73149265e-01 -7.36585984e-01 -6.56593834e-02 3.00081320e+02] [ 7.32742546e-01 6.76339282e-01 -7.51900068e-02 1.12433072e+02] [ 9.97919254e-02 2.50267406e-03 9.95005180e-01 2.92886233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877105681 meters 0.026979127684447633 Centerline is valid? [True, True] Translation: X:300.13, Y:112.47, Z:29.29 [[ 6.70994416e-01 -7.38415090e-01 -6.71539202e-02 3.00125740e+02] [ 7.34398509e-01 6.74342495e-01 -7.69482246e-02 1.12471106e+02] [ 1.02104472e-01 2.31409011e-03 9.94770990e-01 2.92932330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937105681 meters 0.027915276536904964 Centerline is valid? [True, True] Translation: X:300.16, Y:112.52, Z:29.30 [[ 6.72184995e-01 -7.37279875e-01 -6.77179268e-02 3.00162064e+02] [ 7.33184014e-01 6.75582646e-01 -7.76485074e-02 1.12517401e+02] [ 1.02997738e-01 2.54446017e-03 9.94678336e-01 2.92966440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99710568099994 meters 0.02723656697151991 Centerline is valid? [True, True] Translation: X:300.20, Y:112.56, Z:29.31 [[ 6.71818177e-01 -7.37894300e-01 -6.45936439e-02 3.00204355e+02] [ 7.34167046e-01 6.74912145e-01 -7.41103557e-02 1.12557694e+02] [ 9.82806438e-02 2.36615932e-03 9.95155926e-01 2.93077113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05710568099994 meters 0.02391315560317739 Centerline is valid? [True, True] Translation: X:300.25, Y:112.59, Z:29.32 [[ 6.64723880e-01 -7.44666709e-01 -6.01136925e-02 3.00251434e+02] [ 7.41463218e-01 6.67435241e-01 -6.90108378e-02 1.12593439e+02] [ 9.15120703e-02 1.30106003e-03 9.95803117e-01 2.93193204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11710568099994 meters 0.022773536372578194 Centerline is valid? [True, True] Translation: X:300.30, Y:112.63, Z:29.32 [[ 6.59075580e-01 -7.49549436e-01 -6.16037551e-02 3.00296085e+02] [ 7.46203181e-01 6.61948039e-01 -7.07503031e-02 1.12632166e+02] [ 9.38093347e-02 6.60879033e-04 9.95589962e-01 2.93240534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17710568099994 meters 0.022401847516774313 Centerline is valid? [True, True] Translation: X:300.34, Y:112.67, Z:29.33 [[ 6.56055825e-01 -7.52188628e-01 -6.16686453e-02 3.00336442e+02] [ 7.48842353e-01 6.58947773e-01 -7.08728635e-02 1.12674002e+02] [ 9.39461784e-02 3.16461494e-04 9.95577227e-01 2.93274285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23710568099995 meters 0.02223668101409349 Centerline is valid? [True, True] Translation: X:300.37, Y:112.72, Z:29.33 [[ 6.54558157e-01 -7.53381809e-01 -6.30037300e-02 3.00373415e+02] [ 7.49888830e-01 6.57583315e-01 -7.24632809e-02 1.12717391e+02] [ 9.60227192e-02 1.85638171e-04 9.95379125e-01 2.93281883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29710568099995 meters 0.022298724447062147 Centerline is valid? [True, True] Translation: X:300.42, Y:112.76, Z:29.33 [[ 6.49182071e-01 -7.57993630e-01 -6.33111058e-02 3.00415598e+02] [ 7.54483131e-01 6.52261791e-01 -7.28681086e-02 1.12757890e+02] [ 9.65289774e-02 -4.62491703e-04 9.95330067e-01 2.93336109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35710568099995 meters 0.023378763905492792 Centerline is valid? [True, True] Translation: X:300.46, Y:112.80, Z:29.34 [[ 6.42719640e-01 -7.63595238e-01 -6.19175006e-02 3.00455145e+02] [ 7.60258477e-01 6.45694034e-01 -7.13180474e-02 1.12800514e+02] [ 9.44378821e-02 -1.23579495e-03 9.95529989e-01 2.93415723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41710568099995 meters 0.023673539994839652 Centerline is valid? [True, True] Translation: X:300.49, Y:112.85, Z:29.35 [[ 6.42071536e-01 -7.64307896e-01 -5.98129012e-02 3.00487421e+02] [ 7.61193529e-01 6.44850245e-01 -6.89389049e-02 1.12847853e+02] [ 9.12609134e-02 -1.26548474e-03 9.95826212e-01 2.93516164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47710568099995 meters 0.022336787360083713 Centerline is valid? [True, True] Translation: X:300.51, Y:112.91, Z:29.36 [[ 6.51749344e-01 -7.56177023e-01 -5.84730998e-02 3.00505676e+02] [ 7.53163238e-01 6.54367102e-01 -6.74450367e-02 1.12909187e+02] [ 8.92632598e-02 -8.25307911e-05 9.96008064e-01 2.93592995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53710568099996 meters 0.023877375578240663 Centerline is valid? [True, True] Translation: X:300.53, Y:112.97, Z:29.36 [[ 6.61414215e-01 -7.47758658e-01 -5.82084630e-02 3.00527543e+02] [ 7.44735122e-01 6.63969734e-01 -6.71847508e-02 1.12967768e+02] [ 8.88866367e-02 1.08706244e-03 9.96041156e-01 2.93639952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59710568099996 meters 0.027071628324136315 Centerline is valid? [True, True] Translation: X:300.55, Y:113.03, Z:29.36 [[ 6.70396519e-01 -7.39503538e-01 -6.08524829e-02 3.00551625e+02] [ 7.36159461e-01 6.73148664e-01 -7.02860135e-02 1.13025045e+02] [ 9.29395232e-02 2.32236780e-03 9.95669047e-01 2.93637663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65710568099996 meters 0.02927885403644181 Centerline is valid? [True, True] Translation: X:300.58, Y:113.08, Z:29.36 [[ 6.74662868e-01 -7.35354971e-01 -6.38989896e-02 3.00584612e+02] [ 7.31642916e-01 6.77675137e-01 -7.38583288e-02 1.13075252e+02] [ 9.76148457e-02 3.07822893e-03 9.95219507e-01 2.93619454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71710568099996 meters 0.02965722613102446 Centerline is valid? [True, True] Translation: X:300.62, Y:113.12, Z:29.37 [[ 6.73615150e-01 -7.36296516e-01 -6.41098324e-02 3.00623682e+02] [ 7.32559687e-01 6.76652457e-01 -7.41468661e-02 1.13117228e+02] [ 9.79741548e-02 2.98217357e-03 9.95184491e-01 2.93654104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77710568099997 meters 0.027798425589365273 Centerline is valid? [True, True] Translation: X:300.67, Y:113.16, Z:29.37 [[ 6.70339023e-01 -7.39327573e-01 -6.35636200e-02 3.00667851e+02] [ 7.35665870e-01 6.73341169e-01 -7.35350093e-02 1.13156236e+02] [ 9.71664621e-02 2.53180043e-03 9.95264924e-01 2.93694503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83710568099997 meters 0.02864884727802966 Centerline is valid? [True, True] Translation: X:300.71, Y:113.20, Z:29.37 [[ 6.70682535e-01 -7.38921081e-01 -6.46573495e-02 3.00709743e+02] [ 7.35125057e-01 6.73786693e-01 -7.48508073e-02 1.13196318e+02] [ 9.88741011e-02 2.66989142e-03 9.95096369e-01 2.93701863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89710568099997 meters 0.029939875819036448 Centerline is valid? [True, True] Translation: X:300.75, Y:113.24, Z:29.38 [[ 6.72028715e-01 -7.37714923e-01 -6.44522950e-02 3.00751325e+02] [ 7.33934829e-01 6.75106313e-01 -7.46400303e-02 1.13236785e+02] [ 9.85752154e-02 2.85645958e-03 9.95125503e-01 2.93788468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.957105681 meters 0.028010567758986256 Centerline is valid? [True, True] Translation: X:300.80, Y:113.27, Z:29.39 [[ 6.72966113e-01 -7.36882943e-01 -6.41883105e-02 3.00796994e+02] [ 7.33126964e-01 6.76013760e-01 -7.43656588e-02 1.13274283e+02] [ 9.81909667e-02 2.98738718e-03 9.95163107e-01 2.93872850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017105681 meters 0.02786158224469762 Centerline is valid? [True, True] Translation: X:300.84, Y:113.31, Z:29.39 [[ 6.72291948e-01 -7.37556507e-01 -6.35132709e-02 3.00840013e+02] [ 7.33877361e-01 6.75279224e-01 -7.36341508e-02 1.13314684e+02] [ 9.71985394e-02 2.89269498e-03 9.95260808e-01 2.93922432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077105681 meters 0.025145881641064446 Centerline is valid? [True, True] Translation: X:300.89, Y:113.35, Z:29.39 [[ 6.65662822e-01 -7.43298436e-01 -6.63358287e-02 3.00891293e+02] [ 7.39306663e-01 6.68956388e-01 -7.69610920e-02 1.13348113e+02] [ 1.01580836e-01 2.18761754e-03 9.94824883e-01 2.93946006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137105681 meters 0.022143302302464033 Centerline is valid? [True, True] Translation: X:300.94, Y:113.38, Z:29.40 [[ 6.56853360e-01 -7.51065944e-01 -6.66604114e-02 3.00943118e+02] [ 7.47068779e-01 6.60226383e-01 -7.73909733e-02 1.13380742e+02] [ 1.02136687e-01 1.03460877e-03 9.94769836e-01 2.94002938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197105681 meters 0.021561572897270592 Centerline is valid? [True, True] Translation: X:300.99, Y:113.42, Z:29.40 [[ 6.52423597e-01 -7.54734112e-01 -6.87013140e-02 3.00988000e+02] [ 7.50501913e-01 6.56030606e-01 -7.98168043e-02 1.13416782e+02] [ 1.05310630e-01 5.13899004e-04 9.94439243e-01 2.94025628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257105681 meters 0.022011207397681396 Centerline is valid? [True, True] Translation: X:301.02, Y:113.46, Z:29.41 [[ 6.55030328e-01 -7.52452759e-01 -6.89210857e-02 3.01024165e+02] [ 7.48175210e-01 6.58645582e-01 -8.01239875e-02 1.13461564e+02] [ 1.05684084e-01 9.18594028e-04 9.94399332e-01 2.94095858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317105681 meters 0.02534781184591159 Centerline is valid? [True, True] Translation: X:301.05, Y:113.51, Z:29.42 [[ 6.64562887e-01 -7.44080543e-01 -6.85588460e-02 3.01052839e+02] [ 7.39799501e-01 6.68086070e-01 -7.97352010e-02 1.13513212e+02] [ 1.05132622e-01 2.26925534e-03 9.94455621e-01 2.94172537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377105681 meters 0.03008934410302754 Centerline is valid? [True, True] Translation: X:301.08, Y:113.56, Z:29.42 [[ 6.72759435e-01 -7.36641413e-01 -6.89504904e-02 3.01082831e+02] [ 7.32265755e-01 6.76274499e-01 -8.02475289e-02 1.13564176e+02] [ 1.05743111e-01 3.49719931e-03 9.94387331e-01 2.94212943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437105681 meters 0.03206705804552987 Centerline is valid? [True, True] Translation: X:301.12, Y:113.61, Z:29.43 [[ 6.77081842e-01 -7.32616177e-01 -6.95249351e-02 3.01117772e+02] [ 7.28139834e-01 6.80629039e-01 -8.09721710e-02 1.13611541e+02] [ 1.06642212e-01 4.20091198e-03 9.94288585e-01 2.94262086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49710568099994 meters 0.03406464658244424 Centerline is valid? [True, True] Translation: X:301.16, Y:113.66, Z:29.43 [[ 6.78985579e-01 -7.30776807e-01 -7.03124546e-02 3.01156601e+02] [ 7.26182429e-01 6.82601121e-01 -8.19438145e-02 1.13655513e+02] [ 1.07877999e-01 4.57899928e-03 9.94153595e-01 2.94322779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55710568099994 meters 0.03489604183646042 Centerline is valid? [True, True] Translation: X:301.19, Y:113.70, Z:29.43 [[ 6.78975646e-01 -7.30602143e-01 -7.21982046e-02 3.01193880e+02] [ 7.25750013e-01 6.82786757e-01 -8.41971651e-02 1.13701571e+02] [ 1.10810607e-01 4.76997666e-03 9.93830094e-01 2.94313897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61710568099994 meters 0.03363755452944044 Centerline is valid? [True, True] Translation: X:301.24, Y:113.74, Z:29.44 [[ 6.76209032e-01 -7.33180651e-01 -7.20241510e-02 3.01238432e+02] [ 7.28360467e-01 6.80019852e-01 -8.40477875e-02 1.13740633e+02] [ 1.10600064e-01 4.37432871e-03 9.93855367e-01 2.94370056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67710568099994 meters 0.028083323120044683 Centerline is valid? [True, True] Translation: X:301.29, Y:113.78, Z:29.44 [[ 6.69095644e-01 -7.39777224e-01 -7.09977312e-02 3.01286371e+02] [ 7.35124583e-01 6.72843900e-01 -8.29031614e-02 1.13776234e+02] [ 1.09100261e-01 3.27796665e-03 9.94025346e-01 2.94448452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73710568099995 meters 0.02353136767536551 Centerline is valid? [True, True] Translation: X:301.33, Y:113.81, Z:29.45 [[ 6.58894479e-01 -7.49051580e-01 -6.91360634e-02 3.01334701e+02] [ 7.44684954e-01 6.62509393e-01 -8.07813293e-02 1.13809318e+02] [ 1.06312674e-01 1.74178570e-03 9.94331223e-01 2.94534718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79710568099995 meters 0.021217591760316578 Centerline is valid? [True, True] Translation: X:301.38, Y:113.85, Z:29.46 [[ 6.51693004e-01 -7.55291289e-01 -6.95075296e-02 3.01380958e+02] [ 7.50907923e-01 6.55388807e-01 -8.12576296e-02 1.13847185e+02] [ 1.06927637e-01 7.61274014e-04 9.94266514e-01 2.94595541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85710568099995 meters 0.020910958332785366 Centerline is valid? [True, True] Translation: X:301.42, Y:113.89, Z:29.46 [[ 6.48185216e-01 -7.58277138e-01 -6.97976160e-02 3.01419049e+02] [ 7.53868080e-01 6.51932272e-01 -8.16531109e-02 1.13890931e+02] [ 1.07419006e-01 3.08144567e-04 9.94213791e-01 2.94611386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91710568099995 meters 0.02252806913361953 Centerline is valid? [True, True] Translation: X:301.45, Y:113.94, Z:29.47 [[ 6.55453042e-01 -7.51951055e-01 -7.03627733e-02 3.01449014e+02] [ 7.47427103e-01 6.59217454e-01 -8.23715571e-02 1.13940973e+02] [ 1.08323748e-01 1.39964392e-03 9.94114685e-01 2.94672351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97710568099995 meters 0.025799404584540147 Centerline is valid? [True, True] Translation: X:301.48, Y:113.99, Z:29.47 [[ 6.64576542e-01 -7.43992487e-01 -6.93772264e-02 3.01476854e+02] [ 7.39547228e-01 6.68182564e-01 -8.12524351e-02 1.13994559e+02] [ 1.06807854e-01 2.69072682e-03 9.94276039e-01 2.94728192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03710568099996 meters 0.03039304391320513 Centerline is valid? [True, True] Translation: X:301.51, Y:114.04, Z:29.48 [[ 6.72583712e-01 -7.36737436e-01 -6.96354829e-02 3.01509916e+02] [ 7.32213709e-01 6.76167674e-01 -8.16110421e-02 1.14043231e+02] [ 1.07211172e-01 3.90220242e-03 9.94228614e-01 2.94794039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09710568099996 meters 0.03404093583225842 Centerline is valid? [True, True] Translation: X:301.54, Y:114.09, Z:29.48 [[ 6.75662339e-01 -7.33955106e-01 -6.92120448e-02 3.01542550e+02] [ 7.29466297e-01 6.79184035e-01 -8.11663046e-02 1.14090725e+02] [ 1.06580139e-01 4.35316116e-03 9.94294586e-01 2.94825869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15710568099996 meters 0.03338053762885813 Centerline is valid? [True, True] Translation: X:301.58, Y:114.13, Z:29.49 [[ 6.79336823e-01 -7.30547175e-01 -6.92986732e-02 3.01582063e+02] [ 7.26026862e-01 6.82844567e-01 -8.12914099e-02 1.14133925e+02] [ 1.06707432e-01 4.91154990e-03 9.94278332e-01 2.94886267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21710568099996 meters 0.03697548705481812 Centerline is valid? [True, True] Translation: X:301.62, Y:114.18, Z:29.49 [[ 6.82400573e-01 -7.27729390e-01 -6.88432501e-02 3.01617518e+02] [ 7.23250727e-01 6.85843583e-01 -8.07896432e-02 1.14180037e+02] [ 1.06008699e-01 5.33996815e-03 9.94350864e-01 2.94929663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27710568099997 meters 0.038422055013198834 Centerline is valid? [True, True] Translation: X:301.66, Y:114.22, Z:29.50 [[ 6.83180936e-01 -7.27049892e-01 -6.82807682e-02 3.01656815e+02] [ 7.22635579e-01 6.86563113e-01 -8.01804966e-02 1.14222299e+02] [ 1.05174278e-01 5.43567428e-03 9.94438950e-01 2.94989462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33710568099997 meters 0.03565236393672924 Centerline is valid? [True, True] Translation: X:301.70, Y:114.26, Z:29.50 [[ 6.82716883e-01 -7.27596318e-01 -6.70913935e-02 3.01701926e+02] [ 7.23334508e-01 6.85985239e-01 -7.88127012e-02 1.14261607e+02] [ 1.03367537e-01 5.27724169e-03 9.94629229e-01 2.95027425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39710568099997 meters 0.034379772563621035 Centerline is valid? [True, True] Translation: X:301.75, Y:114.30, Z:29.51 [[ 6.78229506e-01 -7.31679547e-01 -6.81892846e-02 3.01747829e+02] [ 7.27294100e-01 6.81632196e-01 -8.01301550e-02 1.14297623e+02] [ 1.05109607e-01 4.75297109e-03 9.94449285e-01 2.95073016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.457105681 meters 0.02872956535660352 Centerline is valid? [True, True] Translation: X:301.80, Y:114.33, Z:29.52 [[ 6.69578365e-01 -7.39913347e-01 -6.47537877e-02 3.01797671e+02] [ 7.35995167e-01 6.72694059e-01 -7.61171328e-02 1.14331466e+02] [ 9.98795708e-02 3.30791052e-03 9.94994035e-01 2.95165559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517105681 meters 0.02455467176306379 Centerline is valid? [True, True] Translation: X:301.85, Y:114.37, Z:29.53 [[ 6.61004627e-01 -7.47891142e-01 -6.10878305e-02 3.01846235e+02] [ 7.44434216e-01 6.63818320e-01 -7.18535785e-02 1.14366478e+02] [ 9.42898758e-02 2.01967666e-03 9.95542737e-01 2.95261200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577105681 meters 0.021526095756836106 Centerline is valid? [True, True] Translation: X:301.89, Y:114.40, Z:29.53 [[ 6.50638237e-01 -7.56840830e-01 -6.21437237e-02 3.01893253e+02] [ 7.53298175e-01 6.53598769e-01 -7.31471708e-02 1.14401352e+02] [ 9.59778267e-02 7.79592596e-04 9.95383167e-01 2.95285548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637105681 meters 0.02132422088437896 Centerline is valid? [True, True] Translation: X:301.94, Y:114.44, Z:29.53 [[ 6.37581531e-01 -7.67906572e-01 -6.17194361e-02 3.01936823e+02] [ 7.64459171e-01 6.40561312e-01 -7.26868726e-02 1.14440052e+02] [ 9.53518101e-02 -8.38181465e-04 9.95443283e-01 2.95306204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697105681 meters 0.02185323650360611 Centerline is valid? [True, True] Translation: X:301.97, Y:114.49, Z:29.53 [[ 6.34682392e-01 -7.70230164e-01 -6.26398944e-02 3.01972607e+02] [ 7.66684847e-01 6.37764947e-01 -7.38255852e-02 1.14486665e+02] [ 9.68122215e-02 -1.16925890e-03 9.95301978e-01 2.95339037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757105681 meters 0.02192906979370613 Centerline is valid? [True, True] Translation: X:302.00, Y:114.54, Z:29.54 [[ 6.35643567e-01 -7.69416158e-01 -6.28969917e-02 3.02000460e+02] [ 7.65832748e-01 6.38747008e-01 -7.41785824e-02 1.14538260e+02] [ 9.72494651e-02 -1.01743734e-03 9.95259517e-01 2.95374528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817105681 meters 0.02155802171177648 Centerline is valid? [True, True] Translation: X:302.02, Y:114.60, Z:29.54 [[ 6.41765025e-01 -7.64360754e-01 -6.23722006e-02 3.02021263e+02] [ 7.60809484e-01 6.44788794e-01 -7.35957932e-02 1.14595964e+02] [ 9.64706320e-02 -2.22155647e-04 9.95335807e-01 2.95418915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877105681 meters 0.02180636337119832 Centerline is valid? [True, True] Translation: X:302.04, Y:114.65, Z:29.55 [[ 6.46945033e-01 -7.59986631e-01 -6.23092757e-02 3.02044533e+02] [ 7.56420219e-01 6.49938553e-01 -7.35413386e-02 1.14652360e+02] [ 9.63876346e-02 4.45207706e-04 9.95343773e-01 2.95461296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93710568099993 meters 0.022545710407588865 Centerline is valid? [True, True] Translation: X:302.07, Y:114.70, Z:29.55 [[ 6.50582687e-01 -7.56829992e-01 -6.28532446e-02 3.02073998e+02] [ 7.53180848e-01 6.53611082e-01 -7.42372101e-02 1.14704331e+02] [ 9.72665243e-02 9.57583568e-04 9.95257909e-01 2.95537330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99710568099994 meters 0.023104338027946363 Centerline is valid? [True, True] Translation: X:302.10, Y:114.76, Z:29.56 [[ 6.51966141e-01 -7.55606184e-01 -6.32411722e-02 3.02104991e+02] [ 7.51900950e-01 6.55025114e-01 -7.47466482e-02 1.14755092e+02] [ 9.79035857e-02 1.18118632e-03 9.95195203e-01 2.95569581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05710568099994 meters 0.02450055516791091 Centerline is valid? [True, True] Translation: X:302.14, Y:114.81, Z:29.56 [[ 6.55825581e-01 -7.52265158e-01 -6.31659715e-02 3.02135031e+02] [ 7.48548297e-01 6.58858255e-01 -7.47077437e-02 1.14806416e+02] [ 9.78174543e-02 1.71246902e-03 9.95202900e-01 2.95597471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11710568099994 meters 0.02656737541875674 Centerline is valid? [True, True] Translation: X:302.17, Y:114.86, Z:29.56 [[ 6.60449092e-01 -7.48209618e-01 -6.31614164e-02 3.02167632e+02] [ 7.44469853e-01 6.63458255e-01 -7.47514729e-02 1.14855232e+02] [ 9.78347341e-02 2.34777205e-03 9.95199906e-01 2.95649704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17710568099994 meters 0.02953040712371577 Centerline is valid? [True, True] Translation: X:302.20, Y:114.90, Z:29.57 [[ 6.64745311e-01 -7.44432498e-01 -6.27210317e-02 3.02198845e+02] [ 7.40723003e-01 6.67691347e-01 -7.42812095e-02 1.14904285e+02] [ 9.71756365e-02 2.91917476e-03 9.95262967e-01 2.95716838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23710568099995 meters 0.027497759173256316 Centerline is valid? [True, True] Translation: X:302.24, Y:114.95, Z:29.58 [[ 6.62931997e-01 -7.46151673e-01 -6.14723356e-02 3.02239358e+02] [ 7.42591386e-01 6.65770738e-01 -7.28516120e-02 1.14947276e+02] [ 9.52848344e-02 2.64683775e-03 9.95446530e-01 2.95777284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29710568099995 meters 0.02454653024506712 Centerline is valid? [True, True] Translation: X:302.29, Y:114.98, Z:29.58 [[ 6.54558288e-01 -7.53588644e-01 -6.04781278e-02 3.02285935e+02] [ 7.50169888e-01 6.57344412e-01 -7.17179384e-02 1.14984249e+02] [ 9.38007833e-02 1.57470054e-03 9.95589741e-01 2.95840696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35710568099995 meters 0.022489726953376202 Centerline is valid? [True, True] Translation: X:302.33, Y:115.02, Z:29.59 [[ 6.47528828e-01 -7.59759592e-01 -5.89218127e-02 3.02330146e+02] [ 7.56535770e-01 6.50203718e-01 -6.99196207e-02 1.15023707e+02] [ 9.14332842e-02 6.98511073e-04 9.95810959e-01 2.95893686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41710568099995 meters 0.021779151701542702 Centerline is valid? [True, True] Translation: X:302.37, Y:115.06, Z:29.59 [[ 6.41116128e-01 -7.65180985e-01 -5.88911837e-02 3.02373287e+02] [ 7.61978766e-01 6.43815237e-01 -6.99306918e-02 1.15062516e+02] [ 9.14246770e-02 -4.01371592e-05 9.95811994e-01 2.95942357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47710568099995 meters 0.021830102430438588 Centerline is valid? [True, True] Translation: X:302.41, Y:115.11, Z:29.60 [[ 6.36058866e-01 -7.69314619e-01 -5.98676463e-02 3.02413312e+02] [ 7.66019253e-01 6.38869813e-01 -7.11327324e-02 1.15105002e+02] [ 9.29710830e-02 -6.15164584e-04 9.95668619e-01 2.95983203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53710568099996 meters 0.02153478091321393 Centerline is valid? [True, True] Translation: X:302.44, Y:115.15, Z:29.60 [[ 6.38527654e-01 -7.67234003e-01 -6.02861430e-02 3.02444945e+02] [ 7.63878025e-01 6.41367216e-01 -7.16830264e-02 1.15154402e+02] [ 9.36632110e-02 -2.79665167e-04 9.95603900e-01 2.96027501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59710568099996 meters 0.022137328617950033 Centerline is valid? [True, True] Translation: X:302.47, Y:115.21, Z:29.60 [[ 6.45690823e-01 -7.61023107e-01 -6.26673069e-02 3.02471659e+02] [ 7.57360984e-01 6.48724407e-01 -7.45720076e-02 1.15207385e+02] [ 9.74048325e-02 6.88687775e-04 9.95244605e-01 2.96023590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65710568099996 meters 0.022806207220667202 Centerline is valid? [True, True] Translation: X:302.50, Y:115.26, Z:29.61 [[ 6.49253228e-01 -7.58128572e-01 -6.09205588e-02 3.02504435e+02] [ 7.54652648e-01 6.52104158e-01 -7.25227394e-02 1.15256742e+02] [ 9.47081105e-02 1.11176159e-03 9.95504464e-01 2.96094349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71710568099996 meters 0.02344960810964219 Centerline is valid? [True, True] Translation: X:302.54, Y:115.30, Z:29.61 [[ 6.50846448e-01 -7.56687701e-01 -6.18273731e-02 3.02539663e+02] [ 7.53096017e-01 6.53775065e-01 -7.36515651e-02 1.15304291e+02] [ 9.61524283e-02 1.37391114e-03 9.95365673e-01 2.96131819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77710568099997 meters 0.025082335947981847 Centerline is valid? [True, True] Translation: X:302.57, Y:115.35, Z:29.62 [[ 6.54177076e-01 -7.53877245e-01 -6.10037063e-02 3.02574734e+02] [ 7.50364167e-01 6.57012845e-01 -7.27168423e-02 1.15351160e+02] [ 9.48997914e-02 1.79469601e-03 9.95485213e-01 2.96215193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83710568099997 meters 0.02963872905961399 Centerline is valid? [True, True] Translation: X:302.60, Y:115.40, Z:29.63 [[ 6.61746997e-01 -7.47370339e-01 -5.94010834e-02 3.02604681e+02] [ 7.44009435e-01 6.64402246e-01 -7.08492500e-02 1.15400162e+02] [ 9.24168412e-02 2.68931200e-03 9.95716775e-01 2.96302815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89710568099997 meters 0.0358051497500782 Centerline is valid? [True, True] Translation: X:302.63, Y:115.45, Z:29.63 [[ 6.69114356e-01 -7.40584211e-01 -6.18142764e-02 3.02634117e+02] [ 7.36912652e-01 6.71952840e-01 -7.37504198e-02 1.15450988e+02] [ 9.61546750e-02 3.79574237e-03 9.95359167e-01 2.96286379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.957105681 meters 0.041895258817383804 Centerline is valid? [True, True] Translation: X:302.67, Y:115.50, Z:29.63 [[ 6.75496627e-01 -7.34733498e-01 -6.22173141e-02 3.02668702e+02] [ 7.30984250e-01 6.78339620e-01 -7.42791120e-02 1.15496184e+02] [ 9.67798209e-02 4.69541298e-03 9.95294740e-01 2.96349838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017105681 meters 0.03604252557865363 Centerline is valid? [True, True] Translation: X:302.72, Y:115.53, Z:29.64 [[ 6.76507764e-01 -7.33746416e-01 -6.28764000e-02 3.02718725e+02] [ 7.29909635e-01 6.79405681e-01 -7.50989041e-02 1.15531154e+02] [ 9.78221351e-02 4.91090159e-03 9.95191797e-01 2.96402785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077105681 meters 0.04001143117186915 Centerline is valid? [True, True] Translation: X:302.76, Y:115.57, Z:29.64 [[ 6.75464615e-01 -7.34704004e-01 -6.29093065e-02 3.02758767e+02] [ 7.30862330e-01 6.78370767e-01 -7.51888050e-02 1.15573844e+02] [ 9.79173505e-02 4.80933482e-03 9.95182929e-01 2.96420119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137105681 meters 0.033821519640198645 Centerline is valid? [True, True] Translation: X:302.81, Y:115.60, Z:29.65 [[ 6.72538890e-01 -7.37342664e-01 -6.33816811e-02 3.02813733e+02] [ 7.33449508e-01 6.75503962e-01 -7.58037978e-02 1.15604295e+02] [ 9.87079509e-02 4.49373920e-03 9.95106299e-01 2.96479495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197105681 meters 0.03169550892469972 Centerline is valid? [True, True] Translation: X:302.86, Y:115.64, Z:29.65 [[ 6.68499432e-01 -7.40879298e-01 -6.48565693e-02 3.02861718e+02] [ 7.36813292e-01 6.71625663e-01 -7.76217846e-02 1.15640759e+02] [ 1.01067710e-01 4.10293661e-03 9.94871089e-01 2.96488866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257105681 meters 0.026741591873143775 Centerline is valid? [True, True] Translation: X:302.92, Y:115.67, Z:29.66 [[ 6.59809678e-01 -7.48948245e-01 -6.10550210e-02 3.02915019e+02] [ 7.45375467e-01 6.62622851e-01 -7.31188821e-02 1.15670839e+02] [ 9.52187105e-02 2.73563125e-03 9.95452617e-01 2.96610016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317105681 meters 0.024618101656984744 Centerline is valid? [True, True] Translation: X:302.96, Y:115.71, Z:29.67 [[ 6.55422896e-01 -7.52836500e-01 -6.04816650e-02 3.02959189e+02] [ 7.49342146e-01 6.58203939e-01 -7.24839487e-02 1.15709684e+02] [ 9.43778324e-02 2.18617892e-03 9.95534050e-01 2.96669986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377105681 meters 0.02371373554550653 Centerline is valid? [True, True] Translation: X:303.00, Y:115.75, Z:29.67 [[ 6.51855052e-01 -7.55706906e-01 -6.31827759e-02 3.02999066e+02] [ 7.51900661e-01 6.54907253e-01 -7.57752277e-02 1.15751909e+02] [ 9.86427211e-02 1.88729405e-03 9.95121124e-01 2.96664819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43710568099993 meters 0.02452246645099858 Centerline is valid? [True, True] Translation: X:303.04, Y:115.80, Z:29.67 [[ 6.53031445e-01 -7.54742477e-01 -6.25597708e-02 3.03035062e+02] [ 7.51004718e-01 6.56018055e-01 -7.50481568e-02 1.15797570e+02] [ 9.76823709e-02 2.02612333e-03 9.95215579e-01 2.96748356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49710568099994 meters 0.027151949630803997 Centerline is valid? [True, True] Translation: X:303.07, Y:115.85, Z:29.68 [[ 6.57117258e-01 -7.51154953e-01 -6.29535305e-02 3.03065384e+02] [ 7.47348607e-01 6.60120768e-01 -7.55687192e-02 1.15849172e+02] [ 9.83207506e-02 2.60927624e-03 9.95151356e-01 2.96780791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55710568099994 meters 0.02974432193640934 Centerline is valid? [True, True] Translation: X:303.10, Y:115.90, Z:29.68 [[ 6.61169118e-01 -7.47477514e-01 -6.42865807e-02 3.03098053e+02] [ 7.43485681e-01 6.64279129e-01 -7.72158106e-02 1.15897718e+02] [ 1.00421316e-01 3.25655718e-03 9.94939674e-01 2.96805891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61710568099994 meters 0.028243838497773115 Centerline is valid? [True, True] Translation: X:303.13, Y:115.94, Z:29.68 [[ 6.61418776e-01 -7.47182585e-01 -6.51412882e-02 3.03133726e+02] [ 7.43079136e-01 6.64610305e-01 -7.82722176e-02 1.15943892e+02] [ 1.01777209e-01 3.36558221e-03 9.94801524e-01 2.96838213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67710568099994 meters 0.026955772321612812 Centerline is valid? [True, True] Translation: X:303.17, Y:115.99, Z:29.69 [[ 6.58507254e-01 -7.49780974e-01 -6.47818490e-02 3.03171865e+02] [ 7.45732004e-01 6.61679434e-01 -7.78723608e-02 1.15987262e+02] [ 1.01252032e-01 2.96961638e-03 9.94856375e-01 2.96902433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73710568099995 meters 0.02261468884618866 Centerline is valid? [True, True] Translation: X:303.21, Y:116.03, Z:29.70 [[ 6.48230687e-01 -7.59026091e-01 -6.06330728e-02 3.03214169e+02] [ 7.55515367e-01 6.51058551e-01 -7.29334904e-02 1.16025338e+02] [ 9.48341027e-02 1.46850833e-03 9.95492007e-01 2.97033951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79710568099995 meters 0.020104635675432674 Centerline is valid? [True, True] Translation: X:303.26, Y:116.06, Z:29.71 [[ 6.36769971e-01 -7.68644738e-01 -6.09037763e-02 3.03257892e+02] [ 7.65142062e-01 6.39675903e-01 -7.32964155e-02 1.16063546e+02] [ 9.52975822e-02 7.29154990e-05 9.95448826e-01 2.97059716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85710568099995 meters 0.021208883274721525 Centerline is valid? [True, True] Translation: X:303.30, Y:116.10, Z:29.71 [[ 6.27422043e-01 -7.76351709e-01 -6.01631511e-02 3.03300983e+02] [ 7.72965860e-01 6.30299063e-01 -7.24352930e-02 1.16103569e+02] [ 9.41560413e-02 -1.05656231e-03 9.95556891e-01 2.97131500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91710568099995 meters 0.025061947003728092 Centerline is valid? [True, True] Translation: X:303.34, Y:116.15, Z:29.71 [[ 6.18858446e-01 -7.83064576e-01 -6.18392496e-02 3.03337308e+02] [ 7.79515078e-01 6.21936869e-01 -7.45035126e-02 1.16148177e+02] [ 9.68011708e-02 -2.09749942e-03 9.95301529e-01 2.97136225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97710568099995 meters 0.02476139991198307 Centerline is valid? [True, True] Translation: X:303.37, Y:116.20, Z:29.72 [[ 6.17047924e-01 -7.84537645e-01 -6.12580011e-02 3.03368309e+02] [ 7.81058578e-01 6.20076982e-01 -7.38378924e-02 1.16198711e+02] [ 9.59132827e-02 -2.28456892e-03 9.95387072e-01 2.97234632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03710568099996 meters 0.027374850146589327 Centerline is valid? [True, True] Translation: X:303.41, Y:116.24, Z:29.73 [[ 6.16036138e-01 -7.85350360e-01 -6.10269479e-02 3.03405127e+02] [ 7.81896861e-01 6.19046999e-01 -7.36078268e-02 1.16241892e+02] [ 9.55864823e-02 -2.37169766e-03 9.95418304e-01 2.97281177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09710568099996 meters 0.026505851577465742 Centerline is valid? [True, True] Translation: X:303.43, Y:116.30, Z:29.73 [[ 6.16074082e-01 -7.85224165e-01 -6.22554153e-02 3.03427070e+02] [ 7.81626469e-01 6.19207022e-01 -7.51180821e-02 1.16298671e+02] [ 9.75335236e-02 -2.38217703e-03 9.95229389e-01 2.97291696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15710568099996 meters 0.021891153178307865 Centerline is valid? [True, True] Translation: X:303.44, Y:116.37, Z:29.74 [[ 6.27662138e-01 -7.76059675e-01 -6.14135321e-02 3.03435768e+02] [ 7.72509141e-01 6.30658842e-01 -7.41555883e-02 1.16366084e+02] [ 9.62801488e-02 -8.97859857e-04 9.95353870e-01 2.97400518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21710568099996 meters 0.021189961245469097 Centerline is valid? [True, True] Translation: X:303.45, Y:116.43, Z:29.75 [[ 6.38234335e-01 -7.67456398e-01 -6.05607965e-02 3.03451537e+02] [ 7.63959901e-01 6.41100995e-01 -7.31763943e-02 1.16427648e+02] [ 9.49852788e-02 4.37667332e-04 9.95478581e-01 2.97484093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27710568099997 meters 0.023543642060805354 Centerline is valid? [True, True] Translation: X:303.46, Y:116.49, Z:29.75 [[ 6.49420435e-01 -7.57843063e-01 -6.26656955e-02 3.03463456e+02] [ 7.54047512e-01 6.52433946e-01 -7.57779376e-02 1.16494187e+02] [ 9.83130114e-02 1.95882949e-03 9.95153614e-01 2.97509027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33710568099997 meters 0.025490253499559246 Centerline is valid? [True, True] Translation: X:303.49, Y:116.55, Z:29.76 [[ 6.53843427e-01 -7.54020961e-01 -6.27786820e-02 3.03486801e+02] [ 7.50188867e-01 6.56845312e-01 -7.59664457e-02 1.16550678e+02] [ 9.85161754e-02 2.57429292e-03 9.95132120e-01 2.97597996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39710568099997 meters 0.024854217370558526 Centerline is valid? [True, True] Translation: X:303.52, Y:116.60, Z:29.77 [[ 6.52925753e-01 -7.54789311e-01 -6.30956233e-02 3.03516245e+02] [ 7.50916789e-01 6.55962516e-01 -7.64012687e-02 1.16602286e+02] [ 9.90552247e-02 2.50479305e-03 9.95078785e-01 2.97662664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.457105681 meters 0.02679966843654338 Centerline is valid? [True, True] Translation: X:303.55, Y:116.65, Z:29.77 [[ 6.54809127e-01 -7.52944412e-01 -6.55722496e-02 3.03548043e+02] [ 7.48746535e-01 6.58077607e-01 -7.94511785e-02 1.16650924e+02] [ 1.02973950e-01 2.92836207e-03 9.94679743e-01 2.97657806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517105681 meters 0.031077520967370823 Centerline is valid? [True, True] Translation: X:303.58, Y:116.70, Z:29.76 [[ 6.60205990e-01 -7.47783386e-01 -7.03424387e-02 3.03581061e+02] [ 7.42917526e-01 6.63930528e-01 -8.52631447e-02 1.16700211e+02] [ 1.10460856e-01 4.03260828e-03 9.93872294e-01 2.97631731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577105681 meters 0.03659880399254872 Centerline is valid? [True, True] Translation: X:303.61, Y:116.75, Z:29.76 [[ 6.66615852e-01 -7.41768649e-01 -7.35022291e-02 3.03610379e+02] [ 7.36410285e-01 6.70634870e-01 -8.91558316e-02 1.16752439e+02] [ 1.15426159e-01 5.30489311e-03 9.93301898e-01 2.97626463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637105681 meters 0.03910360239497318 Centerline is valid? [True, True] Translation: X:303.65, Y:116.80, Z:29.77 [[ 6.71147058e-01 -7.37708531e-01 -7.31283102e-02 3.03646566e+02] [ 7.32373838e-01 6.75092546e-01 -8.87615647e-02 1.16797752e+02] [ 1.14848541e-01 6.01480174e-03 9.93364805e-01 2.97722027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697105681 meters 0.038101491879691134 Centerline is valid? [True, True] Translation: X:303.69, Y:116.84, Z:29.78 [[ 6.68784884e-01 -7.40059062e-01 -7.09884792e-02 3.03687933e+02] [ 7.35039647e-01 6.72519520e-01 -8.62218826e-02 1.16838807e+02] [ 1.11550423e-01 5.48454503e-03 9.93743640e-01 2.97828263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757105681 meters 0.031295472480446056 Centerline is valid? [True, True] Translation: X:303.74, Y:116.87, Z:29.80 [[ 6.60877975e-01 -7.47493871e-01 -6.70314456e-02 3.03736328e+02] [ 7.43052508e-01 6.64256483e-01 -8.14634578e-02 1.16873829e+02] [ 1.05419508e-01 4.02952125e-03 9.94419675e-01 2.97970506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817105681 meters 0.027626000530657904 Centerline is valid? [True, True] Translation: X:303.79, Y:116.91, Z:29.80 [[ 6.52900141e-01 -7.54353922e-01 -6.83488584e-02 3.03785482e+02] [ 7.49768713e-01 6.56461039e-01 -8.31010299e-02 1.16908795e+02] [ 1.07555950e-01 3.01083848e-03 9.94194474e-01 2.98012086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877105681 meters 0.025180753188392888 Centerline is valid? [True, True] Translation: X:303.83, Y:116.95, Z:29.80 [[ 6.46414547e-01 -7.59905375e-01 -6.84985721e-02 3.03829505e+02] [ 7.55324437e-01 6.50030204e-01 -8.33410458e-02 1.16947158e+02] [ 1.07857450e-01 2.13421897e-03 9.94164079e-01 2.98047125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93710568099993 meters 0.022423278355973957 Centerline is valid? [True, True] Translation: X:303.88, Y:116.98, Z:29.81 [[ 6.39039279e-01 -7.66242610e-01 -6.70899548e-02 3.03876023e+02] [ 7.61876786e-01 6.42550451e-01 -8.16864807e-02 1.16982324e+02] [ 1.05700343e-01 1.08659059e-03 9.94397434e-01 2.98142983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99710568099994 meters 0.021047376972528703 Centerline is valid? [True, True] Translation: X:303.92, Y:117.02, Z:29.82 [[ 6.30552958e-01 -7.73130330e-01 -6.83553921e-02 3.03922709e+02] [ 7.68630775e-01 6.34247185e-01 -8.32900902e-02 1.17019749e+02] [ 1.07748310e-01 -2.12452925e-05 9.94178204e-01 2.98159166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05710568099994 meters 0.02126414467602858 Centerline is valid? [True, True] Translation: X:303.96, Y:117.06, Z:29.83 [[ 6.23772609e-01 -7.78761693e-01 -6.66179957e-02 3.03961358e+02] [ 7.74513882e-01 6.27319192e-01 -8.12334745e-02 1.17062002e+02] [ 1.05052265e-01 -9.25346163e-04 9.94466272e-01 2.98253673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11710568099994 meters 0.020935086380894818 Centerline is valid? [True, True] Translation: X:303.99, Y:117.11, Z:29.84 [[ 6.23599111e-01 -7.79099270e-01 -6.42532155e-02 3.03992208e+02] [ 7.75144306e-01 6.26899911e-01 -7.84079492e-02 1.17112051e+02] [ 1.01367911e-01 -9.10386749e-04 9.94848590e-01 2.98379014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17710568099994 meters 0.021242839746888474 Centerline is valid? [True, True] Translation: X:304.02, Y:117.16, Z:29.84 [[ 6.21709662e-01 -7.80527677e-01 -6.52199467e-02 3.04022624e+02] [ 7.76454635e-01 6.25120211e-01 -7.96424672e-02 1.17163229e+02] [ 1.02933457e-01 -1.12583849e-03 9.94687607e-01 2.98390970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23710568099995 meters 0.023616911472207406 Centerline is valid? [True, True] Translation: X:304.06, Y:117.21, Z:29.84 [[ 6.14043193e-01 -7.86551854e-01 -6.54762365e-02 3.04056568e+02] [ 7.82474670e-01 6.17520651e-01 -8.00102265e-02 1.17211703e+02] [ 1.03365120e-01 -2.10376160e-03 9.94641255e-01 2.98421670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29710568099995 meters 0.027519728354107723 Centerline is valid? [True, True] Translation: X:304.09, Y:117.26, Z:29.85 [[ 6.06213810e-01 -7.92742416e-01 -6.37516928e-02 3.04094392e+02] [ 7.88906036e-01 6.09549212e-01 -7.79552785e-02 1.17255602e+02] [ 1.00658250e-01 -3.03652887e-03 9.94916427e-01 2.98528170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35710568099995 meters 0.03062455466811075 Centerline is valid? [True, True] Translation: X:304.12, Y:117.31, Z:29.86 [[ 6.00226256e-01 -7.97284436e-01 -6.37649593e-02 3.04123530e+02] [ 7.93465961e-01 6.03592068e-01 -7.80280998e-02 1.17306972e+02] [ 1.00698613e-01 -3.76081049e-03 9.94909868e-01 2.98587220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41710568099995 meters 0.02897697045397454 Centerline is valid? [True, True] Translation: X:304.15, Y:117.36, Z:29.86 [[ 6.03337369e-01 -7.94951161e-01 -6.35348066e-02 3.04148210e+02] [ 7.91141951e-01 6.06664317e-01 -7.77998727e-02 1.17360509e+02] [ 1.00391399e-01 -3.32548041e-03 9.94942465e-01 2.98629579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47710568099995 meters 0.024673317011760038 Centerline is valid? [True, True] Translation: X:304.17, Y:117.42, Z:29.87 [[ 6.08842018e-01 -7.90686892e-01 -6.42311100e-02 3.04167037e+02] [ 7.86766656e-01 6.12215095e-01 -7.86823076e-02 1.17420560e+02] [ 1.01536324e-01 -2.62980075e-03 9.94828357e-01 2.98667356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53710568099996 meters 0.020869113074447772 Centerline is valid? [True, True] Translation: X:304.18, Y:117.48, Z:29.87 [[ 6.17039686e-01 -7.84382675e-01 -6.32917447e-02 3.04183239e+02] [ 7.80539599e-01 6.20275298e-01 -7.75660311e-02 1.17482515e+02] [ 1.00099757e-01 -1.54039355e-03 9.94976214e-01 2.98723807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59710568099996 meters 0.018597267129700088 Centerline is valid? [True, True] Translation: X:304.20, Y:117.55, Z:29.88 [[ 6.27140922e-01 -7.76393584e-01 -6.25081388e-02 3.04198723e+02] [ 7.72599626e-01 6.30248329e-01 -7.66606918e-02 1.17546023e+02] [ 9.89145193e-02 -2.16707749e-04 9.95095910e-01 2.98783121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65710568099996 meters 0.02021007238764951 Centerline is valid? [True, True] Translation: X:304.22, Y:117.61, Z:29.88 [[ 6.37851805e-01 -7.67475371e-01 -6.42388514e-02 3.04217116e+02] [ 7.63416482e-01 6.41077222e-01 -7.88369872e-02 1.17606884e+02] [ 1.01687510e-01 1.24531669e-03 9.94815611e-01 2.98784149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71710568099996 meters 0.02327930400830716 Centerline is valid? [True, True] Translation: X:304.24, Y:117.66, Z:29.89 [[ 6.44873541e-01 -7.61793559e-01 -6.17145766e-02 3.04241036e+02] [ 7.58016884e-01 6.47816475e-01 -7.57906186e-02 1.17662637e+02] [ 9.77165246e-02 2.09467353e-03 9.95212085e-01 2.98868492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77710568099997 meters 0.023486334633091265 Centerline is valid? [True, True] Translation: X:304.28, Y:117.71, Z:29.89 [[ 6.44326463e-01 -7.62181505e-01 -6.26319524e-02 3.04278574e+02] [ 7.58287801e-01 6.47359973e-01 -7.69719183e-02 1.17707265e+02] [ 9.92119916e-02 2.10199845e-03 9.95064100e-01 2.98877233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83710568099997 meters 0.020912545969446684 Centerline is valid? [True, True] Translation: X:304.32, Y:117.75, Z:29.89 [[ 6.38961993e-01 -7.66868218e-01 -6.03382777e-02 3.04321910e+02] [ 7.63270507e-01 6.41803149e-01 -7.42081583e-02 1.17747981e+02] [ 9.56331748e-02 1.36176494e-03 9.95415713e-01 2.98943403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89710568099997 meters 0.019151390881645705 Centerline is valid? [True, True] Translation: X:304.37, Y:117.78, Z:29.90 [[ 6.31549436e-01 -7.73053364e-01 -5.94458218e-02 3.04370347e+02] [ 7.69584196e-01 6.34340832e-01 -7.31565050e-02 1.17783358e+02] [ 9.42627943e-02 4.53384501e-04 9.95547247e-01 2.98993455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.957105681 meters 0.01879490741698484 Centerline is valid? [True, True] Translation: X:304.42, Y:117.82, Z:29.90 [[ 6.26074297e-01 -7.77512351e-01 -5.92074172e-02 3.04416243e+02] [ 7.74086091e-01 6.28867642e-01 -7.29123679e-02 1.17820408e+02] [ 9.39238953e-02 -1.83078617e-04 9.95579363e-01 2.99039916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017105681 meters 0.019871637570378096 Centerline is valid? [True, True] Translation: X:304.46, Y:117.86, Z:29.90 [[ 6.18789933e-01 -7.83154901e-01 -6.13793075e-02 3.04461392e+02] [ 7.79493622e-01 6.21825803e-01 -7.56463145e-02 1.17859801e+02] [ 9.74100190e-02 -1.03560082e-03 9.95243797e-01 2.99033663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077105681 meters 0.02103471169218207 Centerline is valid? [True, True] Translation: X:304.50, Y:117.90, Z:29.91 [[ 6.16830669e-01 -7.84697655e-01 -6.13963807e-02 3.04502679e+02] [ 7.81037095e-01 6.19877432e-01 -7.57167403e-02 1.17900635e+02] [ 9.74729794e-02 -1.24844327e-03 9.95237389e-01 2.99075088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137105681 meters 0.019543188525194335 Centerline is valid? [True, True] Translation: X:304.53, Y:117.95, Z:29.92 [[ 6.22035674e-01 -7.80663757e-01 -6.02969119e-02 3.04531374e+02] [ 7.77111722e-01 6.24951002e-01 -7.43882853e-02 1.17952447e+02] [ 9.57548539e-02 -5.85269832e-04 9.95404775e-01 2.99157652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197105681 meters 0.02063050908002868 Centerline is valid? [True, True] Translation: X:304.55, Y:118.01, Z:29.92 [[ 6.33602810e-01 -7.71486226e-01 -5.79351448e-02 3.04554433e+02] [ 7.68164329e-01 6.36245505e-01 -7.15207690e-02 1.18006412e+02] [ 9.20382636e-02 8.12048569e-04 9.95755140e-01 2.99246285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257105681 meters 0.02374539878611717 Centerline is valid? [True, True] Translation: X:304.58, Y:118.06, Z:29.93 [[ 6.42125917e-01 -7.64438384e-01 -5.75175149e-02 3.04584852e+02] [ 7.61132881e-01 6.44694182e-01 -7.10362552e-02 1.18057108e+02] [ 9.13840473e-02 1.83574861e-03 9.95814032e-01 2.99292994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317105681 meters 0.026166661381974196 Centerline is valid? [True, True] Translation: X:304.62, Y:118.10, Z:29.93 [[ 6.46455074e-01 -7.60797531e-01 -5.72970726e-02 3.04621059e+02] [ 7.57500697e-01 6.48985015e-01 -7.07894394e-02 1.18103069e+02] [ 9.10413722e-02 2.35961982e-03 9.95844316e-01 2.99329888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377105681 meters 0.029786809038634468 Centerline is valid? [True, True] Translation: X:304.66, Y:118.15, Z:29.93 [[ 6.51364774e-01 -7.56192986e-01 -6.24187403e-02 3.04657947e+02] [ 7.52253767e-01 6.54340329e-01 -7.71557152e-02 1.18149896e+02] [ 9.91877097e-02 3.30178241e-03 9.95063263e-01 2.99268230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43710568099993 meters 0.03479230328391793 Centerline is valid? [True, True] Translation: X:304.69, Y:118.20, Z:29.93 [[ 6.60478782e-01 -7.48162375e-01 -6.34100948e-02 3.04694313e+02] [ 7.44053729e-01 6.63499560e-01 -7.84371218e-02 1.18195810e+02] [ 1.00756273e-01 4.62553714e-03 9.94900386e-01 2.99311220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49710568099994 meters 0.04251014241970742 Centerline is valid? [True, True] Translation: X:304.73, Y:118.24, Z:29.94 [[ 6.68469133e-01 -7.41222203e-01 -6.11446201e-02 3.04728798e+02] [ 7.37368822e-01 6.71237168e-01 -7.56827877e-02 1.18241233e+02] [ 9.71403043e-02 5.50547100e-03 9.95255470e-01 2.99372871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55710568099994 meters 0.04187727817327236 Centerline is valid? [True, True] Translation: X:304.78, Y:118.28, Z:29.94 [[ 6.68849011e-01 -7.40772699e-01 -6.24244240e-02 3.04776202e+02] [ 7.36751430e-01 6.71731536e-01 -7.72921384e-02 1.18278581e+02] [ 9.91883602e-02 5.70548673e-03 9.95052319e-01 2.99381638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61710568099994 meters 0.039861130485005315 Centerline is valid? [True, True] Translation: X:304.83, Y:118.31, Z:29.94 [[ 6.65268986e-01 -7.43896137e-01 -6.35272627e-02 3.04828507e+02] [ 7.39739708e-01 6.68273667e-01 -7.87113094e-02 1.18311832e+02] [ 1.01006636e-01 5.37055432e-03 9.94871256e-01 2.99415145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67710568099994 meters 0.0348503751754701 Centerline is valid? [True, True] Translation: X:304.88, Y:118.34, Z:29.95 [[ 6.56143737e-01 -7.52073951e-01 -6.21302568e-02 3.04882837e+02] [ 7.48129803e-01 6.59066220e-01 -7.70293187e-02 1.18343223e+02] [ 9.88796976e-02 4.06080830e-03 9.95091109e-01 2.99493391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73710568099995 meters 0.02603959143983692 Centerline is valid? [True, True] Translation: X:304.95, Y:118.37, Z:29.96 [[ 6.39853829e-01 -7.66056677e-01 -6.11902293e-02 3.04947555e+02] [ 7.62290381e-01 6.42770173e-01 -7.58938695e-02 1.18365362e+02] [ 9.74702598e-02 1.91625973e-03 9.95236593e-01 2.99554639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79710568099995 meters 0.023631673935017024 Centerline is valid? [True, True] Translation: X:305.00, Y:118.40, Z:29.96 [[ 6.33893957e-01 -7.70952384e-01 -6.17322664e-02 3.04997195e+02] [ 7.67136508e-01 6.36891633e-01 -7.66200067e-02 1.18399983e+02] [ 9.83871408e-02 1.21188388e-03 9.95147477e-01 2.99601742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85710568099995 meters 0.023734479560210915 Centerline is valid? [True, True] Translation: X:305.04, Y:118.44, Z:29.96 [[ 6.32202718e-01 -7.72316824e-01 -6.20197318e-02 3.05035331e+02] [ 7.68466356e-01 6.35236683e-01 -7.70312604e-02 1.18442762e+02] [ 9.88897471e-02 1.03929485e-03 9.95097853e-01 2.99631952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91710568099995 meters 0.025031034861327836 Centerline is valid? [True, True] Translation: X:305.07, Y:118.49, Z:29.97 [[ 6.34702846e-01 -7.70225877e-01 -6.24851640e-02 3.05071163e+02] [ 7.66302076e-01 6.37769641e-01 -7.76596010e-02 1.18488140e+02] [ 9.96665749e-02 1.40825889e-03 9.95019895e-01 2.99668400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97710568099995 meters 0.026931800078240215 Centerline is valid? [True, True] Translation: X:305.10, Y:118.54, Z:29.98 [[ 6.41401075e-01 -7.64844142e-01 -6.01506378e-02 3.05103274e+02] [ 7.61180429e-01 6.44211629e-01 -7.48046234e-02 1.18536035e+02] [ 9.59636184e-02 2.19427763e-03 9.95382424e-01 2.99791975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03710568099996 meters 0.03009489675798942 Centerline is valid? [True, True] Translation: X:305.13, Y:118.59, Z:29.98 [[ 6.45134776e-01 -7.61617237e-01 -6.11580289e-02 3.05132018e+02] [ 7.57810005e-01 6.48021297e-01 -7.61077867e-02 1.18586666e+02] [ 9.75967074e-02 2.75361382e-03 9.95222237e-01 2.99800306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09710568099996 meters 0.0261013797789655 Centerline is valid? [True, True] Translation: X:305.18, Y:118.63, Z:29.99 [[ 6.38846627e-01 -7.67135029e-01 -5.81277421e-02 3.05175188e+02] [ 7.63717219e-01 6.41483041e-01 -7.23568717e-02 1.18626123e+02] [ 9.27954516e-02 1.83178591e-03 9.95683508e-01 2.99906340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15710568099996 meters 0.022277846746479056 Centerline is valid? [True, True] Translation: X:305.22, Y:118.66, Z:30.00 [[ 6.23668877e-01 -7.79583719e-01 -5.73267547e-02 3.05223714e+02] [ 7.76308047e-01 6.26298032e-01 -7.13904202e-02 1.18661595e+02] [ 9.15584429e-02 2.07622156e-05 9.95799704e-01 2.99961190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21710568099996 meters 0.023672261263736238 Centerline is valid? [True, True] Translation: X:305.27, Y:118.70, Z:30.00 [[ 6.12083625e-01 -7.88702861e-01 -5.74581021e-02 3.05266022e+02] [ 7.85446874e-01 6.14773210e-01 -7.16038271e-02 1.18701105e+02] [ 9.17978452e-02 -1.30275671e-03 9.95776812e-01 3.00001600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27710568099997 meters 0.02553808997518045 Centerline is valid? [True, True] Translation: X:305.30, Y:118.75, Z:30.00 [[ 6.07396065e-01 -7.92202979e-01 -5.90293208e-02 3.05302666e+02] [ 7.88777259e-01 6.10254890e-01 -7.36166107e-02 1.18747080e+02] [ 9.43422299e-02 -1.84654618e-03 9.95538113e-01 3.00024527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33710568099997 meters 0.024966732983732386 Centerline is valid? [True, True] Translation: X:305.33, Y:118.80, Z:30.00 [[ 6.08186221e-01 -7.91460712e-01 -6.08232115e-02 3.05326980e+02] [ 7.87814254e-01 6.11217533e-01 -7.59067124e-02 1.18800528e+02] [ 9.72533939e-02 -1.75197643e-03 9.95258111e-01 3.00028155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39710568099997 meters 0.021030788785076405 Centerline is valid? [True, True] Translation: X:305.34, Y:118.87, Z:30.01 [[ 6.19712443e-01 -7.82482537e-01 -6.06429504e-02 3.05335920e+02] [ 7.78808705e-01 6.22672460e-01 -7.57364390e-02 1.18866294e+02] [ 9.70231361e-02 -2.94443987e-04 9.95282083e-01 3.00072065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.457105681 meters 0.022144214830734883 Centerline is valid? [True, True] Translation: X:305.35, Y:118.93, Z:30.01 [[ 6.30966866e-01 -7.73389713e-01 -6.12304289e-02 3.05352919e+02] [ 7.69597709e-01 6.33929836e-01 -7.65005166e-02 1.18927980e+02] [ 9.79805083e-02 1.14649347e-03 9.95187674e-01 3.00115555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517105681 meters 0.027270414281352535 Centerline is valid? [True, True] Translation: X:305.37, Y:118.99, Z:30.02 [[ 6.42350087e-01 -7.64062266e-01 -5.99601426e-02 3.05371650e+02] [ 7.60380284e-01 6.45137426e-01 -7.49635007e-02 1.18987804e+02] [ 9.59593143e-02 2.56030099e-03 9.95381964e-01 3.00182341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577105681 meters 0.03219477882538511 Centerline is valid? [True, True] Translation: X:305.40, Y:119.04, Z:30.02 [[ 6.51996222e-01 -7.55831287e-01 -6.01663664e-02 3.05397648e+02] [ 7.52083272e-01 6.54755224e-01 -7.52751505e-02 1.19041817e+02] [ 9.62895566e-02 3.82899608e-03 9.95346000e-01 3.00230569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.637105681 meters 0.03766312635854377 Centerline is valid? [True, True] Translation: X:305.43, Y:119.09, Z:30.03 [[ 6.56717297e-01 -7.51764757e-01 -5.97674025e-02 3.05426024e+02] [ 7.48044618e-01 6.59416492e-01 -7.48273946e-02 1.19093206e+02] [ 9.56642089e-02 4.43176056e-03 9.95403797e-01 3.00276098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697105681 meters 0.03375808007830557 Centerline is valid? [True, True] Translation: X:305.47, Y:119.13, Z:30.03 [[ 6.53166291e-01 -7.54976873e-01 -5.81697248e-02 3.05468390e+02] [ 7.51461419e-01 6.55739891e-01 -7.28761412e-02 1.19133622e+02] [ 9.31640102e-02 3.88793494e-03 9.95643185e-01 3.00329931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757105681 meters 0.0305272262256875 Centerline is valid? [True, True] Translation: X:305.51, Y:119.17, Z:30.04 [[ 6.49528994e-01 -7.58120325e-01 -5.80142966e-02 3.05513757e+02] [ 7.54631357e-01 6.52105503e-01 -7.27318926e-02 1.19173071e+02] [ 9.29709681e-02 3.46206568e-03 9.95662801e-01 3.00374927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817105681 meters 0.029309645264032323 Centerline is valid? [True, True] Translation: X:305.56, Y:119.21, Z:30.04 [[ 6.46334979e-01 -7.60950859e-01 -5.66116998e-02 3.05558206e+02] [ 7.57635638e-01 6.48802534e-01 -7.10176886e-02 1.19210990e+02] [ 9.07707854e-02 3.01017501e-03 9.95867262e-01 3.00445276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877105681 meters 0.0275663891891388 Centerline is valid? [True, True] Translation: X:305.60, Y:119.25, Z:30.05 [[ 6.41586367e-01 -7.65059168e-01 -5.52394988e-02 3.05601122e+02] [ 7.61916631e-01 6.43955584e-01 -6.93127220e-02 1.19249733e+02] [ 8.86001171e-02 2.38220470e-03 9.96064428e-01 3.00509174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93710568099993 meters 0.02284044059159804 Centerline is valid? [True, True] Translation: X:305.66, Y:119.28, Z:30.06 [[ 6.30970561e-01 -7.73889729e-01 -5.45053941e-02 3.05655516e+02] [ 7.70860940e-01 6.33319324e-01 -6.84108512e-02 1.19281620e+02] [ 8.74617745e-02 1.14915379e-03 9.96167214e-01 3.00555675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99710568099994 meters 0.021352310184632715 Centerline is valid? [True, True] Translation: X:305.71, Y:119.31, Z:30.06 [[ 6.16343850e-01 -7.85523600e-01 -5.54340353e-02 3.05710276e+02] [ 7.82431973e-01 6.18831530e-01 -6.96257447e-02 1.19313008e+02] [ 8.89969945e-02 -4.59962104e-04 9.96031788e-01 3.00576596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05710568099994 meters 0.022916658430078146 Centerline is valid? [True, True] Translation: X:305.76, Y:119.35, Z:30.06 [[ 6.08194915e-01 -7.91886971e-01 -5.48996394e-02 3.05755151e+02] [ 7.88876149e-01 6.10666211e-01 -6.90014510e-02 1.19352099e+02] [ 8.81667049e-02 -1.34268452e-03 9.96104828e-01 3.00638900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11710568099994 meters 0.02155278844666952 Centerline is valid? [True, True] Translation: X:305.78, Y:119.40, Z:30.07 [[ 6.15115567e-01 -7.86513596e-01 -5.50381858e-02 3.05784324e+02] [ 7.83461496e-01 6.17572726e-01 -6.92243625e-02 1.19404333e+02] [ 8.84359848e-02 -5.39316349e-04 9.96081716e-01 3.00698516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17710568099994 meters 0.02319155214714077 Centerline is valid? [True, True] Translation: X:305.80, Y:119.47, Z:30.07 [[ 6.30236322e-01 -7.74276058e-01 -5.74348826e-02 3.05801533e+02] [ 7.70895175e-01 6.32846696e-01 -7.22889236e-02 1.19465225e+02] [ 9.23190584e-02 1.28283143e-03 9.95728651e-01 3.00686302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23710568099995 meters 0.029175648444798925 Centerline is valid? [True, True] Translation: X:305.83, Y:119.52, Z:30.07 [[ 6.43228324e-01 -7.63539258e-01 -5.71412616e-02 3.05827015e+02] [ 7.60145965e-01 6.45755114e-01 -7.19614120e-02 1.19519196e+02] [ 9.18446250e-02 2.85191901e-03 9.95769266e-01 3.00739514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29710568099995 meters 0.032608876935917165 Centerline is valid? [True, True] Translation: X:305.86, Y:119.57, Z:30.08 [[ 6.51360363e-01 -7.56676861e-01 -5.63010325e-02 3.05855141e+02] [ 7.53352500e-01 6.53778003e-01 -7.09530315e-02 1.19572348e+02] [ 9.04968937e-02 3.80146874e-03 9.95889482e-01 3.00769208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35710568099995 meters 0.0360913931596577 Centerline is valid? [True, True] Translation: X:305.89, Y:119.62, Z:30.08 [[ 6.53909336e-01 -7.54499973e-01 -5.59675980e-02 3.05888441e+02] [ 7.51202487e-01 6.56287197e-01 -7.05828563e-02 1.19619547e+02] [ 8.99855811e-02 4.11178985e-03 9.95934580e-01 3.00817086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41710568099995 meters 0.03499591499650245 Centerline is valid? [True, True] Translation: X:305.93, Y:119.66, Z:30.08 [[ 6.51818802e-01 -7.56155388e-01 -5.79765341e-02 3.05926794e+02] [ 7.52618554e-01 6.54379547e-01 -7.31622875e-02 1.19664993e+02] [ 9.32607161e-02 4.05433929e-03 9.95633467e-01 3.00825409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47710568099995 meters 0.03162768041535437 Centerline is valid? [True, True] Translation: X:305.97, Y:119.71, Z:30.09 [[ 6.46769502e-01 -7.60562770e-01 -5.68637235e-02 3.05969682e+02] [ 7.57173483e-01 6.49255592e-01 -7.18017592e-02 1.19705450e+02] [ 9.15288354e-02 3.38348450e-03 9.95796678e-01 3.00874142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53710568099996 meters 0.025500841937159485 Centerline is valid? [True, True] Translation: X:306.02, Y:119.74, Z:30.10 [[ 6.35856320e-01 -7.69925462e-01 -5.38657921e-02 3.06018255e+02] [ 7.66913849e-01 6.38130799e-01 -6.80605040e-02 1.19741167e+02] [ 8.67749359e-02 1.96627967e-03 9.96226001e-01 3.00981828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59710568099996 meters 0.02178941367048992 Centerline is valid? [True, True] Translation: X:306.07, Y:119.78, Z:30.10 [[ 6.23118536e-01 -7.80153463e-01 -5.55325526e-02 3.06069338e+02] [ 7.76987152e-01 6.25587888e-01 -7.02193727e-02 1.19776093e+02] [ 8.95223791e-02 6.06912860e-04 9.95984626e-01 3.01001075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65710568099996 meters 0.02094877939505708 Centerline is valid? [True, True] Translation: X:306.11, Y:119.82, Z:30.10 [[ 6.16805160e-01 -7.84971857e-01 -5.80566763e-02 3.06109659e+02] [ 7.81528574e-01 6.19531418e-01 -7.34432495e-02 1.19817079e+02] [ 9.36188190e-02 -7.27761402e-05 9.95608111e-01 3.00982387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71710568099996 meters 0.021016736714960266 Centerline is valid? [True, True] Translation: X:306.14, Y:119.87, Z:30.10 [[ 6.19109205e-01 -7.83098246e-01 -5.88296680e-02 3.06141863e+02] [ 7.79548885e-01 6.21897963e-01 -7.44745512e-02 1.19866031e+02] [ 9.49069411e-02 2.47278076e-04 9.95486118e-01 3.01021249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77710568099997 meters 0.02140301897545601 Centerline is valid? [True, True] Translation: X:306.17, Y:119.91, Z:30.11 [[ 6.21177582e-01 -7.81620474e-01 -5.66378598e-02 3.06172464e+02] [ 7.78320166e-01 6.23754115e-01 -7.17532072e-02 1.19913750e+02] [ 9.14118739e-02 4.89095293e-04 9.95813050e-01 3.01116332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.83710568099997 meters 0.02128508973581146 Centerline is valid? [True, True] Translation: X:306.21, Y:119.96, Z:30.12 [[ 6.17323644e-01 -7.84817966e-01 -5.45186075e-02 3.06205687e+02] [ 7.81769783e-01 6.19726358e-01 -6.91031697e-02 1.19959304e+02] [ 8.80200272e-02 3.80205441e-05 9.96118704e-01 3.01206659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.89710568099997 meters 0.021863842820074763 Centerline is valid? [True, True] Translation: X:306.24, Y:120.01, Z:30.13 [[ 6.09765158e-01 -7.90826513e-01 -5.27245455e-02 3.06240696e+02] [ 7.87994632e-01 6.12039893e-01 -6.68702419e-02 1.20005599e+02] [ 8.51522854e-02 -7.71515180e-04 9.96367650e-01 3.01284748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.957105681 meters 0.022974349992694564 Centerline is valid? [True, True] Translation: X:306.27, Y:120.05, Z:30.13 [[ 6.05357453e-01 -7.94199481e-01 -5.28160765e-02 3.06274210e+02] [ 7.91366336e-01 6.07655908e-01 -6.70344681e-02 1.20052290e+02] [ 8.53327407e-02 -1.21705001e-03 9.96351766e-01 3.01336100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.017105681 meters 0.022639878764621084 Centerline is valid? [True, True] Translation: X:306.30, Y:120.11, Z:30.13 [[ 6.04621553e-01 -7.94645886e-01 -5.45040597e-02 3.06299892e+02] [ 7.91627672e-01 6.07071837e-01 -6.92055842e-02 1.20105809e+02] [ 8.80818125e-02 -1.30373403e-03 9.96112391e-01 3.01344522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.077105681 meters 0.021819288094377828 Centerline is valid? [True, True] Translation: X:306.32, Y:120.16, Z:30.14 [[ 6.07797381e-01 -7.92273378e-01 -5.37144101e-02 3.06322535e+02] [ 7.89328134e-01 6.10165603e-01 -6.82571152e-02 1.20161832e+02] [ 8.68529806e-02 -9.11799223e-04 9.96220723e-01 3.01416870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.137105681 meters 0.02096613475250679 Centerline is valid? [True, True] Translation: X:306.34, Y:120.22, Z:30.15 [[ 6.14390466e-01 -7.87188095e-01 -5.34720368e-02 3.06341839e+02] [ 7.84245785e-01 6.16712962e-01 -6.79975821e-02 1.20220096e+02] [ 8.65037853e-02 -1.58153305e-04 9.96251509e-01 3.01484266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.197105681 meters 0.02115374079666896 Centerline is valid? [True, True] Translation: X:306.37, Y:120.27, Z:30.15 [[ 6.19132550e-01 -7.83414460e-01 -5.41910511e-02 3.06366647e+02] [ 7.80376338e-01 6.21499505e-01 -6.89284831e-02 1.20274757e+02] [ 8.76792818e-02 3.86453470e-04 9.96148681e-01 3.01520495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.257105681 meters 0.023966380282552754 Centerline is valid? [True, True] Translation: X:306.38, Y:120.34, Z:30.15 [[ 6.30519442e-01 -7.74123211e-01 -5.63780811e-02 3.06384149e+02] [ 7.70791282e-01 6.33032407e-01 -7.17688661e-02 1.20335674e+02] [ 9.12470975e-02 1.79593193e-03 9.95826663e-01 3.01510754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.317105681 meters 0.025816268369172116 Centerline is valid? [True, True] Translation: X:306.41, Y:120.39, Z:30.15 [[ 6.33943623e-01 -7.71177824e-01 -5.83116343e-02 3.06414312e+02] [ 7.67595592e-01 6.36615531e-01 -7.42810407e-02 1.20385415e+02] [ 9.44059833e-02 2.33023860e-03 9.95531054e-01 3.01502672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.377105681 meters 0.02641523058027348 Centerline is valid? [True, True] Translation: X:306.45, Y:120.43, Z:30.15 [[ 6.34504927e-01 -7.70514148e-01 -6.09216310e-02 3.06449641e+02] [ 7.66596895e-01 6.37417755e-01 -7.76389482e-02 1.20432280e+02] [ 9.86544373e-02 2.55996199e-03 9.95118460e-01 3.01497275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43710568099993 meters 0.026002740438533272 Centerline is valid? [True, True] Translation: X:306.49, Y:120.48, Z:30.15 [[ 6.34516440e-01 -7.70400970e-01 -6.22192240e-02 3.06487622e+02] [ 7.66311694e-01 6.37554180e-01 -7.93161737e-02 1.20476847e+02] [ 1.00773383e-01 2.64809731e-03 9.94905881e-01 3.01535362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49710568099994 meters 0.026089354232977768 Centerline is valid? [True, True] Translation: X:306.53, Y:120.52, Z:30.17 [[ 6.34195021e-01 -7.70871158e-01 -5.96182277e-02 3.06526566e+02] [ 7.67114637e-01 6.36986203e-01 -7.60507139e-02 1.20520560e+02] [ 9.66012904e-02 2.49696897e-03 9.95320027e-01 3.01653658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55710568099994 meters 0.02269760479808773 Centerline is valid? [True, True] Translation: X:306.57, Y:120.56, Z:30.18 [[ 6.27937468e-01 -7.76192160e-01 -5.67473990e-02 3.06574736e+02] [ 7.72806862e-01 6.30494314e-01 -7.24325465e-02 1.20555910e+02] [ 9.20004871e-02 1.62833048e-03 9.95757631e-01 3.01785023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61710568099994 meters 0.01996261344004741 Centerline is valid? [True, True] Translation: X:306.63, Y:120.59, Z:30.19 [[ 6.16349885e-01 -7.85616300e-01 -5.40356229e-02 3.06626708e+02] [ 7.82578461e-01 6.18713960e-01 -6.90216522e-02 1.20589140e+02] [ 8.76571293e-02 2.54372744e-04 9.96150673e-01 3.01890357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67710568099994 meters 0.020891987617226326 Centerline is valid? [True, True] Translation: X:306.67, Y:120.63, Z:30.19 [[ 6.04415137e-01 -7.94789535e-01 -5.46986078e-02 3.06674437e+02] [ 7.91708824e-01 6.06884258e-01 -6.99187783e-02 1.20626507e+02] [ 8.87664373e-02 -1.04540243e-03 9.96051920e-01 3.01923075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73710568099995 meters 0.022666589758965912 Centerline is valid? [True, True] Translation: X:306.72, Y:120.67, Z:30.19 [[ 5.98189988e-01 -7.99265336e-01 -5.78243941e-02 3.06717963e+02] [ 7.95837196e-01 6.00975694e-01 -7.39687251e-02 1.20667484e+02] [ 9.38716933e-02 -1.77145286e-03 9.95582727e-01 3.01913073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79710568099995 meters 0.024237848019418147 Centerline is valid? [True, True] Translation: X:306.76, Y:120.71, Z:30.20 [[ 5.94926112e-01 -8.01808605e-01 -5.62661706e-02 3.06755462e+02] [ 7.98569872e-01 5.97577293e-01 -7.20245633e-02 1.20711633e+02] [ 9.13733006e-02 -2.08317518e-03 9.95814531e-01 3.01987300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85710568099995 meters 0.025043949561451673 Centerline is valid? [True, True] Translation: X:306.79, Y:120.76, Z:30.20 [[ 5.93249122e-01 -8.03103443e-01 -5.55008020e-02 3.06787101e+02] [ 7.99954794e-01 5.95835454e-01 -7.10805072e-02 1.20761554e+02] [ 9.01543456e-02 -2.22968415e-03 9.95925310e-01 3.02049149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91710568099995 meters 0.026999486073416786 Centerline is valid? [True, True] Translation: X:306.82, Y:120.81, Z:30.21 [[ 5.87511702e-01 -8.07283971e-01 -5.58801387e-02 3.06819060e+02] [ 8.04106202e-01 5.90156266e-01 -7.16156294e-02 1.20811035e+02] [ 9.07921637e-02 -2.85854576e-03 9.95865760e-01 3.02083952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97710568099995 meters 0.028884443060417035 Centerline is valid? [True, True] Translation: X:306.85, Y:120.86, Z:30.22 [[ 5.85157058e-01 -8.09106397e-01 -5.42038293e-02 3.06847435e+02] [ 8.06120307e-01 5.87654432e-01 -6.95148849e-02 1.20861041e+02] [ 8.80980586e-02 -3.01768200e-03 9.96107236e-01 3.02172798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03710568099996 meters 0.024943954673720403 Centerline is valid? [True, True] Translation: X:306.86, Y:120.92, Z:30.23 [[ 5.93317535e-01 -8.03176939e-01 -5.36759432e-02 3.06863481e+02] [ 8.00221496e-01 5.95736882e-01 -6.88703439e-02 1.20920189e+02] [ 8.72918111e-02 -2.09066092e-03 9.96180590e-01 3.02250619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09710568099996 meters 0.01964964332169953 Centerline is valid? [True, True] Translation: X:306.87, Y:120.99, Z:30.23 [[ 6.06206429e-01 -7.93406517e-01 -5.49532912e-02 3.06874933e+02] [ 7.90265403e-01 6.08691753e-01 -7.05332725e-02 1.20986117e+02] [ 8.94111732e-02 -6.69961623e-04 9.95994575e-01 3.02269209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15710568099996 meters 0.019980791901662277 Centerline is valid? [True, True] Translation: X:306.89, Y:121.05, Z:30.23 [[ 6.19035972e-01 -7.83251768e-01 -5.75424454e-02 3.06887579e+02] [ 7.79759414e-01 6.21704038e-01 -7.38873850e-02 1.21050854e+02] [ 9.36467957e-02 8.69685672e-04 9.95605103e-01 3.02275254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21710568099996 meters 0.023515239247625996 Centerline is valid? [True, True] Translation: X:306.91, Y:121.11, Z:30.23 [[ 6.28611722e-01 -7.75508501e-01 -5.85992201e-02 3.06907451e+02] [ 7.71847293e-01 6.31333623e-01 -7.52968360e-02 1.21109274e+02] [ 9.53889943e-02 2.10282436e-03 9.95437852e-01 3.02334585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27710568099997 meters 0.02502444050682688 Centerline is valid? [True, True] Translation: X:306.94, Y:121.16, Z:30.24 [[ 6.31021680e-01 -7.73543844e-01 -5.86648193e-02 3.06935432e+02] [ 7.69860774e-01 6.33738101e-01 -7.54347877e-02 1.21160622e+02] [ 9.55302469e-02 2.43724322e-03 9.95423544e-01 3.02363580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.33710568099997 meters 0.02539997351445454 Centerline is valid? [True, True] Translation: X:306.97, Y:121.20, Z:30.23 [[ 6.29339872e-01 -7.74726513e-01 -6.10749980e-02 3.06972998e+02] [ 7.70736232e-01 6.32292027e-01 -7.85649611e-02 1.21204732e+02] [ 9.94835927e-02 2.37134874e-03 9.95036377e-01 3.02332743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.39710568099997 meters 0.021419445456075385 Centerline is valid? [True, True] Translation: X:307.02, Y:121.24, Z:30.24 [[ 6.23464003e-01 -7.79408926e-01 -6.17605250e-02 3.07020020e+02] [ 7.75347341e-01 6.26513320e-01 -7.94830892e-02 1.21243088e+02] [ 1.00643621e-01 1.66898620e-03 9.94921141e-01 3.02384230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.457105681 meters 0.019575601353933384 Centerline is valid? [True, True] Translation: X:307.07, Y:121.28, Z:30.24 [[ 6.18021718e-01 -7.83737781e-01 -6.16785789e-02 3.07066548e+02] [ 7.79702988e-01 6.21091051e-01 -7.94301990e-02 1.21280874e+02] [ 1.00560461e-01 9.98615682e-04 9.94930448e-01 3.02447006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.517105681 meters 0.018628176319958747 Centerline is valid? [True, True] Translation: X:307.11, Y:121.32, Z:30.25 [[ 6.13930881e-01 -7.87098461e-01 -5.97066659e-02 3.07110125e+02] [ 7.83328723e-01 6.16827199e-01 -7.69435978e-02 1.21320946e+02] [ 9.73908829e-02 4.68104445e-04 9.95246099e-01 3.02549311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.577105681 meters 0.018417096740598486 Centerline is valid? [True, True] Translation: X:307.15, Y:121.36, Z:30.26 [[ 6.10017208e-01 -7.90175557e-01 -5.91742721e-02 3.07152308e+02] [ 7.86482374e-01 6.12880566e-01 -7.63078457e-02 1.21360932e+02] [ 9.65633559e-02 9.57701824e-06 9.95326840e-01 3.02613931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.637105681 meters 0.018637750942873253 Centerline is valid? [True, True] Translation: X:307.19, Y:121.40, Z:30.26 [[ 6.05847898e-01 -7.93328696e-01 -5.98155897e-02 3.07194738e+02] [ 7.89567894e-01 6.08793353e-01 -7.71569511e-02 1.21402728e+02] [ 9.76261569e-02 -4.83092581e-04 9.95223040e-01 3.02643693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.697105681 meters 0.018542205019390946 Centerline is valid? [True, True] Translation: X:307.23, Y:121.45, Z:30.27 [[ 6.06650645e-01 -7.92644315e-01 -6.07452353e-02 3.07230272e+02] [ 7.88756435e-01 6.09684238e-01 -7.84118389e-02 1.21447728e+02] [ 9.91881109e-02 -3.44602541e-04 9.95068641e-01 3.02699184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.757105681 meters 0.019170261522341817 Centerline is valid? [True, True] Translation: X:307.26, Y:121.50, Z:30.28 [[ 6.15213831e-01 -7.86085796e-01 -5.98419831e-02 3.07256119e+02] [ 7.82275910e-01 6.18116951e-01 -7.73035252e-02 1.21500313e+02] [ 9.77565473e-02 7.45256048e-04 9.95210079e-01 3.02804421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.817105681 meters 0.024111396463867896 Centerline is valid? [True, True] Translation: X:307.28, Y:121.55, Z:30.29 [[ 6.26672356e-01 -7.77047185e-01 -5.89867009e-02 3.07281292e+02] [ 7.73302161e-01 6.29438660e-01 -7.62282215e-02 1.21553840e+02] [ 9.63614348e-02 2.15557590e-03 9.95344075e-01 3.02866699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.877105681 meters 0.027000722052068465 Centerline is valid? [True, True] Translation: X:307.31, Y:121.60, Z:30.30 [[ 6.30594948e-01 -7.74082299e-01 -5.60946144e-02 3.07312561e+02] [ 7.70680044e-01 6.33079998e-01 -7.25395453e-02 1.21601683e+02] [ 9.16639563e-02 2.51207090e-03 9.95786829e-01 3.02967358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93710568099993 meters 0.02725207559607271 Centerline is valid? [True, True] Translation: X:307.35, Y:121.65, Z:30.30 [[ 6.32436655e-01 -7.72447065e-01 -5.78740784e-02 3.07349634e+02] [ 7.68815457e-01 6.35072734e-01 -7.48693255e-02 1.21647165e+02] [ 9.45868399e-02 2.85561973e-03 9.95512519e-01 3.02967976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99710568099994 meters 0.03079985771535996 Centerline is valid? [True, True] Translation: X:307.39, Y:121.69, Z:30.30 [[ 6.37555283e-01 -7.68078776e-01 -5.98185170e-02 3.07386608e+02] [ 7.64177164e-01 6.40345032e-01 -7.74047938e-02 1.21693065e+02] [ 9.77574694e-02 3.63789050e-03 9.95203619e-01 3.02959522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05710568099994 meters 0.03420127402535972 Centerline is valid? [True, True] Translation: X:307.42, Y:121.74, Z:30.30 [[ 6.42245455e-01 -7.64268627e-01 -5.84315107e-02 3.07421635e+02] [ 7.60527816e-01 6.44884742e-01 -7.56380258e-02 1.21739374e+02] [ 9.54893599e-02 4.13938906e-03 9.95421844e-01 3.03030312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11710568099994 meters 0.03502539633089963 Centerline is valid? [True, True] Translation: X:307.46, Y:121.78, Z:30.31 [[ 6.45244924e-01 -7.61789823e-01 -5.77516525e-02 3.07464852e+02] [ 7.58121101e-01 6.47808716e-01 -7.48081734e-02 1.21779916e+02] [ 9.44001291e-02 4.48684775e-03 9.95524226e-01 3.03088136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17710568099994 meters 0.03489008519273685 Centerline is valid? [True, True] Translation: X:307.51, Y:121.82, Z:30.31 [[ 6.43119668e-01 -7.63456016e-01 -5.94306772e-02 3.07510205e+02] [ 7.59574412e-01 6.45844926e-01 -7.70132729e-02 1.21819160e+02] [ 9.71792478e-02 4.38672880e-03 9.95257228e-01 3.03083421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23710568099995 meters 0.03325376937509631 Centerline is valid? [True, True] Translation: X:307.56, Y:121.86, Z:30.31 [[ 6.40917334e-01 -7.65238579e-01 -6.02900321e-02 3.07558712e+02] [ 7.61246126e-01 6.43733003e-01 -7.81802800e-02 1.21855446e+02] [ 9.86372498e-02 4.21154323e-03 9.95114544e-01 3.03141066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29710568099995 meters 0.032355554687803954 Centerline is valid? [True, True] Translation: X:307.61, Y:121.89, Z:30.31 [[ 6.38479552e-01 -7.67096807e-01 -6.25008127e-02 3.07607873e+02] [ 7.62808277e-01 6.41518214e-01 -8.11043319e-02 1.21891583e+02] [ 1.02310284e-01 4.10732014e-03 9.94744055e-01 3.03148835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35710568099995 meters 0.031844539972746735 Centerline is valid? [True, True] Translation: X:307.65, Y:121.93, Z:30.32 [[ 6.37155162e-01 -7.68228053e-01 -6.21205164e-02 3.07651135e+02] [ 7.63991454e-01 6.40164167e-01 -8.06653413e-02 1.21931829e+02] [ 1.01736707e-01 3.93679498e-03 9.94803571e-01 3.03195861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41710568099995 meters 0.02969354665875744 Centerline is valid? [True, True] Translation: X:307.70, Y:121.97, Z:30.33 [[ 6.33130016e-01 -7.71707651e-01 -6.01139216e-02 3.07697106e+02] [ 7.67751436e-01 6.35968866e-01 -7.81110341e-02 1.21969164e+02] [ 9.85094652e-02 3.30189067e-03 9.95130636e-01 3.03293675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47710568099995 meters 0.02497737202025439 Centerline is valid? [True, True] Translation: X:307.75, Y:122.00, Z:30.33 [[ 6.23142845e-01 -7.79760015e-01 -6.05583572e-02 3.07747978e+02] [ 7.75776918e-01 6.26075046e-01 -7.87414134e-02 1.22001565e+02] [ 9.93134819e-02 2.08737265e-03 9.95054006e-01 3.03347439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53710568099996 meters 0.020998102025763098 Centerline is valid? [True, True] Translation: X:307.79, Y:122.04, Z:30.34 [[ 6.13192536e-01 -7.87774342e-01 -5.83652249e-02 3.07794108e+02] [ 7.84106857e-01 6.15963434e-01 -7.59307895e-02 1.22038571e+02] [ 9.57671721e-02 7.95620336e-04 9.95403444e-01 3.03437688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59710568099996 meters 0.02016717198505617 Centerline is valid? [True, True] Translation: X:307.84, Y:122.08, Z:30.35 [[ 6.06459127e-01 -7.92949484e-01 -5.86382400e-02 3.07835338e+02] [ 7.89265882e-01 6.09287383e-01 -7.63429890e-02 1.22079336e+02] [ 9.62636736e-02 1.77402246e-05 9.95355868e-01 3.03465672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65710568099996 meters 0.020236113659922766 Centerline is valid? [True, True] Translation: X:307.88, Y:122.12, Z:30.35 [[ 6.02347833e-01 -7.96152079e-01 -5.76103830e-02 3.07875276e+02] [ 7.92607215e-01 6.05096404e-01 -7.50476159e-02 1.22121500e+02] [ 9.46091510e-02 -4.57636446e-04 9.95514389e-01 3.03539475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71710568099996 meters 0.022873828705305313 Centerline is valid? [True, True] Translation: X:307.91, Y:122.17, Z:30.36 [[ 5.92860290e-01 -8.03184202e-01 -5.84107306e-02 3.07913957e+02] [ 7.99568000e-01 5.95728719e-01 -7.61466144e-02 1.22165688e+02] [ 9.59567075e-02 -1.55904714e-03 9.95384287e-01 3.03558137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77710568099997 meters 0.0269942605165491 Centerline is valid? [True, True] Translation: X:307.95, Y:122.21, Z:30.36 [[ 5.82268731e-01 -8.10951977e-01 -5.76195831e-02 3.07952797e+02] [ 8.07465683e-01 5.85106211e-01 -7.51657606e-02 1.22209448e+02] [ 9.46693981e-02 -2.75916400e-03 9.95504943e-01 3.03626525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.83710568099997 meters 0.03398580392169111 Centerline is valid? [True, True] Translation: X:307.99, Y:122.25, Z:30.37 [[ 5.71609692e-01 -8.18436972e-01 -5.85088366e-02 3.07990895e+02] [ 8.14875135e-01 5.74582262e-01 -7.63789167e-02 1.22252594e+02] [ 9.61294690e-02 -4.01846715e-03 9.95360727e-01 3.03671119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.89710568099997 meters 0.03750331580220512 Centerline is valid? [True, True] Translation: X:308.02, Y:122.30, Z:30.37 [[ 5.65773493e-01 -8.22508822e-01 -5.81342581e-02 3.08018304e+02] [ 8.19009800e-01 5.68733315e-01 -7.59300004e-02 1.22304929e+02] [ 9.55159845e-02 -4.65334557e-03 9.95417020e-01 3.03724993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.957105681 meters 0.03321485822501123 Centerline is valid? [True, True] Translation: X:308.03, Y:122.37, Z:30.38 [[ 5.68824712e-01 -8.20471774e-01 -5.71359344e-02 3.08033443e+02] [ 8.17076672e-01 5.71671581e-01 -7.46814269e-02 1.22366049e+02] [ 9.39369928e-02 -4.20379800e-03 9.95569269e-01 3.03794126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.017105681 meters 0.03076537528174117 Centerline is valid? [True, True] Translation: X:308.05, Y:122.43, Z:30.39 [[ 5.72310105e-01 -8.18065242e-01 -5.68366367e-02 3.08049591e+02] [ 8.14688470e-01 5.75113175e-01 -7.43473795e-02 1.22427330e+02] [ 9.35085056e-02 -3.75439599e-03 9.95611402e-01 3.03863697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.077105681 meters 0.034463206319300256 Centerline is valid? [True, True] Translation: X:308.07, Y:122.48, Z:30.39 [[ 5.68584783e-01 -8.20750390e-01 -5.54990318e-02 3.08071156e+02] [ 8.17539006e-01 5.71272496e-01 -7.26478481e-02 1.22482428e+02] [ 9.13308200e-02 -4.06616233e-03 9.95812305e-01 3.03947993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.137105681 meters 0.043348928287193465 Centerline is valid? [True, True] Translation: X:308.10, Y:122.54, Z:30.40 [[ 5.55101231e-01 -8.29940924e-01 -5.53234668e-02 3.08096914e+02] [ 8.26791959e-01 5.57823887e-01 -7.24401031e-02 1.22535796e+02] [ 9.09817573e-02 -5.52940705e-03 9.95837208e-01 3.03989044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.197105681 meters 0.043595659265087766 Centerline is valid? [True, True] Translation: X:308.11, Y:122.59, Z:30.41 [[ 5.48225013e-01 -8.34497104e-01 -5.53526775e-02 3.08114980e+02] [ 8.31362470e-01 5.50976834e-01 -7.25325551e-02 1.22594782e+02] [ 9.10262502e-02 -6.25397771e-03 9.95828856e-01 3.04065923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.257105681 meters 0.04484942480531585 Centerline is valid? [True, True] Translation: X:308.14, Y:122.65, Z:30.42 [[ 5.50833015e-01 -8.32902811e-01 -5.34406024e-02 3.08138427e+02] [ 8.29969306e-01 5.53389395e-01 -7.00794489e-02 1.22647935e+02] [ 8.79428326e-02 -5.75198558e-03 9.96108916e-01 3.04157443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.317105681 meters 0.03192795819537906 Centerline is valid? [True, True] Translation: X:308.13, Y:122.73, Z:30.42 [[ 5.71092979e-01 -8.19046601e-01 -5.49133371e-02 3.08132408e+02] [ 8.15880859e-01 5.73715299e-01 -7.20359635e-02 1.22726342e+02] [ 9.05054327e-02 -3.66350759e-03 9.95889223e-01 3.04187068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.377105681 meters 0.023687372646001372 Centerline is valid? [True, True] Translation: X:308.14, Y:122.80, Z:30.42 [[ 5.87274085e-01 -8.07453702e-01 -5.59255620e-02 3.08137237e+02] [ 8.04111451e-01 5.89928025e-01 -7.34145791e-02 1.22796391e+02] [ 9.22709301e-02 -1.85590508e-03 9.95732209e-01 3.04225195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43710568099993 meters 0.0213773061339662 Centerline is valid? [True, True] Translation: X:308.15, Y:122.86, Z:30.43 [[ 5.93721137e-01 -8.02644605e-01 -5.70688068e-02 3.08151635e+02] [ 7.99136817e-01 5.96456566e-01 -7.49660767e-02 1.22860090e+02] [ 9.42101815e-02 -1.09684029e-03 9.95551726e-01 3.04252637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49710568099994 meters 0.0207223691650674 Centerline is valid? [True, True] Translation: X:308.17, Y:122.92, Z:30.42 [[ 5.97605251e-01 -7.99673689e-01 -5.82233160e-02 3.08174010e+02] [ 7.96003587e-01 6.00434523e-01 -7.65289041e-02 1.22915727e+02] [ 9.61574400e-02 -6.11893479e-04 9.95365949e-01 3.04227134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55710568099994 meters 0.021285279672745638 Centerline is valid? [True, True] Translation: X:308.20, Y:122.97, Z:30.43 [[ 5.95976655e-01 -8.00976520e-01 -5.69950973e-02 3.08200269e+02] [ 7.97464058e-01 5.98695237e-01 -7.49339001e-02 1.22968124e+02] [ 9.41429878e-02 -7.92686435e-04 9.95558371e-01 3.04318880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61710568099994 meters 0.02236531247135287 Centerline is valid? [True, True] Translation: X:308.23, Y:123.02, Z:30.44 [[ 5.90146383e-01 -8.05221883e-01 -5.78356802e-02 3.08234809e+02] [ 8.01619390e-01 5.92971842e-01 -7.60969583e-02 1.23015975e+02] [ 9.55698659e-02 -1.45385794e-03 9.95421663e-01 3.04361073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67710568099994 meters 0.024752379553198926 Centerline is valid? [True, True] Translation: X:308.27, Y:123.06, Z:30.44 [[ 5.83757688e-01 -8.09829793e-01 -5.83323961e-02 3.08273955e+02] [ 8.06182673e-01 5.86660804e-01 -7.68023292e-02 1.23058653e+02] [ 9.64181448e-02 -2.19261693e-03 9.95338502e-01 3.04393562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73710568099995 meters 0.026351601565714488 Centerline is valid? [True, True] Translation: X:308.31, Y:123.11, Z:30.45 [[ 5.81072531e-01 -8.11838271e-01 -5.72130758e-02 3.08308264e+02] [ 8.08335619e-01 5.83877227e-01 -7.53718226e-02 1.23106265e+02] [ 9.45951421e-02 -2.45087125e-03 9.95512809e-01 3.04474573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79710568099995 meters 0.024775002064386504 Centerline is valid? [True, True] Translation: X:308.34, Y:123.16, Z:30.45 [[ 5.82652006e-01 -8.10717208e-01 -5.70460165e-02 3.08340547e+02] [ 8.07225019e-01 5.85433704e-01 -7.52007080e-02 1.23155587e+02] [ 9.43631688e-02 -2.23312836e-03 9.95535336e-01 3.04516657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85710568099995 meters 0.022153817754854973 Centerline is valid? [True, True] Translation: X:308.37, Y:123.21, Z:30.45 [[ 5.90139834e-01 -8.05147176e-01 -5.89321845e-02 3.08368269e+02] [ 8.01386440e-01 5.93073523e-01 -7.77404019e-02 1.23208437e+02] [ 9.75435833e-02 -1.34974574e-03 9.95230339e-01 3.04499356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91710568099995 meters 0.020925951262816166 Centerline is valid? [True, True] Translation: X:308.40, Y:123.26, Z:30.45 [[ 5.98674940e-01 -7.98747475e-01 -5.99231796e-02 3.08395324e+02] [ 7.94822539e-01 6.01666347e-01 -7.90869070e-02 1.23260892e+02] [ 9.92242278e-02 -2.80944371e-04 9.95065060e-01 3.04529851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97710568099995 meters 0.02241548304711057 Centerline is valid? [True, True] Translation: X:308.42, Y:123.31, Z:30.47 [[ 6.10380449e-01 -7.90100189e-01 -5.63684210e-02 3.08421052e+02] [ 7.86588885e-01 6.12976770e-01 -7.44137413e-02 1.23314101e+02] [ 9.33468437e-02 1.08191943e-03 9.95633063e-01 3.04682948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03710568099996 meters 0.024294402690521483 Centerline is valid? [True, True] Translation: X:308.45, Y:123.36, Z:30.47 [[ 6.16783619e-01 -7.85190309e-01 -5.52643203e-02 3.08454280e+02] [ 7.81791294e-01 6.19251853e-01 -7.30035270e-02 1.23362433e+02] [ 9.15441947e-02 1.82221515e-03 9.95799347e-01 3.04749291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09710568099996 meters 0.02635066922750014 Centerline is valid? [True, True] Translation: X:308.49, Y:123.41, Z:30.48 [[ 6.21418404e-01 -7.81561395e-01 -5.47809532e-02 3.08489403e+02] [ 7.78203109e-01 6.23823834e-01 -7.24137094e-02 1.23409396e+02] [ 9.07694240e-02 2.36850367e-03 9.95869119e-01 3.04811144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15710568099996 meters 0.026437157616580095 Centerline is valid? [True, True] Translation: X:308.53, Y:123.45, Z:30.48 [[ 6.21710714e-01 -7.81283591e-01 -5.54232662e-02 3.08529128e+02] [ 7.77840300e-01 6.24171338e-01 -7.33117245e-02 1.23453188e+02] [ 9.18708615e-02 2.46823463e-03 9.95767871e-01 3.04846332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21710568099996 meters 0.022172804115882797 Centerline is valid? [True, True] Translation: X:308.58, Y:123.49, Z:30.48 [[ 6.11714217e-01 -7.88916513e-01 -5.84504245e-02 3.08584675e+02] [ 7.85114639e-01 6.14498710e-01 -7.73714320e-02 1.23485308e+02] [ 9.69573108e-02 1.43892093e-03 9.95287501e-01 3.04820006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27710568099997 meters 0.019596892433991233 Centerline is valid? [True, True] Translation: X:308.64, Y:123.51, Z:30.49 [[ 5.98165084e-01 -7.99199999e-01 -5.89736677e-02 3.08641680e+02] [ 7.95374831e-01 6.01065159e-01 -7.80996338e-02 1.23514775e+02] [ 9.78642443e-02 -1.89696965e-04 9.95199756e-01 3.04873097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.33710568099997 meters 0.022398113884001668 Centerline is valid? [True, True] Translation: X:308.70, Y:123.54, Z:30.50 [[ 5.85526898e-01 -8.08606226e-01 -5.75692853e-02 3.08700990e+02] [ 8.05000997e-01 5.88347832e-01 -7.62903865e-02 1.23542770e+02] [ 9.55596457e-02 -1.67325872e-03 9.95422299e-01 3.04963699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.39710568099997 meters 0.025813596113286805 Centerline is valid? [True, True] Translation: X:308.75, Y:123.58, Z:30.50 [[ 5.76175977e-01 -8.15280676e-01 -5.77811713e-02 3.08751231e+02] [ 8.11676801e-01 5.79059450e-01 -7.66219539e-02 1.23577975e+02] [ 9.59271316e-02 -2.75190712e-03 9.95384555e-01 3.05016086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.457105681 meters 0.027000535855793983 Centerline is valid? [True, True] Translation: X:308.79, Y:123.62, Z:30.51 [[ 5.73436844e-01 -8.17207319e-01 -5.78133499e-02 3.08788703e+02] [ 8.13603763e-01 5.76335785e-01 -7.67201421e-02 1.23622971e+02] [ 9.60161641e-02 -3.04300284e-03 9.95375123e-01 3.05098367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.517105681 meters 0.027698090497767343 Centerline is valid? [True, True] Translation: X:308.83, Y:123.67, Z:30.51 [[ 5.72640471e-01 -8.17745692e-01 -5.80936734e-02 3.08825945e+02] [ 8.14104545e-01 5.75571252e-01 -7.71461238e-02 1.23668908e+02] [ 9.65229587e-02 -3.11733086e-03 9.95325877e-01 3.05140813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.577105681 meters 0.02815379989738319 Centerline is valid? [True, True] Translation: X:308.86, Y:123.72, Z:30.52 [[ 5.72148302e-01 -8.18071531e-01 -5.83548633e-02 3.08861740e+02] [ 8.14393978e-01 5.75107825e-01 -7.75463591e-02 1.23715824e+02] [ 9.69988072e-02 -3.15583157e-03 9.95279494e-01 3.05197397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.637105681 meters 0.02859060932652255 Centerline is valid? [True, True] Translation: X:308.89, Y:123.77, Z:30.53 [[ 5.71786851e-01 -8.18379384e-01 -5.75758745e-02 3.08892006e+02] [ 8.14796155e-01 5.74669780e-01 -7.65628453e-02 1.23765058e+02] [ 9.57445693e-02 -3.13497299e-03 9.95400999e-01 3.05276702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.697105681 meters 0.028092791285854197 Centerline is valid? [True, True] Translation: X:308.92, Y:123.82, Z:30.53 [[ 5.72917549e-01 -8.17661558e-01 -5.65248500e-02 3.08920469e+02] [ 8.14199433e-01 5.75691767e-01 -7.52214941e-02 1.23816969e+02] [ 9.40466148e-02 -2.92678679e-03 9.95563493e-01 3.05336374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.757105681 meters 0.030571490635906657 Centerline is valid? [True, True] Translation: X:308.96, Y:123.86, Z:30.53 [[ 5.69655996e-01 -8.19887512e-01 -5.72408369e-02 3.08955579e+02] [ 8.16343272e-01 5.72515095e-01 -7.62242001e-02 1.23862761e+02] [ 9.52665130e-02 -3.30659938e-03 9.95446311e-01 3.05332786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.817105681 meters 0.03386525339930492 Centerline is valid? [True, True] Translation: X:308.99, Y:123.91, Z:30.54 [[ 5.62785647e-01 -8.24591269e-01 -5.76329284e-02 3.08988365e+02] [ 8.21018941e-01 5.65714046e-01 -7.67822717e-02 1.23911249e+02] [ 9.59177480e-02 -4.10576533e-03 9.95380796e-01 3.05375068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.877105681 meters 0.03710265221960005 Centerline is valid? [True, True] Translation: X:309.02, Y:123.96, Z:30.54 [[ 5.54203343e-01 -8.30428167e-01 -5.69887186e-02 3.09020530e+02] [ 8.26960581e-01 5.57103084e-01 -7.59759856e-02 1.23960686e+02] [ 9.48411894e-02 -5.02127860e-03 9.95479751e-01 3.05434197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93710568099993 meters 0.039487619644549034 Centerline is valid? [True, True] Translation: X:309.05, Y:124.01, Z:30.55 [[ 5.51047775e-01 -8.32591548e-01 -5.60148487e-02 3.09053978e+02] [ 8.29248070e-01 5.53862365e-01 -7.47269591e-02 1.24008369e+02] [ 9.32415511e-02 -5.27208068e-03 9.95629559e-01 3.05498109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99710568099994 meters 0.044033497225068045 Centerline is valid? [True, True] Translation: X:309.08, Y:124.06, Z:30.56 [[ 5.52281253e-01 -8.31809585e-01 -5.54818124e-02 3.09079305e+02] [ 8.28521281e-01 5.55037987e-01 -7.40629442e-02 1.24061280e+02] [ 9.24007803e-02 -5.06428663e-03 9.95709018e-01 3.05557320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05710568099994 meters 0.036525293032522305 Centerline is valid? [True, True] Translation: X:309.10, Y:124.12, Z:30.56 [[ 5.54910991e-01 -8.30057579e-01 -5.54815926e-02 3.09095996e+02] [ 8.26758902e-01 5.57657370e-01 -7.40808710e-02 1.24122323e+02] [ 9.24311075e-02 -4.76161113e-03 9.95707697e-01 3.05581906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11710568099994 meters 0.03457633595028328 Centerline is valid? [True, True] Translation: X:309.12, Y:124.18, Z:30.56 [[ 5.57836480e-01 -8.28032589e-01 -5.63958567e-02 3.09118626e+02] [ 8.24609351e-01 5.60662134e-01 -7.53484509e-02 1.24178531e+02] [ 9.40099943e-02 -4.47243622e-03 9.95561208e-01 3.05607234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17710568099994 meters 0.030988368868610148 Centerline is valid? [True, True] Translation: X:309.14, Y:124.24, Z:30.57 [[ 5.64887888e-01 -8.23324489e-01 -5.51222157e-02 3.09138572e+02] [ 8.20027692e-01 5.67559700e-01 -7.36924098e-02 1.24237122e+02] [ 9.19579139e-02 -3.57379355e-03 9.95756481e-01 3.05673756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23710568099995 meters 0.02694194007656999 Centerline is valid? [True, True] Translation: X:309.16, Y:124.30, Z:30.57 [[ 5.74752045e-01 -8.16540118e-01 -5.40585128e-02 3.09156264e+02] [ 8.13337201e-01 5.77283632e-01 -7.22924977e-02 1.24297207e+02] [ 9.02368192e-02 -2.41753864e-03 9.95917402e-01 3.05709893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29710568099995 meters 0.022911233127311893 Centerline is valid? [True, True] Translation: X:309.17, Y:124.36, Z:30.57 [[ 5.84950540e-01 -8.09191009e-01 -5.51613748e-02 3.09174938e+02] [ 8.05818098e-01 5.87544293e-01 -7.38166470e-02 1.24357526e+02] [ 9.21415180e-02 -1.27094659e-03 9.95745111e-01 3.05698813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35710568099995 meters 0.021773583166999014 Centerline is valid? [True, True] Translation: X:309.19, Y:124.42, Z:30.57 [[ 5.97382689e-01 -8.00058560e-01 -5.51382313e-02 3.09192472e+02] [ 7.96644532e-01 5.99921885e-01 -7.38323827e-02 1.24416873e+02] [ 9.21488614e-02 1.80616798e-04 9.95745226e-01 3.05730054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41710568099995 meters 0.024404947677864698 Centerline is valid? [True, True] Translation: X:309.22, Y:124.47, Z:30.58 [[ 6.08002324e-01 -7.92014856e-01 -5.51873401e-02 3.09215494e+02] [ 7.88559443e-01 6.10500159e-01 -7.39158972e-02 1.24472061e+02] [ 9.22343686e-02 1.42253902e-03 9.95736309e-01 3.05764464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47710568099995 meters 0.024827765002092276 Centerline is valid? [True, True] Translation: X:309.25, Y:124.52, Z:30.58 [[ 6.10587620e-01 -7.90011620e-01 -5.53570006e-02 3.09252785e+02] [ 7.86524502e-01 6.13089385e-01 -7.41661201e-02 1.24517440e+02] [ 9.25308861e-02 1.74527743e-03 9.95708285e-01 3.05824580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53710568099996 meters 0.025286013055667682 Centerline is valid? [True, True] Translation: X:309.29, Y:124.56, Z:30.59 [[ 6.11678695e-01 -7.89200437e-01 -5.48802704e-02 3.09292885e+02] [ 7.85765322e-01 6.14132823e-01 -7.35780909e-02 1.24560161e+02] [ 9.17716369e-02 1.88313736e-03 9.95778299e-01 3.05894686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59710568099996 meters 0.027112186827803322 Centerline is valid? [True, True] Translation: X:309.33, Y:124.61, Z:30.59 [[ 6.13944777e-01 -7.87326436e-01 -5.64702889e-02 3.09328577e+02] [ 7.83675957e-01 6.16532218e-01 -7.57629133e-02 1.24605167e+02] [ 9.44658970e-02 2.25983725e-03 9.95525533e-01 3.05899696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65710568099996 meters 0.029715901185675082 Centerline is valid? [True, True] Translation: X:309.37, Y:124.65, Z:30.59 [[ 6.18368274e-01 -7.83856814e-01 -5.64727664e-02 3.09369390e+02] [ 7.80189417e-01 6.20935282e-01 -7.57881871e-02 1.24647893e+02] [ 9.44730200e-02 2.80555572e-03 9.95523469e-01 3.05938406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71710568099996 meters 0.030629393261108064 Centerline is valid? [True, True] Translation: X:309.42, Y:124.68, Z:30.60 [[ 6.19543905e-01 -7.82959884e-01 -5.60283036e-02 3.09417207e+02] [ 7.79344948e-01 6.22065303e-01 -7.52077922e-02 1.24684631e+02] [ 9.37379479e-02 2.92915388e-03 9.95592596e-01 3.06014006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77710568099997 meters 0.027242870368534608 Centerline is valid? [True, True] Translation: X:309.48, Y:124.71, Z:30.62 [[ 6.14933616e-01 -7.86743705e-01 -5.37679291e-02 3.09479539e+02] [ 7.83425256e-01 6.17275554e-01 -7.22202154e-02 1.24710803e+02] [ 9.00084281e-02 2.28748454e-03 9.95938377e-01 3.06160048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.83710568099997 meters 0.02386437587546575 Centerline is valid? [True, True] Translation: X:309.54, Y:124.74, Z:30.63 [[ 6.09697998e-01 -7.90879868e-01 -5.27009171e-02 3.09536659e+02] [ 7.87703466e-01 6.11969147e-01 -7.08308753e-02 1.24740808e+02] [ 8.82700486e-02 1.67274777e-03 9.96095176e-01 3.06271789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.89710568099997 meters 0.022497957325756823 Centerline is valid? [True, True] Translation: X:309.59, Y:124.77, Z:30.64 [[ 6.04338404e-01 -7.95023845e-01 -5.20785885e-02 3.09588018e+02] [ 7.91933766e-01 6.06577212e-01 -7.00356792e-02 1.24774064e+02] [ 8.72697200e-02 1.08245787e-03 9.96184132e-01 3.06354113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.957105681 meters 0.020342948832706067 Centerline is valid? [True, True] Translation: X:309.64, Y:124.81, Z:30.64 [[ 5.96765071e-01 -8.00567524e-01 -5.44342629e-02 3.09641775e+02] [ 7.97211019e-01 5.99242476e-01 -7.32328228e-02 1.24807097e+02] [ 9.12471421e-02 3.07196455e-04 9.95828231e-01 3.06368833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.017105681 meters 0.0203249324769505 Centerline is valid? [True, True] Translation: X:309.69, Y:124.84, Z:30.64 [[ 5.90225811e-01 -8.05397532e-01 -5.44821831e-02 3.09686715e+02] [ 8.02050614e-01 5.92734892e-01 -7.33495782e-02 1.24844284e+02] [ 9.13690601e-02 -4.04654097e-04 9.95817017e-01 3.06417989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.077105681 meters 0.02205735507506902 Centerline is valid? [True, True] Translation: X:309.73, Y:124.88, Z:30.64 [[ 5.80342742e-01 -8.12495907e-01 -5.52512683e-02 3.09734192e+02] [ 8.09081984e-01 5.82964929e-01 -7.44193255e-02 1.24881568e+02] [ 9.26749490e-02 -1.51409034e-03 9.95695265e-01 3.06444222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.137105681 meters 0.025618975269897964 Centerline is valid? [True, True] Translation: X:309.78, Y:124.92, Z:30.65 [[ 5.71981811e-01 -8.18421943e-01 -5.49757328e-02 3.09778900e+02] [ 8.15066350e-01 5.74612545e-01 -7.40761045e-02 1.24921171e+02] [ 9.22152551e-02 -2.43868541e-03 9.95736109e-01 3.06502945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.197105681 meters 0.027924169617932645 Centerline is valid? [True, True] Translation: X:309.82, Y:124.97, Z:30.66 [[ 5.67854951e-01 -8.21370037e-01 -5.37774784e-02 3.09815811e+02] [ 8.18167882e-01 5.70388724e-01 -7.25122122e-02 1.24966421e+02] [ 9.02334257e-02 -2.82258684e-03 9.95916644e-01 3.06591460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.257105681 meters 0.03164908550475288 Centerline is valid? [True, True] Translation: X:309.85, Y:125.01, Z:30.66 [[ 5.62463678e-01 -8.24896452e-01 -5.63955173e-02 3.09850128e+02] [ 8.21386719e-01 5.65272889e-01 -7.60947954e-02 1.25012556e+02] [ 9.46491838e-02 -3.52197046e-03 9.95504459e-01 3.06572387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.317105681 meters 0.03562283056197798 Centerline is valid? [True, True] Translation: X:309.88, Y:125.06, Z:30.67 [[ 5.54923097e-01 -8.30096301e-01 -5.47767042e-02 3.09883018e+02] [ 8.26808440e-01 5.57603759e-01 -7.39313907e-02 1.25060457e+02] [ 9.19138701e-02 -4.26360508e-03 9.95757833e-01 3.06678582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.377105681 meters 0.03803087050838834 Centerline is valid? [True, True] Translation: X:309.91, Y:125.11, Z:30.67 [[ 5.50691048e-01 -8.32965643e-01 -5.39222331e-02 3.09911863e+02] [ 8.29790785e-01 5.53305167e-01 -7.28055386e-02 1.25111979e+02] [ 9.04799624e-02 -4.65081371e-03 9.95887416e-01 3.06747734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43710568099993 meters 0.033448231641262594 Centerline is valid? [True, True] Translation: X:309.93, Y:125.17, Z:30.68 [[ 5.55256848e-01 -8.29913090e-01 -5.41672922e-02 3.09926930e+02] [ 8.26690257e-01 5.57877316e-01 -7.31855115e-02 1.25173518e+02] [ 9.09563176e-02 -4.14281631e-03 9.95846266e-01 3.06807350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49710568099994 meters 0.031193890114069908 Centerline is valid? [True, True] Translation: X:309.95, Y:125.23, Z:30.68 [[ 5.57730711e-01 -8.28238231e-01 -5.43864616e-02 3.09954088e+02] [ 8.24978659e-01 5.60362798e-01 -7.35101842e-02 1.25226187e+02] [ 9.13600947e-02 -3.86878288e-03 9.95810406e-01 3.06843378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55710568099994 meters 0.027178392659843537 Centerline is valid? [True, True] Translation: X:309.97, Y:125.29, Z:30.68 [[ 5.67145401e-01 -8.21669635e-01 -5.66136522e-02 3.09966071e+02] [ 8.18098810e-01 5.69956734e-01 -7.65745337e-02 1.25289293e+02] [ 9.51863015e-02 -2.88666691e-03 9.95455290e-01 3.06815679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61710568099994 meters 0.0280160393849446 Centerline is valid? [True, True] Translation: X:309.99, Y:125.34, Z:30.69 [[ 5.65605731e-01 -8.22803004e-01 -5.55461356e-02 3.09990662e+02] [ 8.19369386e-01 5.68318725e-01 -7.51507547e-02 1.25343245e+02] [ 9.34021757e-02 -3.00710546e-03 9.95623920e-01 3.06880603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67710568099994 meters 0.03118959919065175 Centerline is valid? [True, True] Translation: X:310.02, Y:125.39, Z:30.69 [[ 5.58932703e-01 -8.27284017e-01 -5.65277682e-02 3.10023970e+02] [ 8.23745138e-01 5.61771131e-01 -7.65319730e-02 1.25391313e+02] [ 9.50693463e-02 -3.78825177e-03 9.95463444e-01 3.06917419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73710568099995 meters 0.041555900005934475 Centerline is valid? [True, True] Translation: X:310.06, Y:125.44, Z:30.70 [[ 5.43463283e-01 -8.37665191e-01 -5.44489407e-02 3.10056170e+02] [ 8.34427926e-01 5.46157915e-01 -7.37669868e-02 1.25439058e+02] [ 9.15297570e-02 -5.34406784e-03 9.95788002e-01 3.06982936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79710568099995 meters 0.0435449028959032 Centerline is valid? [True, True] Translation: X:310.08, Y:125.49, Z:30.70 [[ 5.35102151e-01 -8.42981815e-01 -5.52027786e-02 3.10083540e+02] [ 8.39678924e-01 5.37904957e-01 -7.48168512e-02 1.25492335e+02] [ 9.27630933e-02 -6.31795173e-03 9.95668164e-01 3.06987872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85710568099995 meters 0.04462533654454795 Centerline is valid? [True, True] Translation: X:310.11, Y:125.55, Z:30.70 [[ 5.32604592e-01 -8.44550667e-01 -5.53761644e-02 3.10105435e+02] [ 8.41230366e-01 5.35435179e-01 -7.51041992e-02 1.25550227e+02] [ 9.30796481e-02 -6.58326970e-03 9.95636902e-01 3.07005032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91710568099995 meters 0.044619261459709056 Centerline is valid? [True, True] Translation: X:310.13, Y:125.61, Z:30.71 [[ 5.34215449e-01 -8.43586589e-01 -5.45483362e-02 3.10127181e+02] [ 8.40355873e-01 5.36956288e-01 -7.40266987e-02 1.25607370e+02] [ 9.17380023e-02 -6.29380857e-03 9.95763289e-01 3.07070614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97710568099995 meters 0.0464190903513182 Centerline is valid? [True, True] Translation: X:310.15, Y:125.66, Z:30.71 [[ 5.33389953e-01 -8.44073294e-01 -5.50947500e-02 3.10151216e+02] [ 8.40775718e-01 5.36189417e-01 -7.48137791e-02 1.25662076e+02] [ 9.26895349e-02 -6.41740987e-03 9.95674378e-01 3.07098229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03710568099996 meters 0.0444534687393023 Centerline is valid? [True, True] Translation: X:310.17, Y:125.72, Z:30.71 [[ 5.35620695e-01 -8.42506825e-01 -5.73822367e-02 3.10171302e+02] [ 8.38918219e-01 5.38647744e-01 -7.79412010e-02 1.25721000e+02] [ 9.65748061e-02 -6.39208346e-03 9.95305203e-01 3.07076997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09710568099996 meters 0.03836993859029867 Centerline is valid? [True, True] Translation: X:310.18, Y:125.78, Z:30.71 [[ 5.43771567e-01 -8.37336340e-01 -5.63944777e-02 3.10184589e+02] [ 8.33838197e-01 5.46661938e-01 -7.66458568e-02 1.25784260e+02] [ 9.50070757e-02 -5.34603190e-03 9.95462242e-01 3.07130543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15710568099996 meters 0.03269506926010943 Centerline is valid? [True, True] Translation: X:310.20, Y:125.85, Z:30.72 [[ 5.55156824e-01 -8.29955199e-01 -5.45460235e-02 3.10198150e+02] [ 8.26642981e-01 5.57816350e-01 -7.41775033e-02 1.25846840e+02] [ 9.19906682e-02 -3.90994034e-03 9.95752193e-01 3.07188767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21710568099996 meters 0.028636392715961613 Centerline is valid? [True, True] Translation: X:310.21, Y:125.91, Z:30.73 [[ 5.65060132e-01 -8.23343620e-01 -5.30314132e-02 3.10213211e+02] [ 8.20182455e-01 5.67536601e-01 -7.21314537e-02 1.25908049e+02] [ 8.94862402e-02 -2.73682594e-03 9.95984298e-01 3.07271432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27710568099997 meters 0.023789082387385092 Centerline is valid? [True, True] Translation: X:310.23, Y:125.97, Z:30.73 [[ 5.81015300e-01 -8.12233701e-01 -5.19387705e-02 3.10229965e+02] [ 8.09152481e-01 5.83331382e-01 -7.06877755e-02 1.25967389e+02] [ 8.77125083e-02 -9.55705898e-04 9.96145372e-01 3.07320163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.33710568099997 meters 0.022576512791073686 Centerline is valid? [True, True] Translation: X:310.26, Y:126.02, Z:30.73 [[ 5.89985673e-01 -8.05683039e-01 -5.28369788e-02 3.10257519e+02] [ 8.02466177e-01 5.92346892e-01 -7.19249236e-02 1.26020328e+02] [ 8.92465112e-02 3.47861101e-05 9.96009568e-01 3.07349391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.39710568099997 meters 0.023848048890306294 Centerline is valid? [True, True] Translation: X:310.29, Y:126.07, Z:30.74 [[ 5.98520535e-01 -7.99319317e-01 -5.34957843e-02 3.10290001e+02] [ 7.95991528e-01 6.00905621e-01 -7.28692106e-02 1.26067910e+02] [ 9.03916851e-02 1.03152782e-03 9.95905758e-01 3.07360636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.457105681 meters 0.02552267835798682 Centerline is valid? [True, True] Translation: X:310.33, Y:126.11, Z:30.74 [[ 6.05190163e-01 -7.94227907e-01 -5.42853426e-02 3.10329684e+02] [ 7.90777967e-01 6.07617192e-01 -7.39699587e-02 1.26112580e+02] [ 9.17337129e-02 1.83823851e-03 9.95781877e-01 3.07353391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.517105681 meters 0.025670223832969505 Centerline is valid? [True, True] Translation: X:310.37, Y:126.15, Z:30.74 [[ 6.04879842e-01 -7.94400930e-01 -5.52045166e-02 3.10374459e+02] [ 7.90832341e-01 6.07390924e-01 -7.52361219e-02 1.26152290e+02] [ 9.32983676e-02 1.85129647e-03 9.95636473e-01 3.07362788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.577105681 meters 0.023410512038351757 Centerline is valid? [True, True] Translation: X:310.43, Y:126.19, Z:30.74 [[ 5.96285585e-01 -8.00722619e-01 -5.73305188e-02 3.10425515e+02] [ 7.96895704e-01 5.99034557e-01 -7.81974127e-02 1.26188390e+02] [ 9.69573991e-02 9.41545830e-04 9.95288087e-01 3.07385153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.637105681 meters 0.021937818150168237 Centerline is valid? [True, True] Translation: X:310.48, Y:126.22, Z:30.74 [[ 5.85508799e-01 -8.08581639e-01 -5.80962956e-02 3.10481948e+02] [ 8.04684265e-01 5.88383914e-01 -7.92944098e-02 1.26219598e+02] [ 9.82989296e-02 -3.21600318e-04 9.95156881e-01 3.07404932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.697105681 meters 0.02289697891427788 Centerline is valid? [True, True] Translation: X:310.53, Y:126.25, Z:30.75 [[ 5.76194799e-01 -8.15451912e-01 -5.51156372e-02 3.10531056e+02] [ 8.11971266e-01 5.78823184e-01 -7.52753937e-02 1.26254945e+02] [ 9.32856723e-02 -1.37902343e-03 9.95638429e-01 3.07545229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.757105681 meters 0.026127755846031067 Centerline is valid? [True, True] Translation: X:310.58, Y:126.29, Z:30.76 [[ 5.67839346e-01 -8.21353613e-01 -5.41915127e-02 3.10582631e+02] [ 8.18010785e-01 5.70414826e-01 -7.40626859e-02 1.26288706e+02] [ 9.17432970e-02 -2.27353473e-03 9.95780095e-01 3.07610448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.817105681 meters 0.030317949787133685 Centerline is valid? [True, True] Translation: X:310.63, Y:126.33, Z:30.77 [[ 5.59048661e-01 -8.27355906e-01 -5.42844394e-02 3.10630701e+02] [ 8.24027756e-01 5.61668642e-01 -7.42064260e-02 1.26326301e+02] [ 9.18849921e-02 -3.24688175e-03 9.95764333e-01 3.07673408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.877105681 meters 0.03430644111487363 Centerline is valid? [True, True] Translation: X:310.68, Y:126.37, Z:30.77 [[ 5.53071095e-01 -8.31418180e-01 -5.34431896e-02 3.10675064e+02] [ 8.28209209e-01 5.55633900e-01 -7.30785619e-02 1.26365491e+02] [ 9.04536928e-02 -3.84450146e-03 9.95893242e-01 3.07740573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93710568099993 meters 0.03764500906684695 Centerline is valid? [True, True] Translation: X:310.72, Y:126.41, Z:30.78 [[ 5.49020465e-01 -8.34025017e-01 -5.45783860e-02 3.10715399e+02] [ 8.30688205e-01 5.51709486e-01 -7.46575489e-02 1.26408007e+02] [ 9.23776768e-02 -4.34909929e-03 9.95714543e-01 3.07765680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99710568099994 meters 0.03765304918070659 Centerline is valid? [True, True] Translation: X:310.75, Y:126.46, Z:30.78 [[ 5.45592041e-01 -8.36294080e-01 -5.42359364e-02 3.10749058e+02] [ 8.33005688e-01 5.48261207e-01 -7.42372717e-02 1.26455999e+02] [ 9.18196508e-02 -4.67557892e-03 9.95764676e-01 3.07825391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05710568099994 meters 0.03800964981163958 Centerline is valid? [True, True] Translation: X:310.78, Y:126.51, Z:30.79 [[ 5.47768991e-01 -8.34935371e-01 -5.32170932e-02 3.10779317e+02] [ 8.31759111e-01 5.50330908e-01 -7.28880873e-02 1.26505854e+02] [ 9.01438534e-02 -4.33796809e-03 9.95919308e-01 3.07878952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11710568099994 meters 0.03942242446473893 Centerline is valid? [True, True] Translation: X:310.81, Y:126.55, Z:30.79 [[ 5.46752146e-01 -8.35646913e-01 -5.25007341e-02 3.10811918e+02] [ 8.32554912e-01 5.49249619e-01 -7.19525914e-02 1.26554089e+02] [ 8.89629691e-02 -4.36951027e-03 9.96025350e-01 3.07923776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17710568099994 meters 0.04127225664962277 Centerline is valid? [True, True] Translation: X:310.84, Y:126.60, Z:30.80 [[ 5.38366226e-01 -8.41115334e-01 -5.18343637e-02 3.10842577e+02] [ 8.38124797e-01 5.40830894e-01 -7.10546830e-02 1.26603891e+02] [ 8.77988087e-02 -5.19022406e-03 9.96124706e-01 3.07983798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23710568099995 meters 0.0446343295444858 Centerline is valid? [True, True] Translation: X:310.87, Y:126.65, Z:30.80 [[ 5.32516243e-01 -8.44855124e-01 -5.14419094e-02 3.10874331e+02] [ 8.41922995e-01 5.34964412e-01 -7.05602475e-02 1.26652917e+02] [ 8.71327775e-02 -5.73564853e-03 9.96180195e-01 3.08034440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29710568099995 meters 0.04843765333811582 Centerline is valid? [True, True] Translation: X:310.91, Y:126.70, Z:30.81 [[ 5.30572961e-01 -8.46059637e-01 -5.17244898e-02 3.10905386e+02] [ 8.43096674e-01 5.33055151e-01 -7.09944014e-02 1.26701235e+02] [ 8.76375032e-02 -5.94103551e-03 9.96134716e-01 3.08064266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35710568099995 meters 0.0473813288866633 Centerline is valid? [True, True] Translation: X:310.93, Y:126.75, Z:30.81 [[ 5.28483547e-01 -8.47260655e-01 -5.34277323e-02 3.10933093e+02] [ 8.44102231e-01 5.31139666e-01 -7.33626550e-02 1.26754170e+02] [ 9.05348790e-02 -6.32751190e-03 9.95873184e-01 3.08086298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41710568099995 meters 0.05069565647780493 Centerline is valid? [True, True] Translation: X:310.96, Y:126.81, Z:30.82 [[ 5.26622649e-01 -8.48415902e-01 -5.34700116e-02 3.10959900e+02] [ 8.45254193e-01 5.29290200e-01 -7.34658641e-02 1.26806121e+02] [ 9.06307605e-02 -6.50696351e-03 9.95863306e-01 3.08159723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47710568099995 meters 0.0491555657940017 Centerline is valid? [True, True] Translation: X:310.98, Y:126.86, Z:30.82 [[ 5.28366594e-01 -8.47300556e-01 -5.39491527e-02 3.10984064e+02] [ 8.44073729e-01 5.31075639e-01 -7.41498881e-02 1.26862086e+02] [ 9.14783222e-02 -6.35873870e-03 9.95786766e-01 3.08160650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53710568099996 meters 0.04597302876499708 Centerline is valid? [True, True] Translation: X:311.00, Y:126.92, Z:30.82 [[ 5.33169513e-01 -8.44362285e-01 -5.27503719e-02 3.11001173e+02] [ 8.41259451e-01 5.35742345e-01 -7.25443072e-02 1.26921388e+02] [ 8.95142850e-02 -5.69833593e-03 9.95969237e-01 3.08248274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59710568099996 meters 0.04289009217808552 Centerline is valid? [True, True] Translation: X:311.02, Y:126.98, Z:30.83 [[ 5.40505519e-01 -8.39638637e-01 -5.34859190e-02 3.11019451e+02] [ 8.36421088e-01 5.43122837e-01 -7.36026289e-02 1.26979306e+02] [ 9.08490351e-02 -4.95412347e-03 9.95852353e-01 3.08276544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65710568099996 meters 0.03459583229423999 Centerline is valid? [True, True] Translation: X:311.03, Y:127.04, Z:30.83 [[ 5.52884850e-01 -8.31478281e-01 -5.44261911e-02 3.11034471e+02] [ 8.28104544e-01 5.55545262e-01 -7.49154581e-02 1.27041492e+02] [ 9.25267889e-02 -3.65095433e-03 9.95703502e-01 3.08300476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71710568099996 meters 0.0272116894284607 Centerline is valid? [True, True] Translation: X:311.04, Y:127.11, Z:30.84 [[ 5.70374102e-01 -8.19674887e-01 -5.29760675e-02 3.11042513e+02] [ 8.16422692e-01 5.72826682e-01 -7.29628656e-02 1.27106005e+02] [ 9.01519335e-02 -1.63473472e-03 9.95926682e-01 3.08417459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77710568099997 meters 0.025440111664883247 Centerline is valid? [True, True] Translation: X:311.07, Y:127.16, Z:30.84 [[ 5.75504570e-01 -8.16052077e-01 -5.34181283e-02 3.11071127e+02] [ 8.12727996e-01 5.77977401e-01 -7.35889231e-02 1.27158136e+02] [ 9.09268645e-02 -1.06364672e-03 9.95857005e-01 3.08440405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.83710568099997 meters 0.02459606580751483 Centerline is valid? [True, True] Translation: X:311.10, Y:127.21, Z:30.85 [[ 5.79630038e-01 -8.13196135e-01 -5.23551838e-02 3.11099481e+02] [ 8.09987927e-01 5.81989444e-01 -7.21653998e-02 1.27208152e+02] [ 8.91547884e-02 -5.77833404e-04 9.96017615e-01 3.08520014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.89710568099997 meters 0.024473914127629823 Centerline is valid? [True, True] Translation: X:311.13, Y:127.26, Z:30.85 [[ 5.78400576e-01 -8.13959974e-01 -5.40549315e-02 3.11134351e+02] [ 8.10540678e-01 5.80920533e-01 -7.45328348e-02 1.27255020e+02] [ 9.20683639e-02 -7.03886294e-04 9.95752440e-01 3.08532508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.957105681 meters 0.025699912885829162 Centerline is valid? [True, True] Translation: X:311.17, Y:127.30, Z:30.86 [[ 5.74782826e-01 -8.16560486e-01 -5.34198096e-02 3.11173944e+02] [ 8.13230680e-01 5.77258845e-01 -7.36755607e-02 1.27296781e+02] [ 9.09976092e-02 -1.09518112e-03 9.95850509e-01 3.08595414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.017105681 meters 0.028566416648337766 Centerline is valid? [True, True] Translation: X:311.22, Y:127.34, Z:30.87 [[ 5.68513932e-01 -8.21010402e-01 -5.22860230e-02 3.11216834e+02] [ 8.17837706e-01 5.70910536e-01 -7.21293745e-02 1.27338129e+02] [ 8.90696081e-02 -1.75492680e-03 9.96023858e-01 3.08670029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.077105681 meters 0.0314185379954026 Centerline is valid? [True, True] Translation: X:311.26, Y:127.38, Z:30.87 [[ 5.54519786e-01 -8.30468770e-01 -5.31923665e-02 3.11262462e+02] [ 8.27223301e-01 5.57055482e-01 -7.34220666e-02 1.27378665e+02] [ 9.06058327e-02 -3.28797633e-03 9.95881405e-01 3.08692759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.137105681 meters 0.03911998877450078 Centerline is valid? [True, True] Translation: X:311.31, Y:127.41, Z:30.87 [[ 5.39057651e-01 -8.40466167e-01 -5.50769509e-02 3.11313712e+02] [ 8.37031916e-01 5.41840079e-01 -7.60716761e-02 1.27414672e+02] [ 9.37785695e-02 -5.09414669e-03 9.95580047e-01 3.08719345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.197105681 meters 0.042012918166711065 Centerline is valid? [True, True] Translation: X:311.35, Y:127.46, Z:30.88 [[ 5.33448697e-01 -8.44009658e-01 -5.54994218e-02 3.11353744e+02] [ 8.40536805e-01 5.36297331e-01 -7.67010584e-02 1.27457646e+02] [ 9.45006258e-02 -5.73322707e-03 9.95508293e-01 3.08792401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.257105681 meters 0.042981949270572126 Centerline is valid? [True, True] Translation: X:311.39, Y:127.50, Z:30.89 [[ 5.34068425e-01 -8.43742985e-01 -5.35601733e-02 3.11388718e+02] [ 8.40505810e-01 5.36719487e-01 -7.40417157e-02 1.27502428e+02] [ 9.12189669e-02 -5.47429434e-03 9.95815812e-01 3.08894870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.317105681 meters 0.03891179394506081 Centerline is valid? [True, True] Translation: X:311.41, Y:127.56, Z:30.90 [[ 5.36319579e-01 -8.42335319e-01 -5.32214211e-02 3.11411436e+02] [ 8.39130604e-01 5.38928805e-01 -7.35905757e-02 1.27558183e+02] [ 9.06704979e-02 -5.19165669e-03 9.95867415e-01 3.08983818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.377105681 meters 0.03992628862662776 Centerline is valid? [True, True] Translation: X:311.44, Y:127.61, Z:30.90 [[ 5.36470453e-01 -8.42207946e-01 -5.37143158e-02 3.11442659e+02] [ 8.38941549e-01 5.39127650e-01 -7.42862962e-02 1.27606710e+02] [ 9.15233819e-02 -5.21076832e-03 9.95789294e-01 3.09014239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43710568099993 meters 0.04189507869323015 Centerline is valid? [True, True] Translation: X:311.47, Y:127.66, Z:30.91 [[ 5.34478095e-01 -8.43588262e-01 -5.18845824e-02 3.11472608e+02] [ 8.40545946e-01 5.36964872e-01 -7.17721390e-02 1.27657567e+02] [ 8.84063321e-02 -5.25073930e-03 9.96070655e-01 3.09095264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49710568099994 meters 0.041385492756318046 Centerline is valid? [True, True] Translation: X:311.49, Y:127.71, Z:30.92 [[ 5.37277967e-01 -8.41866009e-01 -5.09314133e-02 3.11493968e+02] [ 8.38923437e-01 5.39664779e-01 -7.04939238e-02 1.27713537e+02] [ 8.68323282e-02 -4.85272422e-03 9.96211121e-01 3.09181057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55710568099994 meters 0.036966864562748454 Centerline is valid? [True, True] Translation: X:311.51, Y:127.77, Z:30.93 [[ 5.45797447e-01 -8.36412863e-01 -5.01863456e-02 3.11513061e+02] [ 8.33531672e-01 5.48085954e-01 -6.94747394e-02 1.27772638e+02] [ 8.56159968e-02 -3.91277316e-03 9.96320526e-01 3.09265212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61710568099994 meters 0.030626662296495674 Centerline is valid? [True, True] Translation: X:311.53, Y:127.83, Z:30.93 [[ 5.57360227e-01 -8.28713007e-01 -5.08363016e-02 3.11529350e+02] [ 8.25722519e-01 5.59667070e-01 -7.03924166e-02 1.27833604e+02] [ 8.67865152e-02 -2.74274574e-03 9.96223157e-01 3.09323009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67710568099994 meters 0.02432412915526986 Centerline is valid? [True, True] Translation: X:311.55, Y:127.90, Z:30.94 [[ 5.69764577e-01 -8.20151728e-01 -5.21485286e-02 3.11545728e+02] [ 8.16964242e-01 5.72144281e-01 -7.22519862e-02 1.27895098e+02] [ 8.90940737e-02 -1.43686081e-03 9.96022179e-01 3.09359632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73710568099995 meters 0.02253722958214559 Centerline is valid? [True, True] Translation: X:311.57, Y:127.95, Z:30.94 [[ 5.77627161e-01 -8.14656749e-01 -5.17807217e-02 3.11568844e+02] [ 8.11490692e-01 5.79943147e-01 -7.17551617e-02 1.27949906e+02] [ 8.84857015e-02 -5.71843305e-04 9.96077283e-01 3.09435670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79710568099995 meters 0.022371412101069174 Centerline is valid? [True, True] Translation: X:311.60, Y:128.00, Z:30.95 [[ 5.78447016e-01 -8.14102593e-01 -5.13421613e-02 3.11602473e+02] [ 8.10986750e-01 5.80720882e-01 -7.11600229e-02 1.27996753e+02] [ 8.77470243e-02 -4.75509566e-04 9.96142677e-01 3.09487874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85710568099995 meters 0.023250642704708013 Centerline is valid? [True, True] Translation: X:311.64, Y:128.04, Z:30.96 [[ 5.71917457e-01 -8.18778244e-01 -5.01259466e-02 3.11644387e+02] [ 8.15821932e-01 5.74108794e-01 -6.95245863e-02 1.28038800e+02] [ 8.57029655e-02 -1.13152203e-03 9.96320090e-01 3.09557223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91710568099995 meters 0.024043322340544467 Centerline is valid? [True, True] Translation: X:311.68, Y:128.08, Z:30.96 [[ 5.70029929e-01 -8.20106646e-01 -4.99096071e-02 3.11683377e+02] [ 8.17176675e-01 5.72209234e-01 -6.92739057e-02 1.28081694e+02] [ 8.53707285e-02 -1.29676720e-03 9.96348412e-01 3.09623337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97710568099995 meters 0.022115221566524283 Centerline is valid? [True, True] Translation: X:311.71, Y:128.13, Z:30.97 [[ 5.81548891e-01 -8.11982289e-01 -4.98562903e-02 3.11714523e+02] [ 8.09026748e-01 5.83682067e-01 -6.92167933e-02 1.28131558e+02] [ 8.53030329e-02 -8.21230303e-05 9.96355050e-01 3.09664769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03710568099996 meters 0.0240140664655395 Centerline is valid? [True, True] Translation: X:311.74, Y:128.18, Z:30.97 [[ 5.95976604e-01 -8.01334377e-01 -5.17214099e-02 3.11743839e+02] [ 7.98110867e-01 5.98214757e-01 -7.18202583e-02 1.28184360e+02] [ 8.84925525e-02 1.52377433e-03 9.96075673e-01 3.09673625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09710568099996 meters 0.02852888979785524 Centerline is valid? [True, True] Translation: X:311.78, Y:128.23, Z:30.97 [[ 6.05965635e-01 -7.93722306e-01 -5.30146234e-02 3.11782634e+02] [ 7.90305016e-01 6.08274219e-01 -7.36237471e-02 1.28228914e+02] [ 9.06842389e-02 2.71573786e-03 9.95875993e-01 3.09655734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15710568099996 meters 0.02904963409951083 Centerline is valid? [True, True] Translation: X:311.83, Y:128.27, Z:30.97 [[ 6.07073310e-01 -7.92977025e-01 -5.14726622e-02 3.11830889e+02] [ 7.89752161e-01 6.09245321e-01 -7.14958928e-02 1.28266718e+02] [ 8.80540790e-02 2.75260207e-03 9.96111892e-01 3.09712302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21710568099996 meters 0.027241572525335267 Centerline is valid? [True, True] Translation: X:311.89, Y:128.30, Z:30.97 [[ 6.02931253e-01 -7.95989144e-01 -5.36207644e-02 3.11888632e+02] [ 7.92495706e-01 6.05305962e-01 -7.45335437e-02 1.28298324e+02] [ 9.17848600e-02 2.44437744e-03 9.95775861e-01 3.09708729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27710568099997 meters 0.027446673322928675 Centerline is valid? [True, True] Translation: X:311.93, Y:128.34, Z:30.97 [[ 5.99719335e-01 -7.98323659e-01 -5.49186201e-02 3.11933308e+02] [ 7.94663633e-01 6.02224734e-01 -7.63877025e-02 1.28337159e+02] [ 9.40554615e-02 2.16935206e-03 9.95564596e-01 3.09733095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.33710568099997 meters 0.025474621519380385 Centerline is valid? [True, True] Translation: X:311.99, Y:128.37, Z:30.98 [[ 5.98050320e-01 -7.99469292e-01 -5.64328447e-02 3.11985885e+02] [ 7.95607002e-01 6.00703432e-01 -7.85167825e-02 1.28371627e+02] [ 9.66711600e-02 2.05862040e-03 9.95314246e-01 3.09777576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.39710568099997 meters 0.02373384262720312 Centerline is valid? [True, True] Translation: X:312.04, Y:128.41, Z:30.99 [[ 5.94185852e-01 -8.02422375e-01 -5.53308706e-02 3.12035020e+02] [ 7.98717451e-01 5.96754418e-01 -7.70363479e-02 1.28408466e+02] [ 9.48346307e-02 1.58017612e-03 9.95491786e-01 3.09881163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.457105681 meters 0.021328688991150948 Centerline is valid? [True, True] Translation: X:312.09, Y:128.44, Z:30.99 [[ 5.85892372e-01 -8.08481629e-01 -5.55660284e-02 3.12085647e+02] [ 8.04767076e-01 5.88521068e-01 -7.74138559e-02 1.28443369e+02] [ 9.52894587e-02 6.38477430e-04 9.95449402e-01 3.09948518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.517105681 meters 0.020210211707651058 Centerline is valid? [True, True] Translation: X:312.14, Y:128.48, Z:31.00 [[ 5.77632192e-01 -8.14422708e-01 -5.52874629e-02 3.12139298e+02] [ 8.10767701e-01 5.80271970e-01 -7.70725350e-02 1.28476380e+02] [ 9.48513877e-02 -3.05711832e-04 9.95491397e-01 3.10040589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.577105681 meters 0.020287065757193853 Centerline is valid? [True, True] Translation: X:312.18, Y:128.52, Z:31.01 [[ 5.79844883e-01 -8.12832074e-01 -5.55331585e-02 3.12179413e+02] [ 8.09131830e-01 5.82498085e-01 -7.74703990e-02 1.28518612e+02] [ 9.53183836e-02 -1.28317369e-05 9.95446837e-01 3.10103733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.637105681 meters 0.021447276993757796 Centerline is valid? [True, True] Translation: X:312.21, Y:128.56, Z:31.02 [[ 5.89017879e-01 -8.06219746e-01 -5.53864567e-02 3.12213936e+02] [ 8.02503671e-01 5.91615174e-01 -7.73262175e-02 1.28564428e+02] [ 9.51093916e-02 1.09868980e-03 9.95466221e-01 3.10180469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.697105681 meters 0.026293337091810316 Centerline is valid? [True, True] Translation: X:312.24, Y:128.61, Z:31.03 [[ 6.00080528e-01 -7.98111460e-01 -5.40505059e-02 3.12244459e+02] [ 7.94537761e-01 6.02505254e-01 -7.54795733e-02 1.28613216e+02] [ 9.28068262e-02 2.34865430e-03 9.95681363e-01 3.10250491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.757105681 meters 0.028658362984742478 Centerline is valid? [True, True] Translation: X:312.28, Y:128.66, Z:31.03 [[ 6.05236716e-01 -7.94170229e-01 -5.46092107e-02 3.12281549e+02] [ 7.90504199e-01 6.07687963e-01 -7.62787737e-02 1.28659813e+02] [ 9.37636912e-02 2.99790417e-03 9.95589967e-01 3.10283258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.817105681 meters 0.028036628462872675 Centerline is valid? [True, True] Translation: X:312.33, Y:128.70, Z:31.03 [[ 6.02608889e-01 -7.95986726e-01 -5.71634462e-02 3.12325969e+02] [ 7.91971702e-01 6.05307243e-01 -7.98997199e-02 1.28699978e+02] [ 9.82005644e-02 2.87644970e-03 9.95162487e-01 3.10272393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.877105681 meters 0.02455436938572084 Centerline is valid? [True, True] Translation: X:312.37, Y:128.74, Z:31.03 [[ 5.96497352e-01 -8.00617441e-01 -5.65917224e-02 3.12373182e+02] [ 7.96697823e-01 5.99172080e-01 -7.91542650e-02 1.28738412e+02] [ 9.72804651e-02 2.12880744e-03 9.95254731e-01 3.10349746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93710568099993 meters 0.020795703982190106 Centerline is valid? [True, True] Translation: X:312.43, Y:128.77, Z:31.04 [[ 5.86633546e-01 -8.07816158e-01 -5.73945691e-02 3.12427475e+02] [ 8.03812754e-01 5.89433689e-01 -8.03304582e-02 1.28772145e+02] [ 9.87225348e-02 9.90054867e-04 9.95114506e-01 3.10404005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99710568099994 meters 0.019505706808215482 Centerline is valid? [True, True] Translation: X:312.48, Y:128.81, Z:31.04 [[ 5.78703384e-01 -8.13501221e-01 -5.76034466e-02 3.12479200e+02] [ 8.09491035e-01 5.81563205e-01 -8.06752977e-02 1.28806642e+02] [ 9.91294981e-02 5.75942085e-05 9.95074540e-01 3.10443074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05710568099994 meters 0.02047927599725612 Centerline is valid? [True, True] Translation: X:312.53, Y:128.84, Z:31.05 [[ 5.69553405e-01 -8.19931019e-01 -5.76371734e-02 3.12530075e+02] [ 8.15943007e-01 5.72461423e-01 -8.07770291e-02 1.28842421e+02] [ 9.92266501e-02 -1.02181659e-03 9.95064334e-01 3.10485170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11710568099994 meters 0.026539566269794035 Centerline is valid? [True, True] Translation: X:312.58, Y:128.87, Z:31.05 [[ 5.55680989e-01 -8.29323031e-01 -5.86681143e-02 3.12583728e+02] [ 8.25236174e-01 5.58762955e-01 -8.22752493e-02 1.28874054e+02] [ 1.01014328e-01 -2.69625831e-03 9.94881317e-01 3.10513263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17710568099994 meters 0.03800293350812926 Centerline is valid? [True, True] Translation: X:312.64, Y:128.91, Z:31.05 [[ 5.39317362e-01 -8.39913436e-01 -6.06811636e-02 3.12637848e+02] [ 8.35600497e-01 5.42699284e-01 -8.51428038e-02 1.28906131e+02] [ 1.04444209e-01 -4.78621811e-03 9.94519230e-01 3.10516918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23710568099995 meters 0.04633890920969945 Centerline is valid? [True, True] Translation: X:312.68, Y:128.95, Z:31.06 [[ 5.29216599e-01 -8.46428418e-01 -5.90654201e-02 3.12678682e+02] [ 8.42376122e-01 5.32470213e-01 -8.29333600e-02 1.28948027e+02] [ 1.01647730e-01 -5.86558874e-03 9.94803163e-01 3.10612135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29710568099995 meters 0.0412529362200054 Centerline is valid? [True, True] Translation: X:312.70, Y:129.01, Z:31.07 [[ 5.29385907e-01 -8.46480214e-01 -5.67609682e-02 3.12695702e+02] [ 8.42733722e-01 5.32390564e-01 -7.97506225e-02 1.29007058e+02] [ 9.77263279e-02 -5.61552632e-03 9.95197483e-01 3.10734703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35710568099995 meters 0.03842547894981952 Centerline is valid? [True, True] Translation: X:312.71, Y:129.07, Z:31.08 [[ 5.34873906e-01 -8.42930264e-01 -5.81246528e-02 3.12712640e+02] [ 8.38974664e-01 5.37999095e-01 -8.17220145e-02 1.29067276e+02] [ 1.00156970e-01 -5.05413798e-03 9.94958812e-01 3.10754111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41710568099995 meters 0.0397982539844333 Centerline is valid? [True, True] Translation: X:312.74, Y:129.12, Z:31.08 [[ 5.40847871e-01 -8.39162567e-01 -5.73564922e-02 3.12736199e+02] [ 8.35284635e-01 5.43863945e-01 -8.06944097e-02 1.29121345e+02] [ 9.89098562e-02 -4.26559701e-03 9.95087255e-01 3.10785085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47710568099995 meters 0.03429228999024483 Centerline is valid? [True, True] Translation: X:312.75, Y:129.18, Z:31.08 [[ 5.41469523e-01 -8.38580027e-01 -5.99524227e-02 3.12753844e+02] [ 8.34334500e-01 5.44761242e-01 -8.43867937e-02 1.29180146e+02] [ 1.03424836e-01 -4.32749769e-03 9.94627858e-01 3.10790127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53710568099996 meters 0.028306295196560586 Centerline is valid? [True, True] Translation: X:312.77, Y:129.24, Z:31.09 [[ 5.50958764e-01 -8.32534933e-01 -5.77063823e-02 3.12768910e+02] [ 8.28563001e-01 5.53964265e-01 -8.12831258e-02 1.29240918e+02] [ 9.96383153e-02 -3.02972282e-03 9.95019109e-01 3.10900504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59710568099996 meters 0.02282904012585223 Centerline is valid? [True, True] Translation: X:312.78, Y:129.30, Z:31.10 [[ 5.64859648e-01 -8.23264463e-01 -5.62956770e-02 3.12781158e+02] [ 8.19432870e-01 5.67656504e-01 -7.93464870e-02 1.29303429e+02] [ 9.72797502e-02 -1.31089949e-03 9.95256214e-01 3.10962613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65710568099996 meters 0.021770133707325744 Centerline is valid? [True, True] Translation: X:312.80, Y:129.36, Z:31.10 [[ 5.79063688e-01 -8.13404880e-01 -5.52968919e-02 3.12797364e+02] [ 8.09657356e-01 5.81697815e-01 -7.79911350e-02 1.29363959e+02] [ 9.56044511e-02 3.90298989e-04 9.95419327e-01 3.11003681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71710568099996 meters 0.024665238138819618 Centerline is valid? [True, True] Translation: X:312.82, Y:129.42, Z:31.10 [[ 5.89152576e-01 -8.05996662e-01 -5.71718758e-02 3.12818158e+02] [ 8.01949256e-01 5.91917669e-01 -8.06899240e-02 1.29420391e+02] [ 9.88768528e-02 1.68973336e-03 9.95098243e-01 3.10994611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77710568099997 meters 0.026085931693457073 Centerline is valid? [True, True] Translation: X:312.85, Y:129.47, Z:31.10 [[ 5.93125656e-01 -8.03066331e-01 -5.73273408e-02 3.12851344e+02] [ 7.98981195e-01 5.95885593e-01 -8.09284256e-02 1.29468289e+02] [ 9.91514303e-02 2.19725833e-03 9.95069930e-01 3.11019935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.83710568099997 meters 0.027471811443416868 Centerline is valid? [True, True] Translation: X:312.89, Y:129.51, Z:31.11 [[ 5.95175364e-01 -8.01515537e-01 -5.77851980e-02 3.12888563e+02] [ 7.97355043e-01 5.97968764e-01 -8.15983637e-02 1.29513631e+02] [ 9.99560998e-02 2.49001683e-03 9.94988733e-01 3.11076492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.89710568099997 meters 0.025434335532417085 Centerline is valid? [True, True] Translation: X:312.93, Y:129.56, Z:31.12 [[ 5.93972019e-01 -8.02573312e-01 -5.54375376e-02 3.12930381e+02] [ 7.98744523e-01 5.96549267e-01 -7.83336389e-02 1.29555189e+02] [ 9.59397104e-02 2.24756010e-03 9.95384609e-01 3.11199876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.957105681 meters 0.02375268190858715 Centerline is valid? [True, True] Translation: X:312.98, Y:129.59, Z:31.12 [[ 5.89087517e-01 -8.06204922e-01 -5.48590919e-02 3.12979756e+02] [ 8.02466349e-01 5.91634031e-01 -7.75688912e-02 1.29591110e+02] [ 9.49929276e-02 1.67229035e-03 9.95476543e-01 3.11246749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.017105681 meters 0.021088191407253612 Centerline is valid? [True, True] Translation: X:313.03, Y:129.63, Z:31.13 [[ 5.83077556e-01 -8.10535438e-01 -5.52527612e-02 3.13029590e+02] [ 8.06759967e-01 5.85688760e-01 -7.81475080e-02 1.29627521e+02] [ 9.57022458e-02 9.90342194e-04 9.95409513e-01 3.11279902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.077105681 meters 0.01952175866246976 Centerline is valid? [True, True] Translation: X:313.08, Y:129.66, Z:31.13 [[ 5.74289616e-01 -8.16732031e-01 -5.60377266e-02 3.13078659e+02] [ 8.12871787e-01 5.77017148e-01 -7.93137381e-02 1.29664394e+02] [ 9.71127996e-02 -2.43080080e-06 9.95273382e-01 3.11333539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.137105681 meters 0.019654161704388936 Centerline is valid? [True, True] Translation: X:313.13, Y:129.70, Z:31.14 [[ 5.68805680e-01 -8.20598528e-01 -5.54811141e-02 3.13128917e+02] [ 8.16827721e-01 5.71504741e-01 -7.85799299e-02 1.29700268e+02] [ 9.61902946e-02 -6.21801483e-04 9.95362768e-01 3.11387702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.197105681 meters 0.01939368704277498 Centerline is valid? [True, True] Translation: X:313.17, Y:129.74, Z:31.14 [[ 5.70495729e-01 -8.19329276e-01 -5.68696785e-02 3.13165048e+02] [ 8.15354970e-01 5.73323110e-01 -8.06032531e-02 1.29743734e+02] [ 9.86453060e-02 -3.85163414e-04 9.95122583e-01 3.11435098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.257105681 meters 0.020194156468756413 Centerline is valid? [True, True] Translation: X:313.20, Y:129.79, Z:31.15 [[ 5.81035217e-01 -8.11900255e-01 -5.67102542e-02 3.13196074e+02] [ 8.07908422e-01 5.83795471e-01 -8.04166006e-02 1.29793307e+02] [ 9.83974480e-02 9.08185011e-04 9.95146782e-01 3.11499191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.317105681 meters 0.023777401340582278 Centerline is valid? [True, True] Translation: X:313.23, Y:129.84, Z:31.16 [[ 5.90816037e-01 -8.04997748e-01 -5.39910755e-02 3.13228766e+02] [ 8.01346503e-01 5.93274504e-01 -7.66103452e-02 1.29840653e+02] [ 9.37026839e-02 1.99706095e-03 9.95598222e-01 3.11615673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.377105681 meters 0.02978971041719769 Centerline is valid? [True, True] Translation: X:313.26, Y:129.89, Z:31.17 [[ 6.00481120e-01 -7.97878666e-01 -5.30288593e-02 3.13261228e+02] [ 7.94326030e-01 6.02810221e-01 -7.52728085e-02 1.29888908e+02] [ 9.20249064e-02 3.07769706e-03 9.95751949e-01 3.11658836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43710568099993 meters 0.03338958604884273 Centerline is valid? [True, True] Translation: X:313.30, Y:129.93, Z:31.17 [[ 6.05354556e-01 -7.94134916e-01 -5.38107475e-02 3.13302372e+02] [ 7.90456632e-01 6.07730019e-01 -7.64364911e-02 1.29931585e+02] [ 9.34032931e-02 3.73611589e-03 9.95621347e-01 3.11683469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49710568099994 meters 0.02857481304186583 Centerline is valid? [True, True] Translation: X:313.35, Y:129.97, Z:31.17 [[ 5.96937082e-01 -8.00394948e-01 -5.50821907e-02 3.13354959e+02] [ 7.96563582e-01 5.99466279e-01 -7.82728603e-02 1.29966213e+02] [ 9.56691178e-02 2.84750572e-03 9.95409118e-01 3.11697961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55710568099994 meters 0.023207120109257285 Centerline is valid? [True, True] Translation: X:313.41, Y:130.00, Z:31.18 [[ 5.87078083e-01 -8.07676352e-01 -5.47561407e-02 3.13406583e+02] [ 8.03916132e-01 5.89623647e-01 -7.78640376e-02 1.30000629e+02] [ 9.51744572e-02 1.69292521e-03 9.95459169e-01 3.11763514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61710568099994 meters 0.019570466381474163 Centerline is valid? [True, True] Translation: X:313.46, Y:130.03, Z:31.18 [[ 5.76270295e-01 -8.15513989e-01 -5.33805278e-02 3.13461025e+02] [ 8.11968731e-01 5.78737202e-01 -7.59607268e-02 1.30033718e+02] [ 9.28403326e-02 4.30591098e-04 9.95680916e-01 3.11847241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67710568099994 meters 0.02039837040990345 Centerline is valid? [True, True] Translation: X:313.51, Y:130.07, Z:31.19 [[ 5.65401141e-01 -8.23091115e-01 -5.33157205e-02 3.13511338e+02] [ 8.19582594e-01 5.67908815e-01 -7.59206735e-02 1.30068336e+02] [ 9.27680994e-02 -7.71001115e-04 9.95687444e-01 3.11901852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73710568099995 meters 0.02338050930542278 Centerline is valid? [True, True] Translation: X:313.56, Y:130.11, Z:31.19 [[ 5.55624655e-01 -8.29584141e-01 -5.54201730e-02 3.13556480e+02] [ 8.25821195e-01 5.58378489e-01 -7.89481970e-02 1.30108854e+02] [ 9.64396047e-02 -1.90158876e-03 9.95337022e-01 3.11909320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79710568099995 meters 0.027405424451727122 Centerline is valid? [True, True] Translation: X:313.60, Y:130.15, Z:31.20 [[ 5.47125701e-01 -8.35244966e-01 -5.49482864e-02 3.13600270e+02] [ 8.31568888e-01 5.49870707e-01 -7.83287261e-02 1.30148855e+02] [ 9.56381272e-02 -2.83762623e-03 9.95412124e-01 3.11968667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85710568099995 meters 0.03132258101399846 Centerline is valid? [True, True] Translation: X:313.64, Y:130.19, Z:31.21 [[ 5.41263808e-01 -8.39178109e-01 -5.30433094e-02 3.13636110e+02] [ 8.35768623e-01 5.43846140e-01 -7.56451221e-02 1.30194601e+02] [ 9.23271295e-02 -3.38796688e-03 9.95722965e-01 3.12070035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91710568099995 meters 0.03027818358217465 Centerline is valid? [True, True] Translation: X:313.66, Y:130.25, Z:31.21 [[ 5.40778294e-01 -8.39442179e-01 -5.38113822e-02 3.13662885e+02] [ 8.35929269e-01 5.43438036e-01 -7.67942556e-02 1.30246397e+02] [ 9.37074891e-02 -3.45384286e-03 9.95593781e-01 3.12102866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97710568099995 meters 0.027888291745502978 Centerline is valid? [True, True] Translation: X:313.68, Y:130.30, Z:31.21 [[ 5.46144363e-01 -8.35968606e-01 -5.36919396e-02 3.13684831e+02] [ 8.32448628e-01 5.48770052e-01 -7.66857999e-02 1.30301424e+02] [ 9.35714498e-02 -2.81426415e-03 9.95608590e-01 3.12134130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03710568099996 meters 0.02364070616260684 Centerline is valid? [True, True] Translation: X:313.70, Y:130.36, Z:31.22 [[ 5.54390737e-01 -8.30637136e-01 -5.18927760e-02 3.13702453e+02] [ 8.27320795e-01 5.56811161e-01 -7.41730014e-02 1.30359302e+02] [ 9.05053262e-02 -1.81114778e-03 9.95894325e-01 3.12218902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09710568099996 meters 0.023368295257051783 Centerline is valid? [True, True] Translation: X:313.73, Y:130.41, Z:31.23 [[ 5.57757757e-01 -8.28500099e-01 -4.99386706e-02 3.13727941e+02] [ 8.25416279e-01 5.59987217e-01 -7.14302632e-02 1.30412030e+02] [ 8.71449973e-02 -1.37940829e-03 9.96194683e-01 3.12271210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15710568099996 meters 0.024128250015649347 Centerline is valid? [True, True] Translation: X:313.76, Y:130.46, Z:31.23 [[ 5.52970136e-01 -8.31758408e-01 -4.90099872e-02 3.13761043e+02] [ 8.28799733e-01 5.55134705e-01 -7.01174813e-02 1.30459893e+02] [ 8.55279494e-02 -1.84659113e-03 9.96334060e-01 3.12321565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21710568099996 meters 0.028854724656813716 Centerline is valid? [True, True] Translation: X:313.80, Y:130.50, Z:31.24 [[ 5.44932340e-01 -8.37046322e-01 -4.90122443e-02 3.13799482e+02] [ 8.34104245e-01 5.47125638e-01 -7.01686855e-02 1.30503132e+02] [ 8.55502956e-02 -2.64413504e-03 9.96330345e-01 3.12357585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27710568099997 meters 0.03333631713261434 Centerline is valid? [True, True] Translation: X:313.83, Y:130.55, Z:31.24 [[ 5.36800168e-01 -8.42127860e-01 -5.16357083e-02 3.13832904e+02] [ 8.38882627e-01 5.39265757e-01 -7.39484996e-02 1.30550811e+02] [ 9.01194611e-02 -3.62073161e-03 9.95924381e-01 3.12353975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.33710568099997 meters 0.03438199054938246 Centerline is valid? [True, True] Translation: X:313.86, Y:130.60, Z:31.24 [[ 5.34471711e-01 -8.43553385e-01 -5.25135807e-02 3.13859584e+02] [ 8.40198306e-01 5.37031193e-01 -7.52615733e-02 1.30604279e+02] [ 9.16885859e-02 -3.89663968e-03 9.95780106e-01 3.12364696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.39710568099997 meters 0.03482211676857657 Centerline is valid? [True, True] Translation: X:313.88, Y:130.66, Z:31.24 [[ 5.37289648e-01 -8.41781459e-01 -5.21901336e-02 3.13884951e+02] [ 8.38454792e-01 5.39806830e-01 -7.48474989e-02 1.30656110e+02] [ 9.11778274e-02 -3.54428133e-03 9.95828319e-01 3.12421915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.457105681 meters 0.030733618235521655 Centerline is valid? [True, True] Translation: X:313.90, Y:130.71, Z:31.25 [[ 5.42770921e-01 -8.38231256e-01 -5.26126244e-02 3.13901996e+02] [ 8.34830454e-01 5.45306941e-01 -7.54880985e-02 1.30714834e+02] [ 9.19665129e-02 -2.94987637e-03 9.95757731e-01 3.12467894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.517105681 meters 0.02629310423672343 Centerline is valid? [True, True] Translation: X:313.92, Y:130.78, Z:31.25 [[ 5.47690573e-01 -8.35130620e-01 -5.09105377e-02 3.13917569e+02] [ 8.31930629e-01 5.50046736e-01 -7.30754196e-02 1.30775256e+02] [ 8.90306956e-02 -2.33131721e-03 9.96026154e-01 3.12543048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.577105681 meters 0.026200143041482462 Centerline is valid? [True, True] Translation: X:313.94, Y:130.83, Z:31.27 [[ 5.47608963e-01 -8.35416089e-01 -4.69508396e-02 3.13943296e+02] [ 8.32692885e-01 5.49613734e-01 -6.74336954e-02 1.30827846e+02] [ 8.21400203e-02 -2.16833407e-03 9.96618440e-01 3.12682920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.637105681 meters 0.024296224296154245 Centerline is valid? [True, True] Translation: X:313.97, Y:130.88, Z:31.28 [[ 5.53471801e-01 -8.31594888e-01 -4.60315893e-02 3.13965009e+02] [ 8.28960377e-01 5.55380562e-01 -6.61598497e-02 1.30882164e+02] [ 8.05832427e-02 -1.54075245e-03 9.96746692e-01 3.12757440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.697105681 meters 0.019885801471161136 Centerline is valid? [True, True] Translation: X:313.98, Y:130.95, Z:31.28 [[ 5.66204242e-01 -8.22928945e-01 -4.69117065e-02 3.13975386e+02] [ 8.20160742e-01 5.68144232e-01 -6.74424887e-02 1.30945993e+02] [ 8.21529915e-02 -2.88916838e-04 9.96619688e-01 3.12788250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.757105681 meters 0.021884784100955824 Centerline is valid? [True, True] Translation: X:313.99, Y:131.01, Z:31.28 [[ 5.79061462e-01 -8.13882128e-01 -4.77881238e-02 3.13990331e+02] [ 8.10973635e-01 5.81029056e-01 -6.87531813e-02 1.31007213e+02] [ 8.37232739e-02 1.05740918e-03 9.96488482e-01 3.12808456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.817105681 meters 0.024839421792092222 Centerline is valid? [True, True] Translation: X:314.01, Y:131.06, Z:31.28 [[ 5.84536288e-01 -8.09751883e-01 -5.11782710e-02 3.14014456e+02] [ 8.06394621e-01 5.86769671e-01 -7.36822134e-02 1.31061293e+02] [ 8.96941683e-02 1.80004511e-03 9.95967728e-01 3.12770717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.877105681 meters 0.02311605270366181 Centerline is valid? [True, True] Translation: X:314.05, Y:131.11, Z:31.28 [[ 5.82303491e-01 -8.11284013e-01 -5.23535551e-02 3.14052491e+02] [ 8.07774344e-01 5.84650017e-01 -7.53987240e-02 1.31106298e+02] [ 9.17782862e-02 1.61508163e-03 9.95778157e-01 3.12791086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93710568099993 meters 0.02099931135126035 Centerline is valid? [True, True] Translation: X:314.09, Y:131.15, Z:31.28 [[ 5.76352889e-01 -8.15489500e-01 -5.28604114e-02 3.14094028e+02] [ 8.11924143e-01 5.78771026e-01 -7.61792922e-02 1.31147577e+02] [ 9.27174874e-02 9.87510952e-04 9.95691967e-01 3.12849238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99710568099994 meters 0.019848195054638067 Centerline is valid? [True, True] Translation: X:314.14, Y:131.19, Z:31.29 [[ 5.68732152e-01 -8.20721404e-01 -5.44069624e-02 3.14142999e+02] [ 8.16965393e-01 5.71328586e-01 -7.84295482e-02 1.31185490e+02] [ 9.54530617e-02 1.56800270e-04 9.95433920e-01 3.12853911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05710568099994 meters 0.020430757392644227 Centerline is valid? [True, True] Translation: X:314.19, Y:131.22, Z:31.30 [[ 5.60710025e-01 -8.26292937e-01 -5.33315126e-02 3.14191928e+02] [ 8.22704352e-01 5.63240120e-01 -7.69292912e-02 1.31221553e+02] [ 9.36045775e-02 -7.41042722e-04 9.95609177e-01 3.12951329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11710568099994 meters 0.021855873339858778 Centerline is valid? [True, True] Translation: X:314.23, Y:131.26, Z:31.30 [[ 5.56938692e-01 -8.28939802e-01 -5.17503437e-02 3.14233274e+02] [ 8.25570344e-01 5.59336675e-01 -7.46732256e-02 1.31262736e+02] [ 9.08454740e-02 -1.13514054e-03 9.95864354e-01 3.13041666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17710568099994 meters 0.028191650412376642 Centerline is valid? [True, True] Translation: X:314.29, Y:131.30, Z:31.31 [[ 5.45191845e-01 -8.36720851e-01 -5.16146322e-02 3.14287354e+02] [ 8.33400584e-01 5.47624393e-01 -7.45049677e-02 1.31296319e+02] [ 9.06052916e-02 -2.39616384e-03 9.95883999e-01 3.13113728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23710568099995 meters 0.03455870378406822 Centerline is valid? [True, True] Translation: X:314.33, Y:131.33, Z:31.32 [[ 5.35695926e-01 -8.42949733e-01 -4.96550321e-02 3.14333519e+02] [ 8.39899485e-01 5.37982303e-01 -7.17209608e-02 1.31334008e+02] [ 8.71706933e-02 -3.28460939e-03 9.96187975e-01 3.13209337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29710568099995 meters 0.0378281209079234 Centerline is valid? [True, True] Translation: X:314.37, Y:131.38, Z:31.33 [[ 5.24590292e-01 -8.50084762e-01 -4.64857244e-02 3.14374274e+02] [ 8.47437280e-01 5.26629476e-01 -6.71673401e-02 1.31376189e+02] [ 8.15786850e-02 -4.15840122e-03 9.96658229e-01 3.13327157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35710568099995 meters 0.038812944032310386 Centerline is valid? [True, True] Translation: X:314.41, Y:131.42, Z:31.33 [[ 5.22409420e-01 -8.51314467e-01 -4.84982062e-02 3.14407958e+02] [ 8.48432960e-01 5.24636378e-01 -7.01297559e-02 1.31424608e+02] [ 8.51463990e-02 -4.51103155e-03 9.96358239e-01 3.13348508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41710568099995 meters 0.03471762559240192 Centerline is valid? [True, True] Translation: X:314.43, Y:131.48, Z:31.34 [[ 5.30922649e-01 -8.45982091e-01 -4.93502046e-02 3.14427084e+02] [ 8.42970710e-01 5.33198567e-01 -7.14119736e-02 1.31481926e+02] [ 8.67267090e-02 -3.68654283e-03 9.96225320e-01 3.13406864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47710568099995 meters 0.02527319919669976 Centerline is valid? [True, True] Translation: X:314.44, Y:131.55, Z:31.34 [[ 5.48981781e-01 -8.34287838e-01 -5.08213336e-02 3.14438187e+02] [ 8.31039935e-01 5.51326030e-01 -7.35678890e-02 1.31545986e+02] [ 8.93959191e-02 -1.84712705e-03 9.95994457e-01 3.13431813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53710568099996 meters 0.02098490534868276 Centerline is valid? [True, True] Translation: X:314.45, Y:131.61, Z:31.34 [[ 5.63653701e-01 -8.24190396e-01 -5.48151152e-02 3.14450632e+02] [ 8.20358322e-01 5.66312760e-01 -7.93856455e-02 1.31609619e+02] [ 9.64713858e-02 -2.22023104e-04 9.95335734e-01 3.13399215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59710568099996 meters 0.02163846158293053 Centerline is valid? [True, True] Translation: X:314.47, Y:131.67, Z:31.35 [[ 5.71852702e-01 -8.18587346e-01 -5.38446266e-02 3.14471169e+02] [ 8.14860326e-01 5.74381582e-01 -7.80285060e-02 1.31665846e+02] [ 9.48005095e-02 7.44962005e-04 9.95496011e-01 3.13460386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65710568099996 meters 0.021341593172786617 Centerline is valid? [True, True] Translation: X:314.51, Y:131.71, Z:31.35 [[ 5.69230924e-01 -8.20378517e-01 -5.43621582e-02 3.14506569e+02] [ 8.16585261e-01 5.71820665e-01 -7.88012637e-02 1.31712222e+02] [ 9.57322692e-02 4.64779014e-04 9.95407011e-01 3.13488547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71710568099996 meters 0.021344989235843822 Centerline is valid? [True, True] Translation: X:314.54, Y:131.76, Z:31.35 [[ 5.63216595e-01 -8.24478490e-01 -5.49753250e-02 3.14543640e+02] [ 8.20612112e-01 5.65893260e-01 -7.97532506e-02 1.31756193e+02] [ 9.68650054e-02 -1.95063280e-04 9.95297510e-01 3.13528021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77710568099997 meters 0.021944902488652534 Centerline is valid? [True, True] Translation: X:314.58, Y:131.80, Z:31.36 [[ 5.58501031e-01 -8.27773671e-01 -5.35476204e-02 3.14581808e+02] [ 8.24117604e-01 5.61061694e-01 -7.77171166e-02 1.31799577e+02] [ 9.43757016e-02 -7.24446849e-04 9.95536389e-01 3.13622823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.83710568099997 meters 0.022545565064370412 Centerline is valid? [True, True] Translation: X:314.62, Y:131.84, Z:31.37 [[ 5.55055192e-01 -8.30160669e-01 -5.24118008e-02 3.14619088e+02] [ 8.26663478e-01 5.57523196e-01 -7.61273970e-02 1.31844653e+02] [ 9.24187655e-02 -1.07201453e-03 9.95719651e-01 3.13701589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.89710568099997 meters 0.02377481746557674 Centerline is valid? [True, True] Translation: X:314.66, Y:131.89, Z:31.37 [[ 5.50000346e-01 -8.33427510e-01 -5.38349896e-02 3.14660969e+02] [ 8.29747646e-01 5.52626385e-01 -7.82491015e-02 1.31886783e+02] [ 9.49655894e-02 -1.63242304e-03 9.95479217e-01 3.13703244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.957105681 meters 0.027808630028524454 Centerline is valid? [True, True] Translation: X:314.70, Y:131.93, Z:31.38 [[ 5.40499678e-01 -8.39558360e-01 -5.47892063e-02 3.14704089e+02] [ 8.35775165e-01 5.43262621e-01 -7.96592577e-02 1.31927928e+02] [ 9.66435236e-02 -2.73565476e-03 9.95315300e-01 3.13758989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.017105681 meters 0.029476870076063144 Centerline is valid? [True, True] Translation: X:314.74, Y:131.97, Z:31.38 [[ 5.35939009e-01 -8.42415365e-01 -5.57290837e-02 3.14743349e+02] [ 8.38510421e-01 5.38818743e-01 -8.10841283e-02 1.31971826e+02] [ 9.83343904e-02 -3.27327010e-03 9.95148046e-01 3.13805090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.077105681 meters 0.028905008482939986 Centerline is valid? [True, True] Translation: X:314.78, Y:132.02, Z:31.38 [[ 5.35905542e-01 -8.42367492e-01 -5.67649406e-02 3.14776468e+02] [ 8.38310142e-01 5.38893435e-01 -8.26436395e-02 1.32018745e+02] [ 1.00206569e-01 -3.29744106e-03 9.94961190e-01 3.13836035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.137105681 meters 0.026718416709377045 Centerline is valid? [True, True] Translation: X:314.80, Y:132.07, Z:31.39 [[ 5.41418135e-01 -8.38805543e-01 -5.71984733e-02 3.14804591e+02] [ 8.34661940e-01 5.44424764e-01 -8.33134008e-02 1.32068553e+02] [ 1.01024008e-01 -2.63400268e-03 9.94880501e-01 3.13899084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.197105681 meters 0.022489262929418965 Centerline is valid? [True, True] Translation: X:314.83, Y:132.12, Z:31.40 [[ 5.54075157e-01 -8.30649906e-01 -5.49677452e-02 3.14825107e+02] [ 8.26780664e-01 5.56794024e-01 -8.00883832e-02 1.32123933e+02] [ 9.71311200e-02 -1.07128535e-03 9.95271017e-01 3.14015084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.257105681 meters 0.021961342023964343 Centerline is valid? [True, True] Translation: X:314.84, Y:132.18, Z:31.41 [[ 5.72297467e-01 -8.18339894e-01 -5.28717930e-02 3.14843741e+02] [ 8.14703436e-01 5.74733637e-01 -7.70685306e-02 1.32181134e+02] [ 9.34554511e-02 1.03129347e-03 9.95622928e-01 3.14121791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.317105681 meters 0.026412163222403983 Centerline is valid? [True, True] Translation: X:314.87, Y:132.23, Z:31.42 [[ 5.84604588e-01 -8.09752703e-01 -5.03789194e-02 3.14868858e+02] [ 8.06414761e-01 5.86766661e-01 -7.34855069e-02 1.32234819e+02] [ 8.90657582e-02 2.33366031e-03 9.96023014e-01 3.14198768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.377105681 meters 0.028861041829861888 Centerline is valid? [True, True] Translation: X:314.90, Y:132.28, Z:31.43 [[ 5.87929777e-01 -8.07464767e-01 -4.83655629e-02 3.14904902e+02] [ 8.04376601e-01 5.89910052e-01 -7.06003779e-02 1.32279913e+02] [ 8.55386495e-02 2.60393733e-03 9.96331450e-01 3.14281694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43710568099993 meters 0.024863438186134332 Centerline is valid? [True, True] Translation: X:314.96, Y:132.31, Z:31.43 [[ 5.80750502e-01 -8.12545203e-01 -4.99914769e-02 3.14959781e+02] [ 8.09261457e-01 5.82894955e-01 -7.30024974e-02 1.32313169e+02] [ 8.84576088e-02 1.94006160e-03 9.96078053e-01 3.14282094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49710568099994 meters 0.02172559948782168 Centerline is valid? [True, True] Translation: X:315.01, Y:132.35, Z:31.43 [[ 5.70506915e-01 -8.19794710e-01 -4.95831997e-02 3.15011979e+02] [ 8.16586538e-01 5.72656888e-01 -7.24604405e-02 1.32346661e+02] [ 8.77968466e-02 8.50208997e-04 9.96138038e-01 3.14349009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55710568099994 meters 0.021033600694780916 Centerline is valid? [True, True] Translation: X:315.06, Y:132.39, Z:31.44 [[ 5.65326552e-01 -8.23409274e-01 -4.90209879e-02 3.15056503e+02] [ 8.20282243e-01 5.67447853e-01 -7.16936284e-02 1.32386945e+02] [ 8.68500528e-02 3.19265891e-04 9.96221344e-01 3.14419050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61710568099994 meters 0.02086318361517259 Centerline is valid? [True, True] Translation: X:315.10, Y:132.43, Z:31.44 [[ 5.61230125e-01 -8.26177368e-01 -4.95146776e-02 3.15099159e+02] [ 8.22993096e-01 5.63410108e-01 -7.24666438e-02 1.32427366e+02] [ 8.77673709e-02 -7.97742439e-05 9.96140995e-01 3.14432620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67710568099994 meters 0.020768407421953707 Centerline is valid? [True, True] Translation: X:315.14, Y:132.47, Z:31.44 [[ 5.59297297e-01 -8.27308666e-01 -5.24109308e-02 3.15140095e+02] [ 8.23739769e-01 5.61747554e-01 -7.67624841e-02 1.32470555e+02] [ 9.29479804e-02 -2.39918200e-04 9.95670937e-01 3.14417247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73710568099995 meters 0.021346178986565947 Centerline is valid? [True, True] Translation: X:315.19, Y:132.51, Z:31.45 [[ 5.54020314e-01 -8.30815736e-01 -5.29783419e-02 3.15185909e+02] [ 8.27178782e-01 5.56547011e-01 -7.76574975e-02 1.32509876e+02] [ 9.40040088e-02 -7.98729232e-04 9.95571498e-01 3.14467461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79710568099995 meters 0.0233246629185473 Centerline is valid? [True, True] Translation: X:315.23, Y:132.55, Z:31.45 [[ 5.47913885e-01 -8.34856562e-01 -5.29612675e-02 3.15230337e+02] [ 8.31235245e-01 5.50465621e-01 -7.76889158e-02 1.32548668e+02] [ 9.40124581e-02 -1.45643651e-03 9.95569956e-01 3.14542879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85710568099995 meters 0.02553729091452948 Centerline is valid? [True, True] Translation: X:315.27, Y:132.59, Z:31.47 [[ 5.41377774e-01 -8.39341465e-01 -4.91529245e-02 3.15273378e+02] [ 8.36238023e-01 5.43600689e-01 -7.21405495e-02 1.32589731e+02] [ 8.72701182e-02 -2.04825429e-03 9.96182579e-01 3.14672718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91710568099995 meters 0.026927793276769255 Centerline is valid? [True, True] Translation: X:315.31, Y:132.64, Z:31.47 [[ 5.39265813e-01 -8.40694665e-01 -4.92429053e-02 3.15308075e+02] [ 8.37580798e-01 5.41504804e-01 -7.23253356e-02 1.32635519e+02] [ 8.74687935e-02 -2.24233102e-03 9.96164736e-01 3.14725350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97710568099995 meters 0.02589078609332961 Centerline is valid? [True, True] Translation: X:315.34, Y:132.69, Z:31.48 [[ 5.39665029e-01 -8.40379641e-01 -5.02365860e-02 3.15338296e+02] [ 8.37134450e-01 5.41993666e-01 -7.38158370e-02 1.32685518e+02] [ 8.92612381e-02 -2.21895100e-03 9.96005777e-01 3.14755565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03710568099996 meters 0.024892941728078332 Centerline is valid? [True, True] Translation: X:315.37, Y:132.74, Z:31.48 [[ 5.42701035e-01 -8.38283806e-01 -5.24961613e-02 3.15366842e+02] [ 8.34723670e-01 5.45230742e-01 -7.71999600e-02 1.32735737e+02] [ 9.33379973e-02 -1.92329022e-03 9.95632623e-01 3.14770219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09710568099996 meters 0.02382295691928507 Centerline is valid? [True, True] Translation: X:315.39, Y:132.79, Z:31.48 [[ 5.43619924e-01 -8.37649750e-01 -5.31062607e-02 3.15393192e+02] [ 8.33999920e-01 5.46204720e-01 -7.81315428e-02 1.32788738e+02] [ 9.44537575e-02 -1.81675381e-03 9.95527592e-01 3.14826705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15710568099996 meters 0.024943574976316458 Centerline is valid? [True, True] Translation: X:315.42, Y:132.84, Z:31.49 [[ 5.42193653e-01 -8.38662164e-01 -5.16896315e-02 3.15424377e+02] [ 8.35204468e-01 5.44648628e-01 -7.61010439e-02 1.32835974e+02] [ 9.19757530e-02 -1.90990816e-03 9.95759415e-01 3.14910058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21710568099996 meters 0.02555670362920846 Centerline is valid? [True, True] Translation: X:315.45, Y:132.89, Z:31.50 [[ 5.40897567e-01 -8.39655026e-01 -4.90841952e-02 3.15453820e+02] [ 8.36538713e-01 5.43116580e-01 -7.23004982e-02 1.32886157e+02] [ 8.73659170e-02 -1.95366586e-03 9.96174372e-01 3.15016185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27710568099997 meters 0.023734115387171857 Centerline is valid? [True, True] Translation: X:315.48, Y:132.94, Z:31.50 [[ 5.44703653e-01 -8.37074183e-01 -5.10366870e-02 3.15478802e+02] [ 8.33688089e-01 5.47087150e-01 -7.52317789e-02 1.32940560e+02] [ 9.08960954e-02 -1.56965326e-03 9.95859145e-01 3.15029080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.33710568099997 meters 0.020807545882365473 Centerline is valid? [True, True] Translation: X:315.50, Y:133.00, Z:31.50 [[ 5.54742873e-01 -8.30251212e-01 -5.42519130e-02 3.15495461e+02] [ 8.26385066e-01 5.57389213e-01 -8.00311758e-02 1.33000676e+02] [ 9.66854118e-02 -4.36246336e-04 9.95314895e-01 3.15036080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.39710568099997 meters 0.020531132056868823 Centerline is valid? [True, True] Translation: X:315.52, Y:133.06, Z:31.51 [[ 5.61622891e-01 -8.25720423e-01 -5.25881214e-02 3.15516046e+02] [ 8.22063097e-01 5.64079468e-01 -7.76312951e-02 1.33055379e+02] [ 9.37656254e-02 3.68758412e-04 9.95594230e-01 3.15126412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.457105681 meters 0.021170146819178955 Centerline is valid? [True, True] Translation: X:315.54, Y:133.11, Z:31.52 [[ 5.65037620e-01 -8.23433830e-01 -5.18576436e-02 3.15542825e+02] [ 8.19866059e-01 5.67411812e-01 -7.65733714e-02 1.33107216e+02] [ 9.24777440e-02 7.50513660e-04 9.95714469e-01 3.15211128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.517105681 meters 0.021690269461096163 Centerline is valid? [True, True] Translation: X:315.57, Y:133.16, Z:31.53 [[ 5.67408208e-01 -8.21838999e-01 -5.12697195e-02 3.15572972e+02] [ 8.18340507e-01 5.69718878e-01 -7.57576082e-02 1.33157706e+02] [ 9.14698840e-02 1.02940044e-03 9.95807311e-01 3.15279489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.577105681 meters 0.022937140059959567 Centerline is valid? [True, True] Translation: X:315.60, Y:133.21, Z:31.53 [[ 5.70997956e-01 -8.19251810e-01 -5.27996858e-02 3.15603242e+02] [ 8.15524415e-01 5.73431912e-01 -7.80754244e-02 1.33207251e+02] [ 9.42404575e-02 1.52147484e-03 9.95548302e-01 3.15290732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.637105681 meters 0.02555773289415392 Centerline is valid? [True, True] Translation: X:315.63, Y:133.26, Z:31.53 [[ 5.76816169e-01 -8.15025256e-01 -5.49266731e-02 3.15633216e+02] [ 8.10968988e-01 5.79420788e-01 -8.12456201e-02 1.33258216e+02] [ 9.80428885e-02 2.31995881e-03 9.95179486e-01 3.15296855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.697105681 meters 0.027872102221665473 Centerline is valid? [True, True] Translation: X:315.67, Y:133.30, Z:31.53 [[ 5.80272050e-01 -8.12484181e-01 -5.61587321e-02 3.15668877e+02] [ 8.08225610e-01 5.82976286e-01 -8.31264961e-02 1.33304724e+02] [ 1.00278172e-01 2.84705678e-03 9.94955367e-01 3.15309575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.757105681 meters 0.026939251275090864 Centerline is valid? [True, True] Translation: X:315.72, Y:133.34, Z:31.54 [[ 5.77758448e-01 -8.14283368e-01 -5.60158171e-02 3.15715648e+02] [ 8.10049675e-01 5.80461925e-01 -8.29667209e-02 1.33344158e+02] [ 1.00073470e-01 2.55912943e-03 9.94976759e-01 3.15363833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.817105681 meters 0.026313940391023045 Centerline is valid? [True, True] Translation: X:315.75, Y:133.39, Z:31.54 [[ 5.75943204e-01 -8.15587908e-01 -5.57296145e-02 3.15754508e+02] [ 8.11397717e-01 5.78628396e-01 -8.26009923e-02 1.33388483e+02] [ 9.96151080e-02 2.35459824e-03 9.95023259e-01 3.15412971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.877105681 meters 0.025355400213284803 Centerline is valid? [True, True] Translation: X:315.80, Y:133.43, Z:31.55 [[ 5.72633803e-01 -8.17903513e-01 -5.58960733e-02 3.15797459e+02] [ 8.13693199e-01 5.75351955e-01 -8.29066144e-02 1.33429944e+02] [ 9.99695263e-02 1.99287523e-03 9.94988504e-01 3.15462482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93710568099993 meters 0.022507917386724106 Centerline is valid? [True, True] Translation: X:315.85, Y:133.46, Z:31.56 [[ 5.60910041e-01 -8.26080628e-01 -5.45043335e-02 3.15849378e+02] [ 8.22110412e-01 5.63551662e-01 -8.08949619e-02 1.33463071e+02] [ 9.75417687e-02 5.66216308e-04 9.95231271e-01 3.15553691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99710568099994 meters 0.022505053069325112 Centerline is valid? [True, True] Translation: X:315.89, Y:133.50, Z:31.56 [[ 5.52809286e-01 -8.31591075e-01 -5.34619215e-02 3.15892177e+02] [ 8.27794155e-01 5.55388281e-01 -7.93769187e-02 1.33504061e+02] [ 9.57012618e-02 -3.75168351e-04 9.95410030e-01 3.15633931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05710568099994 meters 0.027250501652428413 Centerline is valid? [True, True] Translation: X:315.94, Y:133.54, Z:31.57 [[ 5.38996200e-01 -8.40685137e-01 -5.22646888e-02 3.15942911e+02] [ 8.37092693e-01 5.41520932e-01 -7.76588889e-02 1.33538602e+02] [ 9.35890966e-02 -1.89254315e-03 9.95609110e-01 3.15690475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11710568099994 meters 0.03198116861753802 Centerline is valid? [True, True] Translation: X:315.98, Y:133.58, Z:31.57 [[ 5.27824602e-01 -8.47645384e-01 -5.38376471e-02 3.15982649e+02] [ 8.43864142e-01 5.30553632e-01 -8.00384524e-02 1.33582470e+02] [ 9.64079839e-02 -3.18539561e-03 9.95336804e-01 3.15712119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17710568099994 meters 0.0387040979403308 Centerline is valid? [True, True] Translation: X:316.02, Y:133.63, Z:31.58 [[ 5.15684903e-01 -8.55228791e-01 -5.15053073e-02 3.16019935e+02] [ 8.51800139e-01 5.18232319e-01 -7.66275835e-02 1.33626396e+02] [ 9.22258304e-02 -4.35653994e-03 9.95728586e-01 3.15817116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23710568099995 meters 0.041016602157989024 Centerline is valid? [True, True] Translation: X:316.05, Y:133.68, Z:31.59 [[ 5.06839988e-01 -8.60660334e-01 -4.87546525e-02 3.16050603e+02] [ 8.57608321e-01 5.09154773e-01 -7.25905253e-02 1.33675587e+02] [ 8.72994498e-02 -5.02061475e-03 9.96169463e-01 3.15913340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29710568099995 meters 0.04186874794418058 Centerline is valid? [True, True] Translation: X:316.07, Y:133.73, Z:31.59 [[ 5.08040931e-01 -8.59803562e-01 -5.13054392e-02 3.16073584e+02] [ 8.56413271e-01 5.10599483e-01 -7.64491812e-02 1.33730177e+02] [ 9.19278090e-02 -5.09934579e-03 9.95752617e-01 3.15924263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35710568099995 meters 0.035215443970911836 Centerline is valid? [True, True] Translation: X:316.08, Y:133.79, Z:31.60 [[ 5.19788372e-01 -8.52786702e-01 -5.07433539e-02 3.16083599e+02] [ 8.49431531e-01 5.22245737e-01 -7.56667969e-02 1.33793508e+02] [ 9.10281385e-02 -3.77228359e-03 9.95841176e-01 3.15978183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41710568099995 meters 0.02596962721569253 Centerline is valid? [True, True] Translation: X:316.09, Y:133.86, Z:31.61 [[ 5.39176384e-01 -8.40702951e-01 -5.00737080e-02 3.16085083e+02] [ 8.37379203e-01 5.41494058e-01 -7.47011081e-02 1.33861971e+02] [ 8.99160573e-02 -1.65360836e-03 9.95947975e-01 3.16050973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47710568099995 meters 0.022625503065813693 Centerline is valid? [True, True] Translation: X:316.09, Y:133.93, Z:31.61 [[ 5.55306641e-01 -8.30073225e-01 -5.11172750e-02 3.16092736e+02] [ 8.26559924e-01 5.57654399e-01 -7.62906487e-02 1.33927690e+02] [ 9.18325981e-02 1.13212896e-04 9.95774453e-01 3.16077353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53710568099996 meters 0.022831672772686537 Centerline is valid? [True, True] Translation: X:316.11, Y:133.98, Z:31.61 [[ 5.59686742e-01 -8.27145705e-01 -5.08009180e-02 3.16114789e+02] [ 8.23660716e-01 5.61987198e-01 -7.58512707e-02 1.33983253e+02] [ 9.12895183e-02 6.10230107e-04 9.95824207e-01 3.16124510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59710568099996 meters 0.022502919893714723 Centerline is valid? [True, True] Translation: X:316.15, Y:134.03, Z:31.61 [[ 5.57671257e-01 -8.28372544e-01 -5.29310682e-02 3.16149417e+02] [ 8.24588376e-01 5.60177398e-01 -7.90904089e-02 1.34030380e+02] [ 9.51671113e-02 4.60104159e-04 9.95461204e-01 3.16119168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65710568099996 meters 0.022662521425062764 Centerline is valid? [True, True] Translation: X:316.18, Y:134.08, Z:31.62 [[ 5.59421680e-01 -8.27234571e-01 -5.22527414e-02 3.16177495e+02] [ 8.23536183e-01 5.61856300e-01 -7.81386763e-02 1.34079924e+02] [ 9.39975463e-02 6.80446322e-04 9.95572196e-01 3.16176976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71710568099996 meters 0.022537534503199567 Centerline is valid? [True, True] Translation: X:316.21, Y:134.13, Z:31.62 [[ 5.60215010e-01 -8.26614249e-01 -5.35539545e-02 3.16211615e+02] [ 8.22722185e-01 5.62768335e-01 -8.01249442e-02 1.34127497e+02] [ 9.63708904e-02 8.27169929e-04 9.95345150e-01 3.16211440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77710568099997 meters 0.022325232501431373 Centerline is valid? [True, True] Translation: X:316.26, Y:134.17, Z:31.63 [[ 5.49384923e-01 -8.34023262e-01 -5.08075328e-02 3.16257245e+02] [ 8.30547154e-01 5.51729130e-01 -7.60683434e-02 1.34166297e+02] [ 9.14747637e-02 -4.07250771e-04 9.95807312e-01 3.16318786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.83710568099997 meters 0.02853033924555083 Centerline is valid? [True, True] Translation: X:316.31, Y:134.20, Z:31.64 [[ 5.29048645e-01 -8.47206122e-01 -4.84697587e-02 3.16308691e+02] [ 8.44091893e-01 5.31258471e-01 -7.26175786e-02 1.34201444e+02] [ 8.72720270e-02 -2.49469881e-03 9.96181394e-01 3.16414000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.89710568099997 meters 0.03502788546589132 Centerline is valid? [True, True] Translation: X:316.35, Y:134.24, Z:31.65 [[ 5.16741851e-01 -8.54792658e-01 -4.80350957e-02 3.16354022e+02] [ 8.51761233e-01 5.18956485e-01 -7.20206162e-02 1.34241618e+02] [ 8.64908184e-02 -3.69836577e-03 9.96245783e-01 3.16454203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.957105681 meters 0.03978136910285716 Centerline is valid? [True, True] Translation: X:316.40, Y:134.28, Z:31.65 [[ 5.07686955e-01 -8.60152770e-01 -4.88995726e-02 3.16397609e+02] [ 8.57030365e-01 5.10015207e-01 -7.33719516e-02 1.34283041e+02] [ 8.80506130e-02 -4.65843585e-03 9.96105109e-01 3.16472229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.017105681 meters 0.04143663499295196 Centerline is valid? [True, True] Translation: X:316.43, Y:134.33, Z:31.65 [[ 5.06764838e-01 -8.60597589e-01 -5.06081855e-02 3.16427147e+02] [ 8.57251989e-01 5.09262129e-01 -7.59678353e-02 1.34333311e+02] [ 9.11505682e-02 -4.88613985e-03 9.95825135e-01 3.16503261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.077105681 meters 0.03920271826240348 Centerline is valid? [True, True] Translation: X:316.45, Y:134.39, Z:31.66 [[ 5.08032110e-01 -8.59903282e-01 -4.96962947e-02 3.16453471e+02] [ 8.56671495e-01 5.10435726e-01 -7.46278737e-02 1.34385973e+02] [ 8.95395177e-02 -4.66004298e-03 9.95972368e-01 3.16570949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.137105681 meters 0.037980698117181785 Centerline is valid? [True, True] Translation: X:316.48, Y:134.44, Z:31.67 [[ 5.11931130e-01 -8.57719572e-01 -4.73672247e-02 3.16475415e+02] [ 8.54770747e-01 5.14101869e-01 -7.11775085e-02 1.34438877e+02] [ 8.54019209e-02 -4.05013565e-03 9.96338350e-01 3.16707614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.197105681 meters 0.028411032744583994 Centerline is valid? [True, True] Translation: X:316.48, Y:134.50, Z:31.68 [[ 5.29846276e-01 -8.46837085e-01 -4.61505761e-02 3.16482168e+02] [ 8.43991158e-01 5.31847918e-01 -6.94025716e-02 1.34504023e+02] [ 8.33177593e-02 -2.17798410e-03 9.96520651e-01 3.16792822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.257105681 meters 0.021724922686389068 Centerline is valid? [True, True] Translation: X:316.48, Y:134.58, Z:31.68 [[ 5.54548431e-01 -8.30784121e-01 -4.76841905e-02 3.16480252e+02] [ 8.27678810e-01 5.56594678e-01 -7.17645571e-02 1.34575309e+02] [ 8.61616211e-02 3.29728528e-04 9.96281118e-01 3.16783416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.317105681 meters 0.025088153886440517 Centerline is valid? [True, True] Translation: X:316.50, Y:134.64, Z:31.68 [[ 5.69309579e-01 -8.20582523e-01 -5.03083167e-02 3.16495828e+02] [ 8.17080969e-01 5.71524488e-01 -7.57525595e-02 1.34636488e+02] [ 9.09136613e-02 2.02068964e-03 9.95856728e-01 3.16768364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.377105681 meters 0.029627163621150494 Centerline is valid? [True, True] Translation: X:316.52, Y:134.69, Z:31.68 [[ 5.73417685e-01 -8.17662101e-01 -5.11942103e-02 3.16520350e+02] [ 8.14019081e-01 5.75692738e-01 -7.71414704e-02 1.34689571e+02] [ 9.25477919e-02 2.56121932e-03 9.95704949e-01 3.16780032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43710568099993 meters 0.026441227810223122 Centerline is valid? [True, True] Translation: X:316.57, Y:134.73, Z:31.69 [[ 5.70721150e-01 -8.19619263e-01 -5.00163295e-02 3.16565902e+02] [ 8.16146274e-01 5.72904320e-01 -7.54049055e-02 1.34729342e+02] [ 9.04578843e-02 2.21453341e-03 9.95897820e-01 3.16855126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49710568099994 meters 0.023149783894813373 Centerline is valid? [True, True] Translation: X:316.61, Y:134.77, Z:31.69 [[ 5.62247699e-01 -8.25558016e-01 -4.82854763e-02 3.16614860e+02] [ 8.22338775e-01 5.64315868e-01 -7.28460022e-02 1.34765935e+02] [ 8.73868615e-02 1.25047763e-03 9.96173666e-01 3.16941582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55710568099994 meters 0.021382197166687565 Centerline is valid? [True, True] Translation: X:316.67, Y:134.80, Z:31.70 [[ 5.51463805e-01 -8.32739138e-01 -4.93274747e-02 3.16666510e+02] [ 8.29401933e-01 5.53665515e-01 -7.44777228e-02 1.34802169e+02] [ 8.93314363e-02 1.59465540e-04 9.96001942e-01 3.16970399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61710568099994 meters 0.021797246781549644 Centerline is valid? [True, True] Translation: X:316.71, Y:134.84, Z:31.70 [[ 5.45366984e-01 -8.36788699e-01 -4.85749529e-02 3.16712810e+02] [ 8.33563832e-01 5.47525761e-01 -7.33953545e-02 1.34840110e+02] [ 8.80124412e-02 -4.62920787e-04 9.96119268e-01 3.17035061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67710568099994 meters 0.022755663808382478 Centerline is valid? [True, True] Translation: X:316.76, Y:134.88, Z:31.71 [[ 5.39722521e-01 -8.40342225e-01 -5.02448582e-02 3.16758044e+02] [ 8.36900877e-01 5.42055219e-01 -7.59806651e-02 1.34880129e+02] [ 9.10852488e-02 -1.04148973e-03 9.95842554e-01 3.17068079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73710568099995 meters 0.0228972551549123 Centerline is valid? [True, True] Translation: X:316.80, Y:134.92, Z:31.71 [[ 5.38314532e-01 -8.41291931e-01 -4.94504924e-02 3.16795890e+02] [ 8.37960055e-01 5.40579804e-01 -7.48092334e-02 1.34924596e+02] [ 8.96683420e-02 -1.16663989e-03 9.95970997e-01 3.17144966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79710568099995 meters 0.021750882284934703 Centerline is valid? [True, True] Translation: X:316.83, Y:134.97, Z:31.72 [[ 5.43897021e-01 -8.37629994e-01 -5.05175635e-02 3.16826787e+02] [ 8.34131209e-01 5.46237771e-01 -7.64815265e-02 1.34973702e+02] [ 9.16578218e-02 -5.40201840e-04 9.95790416e-01 3.17195299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85710568099995 meters 0.022764641817811446 Centerline is valid? [True, True] Translation: X:316.85, Y:135.03, Z:31.73 [[ 5.58390618e-01 -8.28012096e-01 -5.09498434e-02 3.16846045e+02] [ 8.24406877e-01 5.60709158e-01 -7.71915935e-02 1.35030157e+02] [ 9.24836169e-02 1.09966040e-03 9.95713599e-01 3.17254526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91710568099995 meters 0.025791653537668977 Centerline is valid? [True, True] Translation: X:316.87, Y:135.08, Z:31.73 [[ 5.64624148e-01 -8.23777318e-01 -5.08969787e-02 3.16871591e+02] [ 8.20158950e-01 5.66910606e-01 -7.71470194e-02 1.35081802e+02] [ 9.24060017e-02 1.81545749e-03 9.95719757e-01 3.17300633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97710568099995 meters 0.02661748414736759 Centerline is valid? [True, True] Translation: X:316.91, Y:135.13, Z:31.73 [[ 5.67142831e-01 -8.21940384e-01 -5.25643833e-02 3.16907764e+02] [ 8.18070060e-01 5.69569279e-01 -7.97007748e-02 1.35128285e+02] [ 9.54483433e-02 2.20037488e-03 9.95431953e-01 3.17322067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03710568099996 meters 0.025616353010790415 Centerline is valid? [True, True] Translation: X:316.95, Y:135.17, Z:31.74 [[ 5.65484751e-01 -8.23154245e-01 -5.14206655e-02 3.16947366e+02] [ 8.19450926e-01 5.67814371e-01 -7.80193541e-02 1.35171891e+02] [ 9.34193554e-02 1.98204308e-03 9.95624877e-01 3.17400346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09710568099996 meters 0.025340993134523263 Centerline is valid? [True, True] Translation: X:316.99, Y:135.21, Z:31.75 [[ 5.65612707e-01 -8.23108041e-01 -5.07485770e-02 3.16991425e+02] [ 8.19495962e-01 5.67881305e-01 -7.70531789e-02 1.35211835e+02] [ 9.22422592e-02 1.99400318e-03 9.95734598e-01 3.17472664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15710568099996 meters 0.02553704177285049 Centerline is valid? [True, True] Translation: X:317.03, Y:135.26, Z:31.75 [[ 5.65979206e-01 -8.22891099e-01 -5.01774636e-02 3.17031265e+02] [ 8.19353466e-01 5.68195450e-01 -7.62484645e-02 1.35255185e+02] [ 9.12547893e-02 2.04196666e-03 9.95825484e-01 3.17541748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21710568099996 meters 0.024513664094616406 Centerline is valid? [True, True] Translation: X:317.07, Y:135.30, Z:31.75 [[ 5.62225079e-01 -8.25298611e-01 -5.27746499e-02 3.17073428e+02] [ 8.21388969e-01 5.64693773e-01 -8.02564890e-02 1.35298274e+02] [ 9.60370850e-02 1.77369555e-03 9.95376176e-01 3.17537616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27710568099997 meters 0.02187185387307889 Centerline is valid? [True, True] Translation: X:317.12, Y:135.34, Z:31.76 [[ 5.51697585e-01 -8.32245955e-01 -5.47397910e-02 3.17120596e+02] [ 8.28066271e-01 5.54406233e-01 -8.33065445e-02 1.35337651e+02] [ 9.96796160e-02 6.31844882e-04 9.95019384e-01 3.17565733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.33710568099997 meters 0.022368762029492707 Centerline is valid? [True, True] Translation: X:317.17, Y:135.38, Z:31.77 [[ 5.39584334e-01 -8.40261744e-01 -5.29995109e-02 3.17167523e+02] [ 8.36376459e-01 5.42180413e-01 -8.07144256e-02 1.35375609e+02] [ 9.65565408e-02 -7.75303734e-04 9.95327199e-01 3.17682401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.39710568099997 meters 0.02710722012180349 Centerline is valid? [True, True] Translation: X:317.21, Y:135.41, Z:31.78 [[ 5.26970741e-01 -8.48283759e-01 -5.21200808e-02 3.17210980e+02] [ 8.44559011e-01 5.29537541e-01 -7.94359493e-02 1.35414316e+02] [ 9.49837651e-02 -2.15806278e-03 9.95476482e-01 3.17762312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.457105681 meters 0.03630621632791089 Centerline is valid? [True, True] Translation: X:317.26, Y:135.45, Z:31.78 [[ 5.11690096e-01 -8.57479269e-01 -5.38753015e-02 3.17256891e+02] [ 8.53542991e-01 5.14503404e-01 -8.21620911e-02 1.35454378e+02] [ 9.81713159e-02 -3.94335770e-03 9.95161717e-01 3.17760877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.517105681 meters 0.04256579888896218 Centerline is valid? [True, True] Translation: X:317.29, Y:135.50, Z:31.78 [[ 5.03149745e-01 -8.62502601e-01 -5.41257599e-02 3.17293692e+02] [ 8.58551691e-01 5.06028843e-01 -8.26063115e-02 1.35499024e+02] [ 9.86373542e-02 -4.90641818e-03 9.95111350e-01 3.17802790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.577105681 meters 0.04322660661078948 Centerline is valid? [True, True] Translation: X:317.32, Y:135.55, Z:31.78 [[ 5.02091536e-01 -8.63067838e-01 -5.49362953e-02 3.17320182e+02] [ 8.58994011e-01 5.05062681e-01 -8.39105331e-02 1.35551272e+02] [ 1.00166755e-01 -5.05918022e-03 9.94957801e-01 3.17841765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.637105681 meters 0.038148433428526425 Centerline is valid? [True, True] Translation: X:317.34, Y:135.61, Z:31.79 [[ 5.08014478e-01 -8.59554178e-01 -5.55689331e-02 3.17335834e+02] [ 8.55358766e-01 5.11025835e-01 -8.49351321e-02 1.35610912e+02] [ 1.01403508e-01 -4.38309729e-03 9.94835724e-01 3.17862550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.697105681 meters 0.03647288527276774 Centerline is valid? [True, True] Translation: X:317.35, Y:135.67, Z:31.80 [[ 5.12023960e-01 -8.57343384e-01 -5.28562694e-02 3.17353925e+02] [ 8.53532863e-01 5.14731405e-01 -8.08284071e-02 1.35666285e+02] [ 9.65044819e-02 -3.72848185e-03 9.95325567e-01 3.17966829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.757105681 meters 0.03956628132844927 Centerline is valid? [True, True] Translation: X:317.38, Y:135.72, Z:31.81 [[ 5.08272623e-01 -8.59780744e-01 -4.93559730e-02 3.17375987e+02] [ 8.56465429e-01 5.10648614e-01 -7.55311911e-02 1.35719649e+02] [ 9.01438229e-02 -3.88124796e-03 9.95921195e-01 3.18117565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.817105681 meters 0.04093609400359873 Centerline is valid? [True, True] Translation: X:317.40, Y:135.77, Z:31.81 [[ 5.04002773e-01 -8.62291882e-01 -4.93347290e-02 3.17404222e+02] [ 8.58986151e-01 5.06393363e-01 -7.55549787e-02 1.35770630e+02] [ 9.01332241e-02 -4.29793016e-03 9.95920443e-01 3.18149174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.877105681 meters 0.040416919486603226 Centerline is valid? [True, True] Translation: X:317.43, Y:135.83, Z:31.82 [[ 5.00221534e-01 -8.64424067e-01 -5.04920769e-02 3.17425297e+02] [ 8.60966449e-01 5.02740840e-01 -7.73848900e-02 1.35826934e+02] [ 9.22777905e-02 -4.76239579e-03 9.95721913e-01 3.18157995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93710568099993 meters 0.03903659617660284 Centerline is valid? [True, True] Translation: X:317.44, Y:135.89, Z:31.82 [[ 5.02130096e-01 -8.63203753e-01 -5.23893851e-02 3.17439067e+02] [ 8.59468278e-01 5.04834025e-01 -8.03547556e-02 1.35888231e+02] [ 9.58104707e-02 -4.67847341e-03 9.95388600e-01 3.18189195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99710568099994 meters 0.035889864236153333 Centerline is valid? [True, True] Translation: X:317.45, Y:135.95, Z:31.83 [[ 5.07115223e-01 -8.60359895e-01 -5.11370977e-02 3.17452418e+02] [ 8.56781695e-01 5.09671232e-01 -7.84879747e-02 1.35948220e+02] [ 9.35910132e-02 -4.01088249e-03 9.95602649e-01 3.18290890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05710568099994 meters 0.03238621024475008 Centerline is valid? [True, True] Translation: X:317.46, Y:136.01, Z:31.83 [[ 5.13210864e-01 -8.56660271e-01 -5.24193495e-02 3.17461854e+02] [ 8.52874691e-01 5.15869870e-01 -8.05173157e-02 1.36010194e+02] [ 9.60175486e-02 -3.38477536e-03 9.95373886e-01 3.18312217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11710568099994 meters 0.027944897667575543 Centerline is valid? [True, True] Translation: X:317.47, Y:136.07, Z:31.84 [[ 5.19978071e-01 -8.52552357e-01 -5.26999439e-02 3.17470878e+02] [ 8.48698958e-01 5.22635340e-01 -8.10085228e-02 1.36073619e+02] [ 9.66068601e-02 -2.60373202e-03 9.95319213e-01 3.18354006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17710568099994 meters 0.02523892526077132 Centerline is valid? [True, True] Translation: X:317.48, Y:136.14, Z:31.85 [[ 5.26772307e-01 -8.48532619e-01 -5.00332970e-02 3.17478932e+02] [ 8.45036853e-01 5.29140222e-01 -7.69632556e-02 1.36137427e+02] [ 9.17804628e-02 -1.73786811e-03 9.95777750e-01 3.18472063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23710568099995 meters 0.023555901604835568 Centerline is valid? [True, True] Translation: X:317.49, Y:136.20, Z:31.85 [[ 5.32425978e-01 -8.45019248e-01 -4.96492517e-02 3.17493511e+02] [ 8.41556717e-01 5.34734775e-01 -7.64265166e-02 1.36197708e+02] [ 9.11310590e-02 -1.09119836e-03 9.95838310e-01 3.18490546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29710568099995 meters 0.023266171874952474 Centerline is valid? [True, True] Translation: X:317.51, Y:136.26, Z:31.85 [[ 5.34083021e-01 -8.43750459e-01 -5.32962525e-02 3.17511855e+02] [ 8.39746682e-01 5.36734893e-01 -8.21045970e-02 1.36255896e+02] [ 9.78817497e-02 -9.04680074e-04 9.95197641e-01 3.18459607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35710568099995 meters 0.02343151129558028 Centerline is valid? [True, True] Translation: X:317.53, Y:136.31, Z:31.85 [[ 5.33828275e-01 -8.43815086e-01 -5.48039590e-02 3.17534160e+02] [ 8.39574678e-01 5.36633281e-01 -8.44930830e-02 1.36311828e+02] [ 1.00706166e-01 -9.07219518e-04 9.94915798e-01 3.18473070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41710568099995 meters 0.024141245567986528 Centerline is valid? [True, True] Translation: X:317.56, Y:136.36, Z:31.86 [[ 5.30831475e-01 -8.45864444e-01 -5.22617238e-02 3.17561122e+02] [ 8.42014029e-01 5.33396557e-01 -8.06256037e-02 1.36362662e+02] [ 9.60745550e-02 -1.20649652e-03 9.95373409e-01 3.18599163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47710568099995 meters 0.026127160028011954 Centerline is valid? [True, True] Translation: X:317.59, Y:136.41, Z:31.86 [[ 5.25600194e-01 -8.49080427e-01 -5.29798477e-02 3.17591846e+02] [ 8.45133378e-01 5.28260585e-01 -8.17944244e-02 1.36411959e+02] [ 9.74372102e-02 -1.78387234e-03 9.95240075e-01 3.18634765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53710568099996 meters 0.03123013934692386 Centerline is valid? [True, True] Translation: X:317.62, Y:136.46, Z:31.87 [[ 5.16680937e-01 -8.54502319e-01 -5.35406076e-02 3.17624374e+02] [ 8.50494625e-01 5.19440026e-01 -8.27100496e-02 1.36458934e+02] [ 9.84870638e-02 -2.80129300e-03 9.95134388e-01 3.18682302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59710568099996 meters 0.034760787394426514 Centerline is valid? [True, True] Translation: X:317.65, Y:136.51, Z:31.88 [[ 5.02957220e-01 -8.62594586e-01 -5.44482834e-02 3.17653887e+02] [ 8.58491201e-01 5.05876530e-01 -8.41533986e-02 1.36509386e+02] [ 1.00134375e-01 -4.41781280e-03 9.94964115e-01 3.18754961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65710568099996 meters 0.04194726191265343 Centerline is valid? [True, True] Translation: X:317.69, Y:136.56, Z:31.88 [[ 4.89159864e-01 -8.70426020e-01 -5.55082951e-02 3.17687611e+02] [ 8.66203477e-01 4.92261601e-01 -8.58490061e-02 1.36557236e+02] [ 1.02049811e-01 -6.08759015e-03 9.94760663e-01 3.18787487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71710568099996 meters 0.04509119816756547 Centerline is valid? [True, True] Translation: X:317.71, Y:136.61, Z:31.88 [[ 4.83731470e-01 -8.73393331e-01 -5.64619745e-02 3.17708695e+02] [ 8.69040141e-01 4.86967883e-01 -8.73585440e-02 1.36613031e+02] [ 1.03793538e-01 -6.80964531e-03 9.94575553e-01 3.18817650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77710568099997 meters 0.047467902052251064 Centerline is valid? [True, True] Translation: X:317.73, Y:136.67, Z:31.89 [[ 4.84313127e-01 -8.73099612e-01 -5.60166229e-02 3.17725955e+02] [ 8.68809493e-01 4.87496153e-01 -8.67038973e-02 1.36670880e+02] [ 1.03009027e-01 -6.67593810e-03 9.94658018e-01 3.18868902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.83710568099997 meters 0.04190898758879722 Centerline is valid? [True, True] Translation: X:317.73, Y:136.74, Z:31.89 [[ 4.88280445e-01 -8.70840423e-01 -5.67376890e-02 3.17731229e+02] [ 8.66418000e-01 4.91526075e-01 -8.78747224e-02 1.36736838e+02] [ 1.04412914e-01 -6.25104651e-03 9.94514388e-01 3.18932506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.89710568099997 meters 0.03800486220856667 Centerline is valid? [True, True] Translation: X:317.74, Y:136.80, Z:31.90 [[ 4.98874189e-01 -8.65000068e-01 -5.38463235e-02 3.17736646e+02] [ 8.60981837e-01 5.01749284e-01 -8.34142211e-02 1.36801912e+02] [ 9.91706612e-02 -4.74750462e-03 9.95059114e-01 3.19002268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.957105681 meters 0.03224994487223363 Centerline is valid? [True, True] Translation: X:317.73, Y:136.88, Z:31.90 [[ 5.08991899e-01 -8.59003175e-01 -5.51433730e-02 3.17731359e+02] [ 8.54750809e-01 5.11957295e-01 -8.54446205e-02 1.36875634e+02] [ 1.01628252e-01 -3.64322302e-03 9.94815775e-01 3.19001465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.017105681 meters 0.030110814296868738 Centerline is valid? [True, True] Translation: X:317.75, Y:136.94, Z:31.90 [[ 5.14121155e-01 -8.55888973e-01 -5.59777089e-02 3.17745799e+02] [ 8.51485211e-01 5.17150582e-01 -8.67652660e-02 1.36936672e+02] [ 1.03210339e-01 -3.05633250e-03 9.94654857e-01 3.19030079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.077105681 meters 0.027065316905798793 Centerline is valid? [True, True] Translation: X:317.76, Y:137.00, Z:31.91 [[ 5.22167990e-01 -8.50964227e-01 -5.65727436e-02 3.17756002e+02] [ 8.46431542e-01 5.25219571e-01 -8.77385192e-02 1.36998821e+02] [ 1.04375453e-01 -2.07070836e-03 9.94535810e-01 3.19077115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.137105681 meters 0.02397556382142363 Centerline is valid? [True, True] Translation: X:317.76, Y:137.07, Z:31.92 [[ 5.31654970e-01 -8.45061526e-01 -5.66922334e-02 3.17757705e+02] [ 8.40473195e-01 5.34668330e-01 -8.79464959e-02 1.37067112e+02] [ 1.04631742e-01 -8.91110831e-04 9.94510636e-01 3.19185248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.197105681 meters 0.02289837917238443 Centerline is valid? [True, True] Translation: X:317.77, Y:137.13, Z:31.93 [[ 5.35428084e-01 -8.42851336e-01 -5.40221534e-02 3.17773186e+02] [ 8.38669749e-01 5.38146317e-01 -8.38545913e-02 1.37126446e+02] [ 9.97487772e-02 -4.08642735e-04 9.95012570e-01 3.19316626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.257105681 meters 0.022739872601929875 Centerline is valid? [True, True] Translation: X:317.79, Y:137.18, Z:31.93 [[ 5.36864621e-01 -8.41742699e-01 -5.69702310e-02 3.17794309e+02] [ 8.37078420e-01 5.39878871e-01 -8.84902468e-02 1.37183161e+02] [ 1.05243043e-01 -1.81268161e-04 9.94446514e-01 3.19286114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.317105681 meters 0.022731592999002237 Centerline is valid? [True, True] Translation: X:317.81, Y:137.24, Z:31.94 [[ 5.40598548e-01 -8.39322025e-01 -5.73737598e-02 3.17812160e+02] [ 8.34570781e-01 5.43634464e-01 -8.91806122e-02 1.37241113e+02] [ 1.06041605e-01 3.28445912e-04 9.94361639e-01 3.19372241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.377105681 meters 0.02263351168907115 Centerline is valid? [True, True] Translation: X:317.83, Y:137.30, Z:31.95 [[ 5.41527580e-01 -8.38850796e-01 -5.54727079e-02 3.17834415e+02] [ 8.34401836e-01 5.44361231e-01 -8.62810847e-02 1.37295379e+02] [ 1.02574148e-01 4.37057711e-04 9.94725265e-01 3.19451573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43710568099993 meters 0.022052907929053466 Centerline is valid? [True, True] Translation: X:317.86, Y:137.35, Z:31.95 [[ 5.38162912e-01 -8.41063343e-01 -5.47095317e-02 3.17864333e+02] [ 8.36744965e-01 5.40936644e-01 -8.51199864e-02 1.37345121e+02] [ 1.01185691e-01 3.04946112e-05 9.94867557e-01 3.19523574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49710568099994 meters 0.022176175975195906 Centerline is valid? [True, True] Translation: X:317.90, Y:137.39, Z:31.96 [[ 5.31012183e-01 -8.45537364e-01 -5.56113940e-02 3.17895942e+02] [ 8.41092833e-01 5.33915659e-01 -8.65847314e-02 1.37394120e+02] [ 1.02902420e-01 -7.96797673e-04 9.94691137e-01 3.19559648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55710568099994 meters 0.023326358909565203 Centerline is valid? [True, True] Translation: X:317.93, Y:137.44, Z:31.96 [[ 5.23348824e-01 -8.50204838e-01 -5.70766366e-02 3.17927746e+02] [ 8.45543492e-01 5.26449206e-01 -8.89237631e-02 1.37443527e+02] [ 1.05651364e-01 -1.72263177e-03 9.94401741e-01 3.19583085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61710568099994 meters 0.025029578553664895 Centerline is valid? [True, True] Translation: X:317.96, Y:137.49, Z:31.96 [[ 5.18480855e-01 -8.53258212e-01 -5.59287758e-02 3.17957159e+02] [ 8.48798831e-01 5.21483651e-01 -8.71512835e-02 1.37492312e+02] [ 1.03528490e-01 -2.28600757e-03 9.94623861e-01 3.19649999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67710568099994 meters 0.02500012565187097 Centerline is valid? [True, True] Translation: X:317.99, Y:137.54, Z:31.97 [[ 5.18062017e-01 -8.53570911e-01 -5.50313309e-02 3.17985291e+02] [ 8.49251943e-01 5.20971639e-01 -8.57886284e-02 1.37543212e+02] [ 1.01896440e-01 -2.29163482e-03 9.94792372e-01 3.19725530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73710568099995 meters 0.02623517962982011 Centerline is valid? [True, True] Translation: X:318.01, Y:137.59, Z:31.98 [[ 5.15582933e-01 -8.54996993e-01 -5.61638839e-02 3.18014738e+02] [ 8.50500807e-01 5.18626445e-01 -8.76070080e-02 1.37592211e+02] [ 1.04031804e-01 -2.59875044e-03 9.94570576e-01 3.19764850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79710568099995 meters 0.027339737559437437 Centerline is valid? [True, True] Translation: X:318.05, Y:137.64, Z:31.98 [[ 5.10492040e-01 -8.57944786e-01 -5.76942021e-02 3.18045830e+02] [ 8.53214459e-01 5.13731516e-01 -9.00278624e-02 1.37643307e+02] [ 1.06878265e-01 -3.26702027e-03 9.94266746e-01 3.19793569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85710568099995 meters 0.02797179404631106 Centerline is valid? [True, True] Translation: X:318.07, Y:137.69, Z:31.98 [[ 5.09677093e-01 -8.58368072e-01 -5.85962011e-02 3.18073626e+02] [ 8.53488395e-01 5.13023117e-01 -9.14595104e-02 1.37694598e+02] [ 1.08567129e-01 -3.39636024e-03 9.94083318e-01 3.19836685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91710568099995 meters 0.024549108056396617 Centerline is valid? [True, True] Translation: X:318.09, Y:137.75, Z:31.99 [[ 5.18694816e-01 -8.52933740e-01 -5.88194077e-02 3.18090286e+02] [ 8.47979234e-01 5.22014352e-01 -9.18271978e-02 1.37752883e+02] [ 1.09027090e-01 -2.24734484e-03 9.94036238e-01 3.19930447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97710568099995 meters 0.02149541815832962 Centerline is valid? [True, True] Translation: X:318.10, Y:137.82, Z:32.00 [[ 5.34968831e-01 -8.42900773e-01 -5.76770086e-02 3.18098480e+02] [ 8.38076051e-01 5.38069012e-01 -9.00570473e-02 1.37815744e+02] [ 1.06943366e-01 -1.60006309e-04 9.94265101e-01 3.20042434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03710568099996 meters 0.023009999712492606 Centerline is valid? [True, True] Translation: X:318.11, Y:137.88, Z:32.02 [[ 5.46977363e-01 -8.35316221e-01 -5.53405393e-02 3.18111549e+02] [ 8.30833889e-01 5.49768253e-01 -8.64286840e-02 1.37876674e+02] [ 1.02619753e-01 1.29573820e-03 9.94719813e-01 3.20153357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09710568099996 meters 0.024082224398078212 Centerline is valid? [True, True] Translation: X:318.13, Y:137.93, Z:32.03 [[ 5.52219108e-01 -8.32156356e-01 -5.06937573e-02 3.18129356e+02] [ 8.28379145e-01 5.54538306e-01 -7.92165292e-02 1.37933300e+02] [ 9.40321685e-02 1.75122974e-03 9.95567619e-01 3.20314544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15710568099996 meters 0.02252381270033747 Centerline is valid? [True, True] Translation: X:318.16, Y:137.98, Z:32.04 [[ 5.46376709e-01 -8.35996668e-01 -5.08139961e-02 3.18160476e+02] [ 8.32213251e-01 5.48733368e-01 -7.94531080e-02 1.37982744e+02] [ 9.43058688e-02 1.12324679e-03 9.95542637e-01 3.20363653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21710568099996 meters 0.021328512343536176 Centerline is valid? [True, True] Translation: X:318.20, Y:138.03, Z:32.04 [[ 5.36108891e-01 -8.42559792e-01 -5.17711691e-02 3.18195053e+02] [ 8.38660393e-01 5.38602820e-01 -8.09675775e-02 1.38029919e+02] [ 9.61041229e-02 -1.09907745e-05 9.95371286e-01 3.20378518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27710568099997 meters 0.022550767420745268 Centerline is valid? [True, True] Translation: X:318.23, Y:138.08, Z:32.04 [[ 5.24778358e-01 -8.49628715e-01 -5.23327963e-02 3.18228729e+02] [ 8.45673447e-01 5.27379759e-01 -8.18963373e-02 1.38077184e+02] [ 9.71807374e-02 -1.27903091e-03 9.95265928e-01 3.20384458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.33710568099997 meters 0.026522781459012195 Centerline is valid? [True, True] Translation: X:318.26, Y:138.13, Z:32.04 [[ 5.14859616e-01 -8.55565592e-01 -5.41026291e-02 3.18261604e+02] [ 8.51367704e-01 5.17688580e-01 -8.46851109e-02 1.38126060e+02] [ 1.00461980e-01 -2.46028738e-03 9.94937856e-01 3.20390598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.39710568099997 meters 0.02911768989584408 Centerline is valid? [True, True] Translation: X:318.29, Y:138.18, Z:32.04 [[ 5.04710159e-01 -8.61426639e-01 -5.66727488e-02 3.18287536e+02] [ 8.56853821e-01 5.07867944e-01 -8.87224949e-02 1.38181115e+02] [ 1.05210193e-01 -3.78111686e-03 9.94442818e-01 3.20386679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.457105681 meters 0.03516682218361623 Centerline is valid? [True, True] Translation: X:318.32, Y:138.23, Z:32.04 [[ 4.94401855e-01 -8.67353821e-01 -5.71327768e-02 3.18315017e+02] [ 8.62743932e-01 4.97666229e-01 -8.94496116e-02 1.38232995e+02] [ 1.06017516e-01 -5.06690255e-03 9.94351353e-01 3.20442451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.517105681 meters 0.038508342678941314 Centerline is valid? [True, True] Translation: X:318.34, Y:138.29, Z:32.06 [[ 4.86904709e-01 -8.71794524e-01 -5.38341132e-02 3.18336692e+02] [ 8.67728032e-01 4.89838922e-01 -8.42964612e-02 1.38288155e+02] [ 9.98592373e-02 -5.66902513e-03 9.94985424e-01 3.20612737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.577105681 meters 0.03136520294137477 Centerline is valid? [True, True] Translation: X:318.34, Y:138.35, Z:32.08 [[ 5.01213706e-01 -8.63903179e-01 -4.95592387e-02 3.18343243e+02] [ 8.60418011e-01 5.03644018e-01 -7.76115317e-02 1.38353136e+02] [ 9.20090631e-02 -3.74169815e-03 9.95751140e-01 3.20839087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.637105681 meters 0.02717416985889628 Centerline is valid? [True, True] Translation: X:318.36, Y:138.41, Z:32.09 [[ 5.11181338e-01 -8.58183793e-01 -4.70554684e-02 3.18363188e+02] [ 8.55017389e-01 5.13336167e-01 -7.36969783e-02 1.38411916e+02] [ 8.74008262e-02 -2.56072370e-03 9.96169934e-01 3.20879934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.697105681 meters 0.026904013092258535 Centerline is valid? [True, True] Translation: X:318.40, Y:138.46, Z:32.09 [[ 5.11560574e-01 -8.57832379e-01 -4.92888234e-02 3.18395336e+02] [ 8.54355092e-01 5.13922923e-01 -7.72049632e-02 1.38460888e+02] [ 9.15595735e-02 -2.61514197e-03 9.95796167e-01 3.20874684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.757105681 meters 0.03091076284622865 Centerline is valid? [True, True] Translation: X:318.44, Y:138.51, Z:32.09 [[ 5.04212237e-01 -8.61962608e-01 -5.28250142e-02 3.18436404e+02] [ 8.57984453e-01 5.06959238e-01 -8.27949840e-02 1.38505205e+02] [ 9.81463093e-02 -3.57679682e-03 9.95165568e-01 3.20863993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.817105681 meters 0.03418429394991349 Centerline is valid? [True, True] Translation: X:318.48, Y:138.55, Z:32.09 [[ 4.99246304e-01 -8.64832710e-01 -5.30802337e-02 3.18477540e+02] [ 8.60830925e-01 5.02042958e-01 -8.32044882e-02 1.38549340e+02] [ 9.86065205e-02 -4.15357347e-03 9.95117833e-01 3.20864399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.877105681 meters 0.03324856288517908 Centerline is valid? [True, True] Translation: X:318.51, Y:138.60, Z:32.09 [[ 4.97341605e-01 -8.65874829e-01 -5.39639519e-02 3.18506867e+02] [ 8.61743533e-01 5.00241108e-01 -8.45985606e-02 1.38600696e+02] [ 1.00246751e-01 -4.42870266e-03 9.94952750e-01 3.20936462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93710568099993 meters 0.033859522913148504 Centerline is valid? [True, True] Translation: X:318.54, Y:138.65, Z:32.10 [[ 4.98975754e-01 -8.64987420e-01 -5.31033026e-02 3.18537925e+02] [ 8.60981350e-01 5.01776157e-01 -8.32574523e-02 1.38649484e+02] [ 9.86626200e-02 -4.17750311e-03 9.95112173e-01 3.21008042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99710568099994 meters 0.03298638024970243 Centerline is valid? [True, True] Translation: X:318.57, Y:138.70, Z:32.11 [[ 4.96625255e-01 -8.66346728e-01 -5.29783239e-02 3.18567006e+02] [ 8.62365774e-01 4.99423396e-01 -8.30755275e-02 1.38701114e+02] [ 9.84308258e-02 -4.42928828e-03 9.95134038e-01 3.21096282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05710568099994 meters 0.034219181482486795 Centerline is valid? [True, True] Translation: X:318.60, Y:138.75, Z:32.11 [[ 4.96554434e-01 -8.66360861e-01 -5.34092952e-02 3.18599998e+02] [ 8.62313914e-01 4.99398569e-01 -8.37602643e-02 1.38749061e+02] [ 9.92391403e-02 -4.46404776e-03 9.95053599e-01 3.21132065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11710568099994 meters 0.033800991104366664 Centerline is valid? [True, True] Translation: X:318.63, Y:138.80, Z:32.12 [[ 4.97156438e-01 -8.65978437e-01 -5.40076269e-02 3.18628823e+02] [ 8.61835514e-01 5.00061757e-01 -8.47218221e-02 1.38799435e+02] [ 1.00374420e-01 -4.42569162e-03 9.94939892e-01 3.21183869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17710568099994 meters 0.03436344385868084 Centerline is valid? [True, True] Translation: X:318.66, Y:138.85, Z:32.12 [[ 4.97218950e-01 -8.65834469e-01 -5.57134395e-02 3.18659590e+02] [ 8.61418284e-01 5.00310246e-01 -8.74539739e-02 1.38850030e+02] [ 1.03594670e-01 -4.50880230e-03 9.94609378e-01 3.21195873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23710568099995 meters 0.03561772003364258 Centerline is valid? [True, True] Translation: X:318.69, Y:138.90, Z:32.12 [[ 4.96187679e-01 -8.66242763e-01 -5.84915525e-02 3.18693234e+02] [ 8.61371168e-01 4.99600271e-01 -9.18655563e-02 1.38899318e+02] [ 1.08800269e-01 -4.80037968e-03 9.94052040e-01 3.21172966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29710568099995 meters 0.03350240483763399 Centerline is valid? [True, True] Translation: X:318.72, Y:138.95, Z:32.12 [[ 4.96928257e-01 -8.65766000e-01 -5.92582587e-02 3.18720787e+02] [ 8.60759770e-01 5.00426512e-01 -9.30909472e-02 1.38950719e+02] [ 1.10249381e-01 -4.74760306e-03 9.93892617e-01 3.21216730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35710568099995 meters 0.03236874879430958 Centerline is valid? [True, True] Translation: X:318.75, Y:139.00, Z:32.13 [[ 4.98339987e-01 -8.64967996e-01 -5.90561109e-02 3.18749470e+02] [ 8.59983949e-01 5.01806622e-01 -9.28316822e-02 1.39001243e+02] [ 1.09931182e-01 -4.52556823e-03 9.93928898e-01 3.21275615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41710568099995 meters 0.031468749971253665 Centerline is valid? [True, True] Translation: X:318.78, Y:139.05, Z:32.14 [[ 5.02759447e-01 -8.62571735e-01 -5.65945309e-02 3.18778200e+02] [ 8.57975393e-01 5.05920462e-01 -8.90096077e-02 1.39051024e+02] [ 1.05409503e-01 -3.80629377e-03 9.94421615e-01 3.21408373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47710568099995 meters 0.02913302815151109 Centerline is valid? [True, True] Translation: X:318.81, Y:139.10, Z:32.15 [[ 5.07922079e-01 -8.59689083e-01 -5.43124604e-02 3.18806140e+02] [ 8.55439105e-01 5.10808446e-01 -8.54322510e-02 1.39102716e+02] [ 1.01188437e-01 -3.06807596e-03 9.94862547e-01 3.21511988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53710568099996 meters 0.02700107560052086 Centerline is valid? [True, True] Translation: X:318.83, Y:139.15, Z:32.17 [[ 5.12491423e-01 -8.57114634e-01 -5.20292868e-02 3.18833859e+02] [ 8.53201076e-01 5.15119919e-01 -8.18498218e-02 1.39154479e+02] [ 9.69560020e-02 -2.44411190e-03 9.95285668e-01 3.21661793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59710568099996 meters 0.0245767171368656 Centerline is valid? [True, True] Translation: X:318.86, Y:139.21, Z:32.17 [[ 5.16361513e-01 -8.54716646e-01 -5.32000307e-02 3.18859814e+02] [ 8.50610606e-01 5.19090868e-01 -8.37034518e-02 1.39207871e+02] [ 9.91583837e-02 -2.03126925e-03 9.95069590e-01 3.21710054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65710568099996 meters 0.023230467494414445 Centerline is valid? [True, True] Translation: X:318.89, Y:139.26, Z:32.17 [[ 5.23666311e-01 -8.50101273e-01 -5.56904004e-02 3.18888809e+02] [ 8.45568549e-01 5.26617929e-01 -8.76777402e-02 1.39259479e+02] [ 1.03862522e-01 -1.17617229e-03 9.94590968e-01 3.21673417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71710568099996 meters 0.022915024632293828 Centerline is valid? [True, True] Translation: X:318.92, Y:139.31, Z:32.17 [[ 5.29032748e-01 -8.46516634e-01 -5.94469476e-02 3.18920746e+02] [ 8.41321639e-01 5.32362059e-01 -9.36404679e-02 1.39313669e+02] [ 1.10915513e-01 -4.75129312e-04 9.93829725e-01 3.21666773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77710568099997 meters 0.023038749785765592 Centerline is valid? [True, True] Translation: X:318.95, Y:139.36, Z:32.17 [[ 5.31750298e-01 -8.44790490e-01 -5.97549047e-02 3.18953162e+02] [ 8.39531575e-01 5.35097200e-01 -9.41154722e-02 1.39361539e+02] [ 1.11482538e-01 -1.20198865e-04 9.93766386e-01 3.21664008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.83710568099997 meters 0.023377563184977083 Centerline is valid? [True, True] Translation: X:318.98, Y:139.41, Z:32.17 [[ 5.37569197e-01 -8.41081970e-01 -6.00039920e-02 3.18979851e+02] [ 8.35753203e-01 5.40907270e-01 -9.45299382e-02 1.39413049e+02] [ 1.11964022e-01 6.67854443e-04 9.93712037e-01 3.21727327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.89710568099997 meters 0.023415099101277977 Centerline is valid? [True, True] Translation: X:319.01, Y:139.46, Z:32.18 [[ 5.37790612e-01 -8.41035660e-01 -5.86538665e-02 3.19010293e+02] [ 8.35941371e-01 5.40979259e-01 -9.24308638e-02 1.39463210e+02] [ 1.09468178e-01 6.77257153e-04 9.93990070e-01 3.21789573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.957105681 meters 0.022917636347221524 Centerline is valid? [True, True] Translation: X:319.04, Y:139.51, Z:32.19 [[ 5.33487742e-01 -8.43839270e-01 -5.76724896e-02 3.19041530e+02] [ 8.38924511e-01 5.36596002e-01 -9.09417125e-02 1.39512147e+02] [ 1.07687016e-01 1.33423644e-04 9.94184836e-01 3.21850610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.017105681 meters 0.02305977045555784 Centerline is valid? [True, True] Translation: X:319.07, Y:139.56, Z:32.19 [[ 5.31073456e-01 -8.45270056e-01 -5.89874283e-02 3.19071949e+02] [ 8.40130858e-01 5.34339326e-01 -9.30678558e-02 1.39561098e+02] [ 1.10186774e-01 -1.31290871e-04 9.93910890e-01 3.21856432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.077105681 meters 0.0235003661497278 Centerline is valid? [True, True] Translation: X:319.10, Y:139.61, Z:32.19 [[ 5.28939544e-01 -8.46496820e-01 -6.05482647e-02 3.19099176e+02] [ 8.41085780e-01 5.32393640e-01 -9.55600464e-02 1.39613497e+02] [ 1.13126786e-01 -3.80797122e-04 9.93580488e-01 3.21877663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.137105681 meters 0.023639106455637406 Centerline is valid? [True, True] Translation: X:319.13, Y:139.67, Z:32.19 [[ 5.27260734e-01 -8.47462974e-01 -6.16654355e-02 3.19126107e+02] [ 8.41849323e-01 5.30854205e-01 -9.73834219e-02 1.39665551e+02] [ 1.15264200e-01 -5.66550535e-04 9.93334709e-01 3.21917963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.197105681 meters 0.023694004388419412 Centerline is valid? [True, True] Translation: X:319.15, Y:139.72, Z:32.19 [[ 5.27018631e-01 -8.47576603e-01 -6.21712531e-02 3.19148021e+02] [ 8.41863944e-01 5.30672765e-01 -9.82421307e-02 1.39721206e+02] [ 1.16260322e-01 -5.64303129e-04 9.93218616e-01 3.21948512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.257105681 meters 0.024745233211007984 Centerline is valid? [True, True] Translation: X:319.18, Y:139.77, Z:32.20 [[ 5.20037589e-01 -8.51973869e-01 -6.08393944e-02 3.19181664e+02] [ 8.46527708e-01 5.23582215e-01 -9.61899322e-02 1.39767132e+02] [ 1.13805734e-01 -1.47985262e-03 9.93501920e-01 3.22022012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.317105681 meters 0.02437040130917448 Centerline is valid? [True, True] Translation: X:319.21, Y:139.82, Z:32.21 [[ 5.20650323e-01 -8.51668606e-01 -5.98650743e-02 3.19208465e+02] [ 8.46389789e-01 5.24078914e-01 -9.46869445e-02 1.39818522e+02] [ 1.12015921e-01 -1.37039937e-03 9.93705467e-01 3.22124971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.377105681 meters 0.022717406654941232 Centerline is valid? [True, True] Translation: X:319.22, Y:139.88, Z:32.23 [[ 5.37204100e-01 -8.41564112e-01 -5.64056821e-02 3.19223001e+02] [ 8.36817514e-01 5.40156722e-01 -8.92589692e-02 1.39879243e+02] [ 1.05585054e-01 7.49021521e-04 9.94409994e-01 3.22253675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43710568099993 meters 0.025465774429047756 Centerline is valid? [True, True] Translation: X:319.24, Y:139.93, Z:32.24 [[ 5.49371714e-01 -8.33822211e-01 -5.41409309e-02 3.19242057e+02] [ 8.29410830e-01 5.52028823e-01 -8.56846158e-02 1.39934902e+02] [ 1.01333090e-01 2.16762980e-03 9.94850193e-01 3.22444846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49710568099994 meters 0.028669721679031812 Centerline is valid? [True, True] Translation: X:319.27, Y:139.99, Z:32.25 [[ 5.59563937e-01 -8.27015846e-01 -5.41570838e-02 3.19274006e+02] [ 8.22568530e-01 5.62168220e-01 -8.57199241e-02 1.39986560e+02] [ 1.01337127e-01 3.41786541e-03 9.94846272e-01 3.22486019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55710568099994 meters 0.03390154691556796 Centerline is valid? [True, True] Translation: X:319.30, Y:140.04, Z:32.26 [[ 5.69930773e-01 -8.20010607e-01 -5.25501573e-02 3.19304257e+02] [ 8.15793827e-01 5.72330358e-01 -8.31768802e-02 1.40037121e+02] [ 9.82819744e-02 4.53496969e-03 9.95148274e-01 3.22567138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61710568099994 meters 0.035820146937853854 Centerline is valid? [True, True] Translation: X:319.33, Y:140.09, Z:32.26 [[ 5.74145509e-01 -8.17048031e-01 -5.28152307e-02 3.19333305e+02] [ 8.12775669e-01 5.76547305e-01 -8.35997427e-02 1.40089326e+02] [ 9.87554841e-02 5.07148239e-03 9.95098806e-01 3.22629343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67710568099994 meters 0.034762957608221456 Centerline is valid? [True, True] Translation: X:319.37, Y:140.14, Z:32.26 [[ 5.70939075e-01 -8.19237016e-01 -5.36589626e-02 3.19369030e+02] [ 8.14835764e-01 5.73435209e-01 -8.49396208e-02 1.40137941e+02] [ 1.00355620e-01 4.77210679e-03 9.94940187e-01 3.22646110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73710568099995 meters 0.027997085421427537 Centerline is valid? [True, True] Translation: X:319.41, Y:140.18, Z:32.27 [[ 5.58811306e-01 -8.27449449e-01 -5.52931674e-02 3.19413268e+02] [ 8.22813454e-01 5.61529802e-01 -8.75345729e-02 1.40181908e+02] [ 1.03479195e-01 3.41934691e-03 9.94625741e-01 3.22670775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79710568099995 meters 0.02385240576312184 Centerline is valid? [True, True] Translation: X:319.46, Y:140.22, Z:32.27 [[ 5.44568468e-01 -8.36870065e-01 -5.56208400e-02 3.19457778e+02] [ 8.32226747e-01 5.47399065e-01 -8.80505807e-02 1.40224732e+02] [ 1.04133691e-01 1.66041911e-03 9.94561922e-01 3.22703704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85710568099995 meters 0.02284150714461548 Centerline is valid? [True, True] Translation: X:319.49, Y:140.27, Z:32.28 [[ 5.38687706e-01 -8.40706366e-01 -5.50305446e-02 3.19490023e+02] [ 8.36179854e-01 5.41490499e-01 -8.71280142e-02 1.40273538e+02] [ 1.03047593e-01 9.19357368e-04 9.94676002e-01 3.22803864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91710568099995 meters 0.022403877921338855 Centerline is valid? [True, True] Translation: X:319.52, Y:140.32, Z:32.29 [[ 5.33570448e-01 -8.43903322e-01 -5.59442494e-02 3.19524080e+02] [ 8.39236424e-01 5.36495170e-01 -8.86293270e-02 1.40319578e+02] [ 1.04808403e-01 3.39537957e-04 9.94492375e-01 3.22852712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97710568099995 meters 0.022945564454023903 Centerline is valid? [True, True] Translation: X:319.56, Y:140.37, Z:32.29 [[ 5.25246045e-01 -8.48982532e-01 -5.78381576e-02 3.19560730e+02] [ 8.44016817e-01 5.28420505e-01 -9.16917835e-02 1.40365127e+02] [ 1.08407591e-01 -6.55630975e-04 9.94106314e-01 3.22886326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03710568099996 meters 0.023601587013018264 Centerline is valid? [True, True] Translation: X:319.60, Y:140.41, Z:32.29 [[ 5.21898713e-01 -8.51027896e-01 -5.80797189e-02 3.19595539e+02] [ 8.46029764e-01 5.25119396e-01 -9.21046060e-02 1.40411077e+02] [ 1.08882376e-01 -1.06789545e-03 9.94054067e-01 3.22886145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09710568099996 meters 0.02376172069729251 Centerline is valid? [True, True] Translation: X:319.63, Y:140.46, Z:32.29 [[ 5.21091047e-01 -8.51522471e-01 -5.80827248e-02 3.19625177e+02] [ 8.46523434e-01 5.24316840e-01 -9.21408023e-02 1.40460732e+02] [ 1.08913714e-01 -1.15464052e-03 9.94050537e-01 3.22948569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15710568099996 meters 0.023434046262038658 Centerline is valid? [True, True] Translation: X:319.65, Y:140.51, Z:32.31 [[ 5.21463802e-01 -8.51395133e-01 -5.65847259e-02 3.19652104e+02] [ 8.46644244e-01 5.24523774e-01 -8.98239085e-02 1.40512291e+02] [ 1.06155672e-01 -1.06721571e-03 9.94348950e-01 3.23068168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21710568099996 meters 0.023553599341331173 Centerline is valid? [True, True] Translation: X:319.68, Y:140.56, Z:32.32 [[ 5.21568057e-01 -8.51424725e-01 -5.51606678e-02 3.19682042e+02] [ 8.46905193e-01 5.24475835e-01 -8.76167322e-02 1.40561828e+02] [ 1.03529489e-01 -1.01776719e-03 9.94625864e-01 3.23216728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27710568099997 meters 0.023159439280924763 Centerline is valid? [True, True] Translation: X:319.71, Y:140.61, Z:32.32 [[ 5.25010827e-01 -8.49302053e-01 -5.52236716e-02 3.19713661e+02] [ 8.44754619e-01 5.27906903e-01 -8.77720655e-02 1.40611618e+02] [ 1.03697953e-01 -5.69166917e-04 9.94608672e-01 3.23244847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.33710568099997 meters 0.023191369316451296 Centerline is valid? [True, True] Translation: X:319.74, Y:140.66, Z:32.34 [[ 5.30758679e-01 -8.45764341e-01 -5.45701799e-02 3.19739538e+02] [ 8.41299779e-01 5.33556610e-01 -8.67872422e-02 1.40663160e+02] [ 1.02517835e-01 1.53201707e-04 9.94731155e-01 3.23370982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.39710568099997 meters 0.027782869605870706 Centerline is valid? [True, True] Translation: X:319.75, Y:140.73, Z:32.35 [[ 5.53755121e-01 -8.31186293e-01 -4.98458909e-02 3.19751390e+02] [ 8.27397407e-01 5.55987555e-01 -7.93181540e-02 1.40725073e+02] [ 9.36418574e-02 2.68047304e-03 9.95602339e-01 3.23513593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.457105681 meters 0.028694106403437947 Centerline is valid? [True, True] Translation: X:319.78, Y:140.78, Z:32.36 [[ 5.57820836e-01 -8.28540062e-01 -4.85518362e-02 3.19784311e+02] [ 8.24935975e-01 5.59921517e-01 -7.72562690e-02 1.40776017e+02] [ 9.11951317e-02 3.04300022e-03 9.95828393e-01 3.23602572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.517105681 meters 0.030030228732016523 Centerline is valid? [True, True] Translation: X:319.81, Y:140.83, Z:32.37 [[ 5.59365258e-01 -8.27512509e-01 -4.83068974e-02 3.19813535e+02] [ 8.23941592e-01 5.61438215e-01 -7.68595097e-02 1.40828934e+02] [ 9.07235439e-02 3.19047749e-03 9.95871005e-01 3.23671917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.577105681 meters 0.02930412412028909 Centerline is valid? [True, True] Translation: X:319.84, Y:140.88, Z:32.37 [[ 5.56232059e-01 -8.29604538e-01 -4.86025426e-02 3.19844373e+02] [ 8.25998179e-01 5.58344076e-01 -7.73233510e-02 1.40878551e+02] [ 9.12847447e-02 2.86411502e-03 9.95820713e-01 3.23711341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.637105681 meters 0.02505635173903228 Centerline is valid? [True, True] Translation: X:319.89, Y:140.92, Z:32.37 [[ 5.43156432e-01 -8.38076331e-01 -5.10798849e-02 3.19887411e+02] [ 8.34127148e-01 5.45550816e-01 -8.12785781e-02 1.40923211e+02] [ 9.59843254e-02 1.53986372e-03 9.95381654e-01 3.23712844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.697105681 meters 0.023765090252895724 Centerline is valid? [True, True] Translation: X:319.93, Y:140.97, Z:32.37 [[ 5.30882745e-01 -8.45609598e-01 -5.57487127e-02 3.19926431e+02] [ 8.40943669e-01 5.33801801e-01 -8.87095394e-02 1.40969809e+02] [ 1.04772401e-01 2.12836714e-04 9.94496203e-01 3.23674567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.757105681 meters 0.02405301844410936 Centerline is valid? [True, True] Translation: X:319.96, Y:141.02, Z:32.37 [[ 5.24316843e-01 -8.49621905e-01 -5.68723804e-02 3.19962520e+02] [ 8.44787554e-01 5.27391952e-01 -9.05081061e-02 1.41015103e+02] [ 1.06891705e-01 -5.90154664e-04 9.94270494e-01 3.23683691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.817105681 meters 0.024446171989022155 Centerline is valid? [True, True] Translation: X:320.00, Y:141.06, Z:32.37 [[ 5.21986698e-01 -8.50893292e-01 -5.92494116e-02 3.19997208e+02] [ 8.45651040e-01 5.25337833e-01 -9.43105494e-02 1.41064188e+02] [ 1.11374171e-01 -8.75474220e-04 9.93778158e-01 3.23678316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.877105681 meters 0.024407249268014193 Centerline is valid? [True, True] Translation: X:320.03, Y:141.11, Z:32.37 [[ 5.24110303e-01 -8.49505988e-01 -6.03983929e-02 3.20027143e+02] [ 8.44046966e-01 5.27578652e-01 -9.61534403e-02 1.41113881e+02] [ 1.13547826e-01 -5.84071584e-04 9.93532360e-01 3.23710674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93710568099993 meters 0.024257825717611804 Centerline is valid? [True, True] Translation: X:320.06, Y:141.16, Z:32.38 [[ 5.25179906e-01 -8.48943263e-01 -5.90034073e-02 3.20057330e+02] [ 8.43726679e-01 5.28483821e-01 -9.39688358e-02 1.41163478e+02] [ 1.10956556e-01 -4.32204481e-04 9.93825164e-01 3.23823496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99710568099994 meters 0.02395524692136028 Centerline is valid? [True, True] Translation: X:320.09, Y:141.21, Z:32.40 [[ 5.28084455e-01 -8.47409661e-01 -5.49879449e-02 3.20086794e+02] [ 8.42867819e-01 5.30939601e-01 -8.76183795e-02 1.41213633e+02] [ 1.03443939e-01 -7.76649973e-05 9.94635283e-01 3.24000604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05710568099994 meters 0.023917631655011755 Centerline is valid? [True, True] Translation: X:320.12, Y:141.26, Z:32.40 [[ 5.27346039e-01 -8.47892209e-01 -5.46347582e-02 3.20120194e+02] [ 8.43410272e-01 5.30168628e-01 -8.70651437e-02 1.41260243e+02] [ 1.02787492e-01 -1.66057583e-04 9.94703325e-01 3.24042321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11710568099994 meters 0.024903006844271748 Centerline is valid? [True, True] Translation: X:320.16, Y:141.30, Z:32.41 [[ 5.18651786e-01 -8.53094365e-01 -5.68359879e-02 3.20160878e+02] [ 8.48271447e-01 5.21755211e-01 -9.05927750e-02 1.41304588e+02] [ 1.06938659e-01 -1.22624120e-03 9.94264864e-01 3.24057913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17710568099994 meters 0.026671616256509788 Centerline is valid? [True, True] Translation: X:320.20, Y:141.35, Z:32.40 [[ 5.09248519e-01 -8.58541360e-01 -5.97718909e-02 3.20202874e+02] [ 8.53241078e-01 5.12738335e-01 -9.52841200e-02 1.41349636e+02] [ 1.12452698e-01 -2.47653559e-03 9.93653993e-01 3.24022010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23710568099995 meters 0.027500011417149996 Centerline is valid? [True, True] Translation: X:320.24, Y:141.40, Z:32.41 [[ 5.08338545e-01 -8.58953661e-01 -6.15673012e-02 3.20236171e+02] [ 8.53331294e-01 5.12046509e-01 -9.81533281e-02 1.41397516e+02] [ 1.15834482e-01 -2.64218482e-03 9.93265016e-01 3.24061326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29710568099995 meters 0.025735547014688175 Centerline is valid? [True, True] Translation: X:320.26, Y:141.45, Z:32.41 [[ 5.14655870e-01 -8.55200969e-01 -6.13240410e-02 3.20263773e+02] [ 8.49594922e-01 5.18293485e-01 -9.77769495e-02 1.41450370e+02] [ 1.15402793e-01 -1.77911287e-03 9.93317185e-01 3.24138603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35710568099995 meters 0.02487695569662797 Centerline is valid? [True, True] Translation: X:320.29, Y:141.50, Z:32.43 [[ 5.20155177e-01 -8.52033605e-01 -5.89688679e-02 3.20292753e+02] [ 8.46830135e-01 5.23486083e-01 -9.40268257e-02 1.41500779e+02] [ 1.10983397e-01 -1.02807412e-03 9.93821729e-01 3.24255136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41710568099995 meters 0.024298334789720166 Centerline is valid? [True, True] Translation: X:320.32, Y:141.55, Z:32.43 [[ 5.25518187e-01 -8.48775221e-01 -5.84059898e-02 3.20322552e+02] [ 8.43648642e-01 5.28753743e-01 -9.31474567e-02 1.41551057e+02] [ 1.09943639e-01 -3.23451347e-04 9.93937771e-01 3.24300088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47710568099995 meters 0.02476849848337788 Centerline is valid? [True, True] Translation: X:320.35, Y:141.61, Z:32.44 [[ 5.35940329e-01 -8.42357052e-01 -5.65911654e-02 3.20346040e+02] [ 8.37503909e-01 5.38918917e-01 -9.02973067e-02 1.41608999e+02] [ 1.06560623e-01 9.98646065e-04 9.94305706e-01 3.24374800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53710568099996 meters 0.025261301520194818 Centerline is valid? [True, True] Translation: X:320.38, Y:141.66, Z:32.45 [[ 5.39070672e-01 -8.40485558e-01 -5.46519659e-02 3.20375953e+02] [ 8.35952307e-01 5.41832356e-01 -8.71862223e-02 1.41663264e+02] [ 1.02890964e-01 1.31309840e-03 9.94691774e-01 3.24503974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59710568099996 meters 0.02572735250974691 Centerline is valid? [True, True] Translation: X:320.40, Y:141.72, Z:32.45 [[ 5.40408826e-01 -8.39405769e-01 -5.79331941e-02 3.20402289e+02] [ 8.34306310e-01 5.43502895e-01 -9.23990509e-02 1.41719386e+02] [ 1.09047155e-01 1.59923332e-03 9.94035291e-01 3.24465807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65710568099996 meters 0.025756035294983458 Centerline is valid? [True, True] Translation: X:320.43, Y:141.77, Z:32.44 [[ 5.37749901e-01 -8.40864812e-01 -6.14118169e-02 3.20428073e+02] [ 8.35141913e-01 5.41243433e-01 -9.79465721e-02 1.41773777e+02] [ 1.15598569e-01 1.38317723e-03 9.93295051e-01 3.24401792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71710568099996 meters 0.02552938457730491 Centerline is valid? [True, True] Translation: X:320.45, Y:141.83, Z:32.44 [[ 5.29211369e-01 -8.46002463e-01 -6.49242681e-02 3.20449762e+02] [ 8.39639485e-01 5.33178906e-01 -1.03565384e-01 1.41828841e+02] [ 1.22232820e-01 2.94999770e-04 9.92501411e-01 3.24442366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77710568099997 meters 0.02625235674618731 Centerline is valid? [True, True] Translation: X:320.49, Y:141.87, Z:32.45 [[ 5.16881544e-01 -8.53851116e-01 -6.14144962e-02 3.20489795e+02] [ 8.48211348e-01 5.20515305e-01 -9.79863608e-02 1.41870978e+02] [ 1.15632949e-01 -1.44513118e-03 9.93290961e-01 3.24525693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.83710568099997 meters 0.028481834723719103 Centerline is valid? [True, True] Translation: X:320.53, Y:141.91, Z:32.47 [[ 5.05939354e-01 -8.60635070e-01 -5.77290823e-02 3.20527619e+02] [ 8.55693946e-01 5.09214611e-01 -9.21322520e-02 1.41914598e+02] [ 1.08688739e-01 -2.78509419e-03 9.94071930e-01 3.24724026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.89710568099997 meters 0.030000614781896286 Centerline is valid? [True, True] Translation: X:320.56, Y:141.96, Z:32.49 [[ 5.01128276e-01 -8.63546004e-01 -5.62027591e-02 3.20560130e+02] [ 8.58876291e-01 5.04259283e-01 -8.97445929e-02 1.41963497e+02] [ 1.05839348e-01 -3.29766416e-03 9.94377774e-01 3.24880232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.957105681 meters 0.03138854829068812 Centerline is valid? [True, True] Translation: X:320.60, Y:142.01, Z:32.48 [[ 5.00748177e-01 -8.63725078e-01 -5.68353128e-02 3.20595022e+02] [ 8.58949199e-01 5.03952032e-01 -9.07668605e-02 1.42010751e+02] [ 1.07039885e-01 -3.36730653e-03 9.94249025e-01 3.24834786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.017105681 meters 0.02902718947749259 Centerline is valid? [True, True] Translation: X:320.62, Y:142.06, Z:32.48 [[ 5.06256951e-01 -8.60418871e-01 -5.81658557e-02 3.20621487e+02] [ 8.55391122e-01 5.09580224e-01 -9.29194454e-02 1.42064734e+02] [ 1.09589814e-01 -2.71344142e-03 9.93973194e-01 3.24828937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.077105681 meters 0.025875646747361827 Centerline is valid? [True, True] Translation: X:320.64, Y:142.12, Z:32.49 [[ 5.16639675e-01 -8.54143020e-01 -5.93561122e-02 3.20641492e+02] [ 8.48863826e-01 5.20036308e-01 -9.48284941e-02 1.42122269e+02] [ 1.11864430e-01 -1.39309413e-03 9.93722501e-01 3.24927448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.137105681 meters 0.024911818226334828 Centerline is valid? [True, True] Translation: X:320.67, Y:142.18, Z:32.50 [[ 5.23579864e-01 -8.49910718e-01 -5.92950062e-02 3.20666703e+02] [ 8.44613350e-01 5.26926509e-01 -9.47456767e-02 1.42175006e+02] [ 1.11769477e-01 -4.74425307e-04 9.93734048e-01 3.24978268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.197105681 meters 0.02472895091039359 Centerline is valid? [True, True] Translation: X:320.69, Y:142.23, Z:32.50 [[ 5.28124295e-01 -8.47100149e-01 -5.92120555e-02 3.20693957e+02] [ 8.41793355e-01 5.31433264e-01 -9.46711856e-02 1.42225633e+02] [ 1.11663231e-01 1.53838252e-04 9.93746094e-01 3.25001859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.257105681 meters 0.024574285233648064 Centerline is valid? [True, True] Translation: X:320.72, Y:142.27, Z:32.51 [[ 5.30688696e-01 -8.45588401e-01 -5.78771517e-02 3.20723334e+02] [ 8.40504049e-01 5.33835195e-01 -9.25901098e-02 1.42274231e+02] [ 1.09189983e-01 4.90544249e-04 9.94020778e-01 3.25134465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.317105681 meters 0.0245098676320985 Centerline is valid? [True, True] Translation: X:320.75, Y:142.32, Z:32.53 [[ 5.32359030e-01 -8.44726850e-01 -5.50491797e-02 3.20753720e+02] [ 8.40121689e-01 5.35197282e-01 -8.80875469e-02 1.42323969e+02] [ 1.03872087e-01 6.46191215e-04 9.94590454e-01 3.25267125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.377105681 meters 0.024131214147356986 Centerline is valid? [True, True] Translation: X:320.79, Y:142.37, Z:32.53 [[ 5.33394776e-01 -8.44087594e-01 -5.48283272e-02 3.20788692e+02] [ 8.39512089e-01 5.36204729e-01 -8.77720977e-02 1.42374743e+02] [ 1.03486547e-01 7.88134908e-04 9.94630541e-01 3.25325061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43710568099993 meters 0.023951153637236836 Centerline is valid? [True, True] Translation: X:320.82, Y:142.42, Z:32.53 [[ 5.32091498e-01 -8.44833380e-01 -5.59928317e-02 3.20821261e+02] [ 8.40066023e-01 5.35029097e-01 -8.96266870e-02 1.42422139e+02] [ 1.05677411e-01 6.51922721e-04 9.94400251e-01 3.25344789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49710568099994 meters 0.023795252867060482 Centerline is valid? [True, True] Translation: X:320.85, Y:142.47, Z:32.54 [[ 5.32464384e-01 -8.44540064e-01 -5.68661523e-02 3.20854719e+02] [ 8.39618127e-01 5.35491868e-01 -9.10486707e-02 1.42473549e+02] [ 1.07345612e-01 7.34322159e-04 9.94221495e-01 3.25405537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55710568099994 meters 0.024246876257800396 Centerline is valid? [True, True] Translation: X:320.88, Y:142.52, Z:32.54 [[ 5.35209590e-01 -8.42714356e-01 -5.81653599e-02 3.20883877e+02] [ 8.37553794e-01 5.38359776e-01 -9.31256934e-02 1.42524093e+02] [ 1.09792249e-01 1.12514634e-03 9.93953921e-01 3.25404124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61710568099994 meters 0.026950259443136688 Centerline is valid? [True, True] Translation: X:320.90, Y:142.58, Z:32.54 [[ 5.45951393e-01 -8.35620538e-01 -6.06250199e-02 3.20902198e+02] [ 8.29966178e-01 5.49300558e-01 -9.70826500e-02 1.42583569e+02] [ 1.14425614e-01 2.68569195e-03 9.93428189e-01 3.25411894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67710568099994 meters 0.027326301510516283 Centerline is valid? [True, True] Translation: X:320.93, Y:142.63, Z:32.55 [[ 5.46584151e-01 -8.35290929e-01 -5.94544310e-02 3.20933131e+02] [ 8.29850689e-01 5.49801551e-01 -9.52160057e-02 1.42631486e+02] [ 1.12221204e-01 2.70525907e-03 9.93679568e-01 3.25490927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73710568099995 meters 0.026718030262247134 Centerline is valid? [True, True] Translation: X:320.97, Y:142.68, Z:32.56 [[ 5.46741377e-01 -8.35266863e-01 -5.83363918e-02 3.20966915e+02] [ 8.30026784e-01 5.49838266e-01 -9.34527677e-02 1.42678483e+02] [ 1.10133581e-01 2.67372719e-03 9.93913198e-01 3.25602466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79710568099995 meters 0.026442098432587234 Centerline is valid? [True, True] Translation: X:321.00, Y:142.73, Z:32.57 [[ 5.47974868e-01 -8.34631333e-01 -5.58039596e-02 3.20998586e+02] [ 8.29829473e-01 5.50802347e-01 -8.94417124e-02 1.42728267e+02] [ 1.05387808e-01 2.70404011e-03 9.94427523e-01 3.25742695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85710568099995 meters 0.026897462338572008 Centerline is valid? [True, True] Translation: X:321.03, Y:142.78, Z:32.58 [[ 5.48037881e-01 -8.34711531e-01 -5.39549823e-02 3.21030860e+02] [ 8.30222795e-01 5.50681285e-01 -8.64883430e-02 1.42776290e+02] [ 1.01904816e-01 2.60423202e-03 9.94790745e-01 3.25786379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91710568099995 meters 0.0266465424097569 Centerline is valid? [True, True] Translation: X:321.06, Y:142.83, Z:32.58 [[ 5.46996464e-01 -8.35339915e-01 -5.47913816e-02 3.21062082e+02] [ 8.30710178e-01 5.49727888e-01 -8.78626774e-02 1.42825141e+02] [ 1.03515552e-01 2.54481545e-03 9.94624580e-01 3.25833200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97710568099995 meters 0.02725204359258146 Centerline is valid? [True, True] Translation: X:321.09, Y:142.88, Z:32.58 [[ 5.47652841e-01 -8.34783731e-01 -5.66788154e-02 3.21090584e+02] [ 8.29819405e-01 5.50571001e-01 -9.09468406e-02 1.42876197e+02] [ 1.07126655e-01 2.77411476e-03 9.94241512e-01 3.25834056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03710568099996 meters 0.027492592177796663 Centerline is valid? [True, True] Translation: X:321.12, Y:142.93, Z:32.59 [[ 5.47856308e-01 -8.34560027e-01 -5.79916032e-02 3.21117987e+02] [ 8.29358092e-01 5.50909390e-01 -9.30806035e-02 1.42928424e+02] [ 1.09629470e-01 2.89899040e-03 9.93968297e-01 3.25855157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09710568099996 meters 0.02693891349933341 Centerline is valid? [True, True] Translation: X:321.15, Y:142.98, Z:32.59 [[ 5.45795811e-01 -8.35866994e-01 -5.85943891e-02 3.21150983e+02] [ 8.30557061e-01 5.48925403e-01 -9.41056316e-02 1.42977497e+02] [ 1.10823740e-01 2.69647584e-03 9.93836419e-01 3.25874681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15710568099996 meters 0.02687472109379183 Centerline is valid? [True, True] Translation: X:321.18, Y:143.03, Z:32.61 [[ 5.47865275e-01 -8.34723042e-01 -5.55075144e-02 3.21181632e+02] [ 8.29948082e-01 5.50662871e-01 -8.91996873e-02 1.43025573e+02] [ 1.05022962e-01 2.80105611e-03 9.94465852e-01 3.26054308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21710568099996 meters 0.02732797629911061 Centerline is valid? [True, True] Translation: X:321.21, Y:143.07, Z:32.61 [[ 5.48950694e-01 -8.34131544e-01 -5.36442202e-02 3.21213078e+02] [ 8.29664393e-01 5.51558223e-01 -8.62584631e-02 1.43073997e+02] [ 1.01538816e-01 2.84494378e-03 9.94827510e-01 3.26133627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27710568099997 meters 0.027269485443378504 Centerline is valid? [True, True] Translation: X:321.25, Y:143.12, Z:32.62 [[ 5.50746746e-01 -8.33100282e-01 -5.12049013e-02 3.21250642e+02] [ 8.29021725e-01 5.53114245e-01 -8.23869625e-02 1.43120918e+02] [ 9.69587621e-02 2.92437588e-03 9.95284103e-01 3.26204650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.33710568099997 meters 0.027819338333859144 Centerline is valid? [True, True] Translation: X:321.28, Y:143.17, Z:32.63 [[ 5.50932116e-01 -8.33068437e-01 -4.97069735e-02 3.21282153e+02] [ 8.29225337e-01 5.53162626e-01 -7.99778068e-02 1.43168360e+02] [ 9.41230265e-02 2.84406042e-03 9.95556511e-01 3.26304293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.39710568099997 meters 0.029896537634199014 Centerline is valid? [True, True] Translation: X:321.31, Y:143.22, Z:32.64 [[ 5.57831436e-01 -8.28489224e-01 -4.92919273e-02 3.21308243e+02] [ 8.24690645e-01 5.59993432e-01 -7.93265118e-02 1.43222740e+02] [ 9.33243157e-02 3.60023065e-03 9.95629254e-01 3.26359888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.457105681 meters 0.03576196474755904 Centerline is valid? [True, True] Translation: X:321.32, Y:143.28, Z:32.64 [[ 5.68961104e-01 -8.20882542e-01 -4.93468717e-02 3.21322554e+02] [ 8.17046742e-01 5.71076344e-01 -7.94130382e-02 1.43283837e+02] [ 9.33696078e-02 4.86422912e-03 9.95619634e-01 3.26415141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.517105681 meters 0.032633488298489305 Centerline is valid? [True, True] Translation: X:321.36, Y:143.33, Z:32.65 [[ 5.66620902e-01 -8.22502376e-01 -4.93010696e-02 3.21359287e+02] [ 8.18679528e-01 5.68743114e-01 -7.93416721e-02 1.43332830e+02] [ 9.32983576e-02 4.59487336e-03 9.95627593e-01 3.26456418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.577105681 meters 0.029328175303459162 Centerline is valid? [True, True] Translation: X:321.40, Y:143.38, Z:32.65 [[ 5.57797269e-01 -8.28577772e-01 -4.81776076e-02 3.21397964e+02] [ 8.24950282e-01 5.59863041e-01 -7.75268196e-02 1.43379591e+02] [ 9.12098614e-02 3.50011729e-03 9.95825542e-01 3.26514626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.637105681 meters 0.02689354621212795 Centerline is valid? [True, True] Translation: X:321.44, Y:143.43, Z:32.65 [[ 5.50951709e-01 -8.33093521e-01 -4.90652721e-02 3.21437267e+02] [ 8.29348384e-01 5.53125030e-01 -7.89554265e-02 1.43427324e+02] [ 9.29164844e-02 2.80842299e-03 9.95669945e-01 3.26523258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.697105681 meters 0.024926810030048686 Centerline is valid? [True, True] Translation: X:321.47, Y:143.48, Z:32.66 [[ 5.43031460e-01 -8.38209927e-01 -5.02090778e-02 3.21472433e+02] [ 8.34309553e-01 5.45344099e-01 -8.07922253e-02 1.43477007e+02] [ 9.51020696e-02 1.98280679e-03 9.95465552e-01 3.26582392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.757105681 meters 0.02436129040927797 Centerline is valid? [True, True] Translation: X:321.50, Y:143.53, Z:32.66 [[ 5.38906454e-01 -8.40874349e-01 -5.01015171e-02 3.21503258e+02] [ 8.37002340e-01 5.41228278e-01 -8.06165787e-02 1.43527175e+02] [ 9.49047710e-02 1.50970748e-03 9.95485211e-01 3.26611520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.817105681 meters 0.022966850792244184 Centerline is valid? [True, True] Translation: X:321.54, Y:143.57, Z:32.67 [[ 5.30876242e-01 -8.46120021e-01 -4.74481432e-02 3.21543214e+02] [ 8.42667522e-01 5.32992123e-01 -7.63599694e-02 1.43573912e+02] [ 8.98991854e-02 5.54684375e-04 9.95950716e-01 3.26743471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.877105681 meters 0.02322658094747821 Centerline is valid? [True, True] Translation: X:321.58, Y:143.62, Z:32.68 [[ 5.23021081e-01 -8.50955948e-01 -4.81967156e-02 3.21582855e+02] [ 8.47414615e-01 5.25236990e-01 -7.75536917e-02 1.43621956e+02] [ 9.13094730e-02 -2.80385517e-04 9.95822525e-01 3.26761705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93710568099993 meters 0.023784556163324984 Centerline is valid? [True, True] Translation: X:321.62, Y:143.67, Z:32.68 [[ 5.16929389e-01 -8.54663510e-01 -4.83145146e-02 3.21619771e+02] [ 8.51121302e-01 5.19181479e-01 -7.77375123e-02 1.43667904e+02] [ 9.15234162e-02 -9.36707853e-04 9.95802484e-01 3.26780110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99710568099994 meters 0.02422022516634023 Centerline is valid? [True, True] Translation: X:321.65, Y:143.72, Z:32.68 [[ 5.15610105e-01 -8.55455385e-01 -4.83973598e-02 3.21652180e+02] [ 8.51899884e-01 5.17875444e-01 -7.79205534e-02 1.43718321e+02] [ 9.17213612e-02 -1.05308052e-03 9.95784155e-01 3.26846446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05710568099994 meters 0.024780959718465802 Centerline is valid? [True, True] Translation: X:321.68, Y:143.77, Z:32.69 [[ 5.14797236e-01 -8.55973184e-01 -4.78927288e-02 3.21684394e+02] [ 8.52493793e-01 5.17018978e-01 -7.71084270e-02 1.43765629e+02] [ 9.07641955e-02 -1.13304892e-03 9.95871767e-01 3.26889159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11710568099994 meters 0.023874032571219096 Centerline is valid? [True, True] Translation: X:321.71, Y:143.82, Z:32.70 [[ 5.23321620e-01 -8.50800392e-01 -4.76778319e-02 3.21706122e+02] [ 8.47328875e-01 5.25488959e-01 -7.67797606e-02 1.43824375e+02] [ 9.03784246e-02 -2.18295000e-04 9.95907472e-01 3.27010430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17710568099994 meters 0.024655493708115126 Centerline is valid? [True, True] Translation: X:321.73, Y:143.88, Z:32.71 [[ 5.34470345e-01 -8.43825756e-01 -4.79535526e-02 3.21727070e+02] [ 8.40286637e-01 5.36616390e-01 -7.72089250e-02 1.43882912e+02] [ 9.08835418e-02 9.71151402e-04 9.95861054e-01 3.27056572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23710568099995 meters 0.025920865706659676 Centerline is valid? [True, True] Translation: X:321.76, Y:143.94, Z:32.71 [[ 5.40644344e-01 -8.39858143e-01 -4.83941353e-02 3.21756040e+02] [ 8.36238494e-01 5.42803438e-01 -7.79076908e-02 1.43935514e+02] [ 9.16999115e-02 1.65131354e-03 9.95785318e-01 3.27058464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29710568099995 meters 0.025491810043852217 Centerline is valid? [True, True] Translation: X:321.79, Y:143.98, Z:32.71 [[ 5.38974691e-01 -8.40958470e-01 -4.79075581e-02 3.21790118e+02] [ 8.37415031e-01 5.41097716e-01 -7.71318775e-02 1.43982415e+02] [ 9.07873760e-02 1.45362063e-03 9.95869238e-01 3.27128062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35710568099995 meters 0.024880881092313584 Centerline is valid? [True, True] Translation: X:321.83, Y:144.03, Z:32.72 [[ 5.35043845e-01 -8.43561714e-01 -4.61705296e-02 3.21825279e+02] [ 8.40276723e-01 5.37031314e-01 -7.43800759e-02 1.44028709e+02] [ 8.75392046e-02 1.00058045e-03 9.96160573e-01 3.27218570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41710568099995 meters 0.02435109098937202 Centerline is valid? [True, True] Translation: X:321.86, Y:144.07, Z:32.73 [[ 5.24766794e-01 -8.50098958e-01 -4.41766177e-02 3.21864752e+02] [ 8.47111058e-01 5.26622976e-01 -7.12116349e-02 1.44073148e+02] [ 8.38013585e-02 -5.30000557e-05 9.96482478e-01 3.27318616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47710568099995 meters 0.02622509505490212 Centerline is valid? [True, True] Translation: X:321.91, Y:144.12, Z:32.73 [[ 5.08587359e-01 -8.59829534e-01 -4.50784999e-02 3.21908651e+02] [ 8.56751224e-01 5.10578573e-01 -7.27108022e-02 1.44117360e+02] [ 8.55350113e-02 -1.64126506e-03 9.96333814e-01 3.27325806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53710568099996 meters 0.03238833673482541 Centerline is valid? [True, True] Translation: X:321.95, Y:144.16, Z:32.73 [[ 4.90852805e-01 -8.69987583e-01 -4.67453548e-02 3.21953627e+02] [ 8.66721185e-01 4.93061171e-01 -7.53994002e-02 1.44159415e+02] [ 8.86448614e-02 -3.50518219e-03 9.96057128e-01 3.27291832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59710568099996 meters 0.03413588914856407 Centerline is valid? [True, True] Translation: X:321.99, Y:144.21, Z:32.73 [[ 4.85532121e-01 -8.72760739e-01 -5.04703088e-02 3.21988773e+02] [ 8.68966284e-01 4.88129026e-01 -8.14103829e-02 1.44208421e+02] [ 9.56878087e-02 -4.32964085e-03 9.95401978e-01 3.27307888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65710568099996 meters 0.03246016936294554 Centerline is valid? [True, True] Translation: X:322.01, Y:144.26, Z:32.73 [[ 4.90363468e-01 -8.69850912e-01 -5.38800470e-02 3.22014722e+02] [ 8.65507041e-01 4.93298371e-01 -8.69153522e-02 1.44263048e+02] [ 1.02182338e-01 -4.01344655e-03 9.94757590e-01 3.27286852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71710568099996 meters 0.030292627281731325 Centerline is valid? [True, True] Translation: X:322.04, Y:144.32, Z:32.73 [[ 4.94699849e-01 -8.67299375e-01 -5.53520894e-02 3.22041037e+02] [ 8.62697365e-01 4.97774052e-01 -8.92986512e-02 1.44316630e+02] [ 1.05001498e-01 -3.57607239e-03 9.94465634e-01 3.27314970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77710568099997 meters 0.0317209976554264 Centerline is valid? [True, True] Translation: X:322.07, Y:144.36, Z:32.74 [[ 4.93557591e-01 -8.68011431e-01 -5.43788664e-02 3.22074005e+02] [ 8.63573327e-01 4.96530759e-01 -8.77400364e-02 1.44363322e+02] [ 1.03160134e-01 -3.65537766e-03 9.94658044e-01 3.27377078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.83710568099997 meters 0.0325739002026421 Centerline is valid? [True, True] Translation: X:322.11, Y:144.41, Z:32.75 [[ 4.89068371e-01 -8.70613130e-01 -5.33376727e-02 3.22108498e+02] [ 8.66356132e-01 4.91951131e-01 -8.60879648e-02 1.44411342e+02] [ 1.01188841e-01 -4.10651915e-03 9.94858761e-01 3.27450656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.89710568099997 meters 0.035170899183561755 Centerline is valid? [True, True] Translation: X:322.14, Y:144.46, Z:32.76 [[ 4.83492486e-01 -8.73801599e-01 -5.20171307e-02 3.22142974e+02] [ 8.69770230e-01 4.86260411e-01 -8.39676131e-02 1.44459324e+02] [ 9.86649059e-02 -4.64524168e-03 9.95109872e-01 3.27578345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.957105681 meters 0.034670896824659785 Centerline is valid? [True, True] Translation: X:322.17, Y:144.51, Z:32.77 [[ 4.86703618e-01 -8.72124616e-01 -5.01820862e-02 3.22172766e+02] [ 8.68363999e-01 4.89266228e-01 -8.10093990e-02 1.44509531e+02] [ 9.52026910e-02 -4.14874947e-03 9.95449263e-01 3.27667649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.017105681 meters 0.03239344875296006 Centerline is valid? [True, True] Translation: X:322.20, Y:144.56, Z:32.77 [[ 4.92852544e-01 -8.68602441e-01 -5.12461720e-02 3.22201590e+02] [ 8.64660402e-01 4.95497031e-01 -8.27350023e-02 1.44561494e+02] [ 9.72561511e-02 -3.53437935e-03 9.95253108e-01 3.27658921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.077105681 meters 0.029656304395619646 Centerline is valid? [True, True] Translation: X:322.23, Y:144.62, Z:32.77 [[ 4.97793164e-01 -8.65640617e-01 -5.35563934e-02 3.22227203e+02] [ 8.61316284e-01 5.00656382e-01 -8.64722261e-02 1.44616395e+02] [ 1.01667221e-01 -3.08371071e-03 9.94813684e-01 3.27707133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.137105681 meters 0.02847416822413783 Centerline is valid? [True, True] Translation: X:322.26, Y:144.67, Z:32.78 [[ 5.02379673e-01 -8.63026875e-01 -5.29082042e-02 3.22256108e+02] [ 8.58791888e-01 5.05151728e-01 -8.54296453e-02 1.44668718e+02] [ 1.00454751e-01 -2.51901931e-03 9.94938439e-01 3.27770605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.197105681 meters 0.028198388968764233 Centerline is valid? [True, True] Translation: X:322.29, Y:144.72, Z:32.78 [[ 5.04307678e-01 -8.61867377e-01 -5.34639173e-02 3.22288471e+02] [ 8.57535497e-01 5.07128482e-01 -8.63340846e-02 1.44716815e+02] [ 1.01521606e-01 -2.30826513e-03 9.94830657e-01 3.27788257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.257105681 meters 0.028907037496344323 Centerline is valid? [True, True] Translation: X:322.32, Y:144.77, Z:32.79 [[ 4.99564695e-01 -8.64597466e-01 -5.39104565e-02 3.22320356e+02] [ 8.60205643e-01 5.02456942e-01 -8.70819930e-02 1.44766163e+02] [ 1.02378554e-01 -2.87098969e-03 9.94741368e-01 3.27892976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.317105681 meters 0.03329610040980136 Centerline is valid? [True, True] Translation: X:322.36, Y:144.81, Z:32.78 [[ 4.91897286e-01 -8.68844212e-01 -5.60963007e-02 3.22360858e+02] [ 8.64114101e-01 4.95070245e-01 -9.06215903e-02 1.44811239e+02] [ 1.06507654e-01 -3.89709018e-03 9.94304245e-01 3.27843262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.377105681 meters 0.036786332270976586 Centerline is valid? [True, True] Translation: X:322.40, Y:144.86, Z:32.79 [[ 4.84885247e-01 -8.72656958e-01 -5.79321296e-02 3.22396679e+02] [ 8.67636831e-01 4.88309344e-01 -9.35965507e-02 1.44859094e+02] [ 1.09966481e-01 -4.88046280e-03 9.93923314e-01 3.27867027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43710568099993 meters 0.04088018336208425 Centerline is valid? [True, True] Translation: X:322.43, Y:144.91, Z:32.79 [[ 4.80239015e-01 -8.75133035e-01 -5.92677034e-02 3.22428686e+02] [ 8.69895097e-01 4.83850386e-01 -9.57670364e-02 1.44908574e+02] [ 1.12485598e-01 -5.56561734e-03 9.93637768e-01 3.27878079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49710568099994 meters 0.036672960616535896 Centerline is valid? [True, True] Translation: X:322.44, Y:144.97, Z:32.79 [[ 4.85090538e-01 -8.72504030e-01 -5.85139969e-02 3.22442408e+02] [ 8.67378230e-01 4.88582523e-01 -9.45628073e-02 1.44969894e+02] [ 1.11095347e-01 -4.88224397e-03 9.93797760e-01 3.27947559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55710568099994 meters 0.038020434538176606 Centerline is valid? [True, True] Translation: X:322.47, Y:145.02, Z:32.80 [[ 4.81403020e-01 -8.74542146e-01 -5.85420080e-02 3.22474690e+02] [ 8.69425009e-01 4.84920026e-01 -9.46188249e-02 1.45019540e+02] [ 1.11136342e-01 -5.34809778e-03 9.93790778e-01 3.28033519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61710568099994 meters 0.041419946957068646 Centerline is valid? [True, True] Translation: X:322.51, Y:145.07, Z:32.81 [[ 4.77606933e-01 -8.76697490e-01 -5.73857905e-02 3.22509348e+02] [ 8.71794917e-01 4.81008045e-01 -9.27625089e-02 1.45066490e+02] [ 1.08927686e-01 -5.72462311e-03 9.94033193e-01 3.28121593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67710568099994 meters 0.03868018716607882 Centerline is valid? [True, True] Translation: X:322.54, Y:145.12, Z:32.82 [[ 4.82807054e-01 -8.73941030e-01 -5.58965491e-02 3.22535722e+02] [ 8.69270649e-01 4.86006663e-01 -9.03662633e-02 1.45119844e+02] [ 1.06140881e-01 -4.95976008e-03 9.94338732e-01 3.28190630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73710568099995 meters 0.03580689128276223 Centerline is valid? [True, True] Translation: X:322.56, Y:145.17, Z:32.83 [[ 4.89881531e-01 -8.70118576e-01 -5.39420881e-02 3.22559329e+02] [ 8.65745813e-01 4.92826398e-01 -8.72142682e-02 1.45172887e+02] [ 1.02470840e-01 -3.97547774e-03 9.94728065e-01 3.28331449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79710568099995 meters 0.029883120564973567 Centerline is valid? [True, True] Translation: X:322.58, Y:145.23, Z:32.85 [[ 4.99471707e-01 -8.64754683e-01 -5.22240640e-02 3.22579460e+02] [ 8.60625992e-01 5.02186901e-01 -8.44465373e-02 1.45229756e+02] [ 9.92517794e-02 -2.76673076e-03 9.95058506e-01 3.28495058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85710568099995 meters 0.02715324096574263 Centerline is valid? [True, True] Translation: X:322.61, Y:145.28, Z:32.85 [[ 5.06927534e-01 -8.60367239e-01 -5.28459028e-02 3.22606857e+02] [ 8.56115069e-01 5.09670988e-01 -8.54545057e-02 1.45284005e+02] [ 1.00456281e-01 -1.92293192e-03 9.94939615e-01 3.28495312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91710568099995 meters 0.026316307777355816 Centerline is valid? [True, True] Translation: X:322.63, Y:145.34, Z:32.85 [[ 5.15891038e-01 -8.54855229e-01 -5.54885001e-02 3.22631407e+02] [ 8.50132294e-01 5.18865849e-01 -8.97402548e-02 1.45337661e+02] [ 1.05506014e-01 -8.76372659e-04 9.94418279e-01 3.28475027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97710568099995 meters 0.025610005393433995 Centerline is valid? [True, True] Translation: X:322.66, Y:145.39, Z:32.86 [[ 5.18670895e-01 -8.53149631e-01 -5.58230240e-02 3.22657891e+02] [ 8.48353317e-01 5.21666038e-01 -9.03393263e-02 1.45389098e+02] [ 1.06193939e-01 -5.01268359e-04 9.94345310e-01 3.28569761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03710568099996 meters 0.025950343364844294 Centerline is valid? [True, True] Translation: X:322.69, Y:145.44, Z:32.86 [[ 5.17052970e-01 -8.54014628e-01 -5.75781227e-02 3.22689415e+02] [ 8.48909434e-01 5.20248565e-01 -9.32427142e-02 1.45438404e+02] [ 1.09585578e-01 -6.67189207e-04 9.93977141e-01 3.28575923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09710568099996 meters 0.026138587910815986 Centerline is valid? [True, True] Translation: X:322.72, Y:145.49, Z:32.86 [[ 5.12815349e-01 -8.56578931e-01 -5.73842543e-02 3.22722141e+02] [ 8.51517700e-01 5.16014676e-01 -9.29863530e-02 1.45486945e+02] [ 1.09261268e-01 -1.17887909e-03 9.94012367e-01 3.28644441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15710568099996 meters 0.02810277531949812 Centerline is valid? [True, True] Translation: X:322.76, Y:145.53, Z:32.87 [[ 5.04325770e-01 -8.61662392e-01 -5.65105230e-02 3.22759961e+02] [ 8.56780604e-01 5.07477123e-01 -9.16185865e-02 1.45533470e+02] [ 1.07622088e-01 -2.21150589e-03 9.94189416e-01 3.28685341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21710568099996 meters 0.028825579627402433 Centerline is valid? [True, True] Translation: X:322.79, Y:145.58, Z:32.87 [[ 5.01230734e-01 -8.63435938e-01 -5.69748415e-02 3.22793969e+02] [ 8.58482833e-01 5.04451782e-01 -9.23884468e-02 1.45581240e+02] [ 1.08512566e-01 -2.60399427e-03 9.94091667e-01 3.28740922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27710568099997 meters 0.029398081557581023 Centerline is valid? [True, True] Translation: X:322.83, Y:145.63, Z:32.88 [[ 4.99608502e-01 -8.64387763e-01 -5.67903155e-02 3.22828075e+02] [ 8.59466639e-01 5.02818169e-01 -9.21465442e-02 1.45628481e+02] [ 1.08205548e-01 -2.77218459e-03 9.94124678e-01 3.28800803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.33710568099997 meters 0.027461387765063773 Centerline is valid? [True, True] Translation: X:322.86, Y:145.68, Z:32.89 [[ 5.06055829e-01 -8.60701998e-01 -5.56737744e-02 3.22855823e+02] [ 8.55945487e-01 5.09105493e-01 -9.03820761e-02 1.45680799e+02] [ 1.06135858e-01 -1.91533948e-03 9.94349793e-01 3.28850587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.39710568099997 meters 0.027340069277927606 Centerline is valid? [True, True] Translation: X:322.89, Y:145.73, Z:32.89 [[ 5.03112968e-01 -8.62380114e-01 -5.63726879e-02 3.22889116e+02] [ 8.57511674e-01 5.06256162e-01 -9.15337509e-02 1.45729106e+02] [ 1.07475907e-01 -2.28842080e-03 9.94205056e-01 3.28924206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.457105681 meters 0.02985332449870871 Centerline is valid? [True, True] Translation: X:322.93, Y:145.77, Z:32.90 [[ 4.97294826e-01 -8.65700944e-01 -5.70940611e-02 3.22927622e+02] [ 8.60722610e-01 5.00552482e-01 -9.27566759e-02 1.45774268e+02] [ 1.08878116e-01 -3.01473424e-03 9.94050536e-01 3.28952868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.517105681 meters 0.03298217980501104 Centerline is valid? [True, True] Translation: X:322.97, Y:145.82, Z:32.89 [[ 4.91227110e-01 -8.69032824e-01 -5.89735335e-02 3.22967220e+02] [ 8.63742498e-01 4.94739319e-01 -9.58222460e-02 1.45819908e+02] [ 1.12449203e-01 -3.86746217e-03 9.93649948e-01 3.28938726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.577105681 meters 0.030958263606938395 Centerline is valid? [True, True] Translation: X:322.99, Y:145.87, Z:32.91 [[ 4.95042492e-01 -8.66898986e-01 -5.84728916e-02 3.22994298e+02] [ 8.61682638e-01 4.98472606e-01 -9.50162740e-02 1.45872282e+02] [ 1.11516646e-01 -3.34798241e-03 9.93756926e-01 3.29065602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.637105681 meters 0.02581661372639263 Centerline is valid? [True, True] Translation: X:323.01, Y:145.93, Z:32.92 [[ 5.10034389e-01 -8.58176053e-01 -5.82990947e-02 3.23008904e+02] [ 8.52931480e-01 5.13353574e-01 -9.47417470e-02 1.45932436e+02] [ 1.11233147e-01 -1.40358414e-03 9.93793347e-01 3.29187792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.697105681 meters 0.027135780050838824 Centerline is valid? [True, True] Translation: X:323.01, Y:146.00, Z:32.93 [[ 5.36880129e-01 -8.41821005e-01 -5.56518039e-02 3.23007197e+02] [ 8.36950147e-01 5.39753153e-01 -9.04488002e-02 1.45999196e+02] [ 1.06179936e-01 1.98237806e-03 9.94344956e-01 3.29277961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.757105681 meters 0.029578594143176654 Centerline is valid? [True, True] Translation: X:323.03, Y:146.06, Z:32.93 [[ 5.44328140e-01 -8.36909644e-01 -5.73508840e-02 3.23027325e+02] [ 8.31705696e-01 5.47332567e-01 -9.32346340e-02 1.46057501e+02] [ 1.09418971e-01 3.05117807e-03 9.93991036e-01 3.29327264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.817105681 meters 0.02727760358457226 Centerline is valid? [True, True] Translation: X:323.07, Y:146.10, Z:32.94 [[ 5.35966425e-01 -8.42353867e-01 -5.63910782e-02 3.23068988e+02] [ 8.37352458e-01 5.38921413e-01 -9.16764508e-02 1.46102640e+02] [ 1.07614372e-01 1.91629165e-03 9.94190864e-01 3.29350271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.877105681 meters 0.025905050069091145 Centerline is valid? [True, True] Translation: X:323.11, Y:146.15, Z:32.94 [[ 5.26585191e-01 -8.48151801e-01 -5.78494584e-02 3.23107169e+02] [ 8.42920334e-01 5.29752709e-01 -9.40605019e-02 1.46147772e+02] [ 1.10423491e-01 7.68382539e-04 9.93884330e-01 3.29359481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93710568099993 meters 0.02558234759173034 Centerline is valid? [True, True] Translation: X:323.14, Y:146.19, Z:32.95 [[ 5.17572354e-01 -8.53657498e-01 -5.82042489e-02 3.23144251e+02] [ 8.48388895e-01 5.20834659e-01 -9.46971026e-02 1.46191691e+02] [ 1.11153682e-01 -3.67236036e-04 9.93803162e-01 3.29458013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99710568099994 meters 0.026356486774551227 Centerline is valid? [True, True] Translation: X:323.18, Y:146.24, Z:32.95 [[ 5.12230101e-01 -8.56825013e-01 -5.89170621e-02 3.23177211e+02] [ 8.51440122e-01 5.15606273e-01 -9.59160581e-02 1.46239405e+02] [ 1.12561285e-01 -1.03325843e-03 9.93644247e-01 3.29482550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05710568099994 meters 0.027760525123036204 Centerline is valid? [True, True] Translation: X:323.21, Y:146.29, Z:32.95 [[ 5.05630851e-01 -8.60607535e-01 -6.07627529e-02 3.23212389e+02] [ 8.54903533e-01 5.09265142e-01 -9.89391962e-02 1.46288421e+02] [ 1.16092170e-01 -1.91958214e-03 9.93236590e-01 3.29509041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11710568099994 meters 0.029567771593288487 Centerline is valid? [True, True] Translation: X:323.25, Y:146.33, Z:32.96 [[ 4.99479548e-01 -8.64267863e-01 -5.96761420e-02 3.23248516e+02] [ 8.58791589e-01 5.03024560e-01 -9.71766381e-02 1.46334906e+02] [ 1.14005210e-01 -2.71162554e-03 9.93476451e-01 3.29602475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17710568099994 meters 0.03171801631132584 Centerline is valid? [True, True] Translation: X:323.28, Y:146.38, Z:32.97 [[ 4.94605301e-01 -8.67054581e-01 -5.98493911e-02 3.23283041e+02] [ 8.61565103e-01 4.98201865e-01 -9.74703813e-02 1.46383146e+02] [ 1.14329219e-01 -3.35477953e-03 9.93437253e-01 3.29664163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23710568099995 meters 0.02820028850328337 Centerline is valid? [True, True] Translation: X:323.30, Y:146.44, Z:32.97 [[ 5.00083015e-01 -8.63902408e-01 -5.99133259e-02 3.23301283e+02] [ 8.58377454e-01 5.03652379e-01 -9.75829231e-02 1.46441246e+02] [ 1.14477611e-01 -2.62868575e-03 9.93422351e-01 3.29742787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29710568099995 meters 0.025460660267168818 Centerline is valid? [True, True] Translation: X:323.31, Y:146.51, Z:32.99 [[ 5.11911054e-01 -8.57143572e-01 -5.70260384e-02 3.23308937e+02] [ 8.52096306e-01 5.15076511e-01 -9.28874206e-02 1.46506275e+02] [ 1.08990628e-01 -1.04157931e-03 9.94042232e-01 3.29901886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35710568099995 meters 0.025360356624429252 Centerline is valid? [True, True] Translation: X:323.34, Y:146.56, Z:33.00 [[ 5.11857526e-01 -8.57319714e-01 -5.48158821e-02 3.23337038e+02] [ 8.52657030e-01 5.14783299e-01 -8.92980690e-02 1.46556271e+02] [ 1.04775296e-01 -1.03125849e-03 9.94495387e-01 3.30008746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41710568099995 meters 0.025016138816195438 Centerline is valid? [True, True] Translation: X:323.37, Y:146.60, Z:33.01 [[ 5.12628741e-01 -8.56915363e-01 -5.39243356e-02 3.23368835e+02] [ 8.52395770e-01 5.15456342e-01 -8.78988610e-02 1.46604767e+02] [ 1.03117525e-01 -9.05393092e-04 9.94668767e-01 3.30087302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47710568099995 meters 0.024445976389712007 Centerline is valid? [True, True] Translation: X:323.39, Y:146.66, Z:33.02 [[ 5.23972913e-01 -8.50018790e-01 -5.40411217e-02 3.23390996e+02] [ 8.45436619e-01 5.26752133e-01 -8.81425741e-02 1.46659334e+02] [ 1.03389120e-01 4.95978068e-04 9.94640862e-01 3.30181505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53710568099996 meters 0.027137557443175076 Centerline is valid? [True, True] Translation: X:323.42, Y:146.72, Z:33.03 [[ 5.39456241e-01 -8.40297895e-01 -5.37253320e-02 3.23415714e+02] [ 8.35715111e-01 5.42119639e-01 -8.76729697e-02 1.46715010e+02] [ 1.02796970e-01 2.39665885e-03 9.94699472e-01 3.30250188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59710568099996 meters 0.030761677096245228 Centerline is valid? [True, True] Translation: X:323.44, Y:146.77, Z:33.03 [[ 5.50558802e-01 -8.33034901e-01 -5.42020308e-02 3.23439607e+02] [ 8.28335233e-01 5.53207415e-01 -8.84437566e-02 1.46771531e+02] [ 1.03661701e-01 3.79603686e-03 9.94605370e-01 3.30292406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65710568099996 meters 0.03272258422434348 Centerline is valid? [True, True] Translation: X:323.47, Y:146.83, Z:33.04 [[ 5.54275871e-01 -8.30648797e-01 -5.29229171e-02 3.23466111e+02] [ 8.26158285e-01 5.56781308e-01 -8.63542874e-02 1.46825605e+02] [ 1.01196576e-01 4.14139139e-03 9.94857830e-01 3.30383002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71710568099996 meters 0.030676065209908093 Centerline is valid? [True, True] Translation: X:323.50, Y:146.88, Z:33.04 [[ 5.50784694e-01 -8.32901282e-01 -5.39599367e-02 3.23499834e+02] [ 8.28243749e-01 5.53408543e-01 -8.80413385e-02 1.46877109e+02] [ 1.03191634e-01 3.79984147e-03 9.94654235e-01 3.30429552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77710568099997 meters 0.02818080225167193 Centerline is valid? [True, True] Translation: X:323.53, Y:146.93, Z:33.04 [[ 5.43681612e-01 -8.37445949e-01 -5.56290189e-02 3.23533010e+02] [ 8.32519491e-01 5.46511766e-01 -9.07534451e-02 1.46928686e+02] [ 1.06403018e-01 3.02873689e-03 9.94318472e-01 3.30413021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.83710568099997 meters 0.024419230047840215 Centerline is valid? [True, True] Translation: X:323.57, Y:146.98, Z:33.05 [[ 5.28547064e-01 -8.47105290e-01 -5.52324996e-02 3.23570434e+02] [ 8.42300411e-01 5.31423950e-01 -9.01032934e-02 1.46975506e+02] [ 1.05678850e-01 1.10147409e-03 9.94399702e-01 3.30535728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.89710568099997 meters 0.023828112766126203 Centerline is valid? [True, True] Translation: X:323.60, Y:147.02, Z:33.07 [[ 5.24720161e-01 -8.49583828e-01 -5.36290167e-02 3.23602574e+02] [ 8.45066648e-01 5.27453287e-01 -8.74950908e-02 1.47023192e+02] [ 1.02621215e-01 5.90344713e-04 9.94720331e-01 3.30725214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.957105681 meters 0.024246188992781102 Centerline is valid? [True, True] Translation: X:323.63, Y:147.07, Z:33.08 [[ 5.28155763e-01 -8.47612508e-01 -5.10345580e-02 3.23632848e+02] [ 8.43508832e-01 5.30614859e-01 -8.33109932e-02 1.47073022e+02] [ 9.76951346e-02 9.53080797e-04 9.95215933e-01 3.30772141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.017105681 meters 0.025222277650443655 Centerline is valid? [True, True] Translation: X:323.66, Y:147.13, Z:33.08 [[ 5.32989934e-01 -8.44420884e-01 -5.36199793e-02 3.23663983e+02] [ 8.39868553e-01 5.35677762e-01 -8.75793865e-02 1.47126854e+02] [ 1.02676893e-01 1.64519695e-03 9.94713400e-01 3.30755764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.077105681 meters 0.026947564957773968 Centerline is valid? [True, True] Translation: X:323.69, Y:147.18, Z:33.08 [[ 5.38691330e-01 -8.40696348e-01 -5.51480034e-02 3.23691418e+02] [ 8.35861570e-01 5.41501422e-01 -9.00646780e-02 1.47180163e+02] [ 1.05579768e-01 2.42096443e-03 9.94407890e-01 3.30793897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.137105681 meters 0.026772156828540217 Centerline is valid? [True, True] Translation: X:323.73, Y:147.23, Z:33.08 [[ 5.39306798e-01 -8.40256480e-01 -5.58321232e-02 3.23728495e+02] [ 8.35299347e-01 5.42183208e-01 -9.11722051e-02 1.47231145e+02] [ 1.06879276e-01 2.53325395e-03 9.94268778e-01 3.30815151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.197105681 meters 0.027041959661453816 Centerline is valid? [True, True] Translation: X:323.76, Y:147.28, Z:33.09 [[ 5.39280932e-01 -8.40177552e-01 -5.72516971e-02 3.23763786e+02] [ 8.34969739e-01 5.42305260e-01 -9.34373598e-02 1.47281834e+02] [ 1.09551869e-01 2.58555188e-03 9.93977718e-01 3.30890396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.257105681 meters 0.03095156571772254 Centerline is valid? [True, True] Translation: X:323.79, Y:147.34, Z:33.10 [[ 5.46552713e-01 -8.35529269e-01 -5.63113822e-02 3.23787661e+02] [ 8.30468247e-01 5.49435061e-01 -9.18890838e-02 1.47336406e+02] [ 1.07715467e-01 3.45741315e-03 9.94175751e-01 3.31008400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.317105681 meters 0.030589591696359938 Centerline is valid? [True, True] Translation: X:323.82, Y:147.39, Z:33.11 [[ 5.51364937e-01 -8.32485464e-01 -5.44486730e-02 3.23822923e+02] [ 8.27740593e-01 5.54033054e-01 -8.88419181e-02 1.47386627e+02] [ 1.04125970e-01 3.91494167e-03 9.94556411e-01 3.31117429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.377105681 meters 0.03230077740530364 Centerline is valid? [True, True] Translation: X:323.86, Y:147.44, Z:33.12 [[ 5.56532021e-01 -8.29193191e-01 -5.20649722e-02 3.23858749e+02] [ 8.24845688e-01 5.58945512e-01 -8.49088083e-02 1.47436007e+02] [ 9.95072882e-02 4.30890293e-03 9.95027504e-01 3.31153336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43710568099993 meters 0.032756431132802806 Centerline is valid? [True, True] Translation: X:323.89, Y:147.49, Z:33.11 [[ 5.58381435e-01 -8.27791541e-01 -5.45099835e-02 3.23892672e+02] [ 8.23019329e-01 5.61015522e-01 -8.88862683e-02 1.47487115e+02] [ 1.04160248e-01 4.76967199e-03 9.94549090e-01 3.31142034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49710568099994 meters 0.03528859655907269 Centerline is valid? [True, True] Translation: X:323.91, Y:147.55, Z:33.11 [[ 5.57759578e-01 -8.27946398e-01 -5.83867826e-02 3.23914991e+02] [ 8.22470375e-01 5.60784245e-01 -9.52024821e-02 1.47545408e+02] [ 1.11564940e-01 5.07869722e-03 9.93744168e-01 3.31113057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55710568099994 meters 0.03516252378054879 Centerline is valid? [True, True] Translation: X:323.93, Y:147.61, Z:33.11 [[ 5.58629327e-01 -8.27337718e-01 -5.86990210e-02 3.23933834e+02] [ 8.21800504e-01 5.61680530e-01 -9.57022128e-02 1.47606336e+02] [ 1.12148148e-01 5.22317769e-03 9.93677770e-01 3.31134152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61710568099994 meters 0.027594432726476884 Centerline is valid? [True, True] Translation: X:323.98, Y:147.65, Z:33.12 [[ 5.38323419e-01 -8.40718223e-01 -5.83160914e-02 3.23976101e+02] [ 8.35329444e-01 5.41467264e-01 -9.50679909e-02 1.47650370e+02] [ 1.11501647e-01 2.46417772e-03 9.93761194e-01 3.31239200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67710568099994 meters 0.02477945242896048 Centerline is valid? [True, True] Translation: X:324.02, Y:147.69, Z:33.13 [[ 5.20056015e-01 -8.52163122e-01 -5.79633918e-02 3.24019148e+02] [ 8.46907841e-01 5.23276228e-01 -9.44939049e-02 1.47694148e+02] [ 1.10855086e-01 5.24726454e-05 9.93836580e-01 3.31300179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73710568099995 meters 0.026999969800581048 Centerline is valid? [True, True] Translation: X:324.06, Y:147.74, Z:33.14 [[ 5.03707976e-01 -8.61972407e-01 -5.72873916e-02 3.24063779e+02] [ 8.56900135e-01 5.06951069e-01 -9.33957825e-02 1.47735654e+02] [ 1.09546492e-01 -2.04537300e-03 9.93979568e-01 3.31422354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79710568099995 meters 0.02816101096540639 Centerline is valid? [True, True] Translation: X:324.10, Y:147.78, Z:33.15 [[ 4.99546631e-01 -8.64470503e-01 -5.60705958e-02 3.24099427e+02] [ 8.59626265e-01 5.02677184e-01 -9.14239187e-02 1.47781686e+02] [ 1.07218690e-01 -2.52924624e-03 9.94232244e-01 3.31495889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85710568099995 meters 0.02957866527389024 Centerline is valid? [True, True] Translation: X:324.14, Y:147.83, Z:33.15 [[ 4.99729226e-01 -8.64368586e-01 -5.60147192e-02 3.24136384e+02] [ 8.59530258e-01 5.02852610e-01 -9.13618542e-02 1.47827120e+02] [ 1.07137464e-01 -2.49015738e-03 9.94241099e-01 3.31461374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91710568099995 meters 0.02779723236516332 Centerline is valid? [True, True] Translation: X:324.16, Y:147.88, Z:33.16 [[ 5.02499149e-01 -8.62781247e-01 -5.57057011e-02 3.24161631e+02] [ 8.57983828e-01 5.05572943e-01 -9.08831705e-02 1.47879911e+02] [ 1.06575590e-01 -2.12587482e-03 9.94302330e-01 3.31590943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97710568099995 meters 0.027085019163464848 Centerline is valid? [True, True] Translation: X:324.19, Y:147.93, Z:33.16 [[ 5.05033288e-01 -8.61277504e-01 -5.60574688e-02 3.24191149e+02] [ 8.56404035e-01 5.08131727e-01 -9.15110741e-02 1.47931216e+02] [ 1.07301008e-01 -1.79170378e-03 9.94224966e-01 3.31598537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03710568099996 meters 0.026835525599608893 Centerline is valid? [True, True] Translation: X:324.22, Y:147.99, Z:33.16 [[ 5.08692459e-01 -8.58896416e-01 -5.94047841e-02 3.24215660e+02] [ 8.53397917e-01 5.12147607e-01 -9.70403192e-02 1.47985639e+02] [ 1.13771600e-01 -1.33224049e-03 9.93506038e-01 3.31599238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09710568099996 meters 0.027056284060309386 Centerline is valid? [True, True] Translation: X:324.25, Y:148.04, Z:33.16 [[ 5.08438584e-01 -8.58974180e-01 -6.04447258e-02 3.24245227e+02] [ 8.53274008e-01 5.12017148e-01 -9.88023641e-02 1.48036822e+02] [ 1.15817416e-01 -1.34097936e-03 9.93269615e-01 3.31614859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15710568099996 meters 0.02793190224342514 Centerline is valid? [True, True] Translation: X:324.28, Y:148.08, Z:33.18 [[ 5.03896293e-01 -8.61876525e-01 -5.70734728e-02 3.24278509e+02] [ 8.56808557e-01 5.07114762e-01 -9.33472845e-02 1.48084025e+02] [ 1.09396634e-01 -1.86368922e-03 9.93996430e-01 3.31769367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21710568099996 meters 0.027762848995304304 Centerline is valid? [True, True] Translation: X:324.31, Y:148.14, Z:33.19 [[ 5.05333231e-01 -8.61184604e-01 -5.47668132e-02 3.24306048e+02] [ 8.56510037e-01 5.08289737e-01 -8.96219832e-02 1.48135017e+02] [ 1.05018481e-01 -1.61935885e-03 9.94468952e-01 3.31893982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27710568099997 meters 0.026410258958197735 Centerline is valid? [True, True] Translation: X:324.33, Y:148.19, Z:33.20 [[ 5.12563388e-01 -8.56999323e-01 -5.32065102e-02 3.24325263e+02] [ 8.52563987e-01 5.15317019e-01 -8.70805284e-02 1.48193988e+02] [ 1.02046174e-01 -7.27663809e-04 9.94779397e-01 3.32048864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.33710568099997 meters 0.02636130881038159 Centerline is valid? [True, True] Translation: X:324.35, Y:148.25, Z:33.21 [[ 5.15503217e-01 -8.55070194e-01 -5.57798904e-02 3.24350799e+02] [ 8.50183958e-01 5.18512129e-01 -9.12820329e-02 1.48251111e+02] [ 1.06975095e-01 -3.66986357e-04 9.94261633e-01 3.32087732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.39710568099997 meters 0.026970322059123565 Centerline is valid? [True, True] Translation: X:324.38, Y:148.31, Z:33.20 [[ 5.24149608e-01 -8.49627437e-01 -5.83130101e-02 3.24379791e+02] [ 8.44254042e-01 5.27382798e-01 -9.54070077e-02 1.48306616e+02] [ 1.11813690e-01 7.76551146e-04 9.93728884e-01 3.32046919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.457105681 meters 0.02896015051881416 Centerline is valid? [True, True] Translation: X:324.40, Y:148.36, Z:33.22 [[ 5.37511721e-01 -8.41308054e-01 -5.72879412e-02 3.24399264e+02] [ 8.36076768e-01 5.40550322e-01 -9.37069256e-02 1.48364091e+02] [ 1.09803406e-01 2.47145418e-03 9.93950252e-01 3.32232748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.517105681 meters 0.031913667990904664 Centerline is valid? [True, True] Translation: X:324.42, Y:148.42, Z:33.24 [[ 5.47649267e-01 -8.34913332e-01 -5.47723225e-02 3.24423692e+02] [ 8.30100870e-01 5.50369694e-01 -8.95865262e-02 1.48417702e+02] [ 1.04942012e-01 3.59544285e-03 9.94471843e-01 3.32399419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.577105681 meters 0.032910357803153496 Centerline is valid? [True, True] Translation: X:324.46, Y:148.47, Z:33.25 [[ 5.51251635e-01 -8.32658699e-01 -5.29256581e-02 3.24457885e+02] [ 8.28157156e-01 5.53772901e-01 -8.65522854e-02 1.48469122e+02] [ 1.01377309e-01 3.88132640e-03 9.94840478e-01 3.32463812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.637105681 meters 0.035192708762117664 Centerline is valid? [True, True] Translation: X:324.49, Y:148.52, Z:33.24 [[ 5.54324843e-01 -8.30549590e-01 -5.39569020e-02 3.24487203e+02] [ 8.25861974e-01 5.56927742e-01 -8.82240871e-02 1.48522481e+02] [ 1.03324575e-01 4.34384962e-03 9.94638207e-01 3.32438344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.697105681 meters 0.037629619044373876 Centerline is valid? [True, True] Translation: X:324.51, Y:148.58, Z:33.25 [[ 5.60631249e-01 -8.26187556e-01 -5.57380000e-02 3.24509168e+02] [ 8.21163246e-01 5.63370039e-01 -9.11324484e-02 1.48579763e+02] [ 1.06693614e-01 5.32170132e-03 9.94277704e-01 3.32495388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.757105681 meters 0.033206332177067574 Centerline is valid? [True, True] Translation: X:324.55, Y:148.63, Z:33.25 [[ 5.49000017e-01 -8.33885145e-01 -5.68730731e-02 3.24548144e+02] [ 8.28693710e-01 5.51924092e-01 -9.29867249e-02 1.48626205e+02] [ 1.08929868e-01 3.91935556e-03 9.94041711e-01 3.32549965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.817105681 meters 0.029280167686851693 Centerline is valid? [True, True] Translation: X:324.59, Y:148.67, Z:33.26 [[ 5.35766178e-01 -8.42291336e-01 -5.91600223e-02 3.24589339e+02] [ 8.36722042e-01 5.39017540e-01 -9.67280477e-02 1.48672343e+02] [ 1.13361486e-01 2.32312169e-03 9.93551094e-01 3.32552070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.877105681 meters 0.027262160718385532 Centerline is valid? [True, True] Translation: X:324.63, Y:148.72, Z:33.26 [[ 5.25435680e-01 -8.48739170e-01 -5.96587578e-02 3.24628353e+02] [ 8.43115407e-01 5.28810843e-01 -9.75474379e-02 1.48718528e+02] [ 1.14340530e-01 9.55686465e-04 9.93441156e-01 3.32602318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93710568099993 meters 0.02665417074046593 Centerline is valid? [True, True] Translation: X:324.66, Y:148.77, Z:33.27 [[ 5.20932418e-01 -8.51553200e-01 -5.90471380e-02 3.24658545e+02] [ 8.46059896e-01 5.24268087e-01 -9.65692765e-02 1.48767727e+02] [ 1.13190406e-01 3.48651222e-04 9.93573254e-01 3.32692382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99710568099994 meters 0.026428572498028866 Centerline is valid? [True, True] Translation: X:324.69, Y:148.82, Z:33.29 [[ 5.19087654e-01 -8.52771754e-01 -5.76917995e-02 3.24689662e+02] [ 8.47531225e-01 5.22283760e-01 -9.43954255e-02 1.48820428e+02] [ 1.10629242e-01 1.03898431e-04 9.93861741e-01 3.32869148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05710568099994 meters 0.026480890808786475 Centerline is valid? [True, True] Translation: X:324.72, Y:148.87, Z:33.30 [[ 5.21899619e-01 -8.51133012e-01 -5.65100244e-02 3.24719587e+02] [ 8.46097540e-01 5.24949908e-01 -9.24475306e-02 1.48871954e+02] [ 1.08350077e-01 4.35338431e-04 9.94112705e-01 3.32958454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11710568099994 meters 0.027299064975802527 Centerline is valid? [True, True] Translation: X:324.75, Y:148.93, Z:33.29 [[ 5.28868202e-01 -8.46776099e-01 -5.71722240e-02 3.24751159e+02] [ 8.41596565e-01 5.31947767e-01 -9.35242974e-02 1.48926060e+02] [ 1.09606777e-01 1.34607972e-03 9.93974116e-01 3.32945009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17710568099994 meters 0.029815853097055884 Centerline is valid? [True, True] Translation: X:324.78, Y:148.98, Z:33.29 [[ 5.38198003e-01 -8.40760935e-01 -5.88554174e-02 3.24779252e+02] [ 8.35235961e-01 5.41400057e-01 -9.62645683e-02 1.48978824e+02] [ 1.12799815e-01 2.65123728e-03 9.93614197e-01 3.32947691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23710568099995 meters 0.034889606588703916 Centerline is valid? [True, True] Translation: X:324.80, Y:149.04, Z:33.31 [[ 5.51725510e-01 -8.31996727e-01 -5.81412744e-02 3.24796761e+02] [ 8.26555614e-01 5.54762998e-01 -9.50990689e-02 1.49037755e+02] [ 1.11376742e-01 4.41158553e-03 9.93768464e-01 3.33088950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29710568099995 meters 0.041916605482538075 Centerline is valid? [True, True] Translation: X:324.81, Y:149.10, Z:33.31 [[ 5.71401506e-01 -8.18540189e-01 -5.90955086e-02 3.24807375e+02] [ 8.12845205e-01 5.74404217e-01 -9.66564444e-02 1.49102484e+02] [ 1.13061894e-01 7.19413704e-03 9.93561902e-01 3.33121424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35710568099995 meters 0.03693288578321394 Centerline is valid? [True, True] Translation: X:324.85, Y:149.15, Z:33.32 [[ 5.63165713e-01 -8.24327831e-01 -5.76888708e-02 3.24845819e+02] [ 8.18931809e-01 5.66082081e-01 -9.43491848e-02 1.49149998e+02] [ 1.10431295e-01 5.89097461e-03 9.93866302e-01 3.33218438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41710568099995 meters 0.031317174327118766 Centerline is valid? [True, True] Translation: X:324.89, Y:149.19, Z:33.32 [[ 5.45505546e-01 -8.36193924e-01 -5.65987612e-02 3.24890930e+02] [ 8.31062112e-01 5.48422986e-01 -9.25634601e-02 1.49192649e+02] [ 1.08441065e-01 3.45679479e-03 9.94096870e-01 3.33233849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47710568099995 meters 0.026473717392611645 Centerline is valid? [True, True] Translation: X:324.94, Y:149.23, Z:33.33 [[ 5.28720637e-01 -8.46931479e-01 -5.62277318e-02 3.24940498e+02] [ 8.41925193e-01 5.31700506e-01 -9.19594562e-02 1.49232892e+02] [ 1.07779672e-01 1.28131829e-03 9.94173979e-01 3.33278248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53710568099996 meters 0.02530779217405449 Centerline is valid? [True, True] Translation: X:324.98, Y:149.28, Z:33.34 [[ 5.19816696e-01 -8.52484385e-01 -5.53260825e-02 3.24979361e+02] [ 8.47668620e-01 5.22752670e-01 -9.04851187e-02 1.49279006e+02] [ 1.06059008e-01 1.37491442e-04 9.94359828e-01 3.33406639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59710568099996 meters 0.025637199567494197 Centerline is valid? [True, True] Translation: X:325.02, Y:149.33, Z:33.34 [[ 5.15179570e-01 -8.55210147e-01 -5.66181462e-02 3.25015049e+02] [ 8.50181816e-01 5.18281217e-01 -9.26037754e-02 1.49325875e+02] [ 1.08539810e-01 -4.28145157e-04 9.94092011e-01 3.33389121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65710568099996 meters 0.02601985561621563 Centerline is valid? [True, True] Translation: X:325.05, Y:149.38, Z:33.33 [[ 5.14929743e-01 -8.55120758e-01 -6.01319401e-02 3.25047935e+02] [ 8.49442733e-01 5.18428697e-01 -9.83805311e-02 1.49375258e+02] [ 1.15301358e-01 -4.19577995e-04 9.93330469e-01 3.33322538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71710568099996 meters 0.02761052976591389 Centerline is valid? [True, True] Translation: X:325.06, Y:149.44, Z:33.34 [[ 5.32326846e-01 -8.44431328e-01 -5.96980871e-02 3.25061494e+02] [ 8.38765297e-01 5.35660371e-01 -9.76767283e-02 1.49439390e+02] [ 1.14459189e-01 1.92326093e-03 9.93426089e-01 3.33404295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77710568099997 meters 0.032765127400769214 Centerline is valid? [True, True] Translation: X:325.07, Y:149.50, Z:33.35 [[ 5.48501984e-01 -8.34142490e-01 -5.78954248e-02 3.25070219e+02] [ 8.28757290e-01 5.51534720e-01 -9.47143422e-02 1.49503057e+02] [ 1.10936594e-01 3.96974921e-03 9.93819558e-01 3.33502133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.83710568099997 meters 0.034703373384505 Centerline is valid? [True, True] Translation: X:325.10, Y:149.56, Z:33.36 [[ 5.53457319e-01 -8.31046317e-01 -5.51997826e-02 3.25099968e+02] [ 8.26137071e-01 5.56186000e-01 -9.03032285e-02 1.49557166e+02] [ 1.05747512e-01 4.37639592e-03 9.94383382e-01 3.33623490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.89710568099997 meters 0.03583783512547763 Centerline is valid? [True, True] Translation: X:325.14, Y:149.61, Z:33.37 [[ 5.58590188e-01 -8.27564691e-01 -5.58004037e-02 3.25137126e+02] [ 8.22531880e-01 5.61347324e-01 -9.12715120e-02 1.49605141e+02] [ 1.06856488e-01 5.08576008e-03 9.94261448e-01 3.33664707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.957105681 meters 0.04207723040660153 Centerline is valid? [True, True] Translation: X:325.17, Y:149.66, Z:33.37 [[ 5.69200521e-01 -8.20479469e-01 -5.31432742e-02 3.25165843e+02] [ 8.15885281e-01 5.71643272e-01 -8.69205227e-02 1.49657341e+02] [ 1.01695499e-01 6.11639158e-03 9.94796771e-01 3.33730337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.017105681 meters 0.04552181407527335 Centerline is valid? [True, True] Translation: X:325.20, Y:149.71, Z:33.38 [[ 5.79502842e-01 -8.13303752e-01 -5.20909206e-02 3.25199047e+02] [ 8.08861232e-01 5.81794299e-01 -8.51991843e-02 1.49708417e+02] [ 9.95990169e-02 7.23884323e-03 9.95001324e-01 3.33789931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.077105681 meters 0.05304234438353157 Centerline is valid? [True, True] Translation: X:325.22, Y:149.76, Z:33.38 [[ 5.89797293e-01 -8.05961910e-01 -5.06414136e-02 3.25222613e+02] [ 8.01737547e-01 5.91909945e-01 -8.28222351e-02 1.49764043e+02] [ 9.67267232e-02 8.24720736e-03 9.95276808e-01 3.33834582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.137105681 meters 0.052890854152932425 Centerline is valid? [True, True] Translation: X:325.25, Y:149.82, Z:33.39 [[ 5.98033957e-01 -7.99925449e-01 -4.97459877e-02 3.25250238e+02] [ 7.95829707e-01 6.00030978e-01 -8.13504908e-02 1.49819005e+02] [ 9.49234615e-02 9.06102102e-03 9.95443336e-01 3.33879580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.197105681 meters 0.055622758558297083 Centerline is valid? [True, True] Translation: X:325.27, Y:149.88, Z:33.39 [[ 6.04515169e-01 -7.95023540e-01 -4.99898020e-02 3.25270537e+02] [ 7.90871661e-01 6.06498111e-01 -8.17438542e-02 1.49878859e+02] [ 9.53070088e-02 9.87988218e-03 9.95398896e-01 3.33903830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.257105681 meters 0.05250906586498686 Centerline is valid? [True, True] Translation: X:325.30, Y:149.93, Z:33.40 [[ 5.96641877e-01 -8.00979743e-01 -4.94966788e-02 3.25304158e+02] [ 7.96929851e-01 5.98626177e-01 -8.09290611e-02 1.49929778e+02] [ 9.44525463e-02 8.84028608e-03 9.95490113e-01 3.33964745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.317105681 meters 0.046122166138450806 Centerline is valid? [True, True] Translation: X:325.35, Y:149.97, Z:33.40 [[ 5.78695067e-01 -8.14028903e-01 -4.96886794e-02 3.25348873e+02] [ 8.09993577e-01 5.80784992e-01 -8.12354515e-02 1.49973004e+02] [ 9.49864447e-02 6.76304393e-03 9.95455592e-01 3.33998009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.377105681 meters 0.03959935413407253 Centerline is valid? [True, True] Translation: X:325.40, Y:150.01, Z:33.41 [[ 5.65937831e-01 -8.23113777e-01 -4.68837104e-02 3.25398428e+02] [ 8.19552416e-01 5.67854889e-01 -7.66463505e-02 1.50013367e+02] [ 8.97118112e-02 4.95341122e-03 9.95955448e-01 3.34067836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43710568099993 meters 0.03733738777432149 Centerline is valid? [True, True] Translation: X:325.44, Y:150.06, Z:33.41 [[ 5.60319969e-01 -8.27028354e-01 -4.54492483e-02 3.25438591e+02] [ 8.23694761e-01 5.62144556e-01 -7.42996561e-02 1.50059109e+02] [ 8.69969698e-02 4.19527334e-03 9.96199742e-01 3.34140730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49710568099994 meters 0.03785692510391472 Centerline is valid? [True, True] Translation: X:325.47, Y:150.11, Z:33.42 [[ 5.63720460e-01 -8.24679264e-01 -4.60798822e-02 3.25473231e+02] [ 8.21244504e-01 5.65581774e-01 -7.53307393e-02 1.50109637e+02] [ 8.81856402e-02 4.62262897e-03 9.96093331e-01 3.34187019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55710568099994 meters 0.04147533094337249 Centerline is valid? [True, True] Translation: X:325.50, Y:150.16, Z:33.42 [[ 5.71064949e-01 -8.19540793e-01 -4.73044658e-02 3.25503311e+02] [ 8.15903655e-01 5.72993849e-01 -7.73257665e-02 1.50162913e+02] [ 9.04767879e-02 5.56214835e-03 9.95883032e-01 3.34195085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61710568099994 meters 0.0449400083979336 Centerline is valid? [True, True] Translation: X:325.53, Y:150.22, Z:33.42 [[ 5.79830837e-01 -8.13292772e-01 -4.84878097e-02 3.25531421e+02] [ 8.09449363e-01 5.81816012e-01 -7.92581643e-02 1.50217120e+02] [ 9.26710762e-02 6.70790107e-03 9.95674181e-01 3.34203926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67710568099994 meters 0.04920513882117718 Centerline is valid? [True, True] Translation: X:325.55, Y:150.28, Z:33.43 [[ 5.94581130e-01 -8.02658218e-01 -4.70432185e-02 3.25548566e+02] [ 7.99008202e-01 5.96383844e-01 -7.68908618e-02 1.50276968e+02] [ 8.97728976e-02 8.12993813e-03 9.95929079e-01 3.34304123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73710568099995 meters 0.057336188024196606 Centerline is valid? [True, True] Translation: X:325.56, Y:150.34, Z:33.44 [[ 5.97384706e-01 -8.00804885e-01 -4.29307503e-02 3.25563807e+02] [ 7.97762149e-01 5.98876261e-01 -7.01625074e-02 1.50337458e+02] [ 8.18966859e-02 7.66548120e-03 9.96611345e-01 3.34438184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79710568099995 meters 0.04876075671713764 Centerline is valid? [True, True] Translation: X:325.61, Y:150.38, Z:33.45 [[ 5.93005471e-01 -8.04075735e-01 -4.25055674e-02 3.25607955e+02] [ 8.01102053e-01 5.94484043e-01 -6.94566283e-02 1.50382153e+02] [ 8.11172710e-02 7.13686330e-03 9.96679012e-01 3.34485256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85710568099995 meters 0.053233279250344795 Centerline is valid? [True, True] Translation: X:325.63, Y:150.44, Z:33.45 [[ 5.95779940e-01 -8.02067086e-01 -4.16491572e-02 3.25633056e+02] [ 7.99207948e-01 5.97189856e-01 -6.80509496e-02 1.50436822e+02] [ 7.94538811e-02 7.25705319e-03 9.96812127e-01 3.34539812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91710568099995 meters 0.0598163847609522 Centerline is valid? [True, True] Translation: X:325.66, Y:150.49, Z:33.46 [[ 6.04934563e-01 -7.95186775e-01 -4.16193079e-02 3.25655072e+02] [ 7.92316501e-01 6.06309719e-01 -6.79932883e-02 1.50493421e+02] [ 7.93015545e-02 8.15582575e-03 9.96817308e-01 3.34561198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97710568099995 meters 0.0534776257602428 Centerline is valid? [True, True] Translation: X:325.70, Y:150.54, Z:33.46 [[ 6.08072654e-01 -7.92801226e-01 -4.13988279e-02 3.25696220e+02] [ 7.89956625e-01 6.09422150e-01 -6.76252394e-02 1.50539179e+02] [ 7.88427354e-02 8.41778039e-03 9.96851526e-01 3.34619660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03710568099996 meters 0.06700706412699431 Centerline is valid? [True, True] Translation: X:325.71, Y:150.60, Z:33.46 [[ 6.12862476e-01 -7.89033489e-01 -4.27286542e-02 3.25712695e+02] [ 7.85994935e-01 6.14281521e-01 -6.97866486e-02 1.50599981e+02] [ 8.13114255e-02 9.18511251e-03 9.96646420e-01 3.34598516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09710568099996 meters 0.05777887518318564 Centerline is valid? [True, True] Translation: X:325.76, Y:150.64, Z:33.46 [[ 6.15306974e-01 -7.87077651e-01 -4.36588877e-02 3.25757730e+02] [ 7.83901449e-01 6.16778553e-01 -7.12933016e-02 1.50644200e+02] [ 8.30412299e-02 9.64300037e-03 9.96499456e-01 3.34601223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15710568099996 meters 0.05988302330992764 Centerline is valid? [True, True] Translation: X:325.79, Y:150.70, Z:33.46 [[ 6.05700919e-01 -7.94384872e-01 -4.55968413e-02 3.25789122e+02] [ 7.90939849e-01 6.07347607e-01 -7.44515887e-02 1.50695035e+02] [ 8.68363482e-02 9.03103699e-03 9.96181655e-01 3.34633780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21710568099996 meters 0.051024604915257586 Centerline is valid? [True, True] Translation: X:325.83, Y:150.74, Z:33.47 [[ 5.96522600e-01 -8.01303981e-01 -4.55271068e-02 3.25833313e+02] [ 7.97889002e-01 5.98203706e-01 -7.43334873e-02 1.50739802e+02] [ 8.67982033e-02 8.01602735e-03 9.96193664e-01 3.34674834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27710568099997 meters 0.04168215786473457 Centerline is valid? [True, True] Translation: X:325.88, Y:150.78, Z:33.47 [[ 5.74982645e-01 -8.16908301e-01 -4.53407829e-02 3.25884317e+02] [ 8.13567385e-01 5.76739654e-01 -7.40235149e-02 1.50779646e+02] [ 8.66202512e-02 5.67445418e-03 9.96225242e-01 3.34677753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.33710568099997 meters 0.03741267158861201 Centerline is valid? [True, True] Translation: X:325.92, Y:150.83, Z:33.48 [[ 5.65701694e-01 -8.23518510e-01 -4.24129308e-02 3.25921694e+02] [ 8.20614068e-01 5.67272605e-01 -6.92411991e-02 1.50827201e+02] [ 8.10811028e-02 4.36521596e-03 9.96697948e-01 3.34807869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.39710568099997 meters 0.03706291512711509 Centerline is valid? [True, True] Translation: X:325.95, Y:150.88, Z:33.49 [[ 5.65122220e-01 -8.23954171e-01 -4.16701333e-02 3.25952249e+02] [ 8.21152066e-01 5.66640685e-01 -6.80266040e-02 1.50880972e+02] [ 7.96627970e-02 4.22582943e-03 9.96812912e-01 3.34853097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.457105681 meters 0.0377092633245241 Centerline is valid? [True, True] Translation: X:325.98, Y:150.94, Z:33.48 [[ 5.67136875e-01 -8.22597796e-01 -4.10929530e-02 3.25976795e+02] [ 8.19870353e-01 5.68607035e-01 -6.70719282e-02 1.50938412e+02] [ 7.85389624e-02 4.34806992e-03 9.96901563e-01 3.34831692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.517105681 meters 0.03313210092479263 Centerline is valid? [True, True] Translation: X:326.02, Y:150.99, Z:33.49 [[ 5.58337488e-01 -8.28523628e-01 -4.25187871e-02 3.26015087e+02] [ 8.25620571e-01 5.59942272e-01 -6.93925482e-02 1.50986103e+02] [ 8.13014321e-02 3.64007580e-03 9.96682912e-01 3.34872976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.577105681 meters 0.029095565954221293 Centerline is valid? [True, True] Translation: X:326.06, Y:151.03, Z:33.48 [[ 5.48713203e-01 -8.34878349e-01 -4.34966992e-02 3.26058043e+02] [ 8.31859757e-01 5.50427547e-01 -7.09849320e-02 1.51031339e+02] [ 8.32055643e-02 2.76721578e-03 9.96528563e-01 3.34838666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.637105681 meters 0.02820400286829483 Centerline is valid? [True, True] Translation: X:326.09, Y:151.08, Z:33.49 [[ 5.45051596e-01 -8.37265700e-01 -4.36452079e-02 3.26094981e+02] [ 8.34234128e-01 5.46790940e-01 -7.12256094e-02 1.51081335e+02] [ 8.34995641e-02 2.41131014e-03 9.96504896e-01 3.34873066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.697105681 meters 0.029980016890543065 Centerline is valid? [True, True] Translation: X:326.12, Y:151.13, Z:33.50 [[ 5.49271867e-01 -8.34495021e-01 -4.38004120e-02 3.26122791e+02] [ 8.31434188e-01 5.51008181e-01 -7.14645056e-02 1.51134875e+02] [ 8.37711594e-02 2.83628237e-03 9.96480982e-01 3.34952979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.757105681 meters 0.032207447080740345 Centerline is valid? [True, True] Translation: X:326.15, Y:151.19, Z:33.50 [[ 5.54347368e-01 -8.31171202e-01 -4.30514611e-02 3.26151790e+02] [ 8.28205019e-01 5.56006911e-01 -7.02336149e-02 1.51187993e+02] [ 8.23130680e-02 3.27838346e-03 9.96601129e-01 3.35022254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.817105681 meters 0.035368203148682276 Centerline is valid? [True, True] Translation: X:326.18, Y:151.24, Z:33.51 [[ 5.59999806e-01 -8.27487062e-01 -4.08090586e-02 3.26182440e+02] [ 8.24812761e-01 5.61473110e-01 -6.65721869e-02 1.51239313e+02] [ 7.80008124e-02 3.62057949e-03 9.96946721e-01 3.35053057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.877105681 meters 0.03380805570874554 Centerline is valid? [True, True] Translation: X:326.22, Y:151.29, Z:33.51 [[ 5.64101521e-01 -8.24667063e-01 -4.13969763e-02 3.26220932e+02] [ 8.21907367e-01 5.65603807e-01 -6.75323188e-02 1.51287943e+02] [ 7.91059663e-02 4.07060398e-03 9.96857902e-01 3.35066680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93710568099993 meters 0.037387166890466825 Centerline is valid? [True, True] Translation: X:326.24, Y:151.35, Z:33.51 [[ 5.76396877e-01 -8.16064503e-01 -4.24896241e-02 3.26242566e+02] [ 8.13133960e-01 5.77935617e-01 -6.93079037e-02 1.51345579e+02] [ 8.11159871e-02 5.39910291e-03 9.96690045e-01 3.35119691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99710568099994 meters 0.04320979044813232 Centerline is valid? [True, True] Translation: X:326.27, Y:151.40, Z:33.52 [[ 5.80871627e-01 -8.12904835e-01 -4.21174787e-02 3.26266684e+02] [ 8.10017531e-01 5.82367770e-01 -6.86977361e-02 1.51401264e+02] [ 8.03725840e-02 5.78866954e-03 9.96748082e-01 3.35162501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05710568099994 meters 0.042062561920668526 Centerline is valid? [True, True] Translation: X:326.30, Y:151.45, Z:33.52 [[ 5.82680966e-01 -8.11609872e-01 -4.20987773e-02 3.26302777e+02] [ 8.08722620e-01 5.84169415e-01 -6.86572550e-02 1.51451434e+02] [ 8.03157241e-02 5.95904222e-03 9.96751661e-01 3.35174726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11710568099994 meters 0.03938225283638879 Centerline is valid? [True, True] Translation: X:326.34, Y:151.50, Z:33.52 [[ 5.84417446e-01 -8.10429631e-01 -4.07438657e-02 3.26342826e+02] [ 8.07723003e-01 5.85806071e-01 -6.64439392e-02 1.51498249e+02] [ 7.77161410e-02 5.92123966e-03 9.96957943e-01 3.35238245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17710568099994 meters 0.04337311971183413 Centerline is valid? [True, True] Translation: X:326.37, Y:151.55, Z:33.53 [[ 5.95774890e-01 -8.02229030e-01 -3.84819907e-02 3.26367722e+02] [ 7.99799359e-01 5.96979925e-01 -6.27371905e-02 1.51554003e+02] [ 7.33025714e-02 6.59937125e-03 9.97287913e-01 3.35321463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23710568099995 meters 0.048532287124015736 Centerline is valid? [True, True] Translation: X:326.40, Y:151.61, Z:33.54 [[ 5.98865586e-01 -8.00007480e-01 -3.67156779e-02 3.26395226e+02] [ 7.97793723e-01 5.99954381e-01 -5.98324038e-02 1.51607428e+02] [ 6.98941024e-02 6.54003021e-03 9.97532978e-01 3.35391556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29710568099995 meters 0.04657450962000774 Centerline is valid? [True, True] Translation: X:326.43, Y:151.66, Z:33.53 [[ 5.98019565e-01 -8.00543198e-01 -3.87709716e-02 3.26432747e+02] [ 7.98076255e-01 5.99236078e-01 -6.31697267e-02 1.51657288e+02] [ 7.38030600e-02 6.83454071e-03 9.97249416e-01 3.35338174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35710568099995 meters 0.04614198507833275 Centerline is valid? [True, True] Translation: X:326.47, Y:151.71, Z:33.53 [[ 5.93692101e-01 -8.03705536e-01 -3.98384209e-02 3.26466699e+02] [ 8.01108002e-01 5.94990439e-01 -6.49025900e-02 1.51708415e+02] [ 7.58660505e-02 6.61727728e-03 9.97096061e-01 3.35329162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41710568099995 meters 0.04287222595565789 Centerline is valid? [True, True] Translation: X:326.50, Y:151.76, Z:33.54 [[ 5.83689156e-01 -8.10977277e-01 -4.02842934e-02 3.26499860e+02] [ 8.08338244e-01 5.85049491e-01 -6.56229817e-02 1.51758915e+02] [ 7.67870524e-02 5.74008784e-03 9.97030992e-01 3.35382602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47710568099995 meters 0.03902516104587201 Centerline is valid? [True, True] Translation: X:326.54, Y:151.81, Z:33.54 [[ 5.71780028e-01 -8.19499505e-01 -3.85766815e-02 3.26535733e+02] [ 8.17098766e-01 5.73062938e-01 -6.28369030e-02 1.51807088e+02] [ 7.36016774e-02 4.40792730e-03 9.97277977e-01 3.35376213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53710568099996 meters 0.03257619032988998 Centerline is valid? [True, True] Translation: X:326.57, Y:151.85, Z:33.54 [[ 5.58942512e-01 -8.28399739e-01 -3.65669414e-02 3.26574557e+02] [ 8.26261172e-01 5.60128901e-01 -5.95658488e-02 1.51854028e+02] [ 6.98265343e-02 3.08004126e-03 9.97554394e-01 3.35407337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59710568099996 meters 0.032217512906742005 Centerline is valid? [True, True] Translation: X:326.61, Y:151.90, Z:33.55 [[ 5.54104131e-01 -8.31734886e-01 -3.44338622e-02 3.26606701e+02] [ 8.29845125e-01 5.55167362e-01 -5.60916050e-02 1.51903785e+02] [ 6.57699011e-02 2.50581732e-03 9.97831670e-01 3.35540840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65710568099996 meters 0.033837665360817934 Centerline is valid? [True, True] Translation: X:326.64, Y:151.95, Z:33.56 [[ 5.55789969e-01 -8.30735276e-01 -3.12476029e-02 3.26639352e+02] [ 8.29177884e-01 5.56662589e-01 -5.08998876e-02 1.51953620e+02] [ 5.96787037e-02 2.37982567e-03 9.98214801e-01 3.35564875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71710568099996 meters 0.030274831619349445 Centerline is valid? [True, True] Translation: X:326.68, Y:152.00, Z:33.55 [[ 5.56346191e-01 -8.30395929e-01 -3.03565155e-02 3.26682497e+02] [ 8.28924428e-01 5.57168769e-01 -4.94697447e-02 1.52001001e+02] [ 5.79931769e-02 2.35904677e-03 9.98314192e-01 3.35493733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77710568099997 meters 0.029373642100808842 Centerline is valid? [True, True] Translation: X:326.72, Y:152.05, Z:33.55 [[ 5.52845243e-01 -8.32740318e-01 -3.00948403e-02 3.26718849e+02] [ 8.31300138e-01 5.53659891e-01 -4.89980152e-02 1.52050885e+02] [ 5.74649288e-02 2.07047478e-03 9.98345379e-01 3.35544155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.83710568099997 meters 0.028889632046961503 Centerline is valid? [True, True] Translation: X:326.75, Y:152.10, Z:33.56 [[ 5.51421480e-01 -8.33688055e-01 -2.99763028e-02 3.26752746e+02] [ 8.32260911e-01 5.52232181e-01 -4.87995287e-02 1.52102511e+02] [ 5.72374633e-02 1.96100323e-03 9.98358667e-01 3.35587100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.89710568099997 meters 0.029322238348347546 Centerline is valid? [True, True] Translation: X:326.79, Y:152.15, Z:33.55 [[ 5.52595574e-01 -8.32886277e-01 -3.06362753e-02 3.26788418e+02] [ 8.31395010e-01 5.53440252e-01 -4.98620605e-02 1.52153252e+02] [ 5.84847738e-02 2.08270757e-03 9.98286128e-01 3.35543638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.957105681 meters 0.030430895438229473 Centerline is valid? [True, True] Translation: X:326.82, Y:152.20, Z:33.56 [[ 5.53232900e-01 -8.32519826e-01 -2.90533623e-02 3.26818420e+02] [ 8.31178937e-01 5.53991624e-01 -4.72742673e-02 1.52202561e+02] [ 5.54520841e-02 2.00513718e-03 9.98459336e-01 3.35611958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.017105681 meters 0.030746071244057645 Centerline is valid? [True, True] Translation: X:326.85, Y:152.25, Z:33.57 [[ 5.54989066e-01 -8.31405582e-01 -2.74207148e-02 3.26850881e+02] [ 8.30209317e-01 5.55662437e-01 -4.46289766e-02 1.52252508e+02] [ 5.23414415e-02 2.00366118e-03 9.98627237e-01 3.35671476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.077105681 meters 0.03072163349148681 Centerline is valid? [True, True] Translation: X:326.88, Y:152.30, Z:33.57 [[ 5.53884279e-01 -8.32160733e-01 -2.68462142e-02 3.26884805e+02] [ 8.31015979e-01 5.54531312e-01 -4.36745571e-02 1.52299266e+02] [ 5.12313178e-02 1.88101759e-03 9.98685042e-01 3.35679322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.137105681 meters 0.028511583610549812 Centerline is valid? [True, True] Translation: X:326.92, Y:152.35, Z:33.57 [[ 5.51922540e-01 -8.33504358e-01 -2.55342048e-02 3.26924026e+02] [ 8.32467463e-01 5.52510261e-01 -4.15972987e-02 1.52347778e+02] [ 4.87794399e-02 1.70209209e-03 9.98808124e-01 3.35710967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.197105681 meters 0.02815602730736563 Centerline is valid? [True, True] Translation: X:326.96, Y:152.40, Z:33.57 [[ 5.56076359e-01 -8.30692702e-01 -2.69947955e-02 3.26956511e+02] [ 8.29530049e-01 5.56727376e-01 -4.39832563e-02 1.52401534e+02] [ 5.15653117e-02 2.06505494e-03 9.98667489e-01 3.35698832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.257105681 meters 0.030330739865787014 Centerline is valid? [True, True] Translation: X:326.98, Y:152.46, Z:33.57 [[ 5.60814291e-01 -8.27461773e-01 -2.81841466e-02 3.26982543e+02] [ 8.26192942e-01 5.61516752e-01 -4.58711154e-02 1.52457797e+02] [ 5.37824649e-02 2.43963403e-03 9.98549696e-01 3.35705690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.317105681 meters 0.028507485416190515 Centerline is valid? [True, True] Translation: X:327.02, Y:152.51, Z:33.57 [[ 5.58030859e-01 -8.29323469e-01 -2.87078953e-02 3.27018202e+02] [ 8.28009682e-01 5.58764075e-01 -4.67191051e-02 1.52508256e+02] [ 5.47861909e-02 2.30028706e-03 9.98495459e-01 3.35709000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.377105681 meters 0.026507479654689053 Centerline is valid? [True, True] Translation: X:327.05, Y:152.56, Z:33.57 [[ 5.48033481e-01 -8.35905536e-01 -3.03518991e-02 3.27054776e+02] [ 8.34447089e-01 5.48870577e-01 -4.93876980e-02 1.52555732e+02] [ 5.79427145e-02 1.73905819e-03 9.98318395e-01 3.35736669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43710568099993 meters 0.023475184833890755 Centerline is valid? [True, True] Translation: X:327.10, Y:152.60, Z:33.57 [[ 5.35907209e-01 -8.43657726e-01 -3.23280591e-02 3.27096911e+02] [ 8.42017077e-01 5.36880532e-01 -5.25978689e-02 1.52599233e+02] [ 6.17309041e-02 9.66799318e-04 9.98092361e-01 3.35740467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49710568099994 meters 0.02242932972385268 Centerline is valid? [True, True] Translation: X:327.13, Y:152.64, Z:33.58 [[ 5.28958133e-01 -8.48088249e-01 -3.08158389e-02 3.27134586e+02] [ 8.46605662e-01 5.29854830e-01 -5.01269594e-02 1.52643616e+02] [ 5.88400063e-02 4.26199158e-04 9.98267335e-01 3.35832250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55710568099994 meters 0.022452205192054313 Centerline is valid? [True, True] Translation: X:327.17, Y:152.69, Z:33.59 [[ 5.27637713e-01 -8.48945995e-01 -2.98184810e-02 3.27170113e+02] [ 8.47556158e-01 5.28479495e-01 -4.85590603e-02 1.52693075e+02] [ 5.69824755e-02 3.48754284e-04 9.98375118e-01 3.35875989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61710568099994 meters 0.02279522374764928 Centerline is valid? [True, True] Translation: X:327.21, Y:152.74, Z:33.60 [[ 5.21559788e-01 -8.52677704e-01 -3.02674947e-02 3.27206217e+02] [ 8.51252396e-01 5.22437297e-01 -4.92811261e-02 1.52737890e+02] [ 5.78337856e-02 -6.22236820e-05 9.98326224e-01 3.35954769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67710568099994 meters 0.024322168458646418 Centerline is valid? [True, True] Translation: X:327.25, Y:152.78, Z:33.60 [[ 5.08133462e-01 -8.60666141e-01 -3.24681052e-02 3.27246101e+02] [ 8.59041042e-01 5.09168680e-01 -5.28747964e-02 1.52781461e+02] [ 6.20392892e-02 -1.02398160e-03 9.98073183e-01 3.35973966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73710568099995 meters 0.029092084357314085 Centerline is valid? [True, True] Translation: X:327.29, Y:152.82, Z:33.59 [[ 4.96005834e-01 -8.67586441e-01 -3.56648395e-02 3.27290560e+02] [ 8.65638533e-01 4.97282241e-01 -5.81403646e-02 1.52823370e+02] [ 6.81772833e-02 -2.03489929e-03 9.97671147e-01 3.35923857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79710568099995 meters 0.030283835182422954 Centerline is valid? [True, True] Translation: X:327.32, Y:152.87, Z:33.59 [[ 4.93456330e-01 -8.68905847e-01 -3.87747269e-02 3.27323159e+02] [ 8.66606061e-01 4.94971561e-01 -6.32225419e-02 1.52871473e+02] [ 7.41268234e-02 -2.40484978e-03 9.97245923e-01 3.35926566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85710568099995 meters 0.025424155612600204 Centerline is valid? [True, True] Translation: X:327.34, Y:152.93, Z:33.61 [[ 5.00969686e-01 -8.64551287e-01 -3.97548184e-02 3.27339655e+02] [ 8.62118510e-01 5.02541402e-01 -6.48368281e-02 1.52931056e+02] [ 7.60332054e-02 -1.79207945e-03 9.97103676e-01 3.36051002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91710568099995 meters 0.02305431750867234 Centerline is valid? [True, True] Translation: X:327.36, Y:152.99, Z:33.61 [[ 5.10413396e-01 -8.58948977e-01 -4.10465521e-02 3.27363099e+02] [ 8.56336404e-01 5.12060249e-01 -6.69497188e-02 1.52986720e+02] [ 7.85247002e-02 -9.77623499e-04 9.96911689e-01 3.36074452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97710568099995 meters 0.022156885768338307 Centerline is valid? [True, True] Translation: X:327.39, Y:153.04, Z:33.61 [[ 5.16640527e-01 -8.55185876e-01 -4.17095209e-02 3.27390329e+02] [ 8.52475500e-01 5.18321283e-01 -6.80335956e-02 1.53039187e+02] [ 7.98003024e-02 -4.07432042e-04 9.96810787e-01 3.36115663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03710568099996 meters 0.021956653883954957 Centerline is valid? [True, True] Translation: X:327.42, Y:153.09, Z:33.61 [[ 5.19086584e-01 -8.53564341e-01 -4.44638458e-02 3.27418517e+02] [ 8.50473399e-01 5.20987423e-01 -7.25748079e-02 1.53090056e+02] [ 8.51123726e-02 -1.42708895e-04 9.96371348e-01 3.36138712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09710568099996 meters 0.02189767201324996 Centerline is valid? [True, True] Translation: X:327.45, Y:153.14, Z:33.62 [[ 5.19343255e-01 -8.53327292e-01 -4.59903905e-02 3.27449092e+02] [ 8.50016807e-01 5.21375607e-01 -7.50926429e-02 1.53138671e+02] [ 8.80568694e-02 -9.37472416e-05 9.96115445e-01 3.36154523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15710568099996 meters 0.022326322106352395 Centerline is valid? [True, True] Translation: X:327.48, Y:153.19, Z:33.62 [[ 5.16327350e-01 -8.55096313e-01 -4.70782565e-02 3.27480554e+02] [ 8.51628967e-01 5.18469050e-01 -7.69281908e-02 1.53186861e+02] [ 9.01896312e-02 -3.73078055e-04 9.95924541e-01 3.36199410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21710568099996 meters 0.023788210953717262 Centerline is valid? [True, True] Translation: X:327.52, Y:153.23, Z:33.63 [[ 5.06086641e-01 -8.61174544e-01 -4.74838553e-02 3.27519477e+02] [ 8.57667876e-01 5.08307354e-01 -7.76495195e-02 1.53232618e+02] [ 9.10061823e-02 -1.42799284e-03 9.95849304e-01 3.36267794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27710568099997 meters 0.027438544534854753 Centerline is valid? [True, True] Translation: X:327.57, Y:153.28, Z:33.62 [[ 4.94538456e-01 -8.67813401e-01 -4.82868127e-02 3.27565188e+02] [ 8.64216972e-01 4.96883022e-01 -7.89701762e-02 1.53275745e+02] [ 9.25242746e-02 -2.67649402e-03 9.95706832e-01 3.36242732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.33710568099997 meters 0.030524713971300795 Centerline is valid? [True, True] Translation: X:327.60, Y:153.32, Z:33.63 [[ 4.89467617e-01 -8.70565818e-01 -5.03647615e-02 3.27602758e+02] [ 8.66666462e-01 4.92040712e-01 -8.23722177e-02 1.53322485e+02] [ 9.64919502e-02 -3.33091655e-03 9.95328191e-01 3.36252785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.39710568099997 meters 0.029905391554868495 Centerline is valid? [True, True] Translation: X:327.63, Y:153.37, Z:33.63 [[ 4.90300808e-01 -8.70018373e-01 -5.17024922e-02 3.27631591e+02] [ 8.65904407e-01 4.93008231e-01 -8.45721059e-02 1.53372973e+02] [ 9.90690403e-02 -3.30364397e-03 9.95075078e-01 3.36300592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.457105681 meters 0.028818197064342747 Centerline is valid? [True, True] Translation: X:327.66, Y:153.42, Z:33.63 [[ 4.92317010e-01 -8.68802877e-01 -5.29671824e-02 3.27660944e+02] [ 8.64471736e-01 4.95148380e-01 -8.66989051e-02 1.53424299e+02] [ 1.01550873e-01 -3.10528639e-03 9.94825501e-01 3.36317027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.517105681 meters 0.028552805846988386 Centerline is valid? [True, True] Translation: X:327.69, Y:153.47, Z:33.63 [[ 4.93717529e-01 -8.67799021e-01 -5.62837523e-02 3.27693542e+02] [ 8.62893434e-01 4.96905984e-01 -9.21920015e-02 1.53474038e+02] [ 1.07971862e-01 -3.05007308e-03 9.94149272e-01 3.36275531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.577105681 meters 0.02698430652964777 Centerline is valid? [True, True] Translation: X:327.72, Y:153.53, Z:33.64 [[ 4.98927903e-01 -8.64770406e-01 -5.69481522e-02 3.27718684e+02] [ 8.59722013e-01 5.02161751e-01 -9.33361443e-02 1.53527547e+02] [ 1.09311519e-01 -2.39157331e-03 9.94004664e-01 3.36353309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.637105681 meters 0.02454374044571078 Centerline is valid? [True, True] Translation: X:327.73, Y:153.59, Z:33.64 [[ 5.12949924e-01 -8.56482773e-01 -5.76162737e-02 3.27732279e+02] [ 8.51258497e-01 5.16175267e-01 -9.44566830e-02 1.53588481e+02] [ 1.10640617e-01 -5.94794205e-04 9.93860302e-01 3.36418399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.697105681 meters 0.024584066784887806 Centerline is valid? [True, True] Translation: X:327.75, Y:153.64, Z:33.65 [[ 5.21996549e-01 -8.51159140e-01 -5.52061760e-02 3.27753882e+02] [ 8.46332712e-01 5.24907460e-01 -9.05157383e-02 1.53642329e+02] [ 1.06021432e-01 5.26110297e-04 9.94363706e-01 3.36515033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.757105681 meters 0.024675387825783896 Centerline is valid? [True, True] Translation: X:327.78, Y:153.69, Z:33.66 [[ 5.23812317e-01 -8.50122598e-01 -5.39650385e-02 3.27783700e+02] [ 8.45503185e-01 5.26584306e-01 -8.85061115e-02 1.53692154e+02] [ 1.03658188e-01 7.32979339e-04 9.94612710e-01 3.36600971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.817105681 meters 0.02549609799727522 Centerline is valid? [True, True] Translation: X:327.81, Y:153.74, Z:33.66 [[ 5.28585701e-01 -8.47185121e-01 -5.36146225e-02 3.27811377e+02] [ 8.42604506e-01 5.31296143e-01 -8.79889402e-02 1.53743645e+02] [ 1.03028163e-01 1.33377310e-03 9.94677545e-01 3.36620424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.877105681 meters 0.027227922658721402 Centerline is valid? [True, True] Translation: X:327.83, Y:153.80, Z:33.67 [[ 5.35351131e-01 -8.42949723e-01 -5.32440671e-02 3.27834435e+02] [ 8.38405945e-01 5.37987982e-01 -8.74322742e-02 1.53797381e+02] [ 1.02345680e-01 2.16682444e-03 9.94746534e-01 3.36653149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93710568099993 meters 0.02904608280547447 Centerline is valid? [True, True] Translation: X:327.86, Y:153.85, Z:33.67 [[ 5.39132283e-01 -8.40378379e-01 -5.56826797e-02 3.27858199e+02] [ 8.35391983e-01 5.41992990e-01 -9.14539951e-02 1.53852125e+02] [ 1.07035582e-01 2.78893700e-03 9.94251279e-01 3.36694947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99710568099994 meters 0.028650731553612235 Centerline is valid? [True, True] Translation: X:327.89, Y:153.90, Z:33.66 [[ 5.37318970e-01 -8.41315624e-01 -5.89605492e-02 3.27890300e+02] [ 8.35727861e-01 5.40537141e-01 -9.68428710e-02 1.53902866e+02] [ 1.13345787e-01 2.76053804e-03 9.93551766e-01 3.36614357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05710568099994 meters 0.024923348267443156 Centerline is valid? [True, True] Translation: X:327.93, Y:153.95, Z:33.67 [[ 5.26758904e-01 -8.48070142e-01 -5.74638260e-02 3.27931182e+02] [ 8.42801449e-01 5.29882405e-01 -9.43946735e-02 1.53947951e+02] [ 1.10502374e-01 1.29263890e-03 9.93875019e-01 3.36724676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11710568099994 meters 0.023887124190060702 Centerline is valid? [True, True] Translation: X:327.97, Y:153.99, Z:33.68 [[ 5.17199515e-01 -8.54002673e-01 -5.64277929e-02 3.27966731e+02] [ 8.48956797e-01 5.20268616e-01 -9.26980258e-02 1.53993760e+02] [ 1.08521972e-01 3.86157156e-05 9.94094050e-01 3.36760065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17710568099994 meters 0.02385601875399153 Centerline is valid? [True, True] Translation: X:328.00, Y:154.04, Z:33.69 [[ 5.09381610e-01 -8.58870516e-01 -5.35892936e-02 3.27998244e+02] [ 8.54344766e-01 5.12191933e-01 -8.80593286e-02 1.54042456e+02] [ 1.03079565e-01 -9.27929941e-04 9.94672681e-01 3.36870185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23710568099995 meters 0.025822017998065917 Centerline is valid? [True, True] Translation: X:328.04, Y:154.09, Z:33.69 [[ 5.00317957e-01 -8.64235949e-01 -5.27083206e-02 3.28035658e+02] [ 8.59882271e-01 5.03082860e-01 -8.66609285e-02 1.54087916e+02] [ 1.01412142e-01 -1.96493174e-03 9.94842559e-01 3.36935951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29710568099995 meters 0.02432170821281403 Centerline is valid? [True, True] Translation: X:328.06, Y:154.14, Z:33.70 [[ 5.04982099e-01 -8.61536039e-01 -5.24283631e-02 3.28063825e+02] [ 8.57212756e-01 5.07694470e-01 -8.62126220e-02 1.54139426e+02] [ 1.00892871e-01 -1.40643079e-03 9.94896301e-01 3.36972206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35710568099995 meters 0.02253647434857598 Centerline is valid? [True, True] Translation: X:328.09, Y:154.19, Z:33.70 [[ 5.13845249e-01 -8.56296710e-01 -5.21440726e-02 3.28086719e+02] [ 8.51991359e-01 5.16484090e-01 -8.57607636e-02 1.54192900e+02] [ 1.00368244e-01 -3.58538390e-04 9.94950294e-01 3.37032393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41710568099995 meters 0.02253670645870406 Centerline is valid? [True, True] Translation: X:328.12, Y:154.25, Z:33.70 [[ 5.20670055e-01 -8.51932392e-01 -5.58022756e-02 3.28115827e+02] [ 8.46972530e-01 5.23651521e-01 -9.17966103e-02 1.54245817e+02] [ 1.07425452e-01 5.32751604e-04 9.94213000e-01 3.36995170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47710568099995 meters 0.023332836399776905 Centerline is valid? [True, True] Translation: X:328.15, Y:154.30, Z:33.70 [[ 5.26168268e-01 -8.48514982e-01 -5.62963545e-02 3.28146277e+02] [ 8.43445068e-01 5.29169871e-01 -9.26264745e-02 1.54296505e+02] [ 1.08385286e-01 1.25422907e-03 9.94108172e-01 3.37009654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53710568099996 meters 0.03061405205141962 Centerline is valid? [True, True] Translation: X:328.16, Y:154.35, Z:33.72 [[ 5.47935252e-01 -8.34876039e-01 -5.24305121e-02 3.28162812e+02] [ 8.30411142e-01 5.50425209e-01 -8.63100414e-02 1.54354874e+02] [ 1.00917261e-01 3.75343289e-03 9.94887741e-01 3.37193070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59710568099996 meters 0.038492730705119715 Centerline is valid? [True, True] Translation: X:328.18, Y:154.41, Z:33.73 [[ 5.61915148e-01 -8.25695083e-01 -4.97895323e-02 3.28180737e+02] [ 8.21632820e-01 5.64093181e-01 -8.19657981e-02 1.54412712e+02] [ 9.57646921e-02 5.14910973e-03 9.95390682e-01 3.37305353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65710568099996 meters 0.047385995553365375 Centerline is valid? [True, True] Translation: X:328.20, Y:154.47, Z:33.74 [[ 5.80162738e-01 -8.13159836e-01 -4.67148595e-02 3.28195132e+02] [ 8.09543377e-01 5.82000712e-01 -7.69070338e-02 1.54474016e+02] [ 8.97257924e-02 6.80089023e-03 9.95943287e-01 3.37394894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71710568099996 meters 0.04360112750720077 Centerline is valid? [True, True] Translation: X:328.23, Y:154.52, Z:33.74 [[ 5.73117266e-01 -8.18161912e-01 -4.63431372e-02 3.28229207e+02] [ 8.14618527e-01 5.74956852e-01 -7.62972641e-02 1.54523942e+02] [ 8.90688197e-02 5.97530119e-03 9.96007551e-01 3.37429509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77710568099997 meters 0.03633623505005446 Centerline is valid? [True, True] Translation: X:328.27, Y:154.57, Z:33.75 [[ 5.58662802e-01 -8.28020739e-01 -4.77234761e-02 3.28265760e+02] [ 8.24297103e-01 5.60678960e-01 -7.85709267e-02 1.54572305e+02] [ 9.18159057e-02 4.55633097e-03 9.95765574e-01 3.37452681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.83710568099997 meters 0.029526112312220434 Centerline is valid? [True, True] Translation: X:328.30, Y:154.62, Z:33.75 [[ 5.42965314e-01 -8.38383869e-01 -4.79703724e-02 3.28300928e+02] [ 8.34660020e-01 5.45072829e-01 -7.89826678e-02 1.54620182e+02] [ 9.23651412e-02 2.84589699e-03 9.95721136e-01 3.37490238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.89710568099997 meters 0.021946713769715027 Centerline is valid? [True, True] Translation: X:328.35, Y:154.66, Z:33.76 [[ 5.23853924e-01 -8.50434929e-01 -4.83476719e-02 3.28345518e+02] [ 8.46700903e-01 5.26079691e-01 -7.96099228e-02 1.54662324e+02] [ 9.31377874e-02 7.67953009e-04 9.95652933e-01 3.37558791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.957105681 meters 0.02134049253538062 Centerline is valid? [True, True] Translation: X:328.38, Y:154.71, Z:33.76 [[ 5.11498869e-01 -8.57891518e-01 -4.88983661e-02 3.28384527e+02] [ 8.54104122e-01 5.13830528e-01 -8.05253844e-02 1.54707573e+02] [ 9.42075176e-02 -5.75653015e-04 9.95552416e-01 3.37595501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.017105681 meters 0.021068525591371446 Centerline is valid? [True, True] Translation: X:328.41, Y:154.76, Z:33.78 [[ 5.12353111e-01 -8.57542722e-01 -4.59866219e-02 3.28411766e+02] [ 8.54188635e-01 5.14412548e-01 -7.57727255e-02 1.54758068e+02] [ 8.86344446e-02 -4.58858223e-04 9.96064117e-01 3.37750833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.077105681 meters 0.020798100973231346 Centerline is valid? [True, True] Translation: X:328.44, Y:154.81, Z:33.79 [[ 5.16038365e-01 -8.55447118e-01 -4.37565394e-02 3.28437214e+02] [ 8.52399932e-01 5.17890165e-01 -7.21396743e-02 1.54807760e+02] [ 8.43727579e-02 -7.12316174e-05 9.96434259e-01 3.37861088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.137105681 meters 0.020325298359042416 Centerline is valid? [True, True] Translation: X:328.47, Y:154.86, Z:33.79 [[ 5.18308288e-01 -8.54036562e-01 -4.44754986e-02 3.28467179e+02] [ 8.50881282e-01 5.20212958e-01 -7.33452199e-02 1.54857717e+02] [ 8.57762301e-02 1.72066115e-04 9.96314413e-01 3.37850172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.197105681 meters 0.02017072537264934 Centerline is valid? [True, True] Translation: X:328.49, Y:154.91, Z:33.79 [[ 5.19771806e-01 -8.53109420e-01 -4.51839256e-02 3.28494228e+02] [ 8.49844052e-01 5.21731912e-01 -7.45714443e-02 1.54906857e+02] [ 8.71914974e-02 3.60843881e-04 9.96191504e-01 3.37926839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.257105681 meters 0.020612790902918232 Centerline is valid? [True, True] Translation: X:328.52, Y:154.96, Z:33.80 [[ 5.25153030e-01 -8.49808146e-01 -4.51708942e-02 3.28522983e+02] [ 8.46530287e-01 5.27091321e-01 -7.45735395e-02 1.54958231e+02] [ 8.71823876e-02 9.23990213e-04 9.96191938e-01 3.37968872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.317105681 meters 0.02191402806514658 Centerline is valid? [True, True] Translation: X:328.55, Y:155.01, Z:33.80 [[ 5.30338683e-01 -8.46517514e-01 -4.63570906e-02 3.28550695e+02] [ 8.43047624e-01 5.32358663e-01 -7.65830131e-02 1.55009110e+02] [ 8.95074606e-02 1.53369928e-03 9.95984971e-01 3.37999446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.377105681 meters 0.021690535572885465 Centerline is valid? [True, True] Translation: X:328.58, Y:155.06, Z:33.80 [[ 5.31371278e-01 -8.45738668e-01 -4.86895288e-02 3.28584107e+02] [ 8.41904961e-01 5.33594424e-01 -8.04551280e-02 1.55058302e+02] [ 9.40244739e-02 1.75958836e-03 9.95568331e-01 3.37993853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43710568099993 meters 0.02196847532527793 Centerline is valid? [True, True] Translation: X:328.62, Y:155.11, Z:33.81 [[ 5.33469620e-01 -8.44456376e-01 -4.79957787e-02 3.28615535e+02] [ 8.40725246e-01 5.35620739e-01 -7.93188819e-02 1.55110976e+02] [ 9.26888700e-02 1.96295094e-03 9.95693186e-01 3.38065674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49710568099994 meters 0.021297241688111184 Centerline is valid? [True, True] Translation: X:328.65, Y:155.16, Z:33.82 [[ 5.29913483e-01 -8.46807738e-01 -4.59168241e-02 3.28650967e+02] [ 8.43403150e-01 5.31897044e-01 -7.58726606e-02 1.55161370e+02] [ 8.86725791e-02 1.47955177e-03 9.96059729e-01 3.38164622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55710568099994 meters 0.020954319773729215 Centerline is valid? [True, True] Translation: X:328.68, Y:155.21, Z:33.82 [[ 5.26758344e-01 -8.48741420e-01 -4.65150361e-02 3.28684103e+02] [ 8.45256152e-01 5.28806818e-01 -7.68465151e-02 1.55209133e+02] [ 8.98202886e-02 1.16242265e-03 9.95957311e-01 3.38193198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61710568099994 meters 0.02059547291085464 Centerline is valid? [True, True] Translation: X:328.72, Y:155.26, Z:33.82 [[ 5.25382890e-01 -8.49516393e-01 -4.79031939e-02 3.28718747e+02] [ 8.45820016e-01 5.27561123e-01 -7.91692023e-02 1.55256119e+02] [ 9.25273980e-02 1.07666414e-03 9.95709557e-01 3.38212075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67710568099994 meters 0.02067510690887486 Centerline is valid? [True, True] Translation: X:328.75, Y:155.30, Z:33.83 [[ 5.24933836e-01 -8.49768811e-01 -4.83470293e-02 3.28748005e+02] [ 8.45999067e-01 5.27154453e-01 -7.99610028e-02 1.55304977e+02] [ 9.34347181e-02 1.07269428e-03 9.95624830e-01 3.38262895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73710568099995 meters 0.020412689194190817 Centerline is valid? [True, True] Translation: X:328.78, Y:155.35, Z:33.83 [[ 5.25035504e-01 -8.49618111e-01 -4.98676704e-02 3.28781840e+02] [ 8.45602092e-01 5.27397124e-01 -8.25189414e-02 1.55352787e+02] [ 9.64096531e-02 1.15716758e-03 9.95341067e-01 3.38283084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79710568099995 meters 0.021245316976609346 Centerline is valid? [True, True] Translation: X:328.81, Y:155.41, Z:33.83 [[ 5.28930876e-01 -8.47010352e-01 -5.29678459e-02 3.28809643e+02] [ 8.42459548e-01 5.31573466e-01 -8.77015444e-02 1.55407771e+02] [ 1.02440417e-01 1.76478718e-03 9.94737577e-01 3.38291913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85710568099995 meters 0.02203993951938294 Centerline is valid? [True, True] Translation: X:328.84, Y:155.46, Z:33.84 [[ 5.31583727e-01 -8.45512627e-01 -5.02706588e-02 3.28835256e+02] [ 8.41408042e-01 5.33951874e-01 -8.32340232e-02 1.55459162e+02] [ 9.72175301e-02 1.94771567e-03 9.95261251e-01 3.38376138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91710568099995 meters 0.020762779004978332 Centerline is valid? [True, True] Translation: X:328.87, Y:155.51, Z:33.85 [[ 5.25844243e-01 -8.49196047e-01 -4.85170691e-02 3.28868650e+02] [ 8.45383663e-01 5.28076225e-01 -8.03863391e-02 1.55507484e+02] [ 9.38844721e-02 1.25515613e-03 9.95582307e-01 3.38488013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97710568099995 meters 0.020564291719514547 Centerline is valid? [True, True] Translation: X:328.90, Y:155.56, Z:33.85 [[ 5.22959260e-01 -8.50966312e-01 -4.86821161e-02 3.28902336e+02] [ 8.47134562e-01 5.25219421e-01 -8.06696610e-02 1.55555534e+02] [ 9.42159568e-02 9.46643112e-04 9.95551333e-01 3.38513254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03710568099996 meters 0.020323082626836207 Centerline is valid? [True, True] Translation: X:328.93, Y:155.60, Z:33.85 [[ 5.20098277e-01 -8.52608519e-01 -5.05617921e-02 3.28934936e+02] [ 8.48476635e-01 5.22549726e-01 -8.38402261e-02 1.55603805e+02] [ 9.79039417e-02 7.04657925e-04 9.95195620e-01 3.38546093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09710568099996 meters 0.02031674395403979 Centerline is valid? [True, True] Translation: X:328.97, Y:155.65, Z:33.85 [[ 5.18095736e-01 -8.53665645e-01 -5.32144244e-02 3.28969019e+02] [ 8.49086404e-01 5.20821126e-01 -8.83042056e-02 1.55652164e+02] [ 1.03097463e-01 5.66388055e-04 9.94671098e-01 3.38544508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15710568099996 meters 0.021561684285101208 Centerline is valid? [True, True] Translation: X:329.00, Y:155.70, Z:33.85 [[ 5.22673178e-01 -8.50704242e-01 -5.58125533e-02 3.28999727e+02] [ 8.45642823e-01 5.25643187e-01 -9.26685288e-02 1.55703440e+02] [ 1.08170999e-01 1.23786937e-03 9.94131532e-01 3.38524031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21710568099996 meters 0.02337330521997974 Centerline is valid? [True, True] Translation: X:329.03, Y:155.76, Z:33.86 [[ 5.30316780e-01 -8.45969167e-01 -5.56801629e-02 3.29026979e+02] [ 8.40904073e-01 5.33227226e-01 -9.24611562e-02 1.55755320e+02] [ 1.07909466e-01 2.21202688e-03 9.94158264e-01 3.38609193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27710568099997 meters 0.0257410330327862 Centerline is valid? [True, True] Translation: X:329.05, Y:155.81, Z:33.86 [[ 5.36235378e-01 -8.42232320e-01 -5.56447513e-02 3.29052469e+02] [ 8.37152061e-01 5.39106557e-01 -9.24150788e-02 1.55808672e+02] [ 1.07833416e-01 2.97311650e-03 9.94164531e-01 3.38645933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.33710568099997 meters 0.02404517956586456 Centerline is valid? [True, True] Translation: X:329.09, Y:155.86, Z:33.87 [[ 5.30659255e-01 -8.45777278e-01 -5.53312806e-02 3.29086307e+02] [ 8.40771980e-01 5.33531380e-01 -9.19061714e-02 1.55857306e+02] [ 1.07253126e-01 2.24987004e-03 9.94229201e-01 3.38714490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.39710568099997 meters 0.0216984150344418 Centerline is valid? [True, True] Translation: X:329.12, Y:155.90, Z:33.87 [[ 5.18138310e-01 -8.53437463e-01 -5.63665513e-02 3.29124464e+02] [ 8.48285617e-01 5.21194786e-01 -9.36349672e-02 1.55902914e+02] [ 1.09289542e-01 7.00928963e-04 9.94009711e-01 3.38699684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.457105681 meters 0.021497441864666254 Centerline is valid? [True, True] Translation: X:329.15, Y:155.95, Z:33.88 [[ 5.13400752e-01 -8.56239191e-01 -5.72198888e-02 3.29151447e+02] [ 8.50944422e-01 5.16579552e-01 -9.50744817e-02 1.55954027e+02] [ 1.10965122e-01 1.20365145e-04 9.93824294e-01 3.38780886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.517105681 meters 0.021955534431756397 Centerline is valid? [True, True] Translation: X:329.18, Y:156.00, Z:33.88 [[ 5.08020672e-01 -8.59448276e-01 -5.71284301e-02 3.29179714e+02] [ 8.54183677e-01 5.11222422e-01 -9.49835889e-02 1.56004065e+02] [ 1.10838816e-01 -5.44545798e-04 9.93838247e-01 3.38842334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.577105681 meters 0.02352504135679284 Centerline is valid? [True, True] Translation: X:329.22, Y:156.05, Z:33.89 [[ 4.99956928e-01 -8.64275097e-01 -5.54222568e-02 3.29215279e+02] [ 8.59343520e-01 5.03017124e-01 -9.22089353e-02 1.56050710e+02] [ 1.07572231e-01 -1.52626116e-03 9.94196100e-01 3.38863534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.637105681 meters 0.025293850471258515 Centerline is valid? [True, True] Translation: X:329.25, Y:156.10, Z:33.89 [[ 4.94836494e-01 -8.67252143e-01 -5.48686012e-02 3.29246895e+02] [ 8.62431633e-01 4.97864651e-01 -9.13371161e-02 1.56099343e+02] [ 1.06529447e-01 -2.12347894e-03 9.94307280e-01 3.38938995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.697105681 meters 0.02691651017137337 Centerline is valid? [True, True] Translation: X:329.28, Y:156.15, Z:33.90 [[ 4.91362986e-01 -8.69277104e-01 -5.40345509e-02 3.29279501e+02] [ 8.64611937e-01 4.94318743e-01 -8.99732130e-02 1.56147509e+02] [ 1.04921945e-01 -2.50941118e-03 9.94477294e-01 3.39024092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.757105681 meters 0.02453213795279359 Centerline is valid? [True, True] Translation: X:329.31, Y:156.20, Z:33.91 [[ 4.92945303e-01 -8.68480637e-01 -5.24052604e-02 3.29306375e+02] [ 8.64083491e-01 4.95718019e-01 -8.73118875e-02 1.56198801e+02] [ 1.01806916e-01 -2.24253556e-03 9.94801650e-01 3.39140106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.817105681 meters 0.024676535957879938 Centerline is valid? [True, True] Translation: X:329.34, Y:156.25, Z:33.92 [[ 4.93420318e-01 -8.68204237e-01 -5.25146845e-02 3.29337281e+02] [ 8.63781829e-01 4.96202295e-01 -8.75456133e-02 1.56247247e+02] [ 1.02065379e-01 -2.16444592e-03 9.94775338e-01 3.39189726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.877105681 meters 0.02314466878160506 Centerline is valid? [True, True] Translation: X:329.36, Y:156.30, Z:33.92 [[ 4.98372693e-01 -8.65329136e-01 -5.31991104e-02 3.29362796e+02] [ 8.60771842e-01 5.01201536e-01 -8.87065786e-02 1.56300686e+02] [ 1.03423863e-01 -1.58335973e-03 9.94636113e-01 3.39198328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93710568099993 meters 0.021653326907212334 Centerline is valid? [True, True] Translation: X:329.39, Y:156.35, Z:33.93 [[ 5.03378669e-01 -8.62497687e-01 -5.20351300e-02 3.29389109e+02] [ 8.58121338e-01 5.06060076e-01 -8.67811521e-02 1.56353069e+02] [ 1.01181445e-01 -9.68674513e-04 9.94867517e-01 3.39255282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99710568099994 meters 0.020910176660764564 Centerline is valid? [True, True] Translation: X:329.42, Y:156.40, Z:33.93 [[ 5.05939430e-01 -8.61027835e-01 -5.15398947e-02 3.29417521e+02] [ 8.56724980e-01 5.08557406e-01 -8.59748388e-02 1.56403340e+02] [ 1.00237724e-01 -6.57454291e-04 9.94963299e-01 3.39340545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05710568099994 meters 0.020406034838042805 Centerline is valid? [True, True] Translation: X:329.45, Y:156.45, Z:33.94 [[ 5.06739163e-01 -8.60587114e-01 -5.10415554e-02 3.29447177e+02] [ 8.56359768e-01 5.09302985e-01 -8.51963517e-02 1.56453790e+02] [ 9.93144990e-02 -5.37606605e-04 9.95055949e-01 3.39409096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11710568099994 meters 0.02012391131470146 Centerline is valid? [True, True] Translation: X:329.48, Y:156.50, Z:33.94 [[ 5.07056961e-01 -8.60456192e-01 -5.00837248e-02 3.29479797e+02] [ 8.56380548e-01 5.09524205e-01 -8.36507171e-02 1.56502447e+02] [ 9.74966476e-02 -4.75049242e-04 9.95235740e-01 3.39439170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17710568099994 meters 0.020717833539595856 Centerline is valid? [True, True] Translation: X:329.51, Y:156.55, Z:33.95 [[ 5.03156242e-01 -8.62752960e-01 -4.99111848e-02 3.29511253e+02] [ 8.58711635e-01 5.05624900e-01 -8.34133575e-02 1.56550703e+02] [ 9.72014589e-02 -8.89363585e-04 9.95264329e-01 3.39529328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23710568099995 meters 0.019682989973890615 Centerline is valid? [True, True] Translation: X:329.53, Y:156.61, Z:33.95 [[ 5.08829404e-01 -8.59366110e-01 -5.08185781e-02 3.29530895e+02] [ 8.55156795e-01 5.11360769e-01 -8.49530466e-02 1.56607477e+02] [ 9.89923964e-02 -2.31244378e-04 9.95088163e-01 3.39547663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29710568099995 meters 0.02022602658714896 Centerline is valid? [True, True] Translation: X:329.56, Y:156.65, Z:33.97 [[ 5.04319617e-01 -8.62191641e-01 -4.78257027e-02 3.29562768e+02] [ 8.58472599e-01 5.06581747e-01 -7.99983125e-02 1.56654415e+02] [ 9.32015043e-02 -7.12336959e-04 9.95647012e-01 3.39684434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35710568099995 meters 0.020360320505511318 Centerline is valid? [True, True] Translation: X:329.59, Y:156.70, Z:33.97 [[ 5.03487707e-01 -8.62692748e-01 -4.75536684e-02 3.29591456e+02] [ 8.59015706e-01 5.05727796e-01 -7.95701768e-02 1.56704579e+02] [ 9.26938264e-02 -7.86742216e-04 9.95694348e-01 3.39731129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41710568099995 meters 0.020068784171926098 Centerline is valid? [True, True] Translation: X:329.62, Y:156.75, Z:33.98 [[ 5.04574984e-01 -8.62085304e-01 -4.70426942e-02 3.29621590e+02] [ 8.58482703e-01 5.06762761e-01 -7.87334325e-02 1.56754279e+02] [ 9.17144206e-02 -6.58418837e-04 9.95785133e-01 3.39779193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47710568099995 meters 0.019313395494320713 Centerline is valid? [True, True] Translation: X:329.65, Y:156.81, Z:33.98 [[ 5.09672927e-01 -8.59087463e-01 -4.69280191e-02 3.29648268e+02] [ 8.55485175e-01 5.11828803e-01 -7.85900215e-02 1.56806219e+02] [ 9.15348140e-02 -9.10183557e-05 9.95801873e-01 3.39843502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53710568099996 meters 0.02054613935820358 Centerline is valid? [True, True] Translation: X:329.67, Y:156.86, Z:33.99 [[ 5.20162611e-01 -8.52781574e-01 -4.68449079e-02 3.29672171e+02] [ 8.49161431e-01 5.22266671e-01 -7.85008772e-02 1.56859796e+02] [ 9.14096357e-02 1.05433222e-03 9.95812817e-01 3.39890376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59710568099996 meters 0.02163125550760758 Centerline is valid? [True, True] Translation: X:329.70, Y:156.91, Z:33.99 [[ 5.23683855e-01 -8.50622693e-01 -4.68642126e-02 3.29699317e+02] [ 8.46986397e-01 5.25774577e-01 -7.85820413e-02 1.56910943e+02] [ 9.14836791e-02 1.45879568e-03 9.95805507e-01 3.39945655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65710568099996 meters 0.024535297041161783 Centerline is valid? [True, True] Translation: X:329.73, Y:156.96, Z:34.00 [[ 5.32431293e-01 -8.45186103e-01 -4.66622827e-02 3.29727153e+02] [ 8.41558457e-01 5.34466739e-01 -7.82602659e-02 1.56964320e+02] [ 9.10839272e-02 2.39917599e-03 9.95840330e-01 3.40009588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71710568099996 meters 0.026259098647691322 Centerline is valid? [True, True] Translation: X:329.75, Y:157.02, Z:34.01 [[ 5.37620415e-01 -8.41960560e-01 -4.54610250e-02 3.29753880e+02] [ 8.38506085e-01 5.39531434e-01 -7.62455112e-02 1.57016692e+02] [ 8.87233652e-02 2.87179732e-03 9.96052166e-01 3.40100744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77710568099997 meters 0.023939473242478367 Centerline is valid? [True, True] Translation: X:329.79, Y:157.07, Z:34.01 [[ 5.31158668e-01 -8.45964302e-01 -4.70624019e-02 3.29788693e+02] [ 8.42275629e-01 5.33234600e-01 -7.89469811e-02 1.57065835e+02] [ 9.18816287e-02 2.29385915e-03 9.95767294e-01 3.40101506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.83710568099997 meters 0.02024865804265459 Centerline is valid? [True, True] Translation: X:329.83, Y:157.11, Z:34.01 [[ 5.18463992e-01 -8.53777215e-01 -4.75347927e-02 3.29830248e+02] [ 8.50045550e-01 5.20637676e-01 -7.97431723e-02 1.57110412e+02] [ 9.28313075e-02 9.37224426e-04 9.95681410e-01 3.40132536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.89710568099997 meters 0.019463987873173966 Centerline is valid? [True, True] Translation: X:329.86, Y:157.16, Z:34.01 [[ 5.12582236e-01 -8.57206940e-01 -4.95551532e-02 3.29864315e+02] [ 8.53165256e-01 5.14971986e-01 -8.31438502e-02 1.57159138e+02] [ 9.67910010e-02 3.39325675e-04 9.95304670e-01 3.40128870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.957105681 meters 0.019533959884179466 Centerline is valid? [True, True] Translation: X:329.90, Y:157.21, Z:34.02 [[ 5.11590151e-01 -8.57679440e-01 -5.15896806e-02 3.29895209e+02] [ 8.53294749e-01 5.14184688e-01 -8.66151117e-02 1.57208704e+02] [ 1.00814624e-01 2.90234466e-04 9.94905185e-01 3.40169718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.017105681 meters 0.02088014423353952 Centerline is valid? [True, True] Translation: X:329.92, Y:157.26, Z:34.02 [[ 5.20400646e-01 -8.52323952e-01 -5.22211538e-02 3.29921515e+02] [ 8.47798210e-01 5.23012404e-01 -8.77281100e-02 1.57261198e+02] [ 1.02085081e-01 1.38076440e-03 9.94774713e-01 3.40176368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.077105681 meters 0.02468954054509385 Centerline is valid? [True, True] Translation: X:329.95, Y:157.32, Z:34.02 [[ 5.31883074e-01 -8.45172187e-01 -5.27671205e-02 3.29945462e+02] [ 8.40514078e-01 5.34486777e-01 -8.86564677e-02 1.57316820e+02] [ 1.03133309e-01 2.80336693e-03 9.94663592e-01 3.40239704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.137105681 meters 0.031885230598622714 Centerline is valid? [True, True] Translation: X:329.97, Y:157.37, Z:34.03 [[ 5.47616306e-01 -8.35120959e-01 -5.18591016e-02 3.29966012e+02] [ 8.30575890e-01 5.50046751e-01 -8.71335857e-02 1.57374978e+02] [ 1.01292014e-01 4.64285283e-03 9.94845904e-01 3.40301571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.197105681 meters 0.03903030154988132 Centerline is valid? [True, True] Translation: X:329.99, Y:157.43, Z:34.04 [[ 5.62132438e-01 -8.25596752e-01 -4.89604397e-02 3.29989368e+02] [ 8.21510122e-01 5.64228447e-01 -8.22640835e-02 1.57431060e+02] [ 9.55418330e-02 6.02181309e-03 9.95407201e-01 3.40398341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.257105681 meters 0.04091094283281281 Centerline is valid? [True, True] Translation: X:330.02, Y:157.48, Z:34.05 [[ 5.72024955e-01 -8.18800367e-01 -4.85119669e-02 3.30019885e+02] [ 8.14763951e-01 5.74034438e-01 -8.15117642e-02 1.57483656e+02] [ 9.45894021e-02 7.10096140e-03 9.95491045e-01 3.40472398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.317105681 meters 0.04459196625425483 Centerline is valid? [True, True] Translation: X:330.05, Y:157.54, Z:34.05 [[ 5.76653995e-01 -8.15528281e-01 -4.88240957e-02 3.30047184e+02] [ 8.11428560e-01 5.78666174e-01 -8.20314110e-02 1.57537784e+02] [ 9.51517883e-02 7.68647524e-03 9.95433099e-01 3.40534807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.377105681 meters 0.04922012549011395 Centerline is valid? [True, True] Translation: X:330.07, Y:157.59, Z:34.06 [[ 5.78065618e-01 -8.14466156e-01 -4.98499955e-02 3.30071872e+02] [ 8.10188290e-01 5.80155544e-01 -8.37524901e-02 1.57593253e+02] [ 9.71343199e-02 8.02655235e-03 9.95238915e-01 3.40567841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43710568099993 meters 0.0464011284439033 Centerline is valid? [True, True] Translation: X:330.11, Y:157.64, Z:34.06 [[ 5.77307147e-01 -8.14964513e-01 -5.04906089e-02 3.30110139e+02] [ 8.10578048e-01 5.79455052e-01 -8.48237706e-02 1.57642437e+02] [ 9.83854012e-02 8.04278983e-03 9.95115886e-01 3.40606088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49710568099994 meters 0.045138148359200825 Centerline is valid? [True, True] Translation: X:330.14, Y:157.70, Z:34.07 [[ 5.81268729e-01 -8.12145699e-01 -5.04581784e-02 3.30139399e+02] [ 8.07755939e-01 5.83392653e-01 -8.47546731e-02 1.57695829e+02] [ 9.82700738e-02 8.50734783e-03 9.95123418e-01 3.40677624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55710568099994 meters 0.04946452560736092 Centerline is valid? [True, True] Translation: X:330.15, Y:157.76, Z:34.07 [[ 5.87476961e-01 -8.07835072e-01 -4.76793108e-02 3.30154886e+02] [ 8.03903308e-01 5.89344149e-01 -8.00808629e-02 1.57757361e+02] [ 9.27916525e-02 8.71610629e-03 9.95647397e-01 3.40749177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61710568099994 meters 0.044228397787896986 Centerline is valid? [True, True] Translation: X:330.19, Y:157.81, Z:34.09 [[ 5.72279844e-01 -8.18775557e-01 -4.58515806e-02 3.30186133e+02] [ 8.15173535e-01 5.74074720e-01 -7.70085918e-02 1.57807192e+02] [ 8.93749860e-02 6.69346988e-03 9.95975557e-01 3.40901986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67710568099994 meters 0.033884740368919065 Centerline is valid? [True, True] Translation: X:330.23, Y:157.85, Z:34.09 [[ 5.56543314e-01 -8.29485699e-01 -4.70426853e-02 3.30230182e+02] [ 8.25730320e-01 5.58504424e-01 -7.90078912e-02 1.57851324e+02] [ 9.18094637e-02 5.12674201e-03 9.95763395e-01 3.40930565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73710568099995 meters 0.0338296337078602 Centerline is valid? [True, True] Translation: X:330.26, Y:157.90, Z:34.09 [[ 5.49728270e-01 -8.34000873e-01 -4.73431452e-02 3.30258122e+02] [ 8.30213853e-01 5.51745549e-01 -7.95098023e-02 1.57904712e+02] [ 9.24326141e-02 4.40385112e-03 9.95709204e-01 3.40943286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79710568099995 meters 0.03200196998149572 Centerline is valid? [True, True] Translation: X:330.29, Y:157.96, Z:34.10 [[ 5.45834485e-01 -8.36525325e-01 -4.78549466e-02 3.30290417e+02] [ 8.32665301e-01 5.47913505e-01 -8.03696904e-02 1.57955346e+02] [ 9.34516529e-02 4.02139506e-03 9.95615697e-01 3.41006243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85710568099995 meters 0.03416063843820215 Centerline is valid? [True, True] Translation: X:330.32, Y:158.01, Z:34.10 [[ 5.49629315e-01 -8.33987256e-01 -4.87121371e-02 3.30319191e+02] [ 8.29977087e-01 5.51765053e-01 -8.18129703e-02 1.58008034e+02] [ 9.51086296e-02 4.53684926e-03 9.95456561e-01 3.41048505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91710568099995 meters 0.037852210529592006 Centerline is valid? [True, True] Translation: X:330.35, Y:158.06, Z:34.11 [[ 5.58837708e-01 -8.27766320e-01 -5.00333547e-02 3.30345726e+02] [ 8.23509730e-01 5.61043448e-01 -8.40355549e-02 1.58062129e+02] [ 9.76326878e-02 5.75928249e-03 9.95205853e-01 3.41085484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97710568099995 meters 0.048090734062030384 Centerline is valid? [True, True] Translation: X:330.36, Y:158.12, Z:34.11 [[ 5.76040016e-01 -8.15865827e-01 -5.04068650e-02 3.30363960e+02] [ 8.11499187e-01 5.78187772e-01 -8.46638689e-02 1.58121273e+02] [ 9.82189904e-02 7.86464641e-03 9.95133748e-01 3.41129932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03710568099996 meters 0.053185202668534985 Centerline is valid? [True, True] Translation: X:330.39, Y:158.18, Z:34.13 [[ 5.87626891e-01 -8.07660802e-01 -4.87715763e-02 3.30388045e+02] [ 8.03545749e-01 5.89579513e-01 -8.19159754e-02 1.58176639e+02] [ 9.49150446e-02 8.94583715e-03 9.95445180e-01 3.41258764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09710568099996 meters 0.05212613777333086 Centerline is valid? [True, True] Translation: X:330.42, Y:158.23, Z:34.13 [[ 5.93068399e-01 -8.03728200e-01 -4.78628705e-02 3.30420603e+02] [ 7.99753081e-01 5.94922405e-01 -8.03886951e-02 1.58226932e+02] [ 9.30853552e-02 9.39751662e-03 9.95613782e-01 3.41345089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15710568099996 meters 0.058935414160220106 Centerline is valid? [True, True] Translation: X:330.45, Y:158.28, Z:34.13 [[ 6.00553143e-01 -7.98044427e-01 -4.96086285e-02 3.30445485e+02] [ 7.93754522e-01 6.02504297e-01 -8.33206499e-02 1.58282458e+02] [ 9.63829921e-02 1.06614049e-02 9.95287221e-01 3.41346956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21710568099996 meters 0.05738254770171814 Centerline is valid? [True, True] Translation: X:330.48, Y:158.33, Z:34.14 [[ 5.98450284e-01 -7.99627558e-01 -4.95280450e-02 3.30479049e+02] [ 7.95357360e-01 6.00406444e-01 -8.31791536e-02 1.58333177e+02] [ 9.62493009e-02 1.03860929e-02 9.95303070e-01 3.41424253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27710568099997 meters 0.05064907712962922 Centerline is valid? [True, True] Translation: X:330.52, Y:158.38, Z:34.14 [[ 5.87914661e-01 -8.07297343e-01 -5.12576904e-02 3.30519950e+02] [ 8.02750709e-01 5.90069060e-01 -8.60802212e-02 1.58380111e+02] [ 9.97379111e-02 9.46067678e-03 9.94968766e-01 3.41437722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.33710568099997 meters 0.04359223391783816 Centerline is valid? [True, True] Translation: X:330.56, Y:158.43, Z:34.15 [[ 5.71154527e-01 -8.19165427e-01 -5.24453105e-02 3.30562000e+02] [ 8.14452530e-01 5.73507122e-01 -8.80718900e-02 1.58425669e+02] [ 1.02223206e-01 7.58844281e-03 9.94732543e-01 3.41470384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.39710568099997 meters 0.036929876856911834 Centerline is valid? [True, True] Translation: X:330.60, Y:158.47, Z:34.16 [[ 5.56341464e-01 -8.29321657e-01 -5.20554004e-02 3.30598381e+02] [ 8.24721464e-01 5.58742412e-01 -8.74152448e-02 1.58472993e+02] [ 1.01580916e-01 5.70151925e-03 9.94810942e-01 3.41594194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.457105681 meters 0.033152381389294085 Centerline is valid? [True, True] Translation: X:330.63, Y:158.52, Z:34.17 [[ 5.48229888e-01 -8.34717333e-01 -5.18744959e-02 3.30631825e+02] [ 8.30172442e-01 5.50658646e-01 -8.71135613e-02 1.58522480e+02] [ 1.01280339e-01 4.69348102e-03 9.94846855e-01 3.41669941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.517105681 meters 0.02826307405540252 Centerline is valid? [True, True] Translation: X:330.67, Y:158.57, Z:34.17 [[ 5.39670627e-01 -8.40409113e-01 -4.96803568e-02 3.30671144e+02] [ 8.36264796e-01 5.41941340e-01 -8.34312574e-02 1.58568512e+02] [ 9.70402282e-02 3.47946552e-03 9.95274378e-01 3.41716402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.577105681 meters 0.02687576426267741 Centerline is valid? [True, True] Translation: X:330.70, Y:158.62, Z:34.18 [[ 5.35572112e-01 -8.43093710e-01 -4.85335943e-02 3.30704078e+02] [ 8.39149239e-01 5.37758702e-01 -8.15115562e-02 1.58616821e+02] [ 9.48212430e-02 2.92838762e-03 9.95490008e-01 3.41785291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.637105681 meters 0.028617404474303575 Centerline is valid? [True, True] Translation: X:330.73, Y:158.67, Z:34.19 [[ 5.39963558e-01 -8.40202112e-01 -4.99976720e-02 3.30731161e+02] [ 8.36001994e-01 5.42261762e-01 -8.39812371e-02 1.58670273e+02] [ 9.76730385e-02 3.54865409e-03 9.95212231e-01 3.41850560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.697105681 meters 0.036827641147376806 Centerline is valid? [True, True] Translation: X:330.75, Y:158.73, Z:34.19 [[ 5.54627874e-01 -8.30679824e-01 -4.85690367e-02 3.30750440e+02] [ 8.26679380e-01 5.56727074e-01 -8.15853387e-02 1.58727023e+02] [ 9.48109925e-02 5.09848179e-03 9.95482235e-01 3.41948026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.757105681 meters 0.04547633600990085 Centerline is valid? [True, True] Translation: X:330.77, Y:158.79, Z:34.20 [[ 5.73873590e-01 -8.17539713e-01 -4.79366249e-02 3.30770569e+02] [ 8.13596444e-01 5.75827098e-01 -8.05231548e-02 1.58785245e+02] [ 9.34340845e-02 7.20904432e-03 9.95599368e-01 3.42000014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.817105681 meters 0.05336186296675947 Centerline is valid? [True, True] Translation: X:330.79, Y:158.84, Z:34.21 [[ 5.85279171e-01 -8.09329987e-01 -4.93281328e-02 3.30791975e+02] [ 8.05125107e-01 5.87288578e-01 -8.28594514e-02 1.58843167e+02] [ 9.60304877e-02 8.78059282e-03 9.95339664e-01 3.42063781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.877105681 meters 0.0524183324490918 Centerline is valid? [True, True] Translation: X:330.82, Y:158.90, Z:34.21 [[ 5.95665361e-01 -8.01678396e-01 -4.99452362e-02 3.30822497e+02] [ 7.97341151e-01 5.97669414e-01 -8.38949390e-02 1.58895952e+02] [ 9.71075001e-02 1.01499171e-02 9.95222142e-01 3.42084916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93710568099993 meters 0.051548646847599126 Centerline is valid? [True, True] Translation: X:330.86, Y:158.95, Z:34.21 [[ 5.92900707e-01 -8.03693365e-01 -5.04551896e-02 3.30855649e+02] [ 7.99274213e-01 5.94960991e-01 -8.47475820e-02 1.58947219e+02] [ 9.81299390e-02 9.91936937e-03 9.95124174e-01 3.42123663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99710568099994 meters 0.04804145486007684 Centerline is valid? [True, True] Translation: X:330.89, Y:159.00, Z:34.22 [[ 5.87046664e-01 -8.07895066e-01 -5.17858814e-02 3.30889795e+02] [ 8.03254950e-01 5.89250368e-01 -8.69798209e-02 1.58997754e+02] [ 1.00785418e-01 9.46394810e-03 9.94863173e-01 3.42169504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05710568099994 meters 0.0448950190758015 Centerline is valid? [True, True] Translation: X:330.92, Y:159.05, Z:34.23 [[ 5.76074603e-01 -8.15757189e-01 -5.17519088e-02 3.30918902e+02] [ 8.11153547e-01 5.78337871e-01 -8.69208279e-02 1.59048852e+02] [ 1.00836379e-01 8.09413711e-03 9.94870097e-01 3.42266927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11710568099994 meters 0.03823192664769718 Centerline is valid? [True, True] Translation: X:330.96, Y:159.10, Z:34.23 [[ 5.62007627e-01 -8.25589414e-01 -5.04930378e-02 3.30958504e+02] [ 8.21245346e-01 5.64237305e-01 -8.48076961e-02 1.59095296e+02] [ 9.85063917e-02 6.19539968e-03 9.95117133e-01 3.42343911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17710568099994 meters 0.032020160676330234 Centerline is valid? [True, True] Translation: X:331.00, Y:159.14, Z:34.24 [[ 5.48239564e-01 -8.34754308e-01 -5.11725201e-02 3.30999206e+02] [ 8.30330726e-01 5.50603132e-01 -8.59481065e-02 1.59141639e+02] [ 9.99213020e-02 4.63003659e-03 9.94984571e-01 3.42391911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23710568099995 meters 0.029619939634857928 Centerline is valid? [True, True] Translation: X:331.03, Y:159.19, Z:34.25 [[ 5.41164617e-01 -8.39384590e-01 -5.07382216e-02 3.31030250e+02] [ 8.35055572e-01 5.43525022e-01 -8.52217257e-02 1.59190738e+02] [ 9.91112963e-02 3.74974791e-03 9.95069289e-01 3.42496052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29710568099995 meters 0.026620761004830507 Centerline is valid? [True, True] Translation: X:331.07, Y:159.24, Z:34.26 [[ 5.35181281e-01 -8.43202207e-01 -5.09022108e-02 3.31066806e+02] [ 8.38861178e-01 5.37587823e-01 -8.55058843e-02 1.59238135e+02] [ 9.94631590e-02 3.06126020e-03 9.95036536e-01 3.42554469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35710568099995 meters 0.02662063953142122 Centerline is valid? [True, True] Translation: X:331.10, Y:159.29, Z:34.26 [[ 5.33813836e-01 -8.44003483e-01 -5.19702641e-02 3.31097384e+02] [ 8.39480271e-01 5.36329407e-01 -8.73134687e-02 1.59288355e+02] [ 1.01566053e-01 2.98112629e-03 9.94824331e-01 3.42565834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41710568099995 meters 0.028019051547888373 Centerline is valid? [True, True] Translation: X:331.12, Y:159.34, Z:34.27 [[ 5.40157142e-01 -8.40067706e-01 -5.01648408e-02 3.31123296e+02] [ 8.35832488e-01 5.42469488e-01 -8.43261934e-02 1.59342078e+02] [ 9.80526074e-02 3.61999198e-03 9.95174649e-01 3.42690033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47710568099995 meters 0.03099724572855122 Centerline is valid? [True, True] Translation: X:331.15, Y:159.40, Z:34.28 [[ 5.45855066e-01 -8.36426984e-01 -4.93168123e-02 3.31148989e+02] [ 8.32318842e-01 5.48062228e-01 -8.29044004e-02 1.59396088e+02] [ 9.63721596e-02 4.20647478e-03 9.95336482e-01 3.42777399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53710568099996 meters 0.0333881274924558 Centerline is valid? [True, True] Translation: X:331.18, Y:159.45, Z:34.28 [[ 5.53107445e-01 -8.31521921e-01 -5.14144887e-02 3.31179068e+02] [ 8.27034392e-01 5.55466794e-01 -8.64335315e-02 1.59449403e+02] [ 1.00430417e-01 5.28547937e-03 9.94930045e-01 3.42814276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59710568099996 meters 0.03747844599672206 Centerline is valid? [True, True] Translation: X:331.20, Y:159.50, Z:34.29 [[ 5.60594243e-01 -8.26483275e-01 -5.15702529e-02 3.31204630e+02] [ 8.21947758e-01 5.62927027e-01 -8.66893632e-02 1.59503893e+02] [ 1.00677598e-01 6.20950419e-03 9.94899725e-01 3.42911575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65710568099996 meters 0.03799877809517737 Centerline is valid? [True, True] Translation: X:331.24, Y:159.56, Z:34.29 [[ 5.69496687e-01 -8.20265295e-01 -5.32763483e-02 3.31238152e+02] [ 8.15396864e-01 5.71933288e-01 -8.95559549e-02 1.59555163e+02] [ 1.03930159e-01 7.56045233e-03 9.94555862e-01 3.42878657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71710568099996 meters 0.04312887762500735 Centerline is valid? [True, True] Translation: X:331.26, Y:159.61, Z:34.29 [[ 5.78797022e-01 -8.13713684e-01 -5.35167912e-02 3.31261075e+02] [ 8.08774249e-01 5.81199570e-01 -8.99515072e-02 1.59612044e+02] [ 1.04298708e-01 8.78066188e-03 9.94507255e-01 3.42946883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77710568099997 meters 0.04747623947396114 Centerline is valid? [True, True] Translation: X:331.28, Y:159.67, Z:34.30 [[ 5.81294880e-01 -8.11879154e-01 -5.43000997e-02 3.31284749e+02] [ 8.06786420e-01 5.83752368e-01 -9.12625066e-02 1.59667688e+02] [ 1.05791938e-01 9.24184476e-03 9.94345339e-01 3.42994128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.83710568099997 meters 0.04015753645359816 Centerline is valid? [True, True] Translation: X:331.33, Y:159.71, Z:34.30 [[ 5.67135847e-01 -8.21824686e-01 -5.44161364e-02 3.31327094e+02] [ 8.16753535e-01 5.69692074e-01 -9.14582109e-02 1.59712804e+02] [ 1.06163057e-01 7.42465816e-03 9.94321014e-01 3.43043860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.89710568099997 meters 0.03425190216018219 Centerline is valid? [True, True] Translation: X:331.37, Y:159.76, Z:34.31 [[ 5.54303208e-01 -8.30527101e-01 -5.45223602e-02 3.31368109e+02] [ 8.25476667e-01 5.56948155e-01 -9.16352818e-02 1.59758548e+02] [ 1.06471713e-01 5.78679456e-03 9.94298892e-01 3.43077939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.957105681 meters 0.029190557662329964 Centerline is valid? [True, True] Translation: X:331.41, Y:159.81, Z:34.32 [[ 5.42640043e-01 -8.38222787e-01 -5.40772000e-02 3.31405465e+02] [ 8.33291788e-01 5.45311325e-01 -9.08864908e-02 1.59806146e+02] [ 1.05672037e-01 4.25656251e-03 9.94391926e-01 3.43193946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.017105681 meters 0.027693099517262898 Centerline is valid? [True, True] Translation: X:331.44, Y:159.86, Z:34.32 [[ 5.37571775e-01 -8.41484078e-01 -5.40475132e-02 3.31437614e+02] [ 8.36574361e-01 5.40269799e-01 -9.08398749e-02 1.59855574e+02] [ 1.05640547e-01 3.61818897e-03 9.94397799e-01 3.43201412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.077105681 meters 0.026039324020648957 Centerline is valid? [True, True] Translation: X:331.47, Y:159.90, Z:34.33 [[ 5.34957220e-01 -8.43199549e-01 -5.32474670e-02 3.31469307e+02] [ 8.38441402e-01 5.37590950e-01 -8.95096981e-02 1.59904888e+02] [ 1.04099893e-01 3.23897837e-03 9.94561572e-01 3.43280694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.137105681 meters 0.029102255469383942 Centerline is valid? [True, True] Translation: X:331.49, Y:159.96, Z:34.33 [[ 5.38280736e-01 -8.41126401e-01 -5.25378629e-02 3.31493369e+02] [ 8.36479846e-01 5.40826488e-01 -8.83638927e-02 1.59957860e+02] [ 1.02739071e-01 3.61771774e-03 9.94701762e-01 3.43342826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.197105681 meters 0.03084325495850066 Centerline is valid? [True, True] Translation: X:331.52, Y:160.01, Z:34.34 [[ 5.46851075e-01 -8.35564069e-01 -5.27881390e-02 3.31520447e+02] [ 8.30845483e-01 5.49372904e-01 -8.87986228e-02 1.60011982e+02] [ 1.03197312e-01 4.70083550e-03 9.94649796e-01 3.43423564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.257105681 meters 0.0353558701831773 Centerline is valid? [True, True] Translation: X:331.54, Y:160.07, Z:34.35 [[ 5.55261979e-01 -8.30029140e-01 -5.23044982e-02 3.31543139e+02] [ 8.25372257e-01 5.57691061e-01 -8.79847621e-02 1.60068280e+02] [ 1.02199668e-01 5.68391148e-03 9.94747667e-01 3.43506881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.317105681 meters 0.03405295199505221 Centerline is valid? [True, True] Translation: X:331.58, Y:160.12, Z:34.36 [[ 5.57922820e-01 -8.28216680e-01 -5.27186609e-02 3.31576990e+02] [ 8.23477725e-01 5.60375197e-01 -8.86796185e-02 1.60118622e+02] [ 1.02988169e-01 6.06373997e-03 9.94664098e-01 3.43582306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.377105681 meters 0.03764614962114865 Centerline is valid? [True, True] Translation: X:331.60, Y:160.17, Z:34.36 [[ 5.61962116e-01 -8.25402969e-01 -5.39306889e-02 3.31603749e+02] [ 8.20431076e-01 5.64503908e-01 -9.07093562e-02 1.60172795e+02] [ 1.05315857e-01 6.72880861e-03 9.94416057e-01 3.43593913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43710568099993 meters 0.040868254392471846 Centerline is valid? [True, True] Translation: X:331.63, Y:160.23, Z:34.36 [[ 5.67442591e-01 -8.21644291e-01 -5.39403839e-02 3.31632375e+02] [ 8.16653645e-01 5.69952128e-01 -9.07270443e-02 1.60226628e+02] [ 1.05288795e-01 7.43177797e-03 9.94413917e-01 3.43621796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49710568099994 meters 0.04555394126533889 Centerline is valid? [True, True] Translation: X:331.66, Y:160.28, Z:34.38 [[ 5.81554883e-01 -8.11875561e-01 -5.14974952e-02 3.31658394e+02] [ 8.07289963e-01 5.83764219e-01 -8.66155412e-02 1.60280845e+02] [ 1.00383436e-01 8.79827996e-03 9.94909924e-01 3.43754544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55710568099994 meters 0.05398446442983012 Centerline is valid? [True, True] Translation: X:331.68, Y:160.34, Z:34.38 [[ 5.90216130e-01 -8.05535520e-01 -5.25113852e-02 3.31679297e+02] [ 8.00742891e-01 5.92461781e-01 -8.83168132e-02 1.60338090e+02] [ 1.02253319e-01 1.00778893e-02 9.94707341e-01 3.43796582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61710568099994 meters 0.0536992483799779 Centerline is valid? [True, True] Translation: X:331.71, Y:160.39, Z:34.38 [[ 5.93456008e-01 -8.03065298e-01 -5.38153707e-02 3.31714416e+02] [ 7.98021954e-01 5.95793822e-01 -9.05023914e-02 1.60388813e+02] [ 1.04742195e-01 1.07633406e-02 9.94441161e-01 3.43795820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67710568099994 meters 0.05271021120500193 Centerline is valid? [True, True] Translation: X:331.75, Y:160.44, Z:34.39 [[ 5.88113978e-01 -8.06969718e-01 -5.40538850e-02 3.31746231e+02] [ 8.01897786e-01 5.90506236e-01 -9.08973377e-02 1.60439483e+02] [ 1.05270555e-01 1.01123042e-02 9.94392202e-01 3.43864720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73710568099995 meters 0.04598342185698867 Centerline is valid? [True, True] Translation: X:331.79, Y:160.48, Z:34.39 [[ 5.71441299e-01 -8.18764322e-01 -5.54961903e-02 3.31790748e+02] [ 8.13469755e-01 5.74071439e-01 -9.33217028e-02 1.60483406e+02] [ 1.08267259e-01 8.18340271e-03 9.94088141e-01 3.43859078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79710568099995 meters 0.03757102070465278 Centerline is valid? [True, True] Translation: X:331.84, Y:160.53, Z:34.39 [[ 5.55338154e-01 -8.29685800e-01 -5.67539258e-02 3.31835215e+02] [ 8.24201844e-01 5.58195962e-01 -9.54389267e-02 1.60527191e+02] [ 1.10864134e-01 6.22418704e-03 9.93816081e-01 3.43882226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85710568099995 meters 0.02943526240936327 Centerline is valid? [True, True] Translation: X:331.87, Y:160.57, Z:34.40 [[ 5.43517796e-01 -8.37525590e-01 -5.60293886e-02 3.31874972e+02] [ 8.32221251e-01 5.46378883e-01 -9.42226379e-02 1.60573209e+02] [ 1.09527145e-01 4.58283260e-03 9.93973240e-01 3.44023323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91710568099995 meters 0.029840253282364067 Centerline is valid? [True, True] Translation: X:331.90, Y:160.63, Z:34.41 [[ 5.41711692e-01 -8.38797060e-01 -5.44787517e-02 3.31898432e+02] [ 8.33789575e-01 5.44427969e-01 -9.16140392e-02 1.60628880e+02] [ 1.06505343e-01 4.20458097e-03 9.94303240e-01 3.44088228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97710568099995 meters 0.027550336527416106 Centerline is valid? [True, True] Translation: X:331.94, Y:160.68, Z:34.41 [[ 5.32720995e-01 -8.44560263e-01 -5.40953153e-02 3.31935127e+02] [ 8.39652072e-01 5.35451880e-01 -9.09707764e-02 1.60675807e+02] [ 1.05795741e-01 3.04079896e-03 9.94383233e-01 3.44116231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03710568099996 meters 0.02874922632793862 Centerline is valid? [True, True] Translation: X:331.97, Y:160.72, Z:34.41 [[ 5.33110173e-01 -8.44263514e-01 -5.48877265e-02 3.31966818e+02] [ 8.39207215e-01 5.35919009e-01 -9.23150390e-02 1.60724240e+02] [ 1.07353595e-01 3.15191033e-03 9.94215908e-01 3.44123249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09710568099996 meters 0.029112041336009288 Centerline is valid? [True, True] Translation: X:332.00, Y:160.77, Z:34.42 [[ 5.37365665e-01 -8.41590787e-01 -5.44342634e-02 3.31999109e+02] [ 8.36602314e-01 5.40103232e-01 -9.15700104e-02 1.60773946e+02] [ 1.06464599e-01 3.66674877e-03 9.94309733e-01 3.44201703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15710568099996 meters 0.03326768809747612 Centerline is valid? [True, True] Translation: X:332.02, Y:160.83, Z:34.43 [[ 5.45413465e-01 -8.36533423e-01 -5.23066335e-02 3.32022952e+02] [ 8.31904197e-01 5.47897573e-01 -8.79980515e-02 1.60828275e+02] [ 1.02271989e-01 4.48121424e-03 9.94746379e-01 3.44271005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21710568099996 meters 0.03337521739337296 Centerline is valid? [True, True] Translation: X:332.05, Y:160.88, Z:34.43 [[ 5.45528089e-01 -8.36427075e-01 -5.28095817e-02 3.32050104e+02] [ 8.31706484e-01 5.48059336e-01 -8.88554367e-02 1.60879907e+02] [ 1.03263877e-01 4.55106502e-03 9.94643584e-01 3.44307677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27710568099997 meters 0.027779187417647178 Centerline is valid? [True, True] Translation: X:332.09, Y:160.93, Z:34.43 [[ 5.36217795e-01 -8.42441355e-01 -5.25646245e-02 3.32090514e+02] [ 8.37787786e-01 5.38777243e-01 -8.84912875e-02 1.60925461e+02] [ 1.02869344e-01 3.41260267e-03 9.94689023e-01 3.44339670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.33710568099997 meters 0.023753709499354167 Centerline is valid? [True, True] Translation: X:332.14, Y:160.97, Z:34.44 [[ 5.20891231e-01 -8.51983512e-01 -5.28811973e-02 3.32136230e+02] [ 8.47320344e-01 5.23566267e-01 -8.90314491e-02 1.60966735e+02] [ 1.03540138e-01 1.56838684e-03 9.94624040e-01 3.44363535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.39710568099997 meters 0.023512848745074394 Centerline is valid? [True, True] Translation: X:332.17, Y:161.01, Z:34.44 [[ 5.17890049e-01 -8.53788770e-01 -5.32412813e-02 3.32171025e+02] [ 8.49069330e-01 5.20618127e-01 -8.96551098e-02 1.61014505e+02] [ 1.04264902e-01 1.22595018e-03 9.94548806e-01 3.44392999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.457105681 meters 0.024065497154621623 Centerline is valid? [True, True] Translation: X:332.20, Y:161.07, Z:34.45 [[ 5.22677246e-01 -8.50818061e-01 -5.40104091e-02 3.32200749e+02] [ 8.45939554e-01 5.25457052e-01 -9.10008607e-02 1.61066070e+02] [ 1.05805326e-01 1.87453784e-03 9.94385096e-01 3.44451810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.517105681 meters 0.02678709928218498 Centerline is valid? [True, True] Translation: X:332.23, Y:161.12, Z:34.45 [[ 5.29300548e-01 -8.46634602e-01 -5.52338694e-02 3.32226347e+02] [ 8.41508031e-01 5.32167368e-01 -9.30705486e-02 1.61120294e+02] [ 1.08190410e-01 2.78254769e-03 9.94126296e-01 3.44478201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.577105681 meters 0.02931923327293212 Centerline is valid? [True, True] Translation: X:332.26, Y:161.17, Z:34.45 [[ 5.37385754e-01 -8.41510124e-01 -5.54730757e-02 3.32255175e+02] [ 8.36310920e-01 5.40227692e-01 -9.34777299e-02 1.61172361e+02] [ 1.08630548e-01 3.84086138e-03 9.94074772e-01 3.44535836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.637105681 meters 0.03386135771712479 Centerline is valid? [True, True] Translation: X:332.28, Y:161.23, Z:34.47 [[ 5.47434458e-01 -8.35101829e-01 -5.40411877e-02 3.32275003e+02] [ 8.30136562e-01 5.50072738e-01 -9.10674048e-02 1.61230030e+02] [ 1.05777140e-01 4.99186957e-03 9.94377332e-01 3.44655524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.697105681 meters 0.03654169113966767 Centerline is valid? [True, True] Translation: X:332.30, Y:161.29, Z:34.47 [[ 5.55483299e-01 -8.29883324e-01 -5.22682732e-02 3.32297494e+02] [ 8.25216035e-01 5.57906875e-01 -8.80818609e-02 1.61286716e+02] [ 1.02258497e-01 5.79538554e-03 9.94740978e-01 3.44737954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.757105681 meters 0.0391724210970596 Centerline is valid? [True, True] Translation: X:332.32, Y:161.34, Z:34.48 [[ 5.65251880e-01 -8.23338008e-01 -5.10376058e-02 3.32317302e+02] [ 8.18861887e-01 5.67510328e-01 -8.60071960e-02 1.61344621e+02] [ 9.97773618e-02 6.82297902e-03 9.94986394e-01 3.44819180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.817105681 meters 0.04195096784775854 Centerline is valid? [True, True] Translation: X:332.34, Y:161.40, Z:34.48 [[ 5.68472573e-01 -8.21037588e-01 -5.23088196e-02 3.32340098e+02] [ 8.16325893e-01 5.70826079e-01 -8.81454724e-02 1.61400103e+02] [ 1.02229984e-01 7.40723961e-03 9.94733212e-01 3.44839608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.877105681 meters 0.0412143572069607 Centerline is valid? [True, True] Translation: X:332.37, Y:161.45, Z:34.48 [[ 5.65097631e-01 -8.23310356e-01 -5.31481387e-02 3.32373959e+02] [ 8.18455368e-01 5.67546896e-01 -8.95618899e-02 1.61451652e+02] [ 1.03901293e-01 7.11183240e-03 9.94562187e-01 3.44834048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93710568099993 meters 0.03697903039316601 Centerline is valid? [True, True] Translation: X:332.41, Y:161.50, Z:34.48 [[ 5.58428171e-01 -8.27778322e-01 -5.42312326e-02 3.32413125e+02] [ 8.22743655e-01 5.61018650e-01 -9.13835415e-02 1.61499038e+02] [ 1.06070048e-01 6.41274139e-03 9.94337982e-01 3.44848140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99710568099994 meters 0.03636132033418233 Centerline is valid? [True, True] Translation: X:332.45, Y:161.55, Z:34.49 [[ 5.50174565e-01 -8.33228673e-01 -5.51173884e-02 3.32446016e+02] [ 8.28053966e-01 5.52901595e-01 -9.28787164e-02 1.61548423e+02] [ 1.07863702e-01 5.45933528e-03 9.94150702e-01 3.44854152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05710568099994 meters 0.03256301968618188 Centerline is valid? [True, True] Translation: X:332.48, Y:161.60, Z:34.50 [[ 5.45600892e-01 -8.36348934e-01 -5.32928481e-02 3.32481803e+02] [ 8.31525920e-01 5.48177428e-01 -8.98117580e-02 1.61596460e+02] [ 1.04327905e-01 4.68699074e-03 9.94531910e-01 3.44980180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11710568099994 meters 0.030138711855176116 Centerline is valid? [True, True] Translation: X:332.52, Y:161.64, Z:34.50 [[ 5.37149703e-01 -8.41816285e-01 -5.30616497e-02 3.32517423e+02] [ 8.37060959e-01 5.39752026e-01 -8.94242805e-02 1.61644232e+02] [ 1.03918948e-01 3.61839037e-03 9.94579187e-01 3.45018808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17710568099994 meters 0.02688882056927588 Centerline is valid? [True, True] Translation: X:332.55, Y:161.69, Z:34.51 [[ 5.33056078e-01 -8.44479188e-01 -5.20203703e-02 3.32552702e+02] [ 8.39921026e-01 5.35579724e-01 -8.76757070e-02 1.61692054e+02] [ 1.01901365e-01 3.04306577e-03 9.94789853e-01 3.45109516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23710568099995 meters 0.025562441299275904 Centerline is valid? [True, True] Translation: X:332.58, Y:161.74, Z:34.52 [[ 5.30794356e-01 -8.46016212e-01 -5.01390144e-02 3.32583633e+02] [ 8.41788631e-01 5.33150574e-01 -8.45125173e-02 1.61742187e+02] [ 9.82306041e-02 2.65231489e-03 9.95160145e-01 3.45187157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29710568099995 meters 0.024188202184258042 Centerline is valid? [True, True] Translation: X:332.62, Y:161.79, Z:34.52 [[ 5.25515879e-01 -8.49274539e-01 -5.06539064e-02 3.32619227e+02] [ 8.44973477e-01 5.27947405e-01 -8.53894690e-02 1.61789407e+02] [ 9.92617004e-02 2.07231442e-03 9.95059204e-01 3.45220644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35710568099995 meters 0.02410375379103096 Centerline is valid? [True, True] Translation: X:332.65, Y:161.84, Z:34.53 [[ 5.24422223e-01 -8.49892834e-01 -5.16091416e-02 3.32649231e+02] [ 8.45428715e-01 5.26951764e-01 -8.70179597e-02 1.61837318e+02] [ 1.01151469e-01 2.00230156e-03 9.94869022e-01 3.45257196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41710568099995 meters 0.027072385199549347 Centerline is valid? [True, True] Translation: X:332.67, Y:161.89, Z:34.53 [[ 5.31044529e-01 -8.45773205e-01 -5.15693233e-02 3.32674835e+02] [ 8.41293760e-01 5.33535215e-01 -8.69769086e-02 1.61890382e+02] [ 1.01076789e-01 2.80366153e-03 9.94874677e-01 3.45289923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47710568099995 meters 0.02655976613759548 Centerline is valid? [True, True] Translation: X:332.71, Y:161.94, Z:34.54 [[ 5.34845296e-01 -8.43351471e-01 -5.19500318e-02 3.32708786e+02] [ 8.38793200e-01 5.37352270e-01 -8.76270815e-02 1.61938976e+02] [ 1.01815896e-01 3.29159890e-03 9.94797813e-01 3.45382299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53710568099996 meters 0.030435659902078104 Centerline is valid? [True, True] Translation: X:332.73, Y:161.99, Z:34.54 [[ 5.45241390e-01 -8.36578294e-01 -5.33721230e-02 3.32734170e+02] [ 8.31732783e-01 5.47827239e-01 -9.00327382e-02 1.61994368e+02] [ 1.04558137e-01 4.69823098e-03 9.94507678e-01 3.45413902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59710568099996 meters 0.04231941772386563 Centerline is valid? [True, True] Translation: X:332.75, Y:162.06, Z:34.55 [[ 5.66178082e-01 -8.22606995e-01 -5.25367635e-02 3.32745065e+02] [ 8.17851421e-01 5.68564681e-01 -8.86186020e-02 1.62056682e+02] [ 1.02768830e-01 7.20664345e-03 9.94679160e-01 3.45475040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65710568099996 meters 0.044148738443639785 Centerline is valid? [True, True] Translation: X:332.77, Y:162.11, Z:34.56 [[ 5.78472449e-01 -8.14096673e-01 -5.11491337e-02 3.32769818e+02] [ 8.09557627e-01 5.80667240e-01 -8.62670560e-02 1.62111431e+02] [ 9.99303496e-02 8.49494375e-03 9.94958171e-01 3.45585829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71710568099996 meters 0.04453051790776402 Centerline is valid? [True, True] Translation: X:332.80, Y:162.16, Z:34.56 [[ 5.80057446e-01 -8.13038773e-01 -5.00131251e-02 3.32803554e+02] [ 8.08696474e-01 5.82147797e-01 -8.43442672e-02 1.62163494e+02] [ 9.76901901e-02 8.47908226e-03 9.95180753e-01 3.45626228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77710568099997 meters 0.04315796789542492 Centerline is valid? [True, True] Translation: X:332.84, Y:162.21, Z:34.57 [[ 5.74698022e-01 -8.16833542e-01 -5.00514662e-02 3.32840999e+02] [ 8.12499878e-01 5.76820240e-01 -8.43940716e-02 1.62211713e+02] [ 9.78066071e-02 7.83429578e-03 9.95174603e-01 3.45679159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.83710568099997 meters 0.04003272445847431 Centerline is valid? [True, True] Translation: X:332.88, Y:162.26, Z:34.57 [[ 5.69034301e-01 -8.20693721e-01 -5.15924385e-02 3.32881875e+02] [ 8.16104063e-01 5.71320517e-01 -8.69886518e-02 1.62258550e+02] [ 1.00866859e-01 7.39472806e-03 9.94872451e-01 3.45695640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.89710568099997 meters 0.03956557492366537 Centerline is valid? [True, True] Translation: X:332.92, Y:162.31, Z:34.57 [[ 5.66092579e-01 -8.22658787e-01 -5.26470505e-02 3.32919017e+02] [ 8.17887716e-01 5.68489968e-01 -8.87628329e-02 1.62307775e+02] [ 1.02950845e-01 7.18860513e-03 9.94660468e-01 3.45718939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.957105681 meters 0.03890303934313898 Centerline is valid? [True, True] Translation: X:332.96, Y:162.36, Z:34.57 [[ 5.61440590e-01 -8.25837006e-01 -5.27039173e-02 3.32955235e+02] [ 8.21069497e-01 5.63870106e-01 -8.88559742e-02 1.62355425e+02] [ 1.03098715e-01 6.61377170e-03 9.94649141e-01 3.45727627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.017105681 meters 0.03255180279810523 Centerline is valid? [True, True] Translation: X:333.00, Y:162.40, Z:34.58 [[ 5.51836345e-01 -8.32311461e-01 -5.22903569e-02 3.32997660e+02] [ 8.27646274e-01 5.54282194e-01 -8.81640176e-02 1.62400280e+02] [ 1.02363536e-01 5.37419017e-03 9.94732539e-01 3.45786208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.077105681 meters 0.026234802405888855 Centerline is valid? [True, True] Translation: X:333.04, Y:162.45, Z:34.59 [[ 5.38313844e-01 -8.41309091e-01 -4.91652149e-02 3.33040163e+02] [ 8.37222417e-01 5.40543275e-01 -8.28950685e-02 1.62445413e+02] [ 9.63163011e-02 3.46134291e-03 9.95344759e-01 3.45851918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.137105681 meters 0.023243093711029686 Centerline is valid? [True, True] Translation: X:333.08, Y:162.49, Z:34.59 [[ 5.29186718e-01 -8.47180161e-01 -4.74045494e-02 3.33075929e+02] [ 8.43404823e-01 5.31300688e-01 -7.99242357e-02 1.62494532e+02] [ 9.28962966e-02 2.31361841e-03 9.95673102e-01 3.45928385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.197105681 meters 0.021362446262190044 Centerline is valid? [True, True] Translation: X:333.11, Y:162.54, Z:34.60 [[ 5.19044595e-01 -8.53558883e-01 -4.50548811e-02 3.33109220e+02] [ 8.50172541e-01 5.20995171e-01 -7.59650046e-02 1.62542856e+02] [ 8.83139800e-02 1.12480222e-03 9.96092052e-01 3.45999476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.257105681 meters 0.020510380165390352 Centerline is valid? [True, True] Translation: X:333.14, Y:162.59, Z:34.60 [[ 5.11468523e-01 -8.58122509e-01 -4.50078722e-02 3.33141247e+02] [ 8.54760009e-01 5.13444875e-01 -7.58926101e-02 1.62591690e+02] [ 8.82342183e-02 3.45752001e-04 9.96099695e-01 3.46018171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.317105681 meters 0.020516776753374183 Centerline is valid? [True, True] Translation: X:333.16, Y:162.64, Z:34.60 [[ 5.09671878e-01 -8.59102634e-01 -4.66609230e-02 3.33162900e+02] [ 8.55487126e-01 5.11803302e-01 -7.87347309e-02 1.62644989e+02] [ 9.15224291e-02 2.11059278e-04 9.95802993e-01 3.46025291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.377105681 meters 0.020626021441014997 Centerline is valid? [True, True] Translation: X:333.18, Y:162.70, Z:34.60 [[ 5.12103629e-01 -8.57600748e-01 -4.76532275e-02 3.33183599e+02] [ 8.53820514e-01 5.14315762e-01 -8.04352375e-02 1.62703217e+02] [ 9.34901259e-02 5.03873833e-04 9.95620079e-01 3.46038610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43710568099993 meters 0.02157126734075542 Centerline is valid? [True, True] Translation: X:333.20, Y:162.76, Z:34.61 [[ 5.19039556e-01 -8.53350465e-01 -4.88970621e-02 3.33199475e+02] [ 8.49350750e-01 5.21336045e-01 -8.25350298e-02 1.62762718e+02] [ 9.59231071e-02 1.30818882e-03 9.95387887e-01 3.46058215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49710568099994 meters 0.023753388037840675 Centerline is valid? [True, True] Translation: X:333.22, Y:162.82, Z:34.62 [[ 5.27413590e-01 -8.48201872e-01 -4.88721717e-02 3.33223748e+02] [ 8.44183369e-01 5.29668297e-01 -8.24980915e-02 1.62816161e+02] [ 9.58610756e-02 2.25354005e-03 9.95392172e-01 3.46152945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55710568099994 meters 0.027369640143981702 Centerline is valid? [True, True] Translation: X:333.25, Y:162.87, Z:34.62 [[ 5.38539356e-01 -8.41291739e-01 -4.69422194e-02 3.33252516e+02] [ 8.37556820e-01 5.40570881e-01 -7.92571523e-02 1.62868966e+02] [ 9.20539844e-02 3.36631969e-03 9.95748328e-01 3.46171879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61710568099994 meters 0.03032412013719828 Centerline is valid? [True, True] Translation: X:333.28, Y:162.92, Z:34.63 [[ 5.47585418e-01 -8.35551799e-01 -4.47593833e-02 3.33281994e+02] [ 8.32137249e-01 5.49396098e-01 -7.55746434e-02 1.62921196e+02] [ 8.77371597e-02 4.13762255e-03 9.96135067e-01 3.46307451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67710568099994 meters 0.03493998662118073 Centerline is valid? [True, True] Translation: X:333.31, Y:162.97, Z:34.64 [[ 5.52221711e-01 -8.32631736e-01 -4.21375601e-02 3.33309180e+02] [ 8.29598174e-01 5.53810123e-01 -7.11422315e-02 1.62972970e+02] [ 8.25714871e-02 4.32904192e-03 9.96575742e-01 3.46436046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73710568099995 meters 0.03538738603407782 Centerline is valid? [True, True] Translation: X:333.35, Y:163.02, Z:34.64 [[ 5.58566778e-01 -8.28298251e-01 -4.38766670e-02 3.33345170e+02] [ 8.24995020e-01 5.60263475e-01 -7.40814110e-02 1.63022824e+02] [ 8.59439970e-02 5.18138333e-03 9.96286496e-01 3.46408465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79710568099995 meters 0.03772535763068145 Centerline is valid? [True, True] Translation: X:333.38, Y:163.07, Z:34.64 [[ 5.62324305e-01 -8.25660984e-01 -4.55556229e-02 3.33377483e+02] [ 8.22091178e-01 5.64136775e-01 -7.69141963e-02 1.63074769e+02] [ 8.92046532e-02 5.79984630e-03 9.95996432e-01 3.46428371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85710568099995 meters 0.039890849866865606 Centerline is valid? [True, True] Translation: X:333.41, Y:163.12, Z:34.65 [[ 5.60998431e-01 -8.26505002e-01 -4.65858501e-02 3.33406815e+02] [ 8.22774705e-01 5.62899567e-01 -7.86502543e-02 1.63124928e+02] [ 9.12279834e-02 5.79301017e-03 9.95813183e-01 3.46467359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91710568099995 meters 0.03585924755724016 Centerline is valid? [True, True] Translation: X:333.45, Y:163.17, Z:34.65 [[ 5.57579268e-01 -8.28771899e-01 -4.73550402e-02 3.33446660e+02] [ 8.24920397e-01 5.59559137e-01 -7.99994435e-02 1.63171314e+02] [ 9.27992361e-02 5.54189255e-03 9.95669418e-01 3.46480807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97710568099995 meters 0.032109192430966146 Centerline is valid? [True, True] Translation: X:333.49, Y:163.22, Z:34.65 [[ 5.47888636e-01 -8.35199603e-01 -4.75359386e-02 3.33487386e+02] [ 8.31341664e-01 5.49928666e-01 -8.03087805e-02 1.63217442e+02] [ 9.32152369e-02 4.48166188e-03 9.95635894e-01 3.46542459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03710568099996 meters 0.029832565308217075 Centerline is valid? [True, True] Translation: X:333.52, Y:163.27, Z:34.66 [[ 5.42137185e-01 -8.38972090e-01 -4.70436581e-02 3.33524346e+02] [ 8.35207520e-01 5.44161200e-01 -7.94794759e-02 1.63265061e+02] [ 9.22803954e-02 3.79756228e-03 9.95725819e-01 3.46623398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09710568099996 meters 0.026579802288069443 Centerline is valid? [True, True] Translation: X:333.57, Y:163.31, Z:34.67 [[ 5.33285595e-01 -8.44677806e-01 -4.61072522e-02 3.33567342e+02] [ 8.41082557e-01 5.35267944e-01 -7.78996829e-02 1.63308956e+02] [ 9.04798672e-02 2.76277319e-03 9.95894453e-01 3.46709653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15710568099996 meters 0.02484538935466027 Centerline is valid? [True, True] Translation: X:333.61, Y:163.36, Z:34.68 [[ 5.28880267e-01 -8.47466056e-01 -4.56831141e-02 3.33606565e+02] [ 8.43946883e-01 5.30844744e-01 -7.71849564e-02 1.63355319e+02] [ 8.96622716e-02 2.26747862e-03 9.95969646e-01 3.46755843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21710568099996 meters 0.023668445760066575 Centerline is valid? [True, True] Translation: X:333.64, Y:163.40, Z:34.68 [[ 5.27538282e-01 -8.48317792e-01 -4.53903609e-02 3.33640218e+02] [ 8.44846488e-01 5.29483207e-01 -7.66938352e-02 1.63403503e+02] [ 8.90941789e-02 2.11104701e-03 9.96020969e-01 3.46819866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27710568099997 meters 0.023884821263713968 Centerline is valid? [True, True] Translation: X:333.67, Y:163.45, Z:34.69 [[ 5.24771551e-01 -8.50068303e-01 -4.47068296e-02 3.33673769e+02] [ 8.46702824e-01 5.26669338e-01 -7.55892588e-02 1.63450080e+02] [ 8.78017493e-02 1.81369364e-03 9.96136318e-01 3.46915799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.33710568099997 meters 0.023098911356167862 Centerline is valid? [True, True] Translation: X:333.71, Y:163.50, Z:34.69 [[ 5.24668305e-01 -8.50004156e-01 -4.70755080e-02 3.33709861e+02] [ 8.46268778e-01 5.26772417e-01 -7.96239638e-02 1.63497392e+02] [ 9.24787794e-02 1.93763752e-03 9.95712770e-01 3.46905912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.39710568099997 meters 0.027086559963498867 Centerline is valid? [True, True] Translation: X:333.73, Y:163.55, Z:34.69 [[ 5.34593453e-01 -8.43674229e-01 -4.92304331e-02 3.33732484e+02] [ 8.39555774e-01 5.36845862e-01 -8.33224068e-02 1.63553281e+02] [ 9.67261216e-02 3.21191881e-03 9.95305853e-01 3.46928543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.457105681 meters 0.03247940756799382 Centerline is valid? [True, True] Translation: X:333.75, Y:163.61, Z:34.70 [[ 5.52942244e-01 -8.31809305e-01 -4.84577577e-02 3.33752273e+02] [ 8.27772126e-01 5.55036765e-01 -8.20213197e-02 1.63611090e+02] [ 9.51219341e-02 5.24107151e-03 9.95451831e-01 3.47020066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.517105681 meters 0.038151379291336274 Centerline is valid? [True, True] Translation: X:333.77, Y:163.67, Z:34.71 [[ 5.65382930e-01 -8.23484124e-01 -4.70748320e-02 3.33773609e+02] [ 8.19645496e-01 5.67302466e-01 -7.96816986e-02 1.63668294e+02] [ 9.23222821e-02 6.46599816e-03 9.95708184e-01 3.47126384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.577105681 meters 0.03960435843102739 Centerline is valid? [True, True] Translation: X:333.81, Y:163.72, Z:34.72 [[ 5.66964504e-01 -8.22501693e-01 -4.51908742e-02 3.33808740e+02] [ 8.18961858e-01 5.68727119e-01 -7.64914366e-02 1.63716513e+02] [ 8.86156119e-02 6.35832717e-03 9.96045604e-01 3.47193809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.637105681 meters 0.04000030582843206 Centerline is valid? [True, True] Translation: X:333.85, Y:163.76, Z:34.73 [[ 5.64716186e-01 -8.24111155e-01 -4.40049265e-02 3.33849356e+02] [ 8.20759222e-01 5.66396872e-01 -7.44908174e-02 1.63760301e+02] [ 8.63129663e-02 5.94872105e-03 9.96250312e-01 3.47258172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.697105681 meters 0.03896571447561088 Centerline is valid? [True, True] Translation: X:333.90, Y:163.80, Z:34.73 [[ 5.60791986e-01 -8.26740845e-01 -4.48544736e-02 3.33901309e+02] [ 8.23265210e-01 5.62554485e-01 -7.59397554e-02 1.63799782e+02] [ 8.80155828e-02 5.65927861e-03 9.96103022e-01 3.47267949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.757105681 meters 0.045039457239559294 Centerline is valid? [True, True] Translation: X:333.94, Y:163.85, Z:34.73 [[ 5.58555313e-01 -8.28184195e-01 -4.61183423e-02 3.33939735e+02] [ 8.24513935e-01 5.60428143e-01 -7.80837186e-02 1.63846010e+02] [ 9.05137186e-02 5.58886001e-03 9.95879527e-01 3.47275279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.817105681 meters 0.04468549936390296 Centerline is valid? [True, True] Translation: X:333.98, Y:163.89, Z:34.73 [[ 5.55467875e-01 -8.30113799e-01 -4.86468893e-02 3.33984308e+02] [ 8.26035137e-01 5.57566153e-01 -8.23768006e-02 1.63888773e+02] [ 9.55059778e-02 5.57362654e-03 9.95413252e-01 3.47254811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.877105681 meters 0.03953594147161937 Centerline is valid? [True, True] Translation: X:334.03, Y:163.93, Z:34.73 [[ 5.53061173e-01 -8.31715672e-01 -4.87070904e-02 3.34032390e+02] [ 8.27631575e-01 5.55176387e-01 -8.24933625e-02 1.63928236e+02] [ 9.56520489e-02 5.31234986e-03 9.95400655e-01 3.47321372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93710568099993 meters 0.03884114077286611 Centerline is valid? [True, True] Translation: X:334.07, Y:163.97, Z:34.74 [[ 5.48961439e-01 -8.34478045e-01 -4.78302305e-02 3.34072843e+02] [ 8.30548881e-01 5.51020689e-01 -8.10231863e-02 1.63972108e+02] [ 9.39675166e-02 4.75326053e-03 9.95563917e-01 3.47391799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99710568099994 meters 0.0284030366767954 Centerline is valid? [True, True] Translation: X:334.13, Y:164.01, Z:34.75 [[ 5.37413392e-01 -8.42061426e-01 -4.60369527e-02 3.34126807e+02] [ 8.38447685e-01 5.39371433e-01 -7.79995985e-02 1.64008685e+02] [ 9.05114703e-02 3.31845244e-03 9.95889884e-01 3.47514187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05710568099994 meters 0.023174634684821012 Centerline is valid? [True, True] Translation: X:334.18, Y:164.05, Z:34.76 [[ 5.24890058e-01 -8.49985335e-01 -4.48927437e-02 3.34176022e+02] [ 8.46573309e-01 5.26802766e-01 -7.61083375e-02 1.64048489e+02] [ 8.83405923e-02 1.94351110e-03 9.96088431e-01 3.47592513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11710568099994 meters 0.02093210111137887 Centerline is valid? [True, True] Translation: X:334.23, Y:164.09, Z:34.76 [[ 5.13393793e-01 -8.56946508e-01 -4.54917133e-02 3.34225439e+02] [ 8.53467917e-01 5.15404772e-01 -7.71390663e-02 1.64086718e+02] [ 8.95506997e-02 7.77000073e-04 9.95981962e-01 3.47613023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.17710568099994 meters 0.022387316162033034 Centerline is valid? [True, True] Translation: X:334.25, Y:164.14, Z:34.77 [[ 5.18353957e-01 -8.53973727e-01 -4.51447447e-02 3.34252361e+02] [ 8.50535152e-01 5.20314523e-01 -7.65686122e-02 1.64138153e+02] [ 8.88770494e-02 1.29245085e-03 9.96041766e-01 3.47688751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.23710568099995 meters 0.028547764198865212 Centerline is valid? [True, True] Translation: X:334.27, Y:164.20, Z:34.78 [[ 5.33061027e-01 -8.44991784e-01 -4.28348766e-02 3.34267199e+02] [ 8.41862635e-01 5.34772501e-01 -7.27026536e-02 1.64196688e+02] [ 8.43400591e-02 2.69386908e-03 9.96433388e-01 3.47801369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.29710568099995 meters 0.03639595853448987 Centerline is valid? [True, True] Translation: X:334.28, Y:164.26, Z:34.78 [[ 5.45079373e-01 -8.37155730e-01 -4.53735663e-02 3.34282603e+02] [ 8.33614506e-01 5.46948756e-01 -7.70319050e-02 1.64256861e+02] [ 8.93047163e-02 4.16443952e-03 9.95995645e-01 3.47782453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.35710568099995 meters 0.03970225499794619 Centerline is valid? [True, True] Translation: X:334.30, Y:164.31, Z:34.79 [[ 5.50220848e-01 -8.33774768e-01 -4.55703201e-02 3.34302586e+02] [ 8.30187885e-01 5.52084246e-01 -7.74019461e-02 1.64313128e+02] [ 8.96944455e-02 4.75623684e-03 9.95957973e-01 3.47868166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41710568099995 meters 0.045019002555626464 Centerline is valid? [True, True] Translation: X:334.32, Y:164.37, Z:34.79 [[ 5.55645573e-01 -8.30119680e-01 -4.64684193e-02 3.34323351e+02] [ 8.26372293e-01 5.57558288e-01 -7.89784041e-02 1.64368457e+02] [ 9.14703799e-02 5.48378638e-03 9.95792698e-01 3.47894634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47710568099995 meters 0.04891797661215044 Centerline is valid? [True, True] Translation: X:334.35, Y:164.42, Z:34.79 [[ 5.60185399e-01 -8.27036937e-01 -4.69278635e-02 3.34349520e+02] [ 8.23202713e-01 5.62114943e-01 -7.97752143e-02 1.64422367e+02] [ 9.23559022e-02 6.05776579e-03 9.95707633e-01 3.47914878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53710568099996 meters 0.0453014545253634 Centerline is valid? [True, True] Translation: X:334.39, Y:164.47, Z:34.80 [[ 5.63690700e-01 -8.24683806e-01 -4.63617836e-02 3.34385100e+02] [ 8.20929460e-01 5.65557904e-01 -7.88611363e-02 1.64469803e+02] [ 9.12557751e-02 6.39353519e-03 9.95806962e-01 3.47969923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59710568099996 meters 0.04309839201230177 Centerline is valid? [True, True] Translation: X:334.43, Y:164.51, Z:34.79 [[ 5.61163986e-01 -8.26292020e-01 -4.83371319e-02 3.34425750e+02] [ 8.22214865e-01 5.63205562e-01 -8.22326632e-02 1.64514762e+02] [ 9.51719350e-02 6.40250070e-03 9.95440260e-01 3.47945326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65710568099996 meters 0.04530689513051143 Centerline is valid? [True, True] Translation: X:334.46, Y:164.56, Z:34.80 [[ 5.58647571e-01 -8.28023576e-01 -4.78523700e-02 3.34457701e+02] [ 8.24032814e-01 5.60660593e-01 -8.14224800e-02 1.64563127e+02] [ 9.42486712e-02 6.05454755e-03 9.95530276e-01 3.48007242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71710568099996 meters 0.043152278591289575 Centerline is valid? [True, True] Translation: X:334.50, Y:164.61, Z:34.81 [[ 5.52730321e-01 -8.31986132e-01 -4.78358389e-02 3.34495802e+02] [ 8.28010715e-01 5.54770230e-01 -8.14140495e-02 1.64608000e+02] [ 9.42732595e-02 5.39142650e-03 9.95531760e-01 3.48094169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.77710568099997 meters 0.03726136741414406 Centerline is valid? [True, True] Translation: X:334.54, Y:164.65, Z:34.81 [[ 5.45467438e-01 -8.36741950e-01 -4.82512576e-02 3.34539018e+02] [ 8.32710009e-01 5.47577702e-01 -8.21748204e-02 1.64650990e+02] [ 9.51804322e-02 4.64438360e-03 9.95449203e-01 3.48131609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.83710568099997 meters 0.03610570013357829 Centerline is valid? [True, True] Translation: X:334.57, Y:164.70, Z:34.82 [[ 5.42024333e-01 -8.38979990e-01 -4.81892044e-02 3.34573055e+02] [ 8.34965264e-01 5.44145613e-01 -8.20887256e-02 1.64697925e+02] [ 9.50927423e-02 4.25777495e-03 9.95459312e-01 3.48211279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.89710568099997 meters 0.03861652800164645 Centerline is valid? [True, True] Translation: X:334.60, Y:164.75, Z:34.83 [[ 5.46375028e-01 -8.36108474e-01 -4.89586421e-02 3.34602964e+02] [ 8.31950757e-01 5.48542729e-01 -8.34195006e-02 1.64748603e+02] [ 9.66036585e-02 4.84715273e-03 9.95311126e-01 3.48251236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.957105681 meters 0.0516519674423916 Centerline is valid? [True, True] Translation: X:334.62, Y:164.81, Z:34.83 [[ 5.62435788e-01 -8.25426914e-01 -4.83362676e-02 3.34619838e+02] [ 8.21329490e-01 5.64469813e-01 -8.24117587e-02 1.64805724e+02] [ 9.53092476e-02 6.65132038e-03 9.95425491e-01 3.48322732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.017105681 meters 0.05535575317581897 Centerline is valid? [True, True] Translation: X:334.65, Y:164.86, Z:34.84 [[ 5.70730102e-01 -8.19742805e-01 -4.78422954e-02 3.34649036e+02] [ 8.15706896e-01 5.72682153e-01 -8.15929588e-02 1.64857029e+02] [ 9.42836696e-02 7.54226735e-03 9.95516802e-01 3.48379146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.077105681 meters 0.053149496786176705 Centerline is valid? [True, True] Translation: X:334.68, Y:164.90, Z:34.84 [[ 5.71283294e-01 -8.19335726e-01 -4.82116849e-02 3.34683820e+02] [ 8.15230604e-01 5.73262321e-01 -8.22762047e-02 1.64904159e+02] [ 9.50497762e-02 7.69938022e-03 9.95442746e-01 3.48413897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.137105681 meters 0.04781244528815623 Centerline is valid? [True, True] Translation: X:334.73, Y:164.95, Z:34.84 [[ 5.67986168e-01 -8.21572201e-01 -4.91002283e-02 3.34726907e+02] [ 8.17318433e-01 5.70055359e-01 -8.38299824e-02 1.64947992e+02] [ 9.68622314e-02 7.48374878e-03 9.95269663e-01 3.48435796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.197105681 meters 0.0496839962732394 Centerline is valid? [True, True] Translation: X:334.76, Y:165.00, Z:34.85 [[ 5.57714346e-01 -8.28637040e-01 -4.81182369e-02 3.34761666e+02] [ 8.24572139e-01 5.59752235e-01 -8.22084075e-02 1.64995238e+02] [ 9.50552221e-02 6.17185070e-03 9.95452868e-01 3.48482662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.257105681 meters 0.03481887643057477 Centerline is valid? [True, True] Translation: X:334.82, Y:165.03, Z:34.86 [[ 5.41646973e-01 -8.39250254e-01 -4.77238661e-02 3.34818290e+02] [ 8.35289418e-01 5.43728268e-01 -8.15546372e-02 1.65030237e+02] [ 9.43935651e-02 4.31058202e-03 9.95525627e-01 3.48551726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.317105681 meters 0.033563553458756536 Centerline is valid? [True, True] Translation: X:334.85, Y:165.08, Z:34.86 [[ 5.38925917e-01 -8.40933472e-01 -4.88850911e-02 3.34853912e+02] [ 8.36777974e-01 5.41122620e-01 -8.35998398e-02 1.65077954e+02] [ 9.67547320e-02 4.14815287e-03 9.95299611e-01 3.48568724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.377105681 meters 0.03711692814149693 Centerline is valid? [True, True] Translation: X:334.88, Y:165.13, Z:34.86 [[ 5.43237252e-01 -8.38147450e-01 -4.90116351e-02 3.34878616e+02] [ 8.33953214e-01 5.45423547e-01 -8.38760491e-02 1.65130906e+02] [ 9.70325964e-02 4.69118385e-03 9.95270148e-01 3.48631397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43710568099993 meters 0.04328819143828032 Centerline is valid? [True, True] Translation: X:334.90, Y:165.19, Z:34.87 [[ 5.53426721e-01 -8.31341442e-01 -5.08946982e-02 3.34900795e+02] [ 8.26783346e-01 5.55727929e-01 -8.71537024e-02 1.65185996e+02] [ 1.00738090e-01 6.15429895e-03 9.94893945e-01 3.48658596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49710568099994 meters 0.0467096645438392 Centerline is valid? [True, True] Translation: X:334.93, Y:165.24, Z:34.87 [[ 5.60178038e-01 -8.26849103e-01 -5.02108149e-02 3.34930099e+02] [ 8.22389637e-01 5.62381459e-01 -8.60370781e-02 1.65236895e+02] [ 9.93773123e-02 6.90322774e-03 9.95025877e-01 3.48721635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55710568099994 meters 0.04934738844032493 Centerline is valid? [True, True] Translation: X:334.96, Y:165.29, Z:34.88 [[ 5.63934400e-01 -8.24287838e-01 -5.02747639e-02 3.34962188e+02] [ 8.19804962e-01 5.66122904e-01 -8.61665995e-02 1.65286668e+02] [ 9.94877754e-02 7.37680866e-03 9.95011440e-01 3.48782994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61710568099994 meters 0.053120758788345615 Centerline is valid? [True, True] Translation: X:334.99, Y:165.34, Z:34.88 [[ 5.64536499e-01 -8.23887379e-01 -5.00812127e-02 3.34991700e+02] [ 8.19431597e-01 5.66704553e-01 -8.58941653e-02 1.65335372e+02] [ 9.91483700e-02 7.45226334e-03 9.95044755e-01 3.48838195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.67710568099994 meters 0.05028523438185528 Centerline is valid? [True, True] Translation: X:335.03, Y:165.38, Z:34.89 [[ 5.63261603e-01 -8.24831235e-01 -4.88855753e-02 3.35031375e+02] [ 8.20585622e-01 5.65334001e-01 -8.38850645e-02 1.65380290e+02] [ 9.68276993e-02 7.13443570e-03 9.95275588e-01 3.48918635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.73710568099995 meters 0.04863188507533999 Centerline is valid? [True, True] Translation: X:335.07, Y:165.43, Z:34.90 [[ 5.60805199e-01 -8.26506417e-01 -4.88330929e-02 3.35068898e+02] [ 8.22270194e-01 5.62885340e-01 -8.38559573e-02 1.65426779e+02] [ 9.67949189e-02 6.87286008e-03 9.95280617e-01 3.48978211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.79710568099995 meters 0.045201321313425545 Centerline is valid? [True, True] Translation: X:335.11, Y:165.47, Z:34.90 [[ 5.54927709e-01 -8.30539376e-01 -4.75350705e-02 3.35113129e+02] [ 8.26534904e-01 5.56927173e-01 -8.16833875e-02 1.65469461e+02] [ 9.43148421e-02 6.03898012e-03 9.95524104e-01 3.49029063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.85710568099995 meters 0.04142771320113746 Centerline is valid? [True, True] Translation: X:335.16, Y:165.51, Z:34.90 [[ 5.48611878e-01 -8.34665661e-01 -4.85617180e-02 3.35156812e+02] [ 8.30495813e-01 5.50729671e-01 -8.35076915e-02 1.65512695e+02] [ 9.64453815e-02 5.48300801e-03 9.95323176e-01 3.49043492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91710568099995 meters 0.037447212566903185 Centerline is valid? [True, True] Translation: X:335.20, Y:165.56, Z:34.91 [[ 5.40226023e-01 -8.40024341e-01 -5.01492908e-02 3.35198735e+02] [ 8.35592427e-01 5.42528186e-01 -8.63044775e-02 1.65556094e+02] [ 9.97052656e-02 4.71955702e-03 9.95005822e-01 3.49054308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97710568099995 meters 0.03300880909756415 Centerline is valid? [True, True] Translation: X:335.24, Y:165.60, Z:34.91 [[ 5.32181185e-01 -8.45197417e-01 -4.92393507e-02 3.35241062e+02] [ 8.40940658e-01 5.34441269e-01 -8.48017660e-02 1.65598844e+02] [ 9.79897746e-02 3.72253233e-03 9.95180459e-01 3.49121636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03710568099996 meters 0.02815271393362104 Centerline is valid? [True, True] Translation: X:335.28, Y:165.64, Z:34.92 [[ 5.24330229e-01 -8.50034096e-01 -5.01980761e-02 3.35284692e+02] [ 8.45624594e-01 5.26719598e-01 -8.65188531e-02 1.65641725e+02] [ 9.99842855e-02 2.91572239e-03 9.94984744e-01 3.49166372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09710568099996 meters 0.027911700859939506 Centerline is valid? [True, True] Translation: X:335.32, Y:165.69, Z:34.93 [[ 5.21670278e-01 -8.51732644e-01 -4.91082868e-02 3.35316705e+02] [ 8.47514389e-01 5.23970339e-01 -8.47020920e-02 1.65689876e+02] [ 9.78748224e-02 2.56658414e-03 9.95195424e-01 3.49253520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15710568099996 meters 0.029375432040383474 Centerline is valid? [True, True] Translation: X:335.34, Y:165.74, Z:34.93 [[ 5.23292065e-01 -8.50712062e-01 -4.95419318e-02 3.35344768e+02] [ 8.46408003e-01 5.25624449e-01 -8.55127516e-02 1.65741373e+02] [ 9.87871798e-02 2.81545681e-03 9.95104601e-01 3.49287357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21710568099996 meters 0.025619194811812317 Centerline is valid? [True, True] Translation: X:335.38, Y:165.79, Z:34.94 [[ 5.19509908e-01 -8.53120955e-01 -4.78966740e-02 3.35381578e+02] [ 8.49103288e-01 5.21708060e-01 -8.27303248e-02 1.65787300e+02] [ 9.55670546e-02 2.31000003e-03 9.95420314e-01 3.49376330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.27710568099997 meters 0.022848024267580824 Centerline is valid? [True, True] Translation: X:335.42, Y:165.84, Z:34.94 [[ 5.12242879e-01 -8.57529718e-01 -4.74343242e-02 3.35416900e+02] [ 8.53602122e-01 5.14432212e-01 -8.19933925e-02 1.65835274e+02] [ 9.47135151e-02 1.51049164e-03 9.95503425e-01 3.49427581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.33710568099997 meters 0.021032959411696736 Centerline is valid? [True, True] Translation: X:335.45, Y:165.88, Z:34.95 [[ 5.04312391e-01 -8.62290949e-01 -4.60796115e-02 3.35451904e+02] [ 8.58599629e-01 5.06412795e-01 -7.97041941e-02 1.65880845e+02] [ 9.20635100e-02 6.31875409e-04 9.95752937e-01 3.49507444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.39710568099997 meters 0.020554367033022693 Centerline is valid? [True, True] Translation: X:335.49, Y:165.93, Z:34.96 [[ 4.94142286e-01 -8.68242981e-01 -4.44693887e-02 3.35488447e+02] [ 8.64827495e-01 4.96139025e-01 -7.69381064e-02 1.65927327e+02] [ 8.88639700e-02 -4.39978197e-04 9.96043674e-01 3.49594041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.457105681 meters 0.02271894353987866 Centerline is valid? [True, True] Translation: X:335.52, Y:165.97, Z:34.97 [[ 4.85632343e-01 -8.73174394e-01 -4.15656779e-02 3.35521776e+02] [ 8.70204690e-01 4.87406384e-01 -7.19639803e-02 1.65973599e+02] [ 8.30964816e-02 -1.22261144e-03 9.96540757e-01 3.49698549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.517105681 meters 0.022776020834455714 Centerline is valid? [True, True] Translation: X:335.54, Y:166.03, Z:34.97 [[ 4.83744258e-01 -8.74203122e-01 -4.19570458e-02 3.35544551e+02] [ 8.71179301e-01 4.85558373e-01 -7.26614811e-02 1.66027986e+02] [ 8.38934886e-02 -1.40253556e-03 9.96473740e-01 3.49747947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.577105681 meters 0.02194253377352272 Centerline is valid? [True, True] Translation: X:335.56, Y:166.08, Z:34.98 [[ 4.87223801e-01 -8.72251712e-01 -4.23074298e-02 3.35564422e+02] [ 8.69165227e-01 4.89056082e-01 -7.33209139e-02 1.66083977e+02] [ 8.46449985e-02 -1.04845248e-03 9.96410621e-01 3.49763238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.637105681 meters 0.02069657044173164 Centerline is valid? [True, True] Translation: X:335.58, Y:166.14, Z:34.98 [[ 4.92999775e-01 -8.68928157e-01 -4.37616165e-02 3.35579541e+02] [ 8.65607407e-01 4.94938019e-01 -7.58958131e-02 1.66142767e+02] [ 8.76072968e-02 -4.63760624e-04 9.96154981e-01 3.49807267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.697105681 meters 0.02214527629922513 Centerline is valid? [True, True] Translation: X:335.59, Y:166.21, Z:34.98 [[ 5.07747776e-01 -8.60243853e-01 -4.66123253e-02 3.35588421e+02] [ 8.56432206e-01 5.09881532e-01 -8.08993181e-02 1.66205736e+02] [ 9.33599049e-02 1.15615230e-03 9.95631755e-01 3.49785123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.757105681 meters 0.025862227547003836 Centerline is valid? [True, True] Translation: X:335.61, Y:166.26, Z:34.98 [[ 5.17894018e-01 -8.54180734e-01 -4.64871934e-02 3.35605195e+02] [ 8.50359320e-01 5.19971207e-01 -8.07401404e-02 1.66263508e+02] [ 9.31386744e-02 2.28401754e-03 9.95650526e-01 3.49849229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.817105681 meters 0.027568470702235465 Centerline is valid? [True, True] Translation: X:335.63, Y:166.32, Z:34.99 [[ 5.23391410e-01 -8.50800315e-01 -4.69068848e-02 3.35629088e+02] [ 8.46893208e-01 5.25480963e-01 -8.14963284e-02 1.66318232e+02] [ 9.39857769e-02 2.92935606e-03 9.95569230e-01 3.49899902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87710568099993 meters 0.027546497209906994 Centerline is valid? [True, True] Translation: X:335.66, Y:166.37, Z:35.00 [[ 5.23528202e-01 -8.50789388e-01 -4.55591879e-02 3.35659766e+02] [ 8.47099191e-01 5.25498960e-01 -7.92073473e-02 1.66367119e+02] [ 9.13300764e-02 2.87412890e-03 9.95816528e-01 3.49973195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93710568099993 meters 0.02623582926578121 Centerline is valid? [True, True] Translation: X:335.70, Y:166.41, Z:35.00 [[ 5.19582506e-01 -8.53252229e-01 -4.46615319e-02 3.35696196e+02] [ 8.49709146e-01 5.21492788e-01 -7.77151221e-02 1.66413340e+02] [ 8.96012680e-02 2.43010576e-03 9.95974752e-01 3.50040651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99710568099994 meters 0.023555398367255 Centerline is valid? [True, True] Translation: X:335.73, Y:166.46, Z:35.01 [[ 5.13239694e-01 -8.57085312e-01 -4.46070046e-02 3.35733531e+02] [ 8.53560664e-01 5.15171398e-01 -7.76699643e-02 1.66459106e+02] [ 8.95500385e-02 1.78852423e-03 9.95980719e-01 3.50094203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05710568099994 meters 0.01991320154129965 Centerline is valid? [True, True] Translation: X:335.78, Y:166.50, Z:35.02 [[ 5.00073079e-01 -8.64877043e-01 -4.37563235e-02 3.35780368e+02] [ 8.61512028e-01 5.01983590e-01 -7.62200859e-02 1.66499211e+02] [ 8.78859589e-02 4.19014099e-04 9.96130455e-01 3.50167967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11710568099994 meters 0.01939585529512884 Centerline is valid? [True, True] Translation: X:335.82, Y:166.55, Z:35.02 [[ 4.96041949e-01 -8.67205797e-01 -4.35487266e-02 3.35815424e+02] [ 8.63877540e-01 4.97949903e-01 -7.59044810e-02 1.66545718e+02] [ 8.75098901e-02 3.10399030e-05 9.96163650e-01 3.50238657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.17710568099994 meters 0.019185480379387606 Centerline is valid? [True, True] Translation: X:335.85, Y:166.59, Z:35.03 [[ 4.91190511e-01 -8.69877647e-01 -4.52190252e-02 3.35851707e+02] [ 8.66296812e-01 4.93267354e-01 -7.88489123e-02 1.66592153e+02] [ 9.08939753e-02 -4.43259838e-04 9.95860477e-01 3.50259415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.23710568099995 meters 0.020879949719994594 Centerline is valid? [True, True] Translation: X:335.89, Y:166.64, Z:35.03 [[ 4.82419802e-01 -8.74760229e-01 -4.54497143e-02 3.35892281e+02] [ 8.71158646e-01 4.84554189e-01 -7.93085775e-02 1.66636172e+02] [ 9.13988389e-02 -1.33388342e-03 9.95813473e-01 3.50305024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.29710568099995 meters 0.022021090760695416 Centerline is valid? [True, True] Translation: X:335.92, Y:166.68, Z:35.04 [[ 4.76289782e-01 -8.78111213e-01 -4.54834212e-02 3.35924049e+02] [ 8.74514167e-01 4.78452616e-01 -7.94233314e-02 1.66684946e+02] [ 9.15041797e-02 -1.94737504e-03 9.95802788e-01 3.50371660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.35710568099995 meters 0.02061892737881341 Centerline is valid? [True, True] Translation: X:335.95, Y:166.74, Z:35.05 [[ 4.80927726e-01 -8.75638508e-01 -4.43365013e-02 3.35946345e+02] [ 8.72208628e-01 4.82964972e-01 -7.74399438e-02 1.66739557e+02] [ 8.92223740e-02 -1.42766295e-03 9.96010708e-01 3.50460679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41710568099995 meters 0.01875746730917503 Centerline is valid? [True, True] Translation: X:335.96, Y:166.80, Z:35.05 [[ 4.91264412e-01 -8.69920239e-01 -4.35666766e-02 3.35962759e+02] [ 8.66580842e-01 4.93192315e-01 -7.61510711e-02 1.66796233e+02] [ 8.77321080e-02 -3.43736121e-04 9.96144045e-01 3.50510739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47710568099995 meters 0.019516314069839637 Centerline is valid? [True, True] Translation: X:335.98, Y:166.86, Z:35.06 [[ 5.02770547e-01 -8.63390197e-01 -4.21799173e-02 3.35977233e+02] [ 8.60235431e-01 5.04536165e-01 -7.37445722e-02 1.66855359e+02] [ 8.49516344e-02 7.91939573e-04 9.96384761e-01 3.50581243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53710568099996 meters 0.024038511783282278 Centerline is valid? [True, True] Translation: X:335.99, Y:166.92, Z:35.06 [[ 5.17018836e-01 -8.54907586e-01 -4.27146512e-02 3.35991129e+02] [ 8.51637486e-01 5.18775381e-01 -7.47375137e-02 1.66915020e+02] [ 8.60529769e-02 2.26330416e-03 9.96287992e-01 3.50611502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59710568099996 meters 0.027692154244852028 Centerline is valid? [True, True] Translation: X:336.02, Y:166.97, Z:35.06 [[ 5.23002775e-01 -8.51170325e-01 -4.44654348e-02 3.36016844e+02] [ 8.47607162e-01 5.24880830e-01 -7.78602220e-02 1.66967979e+02] [ 8.96113648e-02 3.03189121e-03 9.95972194e-01 3.50598523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65710568099996 meters 0.02559137992079619 Centerline is valid? [True, True] Translation: X:336.06, Y:167.01, Z:35.06 [[ 5.19512533e-01 -8.53309221e-01 -4.43858366e-02 3.36057074e+02] [ 8.49761641e-01 5.21398264e-01 -7.77753428e-02 1.67013387e+02] [ 8.95091153e-02 2.68788401e-03 9.95982376e-01 3.50610473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71710568099996 meters 0.023444050197933206 Centerline is valid? [True, True] Translation: X:336.09, Y:167.06, Z:35.06 [[ 5.13865807e-01 -8.56621705e-01 -4.62729566e-02 3.36094457e+02] [ 8.52775549e-01 5.15940229e-01 -8.11143879e-02 1.67059722e+02] [ 9.33584251e-02 2.22146444e-03 9.95630087e-01 3.50625997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.77710568099997 meters 0.021063501349510384 Centerline is valid? [True, True] Translation: X:336.14, Y:167.10, Z:35.07 [[ 5.07676560e-01 -8.60267432e-01 -4.69516313e-02 3.36138465e+02] [ 8.56316740e-01 5.09840517e-01 -8.23667951e-02 1.67102883e+02] [ 9.47953153e-02 1.61022331e-03 9.95495482e-01 3.50650413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.83710568099997 meters 0.01855076791106252 Centerline is valid? [True, True] Translation: X:336.18, Y:167.15, Z:35.07 [[ 5.00398391e-01 -8.64479017e-01 -4.77229566e-02 3.36180769e+02] [ 8.60410226e-01 5.02668168e-01 -8.37792038e-02 1.67145799e+02] [ 9.64141748e-02 8.61658879e-04 9.95340929e-01 3.50707045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.89710568099997 meters 0.01745011408160797 Centerline is valid? [True, True] Translation: X:336.22, Y:167.19, Z:35.08 [[ 4.93960144e-01 -8.68173998e-01 -4.77209175e-02 3.36217090e+02] [ 8.64116444e-01 4.96259891e-01 -8.38384934e-02 1.67191446e+02] [ 9.64683773e-02 1.76444797e-04 9.95336034e-01 3.50774582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.957105681 meters 0.017803057714087706 Centerline is valid? [True, True] Translation: X:336.26, Y:167.24, Z:35.08 [[ 4.87728953e-01 -8.71637767e-01 -4.86628456e-02 3.36257161e+02] [ 8.67430966e-01 4.90150344e-01 -8.55345505e-02 1.67235905e+02] [ 9.84072551e-02 -4.93982383e-04 9.95146104e-01 3.50784363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.017105681 meters 0.01967059125091589 Centerline is valid? [True, True] Translation: X:336.29, Y:167.28, Z:35.08 [[ 4.80723417e-01 -8.75503191e-01 -4.89812116e-02 3.36292361e+02] [ 8.71254385e-01 4.83210702e-01 -8.61580782e-02 1.67283474e+02] [ 9.90999180e-02 -1.25688960e-03 9.95076694e-01 3.50841220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.077105681 meters 0.01915923263030853 Centerline is valid? [True, True] Translation: X:336.32, Y:167.33, Z:35.10 [[ 4.79951762e-01 -8.76033511e-01 -4.70275785e-02 3.36319962e+02] [ 8.72114601e-01 4.82248526e-01 -8.27797185e-02 1.67333891e+02] [ 9.51967879e-02 -1.28316615e-03 9.95457646e-01 3.50970823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.137105681 meters 0.018508289262930355 Centerline is valid? [True, True] Translation: X:336.34, Y:167.39, Z:35.11 [[ 4.85688848e-01 -8.72995924e-01 -4.45472856e-02 3.36342363e+02] [ 8.69462260e-01 4.87727109e-01 -7.84706647e-02 1.67388287e+02] [ 9.02314893e-02 -6.19856935e-04 9.95920626e-01 3.51064493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.197105681 meters 0.01845275211386453 Centerline is valid? [True, True] Translation: X:336.36, Y:167.44, Z:35.12 [[ 4.92871087e-01 -8.69096764e-01 -4.18199298e-02 3.36361209e+02] [ 8.65964722e-01 4.94642094e-01 -7.37176968e-02 1.67443468e+02] [ 8.47537093e-02 1.18737464e-04 9.96401924e-01 3.51157826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.257105681 meters 0.020292066038955187 Centerline is valid? [True, True] Translation: X:336.38, Y:167.50, Z:35.12 [[ 5.02782628e-01 -8.63414079e-01 -4.15422343e-02 3.36376086e+02] [ 8.60298303e-01 5.04494689e-01 -7.32935070e-02 1.67502364e+02] [ 8.42404824e-02 1.11198835e-03 9.96444833e-01 3.51199258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.317105681 meters 0.023746960204915287 Centerline is valid? [True, True] Translation: X:336.40, Y:167.56, Z:35.12 [[ 5.11446887e-01 -8.58213373e-01 -4.34958340e-02 3.36395979e+02] [ 8.54772510e-01 5.13288799e-01 -7.68021094e-02 1.67559749e+02] [ 8.82385218e-02 2.10115659e-03 9.96097158e-01 3.51200880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37710568099993 meters 0.028622250101530515 Centerline is valid? [True, True] Translation: X:336.42, Y:167.61, Z:35.12 [[ 5.19543944e-01 -8.53198479e-01 -4.61134047e-02 3.36419083e+02] [ 8.49304374e-01 5.21576747e-01 -8.14848325e-02 1.67614969e+02] [ 9.35744147e-02 3.17063493e-03 9.95607240e-01 3.51196193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43710568099993 meters 0.03257801958569008 Centerline is valid? [True, True] Translation: X:336.44, Y:167.67, Z:35.12 [[ 5.22579260e-01 -8.51286589e-01 -4.71387434e-02 3.36443393e+02] [ 8.47203275e-01 5.24688481e-01 -8.33583175e-02 1.67667352e+02] [ 9.56949734e-02 3.62523011e-03 9.95404104e-01 3.51225787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49710568099994 meters 0.030362734041941567 Centerline is valid? [True, True] Translation: X:336.48, Y:167.71, Z:35.12 [[ 5.19159605e-01 -8.53285897e-01 -4.87491786e-02 3.36481931e+02] [ 8.48923970e-01 5.21432372e-01 -8.62344164e-02 1.67713034e+02] [ 9.90020112e-02 3.38507933e-03 9.95081476e-01 3.51211195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55710568099994 meters 0.025701035706769355 Centerline is valid? [True, True] Translation: X:336.53, Y:167.75, Z:35.12 [[ 5.08080034e-01 -8.59863778e-01 -4.98895033e-02 3.36525100e+02] [ 8.55319246e-01 5.10518800e-01 -8.83150192e-02 1.67754766e+02] [ 1.01408415e-01 2.19964564e-03 9.94842447e-01 3.51222091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61710568099994 meters 0.021631158071685953 Centerline is valid? [True, True] Translation: X:336.57, Y:167.80, Z:35.13 [[ 4.97191044e-01 -8.66165902e-01 -5.05736669e-02 3.36569884e+02] [ 8.61523632e-01 4.99755651e-01 -8.95618308e-02 1.67795759e+02] [ 1.02849880e-01 9.58930996e-04 9.94696427e-01 3.51277843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.67710568099994 meters 0.021033464087504953 Centerline is valid? [True, True] Translation: X:336.61, Y:167.84, Z:35.14 [[ 4.94651084e-01 -8.67673044e-01 -4.96366210e-02 3.36607702e+02] [ 8.63202268e-01 4.97134834e-01 -8.79704558e-02 1.67840965e+02] [ 1.01005686e-01 6.68237544e-04 9.94885624e-01 3.51383761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.73710568099995 meters 0.0214197490229852 Centerline is valid? [True, True] Translation: X:336.64, Y:167.89, Z:35.14 [[ 4.96286323e-01 -8.66736008e-01 -4.96847963e-02 3.36639027e+02] [ 8.62244813e-01 4.98766371e-01 -8.81248561e-02 1.67889891e+02] [ 1.01162091e-01 8.94702928e-04 9.94869555e-01 3.51446318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.79710568099995 meters 0.0207432427671053 Centerline is valid? [True, True] Translation: X:336.68, Y:167.94, Z:35.15 [[ 4.92627607e-01 -8.68909721e-01 -4.81034084e-02 3.36676299e+02] [ 8.64704524e-01 4.94970382e-01 -8.53838778e-02 1.67936239e+02] [ 9.80006439e-02 4.67220486e-04 9.95186242e-01 3.51536673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.85710568099995 meters 0.020470073485337113 Centerline is valid? [True, True] Translation: X:336.71, Y:167.98, Z:35.16 [[ 4.86069326e-01 -8.72535395e-01 -4.91792085e-02 3.36714503e+02] [ 8.68151512e-01 4.88550846e-01 -8.73557277e-02 1.67981489e+02] [ 1.00247508e-01 -2.34064497e-04 9.94962503e-01 3.51569087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91710568099995 meters 0.020269910582602513 Centerline is valid? [True, True] Translation: X:336.74, Y:168.03, Z:35.16 [[ 4.85980753e-01 -8.72590574e-01 -4.90754247e-02 3.36742911e+02] [ 8.68221471e-01 4.88452290e-01 -8.72114607e-02 1.68031879e+02] [ 1.00070902e-01 -2.25246013e-04 9.94980283e-01 3.51632043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97710568099995 meters 0.020421201521609356 Centerline is valid? [True, True] Translation: X:336.77, Y:168.08, Z:35.17 [[ 4.89326430e-01 -8.70796873e-01 -4.76702214e-02 3.36768736e+02] [ 8.66659718e-01 4.91642935e-01 -8.47830000e-02 1.68083336e+02] [ 9.72654989e-02 1.72702077e-04 9.95258455e-01 3.51731241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03710568099996 meters 0.020973415488473854 Centerline is valid? [True, True] Translation: X:336.79, Y:168.14, Z:35.18 [[ 4.94488351e-01 -8.67942233e-01 -4.64494424e-02 3.36792201e+02] [ 8.63999905e-01 4.96664623e-01 -8.26342314e-02 1.68136239e+02] [ 9.47915341e-02 7.29351021e-04 9.95496877e-01 3.51833245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09710568099996 meters 0.023675774212985667 Centerline is valid? [True, True] Translation: X:336.81, Y:168.19, Z:35.19 [[ 5.03665358e-01 -8.62709005e-01 -4.53252679e-02 3.36811906e+02] [ 8.58931201e-01 5.05697827e-01 -8.06653511e-02 1.68191685e+02] [ 9.25116143e-02 1.69705615e-03 9.95710159e-01 3.51919155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15710568099996 meters 0.029021327724849503 Centerline is valid? [True, True] Translation: X:336.83, Y:168.25, Z:35.20 [[ 5.14083104e-01 -8.56552369e-01 -4.51287159e-02 3.36828970e+02] [ 8.52779645e-01 5.16052385e-01 -8.03543021e-02 1.68248775e+02] [ 9.21164493e-02 2.82393873e-03 9.95744237e-01 3.51973941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21710568099996 meters 0.032818319356497413 Centerline is valid? [True, True] Translation: X:336.85, Y:168.30, Z:35.20 [[ 5.21858253e-01 -8.51743679e-01 -4.68686298e-02 3.36854660e+02] [ 8.47647699e-01 5.23944487e-01 -8.35197694e-02 1.68302011e+02] [ 9.56939959e-02 3.85739477e-03 9.95403325e-01 3.51982529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.27710568099997 meters 0.03395905779015927 Centerline is valid? [True, True] Translation: X:336.89, Y:168.35, Z:35.20 [[ 5.22345545e-01 -8.51353036e-01 -4.85091696e-02 3.36889563e+02] [ 8.46955862e-01 5.24577123e-01 -8.65136400e-02 1.68349882e+02] [ 9.91004507e-02 4.10488887e-03 9.95068968e-01 3.51986483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.33710568099997 meters 0.031705185086231644 Centerline is valid? [True, True] Translation: X:336.93, Y:168.39, Z:35.20 [[ 5.15623943e-01 -8.55432988e-01 -4.86451686e-02 3.36928410e+02] [ 8.51022202e-01 5.17902547e-01 -8.68225924e-02 1.68394267e+02] [ 9.94643664e-02 3.36968895e-03 9.95035419e-01 3.52034565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.39710568099997 meters 0.026633940246947808 Centerline is valid? [True, True] Translation: X:336.97, Y:168.44, Z:35.21 [[ 5.07861499e-01 -8.60100577e-01 -4.79968289e-02 3.36969970e+02] [ 8.55822118e-01 5.10118580e-01 -8.57177748e-02 1.68437623e+02] [ 9.82099818e-02 2.45600984e-03 9.95162684e-01 3.52116768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.457105681 meters 0.023202985345251326 Centerline is valid? [True, True] Translation: X:337.01, Y:168.48, Z:35.22 [[ 5.00078073e-01 -8.64656685e-01 -4.78616469e-02 3.37011991e+02] [ 8.60416321e-01 5.02360693e-01 -8.55423195e-02 1.68479791e+02] [ 9.80085485e-02 1.59689618e-03 9.95184292e-01 3.52181638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.517105681 meters 0.020168182940568675 Centerline is valid? [True, True] Translation: X:337.05, Y:168.52, Z:35.22 [[ 4.92552129e-01 -8.68889670e-01 -4.92254144e-02 3.37052538e+02] [ 8.64416986e-01 4.95005121e-01 -8.80522861e-02 1.68524879e+02] [ 1.00874554e-01 8.19056593e-04 9.94898816e-01 3.52214647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.577105681 meters 0.020424956924921762 Centerline is valid? [True, True] Translation: X:337.08, Y:168.57, Z:35.22 [[ 4.91308080e-01 -8.69478658e-01 -5.12175194e-02 3.37084305e+02] [ 8.64631759e-01 4.93969924e-01 -9.16822526e-02 1.68573179e+02] [ 1.05015676e-01 7.59937619e-04 9.94470276e-01 3.52196032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.637105681 meters 0.020932357335617085 Centerline is valid? [True, True] Translation: X:337.11, Y:168.62, Z:35.23 [[ 4.93573427e-01 -8.68205809e-01 -5.10288722e-02 3.37112094e+02] [ 8.63382769e-01 4.96203152e-01 -9.13927043e-02 1.68624449e+02] [ 1.04668364e-01 1.05156130e-03 9.94506625e-01 3.52290715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.697105681 meters 0.022501050929071044 Centerline is valid? [True, True] Translation: X:337.14, Y:168.68, Z:35.24 [[ 4.99391818e-01 -8.65003536e-01 -4.87513548e-02 3.37136361e+02] [ 8.60580686e-01 5.01762948e-01 -8.73774929e-02 1.68676746e+02] [ 1.00043464e-01 1.68113070e-03 9.94981648e-01 3.52420872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.757105681 meters 0.022524952195411726 Centerline is valid? [True, True] Translation: X:337.16, Y:168.73, Z:35.25 [[ 4.98302190e-01 -8.65622895e-01 -4.89073774e-02 3.37164741e+02] [ 8.61167629e-01 5.00693973e-01 -8.77260457e-02 1.68726419e+02] [ 1.00425303e-01 1.59663040e-03 9.94943320e-01 3.52480788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.817105681 meters 0.020812693476911302 Centerline is valid? [True, True] Translation: X:337.20, Y:168.77, Z:35.26 [[ 4.93799040e-01 -8.68280726e-01 -4.74456450e-02 3.37200230e+02] [ 8.64093580e-01 4.96072024e-01 -8.51752950e-02 1.68773283e+02] [ 9.74925241e-02 1.06200168e-03 9.95235691e-01 3.52557342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87710568099993 meters 0.02020017344768908 Centerline is valid? [True, True] Translation: X:337.23, Y:168.82, Z:35.26 [[ 4.91428861e-01 -8.69687818e-01 -4.62684871e-02 3.37229010e+02] [ 8.65706424e-01 4.93601525e-01 -8.31259355e-02 1.68823881e+02] [ 9.51318093e-02 7.95557321e-04 9.95464367e-01 3.52640934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93710568099993 meters 0.019964025872696915 Centerline is valid? [True, True] Translation: X:337.26, Y:168.87, Z:35.27 [[ 4.89309302e-01 -8.70891466e-01 -4.60918821e-02 3.37256654e+02] [ 8.66939732e-01 4.91475030e-01 -8.28721631e-02 1.68872840e+02] [ 9.48256688e-02 5.91236348e-04 9.95493718e-01 3.52710658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99710568099994 meters 0.019112909670876782 Centerline is valid? [True, True] Translation: X:337.29, Y:168.92, Z:35.27 [[ 4.84386265e-01 -8.73610105e-01 -4.66404388e-02 3.37290627e+02] [ 8.69569933e-01 4.86626526e-01 -8.39211333e-02 1.68920280e+02] [ 9.60108248e-02 9.31210531e-05 9.95380286e-01 3.52730786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05710568099994 meters 0.019235029853350245 Centerline is valid? [True, True] Translation: X:337.32, Y:168.97, Z:35.28 [[ 4.83550060e-01 -8.74098036e-01 -4.61731824e-02 3.37319317e+02] [ 8.70133938e-01 4.85749547e-01 -8.31523164e-02 1.68969682e+02] [ 9.51118789e-02 3.14545637e-05 9.95466589e-01 3.52786103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11710568099994 meters 0.019211821689236266 Centerline is valid? [True, True] Translation: X:337.35, Y:169.02, Z:35.28 [[ 4.85603095e-01 -8.72946778e-01 -4.64064245e-02 3.37346410e+02] [ 8.68932225e-01 4.87815376e-01 -8.36238451e-02 1.69021093e+02] [ 9.56369336e-02 2.83960364e-04 9.95416243e-01 3.52823454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.17710568099994 meters 0.019266360749823415 Centerline is valid? [True, True] Translation: X:337.38, Y:169.07, Z:35.29 [[ 4.85011915e-01 -8.73254177e-01 -4.68036915e-02 3.37375118e+02] [ 8.69164635e-01 4.87264892e-01 -8.44142332e-02 1.69071684e+02] [ 9.65208774e-02 2.61795455e-04 9.95330926e-01 3.52875130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.23710568099995 meters 0.019448390140720626 Centerline is valid? [True, True] Translation: X:337.40, Y:169.12, Z:35.29 [[ 4.85986342e-01 -8.72675751e-01 -4.74795753e-02 3.37402152e+02] [ 8.68456455e-01 4.88299966e-01 -8.57118911e-02 1.69123935e+02] [ 9.79829639e-02 4.20864703e-04 9.95188003e-01 3.52932906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.29710568099995 meters 0.020629240802821507 Centerline is valid? [True, True] Translation: X:337.42, Y:169.18, Z:35.30 [[ 4.91185552e-01 -8.69849025e-01 -4.58195165e-02 3.37421062e+02] [ 8.65901919e-01 4.93317044e-01 -8.27777801e-02 1.69178949e+02] [ 9.46077197e-02 9.84042329e-04 9.95514144e-01 3.53030777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.35710568099995 meters 0.023717964726223225 Centerline is valid? [True, True] Translation: X:337.44, Y:169.24, Z:35.31 [[ 5.00080548e-01 -8.64818269e-01 -4.48197238e-02 3.37437870e+02] [ 8.61019176e-01 5.02081368e-01 -8.09955512e-02 1.69236642e+02] [ 9.25495806e-02 1.91365799e-03 9.95706238e-01 3.53119164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41710568099995 meters 0.0315103099950333 Centerline is valid? [True, True] Translation: X:337.45, Y:169.29, Z:35.31 [[ 5.13158917e-01 -8.57021991e-01 -4.67036698e-02 3.37453979e+02] [ 8.52856559e-01 5.15267854e-01 -8.44673249e-02 1.69294954e+02] [ 9.64552547e-02 3.51362988e-03 9.95331120e-01 3.53106423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47710568099995 meters 0.03610027954851422 Centerline is valid? [True, True] Translation: X:337.48, Y:169.35, Z:35.31 [[ 5.17897679e-01 -8.54133989e-01 -4.72982310e-02 3.37476110e+02] [ 8.49842936e-01 5.20036519e-01 -8.56095989e-02 1.69348903e+02] [ 9.77188756e-02 4.14094509e-03 9.95205443e-01 3.53130819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53710568099996 meters 0.03452717810222596 Centerline is valid? [True, True] Translation: X:337.51, Y:169.40, Z:35.32 [[ 5.16515474e-01 -8.55000552e-01 -4.67527621e-02 3.37508725e+02] [ 8.50805213e-01 5.18611927e-01 -8.46885999e-02 1.69398262e+02] [ 9.66553397e-02 3.96547862e-03 9.95310012e-01 3.53197671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59710568099996 meters 0.029728358019317676 Centerline is valid? [True, True] Translation: X:337.55, Y:169.44, Z:35.33 [[ 5.08074585e-01 -8.60085120e-01 -4.59761029e-02 3.37548644e+02] [ 8.56043118e-01 5.10141818e-01 -8.33397074e-02 1.69440790e+02] [ 9.51335750e-02 2.98526078e-03 9.95460040e-01 3.53274174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65710568099996 meters 0.020389497506032604 Centerline is valid? [True, True] Translation: X:337.60, Y:169.48, Z:35.33 [[ 4.90618088e-01 -8.70094982e-01 -4.72081897e-02 3.37600731e+02] [ 8.65872379e-01 4.92882784e-01 -8.56246685e-02 1.69478814e+02] [ 9.77696984e-02 1.13274363e-03 9.95208422e-01 3.53300471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71710568099996 meters 0.019914935104612435 Centerline is valid? [True, True] Translation: X:337.63, Y:169.53, Z:35.33 [[ 4.87825670e-01 -8.71545424e-01 -4.93425676e-02 3.37631469e+02] [ 8.66931159e-01 4.90313911e-01 -8.95691617e-02 1.69527772e+02] [ 1.02256940e-01 9.17527001e-04 9.94757597e-01 3.53315773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.77710568099997 meters 0.020705968746766626 Centerline is valid? [True, True] Translation: X:337.66, Y:169.58, Z:35.34 [[ 4.90441207e-01 -8.70172094e-01 -4.76229914e-02 3.37655377e+02] [ 8.65864397e-01 4.92746520e-01 -8.64853410e-02 1.69580233e+02] [ 9.87231936e-02 1.18092237e-03 9.95114233e-01 3.53415553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.83710568099997 meters 0.021254824856851443 Centerline is valid? [True, True] Translation: X:337.68, Y:169.63, Z:35.35 [[ 4.91251516e-01 -8.69706011e-01 -4.77849519e-02 3.37680666e+02] [ 8.65359156e-01 4.93568354e-01 -8.68551138e-02 1.69632203e+02] [ 9.91235546e-02 1.31656071e-03 9.95074262e-01 3.53455022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.89710568099997 meters 0.020409388990376615 Centerline is valid? [True, True] Translation: X:337.71, Y:169.68, Z:35.35 [[ 4.88251339e-01 -8.71307996e-01 -4.93255161e-02 3.37707587e+02] [ 8.66675797e-01 4.90735415e-01 -8.97319119e-02 1.69683211e+02] [ 1.02389910e-01 1.06249516e-03 9.94743775e-01 3.53480370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.957105681 meters 0.019040477416970403 Centerline is valid? [True, True] Translation: X:337.74, Y:169.73, Z:35.36 [[ 4.81127371e-01 -8.75284546e-01 -4.89225551e-02 3.37744546e+02] [ 8.70740564e-01 4.83608207e-01 -8.90728536e-02 1.69729607e+02] [ 1.01623441e-01 2.56534666e-04 9.94822904e-01 3.53550685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.017105681 meters 0.01931921932413304 Centerline is valid? [True, True] Translation: X:337.78, Y:169.78, Z:35.36 [[ 4.75083360e-01 -8.78571240e-01 -4.90752202e-02 3.37775689e+02] [ 8.74009268e-01 4.77611146e-01 -8.94169557e-02 1.69777316e+02] [ 1.01998038e-01 -4.11689527e-04 9.94784515e-01 3.53624523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.077105681 meters 0.021241935954264466 Centerline is valid? [True, True] Translation: X:337.81, Y:169.82, Z:35.37 [[ 4.67238504e-01 -8.82819912e-01 -4.81371243e-02 3.37808116e+02] [ 8.78446668e-01 4.69709886e-01 -8.77728578e-02 1.69824250e+02] [ 1.00098110e-01 -1.27503759e-03 9.94976755e-01 3.53671835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.137105681 meters 0.022964703712829344 Centerline is valid? [True, True] Translation: X:337.84, Y:169.87, Z:35.37 [[ 4.63711382e-01 -8.84689483e-01 -4.79194392e-02 3.37837013e+02] [ 8.80359191e-01 4.66177897e-01 -8.74406257e-02 1.69874527e+02] [ 9.96967853e-02 -1.63910538e-03 9.95016515e-01 3.53718336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.197105681 meters 0.024145847307791225 Centerline is valid? [True, True] Translation: X:337.86, Y:169.93, Z:35.38 [[ 4.59083814e-01 -8.87067992e-01 -4.85018405e-02 3.37857595e+02] [ 8.82637912e-01 4.61633794e-01 -8.85695030e-02 1.69929528e+02] [ 1.00957260e-01 -2.14873791e-03 9.94888443e-01 3.53799649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.257105681 meters 0.02723105638105654 Centerline is valid? [True, True] Translation: X:337.88, Y:169.98, Z:35.39 [[ 4.52936974e-01 -8.90261282e-01 -4.77801989e-02 3.37882547e+02] [ 8.85973716e-01 4.55441647e-01 -8.73125455e-02 1.69981973e+02] [ 9.94920712e-02 -2.78492021e-03 9.95034458e-01 3.53853594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.317105681 meters 0.03333119704587975 Centerline is valid? [True, True] Translation: X:337.91, Y:170.03, Z:35.39 [[ 4.46522082e-01 -8.93563757e-01 -4.64956054e-02 3.37909266e+02] [ 8.89517900e-01 4.48923417e-01 -8.50039451e-02 1.70032061e+02] [ 9.68294106e-02 -3.40253470e-03 9.95295176e-01 3.53926105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37710568099993 meters 0.029453018128472626 Centerline is valid? [True, True] Translation: X:337.92, Y:170.09, Z:35.40 [[ 4.46437709e-01 -8.93595436e-01 -4.66965602e-02 3.37919867e+02] [ 8.89507610e-01 4.48860436e-01 -8.54430782e-02 1.70091492e+02] [ 9.73117831e-02 -3.39193364e-03 9.95248166e-01 3.53982045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43710568099993 meters 0.02799669114252546 Centerline is valid? [True, True] Translation: X:337.93, Y:170.15, Z:35.40 [[ 4.50046801e-01 -8.91725315e-01 -4.77895275e-02 3.37934200e+02] [ 8.87425278e-01 4.52566933e-01 -8.75188384e-02 1.70150023e+02] [ 9.96707237e-02 -3.02206145e-03 9.95015886e-01 3.53977572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49710568099994 meters 0.025168221976514693 Centerline is valid? [True, True] Translation: X:337.94, Y:170.21, Z:35.40 [[ 4.54244511e-01 -8.89516140e-01 -4.92235791e-02 3.37943096e+02] [ 8.84932944e-01 4.56896474e-01 -9.02180472e-02 1.70212881e+02] [ 1.02740489e-01 -2.57851405e-03 9.94704852e-01 3.53986908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55710568099994 meters 0.025447685253524702 Centerline is valid? [True, True] Translation: X:337.96, Y:170.27, Z:35.40 [[ 4.54788302e-01 -8.89191759e-01 -5.00561335e-02 3.37959001e+02] [ 8.84443135e-01 4.57527783e-01 -9.18077802e-02 1.70269215e+02] [ 1.04536793e-01 -2.51869917e-03 9.94517830e-01 3.53991824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61710568099994 meters 0.02425739024583893 Centerline is valid? [True, True] Translation: X:337.97, Y:170.33, Z:35.40 [[ 4.58961969e-01 -8.87004846e-01 -5.07573955e-02 3.37970969e+02] [ 8.82103038e-01 4.61755680e-01 -9.31446318e-02 1.70329290e+02] [ 1.06057255e-01 -2.02340910e-03 9.94357966e-01 3.54030012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.67710568099994 meters 0.021831512579276274 Centerline is valid? [True, True] Translation: X:337.98, Y:170.39, Z:35.41 [[ 4.69456360e-01 -8.81625189e-01 -4.84536198e-02 3.37978874e+02] [ 8.77123690e-01 4.71949677e-01 -8.89805304e-02 1.70390853e+02] [ 1.01315147e-01 -7.27341880e-04 9.94854116e-01 3.54129672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.73710568099995 meters 0.022242983046663497 Centerline is valid? [True, True] Translation: X:337.99, Y:170.45, Z:35.42 [[ 4.82464577e-01 -8.74695974e-01 -4.62048064e-02 3.37986288e+02] [ 8.70565147e-01 4.84671436e-01 -8.49112736e-02 1.70452989e+02] [ 9.66656991e-02 7.42387654e-04 9.95316629e-01 3.54234137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.79710568099995 meters 0.024623226275282958 Centerline is valid? [True, True] Translation: X:338.00, Y:170.51, Z:35.43 [[ 4.92211601e-01 -8.69363015e-01 -4.39964610e-02 3.38003327e+02] [ 8.65591277e-01 4.94170932e-01 -8.09124924e-02 1.70509999e+02] [ 9.20841005e-02 1.74311459e-03 9.95749708e-01 3.54314817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.85710568099995 meters 0.027273792816737693 Centerline is valid? [True, True] Translation: X:338.03, Y:170.56, Z:35.44 [[ 4.98397025e-01 -8.65832367e-01 -4.39854220e-02 3.38025841e+02] [ 8.62042972e-01 5.00328300e-01 -8.09537316e-02 1.70564640e+02] [ 9.20995125e-02 2.42977509e-03 9.95746843e-01 3.54383969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91710568099995 meters 0.03200138258549772 Centerline is valid? [True, True] Translation: X:338.05, Y:170.62, Z:35.44 [[ 5.08084582e-01 -8.60150601e-01 -4.46206241e-02 3.38051030e+02] [ 8.56222873e-01 5.10027779e-01 -8.21830662e-02 1.70617774e+02] [ 9.34475716e-02 3.55074988e-03 9.95617870e-01 3.54410504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97710568099995 meters 0.03556072909034804 Centerline is valid? [True, True] Translation: X:338.08, Y:170.67, Z:35.44 [[ 5.13687228e-01 -8.56802487e-01 -4.48879802e-02 3.38081218e+02] [ 8.52808565e-01 5.15627460e-01 -8.27397998e-02 1.70668756e+02] [ 9.40371415e-02 4.22152441e-03 9.95559739e-01 3.54430484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03710568099996 meters 0.034870980129308976 Centerline is valid? [True, True] Translation: X:338.12, Y:170.71, Z:35.45 [[ 5.10759228e-01 -8.58579065e-01 -4.43508787e-02 3.38120626e+02] [ 8.54681044e-01 5.12666488e-01 -8.18131129e-02 1.70713277e+02] [ 9.29802352e-02 3.88094711e-03 9.95660391e-01 3.54467104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09710568099996 meters 0.02887340765215527 Centerline is valid? [True, True] Translation: X:338.17, Y:170.75, Z:35.45 [[ 4.99081748e-01 -8.65392824e-01 -4.48627803e-02 3.38170122e+02] [ 8.61424604e-01 5.01086846e-01 -8.28228532e-02 1.70752043e+02] [ 9.41544519e-02 2.68947166e-03 9.95553969e-01 3.54515303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15710568099996 meters 0.023578778719772205 Centerline is valid? [True, True] Translation: X:338.22, Y:170.79, Z:35.46 [[ 4.89364914e-01 -8.71003992e-01 -4.32900431e-02 3.38218340e+02] [ 8.67325496e-01 4.91273353e-01 -7.99810972e-02 1.70791522e+02] [ 9.09310995e-02 1.59338463e-03 9.95855911e-01 3.54595906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21710568099996 meters 0.022789925371983818 Centerline is valid? [True, True] Translation: X:338.25, Y:170.84, Z:35.46 [[ 4.87246935e-01 -8.72219497e-01 -4.27033177e-02 3.38253095e+02] [ 8.68640614e-01 4.89112735e-01 -7.89443833e-02 1.70838351e+02] [ 8.97435668e-02 1.37157267e-03 9.95963961e-01 3.54633605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.27710568099997 meters 0.021133537758582857 Centerline is valid? [True, True] Translation: X:338.29, Y:170.88, Z:35.47 [[ 4.83848021e-01 -8.74112612e-01 -4.26407510e-02 3.38291924e+02] [ 8.70549545e-01 4.85722224e-01 -7.88505564e-02 1.70884303e+02] [ 8.96358263e-02 1.03079928e-03 9.95974074e-01 3.54660794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.33710568099997 meters 0.021312941338757874 Centerline is valid? [True, True] Translation: X:338.32, Y:170.93, Z:35.47 [[ 4.83271985e-01 -8.74296397e-01 -4.53210735e-02 3.38323303e+02] [ 8.70264469e-01 4.85391198e-01 -8.38757370e-02 1.70932819e+02] [ 9.53307048e-02 1.09347392e-03 9.95445057e-01 3.54650263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.39710568099997 meters 0.022660920274668376 Centerline is valid? [True, True] Translation: X:338.35, Y:170.98, Z:35.47 [[ 4.89444869e-01 -8.70861725e-01 -4.52059262e-02 3.38350066e+02] [ 8.66831058e-01 4.91524840e-01 -8.37093047e-02 1.70984573e+02] [ 9.51190651e-02 1.78518885e-03 9.95464302e-01 3.54709423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.457105681 meters 0.02548765144081065 Centerline is valid? [True, True] Translation: X:338.38, Y:171.04, Z:35.48 [[ 4.95484425e-01 -8.67481606e-01 -4.43942236e-02 3.38377837e+02] [ 8.63575243e-01 4.97463348e-01 -8.22679550e-02 1.71036089e+02] [ 9.34504369e-02 2.42473788e-03 9.95620980e-01 3.54777018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.517105681 meters 0.027110600399156956 Centerline is valid? [True, True] Translation: X:338.40, Y:171.09, Z:35.48 [[ 5.01802802e-01 -8.63849604e-01 -4.42471323e-02 3.38403599e+02] [ 8.59949154e-01 5.03740100e-01 -8.20570776e-02 1.71088785e+02] [ 9.31740288e-02 3.12618753e-03 9.95644930e-01 3.54841441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.577105681 meters 0.03145507224230482 Centerline is valid? [True, True] Translation: X:338.42, Y:171.14, Z:35.49 [[ 5.06758190e-01 -8.60991058e-01 -4.34802769e-02 3.38423569e+02] [ 8.57208685e-01 5.08607194e-01 -8.06969176e-02 1.71142976e+02] [ 9.15937061e-02 3.62215284e-03 9.95789874e-01 3.54901360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.637105681 meters 0.030537368895733084 Centerline is valid? [True, True] Translation: X:338.45, Y:171.19, Z:35.50 [[ 5.05910804e-01 -8.61552497e-01 -4.22084547e-02 3.38451365e+02] [ 8.57988407e-01 5.07656909e-01 -7.83604253e-02 1.71194314e+02] [ 8.89390337e-02 3.42902102e-03 9.96031169e-01 3.54985842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.697105681 meters 0.028482317195948927 Centerline is valid? [True, True] Translation: X:338.48, Y:171.25, Z:35.50 [[ 5.01778408e-01 -8.63988695e-01 -4.17368554e-02 3.38480022e+02] [ 8.60506839e-01 5.03502292e-01 -7.75462570e-02 1.71245708e+02] [ 8.80136917e-02 2.99618783e-03 9.96114759e-01 3.55037885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.757105681 meters 0.021512497487564702 Centerline is valid? [True, True] Translation: X:338.52, Y:171.29, Z:35.51 [[ 4.89155665e-01 -8.71280726e-01 -3.99578757e-02 3.38518023e+02] [ 8.68109126e-01 4.90782197e-01 -7.42925359e-02 1.71290887e+02] [ 8.43402686e-02 1.65281823e-03 9.96435641e-01 3.55124286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.817105681 meters 0.018223926765700543 Centerline is valid? [True, True] Translation: X:338.56, Y:171.34, Z:35.52 [[ 4.78592303e-01 -8.77099109e-01 -4.05778228e-02 3.38555367e+02] [ 8.73843039e-01 4.80308953e-01 -7.55092881e-02 1.71336022e+02] [ 8.57190209e-02 6.79516103e-04 9.96319119e-01 3.55154530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87710568099993 meters 0.01829407284717126 Centerline is valid? [True, True] Translation: X:338.60, Y:171.38, Z:35.52 [[ 4.63009249e-01 -8.85378262e-01 -4.15664459e-02 3.38598969e+02] [ 8.81989699e-01 4.64870572e-01 -7.73920111e-02 1.71377799e+02] [ 8.78442217e-02 -8.27960191e-04 9.96133880e-01 3.55154550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93710568099993 meters 0.02082421352730226 Centerline is valid? [True, True] Translation: X:338.63, Y:171.42, Z:35.52 [[ 4.55155242e-01 -8.89385777e-01 -4.27392662e-02 3.38633198e+02] [ 8.85814446e-01 4.57154618e-01 -7.96393304e-02 1.71424932e+02] [ 9.03685407e-02 -1.61080072e-03 9.95907090e-01 3.55179632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99710568099994 meters 0.026147093667937275 Centerline is valid? [True, True] Translation: X:338.67, Y:171.47, Z:35.52 [[ 4.45739355e-01 -8.94111429e-01 -4.33725633e-02 3.38669070e+02] [ 8.90449771e-01 4.47837182e-01 -8.08768489e-02 1.71471822e+02] [ 9.17367615e-02 -2.57109459e-03 9.95779974e-01 3.55189264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05710568099994 meters 0.0295949967102365 Centerline is valid? [True, True] Translation: X:338.70, Y:171.52, Z:35.53 [[ 4.38608263e-01 -8.97637209e-01 -4.32461807e-02 3.38695427e+02] [ 8.94009899e-01 4.40722948e-01 -8.06819928e-02 1.71523968e+02] [ 9.14827431e-02 -3.27472492e-03 9.95801277e-01 3.55250747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11710568099994 meters 0.02795125198289758 Centerline is valid? [True, True] Translation: X:338.71, Y:171.58, Z:35.53 [[ 4.41372733e-01 -8.96320310e-01 -4.24265671e-02 3.38708391e+02] [ 8.92818248e-01 4.43397549e-01 -7.92097819e-02 1.71582092e+02] [ 8.98091721e-02 -2.91817538e-03 9.95954716e-01 3.55333071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.17710568099994 meters 0.02191903486930447 Centerline is valid? [True, True] Translation: X:338.71, Y:171.65, Z:35.54 [[ 4.47067887e-01 -8.93566223e-01 -4.08620730e-02 3.38713924e+02] [ 8.90301336e-01 4.48925783e-01 -7.63490169e-02 1.71645252e+02] [ 8.65669407e-02 -2.24636454e-03 9.96243504e-01 3.55418583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.23710568099995 meters 0.02498255371175998 Centerline is valid? [True, True] Translation: X:338.74, Y:171.70, Z:35.55 [[ 4.48655365e-01 -8.92819878e-01 -3.97621633e-02 3.38735927e+02] [ 8.89721011e-01 4.50409355e-01 -7.43500934e-02 1.71698666e+02] [ 8.42904916e-02 -2.01966386e-03 9.96439177e-01 3.55484327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.29710568099995 meters 0.024176058904982416 Centerline is valid? [True, True] Translation: X:338.75, Y:171.76, Z:35.56 [[ 4.43999575e-01 -8.95211533e-01 -3.82189402e-02 3.38746999e+02] [ 8.92356315e-01 4.45635171e-01 -7.14807818e-02 1.71758312e+02] [ 8.10221242e-02 -2.36747583e-03 9.96709492e-01 3.55578684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.35710568099995 meters 0.026063930062597503 Centerline is valid? [True, True] Translation: X:338.77, Y:171.81, Z:35.56 [[ 4.42273333e-01 -8.96056919e-01 -3.84226209e-02 3.38773393e+02] [ 8.93169930e-01 4.43932078e-01 -7.19151356e-02 1.71810082e+02] [ 8.14970887e-02 -2.51178292e-03 9.96670415e-01 3.55597498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41710568099995 meters 0.02360276777562651 Centerline is valid? [True, True] Translation: X:338.79, Y:171.87, Z:35.56 [[ 4.45527225e-01 -8.94348233e-01 -4.05799187e-02 3.38789195e+02] [ 8.91118444e-01 4.47365497e-01 -7.59738796e-02 1.71868601e+02] [ 8.61011605e-02 -2.31308227e-03 9.96283715e-01 3.55591799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47710568099995 meters 0.021457499863307097 Centerline is valid? [True, True] Translation: X:338.81, Y:171.93, Z:35.56 [[ 4.51952217e-01 -8.91079407e-01 -4.14328907e-02 3.38805831e+02] [ 8.87692775e-01 4.53844273e-01 -7.76331942e-02 1.71926569e+02] [ 8.79814208e-02 -1.69318353e-03 9.96120677e-01 3.55622224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53710568099996 meters 0.02061653084095628 Centerline is valid? [True, True] Translation: X:338.83, Y:171.98, Z:35.56 [[ 4.54410951e-01 -8.89745957e-01 -4.31603875e-02 3.38826689e+02] [ 8.86058844e-01 4.56453700e-01 -8.09305002e-02 1.71982720e+02] [ 9.17083039e-02 -1.46693746e-03 9.95784834e-01 3.55630585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59710568099996 meters 0.019635428439081115 Centerline is valid? [True, True] Translation: X:338.84, Y:172.04, Z:35.57 [[ 4.59748142e-01 -8.86893687e-01 -4.52905483e-02 3.38842146e+02] [ 8.82812644e-01 4.61972683e-01 -8.49886797e-02 1.72040611e+02] [ 9.62989196e-02 -9.09681162e-04 9.95352044e-01 3.55654806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65710568099996 meters 0.01965652977459247 Centerline is valid? [True, True] Translation: X:338.85, Y:172.10, Z:35.57 [[ 4.74754034e-01 -8.78977965e-01 -4.47922285e-02 3.38849581e+02] [ 8.74944074e-01 4.76861807e-01 -8.41170847e-02 1.72102608e+02] [ 9.52967670e-02 7.44230401e-04 9.95448629e-01 3.55712740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71710568099996 meters 0.023010439450100343 Centerline is valid? [True, True] Translation: X:338.86, Y:172.16, Z:35.58 [[ 4.85069494e-01 -8.73383797e-01 -4.36844409e-02 3.38863642e+02] [ 8.69518511e-01 4.87029118e-01 -8.20987093e-02 1.72159871e+02] [ 9.29792772e-02 1.83914935e-03 9.95666345e-01 3.55752458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.77710568099997 meters 0.02319954601259291 Centerline is valid? [True, True] Translation: X:338.89, Y:172.21, Z:35.58 [[ 4.85322832e-01 -8.73180329e-01 -4.49206077e-02 3.38889606e+02] [ 8.69087686e-01 4.87393372e-01 -8.44647542e-02 1.72213020e+02] [ 9.56469684e-02 1.95272673e-03 9.95413404e-01 3.55784275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.83710568099997 meters 0.02013481700319512 Centerline is valid? [True, True] Translation: X:338.93, Y:172.26, Z:35.59 [[ 4.79905797e-01 -8.76185812e-01 -4.45965247e-02 3.38927272e+02] [ 8.72158962e-01 4.81971499e-01 -8.39179286e-02 1.72259632e+02] [ 9.50219522e-02 1.37744168e-03 9.95474224e-01 3.55859293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.89710568099997 meters 0.018566390132894846 Centerline is valid? [True, True] Translation: X:338.96, Y:172.30, Z:35.59 [[ 4.72813282e-01 -8.80007793e-01 -4.50985998e-02 3.38964643e+02] [ 8.75900697e-01 4.74958798e-01 -8.49241395e-02 1.72304598e+02] [ 9.61538814e-02 6.51366163e-04 9.95366268e-01 3.55909138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.957105681 meters 0.01819347289406412 Centerline is valid? [True, True] Translation: X:339.00, Y:172.35, Z:35.60 [[ 4.63201369e-01 -8.85089283e-01 -4.54032192e-02 3.39001860e+02] [ 8.80947472e-01 4.65421116e-01 -8.55262334e-02 1.72350244e+02] [ 9.68299695e-02 -3.81982779e-04 9.95300865e-01 3.55983157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.017105681 meters 0.022241810458749883 Centerline is valid? [True, True] Translation: X:339.05, Y:172.39, Z:35.60 [[ 4.47323070e-01 -8.93266582e-01 -4.44621750e-02 3.39048650e+02] [ 8.89326947e-01 4.49522677e-01 -8.38268717e-02 1.72391409e+02] [ 9.48664991e-02 -2.04371676e-03 9.95487906e-01 3.56034414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.077105681 meters 0.030475959767811835 Centerline is valid? [True, True] Translation: X:339.09, Y:172.43, Z:35.61 [[ 4.31751355e-01 -9.00910854e-01 -4.41633333e-02 3.39088795e+02] [ 8.97056161e-01 4.33988927e-01 -8.33297992e-02 1.72434797e+02] [ 9.42391182e-02 -3.63923646e-03 9.95542940e-01 3.56101333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.137105681 meters 0.03270356846040686 Centerline is valid? [True, True] Translation: X:339.12, Y:172.48, Z:35.62 [[ 4.24716179e-01 -9.04280813e-01 -4.35014805e-02 3.39118523e+02] [ 9.00552027e-01 4.26916669e-01 -8.21474564e-02 1.72484463e+02] [ 9.28558757e-02 -4.28599260e-03 9.95670335e-01 3.56164822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.197105681 meters 0.032452127891909335 Centerline is valid? [True, True] Translation: X:339.14, Y:172.54, Z:35.62 [[ 4.25110982e-01 -9.04139254e-01 -4.25777248e-02 3.39139945e+02] [ 9.00560980e-01 4.27217857e-01 -8.04662932e-02 1.72539353e+02] [ 9.09426986e-02 -4.13673263e-03 9.95847535e-01 3.56235171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.257105681 meters 0.029790377741165466 Centerline is valid? [True, True] Translation: X:339.16, Y:172.60, Z:35.63 [[ 4.32416822e-01 -9.00736001e-01 -4.11138515e-02 3.39155600e+02] [ 8.97379372e-01 4.34354646e-01 -7.77579897e-02 1.72595430e+02] [ 8.78974131e-02 -3.27085936e-03 9.96124162e-01 3.56317197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.317105681 meters 0.02703227122459744 Centerline is valid? [True, True] Translation: X:339.17, Y:172.65, Z:35.64 [[ 4.37198419e-01 -8.98420320e-01 -4.12125128e-02 3.39173662e+02] [ 8.95035108e-01 4.39127652e-01 -7.79683334e-02 1.72652212e+02] [ 8.81458890e-02 -2.79901374e-03 9.96103643e-01 3.56363932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37710568099993 meters 0.02561871067289706 Centerline is valid? [True, True] Translation: X:339.20, Y:172.71, Z:35.63 [[ 4.40674242e-01 -8.96666557e-01 -4.23709578e-02 3.39195838e+02] [ 8.93074108e-01 4.42699554e-01 -8.02230782e-02 1.72707238e+02] [ 9.06909554e-02 -2.48816117e-03 9.95875976e-01 3.56349877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43710568099993 meters 0.022024242710687304 Centerline is valid? [True, True] Translation: X:339.21, Y:172.77, Z:35.64 [[ 4.47700426e-01 -8.93120563e-01 -4.35888634e-02 3.39209587e+02] [ 8.89295255e-01 4.49813814e-01 -8.25922663e-02 1.72766594e+02] [ 9.33717243e-02 -1.78677660e-03 9.95629715e-01 3.56360521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49710568099994 meters 0.01955126309571896 Centerline is valid? [True, True] Translation: X:339.22, Y:172.83, Z:35.64 [[ 4.63496044e-01 -8.84962812e-01 -4.48579747e-02 3.39216720e+02] [ 8.80865551e-01 4.65661693e-01 -8.50592104e-02 1.72829795e+02] [ 9.61628785e-02 -8.92370864e-05 9.95365608e-01 3.56360020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55710568099994 meters 0.02529348194129528 Centerline is valid? [True, True] Translation: X:339.22, Y:172.89, Z:35.64 [[ 4.83610327e-01 -8.74118000e-01 -4.51527856e-02 3.39216454e+02] [ 8.69911669e-01 4.85708839e-01 -8.56773736e-02 1.72894697e+02] [ 9.68232415e-02 2.15552758e-03 9.95299258e-01 3.56394594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61710568099994 meters 0.031183535646206236 Centerline is valid? [True, True] Translation: X:339.23, Y:172.95, Z:35.65 [[ 4.94139476e-01 -8.68259081e-01 -4.41853596e-02 3.39229555e+02] [ 8.64204039e-01 4.96100312e-01 -8.38800312e-02 1.72953446e+02] [ 9.47499694e-02 3.26326849e-03 9.95495753e-01 3.56474202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.67710568099994 meters 0.03555014382877498 Centerline is valid? [True, True] Translation: X:339.25, Y:173.01, Z:35.66 [[ 5.00055958e-01 -8.64925044e-01 -4.29965867e-02 3.39252012e+02] [ 8.61067995e-01 5.01886499e-01 -8.16813961e-02 1.73007465e+02] [ 9.22276915e-02 3.82228414e-03 9.95730608e-01 3.56559925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.73710568099995 meters 0.030598796795135268 Centerline is valid? [True, True] Translation: X:339.29, Y:173.05, Z:35.66 [[ 4.96297820e-01 -8.67128023e-01 -4.21600012e-02 3.39293135e+02] [ 8.63424993e-01 4.98073975e-01 -8.01223885e-02 1.73052048e+02] [ 9.04751678e-02 3.36256795e-03 9.95893035e-01 3.56630220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.79710568099995 meters 0.029809877774022536 Centerline is valid? [True, True] Translation: X:339.33, Y:173.10, Z:35.67 [[ 4.91486238e-01 -8.69881544e-01 -4.18016327e-02 3.39332222e+02] [ 8.66248304e-01 4.93252452e-01 -7.94725985e-02 1.73096985e+02] [ 8.97505046e-02 2.84909502e-03 9.95960205e-01 3.56672132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.85710568099995 meters 0.02650309961692578 Centerline is valid? [True, True] Translation: X:339.38, Y:173.14, Z:35.67 [[ 4.85634498e-01 -8.73129978e-01 -4.24638259e-02 3.39376031e+02] [ 8.69387419e-01 4.87481975e-01 -8.07888544e-02 1.73138982e+02] [ 9.12395204e-02 2.31633878e-03 9.95826282e-01 3.56700373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91710568099995 meters 0.027084182090342367 Centerline is valid? [True, True] Translation: X:339.41, Y:173.19, Z:35.67 [[ 4.84275183e-01 -8.73836828e-01 -4.34366809e-02 3.39405691e+02] [ 8.69917059e-01 4.86214010e-01 -8.27057845e-02 1.73188131e+02] [ 9.33908832e-02 2.26604921e-03 9.95626942e-01 3.56712170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97710568099995 meters 0.024277322461318532 Centerline is valid? [True, True] Translation: X:339.44, Y:173.23, Z:35.67 [[ 4.80122005e-01 -8.76110007e-01 -4.37506064e-02 3.39442786e+02] [ 8.72137337e-01 4.82107637e-01 -8.33588074e-02 1.73234295e+02] [ 9.41239868e-02 1.86586038e-03 9.95558734e-01 3.56734399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03710568099996 meters 0.019745910136267978 Centerline is valid? [True, True] Translation: X:339.48, Y:173.28, Z:35.68 [[ 4.71902221e-01 -8.80526270e-01 -4.45172117e-02 3.39483214e+02] [ 8.76426072e-01 4.73996210e-01 -8.48818791e-02 1.73278573e+02] [ 9.58417140e-02 1.03990222e-03 9.95396044e-01 3.56777014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09710568099996 meters 0.017400505716431744 Centerline is valid? [True, True] Translation: X:339.53, Y:173.32, Z:35.68 [[ 4.63975894e-01 -8.84723315e-01 -4.46209188e-02 3.39527525e+02] [ 8.80616752e-01 4.66116522e-01 -8.51441382e-02 1.73321291e+02] [ 9.61275517e-02 2.10899028e-04 9.95369002e-01 3.56809937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15710568099996 meters 0.017106192629282486 Centerline is valid? [True, True] Translation: X:339.56, Y:173.37, Z:35.69 [[ 4.60376153e-01 -8.86689875e-01 -4.28352926e-02 3.39559654e+02] [ 8.82908653e-01 4.62364617e-01 -8.18001971e-02 1.73369605e+02] [ 9.23369302e-02 -1.60790388e-04 9.95727807e-01 3.56900067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21710568099996 meters 0.018688841988157796 Centerline is valid? [True, True] Translation: X:339.59, Y:173.42, Z:35.70 [[ 4.51930227e-01 -8.91054712e-01 -4.21968027e-02 3.39594372e+02] [ 8.87398518e-01 4.53894811e-01 -8.06434828e-02 1.73416131e+02] [ 9.10106652e-02 -1.00015274e-03 9.95849416e-01 3.56956315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.27710568099997 meters 0.02327080626539256 Centerline is valid? [True, True] Translation: X:339.64, Y:173.46, Z:35.70 [[ 4.38351448e-01 -8.97840956e-01 -4.15887719e-02 3.39635308e+02] [ 8.94317083e-01 4.40313670e-01 -7.95036309e-02 1.73460397e+02] [ 8.96937207e-02 -2.34301749e-03 9.95966639e-01 3.56981405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.33710568099997 meters 0.02925231728713671 Centerline is valid? [True, True] Translation: X:339.67, Y:173.51, Z:35.70 [[ 4.25492683e-01 -9.03999571e-01 -4.17223228e-02 3.39669183e+02] [ 9.00475551e-01 4.27518162e-01 -7.98248318e-02 1.73508432e+02] [ 8.99986645e-02 -3.60504977e-03 9.95935361e-01 3.57028124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.39710568099997 meters 0.035000601381466885 Centerline is valid? [True, True] Translation: X:339.70, Y:173.56, Z:35.71 [[ 4.16066599e-01 -9.08366450e-01 -4.19401711e-02 3.39698554e+02] [ 9.04821149e-01 4.18150470e-01 -8.03048734e-02 1.73559155e+02] [ 9.04835551e-02 -4.53617828e-03 9.95887619e-01 3.57072908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.457105681 meters 0.037702524816084104 Centerline is valid? [True, True] Translation: X:339.73, Y:173.61, Z:35.71 [[ 4.09966084e-01 -9.11172127e-01 -4.11480922e-02 3.39725212e+02] [ 9.07770465e-01 4.11995103e-01 -7.88214294e-02 1.73611287e+02] [ 8.87727020e-02 -5.03891004e-03 9.96039164e-01 3.57101269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.517105681 meters 0.037499554572210984 Centerline is valid? [True, True] Translation: X:339.74, Y:173.67, Z:35.72 [[ 4.11854463e-01 -9.10375796e-01 -3.98975134e-02 3.39736969e+02] [ 9.07169237e-01 4.13755831e-01 -7.64858641e-02 1.73671029e+02] [ 8.61387082e-02 -4.69275234e-03 9.96272102e-01 3.57194360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.577105681 meters 0.03338368024795688 Centerline is valid? [True, True] Translation: X:339.74, Y:173.73, Z:35.73 [[ 4.22058956e-01 -9.05738084e-01 -3.87912572e-02 3.39742619e+02] [ 9.02682529e-01 4.23822515e-01 -7.44226307e-02 1.73732135e+02] [ 8.38480191e-02 -3.60545228e-03 9.96472032e-01 3.57255463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.637105681 meters 0.02651949907883904 Centerline is valid? [True, True] Translation: X:339.74, Y:173.80, Z:35.73 [[ 4.36547750e-01 -8.98832897e-01 -3.90574528e-02 3.39736518e+02] [ 8.95704737e-01 4.38285648e-01 -7.49580854e-02 1.73799672e+02] [ 8.44931141e-02 -2.26116196e-03 9.96421498e-01 3.57282909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.697105681 meters 0.023336372045757017 Centerline is valid? [True, True] Translation: X:339.74, Y:173.86, Z:35.73 [[ 4.39922028e-01 -8.97100648e-01 -4.09760544e-02 3.39744930e+02] [ 8.93647102e-01 4.41821665e-01 -7.86668519e-02 1.73861377e+02] [ 8.86761924e-02 -2.01085122e-03 9.96058477e-01 3.57290769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.757105681 meters 0.02495080357808749 Centerline is valid? [True, True] Translation: X:339.77, Y:173.91, Z:35.73 [[ 4.40048211e-01 -8.96988241e-01 -4.20674093e-02 3.39766742e+02] [ 8.93341921e-01 4.42049810e-01 -8.08218850e-02 1.73914605e+02] [ 9.10921708e-02 -2.01505431e-03 9.95840427e-01 3.57315602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.817105681 meters 0.02373866703296696 Centerline is valid? [True, True] Translation: X:339.79, Y:173.97, Z:35.73 [[ 4.40809365e-01 -8.96589427e-01 -4.25969781e-02 3.39787995e+02] [ 8.92845547e-01 4.42858473e-01 -8.18730797e-02 1.73969676e+02] [ 9.22709703e-02 -1.94210191e-03 9.95732040e-01 3.57341358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87710568099993 meters 0.0226599136684046 Centerline is valid? [True, True] Translation: X:339.80, Y:174.03, Z:35.74 [[ 4.43153759e-01 -8.95371224e-01 -4.38761641e-02 3.39802888e+02] [ 8.91386222e-01 4.45317247e-01 -8.43987674e-02 1.74027839e+02] [ 9.51070402e-02 -1.70897717e-03 9.95465585e-01 3.57404539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93710568099993 meters 0.022464866775661122 Centerline is valid? [True, True] Translation: X:339.83, Y:174.08, Z:35.74 [[ 4.44030305e-01 -8.94919406e-01 -4.42305972e-02 3.39825337e+02] [ 8.90860683e-01 4.46224961e-01 -8.51500278e-02 1.74082517e+02] [ 9.59392087e-02 -1.59410722e-03 9.95385919e-01 3.57432945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99710568099994 meters 0.02463676242989954 Centerline is valid? [True, True] Translation: X:339.85, Y:174.13, Z:35.75 [[ 4.39095579e-01 -8.97416642e-01 -4.28770694e-02 3.39853505e+02] [ 8.93608950e-01 4.41179324e-01 -8.26065857e-02 1.74132106e+02] [ 9.30490012e-02 -2.04314639e-03 9.95659434e-01 3.57524525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05710568099994 meters 0.026527947303918616 Centerline is valid? [True, True] Translation: X:339.88, Y:174.18, Z:35.76 [[ 4.34060914e-01 -8.99930412e-01 -4.14291682e-02 3.39878269e+02] [ 8.96385313e-01 4.36026485e-01 -7.98390573e-02 1.74184616e+02] [ 8.99138103e-02 -2.48148373e-03 9.95946459e-01 3.57648198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.11710568099994 meters 0.02557307600983706 Centerline is valid? [True, True] Translation: X:339.90, Y:174.24, Z:35.77 [[ 4.34802566e-01 -8.99572710e-01 -4.14206303e-02 3.39904358e+02] [ 8.96022179e-01 4.36764547e-01 -7.98810650e-02 1.74237415e+02] [ 8.99498889e-02 -2.38131140e-03 9.95943446e-01 3.57671953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.17710568099994 meters 0.025057868863640097 Centerline is valid? [True, True] Translation: X:339.93, Y:174.29, Z:35.77 [[ 4.36749297e-01 -8.98605965e-01 -4.19210171e-02 3.39930479e+02] [ 8.94958639e-01 4.38751145e-01 -8.09102441e-02 1.74289931e+02] [ 9.10993223e-02 -2.18008417e-03 9.95839425e-01 3.57722365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.23710568099995 meters 0.021909678304972636 Centerline is valid? [True, True] Translation: X:339.95, Y:174.35, Z:35.78 [[ 4.46404973e-01 -8.93814144e-01 -4.26482960e-02 3.39946805e+02] [ 8.90010659e-01 4.48436034e-01 -8.23780991e-02 1.74347946e+02] [ 9.27557428e-02 -1.18344489e-03 9.95688190e-01 3.57784858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.29710568099995 meters 0.020652615890663768 Centerline is valid? [True, True] Translation: X:339.96, Y:174.41, Z:35.78 [[ 4.61380292e-01 -8.86229600e-01 -4.15369879e-02 3.39963241e+02] [ 8.82585388e-01 4.63246100e-01 -8.02875092e-02 1.74405337e+02] [ 9.03950148e-02 3.83135842e-04 9.95905916e-01 3.57824688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.35710568099995 meters 0.021090739358798495 Centerline is valid? [True, True] Translation: X:339.99, Y:174.46, Z:35.78 [[ 4.64470383e-01 -8.84462627e-01 -4.46444268e-02 3.39986775e+02] [ 8.80236041e-01 4.66610323e-01 -8.63673440e-02 1.74458562e+02] [ 9.72202384e-02 8.17439873e-04 9.95262557e-01 3.57809573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41710568099995 meters 0.02199036799323886 Centerline is valid? [True, True] Translation: X:340.01, Y:174.51, Z:35.78 [[ 4.67220549e-01 -8.82980964e-01 -4.52722416e-02 3.40012298e+02] [ 8.78624815e-01 4.69407375e-01 -8.76079403e-02 1.74510109e+02] [ 9.86072676e-02 1.15491514e-03 9.95125757e-01 3.57829191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47710568099995 meters 0.023312569132762067 Centerline is valid? [True, True] Translation: X:340.04, Y:174.56, Z:35.79 [[ 4.72006711e-01 -8.80494014e-01 -4.40449346e-02 3.40039585e+02] [ 8.76357901e-01 4.74054415e-01 -8.52598502e-02 1.74561159e+02] [ 9.59504834e-02 1.64409497e-03 9.95384751e-01 3.57942276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53710568099996 meters 0.02365864365582158 Centerline is valid? [True, True] Translation: X:340.07, Y:174.61, Z:35.80 [[ 4.72628942e-01 -8.80176613e-01 -4.37151415e-02 3.40068093e+02] [ 8.76094485e-01 4.74643175e-01 -8.46894907e-02 1.74611494e+02] [ 9.52908027e-02 1.72810999e-03 9.95447978e-01 3.58016049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59710568099996 meters 0.022722866886877944 Centerline is valid? [True, True] Translation: X:340.11, Y:174.66, Z:35.81 [[ 4.69162931e-01 -8.82080417e-01 -4.26647558e-02 3.40105623e+02] [ 8.78194239e-01 4.71096953e-01 -8.27196405e-02 1.74658004e+02] [ 9.30646115e-02 1.34104624e-03 9.95659168e-01 3.58089511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65710568099996 meters 0.022139721013129627 Centerline is valid? [True, True] Translation: X:340.14, Y:174.71, Z:35.81 [[ 4.64876215e-01 -8.84299307e-01 -4.36444646e-02 3.40142102e+02] [ 8.80235197e-01 4.66919509e-01 -8.46886614e-02 1.74705849e+02] [ 9.52685766e-02 9.52350483e-04 9.95451150e-01 3.58093412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71710568099996 meters 0.02132958558734597 Centerline is valid? [True, True] Translation: X:340.18, Y:174.75, Z:35.81 [[ 4.57902286e-01 -8.87929371e-01 -4.36683936e-02 3.40184688e+02] [ 8.83870846e-01 4.59979759e-01 -8.47994620e-02 1.74748432e+02] [ 9.53825101e-02 2.32647511e-04 9.95440668e-01 3.58126441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.77710568099997 meters 0.021200426727977915 Centerline is valid? [True, True] Translation: X:340.22, Y:174.80, Z:35.82 [[ 4.58092862e-01 -8.87844281e-01 -4.33988734e-02 3.40216754e+02] [ 8.83833134e-01 4.60143961e-01 -8.43002197e-02 1.74795706e+02] [ 9.48151975e-02 2.59966576e-04 9.95494857e-01 3.58178752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.83710568099997 meters 0.0208949120011167 Centerline is valid? [True, True] Translation: X:340.25, Y:174.84, Z:35.82 [[ 4.55183309e-01 -8.89358926e-01 -4.29983299e-02 3.40249861e+02] [ 8.85424487e-01 4.57209690e-01 -8.35630189e-02 1.74843816e+02] [ 9.39767698e-02 -3.52826931e-05 9.95574390e-01 3.58235730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.89710568099997 meters 0.02131752252948309 Centerline is valid? [True, True] Translation: X:340.29, Y:174.89, Z:35.83 [[ 4.50052892e-01 -8.92003729e-01 -4.22106784e-02 3.40285658e+02] [ 8.88217575e-01 4.52027712e-01 -8.21004682e-02 1.74889914e+02] [ 9.23143202e-02 -5.42713287e-04 9.95729768e-01 3.58285853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.957105681 meters 0.02139164378042018 Centerline is valid? [True, True] Translation: X:340.31, Y:174.94, Z:35.83 [[ 4.47210396e-01 -8.93394475e-01 -4.30020210e-02 3.40312839e+02] [ 8.89464338e-01 4.49272359e-01 -8.37110512e-02 1.74941548e+02] [ 9.41066100e-02 -8.12311827e-04 9.95561794e-01 3.58344847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.017105681 meters 0.02094327321962276 Centerline is valid? [True, True] Translation: X:340.34, Y:174.99, Z:35.84 [[ 4.50813225e-01 -8.91606642e-01 -4.24856648e-02 3.40340552e+02] [ 8.87756390e-01 4.52810594e-01 -8.27717183e-02 1.74992133e+02] [ 9.30377729e-02 -4.02335178e-04 9.95662499e-01 3.58398144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.077105681 meters 0.022032773312856975 Centerline is valid? [True, True] Translation: X:340.36, Y:175.05, Z:35.85 [[ 4.63869020e-01 -8.84894497e-01 -4.22760214e-02 3.40356582e+02] [ 8.81051264e-01 4.65790499e-01 -8.23885979e-02 1.75049555e+02] [ 9.25969860e-02 9.70176056e-04 9.95703197e-01 3.58467207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.137105681 meters 0.026501492232911185 Centerline is valid? [True, True] Translation: X:340.37, Y:175.11, Z:35.86 [[ 4.78174711e-01 -8.77342105e-01 -4.02464508e-02 3.40371355e+02] [ 8.73826948e-01 4.79859602e-01 -7.84934864e-02 1.75106818e+02] [ 8.81782864e-02 2.36516692e-03 9.96101900e-01 3.58572011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.197105681 meters 0.03202225093400349 Centerline is valid? [True, True] Translation: X:340.39, Y:175.16, Z:35.86 [[ 4.89172627e-01 -8.71237611e-01 -4.06837443e-02 3.40392295e+02] [ 8.67618292e-01 4.90848694e-01 -7.94106998e-02 1.75161930e+02] [ 8.91551512e-02 3.54757987e-03 9.96011433e-01 3.58604247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.257105681 meters 0.034048404786209935 Centerline is valid? [True, True] Translation: X:340.42, Y:175.21, Z:35.86 [[ 4.91701008e-01 -8.69824368e-01 -4.04436484e-02 3.40421698e+02] [ 8.66237520e-01 4.93346771e-01 -7.90033083e-02 1.75212839e+02] [ 8.86717460e-02 3.81220062e-03 9.96053607e-01 3.58642577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.317105681 meters 0.02999793096909608 Centerline is valid? [True, True] Translation: X:340.46, Y:175.26, Z:35.87 [[ 4.84115432e-01 -8.74047852e-01 -4.08974495e-02 3.40462027e+02] [ 8.70388898e-01 4.85829890e-01 -7.99530141e-02 1.75257994e+02] [ 8.97519636e-02 3.10980201e-03 9.95959293e-01 3.58689259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37710568099993 meters 0.025085741000785512 Centerline is valid? [True, True] Translation: X:340.51, Y:175.30, Z:35.87 [[ 4.73164413e-01 -8.80018037e-01 -4.10328184e-02 3.40505275e+02] [ 8.76350779e-01 4.74935937e-01 -8.02818047e-02 1.75302028e+02] [ 9.01373962e-02 2.02735064e-03 9.95927276e-01 3.58735177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43710568099993 meters 0.022090278945035575 Centerline is valid? [True, True] Translation: X:340.54, Y:175.35, Z:35.88 [[ 4.64938453e-01 -8.84473627e-01 -3.92254903e-02 3.40544043e+02] [ 8.81136100e-01 4.66588816e-01 -7.67727190e-02 1.75347548e+02] [ 8.62056203e-02 1.13159367e-03 9.96276724e-01 3.58834484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49710568099994 meters 0.02057773827880015 Centerline is valid? [True, True] Translation: X:340.58, Y:175.39, Z:35.89 [[ 4.56704846e-01 -8.88698719e-01 -4.04384880e-02 3.40581265e+02] [ 8.85161439e-01 4.58491484e-01 -7.92135443e-02 1.75394550e+02] [ 8.89376777e-02 3.82619256e-04 9.96037119e-01 3.58863923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55710568099994 meters 0.020531001887143456 Centerline is valid? [True, True] Translation: X:340.61, Y:175.44, Z:35.89 [[ 4.51019149e-01 -8.91524826e-01 -4.20144185e-02 3.40613712e+02] [ 8.87711622e-01 4.52971812e-01 -8.23687708e-02 1.75442931e+02] [ 9.24651514e-02 -1.46794648e-04 9.95715910e-01 3.58891039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.61710568099994 meters 0.02085308996361402 Centerline is valid? [True, True] Translation: X:340.64, Y:175.49, Z:35.89 [[ 4.49580031e-01 -8.92176003e-01 -4.35864108e-02 3.40643160e+02] [ 8.88066741e-01 4.51687851e-01 -8.55309782e-02 1.75492347e+02] [ 9.59961385e-02 -2.54621986e-04 9.95381674e-01 3.58925241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.67710568099994 meters 0.021226468775982152 Centerline is valid? [True, True] Translation: X:340.66, Y:175.55, Z:35.90 [[ 4.54729804e-01 -8.89619610e-01 -4.23999533e-02 3.40664250e+02] [ 8.85716514e-01 4.56702158e-01 -8.32429918e-02 1.75545809e+02] [ 9.34187480e-02 2.98730445e-04 9.95626862e-01 3.59042978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.73710568099995 meters 0.023357892952399394 Centerline is valid? [True, True] Translation: X:340.68, Y:175.60, Z:35.92 [[ 4.64355223e-01 -8.84669073e-01 -4.16516290e-02 3.40682910e+02] [ 8.80875694e-01 4.66217650e-01 -8.18481202e-02 1.75601134e+02] [ 9.18272253e-02 1.31669450e-03 9.95774084e-01 3.59159443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.79710568099995 meters 0.026569717347728682 Centerline is valid? [True, True] Translation: X:340.70, Y:175.66, Z:35.92 [[ 4.73410396e-01 -8.79864428e-01 -4.14871749e-02 3.40702327e+02] [ 8.76076203e-01 4.75219307e-01 -8.15910363e-02 1.75657098e+02] [ 9.15045569e-02 2.28011812e-03 9.95802047e-01 3.59223987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.85710568099995 meters 0.029068488022442624 Centerline is valid? [True, True] Translation: X:340.73, Y:175.71, Z:35.93 [[ 4.78671858e-01 -8.77015406e-01 -4.14394723e-02 3.40732688e+02] [ 8.73219884e-01 4.80453788e-01 -8.15548349e-02 1.75707799e+02] [ 9.14345980e-02 2.85223316e-03 9.95806999e-01 3.59282168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91710568099995 meters 0.03276824675713457 Centerline is valid? [True, True] Translation: X:340.76, Y:175.76, Z:35.93 [[ 4.81776239e-01 -8.75242001e-01 -4.29312866e-02 3.40757945e+02] [ 8.71154201e-01 4.83673749e-01 -8.45580470e-02 1.75760174e+02] [ 9.47734906e-02 3.33828718e-03 9.95493265e-01 3.59302884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97710568099995 meters 0.034465167352745525 Centerline is valid? [True, True] Translation: X:340.79, Y:175.81, Z:35.93 [[ 4.86127588e-01 -8.72792774e-01 -4.37349141e-02 3.40793063e+02] [ 8.68534087e-01 4.88075200e-01 -8.62040531e-02 1.75808345e+02] [ 9.65842016e-02 3.92090473e-03 9.95317094e-01 3.59331395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03710568099996 meters 0.03509678362182074 Centerline is valid? [True, True] Translation: X:340.83, Y:175.86, Z:35.94 [[ 4.86997632e-01 -8.72333277e-01 -4.32199030e-02 3.40825347e+02] [ 8.68166305e-01 4.88895362e-01 -8.52560453e-02 1.75856734e+02] [ 9.55016955e-02 3.99742878e-03 9.95421241e-01 3.59433815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09710568099996 meters 0.03376971988936482 Centerline is valid? [True, True] Translation: X:340.87, Y:175.90, Z:35.94 [[ 4.83137328e-01 -8.74335469e-01 -4.59979454e-02 3.40868427e+02] [ 8.69614925e-01 4.85306570e-01 -9.08152829e-02 1.75900979e+02] [ 1.01726128e-01 3.87575325e-03 9.94804892e-01 3.59410553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15710568099996 meters 0.02985877972272152 Centerline is valid? [True, True] Translation: X:340.91, Y:175.95, Z:35.94 [[ 4.74431090e-01 -8.79040348e-01 -4.69383385e-02 3.40910975e+02] [ 8.74138547e-01 4.76738114e-01 -9.27500456e-02 1.75945286e+02] [ 1.03908327e-01 2.97289424e-03 9.94582436e-01 3.59449963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21710568099996 meters 0.026790750954080487 Centerline is valid? [True, True] Translation: X:340.95, Y:175.99, Z:35.95 [[ 4.66655493e-01 -8.83207828e-01 -4.66538625e-02 3.40946832e+02] [ 8.78378445e-01 4.68977221e-01 -9.22587292e-02 1.75990451e+02] [ 1.03363231e-01 2.07329556e-03 9.94641515e-01 3.59519984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.27710568099997 meters 0.023584468227376552 Centerline is valid? [True, True] Translation: X:340.98, Y:176.04, Z:35.96 [[ 4.59289902e-01 -8.87052385e-01 -4.68065339e-02 3.40982206e+02] [ 8.82206327e-01 4.61667121e-01 -9.26038152e-02 1.76037717e+02] [ 1.03753473e-01 1.23897694e-03 9.94602273e-01 3.59573002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.33710568099997 meters 0.022059737968854354 Centerline is valid? [True, True] Translation: X:341.02, Y:176.09, Z:35.96 [[ 4.53133908e-01 -8.90157024e-01 -4.78553497e-02 3.41017629e+02] [ 8.85098956e-01 4.55653523e-01 -9.47613059e-02 1.76085074e+02] [ 1.06157901e-01 5.82840803e-04 9.94349114e-01 3.59609297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.39710568099997 meters 0.022412329873516185 Centerline is valid? [True, True] Translation: X:341.04, Y:176.14, Z:35.96 [[ 4.53887617e-01 -8.89701465e-01 -4.91663879e-02 3.41039682e+02] [ 8.84350216e-01 4.56542164e-01 -9.74368976e-02 1.76138381e+02] [ 1.09136280e-01 7.45095499e-04 9.94026517e-01 3.59640185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.457105681 meters 0.02271518961756129 Centerline is valid? [True, True] Translation: X:341.06, Y:176.19, Z:35.97 [[ 4.54848017e-01 -8.89230300e-01 -4.88134744e-02 3.41062818e+02] [ 8.83947835e-01 4.57458970e-01 -9.67859257e-02 1.76189616e+02] [ 1.08395139e-01 8.74321355e-04 9.94107504e-01 3.59703257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.517105681 meters 0.02144281354543761 Centerline is valid? [True, True] Translation: X:341.09, Y:176.24, Z:35.98 [[ 4.53440682e-01 -8.90106305e-01 -4.58509988e-02 3.41094120e+02] [ 8.85444946e-01 4.55752496e-01 -9.09775211e-02 1.76238440e+02] [ 1.01876372e-01 6.54374007e-04 9.94796852e-01 3.59812902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.577105681 meters 0.022211437544808647 Centerline is valid? [True, True] Translation: X:341.12, Y:176.29, Z:35.99 [[ 4.49901690e-01 -8.91982397e-01 -4.42252580e-02 3.41120889e+02] [ 8.87648831e-01 4.52070061e-01 -8.78192018e-02 1.76290302e+02] [ 9.83260972e-02 2.53508749e-04 9.95154216e-01 3.59878031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.637105681 meters 0.023750089538411612 Centerline is valid? [True, True] Translation: X:341.15, Y:176.34, Z:35.99 [[ 4.46150857e-01 -8.93848992e-01 -4.45352829e-02 3.41148676e+02] [ 8.89456124e-01 4.48368112e-01 -8.85089790e-02 1.76340556e+02] [ 9.90818624e-02 -1.23823311e-04 9.95079278e-01 3.59855130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.697105681 meters 0.023804078739681506 Centerline is valid? [True, True] Translation: X:341.17, Y:176.40, Z:35.99 [[ 4.44762374e-01 -8.94400163e-01 -4.72734582e-02 3.41169637e+02] [ 8.89443240e-01 4.47267592e-01 -9.40341637e-02 1.76396000e+02] [ 1.05248057e-01 -2.24199965e-04 9.94445975e-01 3.59852001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.757105681 meters 0.024004019927505147 Centerline is valid? [True, True] Translation: X:341.18, Y:176.45, Z:35.99 [[ 4.49704096e-01 -8.91984676e-01 -4.61471881e-02 3.41184921e+02] [ 8.87242012e-01 4.52065485e-01 -9.18608125e-02 1.76452226e+02] [ 1.02799988e-01 3.66459585e-04 9.94701980e-01 3.59923794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.817105681 meters 0.02495535643306064 Centerline is valid? [True, True] Translation: X:341.20, Y:176.51, Z:36.00 [[ 4.56192747e-01 -8.88721094e-01 -4.54201949e-02 3.41199493e+02] [ 8.84107520e-01 4.58446941e-01 -9.04449843e-02 1.76510170e+02] [ 1.01203115e-01 1.10400991e-03 9.94865172e-01 3.59992045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87710568099993 meters 0.027661504567102 Centerline is valid? [True, True] Translation: X:341.21, Y:176.57, Z:36.00 [[ 4.64829516e-01 -8.84209908e-01 -4.58950941e-02 3.41214506e+02] [ 8.79469028e-01 4.67084793e-01 -9.14659807e-02 1.76567720e+02] [ 1.02312027e-01 2.15277379e-03 9.94750026e-01 3.60001134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93710568099993 meters 0.027530947102738748 Centerline is valid? [True, True] Translation: X:341.24, Y:176.62, Z:36.01 [[ 4.68051018e-01 -8.82563898e-01 -4.48242228e-02 3.41238349e+02] [ 8.78027828e-01 4.70185902e-01 -8.93999468e-02 1.76620856e+02] [ 9.99768831e-02 2.48682118e-03 9.94986652e-01 3.60088305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99710568099994 meters 0.023990725547196792 Centerline is valid? [True, True] Translation: X:341.27, Y:176.67, Z:36.02 [[ 4.58707270e-01 -8.87533845e-01 -4.32587022e-02 3.41273415e+02] [ 8.83324494e-01 4.60740406e-01 -8.63488088e-02 1.76668333e+02] [ 9.65685223e-02 1.39735505e-03 9.95325358e-01 3.60158318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05710568099994 meters 0.02250164107719121 Centerline is valid? [True, True] Translation: X:341.32, Y:176.71, Z:36.02 [[ 4.37622038e-01 -8.98116617e-01 -4.32838778e-02 3.41319278e+02] [ 8.93944562e-01 4.39756543e-01 -8.64714001e-02 1.76709936e+02] [ 9.66957698e-02 -8.51596869e-04 9.95313620e-01 3.60204789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.11710568099994 meters 0.026132871772486785 Centerline is valid? [True, True] Translation: X:341.36, Y:176.76, Z:36.03 [[ 4.20590312e-01 -9.06206848e-01 -4.35079130e-02 3.41355281e+02] [ 9.02028347e-01 4.22826236e-01 -8.69645614e-02 1.76756402e+02] [ 9.72041682e-02 -2.66891882e-03 9.95260884e-01 3.60277841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.17710568099994 meters 0.02844858377071707 Centerline is valid? [True, True] Translation: X:341.38, Y:176.81, Z:36.04 [[ 4.13845791e-01 -9.09344301e-01 -4.27153685e-02 3.41378970e+02] [ 9.05326297e-01 4.16031257e-01 -8.54534302e-02 1.76810160e+02] [ 9.54775182e-02 -3.30680397e-03 9.95426094e-01 3.60352961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.23710568099995 meters 0.02880187159983902 Centerline is valid? [True, True] Translation: X:341.39, Y:176.87, Z:36.04 [[ 4.12992693e-01 -9.09728854e-01 -4.27837437e-02 3.41393726e+02] [ 9.05693324e-01 4.15189164e-01 -8.56595667e-02 1.76868360e+02] [ 9.56903261e-02 -3.37217591e-03 9.95405440e-01 3.60393872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.29710568099995 meters 0.028797393440181188 Centerline is valid? [True, True] Translation: X:341.41, Y:176.93, Z:36.04 [[ 4.17018646e-01 -9.07871811e-01 -4.31766542e-02 3.41406826e+02] [ 9.03744988e-01 4.19237544e-01 -8.65151895e-02 1.76926693e+02] [ 9.66459762e-02 -2.94223757e-03 9.95314472e-01 3.60418081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.35710568099995 meters 0.02584279451134438 Centerline is valid? [True, True] Translation: X:341.41, Y:176.99, Z:36.04 [[ 4.21007909e-01 -9.05986223e-01 -4.40602318e-02 3.41413190e+02] [ 9.01674985e-01 4.23299516e-01 -8.83161446e-02 1.76988879e+02] [ 9.86638851e-02 -2.54621347e-03 9.95117558e-01 3.60443677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41710568099995 meters 0.02458431538738713 Centerline is valid? [True, True] Translation: X:341.43, Y:177.05, Z:36.04 [[ 4.23491438e-01 -9.04760098e-01 -4.54331097e-02 3.41425697e+02] [ 9.00160592e-01 4.25915345e-01 -9.11428967e-02 1.77048405e+02] [ 1.01813115e-01 -2.29885853e-03 9.94800887e-01 3.60431105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47710568099995 meters 0.02403730410170279 Centerline is valid? [True, True] Translation: X:341.44, Y:177.11, Z:36.05 [[ 4.24850177e-01 -9.04167211e-01 -4.45419098e-02 3.41435783e+02] [ 8.99736521e-01 4.27173633e-01 -8.94252763e-02 1.77108133e+02] [ 9.98825321e-02 -2.08363856e-03 9.94997054e-01 3.60521883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53710568099996 meters 0.022567971082050334 Centerline is valid? [True, True] Translation: X:341.45, Y:177.17, Z:36.06 [[ 4.29363602e-01 -9.02107285e-01 -4.30039950e-02 3.41446356e+02] [ 8.97961005e-01 4.31509150e-01 -8.64053719e-02 1.77167749e+02] [ 9.65035328e-02 -1.51658885e-03 9.95331487e-01 3.60619680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59710568099996 meters 0.020740607621946367 Centerline is valid? [True, True] Translation: X:341.45, Y:177.23, Z:36.07 [[ 4.36897247e-01 -8.98536949e-01 -4.18586460e-02 3.41453712e+02] [ 8.94586257e-01 4.38897367e-01 -8.41696546e-02 1.77228842e+02] [ 9.40011941e-02 -6.72679092e-04 9.95571857e-01 3.60698509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65710568099996 meters 0.02049365810594656 Centerline is valid? [True, True] Translation: X:341.46, Y:177.29, Z:36.08 [[ 4.45545797e-01 -8.94325534e-01 -4.08751994e-02 3.41455706e+02] [ 8.90534650e-01 4.47416783e-01 -8.22572723e-02 1.77292252e+02] [ 9.18530292e-02 2.48600530e-04 9.95772544e-01 3.60799245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71710568099996 meters 0.022028125395930447 Centerline is valid? [True, True] Translation: X:341.46, Y:177.35, Z:36.09 [[ 4.55194155e-01 -8.89507141e-01 -3.96903972e-02 3.41462905e+02] [ 8.85909066e-01 4.56919631e-01 -7.99348374e-02 1.77353771e+02] [ 8.92379303e-02 1.22378813e-03 9.96009585e-01 3.60897683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.77710568099997 meters 0.02317265053178646 Centerline is valid? [True, True] Translation: X:341.48, Y:177.41, Z:36.09 [[ 4.61663700e-01 -8.86146191e-01 -4.01442056e-02 3.41479162e+02] [ 8.82446470e-01 4.63401775e-01 -8.09136731e-02 1.77411543e+02] [ 9.03042392e-02 1.92979315e-03 9.95912356e-01 3.60921945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.83710568099997 meters 0.025117598279420554 Centerline is valid? [True, True] Translation: X:341.50, Y:177.47, Z:36.09 [[ 4.65851549e-01 -8.83904916e-01 -4.11634912e-02 3.41497495e+02] [ 8.79999610e-01 4.67660196e-01 -8.30338882e-02 1.77467253e+02] [ 9.26445884e-02 2.45760921e-03 9.95696209e-01 3.60947855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.89710568099997 meters 0.024932919476484447 Centerline is valid? [True, True] Translation: X:341.53, Y:177.52, Z:36.10 [[ 4.66052729e-01 -8.83772548e-01 -4.17245284e-02 3.41526664e+02] [ 8.79756043e-01 4.67909885e-01 -8.42000271e-02 1.77518843e+02] [ 9.39369918e-02 2.53424641e-03 9.95574919e-01 3.60955696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.957105681 meters 0.02193493253908909 Centerline is valid? [True, True] Translation: X:341.56, Y:177.56, Z:36.10 [[ 4.58531117e-01 -8.87741016e-01 -4.08056807e-02 3.41562430e+02] [ 8.83909151e-01 4.60340017e-01 -8.24116560e-02 1.77564894e+02] [ 9.19446949e-02 1.71979413e-03 9.95762630e-01 3.61031646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.017105681 meters 0.01771192792038346 Centerline is valid? [True, True] Translation: X:341.61, Y:177.61, Z:36.11 [[ 4.42970887e-01 -8.95653454e-01 -3.97703925e-02 3.41605540e+02] [ 8.92042586e-01 4.44752603e-01 -8.03439267e-02 1.77608870e+02] [ 8.96483011e-02 1.13136663e-04 9.95973478e-01 3.61115725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.077105681 meters 0.021963066949513943 Centerline is valid? [True, True] Translation: X:341.65, Y:177.65, Z:36.12 [[ 4.20422501e-01 -9.06500327e-01 -3.87566439e-02 3.41653087e+02] [ 9.03110109e-01 4.22200086e-01 -7.83531705e-02 1.77650782e+02] [ 8.73902331e-02 -2.06008102e-03 9.96172025e-01 3.61193475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.137105681 meters 0.03287946457304611 Centerline is valid? [True, True] Translation: X:341.70, Y:177.69, Z:36.12 [[ 4.00809484e-01 -9.15290900e-01 -3.99290097e-02 3.41696679e+02] [ 9.11727421e-01 4.02773358e-01 -8.07881923e-02 1.77693267e+02] [ 9.00270386e-02 -4.02369939e-03 9.95931193e-01 3.61233169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.197105681 meters 0.033473968012561243 Centerline is valid? [True, True] Translation: X:341.72, Y:177.75, Z:36.13 [[ 3.96380028e-01 -9.17159604e-01 -4.12448161e-02 3.41716441e+02] [ 9.13362894e-01 3.98493806e-01 -8.34919774e-02 1.77748755e+02] [ 9.30112726e-02 -4.57693225e-03 9.95654536e-01 3.61286749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.257105681 meters 0.034664356241979624 Centerline is valid? [True, True] Translation: X:341.73, Y:177.80, Z:36.13 [[ 3.99078906e-01 -9.15988099e-01 -4.12532415e-02 3.41734109e+02] [ 9.12177207e-01 4.01182648e-01 -8.35776619e-02 1.77804880e+02] [ 9.31062283e-02 -4.27618476e-03 9.95646998e-01 3.61339370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.317105681 meters 0.033017795638591606 Centerline is valid? [True, True] Translation: X:341.75, Y:177.86, Z:36.14 [[ 3.99415822e-01 -9.15863112e-01 -4.07647047e-02 3.41754422e+02] [ 9.12135621e-01 4.01469009e-01 -8.26513399e-02 1.77859628e+02] [ 9.20630789e-02 -4.17068635e-03 9.95744443e-01 3.61404487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37710568099993 meters 0.03327272954718171 Centerline is valid? [True, True] Translation: X:341.77, Y:177.92, Z:36.14 [[ 4.01259735e-01 -9.14986321e-01 -4.23161486e-02 3.41770103e+02] [ 9.10957931e-01 4.03464078e-01 -8.58625943e-02 1.77916160e+02] [ 9.56361452e-02 -4.09502933e-03 9.95407936e-01 3.61448111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43710568099993 meters 0.027722070670371936 Centerline is valid? [True, True] Translation: X:341.77, Y:177.98, Z:36.15 [[ 4.03534367e-01 -9.13887083e-01 -4.43893529e-02 3.41773802e+02] [ 9.09443555e-01 4.05948657e-01 -9.01005447e-02 1.77979564e+02] [ 1.00361522e-01 -4.01094469e-03 9.94942952e-01 3.61509099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49710568099994 meters 0.026884121035607413 Centerline is valid? [True, True] Translation: X:341.79, Y:178.04, Z:36.16 [[ 4.06865354e-01 -9.12417980e-01 -4.42042268e-02 3.41792069e+02] [ 9.07995391e-01 4.09243769e-01 -8.97992646e-02 1.78036164e+02] [ 1.00024768e-01 -3.60102461e-03 9.94978431e-01 3.61576079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55710568099994 meters 0.02344312570397642 Centerline is valid? [True, True] Translation: X:341.80, Y:178.10, Z:36.17 [[ 4.15111133e-01 -9.08683058e-01 -4.44729965e-02 3.41800835e+02] [ 9.04177657e-01 4.17478049e-01 -9.04148421e-02 1.78096743e+02] [ 1.00724935e-01 -2.67928228e-03 9.94910704e-01 3.61659493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.61710568099994 meters 0.021218686944921152 Centerline is valid? [True, True] Translation: X:341.81, Y:178.16, Z:36.18 [[ 4.20403487e-01 -9.06355758e-01 -4.21918043e-02 3.41812196e+02] [ 9.02283868e-01 4.22510726e-01 -8.58400150e-02 1.78155984e+02] [ 9.56280817e-02 -1.98154279e-03 9.95415161e-01 3.61811901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.67710568099994 meters 0.021694427411508815 Centerline is valid? [True, True] Translation: X:341.84, Y:178.21, Z:36.19 [[ 4.20733808e-01 -9.06227544e-01 -4.16497465e-02 3.41836108e+02] [ 9.02253440e-01 4.22786026e-01 -8.47980291e-02 1.78208733e+02] [ 9.44552405e-02 -1.90122942e-03 9.95527294e-01 3.61871246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.73710568099995 meters 0.02058627747874365 Centerline is valid? [True, True] Translation: X:341.86, Y:178.26, Z:36.20 [[ 4.21975372e-01 -9.05649675e-01 -4.16587597e-02 3.41855193e+02] [ 9.01668491e-01 4.24023074e-01 -8.48431841e-02 1.78263871e+02] [ 9.45024774e-02 -1.76065678e-03 9.95523069e-01 3.61961326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.79710568099995 meters 0.020349859964470127 Centerline is valid? [True, True] Translation: X:341.88, Y:178.32, Z:36.20 [[ 4.24846023e-01 -9.04284266e-01 -4.21405149e-02 3.41876979e+02] [ 9.00196861e-01 4.26928429e-01 -8.58936973e-02 1.78317279e+02] [ 9.56633028e-02 -1.44316353e-03 9.95412703e-01 3.61989007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.85710568099995 meters 0.01905478506602172 Centerline is valid? [True, True] Translation: X:341.90, Y:178.37, Z:36.20 [[ 4.28907394e-01 -9.02330800e-01 -4.28669521e-02 3.41896348e+02] [ 8.98084405e-01 4.31043085e-01 -8.74428936e-02 1.78373109e+02] [ 9.73799194e-02 -9.93237561e-04 9.95246786e-01 3.62002070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91710568099995 meters 0.018603018165825238 Centerline is valid? [True, True] Translation: X:341.92, Y:178.43, Z:36.20 [[ 4.33146389e-01 -9.00236195e-01 -4.42605849e-02 3.41915926e+02] [ 8.95689821e-01 4.35401584e-01 -9.03615235e-02 1.78428244e+02] [ 1.00617843e-01 -5.03987810e-04 9.94925020e-01 3.61983127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97710568099995 meters 0.018461249035200144 Centerline is valid? [True, True] Translation: X:341.94, Y:178.48, Z:36.20 [[ 4.32318067e-01 -9.00585023e-01 -4.52515691e-02 3.41938289e+02] [ 8.95826143e-01 4.34679534e-01 -9.24620120e-02 1.78481777e+02] [ 1.02939834e-01 -5.64540277e-04 9.94687424e-01 3.62002453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03710568099996 meters 0.02169310693322736 Centerline is valid? [True, True] Translation: X:341.97, Y:178.53, Z:36.22 [[ 4.15100584e-01 -9.08828309e-01 -4.15043370e-02 3.41970825e+02] [ 9.04863987e-01 4.17163768e-01 -8.48266195e-02 1.78530171e+02] [ 9.44069388e-02 -2.34420053e-03 9.95530931e-01 3.62160946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09710568099996 meters 0.03143383640212162 Centerline is valid? [True, True] Translation: X:342.01, Y:178.58, Z:36.22 [[ 3.98452922e-01 -9.16318781e-01 -3.99394584e-02 3.42009659e+02] [ 9.12682856e-01 4.00430411e-01 -8.16424595e-02 1.78575938e+02] [ 9.08034927e-02 -3.92138243e-03 9.95861109e-01 3.62192811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15710568099996 meters 0.032545045700694636 Centerline is valid? [True, True] Translation: X:342.03, Y:178.63, Z:36.23 [[ 3.92995845e-01 -9.18735049e-01 -3.84730440e-02 3.42030126e+02] [ 9.15370835e-01 3.94851130e-01 -7.86690465e-02 1.78631483e+02] [ 8.74671352e-02 -4.30049402e-03 9.96158123e-01 3.62299969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21710568099996 meters 0.030577207298087997 Centerline is valid? [True, True] Translation: X:342.05, Y:178.69, Z:36.24 [[ 3.97642750e-01 -9.16718013e-01 -3.88372064e-02 3.42046892e+02] [ 9.13275440e-01 3.99516094e-01 -7.94661028e-02 1.78688994e+02] [ 8.83640968e-02 -3.86994705e-03 9.96080725e-01 3.62366051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.27710568099997 meters 0.022305745927590652 Centerline is valid? [True, True] Translation: X:342.04, Y:178.76, Z:36.24 [[ 4.12289613e-01 -9.10230440e-01 -3.87016871e-02 3.42044253e+02] [ 9.06777670e-01 4.14095010e-01 -7.92437996e-02 1.78755307e+02] [ 8.81562941e-02 -2.42243014e-03 9.96103709e-01 3.62447973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.33710568099997 meters 0.01772995546243914 Centerline is valid? [True, True] Translation: X:342.05, Y:178.82, Z:36.24 [[ 4.27853506e-01 -9.02933712e-01 -4.06459037e-02 3.42045076e+02] [ 8.99089026e-01 4.29778837e-01 -8.32410658e-02 1.78821606e+02] [ 9.26299138e-02 -9.29304079e-04 9.95700173e-01 3.62437923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.39710568099997 meters 0.01783908702288215 Centerline is valid? [True, True] Translation: X:342.04, Y:178.89, Z:36.25 [[ 4.44771121e-01 -8.94710956e-01 -4.08773186e-02 3.42042975e+02] [ 8.90784488e-01 4.46644845e-01 -8.37339715e-02 1.78886356e+02] [ 9.31753453e-02 8.29571082e-04 9.95649369e-01 3.62469877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.457105681 meters 0.017964344552332017 Centerline is valid? [True, True] Translation: X:342.06, Y:178.94, Z:36.25 [[ 4.45584695e-01 -8.94309077e-01 -4.08112190e-02 3.42059046e+02] [ 8.90386990e-01 4.47448750e-01 -8.36697347e-02 1.78943628e+02] [ 9.30875321e-02 9.44174762e-04 9.95657481e-01 3.62520375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.517105681 meters 0.017198584312033062 Centerline is valid? [True, True] Translation: X:342.09, Y:178.99, Z:36.26 [[ 4.32017329e-01 -9.00987763e-01 -3.97753475e-02 3.42085616e+02] [ 8.97284645e-01 4.33844282e-01 -8.16051702e-02 1.78993913e+02] [ 9.07815669e-02 -4.34960902e-04 9.95870734e-01 3.62625483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.577105681 meters 0.02124779218208322 Centerline is valid? [True, True] Translation: X:342.12, Y:179.04, Z:36.27 [[ 4.16836676e-01 -9.08195592e-01 -3.77882523e-02 3.42120342e+02] [ 9.04880673e-01 4.18541841e-01 -7.75480115e-02 1.79042896e+02] [ 8.62447269e-02 -1.86900387e-03 9.96272229e-01 3.62679972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.637105681 meters 0.024321827258604142 Centerline is valid? [True, True] Translation: X:342.15, Y:179.10, Z:36.27 [[ 4.09715457e-01 -9.11421481e-01 -3.80016911e-02 3.42145077e+02] [ 9.08081551e-01 4.11466123e-01 -7.79969651e-02 1.79096510e+02] [ 8.67245179e-02 -2.55207241e-03 9.96229062e-01 3.62718841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.697105681 meters 0.02837438821153766 Centerline is valid? [True, True] Translation: X:342.17, Y:179.15, Z:36.28 [[ 4.04522390e-01 -9.13794437e-01 -3.66246103e-02 3.42168113e+02] [ 9.10700458e-01 4.06166339e-01 -7.51902931e-02 1.79149105e+02] [ 8.35841554e-02 -2.93789234e-03 9.96496391e-01 3.62837052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.757105681 meters 0.028320447654569193 Centerline is valid? [True, True] Translation: X:342.18, Y:179.21, Z:36.29 [[ 3.98307202e-01 -9.16544881e-01 -3.60118596e-02 3.42184461e+02] [ 9.13563028e-01 3.99917023e-01 -7.39524743e-02 1.79207425e+02] [ 8.21825174e-02 -3.44330042e-03 9.96611347e-01 3.62903979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.817105681 meters 0.026800427692469733 Centerline is valid? [True, True] Translation: X:342.19, Y:179.27, Z:36.30 [[ 4.02332054e-01 -9.14799248e-01 -3.56546473e-02 3.42192546e+02] [ 9.11867568e-01 4.03897347e-01 -7.32425515e-02 1.79269589e+02] [ 8.14030485e-02 -3.04449029e-03 9.96676615e-01 3.62955011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87710568099993 meters 0.02112083900554217 Centerline is valid? [True, True] Translation: X:342.19, Y:179.34, Z:36.30 [[ 4.18970298e-01 -9.07290849e-01 -3.58776232e-02 3.42186579e+02] [ 9.04289481e-01 4.20500813e-01 -7.37536558e-02 1.79339182e+02] [ 8.20025867e-02 -1.54316606e-03 9.96630922e-01 3.63005607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93710568099993 meters 0.019060551377898985 Centerline is valid? [True, True] Translation: X:342.18, Y:179.41, Z:36.31 [[ 4.35987310e-01 -8.99262522e-01 -3.52417534e-02 3.42178924e+02] [ 8.96339232e-01 4.37409323e-01 -7.24504309e-02 1.79408792e+02] [ 8.05670288e-02 -1.09770257e-06 9.96749193e-01 3.63077030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99710568099994 meters 0.0190305723568115 Centerline is valid? [True, True] Translation: X:342.19, Y:179.47, Z:36.31 [[ 4.34914400e-01 -8.99849370e-01 -3.34750003e-02 3.42194338e+02] [ 8.97213594e-01 4.36200757e-01 -6.88234368e-02 1.79465711e+02] [ 7.65325467e-02 -1.01921597e-04 9.97067078e-01 3.63148377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05710568099994 meters 0.0197410457312358 Centerline is valid? [True, True] Translation: X:342.23, Y:179.51, Z:36.32 [[ 4.31899394e-01 -9.01357091e-01 -3.19109225e-02 3.42225149e+02] [ 8.98965053e-01 4.33076524e-01 -6.56243641e-02 1.79514918e+02] [ 7.29708574e-02 -3.43681007e-04 9.97334014e-01 3.63216592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.11710568099994 meters 0.019182786241787514 Centerline is valid? [True, True] Translation: X:342.25, Y:179.57, Z:36.31 [[ 4.31778873e-01 -9.01324487e-01 -3.43682142e-02 3.42250771e+02] [ 8.98547957e-01 4.33144366e-01 -7.06931880e-02 1.79568927e+02] [ 7.86038997e-02 -3.57663580e-04 9.96905863e-01 3.63149660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.17710568099994 meters 0.019212621131579344 Centerline is valid? [True, True] Translation: X:342.28, Y:179.62, Z:36.31 [[ 4.29857974e-01 -9.02173061e-01 -3.61371055e-02 3.42278623e+02] [ 8.99100868e-01 4.31373973e-01 -7.43917017e-02 1.79620933e+02] [ 8.27027960e-02 -5.13036747e-04 9.96574124e-01 3.63123643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.23710568099995 meters 0.019446509207113806 Centerline is valid? [True, True] Translation: X:342.30, Y:179.67, Z:36.32 [[ 4.29133212e-01 -9.02516775e-01 -3.61684637e-02 3.42304990e+02] [ 8.99435822e-01 4.30654342e-01 -7.45120107e-02 1.79672485e+02] [ 8.28244456e-02 -5.55633424e-04 9.96563998e-01 3.63156644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.29710568099995 meters 0.01971477855352596 Centerline is valid? [True, True] Translation: X:342.34, Y:179.72, Z:36.32 [[ 4.26797681e-01 -9.03612243e-01 -3.64506948e-02 3.42335543e+02] [ 9.00481177e-01 4.28350744e-01 -7.51617635e-02 1.79722069e+02] [ 8.35307720e-02 -7.44298138e-04 9.96504920e-01 3.63173502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.35710568099995 meters 0.02096659502627772 Centerline is valid? [True, True] Translation: X:342.37, Y:179.77, Z:36.32 [[ 4.20436923e-01 -9.06615332e-01 -3.57971058e-02 3.42370047e+02] [ 9.03605093e-01 4.21956081e-01 -7.38302250e-02 1.79770565e+02] [ 8.20404205e-02 -1.30549444e-03 9.96628148e-01 3.63217674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41710568099995 meters 0.021918754983240894 Centerline is valid? [True, True] Translation: X:342.40, Y:179.82, Z:36.33 [[ 4.15219301e-01 -9.09066740e-01 -3.45050024e-02 3.42403158e+02] [ 9.06274143e-01 4.16647066e-01 -7.12207921e-02 1.79820997e+02] [ 7.91208612e-02 -1.69874394e-03 9.96863583e-01 3.63250807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47710568099995 meters 0.02188956318571984 Centerline is valid? [True, True] Translation: X:342.43, Y:179.87, Z:36.33 [[ 4.16546212e-01 -9.08487299e-01 -3.37650890e-02 3.42427254e+02] [ 9.05811403e-01 4.17909575e-01 -6.96942497e-02 1.79873993e+02] [ 7.74270946e-02 -1.55392695e-03 9.96996806e-01 3.63295955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53710568099996 meters 0.020182518975930173 Centerline is valid? [True, True] Translation: X:342.44, Y:179.93, Z:36.34 [[ 4.24205389e-01 -9.05029411e-01 -3.11697589e-02 3.42443184e+02] [ 9.02736980e-01 4.25348188e-01 -6.43806204e-02 1.79930393e+02] [ 7.15243554e-02 -8.27487915e-04 9.97438510e-01 3.63395384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59710568099996 meters 0.019639908355155177 Centerline is valid? [True, True] Translation: X:342.45, Y:179.99, Z:36.34 [[ 4.38601096e-01 -8.98181264e-01 -2.99915815e-02 3.42454614e+02] [ 8.96039616e-01 4.39625201e-01 -6.19894220e-02 1.79988962e+02] [ 6.88627925e-02 3.14983294e-04 9.97626091e-01 3.63427873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65710568099996 meters 0.020194221316756623 Centerline is valid? [True, True] Translation: X:342.48, Y:180.04, Z:36.35 [[ 4.44291586e-01 -8.95390513e-01 -2.96785371e-02 3.42477356e+02] [ 8.93283365e-01 4.45281081e-01 -6.13969708e-02 1.80042792e+02] [ 6.81895562e-02 7.66814044e-04 9.97672089e-01 3.63457544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71710568099996 meters 0.022862808979847937 Centerline is valid? [True, True] Translation: X:342.50, Y:180.10, Z:36.35 [[ 4.52416401e-01 -8.91325659e-01 -2.92911156e-02 3.42495458e+02] [ 8.89260932e-01 4.53361482e-01 -6.06494986e-02 1.80099266e+02] [ 6.73379179e-02 1.39138315e-03 9.97729256e-01 3.63491140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.77710568099997 meters 0.02139856714912441 Centerline is valid? [True, True] Translation: X:342.53, Y:180.15, Z:36.35 [[ 4.51119816e-01 -8.91957849e-01 -3.00350881e-02 3.42525827e+02] [ 8.89787835e-01 4.52116599e-01 -6.21947725e-02 1.80149843e+02] [ 6.90544774e-02 1.33243835e-03 9.97612001e-01 3.63467745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.83710568099997 meters 0.019307905666860546 Centerline is valid? [True, True] Translation: X:342.56, Y:180.20, Z:36.34 [[ 4.39896366e-01 -8.97520237e-01 -3.07995215e-02 3.42563257e+02] [ 8.95247121e-01 4.40972974e-01 -6.38390855e-02 1.80198983e+02] [ 7.08786278e-02 5.09398769e-04 9.97484817e-01 3.63443061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.89710568099997 meters 0.019989645754292375 Centerline is valid? [True, True] Translation: X:342.60, Y:180.25, Z:36.35 [[ 4.23124128e-01 -9.05562330e-01 -3.03782626e-02 3.42601081e+02] [ 9.03371546e-01 4.24212470e-01 -6.29573721e-02 1.80245137e+02] [ 6.98986624e-02 -8.04074859e-04 9.97553773e-01 3.63497935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.957105681 meters 0.02399592895583157 Centerline is valid? [True, True] Translation: X:342.64, Y:180.29, Z:36.35 [[ 4.09738707e-01 -9.11694765e-01 -3.04441655e-02 3.42639462e+02] [ 9.09506787e-01 4.10864169e-01 -6.31509224e-02 1.80293190e+02] [ 7.00827821e-02 -1.81379784e-03 9.97539530e-01 3.63517191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.017105681 meters 0.02645639731436576 Centerline is valid? [True, True] Translation: X:342.67, Y:180.34, Z:36.35 [[ 4.04340455e-01 -9.14085469e-01 -3.09281652e-02 3.42670433e+02] [ 9.11833419e-01 4.05515304e-01 -6.41650518e-02 1.80344531e+02] [ 7.11941858e-02 -2.25680841e-03 9.97459921e-01 3.63513886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.077105681 meters 0.0242598884199468 Centerline is valid? [True, True] Translation: X:342.69, Y:180.40, Z:36.35 [[ 4.09441321e-01 -9.11806764e-01 -3.10842383e-02 3.42691648e+02] [ 9.09524825e-01 4.10615328e-01 -6.44953060e-02 1.80400706e+02] [ 7.15709210e-02 -1.86484310e-03 9.97433770e-01 3.63527848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.137105681 meters 0.02169834288364838 Centerline is valid? [True, True] Translation: X:342.71, Y:180.46, Z:36.36 [[ 4.17544084e-01 -9.08144048e-01 -3.05176486e-02 3.42711075e+02] [ 9.05931459e-01 4.18656154e-01 -6.33657373e-02 1.80457988e+02] [ 7.03216185e-02 -1.18890923e-03 9.97523662e-01 3.63560275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.197105681 meters 0.02063191434503613 Centerline is valid? [True, True] Translation: X:342.72, Y:180.52, Z:36.37 [[ 4.36236301e-01 -8.99376775e-01 -2.86235107e-02 3.42721131e+02] [ 8.97411028e-01 4.37174289e-01 -5.94313700e-02 1.80516878e+02] [ 6.59646569e-02 2.39066842e-04 9.97821931e-01 3.63659909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.257105681 meters 0.025204863291066026 Centerline is valid? [True, True] Translation: X:342.73, Y:180.58, Z:36.37 [[ 4.56837129e-01 -8.89129214e-01 -2.73692928e-02 3.42729420e+02] [ 8.87311779e-01 4.57653149e-01 -5.68454267e-02 1.80579749e+02] [ 6.30685726e-02 1.68400569e-03 9.98007775e-01 3.63687319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.317105681 meters 0.028185716837713176 Centerline is valid? [True, True] Translation: X:342.76, Y:180.63, Z:36.36 [[ 4.54912122e-01 -8.90113432e-01 -2.74415673e-02 3.42756021e+02] [ 8.88288760e-01 4.55736419e-01 -5.69859301e-02 1.80632230e+02] [ 6.32300634e-02 1.54755457e-03 9.97997778e-01 3.63648437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37710568099993 meters 0.03613164754702852 Centerline is valid? [True, True] Translation: X:342.78, Y:180.69, Z:36.37 [[ 4.50708583e-01 -8.92320679e-01 -2.50115910e-02 3.42778131e+02] [ 8.90806524e-01 4.51400595e-01 -5.19734555e-02 1.80686017e+02] [ 5.76672361e-02 1.14439407e-03 9.98335204e-01 3.63704804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43710568099993 meters 0.04788635597702642 Centerline is valid? [True, True] Translation: X:342.79, Y:180.75, Z:36.38 [[ 4.53066508e-01 -8.91194712e-01 -2.24215086e-02 3.42792611e+02] [ 8.89974046e-01 4.53619441e-01 -4.66433365e-02 1.80745601e+02] [ 5.17391270e-02 1.17797288e-03 9.98659940e-01 3.63758511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49710568099994 meters 0.062096527652840315 Centerline is valid? [True, True] Translation: X:342.83, Y:180.79, Z:36.38 [[ 4.32632541e-01 -9.01387627e-01 -1.81502287e-02 3.42829408e+02] [ 9.00596511e-01 4.33013101e-01 -3.77568248e-02 1.80793456e+02] [ 4.18928215e-02 -1.12016180e-05 9.99122110e-01 3.63828081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55710568099994 meters 0.07710630555443562 Centerline is valid? [True, True] Translation: X:342.87, Y:180.84, Z:36.38 [[ 4.13828391e-01 -9.10213224e-01 -1.60607930e-02 3.42868126e+02] [ 9.09600009e-01 4.14139199e-01 -3.34147694e-02 1.80841961e+02] [ 3.70659689e-02 -7.80917251e-04 9.99312516e-01 3.63822305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.61710568099994 meters 0.08409686348051311 Centerline is valid? [True, True] Translation: X:342.89, Y:180.90, Z:36.38 [[ 4.07020227e-01 -9.13309438e-01 -1.41564694e-02 3.42894334e+02] [ 9.12834765e-01 4.07265270e-01 -2.94566114e-02 1.80896563e+02] [ 3.26684395e-02 -9.33080727e-04 9.99465809e-01 3.63831695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4099.01 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%| | 0/13922 [00:00