+ python -m lidar_slam --no-model /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 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 0.021193817 Adjusted end_distance from 9.223372036854776e+18 to 281.751193817 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021193817 meters 0.16559246284614731 Centerline is valid? [0, False] SLAMing on 0.081193817 meters 0.18119946155994313 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 0.99996371 -0.00793119 -0.00310889 0.00509669] [ 0.00794341 0.9999607 0.00393726 -0.02162601] [ 0.00307754 -0.00396181 0.99998742 -0.00169138] [ 0. 0. 0. 1. ]] SLAMing on 0.141193817 meters 0.19483945118075077 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.00 [[ 0.99994913 -0.0096607 -0.00290018 0.0065043 ] [ 0.00967134 0.99994647 0.00367666 -0.03126443] [ 0.00286451 -0.00370452 0.99998904 -0.00423324] [ 0. 0. 0. 1. ]] SLAMing on 0.201193817 meters 0.2063663884513216 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 0.99996747 -0.0078514 -0.00184936 0.00773888] [ 0.00786181 0.9999529 0.00569053 -0.0442269 ] [ 0.00180459 -0.00570488 0.9999821 -0.00823514] [ 0. 0. 0. 1. ]] SLAMing on 0.261193817 meters 0.21227055813680984 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99995847 -0.00903426 -0.00119812 0.00789128] [ 0.00904037 0.99994567 0.00519008 -0.05253441] [ 0.00115117 -0.0052007 0.99998581 -0.01003029] [ 0. 0. 0. 1. ]] SLAMing on 0.321193817 meters 0.22646313200528687 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99957308e-01 -9.19806645e-03 -8.82046274e-04 8.67525161e-03] [ 9.20407705e-03 9.99932638e-01 7.07135008e-03 -6.75176397e-02] [ 8.16944110e-04 -7.07916661e-03 9.99974609e-01 -1.21193828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.381193817 meters 0.23076427584517853 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.02 [[ 9.99942483e-01 -1.07205384e-02 -3.18638711e-04 1.02607398e-02] [ 1.07223472e-02 9.99922322e-01 6.35459660e-03 -7.85535905e-02] [ 2.50489263e-04 -6.35764765e-03 9.99979759e-01 -1.54286600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.441193817 meters 0.23455748035889037 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.02 [[ 0.99995382 -0.00953561 0.00119641 0.00962625] [ 0.00952834 0.99993695 0.00594152 -0.09610403] [-0.00125299 -0.00592985 0.99998163 -0.01874057] [ 0. 0. 0. 1. ]] SLAMing on 0.501193817 meters 0.24509740952941617 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:-0.02 [[ 0.99996998 -0.00720418 0.00285166 0.00735563] [ 0.00718254 0.99994588 0.00752678 -0.11295195] [-0.00290573 -0.00750607 0.99996761 -0.02059927] [ 0. 0. 0. 1. ]] SLAMing on 0.561193817 meters 0.2527679987971901 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:-0.02 [[ 0.99996261 -0.00797045 0.00335509 0.00738748] [ 0.00794481 0.99993965 0.00758737 -0.12584821] [-0.00341537 -0.00756043 0.99996559 -0.02191306] [ 0. 0. 0. 1. ]] SLAMing on 0.621193817 meters 0.2621075894136917 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:-0.03 [[ 0.99997231 -0.00651713 0.00359311 0.01027208] [ 0.00649679 0.99996298 0.00564143 -0.15221553] [-0.00362974 -0.00561793 0.99997763 -0.0250856 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6811938169999999 meters 0.2646120605512318 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:-0.03 [[ 9.99981882e-01 -6.01763122e-03 1.54328337e-04 1.87361358e-02] [ 6.01657741e-03 9.99963278e-01 6.10279273e-03 -1.70983706e-01] [-1.91047025e-04 -6.10175363e-03 9.99981366e-01 -2.51357783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.741193817 meters 0.26590691942484707 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:-0.02 [[ 0.99994698 -0.00919381 -0.0046375 0.02798674] [ 0.00923635 0.99991469 0.00923586 -0.20078559] [ 0.0045522 -0.0092782 0.99994659 -0.02352689] [ 0. 0. 0. 1. ]] SLAMing on 0.801193817 meters 0.2365132407718081 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:-0.02 [[ 0.99987684 -0.01459564 -0.00576761 0.03050403] [ 0.01463617 0.99986803 0.00704953 -0.21811454] [ 0.00566396 -0.00713308 0.99995852 -0.02279032] [ 0. 0. 0. 1. ]] SLAMing on 0.861193817 meters 0.2190499251531297 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.24, Z:-0.02 [[ 0.99979944 -0.01682111 -0.01086871 0.04175688] [ 0.01685974 0.99985183 0.00347309 -0.23686751] [ 0.01080868 -0.00365563 0.9999349 -0.02013185] [ 0. 0. 0. 1. ]] SLAMing on 0.9211938169999999 meters 0.211290340814828 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.26, Z:-0.02 [[ 0.99960208 -0.02476458 -0.01350574 0.0479093 ] [ 0.02483859 0.99967721 0.00534017 -0.26014508] [ 0.01336913 -0.0056735 0.99989453 -0.02100783] [ 0. 0. 0. 1. ]] SLAMing on 0.981193817 meters 0.20650515572615827 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.28, Z:-0.02 [[ 0.99929143 -0.03389355 -0.01636674 0.05472293] [ 0.03400819 0.99939857 0.00677762 -0.27842679] [ 0.01612718 -0.00732942 0.99984308 -0.01983947] [ 0. 0. 0. 1. ]] SLAMing on 1.041193817 meters 0.20180314711495823 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.28, Z:-0.02 [[ 0.99912592 -0.03829762 -0.01675393 0.05705707] [ 0.03835874 0.99925844 0.00334229 -0.28240693] [ 0.0166135 -0.00398203 0.99985406 -0.02120837] [ 0. 0. 0. 1. ]] SLAMing on 1.101193817 meters 0.1988900933835102 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.29, Z:-0.02 [[ 0.9989397 -0.04245349 -0.01780952 0.06193552] [ 0.04248114 0.99909658 0.0011768 -0.28997487] [ 0.01774347 -0.00193213 0.99984071 -0.02386844] [ 0. 0. 0. 1. ]] SLAMing on 1.1611938169999998 meters 0.1960767889241065 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.29, Z:-0.02 [[ 0.9992256 -0.03359964 -0.02047572 0.0843225 ] [ 0.03343272 0.99940533 -0.00844057 -0.29468967] [ 0.02074715 0.00774948 0.99975472 -0.02417061] [ 0. 0. 0. 1. ]] SLAMing on 1.2211938169999998 meters 0.1882994798655884 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.29, Z:-0.03 [[ 0.99949369 -0.02886746 -0.01338045 0.09304724] [ 0.02868795 0.99949834 -0.01341919 -0.29470315] [ 0.01376111 0.01302854 0.99982043 -0.02631963] [ 0. 0. 0. 1. ]] SLAMing on 1.281193817 meters 0.18444968623284824 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.03 [[ 0.99972548 -0.02214849 -0.00764272 0.1035316 ] [ 0.02201558 0.99961209 -0.01705802 -0.29441909] [ 0.00801757 0.01688508 0.99982529 -0.02934864] [ 0. 0. 0. 1. ]] SLAMing on 1.3411938169999997 meters 0.17634358066874262 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.30, Z:-0.03 [[ 0.99980049 -0.01833633 -0.00792198 0.10425925] [ 0.01823901 0.99975939 -0.01218637 -0.29767536] [ 0.00814353 0.01203945 0.99989436 -0.02907972] [ 0. 0. 0. 1. ]] SLAMing on 1.4011938169999998 meters 0.1593371323511572 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.30, Z:-0.03 [[ 0.9998521 -0.01517029 -0.00810234 0.10445509] [ 0.01510557 0.99985398 -0.00798957 -0.29856433] [ 0.00822236 0.00786599 0.99993526 -0.02771882] [ 0. 0. 0. 1. ]] SLAMing on 1.4611938169999998 meters 0.14750063694550344 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.30, Z:-0.03 [[ 0.99989433 -0.01179628 -0.00849597 0.10487863] [ 0.0117568 0.99991993 -0.00468116 -0.29659573] [ 0.00855051 0.00458078 0.99995295 -0.02709996] [ 0. 0. 0. 1. ]] SLAMing on 1.521193817 meters 0.13850912538812077 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.29, Z:-0.03 [[ 0.99987057 -0.01322207 -0.00916621 0.1046858 ] [ 0.01315445 0.9998861 -0.00739852 -0.28783375] [ 0.00926299 0.00727699 0.99993062 -0.02538568] [ 0. 0. 0. 1. ]] SLAMing on 1.581193817 meters 0.13181580957140202 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.28, Z:-0.03 [[ 0.99989017 -0.01108874 -0.00983261 0.10583061] [ 0.01101626 0.99991197 -0.00739535 -0.27766411] [ 0.00991375 0.00728622 0.99992431 -0.02630503] [ 0. 0. 0. 1. ]] SLAMing on 1.6411938169999998 meters 0.1282905985448824 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.26, Z:-0.03 [[ 0.99992039 -0.00470563 -0.01170762 0.11036654] [ 0.0046194 0.99996208 -0.00738199 -0.25661802] [ 0.01174191 0.00732732 0.99990421 -0.03250222] [ 0. 0. 0. 1. ]] SLAMing on 1.7011938169999998 meters 0.1256297559173891 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:-0.04 [[ 0.99992436 0.0011617 -0.01224451 0.11149892] [-0.0012496 0.99997349 -0.00717384 -0.24062876] [ 0.01223585 0.0071886 0.9998993 -0.03636473] [ 0. 0. 0. 1. ]] SLAMing on 1.7611938169999999 meters 0.12352044754368717 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.21, Z:-0.04 [[ 0.99996361 0.0081232 -0.00260673 0.11908739] [-0.00814933 0.99991501 -0.01017613 -0.21491227] [ 0.00252384 0.010197 0.99994482 -0.04361926] [ 0. 0. 0. 1. ]] SLAMing on 1.8211938169999997 meters 0.11837214249632877 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.04 [[ 0.99995793 0.00860377 0.0031815 0.10913286] [-0.00857913 0.9999337 -0.00768043 -0.1999248 ] [-0.00324737 0.00765282 0.99996544 -0.0440039 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8811938169999998 meters 0.11547484978391612 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:-0.04 [[ 0.99977954 0.0205231 0.00443495 0.10633719] [-0.02050956 0.99978492 -0.00307824 -0.18163725] [-0.00449717 0.00298661 0.99998543 -0.04304919] [ 0. 0. 0. 1. ]] SLAMing on 1.9411938169999998 meters 0.10757443278946843 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:-0.04 [[ 0.99950686 0.03100235 0.00499001 0.1053463 ] [-0.03101685 0.99951478 0.0028562 -0.16738283] [-0.00489904 -0.00300956 0.99998347 -0.04244494] [ 0. 0. 0. 1. ]] SLAMing on 2.001193817 meters 0.10274537587943211 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:-0.04 [[ 0.99939152 0.03448833 0.0052096 0.10495652] [-0.0345155 0.99939054 0.00521821 -0.16281684] [-0.00502646 -0.00539485 0.99997281 -0.04194908] [ 0. 0. 0. 1. ]] SLAMing on 2.061193817 meters 0.09383325474135308 Centerline is valid? [False, True] Translation: X:0.10, Y:-0.16, Z:-0.04 [[ 0.99947684 0.03064776 0.0103329 0.1045076 ] [-0.03078614 0.99943468 0.01351059 -0.15752412] [-0.00991299 -0.01382163 0.99985534 -0.03760501] [ 0. 0. 0. 1. ]] SLAMing on 2.121193817 meters 0.09983351439282384 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.15, Z:-0.06 [[ 9.99450635e-01 3.23273177e-02 7.30566460e-03 1.61026002e-01] [-3.23285083e-02 9.99477296e-01 4.49118445e-05 -1.46219879e-01] [-7.30039402e-03 -2.81068410e-04 9.99973312e-01 -6.14833377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.181193817 meters 0.09286467548964007 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.15, Z:-0.06 [[ 9.99458331e-01 3.01291956e-02 1.32391977e-02 2.22330744e-01] [-3.01330180e-02 9.99545894e-01 8.92919701e-05 -1.51043631e-01] [-1.32304954e-02 -4.88180586e-04 9.99912354e-01 -5.98226088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2411938169999996 meters 0.09080440368771113 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.15, Z:-0.06 [[ 9.99295696e-01 3.24246117e-02 1.88880139e-02 2.83139842e-01] [-3.24328438e-02 9.99473909e-01 1.29596378e-04 -1.51194643e-01] [-1.88738749e-02 -7.42097106e-04 9.99821597e-01 -6.27407344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3011938169999997 meters 0.094611153599715 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.15, Z:-0.08 [[ 9.99159069e-01 3.40243152e-02 2.28801520e-02 3.41224777e-01] [-3.40367111e-02 9.99420572e-01 1.52446749e-04 -1.47734109e-01] [-2.28617077e-02 -9.31083674e-04 9.99738203e-01 -8.01534244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3611938169999998 meters 0.08416418976037573 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.16, Z:-0.06 [[ 9.98725261e-01 3.83351953e-02 3.28369719e-02 4.05619808e-01] [-3.83632280e-02 9.99263835e-01 2.23851969e-04 -1.63894873e-01] [-3.28042171e-02 -1.48329885e-03 9.99460696e-01 -5.70222516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.421193817 meters 0.08507355640724512 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.17, Z:-0.06 [[ 9.98186029e-01 4.46361599e-02 4.04012989e-02 4.66173020e-01] [-4.46836471e-02 9.99001150e-01 2.72694593e-04 -1.69080246e-01] [-4.03487720e-02 -2.07747732e-03 9.99183497e-01 -6.24504811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.481193817 meters 0.08242582105309178 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.18, Z:-0.07 [[ 9.97811451e-01 4.28979208e-02 5.03197349e-02 5.27006905e-01] [-4.29694824e-02 9.99076327e-01 3.40709204e-04 -1.79872982e-01] [-5.02586402e-02 -2.50217651e-03 9.98733102e-01 -6.62324461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.541193817 meters 0.07411826469459551 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.21, Z:-0.06 [[ 9.97262396e-01 2.99527471e-02 6.76058142e-02 5.88655037e-01] [-3.00522561e-02 9.99548225e-01 4.55134581e-04 -2.14953786e-01] [-6.75616391e-02 -2.48559585e-03 9.97712006e-01 -6.34973468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.601193817 meters 0.06931673617757003 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.24, Z:-0.07 [[ 9.97115878e-01 1.68906997e-02 7.39907476e-02 6.49340109e-01] [-1.69740298e-02 9.99855807e-01 4.97500205e-04 -2.40610651e-01] [-7.39716755e-02 -1.75198651e-03 9.97258804e-01 -6.75698419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6611938169999996 meters 0.06802577110775032 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.27, Z:-0.08 [[ 9.97406317e-01 2.21437292e-03 7.19425866e-02 7.09608885e-01] [-2.25507927e-03 9.99997340e-01 4.84598618e-04 -2.71844306e-01] [-7.19413221e-02 -6.45577958e-04 9.97408657e-01 -7.84896293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7211938169999996 meters 0.06734213256836084 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.29, Z:-0.08 [[ 9.97167178e-01 -3.98446932e-03 7.51115354e-02 7.70217094e-01] [ 3.95794827e-03 9.99992041e-01 5.01940153e-04 -2.86106100e-01] [-7.51129376e-02 -2.03230674e-04 9.97175012e-01 -8.49466974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7811938169999997 meters 0.06971091829013834 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.30, Z:-0.10 [[ 9.97570814e-01 -7.26041706e-03 6.92802880e-02 8.29059687e-01] [ 7.24594641e-03 9.99973642e-01 4.60174683e-04 -2.97574410e-01] [-6.92818029e-02 4.29444215e-05 9.97597128e-01 -9.90517741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8411938169999997 meters 0.07071951813191249 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.30, Z:-0.11 [[ 9.97687548e-01 -9.48950756e-03 6.73016053e-02 8.89485005e-01] [ 9.47994595e-03 9.99954958e-01 4.61446771e-04 -3.03433891e-01] [-6.73029528e-02 1.77635883e-04 9.97732570e-01 -1.11759697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.901193817 meters 0.07011213512113261 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.31, Z:-0.12 [[ 9.97387650e-01 -9.68232200e-03 7.15830131e-02 9.50536849e-01] [ 9.67415092e-03 9.99953098e-01 4.60852729e-04 -3.05737271e-01] [-7.15841179e-02 2.32856052e-04 9.97434539e-01 -1.17764862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.961193817 meters 0.06923275356781339 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.30, Z:-0.12 [[ 9.97067903e-01 -5.67644849e-03 7.63110428e-02 1.01091154e+00] [ 5.65562833e-03 9.99983887e-01 4.88940326e-04 -3.02653513e-01] [-7.63125887e-02 -5.59198097e-05 9.97083941e-01 -1.21584951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.021193817 meters 0.06908717752735158 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.30, Z:-0.13 [[ 9.96810353e-01 4.01321107e-04 7.98057547e-02 1.07093719e+00] [-4.43895686e-04 9.99999768e-01 5.15737274e-04 -2.95579835e-01] [-7.98055292e-02 -5.49517684e-04 9.96810301e-01 -1.27311398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081193817 meters 0.06989138432499482 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.29, Z:-0.13 [[ 9.96526755e-01 8.67386855e-03 8.28202356e-02 1.13180006e+00] [-8.74785480e-03 9.99961596e-01 5.30497347e-04 -2.89411904e-01] [-8.28124535e-02 -1.25315420e-03 9.96564362e-01 -1.32127604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.141193817 meters 0.0697732371568243 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.29, Z:-0.14 [[ 9.96433356e-01 9.45011860e-03 8.38526172e-02 1.19404266e+00] [-9.52664621e-03 9.99954489e-01 5.12560488e-04 -2.89345943e-01] [-8.38439572e-02 -1.30956659e-03 9.96478036e-01 -1.39287349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2011938169999996 meters 0.06999855297014414 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.30, Z:-0.15 [[ 9.96560107e-01 6.93553785e-03 8.25823906e-02 1.25411744e+00] [-7.00070916e-03 9.99975370e-01 4.99627699e-04 -2.98918452e-01] [-8.25768914e-02 -1.07604433e-03 9.96584115e-01 -1.50190905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2611938169999997 meters 0.06995616865266863 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.31, Z:-0.16 [[ 9.96778231e-01 2.79399377e-03 8.01582926e-02 1.31601014e+00] [-2.84155007e-03 9.99995848e-01 4.79215369e-04 -3.09814164e-01] [-8.01566209e-02 -7.05445250e-04 9.96782032e-01 -1.59691160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3211938169999997 meters 0.07024391367611817 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.32, Z:-0.17 [[ 9.96943657e-01 -1.18718449e-03 7.81148826e-02 1.37614829e+00] [ 1.15566211e-03 9.99999232e-01 4.48743867e-04 -3.18964287e-01] [-7.81153553e-02 -3.57097943e-04 9.96944263e-01 -1.69741021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3811938169999998 meters 0.06845551609417103 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.32, Z:-0.17 [[ 9.96995530e-01 3.18950608e-04 7.74584524e-02 1.43937870e+00] [-3.53403704e-04 9.99999845e-01 4.31087300e-04 -3.18816175e-01] [-7.74583028e-02 -4.57166215e-04 9.96995488e-01 -1.65022973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.441193817 meters 0.07030580536573952 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.31, Z:-0.18 [[ 9.96838133e-01 2.75533653e-03 7.94112355e-02 1.49895251e+00] [-2.79743900e-03 9.99995999e-01 4.18937737e-04 -3.14243095e-01] [-7.94097635e-02 -6.39761199e-04 9.96841853e-01 -1.83111096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.501193817 meters 0.06838281603210566 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.32, Z:-0.18 [[ 9.96941373e-01 3.31377712e-03 7.80827607e-02 1.56211497e+00] [-3.35477126e-03 9.99994295e-01 3.93839095e-04 -3.16034222e-01] [-7.80810102e-02 -6.54584289e-04 9.96946803e-01 -1.78033309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.561193817 meters 0.06844704131371561 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.32, Z:-0.19 [[ 9.96810829e-01 3.64168756e-03 7.97176835e-02 1.62268532e+00] [-3.68367263e-03 9.99993143e-01 3.79616846e-04 -3.15785133e-01] [-7.97157544e-02 -6.72060032e-04 9.96817409e-01 -1.85688354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6211938169999995 meters 0.06851221326957348 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.32, Z:-0.19 [[ 9.96732098e-01 3.85358157e-03 8.06862724e-02 1.68396664e+00] [-3.89574265e-03 9.99992345e-01 3.65113813e-04 -3.18292217e-01] [-8.06842478e-02 -6.78253610e-04 9.96739481e-01 -1.93970986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6811938169999996 meters 0.06815986096347099 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.33, Z:-0.20 [[ 9.96515919e-01 -1.87076491e-03 8.33817974e-02 1.74390595e+00] [ 1.84831032e-03 9.99998232e-01 3.46489891e-04 -3.27524737e-01] [-8.33822981e-02 -1.91167255e-04 9.96517614e-01 -2.01185428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7411938169999996 meters 0.06845728176756032 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.34, Z:-0.21 [[ 9.96332232e-01 -7.71049198e-03 8.52210732e-02 1.80546904e+00] [ 7.70779020e-03 9.99970229e-01 3.60739601e-04 -3.36156186e-01] [-8.52213176e-02 2.97449661e-04 9.96362002e-01 -2.08587687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8011938169999997 meters 0.07080824090949016 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.35, Z:-0.22 [[ 9.96443416e-01 -1.57118696e-02 8.27868063e-02 1.86424856e+00] [ 1.57392801e-02 9.99876078e-01 3.21555168e-04 -3.48290953e-01] [-8.27815995e-02 9.82593206e-04 9.96567229e-01 -2.19326288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8611938169999998 meters 0.07259795364733816 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.35, Z:-0.23 [[ 9.96429502e-01 -1.96745300e-02 8.21045675e-02 1.92531761e+00] [ 1.97146931e-02 9.99805595e-01 3.21582345e-04 -3.53274579e-01] [-8.20949329e-02 1.29823221e-03 9.96623668e-01 -2.30016158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.921193817 meters 0.07438844916783778 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.35, Z:-0.24 [[ 9.96249443e-01 -2.34327028e-02 8.32943881e-02 1.98546634e+00] [ 2.34874501e-02 9.99724080e-01 3.22688294e-04 -3.50997744e-01] [-8.32789670e-02 1.63489475e-03 9.96524932e-01 -2.39684386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.981193817 meters 0.06929129707499275 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.34, Z:-0.23 [[ 9.95928260e-01 -2.21625304e-02 8.73826224e-02 2.04866183e+00] [ 2.22192435e-02 9.99753070e-01 3.23694152e-04 -3.35763169e-01] [-8.73682188e-02 1.61919961e-03 9.96174770e-01 -2.26380125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.041193817 meters 0.07242153354757096 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.34, Z:-0.25 [[ 9.95881474e-01 -1.92010778e-02 8.86081697e-02 2.10747707e+00] [ 1.92473818e-02 9.99814697e-01 3.31897502e-04 -3.36620743e-01] [-8.85981232e-02 1.37494470e-03 9.96066505e-01 -2.49697102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.101193817 meters 0.06799870697584888 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.32, Z:-0.24 [[ 9.96039975e-01 -1.26348981e-02 8.80041345e-02 2.17082818e+00] [ 1.26570408e-02 9.99919849e-01 3.06425823e-04 -3.17079983e-01] [-8.80009526e-02 8.08659554e-04 9.96120062e-01 -2.41558003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.161193817 meters 0.0673755344433355 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.30, Z:-0.25 [[ 9.95862541e-01 -2.01170000e-03 9.08501639e-02 2.23191354e+00] [ 1.99459493e-03 9.99997972e-01 2.79069867e-04 -3.01754494e-01] [-9.08505410e-02 -9.67059513e-05 9.95864534e-01 -2.49038166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2211938170000005 meters 0.06777906066664446 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.29, Z:-0.26 [[ 9.95887854e-01 3.30713134e-03 9.05342165e-02 2.29298881e+00] [-3.34616535e-03 9.99994363e-01 2.79372057e-04 -2.92868528e-01] [-9.05327822e-02 -5.81165696e-04 9.95893306e-01 -2.58752787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.281193817 meters 0.068153276733882 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.29, Z:-0.27 [[ 9.95962632e-01 5.53679745e-03 8.95978756e-02 2.35411181e+00] [-5.58160252e-03 9.99984392e-01 2.49520456e-04 -2.88294996e-01] [-8.95950955e-02 -7.48612778e-04 9.95977991e-01 -2.69420066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.341193817000001 meters 0.06879275955782145 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.29, Z:-0.28 [[ 9.96185054e-01 6.76234734e-03 8.70034989e-02 2.41491402e+00] [-6.80699223e-03 9.99976809e-01 2.16467182e-04 -2.86835134e-01] [-8.70000173e-02 -8.07873512e-04 9.96207982e-01 -2.80546727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.401193817 meters 0.06868449140229087 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.29, Z:-0.29 [[ 9.96249434e-01 5.38534553e-03 8.63600827e-02 2.47740402e+00] [-5.42232946e-03 9.99985280e-01 1.93681928e-04 -2.90078984e-01] [-8.63577684e-02 -6.61228331e-04 9.96263970e-01 -2.87651041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.461193817 meters 0.06814927620204875 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.30, Z:-0.29 [[ 9.95851417e-01 5.36513647e-04 9.09926826e-02 2.53912465e+00] [-5.53535650e-04 9.99999834e-01 1.61833930e-04 -2.96055650e-01] [-9.09925807e-02 -2.11530242e-04 9.95851548e-01 -2.90066924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.521193817 meters 0.06806827933788494 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.30, Z:-0.29 [[ 9.95435142e-01 -6.30423985e-03 9.52320061e-02 2.60085029e+00] [ 6.31777610e-03 9.99980030e-01 1.59375042e-04 -3.01666651e-01] [-9.52311090e-02 4.43006975e-04 9.95455092e-01 -2.94059560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.581193817 meters 0.06834572245597885 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.30, Z:-0.30 [[ 9.95538849e-01 -8.15961191e-03 9.39990510e-02 2.66209602e+00] [ 8.18127294e-03 9.99966521e-01 1.54934369e-04 -3.01590996e-01] [-9.39971681e-02 6.14788708e-04 9.95572275e-01 -3.01549808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.641193817 meters 0.06877105367951646 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.30, Z:-0.31 [[ 9.95723573e-01 -8.62689778e-03 9.19790380e-02 2.72339074e+00] [ 8.65227979e-03 9.99962561e-01 1.22808979e-04 -2.98764032e-01] [-9.19766539e-02 6.73544577e-04 9.95760936e-01 -3.08741415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.701193817 meters 0.06964420559097882 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.30, Z:-0.32 [[ 9.95838009e-01 -1.41378201e-02 9.00376664e-02 2.78497930e+00] [ 1.41874920e-02 9.99899349e-01 8.83332103e-05 -3.00311852e-01] [-9.00298528e-02 1.18944310e-03 9.95938357e-01 -3.18415240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7611938170000005 meters 0.07038978979983734 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.30, Z:-0.33 [[ 9.95850623e-01 -1.80919742e-02 8.91864194e-02 2.84663713e+00] [ 1.81566050e-02 9.99835152e-01 8.66198459e-05 -3.02591521e-01] [-8.91732843e-02 1.53306216e-03 9.96014947e-01 -3.26745051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.821193817 meters 0.07229161802196117 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.31, Z:-0.34 [[ 9.96049833e-01 -2.32882103e-02 8.56877477e-02 2.90532042e+00] [ 2.33698444e-02 9.99726887e-01 5.04207316e-05 -3.05243314e-01] [-8.56655195e-02 1.95228777e-03 9.96322040e-01 -3.40494998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.881193817 meters 0.0724548560018501 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.30, Z:-0.35 [[ 9.96239116e-01 -2.43169112e-02 8.31643692e-02 2.96704323e+00] [ 2.43979567e-02 9.99702325e-01 4.17710066e-05 -3.03266990e-01] [-8.31406289e-02 1.98742677e-03 9.96535843e-01 -3.49004541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.941193817 meters 0.07255771070162749 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.30, Z:-0.36 [[ 9.96576926e-01 -2.21519204e-02 7.96474952e-02 3.02886771e+00] [ 2.22198499e-02 9.99753108e-01 3.34163611e-05 -2.98408270e-01] [-7.96285711e-02 1.73645341e-03 9.96823091e-01 -3.57572901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.001193817 meters 0.07173521682538594 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.29, Z:-0.36 [[ 9.96532649e-01 -1.86949211e-02 8.10751478e-02 3.08986108e+00] [ 1.87546439e-02 9.99824116e-01 2.48901140e-05 -2.90398689e-01] [-8.10613533e-02 1.49573172e-03 9.96707991e-01 -3.64404179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.061193817 meters 0.06987530307171941 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.28, Z:-0.37 [[ 9.96230459e-01 -1.23164688e-02 8.58672084e-02 3.15003415e+00] [ 1.23603396e-02 9.99923608e-01 2.07424043e-05 -2.75476768e-01] [-8.58609043e-02 1.04068364e-03 9.96306590e-01 -3.66578221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.121193817 meters 0.06797358387871925 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.26, Z:-0.37 [[ 9.95938139e-01 -7.06254931e-03 8.97627107e-02 3.21184210e+00] [ 7.08908551e-03 9.99974872e-01 2.31857461e-05 -2.63791067e-01] [-8.97606189e-02 6.13243963e-04 9.95963180e-01 -3.66117114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1811938170000005 meters 0.06700064680631192 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.25, Z:-0.37 [[ 9.95644338e-01 -6.77723938e-04 9.32303216e-02 3.27162343e+00] [ 6.78915849e-04 9.99999769e-01 1.89322582e-05 -2.51945248e-01] [-9.32303130e-02 4.44457473e-05 9.95644568e-01 -3.72025123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.241193817 meters 0.06703677870392535 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.24, Z:-0.38 [[ 9.95869705e-01 5.90759006e-03 9.06014946e-02 3.33302487e+00] [-5.93366486e-03 9.99982395e-01 1.84435292e-05 -2.43460739e-01] [-9.05997906e-02 -5.55966256e-04 9.95887227e-01 -3.81767887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.301193817 meters 0.06788184193101311 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.23, Z:-0.39 [[ 9.96379616e-01 1.56266020e-02 8.35671555e-02 3.39287511e+00] [-1.56820908e-02 9.99877028e-01 7.60070800e-06 -2.34983318e-01] [-8.35567603e-02 -1.31808091e-03 9.96502148e-01 -3.93944789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.361193817 meters 0.06825556090390662 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.24, Z:-0.40 [[ 9.96547419e-01 1.93916279e-02 8.07292206e-02 3.45313454e+00] [-1.94557157e-02 9.99810720e-01 7.25675553e-06 -2.36787426e-01] [-8.07137994e-02 -1.57787646e-03 9.96736070e-01 -4.03026131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421193817 meters 0.06904689363273278 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.24, Z:-0.41 [[ 9.96559679e-01 2.68972488e-02 7.83922442e-02 3.51306728e+00] [-2.69807772e-02 9.99635953e-01 6.35029265e-06 -2.38130535e-01] [-7.83635349e-02 -2.12141212e-03 9.96922593e-01 -4.11765559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.481193817 meters 0.07038747411597276 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.24, Z:-0.42 [[ 9.96314837e-01 3.25237823e-02 7.93659172e-02 3.57462339e+00] [-3.26270677e-02 9.99467595e-01 4.60089155e-06 -2.43237319e-01] [-7.93235128e-02 -2.59406109e-03 9.96845550e-01 -4.19935307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541193817 meters 0.070404514612925 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.26, Z:-0.42 [[ 9.95973189e-01 3.42069156e-02 8.28691338e-02 3.63589009e+00] [-3.43253387e-02 9.99410712e-01 4.33434542e-06 -2.55555547e-01] [-8.28201517e-02 -2.84882798e-03 9.96560438e-01 -4.24996334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601193817 meters 0.06729939110915913 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.28, Z:-0.43 [[ 9.96418827e-01 2.50910835e-02 8.07462654e-02 3.69712498e+00] [-2.51711586e-02 9.99683156e-01 -2.62204847e-05 -2.84141818e-01] [-8.07213394e-02 -2.00635047e-03 9.96734689e-01 -4.32869557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661193817 meters 0.06514391163147491 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.32, Z:-0.44 [[ 9.96630191e-01 1.21128270e-02 8.11266969e-02 3.75750027e+00] [-1.21501582e-02 9.99926184e-01 -3.35080323e-05 -3.15838487e-01] [-8.11211142e-02 -9.52307085e-04 9.96703796e-01 -4.38710583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7211938170000005 meters 0.06409370758919858 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.33, Z:-0.44 [[ 9.96500496e-01 4.77448012e-03 8.34503818e-02 3.81803271e+00] [-4.78821315e-03 9.99988536e-01 -3.55732180e-05 -3.34326823e-01] [-8.34495950e-02 -3.64129487e-04 9.96511933e-01 -4.42710320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781193817 meters 0.06408969717738364 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.35, Z:-0.45 [[ 9.96561108e-01 -4.70823423e-03 8.27272086e-02 3.87948997e+00] [ 4.72683090e-03 9.99988828e-01 -2.89410642e-05 -3.52546248e-01] [-8.27261482e-02 4.19879065e-04 9.96572229e-01 -4.49427963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841193817 meters 0.06468951110182622 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.36, Z:-0.46 [[ 9.96707949e-01 -8.63232773e-03 8.06148087e-02 3.93953861e+00] [ 8.66476771e-03 9.99962459e-01 -5.25856863e-05 -3.61463895e-01] [-8.06113284e-02 7.50921162e-04 9.96745328e-01 -4.60421583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.901193817 meters 0.06449886986498919 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.37, Z:-0.47 [[ 9.96653519e-01 -1.23020086e-02 8.08110398e-02 4.00171953e+00] [ 1.23483713e-02 9.99923753e-01 -7.39641394e-05 -3.66477442e-01] [-8.08039683e-02 1.07160135e-03 9.96729437e-01 -4.65253170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.961193817 meters 0.06645561120016968 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.38, Z:-0.47 [[ 9.96762672e-01 -1.29573991e-02 7.93491172e-02 4.06407915e+00] [ 1.30060156e-02 9.99915414e-01 -9.58780264e-05 -3.76325067e-01] [-7.93411630e-02 1.12758350e-03 9.96846883e-01 -4.69348118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.021193817 meters 0.06704851694970125 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.38, Z:-0.47 [[ 9.96822697e-01 -1.49997887e-02 7.82273426e-02 4.12617135e+00] [ 1.50550594e-02 9.99886659e-01 -1.16792193e-04 -3.79173071e-01] [-7.82167244e-02 1.29413840e-03 9.96935539e-01 -4.74936973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.081193817 meters 0.06897135102751978 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.39, Z:-0.48 [[ 9.96534531e-01 -2.40502734e-02 7.96273376e-02 4.18708092e+00] [ 2.41384672e-02 9.99708614e-01 -1.45058847e-04 -3.87033939e-01] [-7.96006467e-02 2.06663803e-03 9.96824692e-01 -4.83825462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141193817 meters 0.07137861149919125 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.39, Z:-0.49 [[ 9.96119609e-01 -3.17474823e-02 8.20842325e-02 4.24826492e+00] [ 3.18692864e-02 9.99492030e-01 -1.73791791e-04 -3.90166835e-01] [-8.20370188e-02 2.78908333e-03 9.96625380e-01 -4.89344978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201193817 meters 0.0716386215908397 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.38, Z:-0.49 [[ 9.96066134e-01 -3.48393420e-02 8.14768549e-02 4.31010777e+00] [ 3.49720962e-02 9.99388269e-01 -2.02400853e-04 -3.83940816e-01] [-8.14199614e-02 3.05102104e-03 9.96675213e-01 -4.94333799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2611938170000005 meters 0.07393901313080127 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.37, Z:-0.50 [[ 9.95918865e-01 -4.12294059e-02 8.02854286e-02 4.36977187e+00] [ 4.13797874e-02 9.99143468e-01 -2.09493909e-04 -3.70254971e-01] [-8.02080242e-02 3.53083290e-03 9.96771893e-01 -5.03381209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.321193817 meters 0.07514597770765054 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.36, Z:-0.52 [[ 9.96116329e-01 -4.18426629e-02 7.74690343e-02 4.42984085e+00] [ 4.19845229e-02 9.99118241e-01 -2.02675137e-04 -3.56154956e-01] [-7.73922448e-02 3.45438846e-03 9.96994738e-01 -5.15227056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.381193817 meters 0.07809755288729636 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.34, Z:-0.53 [[ 9.95955340e-01 -4.70077838e-02 7.65717252e-02 4.48826634e+00] [ 4.71616104e-02 9.98887252e-01 -2.00880837e-04 -3.39402839e-01] [-7.64770772e-02 3.81131421e-03 9.97064055e-01 -5.26271229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.441193817 meters 0.08173364513735598 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.33, Z:-0.53 [[ 9.95455517e-01 -5.46535693e-02 7.79827025e-02 4.54823481e+00] [ 5.48369349e-02 9.98495301e-01 -2.10267505e-04 -3.32350421e-01] [-7.78538702e-02 4.48564433e-03 9.96954690e-01 -5.33040008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501193817 meters 0.08565600288835333 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.32, Z:-0.54 [[ 9.95343524e-01 -6.09832827e-02 7.46479023e-02 4.60771144e+00] [ 6.11689800e-02 9.98127404e-01 -2.01779041e-04 -3.17467074e-01] [-7.44958118e-02 4.76697550e-03 9.97209933e-01 -5.44229680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.561193817 meters 0.08516113692715965 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.30, Z:-0.55 [[ 9.95416395e-01 -6.05663430e-02 7.40129631e-02 4.66983932e+00] [ 6.07474244e-02 9.98153151e-01 -1.95858392e-04 -3.02390109e-01] [-7.38644098e-02 4.69105753e-03 9.97257260e-01 -5.51949692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.621193817 meters 0.07888690384696168 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.26, Z:-0.55 [[ 9.95470410e-01 -5.38850536e-02 7.83266436e-02 4.73092056e+00] [ 5.40681752e-02 9.98537223e-01 -2.17509639e-04 -2.63870106e-01] [-7.82003486e-02 4.45150310e-03 9.96927725e-01 -5.54436256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6811938170000005 meters 0.07809180343006478 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.24, Z:-0.56 [[ 9.95611965e-01 -4.90722439e-02 7.96789148e-02 4.79030790e+00] [ 4.92467041e-02 9.98786620e-01 -2.24743306e-04 -2.44826659e-01] [-7.95712053e-02 4.14768107e-03 9.96820556e-01 -5.62599275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.741193817 meters 0.07468696324339034 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.21, Z:-0.57 [[ 9.95401521e-01 -4.53633685e-02 8.43681067e-02 4.85090059e+00] [ 4.55456255e-02 9.98962232e-01 -2.35788399e-04 -2.14759623e-01] [-8.42698560e-02 4.07730232e-03 9.96434628e-01 -5.65152378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.801193817 meters 0.07428546027459165 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.21, Z:-0.57 [[ 9.95259413e-01 -4.53968311e-02 8.60106311e-02 4.91289255e+00] [ 4.55855335e-02 9.98960413e-01 -2.30136428e-04 -2.05735196e-01] [-8.59107681e-02 4.14988595e-03 9.96294193e-01 -5.71434235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861193817 meters 0.07369702334462033 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.18, Z:-0.58 [[ 9.94922930e-01 -4.67902932e-02 8.91012493e-02 4.97544036e+00] [ 4.70015961e-02 9.98894777e-01 -2.73691213e-04 -1.78173469e-01] [-8.89899665e-02 4.46020260e-03 9.96022536e-01 -5.76520626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921193817 meters 0.07568548316234415 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.16, Z:-0.59 [[ 9.94841327e-01 -4.71331447e-02 8.98287294e-02 5.03631652e+00] [ 4.73496330e-02 9.98878338e-01 -2.79359304e-04 -1.64399138e-01] [-8.97148048e-02 4.53127555e-03 9.95957189e-01 -5.86265146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981193817 meters 0.07215446470275287 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.13, Z:-0.59 [[ 9.95078525e-01 -4.17950064e-02 8.98437891e-02 5.09666992e+00] [ 4.19934086e-02 9.99117837e-01 -3.18359401e-04 -1.32772049e-01] [-8.97512264e-02 4.08963955e-03 9.95955818e-01 -5.93043744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.041193817 meters 0.07082806071715925 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.11, Z:-0.60 [[ 9.95451227e-01 -3.71490980e-02 8.77314012e-02 5.15778388e+00] [ 3.73202878e-02 9.99303307e-01 -3.11288558e-04 -1.13886398e-01] [-8.76587152e-02 3.58403372e-03 9.96144118e-01 -6.03523404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101193817 meters 0.06813736617194294 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.08, Z:-0.61 [[ 9.95825197e-01 -2.74634007e-02 8.70513554e-02 5.21782121e+00] [ 2.75956845e-02 9.99619117e-01 -3.16336781e-04 -8.41399817e-02] [-8.70095113e-02 2.71725787e-03 9.96203775e-01 -6.12833250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.161193817 meters 0.06553824238272486 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.07, Z:-0.62 [[ 9.95917944e-01 -1.74337290e-02 8.85636131e-02 5.27769965e+00] [ 1.75312009e-02 9.99846265e-01 -3.22805007e-04 -6.66611421e-02] [-8.85443700e-02 1.87411380e-03 9.96070471e-01 -6.20120852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.221193817 meters 0.06314095858292866 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.04, Z:-0.62 [[ 9.95565376e-01 -7.26139959e-04 9.40694180e-02 5.33866537e+00] [ 7.61854825e-04 9.99999651e-01 -3.43752309e-04 -3.90607684e-02] [-9.40691355e-02 4.13895137e-04 9.95565581e-01 -6.24932865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.281193817 meters 0.06395840102398109 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.03, Z:-0.64 [[ 9.95737472e-01 9.48538091e-03 9.17437428e-02 5.39935381e+00] [-9.49505063e-03 9.99954866e-01 -3.31086272e-04 -2.89813816e-02] [-9.17427426e-02 -5.41436475e-04 9.95782595e-01 -6.37176490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.341193817 meters 0.0649733559827975 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.03, Z:-0.65 [[ 9.95671108e-01 1.61900840e-02 9.15255498e-02 5.46083141e+00] [-1.62270784e-02 9.99868274e-01 -3.39994692e-04 -2.53768002e-02] [-9.15189981e-02 -1.14666939e-03 9.95802670e-01 -6.48288661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.401193817 meters 0.06646111925813825 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.03, Z:-0.66 [[ 9.95626100e-01 2.21700799e-02 9.07587877e-02 5.52167223e+00] [-2.22287077e-02 9.99752845e-01 -3.64911488e-04 -3.07928704e-02] [-9.07444464e-02 -1.65413516e-03 9.95872838e-01 -6.59359094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.461193817 meters 0.06638077686461409 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.04, Z:-0.67 [[ 9.95612569e-01 2.32376498e-02 9.06400750e-02 5.58357451e+00] [-2.32983408e-02 9.99728481e-01 -3.88563564e-04 -4.24249051e-02] [-9.06244938e-02 -1.72490459e-03 9.95883641e-01 -6.66728497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.521193817 meters 0.06535626879275792 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.07, Z:-0.67 [[ 9.95302970e-01 1.93254330e-02 9.48605617e-02 5.64490704e+00] [-1.93707638e-02 9.99812271e-01 -4.43032023e-04 -6.60290303e-02] [-9.48513154e-02 -1.39657045e-03 9.95490471e-01 -6.71018999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.581193817 meters 0.06456282903024999 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.09, Z:-0.68 [[ 9.95257583e-01 1.37867231e-02 9.62926304e-02 5.70641710e+00] [-1.38071747e-02 9.99904573e-01 -4.53952107e-04 -8.94433615e-02] [-9.62897000e-02 -8.77729890e-04 9.95352964e-01 -6.77856644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641193817 meters 0.06449182723620611 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.11, Z:-0.69 [[ 9.95351069e-01 1.35913812e-02 9.53494833e-02 5.76820042e+00] [-1.36078065e-02 9.99907295e-01 -4.77994423e-04 -1.05418474e-01] [-9.53471405e-02 -8.21725056e-04 9.95443744e-01 -6.86286387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701193817 meters 0.06410038201957079 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.13, Z:-0.69 [[ 9.95146098e-01 1.20659440e-02 9.76660418e-02 5.82887162e+00] [-1.20725845e-02 9.99926987e-01 -5.22982532e-04 -1.27125199e-01] [-9.76652212e-02 -6.58637516e-04 9.95219107e-01 -6.93949200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.761193817 meters 0.06377777457650513 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.14, Z:-0.70 [[ 9.95136241e-01 1.02508686e-02 9.79733731e-02 5.89087587e+00] [-1.02474329e-02 9.99947349e-01 -5.38279149e-04 -1.40609145e-01] [-9.79737325e-02 -4.68314481e-04 9.95188891e-01 -7.01243014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.821193817 meters 0.06380342721670307 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.17, Z:-0.71 [[ 9.95228280e-01 3.17401107e-03 9.75222903e-02 5.95230494e+00] [-3.13368082e-03 9.99994929e-01 -5.66713567e-04 -1.71902217e-01] [-9.75235945e-02 2.58405638e-04 9.95233180e-01 -7.10428233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.881193817 meters 0.06455697243649745 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.20, Z:-0.72 [[ 9.94803815e-01 -6.66592448e-03 1.01592000e-01 6.01525861e+00] [ 6.76292242e-03 9.99976945e-01 -6.10385000e-04 -1.99556262e-01] [-1.01585589e-01 1.29427214e-03 9.94825961e-01 -7.16460940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.941193817 meters 0.06633860711007024 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.23, Z:-0.72 [[ 9.94167270e-01 -1.97648174e-02 1.06022598e-01 6.07679645e+00] [ 1.99490616e-02 9.99800768e-01 -6.77444954e-04 -2.26689780e-01] [-1.05988085e-01 2.78854494e-03 9.94363490e-01 -7.17303994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.001193816999999 meters 0.06907499353550499 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.24, Z:-0.73 [[ 9.94200563e-01 -2.24769327e-02 1.05166664e-01 6.13691610e+00] [ 2.26733905e-02 9.99742699e-01 -6.72724953e-04 -2.41308564e-01] [-1.05124484e-01 3.05330838e-03 9.94454383e-01 -7.29306833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.061193817 meters 0.0655901316827226 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.23, Z:-0.73 [[ 9.94216659e-01 -1.85948358e-02 1.05770823e-01 6.19816878e+00] [ 1.87751890e-02 9.99823479e-01 -7.09575041e-04 -2.34186701e-01] [-1.05738958e-01 2.69133853e-03 9.94390280e-01 -7.32894370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.121193817 meters 0.06497393168704768 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.23, Z:-0.74 [[ 9.94195484e-01 -1.36837331e-02 1.06715021e-01 6.25860780e+00] [ 1.38396756e-02 9.99903967e-01 -7.20834947e-04 -2.28571356e-01] [-1.06694909e-01 2.19355212e-03 9.94289387e-01 -7.40866759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.181193817 meters 0.0634635857849157 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.21, Z:-0.75 [[ 9.94505323e-01 -3.07679234e-03 1.04640799e-01 6.31946161e+00] [ 3.16862794e-03 9.99994727e-01 -7.11397797e-04 -2.14252108e-01] [-1.04638058e-01 1.03905665e-03 9.94509828e-01 -7.51286485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241193817 meters 0.06332854941784632 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.21, Z:-0.76 [[ 9.94912825e-01 -2.82096670e-04 1.00739228e-01 6.38056083e+00] [ 3.52779099e-04 9.99999704e-01 -6.83823616e-04 -2.09385529e-01] [-1.00739005e-01 7.15883579e-04 9.94912630e-01 -7.63025040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.301193817 meters 0.06356278367363742 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.20, Z:-0.77 [[ 9.95125956e-01 1.01386839e-03 9.86068140e-02 6.44213629e+00] [-9.49670579e-04 9.99999305e-01 -6.97982615e-04 -2.04493650e-01] [-9.86074532e-02 6.00936627e-04 9.95126228e-01 -7.73960525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.361193817 meters 0.06371339733090242 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.21, Z:-0.78 [[ 9.95405505e-01 2.70629559e-03 9.57107984e-02 6.50334158e+00] [-2.65093251e-03 9.99996237e-01 -7.05590106e-04 -2.05521471e-01] [-9.57123478e-02 4.48625408e-04 9.95408934e-01 -7.83488041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.421193817 meters 0.0639449232321368 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.21, Z:-0.79 [[ 9.95757445e-01 7.61866287e-03 9.17009649e-02 6.56465625e+00] [-7.58564380e-03 9.99970978e-01 -7.08612811e-04 -2.06273710e-01] [-9.17037022e-02 9.99562691e-06 9.95786338e-01 -7.93809479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.481193817 meters 0.06415622752910417 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.20, Z:-0.80 [[ 9.95727964e-01 1.57284918e-02 9.09859101e-02 6.62650936e+00] [-1.57296419e-02 9.99876033e-01 -7.04479383e-04 -2.00192603e-01] [-9.09857113e-02 -7.29705962e-04 9.95851931e-01 -8.01955001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541193817 meters 0.06551416851101326 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.19, Z:-0.81 [[ 9.95611531e-01 2.67211628e-02 8.96864526e-02 6.68746608e+00] [-2.67636925e-02 9.99641523e-01 -7.28571789e-04 -1.92291273e-01] [-8.96737703e-02 -1.67496616e-03 9.95969783e-01 -8.09728281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.601193817 meters 0.06607365934652364 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.20, Z:-0.82 [[ 9.95382088e-01 2.91220226e-02 9.14680677e-02 6.74822715e+00] [-2.91766413e-02 9.99573997e-01 -7.40262432e-04 -1.99044166e-01] [-9.14506600e-02 -1.93188704e-03 9.95807735e-01 -8.16921975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.661193817000001 meters 0.06568491341484474 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.20, Z:-0.82 [[ 9.95118659e-01 2.89421552e-02 9.43462024e-02 6.81001342e+00] [-2.89970113e-02 9.99579186e-01 -7.89739139e-04 -2.02760400e-01] [-9.43293569e-02 -1.94987375e-03 9.95539136e-01 -8.21600190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.721193817 meters 0.0655342978059268 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.21, Z:-0.83 [[ 9.94875413e-01 3.03526960e-02 9.64449407e-02 6.87207730e+00] [-3.04139097e-02 9.99537041e-01 -8.35636858e-04 -2.07998850e-01] [-9.64256544e-02 -2.10191315e-03 9.95337970e-01 -8.26580355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781193817 meters 0.06795742795088557 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.21, Z:-0.84 [[ 9.94946460e-01 3.87613988e-02 9.26234064e-02 6.93175094e+00] [-3.88511149e-02 9.99244662e-01 -8.35011170e-04 -2.11467022e-01] [-9.25858105e-02 -2.76773120e-03 9.95700862e-01 -8.35421692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841193817 meters 0.07042455511247352 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.22, Z:-0.84 [[ 9.94695162e-01 4.52412575e-02 9.23837828e-02 6.99211860e+00] [-4.53583059e-02 9.98970435e-01 -8.33384954e-04 -2.15133977e-01] [-9.23263711e-02 -3.36140789e-03 9.95723125e-01 -8.44011678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.901193817 meters 0.07258289449752262 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.23, Z:-0.85 [[ 9.94608689e-01 4.86708104e-02 9.15680498e-02 7.05174056e+00] [-4.88001891e-02 9.98808219e-01 -8.26852212e-04 -2.30245953e-01] [-9.14991643e-02 -3.64614376e-03 9.95798478e-01 -8.54066213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961193817 meters 0.07123754248186706 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.25, Z:-0.87 [[ 9.95158528e-01 4.36139148e-02 8.80757084e-02 7.11219688e+00] [-4.37140373e-02 9.99043770e-01 -7.92645761e-04 -2.50361864e-01] [-8.80260582e-02 -3.06133662e-03 9.96113468e-01 -8.68243643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.021193817 meters 0.06543587763472579 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.30, Z:-0.87 [[ 9.96185623e-01 2.61377930e-02 8.32527448e-02 7.17225390e+00] [-2.61638096e-02 9.99657366e-01 -7.78668557e-04 -3.03051442e-01] [-8.32445722e-02 -1.40251054e-03 9.96528160e-01 -8.72352897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.081193817 meters 0.06449361525734301 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.33, Z:-0.88 [[ 9.96495761e-01 1.59556308e-02 8.21073498e-02 7.23425154e+00] [-1.59465660e-02 9.99872552e-01 -7.66214850e-04 -3.29416696e-01] [-8.21091108e-02 -5.45800421e-04 9.96623197e-01 -8.78763892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141193817 meters 0.0644500501045618 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.36, Z:-0.88 [[ 9.96464101e-01 3.87815066e-03 8.39300651e-02 7.29557011e+00] [-3.82575226e-03 9.99992374e-01 -7.85133387e-04 -3.56017346e-01] [-8.39324699e-02 4.61261598e-04 9.96471338e-01 -8.84275172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.201193817 meters 0.06729155902992943 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.38, Z:-0.90 [[ 9.96130682e-01 -4.11694388e-03 8.77878954e-02 7.35486478e+00] [ 4.20789541e-03 9.99990785e-01 -8.51003325e-04 -3.76383763e-01] [-8.77835829e-02 1.21711280e-03 9.96138826e-01 -8.98900600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.261193817 meters 0.06597676568515708 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.38, Z:-0.89 [[ 9.95811935e-01 -1.22150790e-02 9.06056397e-02 7.41895891e+00] [ 1.23477769e-02 9.99923355e-01 -9.04147230e-04 -3.83103938e-01] [-9.05876510e-02 2.01913883e-03 9.95886440e-01 -8.88686722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.321193817 meters 0.06679116035167013 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.38, Z:-0.90 [[ 9.95759172e-01 -1.44976239e-02 9.08487215e-02 7.47931495e+00] [ 1.46431650e-02 9.99892345e-01 -9.35650986e-04 -3.81295681e-01] [-9.08253765e-02 2.26199587e-03 9.95864265e-01 -8.97334118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.381193817 meters 0.06537534620427293 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.36, Z:-0.91 [[ 9.96075185e-01 -6.94630643e-03 8.82381669e-02 7.54108743e+00] [ 7.05606385e-03 9.99974671e-01 -9.32018699e-04 -3.62728693e-01] [-8.82294579e-02 1.55097484e-03 9.96098970e-01 -9.05999031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.441193817 meters 0.06486598619154331 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.35, Z:-0.92 [[ 9.96428891e-01 1.41628899e-03 8.44242815e-02 7.60254071e+00] [-1.34375033e-03 9.99998678e-01 -9.16033532e-04 -3.48505050e-01] [-8.44254672e-02 7.99317120e-04 9.96429476e-01 -9.17829015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.501193817 meters 0.06435437492143987 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.33, Z:-0.93 [[ 9.96422488e-01 1.18613094e-02 8.36751773e-02 7.66448921e+00] [-1.18247248e-02 9.99929650e-01 -9.32813156e-04 -3.29660874e-01] [-8.36803552e-02 -5.99599368e-05 9.96492647e-01 -9.27411588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.561193817 meters 0.06489892514443717 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.33, Z:-0.94 [[ 9.96622380e-01 1.04586847e-02 8.14521207e-02 7.72435943e+00] [-1.04168693e-02 9.99945303e-01 -9.38312449e-04 -3.28920361e-01] [-8.14574790e-02 8.66670878e-05 9.96676814e-01 -9.38234842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.621193817 meters 0.06490262128558694 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.33, Z:-0.94 [[ 9.96632476e-01 7.28087047e-03 8.16743356e-02 7.78730506e+00] [-7.22780659e-03 9.99973432e-01 -9.45342934e-04 -3.31519739e-01] [-8.16790486e-02 3.51833167e-04 9.96658622e-01 -9.43702912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681193817 meters 0.06547921429818333 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.33, Z:-0.95 [[ 9.96686442e-01 2.75367438e-03 8.12930126e-02 7.84790409e+00] [-2.68314885e-03 9.99995923e-01 -9.76776135e-04 -3.29086236e-01] [-8.12953709e-02 7.55418277e-04 9.96689767e-01 -9.54570808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.741193817 meters 0.06577912584785248 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.33, Z:-0.96 [[ 9.96717828e-01 -7.47938978e-04 8.09506816e-02 7.90959848e+00] [ 8.29967265e-04 9.99999176e-01 -9.79668191e-04 -3.30226970e-01] [-8.09498821e-02 1.04363917e-03 9.96717627e-01 -9.59801943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.801193817 meters 0.06556503519821713 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.33, Z:-0.96 [[ 9.96388468e-01 -3.86687810e-03 8.48237490e-02 7.97217956e+00] [ 3.97061704e-03 9.99991561e-01 -1.05432210e-03 -3.29035839e-01] [-8.48189563e-02 1.38731701e-03 9.96395413e-01 -9.62590960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861193817 meters 0.06470726022814081 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.32, Z:-0.97 [[ 9.96013348e-01 -2.62998550e-03 8.91655416e-02 8.03413966e+00] [ 2.74297177e-03 9.99995583e-01 -1.14464193e-03 -3.20281562e-01] [-8.91621373e-02 1.38465720e-03 9.96016163e-01 -9.66554415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921193817 meters 0.06376891338216141 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.30, Z:-0.98 [[ 9.95936082e-01 4.28407795e-03 8.99609161e-02 8.09498701e+00] [-4.19661642e-03 9.99990520e-01 -1.16134452e-03 -3.03993735e-01] [-8.99650385e-02 7.79093453e-04 9.95944619e-01 -9.75338970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.981193817 meters 0.06357417610773677 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.30, Z:-0.98 [[ 9.96151667e-01 8.12702208e-03 8.72685940e-02 8.15683661e+00] [-8.05992559e-03 9.99966890e-01 -1.12119013e-03 -2.95979186e-01] [-8.72748164e-02 4.13497041e-04 9.96184188e-01 -9.83682977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041193817 meters 0.06456996016257376 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.29, Z:-1.00 [[ 9.96468717e-01 8.61700028e-03 8.35215117e-02 8.21610816e+00] [-8.55446026e-03 9.99962798e-01 -1.10663310e-03 -2.90463604e-01] [-8.35279404e-02 3.88243817e-04 9.96505360e-01 -1.00027280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101193817 meters 0.06380778059533537 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.29, Z:-1.00 [[ 9.96329035e-01 7.42809811e-03 8.52835108e-02 8.27858080e+00] [-7.35901378e-03 9.99972290e-01 -1.12440478e-03 -2.88050920e-01] [-8.52894998e-02 4.92674595e-04 9.96356090e-01 -1.00226009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161193817 meters 0.06367746507407414 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.29, Z:-1.01 [[ 9.95978375e-01 6.96982951e-03 8.93224422e-02 8.33855882e+00] [-6.88879705e-03 9.99975533e-01 -1.21544026e-03 -2.87923483e-01] [-8.93287282e-02 5.95228041e-04 9.96002020e-01 -1.00739890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221193817 meters 0.06379376517542962 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.28, Z:-1.02 [[ 9.96261685e-01 9.53375067e-03 8.58589698e-02 8.39993929e+00] [-9.46844312e-03 9.99954491e-01 -1.16784197e-03 -2.82985366e-01] [-8.58661964e-02 3.50525435e-04 9.96306616e-01 -1.01800748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281193817 meters 0.06505363979607225 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.28, Z:-1.03 [[ 9.97001502e-01 1.05622444e-02 7.66579613e-02 8.45921042e+00] [-1.05125755e-02 9.99944189e-01 -1.05144146e-03 -2.77421050e-01] [-7.66647885e-02 2.42416113e-04 9.97056895e-01 -1.03229623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.341193817 meters 0.0656324495560279 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.28, Z:-1.04 [[ 9.97011941e-01 4.34501909e-03 7.71252845e-02 8.52039309e+00] [-4.27710794e-03 9.99990306e-01 -1.04569186e-03 -2.81863647e-01] [-7.71290804e-02 7.12694104e-04 9.97020861e-01 -1.04049839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.401193817 meters 0.06578261751739813 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.28, Z:-1.05 [[ 9.96879263e-01 2.13789594e-03 7.89123849e-02 8.58208147e+00] [-2.05792047e-03 9.99997283e-01 -1.09478240e-03 -2.81944822e-01] [-7.89145110e-02 9.28970464e-04 9.96880954e-01 -1.04642504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.461193817 meters 0.06531369874240152 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.28, Z:-1.05 [[ 9.96403173e-01 5.35046697e-04 8.47374164e-02 8.64317493e+00] [-4.33747602e-04 9.99999169e-01 -1.21385298e-03 -2.81416953e-01] [-8.47379954e-02 1.17273231e-03 9.96402578e-01 -1.04885536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521193817 meters 0.06528036110753045 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.28, Z:-1.06 [[ 9.96299584e-01 3.42963561e-04 8.59477772e-02 8.70541090e+00] [-2.38121035e-04 9.99999215e-01 -1.23008886e-03 -2.80312070e-01] [-8.59481316e-02 1.20507105e-03 9.96298884e-01 -1.05611792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581193816999999 meters 0.06519848226477964 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.28, Z:-1.06 [[ 9.96251707e-01 2.12908368e-04 8.65013942e-02 8.76671484e+00] [-1.05997515e-04 9.99999225e-01 -1.24053489e-03 -2.79389340e-01] [-8.65015913e-02 1.22671607e-03 9.96250957e-01 -1.06325863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.641193817 meters 0.06584623416559275 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.28, Z:-1.08 [[ 9.96424017e-01 1.10514171e-03 8.44864279e-02 8.82704966e+00] [-1.00422244e-03 9.99998731e-01 -1.23699097e-03 -2.79867613e-01] [-8.44876877e-02 1.14772434e-03 9.96423862e-01 -1.07546248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.701193817 meters 0.06556197355476774 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.28, Z:-1.08 [[ 9.96457588e-01 -6.01126457e-04 8.40946785e-02 8.88851007e+00] [ 7.09038997e-04 9.99998963e-01 -1.25336652e-03 -2.79641833e-01] [-8.40938379e-02 1.30855298e-03 9.96456981e-01 -1.08044207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.761193817 meters 0.06647739679618896 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.29, Z:-1.09 [[ 9.96398973e-01 -4.36961315e-03 8.46758123e-02 8.94999142e+00] [ 4.49461808e-03 9.99989073e-01 -1.28569702e-03 -2.86189506e-01] [-8.46692690e-02 1.66165263e-03 9.96407725e-01 -1.08846119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.821193817 meters 0.06915629973713736 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.30, Z:-1.10 [[ 9.96223493e-01 -1.13135232e-02 8.60857489e-02 9.00987105e+00] [ 1.14716767e-02 9.99933297e-01 -1.34267661e-03 -2.96755910e-01] [-8.60648163e-02 2.32515386e-03 9.96286827e-01 -1.09838612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.881193817 meters 0.07013534279466772 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.30, Z:-1.10 [[ 9.96066673e-01 -1.99239455e-02 8.63378162e-02 9.07111351e+00] [ 2.01156637e-02 9.99796747e-01 -1.35104554e-03 -2.95204343e-01] [-8.62933496e-02 3.08247391e-03 9.96265003e-01 -1.10114814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.941193817 meters 0.07134554832359075 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.29, Z:-1.10 [[ 9.95463609e-01 -2.60522608e-02 9.15067407e-02 9.13372349e+00] [ 2.62929363e-02 9.99653265e-01 -1.42540045e-03 -2.92165724e-01] [-9.14378772e-02 3.82491518e-03 9.95803437e-01 -1.10168206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.001193817 meters 0.07385417115775418 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.29, Z:-1.11 [[ 9.95195501e-01 -3.02228643e-02 9.31262193e-02 9.19424038e+00] [ 3.04932404e-02 9.99533875e-01 -1.48141991e-03 -2.85906539e-01] [-9.30380381e-02 4.31402262e-03 9.95653209e-01 -1.11096299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061193817 meters 0.0753720395573922 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.28, Z:-1.12 [[ 9.95171941e-01 -3.36242532e-02 9.22074711e-02 9.25438859e+00] [ 3.39069576e-02 9.99423867e-01 -1.50065524e-03 -2.75002246e-01] [-9.21038890e-02 4.61988480e-03 9.95738686e-01 -1.12046987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121193817 meters 0.07762699791648632 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.26, Z:-1.12 [[ 9.94396602e-01 -4.20845333e-02 9.69757167e-02 9.31484150e+00] [ 4.24376699e-02 9.99097866e-01 -1.58088423e-03 -2.60389120e-01] [-9.68217008e-02 5.68744935e-03 9.95285492e-01 -1.12408478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181193817 meters 0.08135650488380504 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.25, Z:-1.13 [[ 9.94066732e-01 -4.83409002e-02 9.74396749e-02 9.37521534e+00] [ 4.87273682e-02 9.98810852e-01 -1.58908510e-03 -2.51639757e-01] [-9.72469869e-02 6.32763555e-03 9.95240164e-01 -1.13290295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.241193817 meters 0.08373562939934955 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.23, Z:-1.14 [[ 9.93758727e-01 -5.29437101e-02 9.81863328e-02 9.43530996e+00] [ 5.33585155e-02 9.98574135e-01 -1.60175997e-03 -2.26514221e-01] [-9.79615292e-02 6.83083991e-03 9.95166759e-01 -1.14266571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.301193817 meters 0.08185474660773258 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.20, Z:-1.15 [[ 9.93670448e-01 -5.06198423e-02 1.00282960e-01 9.49611929e+00] [ 5.10410986e-02 9.98695211e-01 -1.63773849e-03 -1.96040830e-01] [-1.00069210e-01 6.74592480e-03 9.94957610e-01 -1.14932966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.361193817 meters 0.07828833128151617 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.17, Z:-1.16 [[ 9.94087058e-01 -4.42295497e-02 9.91698992e-02 9.55654217e+00] [ 4.46101005e-02 9.99003157e-01 -1.62210261e-03 -1.67495354e-01] [-9.89992975e-02 6.03649038e-03 9.95069194e-01 -1.15868326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.421193817 meters 0.07373024640915528 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.13, Z:-1.17 [[ 9.94579210e-01 -2.98304055e-02 9.96109510e-02 9.61650625e+00] [ 3.01425215e-02 9.99544283e-01 -1.62947904e-03 -1.25278435e-01] [-9.95169485e-02 4.62317121e-03 9.95025127e-01 -1.16779271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.481193817 meters 0.06901366959584554 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.10, Z:-1.17 [[ 9.94845203e-01 -2.07080535e-02 9.92683206e-02 9.67666242e+00] [ 2.09727452e-02 9.99778730e-01 -1.62351443e-03 -9.96070964e-02] [-9.92127356e-02 3.69707473e-03 9.95059377e-01 -1.17485270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541193817 meters 0.06492953276449202 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.07, Z:-1.18 [[ 9.95050403e-01 -7.48616476e-03 9.90891195e-02 9.73703451e+00] [ 7.68458057e-03 9.99969160e-01 -1.62087531e-03 -6.83454572e-02] [-9.90739294e-02 2.37431095e-03 9.95077243e-01 -1.18196234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.601193817 meters 0.06276120116650591 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.05, Z:-1.19 [[ 9.94979313e-01 1.98480005e-03 1.00061120e-01 9.79818325e+00] [-1.83024317e-03 9.99996986e-01 -1.63639958e-03 -4.73849596e-02] [-1.00064067e-01 1.44504755e-03 9.94979947e-01 -1.18589286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.661193817 meters 0.06125399686292121 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.03, Z:-1.19 [[ 9.94839680e-01 1.29562390e-02 1.00628756e-01 9.86060004e+00] [-1.28562769e-02 9.99916007e-01 -1.64184048e-03 -3.11757379e-02] [-1.00641576e-01 3.39656907e-04 9.94922689e-01 -1.19049003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721193817 meters 0.06082014336403573 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.03, Z:-1.20 [[ 9.94487725e-01 1.49723998e-02 1.03778571e-01 9.92196718e+00] [-1.48735272e-02 9.99887892e-01 -1.72657072e-03 -2.97764548e-02] [-1.03792788e-01 1.73499974e-04 9.94598928e-01 -1.19734347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781193817 meters 0.0612872383624177 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.04, Z:-1.21 [[ 9.94697524e-01 8.89292421e-03 1.02458534e-01 9.98319845e+00] [-8.76120815e-03 9.99960114e-01 -1.73550642e-03 -3.94561969e-02] [-1.02469881e-01 8.28643400e-04 9.94735762e-01 -1.20637482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841193817 meters 0.06270027261671965 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.06, Z:-1.22 [[ 9.95027150e-01 1.44257374e-03 9.95936191e-02 1.00417944e+01] [-1.27739059e-03 9.99997701e-01 -1.72232025e-03 -5.56343561e-02] [-9.95958747e-02 1.58653546e-03 9.95026705e-01 -1.21838786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.901193817 meters 0.06493331302805146 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.07, Z:-1.23 [[ 9.95312124e-01 -7.58220985e-03 9.64172538e-02 1.01016715e+01] [ 7.77915449e-03 9.99968353e-01 -1.66688919e-03 -6.97044144e-02] [-9.64015637e-02 2.40911973e-03 9.95339608e-01 -1.22884147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.961193817 meters 0.06465226670261232 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.08, Z:-1.24 [[ 9.95431592e-01 -7.93632723e-03 9.51470489e-02 1.01631240e+01] [ 8.12917919e-03 9.99965614e-01 -1.63943560e-03 -7.60638250e-02] [-9.51307660e-02 2.40541339e-03 9.95461878e-01 -1.23578628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.021193817 meters 0.06390362882446102 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.08, Z:-1.25 [[ 9.95621828e-01 -2.98556153e-03 9.34251657e-02 1.02233661e+01] [ 3.15266658e-03 9.99993684e-01 -1.64111019e-03 -7.79359125e-02] [-9.34196760e-02 1.92846353e-03 9.95624952e-01 -1.24560622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.081193816999999 meters 0.062151315472026465 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.07, Z:-1.26 [[ 9.95960624e-01 1.18771816e-02 8.90020698e-02 1.02848801e+01] [-1.17838899e-02 9.99929329e-01 -1.57357982e-03 -6.69844338e-02] [-8.90144696e-02 5.18432947e-04 9.96030198e-01 -1.25648838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141193817 meters 0.062084375609471415 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.07, Z:-1.26 [[ 9.95813890e-01 1.70346854e-02 8.98026473e-02 1.03458066e+01] [-1.69581071e-02 9.99854896e-01 -1.61570937e-03 -6.66496403e-02] [-8.98171397e-02 8.60629187e-05 9.95958269e-01 -1.26446300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201193817 meters 0.062229434235661574 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.08, Z:-1.28 [[ 9.95810034e-01 1.75211913e-02 8.97517943e-02 1.04066794e+01] [-1.74445696e-02 9.99846490e-01 -1.63811980e-03 -8.17098942e-02] [-8.97667184e-02 6.55747157e-05 9.95962817e-01 -1.27530546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261193817 meters 0.06211534939357239 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.10, Z:-1.28 [[ 9.95882653e-01 1.69507819e-02 8.90528647e-02 1.04685610e+01] [-1.68706061e-02 9.99856315e-01 -1.65297658e-03 -9.59324314e-02] [-8.90680884e-02 1.43794896e-04 9.96025529e-01 -1.28204686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321193817 meters 0.061713590104500185 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.10, Z:-1.29 [[ 9.95533428e-01 2.00798089e-02 9.22496383e-02 1.05303676e+01] [-2.00038544e-02 9.99798375e-01 -1.74802347e-03 -1.00324230e-01] [-9.22661385e-02 -1.05132541e-04 9.95734377e-01 -1.28608045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381193817 meters 0.06115849469149977 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.12, Z:-1.29 [[ 9.95147066e-01 2.15417661e-02 9.60118164e-02 1.05923337e+01] [-2.14662037e-02 9.99767918e-01 -1.81995301e-03 -1.17093144e-01] [-9.60287388e-02 -2.49888307e-04 9.95378530e-01 -1.29001745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441193817 meters 0.06108187201798562 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.12, Z:-1.30 [[ 9.95125725e-01 2.14885180e-02 9.62446577e-02 1.06544839e+01] [-2.14096522e-02 9.99769071e-01 -1.85215534e-03 -1.24940309e-01] [-9.62622321e-02 -2.17437212e-04 9.95355984e-01 -1.29716110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.501193817 meters 0.061186462553438285 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.14, Z:-1.31 [[ 9.95224857e-01 1.99864870e-02 9.55406908e-02 1.07154826e+01] [-1.98986169e-02 9.99800250e-01 -1.87246390e-03 -1.39346634e-01] [-9.55590305e-02 -3.76049845e-05 9.95423764e-01 -1.30665637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.561193817 meters 0.061468763409961345 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.15, Z:-1.32 [[ 9.95344369e-01 2.25876110e-02 9.36983813e-02 1.07763769e+01] [-2.25120017e-02 9.99744835e-01 -1.86399455e-03 -1.54292812e-01] [-9.37165760e-02 -2.54021647e-04 9.95598885e-01 -1.31673053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621193817 meters 0.061340391161974525 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.17, Z:-1.32 [[ 9.95262385e-01 2.46799833e-02 9.40408648e-02 1.08384511e+01] [-2.46105986e-02 9.99695312e-01 -1.89769142e-03 -1.65910119e-01] [-9.40590467e-02 -4.25701084e-04 9.95566529e-01 -1.32353512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681193817 meters 0.06144226570371134 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.18, Z:-1.33 [[ 9.95428953e-01 2.51587568e-02 9.21316235e-02 1.08998377e+01] [-2.50911699e-02 9.99683377e-01 -1.89200957e-03 -1.77958802e-01] [-9.21500531e-02 -4.28329115e-04 9.95745040e-01 -1.33195657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.741193817 meters 0.06177640746778394 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.21, Z:-1.34 [[ 9.95891938e-01 1.29256924e-02 8.96223977e-02 1.09606886e+01] [-1.28092943e-02 9.99916202e-01 -1.87382074e-03 -2.09674223e-01] [-8.96391079e-02 7.18123302e-04 9.95974053e-01 -1.34060901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.801193817 meters 0.06606633913345536 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.25, Z:-1.35 [[ 9.95830351e-01 -8.53154411e-03 9.08246926e-02 1.10194408e+01] [ 8.74102762e-03 9.99959974e-01 -1.90892989e-03 -2.45495893e-01] [-9.08047712e-02 2.69487147e-03 9.95865067e-01 -1.34707895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.861193817 meters 0.06992213820713387 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.26, Z:-1.35 [[ 9.95581036e-01 -2.00728240e-02 9.17359393e-02 1.10792287e+01] [ 2.03356698e-02 9.99791343e-01 -1.93132106e-03 -2.63881952e-01] [-9.16780310e-02 3.78829840e-03 9.95781496e-01 -1.35253385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921193817 meters 0.07132229753106854 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.27, Z:-1.36 [[ 9.95449251e-01 -2.60756358e-02 9.16561517e-02 1.11397012e+01] [ 2.63634448e-02 9.99650560e-01 -1.93055684e-03 -2.71299856e-01] [-9.15737829e-02 4.33814325e-03 9.95788844e-01 -1.35661809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981193817 meters 0.07045071519226097 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.27, Z:-1.36 [[ 9.95622594e-01 -2.60454068e-02 8.97623872e-02 1.12015543e+01] [ 2.63206042e-02 9.99651779e-01 -1.88331658e-03 -2.68082174e-01] [-8.96820783e-02 4.23767280e-03 9.95961428e-01 -1.36398831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041193817 meters 0.07087879528692657 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.27, Z:-1.37 [[ 9.95585225e-01 -2.60369347e-02 9.01783717e-02 1.12641008e+01] [ 2.63171447e-02 9.99651801e-01 -1.91943805e-03 -2.67417681e-01] [-9.00969954e-02 4.28420142e-03 9.95923781e-01 -1.37112300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101193817 meters 0.07178418477549078 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.27, Z:-1.38 [[ 9.95365933e-01 -2.76195043e-02 9.21076650e-02 1.13262917e+01] [ 2.79218711e-02 9.99608117e-01 -1.99547546e-03 -2.67295617e-01] [-9.20164555e-02 4.55804665e-03 9.95747054e-01 -1.37765577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161193817 meters 0.07262598941841669 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.27, Z:-1.38 [[ 9.94676618e-01 -3.15705854e-02 9.80903817e-02 1.13889464e+01] [ 3.19360366e-02 9.99487586e-01 -2.15740483e-03 -2.65332398e-01] [-9.79720083e-02 5.27853816e-03 9.95175172e-01 -1.37829380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221193817 meters 0.07301744133112041 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.26, Z:-1.39 [[ 9.94553493e-01 -3.28300539e-02 9.89218703e-02 1.14510050e+01] [ 3.32109740e-02 9.99445929e-01 -2.20604878e-03 -2.59927655e-01] [-9.87946358e-02 5.47932518e-03 9.95092758e-01 -1.38526228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281193817 meters 0.07274689890903861 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.25, Z:-1.39 [[ 9.94832838e-01 -3.22679198e-02 9.62621710e-02 1.15128379e+01] [ 3.26286285e-02 9.99465178e-01 -2.17498628e-03 -2.54258124e-01] [-9.61405056e-02 5.30465040e-03 9.95353638e-01 -1.39436583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.341193817 meters 0.07274092969811986 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.24, Z:-1.40 [[ 9.94912547e-01 -2.79462469e-02 9.67885857e-02 1.15721951e+01] [ 2.82942102e-02 9.99597164e-01 -2.22418349e-03 -2.36487428e-01] [-9.66874382e-02 4.95142465e-03 9.95302478e-01 -1.40443454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401193817 meters 0.06938621730646581 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.22, Z:-1.41 [[ 9.95156747e-01 -2.28650101e-02 9.56046077e-02 1.16333374e+01] [ 2.31810719e-02 9.99728870e-01 -2.19643530e-03 -2.18218521e-01] [-9.55284650e-02 4.40201469e-03 9.95416965e-01 -1.41193804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461193817 meters 0.06579308526221493 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.19, Z:-1.42 [[ 9.95427797e-01 -1.43067694e-02 9.44394895e-02 1.16938855e+01] [ 1.45769878e-02 9.99891391e-01 -2.17200706e-03 -1.93638391e-01] [-9.43981581e-02 3.53871948e-03 9.95528234e-01 -1.42213232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521193817 meters 0.06229075844364063 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.17, Z:-1.43 [[ 9.95446646e-01 -3.07015842e-03 9.52709219e-02 1.17531600e+01] [ 3.29401472e-03 9.99992171e-01 -2.19250026e-03 -1.70619944e-01] [-9.52634448e-02 2.49634085e-03 9.95448966e-01 -1.42949939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581193816999999 meters 0.05854176370869504 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.14, Z:-1.44 [[ 9.95331772e-01 1.65990283e-02 9.50743681e-02 1.18138594e+01] [-1.64658359e-02 9.99862041e-01 -2.18532890e-03 -1.35573987e-01] [-9.50975260e-02 6.09648352e-04 9.95467774e-01 -1.43626818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641193817 meters 0.05867975884744492 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.12, Z:-1.45 [[ 9.95283696e-01 2.51738301e-02 9.36837421e-02 1.18742967e+01] [-2.50830085e-02 9.99683066e-01 -2.14703490e-03 -1.24508788e-01] [-9.37080997e-02 -2.12961272e-04 9.95599692e-01 -1.44732077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701193817 meters 0.059056895340198305 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.12, Z:-1.46 [[ 9.94954840e-01 3.34953701e-02 9.45670483e-02 1.19356360e+01] [-3.34378569e-02 9.99438392e-01 -2.19316611e-03 -1.20326341e-01] [-9.45873997e-02 -9.80018195e-04 9.95516079e-01 -1.45657865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761193817 meters 0.05947645666109307 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.12, Z:-1.47 [[ 9.94801692e-01 3.59127677e-02 9.52883342e-02 1.19975569e+01] [-3.58628007e-02 9.99354218e-01 -2.23743101e-03 -1.24918847e-01] [-9.53071510e-02 -1.19150639e-03 9.95447200e-01 -1.46544844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821193817 meters 0.059323260072009956 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.14, Z:-1.47 [[ 9.94782440e-01 3.70545505e-02 9.50518633e-02 1.20592307e+01] [-3.70069373e-02 9.99312443e-01 -2.26425934e-03 -1.40802611e-01] [-9.50704109e-02 -1.26513291e-03 9.95469747e-01 -1.47340190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.881193817 meters 0.05916981300864911 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.16, Z:-1.48 [[ 9.94882704e-01 3.43727528e-02 9.50101009e-02 1.21188351e+01] [-3.43101721e-02 9.99408603e-01 -2.29268391e-03 -1.59050648e-01] [-9.50327181e-02 -9.78861341e-04 9.95473668e-01 -1.48313598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941193817 meters 0.05884661803202107 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.18, Z:-1.49 [[ 9.95115963e-01 3.04069105e-02 9.39129331e-02 1.21812514e+01] [-3.03258853e-02 9.99537441e-01 -2.29013190e-03 -1.75375071e-01] [-9.39391286e-02 -5.69046022e-04 9.95577780e-01 -1.49181706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001193816999999 meters 0.059355293262649426 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.21, Z:-1.50 [[ 9.95475274e-01 1.33916695e-02 9.40725333e-02 1.22423543e+01] [-1.32314545e-02 9.99909754e-01 -2.32666320e-03 -2.09669780e-01] [-9.40952015e-02 1.07141924e-03 9.95562627e-01 -1.49807261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061193817 meters 0.06365274029431513 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.24, Z:-1.51 [[ 9.95537331e-01 -3.91509486e-03 9.42872966e-02 1.23016972e+01] [ 4.15685150e-03 9.99988557e-01 -2.36777165e-03 -2.38183278e-01] [-9.42769477e-02 2.74914336e-03 9.95542214e-01 -1.50501840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.121193817 meters 0.06849029457463413 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.26, Z:-1.51 [[ 9.95400043e-01 -1.86798669e-02 9.39671106e-02 1.23616352e+01] [ 1.89856058e-02 9.99816970e-01 -2.36066529e-03 -2.57189681e-01] [-9.39058149e-02 4.13382884e-03 9.95572503e-01 -1.51202106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181193817 meters 0.07359782190707401 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.27, Z:-1.52 [[ 9.95337468e-01 -2.89497559e-02 9.20067170e-02 1.24212978e+01] [ 2.92865677e-02 9.99568382e-01 -2.31241210e-03 -2.72860979e-01] [-9.19000615e-02 4.99619134e-03 9.95755701e-01 -1.52148134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.241193817 meters 0.07307128373276157 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.27, Z:-1.53 [[ 9.95513222e-01 -2.34183638e-02 9.16788175e-02 1.24800249e+01] [ 2.37292942e-02 9.99715768e-01 -2.30280626e-03 -2.72171088e-01] [-9.15988315e-02 4.46794771e-03 9.95785967e-01 -1.53060946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301193817 meters 0.06892995449898692 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.26, Z:-1.54 [[ 9.95599837e-01 -1.81045545e-02 9.19412262e-02 1.25405592e+01] [ 1.83956420e-02 9.99828095e-01 -2.31948047e-03 -2.62141474e-01] [-9.18834280e-02 4.00059226e-03 9.95761734e-01 -1.53583051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361193817 meters 0.06811940501159816 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.26, Z:-1.54 [[ 9.95500748e-01 -1.55780562e-02 9.34643549e-02 1.26018572e+01] [ 1.58676601e-02 9.99871325e-01 -2.35614794e-03 -2.59848161e-01] [-9.34156241e-02 3.82860765e-03 9.95619839e-01 -1.54355930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.421193816999999 meters 0.06653806809144973 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.25, Z:-1.55 [[ 9.95270105e-01 -1.11595808e-02 9.65032692e-02 1.26613337e+01] [ 1.14485009e-02 9.99931485e-01 -2.44068894e-03 -2.49895583e-01] [-9.64694202e-02 3.53396250e-03 9.95329675e-01 -1.55050543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481193817 meters 0.06534133695961893 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.24, Z:-1.55 [[ 9.94777105e-01 -7.97335817e-03 1.01759207e-01 1.27215429e+01] [ 8.27818399e-03 9.99962423e-01 -2.57361821e-03 -2.43017607e-01] [-1.01734863e-01 3.40255791e-03 9.94805730e-01 -1.55399571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.541193817 meters 0.06022402535495746 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.22, Z:-1.56 [[ 9.94501782e-01 4.80049420e-03 1.04609569e-01 1.27826478e+01] [-4.54867421e-03 9.99986155e-01 -2.64567708e-03 -2.20396092e-01] [-1.04620821e-01 2.15529573e-03 9.94509848e-01 -1.55722468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601193817 meters 0.0596709457082799 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.21, Z:-1.57 [[ 9.94862295e-01 1.15844070e-02 1.00572441e-01 1.28433364e+01] [-1.13869082e-02 9.99931947e-01 -2.53760346e-03 -2.08069434e-01] [-1.00594993e-01 1.37935685e-03 9.94926502e-01 -1.57206945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661193817 meters 0.06046401785523158 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.21, Z:-1.58 [[ 9.95163496e-01 9.94000796e-03 9.77282555e-02 1.29041718e+01] [-9.74284477e-03 9.99949426e-01 -2.49448630e-03 -2.05569281e-01] [-9.77481082e-02 1.53027049e-03 9.95210011e-01 -1.58324180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721193817 meters 0.0611295562171434 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.21, Z:-1.60 [[ 9.95605380e-01 1.12213602e-02 9.29731585e-02 1.29647575e+01] [-1.10462618e-02 9.99936113e-01 -2.39774100e-03 -2.07310671e-01] [-9.29941247e-02 1.36019799e-03 9.95665728e-01 -1.59582053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781193817 meters 0.06074185437400308 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.20, Z:-1.61 [[ 9.95769243e-01 1.76795933e-02 9.01723166e-02 1.30272803e+01] [-1.75392962e-02 9.99843418e-01 -2.34809636e-03 -2.02671685e-01] [-9.01997106e-02 7.56603164e-04 9.95923411e-01 -1.60684874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841193817 meters 0.05993519203661951 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.20, Z:-1.61 [[ 9.95142098e-01 2.21659039e-02 9.59212022e-02 1.30872481e+01] [-2.20235858e-02 9.99754219e-01 -2.54228026e-03 -2.00651021e-01] [-9.59539786e-02 4.17401286e-04 9.95385684e-01 -1.60992628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901193817 meters 0.06005665536392452 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.21, Z:-1.61 [[ 9.94764840e-01 1.61345783e-02 1.00908809e-01 1.31492562e+01] [-1.59466995e-02 9.99869283e-01 -2.66828318e-03 -2.12136956e-01] [-1.00938670e-01 1.04515185e-03 9.94892101e-01 -1.61142485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961193817 meters 0.06320834525578169 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.23, Z:-1.62 [[ 9.94861512e-01 2.26987599e-03 1.01219658e-01 1.32085494e+01] [-2.00559282e-03 9.99994309e-01 -2.71267426e-03 -2.33192329e-01] [-1.01225240e-01 2.49572980e-03 9.94860403e-01 -1.62022947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.021193817 meters 0.06627829858259159 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.25, Z:-1.63 [[ 9.94991088e-01 -7.03196464e-03 9.97160303e-02 1.32681895e+01] [ 7.33547817e-03 9.99969511e-01 -2.67745484e-03 -2.45399298e-01] [-9.96941623e-02 3.39550847e-03 9.95012334e-01 -1.62910940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.081193816999999 meters 0.07095861024966202 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.26, Z:-1.64 [[ 9.95166819e-01 -1.58352973e-02 9.69135950e-02 1.33271732e+01] [ 1.61635905e-02 9.99865972e-01 -2.60328835e-03 -2.55270976e-01] [-9.68593819e-02 4.15717785e-03 9.95289394e-01 -1.63901282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141193817 meters 0.06839363355178557 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.25, Z:-1.65 [[ 9.95299188e-01 -1.18351225e-02 9.61220865e-02 1.33884391e+01] [ 1.21394273e-02 9.99922982e-01 -2.58162524e-03 -2.47494305e-01] [-9.60841295e-02 3.73635659e-03 9.95366204e-01 -1.64536816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201193817 meters 0.06619664759599184 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.24, Z:-1.65 [[ 9.95265157e-01 -5.85436185e-03 9.70205837e-02 1.34487881e+01] [ 6.13660130e-03 9.99977762e-01 -2.61092838e-03 -2.37187603e-01] [-9.70031409e-02 3.19394269e-03 9.95278951e-01 -1.65193986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261193817 meters 0.06267338353553352 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.22, Z:-1.66 [[ 9.95186521e-01 5.51997983e-03 9.78433306e-02 1.35097642e+01] [-5.28772493e-03 9.99982554e-01 -2.63289230e-03 -2.18786115e-01] [-9.78561571e-02 2.10285031e-03 9.95198347e-01 -1.65833929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321193817 meters 0.0620861343928564 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.22, Z:-1.67 [[ 9.95272260e-01 9.13622195e-03 9.66936279e-02 1.35713920e+01] [-8.92706840e-03 9.99956785e-01 -2.59545104e-03 -2.16228121e-01] [-9.67131618e-02 1.71998980e-03 9.95310809e-01 -1.66790206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381193817 meters 0.0620497795904035 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.21, Z:-1.68 [[ 9.95716625e-01 1.26377809e-02 9.15897881e-02 1.36323754e+01] [-1.24626265e-02 9.99919253e-01 -2.48407626e-03 -2.14985899e-01] [-9.16137857e-02 1.33198671e-03 9.95793724e-01 -1.67916333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441193817 meters 0.06182511067289865 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.21, Z:-1.69 [[ 9.95796206e-01 1.78212183e-02 8.98460949e-02 1.36931807e+01] [-1.76709261e-02 9.99840811e-01 -2.46800020e-03 -2.14081075e-01] [-8.98757751e-02 8.69961536e-04 9.95952603e-01 -1.69025712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501193816999999 meters 0.06164401184173273 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.22, Z:-1.70 [[ 9.95667685e-01 2.49012884e-02 8.95867530e-02 1.37546379e+01] [-2.47794485e-02 9.99689886e-01 -2.47212852e-03 -2.16258813e-01] [-8.96205301e-02 2.41508146e-04 9.95975955e-01 -1.69890998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561193817 meters 0.06077137605671576 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.23, Z:-1.70 [[ 9.95059575e-01 2.54776496e-02 9.59548426e-02 1.38163564e+01] [-2.53369330e-02 9.99675363e-01 -2.68481358e-03 -2.25294416e-01] [-9.59920949e-02 2.40348036e-04 9.95382067e-01 -1.70001071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621193817 meters 0.06044733514312459 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.24, Z:-1.70 [[ 9.94782800e-01 2.22906024e-02 9.95505372e-02 1.38785740e+01] [-2.21230680e-02 9.99751371e-01 -2.78665282e-03 -2.39260231e-01] [-9.95879022e-02 5.69751000e-04 9.95028605e-01 -1.70125847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681193817 meters 0.06111709480982798 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.26, Z:-1.71 [[ 9.94812468e-01 1.70072423e-02 1.00294109e-01 1.39398768e+01] [-1.68072713e-02 9.99854719e-01 -2.83853595e-03 -2.55414434e-01] [-1.00327813e-01 1.13814066e-03 9.94953785e-01 -1.70851918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741193817 meters 0.06329211107097504 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.28, Z:-1.72 [[ 9.95648816e-01 9.43252711e-03 9.27063272e-02 1.39990498e+01] [-9.22580053e-03 9.99953908e-01 -2.65823251e-03 -2.79595349e-01] [-9.27271280e-02 1.79137597e-03 9.95689947e-01 -1.72250575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801193817 meters 0.06407466524705968 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.29, Z:-1.73 [[ 9.96247895e-01 9.01060560e-03 8.60752079e-02 1.40592070e+01] [-8.83093449e-03 9.99957961e-01 -2.46792216e-03 -2.87070853e-01] [-8.60938268e-02 1.69853774e-03 9.96285586e-01 -1.73423573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861193817 meters 0.0643089931436782 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.29, Z:-1.74 [[ 9.96403260e-01 1.09250855e-02 8.40308675e-02 1.41196938e+01] [-1.07611083e-02 9.99939208e-01 -2.40409232e-03 -2.94412373e-01] [-8.40520240e-02 1.49118015e-03 9.96460252e-01 -1.74383085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921193816999999 meters 0.0641634667691277 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.30, Z:-1.75 [[ 9.96370983e-01 1.13554042e-02 8.43559051e-02 1.41816580e+01] [-1.11897526e-02 9.99934425e-01 -2.43628225e-03 -3.04408240e-01] [-8.43780384e-02 1.48351923e-03 9.96432710e-01 -1.74907859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981193817 meters 0.06378066124882993 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.31, Z:-1.76 [[ 9.96277775e-01 1.42681865e-02 8.50118477e-02 1.42431922e+01] [-1.41082840e-02 9.99897394e-01 -2.48145123e-03 -3.14906278e-01] [-8.50385307e-02 1.27284342e-03 9.96376850e-01 -1.75612407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041193817 meters 0.06290468804458334 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.32, Z:-1.76 [[ 9.96079575e-01 1.66841238e-02 8.68741606e-02 1.43055818e+01] [-1.65235512e-02 9.99860181e-01 -2.56715219e-03 -3.16950585e-01] [-8.69048446e-02 1.12161822e-03 9.96215986e-01 -1.76079543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101193817 meters 0.06383956108715737 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.33, Z:-1.77 [[ 9.96116501e-01 1.42646148e-02 8.68817439e-02 1.43651442e+01] [-1.40937716e-02 9.99897351e-01 -2.57950691e-03 -3.28982294e-01] [-8.69096212e-02 1.34499794e-03 9.96215292e-01 -1.77068408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161193817 meters 0.06583929766828048 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.35, Z:-1.77 [[ 9.95991173e-01 1.74676179e-03 8.94345151e-02 1.44258313e+01] [-1.51282912e-03 9.99995255e-01 -2.68340525e-03 -3.53636541e-01] [-8.94387780e-02 2.53734880e-03 9.95989090e-01 -1.77312657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221193817 meters 0.06913022922695199 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.37, Z:-1.78 [[ 9.95968032e-01 -7.55701603e-03 8.93899973e-02 1.44842495e+01] [ 7.82858286e-03 9.99965744e-01 -2.68778512e-03 -3.68689614e-01] [-8.93666235e-02 3.37674505e-03 9.95993074e-01 -1.78007206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281193817 meters 0.06966784992493213 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.37, Z:-1.79 [[ 9.95956382e-01 -1.01594767e-02 8.92618082e-02 1.45462629e+01] [ 1.04403032e-02 9.99941908e-01 -2.67975855e-03 -3.72954778e-01] [-8.92293979e-02 3.60084297e-03 9.96004593e-01 -1.78654482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341193817 meters 0.06985104006156646 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.38, Z:-1.79 [[ 9.96169606e-01 -9.76674395e-03 8.68949206e-02 1.46073247e+01] [ 1.00313787e-02 9.99946280e-01 -2.60930454e-03 -3.76087112e-01] [-8.68647682e-02 3.47098573e-03 9.96214066e-01 -1.79442762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401193817 meters 0.06970626064644513 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.37, Z:-1.80 [[ 9.96049028e-01 -6.84903069e-03 8.85405233e-02 1.46672163e+01] [ 7.11542018e-03 9.99971058e-01 -2.69339827e-03 -3.74673383e-01] [-8.85195136e-02 3.31275976e-03 9.96068934e-01 -1.80158697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461193816999998 meters 0.06748220265406168 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.37, Z:-1.81 [[ 9.96355342e-01 -1.99887062e-03 8.52762371e-02 1.47287317e+01] [ 2.22744885e-03 9.99994177e-01 -2.58538116e-03 -3.66309045e-01] [-8.52705728e-02 2.76590679e-03 9.96353993e-01 -1.80979640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521193817 meters 0.06515727698792359 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.35, Z:-1.82 [[ 9.96768295e-01 1.40422541e-02 7.90934912e-02 1.47884470e+01] [-1.38933743e-02 9.99900524e-01 -2.43233912e-03 -3.51033655e-01] [-7.91197788e-02 1.32560304e-03 9.96864235e-01 -1.82334060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581193817 meters 0.06364909373782514 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.34, Z:-1.83 [[ 9.96467118e-01 2.36147341e-02 8.05954541e-02 1.48505247e+01] [-2.34913714e-02 9.99720967e-01 -2.47862257e-03 -3.43017476e-01] [-8.06314973e-02 5.76568143e-04 9.96743813e-01 -1.82774937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.641193817 meters 0.06293946271392464 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.33, Z:-1.83 [[ 9.96098706e-01 3.25552762e-02 8.20214728e-02 1.49129918e+01] [-3.24580699e-02 9.99469925e-01 -2.51858391e-03 -3.33046086e-01] [-8.20599884e-02 -1.53500521e-04 9.96627380e-01 -1.83149746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.701193817 meters 0.06310328000483732 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.34, Z:-1.84 [[ 9.95948048e-01 3.51977636e-02 8.27562886e-02 1.49743370e+01] [-3.51057548e-02 9.99380306e-01 -2.56710147e-03 -3.37368454e-01] [-8.27953613e-02 -3.48522283e-04 9.96566509e-01 -1.83905575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.761193817 meters 0.06239970558772645 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.35, Z:-1.84 [[ 9.95447875e-01 3.43419793e-02 8.89053260e-02 1.50346096e+01] [-3.42288746e-02 9.99410107e-01 -2.79691660e-03 -3.46005633e-01] [-8.89489330e-02 -2.58944568e-04 9.96036154e-01 -1.84130011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.821193817 meters 0.06234280498520426 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.35, Z:-1.85 [[ 9.95423853e-01 3.32348615e-02 8.95923949e-02 1.50965374e+01] [-3.31163691e-02 9.99447555e-01 -2.80913784e-03 -3.51402336e-01] [-8.96362613e-02 -1.70692010e-04 9.95974554e-01 -1.84751117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881193817 meters 0.06291725917827863 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.36, Z:-1.86 [[ 9.95659610e-01 3.06740699e-02 8.78694634e-02 1.51561273e+01] [-3.05474539e-02 9.99529436e-01 -2.78560634e-03 -3.61076797e-01] [-8.79135610e-02 8.93273437e-05 9.96128103e-01 -1.85771326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.941193817 meters 0.06256130353270084 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.37, Z:-1.86 [[ 9.95804704e-01 2.59457996e-02 8.77485424e-02 1.52180940e+01] [-2.58005634e-02 9.99663219e-01 -2.78909558e-03 -3.72308845e-01] [-8.77913557e-02 5.13432661e-04 9.96138753e-01 -1.85851757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001193817 meters 0.06302886928683452 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.38, Z:-1.86 [[ 9.95750064e-01 2.09115528e-02 8.96912360e-02 1.52791998e+01] [-2.07368073e-02 9.99780822e-01 -2.87979289e-03 -3.80970065e-01] [-8.97317986e-02 1.00764407e-03 9.95965456e-01 -1.86474418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061193817 meters 0.06356489435686476 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.39, Z:-1.87 [[ 9.95857395e-01 1.79857332e-02 8.91322696e-02 1.53404633e+01] [-1.77990561e-02 9.99837411e-01 -2.88882233e-03 -3.89335676e-01] [-8.91697353e-02 1.29038481e-03 9.96015609e-01 -1.87252982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121193816999998 meters 0.0670810186322497 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.41, Z:-1.89 [[ 9.96545019e-01 9.95764375e-03 8.24552623e-02 1.53982306e+01] [-9.76785587e-03 9.99948635e-01 -2.70478996e-03 -4.07696061e-01] [-8.24779603e-02 1.89003385e-03 9.96591097e-01 -1.88883236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181193817 meters 0.06791177142085006 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.41, Z:-1.90 [[ 9.96908638e-01 5.30756974e-03 7.83900262e-02 1.54583295e+01] [-5.12143056e-03 9.99983569e-01 -2.57538079e-03 -4.12137045e-01] [-7.84024072e-02 2.16595029e-03 9.96919441e-01 -1.89715402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241193817 meters 0.06895243739193355 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.42, Z:-1.91 [[ 9.97444917e-01 3.86624200e-03 7.13350524e-02 1.55181539e+01] [-3.70842290e-03 9.99990375e-01 -2.34467074e-03 -4.15519172e-01] [-7.13434309e-02 2.07413937e-03 9.97449654e-01 -1.90870542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301193817 meters 0.06699254242573251 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.41, Z:-1.91 [[ 9.97406975e-01 7.53153393e-03 7.15723627e-02 1.55803435e+01] [-7.38224792e-03 9.99969989e-01 -2.35010185e-03 -4.14600504e-01] [-7.15879146e-02 1.81564305e-03 9.97432641e-01 -1.91016332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361193817 meters 0.06501089143539668 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.40, Z:-1.92 [[ 9.96912742e-01 1.71248935e-02 7.66271615e-02 1.56401471e+01] [-1.69813034e-02 9.99852619e-01 -2.52510830e-03 -4.04489485e-01] [-7.66591103e-02 1.21608356e-03 9.97056619e-01 -1.91724350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421193817 meters 0.06307238140040734 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.40, Z:-1.92 [[ 9.96557159e-01 2.13848670e-02 8.01031658e-02 1.57017795e+01] [-2.12417343e-02 9.99770887e-01 -2.63865986e-03 -3.95226573e-01] [-8.01412405e-02 9.28045206e-04 9.96783086e-01 -1.91911940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.481193817 meters 0.06324272800861284 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.40, Z:-1.93 [[ 9.96499436e-01 1.95995097e-02 8.12695141e-02 1.57634228e+01] [-1.94470069e-02 9.99807330e-01 -2.66769273e-03 -4.02182453e-01] [-8.13061414e-02 1.07790550e-03 9.96688592e-01 -1.92502339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.541193817 meters 0.06372687368334891 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.41, Z:-1.93 [[ 9.96398509e-01 1.66240195e-02 8.31483801e-02 1.58246095e+01] [-1.64518277e-02 9.99860862e-01 -2.75567456e-03 -4.09293347e-01] [-8.31826214e-02 1.37780720e-03 9.96533368e-01 -1.93219031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.601193817 meters 0.06399669789147151 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.41, Z:-1.94 [[ 9.96308620e-01 1.35513334e-02 8.47673007e-02 1.58867570e+01] [-1.33592143e-02 9.99906748e-01 -2.83327793e-03 -4.11414572e-01] [-8.47977906e-02 1.69039469e-03 9.96396747e-01 -1.93878270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661193817 meters 0.06548102129781322 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.42, Z:-1.95 [[ 9.96514443e-01 1.32605068e-02 8.23597262e-02 1.59462972e+01] [-1.30752564e-02 9.99910628e-01 -2.78825375e-03 -4.17724884e-01] [-8.23893391e-02 1.70166060e-03 9.96598766e-01 -1.95273407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721193817 meters 0.0663843015125756 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.42, Z:-1.96 [[ 9.96675532e-01 1.03357759e-02 8.08149453e-02 1.60074741e+01] [-1.01467069e-02 9.99944740e-01 -2.74986569e-03 -4.23465742e-01] [-8.08389015e-02 1.92071828e-03 9.96725330e-01 -1.96154314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781193817 meters 0.0695084985224252 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.43, Z:-1.97 [[ 9.96828375e-01 5.07940917e-03 7.94190756e-02 1.60666103e+01] [-4.87945942e-03 9.99984419e-01 -2.71152012e-03 -4.33265250e-01] [-7.94316111e-02 2.31539804e-03 9.96837629e-01 -1.97414351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841193817 meters 0.07511718760480547 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.45, Z:-1.99 [[ 9.97244481e-01 -6.60753922e-03 7.38903621e-02 1.61252414e+01] [ 6.81264050e-03 9.99973608e-01 -2.52405458e-03 -4.45326637e-01] [-7.38717342e-02 3.02048798e-03 9.97263177e-01 -1.98728169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901193817 meters 0.07774699783671736 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.45, Z:-1.99 [[ 9.97428426e-01 -1.89834455e-02 6.91097899e-02 1.61862859e+01] [ 1.91924928e-02 9.99813017e-01 -2.36206693e-03 -4.46978860e-01] [-6.90520274e-02 3.68238185e-03 9.97606264e-01 -1.99139190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.961193816999998 meters 0.08041646676741902 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.45, Z:-2.00 [[ 9.97222864e-01 -2.39698871e-02 7.05124403e-02 1.62466821e+01] [ 2.41999412e-02 9.99704234e-01 -2.41002843e-03 -4.48079107e-01] [-7.04338170e-02 4.10973236e-03 9.97507989e-01 -1.99827881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.021193817 meters 0.07951359452065433 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.44, Z:-2.00 [[ 9.96774276e-01 -2.57316670e-02 7.60192337e-02 1.63086163e+01] [ 2.60046547e-02 9.99658432e-01 -2.60319640e-03 -4.35475978e-01] [-7.59262834e-02 4.57165313e-03 9.97102953e-01 -1.99969920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081193817 meters 0.07748971659711688 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.42, Z:-2.00 [[ 9.96390069e-01 -2.41953106e-02 8.13720917e-02 1.63695564e+01] [ 2.45035860e-02 9.99695844e-01 -2.79184562e-03 -4.22627303e-01] [-8.12797923e-02 4.77567530e-03 9.96679883e-01 -2.00273258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141193817 meters 0.07621563158430339 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.41, Z:-2.00 [[ 9.95722360e-01 -2.33158580e-02 8.94055491e-02 1.64306300e+01] [ 2.36848552e-02 9.99714766e-01 -3.06840468e-03 -4.06351159e-01] [-8.93085051e-02 5.17283663e-03 9.95990579e-01 -2.00361899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201193817 meters 0.07620977679196472 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.40, Z:-2.01 [[ 9.95694428e-01 -2.26194269e-02 8.98942067e-02 1.64924681e+01] [ 2.29888720e-02 9.99730988e-01 -3.07639196e-03 -4.02721423e-01] [-8.98004378e-02 5.12971274e-03 9.95946569e-01 -2.01142676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261193817 meters 0.07576372984743374 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.39, Z:-2.02 [[ 9.96050512e-01 -2.38052164e-02 8.55376476e-02 1.65534407e+01] [ 2.41467503e-02 9.99704042e-01 -2.96023978e-03 -3.85044495e-01] [-8.54418629e-02 5.01400457e-03 9.96330541e-01 -2.02293052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.321193817 meters 0.07673360503396746 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.38, Z:-2.03 [[ 9.96299094e-01 -2.26079700e-02 8.29276477e-02 1.66141011e+01] [ 2.29243139e-02 9.99733100e-01 -2.86439118e-03 -3.75359213e-01] [-8.28407562e-02 4.75484977e-03 9.96551454e-01 -2.03438031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381193817 meters 0.07409770001262798 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.35, Z:-2.04 [[ 9.96232665e-01 -1.67624891e-02 8.50852344e-02 1.66757760e+01] [ 1.70772545e-02 9.99849753e-01 -2.97287979e-03 -3.53734475e-01] [-8.50226178e-02 4.41470215e-03 9.96369241e-01 -2.03858951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441193817 meters 0.07187239402447736 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.34, Z:-2.04 [[ 9.96094173e-01 -1.28241053e-02 8.73609777e-02 1.67370711e+01] [ 1.31410619e-02 9.99908989e-01 -3.05396150e-03 -3.35797964e-01] [-8.73138625e-02 4.19004927e-03 9.96172040e-01 -2.04393666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501193817 meters 0.06713584923071086 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.31, Z:-2.05 [[ 9.96338376e-01 -3.00649457e-03 8.54447335e-02 1.67982552e+01] [ 3.27395793e-03 9.99990170e-01 -2.99029442e-03 -3.06755940e-01] [-8.54349033e-02 3.25908754e-03 9.96338424e-01 -2.05090368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561193817 meters 0.06610502124508334 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.29, Z:-2.06 [[ 9.96650927e-01 3.61648261e-03 8.16936414e-02 1.68587961e+01] [-3.39509677e-03 9.99990179e-01 -2.84870093e-03 -2.94687384e-01] [-8.17031414e-02 2.56180260e-03 9.96653417e-01 -2.06215240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.621193816999998 meters 0.06450840024805032 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.28, Z:-2.07 [[ 9.96892787e-01 1.33859406e-02 7.76246636e-02 1.69208921e+01] [-1.32137490e-02 9.99908964e-01 -2.73148918e-03 -2.77706430e-01] [-7.76541605e-02 1.69728904e-03 9.96978912e-01 -2.07479992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.681193817 meters 0.06270112280172307 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.27, Z:-2.08 [[ 9.96596135e-01 1.88316872e-02 8.02590293e-02 1.69822748e+01] [-1.86636759e-02 9.99821776e-01 -2.84309029e-03 -2.66575454e-01] [-8.02982654e-02 1.33548428e-03 9.96769986e-01 -2.07824126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741193817 meters 0.06241843852110705 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.27, Z:-2.08 [[ 9.96438393e-01 1.84599561e-02 8.22785401e-02 1.70441316e+01] [-1.82827941e-02 9.99828632e-01 -2.90616076e-03 -2.68038482e-01] [-8.23180878e-02 1.39152855e-03 9.96605135e-01 -2.08399898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801193816999998 meters 0.0630527806184612 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.27, Z:-2.09 [[ 9.96283094e-01 1.54040594e-02 8.47508817e-02 1.71045267e+01] [-1.52027178e-02 9.99879869e-01 -3.02059608e-03 -2.73914966e-01] [-8.47872300e-02 1.72092507e-03 9.96397593e-01 -2.09073435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861193817 meters 0.06291808140802316 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.28, Z:-2.10 [[ 9.96450600e-01 1.26093881e-02 8.32298313e-02 1.71662083e+01] [-1.24031119e-02 9.99918593e-01 -2.99499847e-03 -2.79609354e-01] [-8.32608209e-02 1.95205911e-03 9.96525878e-01 -2.09501070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921193817 meters 0.06363697812142827 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.28, Z:-2.11 [[ 9.96642779e-01 1.14792326e-02 8.10641660e-02 1.72269489e+01] [-1.12799280e-02 9.99932127e-01 -2.91614293e-03 -2.83960365e-01] [-8.10921391e-02 1.99195484e-03 9.96704619e-01 -2.10511003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981193817 meters 0.06440482990253495 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.29, Z:-2.11 [[ 9.96424233e-01 8.48441106e-03 8.40640447e-02 1.72891609e+01] [-8.25732835e-03 9.99961260e-01 -3.04863180e-03 -2.89054835e-01] [-8.40866539e-02 2.34358618e-03 9.96455690e-01 -2.11057812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041193817 meters 0.06557340629379446 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.30, Z:-2.12 [[ 9.96282314e-01 5.93632316e-03 8.59436518e-02 1.73494383e+01] [-5.68708425e-03 9.99978884e-01 -3.14457616e-03 -2.96136747e-01] [-8.59605042e-02 2.64411682e-03 9.96295037e-01 -2.11845806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101193817 meters 0.0685088716933227 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.31, Z:-2.12 [[ 9.96327207e-01 -4.58550271e-03 8.55047960e-02 1.74097941e+01] [ 4.87358736e-03 9.99983129e-01 -3.16078565e-03 -3.09027922e-01] [-8.54888596e-02 3.56589183e-03 9.96332745e-01 -2.12472346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161193817 meters 0.07410242073762345 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.32, Z:-2.13 [[ 9.96343776e-01 -1.52603458e-02 8.40607010e-02 1.74682013e+01] [ 1.55766904e-02 9.99873843e-01 -3.10868107e-03 -3.20421179e-01] [-8.40026567e-02 4.40670255e-03 9.96455787e-01 -2.13419476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221193817 meters 0.08029297058325559 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.33, Z:-2.14 [[ 9.96401570e-01 -2.65451288e-02 8.04938991e-02 1.75278008e+01] [ 2.68721174e-02 9.99634433e-01 -2.98153200e-03 -3.34728386e-01] [-8.03853280e-02 5.13384467e-03 9.96750642e-01 -2.14411138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281193817 meters 0.07526839879378626 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.32, Z:-2.15 [[ 9.96403083e-01 -2.09072322e-02 8.21205486e-02 1.75885431e+01] [ 2.12287782e-02 9.99770009e-01 -3.04426076e-03 -3.24697559e-01] [-8.20380146e-02 4.77662972e-03 9.96617754e-01 -2.14639623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341193817 meters 0.06932555464764685 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.31, Z:-2.15 [[ 9.96590165e-01 -5.64084990e-03 8.23178229e-02 1.76496596e+01] [ 5.91204897e-03 9.99977869e-01 -3.05115938e-03 -3.05622709e-01] [-8.22987900e-02 3.52742243e-03 9.96601458e-01 -2.15330834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401193817 meters 0.06386261102996824 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.29, Z:-2.16 [[ 9.96371546e-01 1.05561315e-02 8.44530119e-02 1.77110174e+01] [-1.03285606e-02 9.99941757e-01 -3.13112274e-03 -2.86784022e-01] [-8.44811456e-02 2.24748355e-03 9.96422543e-01 -2.15823894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461193816999998 meters 0.061444035772170016 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.27, Z:-2.17 [[ 9.95868610e-01 2.67972157e-02 8.67618625e-02 1.77698843e+01] [-2.66182883e-02 9.99640489e-01 -3.21874212e-03 -2.70818177e-01] [-8.68169239e-02 8.95991978e-04 9.96223880e-01 -2.16912499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521193817 meters 0.06061244735733045 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.27, Z:-2.18 [[ 9.95716268e-01 3.72941695e-02 8.46064872e-02 1.78315186e+01] [-3.71629143e-02 9.99304330e-01 -3.12631690e-03 -2.67035824e-01] [-8.46642224e-02 -3.12990365e-05 9.96409539e-01 -2.17507775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581193817 meters 0.060914338432089515 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.27, Z:-2.18 [[ 9.95586872e-01 3.98662903e-02 8.49556320e-02 1.78921298e+01] [-3.97412804e-02 9.99204998e-01 -3.16282075e-03 -2.71202386e-01] [-8.50141820e-02 -2.27382777e-04 9.96379715e-01 -2.18482660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641193817 meters 0.06038535481492745 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.29, Z:-2.19 [[ 9.95594216e-01 3.75314533e-02 8.59275663e-02 1.79539301e+01] [-3.73929789e-02 9.99295447e-01 -3.22104961e-03 -2.92626181e-01] [-8.59879164e-02 -6.22930975e-06 9.96296180e-01 -2.18738659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701193817 meters 0.06150493980604118 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.31, Z:-2.21 [[ 9.95741765e-01 3.61626954e-02 8.47973891e-02 1.80125470e+01] [-3.60205429e-02 9.99345906e-01 -3.20626233e-03 -3.07223058e-01] [-8.48578707e-02 1.38161326e-04 9.96393056e-01 -2.20543103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.761193817 meters 0.060934148225660276 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.33, Z:-2.21 [[ 9.95680788e-01 3.43386540e-02 8.62590629e-02 1.80750117e+01] [-3.41819657e-02 9.99410200e-01 -3.29327148e-03 -3.25882131e-01] [-8.63212738e-02 3.30542816e-04 9.96267298e-01 -2.20590497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.821193817 meters 0.06166770809445664 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.35, Z:-2.22 [[ 9.95885744e-01 2.88236999e-02 8.59114657e-02 1.81346983e+01] [-2.86474941e-02 9.99584184e-01 -3.28342199e-03 -3.51667992e-01] [-8.59703827e-02 8.08764942e-04 9.96297365e-01 -2.21633309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881193817 meters 0.06256673134614961 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.37, Z:-2.23 [[ 9.96270125e-01 2.51990098e-02 8.25278654e-02 1.81941736e+01] [-2.50213856e-02 9.99681839e-01 -3.18599584e-03 -3.65481530e-01] [-8.25818922e-02 1.10915093e-03 9.96583665e-01 -2.22719810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.941193817 meters 0.06376231627358399 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.39, Z:-2.24 [[ 9.96540195e-01 2.09316169e-02 8.04332439e-02 1.82536441e+01] [-2.07489082e-02 9.99779891e-01 -3.10678299e-03 -3.85355368e-01] [-8.04805698e-02 1.42713213e-03 9.96755156e-01 -2.23742240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001193817 meters 0.06448316816065383 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.40, Z:-2.24 [[ 9.96310041e-01 1.69401369e-02 8.41387829e-02 1.83145862e+01] [-1.67266475e-02 9.99854845e-01 -3.24168156e-03 -4.01964768e-01] [-8.41814842e-02 1.82236013e-03 9.96448773e-01 -2.24300143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061193817 meters 0.06451196034096163 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.41, Z:-2.25 [[ 9.96284101e-01 1.58372886e-02 8.46591367e-02 1.83772842e+01] [-1.56151629e-02 9.99872679e-01 -3.28533467e-03 -4.09867922e-01] [-8.47003886e-02 1.95116049e-03 9.96404555e-01 -2.24821174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.121193816999998 meters 0.06414054317700327 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.42, Z:-2.25 [[ 9.95782027e-01 1.37170433e-02 9.07193301e-02 1.84387023e+01] [-1.34492985e-02 9.99903209e-01 -3.56203962e-03 -4.23684654e-01] [-9.07594100e-02 2.32690368e-03 9.95870130e-01 -2.24986420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.181193817 meters 0.06272492521133037 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.43, Z:-2.25 [[ 9.95408414e-01 1.46368923e-02 9.45930799e-02 1.85007819e+01] [-1.43489080e-02 9.99890114e-01 -3.72395253e-03 -4.25234748e-01] [-9.46371925e-02 2.34954629e-03 9.95509056e-01 -2.25251833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.241193817 meters 0.06183117208499784 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.42, Z:-2.26 [[ 9.95013954e-01 1.71542951e-02 9.82494870e-02 1.85621309e+01] [-1.68550330e-02 9.99850434e-01 -3.87520005e-03 -4.21695561e-01] [-9.83012685e-02 2.19987978e-03 9.95154270e-01 -2.25746015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301193816999998 meters 0.0608580392881295 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.42, Z:-2.26 [[ 9.94851690e-01 2.06030726e-02 9.92251414e-02 1.86246051e+01] [-2.03146256e-02 9.99785965e-01 -3.91657985e-03 -4.18695741e-01] [-9.92845974e-02 1.88069449e-03 9.95057301e-01 -2.26458421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361193817 meters 0.06037190987031407 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.42, Z:-2.27 [[ 9.94503447e-01 2.25087440e-02 1.02255809e-01 1.86852299e+01] [-2.22115075e-02 9.99745113e-01 -4.04462110e-03 -4.15826785e-01] [-1.02320785e-01 1.75113396e-03 9.94749914e-01 -2.27294874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421193817 meters 0.05997366648231199 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.41, Z:-2.28 [[ 9.94565650e-01 2.53741676e-02 1.00971876e-01 1.87473628e+01] [-2.50963331e-02 9.99676950e-01 -4.02111618e-03 -4.10367539e-01] [-1.01041290e-01 1.46524019e-03 9.94881154e-01 -2.28277263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481193817 meters 0.059248827147974394 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.40, Z:-2.29 [[ 9.94348916e-01 3.32737947e-02 1.00812144e-01 1.88089229e+01] [-3.30342958e-02 9.99446035e-01 -4.04461091e-03 -4.00536794e-01] [-1.00890877e-01 6.91496290e-04 9.94897257e-01 -2.29253760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541193817 meters 0.059303101572975185 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.40, Z:-2.30 [[ 9.94306521e-01 3.57281693e-02 1.00389447e-01 1.88707513e+01] [-3.55002433e-02 9.99361435e-01 -4.05651391e-03 -4.03163303e-01] [-1.00470274e-01 4.69568437e-04 9.94939950e-01 -2.30281205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601193817 meters 0.05986820975719202 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.41, Z:-2.31 [[ 9.94171403e-01 3.17227098e-02 1.03038300e-01 1.89309212e+01] [-3.14572478e-02 9.99496271e-01 -4.20070917e-03 -4.13557492e-01] [-1.03119655e-01 9.34923577e-04 9.94668519e-01 -2.31251322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661193817 meters 0.060353789365056254 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.42, Z:-2.32 [[ 9.94355615e-01 2.75860440e-02 1.02449606e-01 1.89921775e+01] [-2.72989603e-02 9.99618476e-01 -4.20347934e-03 -4.24034940e-01] [-1.02526476e-01 1.38298557e-03 9.94729314e-01 -2.31925119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721193817 meters 0.061420223286324856 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.44, Z:-2.33 [[ 9.94561598e-01 2.24080389e-02 1.01710907e-01 1.90531345e+01] [-2.20945905e-02 9.99747031e-01 -4.20740679e-03 -4.38340077e-01] [-1.01779457e-01 1.93726439e-03 9.94805101e-01 -2.32918990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781193817 meters 0.0620235314600682 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.44, Z:-2.34 [[ 9.94833350e-01 2.11366023e-02 9.92967788e-02 1.91148501e+01] [-2.08312337e-02 9.99774553e-01 -4.11122231e-03 -4.42819914e-01] [-9.93612900e-02 2.02150666e-03 9.95049369e-01 -2.33858542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841193817 meters 0.0622435716560961 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.45, Z:-2.35 [[ 9.94731181e-01 2.10122276e-02 1.00341242e-01 1.91761643e+01] [-2.06966040e-02 9.99777041e-01 -4.18557145e-03 -4.47078478e-01] [-1.00406818e-01 2.08679549e-03 9.94944278e-01 -2.34627044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901193817 meters 0.06247385594009516 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.45, Z:-2.35 [[ 9.94545152e-01 2.03809835e-02 1.02296414e-01 1.92374368e+01] [-2.00463074e-02 9.99789811e-01 -4.29870229e-03 -4.50691306e-01] [-1.02362524e-01 2.22458816e-03 9.94744673e-01 -2.35298463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961193816999998 meters 0.06211308857354313 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.45, Z:-2.36 [[ 9.94302139e-01 1.85970728e-02 1.04963833e-01 1.93005489e+01] [-1.82314720e-02 9.99823927e-01 -4.44159508e-03 -4.50039662e-01] [-1.05027952e-01 2.50264232e-03 9.94466121e-01 -2.35640890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021193817 meters 0.0629983727888343 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.46, Z:-2.36 [[ 9.93828466e-01 1.63352486e-02 1.09718458e-01 1.93626146e+01] [-1.59171764e-02 9.99862337e-01 -4.68523608e-03 -4.58324003e-01] [-1.09779888e-01 2.90991293e-03 9.93951663e-01 -2.36102450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.081193817 meters 0.06561672206712296 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.46, Z:-2.37 [[ 9.93952686e-01 9.04797875e-03 1.09435787e-01 1.94217291e+01] [-8.58361688e-03 9.99952051e-01 -4.71359377e-03 -4.64158357e-01] [-1.09473189e-01 3.74573432e-03 9.93982691e-01 -2.36964527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141193816999998 meters 0.06677283170730543 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.47, Z:-2.38 [[ 9.94308525e-01 4.82439344e-03 1.06429705e-01 1.94820623e+01] [-4.36130074e-03 9.99979985e-01 -4.58347954e-03 -4.68315426e-01] [-1.06449687e-01 4.09322083e-03 9.94309665e-01 -2.38012530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201193817 meters 0.07058987297243312 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.48, Z:-2.39 [[ 9.94416853e-01 -2.58438167e-03 1.05491441e-01 1.95406611e+01] [ 3.08129592e-03 9.99984912e-01 -4.54776147e-03 -4.76642576e-01] [-1.05478096e-01 4.84742100e-03 9.94409812e-01 -2.38931581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261193817 meters 0.07248702568145948 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.48, Z:-2.40 [[ 9.94355168e-01 -7.28650793e-03 1.05852287e-01 1.96014804e+01] [ 7.81373646e-03 9.99959044e-01 -4.56692760e-03 -4.75867289e-01] [-1.05814674e-01 5.36824993e-03 9.94371378e-01 -2.39695203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321193817 meters 0.07269812483161207 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.47, Z:-2.40 [[ 9.94406950e-01 -7.87721597e-03 1.05322204e-01 1.96636573e+01] [ 8.40221445e-03 9.99954386e-01 -4.54190817e-03 -4.65581760e-01] [-1.05281623e-01 5.40144480e-03 9.94427777e-01 -2.40476656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381193817 meters 0.07072108705575125 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.46, Z:-2.41 [[ 9.94430275e-01 -3.43277647e-03 1.05340614e-01 1.97245454e+01] [ 3.93689897e-03 9.99981771e-01 -4.57807879e-03 -4.56963122e-01] [-1.05322978e-01 4.96729550e-03 9.94425662e-01 -2.41217332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.441193817 meters 0.06762797903629648 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.44, Z:-2.42 [[ 9.94347341e-01 3.18058006e-03 1.06128459e-01 1.97855503e+01] [-2.70608104e-03 9.99985691e-01 -4.61469114e-03 -4.43208619e-01] [-1.06141618e-01 4.30141365e-03 9.94341719e-01 -2.41758041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501193817 meters 0.06304182593760646 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.42, Z:-2.43 [[ 9.94497144e-01 1.83950615e-02 1.03136088e-01 1.98467379e+01] [-1.80284558e-02 9.99827412e-01 -4.48571316e-03 -4.17582947e-01] [-1.03200803e-01 2.60164453e-03 9.94657140e-01 -2.42781298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.561193817 meters 0.06119276975762062 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.40, Z:-2.44 [[ 9.94285347e-01 2.94112171e-02 1.02623726e-01 1.99064282e+01] [-2.91064898e-02 9.99566340e-01 -4.46589067e-03 -4.04362081e-01] [-1.02710570e-01 1.45335322e-03 9.94710222e-01 -2.43775351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621193816999998 meters 0.06028719252691801 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.40, Z:-2.45 [[ 9.94221488e-01 3.67976273e-02 1.00844277e-01 1.99682563e+01] [-3.65419077e-02 9.99322512e-01 -4.38247508e-03 -3.98211431e-01] [-1.00937221e-01 6.72108650e-04 9.94892570e-01 -2.44761053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681193817 meters 0.06136114689439191 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.41, Z:-2.46 [[ 9.94757324e-01 3.18161273e-02 9.71884802e-02 2.00277329e+01] [-3.15522150e-02 9.99493063e-01 -4.25154872e-03 -4.10033378e-01] [-9.72744796e-02 1.16274741e-03 9.95256913e-01 -2.45994822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741193817 meters 0.06268149209254636 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.43, Z:-2.46 [[ 9.94745359e-01 2.16521147e-02 1.00064262e-01 2.00890608e+01] [-2.13179285e-02 9.99763030e-01 -4.40790035e-03 -4.25821039e-01] [-1.00135990e-01 2.25157564e-03 9.94971213e-01 -2.46267294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801193816999998 meters 0.0643924155345339 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.44, Z:-2.47 [[ 9.95045757e-01 1.69179724e-02 9.79679737e-02 2.01478791e+01] [-1.65731260e-02 9.99853269e-01 -4.33275575e-03 -4.38952932e-01] [-9.80269001e-02 2.68765465e-03 9.95180136e-01 -2.47241584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.861193817 meters 0.06559280027280946 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.45, Z:-2.48 [[ 9.95191483e-01 1.25898739e-02 9.71360295e-02 2.02087068e+01] [-1.22304321e-02 9.99915981e-01 -4.29494948e-03 -4.45445573e-01] [-9.71819411e-02 3.08628153e-03 9.95261848e-01 -2.48024589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921193817 meters 0.06656511816690544 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.45, Z:-2.49 [[ 9.95342137e-01 8.19040523e-03 9.60570035e-02 2.02696310e+01] [-7.81813725e-03 9.99960401e-01 -4.25122010e-03 -4.49650834e-01] [-9.60880189e-02 3.48043166e-03 9.95366756e-01 -2.48799781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981193817 meters 0.06672165991431198 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.45, Z:-2.50 [[ 9.95494476e-01 8.34789491e-03 9.44513643e-02 2.03309231e+01] [-7.98900137e-03 9.99959362e-01 -4.17727083e-03 -4.53052066e-01] [-9.44823975e-02 3.40387796e-03 9.95520713e-01 -2.49721124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041193817 meters 0.06693822099236209 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.45, Z:-2.51 [[ 9.95773377e-01 9.27371774e-03 9.13749429e-02 2.03920234e+01] [-8.93932918e-03 9.99951768e-01 -4.06812239e-03 -4.53092711e-01] [-9.14082623e-02 3.23409727e-03 9.95808250e-01 -2.50712322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101193817 meters 0.06541052463241104 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.45, Z:-2.51 [[ 9.95749331e-01 1.53345249e-02 9.08191766e-02 2.04530544e+01] [-1.50264122e-02 9.99878792e-01 -4.07542077e-03 -4.48925833e-01] [-9.08706632e-02 2.69341112e-03 9.95859060e-01 -2.51498017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161193817 meters 0.061859000656923624 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.44, Z:-2.52 [[ 9.95286013e-01 2.59718983e-02 9.34409617e-02 2.05138180e+01] [-2.56919300e-02 9.99661093e-01 -4.19813401e-03 -4.40628766e-01] [-9.35183274e-02 1.77766542e-03 9.95615971e-01 -2.51792003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.221193817 meters 0.06024394764445831 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.44, Z:-2.52 [[ 9.94861435e-01 3.36726385e-02 9.54823520e-02 2.05756682e+01] [-3.34157782e-02 9.99432337e-01 -4.28827715e-03 -4.36807635e-01] [-9.55725478e-02 1.07562446e-03 9.95421886e-01 -2.52264213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281193817 meters 0.059306305615026596 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.43, Z:-2.53 [[ 9.94442937e-01 4.19168206e-02 9.65723877e-02 2.06375945e+01] [-4.16924226e-02 9.99121062e-01 -4.34123126e-03 -4.29867725e-01] [-9.66694771e-02 2.90769958e-04 9.95316496e-01 -2.52867267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341193817 meters 0.0591914224205296 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.43, Z:-2.54 [[ 9.93997955e-01 4.66941203e-02 9.89329311e-02 2.06989267e+01] [-4.64791036e-02 9.98909224e-01 -4.47832139e-03 -4.33610391e-01] [-9.90341287e-02 -1.46871660e-04 9.95084026e-01 -2.53576420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.401193817 meters 0.05881987809678171 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.44, Z:-2.54 [[ 9.93876589e-01 4.69791280e-02 1.00011434e-01 2.07592686e+01] [-4.67577042e-02 9.98895861e-01 -4.55816853e-03 -4.44930353e-01] [-1.00115146e-01 -1.46048049e-04 9.94975847e-01 -2.54196393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461193816999998 meters 0.05904539366471392 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.45, Z:-2.55 [[ 9.94071749e-01 4.99774069e-02 9.65588813e-02 2.08200586e+01] [-4.97827295e-02 9.98750265e-01 -4.42572900e-03 -4.52891495e-01] [-9.66593948e-02 -4.07472503e-04 9.95317434e-01 -2.55233332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521193817 meters 0.0594697957113499 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.46, Z:-2.56 [[ 9.94142624e-01 5.25183581e-02 9.44577417e-02 2.08804202e+01] [-5.23408795e-02 9.98619771e-01 -4.35720107e-03 -4.58845061e-01] [-9.45562015e-02 -6.12321980e-04 9.95519337e-01 -2.56258183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581193817 meters 0.059570351672888704 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.47, Z:-2.57 [[ 9.94047213e-01 5.35706525e-02 9.48700323e-02 2.09422210e+01] [-5.33940922e-02 9.98563822e-01 -4.40040900e-03 -4.69016236e-01] [-9.49695149e-02 -6.91284955e-04 9.95479941e-01 -2.57051921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641193816999998 meters 0.05925257305738593 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.48, Z:-2.58 [[ 9.93888550e-01 5.39085723e-02 9.63297244e-02 2.10036698e+01] [-5.37248522e-02 9.98545630e-01 -4.50176568e-03 -4.84887965e-01] [-9.64323091e-02 -7.01046836e-04 9.95339298e-01 -2.57748908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701193817 meters 0.0590596209198077 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.50, Z:-2.59 [[ 9.94123889e-01 5.08915152e-02 9.55392425e-02 2.10659098e+01] [-5.06943974e-02 9.98704115e-01 -4.49086846e-03 -4.96647388e-01] [-9.56439817e-02 -3.78824710e-04 9.95415534e-01 -2.58606836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761193817 meters 0.060417635275616624 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.52, Z:-2.60 [[ 9.95082113e-01 3.94335215e-02 9.08657606e-02 2.11234925e+01] [-3.92044261e-02 9.99221935e-01 -4.30543366e-03 -5.23526570e-01] [-9.09648396e-02 7.21920020e-04 9.95853843e-01 -2.59964653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.821193817 meters 0.06374725516920522 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.55, Z:-2.61 [[ 9.95743825e-01 2.72725091e-02 8.80366126e-02 2.11825841e+01] [-2.70090845e-02 9.99626439e-01 -4.18226041e-03 -5.50732001e-01] [-8.81177863e-02 1.78667167e-03 9.96108460e-01 -2.61014890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881193817 meters 0.06722525598925716 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.58, Z:-2.60 [[ 9.95503109e-01 1.05011558e-02 9.41450209e-02 2.12438618e+01] [-1.01249190e-02 9.99938737e-01 -4.47314339e-03 -5.76184363e-01] [-9.41862264e-02 3.49981744e-03 9.95548445e-01 -2.60396585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941193817 meters 0.06970610970250664 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.59, Z:-2.61 [[ 9.95106197e-01 5.53574866e-03 9.86560343e-02 2.13048527e+01] [-5.09831665e-03 9.99976027e-01 -4.68546567e-03 -5.87100798e-01] [-9.86796067e-02 4.15955622e-03 9.95110563e-01 -2.60551690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.001193817 meters 0.07107739758297327 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.59, Z:-2.61 [[ 9.94767819e-01 4.83554500e-03 1.02047065e-01 2.13653624e+01] [-4.36081141e-03 9.99978610e-01 -4.87467928e-03 -5.91319891e-01] [-1.02068454e-01 4.40416607e-03 9.94767628e-01 -2.61078326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.061193817 meters 0.07003235094019394 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.59, Z:-2.62 [[ 9.94936990e-01 3.98351889e-03 1.00421696e-01 2.14274664e+01] [-3.51702119e-03 9.99982189e-01 -4.82200041e-03 -5.87434619e-01] [-1.00439116e-01 4.44440134e-03 9.94933280e-01 -2.62038906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121193816999998 meters 0.07144398757152659 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.58, Z:-2.63 [[ 9.95121150e-01 2.64740537e-03 9.86249840e-02 2.14894418e+01] [-2.18784579e-03 9.99986242e-01 -4.76752748e-03 -5.82694991e-01] [-9.86362487e-02 4.52849117e-03 9.95113251e-01 -2.63032520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.181193817 meters 0.06881261091322861 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.57, Z:-2.63 [[ 9.95192454e-01 2.29589047e-03 9.79117417e-02 2.15517316e+01] [-1.84098536e-03 9.99987090e-01 -4.73616427e-03 -5.70776218e-01] [-9.79213514e-02 4.53314085e-03 9.95183832e-01 -2.63475162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.241193817 meters 0.0682770985970479 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.56, Z:-2.65 [[ 9.95543654e-01 4.86649398e-03 9.41761640e-02 2.16145459e+01] [-4.45501498e-03 9.99979593e-01 -4.57900127e-03 -5.57522208e-01] [-9.41965258e-02 4.13903944e-03 9.95545018e-01 -2.64544268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.301193816999998 meters 0.06717820923640712 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.55, Z:-2.65 [[ 9.95368042e-01 9.22960146e-03 9.56936499e-02 2.16741345e+01] [-8.82065875e-03 9.99950072e-01 -4.69559700e-03 -5.49633826e-01] [-9.57322107e-02 3.82976616e-03 9.95399757e-01 -2.65200050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.361193817 meters 0.0642468212381537 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.53, Z:-2.66 [[ 9.95245403e-01 1.59354621e-02 9.60866694e-02 2.17360199e+01] [-1.55545711e-02 9.99867918e-01 -4.71180817e-03 -5.28885315e-01] [-9.61490629e-02 3.19481849e-03 9.95361819e-01 -2.65826404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421193817 meters 0.06281718850481705 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.52, Z:-2.67 [[ 9.95398604e-01 2.19766803e-02 9.32665245e-02 2.17967297e+01] [-2.16442175e-02 9.99755269e-01 -4.57482573e-03 -5.19313751e-01] [-9.33442389e-02 2.53509421e-03 9.95630668e-01 -2.67078860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.481193817 meters 0.06186866376376011 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.51, Z:-2.69 [[ 9.95603089e-01 2.87327166e-02 8.91567154e-02 2.18584283e+01] [-2.84564002e-02 9.99585487e-01 -4.36900933e-03 -5.11693125e-01] [-8.92452923e-02 1.81272001e-03 9.96008028e-01 -2.68517651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.541193817 meters 0.0614903660789004 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.51, Z:-2.69 [[ 9.95517184e-01 3.06697198e-02 8.94701293e-02 2.19191739e+01] [-3.03969066e-02 9.99528177e-01 -4.41048029e-03 -5.09099236e-01] [-8.95631834e-02 1.67109376e-03 9.95979741e-01 -2.69190604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.601193817 meters 0.06083055802159719 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.51, Z:-2.70 [[ 9.95378909e-01 3.38667998e-02 8.98546977e-02 2.19812210e+01] [-3.36025518e-02 9.99425357e-01 -4.45237800e-03 -5.07028005e-01] [-8.99538512e-02 1.41245602e-03 9.95944933e-01 -2.69836260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.661193817 meters 0.06051196401579227 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.51, Z:-2.70 [[ 9.95056095e-01 3.34442982e-02 9.35138879e-02 2.20424882e+01] [-3.31530288e-02 9.99439391e-01 -4.66696122e-03 -5.12460282e-01] [-9.36175464e-02 1.54361959e-03 9.95607037e-01 -2.70227994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.721193817 meters 0.06004180018325859 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.52, Z:-2.70 [[ 9.94926388e-01 3.02477530e-02 9.59507979e-02 2.21052324e+01] [-2.99265826e-02 9.99540647e-01 -4.78486748e-03 -5.18339774e-01] [-9.60514541e-02 1.88911144e-03 9.95374577e-01 -2.70454490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781193817 meters 0.06053979149303023 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.52, Z:-2.71 [[ 9.94920935e-01 2.72143497e-02 9.69108471e-02 2.21668442e+01] [-2.68689908e-02 9.99627115e-01 -4.86715826e-03 -5.20301295e-01] [-9.70071670e-02 2.23854099e-03 9.95281166e-01 -2.71124188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841193817 meters 0.061244202182746225 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.53, Z:-2.72 [[ 9.95009463e-01 2.53635889e-02 9.65031438e-02 2.22277319e+01] [-2.50096041e-02 9.99675319e-01 -4.87612236e-03 -5.25522985e-01] [-9.65954870e-02 2.43828248e-03 9.95320736e-01 -2.72026906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901193817 meters 0.06311829428168701 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.53, Z:-2.73 [[ 9.95432937e-01 2.20735211e-02 9.28764058e-02 2.22858742e+01] [-2.17284251e-02 9.99752743e-01 -4.72534621e-03 -5.34609208e-01] [-9.29577465e-02 2.68570723e-03 9.95666432e-01 -2.73299431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961193816999998 meters 0.06543713377152473 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.54, Z:-2.75 [[ 9.95748114e-01 1.88023353e-02 9.01785203e-02 2.23446455e+01] [-1.84638373e-02 9.99819009e-01 -4.58646969e-03 -5.42901346e-01] [-9.02484351e-02 2.90192702e-03 9.95915056e-01 -2.74595304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021193817 meters 0.06321422856756785 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.54, Z:-2.75 [[ 9.95869774e-01 2.04169180e-02 8.84677519e-02 2.24082309e+01] [-2.00979963e-02 9.99787913e-01 -4.49430183e-03 -5.40485667e-01] [-8.85407489e-02 2.69771479e-03 9.96068902e-01 -2.74964325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081193817 meters 0.0624803463935911 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.54, Z:-2.76 [[ 9.95409815e-01 2.41024553e-02 9.26195050e-02 2.24678058e+01] [-2.37645714e-02 9.99706301e-01 -4.74941891e-03 -5.44163884e-01] [-9.27067754e-02 2.52655536e-03 9.95690248e-01 -2.75542827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141193816999998 meters 0.060597364101644166 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.54, Z:-2.76 [[ 9.95047116e-01 2.83458374e-02 9.52772277e-02 2.25298547e+01] [-2.80077613e-02 9.99595774e-01 -4.88403386e-03 -5.40418875e-01] [-9.53771562e-02 2.19134195e-03 9.95438796e-01 -2.75865776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201193817 meters 0.05872914417296028 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.53, Z:-2.77 [[ 9.94940327e-01 4.09948001e-02 9.17233501e-02 2.25911277e+01] [-4.07345785e-02 9.99158910e-01 -4.70812485e-03 -5.33127159e-01] [-9.18392112e-02 9.47991270e-04 9.95773398e-01 -2.76865642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261193817 meters 0.05815939735486044 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.53, Z:-2.78 [[ 9.94612685e-01 4.74553278e-02 9.21607233e-02 2.26531664e+01] [-4.72205913e-02 9.98873300e-01 -4.72718547e-03 -5.31733656e-01] [-9.22812159e-02 3.49834790e-04 9.95732923e-01 -2.77650999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.321193817 meters 0.05780053302299286 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.53, Z:-2.78 [[ 9.94136135e-01 4.84245045e-02 9.66871859e-02 2.27147532e+01] [-4.81670427e-02 9.98826797e-01 -4.99647520e-03 -5.34680006e-01] [-9.68157041e-02 3.10040734e-04 9.95302277e-01 -2.77891526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381193817 meters 0.057716566814509054 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.54, Z:-2.79 [[ 9.93949840e-01 5.04933258e-02 9.75404524e-02 2.27751703e+01] [-5.02413349e-02 9.98724393e-01 -5.03944103e-03 -5.41480560e-01] [-9.76704872e-02 1.08389072e-04 9.95218802e-01 -2.78667525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441193817 meters 0.057631198851799105 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.55, Z:-2.79 [[ 9.93238978e-01 5.98323556e-02 9.94807655e-02 2.28368774e+01] [-5.96142410e-02 9.98208120e-01 -5.16638056e-03 -5.47476590e-01] [-9.96116246e-02 -7.99019775e-04 9.95026073e-01 -2.79210745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.501193817 meters 0.059644891553026276 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.55, Z:-2.80 [[ 9.92556353e-01 7.17820457e-02 9.83830463e-02 2.28970347e+01] [-7.16236193e-02 9.97418457e-01 -5.14579481e-03 -5.48173701e-01] [-9.84984419e-02 -1.93905852e-03 9.95135316e-01 -2.80213667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561193817 meters 0.060785845913621586 Centerline is valid? [True, True] Translation: X:22.96, Y:-0.56, Z:-2.81 [[ 9.92306492e-01 7.57319021e-02 9.79413318e-02 2.29583598e+01] [-7.55944912e-02 9.97125506e-01 -5.11843976e-03 -5.57242435e-01] [-9.80474292e-02 -2.32476414e-03 9.95179028e-01 -2.81177218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621193816999998 meters 0.06121133090251799 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.59, Z:-2.83 [[ 9.93602670e-01 7.08015553e-02 8.79822349e-02 2.30154494e+01] [-7.06685462e-02 9.97489109e-01 -4.62961843e-03 -5.87861182e-01] [-8.80891054e-02 -1.61757540e-03 9.96111285e-01 -2.83066028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681193817 meters 0.060911105194441546 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.61, Z:-2.84 [[ 9.94228449e-01 6.64711114e-02 8.42103439e-02 2.30758789e+01] [-6.63344741e-02 9.97787642e-01 -4.42264120e-03 -6.11148236e-01] [-8.43180183e-02 -1.18893318e-03 9.96438186e-01 -2.84126679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.741193817 meters 0.060733051495190246 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.64, Z:-2.85 [[ 9.94701251e-01 6.22600105e-02 8.18114476e-02 2.31357148e+01] [-6.21149142e-02 9.98059655e-01 -4.31995427e-03 -6.41194103e-01] [-8.19216656e-02 -7.84647143e-04 9.96638463e-01 -2.84972604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801193816999998 meters 0.06020068666637664 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.66, Z:-2.85 [[ 9.94929167e-01 5.74674596e-02 8.25435843e-02 2.31966946e+01] [-5.73012298e-02 9.98347312e-01 -4.38336894e-03 -6.63866902e-01] [-8.26590665e-02 -3.68707282e-04 9.96577816e-01 -2.85378695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861193817 meters 0.05980950622432697 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.70, Z:-2.85 [[ 9.94838164e-01 4.64389106e-02 9.02244731e-02 2.32554460e+01] [-4.61913120e-02 9.98920927e-01 -4.83150101e-03 -7.02558728e-01] [-9.03514840e-02 6.38974799e-04 9.95909735e-01 -2.85369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921193817 meters 0.06075861653249981 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.73, Z:-2.86 [[ 9.95147305e-01 3.79682025e-02 9.07758582e-02 2.33162846e+01] [-3.76832354e-02 9.99277957e-01 -4.85170382e-03 -7.26361730e-01] [-9.08945246e-02 1.40743195e-03 9.95859531e-01 -2.85692858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981193817 meters 0.06379694560695232 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.75, Z:-2.87 [[ 9.95925782e-01 2.96827572e-02 8.51514625e-02 2.33746464e+01] [-2.93989159e-02 9.99557240e-01 -4.58567009e-03 -7.51747822e-01] [-8.52498762e-02 2.06362638e-03 9.96357466e-01 -2.86965209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041193817 meters 0.06463130095200569 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.76, Z:-2.88 [[ 9.95950972e-01 2.78665076e-02 8.54699849e-02 2.34352475e+01] [-2.75745958e-02 9.99609191e-01 -4.59426352e-03 -7.63750118e-01] [-8.55646085e-02 2.21886094e-03 9.96330153e-01 -2.87721952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.101193817 meters 0.06587000602625545 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.78, Z:-2.88 [[ 9.95762748e-01 2.74876122e-02 8.77552355e-02 2.34955268e+01] [-2.71758054e-02 9.99619403e-01 -4.74610856e-03 -7.82117320e-01] [-8.78522953e-02 2.34117890e-03 9.96130761e-01 -2.88263457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.161193817 meters 0.06427632428839296 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.79, Z:-2.89 [[ 9.95423463e-01 3.07055720e-02 9.04947347e-02 2.35565980e+01] [-3.03853762e-02 9.99526178e-01 -4.91417111e-03 -7.85292565e-01] [-9.06027487e-02 2.14196467e-03 9.95884810e-01 -2.88751810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221193817 meters 0.06166776428085859 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.78, Z:-2.89 [[ 9.95255337e-01 3.84099689e-02 8.93951309e-02 2.36186048e+01] [-3.81282757e-02 9.99261048e-01 -4.85726538e-03 -7.78899332e-01] [-8.95156396e-02 1.42573709e-03 9.95984396e-01 -2.89402101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281193817 meters 0.06059781285856216 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.77, Z:-2.91 [[ 9.94816559e-01 5.19641279e-02 8.74056230e-02 2.36790734e+01] [-5.17471789e-02 9.98648932e-01 -4.74763941e-03 -7.74476222e-01] [-8.75342390e-02 2.00035893e-04 9.96161491e-01 -2.90556566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.341193817 meters 0.06035018421278595 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.78, Z:-2.91 [[ 9.94763347e-01 5.57003708e-02 8.56933561e-02 2.37407883e+01] [-5.55038235e-02 9.98447524e-01 -4.67630222e-03 -7.77496153e-01] [-8.58207910e-02 -1.04494870e-04 9.96310585e-01 -2.91259982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401193817 meters 0.06026481577528997 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.79, Z:-2.92 [[ 9.94601202e-01 5.61245745e-02 8.72839142e-02 2.38010213e+01] [-5.59198953e-02 9.98423767e-01 -4.79027525e-03 -7.88786383e-01] [-8.74151866e-02 -1.16493826e-04 9.96171959e-01 -2.91915558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461193816999998 meters 0.06078804699984343 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.80, Z:-2.93 [[ 9.94830979e-01 5.81145738e-02 8.32707644e-02 2.38611461e+01] [-5.79328124e-02 9.98309889e-01 -4.59941944e-03 -7.99624238e-01] [-8.33973208e-02 -2.48464636e-04 9.96516345e-01 -2.92914327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521193817 meters 0.061009036141554715 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.81, Z:-2.94 [[ 9.94687428e-01 5.99861351e-02 8.36575415e-02 2.39216685e+01] [-5.98098311e-02 9.98199125e-01 -4.61429391e-03 -8.08554263e-01] [-8.37836784e-02 -4.13763287e-04 9.96483880e-01 -2.93807688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581193817 meters 0.05971236301772661 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.82, Z:-2.93 [[ 9.94353366e-01 6.00956317e-02 8.74637017e-02 2.39830986e+01] [-5.99000095e-02 9.98192542e-01 -4.86184859e-03 -8.21490901e-01] [-8.75977906e-02 -4.04681057e-04 9.96155843e-01 -2.93483503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641193816999998 meters 0.06069058273971518 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.83, Z:-2.95 [[ 9.94231302e-01 6.19145897e-02 8.75825369e-02 2.40426699e+01] [-6.17256399e-02 9.98081290e-01 -4.86661142e-03 -8.31307099e-01] [-8.77158056e-02 -5.67550716e-04 9.96145379e-01 -2.95082328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701193817 meters 0.06028565679202753 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.84, Z:-2.96 [[ 9.94295590e-01 6.04201768e-02 8.78958636e-02 2.41038628e+01] [-6.02225630e-02 9.98172944e-01 -4.90076438e-03 -8.43566107e-01] [-8.80313779e-02 -4.20505769e-04 9.96117613e-01 -2.95544542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761193817 meters 0.06029477655280691 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.87, Z:-2.96 [[ 9.94860716e-01 5.20953944e-02 8.68229586e-02 2.41640886e+01] [-5.18688943e-02 9.98642057e-01 -4.86422641e-03 -8.71541659e-01] [-8.69584617e-02 3.35816905e-04 9.96211882e-01 -2.96015721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.821193817 meters 0.060856673353039833 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.88, Z:-2.97 [[ 9.95125759e-01 4.85804148e-02 8.58176422e-02 2.42247862e+01] [-4.83439595e-02 9.98819056e-01 -4.83262839e-03 -8.83300721e-01] [-8.59510675e-02 6.60308377e-04 9.96299141e-01 -2.96901578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.881193817 meters 0.06252257642528551 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.90, Z:-2.98 [[ 9.95486987e-01 4.08276735e-02 8.56665634e-02 2.42845440e+01] [-4.05611686e-02 9.99165286e-01 -4.84995009e-03 -9.02129127e-01] [-8.57930686e-02 1.35332627e-03 9.96312058e-01 -2.97892702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.941193817 meters 0.06507271408042553 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.92, Z:-2.99 [[ 9.95884750e-01 3.22175317e-02 8.47088812e-02 2.43441295e+01] [-3.19232951e-02 9.99478670e-01 -4.82609332e-03 -9.24948097e-01] [-8.48202048e-02 2.10204613e-03 9.96394056e-01 -2.98762175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.001193817 meters 0.06661589790743029 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.93, Z:-3.00 [[ 9.96363015e-01 3.13076288e-02 7.92500722e-02 2.44021962e+01] [-3.10469464e-02 9.99507709e-01 -4.51970774e-03 -9.32909682e-01] [-7.93525594e-02 2.04279688e-03 9.96844521e-01 -3.00179744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061193817 meters 0.06657730406128587 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.94, Z:-3.01 [[ 9.96430266e-01 3.29468435e-02 7.77253580e-02 2.44636176e+01] [-3.27020375e-02 9.99455369e-01 -4.42068957e-03 -9.37627167e-01] [-7.78286741e-02 1.86313131e-03 9.96965008e-01 -3.00931526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121193816999998 meters 0.0663864333222058 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.94, Z:-3.01 [[ 9.96087348e-01 3.26020558e-02 8.21407372e-02 2.45229358e+01] [-3.23243932e-02 9.99466341e-01 -4.70824045e-03 -9.40423326e-01] [-8.22504004e-02 2.03466926e-03 9.96609619e-01 -3.01249866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.181193817 meters 0.0646203329222011 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.94, Z:-3.01 [[ 9.95901854e-01 3.31660312e-02 8.41398297e-02 2.45858645e+01] [-3.28777751e-02 9.99447807e-01 -4.80961286e-03 -9.37056544e-01] [-8.42528841e-02 2.02357197e-03 9.96442350e-01 -3.01382151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.241193817 meters 0.061532749856256445 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.93, Z:-3.01 [[ 9.95189758e-01 4.25618518e-02 8.82373732e-02 2.46477576e+01] [-4.22783080e-02 9.99092954e-01 -5.08069552e-03 -9.25959331e-01] [-8.83735817e-02 1.32572931e-03 9.96086519e-01 -3.01466495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301193816999998 meters 0.05950043560075196 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.92, Z:-3.02 [[ 9.94274615e-01 5.14463798e-02 9.36550040e-02 2.47095216e+01] [-5.11660977e-02 9.98675595e-01 -5.39311122e-03 -9.15578582e-01] [-9.38084229e-02 5.70272495e-04 9.95590104e-01 -3.01504648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361193817 meters 0.058970160639317884 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.91, Z:-3.02 [[ 9.93474704e-01 5.77472555e-02 9.83527683e-02 2.47715169e+01] [-5.74687292e-02 9.98331235e-01 -5.66491510e-03 -9.09948088e-01] [-9.85157739e-02 -2.42587579e-05 9.95135489e-01 -3.02037754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421193817 meters 0.05921291925049345 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.91, Z:-3.03 [[ 9.93195896e-01 5.85017206e-02 1.00694893e-01 2.48320779e+01] [-5.82133912e-02 9.98287303e-01 -5.80191920e-03 -9.14779582e-01] [-1.00861856e-01 -9.93488842e-05 9.94900435e-01 -3.03069622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481193816999998 meters 0.05938282793195865 Centerline is valid? [True, True] Translation: X:24.89, Y:-0.91, Z:-3.04 [[ 9.92903351e-01 6.37960856e-02 1.00364309e-01 2.48936734e+01] [-6.35335670e-02 9.97962772e-01 -5.81309015e-03 -9.14450314e-01] [-1.00530696e-01 -6.04665860e-04 9.94933773e-01 -3.03970652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541193817 meters 0.060575026959574035 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.91, Z:-3.05 [[ 9.92650946e-01 7.33724543e-02 9.62319210e-02 2.49540055e+01] [-7.31727619e-02 9.97303517e-01 -5.60723947e-03 -9.13597594e-01] [-9.63838502e-02 -1.47552387e-03 9.95343145e-01 -3.05034020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601193817 meters 0.06442775506871073 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.91, Z:-3.07 [[ 9.92104482e-01 8.72161159e-02 9.01223932e-02 2.50124163e+01] [-8.70979227e-02 9.96185916e-01 -5.25093451e-03 -9.09159019e-01] [-9.02366249e-02 -2.63999757e-03 9.95916855e-01 -3.06671210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.661193817 meters 0.06656239840039407 Centerline is valid? [True, True] Translation: X:25.07, Y:-0.91, Z:-3.08 [[ 9.91915728e-01 9.29327685e-02 8.64100096e-02 2.50718163e+01] [-9.28448770e-02 9.95667808e-01 -5.04423315e-03 -9.14762797e-01] [-8.65044394e-02 -3.01927251e-03 9.96246890e-01 -3.07878840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.721193817 meters 0.06581097921098517 Centerline is valid? [True, True] Translation: X:25.13, Y:-0.94, Z:-3.08 [[ 9.91732910e-01 9.22669430e-02 8.91776162e-02 2.51320328e+01] [-9.21705554e-02 9.95729619e-01 -5.20707980e-03 -9.35769871e-01] [-8.92772352e-02 -3.05551802e-03 9.96002128e-01 -3.08403498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.781193817 meters 0.06443277874394324 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.96, Z:-3.09 [[ 9.91786717e-01 8.75809408e-02 9.32131205e-02 2.51908284e+01] [-8.74545306e-02 9.96153615e-01 -5.44804131e-03 -9.56240642e-01] [-9.33317315e-02 -2.74861469e-03 9.95631274e-01 -3.08797321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.841193817 meters 0.0618331515159609 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.99, Z:-3.09 [[ 9.92321894e-01 7.77104761e-02 9.62202720e-02 2.52502170e+01] [-7.75295797e-02 9.96974196e-01 -5.62293227e-03 -9.88840186e-01] [-9.63660890e-02 -1.88015845e-03 9.95344183e-01 -3.09190250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901193817 meters 0.06051303079570261 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.02, Z:-3.10 [[ 9.93159330e-01 6.47656233e-02 9.71594510e-02 2.53070772e+01] [-6.45189115e-02 9.97900307e-01 -5.68217028e-03 -1.02430641e+00] [-9.73234553e-02 -6.25321587e-04 9.95252608e-01 -3.09916107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961193816999998 meters 0.06101274155422414 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.05, Z:-3.11 [[ 9.93904423e-01 5.41855472e-02 9.60100224e-02 2.53674088e+01] [-5.38962589e-02 9.98530805e-01 -5.60574751e-03 -1.04964868e+00] [-9.61727155e-02 3.96996217e-04 9.95364582e-01 -3.10819312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.021193817 meters 0.0641377509368663 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.08, Z:-3.12 [[ 9.94757084e-01 3.97857367e-02 9.42095449e-02 2.54248862e+01] [-3.94398697e-02 9.99206637e-01 -5.53109916e-03 -1.07722433e+00] [-9.43548614e-02 1.78648789e-03 9.95537025e-01 -3.11770877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.081193817 meters 0.06527163442285333 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.09, Z:-3.12 [[ 9.94740839e-01 3.61066342e-02 9.58487087e-02 2.54861244e+01] [-3.57313347e-02 9.99345576e-01 -5.62957274e-03 -1.08796994e+00] [-9.59892479e-02 2.17516362e-03 9.95379994e-01 -3.12233720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.141193816999998 meters 0.06504305676073963 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.09, Z:-3.13 [[ 9.94787553e-01 3.85223976e-02 9.44126556e-02 2.55483318e+01] [-3.81668864e-02 9.99255860e-01 -5.56904258e-03 -1.09112808e+00] [-9.45569323e-02 1.93657714e-03 9.95517572e-01 -3.13173305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.201193817 meters 0.0632891559792261 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.08, Z:-3.15 [[ 9.94780265e-01 4.92306358e-02 8.93787995e-02 2.56086503e+01] [-4.89528261e-02 9.98787035e-01 -5.29896939e-03 -1.08076584e+00] [-8.95312578e-02 8.95965349e-04 9.95983610e-01 -3.14841875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261193817 meters 0.061849738215018484 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.08, Z:-3.15 [[ 9.94467624e-01 5.64687818e-02 8.85743790e-02 2.56714665e+01] [-5.62228484e-02 9.98404331e-01 -5.27098012e-03 -1.07694989e+00] [-8.87306894e-02 2.61915193e-04 9.96055619e-01 -3.15176151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.321193817 meters 0.061486993001638436 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.08, Z:-3.16 [[ 9.94235001e-01 6.24106026e-02 8.71876067e-02 2.57334295e+01] [-6.21930217e-02 9.98050529e-01 -5.21239153e-03 -1.07539122e+00] [-8.73429455e-02 -2.40118607e-04 9.96178273e-01 -3.16140097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381193817 meters 0.06126075919576809 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.08, Z:-3.17 [[ 9.93606580e-01 6.71756922e-02 9.07380335e-02 2.57947888e+01] [-6.69573351e-02 9.97740945e-01 -5.45184755e-03 -1.07512148e+00] [-9.08992829e-02 -6.58585311e-04 9.95859873e-01 -3.16693764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441193817 meters 0.06075347873201545 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.08, Z:-3.17 [[ 9.93152053e-01 7.09230650e-02 9.28381326e-02 2.58570304e+01] [-7.07083487e-02 9.97481289e-01 -5.60425521e-03 -1.08056731e+00] [-9.30017711e-02 -9.98553490e-04 9.95665443e-01 -3.16721094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501193817 meters 0.06114550626742505 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.08, Z:-3.18 [[ 9.92678630e-01 7.34107065e-02 9.59166576e-02 2.59173711e+01] [-7.31901716e-02 9.97301020e-01 -5.82018980e-03 -1.07931650e+00] [-9.60850447e-02 -1.24257859e-03 9.95372353e-01 -3.17610435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561193817 meters 0.06057165789823894 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.09, Z:-3.18 [[ 9.92701604e-01 7.16529732e-02 9.70019447e-02 2.59789644e+01] [-7.14164947e-02 9.97429061e-01 -5.91213842e-03 -1.08864771e+00] [-9.71761809e-02 -1.05854957e-03 9.95266632e-01 -3.18024749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621193816999998 meters 0.06028394613645262 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.10, Z:-3.19 [[ 9.93132867e-01 6.71712228e-02 9.57869293e-02 2.60407788e+01] [-6.69174033e-02 9.97741290e-01 -5.86332636e-03 -1.10278916e+00] [-9.59644212e-02 -5.86750458e-04 9.95384592e-01 -3.18763886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681193817 meters 0.06052458707618513 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.11, Z:-3.20 [[ 9.93384334e-01 6.45584728e-02 9.49724656e-02 2.61012644e+01] [-6.42940180e-02 9.97913881e-01 -5.84512424e-03 -1.11182992e+00] [-9.51516940e-02 -2.99706568e-04 9.95462739e-01 -3.19847114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741193817 meters 0.06164489178899096 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.13, Z:-3.21 [[ 9.94468501e-01 5.58957971e-02 8.89272714e-02 2.61605310e+01] [-5.56264432e-02 9.98436468e-01 -5.50625889e-03 -1.12692858e+00] [-8.90960075e-02 5.29093215e-04 9.96022902e-01 -3.21215528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801193816999998 meters 0.06213819638176202 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.14, Z:-3.22 [[ 9.94680546e-01 5.40404445e-02 8.76940238e-02 2.62213370e+01] [-5.37717328e-02 9.98538515e-01 -5.42532684e-03 -1.13593129e+00] [-8.78590474e-02 6.81007449e-04 9.96132684e-01 -3.21989596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861193817 meters 0.06167051472869325 Centerline is valid? [True, True] Translation: X:26.28, Y:-1.14, Z:-3.23 [[ 9.94545433e-01 5.78459147e-02 8.67941935e-02 2.62835113e+01] [-5.75951791e-02 9.98325457e-01 -5.39237526e-03 -1.13951114e+00] [-8.69607798e-02 3.64035070e-04 9.96211669e-01 -3.22641053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921193817 meters 0.061034470249801666 Centerline is valid? [True, True] Translation: X:26.34, Y:-1.13, Z:-3.23 [[ 9.93971682e-01 6.44930555e-02 8.86619449e-02 2.63448677e+01] [-6.42549569e-02 9.97918138e-01 -5.53994470e-03 -1.13449752e+00] [-8.88346509e-02 -1.90421284e-04 9.96046369e-01 -3.23498003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981193816999998 meters 0.060607964749302565 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.14, Z:-3.24 [[ 9.93765342e-01 6.25128031e-02 9.23178994e-02 2.64061040e+01] [-6.22429269e-02 9.98044162e-01 -5.80250033e-03 -1.14337962e+00] [-9.25000711e-02 2.01874591e-05 9.95712678e-01 -3.23688656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041193817 meters 0.06051295814846786 Centerline is valid? [True, True] Translation: X:26.47, Y:-1.15, Z:-3.24 [[ 9.93923367e-01 5.76441799e-02 9.37736061e-02 2.64680966e+01] [-5.73443581e-02 9.98337077e-01 -5.89104530e-03 -1.15164169e+00] [-9.39572523e-02 4.77860327e-04 9.95576118e-01 -3.24092756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101193817 meters 0.0610138193964219 Centerline is valid? [True, True] Translation: X:26.53, Y:-1.15, Z:-3.25 [[ 9.93976376e-01 5.78543874e-02 9.30797225e-02 2.65277410e+01] [-5.75573370e-02 9.98324916e-01 -5.87499827e-03 -1.15349576e+00] [-9.32637005e-02 4.82188528e-04 9.95641326e-01 -3.25310531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161193817 meters 0.06107769023437849 Centerline is valid? [True, True] Translation: X:26.59, Y:-1.15, Z:-3.26 [[ 9.94537894e-01 5.80767370e-02 8.67264118e-02 2.65882005e+01] [-5.78172327e-02 9.98312016e-01 -5.50323132e-03 -1.15201282e+00] [-8.68996288e-02 4.58890955e-04 9.96216966e-01 -3.26118422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221193817 meters 0.06154880213174156 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.16, Z:-3.27 [[ 9.94772682e-01 5.66120169e-02 8.49846457e-02 2.66492188e+01] [-5.63582240e-02 9.98396093e-01 -5.38444175e-03 -1.15737580e+00] [-8.51531623e-02 5.66711866e-04 9.96367712e-01 -3.27045759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281193817 meters 0.06292592196525709 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.17, Z:-3.28 [[ 9.95335843e-01 4.80635451e-02 8.36448148e-02 2.67092019e+01] [-4.77846935e-02 9.98843418e-01 -5.33371328e-03 -1.16976066e+00] [-8.38044299e-02 1.31189416e-03 9.96481358e-01 -3.27861901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341193817 meters 0.06461461373496144 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.18, Z:-3.29 [[ 9.95531930e-01 4.35755706e-02 8.37696020e-02 2.67686391e+01] [-4.32804535e-02 9.99048709e-01 -5.33659169e-03 -1.17918153e+00] [-8.39224578e-02 1.68716106e-03 9.96470860e-01 -3.28933222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401193817 meters 0.06610184309234376 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.19, Z:-3.30 [[ 9.95691881e-01 3.90170037e-02 8.41151139e-02 2.68294321e+01] [-3.87011761e-02 9.99236332e-01 -5.38263352e-03 -1.18861753e+00] [-8.42608921e-02 2.10409066e-03 9.96441506e-01 -3.29618928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461193816999998 meters 0.06653026419931427 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.19, Z:-3.30 [[ 9.95411102e-01 3.62780871e-02 8.85473791e-02 2.68902729e+01] [-3.59149196e-02 9.99338643e-01 -5.69169512e-03 -1.18917257e+00] [-8.86953014e-02 2.48540451e-03 9.96055704e-01 -3.30156164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521193817 meters 0.06296333429190919 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.18, Z:-3.30 [[ 9.94856807e-01 4.36049348e-02 9.14250712e-02 2.69521708e+01] [-4.32455385e-02 9.99046998e-01 -5.90932970e-03 -1.17903684e+00] [-9.15956188e-02 1.92521044e-03 9.95794425e-01 -3.29966745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581193817 meters 0.06292661131133466 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.18, Z:-3.31 [[ 9.94377685e-01 4.70052900e-02 9.48868911e-02 2.70123455e+01] [-4.66336087e-02 9.98893240e-01 -6.13200197e-03 -1.17626863e+00] [-9.50701106e-02 1.67260777e-03 9.95469174e-01 -3.30929935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641193816999998 meters 0.0638147462660276 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.17, Z:-3.32 [[ 9.94577327e-01 4.51957148e-02 9.36658324e-02 2.70736242e+01] [-4.48257780e-02 9.98976495e-01 -6.05081177e-03 -1.17056199e+00] [-9.38434357e-02 1.81935639e-03 9.95585305e-01 -3.32121293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701193817 meters 0.06200569222257314 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.17, Z:-3.32 [[ 9.94616589e-01 4.68843868e-02 9.24104714e-02 2.71376240e+01] [-4.65295685e-02 9.98898944e-01 -5.99156999e-03 -1.16624394e+00] [-9.25896334e-02 1.65949554e-03 9.95702971e-01 -3.32255479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761193817 meters 0.06318230327723533 Centerline is valid? [True, True] Translation: X:27.20, Y:-1.16, Z:-3.34 [[ 9.94659648e-01 5.25108660e-02 8.88526496e-02 2.71976836e+01] [-5.22025196e-02 9.98619721e-01 -5.79213543e-03 -1.15750174e+00] [-8.90341583e-02 1.12287121e-03 9.96027940e-01 -3.34402479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821193816999997 meters 0.061277379143984914 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.15, Z:-3.35 [[ 9.94550547e-01 5.63419574e-02 8.77199666e-02 2.72617719e+01] [-5.60544268e-02 9.98411217e-01 -5.73964365e-03 -1.14684258e+00] [-8.79039813e-02 7.91273292e-04 9.96128638e-01 -3.34769213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881193817 meters 0.06111502025672822 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.14, Z:-3.35 [[ 9.94511731e-01 5.78185567e-02 8.71976535e-02 2.73243211e+01] [-5.75375910e-02 9.98326873e-01 -5.73420980e-03 -1.14486327e+00] [-8.73833045e-02 6.85595994e-04 9.96174527e-01 -3.35485956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941193817 meters 0.06103279754876825 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.15, Z:-3.36 [[ 9.94385772e-01 5.94721426e-02 8.75214273e-02 2.73850976e+01] [-5.91923846e-02 9.98229799e-01 -5.79057963e-03 -1.14680609e+00] [-8.77108749e-02 5.77468011e-04 9.96145807e-01 -3.36217179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001193817 meters 0.05985456096180352 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.14, Z:-3.37 [[ 9.93852006e-01 6.24849572e-02 9.13992411e-02 2.74471104e+01] [-6.21907753e-02 9.98045846e-01 -6.06597200e-03 -1.14302958e+00] [-9.15996649e-02 3.44488767e-04 9.95795854e-01 -3.36545071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061193817 meters 0.05993309499070513 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.15, Z:-3.37 [[ 9.93689097e-01 6.41312308e-02 9.20280634e-02 2.75079407e+01] [-6.38400226e-02 9.97941455e-01 -6.10769576e-03 -1.14609208e+00] [-9.22303136e-02 1.94077036e-04 9.95737682e-01 -3.37464621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121193816999998 meters 0.05965182862704456 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.15, Z:-3.38 [[ 9.93322645e-01 6.91385147e-02 9.23579352e-02 2.75701668e+01] [-6.88646706e-02 9.97607039e-01 -6.15249880e-03 -1.15090441e+00] [-9.25623009e-02 -2.48782406e-04 9.95706864e-01 -3.38010142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181193817 meters 0.05999747942951577 Centerline is valid? [True, True] Translation: X:27.63, Y:-1.15, Z:-3.39 [[ 9.92867992e-01 7.40191370e-02 9.34575717e-02 2.76300947e+01] [-7.37571331e-02 9.97256590e-01 -6.25926275e-03 -1.15097141e+00] [-9.36644845e-02 -6.78540920e-04 9.95603588e-01 -3.39077891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.241193817 meters 0.06066091450434039 Centerline is valid? [True, True] Translation: X:27.69, Y:-1.15, Z:-3.40 [[ 9.92596850e-01 8.22695703e-02 8.93488201e-02 2.76909349e+01] [-8.20607790e-02 9.96609182e-01 -6.01394023e-03 -1.15005163e+00] [-8.95406187e-02 -1.36261565e-03 9.95982239e-01 -3.39752414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301193816999998 meters 0.06099653915287307 Centerline is valid? [True, True] Translation: X:27.75, Y:-1.16, Z:-3.41 [[ 9.92687625e-01 8.37503064e-02 8.69319603e-02 2.77523692e+01] [-8.35583683e-02 9.96485708e-01 -5.85084366e-03 -1.15693052e+00] [-8.71164660e-02 -1.45583266e-03 9.96197070e-01 -3.40668024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.361193817 meters 0.060850630667157575 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.17, Z:-3.41 [[ 9.92878384e-01 8.24195484e-02 8.60205348e-02 2.78142147e+01] [-8.22267797e-02 9.96596838e-01 -5.78779489e-03 -1.17076011e+00] [-8.62048205e-02 -1.32661513e-03 9.96276552e-01 -3.41328503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.421193817 meters 0.060599482814052544 Centerline is valid? [True, True] Translation: X:27.88, Y:-1.18, Z:-3.42 [[ 9.92661929e-01 8.26887855e-02 8.82318471e-02 2.78758333e+01] [-8.24841757e-02 9.96574500e-01 -5.96875356e-03 -1.17800230e+00] [-8.84231579e-02 -1.35277675e-03 9.96082083e-01 -3.41938622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481193816999998 meters 0.06078155924561183 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.19, Z:-3.43 [[ 9.92686350e-01 8.06793200e-02 8.98034354e-02 2.79358570e+01] [-8.04565894e-02 9.96739428e-01 -6.10334266e-03 -1.18777698e+00] [-9.00030383e-02 -1.16657317e-03 9.95940808e-01 -3.42960184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541193817 meters 0.059939279902815334 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.21, Z:-3.43 [[ 9.93192240e-01 7.34395701e-02 9.04201560e-02 2.79964837e+01] [-7.31815825e-02 9.97299549e-01 -6.16975590e-03 -1.21038721e+00] [-9.06290850e-02 -4.89336422e-04 9.95884596e-01 -3.43350365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601193817 meters 0.0597566016511113 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.22, Z:-3.44 [[ 9.93354246e-01 7.08032266e-02 9.07427443e-02 2.80578818e+01] [-7.05300666e-02 9.97490277e-01 -6.21745641e-03 -1.22190055e+00] [-9.09552212e-02 -2.23955077e-04 9.95854958e-01 -3.43840177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661193817 meters 0.059856858430983 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.24, Z:-3.45 [[ 9.93460781e-01 6.95326774e-02 9.05587307e-02 2.81183154e+01] [-6.92526770e-02 9.97579671e-01 -6.23426334e-03 -1.23721795e+00] [-9.07730339e-02 -7.79383955e-05 9.95871603e-01 -3.44509966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721193817 meters 0.060450062674838614 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.24, Z:-3.46 [[ 9.93007534e-01 7.72821681e-02 8.92384662e-02 2.81785196e+01] [-7.70400232e-02 9.97008973e-01 -6.15980469e-03 -1.23541023e+00] [-8.94475945e-02 -7.58201039e-04 9.95991241e-01 -3.45905925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.781193817 meters 0.06186688503423569 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.23, Z:-3.47 [[ 9.92133989e-01 8.71536789e-02 8.98575764e-02 2.82404089e+01] [-8.69458406e-02 9.96193546e-01 -6.23218172e-03 -1.23240363e+00] [-9.00586952e-02 -1.62958320e-03 9.95935126e-01 -3.46851775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841193817 meters 0.06125365056102512 Centerline is valid? [True, True] Translation: X:28.30, Y:-1.24, Z:-3.47 [[ 9.91910044e-01 8.89887705e-02 9.05287997e-02 2.83026506e+01] [-8.87854972e-02 9.96030984e-01 -6.27807101e-03 -1.24271861e+00] [-9.07281673e-02 -1.81036281e-03 9.95874049e-01 -3.47167638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.901193817 meters 0.06036289284270746 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.26, Z:-3.48 [[ 9.92552811e-01 8.26567747e-02 8.94805838e-02 2.83630494e+01] [-8.24298117e-02 9.96577367e-01 -6.23520171e-03 -1.26286935e+00] [-8.96897063e-02 -1.18710069e-03 9.95969049e-01 -3.47878333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961193816999998 meters 0.060215803568345105 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.28, Z:-3.49 [[ 9.93247142e-01 7.60425969e-02 8.76221302e-02 2.84246670e+01] [-7.57972038e-02 9.97104416e-01 -6.12919498e-03 -1.27979954e+00] [-8.78344929e-02 -5.53707066e-04 9.96134928e-01 -3.48840814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021193817 meters 0.06045607527540328 Centerline is valid? [True, True] Translation: X:28.49, Y:-1.30, Z:-3.50 [[ 9.93816756e-01 6.85219434e-02 8.73670351e-02 2.84858626e+01] [-6.82464311e-02 9.97649600e-01 -6.14010357e-03 -1.29760298e+00] [-8.75824194e-02 1.39649466e-04 9.96157267e-01 -3.49590304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081193817 meters 0.06154048046694949 Centerline is valid? [True, True] Translation: X:28.55, Y:-1.32, Z:-3.50 [[ 9.94329327e-01 5.96249872e-02 8.80570901e-02 2.85466116e+01] [-5.93075208e-02 9.98220384e-01 -6.21949296e-03 -1.32237311e+00] [-8.82712195e-02 9.61776545e-04 9.96096013e-01 -3.50008391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141193816999998 meters 0.062256285645687005 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.34, Z:-3.51 [[ 9.94601675e-01 5.22246739e-02 8.96665569e-02 2.86070840e+01] [-5.18626688e-02 9.98633949e-01 -6.36396680e-03 -1.33668891e+00] [-8.98764238e-02 1.67926510e-03 9.95951509e-01 -3.50565990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201193817 meters 0.0637990788274645 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.35, Z:-3.51 [[ 9.94695584e-01 4.47620528e-02 9.26123844e-02 2.86681276e+01] [-4.43424750e-02 9.98994691e-01 -6.58431373e-03 -1.34884903e+00] [-9.28140077e-02 2.44272545e-03 9.95680467e-01 -3.50992596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261193817 meters 0.06706784814912527 Centerline is valid? [True, True] Translation: X:28.73, Y:-1.36, Z:-3.52 [[ 9.95225215e-01 3.73584696e-02 9.01727001e-02 2.87270772e+01] [-3.69273880e-02 9.99297169e-01 -6.44480320e-03 -1.36012561e+00] [-9.03500919e-02 3.08418837e-03 9.95905291e-01 -3.51908703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321193816999997 meters 0.0685102303388704 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.36, Z:-3.53 [[ 9.95541706e-01 3.59123374e-02 8.72182114e-02 2.87878864e+01] [-3.55034624e-02 9.99350102e-01 -6.23517211e-03 -1.36402599e+00] [-8.73854481e-02 3.11082539e-03 9.96169718e-01 -3.52840348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381193817 meters 0.0660988134969678 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.35, Z:-3.54 [[ 9.95500684e-01 4.10656794e-02 8.53931983e-02 2.88498203e+01] [-4.06923973e-02 9.99153051e-01 -6.10809195e-03 -1.34723258e+00] [-8.55717076e-02 2.60575576e-03 9.96328607e-01 -3.53730157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441193817 meters 0.06417760007140481 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.33, Z:-3.55 [[ 9.95317568e-01 4.85775471e-02 8.35653086e-02 2.89115265e+01] [-4.82462287e-02 9.98817567e-01 -5.98081163e-03 -1.33474392e+00] [-8.37570313e-02 1.92109590e-03 9.96484355e-01 -3.54782280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501193817 meters 0.06184638543950454 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.32, Z:-3.56 [[ 9.94711159e-01 6.09285837e-02 8.26886775e-02 2.89726001e+01] [-6.06464003e-02 9.98141743e-01 -5.92235395e-03 -1.31556630e+00] [-8.28958613e-02 8.76260931e-04 9.96557830e-01 -3.55784530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561193817 meters 0.06042933803526776 Centerline is valid? [True, True] Translation: X:29.04, Y:-1.31, Z:-3.56 [[ 9.94203910e-01 6.88032884e-02 8.26116980e-02 2.90357811e+01] [-6.85495095e-02 9.97630224e-01 -5.90775410e-03 -1.30501540e+00] [-8.28223996e-02 2.10520846e-04 9.96564301e-01 -3.56269432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621193816999998 meters 0.060419228547194836 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.30, Z:-3.57 [[ 9.93631654e-01 7.82138246e-02 8.11093888e-02 2.90971251e+01] [-7.79984388e-02 9.96936461e-01 -5.82541453e-03 -1.29567460e+00] [-8.13165350e-02 -5.38089418e-04 9.96688182e-01 -3.57291659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681193817 meters 0.0608691445872969 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.29, Z:-3.58 [[ 9.93265603e-01 8.23460966e-02 8.15019171e-02 2.91574833e+01] [-8.21406180e-02 9.96603424e-01 -5.87656669e-03 -1.29242604e+00] [-8.17090019e-02 -8.57626277e-04 9.96655860e-01 -3.58331295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741193817 meters 0.060833832990922224 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.30, Z:-3.59 [[ 9.93130977e-01 8.27851644e-02 8.26890547e-02 2.92188273e+01] [-8.25733341e-02 9.96567024e-01 -5.98421435e-03 -1.29863068e+00] [-8.29005893e-02 -8.84802293e-04 9.96557429e-01 -3.59023617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801193816999998 meters 0.060632488691844344 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.32, Z:-3.60 [[ 9.93881010e-01 7.19050133e-02 8.38463275e-02 2.92782056e+01] [-7.16463985e-02 9.97411483e-01 -6.09318327e-03 -1.32038882e+00] [-8.40674203e-02 4.86117571e-05 9.96460068e-01 -3.59565718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861193817 meters 0.062103279166960554 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.34, Z:-3.60 [[ 9.94697815e-01 5.66214119e-02 8.58502859e-02 2.93392837e+01] [-5.62915171e-02 9.98394747e-01 -6.26056370e-03 -1.34405938e+00] [-8.60669564e-02 1.39472620e-03 9.96288379e-01 -3.59819758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921193817 meters 0.06467998164643307 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.36, Z:-3.61 [[ 9.95320952e-01 4.92363887e-02 8.31383196e-02 2.93978509e+01] [-4.88984813e-02 9.98785145e-01 -6.09695666e-03 -1.36001014e+00] [-8.33375107e-02 2.00309115e-03 9.96519366e-01 -3.60761214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981193816999998 meters 0.06724681053187485 Centerline is valid? [True, True] Translation: X:29.46, Y:-1.37, Z:-3.62 [[ 9.95696528e-01 4.17496233e-02 8.27368942e-02 2.94575260e+01] [-4.13892550e-02 9.99124679e-01 -6.06671861e-03 -1.37196239e+00] [-8.29177560e-02 2.61619225e-03 9.96552960e-01 -3.61535070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041193817 meters 0.07591481934271083 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.39, Z:-3.62 [[ 9.96151689e-01 2.80402789e-02 8.30394769e-02 2.95156006e+01] [-2.76295945e-02 9.99599673e-01 -6.09091452e-03 -1.39396461e+00] [-8.31770249e-02 3.77312772e-03 9.96527644e-01 -3.62401519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101193817 meters 0.0775264056250367 Centerline is valid? [True, True] Translation: X:29.58, Y:-1.40, Z:-3.63 [[ 9.96327969e-01 2.02274873e-02 8.31951094e-02 2.95759619e+01] [-1.97881347e-02 9.99785573e-01 -6.10225693e-03 -1.39693854e+00] [-8.33007035e-02 4.43357322e-03 9.96514594e-01 -3.62800290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161193817 meters 0.08095346823545368 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.40, Z:-3.64 [[ 9.96424447e-01 1.49596475e-02 8.31536593e-02 2.96362150e+01] [-1.45021061e-02 9.99876209e-01 -6.10367023e-03 -1.39507978e+00] [-8.32346744e-02 4.87594304e-03 9.96518045e-01 -3.63638614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221193817 meters 0.08421528691248607 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.39, Z:-3.65 [[ 9.96387760e-01 1.43558594e-02 8.36979100e-02 2.96968403e+01] [-1.38908121e-02 9.99884691e-01 -6.13598168e-03 -1.39325659e+00] [-8.37763461e-02 4.95118511e-03 9.96472282e-01 -3.64764113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281193817 meters 0.08061389809199973 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.38, Z:-3.65 [[ 9.96345598e-01 1.55949002e-02 8.39776691e-02 2.97602564e+01] [-1.51293115e-02 9.99866461e-01 -6.17777084e-03 -1.37608424e+00] [-8.40627965e-02 4.88467046e-03 9.96448486e-01 -3.65153458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341193817 meters 0.07641359298574071 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.35, Z:-3.66 [[ 9.96196152e-01 2.15119779e-02 8.44420596e-02 2.98223149e+01] [-2.10593978e-02 9.99758710e-01 -6.24684239e-03 -1.34834304e+00] [-8.45560665e-02 4.44478142e-03 9.96408809e-01 -3.65835946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401193817 meters 0.0719360449056681 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.33, Z:-3.67 [[ 9.96284703e-01 2.80103317e-02 8.14383953e-02 2.98836496e+01] [-2.76110417e-02 9.99600584e-01 -6.02523529e-03 -1.32740116e+00] [-8.15746363e-02 3.75425082e-03 9.96660165e-01 -3.66733363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461193816999998 meters 0.07270550575047521 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.32, Z:-3.68 [[ 9.95983898e-01 3.36970040e-02 8.29493025e-02 2.99430425e+01] [-3.33023367e-02 9.99426479e-01 -6.13732630e-03 -1.31607399e+00] [-8.31085388e-02 3.35027257e-03 9.96534870e-01 -3.67964873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521193817 meters 0.0680888951045939 Centerline is valid? [True, True] Translation: X:30.01, Y:-1.30, Z:-3.68 [[ 9.95886287e-01 3.84714969e-02 8.20393053e-02 3.00065866e+01] [-3.81019897e-02 9.99255447e-01 -6.06543181e-03 -1.29702517e+00] [-8.22115690e-02 2.91461960e-03 9.96610638e-01 -3.68257236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581193817 meters 0.06662368807811592 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.29, Z:-3.69 [[ 9.95726918e-01 4.40617945e-02 8.11570286e-02 3.00686588e+01] [-4.37181164e-02 9.99025843e-01 -6.00768803e-03 -1.28717682e+00] [-8.13426784e-02 2.43398427e-03 9.96683222e-01 -3.69006257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641193816999998 meters 0.06559483760152057 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.28, Z:-3.70 [[ 9.95365617e-01 4.71629114e-02 8.38030327e-02 3.01286313e+01] [-4.68063370e-02 9.98884644e-01 -6.21564004e-03 -1.27804839e+00] [-8.40027102e-02 2.26432139e-03 9.96462953e-01 -3.69711181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701193817 meters 0.06360854648203672 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.26, Z:-3.70 [[ 9.95157678e-01 5.23942903e-02 8.31627001e-02 3.01913924e+01] [-5.20617847e-02 9.98624847e-01 -6.16328455e-03 -1.26264126e+00] [-8.33712596e-02 1.80384136e-03 9.96516924e-01 -3.70437535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761193817 meters 0.06286187015466031 Centerline is valid? [True, True] Translation: X:30.25, Y:-1.26, Z:-3.71 [[ 9.94798134e-01 5.86504265e-02 8.32874581e-02 3.02511380e+01] [-5.83382137e-02 9.98277751e-01 -6.17943838e-03 -1.25777299e+00] [-8.35064431e-02 1.28845223e-03 9.96506404e-01 -3.71467133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821193816999997 meters 0.06059668891367124 Centerline is valid? [True, True] Translation: X:30.31, Y:-1.24, Z:-3.72 [[ 9.93904642e-01 7.32120868e-02 8.24230104e-02 3.03147159e+01] [-7.29569908e-02 9.97316393e-01 -6.10657615e-03 -1.24087049e+00] [-8.26488945e-02 5.60195670e-05 9.96578726e-01 -3.72109679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881193817 meters 0.06096098898787506 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.23, Z:-3.73 [[ 9.93431814e-01 8.12908603e-02 8.05296634e-02 3.03764700e+01] [-8.10713216e-02 9.96690258e-01 -5.99752263e-03 -1.23390386e+00] [-8.07506748e-02 -5.70516458e-04 9.96734169e-01 -3.73265862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941193817 meters 0.06197662740081627 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.24, Z:-3.74 [[ 9.93192603e-01 8.57798734e-02 7.88052481e-02 3.04370947e+01] [-8.55838497e-02 9.96313692e-01 -5.86783115e-03 -1.23681509e+00] [-7.90180896e-02 -9.16570028e-04 9.96872761e-01 -3.74442917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.001193817 meters 0.061534653857566 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.25, Z:-3.75 [[ 9.93423274e-01 8.40938896e-02 7.77072432e-02 3.04986283e+01] [-8.38966892e-02 9.96457551e-01 -5.80470536e-03 -1.25023296e+00] [-7.79201095e-02 -7.52851028e-04 9.96959322e-01 -3.74897944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.061193816999996 meters 0.06112917649477812 Centerline is valid? [True, True] Translation: X:30.56, Y:-1.27, Z:-3.76 [[ 9.93784385e-01 7.78200377e-02 7.96030052e-02 3.05585835e+01] [-7.75902520e-02 9.96967395e-01 -5.98042057e-03 -1.26881177e+00] [-7.98269973e-02 -2.33168654e-04 9.96808706e-01 -3.75572833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.121193817 meters 0.06162974947080356 Centerline is valid? [True, True] Translation: X:30.62, Y:-1.28, Z:-3.76 [[ 9.94222940e-01 7.26134818e-02 7.90444694e-02 3.06180928e+01] [-7.23709491e-02 9.97360141e-01 -5.93254147e-03 -1.28428405e+00] [-7.92665857e-02 1.77745548e-04 9.96853438e-01 -3.76482578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18119381699999 meters 0.06137912034053767 Centerline is valid? [True, True] Translation: X:30.68, Y:-1.30, Z:-3.77 [[ 9.94418763e-01 6.72759929e-02 8.12727729e-02 3.06793467e+01] [-6.70000762e-02 9.97734198e-01 -6.12044974e-03 -1.30017408e+00] [-8.15003842e-02 6.41008086e-04 9.96673104e-01 -3.76603288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.241193816999996 meters 0.06315603351817094 Centerline is valid? [True, True] Translation: X:30.74, Y:-1.32, Z:-3.77 [[ 9.94627844e-01 5.97124120e-02 8.45569628e-02 3.07390334e+01] [-5.93837875e-02 9.98214719e-01 -6.39852722e-03 -1.32073720e+00] [-8.47880764e-02 1.34284062e-03 9.96398103e-01 -3.77246570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.301193817 meters 0.06476928146600014 Centerline is valid? [True, True] Translation: X:30.80, Y:-1.34, Z:-3.78 [[ 9.95236843e-01 5.25375447e-02 8.21184082e-02 3.07985910e+01] [-5.22017214e-02 9.98617111e-01 -6.23264278e-03 -1.33923779e+00] [-8.23322954e-02 1.91623345e-03 9.96603091e-01 -3.77681340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36119381699999 meters 0.06547756893445368 Centerline is valid? [True, True] Translation: X:30.86, Y:-1.35, Z:-3.78 [[ 9.95396285e-01 4.72085145e-02 8.34121866e-02 3.08605869e+01] [-4.68433850e-02 9.98882188e-01 -6.33016503e-03 -1.34793539e+00] [-8.36177852e-02 2.39371359e-03 9.96495026e-01 -3.78023949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.421193816999995 meters 0.07208405294387575 Centerline is valid? [True, True] Translation: X:30.92, Y:-1.36, Z:-3.80 [[ 9.95972551e-01 3.88253964e-02 8.08162496e-02 3.09180470e+01] [-3.84544982e-02 9.99241480e-01 -6.14136215e-03 -1.36282859e+00] [-8.09933897e-02 3.00887981e-03 9.96710097e-01 -3.79540134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481193817 meters 0.07107019719252193 Centerline is valid? [True, True] Translation: X:30.98, Y:-1.37, Z:-3.80 [[ 9.96373698e-01 3.33002211e-02 7.82978212e-02 3.09786438e+01] [-3.29347946e-02 9.99439766e-01 -5.95421591e-03 -1.36585691e+00] [-7.84522328e-02 3.35390147e-03 9.96912232e-01 -3.79564085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54119381699999 meters 0.0764427288064577 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.38, Z:-3.80 [[ 9.96383971e-01 2.70762958e-02 8.05348108e-02 3.10375855e+01] [-2.66691908e-02 9.99625540e-01 -6.12657442e-03 -1.37813589e+00] [-8.06705386e-02 3.95662232e-03 9.96732968e-01 -3.80228704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.601193816999995 meters 0.07865626992928544 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.37, Z:-3.81 [[ 9.96726735e-01 1.71127835e-02 7.90124523e-02 3.10987097e+01] [-1.66898288e-02 9.99842650e-01 -6.01034751e-03 -1.37408256e+00] [-7.91028735e-02 4.67196975e-03 9.96855510e-01 -3.80744149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661193817 meters 0.0841628075567435 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.38, Z:-3.82 [[ 9.96897446e-01 1.13783786e-02 7.78846234e-02 3.11573252e+01] [-1.09502631e-02 9.99922510e-01 -5.92167669e-03 -1.37779059e+00] [-7.79459672e-02 5.05044725e-03 9.96944792e-01 -3.81852188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72119381699999 meters 0.08599182150073444 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.37, Z:-3.82 [[ 9.96843680e-01 7.35032555e-03 7.90484053e-02 3.12189873e+01] [-6.89584112e-03 9.99958097e-01 -6.02089212e-03 -1.36941866e+00] [-7.90893484e-02 5.45678301e-03 9.96852596e-01 -3.82400802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.781193816999995 meters 0.08401877725303533 Centerline is valid? [True, True] Translation: X:31.28, Y:-1.35, Z:-3.83 [[ 9.96733477e-01 9.75695027e-03 8.01696811e-02 3.12803929e+01] [-9.29697023e-03 9.99938122e-01 -6.10885642e-03 -1.35387565e+00] [-8.02243242e-02 5.34356656e-03 9.96762511e-01 -3.82975964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.841193817 meters 0.08284222517997751 Centerline is valid? [True, True] Translation: X:31.34, Y:-1.33, Z:-3.84 [[ 9.96664236e-01 1.56993075e-02 8.00870325e-02 3.13412122e+01] [-1.52593569e-02 9.99864947e-01 -6.10250976e-03 -1.33449925e+00] [-8.01720217e-02 4.86007661e-03 9.96769194e-01 -3.83938004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90119381699999 meters 0.08021746242104599 Centerline is valid? [True, True] Translation: X:31.40, Y:-1.32, Z:-3.85 [[ 9.96475276e-01 1.93290317e-02 8.16297264e-02 3.14025568e+01] [-1.88839994e-02 9.99802331e-01 -6.22043501e-03 -1.31959517e+00] [-8.17338257e-02 4.65701399e-03 9.96643313e-01 -3.84527621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.961193816999995 meters 0.0776332924115644 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.30, Z:-3.85 [[ 9.96007106e-01 2.37186813e-02 8.60654967e-02 3.14653185e+01] [-2.32402234e-02 9.99708406e-01 -6.55706946e-03 -1.29527586e+00] [-8.61959256e-02 4.53070640e-03 9.96267903e-01 -3.85123434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021193817 meters 0.07167305646231567 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.28, Z:-3.85 [[ 9.95808856e-01 2.63989473e-02 8.75660738e-02 3.15284862e+01] [-2.59138425e-02 9.99641913e-01 -6.67222200e-03 -1.27535769e+00] [-8.77108572e-02 4.37508431e-03 9.96136368e-01 -3.85175168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081193817 meters 0.0756298141572173 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.27, Z:-3.86 [[ 9.95830170e-01 2.68760357e-02 8.71777041e-02 3.15901843e+01] [-2.63975420e-02 9.99629491e-01 -6.63712195e-03 -1.27376116e+00] [-8.73237835e-02 4.30816917e-03 9.96170666e-01 -3.86407408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.141193816999994 meters 0.0746881174423226 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.26, Z:-3.87 [[ 9.95749359e-01 2.56500000e-02 8.84606780e-02 3.16537879e+01] [-2.51497787e-02 9.99660805e-01 -6.76485370e-03 -1.25633549e+00] [-8.86041911e-02 4.51133226e-03 9.96056698e-01 -3.86932406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201193817 meters 0.07462527714530563 Centerline is valid? [True, True] Translation: X:31.72, Y:-1.25, Z:-3.88 [[ 9.95732988e-01 2.38495235e-02 8.91460422e-02 3.17164800e+01] [-2.33319902e-02 9.99704351e-01 -6.84315492e-03 -1.24668290e+00] [-8.92828922e-02 4.73400052e-03 9.95995057e-01 -3.87551197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261193817 meters 0.07603101437995995 Centerline is valid? [True, True] Translation: X:31.78, Y:-1.24, Z:-3.88 [[ 9.95830984e-01 1.75432236e-02 8.95147243e-02 3.17775412e+01] [-1.69929614e-02 9.99831762e-01 -6.90562005e-03 -1.23597057e+00] [-8.96208114e-02 5.35571016e-03 9.95961559e-01 -3.88142933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.321193816999994 meters 0.07769288360226334 Centerline is valid? [True, True] Translation: X:31.84, Y:-1.23, Z:-3.89 [[ 9.96012199e-01 1.46361409e-02 8.80084212e-02 3.18382958e+01] [-1.40929608e-02 9.99877634e-01 -6.79013555e-03 -1.22832478e+00] [-8.80970333e-02 5.52275861e-03 9.96096588e-01 -3.89047263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381193816999996 meters 0.0771499032190231 Centerline is valid? [True, True] Translation: X:31.90, Y:-1.21, Z:-3.90 [[ 9.96182382e-01 1.79011310e-02 8.54412704e-02 3.19002838e+01] [-1.74011410e-02 9.99826851e-01 -6.59308281e-03 -1.21217555e+00] [-8.55444999e-02 5.08113735e-03 9.96321394e-01 -3.90207844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441193817 meters 0.07571578179872895 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.21, Z:-3.91 [[ 9.96120227e-01 2.03949116e-02 8.56068937e-02 3.19616983e+01] [-1.99018251e-02 9.99780092e-01 -6.60946833e-03 -1.20986021e+00] [-8.57228676e-02 4.88009167e-03 9.96307068e-01 -3.90969230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.501193816999994 meters 0.07187726768362829 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.19, Z:-3.91 [[ 9.95745808e-01 2.73625488e-02 8.79862298e-02 3.20234133e+01] [-2.68681671e-02 9.99615867e-01 -6.79848676e-03 -1.19026276e+00] [-8.81384553e-02 4.40553596e-03 9.96098491e-01 -3.91457954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561193816999996 meters 0.0700079564697549 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.18, Z:-3.93 [[ 9.95779285e-01 3.54278018e-02 8.46669137e-02 3.20830584e+01] [-3.49991851e-02 9.99365930e-01 -6.54180634e-03 -1.18183634e+00] [-8.48449907e-02 3.55092226e-03 9.96387835e-01 -3.92692222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.621193817 meters 0.06426611211617042 Centerline is valid? [True, True] Translation: X:32.15, Y:-1.16, Z:-3.93 [[ 9.95090230e-01 5.28992428e-02 8.36487001e-02 3.21450254e+01] [-5.25424641e-02 9.98597780e-01 -6.46242865e-03 -1.16272977e+00] [-8.38732638e-02 2.03559078e-03 9.96474351e-01 -3.93490166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68119381699999 meters 0.06266118521206832 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.16, Z:-3.94 [[ 9.94529564e-01 6.22058340e-02 8.39129346e-02 3.22068407e+01] [-6.18798314e-02 9.98062553e-01 -6.48281258e-03 -1.15659942e+00] [-8.41536265e-02 1.25483053e-03 9.96452002e-01 -3.94322401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.741193816999996 meters 0.06169695069140923 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.16, Z:-3.95 [[ 9.93761269e-01 7.05814149e-02 8.63527889e-02 3.22668338e+01] [-7.02670526e-02 9.97505860e-01 -6.67841290e-03 -1.15545477e+00] [-8.66087848e-02 5.68992115e-04 9.96242237e-01 -3.95058360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801193817 meters 0.0614003307271791 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.16, Z:-3.96 [[ 9.93487237e-01 7.23191197e-02 8.80514330e-02 3.23283667e+01] [-7.19996610e-02 9.97381456e-01 -6.80289471e-03 -1.16428783e+00] [-8.83128459e-02 4.18915735e-04 9.96092699e-01 -3.95661639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86119381699999 meters 0.06103532464984935 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.18, Z:-3.96 [[ 9.93278525e-01 7.28617438e-02 8.99385191e-02 3.23895911e+01] [-7.25282182e-02 9.97341968e-01 -6.97535796e-03 -1.17937868e+00] [-9.02076964e-02 4.05392727e-04 9.95922892e-01 -3.96252096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.921193816999995 meters 0.061412451035317187 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.20, Z:-3.97 [[ 9.93375273e-01 7.16073349e-02 8.98774516e-02 3.24495622e+01] [-7.12667682e-02 9.97432751e-01 -6.99681284e-03 -1.20001655e+00] [-9.01477369e-02 5.45185354e-04 9.95928255e-01 -3.97254561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.981193817 meters 0.06187050776294765 Centerline is valid? [True, True] Translation: X:32.51, Y:-1.21, Z:-3.98 [[ 9.93523905e-01 7.19371346e-02 8.79505507e-02 3.25087522e+01] [-7.16094923e-02 9.97409024e-01 -6.87891957e-03 -1.21432093e+00] [-8.82175227e-02 5.36276745e-04 9.96101090e-01 -3.98369031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04119381699999 meters 0.061579259023730334 Centerline is valid? [True, True] Translation: X:32.57, Y:-1.23, Z:-3.99 [[ 9.93027976e-01 7.75215872e-02 8.88022659e-02 3.25695201e+01] [-7.72090039e-02 9.96990672e-01 -6.95475990e-03 -1.23190361e+00] [-8.90741748e-02 4.99366484e-05 9.96024994e-01 -3.99210590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.101193816999995 meters 0.061495018514250384 Centerline is valid? [True, True] Translation: X:32.63, Y:-1.24, Z:-4.00 [[ 9.92750154e-01 8.03333060e-02 8.94074510e-02 3.26301661e+01] [-8.00255480e-02 9.96768041e-01 -7.02734509e-03 -1.24379181e+00] [-8.96830196e-02 -1.78482340e-04 9.95970343e-01 -4.00024584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161193817 meters 0.06158086743010415 Centerline is valid? [True, True] Translation: X:32.69, Y:-1.26, Z:-4.01 [[ 9.92621603e-01 8.13153002e-02 8.99453979e-02 3.26901842e+01] [-8.10055103e-02 9.96688398e-01 -7.09538037e-03 -1.25728720e+00] [-9.02244976e-02 -2.43045015e-04 9.95921423e-01 -4.00870942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22119381699999 meters 0.0610195212899309 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.28, Z:-4.01 [[ 9.92695992e-01 7.99347947e-02 9.03609184e-02 3.27509218e+01] [-7.96144384e-02 9.96800090e-01 -7.14995712e-03 -1.27946304e+00] [-9.06433020e-02 -9.62999912e-05 9.95883418e-01 -4.01312047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.281193816999995 meters 0.06147069618841396 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.31, Z:-4.02 [[ 9.93232523e-01 7.18961692e-02 9.12145574e-02 3.28117689e+01] [-7.15334813e-02 9.97411897e-01 -7.24351865e-03 -1.30817529e+00] [-9.14992660e-02 6.69603476e-04 9.95804919e-01 -4.02090613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.341193817 meters 0.062348569582573024 Centerline is valid? [True, True] Translation: X:32.87, Y:-1.33, Z:-4.03 [[ 9.93716959e-01 6.38830728e-02 9.18997230e-02 3.28715165e+01] [-6.34772598e-02 9.97956329e-01 -7.33503102e-03 -1.33251032e+00] [-9.21804946e-02 1.45540212e-03 9.95741251e-01 -4.02634244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40119381699999 meters 0.06433451640504641 Centerline is valid? [True, True] Translation: X:32.93, Y:-1.35, Z:-4.03 [[ 9.94211105e-01 5.64288442e-02 9.14333888e-02 3.29309956e+01] [-5.59940772e-02 9.98404301e-01 -7.31535152e-03 -1.35332090e+00] [-9.17002855e-02 2.15327548e-03 9.95784325e-01 -4.03495382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.461193816999995 meters 0.0659017886380516 Centerline is valid? [True, True] Translation: X:32.99, Y:-1.37, Z:-4.04 [[ 9.94743418e-01 4.88201189e-02 9.00118184e-02 3.29901015e+01] [-4.83673329e-02 9.98803622e-01 -7.20600353e-03 -1.37153101e+00] [-9.02559282e-02 2.81449299e-03 9.95914628e-01 -4.04082592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521193817 meters 0.06749132731191411 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.38, Z:-4.05 [[ 9.94679722e-01 4.91948269e-02 9.05103259e-02 3.30499618e+01] [-4.87390757e-02 9.98785304e-01 -7.24005611e-03 -1.37998972e+00] [-9.07565567e-02 2.79014737e-03 9.95869199e-01 -4.05148357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581193817 meters 0.06347628305588741 Centerline is valid? [True, True] Translation: X:33.11, Y:-1.37, Z:-4.05 [[ 9.93662631e-01 5.73644636e-02 9.66638168e-02 3.31116671e+01] [-5.68793776e-02 9.98350832e-01 -7.76865641e-03 -1.37404366e+00] [-9.69500468e-02 2.22124584e-03 9.95286770e-01 -4.04962554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.641193816999994 meters 0.06121104300051149 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.37, Z:-4.05 [[ 9.92715257e-01 6.53050717e-02 1.01250512e-01 3.31726255e+01] [-6.48138238e-02 9.97864194e-01 -8.13745077e-03 -1.37074913e+00] [-1.01565677e-01 1.51573871e-03 9.94827681e-01 -4.05299068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701193817 meters 0.059926226304384746 Centerline is valid? [True, True] Translation: X:33.23, Y:-1.36, Z:-4.06 [[ 9.91960943e-01 7.43006500e-02 1.02434863e-01 3.32332174e+01] [-7.38456403e-02 9.97235705e-01 -8.23225708e-03 -1.36366862e+00] [-1.02763364e-01 6.01709481e-04 9.94705649e-01 -4.06255335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761193817 meters 0.06048189525088164 Centerline is valid? [True, True] Translation: X:33.29, Y:-1.37, Z:-4.08 [[ 9.92234056e-01 7.42165268e-02 9.98172632e-02 3.32940173e+01] [-7.37844717e-02 9.97241976e-01 -8.01835501e-03 -1.37249236e+00] [-1.00137059e-01 5.91120883e-04 9.94973477e-01 -4.07603677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.821193816999994 meters 0.06151310479385943 Centerline is valid? [True, True] Translation: X:33.35, Y:-1.39, Z:-4.09 [[ 9.92900009e-01 7.16129357e-02 9.49797812e-02 3.33529498e+01] [-7.12074836e-02 9.97432146e-01 -7.65566079e-03 -1.39078009e+00] [-9.52841313e-02 8.38034456e-04 9.95449764e-01 -4.08951985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.881193816999996 meters 0.061143517208874024 Centerline is valid? [True, True] Translation: X:33.41, Y:-1.39, Z:-4.10 [[ 9.92650440e-01 7.79542538e-02 9.25647754e-02 3.34145241e+01] [-7.75946036e-02 9.96956907e-01 -7.48356227e-03 -1.39302945e+00] [-9.28664677e-02 2.46034324e-04 9.95678542e-01 -4.09949371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.941193817 meters 0.061086145320034334 Centerline is valid? [True, True] Translation: X:33.48, Y:-1.39, Z:-4.11 [[ 9.92111244e-01 8.83205646e-02 8.89649274e-02 3.34762202e+01] [-8.80273206e-02 9.96091880e-01 -7.22197819e-03 -1.39406940e+00] [-8.92550910e-02 -6.66338426e-04 9.96008577e-01 -4.10649710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.001193816999994 meters 0.0609513204644746 Centerline is valid? [True, True] Translation: X:33.54, Y:-1.41, Z:-4.11 [[ 9.92194180e-01 8.70554109e-02 8.92864195e-02 3.35373889e+01] [-8.67548565e-02 9.96203317e-01 -7.24886805e-03 -1.40500621e+00] [-8.95784804e-02 -5.53745811e-04 9.95979613e-01 -4.11415667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.061193816999996 meters 0.060837494667551645 Centerline is valid? [True, True] Translation: X:33.60, Y:-1.43, Z:-4.12 [[ 9.92737746e-01 7.72196665e-02 9.22436464e-02 3.35971198e+01] [-7.68537041e-02 9.97014033e-01 -7.51833011e-03 -1.43473200e+00] [-9.25487729e-02 3.74464177e-04 9.95708082e-01 -4.11816648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121193817 meters 0.061868123740566 Centerline is valid? [True, True] Translation: X:33.66, Y:-1.45, Z:-4.13 [[ 9.93383066e-01 6.84551690e-02 9.22169901e-02 3.36577105e+01] [-6.80491403e-02 9.97653449e-01 -7.54385693e-03 -1.45433684e+00] [-9.25170143e-02 1.21865283e-03 9.95710358e-01 -4.12507403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18119381699999 meters 0.06322214327256923 Centerline is valid? [True, True] Translation: X:33.72, Y:-1.47, Z:-4.13 [[ 9.93902865e-01 6.05365481e-02 9.21543303e-02 3.37181028e+01] [-6.00944829e-02 9.98164012e-01 -7.56692629e-03 -1.46957761e+00] [-9.24432117e-02 1.98282289e-03 9.95715984e-01 -4.13097365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241193816999996 meters 0.06404362405564053 Centerline is valid? [True, True] Translation: X:33.78, Y:-1.48, Z:-4.14 [[ 9.94034781e-01 5.85105083e-02 9.20400693e-02 3.37776862e+01] [-5.80580333e-02 9.98284370e-01 -7.58823353e-03 -1.48106138e+00] [-9.23261540e-02 2.19930265e-03 9.95726390e-01 -4.13685935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301193817 meters 0.06368868666395858 Centerline is valid? [True, True] Translation: X:33.84, Y:-1.49, Z:-4.14 [[ 9.93939023e-01 5.85094257e-02 9.30691409e-02 3.38395681e+01] [-5.80457742e-02 9.98284355e-01 -7.68336494e-03 -1.48642945e+00] [-9.33590166e-02 2.23452590e-03 9.95630002e-01 -4.14228804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36119381699999 meters 0.06353406581948226 Centerline is valid? [True, True] Translation: X:33.90, Y:-1.49, Z:-4.15 [[ 9.93671443e-01 5.89539267e-02 9.56111854e-02 3.39007815e+01] [-5.84635576e-02 9.98258091e-01 -7.92445681e-03 -1.49060404e+00] [-9.59118172e-02 2.28453639e-03 9.95387213e-01 -4.14707181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.421193816999995 meters 0.06320980785589553 Centerline is valid? [True, True] Translation: X:33.96, Y:-1.49, Z:-4.16 [[ 9.93635992e-01 6.08805766e-02 9.47685113e-02 3.39618515e+01] [-6.04050458e-02 9.98142835e-01 -7.88113708e-03 -1.49080847e+00] [-9.50723187e-02 2.10648519e-03 9.95468140e-01 -4.15675810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.481193817 meters 0.06089512206307573 Centerline is valid? [True, True] Translation: X:34.02, Y:-1.49, Z:-4.16 [[ 9.93180466e-01 6.92846877e-02 9.37666981e-02 3.40230918e+01] [-6.88535286e-02 9.97596055e-01 -7.82955495e-03 -1.48911243e+00] [-9.40837564e-02 1.31999301e-03 9.95563411e-01 -4.16262125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54119381699999 meters 0.06036589695413343 Centerline is valid? [True, True] Translation: X:34.08, Y:-1.49, Z:-4.17 [[ 9.92693263e-01 7.61281661e-02 9.36193826e-02 3.40836306e+01] [-7.57289261e-02 9.97097817e-01 -7.81497829e-03 -1.48838217e+00] [-9.39426219e-02 6.68180989e-04 9.95577389e-01 -4.17381272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.601193816999995 meters 0.06012901112378997 Centerline is valid? [True, True] Translation: X:34.15, Y:-1.49, Z:-4.18 [[ 9.92725493e-01 8.13340533e-02 8.87742464e-02 3.41450481e+01] [-8.09932946e-02 9.96686878e-01 -7.43994239e-03 -1.49093253e+00] [-8.90852472e-02 1.95701781e-04 9.96023986e-01 -4.18341952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661193817 meters 0.05980171749365469 Centerline is valid? [True, True] Translation: X:34.21, Y:-1.50, Z:-4.19 [[ 9.92504003e-01 8.19514094e-02 9.06629473e-02 3.42065208e+01] [-8.15983993e-02 9.96636316e-01 -7.59971698e-03 -1.49862892e+00] [-9.09807933e-02 1.44798149e-04 9.95852637e-01 -4.18845636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72119381699999 meters 0.05958853995848488 Centerline is valid? [True, True] Translation: X:34.27, Y:-1.51, Z:-4.19 [[ 9.92294626e-01 8.16243183e-02 9.32139830e-02 3.42679717e+01] [-8.12469008e-02 9.96663146e-01 -7.84310290e-03 -1.50549337e+00] [-9.35431295e-02 2.09321628e-04 9.95615206e-01 -4.19398119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.781193816999995 meters 0.059867635296784 Centerline is valid? [True, True] Translation: X:34.33, Y:-1.52, Z:-4.20 [[ 9.92611683e-01 8.00309730e-02 9.11980845e-02 3.43272864e+01] [-7.96601606e-02 9.96792304e-01 -7.70467803e-03 -1.51592950e+00] [-9.15221616e-02 3.82899370e-04 9.95802966e-01 -4.20328729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841193817 meters 0.060082185259088566 Centerline is valid? [True, True] Translation: X:34.39, Y:-1.53, Z:-4.21 [[ 9.92884425e-01 7.60102168e-02 9.16676941e-02 3.43895163e+01] [-7.56176999e-02 9.97106745e-01 -7.75260450e-03 -1.52649240e+00] [-9.19917532e-02 7.65740076e-04 9.95759474e-01 -4.20982081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90119381699999 meters 0.061961161381131266 Centerline is valid? [True, True] Translation: X:34.45, Y:-1.55, Z:-4.22 [[ 9.93387511e-01 6.67749104e-02 9.33936015e-02 3.44485045e+01] [-6.63234959e-02 9.97766641e-01 -7.93250867e-03 -1.54542658e+00] [-9.37147126e-02 1.68586490e-03 9.95597665e-01 -4.21738210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961193816999995 meters 0.06324745097004468 Centerline is valid? [True, True] Translation: X:34.51, Y:-1.55, Z:-4.23 [[ 9.93819170e-01 6.31980628e-02 9.12658846e-02 3.45086894e+01] [-6.27497876e-02 9.97998999e-01 -7.77575951e-03 -1.55469613e+00] [-9.15746744e-02 2.00078400e-03 9.95796202e-01 -4.22779708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021193817 meters 0.0639996024286111 Centerline is valid? [True, True] Translation: X:34.57, Y:-1.56, Z:-4.24 [[ 9.93933078e-01 6.24042749e-02 9.05689979e-02 3.45697234e+01] [-6.19574410e-02 9.98048784e-01 -7.73952186e-03 -1.56237393e+00] [-9.08752575e-02 2.08114344e-03 9.95860109e-01 -4.23676407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08119381699999 meters 0.0627271483347677 Centerline is valid? [True, True] Translation: X:34.63, Y:-1.57, Z:-4.24 [[ 9.94025564e-01 6.25246549e-02 8.94642105e-02 3.46313564e+01] [-6.20870042e-02 9.98041276e-01 -7.66917792e-03 -1.56554710e+00] [-8.97684875e-02 2.06879409e-03 9.95960511e-01 -4.24089431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.141193816999994 meters 0.06427853118957018 Centerline is valid? [True, True] Translation: X:34.69, Y:-1.57, Z:-4.25 [[ 9.94394639e-01 6.05358459e-02 8.66874409e-02 3.46898105e+01] [-6.01143339e-02 9.98163568e-01 -7.46711002e-03 -1.57452516e+00] [-8.69802732e-02 2.21409641e-03 9.96207574e-01 -4.25278379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201193817 meters 0.06282429239975722 Centerline is valid? [True, True] Translation: X:34.75, Y:-1.58, Z:-4.26 [[ 9.94150354e-01 6.21455945e-02 8.83345831e-02 3.47522553e+01] [-6.17150949e-02 9.98064879e-01 -7.59896926e-03 -1.57672661e+00] [-8.86358875e-02 2.10294080e-03 9.96061874e-01 -4.25607146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261193817 meters 0.0608651464521309 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.57, Z:-4.26 [[ 9.93733093e-01 7.09402387e-02 8.63829961e-02 3.48145781e+01] [-7.05594865e-02 9.97479701e-01 -7.45692171e-03 -1.57134671e+00] [-8.66942809e-02 1.31505003e-03 9.96234095e-01 -4.26386457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321193816999994 meters 0.059985217787886944 Centerline is valid? [True, True] Translation: X:34.88, Y:-1.57, Z:-4.27 [[ 9.93168880e-01 7.92631625e-02 8.56325105e-02 3.48768241e+01] [-7.89175800e-02 9.96853539e-01 -7.41867286e-03 -1.56609543e+00] [-8.59510987e-02 6.10084510e-04 9.96299170e-01 -4.27386849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381193816999996 meters 0.059514535134160954 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.57, Z:-4.27 [[ 9.92924090e-01 7.64567181e-02 9.08631991e-02 3.49380948e+01] [-7.60523757e-02 9.97072455e-01 -7.90916144e-03 -1.57350547e+00] [-9.12019015e-02 9.42834777e-04 9.95831976e-01 -4.27497476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.441193817 meters 0.061469182190746985 Centerline is valid? [True, True] Translation: X:35.00, Y:-1.59, Z:-4.28 [[ 9.93317857e-01 6.58929519e-02 9.47510149e-02 3.49975075e+01] [-6.54047706e-02 9.97824694e-01 -8.25202828e-03 -1.58886797e+00] [-9.50886530e-02 1.99971865e-03 9.95466800e-01 -4.27999154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.501193816999994 meters 0.06301858973856049 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.60, Z:-4.29 [[ 9.93678140e-01 5.98893420e-02 9.49579999e-02 3.50577278e+01] [-5.93712781e-02 9.98201678e-01 -8.27418885e-03 -1.59970782e+00] [-9.52827705e-02 2.58410277e-03 9.95446893e-01 -4.28751306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.561193816999996 meters 0.06317855876314711 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.61, Z:-4.29 [[ 9.93804224e-01 5.73720395e-02 9.51925030e-02 3.51191214e+01] [-5.68401574e-02 9.98348858e-01 -8.29184575e-03 -1.60865711e+00] [-9.55110468e-02 2.82971448e-03 9.95424348e-01 -4.29307817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621193817 meters 0.06357423290992492 Centerline is valid? [True, True] Translation: X:35.18, Y:-1.61, Z:-4.30 [[ 9.93786568e-01 5.74361881e-02 9.53380368e-02 3.51804792e+01] [-5.69001321e-02 9.98345090e-01 -8.33402351e-03 -1.61359168e+00] [-9.56589355e-02 2.85749374e-03 9.95410068e-01 -4.30192396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68119381699999 meters 0.06485475061871014 Centerline is valid? [True, True] Translation: X:35.24, Y:-1.62, Z:-4.31 [[ 9.94242692e-01 5.56363473e-02 9.15754631e-02 3.52399381e+01] [-5.51308239e-02 9.98446748e-01 -8.04267037e-03 -1.62012043e+00] [-9.18806881e-02 2.94773551e-03 9.95765660e-01 -4.31400683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741193816999996 meters 0.06984038808157376 Centerline is valid? [True, True] Translation: X:35.30, Y:-1.64, Z:-4.33 [[ 9.95126891e-01 4.51313140e-02 8.76677540e-02 3.52981626e+01] [-4.46273055e-02 9.98974018e-01 -7.70155829e-03 -1.63831403e+00] [-8.79253899e-02 3.75165212e-03 9.96119998e-01 -4.32597377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801193817 meters 0.0720340101520925 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.65, Z:-4.33 [[ 9.95358035e-01 4.11733273e-02 8.69893091e-02 3.53579221e+01] [-4.06619836e-02 9.99143729e-01 -7.64277477e-03 -1.64632194e+00] [-8.72295012e-02 4.07013942e-03 9.96179928e-01 -4.33472504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86119381699999 meters 0.06851696547233328 Centerline is valid? [True, True] Translation: X:35.42, Y:-1.64, Z:-4.34 [[ 9.94640569e-01 4.98356408e-02 9.05899920e-02 3.54182973e+01] [-4.93164077e-02 9.98751466e-01 -7.96246286e-03 -1.63705761e+00] [-9.08737018e-02 3.45221562e-03 9.95856442e-01 -4.33833852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.921193816999995 meters 0.0647786907217782 Centerline is valid? [True, True] Translation: X:35.48, Y:-1.63, Z:-4.35 [[ 9.94155814e-01 6.03199335e-02 8.95305725e-02 3.54784684e+01] [-5.98553816e-02 9.98176058e-01 -7.86700918e-03 -1.62791643e+00] [-8.98418115e-02 2.46214633e-03 9.95953004e-01 -4.34676423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981193817 meters 0.06196666243814956 Centerline is valid? [True, True] Translation: X:35.54, Y:-1.62, Z:-4.36 [[ 9.93624580e-01 6.88401144e-02 8.92817607e-02 3.55395790e+01] [-6.84125729e-02 9.97626281e-01 -7.84363233e-03 -1.61647410e+00] [-8.96097875e-02 1.68563091e-03 9.95975524e-01 -4.35595249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04119381699999 meters 0.06163511904937243 Centerline is valid? [True, True] Translation: X:35.60, Y:-1.61, Z:-4.37 [[ 9.93500385e-01 7.28372410e-02 8.74741148e-02 3.56012075e+01] [-7.24429188e-02 9.97343004e-01 -7.67821479e-03 -1.61030555e+00] [-8.78009564e-02 1.29142916e-03 9.96137202e-01 -4.36877875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.101193816999995 meters 0.06138509055671518 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.62, Z:-4.37 [[ 9.93124621e-01 6.86757207e-02 9.48004863e-02 3.56637686e+01] [-6.81911924e-02 9.97637370e-01 -8.34503395e-03 -1.61581914e+00] [-9.51496090e-02 1.82310048e-03 9.95461314e-01 -4.36590130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161193817 meters 0.06199334303472948 Centerline is valid? [True, True] Translation: X:35.73, Y:-1.62, Z:-4.37 [[ 9.93069466e-01 6.73109434e-02 9.63445504e-02 3.57265830e+01] [-6.68037532e-02 9.97730064e-01 -8.48397131e-03 -1.62058681e+00] [-9.66969185e-02 1.98899529e-03 9.95311886e-01 -4.37259911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22119381699999 meters 0.06091386112187288 Centerline is valid? [True, True] Translation: X:35.79, Y:-1.62, Z:-4.38 [[ 9.93219433e-01 6.72849988e-02 9.48044675e-02 3.57885677e+01] [-6.67909920e-02 9.97731814e-01 -8.37800958e-03 -1.62085641e+00] [-9.51531476e-02 1.98911750e-03 9.95460658e-01 -4.37746710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281193816999995 meters 0.06186498976305769 Centerline is valid? [True, True] Translation: X:35.85, Y:-1.62, Z:-4.39 [[ 9.93652738e-01 6.99195961e-02 8.81219998e-02 3.58471856e+01] [-6.95002641e-02 9.97551270e-01 -7.82159065e-03 -1.61939891e+00] [-8.84530953e-02 1.64744271e-03 9.96078981e-01 -4.39461363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341193817 meters 0.06083756300644743 Centerline is valid? [True, True] Translation: X:35.91, Y:-1.62, Z:-4.40 [[ 9.93451250e-01 7.27453503e-02 8.81063479e-02 3.59094031e+01] [-7.23381213e-02 9.97349584e-01 -7.81042364e-03 -1.62058464e+00] [-8.84410015e-02 1.38582745e-03 9.96080453e-01 -4.39916412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40119381699999 meters 0.05984542349785439 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.62, Z:-4.41 [[ 9.93022322e-01 7.84835610e-02 8.80170322e-02 3.59709818e+01] [-7.80973175e-02 9.96915002e-01 -7.82870873e-03 -1.62058676e+00] [-8.83599247e-02 9.00188410e-04 9.96088206e-01 -4.40644400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461193816999995 meters 0.059134148532733674 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.62, Z:-4.41 [[ 9.92480584e-01 8.07222241e-02 9.20120287e-02 3.60321580e+01] [-8.03061857e-02 9.96736339e-01 -8.22114336e-03 -1.62395627e+00] [-9.23753616e-02 7.70190105e-04 9.95723957e-01 -4.41105312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521193817 meters 0.05925848151490732 Centerline is valid? [True, True] Translation: X:36.09, Y:-1.64, Z:-4.42 [[ 9.92211571e-01 7.97909945e-02 9.56535146e-02 3.60924976e+01] [-7.93371520e-02 9.96811219e-01 -8.54457159e-03 -1.63734698e+00] [-9.60302763e-02 8.89145383e-04 9.95378016e-01 -4.41751407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58119381699999 meters 0.05948392645477379 Centerline is valid? [True, True] Translation: X:36.15, Y:-1.65, Z:-4.43 [[ 9.92583642e-01 7.88549141e-02 9.25181944e-02 3.61533104e+01] [-7.84233735e-02 9.96885622e-01 -8.29644724e-03 -1.64688400e+00] [-9.28842734e-02 9.79328898e-04 9.95676430e-01 -4.42891275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641193816999994 meters 0.06026598451030635 Centerline is valid? [True, True] Translation: X:36.21, Y:-1.66, Z:-4.44 [[ 9.93041657e-01 8.05600253e-02 8.58973163e-02 3.62123065e+01] [-8.01937668e-02 9.96749462e-01 -7.71165897e-03 -1.65890818e+00] [-8.62393552e-02 7.69569252e-04 9.96274150e-01 -4.44293958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701193817 meters 0.05971146205931182 Centerline is valid? [True, True] Translation: X:36.27, Y:-1.66, Z:-4.45 [[ 9.92435040e-01 8.73478918e-02 8.62730373e-02 3.62740439e+01] [-8.70046690e-02 9.96177854e-01 -7.73767957e-03 -1.66367229e+00] [-8.66191591e-02 1.72987273e-04 9.96241482e-01 -4.44908830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761193817 meters 0.05959573990652502 Centerline is valid? [True, True] Translation: X:36.34, Y:-1.66, Z:-4.46 [[ 9.91539146e-01 9.62447849e-02 8.71037553e-02 3.63361692e+01] [-9.59268111e-02 9.95357524e-01 -7.83872614e-03 -1.66479907e+00] [-8.74538147e-02 -5.83181659e-04 9.96168405e-01 -4.45566343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821193816999994 meters 0.05993455496910645 Centerline is valid? [True, True] Translation: X:36.40, Y:-1.67, Z:-4.46 [[ 9.90670722e-01 1.02700818e-01 8.95771342e-02 3.63969542e+01] [-1.02388256e-01 9.94711618e-01 -8.08966841e-03 -1.67133371e+00] [-8.99342316e-02 -1.15744886e-03 9.95947034e-01 -4.46057319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881193816999996 meters 0.05916741117476714 Centerline is valid? [True, True] Translation: X:36.46, Y:-1.69, Z:-4.46 [[ 9.90731795e-01 9.99935794e-02 9.19336387e-02 3.64574670e+01] [-9.96498551e-02 9.94987671e-01 -8.33317122e-03 -1.69192891e+00] [-9.23061006e-02 -9.05236091e-04 9.95730267e-01 -4.46230235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941193817 meters 0.05883525160365372 Centerline is valid? [True, True] Translation: X:36.52, Y:-1.72, Z:-4.47 [[ 9.91661847e-01 9.11318235e-02 9.11140630e-02 3.65166382e+01] [-9.07567056e-02 9.95838835e-01 -8.26048806e-03 -1.72217366e+00] [-9.14877156e-02 -7.76013413e-05 9.95806202e-01 -4.46964694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.001193816999994 meters 0.05924871898421764 Centerline is valid? [True, True] Translation: X:36.58, Y:-1.74, Z:-4.48 [[ 9.92045694e-01 8.74082074e-02 9.05822631e-02 3.65758514e+01] [-8.70191234e-02 9.96172534e-01 -8.24343252e-03 -1.74478983e+00] [-9.09561063e-02 2.95472604e-04 9.95854859e-01 -4.47838838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061193816999996 meters 0.05944677100656406 Centerline is valid? [True, True] Translation: X:36.64, Y:-1.77, Z:-4.48 [[ 9.92308532e-01 8.53366641e-02 8.96740293e-02 3.66357556e+01] [-8.49459839e-02 9.96352053e-01 -8.17110460e-03 -1.76529585e+00] [-9.00441980e-02 4.90808160e-04 9.95937649e-01 -4.48485439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121193817 meters 0.0602863042350226 Centerline is valid? [True, True] Translation: X:36.70, Y:-1.78, Z:-4.50 [[ 9.92854860e-01 8.09039523e-02 8.77141781e-02 3.66957425e+01] [-8.05099689e-02 9.96721490e-01 -8.02599882e-03 -1.78276715e+00] [-8.80759413e-02 9.06786185e-04 9.96113350e-01 -4.49636837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18119381699999 meters 0.061309738721084535 Centerline is valid? [True, True] Translation: X:36.76, Y:-1.80, Z:-4.50 [[ 9.93136630e-01 7.50027188e-02 8.97453397e-02 3.67553776e+01] [-7.45659842e-02 9.97182252e-01 -8.21401687e-03 -1.80411710e+00] [-9.01085335e-02 1.46569145e-03 9.95930873e-01 -4.50213797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241193816999996 meters 0.062345098667042916 Centerline is valid? [True, True] Translation: X:36.81, Y:-1.82, Z:-4.51 [[ 9.93296092e-01 7.21650157e-02 9.03055068e-02 3.68145883e+01] [-7.17087644e-02 9.97391154e-01 -8.29088829e-03 -1.82127111e+00] [-9.06682258e-02 1.75961062e-03 9.95879599e-01 -4.50925757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301193817 meters 0.06200919878815248 Centerline is valid? [True, True] Translation: X:36.88, Y:-1.83, Z:-4.51 [[ 9.93330912e-01 7.10994195e-02 9.07665796e-02 3.68771729e+01] [-7.06319975e-02 9.97467445e-01 -8.35560762e-03 -1.82998583e+00] [-9.11307872e-02 1.88885852e-03 9.95837141e-01 -4.51408434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36119381699999 meters 0.06113837240028669 Centerline is valid? [True, True] Translation: X:36.94, Y:-1.83, Z:-4.52 [[ 9.92919629e-01 7.71781007e-02 9.03003335e-02 3.69374886e+01] [-7.67375564e-02 9.97016399e-01 -8.34554929e-03 -1.82993657e+00] [-9.06750070e-02 1.35703277e-03 9.95879612e-01 -4.52419943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421193816999995 meters 0.06031324884741737 Centerline is valid? [True, True] Translation: X:37.00, Y:-1.83, Z:-4.53 [[ 9.92414740e-01 8.45284495e-02 8.92632293e-02 3.69984273e+01] [-8.41254795e-02 9.96420819e-01 -8.27374181e-03 -1.82706494e+00] [-8.96431066e-02 7.01671364e-04 9.95973705e-01 -4.53397872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481193817 meters 0.06014060066792723 Centerline is valid? [True, True] Translation: X:37.06, Y:-1.83, Z:-4.54 [[ 9.92236157e-01 8.47944998e-02 9.09796741e-02 3.70599831e+01] [-8.43747189e-02 9.96398204e-01 -8.45727913e-03 -1.83261767e+00] [-9.13691147e-02 7.15233711e-04 9.95816837e-01 -4.54019676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54119381699999 meters 0.060658361917093145 Centerline is valid? [True, True] Translation: X:37.12, Y:-1.83, Z:-4.55 [[ 9.92472117e-01 8.77068503e-02 8.54786830e-02 3.71204528e+01] [-8.73445527e-02 9.96146227e-01 -7.97643082e-03 -1.83332326e+00] [-8.58488552e-02 4.50287846e-04 9.96308070e-01 -4.55377168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601193816999995 meters 0.06054473179196759 Centerline is valid? [True, True] Translation: X:37.18, Y:-1.83, Z:-4.56 [[ 9.92663188e-01 9.00854545e-02 8.06498990e-02 3.71808546e+01] [-8.97705457e-02 9.95934012e-01 -7.52948300e-03 -1.83432857e+00] [-8.10002744e-02 2.34255148e-04 9.96714052e-01 -4.56086210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661193817 meters 0.06187404865843425 Centerline is valid? [True, True] Translation: X:37.24, Y:-1.85, Z:-4.58 [[ 9.92886061e-01 8.81431500e-02 8.00503249e-02 3.72394274e+01] [-8.78273118e-02 9.96107745e-01 -7.46481362e-03 -1.84699659e+00] [-8.03967208e-02 3.81104556e-04 9.96762872e-01 -4.57625811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72119381699999 meters 0.061049447150060644 Centerline is valid? [True, True] Translation: X:37.30, Y:-1.85, Z:-4.58 [[ 9.92862012e-01 8.85643629e-02 7.98835305e-02 3.73024312e+01] [-8.82496219e-02 9.96070389e-01 -7.46890141e-03 -1.85283957e+00] [-8.02310978e-02 3.65897119e-04 9.96776222e-01 -4.57795560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781193816999995 meters 0.06096048776737903 Centerline is valid? [True, True] Translation: X:37.36, Y:-1.86, Z:-4.58 [[ 9.92584281e-01 9.01880390e-02 8.15019230e-02 3.73639654e+01] [-8.98633567e-02 9.95924718e-01 -7.65064201e-03 -1.86107765e+00] [-8.18597761e-02 2.69870621e-04 9.96643820e-01 -4.58468798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841193817 meters 0.06104440050925407 Centerline is valid? [True, True] Translation: X:37.42, Y:-1.87, Z:-4.59 [[ 9.92618602e-01 8.84868780e-02 8.29360252e-02 3.74247309e+01] [-8.81426221e-02 9.96077244e-01 -7.81035002e-03 -1.87254661e+00] [-8.33018009e-02 4.42499989e-04 9.96524267e-01 -4.59070078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90119381699999 meters 0.061261881703806115 Centerline is valid? [True, True] Translation: X:37.49, Y:-1.88, Z:-4.60 [[ 9.92850649e-01 8.71775413e-02 8.15332140e-02 3.74861970e+01] [-8.68385788e-02 9.96192630e-01 -7.70096936e-03 -1.88256811e+00] [-8.18941385e-02 5.65683997e-04 9.96640873e-01 -4.59727323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.961193816999995 meters 0.061958812850818494 Centerline is valid? [True, True] Translation: X:37.55, Y:-1.89, Z:-4.61 [[ 9.92967405e-01 8.91569179e-02 7.78895103e-02 3.75460666e+01] [-8.88512016e-02 9.96017505e-01 -7.38871989e-03 -1.88699001e+00] [-7.82380712e-02 4.16181434e-04 9.96934617e-01 -4.61009458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021193817 meters 0.06211182986814311 Centerline is valid? [True, True] Translation: X:37.61, Y:-1.90, Z:-4.62 [[ 9.92878168e-01 9.11816562e-02 7.66736504e-02 3.76067901e+01] [-9.08920531e-02 9.95834246e-01 -7.26560826e-03 -1.89528410e+00] [-7.70167370e-02 2.44838324e-04 9.97029770e-01 -4.61962171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08119381699999 meters 0.062088597672408624 Centerline is valid? [True, True] Translation: X:37.67, Y:-1.91, Z:-4.63 [[ 9.92723045e-01 9.07561794e-02 7.91471577e-02 3.76660714e+01] [-9.04434163e-02 9.95873090e-01 -7.53499310e-03 -1.90672134e+00] [-7.95043717e-02 3.21821962e-04 9.96834465e-01 -4.62674882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141193816999994 meters 0.061828182663399206 Centerline is valid? [True, True] Translation: X:37.73, Y:-1.91, Z:-4.63 [[ 9.92501950e-01 9.10805597e-02 8.15120276e-02 3.77276657e+01] [-9.07505729e-02 9.95843484e-01 -7.75175590e-03 -1.91480424e+00] [-8.18792558e-02 2.96369653e-04 9.96642212e-01 -4.63222223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201193817 meters 0.06164554345303032 Centerline is valid? [True, True] Translation: X:37.79, Y:-1.93, Z:-4.64 [[ 9.92369805e-01 9.17785798e-02 8.23338433e-02 3.77893778e+01] [-9.14417930e-02 9.95779403e-01 -7.86001291e-03 -1.92674891e+00] [-8.27077261e-02 2.71285220e-04 9.96573810e-01 -4.63704030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261193817 meters 0.06116227684560702 Centerline is valid? [True, True] Translation: X:37.85, Y:-1.93, Z:-4.64 [[ 9.92139280e-01 9.43658250e-02 8.21872222e-02 3.78522662e+01] [-9.40391889e-02 9.95537587e-01 -7.84492495e-03 -1.93469447e+00] [-8.25607618e-02 5.44384755e-05 9.96586031e-01 -4.64018763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321193816999994 meters 0.061730306750489496 Centerline is valid? [True, True] Translation: X:37.91, Y:-1.95, Z:-4.65 [[ 9.92303889e-01 9.37319282e-02 8.09155021e-02 3.79108344e+01] [-9.34107772e-02 9.95597462e-01 -7.75367366e-03 -1.95030113e+00] [-8.12860354e-02 1.35620581e-04 9.96690806e-01 -4.65165123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381193816999996 meters 0.06261578225957871 Centerline is valid? [True, True] Translation: X:37.97, Y:-1.97, Z:-4.66 [[ 9.92881289e-01 8.89702258e-02 7.91899319e-02 3.79704996e+01] [-8.86452050e-02 9.96034138e-01 -7.61734140e-03 -1.96800047e+00] [-7.95535921e-02 5.43308000e-04 9.96830442e-01 -4.66328941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441193817 meters 0.0639025859338192 Centerline is valid? [True, True] Translation: X:38.03, Y:-1.98, Z:-4.67 [[ 9.93495121e-01 8.29491699e-02 7.80184593e-02 3.80307830e+01] [-8.26146622e-02 9.96553261e-01 -7.51106808e-03 -1.98425963e+00] [-7.83725869e-02 1.01674083e-03 9.96923620e-01 -4.67395116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501193816999994 meters 0.06495699248014848 Centerline is valid? [True, True] Translation: X:38.09, Y:-2.00, Z:-4.68 [[ 9.93817066e-01 7.83383279e-02 7.86812948e-02 3.80914251e+01] [-7.79838377e-02 9.96925862e-01 -7.57278173e-03 -2.00109671e+00] [-7.90326567e-02 1.39009040e-03 9.96871058e-01 -4.67914575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561193816999996 meters 0.06610354840673184 Centerline is valid? [True, True] Translation: X:38.15, Y:-2.01, Z:-4.69 [[ 9.93803685e-01 7.67085886e-02 8.04364851e-02 3.81512583e+01] [-7.63307063e-02 9.97052305e-01 -7.76684762e-03 -2.01491024e+00] [-8.07951669e-02 1.57894806e-03 9.96729476e-01 -4.68690080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621193817 meters 0.06729577069526907 Centerline is valid? [True, True] Translation: X:38.21, Y:-2.03, Z:-4.69 [[ 9.94298023e-01 6.77443386e-02 8.23537919e-02 3.82120452e+01] [-6.73148938e-02 9.97699841e-01 -7.98323911e-03 -2.02623520e+00] [-8.27051843e-02 2.39408210e-03 9.96571182e-01 -4.68966561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68119381699999 meters 0.0700425115192245 Centerline is valid? [True, True] Translation: X:38.27, Y:-2.04, Z:-4.70 [[ 9.94747238e-01 6.01178346e-02 8.28479297e-02 3.82714248e+01] [-5.96564549e-02 9.98186625e-01 -8.03550130e-03 -2.03818630e+00] [-8.31807722e-02 3.05087894e-03 9.96529805e-01 -4.69825313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741193816999996 meters 0.07452366474877493 Centerline is valid? [True, True] Translation: X:38.33, Y:-2.05, Z:-4.71 [[ 9.95127595e-01 5.14111555e-02 8.41306309e-02 3.83298420e+01] [-5.09042172e-02 9.98670194e-01 -8.16108810e-03 -2.05075704e+00] [-8.44383245e-02 3.83872007e-03 9.96421313e-01 -4.70551518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801193817 meters 0.07231763352599044 Centerline is valid? [True, True] Translation: X:38.39, Y:-2.05, Z:-4.71 [[ 9.95041370e-01 5.25314159e-02 8.44578152e-02 3.83924738e+01] [-5.20250747e-02 9.98612224e-01 -8.18648313e-03 -2.04844203e+00] [-8.47706542e-02 3.75196525e-03 9.96393426e-01 -4.70898625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86119381699999 meters 0.07061499577922326 Centerline is valid? [True, True] Translation: X:38.45, Y:-2.04, Z:-4.72 [[ 9.94722227e-01 5.72183703e-02 8.51689394e-02 3.84536742e+01] [-5.67174189e-02 9.98355837e-01 -8.29195249e-03 -2.04092851e+00] [-8.55033598e-02 3.41762704e-03 9.96332021e-01 -4.71861629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921193816999995 meters 0.06806941000529365 Centerline is valid? [True, True] Translation: X:38.51, Y:-2.03, Z:-4.73 [[ 9.94215458e-01 6.45680977e-02 8.58288034e-02 3.85144313e+01] [-6.40863773e-02 9.97909346e-01 -8.35897958e-03 -2.02547859e+00] [-8.61890886e-02 2.81016963e-03 9.96274834e-01 -4.72903177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981193817 meters 0.06479669656629539 Centerline is valid? [True, True] Translation: X:38.58, Y:-2.01, Z:-4.74 [[ 9.93453425e-01 7.42084692e-02 8.68527188e-02 3.85763275e+01] [-7.37519536e-02 9.97240751e-01 -8.45775098e-03 -2.00936084e+00] [-8.72407073e-02 1.99682400e-03 9.96185260e-01 -4.73686881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04119381699999 meters 0.06322623120865849 Centerline is valid? [True, True] Translation: X:38.64, Y:-2.00, Z:-4.74 [[ 9.93124969e-01 7.89665849e-02 8.64122300e-02 3.86390995e+01] [-7.85334207e-02 9.96876040e-01 -8.40616438e-03 -2.00307959e+00] [-8.68060877e-02 1.56212373e-03 9.96224002e-01 -4.74462397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101193816999995 meters 0.06410682349748367 Centerline is valid? [True, True] Translation: X:38.70, Y:-2.01, Z:-4.76 [[ 9.93018458e-01 7.88241415e-02 8.77558959e-02 3.86993096e+01] [-7.83740700e-02 9.96887204e-01 -8.56785590e-03 -2.00673550e+00] [-8.81580836e-02 1.63025232e-03 9.96105162e-01 -4.75801090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161193817 meters 0.06306282605987423 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.00, Z:-4.76 [[ 9.92773732e-01 8.01859472e-02 8.92778350e-02 3.87624587e+01] [-7.97240073e-02 9.96778712e-01 -8.73391470e-03 -2.00100074e+00] [-8.96905826e-02 1.55321432e-03 9.95968467e-01 -4.76483197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22119381699999 meters 0.0625326008033411 Centerline is valid? [True, True] Translation: X:38.82, Y:-2.00, Z:-4.77 [[ 9.92593357e-01 8.33351924e-02 8.83949868e-02 3.88243082e+01] [-8.28945546e-02 9.96520778e-01 -8.65056482e-03 -2.00012498e+00] [-8.88083375e-02 1.25903012e-03 9.96047938e-01 -4.77312301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281193816999995 meters 0.0618238290434917 Centerline is valid? [True, True] Translation: X:38.89, Y:-2.00, Z:-4.78 [[ 9.92484076e-01 8.48886271e-02 8.81435187e-02 3.88870273e+01] [-8.44545999e-02 9.96389795e-01 -8.64857799e-03 -1.99912033e+00] [-8.85594684e-02 1.13945032e-03 9.96070240e-01 -4.77972758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341193817 meters 0.06220465519230672 Centerline is valid? [True, True] Translation: X:38.95, Y:-2.00, Z:-4.79 [[ 9.92551839e-01 8.27655767e-02 8.93907455e-02 3.89494385e+01] [-8.23077915e-02 9.96568091e-01 -8.80161410e-03 -2.00259338e+00] [-8.98124352e-02 1.37850342e-03 9.95957743e-01 -4.78780669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40119381699999 meters 0.06331119778196771 Centerline is valid? [True, True] Translation: X:39.01, Y:-2.01, Z:-4.80 [[ 9.92878354e-01 8.24497587e-02 8.59919216e-02 3.90090281e+01] [-8.20220649e-02 9.96594257e-01 -8.50106789e-03 -2.00576626e+00] [-8.63999662e-02 1.38729132e-03 9.96259565e-01 -4.80107491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461193816999995 meters 0.06344124784044275 Centerline is valid? [True, True] Translation: X:39.07, Y:-2.01, Z:-4.81 [[ 9.92961133e-01 8.29608235e-02 8.45321824e-02 3.90703484e+01] [-8.25488108e-02 9.96551926e-01 -8.36377010e-03 -2.00950837e+00] [-8.49345744e-02 1.32686751e-03 9.96385647e-01 -4.80943669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521193817 meters 0.06437198206619851 Centerline is valid? [True, True] Translation: X:39.13, Y:-2.02, Z:-4.81 [[ 9.93003185e-01 7.85498010e-02 8.81737154e-02 3.91312436e+01] [-7.80817542e-02 9.96908558e-01 -8.75020722e-03 -2.02023464e+00] [-8.85884585e-02 1.80422526e-03 9.96066679e-01 -4.81406671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58119381699999 meters 0.06649688413599006 Centerline is valid? [True, True] Translation: X:39.19, Y:-2.03, Z:-4.82 [[ 9.93493936e-01 7.11849682e-02 8.88960021e-02 3.91908158e+01] [-7.06768491e-02 9.97459964e-01 -8.85455837e-03 -2.03407348e+00] [-8.93005145e-02 2.51406072e-03 9.96001555e-01 -4.81823540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641193816999994 meters 0.06877738719456188 Centerline is valid? [True, True] Translation: X:39.25, Y:-2.05, Z:-4.83 [[ 9.93815202e-01 6.68186233e-02 8.86939501e-02 3.92490927e+01] [-6.62952582e-02 9.97760918e-01 -8.83685430e-03 -2.04528925e+00] [-8.90858235e-02 2.90221181e-03 9.96019725e-01 -4.82682850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701193817 meters 0.06844779135015872 Centerline is valid? [True, True] Translation: X:39.31, Y:-2.05, Z:-4.83 [[ 9.93821087e-01 6.58760102e-02 8.93308408e-02 3.93115126e+01] [-6.53420778e-02 9.97823308e-01 -8.89148358e-03 -2.04710930e+00] [-8.97221306e-02 2.99948112e-03 9.95962320e-01 -4.83194317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761193817 meters 0.06316357941211147 Centerline is valid? [True, True] Translation: X:39.37, Y:-2.03, Z:-4.83 [[ 9.93010173e-01 7.47650605e-02 9.13289724e-02 3.93745266e+01] [-7.42411846e-02 9.97198568e-01 -9.12481129e-03 -2.03408983e+00] [-9.17553376e-02 2.28065933e-03 9.95778970e-01 -4.83063293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821193816999994 meters 0.061224062074196714 Centerline is valid? [True, True] Translation: X:39.44, Y:-2.03, Z:-4.84 [[ 9.92315999e-01 8.37089420e-02 9.11140550e-02 3.94350883e+01] [-8.32250456e-02 9.96489191e-01 -9.10410180e-03 -2.02679996e+00] [-9.15562657e-02 1.45117449e-03 9.95798847e-01 -4.83876793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881193816999996 meters 0.059885738701721786 Centerline is valid? [True, True] Translation: X:39.50, Y:-2.01, Z:-4.85 [[ 9.91650297e-01 9.54546924e-02 8.67069194e-02 3.94981648e+01] [-9.50620062e-02 9.95433717e-01 -8.65620177e-03 -2.01355679e+00] [-8.71372662e-02 3.41391344e-04 9.96196256e-01 -4.85027839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941193817 meters 0.05945179556244243 Centerline is valid? [True, True] Translation: X:39.56, Y:-2.01, Z:-4.86 [[ 9.91254525e-01 9.89159624e-02 8.73504389e-02 3.95604942e+01] [-9.85285142e-02 9.95095789e-01 -8.74663076e-03 -2.01418172e+00] [-8.77872353e-02 6.36283552e-05 9.96139246e-01 -4.85705538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001193816999994 meters 0.05919621046446284 Centerline is valid? [True, True] Translation: X:39.62, Y:-2.01, Z:-4.86 [[ 9.90769382e-01 1.04946143e-01 8.58040727e-02 3.96226791e+01] [-1.04592770e-01 9.94477810e-01 -8.61609680e-03 -2.01421806e+00] [-8.62344725e-02 -4.37920729e-04 9.96274773e-01 -4.86384953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061193816999996 meters 0.05947958099118404 Centerline is valid? [True, True] Translation: X:39.68, Y:-2.02, Z:-4.87 [[ 9.90366247e-01 1.07682078e-01 8.70589856e-02 3.96833659e+01] [-1.07326374e-01 9.94185162e-01 -8.76998819e-03 -2.01810374e+00] [-8.74971223e-02 -6.58224968e-04 9.96164555e-01 -4.87316406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121193817 meters 0.05911746891378221 Centerline is valid? [True, True] Translation: X:39.74, Y:-2.03, Z:-4.88 [[ 9.90064787e-01 1.08246548e-01 8.97463246e-02 3.97437878e+01] [-1.07868548e-01 9.94123829e-01 -9.06579166e-03 -2.03135331e+00] [-9.02003005e-02 -7.05084680e-04 9.95923395e-01 -4.87954517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18119381699999 meters 0.05878406077065053 Centerline is valid? [True, True] Translation: X:39.80, Y:-2.05, Z:-4.88 [[ 9.90966538e-01 1.00450815e-01 8.88535553e-02 3.98042908e+01] [-1.00046948e-01 9.94942025e-01 -8.99862778e-03 -2.05488748e+00] [-8.93080557e-02 2.78120326e-05 9.96004051e-01 -4.88325933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241193816999996 meters 0.060813172967852956 Centerline is valid? [True, True] Translation: X:39.86, Y:-2.09, Z:-4.89 [[ 9.92572851e-01 8.41864470e-02 8.78167309e-02 3.98613114e+01] [-8.37247794e-02 9.96448868e-01 -8.93391060e-03 -2.08971070e+00] [-8.82569963e-02 1.51512068e-03 9.96096585e-01 -4.89063769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301193817 meters 0.06278641317214984 Centerline is valid? [True, True] Translation: X:39.92, Y:-2.11, Z:-4.90 [[ 9.92696964e-01 7.98868710e-02 9.03926163e-02 3.99212242e+01] [-7.93798119e-02 9.96802021e-01 -9.19650609e-03 -2.10704507e+00] [-9.08382228e-02 1.95399480e-03 9.95863745e-01 -4.89944461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36119381699999 meters 0.0613394575806931 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.11, Z:-4.90 [[ 9.92571452e-01 8.16279636e-02 9.02152372e-02 3.99836685e+01] [-8.11284947e-02 9.96661229e-01 -9.19577179e-03 -2.11193281e+00] [-9.06646613e-02 1.80843416e-03 9.95879837e-01 -4.90300206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421193816999995 meters 0.059005301716551654 Centerline is valid? [True, True] Translation: X:40.05, Y:-2.11, Z:-4.91 [[ 9.91604215e-01 9.05284949e-02 9.23345727e-02 4.00452153e+01] [-9.00402084e-02 9.95893306e-01 -9.44902706e-03 -2.10679902e+00] [-9.28107891e-02 1.05587088e-03 9.95683204e-01 -4.90583066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481193817 meters 0.058063762046053916 Centerline is valid? [True, True] Translation: X:40.11, Y:-2.10, Z:-4.91 [[ 9.90529431e-01 9.85858708e-02 9.55629233e-02 4.01064387e+01] [-9.81002301e-02 9.95128499e-01 -9.77831623e-03 -2.10437101e+00] [-9.60613922e-02 3.10965246e-04 9.95375362e-01 -4.91219554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54119381699999 meters 0.058541042297207815 Centerline is valid? [True, True] Translation: X:40.17, Y:-2.10, Z:-4.92 [[ 9.89572335e-01 1.11573183e-01 9.10934599e-02 4.01671287e+01] [-1.11186438e-01 9.93755812e-01 -9.32532343e-03 -2.10190235e+00] [-9.15651112e-02 -9.00275219e-04 9.95798684e-01 -4.92204477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601193816999995 meters 0.06072498716628383 Centerline is valid? [True, True] Translation: X:40.23, Y:-2.10, Z:-4.93 [[ 9.88685513e-01 1.22238831e-01 8.69403568e-02 4.02272666e+01] [-1.21927541e-01 9.92499084e-01 -8.90189311e-03 -2.10434272e+00] [-8.73763814e-02 -1.79925119e-03 9.96173745e-01 -4.93430805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661193817 meters 0.06261256015074802 Centerline is valid? [True, True] Translation: X:40.29, Y:-2.11, Z:-4.95 [[ 9.88312329e-01 1.27390314e-01 8.37284199e-02 4.02866725e+01] [-1.27119898e-01 9.91850293e-01 -8.57483916e-03 -2.10984104e+00] [-8.41384093e-02 -2.16892893e-03 9.96451717e-01 -4.94653717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72119381699999 meters 0.06431334766531548 Centerline is valid? [True, True] Translation: X:40.35, Y:-2.12, Z:-4.96 [[ 9.88081723e-01 1.30267296e-01 8.20057314e-02 4.03452723e+01] [-1.30017644e-01 9.91476097e-01 -8.40005998e-03 -2.12244347e+00] [-8.24009756e-02 -2.36224623e-03 9.96596457e-01 -4.95725298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781193816999995 meters 0.06081029064226247 Centerline is valid? [True, True] Translation: X:40.40, Y:-2.16, Z:-4.96 [[ 9.88765921e-01 1.23004582e-01 8.49224762e-02 4.04033875e+01] [-1.22709936e-01 9.92404438e-01 -8.70076139e-03 -2.16041387e+00] [-8.53476758e-02 -1.81781527e-03 9.96349572e-01 -4.95652561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841193817 meters 0.059117849709925764 Centerline is valid? [True, True] Translation: X:40.46, Y:-2.19, Z:-4.96 [[ 9.89683844e-01 1.13828131e-01 8.70002636e-02 4.04613117e+01] [-1.13483341e-01 9.93499901e-01 -8.91501194e-03 -2.18729935e+00] [-8.74495325e-02 -1.05003729e-03 9.96168398e-01 -4.96241293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90119381699999 meters 0.05819702892122752 Centerline is valid? [True, True] Translation: X:40.52, Y:-2.22, Z:-4.97 [[ 9.90744910e-01 1.01431956e-01 9.02002307e-02 4.05189898e+01] [-1.01009839e-01 9.94842478e-01 -9.24425392e-03 -2.22295932e+00] [-9.06726838e-02 4.75866925e-05 9.95880747e-01 -4.96669146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.961193816999995 meters 0.059010462393317316 Centerline is valid? [True, True] Translation: X:40.58, Y:-2.25, Z:-4.97 [[ 9.91541016e-01 9.25501933e-02 9.09993159e-02 4.05774441e+01] [-9.20834501e-02 9.95707645e-01 -9.32333758e-03 -2.24668841e+00] [-9.14715912e-02 8.64940647e-04 9.95807311e-01 -4.97465660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.021193817 meters 0.06218710298407039 Centerline is valid? [True, True] Translation: X:40.64, Y:-2.28, Z:-4.98 [[ 9.92685735e-01 7.89596561e-02 9.13258181e-02 4.06352378e+01] [-7.84291485e-02 9.96875477e-01 -9.38888827e-03 -2.27647455e+00] [-9.17818120e-02 2.15760930e-03 9.95776804e-01 -4.97977239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08119381699999 meters 0.06354301503989505 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.29, Z:-4.99 [[ 9.93091070e-01 7.49721993e-02 9.02734498e-02 4.06951775e+01] [-7.44373387e-02 9.97182495e-01 -9.28189181e-03 -2.29047590e+00] [-9.07149878e-02 2.49804851e-03 9.95873762e-01 -4.98548747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.141193816999994 meters 0.06323350749668953 Centerline is valid? [True, True] Translation: X:40.76, Y:-2.30, Z:-5.00 [[ 9.93068253e-01 7.75743855e-02 8.83043553e-02 4.07556836e+01] [-7.70730741e-02 9.96984120e-01 -9.07777835e-03 -2.29547039e+00] [-8.87422430e-02 2.20896538e-03 9.96052175e-01 -4.99593064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.201193817 meters 0.061161743507498076 Centerline is valid? [True, True] Translation: X:40.82, Y:-2.29, Z:-5.00 [[ 9.92934793e-01 8.28706164e-02 8.49291382e-02 4.08189311e+01] [-8.24253673e-02 9.96558899e-01 -8.74181988e-03 -2.29363576e+00] [-8.53613285e-02 1.67974169e-03 9.96348645e-01 -5.00410290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26119381699999 meters 0.059107894718566555 Centerline is valid? [True, True] Translation: X:40.88, Y:-2.29, Z:-5.01 [[ 9.92164139e-01 9.28823379e-02 8.35654950e-02 4.08809195e+01] [-9.24842414e-02 9.95676742e-01 -8.63078504e-03 -2.29114880e+00] [-8.40058673e-02 8.34663995e-04 9.96464910e-01 -5.01247721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321193816999994 meters 0.05920202917565659 Centerline is valid? [True, True] Translation: X:40.94, Y:-2.30, Z:-5.02 [[ 9.91987984e-01 9.61207633e-02 8.19795013e-02 4.09405646e+01] [-9.57466391e-02 9.95369514e-01 -8.49190199e-03 -2.29623029e+00] [-8.24161445e-02 5.74603005e-04 9.96597837e-01 -5.02376346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381193816999996 meters 0.05889538235994916 Centerline is valid? [True, True] Translation: X:41.00, Y:-2.31, Z:-5.03 [[ 9.92169218e-01 9.29213893e-02 8.34617211e-02 4.10020011e+01] [-9.25204368e-02 9.95673061e-01 -8.66738385e-03 -2.30833800e+00] [-8.39059727e-02 8.77596558e-04 9.96473290e-01 -5.02884407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441193817 meters 0.05930922871066585 Centerline is valid? [True, True] Translation: X:41.06, Y:-2.32, Z:-5.04 [[ 9.91825331e-01 9.30989258e-02 8.72645594e-02 4.10615257e+01] [-9.26579741e-02 9.95656421e-01 -9.09896839e-03 -2.31954066e+00] [-8.77326231e-02 9.38830048e-04 9.96143617e-01 -5.03754803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501193816999994 meters 0.05686075983041273 Centerline is valid? [True, True] Translation: X:41.12, Y:-2.32, Z:-5.03 [[ 9.90726526e-01 9.97322214e-02 9.22736945e-02 4.11243111e+01] [-9.92672956e-02 9.95014242e-01 -9.62612165e-03 -2.31595141e+00] [-9.27736747e-02 3.77093954e-04 9.95687151e-01 -5.03266386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561193816999996 meters 0.05672155337383553 Centerline is valid? [True, True] Translation: X:41.19, Y:-2.31, Z:-5.04 [[ 9.89856840e-01 1.06265048e-01 9.42930340e-02 4.11854977e+01] [-1.05809221e-01 9.94337810e-01 -9.83501472e-03 -2.31096892e+00] [-9.48042472e-02 -2.41815923e-04 9.95495905e-01 -5.04139851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621193817 meters 0.05784976771788952 Centerline is valid? [True, True] Translation: X:41.25, Y:-2.30, Z:-5.05 [[ 9.89243513e-01 1.15489327e-01 8.97746534e-02 4.12461186e+01] [-1.15112400e-01 9.93308163e-01 -9.38233668e-03 -2.30399503e+00] [-9.02574558e-02 -1.05276010e-03 9.95917910e-01 -5.05389761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68119381699999 meters 0.05840908579608088 Centerline is valid? [True, True] Translation: X:41.31, Y:-2.31, Z:-5.07 [[ 9.89328488e-01 1.16176684e-01 8.79324758e-02 4.13074061e+01] [-1.15818394e-01 9.93227955e-01 -9.18311149e-03 -2.31037453e+00] [-8.84038565e-02 -1.09908431e-03 9.96084108e-01 -5.06506896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.741193816999996 meters 0.05768051777770997 Centerline is valid? [True, True] Translation: X:41.37, Y:-2.33, Z:-5.07 [[ 9.89926640e-01 1.11939349e-01 8.66881123e-02 4.13688498e+01] [-1.11573013e-01 9.93714802e-01 -9.07494547e-03 -2.32549116e+00] [-8.71591038e-02 -6.88523617e-04 9.96194166e-01 -5.07106724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801193817 meters 0.057821258606284905 Centerline is valid? [True, True] Translation: X:41.43, Y:-2.34, Z:-5.08 [[ 9.90513661e-01 1.08640156e-01 8.41427585e-02 4.14289874e+01] [-1.08280764e-01 9.94081077e-01 -8.83673231e-03 -2.34055458e+00] [-8.46047480e-02 -3.58138106e-04 9.96414526e-01 -5.08010478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86119381699999 meters 0.05873538834163464 Centerline is valid? [True, True] Translation: X:41.49, Y:-2.36, Z:-5.09 [[ 9.91127490e-01 1.07754765e-01 7.78152237e-02 4.14872313e+01] [-1.07442262e-01 9.94177478e-01 -8.20379911e-03 -2.35641061e+00] [-7.82461413e-02 -2.29632851e-04 9.96934044e-01 -5.09437443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921193816999995 meters 0.0590776201209845 Centerline is valid? [True, True] Translation: X:41.55, Y:-2.37, Z:-5.10 [[ 9.91253093e-01 1.08077303e-01 7.57403616e-02 4.15471940e+01] [-1.07782754e-01 9.94142460e-01 -7.97788506e-03 -2.36532222e+00] [-7.61589377e-02 -2.55401506e-04 9.97095658e-01 -5.10431892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981193817 meters 0.058705272645871935 Centerline is valid? [True, True] Translation: X:41.61, Y:-2.38, Z:-5.11 [[ 9.91188902e-01 1.07189977e-01 7.78130362e-02 4.16083400e+01] [-1.06874043e-01 9.94238544e-01 -8.22538234e-03 -2.37980176e+00] [-7.82463984e-02 -1.63286046e-04 9.96934037e-01 -5.10921877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04119381699999 meters 0.05852280198525831 Centerline is valid? [True, True] Translation: X:41.67, Y:-2.40, Z:-5.12 [[ 9.91520296e-01 1.02350196e-01 8.00745889e-02 4.16692398e+01] [-1.01999306e-01 9.94748402e-01 -8.47099530e-03 -2.39744685e+00] [-8.05210774e-02 2.31611265e-04 9.96752879e-01 -5.11500918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101193816999995 meters 0.05853160184385246 Centerline is valid? [True, True] Translation: X:41.73, Y:-2.41, Z:-5.12 [[ 9.91622984e-01 9.94002528e-02 8.24830074e-02 4.17304131e+01] [-9.90169804e-02 9.95047409e-01 -8.73452961e-03 -2.41159386e+00] [-8.29427173e-02 4.94141990e-04 9.96554194e-01 -5.11870362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161193817 meters 0.05760707952303441 Centerline is valid? [True, True] Translation: X:41.79, Y:-2.42, Z:-5.12 [[ 9.91272492e-01 9.83384349e-02 8.77974826e-02 4.17921997e+01] [-9.78967750e-02 9.95152813e-01 -9.33272796e-03 -2.41931469e+00] [-8.82896777e-02 6.56186104e-04 9.96094625e-01 -5.11787604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22119381699999 meters 0.0588951826857309 Centerline is valid? [True, True] Translation: X:41.85, Y:-2.42, Z:-5.14 [[ 9.91413208e-01 9.95808492e-02 8.47555683e-02 4.18517863e+01] [-9.91736521e-02 9.95029334e-01 -9.01176840e-03 -2.41855430e+00] [-8.52316762e-02 5.28866975e-04 9.96361020e-01 -5.13632053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281193816999995 meters 0.05831306357257443 Centerline is valid? [True, True] Translation: X:41.91, Y:-2.42, Z:-5.14 [[ 9.91008226e-01 1.02019678e-01 8.65718236e-02 4.19145930e+01] [-1.01603022e-01 9.94782323e-01 -9.21710710e-03 -2.42218557e+00] [-8.70604461e-02 3.38270103e-04 9.96202973e-01 -5.13917397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341193817 meters 0.057826114966997834 Centerline is valid? [True, True] Translation: X:41.98, Y:-2.43, Z:-5.14 [[ 9.90807965e-01 1.02857011e-01 8.78635998e-02 4.19763717e+01] [-1.02430244e-01 9.94696113e-01 -9.36414574e-03 -2.42744139e+00] [-8.83607492e-02 2.78180260e-04 9.96088500e-01 -5.14211925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40119381699999 meters 0.058825111128366234 Centerline is valid? [True, True] Translation: X:42.04, Y:-2.44, Z:-5.15 [[ 9.91534916e-01 9.75821653e-02 8.56517982e-02 4.20365805e+01] [-9.71542457e-02 9.95227181e-01 -9.16030300e-03 -2.43798381e+00] [-8.61368798e-02 7.61324430e-04 9.96283021e-01 -5.15447342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461193816999995 meters 0.061109756468286786 Centerline is valid? [True, True] Translation: X:42.09, Y:-2.46, Z:-5.17 [[ 9.92583123e-01 8.83018375e-02 8.35555526e-02 4.20946167e+01] [-8.78610178e-02 9.96092576e-01 -8.94544218e-03 -2.45696853e+00] [-8.40189647e-02 1.53781903e-03 9.96462969e-01 -5.16579321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521193817 meters 0.06533010536206968 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.48, Z:-5.17 [[ 9.93876430e-01 7.45374716e-02 8.15708751e-02 4.21526629e+01] [-7.40709195e-02 9.97214720e-01 -8.73501601e-03 -2.48006113e+00] [-8.19947634e-02 2.63949680e-03 9.96629265e-01 -5.17252649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58119381699999 meters 0.0679143494588055 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.49, Z:-5.18 [[ 9.93981125e-01 7.16387097e-02 8.28819550e-02 4.22124438e+01] [-7.11476811e-02 9.97426383e-01 -8.86667037e-03 -2.48999419e+00] [-8.33038454e-02 2.91644409e-03 9.96519926e-01 -5.18133072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641193816999994 meters 0.0651340830435942 Centerline is valid? [True, True] Translation: X:42.28, Y:-2.48, Z:-5.18 [[ 9.93601574e-01 7.43209082e-02 8.50430182e-02 4.22760104e+01] [-7.38110036e-02 9.97230465e-01 -9.12884404e-03 -2.47903103e+00] [-8.54859526e-02 2.79332328e-03 9.96335460e-01 -5.18331908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701193817 meters 0.06204022812227008 Centerline is valid? [True, True] Translation: X:42.34, Y:-2.46, Z:-5.19 [[ 9.92792093e-01 8.15113897e-02 8.78621277e-02 4.23393462e+01] [-8.09944172e-02 9.96669860e-01 -9.43897427e-03 -2.46214125e+00] [-8.83389184e-02 2.25459720e-03 9.96087924e-01 -5.18568006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76119381699999 meters 0.060009119190604636 Centerline is valid? [True, True] Translation: X:42.40, Y:-2.45, Z:-5.19 [[ 9.91755407e-01 8.99348231e-02 9.12849408e-02 4.24019558e+01] [-8.94120948e-02 9.95946423e-01 -9.80815546e-03 -2.45299904e+00] [-9.17970050e-02 1.56531343e-03 9.95776511e-01 -5.18976288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.821193816999994 meters 0.058293992857603026 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.43, Z:-5.20 [[ 9.90214890e-01 1.05984765e-01 9.07838168e-02 4.24656103e+01] [-1.05534871e-01 9.94367751e-01 -9.75539164e-03 -2.43020130e+00] [-9.13064226e-02 7.90756326e-05 9.95822841e-01 -5.19857986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.881193816999996 meters 0.05896019755029295 Centerline is valid? [True, True] Translation: X:42.53, Y:-2.42, Z:-5.21 [[ 9.89209532e-01 1.16978182e-01 8.82077466e-02 4.25279085e+01] [-1.16597429e-01 9.93134066e-01 -9.47455720e-03 -2.41944939e+00] [-8.87104345e-02 -9.12474179e-04 9.96057040e-01 -5.21016781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.941193817 meters 0.06060846199562715 Centerline is valid? [True, True] Translation: X:42.59, Y:-2.42, Z:-5.22 [[ 9.88454039e-01 1.25179301e-01 8.53742089e-02 4.25885153e+01] [-1.24850371e-01 9.92132904e-01 -9.20242968e-03 -2.41731589e+00] [-8.58545155e-02 -1.56282289e-03 9.96306459e-01 -5.22196052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.001193816999994 meters 0.06171318395959894 Centerline is valid? [True, True] Translation: X:42.65, Y:-2.43, Z:-5.23 [[ 9.87719443e-01 1.30963920e-01 8.51983155e-02 4.26494276e+01] [-1.30657836e-01 9.91384992e-01 -9.18304789e-03 -2.42592042e+00] [-8.56669793e-02 -2.06155255e-03 9.96321694e-01 -5.23042600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.061193816999996 meters 0.061805553218085556 Centerline is valid? [True, True] Translation: X:42.71, Y:-2.44, Z:-5.24 [[ 9.87649260e-01 1.31584492e-01 8.50556348e-02 4.27112141e+01] [-1.31281894e-01 9.91302705e-01 -9.16573308e-03 -2.43655039e+00] [-8.55219492e-02 -2.11373534e-03 9.96334045e-01 -5.24011173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121193817 meters 0.06130980764965577 Centerline is valid? [True, True] Translation: X:42.77, Y:-2.46, Z:-5.25 [[ 9.89020495e-01 1.23459719e-01 8.12167394e-02 4.27684338e+01] [-1.23154127e-01 9.92348709e-01 -8.78065946e-03 -2.46370764e+00] [-8.16793843e-02 -1.31792451e-03 9.96657785e-01 -5.25453849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18119381699999 meters 0.06067732711867071 Centerline is valid? [True, True] Translation: X:42.83, Y:-2.49, Z:-5.26 [[ 9.90519907e-01 1.12072022e-01 7.94366083e-02 4.28267984e+01] [-1.11741468e-01 9.93700025e-01 -8.60841100e-03 -2.49240602e+00] [-7.99009217e-02 -3.49560723e-04 9.96802749e-01 -5.26290402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.241193816999996 meters 0.06387135141052346 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.53, Z:-5.27 [[ 9.92915184e-01 8.82031626e-02 7.96218560e-02 4.28834435e+01] [-8.77915363e-02 9.96101203e-01 -8.66253340e-03 -2.53113519e+00] [-8.00754894e-02 1.61103588e-03 9.96787500e-01 -5.27098014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301193817 meters 0.07242936822490625 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.56, Z:-5.28 [[ 9.94475161e-01 6.78927787e-02 8.00607601e-02 4.29404400e+01] [-6.74107253e-02 9.97687275e-01 -8.71175211e-03 -2.56383151e+00] [-8.04670666e-02 3.26666717e-03 9.96751915e-01 -5.27549353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36119381699999 meters 0.0731601537677465 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.57, Z:-5.27 [[ 9.94556376e-01 6.13386448e-02 8.42329191e-02 4.30032672e+01] [-6.07814581e-02 9.98109013e-01 -9.16586368e-03 -2.57024576e+00] [-8.46358574e-02 3.99616852e-03 9.96403935e-01 -5.27340548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.421193816999995 meters 0.07155404278927985 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.56, Z:-5.28 [[ 9.94327962e-01 6.25009776e-02 8.60553991e-02 4.30666885e+01] [-6.19236875e-02 9.98036958e-01 -9.36410323e-03 -2.56216692e+00] [-8.64717344e-02 3.98212204e-03 9.96246346e-01 -5.27665750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481193817 meters 0.0708774056010073 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.56, Z:-5.28 [[ 9.94068658e-01 6.44015002e-02 8.76353197e-02 4.31280071e+01] [-6.38068882e-02 9.97916354e-01 -9.57242456e-03 -2.55952186e+00] [-8.80691973e-02 3.92391019e-03 9.96106631e-01 -5.28344066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54119381699999 meters 0.06892338705461046 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.55, Z:-5.29 [[ 9.93815861e-01 6.86909003e-02 8.72444562e-02 4.31908126e+01] [-6.81178748e-02 9.97631745e-01 -9.53181961e-03 -2.54850642e+00] [-8.76925884e-02 3.52996657e-03 9.96141330e-01 -5.29234843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.601193816999995 meters 0.06924435285196177 Centerline is valid? [True, True] Translation: X:43.25, Y:-2.55, Z:-5.30 [[ 9.93767923e-01 7.19183160e-02 8.51649640e-02 4.32518849e+01] [-7.13837173e-02 9.97405480e-01 -9.30986123e-03 -2.54764424e+00] [-8.56135513e-02 3.17244974e-03 9.96323369e-01 -5.30277804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661193817 meters 0.06851093694711054 Centerline is valid? [True, True] Translation: X:43.31, Y:-2.54, Z:-5.31 [[ 9.93743960e-01 7.71140323e-02 8.07859340e-02 4.33141680e+01] [-7.66496855e-02 9.97018914e-01 -8.83800848e-03 -2.54407852e+00] [-8.12266387e-02 2.59050111e-03 9.96692291e-01 -5.31435669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72119381699999 meters 0.06625095625819528 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.53, Z:-5.33 [[ 9.93473514e-01 8.67520343e-02 7.40571450e-02 4.33775340e+01] [-8.63869018e-02 9.96228528e-01 -8.12551565e-03 -2.52708688e+00] [-7.44827455e-02 1.67491728e-03 9.97220896e-01 -5.32813368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781193816999995 meters 0.06398558873448291 Centerline is valid? [True, True] Translation: X:43.44, Y:-2.51, Z:-5.33 [[ 9.92757589e-01 9.39852861e-02 7.48273756e-02 4.34415139e+01] [-9.36304687e-02 9.95572890e-01 -8.24356726e-03 -2.51386801e+00] [-7.52708806e-02 1.17774171e-03 9.97162428e-01 -5.33098060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841193817 meters 0.06342320639915677 Centerline is valid? [True, True] Translation: X:43.50, Y:-2.52, Z:-5.34 [[ 9.92590183e-01 9.50337867e-02 7.57186084e-02 4.35035207e+01] [-9.46739604e-02 9.95473434e-01 -8.33568239e-03 -2.51636716e+00] [-7.61680345e-02 1.10533599e-03 9.97094383e-01 -5.33525627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90119381699999 meters 0.06404212886930503 Centerline is valid? [True, True] Translation: X:43.56, Y:-2.52, Z:-5.35 [[ 9.92655916e-01 9.51040683e-02 7.47626096e-02 4.35636466e+01] [-9.47514988e-02 9.95466714e-01 -8.25678145e-03 -2.51695646e+00] [-7.52089428e-02 1.11227364e-03 9.97167176e-01 -5.34572755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.961193816999995 meters 0.06445270098952226 Centerline is valid? [True, True] Translation: X:43.63, Y:-2.51, Z:-5.36 [[ 9.92568697e-01 9.59907995e-02 7.47873463e-02 4.36265726e+01] [-9.56394688e-02 9.95381658e-01 -8.27329961e-03 -2.51299107e+00] [-7.52361134e-02 1.05919614e-03 9.97165185e-01 -5.35647072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021193817 meters 0.0634791040039811 Centerline is valid? [True, True] Translation: X:43.69, Y:-2.51, Z:-5.36 [[ 9.92086512e-01 1.01271309e-01 7.42191019e-02 4.36890144e+01] [-1.00938020e-01 9.94858612e-01 -8.23758491e-03 -2.50992783e+00] [-7.46717437e-02 6.80867707e-04 9.97207936e-01 -5.36196693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08119381699999 meters 0.06259729798708229 Centerline is valid? [True, True] Translation: X:43.75, Y:-2.51, Z:-5.37 [[ 9.91227897e-01 1.08273672e-01 7.57896320e-02 4.37510947e+01] [-1.07943796e-01 9.94121107e-01 -8.44760394e-03 -2.50656364e+00] [-7.62587260e-02 1.92480081e-04 9.97088045e-01 -5.36654397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141193816999994 meters 0.06217965687523778 Centerline is valid? [True, True] Translation: X:43.81, Y:-2.51, Z:-5.37 [[ 9.91036771e-01 1.07444406e-01 7.93839970e-02 4.38115574e+01] [-1.07079481e-01 9.94211057e-01 -8.85207653e-03 -2.51490652e+00] [-7.98755536e-02 2.72336101e-04 9.96804806e-01 -5.37226233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.201193817 meters 0.0638691766798456 Centerline is valid? [True, True] Translation: X:43.87, Y:-2.54, Z:-5.38 [[ 9.92210446e-01 9.50580306e-02 8.05133663e-02 4.38705686e+01] [-9.46424098e-02 9.95470908e-01 -8.97138511e-03 -2.53981464e+00] [-8.10015160e-02 1.28152301e-03 9.96713154e-01 -5.38173772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26119381699999 meters 0.06759673262256806 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.57, Z:-5.39 [[ 9.93273376e-01 8.23317837e-02 8.14216097e-02 4.39288894e+01] [-8.18611256e-02 9.96602131e-01 -9.10758929e-03 -2.56616559e+00] [-8.18947938e-02 2.38106135e-03 9.96638136e-01 -5.39014190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321193816999994 meters 0.0716454499485003 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.59, Z:-5.40 [[ 9.94384915e-01 6.82788283e-02 8.08495026e-02 4.39868983e+01] [-6.77681308e-02 9.97660078e-01 -9.04710788e-03 -2.59057632e+00] [-8.12780469e-02 3.51728794e-03 9.96685260e-01 -5.39534651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381193816999996 meters 0.07267958876155138 Centerline is valid? [True, True] Translation: X:44.05, Y:-2.59, Z:-5.41 [[ 9.94724386e-01 6.75472655e-02 7.72059753e-02 4.40469567e+01] [-6.70793091e-02 9.97710224e-01 -8.64146759e-03 -2.59387181e+00] [-7.76128984e-02 3.41695507e-03 9.96977714e-01 -5.40721290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441193817 meters 0.07016817706717614 Centerline is valid? [True, True] Translation: X:44.11, Y:-2.58, Z:-5.42 [[ 9.94243559e-01 7.82710017e-02 7.31669048e-02 4.41076064e+01] [-7.78792720e-02 9.96929107e-01 -8.19599142e-03 -2.58173227e+00] [-7.35837255e-02 2.45062641e-03 9.97286032e-01 -5.42064681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501193816999994 meters 0.0677021228159808 Centerline is valid? [True, True] Translation: X:44.17, Y:-2.57, Z:-5.43 [[ 9.93505758e-01 8.68642746e-02 7.34908568e-02 4.41695087e+01] [-8.64926047e-02 9.96218491e-01 -8.23089732e-03 -2.57282356e+00] [-7.39279214e-02 1.82102825e-03 9.97261925e-01 -5.42848423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.561193816999996 meters 0.06488929444503859 Centerline is valid? [True, True] Translation: X:44.23, Y:-2.56, Z:-5.43 [[ 9.92312553e-01 9.58585331e-02 7.82747666e-02 4.42316640e+01] [-9.54644057e-02 9.95394207e-01 -8.77039198e-03 -2.56176642e+00] [-7.87549661e-02 1.23051599e-03 9.96893245e-01 -5.43301678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.621193817 meters 0.06309187810743433 Centerline is valid? [True, True] Translation: X:44.29, Y:-2.56, Z:-5.44 [[ 9.91273826e-01 1.01688525e-01 8.38787620e-02 4.42928502e+01] [-1.01256583e-01 9.94815946e-01 -9.39887317e-03 -2.55511209e+00] [-8.43996875e-02 8.23580142e-04 9.96431641e-01 -5.43744222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68119381699999 meters 0.06146317780586619 Centerline is valid? [True, True] Translation: X:44.36, Y:-2.55, Z:-5.44 [[ 9.89935169e-01 1.12052192e-01 8.64445961e-02 4.43558032e+01] [-1.11633053e-01 9.93702321e-01 -9.68293826e-03 -2.55179039e+00] [-8.69851903e-02 -6.45930663e-05 9.96209603e-01 -5.43741854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.741193816999996 meters 0.06202590960316875 Centerline is valid? [True, True] Translation: X:44.42, Y:-2.56, Z:-5.45 [[ 9.89747316e-01 1.15614244e-01 8.38665414e-02 4.44150648e+01] [-1.15232751e-01 9.93294121e-01 -9.39163075e-03 -2.56323086e+00] [-8.43899488e-02 -3.68830928e-04 9.96432738e-01 -5.45036030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801193817 meters 0.06214345912138834 Centerline is valid? [True, True] Translation: X:44.48, Y:-2.58, Z:-5.46 [[ 9.90106295e-01 1.12456013e-01 8.39235994e-02 4.44757357e+01] [-1.12060816e-01 9.93656701e-01 -9.41990251e-03 -2.57969755e+00] [-8.44505716e-02 -7.78422505e-05 9.96427667e-01 -5.45986996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86119381699999 meters 0.06289206171947512 Centerline is valid? [True, True] Translation: X:44.53, Y:-2.61, Z:-5.47 [[ 9.91102437e-01 1.01449841e-01 8.61619982e-02 4.45326776e+01] [-1.00988797e-01 9.94840233e-01 -9.70428981e-03 -2.61369927e+00] [-8.67019211e-02 9.16548732e-04 9.96233877e-01 -5.46633360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921193816999995 meters 0.0647580284818373 Centerline is valid? [True, True] Translation: X:44.59, Y:-2.64, Z:-5.48 [[ 9.91883778e-01 9.32100697e-02 8.64780535e-02 4.45914356e+01] [-9.27122536e-02 9.95645069e-01 -9.76393379e-03 -2.63810434e+00] [-8.70115445e-02 1.66711231e-03 9.96205908e-01 -5.47522472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981193817 meters 0.06784314946675639 Centerline is valid? [True, True] Translation: X:44.65, Y:-2.66, Z:-5.48 [[ 9.93029142e-01 7.99800808e-02 8.65812380e-02 4.46495751e+01] [-7.94280525e-02 9.96792352e-01 -9.80769214e-03 -2.66378289e+00] [-8.70879359e-02 2.86234498e-03 9.96196516e-01 -5.47979275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04119381699999 meters 0.07319677984514117 Centerline is valid? [True, True] Translation: X:44.71, Y:-2.68, Z:-5.49 [[ 9.93445855e-01 7.20425334e-02 8.87423568e-02 4.47068464e+01] [-7.14310130e-02 9.97394894e-01 -1.00516951e-02 -2.68392424e+00] [-8.92353231e-02 3.64685844e-03 9.96003894e-01 -5.48855598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101193816999995 meters 0.07358238704834745 Centerline is valid? [True, True] Translation: X:44.77, Y:-2.69, Z:-5.49 [[ 9.94135838e-01 6.62302143e-02 8.54838818e-02 4.47675949e+01] [-6.56406868e-02 9.97796255e-01 -9.69189292e-03 -2.68988493e+00] [-8.59373933e-02 4.02383738e-03 9.96292413e-01 -5.49419012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161193817 meters 0.07643456736280697 Centerline is valid? [True, True] Translation: X:44.83, Y:-2.69, Z:-5.51 [[ 9.94788838e-01 6.08530406e-02 8.18051103e-02 4.48274045e+01] [-6.02951147e-02 9.98137496e-01 -9.27563630e-03 -2.69396080e+00] [-8.22171987e-02 4.29485094e-03 9.96605181e-01 -5.50545749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22119381699999 meters 0.07673091434949716 Centerline is valid? [True, True] Translation: X:44.89, Y:-2.69, Z:-5.51 [[ 9.94474287e-01 6.16845259e-02 8.49465174e-02 4.48882055e+01] [-6.10855196e-02 9.98086029e-01 -9.63529650e-03 -2.69128778e+00] [-8.53782809e-02 4.39305246e-03 9.96338923e-01 -5.51195973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.281193816999995 meters 0.0771609019134765 Centerline is valid? [True, True] Translation: X:44.95, Y:-2.69, Z:-5.52 [[ 9.94531464e-01 6.12066803e-02 8.46221546e-02 4.49498968e+01] [-6.06112286e-02 9.98115376e-01 -9.59033522e-03 -2.69493636e+00] [-8.50496663e-02 4.40883736e-03 9.96366959e-01 -5.52067161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341193817 meters 0.07894975210459275 Centerline is valid? [True, True] Translation: X:45.01, Y:-2.70, Z:-5.53 [[ 9.94689272e-01 5.91208851e-02 8.42494697e-02 4.50098013e+01] [-5.85202828e-02 9.98240225e-01 -9.58282649e-03 -2.69937346e+00] [-8.46677548e-02 4.60163191e-03 9.96398613e-01 -5.52973238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40119381699999 meters 0.08136222734074376 Centerline is valid? [True, True] Translation: X:45.07, Y:-2.70, Z:-5.53 [[ 9.94454604e-01 5.67988155e-02 8.85095254e-02 4.50717199e+01] [-5.61266887e-02 9.98372909e-01 -1.00662019e-02 -2.70462232e+00] [-8.89372608e-02 5.04263420e-03 9.96024465e-01 -5.53433901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461193816999995 meters 0.0822051283843961 Centerline is valid? [True, True] Translation: X:45.13, Y:-2.70, Z:-5.54 [[ 9.94480903e-01 5.24864970e-02 9.08454774e-02 4.51331529e+01] [-5.17581257e-02 9.98605946e-01 -1.03567104e-02 -2.70310167e+00] [-9.12624213e-02 5.59755903e-03 9.95811146e-01 -5.53838661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521193817 meters 0.08471613261772133 Centerline is valid? [True, True] Translation: X:45.19, Y:-2.70, Z:-5.55 [[ 9.94690621e-01 4.99873435e-02 8.99546209e-02 4.51924630e+01] [-4.92628530e-02 9.98733174e-01 -1.02576200e-02 -2.70221121e+00] [-9.03534152e-02 5.77173713e-03 9.95893040e-01 -5.54871555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58119381699999 meters 0.08460305013954125 Centerline is valid? [True, True] Translation: X:45.26, Y:-2.69, Z:-5.56 [[ 9.94598445e-01 4.97292209e-02 9.11094781e-02 4.52570518e+01] [-4.89857403e-02 9.98745542e-01 -1.03797816e-02 -2.69148094e+00] [-9.15113636e-02 5.86064938e-03 9.95786786e-01 -5.55625777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641193816999994 meters 0.08338747678283025 Centerline is valid? [True, True] Translation: X:45.32, Y:-2.68, Z:-5.56 [[ 9.94266841e-01 5.36106465e-02 9.25167405e-02 4.53179924e+01] [-5.28569035e-02 9.98546048e-01 -1.05800602e-02 -2.68316716e+00] [-9.29494295e-02 5.62925463e-03 9.95654918e-01 -5.56268495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.701193817 meters 0.0748612531614818 Centerline is valid? [True, True] Translation: X:45.38, Y:-2.65, Z:-5.57 [[ 9.93967308e-01 6.07001451e-02 9.13481379e-02 4.53825436e+01] [-5.99952603e-02 9.98144010e-01 -1.04453014e-02 -2.65077471e+00] [-9.18126280e-02 4.90183284e-03 9.95764236e-01 -5.56832954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76119381699999 meters 0.07359161546296254 Centerline is valid? [True, True] Translation: X:45.44, Y:-2.65, Z:-5.58 [[ 9.93881333e-01 6.34039911e-02 9.04424169e-02 4.54446206e+01] [-6.27243241e-02 9.97977322e-01 -1.03403967e-02 -2.64795818e+00] [-9.09151034e-02 4.60418777e-03 9.95848003e-01 -5.57708097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821193816999994 meters 0.07298812153544 Centerline is valid? [True, True] Translation: X:45.51, Y:-2.64, Z:-5.59 [[ 9.93559735e-01 6.72458983e-02 9.11978138e-02 4.55054178e+01] [-6.65701699e-02 9.97727182e-01 -1.04346826e-02 -2.64161476e+00] [-9.16922273e-02 4.29642652e-03 9.95778126e-01 -5.58523267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881193816999996 meters 0.0709770585915571 Centerline is valid? [True, True] Translation: X:45.57, Y:-2.63, Z:-5.59 [[ 9.93192876e-01 7.06415788e-02 9.26157537e-02 4.55673754e+01] [-6.99592997e-02 9.97493560e-01 -1.05969206e-02 -2.63069557e+00] [-9.31322010e-02 4.04545279e-03 9.95645533e-01 -5.59030007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941193817 meters 0.06937582813092434 Centerline is valid? [True, True] Translation: X:45.63, Y:-2.63, Z:-5.59 [[ 9.92963761e-01 6.98434265e-02 9.56287876e-02 4.56303032e+01] [-6.91129284e-02 9.97548922e-01 -1.09339618e-02 -2.62547598e+00] [-9.61580594e-02 4.24784226e-03 9.95357013e-01 -5.59327558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001193816999994 meters 0.06905115282161686 Centerline is valid? [True, True] Translation: X:45.69, Y:-2.63, Z:-5.60 [[ 9.92142662e-01 7.53070139e-02 9.99089213e-02 4.56901311e+01] [-7.45329980e-02 9.97152666e-01 -1.14626667e-02 -2.62558274e+00] [-1.00487666e-01 3.92608921e-03 9.94930558e-01 -5.59864913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061193816999996 meters 0.06385342933143968 Centerline is valid? [True, True] Translation: X:45.75, Y:-2.61, Z:-5.61 [[ 9.91289464e-01 9.10928770e-02 9.51172245e-02 4.57513965e+01] [-9.04640043e-02 9.95839944e-01 -1.09119164e-02 -2.60539659e+00] [-9.57155294e-02 2.21218271e-03 9.95406271e-01 -5.61089421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121193817 meters 0.0614601023042792 Centerline is valid? [True, True] Translation: X:45.81, Y:-2.59, Z:-5.62 [[ 9.90688483e-01 1.00904123e-01 9.14039814e-02 4.58149050e+01] [-1.00366147e-01 9.94895426e-01 -1.04750902e-02 -2.59294276e+00] [-9.19943829e-02 1.20368579e-03 9.95758798e-01 -5.61973534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18119381699999 meters 0.061455266640304394 Centerline is valid? [True, True] Translation: X:45.88, Y:-2.59, Z:-5.63 [[ 9.90683985e-01 1.02854989e-01 8.92529760e-02 4.58770219e+01] [-1.02347686e-01 9.94695834e-01 -1.02541717e-02 -2.59089928e+00] [-8.98342561e-02 1.02380805e-03 9.95956203e-01 -5.62989700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.241193816999996 meters 0.06170580900749143 Centerline is valid? [True, True] Translation: X:45.94, Y:-2.60, Z:-5.64 [[ 9.90857536e-01 1.00658836e-01 8.98284024e-02 4.59385246e+01] [-1.00133519e-01 9.94920206e-01 -1.03470351e-02 -2.59937929e+00] [-9.04136132e-02 1.25760362e-03 9.95903508e-01 -5.63733484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301193817 meters 0.06096771996865847 Centerline is valid? [True, True] Translation: X:46.00, Y:-2.61, Z:-5.64 [[ 9.90658004e-01 1.01070653e-01 9.15502217e-02 4.60007666e+01] [-1.00524209e-01 9.94878439e-01 -1.05723543e-02 -2.60601066e+00] [-9.21498965e-02 1.27057376e-03 9.95744336e-01 -5.64033053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36119381699999 meters 0.06056389714828145 Centerline is valid? [True, True] Translation: X:46.06, Y:-2.61, Z:-5.65 [[ 9.90365925e-01 1.03449085e-01 9.20522758e-02 4.60625400e+01] [-1.02904249e-01 9.94634161e-01 -1.06584283e-02 -2.61188166e+00] [-9.26609428e-02 1.08317392e-03 9.95697131e-01 -5.64774541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421193816999995 meters 0.060940966773437244 Centerline is valid? [True, True] Translation: X:46.12, Y:-2.63, Z:-5.66 [[ 9.90633835e-01 1.01799824e-01 9.10021964e-02 4.61232325e+01] [-1.01257944e-01 9.94804118e-01 -1.05639125e-02 -2.62507180e+00] [-9.16047642e-02 1.25027386e-03 9.95794660e-01 -5.65503517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481193817 meters 0.06119365726220341 Centerline is valid? [True, True] Translation: X:46.18, Y:-2.64, Z:-5.66 [[ 9.90984658e-01 9.51175855e-02 9.43506909e-02 4.61840946e+01] [-9.45019768e-02 9.95464102e-01 -1.09817183e-02 -2.64228622e+00] [-9.49672803e-02 1.96638751e-03 9.95478452e-01 -5.65607800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54119381699999 meters 0.06340456188538483 Centerline is valid? [True, True] Translation: X:46.24, Y:-2.66, Z:-5.66 [[ 9.91668131e-01 8.66295181e-02 9.53396241e-02 4.62416453e+01] [-8.59582569e-02 9.96236534e-01 -1.11331132e-02 -2.66207648e+00] [-9.59452729e-02 2.84512567e-03 9.95382544e-01 -5.66302895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.601193816999995 meters 0.06879372554578364 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.69, Z:-5.67 [[ 9.93045317e-01 7.33278618e-02 9.21087526e-02 4.62979684e+01] [-7.26432141e-02 9.97299857e-01 -1.07683853e-02 -2.68730720e+00] [-9.26496685e-02 4.00241874e-03 9.95690725e-01 -5.67428923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661193817 meters 0.07056599764827597 Centerline is valid? [True, True] Translation: X:46.36, Y:-2.70, Z:-5.68 [[ 9.93543284e-01 6.95459541e-02 8.96387417e-02 4.63575959e+01] [-6.88825559e-02 9.97569761e-01 -1.04769428e-02 -2.69990715e+00] [-9.01495271e-02 4.23475055e-03 9.95919239e-01 -5.68361482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72119381699999 meters 0.06862302555386136 Centerline is valid? [True, True] Translation: X:46.42, Y:-2.70, Z:-5.69 [[ 9.93695598e-01 7.42416984e-02 8.40073136e-02 4.64200586e+01] [-7.36766535e-02 9.97233924e-01 -9.81074073e-03 -2.70024212e+00] [-8.45033091e-02 3.55951214e-03 9.96416841e-01 -5.69330774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781193816999995 meters 0.06409339784415904 Centerline is valid? [True, True] Translation: X:46.48, Y:-2.69, Z:-5.70 [[ 9.92366178e-01 8.79227975e-02 8.64809257e-02 4.64815833e+01] [-8.73717798e-02 9.96124129e-01 -1.01435196e-02 -2.68928937e+00] [-8.70375834e-02 2.51009337e-03 9.96201866e-01 -5.69759261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841193817 meters 0.06219438676635529 Centerline is valid? [True, True] Translation: X:46.54, Y:-2.69, Z:-5.70 [[ 9.91628245e-01 9.48467199e-02 8.76214778e-02 4.65424703e+01] [-9.43079999e-02 9.95490022e-01 -1.02770107e-02 -2.68714703e+00] [-8.82010476e-02 1.92756779e-03 9.96100828e-01 -5.70340370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90119381699999 meters 0.06059153294458179 Centerline is valid? [True, True] Translation: X:46.60, Y:-2.69, Z:-5.71 [[ 9.90877592e-01 1.00583655e-01 8.96912782e-02 4.66042994e+01] [-1.00042667e-01 9.94927549e-01 -1.05184379e-02 -2.68646498e+00] [-9.02943065e-02 1.44952974e-03 9.95914071e-01 -5.70786499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.961193816999995 meters 0.059330573589922116 Centerline is valid? [True, True] Translation: X:46.67, Y:-2.69, Z:-5.71 [[ 9.89920670e-01 1.07284472e-01 9.24505750e-02 4.66661749e+01] [-1.06738392e-01 9.94227986e-01 -1.08456133e-02 -2.68905743e+00] [-9.30805149e-02 8.68271008e-04 9.95658206e-01 -5.71359012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.021193817 meters 0.058940576671469305 Centerline is valid? [True, True] Translation: X:46.73, Y:-2.70, Z:-5.72 [[ 9.89604859e-01 1.08140755e-01 9.48040085e-02 4.67262020e+01] [-1.07570273e-01 9.94135264e-01 -1.11226579e-02 -2.70298799e+00] [-9.54508206e-02 8.08943242e-04 9.95433818e-01 -5.71969818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08119381699999 meters 0.058873075749721344 Centerline is valid? [True, True] Translation: X:46.79, Y:-2.72, Z:-5.72 [[ 9.89833311e-01 1.05544381e-01 9.53435856e-02 4.67868499e+01] [-1.04952873e-01 9.94413995e-01 -1.12116607e-02 -2.71668032e+00] [-9.59943236e-02 1.09109200e-03 9.95381283e-01 -5.72311837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.141193816999994 meters 0.0603623895594772 Centerline is valid? [True, True] Translation: X:46.84, Y:-2.74, Z:-5.74 [[ 9.90405292e-01 1.02632439e-01 9.25415592e-02 4.68434414e+01] [-1.02059281e-01 9.94718408e-01 -1.09175190e-02 -2.74353024e+00] [-9.31732841e-02 1.36804360e-03 9.95648968e-01 -5.73709663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.201193817 meters 0.06009796750893169 Centerline is valid? [True, True] Translation: X:46.90, Y:-2.76, Z:-5.75 [[ 9.90590667e-01 1.03583524e-01 8.94459802e-02 4.69035750e+01] [-1.03052367e-01 9.94619996e-01 -1.05486188e-02 -2.75657259e+00] [-9.00574236e-02 1.23174336e-03 9.95935813e-01 -5.74553061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26119381699999 meters 0.06002216206893448 Centerline is valid? [True, True] Translation: X:46.96, Y:-2.77, Z:-5.75 [[ 9.90560366e-01 1.05149899e-01 8.79412351e-02 4.69639712e+01] [-1.04640557e-01 9.94455781e-01 -1.03948628e-02 -2.76887003e+00] [-8.85466884e-02 1.09451928e-03 9.96071426e-01 -5.75405960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.321193816999994 meters 0.060571781766527784 Centerline is valid? [True, True] Translation: X:47.02, Y:-2.79, Z:-5.76 [[ 9.90721590e-01 1.04784650e-01 8.65500352e-02 4.70232763e+01] [-1.04287562e-01 9.94494286e-01 -1.02576158e-02 -2.78519525e+00] [-8.71483562e-02 1.13634930e-03 9.96194696e-01 -5.76464664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381193816999996 meters 0.06257243285403624 Centerline is valid? [True, True] Translation: X:47.08, Y:-2.81, Z:-5.78 [[ 9.91672602e-01 9.91323392e-02 8.22084499e-02 4.70801976e+01] [-9.86619266e-02 9.95072999e-01 -9.77496310e-03 -2.80796109e+00] [-8.27724238e-02 1.58271904e-03 9.96567218e-01 -5.77733249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441193817 meters 0.06362248892809008 Centerline is valid? [True, True] Translation: X:47.14, Y:-2.82, Z:-5.78 [[ 9.92218989e-01 9.40827163e-02 8.15470447e-02 4.71410058e+01] [-9.36028999e-02 9.95562401e-01 -9.69550972e-03 -2.82242061e+00] [-8.20973515e-02 1.98702899e-03 9.96622334e-01 -5.78412504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.501193816999994 meters 0.06680037985381605 Centerline is valid? [True, True] Translation: X:47.20, Y:-2.85, Z:-5.79 [[ 9.93013425e-01 8.29055247e-02 8.39703026e-02 4.71998193e+01] [-8.23559557e-02 9.96552871e-01 -9.99363899e-03 -2.84577612e+00] [-8.45093739e-02 3.00836316e-03 9.96418143e-01 -5.78771334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.561193816999996 meters 0.06984068700604049 Centerline is valid? [True, True] Translation: X:47.26, Y:-2.86, Z:-5.79 [[ 9.93247279e-01 7.42752477e-02 8.91236843e-02 4.72595819e+01] [-7.36211156e-02 9.97229852e-01 -1.06090949e-02 -2.86163918e+00] [-8.96647917e-02 3.97606953e-03 9.95964064e-01 -5.79018637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621193817 meters 0.07054183189613629 Centerline is valid? [True, True] Translation: X:47.32, Y:-2.87, Z:-5.79 [[ 9.93130618e-01 6.84499733e-02 9.49008775e-02 4.73212567e+01] [-6.76819355e-02 9.97643044e-01 -1.12921746e-02 -2.86875101e+00] [-9.54501493e-02 4.79152923e-03 9.95422679e-01 -5.79134900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68119381699999 meters 0.07173472911480312 Centerline is valid? [True, True] Translation: X:47.38, Y:-2.88, Z:-5.80 [[ 9.93226685e-01 6.69866194e-02 9.49396930e-02 4.73822961e+01] [-6.62086808e-02 9.97741538e-01 -1.13240741e-02 -2.87745603e+00] [-9.54838367e-02 4.96154072e-03 9.95418615e-01 -5.80009975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741193816999996 meters 0.07272464292669782 Centerline is valid? [True, True] Translation: X:47.44, Y:-2.88, Z:-5.81 [[ 9.93307193e-01 6.41573211e-02 9.60450870e-02 4.74432157e+01] [-6.33450386e-02 9.97925590e-01 -1.14857519e-02 -2.88323733e+00] [-9.65827452e-02 5.32490023e-03 9.95310715e-01 -5.80730749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801193817 meters 0.07319317895948198 Centerline is valid? [True, True] Translation: X:47.50, Y:-2.89, Z:-5.81 [[ 9.93298591e-01 6.31217981e-02 9.68170834e-02 4.75045192e+01] [-6.22884114e-02 9.97990671e-01 -1.16092560e-02 -2.88684249e+00] [-9.73553431e-02 5.50087530e-03 9.95234484e-01 -5.81411403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86119381699999 meters 0.07542581830652222 Centerline is valid? [True, True] Translation: X:47.57, Y:-2.88, Z:-5.82 [[ 9.93354632e-01 6.27213668e-02 9.65018417e-02 4.75655056e+01] [-6.18902556e-02 9.98015728e-01 -1.15846339e-02 -2.88440885e+00] [-9.70369599e-02 5.53512606e-03 9.95265387e-01 -5.82360124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.921193816999995 meters 0.07406274874440047 Centerline is valid? [True, True] Translation: X:47.63, Y:-2.87, Z:-5.83 [[ 9.93047918e-01 6.77215752e-02 9.62788737e-02 4.76267427e+01] [-6.69144266e-02 9.97691385e-01 -1.15913296e-02 -2.87379462e+00] [-9.68415860e-02 5.06830014e-03 9.95286903e-01 -5.83329430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981193817 meters 0.06817700386835254 Centerline is valid? [True, True] Translation: X:47.69, Y:-2.86, Z:-5.84 [[ 9.92536995e-01 7.59687671e-02 9.53889903e-02 4.76892717e+01] [-7.52144269e-02 9.97101252e-01 -1.14840450e-02 -2.85547360e+00] [-9.59849104e-02 4.22371123e-03 9.95373828e-01 -5.84103299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04119381699999 meters 0.0633065168480973 Centerline is valid? [True, True] Translation: X:47.75, Y:-2.83, Z:-5.85 [[ 9.91576209e-01 8.96505953e-02 9.34847182e-02 4.77517898e+01] [-8.89866794e-02 9.95969226e-01 -1.12548853e-02 -2.83265304e+00] [-9.41169096e-02 2.84118188e-03 9.95557098e-01 -5.85148852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101193816999995 meters 0.06169925972001375 Centerline is valid? [True, True] Translation: X:47.81, Y:-2.83, Z:-5.86 [[ 9.91149981e-01 9.54520269e-02 9.22530574e-02 4.78136370e+01] [-9.48305804e-02 9.95431466e-01 -1.11066577e-02 -2.82753345e+00] [-9.28917491e-02 2.25995261e-03 9.95673649e-01 -5.86094343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161193817 meters 0.06181313886920335 Centerline is valid? [True, True] Translation: X:47.87, Y:-2.83, Z:-5.87 [[ 9.91366992e-01 9.69869214e-02 8.82327893e-02 4.78747037e+01] [-9.64250106e-02 9.95283608e-01 -1.06187324e-02 -2.82742155e+00] [-8.88465271e-02 2.01921312e-03 9.96043281e-01 -5.87255487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22119381699999 meters 0.06338531932567273 Centerline is valid? [True, True] Translation: X:47.93, Y:-2.83, Z:-5.88 [[ 9.91717081e-01 9.37069688e-02 8.78421091e-02 4.79346111e+01] [-9.31343711e-02 9.95597084e-01 -1.06035506e-02 -2.83316369e+00] [-8.84489742e-02 2.33460269e-03 9.96077973e-01 -5.88118423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281193816999995 meters 0.06393260647743972 Centerline is valid? [True, True] Translation: X:48.00, Y:-2.84, Z:-5.88 [[ 9.91736648e-01 9.04245433e-02 9.10045187e-02 4.79972292e+01] [-8.97964928e-02 9.95899600e-01 -1.09807043e-02 -2.84457884e+00] [-9.16242890e-02 2.71808025e-03 9.95789939e-01 -5.88363083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341193817 meters 0.06358901520639122 Centerline is valid? [True, True] Translation: X:48.06, Y:-2.85, Z:-5.88 [[ 9.91515799e-01 8.76401027e-02 9.59980909e-02 4.80597494e+01] [-8.69241198e-02 9.96147128e-01 -1.16231319e-02 -2.85222397e+00] [-9.66468750e-02 3.17996932e-03 9.95313654e-01 -5.88453908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40119381699999 meters 0.06301696969292 Centerline is valid? [True, True] Translation: X:48.12, Y:-2.85, Z:-5.89 [[ 9.91255970e-01 8.98896769e-02 9.65994224e-02 4.81215625e+01] [-8.91747205e-02 9.95947254e-01 -1.17019623e-02 -2.85383245e+00] [-9.72598151e-02 2.98541347e-03 9.95254548e-01 -5.89106565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461193816999995 meters 0.06283245120864742 Centerline is valid? [True, True] Translation: X:48.18, Y:-2.86, Z:-5.90 [[ 9.91393149e-01 9.10761190e-02 9.40466132e-02 4.81830894e+01] [-9.04013302e-02 9.95839943e-01 -1.14196324e-02 -2.85779002e+00] [-9.46954297e-02 2.81940638e-03 9.95502299e-01 -5.90122497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.521193817 meters 0.06330154014919952 Centerline is valid? [True, True] Translation: X:48.24, Y:-2.86, Z:-5.92 [[ 9.91733866e-01 9.26749236e-02 8.87428690e-02 4.82436654e+01] [-9.20778685e-02 9.95693163e-01 -1.08070349e-02 -2.86334645e+00] [-8.93622091e-02 2.54644832e-03 9.95995939e-01 -5.91560307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58119381699999 meters 0.06392629229827437 Centerline is valid? [True, True] Translation: X:48.30, Y:-2.86, Z:-5.93 [[ 9.92194055e-01 9.38249387e-02 8.21452309e-02 4.83034502e+01] [-9.33167667e-02 9.95586126e-01 -1.00123417e-02 -2.86445730e+00] [-8.27220595e-02 2.26865857e-03 9.96570075e-01 -5.92863598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641193816999994 meters 0.06500319962177915 Centerline is valid? [True, True] Translation: X:48.36, Y:-2.88, Z:-5.94 [[ 9.92534421e-01 9.09595790e-02 8.12513256e-02 4.83640164e+01] [-9.04535286e-02 9.95851518e-01 -9.89515165e-03 -2.87522240e+00] [-8.18143147e-02 2.47180951e-03 9.96644524e-01 -5.93616863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701193817 meters 0.06820793480312848 Centerline is valid? [True, True] Translation: X:48.42, Y:-2.89, Z:-5.94 [[ 9.93123858e-01 8.37246463e-02 8.18241142e-02 4.84216816e+01] [-8.31841584e-02 9.96484034e-01 -9.99828732e-03 -2.89130227e+00] [-8.23735265e-02 3.12306760e-03 9.96596633e-01 -5.94362086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76119381699999 meters 0.07093069989947201 Centerline is valid? [True, True] Translation: X:48.48, Y:-2.91, Z:-5.95 [[ 9.93521572e-01 7.81269940e-02 8.25291378e-02 4.84813194e+01] [-7.75580002e-02 9.96936854e-01 -1.00829037e-02 -2.90533629e+00] [-8.30640860e-02 3.61678747e-03 9.96537644e-01 -5.95081944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.821193816999994 meters 0.07689760467886951 Centerline is valid? [True, True] Translation: X:48.54, Y:-2.93, Z:-5.96 [[ 9.94190627e-01 7.03214280e-02 8.14855464e-02 4.85389180e+01] [-6.97403841e-02 9.97515467e-01 -9.95852453e-03 -2.92500911e+00] [-8.19833905e-02 4.21783844e-03 9.96624771e-01 -5.96011329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.881193816999996 meters 0.07746425260481718 Centerline is valid? [True, True] Translation: X:48.60, Y:-2.93, Z:-5.97 [[ 9.94105474e-01 7.00335009e-02 8.27623970e-02 4.86005451e+01] [-6.94334636e-02 9.97535356e-01 -1.01097485e-02 -2.93046582e+00] [-8.32664383e-02 4.30367643e-03 9.96518027e-01 -5.96670717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941193817 meters 0.06956002798359029 Centerline is valid? [True, True] Translation: X:48.66, Y:-2.92, Z:-5.96 [[ 9.93421999e-01 7.74764804e-02 8.43215629e-02 4.86637765e+01] [-7.68774102e-02 9.96987003e-01 -1.03334594e-02 -2.91768140e+00] [-8.48681023e-02 3.78306249e-03 9.96385013e-01 -5.96451550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001193816999994 meters 0.06333268670455976 Centerline is valid? [True, True] Translation: X:48.73, Y:-2.90, Z:-5.97 [[ 9.91513876e-01 9.50720390e-02 8.86653290e-02 4.87270635e+01] [-9.44795173e-02 9.95467512e-01 -1.08652794e-02 -2.90363348e+00] [-8.92964387e-02 2.39601785e-03 9.96002211e-01 -5.96621568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061193816999996 meters 0.06122288653982093 Centerline is valid? [True, True] Translation: X:48.79, Y:-2.90, Z:-5.97 [[ 9.90579499e-01 1.02317132e-01 9.10135181e-02 4.87885817e+01] [-1.01723068e-01 9.94750218e-01 -1.11544348e-02 -2.89837860e+00] [-9.16770068e-02 1.79118022e-03 9.95787185e-01 -5.97079063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121193817 meters 0.06127826349059821 Centerline is valid? [True, True] Translation: X:48.85, Y:-2.90, Z:-5.98 [[ 9.90358357e-01 1.04173567e-01 9.13137010e-02 4.88502492e+01] [-1.03584228e-01 9.94557819e-01 -1.11826652e-02 -2.90029488e+00] [-9.19816935e-02 1.61618680e-03 9.95759387e-01 -5.97966612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18119381699999 meters 0.061443494407078206 Centerline is valid? [True, True] Translation: X:48.91, Y:-2.91, Z:-5.99 [[ 9.90339366e-01 1.06473190e-01 8.88335502e-02 4.89101750e+01] [-1.05922482e-01 9.94314603e-01 -1.09040314e-02 -2.91265814e+00] [-8.94894832e-02 1.38922138e-03 9.95986798e-01 -5.99117180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.241193816999996 meters 0.06143159295810772 Centerline is valid? [True, True] Translation: X:48.97, Y:-2.92, Z:-6.00 [[ 9.90310930e-01 1.10425323e-01 8.42051615e-02 4.89711752e+01] [-1.09942238e-01 9.93883912e-01 -1.03669766e-02 -2.91848775e+00] [-8.48349321e-02 1.00882642e-03 9.96394508e-01 -6.00238237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301193817 meters 0.06147486768988701 Centerline is valid? [True, True] Translation: X:49.03, Y:-2.92, Z:-6.01 [[ 9.90150457e-01 1.14063668e-01 8.11883763e-02 4.90325195e+01] [-1.13627001e-01 9.93473216e-01 -9.99370245e-03 -2.92434037e+00] [-8.17983957e-02 6.70077334e-04 9.96648671e-01 -6.01127493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36119381699999 meters 0.061556263102715926 Centerline is valid? [True, True] Translation: X:49.09, Y:-2.94, Z:-6.02 [[ 9.90053822e-01 1.13917315e-01 8.25607332e-02 4.90931206e+01] [-1.13462624e-01 9.93489970e-01 -1.01937780e-02 -2.94118929e+00] [-8.31845081e-02 7.24831488e-04 9.96533899e-01 -6.01884294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421193816999995 meters 0.06176275507118472 Centerline is valid? [True, True] Translation: X:49.15, Y:-2.96, Z:-6.03 [[ 9.89948863e-01 1.11905671e-01 8.64775677e-02 4.91512813e+01] [-1.11397286e-01 9.93718373e-01 -1.06976292e-02 -2.95946572e+00] [-8.71314733e-02 9.56739610e-04 9.96196362e-01 -6.02656106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481193817 meters 0.06187882507480739 Centerline is valid? [True, True] Translation: X:49.21, Y:-2.97, Z:-6.03 [[ 9.90188422e-01 1.08698636e-01 8.78151257e-02 4.92131037e+01] [-1.08162527e-01 9.94073963e-01 -1.08546372e-02 -2.97479424e+00] [-8.84746143e-02 1.24983012e-03 9.96077648e-01 -6.03098496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54119381699999 meters 0.06232521443527518 Centerline is valid? [True, True] Translation: X:49.27, Y:-2.98, Z:-6.04 [[ 9.90355740e-01 1.07628117e-01 8.72450418e-02 4.92741446e+01] [-1.07092062e-01 9.94190282e-01 -1.08153920e-02 -2.98476655e+00] [-8.79022130e-02 1.36783409e-03 9.96128169e-01 -6.03960588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601193816999995 meters 0.06305757646938538 Centerline is valid? [True, True] Translation: X:49.33, Y:-3.00, Z:-6.05 [[ 9.90779962e-01 1.03591428e-01 8.73148463e-02 4.93346351e+01] [-1.03036633e-01 9.94618391e-01 -1.08493305e-02 -3.00084358e+00] [-8.79688496e-02 1.75267152e-03 9.96121684e-01 -6.04782645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661193817 meters 0.06526163043804356 Centerline is valid? [True, True] Translation: X:49.39, Y:-3.02, Z:-6.06 [[ 9.91491533e-01 9.57303389e-02 8.82056821e-02 4.93933194e+01] [-9.51299284e-02 9.95404138e-01 -1.09954020e-02 -3.02253882e+00] [-8.88528945e-02 2.51084773e-03 9.96041595e-01 -6.05623095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72119381699999 meters 0.06994601187301556 Centerline is valid? [True, True] Translation: X:49.45, Y:-3.04, Z:-6.07 [[ 9.92877078e-01 8.57039834e-02 8.27643330e-02 4.94490956e+01] [-8.51405483e-02 9.96315507e-01 -1.03197694e-02 -3.04435152e+00] [-8.33438338e-02 3.19966185e-03 9.96515714e-01 -6.07094846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781193816999995 meters 0.07149238699058223 Centerline is valid? [True, True] Translation: X:49.51, Y:-3.06, Z:-6.08 [[ 9.93052659e-01 8.32038478e-02 8.32077845e-02 4.95088358e+01] [-8.26258442e-02 9.96526663e-01 -1.03720879e-02 -3.05921463e+00] [-8.37817734e-02 3.42491599e-03 9.96478241e-01 -6.07890021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841193817 meters 0.06932441004794965 Centerline is valid? [True, True] Translation: X:49.57, Y:-3.06, Z:-6.08 [[ 9.92432374e-01 8.82461438e-02 8.53850129e-02 4.95699061e+01] [-8.76532101e-02 9.96093842e-01 -1.06758430e-02 -3.06163557e+00] [-8.59935874e-02 3.11078176e-03 9.96290834e-01 -6.08425835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90119381699999 meters 0.06410650190991972 Centerline is valid? [True, True] Translation: X:49.63, Y:-3.05, Z:-6.08 [[ 9.90962045e-01 9.92438155e-02 9.02490442e-02 4.96323323e+01] [-9.86264529e-02 9.95060528e-01 -1.12857911e-02 -3.05250084e+00] [-9.09233065e-02 2.28284751e-03 9.95855281e-01 -6.08381310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961193816999995 meters 0.06298223358944846 Centerline is valid? [True, True] Translation: X:49.69, Y:-3.05, Z:-6.09 [[ 9.90578721e-01 1.04396383e-01 8.86295254e-02 4.96944877e+01] [-1.03821930e-01 9.94534187e-01 -1.10795658e-02 -3.05465856e+00] [-8.93017596e-02 1.77349371e-03 9.96003037e-01 -6.09326767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021193817 meters 0.06272663704327823 Centerline is valid? [True, True] Translation: X:49.75, Y:-3.06, Z:-6.10 [[ 9.90170893e-01 1.04540785e-01 9.29130093e-02 4.97548554e+01] [-1.03908756e-01 9.94518863e-01 -1.16276077e-02 -3.06299871e+00] [-9.36192996e-02 1.85884342e-03 9.95606334e-01 -6.09850094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08119381699999 meters 0.06254405396795587 Centerline is valid? [True, True] Translation: X:49.82, Y:-3.07, Z:-6.10 [[ 9.89866663e-01 1.05351703e-01 9.52103352e-02 4.98168639e+01] [-1.04691891e-01 9.94433351e-01 -1.19129351e-02 -3.06905756e+00] [-9.59353807e-02 1.82446722e-03 9.95385892e-01 -6.10446788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.141193816999994 meters 0.06157976551165414 Centerline is valid? [True, True] Translation: X:49.88, Y:-3.07, Z:-6.11 [[ 9.89164838e-01 1.09539081e-01 9.77451447e-02 4.98786410e+01] [-1.08860417e-01 9.93981370e-01 -1.22656681e-02 -3.07253896e+00] [-9.85004228e-02 1.49219041e-03 9.95135890e-01 -6.11015169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.201193817 meters 0.06028527151330197 Centerline is valid? [True, True] Translation: X:49.94, Y:-3.07, Z:-6.12 [[ 9.87690563e-01 1.19803648e-01 1.00570562e-01 4.99410735e+01] [-1.19137366e-01 9.92797485e-01 -1.26270383e-02 -3.07191778e+00] [-1.01358966e-01 4.89894685e-04 9.94849798e-01 -6.11501578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26119381699999 meters 0.06030371851770762 Centerline is valid? [True, True] Translation: X:50.00, Y:-3.08, Z:-6.12 [[ 9.86895739e-01 1.25396075e-01 1.01551095e-01 5.00015617e+01] [-1.24745918e-01 9.92106757e-01 -1.27529725e-02 -3.07871934e+00] [-1.02348700e-01 -8.22303503e-05 9.94748580e-01 -6.12373678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321193816999994 meters 0.06049559384546994 Centerline is valid? [True, True] Translation: X:50.06, Y:-3.09, Z:-6.13 [[ 9.86938676e-01 1.25710101e-01 1.00742348e-01 5.00604844e+01] [-1.25068786e-01 9.92067016e-01 -1.26820751e-02 -3.09256343e+00] [-1.01537426e-01 -8.32928575e-05 9.94831717e-01 -6.13446340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381193816999996 meters 0.06102740358779233 Centerline is valid? [True, True] Translation: X:50.12, Y:-3.12, Z:-6.15 [[ 9.87747084e-01 1.22723410e-01 9.64088271e-02 5.01192922e+01] [-1.22120374e-01 9.92440886e-01 -1.21533154e-02 -3.11736800e+00] [-9.71715580e-02 2.30919835e-04 9.95267620e-01 -6.14629938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44119381699999 meters 0.06146741266496983 Centerline is valid? [True, True] Translation: X:50.18, Y:-3.14, Z:-6.16 [[ 9.87923665e-01 1.23134442e-01 9.40464829e-02 5.01780148e+01] [-1.22562240e-01 9.92389981e-01 -1.18584951e-02 -3.13612730e+00] [-9.47909766e-02 1.88740394e-04 9.95497180e-01 -6.15772426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501193816999994 meters 0.06224412215581192 Centerline is valid? [True, True] Translation: X:50.24, Y:-3.16, Z:-6.17 [[ 9.88198811e-01 1.24032238e-01 8.98838852e-02 5.02351166e+01] [-1.23511191e-01 9.92278181e-01 -1.13576681e-02 -3.16084127e+00] [-9.05985352e-02 1.21968355e-04 9.95887489e-01 -6.17191660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.561193816999996 meters 0.06245723397987257 Centerline is valid? [True, True] Translation: X:50.29, Y:-3.18, Z:-6.18 [[ 9.88811825e-01 1.20126817e-01 8.84348462e-02 5.02946990e+01] [-1.19604876e-01 9.92758432e-01 -1.11968798e-02 -3.18401276e+00] [-8.91394848e-02 4.94368364e-04 9.96019030e-01 -6.17871331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.621193817 meters 0.06297233347390893 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.21, Z:-6.18 [[ 9.89285398e-01 1.14623889e-01 9.04199419e-02 5.03533650e+01] [-1.14052621e-01 9.93408415e-01 -1.14769360e-02 -3.21269959e+00] [-9.11394622e-02 1.04133387e-03 9.95837594e-01 -6.18346646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68119381699999 meters 0.0639266007987398 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.24, Z:-6.19 [[ 9.89584195e-01 1.11212725e-01 9.14048702e-02 5.04114172e+01] [-1.10611722e-01 9.93795639e-01 -1.16307736e-02 -3.23630620e+00] [-9.21312514e-02 1.39917961e-03 9.95745889e-01 -6.19186659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741193816999996 meters 0.06542191080864966 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.26, Z:-6.20 [[ 9.90230103e-01 1.05418995e-01 9.12752890e-02 5.04704269e+01] [-1.04792288e-01 9.94425950e-01 -1.16450545e-02 -3.26265824e+00] [-9.19941258e-02 1.96633712e-03 9.95757608e-01 -6.19790514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801193817 meters 0.06672499326398233 Centerline is valid? [True, True] Translation: X:50.53, Y:-3.28, Z:-6.21 [[ 9.90678353e-01 1.01908719e-01 9.03936572e-02 5.05297198e+01] [-1.01279339e-01 9.94791160e-01 -1.15344788e-02 -3.28195159e+00] [-9.10982750e-02 2.27194860e-03 9.95839316e-01 -6.20524367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86119381699999 meters 0.068554349769288 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.30, Z:-6.22 [[ 9.91206811e-01 9.92276566e-02 8.75381633e-02 5.05863479e+01] [-9.86243001e-02 9.95061693e-01 -1.12015369e-02 -3.30344130e+00] [-8.82173752e-02 2.46964955e-03 9.96098186e-01 -6.21592649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.921193816999995 meters 0.06579667233426593 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.30, Z:-6.22 [[ 9.90774790e-01 1.03521641e-01 8.74561885e-02 5.06480182e+01] [-1.02936221e-01 9.94625018e-01 -1.11896146e-02 -3.30289637e+00] [-8.81444803e-02 2.08397854e-03 9.96105520e-01 -6.21884168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981193817 meters 0.0638654561066186 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.31, Z:-6.22 [[ 9.89861223e-01 1.10984425e-01 8.86409454e-02 5.07088466e+01] [-1.10412464e-01 9.93821098e-01 -1.13451703e-02 -3.30856193e+00] [-8.93523789e-02 1.44307900e-03 9.95999031e-01 -6.22486674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04119381699999 meters 0.06463966393995386 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.32, Z:-6.23 [[ 9.89972284e-01 1.09969631e-01 8.86654229e-02 5.07683029e+01] [-1.09393612e-01 9.93933768e-01 -1.13447396e-02 -3.32243059e+00] [-8.93751346e-02 1.53154690e-03 9.95996857e-01 -6.23495279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.101193816999995 meters 0.0645174890886761 Centerline is valid? [True, True] Translation: X:50.83, Y:-3.34, Z:-6.24 [[ 9.89883662e-01 1.09777397e-01 8.98846986e-02 5.08291314e+01] [-1.09182336e-01 9.93954918e-01 -1.15255756e-02 -3.33559741e+00] [-9.06065859e-02 1.59515765e-03 9.95885486e-01 -6.24238281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161193817 meters 0.06351356710283336 Centerline is valid? [True, True] Translation: X:50.89, Y:-3.34, Z:-6.25 [[ 9.89372818e-01 1.14862619e-01 8.91515843e-02 5.08896815e+01] [-1.14295443e-01 9.93380725e-01 -1.14580900e-02 -3.33638960e+00] [-8.98775716e-02 1.14670293e-03 9.95952161e-01 -6.25107241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22119381699999 meters 0.06319321837128078 Centerline is valid? [True, True] Translation: X:50.95, Y:-3.34, Z:-6.26 [[ 9.89047065e-01 1.18591681e-01 8.78744342e-02 5.09516873e+01] [-1.18053481e-01 9.92942770e-01 -1.13150511e-02 -3.34080534e+00] [-8.85961550e-02 8.17235277e-04 9.96067294e-01 -6.26032773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.281193816999995 meters 0.06300399939930398 Centerline is valid? [True, True] Translation: X:51.01, Y:-3.35, Z:-6.27 [[ 9.88662104e-01 1.22756839e-01 8.64754400e-02 5.10115553e+01] [-1.22248997e-01 9.92436669e-01 -1.11642976e-02 -3.34621312e+00] [-8.71918915e-02 4.66182176e-04 9.96191426e-01 -6.27041963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.341193817 meters 0.06222942023063229 Centerline is valid? [True, True] Translation: X:51.07, Y:-3.35, Z:-6.27 [[ 9.88684185e-01 1.22749256e-01 8.62334179e-02 5.10739492e+01] [-1.22242588e-01 9.92437598e-01 -1.11518541e-02 -3.35399773e+00] [-8.69501679e-02 4.84265575e-04 9.96212544e-01 -6.27222351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40119381699999 meters 0.06223825400699071 Centerline is valid? [True, True] Translation: X:51.13, Y:-3.36, Z:-6.28 [[ 9.88802067e-01 1.20284427e-01 8.83296652e-02 5.11344702e+01] [-1.19739958e-01 9.92739186e-01 -1.14564797e-02 -3.36451892e+00] [-8.90663561e-02 7.51600453e-04 9.96025411e-01 -6.27907587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.461193816999995 meters 0.062087621459746806 Centerline is valid? [True, True] Translation: X:51.20, Y:-3.38, Z:-6.28 [[ 9.88773287e-01 1.19586122e-01 8.95909919e-02 5.11955174e+01] [-1.19020616e-01 9.92823464e-01 -1.16473980e-02 -3.37506792e+00] [-9.03409061e-02 8.53460874e-04 9.95910534e-01 -6.28439728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.521193817 meters 0.0625708940120766 Centerline is valid? [True, True] Translation: X:51.25, Y:-3.39, Z:-6.29 [[ 9.89080953e-01 1.17147743e-01 8.94163044e-02 5.12546753e+01] [-1.16571907e-01 9.93113886e-01 -1.16533289e-02 -3.39124640e+00] [-9.01657348e-02 1.10265654e-03 9.95926164e-01 -6.29348444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58119381699999 meters 0.06412268983386878 Centerline is valid? [True, True] Translation: X:51.31, Y:-3.41, Z:-6.31 [[ 9.90011267e-01 1.13412073e-01 8.37579366e-02 5.13121491e+01] [-1.12891040e-01 9.93547077e-01 -1.09462123e-02 -3.40866357e+00] [-8.44588857e-02 1.38135297e-03 9.96426008e-01 -6.30759256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.641193816999994 meters 0.06492271442241662 Centerline is valid? [True, True] Translation: X:51.37, Y:-3.42, Z:-6.32 [[ 9.90400152e-01 1.13262267e-01 7.92413950e-02 5.13714120e+01] [-1.12795274e-01 9.93564246e-01 -1.03592603e-02 -3.42127979e+00] [-7.99047302e-02 1.32175813e-03 9.96801629e-01 -6.31941036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.701193817 meters 0.0637854585474166 Centerline is valid? [True, True] Translation: X:51.43, Y:-3.43, Z:-6.32 [[ 9.89912589e-01 1.18264862e-01 7.80159507e-02 5.14335346e+01] [-1.17828372e-01 9.92981682e-01 -1.01908963e-02 -3.42755503e+00] [-7.86736349e-02 8.95604045e-04 9.96900024e-01 -6.32461387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76119381699999 meters 0.06418200693370518 Centerline is valid? [True, True] Translation: X:51.49, Y:-3.43, Z:-6.34 [[ 9.89333274e-01 1.23756645e-01 7.68372654e-02 5.14944013e+01] [-1.23347630e-01 9.92312482e-01 -1.00647567e-02 -3.43346131e+00] [-7.74921581e-02 4.79704113e-04 9.96992846e-01 -6.33831728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.821193816999994 meters 0.06247018715476324 Centerline is valid? [True, True] Translation: X:51.56, Y:-3.44, Z:-6.34 [[ 9.88074080e-01 1.30076466e-01 8.23997864e-02 5.15560099e+01] [-1.29625584e-01 9.91503965e-01 -1.08210492e-02 -3.43845642e+00] [-8.31072787e-02 1.08778880e-05 9.96540606e-01 -6.33716452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.881193816999996 meters 0.06263202255641971 Centerline is valid? [True, True] Translation: X:51.62, Y:-3.45, Z:-6.35 [[ 9.87407311e-01 1.34274931e-01 8.36483355e-02 5.16159473e+01] [-1.33825909e-01 9.90944053e-01 -1.09776678e-02 -3.44595943e+00] [-8.43648463e-02 -3.54885108e-04 9.96434868e-01 -6.34588250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94119381699999 meters 0.06237332124193221 Centerline is valid? [True, True] Translation: X:51.68, Y:-3.46, Z:-6.35 [[ 9.86232033e-01 1.40918522e-01 8.65352322e-02 5.16777596e+01] [-1.40460757e-01 9.90020765e-01 -1.13868709e-02 -3.45779465e+00] [-8.72762978e-02 -9.24707320e-04 9.96183714e-01 -6.34887480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.001193816999994 meters 0.062421673725697034 Centerline is valid? [True, True] Translation: X:51.74, Y:-3.47, Z:-6.35 [[ 9.85588174e-01 1.44633958e-01 8.77323727e-02 5.17397674e+01] [-1.44177971e-01 9.89484414e-01 -1.15458417e-02 -3.47066109e+00] [-8.84797362e-02 -1.26963037e-03 9.96077168e-01 -6.35364782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.061193816999996 meters 0.06195237437319871 Centerline is valid? [True, True] Translation: X:51.80, Y:-3.49, Z:-6.36 [[ 9.85309422e-01 1.43406445e-01 9.27358340e-02 5.17976672e+01] [-1.42887229e-01 9.89663173e-01 -1.22492549e-02 -3.49319375e+00] [-9.35338618e-02 -1.18146007e-03 9.95615398e-01 -6.35769022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121193817 meters 0.06139218055717232 Centerline is valid? [True, True] Translation: X:51.86, Y:-3.52, Z:-6.37 [[ 9.85839834e-01 1.39988979e-01 9.23195955e-02 5.18564474e+01] [-1.39460015e-01 9.90152689e-01 -1.21883757e-02 -3.51732864e+00] [-9.31167340e-02 -8.59105944e-04 9.95654828e-01 -6.36536448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18119381699999 meters 0.060901381073453366 Centerline is valid? [True, True] Translation: X:51.92, Y:-3.54, Z:-6.37 [[ 9.86362607e-01 1.35233176e-01 9.38125569e-02 5.19151288e+01] [-1.34662672e-01 9.90813725e-01 -1.24147853e-02 -3.54430320e+00] [-9.46296598e-02 -3.87569534e-04 9.95512470e-01 -6.37019707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241193816999996 meters 0.0607738493301143 Centerline is valid? [True, True] Translation: X:51.97, Y:-3.58, Z:-6.38 [[ 9.87065466e-01 1.27725501e-01 9.68914957e-02 5.19725533e+01] [-1.27077667e-01 9.91809486e-01 -1.28534153e-02 -3.57710777e+00] [-9.77396135e-02 3.74417071e-04 9.95211951e-01 -6.37786800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301193817 meters 0.060922184018993346 Centerline is valid? [True, True] Translation: X:52.03, Y:-3.59, Z:-6.39 [[ 9.87257565e-01 1.26684652e-01 9.62990104e-02 5.20326471e+01] [-1.26037002e-01 9.91942915e-01 -1.28034507e-02 -3.59436164e+00] [-9.71451218e-02 5.03065047e-04 9.95270100e-01 -6.38684035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36119381699999 meters 0.06138764353379792 Centerline is valid? [True, True] Translation: X:52.09, Y:-3.61, Z:-6.40 [[ 9.86642723e-01 1.34970034e-01 9.12098001e-02 5.20920498e+01] [-1.34421993e-01 9.90849644e-01 -1.21536204e-02 -3.60605827e+00] [-9.20155726e-02 -2.69321962e-04 9.95757532e-01 -6.39983957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.421193816999995 meters 0.06375328110511419 Centerline is valid? [True, True] Translation: X:52.15, Y:-3.61, Z:-6.41 [[ 9.85007782e-01 1.50667776e-01 8.40171995e-02 5.21514545e+01] [-1.50257157e-01 9.88583212e-01 -1.12258581e-02 -3.60716858e+00] [-8.47493680e-02 -1.56662798e-03 9.96401069e-01 -6.41333464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481193817 meters 0.06513299276658402 Centerline is valid? [True, True] Translation: X:52.21, Y:-3.61, Z:-6.42 [[ 9.83012894e-01 1.62227883e-01 8.58356873e-02 5.22132216e+01] [-1.61843180e-01 9.86749846e-01 -1.14684860e-02 -3.60917710e+00] [-8.65588595e-02 -2.61825102e-03 9.96243298e-01 -6.41656555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54119381699999 meters 0.06825732715596518 Centerline is valid? [True, True] Translation: X:52.27, Y:-3.61, Z:-6.43 [[ 9.81774930e-01 1.68849837e-01 8.72222448e-02 5.22725988e+01] [-1.68478144e-01 9.85636434e-01 -1.16591092e-02 -3.61220023e+00] [-8.79380610e-02 -3.24842072e-03 9.96120648e-01 -6.42661437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.601193816999995 meters 0.07036107674056176 Centerline is valid? [True, True] Translation: X:52.33, Y:-3.63, Z:-6.44 [[ 9.80874916e-01 1.73200874e-01 8.88023491e-02 5.23314856e+01] [-1.72834066e-01 9.84879522e-01 -1.18622260e-02 -3.62989047e+00] [-8.95141631e-02 -3.71271115e-03 9.95978629e-01 -6.43521535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.661193817 meters 0.06763072380435345 Centerline is valid? [True, True] Translation: X:52.39, Y:-3.66, Z:-6.44 [[ 9.81025682e-01 1.70258512e-01 9.27396870e-02 5.23900049e+01] [-1.69842370e-01 9.85392976e-01 -1.24198707e-02 -3.65592800e+00] [-9.34996248e-02 -3.56691605e-03 9.95612925e-01 -6.43752642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72119381699999 meters 0.06512670508110856 Centerline is valid? [True, True] Translation: X:52.45, Y:-3.69, Z:-6.44 [[ 9.82172062e-01 1.63825175e-01 9.21919356e-02 5.24468784e+01] [-1.63385439e-01 9.86485024e-01 -1.23488942e-02 -3.69139121e+00] [-9.29690236e-02 -2.93408097e-03 9.95664678e-01 -6.44228024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781193816999995 meters 0.06540287554264186 Centerline is valid? [True, True] Translation: X:52.51, Y:-3.71, Z:-6.45 [[ 9.82525679e-01 1.62354101e-01 9.10188725e-02 5.25051170e+01] [-1.61919342e-01 9.86728699e-01 -1.21902090e-02 -3.70897120e+00] [-9.17900641e-02 -2.76052265e-03 9.95774555e-01 -6.45297419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841193817 meters 0.06622276695653001 Centerline is valid? [True, True] Translation: X:52.56, Y:-3.73, Z:-6.46 [[ 9.82127482e-01 1.65762141e-01 8.91544860e-02 5.25637949e+01] [-1.65357379e-01 9.86161208e-01 -1.19586489e-02 -3.73081322e+00] [-8.99029868e-02 -2.99743439e-03 9.95946017e-01 -6.45960031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90119381699999 meters 0.06560654004183279 Centerline is valid? [True, True] Translation: X:52.62, Y:-3.75, Z:-6.46 [[ 9.81588078e-01 1.69449802e-01 8.81567311e-02 5.26230196e+01] [-1.69068561e-01 9.85533314e-01 -1.18282674e-02 -3.75221078e+00] [-8.88856930e-02 -3.29404537e-03 9.96036386e-01 -6.46283773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961193816999995 meters 0.0667723720497315 Centerline is valid? [True, True] Translation: X:52.68, Y:-3.77, Z:-6.47 [[ 9.81086406e-01 1.72691015e-01 8.74487175e-02 5.26798658e+01] [-1.72328546e-01 9.84969625e-01 -1.17350031e-02 -3.77326110e+00] [-8.81608601e-02 -3.55685832e-03 9.96099900e-01 -6.47277099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021193817 meters 0.06676527693812019 Centerline is valid? [True, True] Translation: X:52.74, Y:-3.80, Z:-6.49 [[ 9.81887893e-01 1.68961300e-01 8.57218982e-02 5.27379784e+01] [-1.68598604e-01 9.85617636e-01 -1.15059200e-02 -3.79553745e+00] [-8.64330699e-02 -3.15506878e-03 9.96252664e-01 -6.48530679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08119381699999 meters 0.06350968110824207 Centerline is valid? [True, True] Translation: X:52.79, Y:-3.84, Z:-6.49 [[ 9.83967230e-01 1.56747811e-01 8.50800406e-02 5.27934829e+01] [-1.56341948e-01 9.87636572e-01 -1.14541187e-02 -3.83975614e+00] [-8.58235677e-02 -2.03110186e-03 9.96308281e-01 -6.48887381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141193816999994 meters 0.06252362182905236 Centerline is valid? [True, True] Translation: X:52.85, Y:-3.87, Z:-6.49 [[ 9.85154833e-01 1.48942832e-01 8.53579940e-02 5.28515039e+01] [-1.48504964e-01 9.88844881e-01 -1.14924663e-02 -3.86927766e+00] [-8.61175359e-02 -1.35422714e-03 9.96284064e-01 -6.49339398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201193817 meters 0.061676742931978876 Centerline is valid? [True, True] Translation: X:52.91, Y:-3.90, Z:-6.50 [[ 9.86312246e-01 1.40148187e-01 8.68713952e-02 5.29096915e+01] [-1.39660037e-01 9.90130364e-01 -1.17020183e-02 -3.89945718e+00] [-8.76540228e-02 -5.90618328e-04 9.96150804e-01 -6.49660903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26119381699999 meters 0.062100662668895724 Centerline is valid? [True, True] Translation: X:52.97, Y:-3.92, Z:-6.51 [[ 9.87070992e-01 1.34212330e-01 8.76236664e-02 5.29677496e+01] [-1.33692409e-01 9.90952595e-01 -1.18022656e-02 -3.91931521e+00] [-8.84149092e-02 -6.49449874e-05 9.96083731e-01 -6.50598422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321193816999994 meters 0.062437069190945306 Centerline is valid? [True, True] Translation: X:53.03, Y:-3.94, Z:-6.51 [[ 9.88012605e-01 1.26377265e-01 8.86559646e-02 5.30281600e+01] [-1.25811405e-01 9.91982027e-01 -1.19644719e-02 -3.94262933e+00] [-8.94571607e-02 6.67117583e-04 9.95990447e-01 -6.50917895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381193816999996 meters 0.06265390015680343 Centerline is valid? [True, True] Translation: X:53.09, Y:-3.96, Z:-6.51 [[ 9.88423900e-01 1.22865977e-01 8.90064300e-02 5.30889930e+01] [-1.22278485e-01 9.92422747e-01 -1.20442239e-02 -3.95617551e+00] [-8.98118311e-02 1.02122733e-03 9.95958228e-01 -6.51428034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44119381699999 meters 0.06458221627302886 Centerline is valid? [True, True] Translation: X:53.15, Y:-3.98, Z:-6.52 [[ 9.89440417e-01 1.13464556e-01 9.01856743e-02 5.31473271e+01] [-1.12819643e-01 9.93540171e-01 -1.22334255e-02 -3.97605578e+00] [-9.09911505e-02 1.92953007e-03 9.95849832e-01 -6.52389464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501193816999994 meters 0.06533073654613342 Centerline is valid? [True, True] Translation: X:53.21, Y:-3.99, Z:-6.53 [[ 9.89631747e-01 1.12117289e-01 8.97703627e-02 5.32070879e+01] [-1.11470449e-01 9.93692825e-01 -1.22027994e-02 -3.98596496e+00] [-9.05723101e-02 2.06953499e-03 9.95887731e-01 -6.53350285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561193816999996 meters 0.06438093298277488 Centerline is valid? [True, True] Translation: X:53.27, Y:-3.98, Z:-6.54 [[ 9.89175819e-01 1.16629761e-01 8.90432382e-02 5.32695033e+01] [-1.16009465e-01 9.93174064e-01 -1.21277629e-02 -3.98412403e+00] [-8.98498928e-02 1.66663138e-03 9.95953924e-01 -6.54274585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621193817 meters 0.0625804947852022 Centerline is valid? [True, True] Translation: X:53.33, Y:-3.98, Z:-6.55 [[ 9.88383171e-01 1.25092324e-01 8.63169578e-02 5.33322620e+01] [-1.24539640e-01 9.92144704e-01 -1.17798688e-02 -3.97762927e+00] [-8.71124837e-02 8.93141222e-04 9.96198081e-01 -6.54911722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68119381699999 meters 0.062146405020734916 Centerline is valid? [True, True] Translation: X:53.39, Y:-3.96, Z:-6.56 [[ 9.86320529e-01 1.40672364e-01 8.59249671e-02 5.33943065e+01] [-1.40180821e-01 9.90056102e-01 -1.17580506e-02 -3.96381730e+00] [-8.67245708e-02 -4.47825775e-04 9.96232226e-01 -6.56241983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741193816999996 meters 0.06235574236583005 Centerline is valid? [True, True] Translation: X:53.46, Y:-3.96, Z:-6.57 [[ 9.85102603e-01 1.48217785e-01 8.72029226e-02 5.34571859e+01] [-1.47739897e-01 9.88954115e-01 -1.19449163e-02 -3.96137271e+00] [-8.80101382e-02 -1.11638265e-03 9.96118953e-01 -6.57025934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801193817 meters 0.0626652091350104 Centerline is valid? [True, True] Translation: X:53.52, Y:-3.97, Z:-6.58 [[ 9.85081936e-01 1.50038623e-01 8.42733081e-02 5.35179844e+01] [-1.49596989e-01 9.88679393e-01 -1.15671667e-02 -3.96568164e+00] [-8.50548048e-02 -1.21242615e-03 9.96375537e-01 -6.58149231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86119381699999 meters 0.0631323909442555 Centerline is valid? [True, True] Translation: X:53.58, Y:-3.98, Z:-6.59 [[ 9.85624940e-01 1.47959145e-01 8.15571524e-02 5.35777073e+01] [-1.47536724e-01 9.88992990e-01 -1.12152372e-02 -3.97617560e+00] [-8.23188489e-02 -9.78657562e-04 9.96605564e-01 -6.59297162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921193816999995 meters 0.06278326339664649 Centerline is valid? [True, True] Translation: X:53.64, Y:-4.00, Z:-6.60 [[ 9.87241222e-01 1.36203978e-01 8.24817864e-02 5.36366936e+01] [-1.35728359e-01 9.90680814e-01 -1.13726518e-02 -3.99926279e+00] [-8.32621237e-02 3.24331760e-05 9.96527680e-01 -6.59741768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981193817 meters 0.06354341769915316 Centerline is valid? [True, True] Translation: X:53.70, Y:-4.02, Z:-6.60 [[ 9.88134044e-01 1.28413004e-01 8.42686877e-02 5.36959610e+01] [-1.27888368e-01 9.91720529e-01 -1.16171422e-02 -4.01541584e+00] [-8.50627797e-02 7.02308742e-04 9.96375346e-01 -6.60423524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04119381699999 meters 0.06367007107028247 Centerline is valid? [True, True] Translation: X:53.76, Y:-4.03, Z:-6.61 [[ 9.88832015e-01 1.22642069e-01 8.46768523e-02 5.37572460e+01] [-1.22089315e-01 9.92450210e-01 -1.16953296e-02 -4.02573517e+00] [-8.54718992e-02 1.22657743e-03 9.96339827e-01 -6.60685782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.101193816999995 meters 0.06444276751024265 Centerline is valid? [True, True] Translation: X:53.82, Y:-4.03, Z:-6.61 [[ 9.88977798e-01 1.17479226e-01 9.01196220e-02 5.38178970e+01] [-1.16828755e-01 9.93073688e-01 -1.24776819e-02 -4.03480037e+00] [-9.09612938e-02 1.81158714e-03 9.95852781e-01 -6.61101058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161193817 meters 0.06530589208291629 Centerline is valid? [True, True] Translation: X:53.88, Y:-4.04, Z:-6.62 [[ 9.89376787e-01 1.14364435e-01 8.97460236e-02 5.38792861e+01] [-1.13704345e-01 9.93436615e-01 -1.24504377e-02 -4.03857992e+00] [-9.05808732e-02 2.11366123e-03 9.95886860e-01 -6.61898744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22119381699999 meters 0.06587875601307891 Centerline is valid? [True, True] Translation: X:53.94, Y:-4.04, Z:-6.63 [[ 9.89356501e-01 1.14319843e-01 9.00260330e-02 5.39407402e+01] [-1.13653093e-01 9.93441670e-01 -1.25149239e-02 -4.04005789e+00] [-9.08663167e-02 2.14998417e-03 9.95860778e-01 -6.62970550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281193816999995 meters 0.06545077296167504 Centerline is valid? [True, True] Translation: X:54.00, Y:-4.04, Z:-6.64 [[ 9.89153876e-01 1.16575479e-01 8.93575256e-02 5.40027913e+01] [-1.15925222e-01 9.93179908e-01 -1.24504348e-02 -4.03924448e+00] [-9.01995144e-02 1.95660481e-03 9.95921794e-01 -6.63773011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341193817 meters 0.06420442452732755 Centerline is valid? [True, True] Translation: X:54.07, Y:-4.03, Z:-6.65 [[ 9.88883123e-01 1.21724063e-01 8.54015327e-02 5.40660872e+01] [-1.21147405e-01 9.92562930e-01 -1.19221262e-02 -4.03019030e+00] [-8.62176051e-02 1.44341525e-03 9.96275284e-01 -6.64694201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40119381699999 meters 0.06434210563622396 Centerline is valid? [True, True] Translation: X:54.13, Y:-4.03, Z:-6.66 [[ 9.88725611e-01 1.24849281e-01 8.26699630e-02 5.41274526e+01] [-1.24317827e-01 9.92175043e-01 -1.15655242e-02 -4.02677283e+00] [-8.34670215e-02 1.15777988e-03 9.96509867e-01 -6.65957669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.461193816999995 meters 0.06436702486765712 Centerline is valid? [True, True] Translation: X:54.19, Y:-4.02, Z:-6.67 [[ 9.88804208e-01 1.25215796e-01 8.11618270e-02 5.41903762e+01] [-1.24703136e-01 9.92128890e-01 -1.13750974e-02 -4.02361599e+00] [-8.19473352e-02 1.12660985e-03 9.96636024e-01 -6.66638659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.521193817 meters 0.06438521302070566 Centerline is valid? [True, True] Translation: X:54.25, Y:-4.02, Z:-6.67 [[ 9.88652968e-01 1.26809119e-01 8.05279817e-02 5.42524035e+01] [-1.26307850e-01 9.91926624e-01 -1.13092433e-02 -4.02479356e+00] [-8.13119643e-02 1.00960072e-03 9.96688189e-01 -6.67441308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58119381699999 meters 0.06321166188052632 Centerline is valid? [True, True] Translation: X:54.32, Y:-4.02, Z:-6.68 [[ 9.87767901e-01 1.32644950e-01 8.19749473e-02 5.43153403e+01] [-1.32142525e-01 9.91163451e-01 -1.15484285e-02 -4.01790448e+00] [-8.27824124e-02 5.74790433e-04 9.96567480e-01 -6.68062423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641193816999994 meters 0.06250183274204779 Centerline is valid? [True, True] Translation: X:54.38, Y:-4.02, Z:-6.69 [[ 9.87326804e-01 1.35743149e-01 8.22166634e-02 5.43780567e+01] [-1.35248798e-01 9.90744013e-01 -1.15785404e-02 -4.01737554e+00] [-8.30273746e-02 3.12098419e-04 9.96547218e-01 -6.68732829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701193817 meters 0.06249772250901988 Centerline is valid? [True, True] Translation: X:54.44, Y:-4.02, Z:-6.70 [[ 9.87035119e-01 1.35912407e-01 8.53785209e-02 5.44383326e+01] [-1.35376706e-01 9.90720797e-01 -1.20602376e-02 -4.02110047e+00] [-8.62254122e-02 3.45615195e-04 9.96275594e-01 -6.69598907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76119381699999 meters 0.0615359978007865 Centerline is valid? [True, True] Translation: X:54.50, Y:-4.03, Z:-6.70 [[ 9.86729465e-01 1.36367230e-01 8.81415939e-02 5.45005174e+01] [-1.35798418e-01 9.90658307e-01 -1.24462133e-02 -4.02770337e+00] [-8.90154578e-02 3.11556404e-04 9.96030196e-01 -6.69599256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821193816999994 meters 0.06170015071859289 Centerline is valid? [True, True] Translation: X:54.56, Y:-4.03, Z:-6.71 [[ 9.86584634e-01 1.38455036e-01 8.64925589e-02 5.45614254e+01] [-1.37913044e-01 9.90368710e-01 -1.22397252e-02 -4.02882357e+00] [-8.73541756e-02 1.47072732e-04 9.96177307e-01 -6.70756785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881193816999996 meters 0.06206250820941012 Centerline is valid? [True, True] Translation: X:54.62, Y:-4.04, Z:-6.72 [[ 9.86825091e-01 1.38205502e-01 8.41158711e-02 5.46220985e+01] [-1.37690158e-01 9.90403556e-01 -1.19254276e-02 -4.03581737e+00] [-8.49568176e-02 1.86383534e-04 9.96384617e-01 -6.71800314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94119381699999 meters 0.06339792632115439 Centerline is valid? [True, True] Translation: X:54.68, Y:-4.05, Z:-6.73 [[ 9.87828208e-01 1.33068693e-01 8.05490818e-02 5.46810400e+01] [-1.32576625e-01 9.91106615e-01 -1.14505520e-02 -4.04840191e+00] [-8.13564379e-02 6.32252856e-04 9.96684870e-01 -6.73052427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.001193816999994 meters 0.06690600591849448 Centerline is valid? [True, True] Translation: X:54.74, Y:-4.07, Z:-6.74 [[ 9.90385700e-01 1.17388957e-01 7.31846873e-02 5.47387202e+01] [-1.16939790e-01 9.93084475e-01 -1.04073024e-02 -4.07120297e+00] [-7.39002791e-02 1.74904150e-03 9.97264102e-01 -6.73857189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061193816999996 meters 0.07260284145255509 Centerline is valid? [True, True] Translation: X:54.80, Y:-4.09, Z:-6.75 [[ 9.92449216e-01 9.94300914e-02 7.18206856e-02 5.47959858e+01] [-9.89504981e-02 9.95039937e-01 -1.02138761e-02 -4.09464566e+00] [-7.24800171e-02 3.03006066e-03 9.97365262e-01 -6.74626604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.121193817 meters 0.07473142295033401 Centerline is valid? [True, True] Translation: X:54.86, Y:-4.10, Z:-6.76 [[ 9.92903141e-01 9.61931752e-02 6.99301452e-02 5.48557418e+01] [-9.57303496e-02 9.95357596e-01 -9.94768143e-03 -4.10309455e+00] [-7.05624002e-02 3.18264690e-03 9.97502290e-01 -6.75540941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18119381699999 meters 0.07015370665914127 Centerline is valid? [True, True] Translation: X:54.92, Y:-4.09, Z:-6.76 [[ 9.91549126e-01 1.08202373e-01 7.15721875e-02 5.49168565e+01] [-1.07748392e-01 9.94126022e-01 -1.01851134e-02 -4.09295010e+00] [-7.22538275e-02 2.38725214e-03 9.97383419e-01 -6.76127494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241193816999996 meters 0.06583087525954376 Centerline is valid? [True, True] Translation: X:54.98, Y:-4.08, Z:-6.77 [[ 9.89819923e-01 1.20758828e-01 7.53247973e-02 5.49795182e+01] [-1.20292415e-01 9.92680673e-01 -1.07152678e-02 -4.08238334e+00] [-7.60674337e-02 1.54518372e-03 9.97101478e-01 -6.76577595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301193817 meters 0.06418513044146706 Centerline is valid? [True, True] Translation: X:55.04, Y:-4.08, Z:-6.77 [[ 9.88974705e-01 1.26219805e-01 7.74441357e-02 5.50403387e+01] [-1.25743248e-01 9.92001621e-01 -1.10190362e-02 -4.08233723e+00] [-7.82155287e-02 1.15947086e-03 9.96935799e-01 -6.77133664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36119381699999 meters 0.061650352799574565 Centerline is valid? [True, True] Translation: X:55.10, Y:-4.07, Z:-6.77 [[ 9.86588766e-01 1.40389148e-01 8.32675994e-02 5.51028491e+01] [-1.39888260e-01 9.90096402e-01 -1.18485994e-02 -4.06764706e+00] [-8.41063653e-02 4.15354754e-05 9.96456782e-01 -6.77400575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421193816999995 meters 0.061529998944105574 Centerline is valid? [True, True] Translation: X:55.17, Y:-4.06, Z:-6.78 [[ 9.85237814e-01 1.49158927e-01 8.40122920e-02 5.51655308e+01] [-1.48681831e-01 9.88812970e-01 -1.19425423e-02 -4.06400593e+00] [-8.48537807e-02 -7.24857136e-04 9.96393151e-01 -6.78180984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481193817 meters 0.061195766471691636 Centerline is valid? [True, True] Translation: X:55.23, Y:-4.07, Z:-6.78 [[ 9.83989045e-01 1.56847488e-01 8.46429292e-02 5.52278777e+01] [-1.56389376e-01 9.87621881e-01 -1.20574634e-02 -4.06744312e+00] [-8.54863919e-02 -1.37284302e-03 9.96338392e-01 -6.78234771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54119381699999 meters 0.06120229618652309 Centerline is valid? [True, True] Translation: X:55.29, Y:-4.08, Z:-6.79 [[ 9.84611214e-01 1.54113198e-01 8.24007280e-02 5.52862953e+01] [-1.53667354e-01 9.88052608e-01 -1.17638287e-02 -4.08251044e+00] [-8.32292155e-02 -1.07950416e-03 9.96529845e-01 -6.79309188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601193816999995 meters 0.060630103662992214 Centerline is valid? [True, True] Translation: X:55.35, Y:-4.11, Z:-6.80 [[ 9.85780141e-01 1.46892967e-01 8.16086408e-02 5.53456900e+01] [-1.46429150e-01 9.89152293e-01 -1.16723836e-02 -4.10555208e+00] [-8.24379653e-02 -4.43480000e-04 9.96596099e-01 -6.80034109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661193817 meters 0.06154360940558517 Centerline is valid? [True, True] Translation: X:55.40, Y:-4.13, Z:-6.81 [[ 9.86818596e-01 1.41129443e-01 7.91930509e-02 5.54025991e+01] [-1.40671425e-01 9.89991149e-01 -1.13611118e-02 -4.12680176e+00] [-8.00038068e-02 7.11570978e-05 9.96794555e-01 -6.81426944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72119381699999 meters 0.06267846711021206 Centerline is valid? [True, True] Translation: X:55.46, Y:-4.16, Z:-6.82 [[ 9.88341814e-01 1.30071682e-01 7.91316370e-02 5.54608401e+01] [-1.29579468e-01 9.91504128e-01 -1.13456959e-02 -4.15640279e+00] [-7.99350985e-02 9.59590198e-04 9.96799608e-01 -6.82175684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781193816999995 meters 0.06291482017687608 Centerline is valid? [True, True] Translation: X:55.52, Y:-4.17, Z:-6.83 [[ 9.88811609e-01 1.24540746e-01 8.21048429e-02 5.55211898e+01] [-1.23989673e-01 9.92213384e-01 -1.17967124e-02 -4.17333209e+00] [-8.29346953e-02 1.48457352e-03 9.96553878e-01 -6.82558846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841193817 meters 0.06312383419493849 Centerline is valid? [True, True] Translation: X:55.58, Y:-4.19, Z:-6.83 [[ 9.89052386e-01 1.20532447e-01 8.51311148e-02 5.55817345e+01] [-1.19922765e-01 9.92707541e-01 -1.22584110e-02 -4.18822418e+00] [-8.59878359e-02 1.91505191e-03 9.96294346e-01 -6.82731290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90119381699999 meters 0.0642251989547736 Centerline is valid? [True, True] Translation: X:55.64, Y:-4.20, Z:-6.83 [[ 9.89373525e-01 1.15794148e-01 8.79303337e-02 5.56420107e+01] [-1.15122392e-01 9.93270255e-01 -1.26899961e-02 -4.20480504e+00] [-8.88080122e-02 2.43239587e-03 9.96045792e-01 -6.83186766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961193816999995 meters 0.0651349321006222 Centerline is valid? [True, True] Translation: X:55.70, Y:-4.21, Z:-6.84 [[ 9.89245970e-01 1.16214318e-01 8.88067699e-02 5.57022371e+01] [-1.15527884e-01 9.93221137e-01 -1.28483856e-02 -4.21149611e+00] [-8.96979274e-02 2.45055546e-03 9.95966002e-01 -6.84335185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021193817 meters 0.06340664894755259 Centerline is valid? [True, True] Translation: X:55.76, Y:-4.21, Z:-6.85 [[ 9.88657828e-01 1.19718504e-01 9.06817429e-02 5.57643433e+01] [-1.19015570e-01 9.92805444e-01 -1.31394499e-02 -4.21000597e+00] [-9.16023633e-02 2.19788070e-03 9.95793240e-01 -6.84852096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08119381699999 meters 0.06314193279998231 Centerline is valid? [True, True] Translation: X:55.82, Y:-4.22, Z:-6.85 [[ 9.88202602e-01 1.21158163e-01 9.36819993e-02 5.58248843e+01] [-1.20413849e-01 9.92630913e-01 -1.35784765e-02 -4.21847583e+00] [-9.46367918e-02 2.13767567e-03 9.95509572e-01 -6.85323387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141193816999994 meters 0.06414571896649254 Centerline is valid? [True, True] Translation: X:55.89, Y:-4.23, Z:-6.86 [[ 9.88847599e-01 1.15374936e-01 9.41756397e-02 5.58850872e+01] [-1.14596422e-01 9.93318326e-01 -1.36515239e-02 -4.23003950e+00] [-9.51214324e-02 2.70708522e-03 9.95461996e-01 -6.86067552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201193817 meters 0.06767635210589967 Centerline is valid? [True, True] Translation: X:55.94, Y:-4.24, Z:-6.87 [[ 9.89605424e-01 1.06383079e-01 9.67664447e-02 5.59429184e+01] [-1.05516382e-01 9.94318378e-01 -1.40448108e-02 -4.24183266e+00] [-9.77107845e-02 3.68837576e-03 9.95208018e-01 -6.87018013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26119381699999 meters 0.06734072532677543 Centerline is valid? [True, True] Translation: X:56.01, Y:-4.25, Z:-6.87 [[ 9.89556903e-01 1.05526536e-01 9.81900520e-02 5.60053254e+01] [-1.04630636e-01 9.94409145e-01 -1.42436526e-02 -4.24924605e+00] [-9.91441690e-02 3.82121721e-03 9.95065743e-01 -6.87364574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.321193816999994 meters 0.06720044956875505 Centerline is valid? [True, True] Translation: X:56.07, Y:-4.25, Z:-6.88 [[ 9.89534333e-01 1.07253507e-01 9.65323202e-02 5.60677582e+01] [-1.06392474e-01 9.94225113e-01 -1.40380417e-02 -4.24818433e+00] [-9.74804862e-02 3.62081190e-03 9.95230850e-01 -6.88149883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381193816999996 meters 0.06662107738631708 Centerline is valid? [True, True] Translation: X:56.13, Y:-4.24, Z:-6.89 [[ 9.89456859e-01 1.09367659e-01 9.49412408e-02 5.61297830e+01] [-1.08541794e-01 9.93995604e-01 -1.38353927e-02 -4.24408025e+00] [-9.58843205e-02 3.38443158e-03 9.95386730e-01 -6.89258214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44119381699999 meters 0.06755675577929235 Centerline is valid? [True, True] Translation: X:56.19, Y:-4.24, Z:-6.90 [[ 9.89413707e-01 1.07432279e-01 9.75644484e-02 5.61920977e+01] [-1.06547460e-01 9.94205507e-01 -1.42495107e-02 -4.24166766e+00] [-9.85299693e-02 3.70341703e-03 9.95127193e-01 -6.89899219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501193816999994 meters 0.06975413755846642 Centerline is valid? [True, True] Translation: X:56.25, Y:-4.25, Z:-6.91 [[ 9.89665246e-01 1.03313172e-01 9.94439006e-02 5.62523922e+01] [-1.02369893e-01 9.94639903e-01 -1.45557295e-02 -4.24631268e+00] [-1.00414670e-01 4.22523814e-03 9.94936702e-01 -6.90561650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561193816999996 meters 0.07187881427636499 Centerline is valid? [True, True] Translation: X:56.31, Y:-4.24, Z:-6.91 [[ 9.90023873e-01 9.79998200e-02 1.01236185e-01 5.63136207e+01] [-9.69925670e-02 9.95174521e-01 -1.48362671e-02 -4.24447547e+00] [-1.02201624e-01 4.86910112e-03 9.94751788e-01 -6.91277329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62119381699999 meters 0.06967587549265537 Centerline is valid? [True, True] Translation: X:56.38, Y:-4.24, Z:-6.92 [[ 9.89692188e-01 9.97818627e-02 1.02727569e-01 5.63766074e+01] [-9.87544401e-02 9.94997989e-01 -1.50519949e-02 -4.24038729e+00] [-1.03715641e-01 4.75203820e-03 9.94595638e-01 -6.91695353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68119381699999 meters 0.06736009279029338 Centerline is valid? [True, True] Translation: X:56.44, Y:-4.22, Z:-6.93 [[ 9.88986845e-01 1.07075276e-01 1.02175855e-01 5.64401347e+01] [-1.06093720e-01 9.94242857e-01 -1.50087749e-02 -4.22420667e+00] [-1.03194683e-01 4.00326428e-03 9.94653121e-01 -6.92615426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741193816999996 meters 0.06634956558967826 Centerline is valid? [True, True] Translation: X:56.50, Y:-4.22, Z:-6.94 [[ 9.88677139e-01 1.10446240e-01 1.01583184e-01 5.65022332e+01] [-1.09493636e-01 9.93875465e-01 -1.49232709e-02 -4.21885255e+00] [-1.02609254e-01 3.63158457e-03 9.94715111e-01 -6.93515593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801193817 meters 0.06676859456497024 Centerline is valid? [True, True] Translation: X:56.56, Y:-4.22, Z:-6.95 [[ 9.88730674e-01 1.14011436e-01 9.70208545e-02 5.65639013e+01] [-1.13160031e-01 9.93474564e-01 -1.42512416e-02 -4.21524173e+00] [-9.80125556e-02 3.11175685e-03 9.95180313e-01 -6.94833065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86119381699999 meters 0.06661655986144747 Centerline is valid? [True, True] Translation: X:56.63, Y:-4.21, Z:-6.96 [[ 9.88756127e-01 1.15359463e-01 9.51499651e-02 5.66268855e+01] [-1.14544279e-01 9.93319439e-01 -1.40035642e-02 -4.21282872e+00] [-9.61297537e-02 2.94722573e-03 9.95364448e-01 -6.95783006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.921193816999995 meters 0.06687133736959011 Centerline is valid? [True, True] Translation: X:56.69, Y:-4.21, Z:-6.97 [[ 9.89108677e-01 1.15982985e-01 9.06199304e-02 5.66892225e+01] [-1.15243544e-01 9.93247313e-01 -1.33679153e-02 -4.20673273e+00] [-9.15584531e-02 2.77895907e-03 9.95795826e-01 -6.96937518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.981193817 meters 0.06672381866070434 Centerline is valid? [True, True] Translation: X:56.75, Y:-4.21, Z:-6.98 [[ 9.89071033e-01 1.15960363e-01 9.10586936e-02 5.67523070e+01] [-1.15211417e-01 9.93249843e-01 -1.34565660e-02 -4.20759861e+00] [-9.20044614e-02 2.81849855e-03 9.95754606e-01 -6.97644054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04119381699999 meters 0.06504382881793601 Centerline is valid? [True, True] Translation: X:56.82, Y:-4.20, Z:-6.98 [[ 9.88309070e-01 1.19188180e-01 9.50755488e-02 5.68154130e+01] [-1.18382159e-01 9.92868082e-01 -1.40938319e-02 -4.19743264e+00] [-9.60772959e-02 2.67381315e-03 9.95370285e-01 -6.98019993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.101193816999995 meters 0.06387019510049531 Centerline is valid? [True, True] Translation: X:56.88, Y:-4.19, Z:-6.99 [[ 9.87635018e-01 1.23022222e-01 9.71730657e-02 5.68781988e+01] [-1.22198501e-01 9.92401126e-01 -1.44059795e-02 -4.19399647e+00] [-9.82069154e-02 2.35344684e-03 9.95163234e-01 -6.98586307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.161193817 meters 0.06302676953644115 Centerline is valid? [True, True] Translation: X:56.94, Y:-4.20, Z:-6.99 [[ 9.87195197e-01 1.26286725e-01 9.74541263e-02 5.69401076e+01] [-1.25473958e-01 9.91991693e-01 -1.44487800e-02 -4.19690674e+00] [-9.84983729e-02 2.03581120e-03 9.95135130e-01 -6.99222219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22119381699999 meters 0.06113419173721178 Centerline is valid? [True, True] Translation: X:57.00, Y:-4.19, Z:-7.00 [[ 9.86096643e-01 1.33862290e-01 9.84596280e-02 5.70030038e+01] [-1.33066655e-01 9.90999053e-01 -1.46336166e-02 -4.18972489e+00] [-9.95322875e-02 1.32846687e-03 9.95033446e-01 -6.99833619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.281193816999995 meters 0.0602738633674231 Centerline is valid? [True, True] Translation: X:57.06, Y:-4.19, Z:-7.01 [[ 9.85050329e-01 1.40366483e-01 9.98654039e-02 5.70648373e+01] [-1.39581264e-01 9.90099382e-01 -1.48419530e-02 -4.18941239e+00] [-1.00959987e-01 6.80731379e-04 9.94890254e-01 -7.00533094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.341193817 meters 0.059816175750803134 Centerline is valid? [True, True] Translation: X:57.13, Y:-4.19, Z:-7.01 [[ 9.83391165e-01 1.52608014e-01 9.82476981e-02 5.71273585e+01] [-1.51906145e-01 9.88286651e-01 -1.46293739e-02 -4.18777316e+00] [-9.93294482e-02 -5.38032034e-04 9.95054456e-01 -7.01238686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40119381699999 meters 0.06205650901687264 Centerline is valid? [True, True] Translation: X:57.19, Y:-4.19, Z:-7.03 [[ 9.82091247e-01 1.63325443e-01 9.39232754e-02 5.71866000e+01] [-1.62729763e-01 9.86571082e-01 -1.40187108e-02 -4.18542699e+00] [-9.49515996e-02 -1.51645910e-03 9.95480735e-01 -7.02937414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.461193816999995 meters 0.06208515619993282 Centerline is valid? [True, True] Translation: X:57.25, Y:-4.20, Z:-7.04 [[ 9.82486002e-01 1.64020861e-01 8.84217868e-02 5.72454932e+01] [-1.63495056e-01 9.86455758e-01 -1.32062273e-02 -4.20030597e+00] [-8.93902775e-02 -1.48159156e-03 9.95995574e-01 -7.03903476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521193817 meters 0.062294754690093226 Centerline is valid? [True, True] Translation: X:57.30, Y:-4.22, Z:-7.05 [[ 9.83567438e-01 1.60511480e-01 8.26508267e-02 5.73032047e+01] [-1.60039517e-01 9.87033380e-01 -1.23474956e-02 -4.22187645e+00] [-8.35610395e-02 -1.08280380e-03 9.96502072e-01 -7.05157488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58119381699999 meters 0.06167920160019875 Centerline is valid? [True, True] Translation: X:57.36, Y:-4.24, Z:-7.06 [[ 9.84152463e-01 1.56725791e-01 8.29515306e-02 5.73624408e+01] [-1.56237462e-01 9.87641855e-01 -1.23863655e-02 -4.24330024e+00] [-8.38676665e-02 -7.70064440e-04 9.96476604e-01 -7.05707285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.641193816999994 meters 0.061643007847912906 Centerline is valid? [True, True] Translation: X:57.42, Y:-4.27, Z:-7.07 [[ 9.84832642e-01 1.49674808e-01 8.77617151e-02 5.74186265e+01] [-1.49096682e-01 9.88735269e-01 -1.31433466e-02 -4.26793578e+00] [-8.87403309e-02 -1.40983698e-04 9.96054785e-01 -7.06736438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.701193817 meters 0.06045572972290698 Centerline is valid? [True, True] Translation: X:57.48, Y:-4.29, Z:-7.06 [[ 9.85297301e-01 1.45101756e-01 9.01926213e-02 5.74798443e+01] [-1.44472258e-01 9.89416699e-01 -1.35041537e-02 -4.28877744e+00] [-9.11975621e-02 2.75274535e-04 9.95832782e-01 -7.06272968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76119381699999 meters 0.06075393407076333 Centerline is valid? [True, True] Translation: X:57.54, Y:-4.32, Z:-7.07 [[ 9.86138840e-01 1.38250596e-01 9.17439918e-02 5.75397037e+01] [-1.37569280e-01 9.90396845e-01 -1.37397993e-02 -4.31679653e+00] [-9.27624955e-02 9.28194835e-04 9.95687832e-01 -7.06674516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.821193816999994 meters 0.062453979391044065 Centerline is valid? [True, True] Translation: X:57.60, Y:-4.34, Z:-7.08 [[ 9.87142711e-01 1.31405298e-01 9.10050336e-02 5.75974278e+01] [-1.30702745e-01 9.91327449e-01 -1.36631613e-02 -4.34108578e+00] [-9.20111996e-02 1.59288231e-03 9.95756698e-01 -7.07589265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.881193816999996 meters 0.06304005663241526 Centerline is valid? [True, True] Translation: X:57.66, Y:-4.36, Z:-7.08 [[ 9.87755662e-01 1.27026663e-01 9.05703003e-02 5.76564355e+01] [-1.26309595e-01 9.91897242e-01 -1.36289601e-02 -4.36275322e+00] [-9.15676723e-02 2.02218455e-03 9.95796803e-01 -7.08254539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94119381699999 meters 0.0628788951284543 Centerline is valid? [True, True] Translation: X:57.72, Y:-4.38, Z:-7.09 [[ 9.87510066e-01 1.28195335e-01 9.15959881e-02 5.77163037e+01] [-1.27466703e-01 9.91747045e-01 -1.37854586e-02 -4.37580205e+00] [-9.26072820e-02 1.93784048e-03 9.95700827e-01 -7.08965784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.001193816999994 meters 0.061043970932163745 Centerline is valid? [True, True] Translation: X:57.78, Y:-4.38, Z:-7.10 [[ 9.86326791e-01 1.38153438e-01 8.98503730e-02 5.77768740e+01] [-1.37490408e-01 9.90410314e-01 -1.35571763e-02 -4.38249826e+00] [-9.08617067e-02 1.01824173e-03 9.95862999e-01 -7.09849806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.061193816999996 meters 0.05991774968664745 Centerline is valid? [True, True] Translation: X:57.84, Y:-4.39, Z:-7.11 [[ 9.85450374e-01 1.45438698e-01 8.79496720e-02 5.78394128e+01] [-1.44832957e-01 9.89367209e-01 -1.32642626e-02 -4.38536761e+00] [-8.89436586e-02 3.33261536e-04 9.96036603e-01 -7.10567059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12119381699999 meters 0.05975950039293655 Centerline is valid? [True, True] Translation: X:57.90, Y:-4.39, Z:-7.11 [[ 9.84884911e-01 1.49438713e-01 8.75772978e-02 5.79014865e+01] [-1.48851180e-01 9.88770990e-01 -1.32384021e-02 -4.39484445e+00] [-8.85722213e-02 2.31834777e-06 9.96069757e-01 -7.11344178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18119381699999 meters 0.05989777754328424 Centerline is valid? [True, True] Translation: X:57.96, Y:-4.41, Z:-7.12 [[ 9.84944098e-01 1.49676316e-01 8.64992783e-02 5.79615492e+01] [-1.49101307e-01 9.88735051e-01 -1.31072401e-02 -4.40759583e+00] [-8.74867117e-02 1.27433213e-05 9.96165687e-01 -7.12174415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.241193816999996 meters 0.0597324736712099 Centerline is valid? [True, True] Translation: X:58.02, Y:-4.42, Z:-7.13 [[ 9.84806460e-01 1.49862113e-01 8.77358756e-02 5.80201674e+01] [-1.49268732e-01 9.88706906e-01 -1.33228806e-02 -4.42477232e+00] [-8.87416612e-02 2.42360556e-05 9.96054676e-01 -7.12861661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.301193817 meters 0.05950955745624272 Centerline is valid? [True, True] Translation: X:58.08, Y:-4.44, Z:-7.13 [[ 9.84882689e-01 1.48771943e-01 8.87299162e-02 5.80807882e+01] [-1.48158422e-01 9.88871522e-01 -1.34979512e-02 -4.43791870e+00] [-8.97506037e-02 1.47814112e-04 9.95964260e-01 -7.13452954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36119381699999 meters 0.05969152644832798 Centerline is valid? [True, True] Translation: X:58.14, Y:-4.45, Z:-7.14 [[ 9.85173492e-01 1.46955476e-01 8.85284073e-02 5.81425306e+01] [-1.46335154e-01 9.89143050e-01 -1.34925413e-02 -4.45030345e+00] [-8.95500617e-02 3.37675875e-04 9.95982265e-01 -7.14235999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.421193816999995 meters 0.05988842333469783 Centerline is valid? [True, True] Translation: X:58.20, Y:-4.47, Z:-7.15 [[ 9.85114626e-01 1.47603155e-01 8.81049474e-02 5.82025189e+01] [-1.46988619e-01 9.89046619e-01 -1.34585347e-02 -4.46818036e+00] [-8.91264225e-02 3.07774858e-04 9.96020274e-01 -7.14949335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.481193817 meters 0.06006940919238292 Centerline is valid? [True, True] Translation: X:58.26, Y:-4.48, Z:-7.16 [[ 9.85322602e-01 1.47409022e-01 8.60810718e-02 5.82619296e+01] [-1.46819356e-01 9.89075559e-01 -1.31763066e-02 -4.48430207e+00] [-8.70829907e-02 3.44545195e-04 9.96201001e-01 -7.15969689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54119381699999 meters 0.05989767669091798 Centerline is valid? [True, True] Translation: X:58.32, Y:-4.50, Z:-7.17 [[ 9.85292681e-01 1.45572727e-01 8.94813597e-02 5.83218862e+01] [-1.44924812e-01 9.89347394e-01 -1.37306997e-02 -4.49891319e+00] [-9.05269655e-02 5.60688670e-04 9.95893847e-01 -7.16581891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.601193816999995 meters 0.05970330980518873 Centerline is valid? [True, True] Translation: X:58.38, Y:-4.52, Z:-7.17 [[ 9.85505171e-01 1.44140144e-01 8.94604803e-02 5.83830932e+01] [-1.43486918e-01 9.89557044e-01 -1.37244442e-02 -4.51544079e+00] [-9.05044919e-02 6.89102048e-04 9.95895809e-01 -7.17204009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.661193817 meters 0.06059172612619136 Centerline is valid? [True, True] Translation: X:58.44, Y:-4.54, Z:-7.18 [[ 9.86457682e-01 1.39094694e-01 8.69132217e-02 5.84407023e+01] [-1.38455265e-01 9.90278409e-01 -1.33720923e-02 -4.53971513e+00] [-8.79282740e-02 1.15741002e-03 9.96126136e-01 -7.18066662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72119381699999 meters 0.0616534683672617 Centerline is valid? [True, True] Translation: X:58.50, Y:-4.55, Z:-7.19 [[ 9.86785058e-01 1.37269607e-01 8.60947376e-02 5.84992707e+01] [-1.36635624e-01 9.90532865e-01 -1.32419813e-02 -4.55367473e+00] [-8.70973886e-02 1.30338111e-03 9.96198949e-01 -7.19148410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.781193816999995 meters 0.061837502473201494 Centerline is valid? [True, True] Translation: X:58.56, Y:-4.56, Z:-7.20 [[ 9.86815771e-01 1.38105382e-01 8.43892021e-02 5.85602244e+01] [-1.37497469e-01 9.90416780e-01 -1.30018695e-02 -4.56115784e+00] [-8.53761099e-02 1.22714820e-03 9.96348039e-01 -7.20084597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.841193817 meters 0.06118310892766505 Centerline is valid? [True, True] Translation: X:58.62, Y:-4.57, Z:-7.20 [[ 9.86354436e-01 1.38394898e-01 8.91727459e-02 5.86215695e+01] [-1.37713929e-01 9.90376265e-01 -1.37741371e-02 -4.56792744e+00] [-9.02208413e-02 1.30585202e-03 9.95920928e-01 -7.20294108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90119381699999 meters 0.06067788507216423 Centerline is valid? [True, True] Translation: X:58.68, Y:-4.58, Z:-7.20 [[ 9.86356654e-01 1.37386071e-01 9.06951966e-02 5.86830925e+01] [-1.36677671e-01 9.90516560e-01 -1.40056808e-02 -4.57620604e+00] [-9.17592796e-02 1.41858816e-03 9.95780208e-01 -7.20498782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.961193816999995 meters 0.06288713209804044 Centerline is valid? [True, True] Translation: X:58.74, Y:-4.59, Z:-7.22 [[ 9.86890272e-01 1.33403071e-01 9.08361773e-02 5.87417493e+01] [-1.32673070e-01 9.91060195e-01 -1.40550949e-02 -4.58812069e+00] [-9.18991124e-02 1.81932190e-03 9.95766661e-01 -7.21704473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.021193817 meters 0.0627923387403251 Centerline is valid? [True, True] Translation: X:58.80, Y:-4.60, Z:-7.22 [[ 9.87168108e-01 1.31329831e-01 9.08383293e-02 5.88027722e+01] [-1.30588824e-01 9.91336638e-01 -1.40794092e-02 -4.59892056e+00] [-9.19004103e-02 2.03627308e-03 9.95766121e-01 -7.22153771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08119381699999 meters 0.06300822418917593 Centerline is valid? [True, True] Translation: X:58.86, Y:-4.61, Z:-7.23 [[ 9.87279922e-01 1.30759348e-01 9.04452753e-02 5.88637687e+01] [-1.30019973e-01 9.91411901e-01 -1.40445652e-02 -4.61028723e+00] [-9.15049805e-02 2.10622502e-03 9.95802391e-01 -7.22840616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.141193816999994 meters 0.06295228888842193 Centerline is valid? [True, True] Translation: X:58.92, Y:-4.62, Z:-7.24 [[ 9.87118843e-01 1.31542464e-01 9.10657450e-02 5.89237479e+01] [-1.30793673e-01 9.91308365e-01 -1.41682886e-02 -4.62116344e+00] [-9.21379664e-02 2.07496139e-03 9.95744088e-01 -7.23588262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.201193817 meters 0.06228025799564135 Centerline is valid? [True, True] Translation: X:58.98, Y:-4.63, Z:-7.25 [[ 9.86667939e-01 1.35318821e-01 9.04167853e-02 5.89836637e+01] [-1.34594315e-01 9.90800591e-01 -1.40911072e-02 -4.62841711e+00] [-9.14917963e-02 1.73365844e-03 9.95804321e-01 -7.24531744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26119381699999 meters 0.06111221200362755 Centerline is valid? [True, True] Translation: X:59.04, Y:-4.63, Z:-7.26 [[ 9.85792224e-01 1.43069378e-01 8.80047929e-02 5.90440077e+01] [-1.42411638e-01 9.89712144e-01 -1.37403418e-02 -4.62945797e+00] [-8.90652345e-02 1.01221548e-03 9.96025281e-01 -7.25914480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321193816999994 meters 0.060117410095834385 Centerline is valid? [True, True] Translation: X:59.11, Y:-4.64, Z:-7.26 [[ 9.85251259e-01 1.45557835e-01 8.99603962e-02 5.91056162e+01] [-1.44879810e-01 9.89349408e-01 -1.40566674e-02 -4.63736980e+00] [-9.10483228e-02 8.15904196e-04 9.95846141e-01 -7.26254604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.381193816999996 meters 0.06063516842284734 Centerline is valid? [True, True] Translation: X:59.17, Y:-4.65, Z:-7.27 [[ 9.85611079e-01 1.41828327e-01 9.19539363e-02 5.91653327e+01] [-1.41101169e-01 9.89890527e-01 -1.43946140e-02 -4.65267263e+00] [-9.30658944e-02 1.21268308e-03 9.95659213e-01 -7.26893610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44119381699999 meters 0.06187286002670192 Centerline is valid? [True, True] Translation: X:59.22, Y:-4.66, Z:-7.28 [[ 9.86710617e-01 1.35876021e-01 8.91059164e-02 5.92247077e+01] [-1.35166253e-01 9.90724303e-01 -1.39799785e-02 -4.66434286e+00] [-9.01789408e-02 1.75008037e-03 9.95924041e-01 -7.27761665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.501193816999994 meters 0.06258469110297873 Centerline is valid? [True, True] Translation: X:59.29, Y:-4.67, Z:-7.29 [[ 9.86872626e-01 1.35695264e-01 8.75740551e-02 5.92852293e+01] [-1.35009640e-01 9.90749113e-01 -1.37328843e-02 -4.67121662e+00] [-8.86274047e-02 1.72926599e-03 9.96063348e-01 -7.28871518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.561193816999996 meters 0.06285772165999681 Centerline is valid? [True, True] Translation: X:59.35, Y:-4.68, Z:-7.30 [[ 9.86871830e-01 1.36712984e-01 8.59857641e-02 5.93462840e+01] [-1.36053815e-01 9.90609356e-01 -1.35078556e-02 -4.67749971e+00] [-8.70250017e-02 1.63183093e-03 9.96204791e-01 -7.29726687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62119381699999 meters 0.06179064492850183 Centerline is valid? [True, True] Translation: X:59.41, Y:-4.68, Z:-7.30 [[ 9.86764083e-01 1.36999469e-01 8.67628423e-02 5.94086685e+01] [-1.36327270e-01 9.90569755e-01 -1.36541892e-02 -4.68158262e+00] [-8.78152641e-02 1.64532205e-03 9.96135419e-01 -7.29914165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68119381699999 meters 0.0617549920573849 Centerline is valid? [True, True] Translation: X:59.47, Y:-4.69, Z:-7.30 [[ 9.86651700e-01 1.35652230e-01 9.00938175e-02 5.94709217e+01] [-1.34919061e-01 9.90754765e-01 -1.42071079e-02 -4.68614037e+00] [-9.11881049e-02 1.86209392e-03 9.95831945e-01 -7.30486285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.741193816999996 meters 0.06108687522926414 Centerline is valid? [True, True] Translation: X:59.53, Y:-4.69, Z:-7.31 [[ 9.86301310e-01 1.37177414e-01 9.16083094e-02 5.95333114e+01] [-1.36422771e-01 9.90544889e-01 -1.44793396e-02 -4.69191828e+00] [-9.27283810e-02 1.78353218e-03 9.95689844e-01 -7.31045031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.801193817 meters 0.06049145318416045 Centerline is valid? [True, True] Translation: X:59.59, Y:-4.70, Z:-7.32 [[ 9.85279315e-01 1.44145957e-01 9.19054666e-02 5.95925657e+01] [-1.43415446e-01 9.89555776e-01 -1.45387664e-02 -4.69578966e+00] [-9.30412897e-02 1.14408229e-03 9.95661594e-01 -7.32253219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86119381699999 meters 0.05945415645719084 Centerline is valid? [True, True] Translation: X:59.66, Y:-4.70, Z:-7.33 [[ 9.84902100e-01 1.48962034e-01 8.81939067e-02 5.96551763e+01] [-1.48309369e-01 9.88842700e-01 -1.39444026e-02 -4.69658266e+00] [-8.92870874e-02 6.53888759e-04 9.96005717e-01 -7.32949770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921193816999995 meters 0.05967810656038877 Centerline is valid? [True, True] Translation: X:59.72, Y:-4.70, Z:-7.34 [[ 9.84553609e-01 1.51988869e-01 8.69113076e-02 5.97160244e+01] [-1.51364465e-01 9.88382124e-01 -1.37686432e-02 -4.69863572e+00] [-8.79942633e-02 4.00683828e-04 9.96120901e-01 -7.34084195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.981193817 meters 0.05988759025264868 Centerline is valid? [True, True] Translation: X:59.78, Y:-4.71, Z:-7.35 [[ 9.84081045e-01 1.56521740e-01 8.41750625e-02 5.97771661e+01] [-1.55950755e-01 9.87674513e-01 -1.33572998e-02 -4.70544068e+00] [-8.52282717e-02 1.75010029e-05 9.96361451e-01 -7.35049712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04119381699999 meters 0.060200262020691314 Centerline is valid? [True, True] Translation: X:59.84, Y:-4.71, Z:-7.36 [[ 9.83728389e-01 1.59305698e-01 8.30671504e-02 5.98366009e+01] [-1.58757405e-01 9.87229283e-01 -1.32071935e-02 -4.71220436e+00] [-8.41103045e-02 -1.95234053e-04 9.96456431e-01 -7.36163515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101193816999995 meters 0.060194039549958334 Centerline is valid? [True, True] Translation: X:59.90, Y:-4.72, Z:-7.37 [[ 9.83450485e-01 1.60876647e-01 8.33297588e-02 5.98985267e+01] [-1.60328514e-01 9.86974473e-01 -1.32724406e-02 -4.71867718e+00] [-8.43795705e-02 -3.07348274e-04 9.96433637e-01 -7.36944079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.161193817 meters 0.05964630411593566 Centerline is valid? [True, True] Translation: X:59.96, Y:-4.74, Z:-7.37 [[ 9.83548949e-01 1.59788636e-01 8.42558983e-02 5.99586657e+01] [-1.59224091e-01 9.87151227e-01 -1.34217353e-02 -4.73580685e+00] [-8.53179542e-02 -2.14635171e-04 9.96353753e-01 -7.37164343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22119381699999 meters 0.05992599344913752 Centerline is valid? [True, True] Translation: X:60.02, Y:-4.75, Z:-7.38 [[ 9.83897085e-01 1.57476210e-01 8.45444863e-02 6.00170484e+01] [-1.56896974e-01 9.87522781e-01 -1.34943090e-02 -4.75130775e+00] [-8.56146388e-02 1.22372560e-05 9.96328326e-01 -7.38154698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.281193816999995 meters 0.05953522006698482 Centerline is valid? [True, True] Translation: X:60.08, Y:-4.77, Z:-7.39 [[ 9.83640905e-01 1.56933977e-01 8.84437480e-02 6.00757684e+01] [-1.56295012e-01 9.87609092e-01 -1.41474678e-02 -4.76776325e+00] [-8.95680681e-02 9.27114023e-05 9.95980699e-01 -7.38504571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.341193817 meters 0.058911679376942964 Centerline is valid? [True, True] Translation: X:60.14, Y:-4.78, Z:-7.39 [[ 9.83493810e-01 1.56308151e-01 9.11465219e-02 6.01367737e+01] [-1.55626159e-01 9.87708325e-01 -1.45863848e-02 -4.78302717e+00] [-9.23061494e-02 1.60836045e-04 9.95730661e-01 -7.38661592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40119381699999 meters 0.059367762116268215 Centerline is valid? [True, True] Translation: X:60.20, Y:-4.80, Z:-7.39 [[ 9.84139245e-01 1.51055077e-01 9.30178000e-02 6.01951678e+01] [-1.50318514e-01 9.88525103e-01 -1.49152761e-02 -4.80247475e+00] [-9.42034585e-02 6.96411103e-04 9.95552723e-01 -7.39350072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.461193816999995 meters 0.06071482942131544 Centerline is valid? [True, True] Translation: X:60.25, Y:-4.82, Z:-7.40 [[ 9.85128730e-01 1.45026455e-01 9.21342113e-02 6.02541303e+01] [-1.44274690e-01 9.89426935e-01 -1.48038200e-02 -4.82262313e+00] [-9.33070159e-02 1.29103356e-03 9.95636547e-01 -7.40284827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.521193817 meters 0.06403285629242111 Centerline is valid? [True, True] Translation: X:60.31, Y:-4.85, Z:-7.41 [[ 9.86618461e-01 1.34263942e-01 9.25051675e-02 6.03108074e+01] [-1.33457964e-01 9.90942871e-01 -1.48727451e-02 -4.84660091e+00] [-9.36642097e-02 2.32817359e-03 9.95601123e-01 -7.41143554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58119381699999 meters 0.07474562588985842 Centerline is valid? [True, True] Translation: X:60.37, Y:-4.88, Z:-7.42 [[ 9.89643028e-01 1.13951192e-01 8.73029434e-02 6.03655568e+01] [-1.13154437e-01 9.93478242e-01 -1.40376759e-02 -4.88003096e+00] [-8.83331846e-02 4.01357264e-03 9.96082898e-01 -7.42423150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.641193816999994 meters 0.07546241581117735 Centerline is valid? [True, True] Translation: X:60.43, Y:-4.89, Z:-7.43 [[ 9.90866438e-01 1.04368665e-01 8.53866739e-02 6.04264102e+01] [-1.03570955e-01 9.94527274e-01 -1.37316572e-02 -4.88798355e+00] [-8.63525308e-02 4.76265886e-03 9.96253260e-01 -7.42765447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.701193817 meters 0.07847479376735007 Centerline is valid? [True, True] Translation: X:60.49, Y:-4.89, Z:-7.43 [[ 9.90814995e-01 1.02084621e-01 8.86813200e-02 6.04879084e+01] [-1.01215240e-01 9.94762385e-01 -1.42573756e-02 -4.88723339e+00] [-8.96723002e-02 5.15052044e-03 9.95958007e-01 -7.43453958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76119381699999 meters 0.07506745066846633 Centerline is valid? [True, True] Translation: X:60.55, Y:-4.87, Z:-7.44 [[ 9.90347279e-01 1.07391191e-01 8.76321852e-02 6.05525398e+01] [-1.06560030e-01 9.94205981e-01 -1.41218467e-02 -4.86697284e+00] [-8.86410046e-02 4.64744417e-03 9.96052797e-01 -7.44360803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.821193816999994 meters 0.07358998532626719 Centerline is valid? [True, True] Translation: X:60.62, Y:-4.86, Z:-7.45 [[ 9.90147001e-01 1.10511571e-01 8.60006333e-02 6.06165781e+01] [-1.09722970e-01 9.93865600e-01 -1.38577964e-02 -4.85899900e+00] [-8.70045179e-02 4.28501063e-03 9.96198701e-01 -7.45311601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.881193816999996 meters 0.07215040673873171 Centerline is valid? [True, True] Translation: X:60.68, Y:-4.84, Z:-7.46 [[ 9.89664999e-01 1.15282114e-01 8.52831984e-02 6.06789961e+01] [-1.14523143e-01 9.93325345e-01 -1.37553419e-02 -4.84392470e+00] [-8.62997074e-02 3.84628048e-03 9.96261796e-01 -7.46103780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94119381699999 meters 0.06975079705049385 Centerline is valid? [True, True] Translation: X:60.74, Y:-4.83, Z:-7.47 [[ 9.88755999e-01 1.20926184e-01 8.79683642e-02 6.07425248e+01] [-1.20140797e-01 9.92655472e-01 -1.41881076e-02 -4.83232187e+00] [-8.90379919e-02 3.45998715e-03 9.96022221e-01 -7.46635689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.001193816999994 meters 0.06816538729633867 Centerline is valid? [True, True] Translation: X:60.80, Y:-4.83, Z:-7.47 [[ 9.88288378e-01 1.24329739e-01 8.84771056e-02 6.08044755e+01] [-1.23548814e-01 9.92235888e-01 -1.42700440e-02 -4.83154198e+00] [-8.95643503e-02 3.17167724e-03 9.95975987e-01 -7.47284815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.061193816999996 meters 0.06487440930770082 Centerline is valid? [True, True] Translation: X:60.87, Y:-4.82, Z:-7.48 [[ 9.87351211e-01 1.30486549e-01 9.00602345e-02 6.08672519e+01] [-1.29702375e-01 9.91446496e-01 -1.45306564e-02 -4.82156710e+00] [-9.11859591e-02 2.66583486e-03 9.95830314e-01 -7.47730965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12119381699999 meters 0.06385685871140277 Centerline is valid? [True, True] Translation: X:60.93, Y:-4.81, Z:-7.48 [[ 9.86668470e-01 1.33366192e-01 9.32672979e-02 6.09311950e+01] [-1.32537995e-01 9.91063715e-01 -1.50463520e-02 -4.81340333e+00] [-9.44405094e-02 2.48430038e-03 9.95527407e-01 -7.48294495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18119381699999 meters 0.06444554032180787 Centerline is valid? [True, True] Translation: X:60.99, Y:-4.81, Z:-7.50 [[ 9.86760488e-01 1.34639377e-01 9.04211167e-02 6.09919338e+01] [-1.33866467e-01 9.90892021e-01 -1.45866882e-02 -4.81454885e+00] [-9.15615057e-02 2.28921213e-03 9.95796792e-01 -7.49585501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.241193816999996 meters 0.06456386098461957 Centerline is valid? [True, True] Translation: X:61.05, Y:-4.81, Z:-7.51 [[ 9.87084917e-01 1.34933546e-01 8.63499023e-02 6.10538688e+01] [-1.34227410e-01 9.90852234e-01 -1.39589433e-02 -4.81470291e+00] [-8.74435233e-02 2.18813864e-03 9.96167075e-01 -7.50765802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.301193817 meters 0.06394339767685844 Centerline is valid? [True, True] Translation: X:61.12, Y:-4.81, Z:-7.52 [[ 9.86459661e-01 1.40951055e-01 8.38459155e-02 6.11152672e+01] [-1.40306702e-01 9.90015256e-01 -1.35581241e-02 -4.81093828e+00] [-8.49197673e-02 1.61039865e-03 9.96386491e-01 -7.51936603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36119381699999 meters 0.06308727046980565 Centerline is valid? [True, True] Translation: X:61.18, Y:-4.81, Z:-7.53 [[ 9.86375803e-01 1.42899735e-01 8.15011707e-02 6.11770097e+01] [-1.42296879e-01 9.89736164e-01 -1.31879941e-02 -4.81330095e+00] [-8.25492169e-02 1.41095597e-03 9.96585990e-01 -7.52619183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.421193816999995 meters 0.0630791600556665 Centerline is valid? [True, True] Translation: X:61.24, Y:-4.83, Z:-7.53 [[ 9.86216319e-01 1.43262233e-01 8.27846923e-02 6.12375962e+01] [-1.42639530e-01 9.89683738e-01 -1.34187839e-02 -4.82502306e+00] [-8.38530686e-02 1.42545402e-03 9.96477110e-01 -7.53312865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.481193817 meters 0.06148685875599907 Centerline is valid? [True, True] Translation: X:61.30, Y:-4.83, Z:-7.54 [[ 9.85410091e-01 1.47461996e-01 8.49818321e-02 6.12995396e+01] [-1.46818277e-01 9.89067075e-01 -1.38099378e-02 -4.82607292e+00] [-8.60891731e-02 1.13156593e-03 9.96286793e-01 -7.53658319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54119381699999 meters 0.06016216391037449 Centerline is valid? [True, True] Translation: X:61.36, Y:-4.82, Z:-7.54 [[ 9.83156275e-01 1.59567429e-01 8.91177566e-02 6.13605643e+01] [-1.58908412e-01 9.87187028e-01 -1.44875025e-02 -4.82356914e+00] [-9.02876269e-02 8.19178554e-05 9.95915728e-01 -7.54309671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601193816999995 meters 0.060309687838653425 Centerline is valid? [True, True] Translation: X:61.42, Y:-4.83, Z:-7.55 [[ 9.81585978e-01 1.68717602e-01 8.95730879e-02 6.14216084e+01] [-1.68090543e-01 9.85664129e-01 -1.45531277e-02 -4.83025286e+00] [-9.07443485e-02 -7.71242867e-04 9.95873922e-01 -7.55018409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.661193817 meters 0.05989283184343746 Centerline is valid? [True, True] Translation: X:61.48, Y:-4.85, Z:-7.56 [[ 9.81433011e-01 1.68902489e-01 9.08911115e-02 6.14820647e+01] [-1.68255210e-01 9.85632462e-01 -1.47930676e-02 -4.84524240e+00] [-9.20838159e-02 -7.74498247e-04 9.95750958e-01 -7.55649367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72119381699999 meters 0.06000291744164451 Centerline is valid? [True, True] Translation: X:61.54, Y:-4.87, Z:-7.57 [[ 9.82099172e-01 1.65478606e-01 8.99891562e-02 6.15411116e+01] [-1.64827534e-01 9.86213289e-01 -1.46708339e-02 -4.86551378e+00] [-9.11762109e-02 -4.24476905e-04 9.95834684e-01 -7.56740593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.781193816999995 meters 0.059618992443128994 Centerline is valid? [True, True] Translation: X:61.60, Y:-4.90, Z:-7.57 [[ 9.82874175e-01 1.61173567e-01 8.93388938e-02 6.15995784e+01] [-1.60511838e-01 9.86926077e-01 -1.45900163e-02 -4.89962949e+00] [-9.05224090e-02 2.00212379e-07 9.95894419e-01 -7.57021484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.841193817 meters 0.059286761915996584 Centerline is valid? [True, True] Translation: X:61.66, Y:-4.91, Z:-7.57 [[ 9.82374748e-01 1.64017263e-01 8.96559647e-02 6.16603636e+01] [-1.63359951e-01 9.86457441e-01 -1.46711793e-02 -4.91486635e+00] [-9.08481202e-02 -2.33597884e-04 9.95864732e-01 -7.57494712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90119381699999 meters 0.06056181235660751 Centerline is valid? [True, True] Translation: X:61.72, Y:-4.93, Z:-7.59 [[ 9.81115963e-01 1.73867525e-01 8.47440358e-02 6.17186839e+01] [-1.73313655e-01 9.84768498e-01 -1.39062043e-02 -4.92508250e+00] [-8.58710942e-02 -1.04369950e-03 9.96305709e-01 -7.58687648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961193816999995 meters 0.06198933079224808 Centerline is valid? [True, True] Translation: X:61.78, Y:-4.94, Z:-7.60 [[ 9.80105128e-01 1.80320763e-01 8.29358849e-02 6.17779018e+01] [-1.79813468e-01 9.83606598e-01 -1.36079790e-02 -4.93966345e+00] [-8.40300848e-02 -1.57573904e-03 9.96461972e-01 -7.59641480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.021193817 meters 0.062011341267670744 Centerline is valid? [True, True] Translation: X:61.84, Y:-4.97, Z:-7.60 [[ 9.79095372e-01 1.85279415e-01 8.39272950e-02 6.18362787e+01] [-1.84778492e-01 9.82683783e-01 -1.37656083e-02 -4.96548524e+00] [-8.50244756e-02 -2.03011557e-03 9.96376795e-01 -7.59842299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08119381699999 meters 0.060717673559069575 Centerline is valid? [True, True] Translation: X:61.89, Y:-4.99, Z:-7.61 [[ 9.79893475e-01 1.80894352e-01 8.41784521e-02 6.18937274e+01] [-1.80371651e-01 9.83501192e-01 -1.38373456e-02 -4.99415956e+00] [-8.52927057e-02 -1.62428172e-03 9.96354614e-01 -7.60552476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141193816999994 meters 0.05965660324379271 Centerline is valid? [True, True] Translation: X:61.95, Y:-5.03, Z:-7.62 [[ 9.82122441e-01 1.69176251e-01 8.25524503e-02 6.19485309e+01] [-1.68632216e-01 9.85585635e-01 -1.35695445e-02 -5.03359906e+00] [-8.36581538e-02 -5.94048452e-04 9.96494335e-01 -7.61843933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.201193817 meters 0.059611601196880803 Centerline is valid? [True, True] Translation: X:62.00, Y:-5.08, Z:-7.62 [[ 9.83731230e-01 1.58244450e-01 8.50385813e-02 6.20029631e+01] [-1.57623165e-01 9.87399893e-01 -1.40139186e-02 -5.07683996e+00] [-8.61847109e-02 3.81879101e-04 9.96279102e-01 -7.62382193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26119381699999 meters 0.05925569322412138 Centerline is valid? [True, True] Translation: X:62.06, Y:-5.10, Z:-7.62 [[ 9.84678521e-01 1.51871023e-01 8.56936517e-02 6.20616809e+01] [-1.51216420e-01 9.88399871e-01 -1.41170206e-02 -5.10191342e+00] [-8.68435606e-02 9.42439795e-04 9.96221515e-01 -7.62419491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.321193816999994 meters 0.061039019992873436 Centerline is valid? [True, True] Translation: X:62.12, Y:-5.12, Z:-7.63 [[ 9.85992090e-01 1.43118102e-01 8.56551677e-02 6.21199445e+01] [-1.42428193e-01 9.89704077e-01 -1.41438995e-02 -5.12323739e+00] [-8.67975168e-02 1.74606226e-03 9.96224444e-01 -7.63190366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381193816999996 meters 0.06693564038143376 Centerline is valid? [True, True] Translation: X:62.18, Y:-5.16, Z:-7.64 [[ 9.88268854e-01 1.26638337e-01 8.53662875e-02 6.21752521e+01] [-1.25891223e-01 9.91943831e-01 -1.41009063e-02 -5.15557569e+00] [-8.64642776e-02 3.18862015e-03 9.96249849e-01 -7.63829111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44119381699999 meters 0.07474197085418434 Centerline is valid? [True, True] Translation: X:62.23, Y:-5.18, Z:-7.65 [[ 9.89887344e-01 1.13252559e-01 8.54219227e-02 6.22309756e+01] [-1.12454568e-01 9.93556652e-01 -1.41120696e-02 -5.18045340e+00] [-8.64697475e-02 4.36327372e-03 9.96244922e-01 -7.64752120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.501193816999994 meters 0.08603329568173863 Centerline is valid? [True, True] Translation: X:62.29, Y:-5.20, Z:-7.66 [[ 9.91640280e-01 9.76469007e-02 8.43483109e-02 6.22872432e+01] [-9.68128418e-02 9.95205085e-01 -1.39324490e-02 -5.20409176e+00] [-8.53043284e-02 5.64997799e-03 9.96338923e-01 -7.65583442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.561193816999996 meters 0.0839961302399087 Centerline is valid? [True, True] Translation: X:62.35, Y:-5.20, Z:-7.66 [[ 9.91876393e-01 9.34893574e-02 8.62610075e-02 6.23500002e+01] [-9.26009631e-02 9.95601293e-01 -1.42522768e-02 -5.20139238e+00] [-8.72140068e-02 6.14864454e-03 9.96170624e-01 -7.65807375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62119381699999 meters 0.07938249945940772 Centerline is valid? [True, True] Translation: X:62.42, Y:-5.18, Z:-7.66 [[ 9.91547851e-01 9.86445483e-02 8.42740272e-02 6.24153168e+01] [-9.78148516e-02 9.95107159e-01 -1.39282569e-02 -5.18012039e+00] [-8.52356344e-02 5.56728174e-03 9.96345267e-01 -7.66429606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68119381699999 meters 0.07177712410654352 Centerline is valid? [True, True] Translation: X:62.48, Y:-5.15, Z:-7.67 [[ 9.90171676e-01 1.12105116e-01 8.36211425e-02 6.24817439e+01] [-1.11335763e-01 9.93686716e-01 -1.38224047e-02 -5.15047661e+00] [-8.46427807e-02 4.37652986e-03 9.96401749e-01 -7.67123969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.741193816999996 meters 0.06766682348478188 Centerline is valid? [True, True] Translation: X:62.55, Y:-5.13, Z:-7.68 [[ 9.89099196e-01 1.20682649e-01 8.43710731e-02 6.25455649e+01] [-1.19930326e-01 9.92684329e-01 -1.39477325e-02 -5.13369829e+00] [-8.54370914e-02 3.67704073e-03 9.96336782e-01 -7.67841076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.801193817 meters 0.0646099874324919 Centerline is valid? [True, True] Translation: X:62.61, Y:-5.11, Z:-7.69 [[ 9.88189294e-01 1.27688143e-01 8.47210596e-02 6.26099585e+01] [-1.26955017e-01 9.91809565e-01 -1.40075332e-02 -5.11101723e+00] [-8.58157532e-02 3.08633081e-03 9.96306244e-01 -7.68631482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86119381699999 meters 0.06460885358644478 Centerline is valid? [True, True] Translation: X:62.67, Y:-5.11, Z:-7.70 [[ 9.87915604e-01 1.31764895e-01 8.16135472e-02 6.26710019e+01] [-1.31099473e-01 9.91277533e-01 -1.34826204e-02 -5.10633312e+00] [-8.26782118e-02 2.62019801e-03 9.96572851e-01 -7.70021248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.921193816999995 meters 0.06394786323041485 Centerline is valid? [True, True] Translation: X:62.73, Y:-5.11, Z:-7.71 [[ 9.87561410e-01 1.34608862e-01 8.12583311e-02 6.27327052e+01] [-1.33956991e-01 9.90895920e-01 -1.34462145e-02 -5.10977117e+00] [-8.23285284e-02 2.39384103e-03 9.96602370e-01 -7.70918303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.981193817 meters 0.06031814320468567 Centerline is valid? [True, True] Translation: X:62.80, Y:-5.10, Z:-7.71 [[ 9.86823887e-01 1.39819716e-01 8.14190529e-02 6.27974026e+01] [-1.39180253e-01 9.90174967e-01 -1.35052441e-02 -5.09770293e+00] [-8.25074074e-02 1.99537308e-03 9.96588454e-01 -7.71229967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04119381699999 meters 0.05866262624498154 Centerline is valid? [True, True] Translation: X:62.86, Y:-5.09, Z:-7.72 [[ 9.85816662e-01 1.49594144e-01 7.60730016e-02 6.28615630e+01] [-1.49065511e-01 9.88746881e-01 -1.26126104e-02 -5.08709298e+00] [-7.71037158e-02 1.09386069e-03 9.97022477e-01 -7.72303032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.101193817 meters 0.05749398200190085 Centerline is valid? [True, True] Translation: X:62.92, Y:-5.09, Z:-7.73 [[ 9.84751928e-01 1.56985821e-01 7.49606048e-02 6.29245852e+01] [-1.56492217e-01 9.87600714e-01 -1.24504976e-02 -5.08626731e+00] [-7.59856984e-02 5.29900338e-04 9.97108767e-01 -7.73017510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.161193817 meters 0.05661258642219664 Centerline is valid? [True, True] Translation: X:62.99, Y:-5.09, Z:-7.73 [[ 9.83334650e-01 1.64079491e-01 7.82999787e-02 6.29857593e+01] [-1.63560259e-01 9.86447120e-01 -1.30430581e-02 -5.08508797e+00] [-7.93788868e-02 1.89261651e-05 9.96844517e-01 -7.73447420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221193817 meters 0.05634225099944035 Centerline is valid? [True, True] Translation: X:63.05, Y:-5.09, Z:-7.74 [[ 9.82722469e-01 1.66304675e-01 8.12361045e-02 6.30453695e+01] [-1.65753130e-01 9.86074403e-01 -1.35341023e-02 -5.09440410e+00] [-8.23556277e-02 -1.64872134e-04 9.96602992e-01 -7.74005671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28119381699999 meters 0.056222816739107846 Centerline is valid? [True, True] Translation: X:63.10, Y:-5.11, Z:-7.75 [[ 9.82630864e-01 1.65931016e-01 8.30872000e-02 6.31041492e+01] [-1.65353273e-01 9.86137352e-01 -1.38353870e-02 -5.11271686e+00] [-8.42311112e-02 -1.43662176e-04 9.96446235e-01 -7.74548378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34119381699999 meters 0.055544396729042475 Centerline is valid? [True, True] Translation: X:63.17, Y:-5.13, Z:-7.75 [[ 9.82464592e-01 1.67134056e-01 8.26409824e-02 6.31651890e+01] [-1.66565074e-01 9.85934154e-01 -1.37811330e-02 -5.12540595e+00] [-8.37818637e-02 -2.25626089e-04 9.96484093e-01 -7.74654663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40119381699999 meters 0.05640861367123256 Centerline is valid? [True, True] Translation: X:63.22, Y:-5.15, Z:-7.76 [[ 9.82795697e-01 1.67457544e-01 7.79139878e-02 6.32229197e+01] [-1.66950237e-01 9.85879267e-01 -1.30264982e-02 -5.14548884e+00] [-7.89951705e-02 -2.05372356e-04 9.96874978e-01 -7.75801678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.461193817 meters 0.0569521370270665 Centerline is valid? [True, True] Translation: X:63.28, Y:-5.17, Z:-7.77 [[ 9.83228306e-01 1.65711189e-01 7.61702039e-02 6.32815195e+01] [-1.65221759e-01 9.86174324e-01 -1.27268812e-02 -5.16758741e+00] [-7.72260859e-02 -7.15451749e-05 9.97013604e-01 -7.76817148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521193817 meters 0.05865336304835499 Centerline is valid? [True, True] Translation: X:63.34, Y:-5.20, Z:-7.78 [[ 9.84445416e-01 1.60604385e-01 7.12281852e-02 6.33365107e+01] [-1.60160718e-01 9.87018802e-01 -1.19343570e-02 -5.19664384e+00] [-7.22202680e-02 3.40765703e-04 9.97388649e-01 -7.78214322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.581193817 meters 0.058501816815900186 Centerline is valid? [True, True] Translation: X:63.40, Y:-5.22, Z:-7.79 [[ 9.84391875e-01 1.60131206e-01 7.30111829e-02 6.33953345e+01] [-1.59664549e-01 9.87095668e-01 -1.22219054e-02 -5.22092819e+00] [-7.40261308e-02 3.73846841e-04 9.97256232e-01 -7.78608609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.641193817 meters 0.05780689403092424 Centerline is valid? [True, True] Translation: X:63.46, Y:-5.24, Z:-7.79 [[ 9.84433297e-01 1.59069967e-01 7.47517846e-02 6.34550447e+01] [-1.58575981e-01 9.87267192e-01 -1.25359509e-02 -5.24227109e+00] [-7.57940778e-02 4.86969939e-04 9.97123373e-01 -7.78760532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70119381699999 meters 0.058507358413428974 Centerline is valid? [True, True] Translation: X:63.51, Y:-5.27, Z:-7.79 [[ 9.85302036e-01 1.53336477e-01 7.52849372e-02 6.35140782e+01] [-1.52816905e-01 9.88173571e-01 -1.26485714e-02 -5.26818502e+00] [-7.63340727e-02 9.57852046e-04 9.97081838e-01 -7.79176345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76119381699999 meters 0.061331056218696035 Centerline is valid? [True, True] Translation: X:63.57, Y:-5.30, Z:-7.80 [[ 9.86930553e-01 1.40566831e-01 7.87975251e-02 6.35718661e+01] [-1.39954012e-01 9.90069023e-01 -1.32742056e-02 -5.30058684e+00] [-7.98809017e-02 2.07268931e-03 9.96802260e-01 -7.79545042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.821193817 meters 0.0650785932203288 Centerline is valid? [True, True] Translation: X:63.63, Y:-5.32, Z:-7.80 [[ 9.87976195e-01 1.32666012e-01 7.93899720e-02 6.36286679e+01] [-1.32017650e-01 9.91157006e-01 -1.33839495e-02 -5.32338819e+00] [-8.04635221e-02 2.74214592e-03 9.96753782e-01 -7.80479561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881193817 meters 0.06655855304232576 Centerline is valid? [True, True] Translation: X:63.69, Y:-5.34, Z:-7.81 [[ 9.88634541e-01 1.27318110e-01 7.99490079e-02 6.36882639e+01] [-1.26643046e-01 9.91856771e-01 -1.34790845e-02 -5.33732910e+00] [-8.10140963e-02 3.20090260e-03 9.96707816e-01 -7.80925985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941193817 meters 0.06556494216533106 Centerline is valid? [True, True] Translation: X:63.75, Y:-5.34, Z:-7.82 [[ 9.88486616e-01 1.28318895e-01 8.01777420e-02 6.37504769e+01] [-1.27643829e-01 9.91728049e-01 -1.35103696e-02 -5.34299926e+00] [-8.12481513e-02 3.12062554e-03 9.96689019e-01 -7.81524544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001193817 meters 0.06214365078217004 Centerline is valid? [True, True] Translation: X:63.81, Y:-5.33, Z:-7.82 [[ 9.86797901e-01 1.38859564e-01 8.33542142e-02 6.38136575e+01] [-1.38163939e-01 9.90309218e-01 -1.40847216e-02 -5.33348464e+00] [-8.45022450e-02 2.38222716e-03 9.96420441e-01 -7.82235605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06119381699999 meters 0.059199592674546345 Centerline is valid? [True, True] Translation: X:63.88, Y:-5.32, Z:-7.83 [[ 9.84802149e-01 1.52484714e-01 8.31452901e-02 6.38751131e+01] [-1.51840712e-01 9.88305084e-01 -1.40520169e-02 -5.32445841e+00] [-8.43156308e-02 1.21361644e-03 9.96438358e-01 -7.83162019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12119381699999 meters 0.05866284455812395 Centerline is valid? [True, True] Translation: X:63.94, Y:-5.33, Z:-7.84 [[ 9.83982969e-01 1.58398058e-01 8.17775709e-02 6.39365321e+01] [-1.57796439e-01 9.87375100e-01 -1.38092811e-02 -5.32795528e+00] [-8.29325005e-02 6.83887917e-04 9.96554932e-01 -7.84171851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.181193817 meters 0.05854109246844693 Centerline is valid? [True, True] Translation: X:64.00, Y:-5.33, Z:-7.85 [[ 9.83272737e-01 1.62023031e-01 8.32061382e-02 6.39969042e+01] [-1.61410503e-01 9.86786889e-01 -1.40813631e-02 -5.33115945e+00] [-8.43882314e-02 4.15475820e-04 9.96432865e-01 -7.85250613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241193817 meters 0.05891480744268431 Centerline is valid? [True, True] Translation: X:64.06, Y:-5.34, Z:-7.86 [[ 9.83101735e-01 1.63770102e-01 8.17944533e-02 6.40568472e+01] [-1.63183432e-01 9.86498495e-01 -1.38523337e-02 -5.34159644e+00] [-8.29587032e-02 2.70753719e-04 9.96552949e-01 -7.86312014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301193817 meters 0.059027013582837656 Centerline is valid? [True, True] Translation: X:64.12, Y:-5.36, Z:-7.87 [[ 9.82582098e-01 1.65855374e-01 8.38117890e-02 6.41163431e+01] [-1.65244891e-01 9.86150080e-01 -1.42177935e-02 -5.35520600e+00] [-8.50090999e-02 1.20679386e-04 9.96380168e-01 -7.86979615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361193817 meters 0.05954707401417823 Centerline is valid? [True, True] Translation: X:64.18, Y:-5.37, Z:-7.88 [[ 9.83074309e-01 1.63222536e-01 8.32064142e-02 6.41762143e+01] [-1.62609620e-01 9.86589210e-01 -1.41365654e-02 -5.37175116e+00] [-8.43979565e-02 3.67130826e-04 9.96432060e-01 -7.87843925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42119381699999 meters 0.060421033732524485 Centerline is valid? [True, True] Translation: X:64.23, Y:-5.39, Z:-7.88 [[ 9.83943533e-01 1.53771549e-01 9.06059300e-02 6.42347917e+01] [-1.53001191e-01 9.88105547e-01 -1.54293219e-02 -5.39374305e+00] [-9.19008127e-02 1.31876628e-03 9.95767293e-01 -7.87858263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48119381699999 meters 0.06187421878563924 Centerline is valid? [True, True] Translation: X:64.29, Y:-5.42, Z:-7.88 [[ 9.85999291e-01 1.39619239e-01 9.11694375e-02 6.42929013e+01] [-1.38778383e-01 9.90201694e-01 -1.55295417e-02 -5.41889840e+00] [-9.24443541e-02 2.65976999e-03 9.95714300e-01 -7.87500544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54119381699999 meters 0.067205937386879 Centerline is valid? [True, True] Translation: X:64.35, Y:-5.44, Z:-7.89 [[ 9.87557890e-01 1.28970182e-01 8.99783626e-02 6.43484707e+01] [-1.28107150e-01 9.91641907e-01 -1.53260261e-02 -5.44037399e+00] [-9.12029154e-02 3.60846645e-03 9.95825792e-01 -7.88774231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601193817 meters 0.06881979822043263 Centerline is valid? [True, True] Translation: X:64.41, Y:-5.45, Z:-7.89 [[ 9.88408179e-01 1.22969125e-01 8.90385685e-02 6.44083069e+01] [-1.22098800e-01 9.92401905e-01 -1.51770309e-02 -5.45102595e+00] [-9.02283512e-02 4.12959909e-03 9.95912542e-01 -7.89476055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661193817 meters 0.06954666942412793 Centerline is valid? [True, True] Translation: X:64.47, Y:-5.46, Z:-7.91 [[ 9.88388052e-01 1.24647311e-01 8.69028606e-02 6.44691633e+01] [-1.23825589e-01 9.92193560e-01 -1.48041853e-02 -5.46038279e+00] [-8.80697605e-02 3.87148200e-03 9.96106786e-01 -7.90586456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721193817 meters 0.0683176115166681 Centerline is valid? [True, True] Translation: X:64.53, Y:-5.46, Z:-7.91 [[ 9.87875794e-01 1.26995120e-01 8.92953305e-02 6.45318434e+01] [-1.26133373e-01 9.91896051e-01 -1.52510949e-02 -5.46002973e+00] [-9.05085003e-02 3.80306623e-03 9.95888421e-01 -7.91181637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78119381699999 meters 0.07074432408378042 Centerline is valid? [True, True] Translation: X:64.59, Y:-5.47, Z:-7.92 [[ 9.87248688e-01 1.30708439e-01 9.08588576e-02 6.45896009e+01] [-1.29831071e-01 9.91414560e-01 -1.55262267e-02 -5.47160061e+00] [-9.21082032e-02 3.53194415e-03 9.95742740e-01 -7.92414157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84119381699999 meters 0.06450275235963701 Centerline is valid? [True, True] Translation: X:64.65, Y:-5.46, Z:-7.93 [[ 9.86317701e-01 1.38839612e-01 8.88873175e-02 6.46528441e+01] [-1.38032947e-01 9.90311168e-01 -1.51886662e-02 -5.46239199e+00] [-9.01348918e-02 2.71147195e-03 9.95925875e-01 -7.92947167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90119381699999 meters 0.06208799303856395 Centerline is valid? [True, True] Translation: X:64.71, Y:-5.46, Z:-7.94 [[ 9.84959157e-01 1.47084056e-01 9.06738133e-02 6.47143713e+01] [-1.46279100e-01 9.89121975e-01 -1.54965682e-02 -5.45571575e+00] [-9.19667594e-02 1.99980294e-03 9.95760069e-01 -7.93857104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.961193817 meters 0.060971934105176456 Centerline is valid? [True, True] Translation: X:64.78, Y:-5.46, Z:-7.94 [[ 9.84505279e-01 1.47699353e-01 9.45211982e-02 6.47763492e+01] [-1.46827379e-01 9.89030234e-01 -1.61529527e-02 -5.45824556e+00] [-9.58701034e-02 2.02436744e-03 9.95391795e-01 -7.94115778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021193817 meters 0.06153344946500873 Centerline is valid? [True, True] Translation: X:64.84, Y:-5.47, Z:-7.95 [[ 9.84650104e-01 1.44891978e-01 9.73164267e-02 6.48376442e+01] [-1.43954074e-01 9.89444656e-01 -1.66282243e-02 -5.47133088e+00] [-9.86985146e-02 2.36388675e-03 9.95114574e-01 -7.94564060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081193817 meters 0.06156005904913381 Centerline is valid? [True, True] Translation: X:64.90, Y:-5.48, Z:-7.96 [[ 9.84425050e-01 1.46967459e-01 9.64773896e-02 6.48983087e+01] [-1.46052222e-01 9.89138944e-01 -1.65196328e-02 -5.47758555e+00] [-9.78573917e-02 2.17160316e-03 9.95198078e-01 -7.95644156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141193817 meters 0.05926336132176594 Centerline is valid? [True, True] Translation: X:64.96, Y:-5.47, Z:-7.97 [[ 9.82898575e-01 1.58578340e-01 9.36125097e-02 6.49605137e+01] [-1.57766006e-01 9.87345872e-01 -1.60628890e-02 -5.47015551e+00] [-9.49751513e-02 1.01931895e-03 9.95479122e-01 -7.96816648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20119381699999 meters 0.058676172509098574 Centerline is valid? [True, True] Translation: X:65.02, Y:-5.47, Z:-7.98 [[ 9.81697312e-01 1.64349530e-01 9.62269151e-02 6.50206193e+01] [-1.63518210e-01 9.86402049e-01 -1.65164411e-02 -5.47366711e+00] [-9.76328956e-02 4.79292915e-04 9.95222381e-01 -7.97646744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26119381699999 meters 0.058982826235675856 Centerline is valid? [True, True] Translation: X:65.08, Y:-5.50, Z:-7.98 [[ 9.82230586e-01 1.58166017e-01 1.01027656e-01 6.50802352e+01] [-1.57216718e-01 9.87411864e-01 -1.73411143e-02 -5.49808569e+00] [-1.02498681e-01 1.14973637e-03 9.94732476e-01 -7.97796978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.321193817 meters 0.06432991177906343 Centerline is valid? [True, True] Translation: X:65.14, Y:-5.53, Z:-7.99 [[ 9.85351445e-01 1.40237221e-01 9.70363377e-02 6.51350340e+01] [-1.39273557e-01 9.90113660e-01 -1.66678462e-02 -5.53406254e+00] [-9.84144559e-02 2.90909042e-03 9.95141262e-01 -7.99213154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381193817 meters 0.06834734734125275 Centerline is valid? [True, True] Translation: X:65.19, Y:-5.56, Z:-8.00 [[ 9.86703422e-01 1.30919669e-01 9.63140545e-02 6.51915218e+01] [-1.29925684e-01 9.91385644e-01 -1.65475675e-02 -5.55713271e+00] [-9.76507730e-02 3.81387204e-03 9.95213435e-01 -8.00241705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441193817 meters 0.07069495642110958 Centerline is valid? [True, True] Translation: X:65.25, Y:-5.57, Z:-8.01 [[ 9.87395583e-01 1.26810920e-01 9.47045524e-02 6.52497851e+01] [-1.25831026e-01 9.91918225e-01 -1.62723291e-02 -5.57278941e+00] [-9.60026805e-02 4.15045492e-03 9.95372422e-01 -8.01175950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501193817 meters 0.06806082685762599 Centerline is valid? [True, True] Translation: X:65.31, Y:-5.57, Z:-8.02 [[ 9.86644714e-01 1.33993700e-01 9.26169377e-02 6.53108477e+01] [-1.33087994e-01 9.90976431e-01 -1.59153653e-02 -5.57178504e+00] [-9.39137611e-02 3.37660857e-03 9.95574610e-01 -8.02154269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56119381699999 meters 0.06272666714063424 Centerline is valid? [True, True] Translation: X:65.37, Y:-5.56, Z:-8.03 [[ 9.84343405e-01 1.49947572e-01 9.26487226e-02 6.53738809e+01] [-1.49111222e-01 9.88692200e-01 -1.59240951e-02 -5.55609990e+00] [-9.39888487e-02 1.85981375e-03 9.95571513e-01 -8.03027737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62119381699999 meters 0.059789116832629094 Centerline is valid? [True, True] Translation: X:65.44, Y:-5.55, Z:-8.03 [[ 9.82563912e-01 1.58559522e-01 9.70929305e-02 6.54366873e+01] [-1.57682665e-01 9.87348822e-01 -1.66877359e-02 -5.55041074e+00] [-9.85105900e-02 1.08689509e-03 9.95135409e-01 -8.03023775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.681193817 meters 0.05880016780927865 Centerline is valid? [True, True] Translation: X:65.50, Y:-5.56, Z:-8.03 [[ 9.81297514e-01 1.62646811e-01 1.02962149e-01 6.54983321e+01] [-1.61682900e-01 9.86684093e-01 -1.76957568e-02 -5.55550472e+00] [-1.04469273e-01 7.17583309e-04 9.94527856e-01 -8.03272748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741193817 meters 0.05870827730823216 Centerline is valid? [True, True] Translation: X:65.56, Y:-5.56, Z:-8.04 [[ 9.81080029e-01 1.64045119e-01 1.02816220e-01 6.55598622e+01] [-1.63091665e-01 9.86452674e-01 -1.76700811e-02 -5.56493245e+00] [-1.04322025e-01 5.67295214e-04 9.94543409e-01 -8.04088570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801193817 meters 0.059031992083779836 Centerline is valid? [True, True] Translation: X:65.62, Y:-5.57, Z:-8.05 [[ 9.80786059e-01 1.68128624e-01 9.89518687e-02 6.56187744e+01] [-1.67262585e-01 9.85765052e-01 -1.70437434e-02 -5.57429530e+00] [-1.00408835e-01 1.65320579e-04 9.94946249e-01 -8.05450086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861193817 meters 0.059023107519440995 Centerline is valid? [True, True] Translation: X:65.68, Y:-5.58, Z:-8.06 [[ 9.79782657e-01 1.74396737e-01 9.80393942e-02 6.56801836e+01] [-1.73576664e-01 9.84675361e-01 -1.68989715e-02 -5.58442078e+00] [-9.94841014e-02 -4.60031785e-04 9.95039045e-01 -8.06108561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92119381699999 meters 0.06016052144741754 Centerline is valid? [True, True] Translation: X:65.74, Y:-5.59, Z:-8.07 [[ 9.77426297e-01 1.86136220e-01 9.99556949e-02 6.57405497e+01] [-1.85341209e-01 9.82522560e-01 -1.72642875e-02 -5.59111286e+00] [-1.01422234e-01 -1.65134078e-03 9.94842100e-01 -8.06730678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98119381699999 meters 0.06190712459184906 Centerline is valid? [True, True] Translation: X:65.80, Y:-5.60, Z:-8.08 [[ 9.76004693e-01 1.93124198e-01 1.00587687e-01 6.58001256e+01] [-1.92354631e-01 9.81171436e-01 -1.73870567e-02 -5.60451727e+00] [-1.02051627e-01 -2.37865855e-03 9.94776260e-01 -8.07511290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04119381699999 meters 0.062110390636342216 Centerline is valid? [True, True] Translation: X:65.86, Y:-5.62, Z:-8.09 [[ 9.76140735e-01 1.93154923e-01 9.91989963e-02 6.58589299e+01] [-1.92403999e-01 9.81165522e-01 -1.71732560e-02 -5.62419023e+00] [-1.00647734e-01 -2.32276878e-03 9.94919413e-01 -8.08561276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101193817 meters 0.061763568512043024 Centerline is valid? [True, True] Translation: X:65.91, Y:-5.66, Z:-8.10 [[ 9.77038256e-01 1.91785817e-01 9.28140434e-02 6.59147339e+01] [-1.91120071e-01 9.81434735e-01 -1.60928374e-02 -5.65609426e+00] [-9.41773040e-02 -2.01530880e-03 9.95553401e-01 -8.09817624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161193817 meters 0.062461222639084414 Centerline is valid? [True, True] Translation: X:65.97, Y:-5.68, Z:-8.12 [[ 9.78106476e-01 1.88754283e-01 8.76330024e-02 6.59705747e+01] [-1.88146683e-01 9.82023039e-01 -1.52176183e-02 -5.68069905e+00] [-8.89300180e-02 -1.60340776e-03 9.96036586e-01 -8.11556291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221193817 meters 0.06068653729334059 Centerline is valid? [True, True] Translation: X:66.03, Y:-5.72, Z:-8.12 [[ 9.79994561e-01 1.79172457e-01 8.66480837e-02 6.60264409e+01] [-1.78538967e-01 9.83817431e-01 -1.50698102e-02 -5.72035623e+00] [-8.79459900e-02 -7.01727335e-04 9.96124997e-01 -8.12115817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28119381699999 meters 0.06016800423880894 Centerline is valid? [True, True] Translation: X:66.08, Y:-5.75, Z:-8.12 [[ 9.80801692e-01 1.74191741e-01 8.76657152e-02 6.60849869e+01] [-1.73520464e-01 9.84711728e-01 -1.52794670e-02 -5.74924138e+00] [-8.89870148e-02 -2.25668461e-04 9.96032761e-01 -8.12451556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34119381699999 meters 0.059380039246879866 Centerline is valid? [True, True] Translation: X:66.14, Y:-5.78, Z:-8.12 [[ 9.81001510e-01 1.69783178e-01 9.38600542e-02 6.61408962e+01] [-1.68992036e-01 9.85481422e-01 -1.63725199e-02 -5.78057960e+00] [-9.52771181e-02 1.99865161e-04 9.95450768e-01 -8.12456582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40119381699999 meters 0.05877303833769384 Centerline is valid? [True, True] Translation: X:66.20, Y:-5.80, Z:-8.13 [[ 9.81002884e-01 1.67889177e-01 9.71934507e-02 6.62004207e+01] [-1.67031949e-01 9.85805798e-01 -1.69486707e-02 -5.80012202e+00] [-9.86593655e-02 3.92283293e-04 9.95121186e-01 -8.12623546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.461193817 meters 0.05942465034487839 Centerline is valid? [True, True] Translation: X:66.26, Y:-5.82, Z:-8.14 [[ 9.81885834e-01 1.62554845e-01 9.73454257e-02 6.62593093e+01] [-1.61665717e-01 9.86699042e-01 -1.70057573e-02 -5.82017134e+00] [-9.88150065e-02 9.60294134e-04 9.95105357e-01 -8.13624420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521193817 meters 0.06145082712415284 Centerline is valid? [True, True] Translation: X:66.32, Y:-5.85, Z:-8.14 [[ 9.83699523e-01 1.51482988e-01 9.68924820e-02 6.63159249e+01] [-1.50544921e-01 9.88457635e-01 -1.69626065e-02 -5.84530169e+00] [-9.83436600e-02 2.09943691e-03 9.95150299e-01 -8.14405882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581193817 meters 0.06363179567291695 Centerline is valid? [True, True] Translation: X:66.37, Y:-5.86, Z:-8.15 [[ 9.84968238e-01 1.44435739e-01 9.47411546e-02 6.63742897e+01] [-1.43506301e-01 9.89510383e-01 -1.65874591e-02 -5.86439285e+00] [-9.61431781e-02 2.74216769e-03 9.95363737e-01 -8.15181405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641193817 meters 0.0641291790824284 Centerline is valid? [True, True] Translation: X:66.44, Y:-5.87, Z:-8.16 [[ 9.85421385e-01 1.41348661e-01 9.46850032e-02 6.64364139e+01] [-1.40405823e-01 9.89955194e-01 -1.65806736e-02 -5.86953392e+00] [-9.60775667e-02 3.04462454e-03 9.95369194e-01 -8.15893754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70119381699999 meters 0.06449934218266967 Centerline is valid? [True, True] Translation: X:66.50, Y:-5.88, Z:-8.17 [[ 9.85334570e-01 1.42693905e-01 9.35640677e-02 6.64969188e+01] [-1.41779160e-01 9.89762674e-01 -1.63865597e-02 -5.87902389e+00] [-9.49444840e-02 2.88080881e-03 9.95478401e-01 -8.16866428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76119381699999 meters 0.06349495643677054 Centerline is valid? [True, True] Translation: X:66.56, Y:-5.88, Z:-8.18 [[ 9.85169526e-01 1.46412096e-01 8.94678896e-02 6.65585436e+01] [-1.45588545e-01 9.89220676e-01 -1.56980872e-02 -5.88121446e+00] [-9.08018760e-02 2.43977729e-03 9.95865988e-01 -8.17897473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.821193817 meters 0.0621520095515064 Centerline is valid? [True, True] Translation: X:66.62, Y:-5.88, Z:-8.19 [[ 9.84106519e-01 1.54046786e-01 8.83399473e-02 6.66210414e+01] [-1.53271393e-01 9.88062007e-01 -1.55354317e-02 -5.87648788e+00] [-8.96785290e-02 1.74853279e-03 9.95969228e-01 -8.19047317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881193817 meters 0.061175295764987196 Centerline is valid? [True, True] Translation: X:66.68, Y:-5.88, Z:-8.20 [[ 9.83350255e-01 1.58230273e-01 8.93613802e-02 6.66831477e+01] [-1.57454132e-01 9.87401272e-01 -1.57138537e-02 -5.87788911e+00] [-9.07219478e-02 1.38190348e-03 9.95875303e-01 -8.19710345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941193817 meters 0.06050172132033717 Centerline is valid? [True, True] Translation: X:66.75, Y:-5.88, Z:-8.20 [[ 9.82431189e-01 1.63762100e-01 8.95038171e-02 6.67453986e+01] [-1.63003838e-01 9.86499450e-01 -1.57665539e-02 -5.88097959e+00] [-9.08774303e-02 9.00088590e-04 9.95861678e-01 -8.20345925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001193817 meters 0.06011760611756232 Centerline is valid? [True, True] Translation: X:66.81, Y:-5.89, Z:-8.21 [[ 9.81575738e-01 1.69622045e-01 8.79626783e-02 6.68070256e+01] [-1.68910857e-01 9.85509117e-01 -1.55210479e-02 -5.88518410e+00] [-8.93207333e-02 3.77232658e-04 9.96002844e-01 -8.21296955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06119381699999 meters 0.06014334015548781 Centerline is valid? [True, True] Translation: X:66.87, Y:-5.88, Z:-8.22 [[ 9.78910786e-01 1.84074503e-01 8.86016348e-02 6.68710883e+01] [-1.83409152e-01 9.82911866e-01 -1.56635505e-02 -5.88003743e+00] [-8.99708585e-02 -9.17132196e-04 9.95943976e-01 -8.21960346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12119381699999 meters 0.06278467991077526 Centerline is valid? [True, True] Translation: X:66.93, Y:-5.88, Z:-8.23 [[ 9.76453296e-01 1.97333369e-01 8.71693818e-02 6.69320746e+01] [-1.96738834e-01 9.80334262e-01 -1.54455586e-02 -5.87654306e+00] [-8.85030557e-02 -2.06773594e-03 9.96073759e-01 -8.23063066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.181193817 meters 0.06447424516793047 Centerline is valid? [True, True] Translation: X:66.99, Y:-5.89, Z:-8.24 [[ 9.75448261e-01 2.02940461e-01 8.55327995e-02 6.69913487e+01] [-2.02389444e-01 9.79187820e-01 -1.51567130e-02 -5.88608774e+00] [-8.68285858e-02 -2.52634637e-03 9.96220063e-01 -8.24017395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241193817 meters 0.06478033445027744 Centerline is valid? [True, True] Translation: X:67.05, Y:-5.91, Z:-8.25 [[ 9.75864099e-01 2.02303003e-01 8.22359766e-02 6.70481360e+01] [-2.01792064e-01 9.79320083e-01 -1.45649491e-02 -5.90964967e+00] [-8.34818763e-02 -2.38115652e-03 9.96506451e-01 -8.25138959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301193817 meters 0.06353686831380381 Centerline is valid? [True, True] Translation: X:67.11, Y:-5.94, Z:-8.26 [[ 9.76590248e-01 1.98367276e-01 8.31980245e-02 6.71055245e+01] [-1.97827414e-01 9.80125640e-01 -1.47663327e-02 -5.93564326e+00] [-8.44736742e-02 -2.03819358e-03 9.96423627e-01 -8.25821870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361193817 meters 0.06108771662107413 Centerline is valid? [True, True] Translation: X:67.16, Y:-5.97, Z:-8.26 [[ 9.77983049e-01 1.90355957e-01 8.55205614e-02 6.71608122e+01] [-1.89754509e-01 9.81714168e-01 -1.51828599e-02 -5.97024756e+00] [-8.68468945e-02 -1.37933254e-03 9.96220716e-01 -8.26287021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42119381699999 meters 0.060427064137789366 Centerline is valid? [True, True] Translation: X:67.22, Y:-6.00, Z:-8.27 [[ 9.79076231e-01 1.83477771e-01 8.80093201e-02 6.72169247e+01] [-1.82812873e-01 9.83023541e-01 -1.56259568e-02 -5.99909429e+00] [-8.93822493e-02 -7.90233747e-04 9.95997083e-01 -8.27108723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48119381699999 meters 0.059730192137983466 Centerline is valid? [True, True] Translation: X:67.27, Y:-6.04, Z:-8.27 [[ 9.80909540e-01 1.73654315e-01 8.75251538e-02 6.72733829e+01] [-1.72958033e-01 9.84806666e-01 -1.55354442e-02 -6.04149422e+00] [-8.88931518e-02 1.00687041e-04 9.96041163e-01 -8.27084012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54119381699999 meters 0.060305645643855495 Centerline is valid? [True, True] Translation: X:67.33, Y:-6.06, Z:-8.28 [[ 9.81691105e-01 1.71007148e-01 8.38995160e-02 6.73311159e+01] [-1.70355348e-01 9.85269724e-01 -1.49206545e-02 -6.05874527e+00] [-8.52151916e-02 3.54742602e-04 9.96362507e-01 -8.28285193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601193817 meters 0.059442609068230054 Centerline is valid? [True, True] Translation: X:67.39, Y:-6.07, Z:-8.28 [[ 9.80294917e-01 1.77419134e-01 8.68580803e-02 6.73913877e+01] [-1.76744091e-01 9.84135364e-01 -1.54632604e-02 -6.07227842e+00] [-8.82235867e-02 -1.93096848e-04 9.96100678e-01 -8.28332587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661193817 meters 0.060150327919461545 Centerline is valid? [True, True] Translation: X:67.45, Y:-6.08, Z:-8.29 [[ 9.78288352e-01 1.88453240e-01 8.62396475e-02 6.74513725e+01] [-1.87830451e-01 9.82081457e-01 -1.53536064e-02 -6.07951098e+00] [-8.75877956e-02 -1.17817765e-03 9.96156107e-01 -8.29256365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721193817 meters 0.06130661746267198 Centerline is valid? [True, True] Translation: X:67.51, Y:-6.09, Z:-8.30 [[ 9.77556318e-01 1.93230091e-01 8.39391309e-02 6.75107632e+01] [-1.92656296e-01 9.81152251e-01 -1.49603666e-02 -6.08806083e+00] [-8.52478602e-02 -1.54680112e-03 9.96358575e-01 -8.30477453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78119381699999 meters 0.06113394253989638 Centerline is valid? [True, True] Translation: X:67.57, Y:-6.11, Z:-8.31 [[ 9.77731495e-01 1.92404818e-01 8.37944538e-02 6.75699325e+01] [-1.91830654e-01 9.81314524e-01 -1.49266577e-02 -6.10774843e+00] [-8.51006754e-02 -1.48008155e-03 9.96371258e-01 -8.31297607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84119381699999 meters 0.06043337134539473 Centerline is valid? [True, True] Translation: X:67.63, Y:-6.13, Z:-8.32 [[ 9.78276292e-01 1.89605417e-01 8.38169610e-02 6.76286969e+01] [-1.89018611e-01 9.81859621e-01 -1.49549302e-02 -6.13216766e+00] [-8.51320253e-02 -1.21291190e-03 9.96368941e-01 -8.31551795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90119381699999 meters 0.060961915513228424 Centerline is valid? [True, True] Translation: X:67.69, Y:-6.15, Z:-8.33 [[ 9.77957739e-01 1.90559332e-01 8.53569065e-02 6.76864969e+01] [-1.89951974e-01 9.81674829e-01 -1.52570716e-02 -6.15113509e+00] [-8.67001039e-02 -1.29294160e-03 9.96233617e-01 -8.32522921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.961193817 meters 0.06048297537598394 Centerline is valid? [True, True] Translation: X:67.75, Y:-6.17, Z:-8.33 [[ 9.76769468e-01 1.95106775e-01 8.86270447e-02 6.77468303e+01] [-1.94468305e-01 9.80780469e-01 -1.58666160e-02 -6.16894439e+00] [-9.00193588e-02 -1.73712506e-03 9.95938501e-01 -8.32576179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021193817 meters 0.06094734014153691 Centerline is valid? [True, True] Translation: X:67.81, Y:-6.18, Z:-8.33 [[ 9.75915616e-01 1.97831529e-01 9.19314762e-02 6.78057667e+01] [-1.97153735e-01 9.80233926e-01 -1.64880094e-02 -6.18463512e+00] [-9.33761999e-02 -2.03372807e-03 9.95628821e-01 -8.33178831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081193817 meters 0.06053223550772148 Centerline is valid? [True, True] Translation: X:67.87, Y:-6.21, Z:-8.34 [[ 9.76156114e-01 1.97032517e-01 9.10902261e-02 6.78653388e+01] [-1.96361526e-01 9.80395080e-01 -1.63596652e-02 -6.20786119e+00] [-9.25277955e-02 -1.91702862e-03 9.95708256e-01 -8.33860517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141193817 meters 0.061063328197563625 Centerline is valid? [True, True] Translation: X:67.92, Y:-6.22, Z:-8.35 [[ 9.76451034e-01 1.95544572e-01 9.11356017e-02 6.79235432e+01] [-1.94863307e-01 9.80693265e-01 -1.64015735e-02 -6.22243110e+00] [-9.25833094e-02 -1.74365134e-03 9.95703415e-01 -8.35037822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20119381699999 meters 0.06110070266841783 Centerline is valid? [True, True] Translation: X:67.98, Y:-6.24, Z:-8.36 [[ 9.76996098e-01 1.95071759e-01 8.61721103e-02 6.79813956e+01] [-1.94458333e-01 9.80787706e-01 -1.55380988e-02 -6.24468245e+00] [-8.75475907e-02 -1.57622303e-03 9.96159091e-01 -8.35933061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26119381699999 meters 0.06147400481743742 Centerline is valid? [True, True] Translation: X:68.04, Y:-6.26, Z:-8.37 [[ 9.77240405e-01 1.94460987e-01 8.47709624e-02 6.80401342e+01] [-1.93865523e-01 9.80909104e-01 -1.52803499e-02 -6.26329275e+00] [-8.61240406e-02 -1.50159162e-03 9.96283290e-01 -8.37036381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.321193817 meters 0.06054483746794065 Centerline is valid? [True, True] Translation: X:68.10, Y:-6.29, Z:-8.37 [[ 9.78098222e-01 1.88463372e-01 8.83483214e-02 6.80971617e+01] [-1.87788905e-01 9.82079730e-01 -1.59602756e-02 -6.29113251e+00] [-8.97730230e-02 -9.80117288e-04 9.95961768e-01 -8.37392918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381193817 meters 0.06013273629088412 Centerline is valid? [True, True] Translation: X:68.16, Y:-6.32, Z:-8.38 [[ 9.78884015e-01 1.84008057e-01 8.90343764e-02 6.81556728e+01] [-1.83305097e-01 9.82924564e-01 -1.60792937e-02 -6.31573086e+00] [-9.04727951e-02 -5.80691396e-04 9.95898758e-01 -8.38118352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441193817 meters 0.06080930679120287 Centerline is valid? [True, True] Translation: X:68.21, Y:-6.33, Z:-8.39 [[ 9.79423146e-01 1.82495729e-01 8.61719741e-02 6.82139065e+01] [-1.81829320e-01 9.83206564e-01 -1.55868992e-02 -6.33455812e+00] [-8.75693931e-02 -4.02421558e-04 9.96158341e-01 -8.39239987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501193817 meters 0.06065395432590649 Centerline is valid? [True, True] Translation: X:68.27, Y:-6.36, Z:-8.40 [[ 9.80297124e-01 1.76033727e-01 8.96084546e-02 6.82717932e+01] [-1.75283134e-01 9.84384113e-01 -1.62401203e-02 -6.35995775e+00] [-9.10679480e-02 2.13292449e-04 9.95844658e-01 -8.39555411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56119381699999 meters 0.061476447235685426 Centerline is valid? [True, True] Translation: X:68.33, Y:-6.38, Z:-8.40 [[ 9.81148065e-01 1.71063464e-01 8.99208826e-02 6.83315800e+01] [-1.70287074e-01 9.85259782e-01 -1.62934035e-02 -6.37744175e+00] [-9.13826352e-02 6.73877279e-04 9.95815625e-01 -8.40408042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62119381699999 meters 0.06266578454938068 Centerline is valid? [True, True] Translation: X:68.39, Y:-6.39, Z:-8.41 [[ 9.82024873e-01 1.67522196e-01 8.69681654e-02 6.83907455e+01] [-1.66780057e-01 9.85867803e-01 -1.57824982e-02 -6.39286504e+00] [-8.83830329e-02 9.94250224e-04 9.96086066e-01 -8.41467293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.681193817 meters 0.06353294532360564 Centerline is valid? [True, True] Translation: X:68.45, Y:-6.41, Z:-8.42 [[ 9.82470029e-01 1.65220805e-01 8.63407615e-02 6.84509033e+01] [-1.64478601e-01 9.86255855e-01 -1.56900488e-02 -6.40638410e+00] [-8.77464041e-02 1.21379501e-03 9.96142106e-01 -8.42197747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741193817 meters 0.0632950755834399 Centerline is valid? [True, True] Translation: X:68.51, Y:-6.41, Z:-8.43 [[ 9.82600489e-01 1.63899750e-01 8.73679071e-02 6.85129935e+01] [-1.63132360e-01 9.86476046e-01 -1.59010361e-02 -6.40937265e+00] [-8.87925234e-02 1.37183296e-03 9.96049199e-01 -8.43068048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801193817 meters 0.06351145274510811 Centerline is valid? [True, True] Translation: X:68.57, Y:-6.42, Z:-8.44 [[ 9.82532553e-01 1.63684548e-01 8.85276872e-02 6.85740330e+01] [-1.62893413e-01 9.86511687e-01 -1.61377667e-02 -6.41524660e+00] [-8.99751011e-02 1.43530399e-03 9.95942981e-01 -8.43987256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861193817 meters 0.06429874781181502 Centerline is valid? [True, True] Translation: X:68.63, Y:-6.42, Z:-8.45 [[ 9.82682989e-01 1.63179132e-01 8.77878913e-02 6.86341021e+01] [-1.62396929e-01 9.86595327e-01 -1.60280565e-02 -6.42490585e+00] [-8.92265676e-02 1.49401451e-03 9.96010235e-01 -8.44654701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92119381699999 meters 0.062072460772351436 Centerline is valid? [True, True] Translation: X:68.70, Y:-6.43, Z:-8.45 [[ 9.82319908e-01 1.65110905e-01 8.82382422e-02 6.86977429e+01] [-1.64326529e-01 9.86274088e-01 -1.61311751e-02 -6.42605088e+00] [-8.96905248e-02 1.34609042e-03 9.95968774e-01 -8.44619904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98119381699999 meters 0.06057450444956501 Centerline is valid? [True, True] Translation: X:68.76, Y:-6.42, Z:-8.46 [[ 9.80134243e-01 1.76452792e-01 9.05609084e-02 6.87601292e+01] [-1.75671214e-01 9.84309040e-01 -1.65933190e-02 -6.41504945e+00] [-9.20678582e-02 3.54735508e-04 9.95752672e-01 -8.45701066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04119381699999 meters 0.060281123621605426 Centerline is valid? [True, True] Translation: X:68.82, Y:-6.41, Z:-8.46 [[ 9.77403137e-01 1.90234638e-01 9.21622999e-02 6.88247162e+01] [-1.89486668e-01 9.81738179e-01 -1.68804690e-02 -6.40977641e+00] [-9.36904984e-02 -9.64503730e-04 9.95600904e-01 -8.46307499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.101193817 meters 0.06098740739478572 Centerline is valid? [True, True] Translation: X:68.89, Y:-6.41, Z:-8.47 [[ 9.76290232e-01 1.96077878e-01 9.17106742e-02 6.88867256e+01] [-1.95359460e-01 9.80587208e-01 -1.68347526e-02 -6.41249078e+00] [-9.32312366e-02 -1.48094323e-03 9.95643382e-01 -8.47385558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161193817 meters 0.06160810269437948 Centerline is valid? [True, True] Translation: X:68.95, Y:-6.42, Z:-8.48 [[ 9.75672746e-01 1.99520287e-01 9.08534452e-02 6.89477130e+01] [-1.98829979e-01 9.79892059e-01 -1.66790906e-02 -6.41859979e+00] [-9.23543865e-02 -1.79105455e-03 9.95724590e-01 -8.48384797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221193817 meters 0.0609060583514869 Centerline is valid? [True, True] Translation: X:69.01, Y:-6.43, Z:-8.49 [[ 9.75545346e-01 1.98596608e-01 9.41842065e-02 6.90075048e+01] [-1.97847080e-01 9.80079785e-01 -1.73247983e-02 -6.43430026e+00] [-9.57486830e-02 -1.73294383e-03 9.95404032e-01 -8.48724627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28119381699999 meters 0.060875681312737094 Centerline is valid? [True, True] Translation: X:69.07, Y:-6.45, Z:-8.50 [[ 9.76369975e-01 1.94199187e-01 9.48069009e-02 6.90658526e+01] [-1.93419149e-01 9.80961240e-01 -1.74378246e-02 -6.45136464e+00] [-9.63883065e-02 -1.31170167e-03 9.95342943e-01 -8.49789603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34119381699999 meters 0.060532715579677786 Centerline is valid? [True, True] Translation: X:69.12, Y:-6.47, Z:-8.51 [[ 9.77776446e-01 1.88667513e-01 9.14209539e-02 6.91235586e+01] [-1.87915564e-01 9.82040765e-01 -1.68427060e-02 -6.47474919e+00] [-9.29567750e-02 -7.11018909e-04 9.95669891e-01 -8.50664452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40119381699999 meters 0.06090272954601078 Centerline is valid? [True, True] Translation: X:69.18, Y:-6.49, Z:-8.52 [[ 9.78087370e-01 1.86677658e-01 9.21767234e-02 6.91812437e+01] [-1.85903252e-01 9.82421085e-01 -1.69939185e-02 -6.49239538e+00] [-9.37287415e-02 -5.14415570e-04 9.95597639e-01 -8.51912037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.461193817 meters 0.06054082676633142 Centerline is valid? [True, True] Translation: X:69.24, Y:-6.51, Z:-8.52 [[ 9.78658218e-01 1.83568070e-01 9.23626329e-02 6.92413840e+01] [-1.82774391e-01 9.83006982e-01 -1.70527260e-02 -6.51098385e+00] [-9.39234490e-02 -1.92733502e-04 9.95579403e-01 -8.52290452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521193817 meters 0.0610035608684721 Centerline is valid? [True, True] Translation: X:69.30, Y:-6.54, Z:-8.53 [[ 9.79959223e-01 1.75653294e-01 9.39459526e-02 6.92999397e+01] [-1.74792690e-01 9.84451904e-01 -1.73771259e-02 -6.53764405e+00] [-9.55376213e-02 6.07809057e-04 9.95425634e-01 -8.52827716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581193817 meters 0.06158048741676854 Centerline is valid? [True, True] Translation: X:69.36, Y:-6.55, Z:-8.54 [[ 9.80474677e-01 1.73718160e-01 9.21488424e-02 6.93578246e+01] [-1.72881248e-01 9.84795097e-01 -1.70496604e-02 -6.55491916e+00] [-9.37095639e-02 7.85953387e-04 9.95599267e-01 -8.53769784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64119381699999 meters 0.060829836375097396 Centerline is valid? [True, True] Translation: X:69.42, Y:-6.56, Z:-8.55 [[ 9.79651124e-01 1.78682991e-01 9.14115148e-02 6.94201653e+01] [-1.77878924e-01 9.83906642e-01 -1.69354355e-02 -6.56275435e+00] [-9.29664708e-02 3.30636578e-04 9.95669185e-01 -8.54659817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70119381699999 meters 0.060379156104743474 Centerline is valid? [True, True] Translation: X:69.48, Y:-6.57, Z:-8.55 [[ 9.78624442e-01 1.83733983e-01 9.23906095e-02 6.94811408e+01] [-1.82931857e-01 9.82975997e-01 -1.71500995e-02 -6.57240216e+00] [-9.39688075e-02 -1.17679209e-04 9.95575135e-01 -8.55273871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76119381699999 meters 0.06011417916916106 Centerline is valid? [True, True] Translation: X:69.54, Y:-6.58, Z:-8.56 [[ 9.77276279e-01 1.89789525e-01 9.43981511e-02 6.95415891e+01] [-1.88977389e-01 9.81824560e-01 -1.75522266e-02 -6.57971445e+00] [-9.60136519e-02 -6.85741432e-04 9.95379781e-01 -8.55847334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.821193817 meters 0.06035461653576516 Centerline is valid? [True, True] Translation: X:69.60, Y:-6.58, Z:-8.57 [[ 9.75957944e-01 1.96930262e-01 9.34053727e-02 6.96033155e+01] [-1.96164896e-01 9.80416578e-01 -1.73973362e-02 -6.58497590e+00] [-9.50022379e-02 -1.34378682e-03 9.95476152e-01 -8.56531484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881193817 meters 0.06109725084901951 Centerline is valid? [True, True] Translation: X:69.66, Y:-6.59, Z:-8.57 [[ 9.74787053e-01 2.02518467e-01 9.36828216e-02 6.96644885e+01] [-2.01773985e-01 9.79276618e-01 -1.74517668e-02 -6.59111433e+00] [-9.52757018e-02 -1.89099992e-03 9.95449127e-01 -8.57326930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941193817 meters 0.06348565479809395 Centerline is valid? [True, True] Translation: X:69.72, Y:-6.59, Z:-8.58 [[ 9.72224807e-01 2.13648318e-01 9.55684070e-02 6.97240991e+01] [-2.12923493e-01 9.76906016e-01 -1.78387869e-02 -6.59471397e+00] [-9.71725786e-02 -3.00544790e-03 9.95263009e-01 -8.57917267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001193817 meters 0.0649223304108282 Centerline is valid? [True, True] Translation: X:69.78, Y:-6.60, Z:-8.59 [[ 9.70909057e-01 2.19669960e-01 9.52927707e-02 6.97837659e+01] [-2.18978224e-01 9.75567612e-01 -1.77868437e-02 -6.60343468e+00] [-9.68717760e-02 -3.59763403e-03 9.95290368e-01 -8.58768780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06119381699999 meters 0.0650141776264501 Centerline is valid? [True, True] Translation: X:69.84, Y:-6.63, Z:-8.60 [[ 9.71129922e-01 2.20518265e-01 9.09855450e-02 6.98408467e+01] [-2.19891919e-01 9.75376495e-01 -1.69775416e-02 -6.62841833e+00] [-9.24890200e-02 -3.51958745e-03 9.95707484e-01 -8.59852525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12119381699999 meters 0.06528126831303321 Centerline is valid? [True, True] Translation: X:69.90, Y:-6.65, Z:-8.61 [[ 9.71863678e-01 2.16739750e-01 9.22218640e-02 6.98975323e+01] [-2.16076283e-01 9.76224267e-01 -1.72400736e-02 -6.64996703e+00] [-9.37658308e-02 -3.17195631e-03 9.95589226e-01 -8.60893759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.181193817 meters 0.06340332243338251 Centerline is valid? [True, True] Translation: X:69.95, Y:-6.68, Z:-8.61 [[ 9.73181820e-01 2.10062733e-01 9.37592282e-02 6.99522922e+01] [-2.09345549e-01 9.77684542e-01 -1.75321826e-02 -6.68164884e+00] [-9.53498063e-02 -2.56607571e-03 9.95440520e-01 -8.61479439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241193817 meters 0.061211685897131884 Centerline is valid? [True, True] Translation: X:70.01, Y:-6.71, Z:-8.62 [[ 9.74356254e-01 2.04823032e-01 9.31526515e-02 7.00090683e+01] [-2.04091199e-01 9.78796897e-01 -1.74188544e-02 -6.71150021e+00] [-9.47453089e-02 -2.03946661e-03 9.95499456e-01 -8.61809570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301193817 meters 0.06058084392786127 Centerline is valid? [True, True] Translation: X:70.06, Y:-6.74, Z:-8.63 [[ 9.76316664e-01 1.95535390e-01 9.25833826e-02 7.00641803e+01] [-1.94770380e-01 9.80695999e-01 -1.73163606e-02 -6.74361159e+00] [-9.41821143e-02 -1.12624918e-03 9.95554349e-01 -8.62795700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361193817 meters 0.06100335219800363 Centerline is valid? [True, True] Translation: X:70.12, Y:-6.78, Z:-8.64 [[ 9.79298036e-01 1.81625881e-01 8.93722329e-02 7.01197199e+01] [-1.80855494e-01 9.83367682e-01 -1.67120273e-02 -6.77942871e+00] [-9.09211022e-02 2.02596181e-04 9.95858078e-01 -8.63738872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42119381699999 meters 0.06299417123823405 Centerline is valid? [True, True] Translation: X:70.18, Y:-6.81, Z:-8.65 [[ 9.81419136e-01 1.69661801e-01 8.96178099e-02 7.01768034e+01] [-1.68834850e-01 9.85501432e-01 -1.67845586e-02 -6.80669627e+00] [-9.11661784e-02 1.34207749e-03 9.95834789e-01 -8.64509853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48119381699999 meters 0.06843305460208894 Centerline is valid? [True, True] Translation: X:70.23, Y:-6.84, Z:-8.65 [[ 9.84383585e-01 1.51058897e-01 9.03889747e-02 7.02334074e+01] [-1.50136374e-01 9.88519829e-01 -1.69592805e-02 -6.83574761e+00] [-9.19131440e-02 3.12376440e-03 9.95762128e-01 -8.64933050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54119381699999 meters 0.0711786685514307 Centerline is valid? [True, True] Translation: X:70.29, Y:-6.85, Z:-8.65 [[ 9.85261958e-01 1.44454483e-01 9.16066452e-02 7.02921176e+01] [-1.43477735e-01 9.89504158e-01 -1.71947899e-02 -6.85287634e+00] [-9.31290208e-02 3.79785836e-03 9.95646806e-01 -8.65459910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.601193817 meters 0.07610946509495585 Centerline is valid? [True, True] Translation: X:70.35, Y:-6.87, Z:-8.65 [[ 9.86994935e-01 1.29964103e-01 9.46061847e-02 7.03518081e+01] [-1.28855622e-01 9.91504333e-01 -1.77591389e-02 -6.86739065e+00] [-9.61104926e-02 5.33764138e-03 9.95356360e-01 -8.65325052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661193817 meters 0.0772331004294768 Centerline is valid? [True, True] Translation: X:70.41, Y:-6.87, Z:-8.66 [[ 9.87326709e-01 1.27056925e-01 9.50921013e-02 7.04131350e+01] [-1.25923048e-01 9.91879305e-01 -1.78558019e-02 -6.86851756e+00] [-9.65885906e-02 5.65522292e-03 9.95308325e-01 -8.65958510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721193817 meters 0.07707975403021591 Centerline is valid? [True, True] Translation: X:70.48, Y:-6.86, Z:-8.67 [[ 9.87682734e-01 1.24415984e-01 9.48866647e-02 7.04769416e+01] [-1.23274697e-01 9.92212589e-01 -1.78193234e-02 -6.85635156e+00] [-9.63647518e-02 5.90271327e-03 9.95328585e-01 -8.66798855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78119381699999 meters 0.07956677630535179 Centerline is valid? [True, True] Translation: X:70.54, Y:-6.86, Z:-8.68 [[ 9.88107261e-01 1.21476214e-01 9.42739060e-02 7.05385737e+01] [-1.20336167e-01 9.92575283e-01 -1.77063554e-02 -6.85636981e+00] [-9.57248499e-02 6.15121782e-03 9.95388826e-01 -8.67657854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84119381699999 meters 0.08187584655538373 Centerline is valid? [True, True] Translation: X:70.60, Y:-6.84, Z:-8.69 [[ 9.88296207e-01 1.19588343e-01 9.47060425e-02 7.06026230e+01] [-1.18429592e-01 9.92803199e-01 -1.77831563e-02 -6.84117111e+00] [-9.61511201e-02 6.35902787e-03 9.95346435e-01 -8.68813050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90119381699999 meters 0.07969578401106758 Centerline is valid? [True, True] Translation: X:70.67, Y:-6.83, Z:-8.70 [[ 9.88207450e-01 1.22679036e-01 9.16290853e-02 7.06662657e+01] [-1.21604817e-01 9.92428912e-01 -1.72372742e-02 -6.82826564e+00] [-9.30500056e-02 5.89146456e-03 9.95644006e-01 -8.69886352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.961193817 meters 0.08059860282721475 Centerline is valid? [True, True] Translation: X:70.73, Y:-6.81, Z:-8.71 [[ 9.87362403e-01 1.29661833e-01 9.11224087e-02 7.07290277e+01] [-1.28628536e-01 9.91544587e-01 -1.71473492e-02 -6.81188697e+00] [-9.25752878e-02 5.20970584e-03 9.95692058e-01 -8.71316035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021193817 meters 0.0716661836379317 Centerline is valid? [True, True] Translation: X:70.80, Y:-6.78, Z:-8.72 [[ 9.86331191e-01 1.38994857e-01 8.84941283e-02 7.07976651e+01] [-1.38057899e-01 9.90284167e-01 -1.66518797e-02 -6.77563191e+00] [-8.99488598e-02 4.20695493e-03 9.95937500e-01 -8.71932423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081193817 meters 0.06984701424492827 Centerline is valid? [True, True] Translation: X:70.86, Y:-6.76, Z:-8.73 [[ 9.85408215e-01 1.45568280e-01 8.82072905e-02 7.08603346e+01] [-1.44663384e-01 9.89341666e-01 -1.66004129e-02 -6.76365514e+00] [-8.96836413e-02 3.59781811e-03 9.95963805e-01 -8.72886433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14119381699999 meters 0.06842540387800941 Centerline is valid? [True, True] Translation: X:70.93, Y:-6.75, Z:-8.74 [[ 9.84698593e-01 1.50895980e-01 8.71727244e-02 7.09254475e+01] [-1.50033157e-01 9.88544865e-01 -1.64043040e-02 -6.74507648e+00] [-8.86494926e-02 3.07449603e-03 9.96058138e-01 -8.73884958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20119381699999 meters 0.06740721666785417 Centerline is valid? [True, True] Translation: X:70.99, Y:-6.74, Z:-8.75 [[ 9.84193313e-01 1.53566030e-01 8.82099595e-02 7.09889880e+01] [-1.52692827e-01 9.88134215e-01 -1.66034454e-02 -6.73724355e+00] [-8.97130042e-02 2.87197192e-03 9.95963518e-01 -8.74687491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26119381699999 meters 0.06536298056133383 Centerline is valid? [True, True] Translation: X:71.05, Y:-6.73, Z:-8.75 [[ 9.83462862e-01 1.57553368e-01 8.93181724e-02 7.10542578e+01] [-1.56674114e-01 9.87507199e-01 -1.68153035e-02 -6.72586368e+00] [-9.08516459e-02 2.54338098e-03 9.95861190e-01 -8.75022339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.321193817 meters 0.06554448283794208 Centerline is valid? [True, True] Translation: X:71.12, Y:-6.72, Z:-8.76 [[ 9.83485955e-01 1.57792245e-01 8.86396252e-02 7.11172359e+01] [-1.56927441e-01 9.87469167e-01 -1.66860201e-02 -6.72241988e+00] [-9.01618214e-02 2.50047686e-03 9.95923990e-01 -8.75814179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381193817 meters 0.06553546201197201 Centerline is valid? [True, True] Translation: X:71.18, Y:-6.72, Z:-8.77 [[ 9.82993203e-01 1.60424616e-01 8.93773222e-02 7.11779495e+01] [-1.59553520e-01 9.87045400e-01 -1.68538744e-02 -6.72403630e+00] [-9.09232510e-02 2.30677764e-03 9.95855231e-01 -8.76856221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441193817 meters 0.06418373909875189 Centerline is valid? [True, True] Translation: X:71.24, Y:-6.72, Z:-8.78 [[ 9.82321882e-01 1.64678246e-01 8.90213207e-02 7.12407138e+01] [-1.63829265e-01 9.86345452e-01 -1.68113318e-02 -6.72331833e+00] [-9.05742354e-02 1.92984152e-03 9.95887837e-01 -8.77552664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501193817 meters 0.06313459997063196 Centerline is valid? [True, True] Translation: X:71.30, Y:-6.73, Z:-8.78 [[ 9.81698619e-01 1.67987412e-01 8.97109250e-02 7.13027019e+01] [-1.67136389e-01 9.85787734e-01 -1.69697100e-02 -6.72876628e+00] [-9.12866272e-02 1.66518082e-03 9.95823267e-01 -8.78053606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56119381699999 meters 0.06198280544897823 Centerline is valid? [True, True] Translation: X:71.37, Y:-6.73, Z:-8.79 [[ 9.80949144e-01 1.71720527e-01 9.08341243e-02 7.13655304e+01] [-1.70860773e-01 9.85144755e-01 -1.72165161e-02 -6.73139659e+00] [-9.24411903e-02 1.36853803e-03 9.95717206e-01 -8.78686263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62119381699999 meters 0.06188715041053167 Centerline is valid? [True, True] Translation: X:71.43, Y:-6.74, Z:-8.79 [[ 9.80560071e-01 1.73131078e-01 9.23448839e-02 7.14268297e+01] [-1.72248158e-01 9.84897984e-01 -1.75081032e-02 -6.74071502e+00] [-9.39814867e-02 1.26151074e-03 9.95573146e-01 -8.79469527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.681193817 meters 0.0631013603585404 Centerline is valid? [True, True] Translation: X:71.49, Y:-6.76, Z:-8.81 [[ 9.81247403e-01 1.69407379e-01 9.19493018e-02 7.14852138e+01] [-1.68513015e-01 9.85544749e-01 -1.74617351e-02 -6.75563598e+00] [-9.35782983e-02 1.63962816e-03 9.95610573e-01 -8.80510154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741193817 meters 0.06485818444219305 Centerline is valid? [True, True] Translation: X:71.54, Y:-6.77, Z:-8.82 [[ 9.82120765e-01 1.65292506e-01 9.00954552e-02 7.15433339e+01] [-1.64413652e-01 9.86242514e-01 -1.71422055e-02 -6.76631533e+00] [-9.16894463e-02 2.02279314e-03 9.95785596e-01 -8.81555265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801193817 meters 0.06537649258034299 Centerline is valid? [True, True] Translation: X:71.60, Y:-6.78, Z:-8.82 [[ 9.82095432e-01 1.64610200e-01 9.16081046e-02 7.16035510e+01] [-1.63699235e-01 9.86356432e-01 -1.74226778e-02 -6.77682885e+00] [-9.32261937e-02 2.11455566e-03 9.95642710e-01 -8.82100667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.861193817 meters 0.06444712629290118 Centerline is valid? [True, True] Translation: X:71.66, Y:-6.78, Z:-8.82 [[ 9.81379977e-01 1.66986626e-01 9.49147425e-02 7.16638924e+01] [-1.66016497e-01 9.85957154e-01 -1.80835153e-02 -6.78374963e+00] [-9.66015746e-02 1.98938671e-03 9.95321143e-01 -8.82454763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92119381699999 meters 0.06139397744666971 Centerline is valid? [True, True] Translation: X:71.73, Y:-6.78, Z:-8.83 [[ 9.79912597e-01 1.75365043e-01 9.49652790e-02 7.17265371e+01] [-1.74432696e-01 9.84502786e-01 -1.80969117e-02 -6.78006323e+00] [-9.66671475e-02 1.16834218e-03 9.95316079e-01 -8.82973665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98119381699999 meters 0.059683113884343095 Centerline is valid? [True, True] Translation: X:71.79, Y:-6.77, Z:-8.84 [[ 9.76197855e-01 1.94241368e-01 9.64781761e-02 7.17920877e+01] [-1.93370352e-01 9.80953512e-01 -1.83878839e-02 -6.76884111e+00] [-9.82122934e-02 -7.05806049e-04 9.95165236e-01 -8.83553835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04119381699999 meters 0.0605557113569761 Centerline is valid? [True, True] Translation: X:71.85, Y:-6.78, Z:-8.84 [[ 9.74457810e-01 2.03270313e-01 9.54628497e-02 7.18527361e+01] [-2.02460068e-01 9.79121365e-01 -1.82009170e-02 -6.77593620e+00] [-9.71694218e-02 -1.59138941e-03 9.95266583e-01 -8.84468837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.101193817 meters 0.06315253024857344 Centerline is valid? [True, True] Translation: X:71.91, Y:-6.79, Z:-8.86 [[ 9.73833581e-01 2.07409768e-01 9.28942653e-02 7.19090359e+01] [-2.06658278e-01 9.78252273e-01 -1.77439049e-02 -6.79080508e+00] [-9.45542854e-02 -1.91775838e-03 9.95517860e-01 -8.86271605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161193817 meters 0.06271351167071616 Centerline is valid? [True, True] Translation: X:71.97, Y:-6.81, Z:-8.87 [[ 9.73686936e-01 2.08772974e-01 9.13651799e-02 7.19674714e+01] [-2.08052759e-01 9.77962039e-01 -1.74441780e-02 -6.81287123e+00] [-9.29935506e-02 -2.02360949e-03 9.95664655e-01 -8.86887512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221193817 meters 0.06405615282844095 Centerline is valid? [True, True] Translation: X:72.02, Y:-6.84, Z:-8.88 [[ 9.73384210e-01 2.11386668e-01 8.85373129e-02 7.20233871e+01] [-2.10718359e-01 9.77400103e-01 -1.69355408e-02 -6.83695518e+00] [-9.01163262e-02 -2.17164930e-03 9.95928879e-01 -8.88103347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28119381699999 meters 0.06346728296320209 Centerline is valid? [True, True] Translation: X:72.08, Y:-6.86, Z:-8.89 [[ 9.73522141e-01 2.10821709e-01 8.83676902e-02 7.20812509e+01] [-2.10154187e-01 9.77522229e-01 -1.68970470e-02 -6.86232790e+00] [-8.99436458e-02 -2.12119073e-03 9.95944597e-01 -8.88847471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34119381699999 meters 0.06152165613423617 Centerline is valid? [True, True] Translation: X:72.14, Y:-6.90, Z:-8.90 [[ 9.75232975e-01 2.04396781e-01 8.45139032e-02 7.21372717e+01] [-2.03760521e-01 9.78887060e-01 -1.61794021e-02 -6.90081619e+00] [-8.60365840e-02 -1.44191053e-03 9.96290935e-01 -8.89650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40119381699999 meters 0.06121649437674634 Centerline is valid? [True, True] Translation: X:72.20, Y:-6.92, Z:-8.91 [[ 9.75853523e-01 2.01000042e-01 8.54920098e-02 7.21951088e+01] [-2.00333157e-01 9.79590587e-01 -1.63984025e-02 -6.92051531e+00] [-8.70432477e-02 -1.12444539e-03 9.96203899e-01 -8.90531330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.461193817 meters 0.05946314325136653 Centerline is valid? [True, True] Translation: X:72.25, Y:-6.96, Z:-8.90 [[ 9.77588031e-01 1.89623150e-01 9.14587498e-02 7.22497435e+01] [-1.88806779e-01 9.81856942e-01 -1.75768720e-02 -6.96256458e+00] [-9.31323902e-02 -8.50922971e-05 9.95653730e-01 -8.90032285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521193817 meters 0.0599024755921643 Centerline is valid? [True, True] Translation: X:72.31, Y:-6.99, Z:-8.91 [[ 9.78437199e-01 1.84581542e-01 9.26838842e-02 7.23060077e+01] [-1.83720955e-01 9.82817123e-01 -1.78076604e-02 -6.98850215e+00] [-9.43782739e-02 3.95705681e-04 9.95536330e-01 -8.90903405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581193817 meters 0.059427667034155904 Centerline is valid? [True, True] Translation: X:72.37, Y:-7.01, Z:-8.91 [[ 9.78211067e-01 1.86101736e-01 9.20285363e-02 7.23659779e+01] [-1.85257822e-01 9.82530443e-01 -1.77050421e-02 -7.00860514e+00] [-9.37157776e-02 2.70261943e-04 9.95598955e-01 -8.91325375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64119381699999 meters 0.059256237387083896 Centerline is valid? [True, True] Translation: X:72.42, Y:-7.02, Z:-8.92 [[ 9.76828440e-01 1.93853265e-01 9.07034190e-02 7.24244753e+01] [-1.93063762e-01 9.81030440e-01 -1.74831362e-02 -7.02395336e+00] [-9.23719781e-02 -4.33518604e-04 9.95724475e-01 -8.92329120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70119381699999 meters 0.05944213502769627 Centerline is valid? [True, True] Translation: X:72.48, Y:-7.04, Z:-8.93 [[ 9.76325752e-01 1.97312436e-01 8.86331167e-02 7.24843300e+01] [-1.96570730e-01 9.80340392e-01 -1.71074329e-02 -7.04011287e+00] [-9.02661336e-02 -7.20249231e-04 9.95917419e-01 -8.93181630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76119381699999 meters 0.0595865002120355 Centerline is valid? [True, True] Translation: X:72.54, Y:-7.06, Z:-8.94 [[ 9.76121574e-01 1.97652828e-01 9.01112258e-02 7.25423770e+01] [-1.96885020e-01 9.80271807e-01 -1.74204588e-02 -7.05974592e+00] [-9.17766971e-02 -7.37064843e-04 9.95779340e-01 -8.94248366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.821193817 meters 0.05928392273574935 Centerline is valid? [True, True] Translation: X:72.60, Y:-7.08, Z:-8.95 [[ 9.76394987e-01 1.96453704e-01 8.97706595e-02 7.26021854e+01] [-1.95684350e-01 9.80512920e-01 -1.73795752e-02 -7.08224415e+00] [-9.14355734e-02 -5.97383021e-04 9.95810815e-01 -8.94702421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881193817 meters 0.05975962084044926 Centerline is valid? [True, True] Translation: X:72.66, Y:-7.10, Z:-8.96 [[ 9.76653028e-01 1.97746286e-01 8.39361021e-02 7.26602680e+01] [-1.97075588e-01 9.80253029e-01 -1.62853105e-02 -7.10024845e+00] [-8.54989780e-02 -6.36658911e-04 9.96338055e-01 -8.95850591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941193817 meters 0.0599114034045116 Centerline is valid? [True, True] Translation: X:72.72, Y:-7.11, Z:-8.97 [[ 9.75653911e-01 2.02918996e-01 8.32065265e-02 7.27211099e+01] [-2.02279193e-01 9.79194925e-01 -1.61377461e-02 -7.11106159e+00] [-8.47500637e-02 -1.08609389e-03 9.96401649e-01 -8.96535875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001193817 meters 0.061397677313446274 Centerline is valid? [True, True] Translation: X:72.78, Y:-7.12, Z:-8.98 [[ 9.74026086e-01 2.10818421e-01 8.26364150e-02 7.27802320e+01] [-2.10212691e-01 9.77523716e-01 -1.60626791e-02 -7.11832833e+00] [-8.41653641e-02 -1.72575472e-03 9.96450306e-01 -8.97730664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06119381699999 meters 0.06072650834658274 Centerline is valid? [True, True] Translation: X:72.84, Y:-7.14, Z:-8.98 [[ 9.73019123e-01 2.13746122e-01 8.68699178e-02 7.28412410e+01] [-2.13088341e-01 9.76887026e-01 -1.68848178e-02 -7.13536500e+00] [-8.84711600e-02 -2.08171604e-03 9.96076563e-01 -8.97789968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12119381699999 meters 0.060558373654551044 Centerline is valid? [True, True] Translation: X:72.90, Y:-7.16, Z:-8.98 [[ 9.72587862e-01 2.14241922e-01 9.04060220e-02 7.28989882e+01] [-2.13530431e-01 9.76778147e-01 -1.75842540e-02 -7.15854888e+00] [-9.20739110e-02 -2.20220485e-03 9.95749740e-01 -8.98230608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.181193817 meters 0.06079737446185255 Centerline is valid? [True, True] Translation: X:72.96, Y:-7.18, Z:-8.99 [[ 9.72867352e-01 2.12704368e-01 9.10272870e-02 7.29568884e+01] [-2.11976562e-01 9.77114401e-01 -1.77026511e-02 -7.17857284e+00] [-9.27095042e-02 -2.07332004e-03 9.95691041e-01 -8.99275152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241193817 meters 0.05972757976697075 Centerline is valid? [True, True] Translation: X:73.01, Y:-7.21, Z:-8.99 [[ 9.73054501e-01 2.11835597e-01 9.10528308e-02 7.30135069e+01] [-2.11101392e-01 9.77303334e-01 -1.77311976e-02 -7.21369562e+00] [-9.27423340e-02 -1.96795768e-03 9.95688197e-01 -8.99354456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.301193817 meters 0.05957822435977727 Centerline is valid? [True, True] Translation: X:73.07, Y:-7.24, Z:-9.00 [[ 9.74043511e-01 2.07821038e-01 8.97198638e-02 7.30697066e+01] [-2.07088704e-01 9.78165660e-01 -1.74988467e-02 -7.24193735e+00] [-9.13975183e-02 -1.53533228e-03 9.95813304e-01 -9.00381678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361193817 meters 0.05948289255015173 Centerline is valid? [True, True] Translation: X:73.13, Y:-7.27, Z:-9.01 [[ 9.75149403e-01 2.02764243e-01 8.92765605e-02 7.31276783e+01] [-2.02015312e-01 9.79227046e-01 -1.74415329e-02 -7.26811597e+00] [-9.09585418e-02 -1.02713184e-03 9.95854150e-01 -9.01332103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42119381699999 meters 0.05928929319828003 Centerline is valid? [True, True] Translation: X:73.18, Y:-7.30, Z:-9.02 [[ 9.76391428e-01 1.96624275e-01 8.94353104e-02 7.31849240e+01] [-1.95846593e-01 9.80478807e-01 -1.74763172e-02 -7.29749904e+00] [-9.11256946e-02 -4.51874515e-04 9.95839296e-01 -9.01815735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48119381699999 meters 0.06068451760679023 Centerline is valid? [True, True] Translation: X:73.24, Y:-7.33, Z:-9.03 [[ 9.78777107e-01 1.86061274e-01 8.58870014e-02 7.32409968e+01] [-1.85301387e-01 9.82537997e-01 -1.68071592e-02 -7.32806463e+00] [-8.75144038e-02 5.35482246e-04 9.96163110e-01 -9.02895234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54119381699999 meters 0.0635434989705075 Centerline is valid? [True, True] Translation: X:73.30, Y:-7.35, Z:-9.04 [[ 9.80841894e-01 1.76182027e-01 8.31208326e-02 7.32965139e+01] [-1.75432267e-01 9.84356605e-01 -1.62970527e-02 -7.35330406e+00] [-8.46917883e-02 1.40275590e-03 9.96406209e-01 -9.04177805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.601193817 meters 0.06836250072542129 Centerline is valid? [True, True] Translation: X:73.35, Y:-7.38, Z:-9.05 [[ 9.82905309e-01 1.62688123e-01 8.61958745e-02 7.33523472e+01] [-1.61829689e-01 9.86673947e-01 -1.69018805e-02 -7.38149679e+00] [-8.77969590e-02 2.66389650e-03 9.96134829e-01 -9.04613631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661193817 meters 0.06916217310425017 Centerline is valid? [True, True] Translation: X:73.41, Y:-7.39, Z:-9.05 [[ 9.84142376e-01 1.54811391e-01 8.65864747e-02 7.34139472e+01] [-1.53914619e-01 9.87938250e-01 -1.69795111e-02 -7.38711239e+00] [-8.81707120e-02 3.38333216e-03 9.96099633e-01 -9.04846808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721193817 meters 0.07043186832758618 Centerline is valid? [True, True] Translation: X:73.48, Y:-7.39, Z:-9.06 [[ 9.84356690e-01 1.53982127e-01 8.56236602e-02 7.34750027e+01] [-1.53102475e-01 9.88067732e-01 -1.67865498e-02 -7.39110840e+00] [-8.71868045e-02 3.41475830e-03 9.96186127e-01 -9.05889377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78119381699999 meters 0.0717299649580492 Centerline is valid? [True, True] Translation: X:73.54, Y:-7.39, Z:-9.07 [[ 9.84105739e-01 1.55750340e-01 8.53095901e-02 7.35364864e+01] [-1.54881694e-01 9.87791041e-01 -1.67487160e-02 -7.39094244e+00] [-8.68766671e-02 3.26961366e-03 9.96213709e-01 -9.07091130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84119381699999 meters 0.0693979158394503 Centerline is valid? [True, True] Translation: X:73.60, Y:-7.39, Z:-9.07 [[ 9.83762846e-01 1.56864178e-01 8.72025948e-02 7.35997202e+01] [-1.55958677e-01 9.87614785e-01 -1.71443255e-02 -7.39070563e+00] [-8.88119024e-02 3.26594919e-03 9.96043061e-01 -9.07312638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90119381699999 meters 0.06767770323937766 Centerline is valid? [True, True] Translation: X:73.66, Y:-7.38, Z:-9.08 [[ 9.82961461e-01 1.62062220e-01 8.67329456e-02 7.36621004e+01] [-1.61183833e-01 9.86776533e-01 -1.70834687e-02 -7.38080318e+00] [-8.83546202e-02 2.81244274e-03 9.96085112e-01 -9.08320053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.961193817 meters 0.06504268783117152 Centerline is valid? [True, True] Translation: X:73.73, Y:-7.38, Z:-9.09 [[ 9.82055273e-01 1.67276235e-01 8.70982312e-02 7.37256322e+01] [-1.66409683e-01 9.85907228e-01 -1.71684588e-02 -7.37738436e+00] [-8.87426508e-02 2.36638645e-03 9.96051777e-01 -9.08891888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021193817 meters 0.06198211764470855 Centerline is valid? [True, True] Translation: X:73.79, Y:-7.37, Z:-9.10 [[ 9.80169350e-01 1.78324401e-01 8.64202176e-02 7.37893127e+01] [-1.77513500e-01 9.83970808e-01 -1.70413045e-02 -7.36615679e+00] [-8.80738517e-02 1.36260910e-03 9.96113016e-01 -9.09645976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081193817 meters 0.061173478709120904 Centerline is valid? [True, True] Translation: X:73.85, Y:-7.37, Z:-9.11 [[ 9.79305236e-01 1.82848114e-01 8.67630236e-02 7.38526069e+01] [-1.82048379e-01 9.83140704e-01 -1.71097378e-02 -7.36530365e+00] [-8.84287434e-02 9.60588075e-04 9.96082042e-01 -9.10581996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14119381699999 meters 0.061047703920168186 Centerline is valid? [True, True] Translation: X:73.91, Y:-7.36, Z:-9.11 [[ 9.78957099e-01 1.84010007e-01 8.82231033e-02 7.39145208e+01] [-1.83187081e-01 9.82923978e-01 -1.74053539e-02 -7.36487027e+00] [-8.99193630e-02 8.77761936e-04 9.95948662e-01 -9.11446933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20119381699999 meters 0.061133063197331604 Centerline is valid? [True, True] Translation: X:73.98, Y:-7.36, Z:-9.12 [[ 9.78844887e-01 1.85779147e-01 8.57251151e-02 7.39766838e+01] [-1.85008117e-01 9.82591274e-01 -1.69229305e-02 -7.36381856e+00] [-8.73766777e-02 7.05081937e-04 9.96175095e-01 -9.12450671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26119381699999 meters 0.06136111298860077 Centerline is valid? [True, True] Translation: X:74.04, Y:-7.37, Z:-9.13 [[ 9.78935364e-01 1.85934826e-01 8.43433082e-02 7.40384253e+01] [-1.85187231e-01 9.82561830e-01 -1.66715449e-02 -7.37091473e+00] [-8.59723360e-02 7.01061130e-04 9.96297278e-01 -9.13278057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.321193817 meters 0.061480242911581606 Centerline is valid? [True, True] Translation: X:74.10, Y:-7.38, Z:-9.14 [[ 9.78969815e-01 1.86353108e-01 8.30097560e-02 7.40997089e+01] [-1.85628540e-01 9.82482601e-01 -1.64311872e-02 -7.37967892e+00] [-8.46176438e-02 6.76656495e-04 9.96413266e-01 -9.14176212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381193817 meters 0.0625935050771004 Centerline is valid? [True, True] Translation: X:74.16, Y:-7.39, Z:-9.15 [[ 9.79784455e-01 1.83757239e-01 7.90929771e-02 7.41597665e+01] [-1.83088525e-01 9.82971254e-01 -1.56877789e-02 -7.38635061e+00] [-8.06288658e-02 8.89625384e-04 9.96743796e-01 -9.15296346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441193817 meters 0.06365701734513328 Centerline is valid? [True, True] Translation: X:74.22, Y:-7.40, Z:-9.16 [[ 9.80259757e-01 1.81247831e-01 7.89938740e-02 7.42186390e+01] [-1.80573325e-01 9.83436853e-01 -1.56598626e-02 -7.40114641e+00] [-8.05238029e-02 1.08654662e-03 9.96752094e-01 -9.16310118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501193817 meters 0.06281818022759798 Centerline is valid? [True, True] Translation: X:74.28, Y:-7.41, Z:-9.16 [[ 9.80540396e-01 1.78055875e-01 8.26839612e-02 7.42799369e+01] [-1.77303514e-01 9.84019333e-01 -1.64138910e-02 -7.41456538e+00] [-8.42852061e-02 1.43432622e-03 9.96440639e-01 -9.16250893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56119381699999 meters 0.06392350369358396 Centerline is valid? [True, True] Translation: X:74.34, Y:-7.43, Z:-9.17 [[ 9.80844697e-01 1.75819989e-01 8.38511341e-02 7.43391810e+01] [-1.75035520e-01 9.84420903e-01 -1.66749154e-02 -7.43229424e+00] [-8.54765926e-02 1.67857550e-03 9.96338765e-01 -9.17075898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62119381699999 meters 0.06340123535616478 Centerline is valid? [True, True] Translation: X:74.40, Y:-7.44, Z:-9.18 [[ 9.80653684e-01 1.76970992e-01 8.36637336e-02 7.44009753e+01] [-1.76193056e-01 9.84214787e-01 -1.66511605e-02 -7.44457878e+00] [-8.52898561e-02 1.58805304e-03 9.96354916e-01 -9.17688841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.681193817 meters 0.062147533064090744 Centerline is valid? [True, True] Translation: X:74.46, Y:-7.45, Z:-9.18 [[ 9.79937008e-01 1.79635960e-01 8.63387603e-02 7.44628730e+01] [-1.78814128e-01 9.83732102e-01 -1.72237731e-02 -7.44757890e+00] [-8.80282192e-02 1.43962262e-03 9.96116941e-01 -9.18185186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741193817 meters 0.06210155666450775 Centerline is valid? [True, True] Translation: X:74.53, Y:-7.46, Z:-9.19 [[ 9.80060695e-01 1.78566794e-01 8.71489155e-02 7.45250487e+01] [-1.77725742e-01 9.83926580e-01 -1.73794621e-02 -7.45866814e+00] [-8.88515292e-02 1.54432210e-03 9.96043684e-01 -9.18753124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801193817 meters 0.06459834726474166 Centerline is valid? [True, True] Translation: X:74.58, Y:-7.48, Z:-9.19 [[ 9.81430189e-01 1.70563965e-01 8.77651260e-02 7.45828529e+01] [-1.69675272e-01 9.85343860e-01 -1.75436602e-02 -7.47776001e+00] [-8.94711443e-02 2.32630611e-03 9.95986698e-01 -9.19258766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861193817 meters 0.06909777093994314 Centerline is valid? [True, True] Translation: X:74.64, Y:-7.49, Z:-9.20 [[ 9.83155861e-01 1.59498890e-01 8.92449226e-02 7.46416376e+01] [-1.58534188e-01 9.87192279e-01 -1.78414273e-02 -7.49224829e+00] [-9.09475863e-02 3.39253253e-03 9.95849902e-01 -9.20000151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92119381699999 meters 0.07029323129064485 Centerline is valid? [True, True] Translation: X:74.70, Y:-7.50, Z:-9.21 [[ 9.84485523e-01 1.52215908e-01 8.72844334e-02 7.47013083e+01] [-1.51264477e-01 9.88339260e-01 -1.74517946e-02 -7.50106584e+00] [-8.89230731e-02 3.97800497e-03 9.96030553e-01 -9.20615032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98119381699999 meters 0.0810474193053076 Centerline is valid? [True, True] Translation: X:74.76, Y:-7.52, Z:-9.22 [[ 9.86323871e-01 1.40971189e-01 8.53952335e-02 7.47569138e+01] [-1.40018522e-01 9.90001650e-01 -1.70747147e-02 -7.52045711e+00] [-8.69484650e-02 4.88428434e-03 9.96200837e-01 -9.21975719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04119381699999 meters 0.08326796401036038 Centerline is valid? [True, True] Translation: X:74.82, Y:-7.52, Z:-9.23 [[ 9.86596918e-01 1.39100483e-01 8.53087176e-02 7.48186046e+01] [-1.38143580e-01 9.90265472e-01 -1.70483803e-02 -7.52462748e+00] [-8.68497154e-02 5.03502784e-03 9.96208701e-01 -9.22803041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.101193817 meters 0.07691349794628856 Centerline is valid? [True, True] Translation: X:74.88, Y:-7.50, Z:-9.23 [[ 9.85521110e-01 1.45126135e-01 8.76729508e-02 7.48848056e+01] [-1.44136155e-01 9.89402180e-01 -1.75526264e-02 -7.50461862e+00] [-8.92911535e-02 4.66164184e-03 9.95994658e-01 -9.22982407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161193817 meters 0.07371455725561253 Centerline is valid? [True, True] Translation: X:74.95, Y:-7.50, Z:-9.23 [[ 9.84625490e-01 1.50192796e-01 8.91895131e-02 7.49477118e+01] [-1.49188564e-01 9.88647468e-01 -1.78593304e-02 -7.49709411e+00] [-9.08593291e-02 4.27869655e-03 9.95854545e-01 -9.23458558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221193817 meters 0.07149645030231123 Centerline is valid? [True, True] Translation: X:75.01, Y:-7.48, Z:-9.25 [[ 9.83793373e-01 1.56038434e-01 8.83323656e-02 7.50116416e+01] [-1.55077034e-01 9.87744049e-01 -1.76863513e-02 -7.48444277e+00] [-9.00095190e-02 3.70139399e-03 9.95934027e-01 -9.24604681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28119381699999 meters 0.06874442899462843 Centerline is valid? [True, True] Translation: X:75.07, Y:-7.48, Z:-9.25 [[ 9.83119018e-01 1.61033010e-01 8.68640700e-02 7.50744629e+01] [-1.60122638e-01 9.86943860e-01 -1.73941902e-02 -7.47859595e+00] [-8.85309994e-02 3.19165509e-03 9.96068309e-01 -9.25482058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34119381699999 meters 0.06450231956492265 Centerline is valid? [True, True] Translation: X:75.14, Y:-7.46, Z:-9.27 [[ 9.81020346e-01 1.75730497e-01 8.19626297e-02 7.51379186e+01] [-1.74970807e-01 9.84436731e-01 -1.64176584e-02 -7.45974834e+00] [-8.35721065e-02 1.76498945e-03 9.96500170e-01 -9.26855118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40119381699999 meters 0.06354405730269012 Centerline is valid? [True, True] Translation: X:75.20, Y:-7.46, Z:-9.28 [[ 9.80085075e-01 1.83508491e-01 7.58806911e-02 7.52005675e+01] [-1.82881075e-01 9.83017600e-01 -1.51957508e-02 -7.45506584e+00] [-7.73806041e-02 1.01598613e-03 9.97001108e-01 -9.28371283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.461193817 meters 0.06408026044642956 Centerline is valid? [True, True] Translation: X:75.26, Y:-7.45, Z:-9.30 [[ 9.79665179e-01 1.87863132e-01 7.04526894e-02 7.52613093e+01] [-1.87332952e-01 9.82195013e-01 -1.41181410e-02 -7.44909130e+00] [-7.18505583e-02 6.32940861e-04 9.97415208e-01 -9.29965427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521193817 meters 0.06338771054187807 Centerline is valid? [True, True] Translation: X:75.32, Y:-7.46, Z:-9.30 [[ 9.79565425e-01 1.87934773e-01 7.16386704e-02 7.53229764e+01] [-1.87387796e-01 9.82181313e-01 -1.43416324e-02 -7.46016702e+00] [-7.30574548e-02 6.24354640e-04 9.97327538e-01 -9.30182785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581193817 meters 0.06306156786056395 Centerline is valid? [True, True] Translation: X:75.38, Y:-7.47, Z:-9.31 [[ 9.79553799e-01 1.86563582e-01 7.52886722e-02 7.53824277e+01] [-1.85952565e-01 9.82442564e-01 -1.51080060e-02 -7.47319429e+00] [-7.67853999e-02 7.98982960e-04 9.97047323e-01 -9.30512236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64119381699999 meters 0.06328515790163362 Centerline is valid? [True, True] Translation: X:75.44, Y:-7.49, Z:-9.31 [[ 9.79824063e-01 1.83815336e-01 7.84648229e-02 7.54428228e+01] [-1.83142630e-01 9.82960223e-01 -1.57472899e-02 -7.48500779e+00] [-8.00223932e-02 1.05931952e-03 9.96792503e-01 -9.31046169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70119381699999 meters 0.06359181255721955 Centerline is valid? [True, True] Translation: X:75.50, Y:-7.50, Z:-9.32 [[ 9.79816068e-01 1.83027202e-01 8.03835587e-02 7.55026726e+01] [-1.82318554e-01 9.83107176e-01 -1.61314948e-02 -7.50152008e+00] [-8.19781557e-02 1.15048362e-03 9.96633462e-01 -9.31733200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76119381699999 meters 0.0648622920729032 Centerline is valid? [True, True] Translation: X:75.56, Y:-7.53, Z:-9.32 [[ 9.80636840e-01 1.76197017e-01 8.54751425e-02 7.55614981e+01] [-1.75367290e-01 9.84353168e-01 -1.71800444e-02 -7.52555974e+00] [-8.71647999e-02 1.85784031e-03 9.96192173e-01 -9.31930616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.821193817 meters 0.06782598185814025 Centerline is valid? [True, True] Translation: X:75.62, Y:-7.55, Z:-9.33 [[ 9.82137737e-01 1.66874645e-01 8.69385886e-02 7.56187789e+01] [-1.65976722e-01 9.85974242e-01 -1.75077618e-02 -7.54974362e+00] [-8.86408106e-02 2.76525164e-03 9.96059818e-01 -9.32501745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881193817 meters 0.07536096722943021 Centerline is valid? [True, True] Translation: X:75.67, Y:-7.58, Z:-9.33 [[ 9.84313996e-01 1.53961135e-01 8.61506051e-02 7.56732877e+01] [-1.53030009e-01 9.88069232e-01 -1.73496333e-02 -7.57787395e+00] [-8.77939314e-02 3.89385902e-03 9.96131047e-01 -9.33420431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941193817 meters 0.08291096641757503 Centerline is valid? [True, True] Translation: X:75.73, Y:-7.60, Z:-9.35 [[ 9.84847149e-01 1.50477682e-01 8.62122935e-02 7.57290349e+01] [-1.49531459e-01 9.88604431e-01 -1.73672582e-02 -7.60030838e+00] [-8.78432401e-02 4.21264472e-03 9.96125403e-01 -9.34724546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001193817 meters 0.07498690024068001 Centerline is valid? [True, True] Translation: X:75.79, Y:-7.59, Z:-9.35 [[ 9.85259221e-01 1.49829382e-01 8.25555787e-02 7.57934410e+01] [-1.48959288e-01 9.88703398e-01 -1.66349351e-02 -7.59192418e+00] [-8.41153832e-02 4.09230302e-03 9.96447618e-01 -9.34957052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06119381699999 meters 0.07498296006600422 Centerline is valid? [True, True] Translation: X:75.85, Y:-7.60, Z:-9.36 [[ 9.84946696e-01 1.51794565e-01 8.26947194e-02 7.58548960e+01] [-1.50928900e-01 9.88404269e-01 -1.66573470e-02 -7.59640593e+00] [-8.42643085e-02 3.92557588e-03 9.96435706e-01 -9.35928550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12119381699999 meters 0.07186109740636623 Centerline is valid? [True, True] Translation: X:75.92, Y:-7.59, Z:-9.37 [[ 9.84053831e-01 1.58747023e-01 8.02336549e-02 7.59182694e+01] [-1.57952491e-01 9.87313897e-01 -1.61950570e-02 -7.58793446e+00] [-8.17867196e-02 3.26370223e-03 9.96644511e-01 -9.36916052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.181193817 meters 0.06920457671198521 Centerline is valid? [True, True] Translation: X:75.98, Y:-7.58, Z:-9.38 [[ 9.82764421e-01 1.67436019e-01 7.83535106e-02 7.59803832e+01] [-1.66705701e-01 9.85879818e-01 -1.58175461e-02 -7.58301250e+00] [-7.98955717e-02 2.48294470e-03 9.96800147e-01 -9.37900868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.241193817 meters 0.06757986795978278 Centerline is valid? [True, True] Translation: X:76.04, Y:-7.59, Z:-9.39 [[ 9.81969915e-01 1.71230196e-01 8.00956111e-02 7.60411740e+01] [-1.70479344e-01 9.85228535e-01 -1.61717696e-02 -7.58657879e+00] [-8.16815769e-02 2.22554400e-03 9.96655992e-01 -9.38522510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301193817 meters 0.06481073865865929 Centerline is valid? [True, True] Translation: X:76.10, Y:-7.58, Z:-9.39 [[ 9.80251375e-01 1.77715944e-01 8.67426415e-02 7.61036138e+01] [-1.76860218e-01 9.84080131e-01 -1.75145411e-02 -7.57968184e+00] [-8.84743232e-02 1.82733051e-03 9.96076782e-01 -9.38766988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361193817 meters 0.06438394113367897 Centerline is valid? [True, True] Translation: X:76.17, Y:-7.59, Z:-9.39 [[ 9.79911808e-01 1.78780572e-01 8.83762151e-02 7.61656019e+01] [-1.77897565e-01 9.83887409e-01 -1.78331807e-02 -7.58694856e+00] [-9.01404715e-02 1.75303084e-03 9.95927519e-01 -9.39298938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42119381699999 meters 0.06154956390107518 Centerline is valid? [True, True] Translation: X:76.23, Y:-7.59, Z:-9.39 [[ 9.78539430e-01 1.84985773e-01 9.07791127e-02 7.62282165e+01] [-1.84077639e-01 9.82740410e-01 -1.83496648e-02 -7.59073008e+00] [-9.26067293e-02 1.24546584e-03 9.95701985e-01 -9.39210019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48119381699999 meters 0.060774096685624036 Centerline is valid? [True, True] Translation: X:76.29, Y:-7.59, Z:-9.40 [[ 9.76886666e-01 1.94161413e-01 8.94079860e-02 7.62889438e+01] [-1.93318563e-01 9.80969524e-01 -1.80755887e-02 -7.59274208e+00] [-9.12160913e-02 3.73578239e-04 9.95831053e-01 -9.40376655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54119381699999 meters 0.061775381784828234 Centerline is valid? [True, True] Translation: X:76.35, Y:-7.60, Z:-9.42 [[ 9.76551418e-01 1.96342521e-01 8.83003025e-02 7.63474012e+01] [-1.95527107e-01 9.80535352e-01 -1.78766026e-02 -7.60417850e+00] [-9.00915055e-02 1.92318930e-04 9.95933474e-01 -9.41993915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.601193817 meters 0.06120253333642338 Centerline is valid? [True, True] Translation: X:76.41, Y:-7.62, Z:-9.42 [[ 9.75957709e-01 2.00422822e-01 8.56577080e-02 7.64069988e+01] [-1.99669352e-01 9.79709481e-01 -1.73632512e-02 -7.62352198e+00] [-8.73996604e-02 -1.57420208e-04 9.96173316e-01 -9.42145224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661193817 meters 0.06163557902931869 Centerline is valid? [True, True] Translation: X:76.47, Y:-7.64, Z:-9.43 [[ 9.75286183e-01 2.04684121e-01 8.31941832e-02 7.64666385e+01] [-2.03986098e-01 9.78827957e-01 -1.68968108e-02 -7.63825508e+00] [-8.48913012e-02 -4.91230729e-04 9.96390097e-01 -9.43118357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721193817 meters 0.06120950689682321 Centerline is valid? [True, True] Translation: X:76.52, Y:-7.67, Z:-9.44 [[ 9.75641614e-01 2.01006370e-01 8.78628495e-02 7.65239262e+01] [-2.00211932e-01 9.79589919e-01 -1.78542071e-02 -7.66542719e+00] [-8.96583710e-02 -1.71883435e-04 9.95972563e-01 -9.43598264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78119381699999 meters 0.06197045167146971 Centerline is valid? [True, True] Translation: X:76.58, Y:-7.70, Z:-9.44 [[ 9.77574870e-01 1.91520075e-01 8.75638918e-02 7.65793389e+01] [-1.90693169e-01 9.81488450e-01 -1.77914886e-02 -7.70389688e+00] [-8.93503757e-02 6.94676110e-04 9.96000014e-01 -9.44217402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84119381699999 meters 0.0636143672316003 Centerline is valid? [True, True] Translation: X:76.63, Y:-7.73, Z:-9.45 [[ 9.78532907e-01 1.86091322e-01 8.85627999e-02 7.66348463e+01] [-1.85220567e-01 9.82531679e-01 -1.80233607e-02 -7.73221680e+00] [-9.03697475e-02 1.23279946e-03 9.95907520e-01 -9.45393858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90119381699999 meters 0.06467786606042455 Centerline is valid? [True, True] Translation: X:76.69, Y:-7.76, Z:-9.46 [[ 9.79703755e-01 1.80096375e-01 8.80104982e-02 7.66930191e+01] [-1.79209511e-01 9.83647313e-01 -1.79420000e-02 -7.75818128e+00] [-8.98025792e-02 1.80552644e-03 9.95957949e-01 -9.45772217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.961193817 meters 0.06514876370804101 Centerline is valid? [True, True] Translation: X:76.75, Y:-7.78, Z:-9.46 [[ 9.79792415e-01 1.79298406e-01 8.86504600e-02 7.67520709e+01] [-1.78395238e-01 9.83792914e-01 -1.80732315e-02 -7.77811186e+00] [-9.04541959e-02 1.89319527e-03 9.95898817e-01 -9.46412575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021193817 meters 0.06338596537126667 Centerline is valid? [True, True] Translation: X:76.81, Y:-7.79, Z:-9.46 [[ 9.79088852e-01 1.82000773e-01 9.08886007e-02 7.68125381e+01] [-1.81059358e-01 9.83296877e-01 -1.85677084e-02 -7.79027208e+00] [-9.27498145e-02 1.72320468e-03 9.95687954e-01 -9.46415897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081193817 meters 0.06314938043162016 Centerline is valid? [True, True] Translation: X:76.87, Y:-7.80, Z:-9.47 [[ 9.78773831e-01 1.82434744e-01 9.33774686e-02 7.68719078e+01] [-1.81443062e-01 9.83216447e-01 -1.90744042e-02 -7.80246797e+00] [-9.52900970e-02 1.72683384e-03 9.95448048e-01 -9.46961597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14119381699999 meters 0.06345338719697152 Centerline is valid? [True, True] Translation: X:76.93, Y:-7.82, Z:-9.48 [[ 9.78927345e-01 1.81989037e-01 9.26350050e-02 7.69311380e+01] [-1.81008677e-01 9.83298946e-01 -1.89483929e-02 -7.81793024e+00] [-9.45363025e-02 1.78136031e-03 9.95519821e-01 -9.47983065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20119381699999 meters 0.06417894233372856 Centerline is valid? [True, True] Translation: X:76.99, Y:-7.84, Z:-9.49 [[ 9.79781320e-01 1.77876269e-01 9.15892853e-02 7.69900175e+01] [-1.76897441e-01 9.84050444e-01 -1.87621661e-02 -7.83527587e+00] [-9.34658210e-02 2.18090966e-03 9.95620100e-01 -9.48691204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26119381699999 meters 0.06809663790414168 Centerline is valid? [True, True] Translation: X:77.04, Y:-7.86, Z:-9.51 [[ 9.81239017e-01 1.73271765e-01 8.45392671e-02 7.70442204e+01] [-1.72418281e-01 9.84871006e-01 -1.73504334e-02 -7.85645671e+00] [-8.62666133e-02 2.44880712e-03 9.96269077e-01 -9.50770855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.321193817 meters 0.0678814121017523 Centerline is valid? [True, True] Translation: X:77.10, Y:-7.87, Z:-9.51 [[ 9.81804284e-01 1.70992687e-01 8.25944836e-02 7.71038834e+01] [-1.70170236e-01 9.85268905e-01 -1.69492001e-02 -7.86881605e+00] [-8.42759657e-02 2.58567446e-03 9.96439098e-01 -9.51430168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381193817 meters 0.06676890738160492 Centerline is valid? [True, True] Translation: X:77.16, Y:-7.88, Z:-9.52 [[ 9.81069842e-01 1.75534276e-01 8.17904841e-02 7.71648654e+01] [-1.74744040e-01 9.84470933e-01 -1.67780505e-02 -7.87648971e+00] [-8.34654771e-02 2.16803970e-03 9.96508311e-01 -9.52206447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441193817 meters 0.06563732980236212 Centerline is valid? [True, True] Translation: X:77.22, Y:-7.88, Z:-9.53 [[ 9.80112107e-01 1.80069623e-01 8.33977757e-02 7.72247367e+01] [-1.79261192e-01 9.83652121e-01 -1.71443608e-02 -7.88159042e+00] [-8.51215775e-02 1.85341084e-03 9.96368848e-01 -9.53062267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501193817 meters 0.064961229361783 Centerline is valid? [True, True] Translation: X:77.29, Y:-7.89, Z:-9.53 [[ 9.79846557e-01 1.79158820e-01 8.83336966e-02 7.72854862e+01] [-1.78247800e-01 9.83818031e-01 -1.81605046e-02 -7.89193512e+00] [-9.01578980e-02 2.04922083e-03 9.95925376e-01 -9.53312132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56119381699999 meters 0.0644573442102736 Centerline is valid? [True, True] Translation: X:77.35, Y:-7.90, Z:-9.53 [[ 9.80022881e-01 1.76501876e-01 9.16637314e-02 7.73465122e+01] [-1.75509400e-01 9.84297432e-01 -1.88418577e-02 -7.90358858e+00] [-9.35499987e-02 2.37760512e-03 9.95611744e-01 -9.53466890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62119381699999 meters 0.06767419495335136 Centerline is valid? [True, True] Translation: X:77.40, Y:-7.92, Z:-9.55 [[ 9.81225637e-01 1.69418244e-01 9.21613169e-02 7.74036374e+01] [-1.68380221e-01 9.85539348e-01 -1.89814537e-02 -7.92081890e+00] [-9.40444087e-02 3.10694605e-03 9.95563155e-01 -9.54533036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.681193817 meters 0.06884412348096206 Centerline is valid? [True, True] Translation: X:77.46, Y:-7.93, Z:-9.55 [[ 9.81805358e-01 1.65179143e-01 9.36701148e-02 7.74635576e+01] [-1.64087951e-01 9.86257132e-01 -1.92876658e-02 -7.93430865e+00] [-9.55687389e-02 3.56659641e-03 9.95416443e-01 -9.55014423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.741193817 meters 0.06876066148437805 Centerline is valid? [True, True] Translation: X:77.53, Y:-7.94, Z:-9.56 [[ 9.81633757e-01 1.65767329e-01 9.44264770e-02 7.75256046e+01] [-1.64658493e-01 9.86158449e-01 -1.94703558e-02 -7.93929894e+00] [-9.63470169e-02 3.56463716e-03 9.95341422e-01 -9.55623222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801193817 meters 0.06871651624627043 Centerline is valid? [True, True] Translation: X:77.59, Y:-7.94, Z:-9.57 [[ 9.81411010e-01 1.69915220e-01 8.92258239e-02 7.75865680e+01] [-1.68939987e-01 9.85454088e-01 -1.84261143e-02 -7.94121133e+00] [-9.10588302e-02 3.00978191e-03 9.95840967e-01 -9.57160778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861193817 meters 0.06518710237491143 Centerline is valid? [True, True] Translation: X:77.65, Y:-7.93, Z:-9.58 [[ 9.80301406e-01 1.79698800e-01 8.19603193e-02 7.76515189e+01] [-1.78909303e-01 9.83719765e-01 -1.69377054e-02 -7.92911069e+00] [-8.36696714e-02 1.94059282e-03 9.96491656e-01 -9.58377614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92119381699999 meters 0.06481014268160236 Centerline is valid? [True, True] Translation: X:77.71, Y:-7.94, Z:-9.59 [[ 9.79731681e-01 1.82221014e-01 8.31945627e-02 7.77129668e+01] [-1.81414265e-01 9.83255989e-01 -1.72198854e-02 -7.93605833e+00] [-8.49393770e-02 1.77818684e-03 9.96384534e-01 -9.59173150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98119381699999 meters 0.06329342366859736 Centerline is valid? [True, True] Translation: X:77.78, Y:-7.94, Z:-9.59 [[ 9.79091096e-01 1.83837422e-01 8.70886228e-02 7.77755880e+01] [-1.82956225e-01 9.82955101e-01 -1.80634561e-02 -7.93681997e+00] [-8.89249453e-02 1.75236334e-03 9.96036788e-01 -9.59391653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04119381699999 meters 0.06350750406888533 Centerline is valid? [True, True] Translation: X:77.84, Y:-7.94, Z:-9.61 [[ 9.78515348e-01 1.87353405e-01 8.60605356e-02 7.78357441e+01] [-1.86506849e-01 9.82291560e-01 -1.78462122e-02 -7.94447617e+00] [-8.78800863e-02 1.41191322e-03 9.96130060e-01 -9.60578208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.101193817 meters 0.0637142337819338 Centerline is valid? [True, True] Translation: X:77.90, Y:-7.96, Z:-9.61 [[ 9.78474754e-01 1.86153234e-01 8.90737281e-02 7.78957284e+01] [-1.85238834e-01 9.82519422e-01 -1.84975428e-02 -7.96057993e+00] [-9.09600453e-02 1.59946508e-03 9.95853258e-01 -9.61134777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161193817 meters 0.06348986297091745 Centerline is valid? [True, True] Translation: X:77.96, Y:-7.97, Z:-9.62 [[ 9.78343839e-01 1.86048518e-01 9.07153860e-02 7.79570082e+01] [-1.85096918e-01 9.82539144e-01 -1.88669409e-02 -7.97239044e+00] [-9.26415841e-02 1.66721697e-03 9.95698126e-01 -9.61622731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221193817 meters 0.06385755332021285 Centerline is valid? [True, True] Translation: X:78.02, Y:-7.98, Z:-9.62 [[ 9.78532000e-01 1.83754084e-01 9.33250318e-02 7.80185290e+01] [-1.82733487e-01 9.82970274e-01 -1.94399941e-02 -7.98325902e+00] [-9.53079103e-02 1.96904783e-03 9.95445893e-01 -9.61996936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28119381699999 meters 0.06498216423853674 Centerline is valid? [True, True] Translation: X:78.08, Y:-8.00, Z:-9.62 [[ 9.78821394e-01 1.80290476e-01 9.69743388e-02 7.80777912e+01] [-1.79168161e-01 9.83610414e-01 -2.02317497e-02 -8.00183853e+00] [-9.90325613e-02 2.42855543e-03 9.95081230e-01 -9.62483207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34119381699999 meters 0.06692567254082964 Centerline is valid? [True, True] Translation: X:78.14, Y:-8.02, Z:-9.63 [[ 9.80213052e-01 1.73001617e-01 9.61915417e-02 7.81355111e+01] [-1.71858632e-01 9.84916416e-01 -2.01063170e-02 -8.02107120e+00] [-9.82190538e-02 3.17712755e-03 9.95159748e-01 -9.63264286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40119381699999 meters 0.06840723071887368 Centerline is valid? [True, True] Translation: X:78.19, Y:-8.04, Z:-9.64 [[ 9.80855962e-01 1.69968294e-01 9.50387294e-02 7.81945596e+01] [-1.68838531e-01 9.85443535e-01 -1.98642866e-02 -8.03543921e+00] [-9.70316004e-02 3.43780449e-03 9.95275364e-01 -9.64251990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.461193817 meters 0.06923853030146768 Centerline is valid? [True, True] Translation: X:78.25, Y:-8.04, Z:-9.65 [[ 9.81740615e-01 1.67739011e-01 8.97161576e-02 7.82542595e+01] [-1.66720445e-01 9.85825287e-01 -1.87828646e-02 -8.04469043e+00] [-9.15950760e-02 3.48238337e-03 9.95790247e-01 -9.65476880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521193817 meters 0.06862659662630596 Centerline is valid? [True, True] Translation: X:78.31, Y:-8.05, Z:-9.67 [[ 9.81315001e-01 1.71657280e-01 8.69174709e-02 7.83145422e+01] [-1.70717167e-01 9.85152117e-01 -1.81921537e-02 -8.05487361e+00] [-8.87497461e-02 3.01392892e-03 9.96049396e-01 -9.66540262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581193817 meters 0.06435034543910552 Centerline is valid? [True, True] Translation: X:78.38, Y:-8.04, Z:-9.68 [[ 9.78654942e-01 1.87604636e-01 8.38987775e-02 7.83783690e+01] [-1.86784047e-01 9.82243402e-01 -1.75960207e-02 -8.04440492e+00] [-8.57101156e-02 1.54947944e-03 9.96318912e-01 -9.67563303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64119381699999 meters 0.06270764743308942 Centerline is valid? [True, True] Translation: X:78.44, Y:-8.05, Z:-9.68 [[ 9.76604187e-01 1.96803167e-01 8.66762622e-02 7.84391203e+01] [-1.95963178e-01 9.80442717e-01 -1.81799628e-02 -8.04581600e+00] [-8.85589843e-02 7.69271922e-04 9.96070637e-01 -9.68159890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70119381699999 meters 0.06179449126470101 Centerline is valid? [True, True] Translation: X:78.50, Y:-8.06, Z:-9.68 [[ 9.75788416e-01 1.98055006e-01 9.27964508e-02 7.84984938e+01] [-1.97097553e-01 9.80190656e-01 -1.94636452e-02 -8.05860308e+00] [-9.48130863e-02 7.02446202e-04 9.95494844e-01 -9.68263182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76119381699999 meters 0.06187868438803544 Centerline is valid? [True, True] Translation: X:78.56, Y:-8.07, Z:-9.69 [[ 9.75864145e-01 1.97227269e-01 9.37580711e-02 7.85579489e+01] [-1.96246686e-01 9.80357481e-01 -1.96582987e-02 -8.06988349e+00] [-9.57935789e-02 7.84118084e-04 9.95400912e-01 -9.69039571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.821193817 meters 0.0616210672248328 Centerline is valid? [True, True] Translation: X:78.62, Y:-8.08, Z:-9.70 [[ 9.75321210e-01 2.00178096e-01 9.31518519e-02 7.86192512e+01] [-1.99221278e-01 9.79759391e-01 -1.95555019e-02 -8.08302756e+00] [-9.51809848e-02 5.15064744e-04 9.95459851e-01 -9.69710577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881193817 meters 0.06199580636609327 Centerline is valid? [True, True] Translation: X:78.68, Y:-8.09, Z:-9.71 [[ 9.74192862e-01 2.07687280e-01 8.83983081e-02 7.86786255e+01] [-2.06853783e-01 9.78195258e-01 -1.85889687e-02 -8.09130150e+00] [-9.03314982e-02 -1.76283829e-04 9.95911738e-01 -9.71277373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941193817 meters 0.06179461951512511 Centerline is valid? [True, True] Translation: X:78.74, Y:-8.10, Z:-9.72 [[ 9.73551148e-01 2.10299312e-01 8.92880879e-02 7.87395036e+01] [-2.09457576e-01 9.77636968e-01 -1.88011400e-02 -8.10401044e+00] [-9.12452023e-02 -3.98195082e-04 9.95828376e-01 -9.71851934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001193817 meters 0.06196086395815968 Centerline is valid? [True, True] Translation: X:78.80, Y:-8.13, Z:-9.73 [[ 9.73146631e-01 2.11938025e-01 8.98215351e-02 7.87967147e+01] [-2.11090581e-01 9.77282966e-01 -1.89412612e-02 -8.12683167e+00] [-9.17954297e-02 -5.27855498e-04 9.95777747e-01 -9.72511043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06119381699999 meters 0.061859401033583096 Centerline is valid? [True, True] Translation: X:78.86, Y:-8.15, Z:-9.73 [[ 9.72896628e-01 2.13881164e-01 8.79033542e-02 7.88562464e+01] [-2.13075541e-01 9.76859454e-01 -1.85585872e-02 -8.14674369e+00] [-8.98385548e-02 -6.74467837e-04 9.95956113e-01 -9.73010603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12119381699999 meters 0.0625046931061623 Centerline is valid? [True, True] Translation: X:78.91, Y:-8.18, Z:-9.74 [[ 9.72939023e-01 2.14833389e-01 8.50662870e-02 7.89127389e+01] [-2.14079778e-01 9.76650458e-01 -1.79925394e-02 -8.17527144e+00] [-8.69454264e-02 -7.05328101e-04 9.96212826e-01 -9.74267561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.181193817 meters 0.06298928722838848 Centerline is valid? [True, True] Translation: X:78.97, Y:-8.21, Z:-9.75 [[ 9.73868849e-01 2.11958106e-01 8.15673116e-02 7.89689941e+01] [-2.11254660e-01 9.77278662e-01 -1.72593820e-02 -8.20639657e+00] [-8.33722590e-02 -4.23100259e-04 9.96518383e-01 -9.75469970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.241193817 meters 0.06259785192547462 Centerline is valid? [True, True] Translation: X:79.02, Y:-8.24, Z:-9.76 [[ 9.75323585e-01 2.04333388e-01 8.36168146e-02 7.90243928e+01] [-2.03566087e-01 9.78901329e-01 -1.76928478e-02 -8.24356520e+00] [-8.54678504e-02 2.34703999e-04 9.96340901e-01 -9.75843231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301193817 meters 0.06418898982847478 Centerline is valid? [True, True] Translation: X:79.08, Y:-8.28, Z:-9.77 [[ 9.77260649e-01 1.97204292e-01 7.79236204e-02 7.90790246e+01] [-1.96512800e-01 9.80362063e-01 -1.65210528e-02 -8.27616275e+00] [-7.96513837e-02 8.32385973e-04 9.96822434e-01 -9.77075334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361193817 meters 0.06495459495317729 Centerline is valid? [True, True] Translation: X:79.14, Y:-8.30, Z:-9.77 [[ 9.78215654e-01 1.91040461e-01 8.12260875e-02 7.91369445e+01] [-1.90268324e-01 9.81581186e-01 -1.72145382e-02 -8.30206629e+00] [-8.30186726e-02 1.38477923e-03 9.96547030e-01 -9.77415142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42119381699999 meters 0.06739621085340514 Centerline is valid? [True, True] Translation: X:79.19, Y:-8.33, Z:-9.78 [[ 9.80354959e-01 1.78915332e-01 8.30268539e-02 7.91932894e+01] [-1.78061898e-01 9.83861292e-01 -1.76329086e-02 -8.33100317e+00] [-8.48417055e-02 2.50259023e-03 9.96391300e-01 -9.77662678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48119381699999 meters 0.07202034018591036 Centerline is valid? [True, True] Translation: X:79.25, Y:-8.36, Z:-9.79 [[ 9.81899991e-01 1.70705125e-01 8.20497909e-02 7.92488565e+01] [-1.69843008e-01 9.85317044e-01 -1.74262673e-02 -8.35511785e+00] [-8.38198106e-02 3.17526848e-03 9.96475869e-01 -9.78752186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54119381699999 meters 0.07265221432914253 Centerline is valid? [True, True] Translation: X:79.31, Y:-8.37, Z:-9.79 [[ 9.82436525e-01 1.67023366e-01 8.31965726e-02 7.93091888e+01] [-1.66123513e-01 9.85946577e-01 -1.76727168e-02 -8.36946214e+00] [-8.49791327e-02 3.54141557e-03 9.96376438e-01 -9.79091145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.601193817 meters 0.07054323529603868 Centerline is valid? [True, True] Translation: X:79.37, Y:-8.37, Z:-9.80 [[ 9.81298660e-01 1.72718940e-01 8.49771006e-02 7.93702265e+01] [-1.71800450e-01 9.84966196e-01 -1.80609288e-02 -8.37452227e+00] [-8.68190361e-02 3.12406102e-03 9.96219200e-01 -9.79667222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661193817 meters 0.06840910157659433 Centerline is valid? [True, True] Translation: X:79.43, Y:-8.38, Z:-9.81 [[ 9.80007987e-01 1.79761671e-01 8.52648003e-02 7.94302352e+01] [-1.78863192e-01 9.83706984e-01 -1.81253512e-02 -8.37659597e+00] [-8.71338230e-02 2.51225458e-03 9.96193448e-01 -9.80538396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721193817 meters 0.06569679126242739 Centerline is valid? [True, True] Translation: X:79.49, Y:-8.38, Z:-9.81 [[ 9.78341897e-01 1.88424490e-01 8.56933121e-02 7.94912185e+01] [-1.87550027e-01 9.82086121e-01 -1.82164430e-02 -8.37526095e+00] [-8.75906365e-02 1.75012646e-03 9.96155017e-01 -9.81396203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78119381699999 meters 0.06483688029935282 Centerline is valid? [True, True] Translation: X:79.55, Y:-8.37, Z:-9.83 [[ 9.77316710e-01 1.94451852e-01 8.39078435e-02 7.95529381e+01] [-1.93636163e-01 9.80911355e-01 -1.78311306e-02 -8.37419455e+00] [-8.57734529e-02 1.17906897e-03 9.96313969e-01 -9.82650445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84119381699999 meters 0.06410802227763204 Centerline is valid? [True, True] Translation: X:79.61, Y:-8.38, Z:-9.83 [[ 9.77014793e-01 1.96551285e-01 8.25208303e-02 7.96143034e+01] [-1.95769142e-01 9.80493049e-01 -1.75449118e-02 -8.38276122e+00] [-8.43595754e-02 9.86606194e-04 9.96434889e-01 -9.83135381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90119381699999 meters 0.06348110077668564 Centerline is valid? [True, True] Translation: X:79.68, Y:-8.39, Z:-9.84 [[ 9.76598754e-01 1.98042661e-01 8.38688148e-02 7.96766750e+01] [-1.97237983e-01 9.80192991e-01 -1.78571694e-02 -8.38906065e+00] [-8.57441058e-02 8.97173535e-04 9.96316789e-01 -9.83674063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.961193817 meters 0.06345251984926528 Centerline is valid? [True, True] Translation: X:79.74, Y:-8.40, Z:-9.84 [[ 9.76475199e-01 1.98790965e-01 8.35364435e-02 7.97369929e+01] [-1.97993267e-01 9.80041543e-01 -1.78112576e-02 -8.39893986e+00] [-8.54099020e-02 8.52597919e-04 9.96345533e-01 -9.84439604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021193817 meters 0.06320590996215895 Centerline is valid? [True, True] Translation: X:79.80, Y:-8.40, Z:-9.85 [[ 9.75963723e-01 2.01235884e-01 8.36596097e-02 7.97988412e+01] [-2.00442350e-01 9.79542584e-01 -1.78659102e-02 -8.40463224e+00] [-8.55434125e-02 6.67551472e-04 9.96334221e-01 -9.85338914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081193817 meters 0.06300891942522731 Centerline is valid? [True, True] Translation: X:79.86, Y:-8.41, Z:-9.86 [[ 9.75843131e-01 2.03403958e-01 7.97308771e-02 7.98603471e+01] [-2.02688047e-01 9.79094783e-01 -1.70575729e-02 -8.41210267e+00] [-8.15336637e-02 4.85019556e-04 9.96670470e-01 -9.86136320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14119381699999 meters 0.06322563894170143 Centerline is valid? [True, True] Translation: X:79.92, Y:-8.43, Z:-9.87 [[ 9.75863707e-01 2.02168330e-01 8.25711275e-02 7.99188613e+01] [-2.01395934e-01 9.79350598e-01 -1.76658920e-02 -8.42695522e+00] [-8.44375670e-02 6.10013544e-04 9.96428585e-01 -9.87015112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20119381699999 meters 0.06414069737008685 Centerline is valid? [True, True] Translation: X:79.98, Y:-8.45, Z:-9.88 [[ 9.76845721e-01 1.96352217e-01 8.49602533e-02 7.99775270e+01] [-1.95510090e-01 9.80532730e-01 -1.82035714e-02 -8.44524760e+00] [-8.68806207e-02 1.17149399e-03 9.96218041e-01 -9.87699884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26119381699999 meters 0.06681369180786502 Centerline is valid? [True, True] Translation: X:80.03, Y:-8.47, Z:-9.88 [[ 9.78922331e-01 1.86075736e-01 8.41836751e-02 8.00336939e+01] [-1.85208337e-01 9.82533170e-01 -1.80677042e-02 -8.47127885e+00] [-8.60752145e-02 2.09536064e-03 9.96286438e-01 -9.88392083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.321193817 meters 0.06789893984805594 Centerline is valid? [True, True] Translation: X:80.09, Y:-8.49, Z:-9.89 [[ 9.80126126e-01 1.78872875e-01 8.57745428e-02 8.00928867e+01] [-1.77944409e-01 9.83868255e-01 -1.84131527e-02 -8.48863683e+00] [-8.76844633e-02 2.78411170e-03 9.96144409e-01 -9.88650712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381193817 meters 0.0710105020305211 Centerline is valid? [True, True] Translation: X:80.15, Y:-8.51, Z:-9.89 [[ 9.81939731e-01 1.68357207e-01 8.63146294e-02 8.01503152e+01] [-1.67376000e-01 9.85718912e-01 -1.85337950e-02 -8.50851656e+00] [-8.82022605e-02 3.75207219e-03 9.96095519e-01 -9.89185358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441193817 meters 0.07454905732008955 Centerline is valid? [True, True] Translation: X:80.21, Y:-8.53, Z:-9.90 [[ 9.83177239e-01 1.62229499e-01 8.39291734e-02 8.02065873e+01] [-1.61279568e-01 9.86744187e-01 -1.80225183e-02 -8.52657236e+00] [-8.57404081e-02 4.18326900e-03 9.96308729e-01 -9.90170971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501193817 meters 0.07662318527923712 Centerline is valid? [True, True] Translation: X:80.27, Y:-8.53, Z:-9.91 [[ 9.83983777e-01 1.58513819e-01 8.15432117e-02 8.02659594e+01] [-1.57604148e-01 9.87347031e-01 -1.75149322e-02 -8.53376253e+00] [-8.32878068e-02 4.38286073e-03 9.96515896e-01 -9.91273003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56119381699999 meters 0.07667565092588124 Centerline is valid? [True, True] Translation: X:80.33, Y:-8.54, Z:-9.92 [[ 9.83675933e-01 1.60463675e-01 8.14436438e-02 8.03269371e+01] [-1.59563591e-01 9.87032793e-01 -1.74850365e-02 -8.53900265e+00] [-8.31932604e-02 4.20416936e-03 9.96524564e-01 -9.92155681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62119381699999 meters 0.07324543201237978 Centerline is valid? [True, True] Translation: X:80.39, Y:-8.53, Z:-9.93 [[ 9.82387995e-01 1.68211177e-01 8.13561802e-02 8.03904540e+01] [-1.67336665e-01 9.85744490e-01 -1.74997194e-02 -8.53143919e+00] [-8.31400548e-02 3.57764238e-03 9.96531450e-01 -9.92905220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.681193817 meters 0.0709778515726938 Centerline is valid? [True, True] Translation: X:80.45, Y:-8.53, Z:-9.94 [[ 9.81266573e-01 1.76218190e-01 7.78656716e-02 8.04516964e+01] [-1.75442637e-01 9.84347232e-01 -1.67454086e-02 -8.52784166e+00] [-7.95977039e-02 2.77075093e-03 9.96823218e-01 -9.94157476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.741193817 meters 0.06895492466349117 Centerline is valid? [True, True] Translation: X:80.51, Y:-8.53, Z:-9.95 [[ 9.80053371e-01 1.83347243e-01 7.66758035e-02 8.05127654e+01] [-1.82615874e-01 9.83045813e-01 -1.65037299e-02 -8.52636515e+00] [-7.84017410e-02 2.17231726e-03 9.96919479e-01 -9.95249467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801193817 meters 0.06830558498859193 Centerline is valid? [True, True] Translation: X:80.57, Y:-8.53, Z:-9.96 [[ 9.79615365e-01 1.84712757e-01 7.89615982e-02 8.05734113e+01] [-1.83941392e-01 9.82790251e-01 -1.69966536e-02 -8.53476986e+00] [-8.07421876e-02 2.12587677e-03 9.96732752e-01 -9.95714445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861193817 meters 0.0661056117756402 Centerline is valid? [True, True] Translation: X:80.64, Y:-8.53, Z:-9.96 [[ 9.78195860e-01 1.90412774e-01 8.29206502e-02 8.06350715e+01] [-1.89581871e-01 9.81702567e-01 -1.78545212e-02 -8.53302232e+00] [-8.48031441e-02 1.74496677e-03 9.96396197e-01 -9.96163963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92119381699999 meters 0.06360389498810755 Centerline is valid? [True, True] Translation: X:80.70, Y:-8.54, Z:-9.96 [[ 9.77062958e-01 1.95261284e-01 8.49765109e-02 8.06975332e+01] [-1.94407191e-01 9.80750324e-01 -1.82933232e-02 -8.53940092e+00] [-8.69127184e-02 1.35368366e-03 9.96215010e-01 -9.96156843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98119381699999 meters 0.06433656236078922 Centerline is valid? [True, True] Translation: X:80.76, Y:-8.55, Z:-9.98 [[ 9.76639339e-01 1.97765644e-01 8.40496965e-02 8.07572878e+01] [-1.96939343e-01 9.80248692e-01 -1.80941102e-02 -8.55140867e+00] [-8.59679984e-02 1.11872783e-03 9.96297271e-01 -9.97731381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04119381699999 meters 0.06371903987356418 Centerline is valid? [True, True] Translation: X:80.82, Y:-8.57, Z:-9.98 [[ 9.77047134e-01 1.95835985e-01 8.38281819e-02 8.08173557e+01] [-1.95005677e-01 9.80635803e-01 -1.80612435e-02 -8.56715495e+00] [-8.57419579e-02 1.29971484e-03 9.96316530e-01 -9.97901568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.101193817 meters 0.06544310073059961 Centerline is valid? [True, True] Translation: X:80.87, Y:-8.59, Z:-9.99 [[ 9.78205306e-01 1.89492446e-01 8.48940021e-02 8.08745359e+01] [-1.88614178e-01 9.81880318e-01 -1.83230079e-02 -8.59136496e+00] [-8.68278213e-02 1.91145117e-03 9.96221499e-01 -9.98753929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161193817 meters 0.06783278110827826 Centerline is valid? [True, True] Translation: X:80.93, Y:-8.61, Z:-10.00 [[ 9.79570850e-01 1.83348759e-01 8.26086130e-02 8.09299261e+01] [-1.82493898e-01 9.83044982e-01 -1.78477129e-02 -8.61360425e+00] [-8.44803385e-02 2.40753153e-03 9.96422238e-01 -9.99807341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221193817 meters 0.07035660659831466 Centerline is valid? [True, True] Translation: X:80.99, Y:-8.63, Z:-10.01 [[ 9.80670616e-01 1.77986960e-01 8.12759774e-02 8.09876245e+01] [-1.77141199e-01 9.84028799e-01 -1.75590123e-02 -8.62999245e+00] [-8.31031777e-02 2.82228338e-03 9.96536952e-01 -1.00082497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28119381699999 meters 0.07499227603243074 Centerline is valid? [True, True] Translation: X:81.04, Y:-8.65, Z:-10.02 [[ 9.82483488e-01 1.70437735e-01 7.53470280e-02 8.10434779e+01] [-1.69688786e-01 9.85363222e-01 -1.62799401e-02 -8.65182186e+00] [-7.70189064e-02 3.20922659e-03 9.97024468e-01 -1.00230310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34119381699999 meters 0.07706840137539851 Centerline is valid? [True, True] Translation: X:81.10, Y:-8.67, Z:-10.03 [[ 9.83061744e-01 1.67757848e-01 7.38032024e-02 8.11018581e+01] [-1.67031774e-01 9.85822544e-01 -1.59467561e-02 -8.66737558e+00] [-7.54320542e-02 3.34916608e-03 9.97145320e-01 -1.00327565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40119381699999 meters 0.0727817877264467 Centerline is valid? [True, True] Translation: X:81.16, Y:-8.67, Z:-10.03 [[ 9.82468025e-01 1.69593118e-01 7.74257915e-02 8.11647015e+01] [-1.68799338e-01 9.85508408e-01 -1.67320458e-02 -8.66548737e+00] [-7.91414084e-02 3.36927768e-03 9.96857706e-01 -1.00312757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.461193817 meters 0.07098385232937188 Centerline is valid? [True, True] Translation: X:81.23, Y:-8.67, Z:-10.04 [[ 9.81808647e-01 1.73821617e-01 7.64056659e-02 8.12261773e+01] [-1.73061558e-01 9.84772627e-01 -1.65097240e-02 -8.66849550e+00] [-7.81119552e-02 2.98650626e-03 9.96940120e-01 -1.00380598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521193817 meters 0.06945379384082266 Centerline is valid? [True, True] Translation: X:81.29, Y:-8.67, Z:-10.05 [[ 9.80619961e-01 1.79817142e-01 7.77835933e-02 8.12859420e+01] [-1.79047721e-01 9.83696722e-01 -1.68128571e-02 -8.67415122e+00] [-7.95387057e-02 2.56004824e-03 9.96828491e-01 -1.00464217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581193817 meters 0.06694256190149395 Centerline is valid? [True, True] Translation: X:81.35, Y:-8.67, Z:-10.05 [[ 9.79357566e-01 1.85993205e-01 7.91535536e-02 8.13481374e+01] [-1.85216559e-01 9.82548799e-01 -1.71080298e-02 -8.67257844e+00] [-8.09542063e-02 2.09432963e-03 9.96715622e-01 -1.00526644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64119381699999 meters 0.06620499035025404 Centerline is valid? [True, True] Translation: X:81.41, Y:-8.68, Z:-10.05 [[ 9.79248316e-01 1.84403882e-01 8.40710691e-02 8.14092428e+01] [-1.83521569e-01 9.82847704e-01 -1.81720651e-02 -8.68257793e+00] [-8.59800566e-02 2.36610960e-03 9.96294049e-01 -1.00537413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70119381699999 meters 0.06865880215520202 Centerline is valid? [True, True] Translation: X:81.47, Y:-8.70, Z:-10.05 [[ 9.80126166e-01 1.74953848e-01 9.35085596e-02 8.14696861e+01] [-1.73818967e-01 9.84570217e-01 -2.02102359e-02 -8.70238249e+00] [-9.56016014e-02 3.55501983e-03 9.95413329e-01 -1.00523164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76119381699999 meters 0.06883747217813191 Centerline is valid? [True, True] Translation: X:81.53, Y:-8.71, Z:-10.06 [[ 9.80106351e-01 1.73440711e-01 9.64876155e-02 8.15328441e+01] [-1.72221861e-01 9.84836782e-01 -2.08840479e-02 -8.70762739e+00] [-9.86466968e-02 3.85131135e-03 9.95115067e-01 -1.00555813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.821193817 meters 0.0677362104952284 Centerline is valid? [True, True] Translation: X:81.59, Y:-8.71, Z:-10.06 [[ 9.79317196e-01 1.77791190e-01 9.65822043e-02 8.15932740e+01] [-1.76587138e-01 9.84062170e-01 -2.09434464e-02 -8.71007178e+00] [-9.87664538e-02 3.45510221e-03 9.95104643e-01 -1.00642510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881193817 meters 0.06528683379468808 Centerline is valid? [True, True] Translation: X:81.66, Y:-8.70, Z:-10.08 [[ 9.78503958e-01 1.84851543e-01 9.14325522e-02 8.16578520e+01] [-1.83802921e-01 9.82763014e-01 -1.98329173e-02 -8.70172570e+00] [-9.35226760e-02 2.60101793e-03 9.95613752e-01 -1.00766912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941193817 meters 0.0660708835129248 Centerline is valid? [True, True] Translation: X:81.72, Y:-8.71, Z:-10.09 [[ 9.78363137e-01 1.86661080e-01 8.92368352e-02 8.17165817e+01] [-1.85667024e-01 9.82421439e-01 -1.93874467e-02 -8.71286906e+00] [-9.12870618e-02 2.39962557e-03 9.95821728e-01 -1.00903316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001193817 meters 0.06555807592480693 Centerline is valid? [True, True] Translation: X:81.78, Y:-8.72, Z:-10.10 [[ 9.78124035e-01 1.89248778e-01 8.63612891e-02 8.17775421e+01] [-1.88327096e-01 9.81926932e-01 -1.87724521e-02 -8.71905090e+00] [-8.83531393e-02 2.09761579e-03 9.96087006e-01 -1.01016938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06119381699999 meters 0.06391307797063342 Centerline is valid? [True, True] Translation: X:81.84, Y:-8.72, Z:-10.11 [[ 9.76981978e-01 1.94331153e-01 8.79864605e-02 8.18398324e+01] [-1.93391814e-01 9.80934505e-01 -1.91599563e-02 -8.72045536e+00] [-9.00323315e-02 1.70307084e-03 9.95937387e-01 -1.01060692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12119381699999 meters 0.0627359732501895 Centerline is valid? [True, True] Translation: X:81.90, Y:-8.72, Z:-10.11 [[ 9.75743663e-01 2.01154612e-01 8.63778094e-02 8.19021116e+01] [-2.00276436e-01 9.79558942e-01 -1.88050100e-02 -8.72385234e+00] [-8.83948701e-02 1.04942954e-03 9.96084959e-01 -1.01145340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.181193817 meters 0.06288361535976038 Centerline is valid? [True, True] Translation: X:81.96, Y:-8.74, Z:-10.12 [[ 9.75725183e-01 2.01571711e-01 8.56108204e-02 8.19607163e+01] [-2.00708390e-01 9.79473220e-01 -1.86642567e-02 -8.73759707e+00] [-8.76156920e-02 1.02837532e-03 9.96153820e-01 -1.01239220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.241193817 meters 0.06452795992576625 Centerline is valid? [True, True] Translation: X:82.02, Y:-8.76, Z:-10.13 [[ 9.77140818e-01 1.93956541e-01 8.70441419e-02 8.20183534e+01] [-1.93031668e-01 9.81008536e-01 -1.90007111e-02 -8.76191673e+00] [-8.90763585e-02 1.76409449e-03 9.96023238e-01 -1.01310443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301193817 meters 0.06788294909134196 Centerline is valid? [True, True] Translation: X:82.08, Y:-8.79, Z:-10.14 [[ 9.79492020e-01 1.80950820e-01 8.86125430e-02 8.20751342e+01] [-1.79935858e-01 9.83487460e-01 -1.93779043e-02 -8.78680448e+00] [-9.06557725e-02 3.03592871e-03 9.95877660e-01 -1.01351848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361193817 meters 0.06884117490164088 Centerline is valid? [True, True] Translation: X:82.13, Y:-8.80, Z:-10.14 [[ 9.80552430e-01 1.75716648e-01 8.74104807e-02 8.21342769e+01] [-1.74708416e-01 9.84434665e-01 -1.91143845e-02 -8.80315652e+00] [-8.94086229e-02 3.47130952e-03 9.95988980e-01 -1.01407648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42119381699999 meters 0.06854495474291 Centerline is valid? [True, True] Translation: X:82.20, Y:-8.81, Z:-10.15 [[ 9.80476776e-01 1.76931629e-01 8.57933029e-02 8.21965456e+01] [-1.75965519e-01 9.84217636e-01 -1.87558262e-02 -8.80837985e+00] [-8.77577806e-02 3.29298889e-03 9.96136400e-01 -1.01482357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48119381699999 meters 0.06719295508156627 Centerline is valid? [True, True] Translation: X:82.26, Y:-8.81, Z:-10.16 [[ 9.79499356e-01 1.83503788e-01 8.31105926e-02 8.22571876e+01] [-1.82617946e-01 9.83015424e-01 -1.82033746e-02 -8.81304470e+00] [-8.50393825e-02 2.65270802e-03 9.96374060e-01 -1.01590901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54119381699999 meters 0.0645781257039181 Centerline is valid? [True, True] Translation: X:82.32, Y:-8.81, Z:-10.17 [[ 9.77384723e-01 1.94428774e-01 8.31658336e-02 8.23176472e+01] [-1.93580637e-01 9.80915149e-01 -1.82210888e-02 -8.81174476e+00] [-8.51213300e-02 1.70971877e-03 9.96369126e-01 -1.01667020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.601193817 meters 0.06198357404449287 Centerline is valid? [True, True] Translation: X:82.38, Y:-8.81, Z:-10.17 [[ 9.74800821e-01 2.05875138e-01 8.58998674e-02 8.23807318e+01] [-2.05014615e-01 9.78577994e-01 -1.88180050e-02 -8.80972579e+00] [-8.79338793e-02 7.33078537e-04 9.96126044e-01 -1.01705217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661193817 meters 0.061070832050277246 Centerline is valid? [True, True] Translation: X:82.44, Y:-8.82, Z:-10.17 [[ 9.73206605e-01 2.12439363e-01 8.79682916e-02 8.24422663e+01] [-2.11564146e-01 9.77174242e-01 -1.92643148e-02 -8.81822935e+00] [-9.00528474e-02 1.37221966e-04 9.95936979e-01 -1.01746620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721193817 meters 0.061120725464867715 Centerline is valid? [True, True] Translation: X:82.50, Y:-8.83, Z:-10.18 [[ 9.71064295e-01 2.21985417e-01 8.80716132e-02 8.25032794e+01] [-2.21144824e-01 9.75049719e-01 -1.93135511e-02 -8.82817059e+00] [-9.01615284e-02 -7.21881562e-04 9.95926894e-01 -1.01828999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78119381699999 meters 0.06202515786903635 Centerline is valid? [True, True] Translation: X:82.56, Y:-8.84, Z:-10.19 [[ 9.70127686e-01 2.26627751e-01 8.65571274e-02 8.25612934e+01] [-2.25831031e-01 9.73980831e-01 -1.90180722e-02 -8.83983329e+00] [-8.86150058e-02 -1.09732698e-03 9.96065348e-01 -1.01941093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84119381699999 meters 0.0628456657667455 Centerline is valid? [True, True] Translation: X:82.62, Y:-8.86, Z:-10.21 [[ 9.70661763e-01 2.25535413e-01 8.33637806e-02 8.26170347e+01] [-2.24793089e-01 9.74234490e-01 -1.83091766e-02 -8.86309581e+00] [-8.53452379e-02 -9.67584079e-04 9.96350969e-01 -1.02103917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90119381699999 meters 0.0613171005428094 Centerline is valid? [True, True] Translation: X:82.67, Y:-8.90, Z:-10.21 [[ 9.72473354e-01 2.17305147e-01 8.41073699e-02 8.26729780e+01] [-2.16516748e-01 9.76103695e-01 -1.84952753e-02 -8.89774090e+00] [-8.61166330e-02 -2.24491806e-04 9.96285037e-01 -1.02123779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.961193817 meters 0.06241974753907814 Centerline is valid? [True, True] Translation: X:82.73, Y:-8.95, Z:-10.21 [[ 9.76037293e-01 1.97612249e-01 9.11076326e-02 8.27266256e+01] [-1.96597908e-01 9.80278836e-01 -2.00665461e-02 -8.94633618e+00] [-9.32762793e-02 1.67412741e-03 9.95638857e-01 -1.02121770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021193817 meters 0.06452270174453786 Centerline is valid? [True, True] Translation: X:82.78, Y:-8.97, Z:-10.21 [[ 9.77974393e-01 1.86088410e-01 9.45367105e-02 8.27832592e+01] [-1.84938642e-01 9.82528676e-01 -2.08590184e-02 -8.97437286e+00] [-9.67666506e-02 2.91609502e-03 9.95302824e-01 -1.02143599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081193817 meters 0.06731120222702185 Centerline is valid? [True, True] Translation: X:82.84, Y:-9.00, Z:-10.23 [[ 9.78980841e-01 1.81542164e-01 9.29459836e-02 8.28375758e+01] [-1.80410317e-01 9.83377592e-01 -2.05092425e-02 -9.00354034e+00] [-9.51242898e-02 3.30974111e-03 9.95459901e-01 -1.02257072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14119381699999 meters 0.06612403759663447 Centerline is valid? [True, True] Translation: X:82.90, Y:-9.02, Z:-10.24 [[ 9.78865728e-01 1.84054942e-01 8.91384534e-02 8.28977093e+01] [-1.83024794e-01 9.82911571e-01 -1.96664215e-02 -9.01586927e+00] [-9.12349194e-02 2.93623898e-03 9.95825069e-01 -1.02356815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20119381699999 meters 0.0656987573053441 Centerline is valid? [True, True] Translation: X:82.96, Y:-9.02, Z:-10.26 [[ 9.78154986e-01 1.93565936e-01 7.57961138e-02 8.29562380e+01] [-1.92847889e-01 9.81085676e-01 -1.67507688e-02 -9.01821505e+00] [-7.76048598e-02 1.76772752e-03 9.96982628e-01 -1.02597385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26119381699999 meters 0.06361765114898002 Centerline is valid? [True, True] Translation: X:83.02, Y:-9.02, Z:-10.27 [[ 9.76356644e-01 2.02451098e-01 7.57710754e-02 8.30173027e+01] [-2.01759574e-01 9.79291790e-01 -1.67530530e-02 -9.02314574e+00] [-7.75936660e-02 1.06941465e-03 9.96984493e-01 -1.02671629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.321193817 meters 0.06069878796865972 Centerline is valid? [True, True] Translation: X:83.08, Y:-9.03, Z:-10.26 [[ 9.73862076e-01 2.10073247e-01 8.63822220e-02 8.30778587e+01] [-2.09203369e-01 9.77685504e-01 -1.91051002e-02 -9.03162113e+00] [-8.84681168e-02 5.34280679e-04 9.96078866e-01 -1.02624060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.381193817 meters 0.059676132842694345 Centerline is valid? [True, True] Translation: X:83.14, Y:-9.05, Z:-10.26 [[ 9.73849618e-01 2.07275241e-01 9.30263219e-02 8.31378390e+01] [-2.06253511e-01 9.78282299e-01 -2.05726365e-02 -9.05022656e+00] [-9.52702023e-02 8.47648687e-04 9.95451089e-01 -1.02606211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441193817 meters 0.062109738590382595 Centerline is valid? [True, True] Translation: X:83.19, Y:-9.08, Z:-10.26 [[ 9.76026604e-01 1.94373554e-01 9.79335996e-02 8.31938037e+01] [-1.93175696e-01 9.80925064e-01 -2.16603149e-02 -9.08284323e+00] [-1.00275715e-01 2.22265230e-03 9.94957206e-01 -1.02639759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50119381699999 meters 0.06620874230228456 Centerline is valid? [True, True] Translation: X:83.25, Y:-9.11, Z:-10.27 [[ 9.78693631e-01 1.80706413e-01 9.74883014e-02 8.32498520e+01] [-1.79448382e-01 9.83530344e-01 -2.15949180e-02 -9.10857149e+00] [-9.97850428e-02 3.64069071e-03 9.95002357e-01 -1.02722907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56119381699999 meters 0.06880591390265517 Centerline is valid? [True, True] Translation: X:83.31, Y:-9.12, Z:-10.29 [[ 9.80307049e-01 1.75796878e-01 8.99641501e-02 8.33076127e+01] [-1.74705171e-01 9.84419044e-01 -1.99310955e-02 -9.12260010e+00] [-9.20662470e-02 3.82139118e-03 9.95745551e-01 -1.02873339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62119381699999 meters 0.06989777229301394 Centerline is valid? [True, True] Translation: X:83.37, Y:-9.13, Z:-10.30 [[ 9.80497974e-01 1.76453769e-01 8.65320168e-02 8.33666076e+01] [-1.75446401e-01 9.84302285e-01 -1.91721783e-02 -9.13120131e+00] [-8.85566650e-02 3.61655104e-03 9.96064575e-01 -1.03003722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.681193817 meters 0.065166794622034 Centerline is valid? [True, True] Translation: X:83.43, Y:-9.12, Z:-10.30 [[ 9.78590938e-01 1.85137365e-01 8.99106864e-02 8.34309442e+01] [-1.84085529e-01 9.82708229e-01 -1.99262374e-02 -9.12103980e+00] [-9.20450625e-02 2.94837910e-03 9.95750478e-01 -1.03014818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.741193817 meters 0.06316892992414205 Centerline is valid? [True, True] Translation: X:83.49, Y:-9.12, Z:-10.31 [[ 9.77340489e-01 1.90220366e-01 9.28535421e-02 8.34931552e+01] [-1.89121261e-01 9.81738104e-01 -2.05777290e-02 -9.12160715e+00] [-9.50721636e-02 2.55086872e-03 9.95467115e-01 -1.03057757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801193817 meters 0.062009460364906885 Centerline is valid? [True, True] Translation: X:83.56, Y:-9.12, Z:-10.31 [[ 9.76698824e-01 1.90892446e-01 9.80789522e-02 8.35551981e+01] [-1.89668955e-01 9.81607439e-01 -2.17375843e-02 -9.12419256e+00] [-1.00424570e-01 2.62854061e-03 9.94941203e-01 -1.03090981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861193817 meters 0.06180600317203666 Centerline is valid? [True, True] Translation: X:83.62, Y:-9.14, Z:-10.32 [[ 9.76514900e-01 1.91626709e-01 9.84776873e-02 8.36155365e+01] [-1.90397027e-01 9.81464537e-01 -2.18251004e-02 -9.13560006e+00] [-1.00834630e-01 2.56267682e-03 9.94899900e-01 -1.03170682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92119381699999 meters 0.061342492483106574 Centerline is valid? [True, True] Translation: X:83.68, Y:-9.14, Z:-10.33 [[ 9.76313677e-01 1.95131078e-01 9.34637160e-02 8.36764438e+01] [-1.94037119e-01 9.80774893e-01 -2.07414137e-02 -9.14428567e+00] [-9.57141604e-02 2.11469572e-03 9.95406614e-01 -1.03313933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98119381699999 meters 0.06160950209818597 Centerline is valid? [True, True] Translation: X:83.74, Y:-9.15, Z:-10.35 [[ 9.76565885e-01 1.99880079e-01 7.97936470e-02 8.37366333e+01] [-1.99096535e-01 9.79819315e-01 -1.77392372e-02 -9.14525037e+00] [-8.17290767e-02 1.43689530e-03 9.96653547e-01 -1.03500649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04119381699999 meters 0.06254548526570936 Centerline is valid? [True, True] Translation: X:83.79, Y:-9.16, Z:-10.36 [[ 9.76722020e-01 2.01279467e-01 7.41665112e-02 8.37942467e+01] [-2.00606997e-01 9.79533093e-01 -1.64849009e-02 -9.15626610e+00] [-7.59666242e-02 1.22284458e-03 9.97109611e-01 -1.03630187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.101193817 meters 0.06262644212904635 Centerline is valid? [True, True] Translation: X:83.85, Y:-9.17, Z:-10.37 [[ 9.76609811e-01 2.00032743e-01 7.88681101e-02 8.38531254e+01] [-1.99267220e-01 9.79788192e-01 -1.75406526e-02 -9.16949269e+00] [-8.07827478e-02 1.41454438e-03 9.96730729e-01 -1.03674879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161193817 meters 0.061889000818336704 Centerline is valid? [True, True] Translation: X:83.91, Y:-9.18, Z:-10.36 [[ 9.76979822e-01 1.94580183e-01 8.74584500e-02 8.39142035e+01] [-1.93616403e-01 9.80884427e-01 -1.94532645e-02 -9.18156536e+00] [-8.95718514e-02 2.07205643e-03 9.95978208e-01 -1.03621517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221193817 meters 0.0618661599383245 Centerline is valid? [True, True] Translation: X:83.97, Y:-9.19, Z:-10.37 [[ 9.76703456e-01 1.93312757e-01 9.31693959e-02 8.39749398e+01] [-1.92212764e-01 9.81134411e-01 -2.07249072e-02 -9.19396815e+00] [-9.54180893e-02 2.33374143e-03 9.95434549e-01 -1.03652038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28119381699999 meters 0.062331079829524405 Centerline is valid? [True, True] Translation: X:84.04, Y:-9.21, Z:-10.37 [[ 9.76931045e-01 1.91440663e-01 9.46372305e-02 8.40354108e+01] [-1.90296810e-01 9.81500857e-01 -2.10521073e-02 -9.20588402e+00] [-9.69167523e-02 2.55729414e-03 9.95289206e-01 -1.03726153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34119381699999 meters 0.06338943007257242 Centerline is valid? [True, True] Translation: X:84.09, Y:-9.22, Z:-10.39 [[ 9.77412586e-01 1.91291105e-01 8.98462564e-02 8.40947157e+01] [-1.90257311e-01 9.81530247e-01 -2.00132512e-02 -9.21571770e+00] [-9.20151752e-02 2.46729653e-03 9.95754548e-01 -1.03871936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40119381699999 meters 0.06446980043792806 Centerline is valid? [True, True] Translation: X:84.15, Y:-9.23, Z:-10.40 [[ 9.78178046e-01 1.90307257e-01 8.33718024e-02 8.41524712e+01] [-1.89411260e-01 9.81721636e-01 -1.86011954e-02 -9.23008882e+00] [-8.53878447e-02 2.40372281e-03 9.96344889e-01 -1.04001742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.461193817 meters 0.065571371820903 Centerline is valid? [True, True] Translation: X:84.21, Y:-9.24, Z:-10.41 [[ 9.78497002e-01 1.89355705e-01 8.17804045e-02 8.42114369e+01] [-1.88490583e-01 9.81905536e-01 -1.82433039e-02 -9.24210578e+00] [-8.37551056e-02 2.43618201e-03 9.96483390e-01 -1.04105580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521193817 meters 0.06486587010687228 Centerline is valid? [True, True] Translation: X:84.27, Y:-9.25, Z:-10.42 [[ 9.78410491e-01 1.89512636e-01 8.24492089e-02 8.42718092e+01] [-1.88633277e-01 9.81875228e-01 -1.83990266e-02 -9.25459448e+00] [-8.44416838e-02 2.44913625e-03 9.96425413e-01 -1.04160329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581193817 meters 0.06407187940435265 Centerline is valid? [True, True] Translation: X:84.33, Y:-9.27, Z:-10.42 [[ 9.77372464e-01 1.93913969e-01 8.45011202e-02 8.43299946e+01] [-1.93003361e-01 9.81016166e-01 -1.88940547e-02 -9.26501198e+00] [-8.65607861e-02 2.15752866e-03 9.96244235e-01 -1.04245240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64119381699999 meters 0.061383847890192446 Centerline is valid? [True, True] Translation: X:84.39, Y:-9.27, Z:-10.43 [[ 9.75349993e-01 2.04451091e-01 8.30189332e-02 8.43923957e+01] [-2.03610404e-01 9.78876046e-01 -1.85604603e-02 -9.26514555e+00] [-8.50599514e-02 1.19942630e-03 9.96375113e-01 -1.04337484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70119381699999 meters 0.06018119649693366 Centerline is valid? [True, True] Translation: X:84.45, Y:-9.26, Z:-10.44 [[ 9.72212060e-01 2.20154200e-01 7.95979859e-02 8.44541462e+01] [-2.19433210e-01 9.75465070e-01 -1.78034554e-02 -9.25975790e+00] [-8.15645604e-02 -1.57707574e-04 9.96668048e-01 -1.04436250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76119381699999 meters 0.05870045575371091 Centerline is valid? [True, True] Translation: X:84.51, Y:-9.27, Z:-10.44 [[ 9.71156542e-01 2.23036462e-01 8.43190786e-02 8.45138580e+01] [-2.22238303e-01 9.74810010e-01 -1.88568596e-02 -9.27407951e+00] [-8.64008491e-02 -4.25966457e-04 9.96260363e-01 -1.04387231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.821193817 meters 0.05773294778464183 Centerline is valid? [True, True] Translation: X:84.57, Y:-9.30, Z:-10.44 [[ 9.71543045e-01 2.18655147e-01 9.10716165e-02 8.45698371e+01] [-2.17704584e-01 9.75802196e-01 -2.03663653e-02 -9.30379130e+00] [-9.33210940e-02 -3.99077869e-05 9.95636064e-01 -1.04403953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.881193817 meters 0.05761270470968758 Centerline is valid? [True, True] Translation: X:84.63, Y:-9.33, Z:-10.45 [[ 9.71805456e-01 2.15555179e-01 9.55516683e-02 8.46269318e+01] [-2.14493431e-01 9.76491624e-01 -2.13700136e-02 -9.32816752e+00] [-9.79118209e-02 2.72290687e-04 9.95195057e-01 -1.04450744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941193817 meters 0.057678231093522304 Centerline is valid? [True, True] Translation: X:84.68, Y:-9.35, Z:-10.45 [[ 9.71517745e-01 2.16315510e-01 9.67515947e-02 8.46842471e+01] [-2.15230692e-01 9.76323492e-01 -2.16376458e-02 -9.35091860e+00] [-9.91414132e-02 1.97444186e-04 9.95073335e-01 -1.04535268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00119381699999 meters 0.05800443411936807 Centerline is valid? [True, True] Translation: X:84.74, Y:-9.37, Z:-10.46 [[ 9.70802407e-01 2.20984280e-01 9.33200633e-02 8.47412065e+01] [-2.19994307e-01 9.75277339e-01 -2.08953736e-02 -9.37483884e+00] [-9.56304921e-02 -2.44603628e-04 9.95416872e-01 -1.04649233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06119381699999 meters 0.059127105209652045 Centerline is valid? [True, True] Translation: X:84.80, Y:-9.40, Z:-10.48 [[ 9.71463420e-01 2.20820708e-01 8.65854373e-02 8.47958853e+01] [-2.19965514e-01 9.75314401e-01 -1.94162760e-02 -9.40462829e+00] [-8.87355397e-02 -1.83608313e-04 9.96055204e-01 -1.04808213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12119381699999 meters 0.05998556068287451 Centerline is valid? [True, True] Translation: X:84.85, Y:-9.43, Z:-10.49 [[ 9.71140082e-01 2.23322080e-01 8.37507607e-02 8.48519931e+01] [-2.22531726e-01 9.74744626e-01 -1.87761777e-02 -9.42875988e+00] [-8.58287390e-02 -4.02902519e-04 9.96309824e-01 -1.04922992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.181193817 meters 0.059764672108900005 Centerline is valid? [True, True] Translation: X:84.91, Y:-9.45, Z:-10.49 [[ 9.70733769e-01 2.26227594e-01 8.06041334e-02 8.49102237e+01] [-2.25503371e-01 9.74074281e-01 -1.80976235e-02 -9.45457169e+00] [-8.26085951e-02 -6.08529537e-04 9.96581883e-01 -1.04945036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.241193817 meters 0.05997052369641041 Centerline is valid? [True, True] Translation: X:84.96, Y:-9.49, Z:-10.50 [[ 9.70589192e-01 2.26125831e-01 8.26058685e-02 8.49649258e+01] [-2.25364352e-01 9.74097909e-01 -1.85518909e-02 -9.48819293e+00] [-8.46612656e-02 -6.10153200e-04 9.96409603e-01 -1.05009625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301193817 meters 0.059902039895833384 Centerline is valid? [True, True] Translation: X:85.02, Y:-9.53, Z:-10.50 [[ 9.72627200e-01 2.15493106e-01 8.69428050e-02 8.50180817e+01] [-2.14605145e-01 9.76505298e-01 -1.95457044e-02 -9.53438393e+00] [-8.91120742e-02 3.52310502e-04 9.96021543e-01 -1.05047279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361193817 meters 0.06251982451677617 Centerline is valid? [True, True] Translation: X:85.07, Y:-9.57, Z:-10.51 [[ 9.75505378e-01 2.02956688e-01 8.48400816e-02 8.50699465e+01] [-2.02062809e-01 9.79186607e-01 -1.90842952e-02 -9.57272066e+00] [-8.69475570e-02 1.47380735e-03 9.96211800e-01 -1.05142451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42119381699999 meters 0.06773845645156572 Centerline is valid? [True, True] Translation: X:85.12, Y:-9.61, Z:-10.53 [[ 9.78505624e-01 1.90497232e-01 7.89781468e-02 8.51223933e+01] [-1.89682351e-01 9.81684795e-01 -1.77642655e-02 -9.60978240e+00] [-8.09156892e-02 2.40167309e-03 9.96718056e-01 -1.05275183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48119381699999 meters 0.0679808451612636 Centerline is valid? [True, True] Translation: X:85.18, Y:-9.62, Z:-10.54 [[ 9.78349643e-01 1.92702008e-01 7.54845182e-02 8.51826613e+01] [-1.91964269e-01 9.81255032e-01 -1.69788608e-02 -9.62192459e+00] [-7.73414239e-02 2.12093206e-03 9.97002410e-01 -1.05386544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54119381699999 meters 0.06491234654949872 Centerline is valid? [True, True] Translation: X:85.24, Y:-9.62, Z:-10.55 [[ 9.76182878e-01 2.03671033e-01 7.47335181e-02 8.52445709e+01] [-2.02979229e-01 9.79038585e-01 -1.68191131e-02 -9.62275090e+00] [-7.65925639e-02 1.24917835e-03 9.97061693e-01 -1.05455432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.601193817 meters 0.06364912721026744 Centerline is valid? [True, True] Translation: X:85.31, Y:-9.63, Z:-10.55 [[ 9.75329002e-01 2.07730587e-01 7.47083791e-02 8.53067778e+01] [-2.07051959e-01 9.78185646e-01 -1.68026323e-02 -9.63049112e+00] [-7.65690847e-02 9.19578292e-04 9.97063854e-01 -1.05500027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661193817 meters 0.06293796341287146 Centerline is valid? [True, True] Translation: X:85.37, Y:-9.64, Z:-10.56 [[ 9.73980324e-01 2.12731100e-01 7.81524638e-02 8.53663587e+01] [-2.12001353e-01 9.77110604e-01 -1.76151428e-02 -9.63743626e+00] [-8.01108898e-02 5.88374437e-04 9.96785784e-01 -1.05566126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721193817 meters 0.06252512554856182 Centerline is valid? [True, True] Translation: X:85.43, Y:-9.66, Z:-10.56 [[ 9.74510575e-01 2.09955962e-01 7.90419643e-02 8.54269404e+01] [-2.09201501e-01 9.77710506e-01 -1.78016204e-02 -9.65705341e+00] [-8.10177153e-02 8.12169772e-04 9.96712331e-01 -1.05575085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78119381699999 meters 0.06548423641396049 Centerline is valid? [True, True] Translation: X:85.48, Y:-9.68, Z:-10.57 [[ 9.76781172e-01 1.98877054e-01 7.96646650e-02 8.54812709e+01] [-1.98070624e-01 9.80022824e-01 -1.79803132e-02 -9.68424645e+00] [-8.16490617e-02 1.78360144e-03 9.96659545e-01 -1.05666902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84119381699999 meters 0.06988246567235948 Centerline is valid? [True, True] Translation: X:85.54, Y:-9.71, Z:-10.57 [[ 9.79476379e-01 1.86126804e-01 7.73487898e-02 8.55372772e+01] [-1.85326035e-01 9.82521812e-01 -1.74685442e-02 -9.71072990e+00] [-7.92482374e-02 2.77528187e-03 9.96851049e-01 -1.05747728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90119381699999 meters 0.07139338417724918 Centerline is valid? [True, True] Translation: X:85.60, Y:-9.73, Z:-10.57 [[ 9.81034863e-01 1.76946422e-01 7.91237106e-02 8.55961072e+01] [-1.76078291e-01 9.84213893e-01 -1.78730926e-02 -9.72659245e+00] [-8.10372350e-02 3.60215925e-03 9.96704566e-01 -1.05747021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.961193817 meters 0.07470765235736122 Centerline is valid? [True, True] Translation: X:85.65, Y:-9.74, Z:-10.59 [[ 9.80516292e-01 1.80061258e-01 7.85222574e-02 8.56544573e+01] [-1.79216225e-01 9.83649798e-01 -1.77375430e-02 -9.73796404e+00] [-8.04322469e-02 3.31948738e-03 9.96754551e-01 -1.05895343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021193817 meters 0.06712562008692766 Centerline is valid? [True, True] Translation: X:85.72, Y:-9.72, Z:-10.59 [[ 9.78498818e-01 1.90871403e-01 7.81547813e-02 8.57216998e+01] [-1.90068165e-01 9.81612054e-01 -1.76597618e-02 -9.71759172e+00] [-8.00884190e-02 2.42532020e-03 9.96784813e-01 -1.05913858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081193817 meters 0.06453660166188264 Centerline is valid? [True, True] Translation: X:85.79, Y:-9.71, Z:-10.60 [[ 9.76474296e-01 2.01323685e-01 7.72445642e-02 8.57851397e+01] [-2.00571671e-01 9.79523543e-01 -1.74537611e-02 -9.71084393e+00] [-7.91767247e-02 1.55007776e-03 9.96859390e-01 -1.06007704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14119381699999 meters 0.06213260609880796 Centerline is valid? [True, True] Translation: X:85.85, Y:-9.70, Z:-10.61 [[ 9.73319810e-01 2.15949016e-01 7.75536573e-02 8.58512058e+01] [-2.15237161e-01 9.76404573e-01 -1.75235279e-02 -9.69812618e+00] [-7.95079342e-02 3.63567825e-04 9.96834167e-01 -1.06077256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20119381699999 meters 0.06218137774929099 Centerline is valid? [True, True] Translation: X:85.91, Y:-9.70, Z:-10.62 [[ 9.71654126e-01 2.23699264e-01 7.64650133e-02 8.59136357e+01] [-2.23031605e-01 9.74658179e-01 -1.72724551e-02 -9.70075726e+00] [-7.83910861e-02 -2.71262382e-04 9.96922647e-01 -1.06162121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26119381699999 meters 0.06331456555613305 Centerline is valid? [True, True] Translation: X:85.97, Y:-9.71, Z:-10.63 [[ 9.69229507e-01 2.33352307e-01 7.83636565e-02 8.59748230e+01] [-2.32680452e-01 9.72391686e-01 -1.77261252e-02 -9.70620717e+00] [-8.03366004e-02 -1.05300739e-03 9.96767236e-01 -1.06258598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.321193817 meters 0.06421770898068335 Centerline is valid? [True, True] Translation: X:86.04, Y:-9.72, Z:-10.63 [[ 9.67618808e-01 2.39370454e-01 8.00976199e-02 8.60358694e+01] [-2.38686735e-01 9.70927059e-01 -1.81463105e-02 -9.71749606e+00] [-8.21126370e-02 -1.55952807e-03 9.96621835e-01 -1.06317839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.381193817 meters 0.0642507205857283 Centerline is valid? [True, True] Translation: X:86.09, Y:-9.74, Z:-10.63 [[ 9.66508996e-01 2.43574554e-01 8.08195383e-02 8.60940295e+01] [-2.42891123e-01 9.69880294e-01 -1.83334989e-02 -9.74180006e+00] [-8.28508514e-02 -1.91085685e-03 9.96560126e-01 -1.06339550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441193817 meters 0.06436779125679014 Centerline is valid? [True, True] Translation: X:86.15, Y:-9.77, Z:-10.64 [[ 9.66826643e-01 2.43029683e-01 7.86308839e-02 8.61507260e+01] [-2.42379095e-01 9.70017200e-01 -1.78607332e-02 -9.76902444e+00] [-8.06139981e-02 -1.79024982e-03 9.96743788e-01 -1.06446213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50119381699999 meters 0.06285143594626802 Centerline is valid? [True, True] Translation: X:86.20, Y:-9.81, Z:-10.65 [[ 9.69686857e-01 2.31617837e-01 7.78497082e-02 8.62035439e+01] [-2.30940529e-01 9.72806528e-01 -1.77180882e-02 -9.81034923e+00] [-7.98365297e-02 -7.97655535e-04 9.96807651e-01 -1.06545877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56119381699999 meters 0.06209495092401528 Centerline is valid? [True, True] Translation: X:86.26, Y:-9.85, Z:-10.66 [[ 9.72223089e-01 2.20216350e-01 7.92907542e-02 8.62582860e+01] [-2.19475448e-01 9.75451043e-01 -1.80496500e-02 -9.84604275e+00] [-8.13190769e-02 1.45912658e-04 9.96688109e-01 -1.06585754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62119381699999 meters 0.0635774742212091 Centerline is valid? [True, True] Translation: X:86.31, Y:-9.89, Z:-10.67 [[ 9.75039218e-01 2.07213685e-01 7.97559479e-02 8.63122112e+01] [-2.06420337e-01 9.78294919e-01 -1.81575351e-02 -9.88713628e+00] [-8.17873283e-02 1.24105925e-03 9.96649032e-01 -1.06659910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.681193817 meters 0.0644150675391626 Centerline is valid? [True, True] Translation: X:86.37, Y:-9.91, Z:-10.67 [[ 9.76111261e-01 2.01941384e-01 8.01653542e-02 8.63696539e+01] [-2.01122205e-01 9.79396151e-01 -1.82493439e-02 -9.91454161e+00] [-8.21989371e-02 1.69035729e-03 9.96614508e-01 -1.06715891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.741193817 meters 0.06523443661449344 Centerline is valid? [True, True] Translation: X:86.43, Y:-9.93, Z:-10.68 [[ 9.76576899e-01 1.98423656e-01 8.32202645e-02 8.64286014e+01] [-1.97525595e-01 9.80114118e-01 -1.89724652e-02 -9.93440695e+00] [-8.53299421e-02 2.08993894e-03 9.96350557e-01 -1.06781006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801193817 meters 0.0668384191437592 Centerline is valid? [True, True] Translation: X:86.49, Y:-9.96, Z:-10.69 [[ 9.77186748e-01 1.95193256e-01 8.36997722e-02 8.64855147e+01] [-1.94270613e-01 9.80761832e-01 -1.91090966e-02 -9.95660449e+00] [-8.58195087e-02 2.41274990e-03 9.96307779e-01 -1.06868138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861193817 meters 0.06879528034125855 Centerline is valid? [True, True] Translation: X:86.54, Y:-9.98, Z:-10.70 [[ 9.78192658e-01 1.90138266e-01 8.35856707e-02 8.65423928e+01] [-1.89196896e-01 9.81753084e-01 -1.91158965e-02 -9.97762273e+00] [-8.56951534e-02 2.88488022e-03 9.96317228e-01 -1.06958029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92119381699999 meters 0.07198334507014714 Centerline is valid? [True, True] Translation: X:86.60, Y:-10.00, Z:-10.71 [[ 9.79432413e-01 1.85017940e-01 8.05016175e-02 8.65984979e+01] [-1.84127582e-01 9.82729901e-01 -1.84113014e-02 -9.99544750e+00] [-8.25177676e-02 3.21005719e-03 9.96584424e-01 -1.07073896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98119381699999 meters 0.07105952284965271 Centerline is valid? [True, True] Translation: X:86.66, Y:-10.00, Z:-10.71 [[ 9.79918214e-01 1.82572922e-01 8.01712046e-02 8.66594723e+01] [-1.81682192e-01 9.83186449e-01 -1.83299487e-02 -1.00049734e+01] [-8.21697943e-02 3.39617045e-03 9.96612558e-01 -1.07119388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04119381699999 meters 0.0706604424436604 Centerline is valid? [True, True] Translation: X:86.72, Y:-10.01, Z:-10.72 [[ 9.80014792e-01 1.81364173e-01 8.17192989e-02 8.67215667e+01] [-1.80432600e-01 9.83409461e-01 -1.87058304e-02 -1.00141140e+01] [-8.37560992e-02 3.58716497e-03 9.96479828e-01 -1.07159373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.101193817 meters 0.07084716102979065 Centerline is valid? [True, True] Translation: X:86.78, Y:-10.02, Z:-10.72 [[ 9.79682076e-01 1.81450892e-01 8.54318708e-02 8.67829223e+01] [-1.80429103e-01 9.83392720e-01 -1.95983978e-02 -1.00226426e+01] [-8.75692265e-02 3.78580320e-03 9.96151243e-01 -1.07207046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161193817 meters 0.06997885612992058 Centerline is valid? [True, True] Translation: X:86.84, Y:-10.02, Z:-10.73 [[ 9.78447422e-01 1.86837342e-01 8.79343484e-02 8.68434281e+01] [-1.85775207e-01 9.82384932e-01 -2.01845707e-02 -1.00229970e+01] [-9.01566104e-02 3.41351936e-03 9.95921751e-01 -1.07285400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221193817 meters 0.06521539604657577 Centerline is valid? [True, True] Translation: X:86.91, Y:-10.01, Z:-10.73 [[ 9.76733170e-01 1.95939397e-01 8.71783675e-02 8.69076531e+01] [-1.94931630e-01 9.80612689e-01 -2.00103549e-02 -1.00128793e+01] [-8.94090302e-02 2.55095613e-03 9.95991726e-01 -1.07335161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28119381699999 meters 0.062155855605236544 Centerline is valid? [True, True] Translation: X:86.97, Y:-10.00, Z:-10.74 [[ 9.73831102e-01 2.10454290e-01 8.58019583e-02 8.69732676e+01] [-2.09534263e-01 9.77602962e-01 -1.96936707e-02 -9.99629578e+00] [-8.80248661e-02 1.19985896e-03 9.96117555e-01 -1.07437068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34119381699999 meters 0.0614393767219315 Centerline is valid? [True, True] Translation: X:87.04, Y:-10.00, Z:-10.75 [[ 9.72090601e-01 2.18532340e-01 8.53433109e-02 8.70363286e+01] [-2.17653833e-01 9.75829599e-01 -1.95806861e-02 -9.99518728e+00] [-8.75595419e-02 4.58902168e-04 9.96159182e-01 -1.07519861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40119381699999 meters 0.06069596920662873 Centerline is valid? [True, True] Translation: X:87.10, Y:-10.00, Z:-10.76 [[ 9.70630583e-01 2.23724332e-01 8.84516536e-02 8.70981496e+01] [-2.22798605e-01 9.74652462e-01 -2.03312403e-02 -1.00002730e+01] [-9.07582151e-02 2.72186180e-05 9.95872957e-01 -1.07565086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.461193817 meters 0.061064887628135105 Centerline is valid? [True, True] Translation: X:87.16, Y:-10.01, Z:-10.77 [[ 9.70671551e-01 2.24249791e-01 8.66531676e-02 8.71584395e+01] [-2.23363889e-01 9.74531698e-01 -1.99133826e-02 -1.00127959e+01] [-8.89118304e-02 -2.58345395e-05 9.96039500e-01 -1.07676781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521193817 meters 0.06134775085590771 Centerline is valid? [True, True] Translation: X:87.22, Y:-10.04, Z:-10.78 [[ 9.71455835e-01 2.21474635e-01 8.49855688e-02 8.72158038e+01] [-2.20609727e-01 9.75166101e-01 -1.95556699e-02 -1.00364310e+01] [-8.72061306e-02 2.48826536e-04 9.96190257e-01 -1.07766317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581193817 meters 0.061457867080458375 Centerline is valid? [True, True] Translation: X:87.27, Y:-10.07, Z:-10.78 [[ 9.72197971e-01 2.17970683e-01 8.55563393e-02 8.72737531e+01] [-2.17078297e-01 9.75955138e-01 -1.97124803e-02 -1.00652407e+01] [-8.77958917e-02 5.92008904e-04 9.96138309e-01 -1.07834778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64119381699999 meters 0.061595089322894855 Centerline is valid? [True, True] Translation: X:87.33, Y:-10.08, Z:-10.79 [[ 9.72430998e-01 2.17190586e-01 8.48893622e-02 8.73330869e+01] [-2.16306348e-01 9.76128975e-01 -1.95905173e-02 -1.00830115e+01] [-8.71178421e-02 6.88318368e-04 9.96197775e-01 -1.07921943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70119381699999 meters 0.06417575131315446 Centerline is valid? [True, True] Translation: X:87.39, Y:-10.11, Z:-10.81 [[ 9.74226384e-01 2.09956868e-01 8.24685816e-02 8.73859754e+01] [-2.09093489e-01 9.77709741e-01 -1.90676428e-02 -1.01124074e+01] [-8.46337182e-02 1.33255730e-03 9.96411239e-01 -1.08077060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76119381699999 meters 0.06432801626299092 Centerline is valid? [True, True] Translation: X:87.44, Y:-10.13, Z:-10.81 [[ 9.75028907e-01 2.06591455e-01 8.14776105e-02 8.74447795e+01] [-2.05737867e-01 9.78425994e-01 -1.88282657e-02 -1.01313448e+01] [-8.36095709e-02 1.59507346e-03 9.96497313e-01 -1.08124334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.821193817 meters 0.0644601842977735 Centerline is valid? [True, True] Translation: X:87.50, Y:-10.15, Z:-10.82 [[ 9.74952717e-01 2.06687726e-01 8.21424600e-02 8.75041079e+01] [-2.05818482e-01 9.78405616e-01 -1.90053221e-02 -1.01456359e+01] [-8.42968110e-02 1.62285395e-03 9.96439368e-01 -1.08194333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.881193817 meters 0.0637244233184016 Centerline is valid? [True, True] Translation: X:87.57, Y:-10.15, Z:-10.83 [[ 9.74191533e-01 2.10688661e-01 8.10008988e-02 8.75657160e+01] [-2.09855479e-01 9.77552377e-01 -1.87623982e-02 -1.01528407e+01] [-8.31356458e-02 1.27968710e-03 9.96537419e-01 -1.08267902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941193817 meters 0.06181921126594482 Centerline is valid? [True, True] Translation: X:87.63, Y:-10.15, Z:-10.83 [[ 9.71865170e-01 2.20022151e-01 8.40734504e-02 8.76269275e+01] [-2.19156056e-01 9.75494729e-01 -1.95104499e-02 -1.01537749e+01] [-8.63059388e-02 5.36320880e-04 9.96268537e-01 -1.08316033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00119381699999 meters 0.06077477188053618 Centerline is valid? [True, True] Translation: X:87.69, Y:-10.16, Z:-10.83 [[ 9.70227618e-01 2.26421866e-01 8.59738752e-02 8.76895852e+01] [-2.25542014e-01 9.74029331e-01 -1.99414940e-02 -1.01607240e+01] [-8.82562663e-02 -4.29327491e-05 9.96097801e-01 -1.08327081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06119381699999 meters 0.06088333760253864 Centerline is valid? [True, True] Translation: X:87.75, Y:-10.17, Z:-10.84 [[ 9.68071628e-01 2.35551317e-01 8.57490557e-02 8.77511360e+01] [-2.34709385e-01 9.71861544e-01 -1.99159095e-02 -1.01695657e+01] [-8.80274284e-02 -8.46081199e-04 9.96117692e-01 -1.08379798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12119381699999 meters 0.06174946257521522 Centerline is valid? [True, True] Translation: X:87.81, Y:-10.18, Z:-10.85 [[ 9.67207238e-01 2.39632125e-01 8.41819677e-02 8.78104758e+01] [-2.38833852e-01 9.70863058e-01 -1.95783940e-02 -1.01829582e+01] [-8.64207747e-02 -1.16913920e-03 9.96258040e-01 -1.08489535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.181193817 meters 0.06254370861324461 Centerline is valid? [True, True] Translation: X:87.87, Y:-10.20, Z:-10.86 [[ 9.66540527e-01 2.42161202e-01 8.46011886e-02 8.78671862e+01] [-2.41362496e-01 9.70235050e-01 -1.97000941e-02 -1.02048250e+01] [-8.68536369e-02 -1.37861473e-03 9.96220129e-01 -1.08616284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.241193817 meters 0.06203284327370697 Centerline is valid? [True, True] Translation: X:87.92, Y:-10.24, Z:-10.87 [[ 9.66685128e-01 2.42029521e-01 8.33161120e-02 8.79235250e+01] [-2.41252552e-01 9.70267982e-01 -1.94229028e-02 -1.02379063e+01] [-8.55398718e-02 -1.32439345e-03 9.96333868e-01 -1.08668074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301193817 meters 0.0614034093376246 Centerline is valid? [True, True] Translation: X:87.98, Y:-10.27, Z:-10.87 [[ 9.66818695e-01 2.41393934e-01 8.36096852e-02 8.79803771e+01] [-2.40606951e-01 9.70426406e-01 -1.95162758e-02 -1.02664036e+01] [-8.58481569e-02 -1.24837118e-03 9.96307450e-01 -1.08722236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361193817 meters 0.06106784575291115 Centerline is valid? [True, True] Translation: X:88.04, Y:-10.30, Z:-10.88 [[ 9.67253623e-01 2.39427147e-01 8.42322359e-02 8.80355937e+01] [-2.38618312e-01 9.70913762e-01 -1.96918077e-02 -1.02968953e+01] [-8.64969904e-02 -1.05238162e-03 9.96251556e-01 -1.08811249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42119381699999 meters 0.06094646306969177 Centerline is valid? [True, True] Translation: X:88.09, Y:-10.32, Z:-10.89 [[ 9.67967097e-01 2.36739925e-01 8.36295859e-02 8.80911413e+01] [-2.35931713e-01 9.71572732e-01 -1.95615082e-02 -1.03243105e+01] [-8.58832152e-02 -7.95975124e-04 9.96304893e-01 -1.08902676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48119381699999 meters 0.060064461477170254 Centerline is valid? [True, True] Translation: X:88.15, Y:-10.36, Z:-10.89 [[ 9.68314937e-01 2.34113674e-01 8.69308343e-02 8.81471514e+01] [-2.33226936e-01 9.72209072e-01 -2.03646044e-02 -1.03571711e+01] [-8.92825781e-02 -5.55261494e-04 9.96006181e-01 -1.08925738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54119381699999 meters 0.05935820200940947 Centerline is valid? [True, True] Translation: X:88.21, Y:-10.38, Z:-10.90 [[ 9.68244266e-01 2.33766099e-01 8.86366344e-02 8.82058104e+01] [-2.32842814e-01 9.72292716e-01 -2.07629259e-02 -1.03792260e+01] [-9.10344221e-02 -5.34819441e-04 9.95847603e-01 -1.08956055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.601193817 meters 0.058996579293502716 Centerline is valid? [True, True] Translation: X:88.26, Y:-10.40, Z:-10.90 [[ 9.68314268e-01 2.32472005e-01 9.12372972e-02 8.82639341e+01] [-2.31485270e-01 9.72603007e-01 -2.14000375e-02 -1.04043824e+01] [-9.37125792e-02 -3.98128652e-04 9.95599214e-01 -1.09001471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661193817 meters 0.05892544065975874 Centerline is valid? [True, True] Translation: X:88.32, Y:-10.43, Z:-10.91 [[ 9.68657785e-01 2.31230598e-01 9.07441833e-02 8.83219363e+01] [-2.30246655e-01 9.72898940e-01 -2.13103362e-02 -1.04314955e+01] [-9.32125215e-02 -2.51121643e-04 9.95646204e-01 -1.09087644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721193817 meters 0.059091426198635305 Centerline is valid? [True, True] Translation: X:88.38, Y:-10.46, Z:-10.92 [[ 9.69044372e-01 2.30329355e-01 8.88897768e-02 8.83794455e+01] [-2.29378747e-01 9.73112723e-01 -2.09050178e-02 -1.04551173e+01] [-9.13148120e-02 -1.31535775e-04 9.95822066e-01 -1.09193023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78119381699999 meters 0.05940614833181786 Centerline is valid? [True, True] Translation: X:88.44, Y:-10.47, Z:-10.93 [[ 9.68870491e-01 2.32190356e-01 8.58930104e-02 8.84378927e+01] [-2.31307374e-01 9.72670329e-01 -2.02319282e-02 -1.04740626e+01] [-8.82432413e-02 -2.65568390e-04 9.96098921e-01 -1.09291358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84119381699999 meters 0.059365823809506245 Centerline is valid? [True, True] Translation: X:88.50, Y:-10.50, Z:-10.94 [[ 9.68226806e-01 2.34834945e-01 8.59616284e-02 8.84970211e+01] [-2.33961009e-01 9.72035128e-01 -2.02473554e-02 -1.04963478e+01] [-8.83125091e-02 -5.07637126e-04 9.96092688e-01 -1.09361287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90119381699999 meters 0.05937804134479146 Centerline is valid? [True, True] Translation: X:88.56, Y:-10.51, Z:-10.94 [[ 9.67458066e-01 2.37542494e-01 8.71691178e-02 8.85551448e+01] [-2.36651810e-01 9.71376871e-01 -2.05644159e-02 -1.05125165e+01] [-8.95589875e-02 -7.33519479e-04 9.95981250e-01 -1.09443969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.961193817 meters 0.05969702182377592 Centerline is valid? [True, True] Translation: X:88.61, Y:-10.53, Z:-10.95 [[ 9.66041582e-01 2.42471796e-01 8.92809617e-02 8.86138425e+01] [-2.41555979e-01 9.70157720e-01 -2.10880880e-02 -1.05289087e+01] [-9.17298808e-02 -1.19438019e-03 9.95783211e-01 -1.09496927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021193817 meters 0.0593797557115252 Centerline is valid? [True, True] Translation: X:88.67, Y:-10.55, Z:-10.95 [[ 9.64890863e-01 2.46174875e-01 9.15617425e-02 8.86732588e+01] [-2.45225941e-01 9.69224168e-01 -2.16506134e-02 -1.05473442e+01] [-9.40736908e-02 -1.56283545e-03 9.95564010e-01 -1.09509831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081193817 meters 0.0602524113839584 Centerline is valid? [True, True] Translation: X:88.73, Y:-10.56, Z:-10.95 [[ 9.62438040e-01 2.54076768e-01 9.56975206e-02 8.87340735e+01] [-2.53075891e-01 9.67181049e-01 -2.26585858e-02 -1.05612046e+01] [-9.83138486e-02 -2.41125039e-03 9.95152538e-01 -1.09540451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14119381699999 meters 0.062378029407803716 Centerline is valid? [True, True] Translation: X:88.79, Y:-10.58, Z:-10.97 [[ 9.60898568e-01 2.60212205e-01 9.46760323e-02 8.87915850e+01] [-2.59258809e-01 9.65546881e-01 -2.24519751e-02 -1.05755288e+01] [-9.72564256e-02 -2.97152475e-03 9.95254921e-01 -1.09650458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20119381699999 meters 0.06244898416177082 Centerline is valid? [True, True] Translation: X:88.85, Y:-10.60, Z:-10.97 [[ 9.61220613e-01 2.59849489e-01 9.23751953e-02 8.88494583e+01] [-2.58940982e-01 9.65644865e-01 -2.18989062e-02 -1.05986128e+01] [-9.48920526e-02 -2.87004374e-03 9.95483431e-01 -1.09741924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26119381699999 meters 0.0622462154699624 Centerline is valid? [True, True] Translation: X:88.90, Y:-10.63, Z:-10.99 [[ 9.62375676e-01 2.56633831e-01 8.92868089e-02 8.89047439e+01] [-2.55768982e-01 9.66505620e-01 -2.11922954e-02 -1.06252811e+01] [-9.17348626e-02 -2.44184663e-03 9.95780474e-01 -1.09886604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.321193817 meters 0.06017066801985345 Centerline is valid? [True, True] Translation: X:88.96, Y:-10.66, Z:-10.99 [[ 9.64578381e-01 2.49158716e-01 8.66514888e-02 8.89598367e+01] [-2.48312231e-01 9.68461246e-01 -2.05876527e-02 -1.06610402e+01] [-8.90482019e-02 -1.65821975e-03 9.96025937e-01 -1.09944583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.381193817 meters 0.05990675131878543 Centerline is valid? [True, True] Translation: X:89.01, Y:-10.70, Z:-11.01 [[ 9.68866606e-01 2.33243037e-01 8.30372515e-02 8.90125200e+01] [-2.32405180e-01 9.72418459e-01 -1.97527750e-02 -1.07038612e+01] [-8.53541534e-02 -1.60483343e-04 9.96350663e-01 -1.10057528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441193817 meters 0.0617040025519755 Centerline is valid? [True, True] Translation: X:89.07, Y:-10.74, Z:-11.01 [[ 9.71824098e-01 2.21571554e-01 8.03988113e-02 8.90657837e+01] [-2.20743409e-01 9.75143726e-01 -1.91588221e-02 -1.07381997e+01] [-8.26454465e-02 8.71497355e-04 9.96578632e-01 -1.10140435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50119381699999 meters 0.0647834843802537 Centerline is valid? [True, True] Translation: X:89.12, Y:-10.77, Z:-11.02 [[ 9.74616321e-01 2.08811424e-01 8.07515731e-02 8.91202204e+01] [-2.07932003e-01 9.77953949e-01 -1.92446209e-02 -1.07727046e+01] [-8.29898165e-02 1.96528530e-03 9.96548457e-01 -1.10196044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56119381699999 meters 0.06791305804043378 Centerline is valid? [True, True] Translation: X:89.18, Y:-10.79, Z:-11.03 [[ 9.75354365e-01 2.05558091e-01 8.01856234e-02 8.91765499e+01] [-2.04680255e-01 9.78642390e-01 -1.91066898e-02 -1.07934049e+01] [-8.24005848e-02 2.22337950e-03 9.96596809e-01 -1.10328266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62119381699999 meters 0.06772298627265975 Centerline is valid? [True, True] Translation: X:89.24, Y:-10.81, Z:-11.03 [[ 9.76631034e-01 1.97582677e-01 8.45748748e-02 8.92373480e+01] [-1.96574672e-01 9.80281415e-01 -2.01679414e-02 -1.08104059e+01] [-8.68920138e-02 3.07135917e-03 9.96213002e-01 -1.10285371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.681193817 meters 0.06800535140753283 Centerline is valid? [True, True] Translation: X:89.30, Y:-10.82, Z:-11.03 [[ 9.76779473e-01 1.95433731e-01 8.77924739e-02 8.92981350e+01] [-1.94338580e-01 9.80711054e-01 -2.09367011e-02 -1.08223656e+01] [-9.01907872e-02 3.38907516e-03 9.95918740e-01 -1.10307458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.741193817 meters 0.07018402813912664 Centerline is valid? [True, True] Translation: X:89.36, Y:-10.83, Z:-11.04 [[ 9.76555917e-01 1.95896507e-01 8.92362017e-02 8.93573201e+01] [-1.94764192e-01 9.80618575e-01 -2.13100728e-02 -1.08326849e+01] [-9.16812458e-02 3.43046099e-03 9.95782497e-01 -1.10415082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801193817 meters 0.06932434738658692 Centerline is valid? [True, True] Translation: X:89.42, Y:-10.83, Z:-11.05 [[ 9.76617174e-01 1.96625763e-01 8.69321821e-02 8.94210597e+01] [-1.95552097e-01 9.80473067e-01 -2.07831935e-02 -1.08288305e+01] [-8.93211746e-02 3.29745319e-03 9.95997417e-01 -1.10514817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861193817 meters 0.07071117678684034 Centerline is valid? [True, True] Translation: X:89.48, Y:-10.84, Z:-11.06 [[ 9.76971800e-01 1.95615252e-01 8.52101803e-02 8.94819802e+01] [-1.94577752e-01 9.80675007e-01 -2.03967695e-02 -1.08351526e+01] [-8.75534134e-02 3.34706327e-03 9.96154203e-01 -1.10632250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92119381699999 meters 0.07097138212698001 Centerline is valid? [True, True] Translation: X:89.54, Y:-10.84, Z:-11.07 [[ 9.77670633e-01 1.93083858e-01 8.29382765e-02 8.95432802e+01] [-1.92089369e-01 9.81175987e-01 -1.98835807e-02 -1.08379034e+01] [-8.52162438e-02 3.50803171e-03 9.96356304e-01 -1.10701288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98119381699999 meters 0.07017562963899736 Centerline is valid? [True, True] Translation: X:89.61, Y:-10.84, Z:-11.08 [[ 9.77109070e-01 1.95886157e-01 8.29848125e-02 8.96052206e+01] [-1.94900524e-01 9.80621203e-01 -1.98957962e-02 -1.08394477e+01] [-8.52739777e-02 3.26657941e-03 9.96352186e-01 -1.10798305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04119381699999 meters 0.06491211251121887 Centerline is valid? [True, True] Translation: X:89.67, Y:-10.83, Z:-11.08 [[ 9.75170285e-01 2.05616728e-01 8.22476554e-02 8.96706102e+01] [-2.04682570e-01 9.78629655e-01 -1.97241810e-02 -1.08252192e+01] [-8.45456162e-02 2.39977370e-03 9.96416720e-01 -1.10845463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.101193817 meters 0.06289967772648652 Centerline is valid? [True, True] Translation: X:89.73, Y:-10.82, Z:-11.10 [[ 9.72603458e-01 2.17432515e-01 8.22533593e-02 8.97323158e+01] [-2.16540203e-01 9.76074388e-01 -1.97263534e-02 -1.08179371e+01] [-8.45745480e-02 1.37476040e-03 9.96416206e-01 -1.10970809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161193817 meters 0.06131406127023068 Centerline is valid? [True, True] Translation: X:89.79, Y:-10.82, Z:-11.10 [[ 9.70680968e-01 2.24916413e-01 8.48001566e-02 8.97948086e+01] [-2.23996630e-01 9.74377779e-01 -2.03335609e-02 -1.08168947e+01] [-8.72007398e-02 7.42451237e-04 9.96190484e-01 -1.11027178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221193817 meters 0.0601715719580414 Centerline is valid? [True, True] Translation: X:89.86, Y:-10.81, Z:-11.10 [[ 9.67099400e-01 2.38165695e-01 8.94195247e-02 8.98603998e+01] [-2.37198954e-01 9.71224422e-01 -2.14424488e-02 -1.08087438e+01] [-9.19532819e-02 -4.73238347e-04 9.95763210e-01 -1.11036091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28119381699999 meters 0.060519450138639644 Centerline is valid? [True, True] Translation: X:89.92, Y:-10.81, Z:-11.11 [[ 9.64734267e-01 2.46692857e-01 9.18173650e-02 8.99241266e+01] [-2.45712002e-01 9.69092818e-01 -2.20163999e-02 -1.08103261e+01] [-9.44108376e-02 -1.32065317e-03 9.95532445e-01 -1.11085387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34119381699999 meters 0.062092946586336364 Centerline is valid? [True, True] Translation: X:89.98, Y:-10.81, Z:-11.12 [[ 9.63130216e-01 2.53381361e-01 9.04326968e-02 8.99848973e+01] [-2.52455582e-01 9.67364589e-01 -2.17239677e-02 -1.08146834e+01] [-9.29858371e-02 -1.90722934e-03 9.95665605e-01 -1.11192371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40119381699999 meters 0.06281320999372521 Centerline is valid? [True, True] Translation: X:90.04, Y:-10.83, Z:-11.13 [[ 9.62769086e-01 2.55495151e-01 8.83058065e-02 9.00444554e+01] [-2.54621348e-01 9.66808140e-01 -2.12129776e-02 -1.08282217e+01] [-9.07945854e-02 -2.06134444e-03 9.95867508e-01 -1.11307430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.461193817 meters 0.06420764834556146 Centerline is valid? [True, True] Translation: X:90.10, Y:-10.84, Z:-11.14 [[ 9.62247152e-01 2.58666722e-01 8.46873397e-02 9.01025975e+01] [-2.57874638e-01 9.65963997e-01 -2.03525683e-02 -1.08435782e+01] [-8.70694533e-02 -2.25451620e-03 9.96199693e-01 -1.11425485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.521193817 meters 0.06681669147353692 Centerline is valid? [True, True] Translation: X:90.16, Y:-10.86, Z:-11.16 [[ 9.61228149e-01 2.64066563e-01 7.94310788e-02 9.01584969e+01] [-2.63388070e-01 9.64501034e-01 -1.90913407e-02 -1.08630701e+01] [-8.16527424e-02 -2.57006443e-03 9.96657526e-01 -1.11581446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581193817 meters 0.06748401340135826 Centerline is valid? [True, True] Translation: X:90.22, Y:-10.88, Z:-11.17 [[ 9.60550560e-01 2.67102672e-01 7.74518165e-02 9.02161573e+01] [-2.66467504e-01 9.63664131e-01 -1.86148533e-02 -1.08841692e+01] [-7.96096144e-02 -2.75788443e-03 9.96822303e-01 -1.11665445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64119381699999 meters 0.06858306743599477 Centerline is valid? [True, True] Translation: X:90.27, Y:-10.92, Z:-11.17 [[ 9.60000475e-01 2.69485747e-01 7.60034249e-02 9.02698922e+01] [-2.68881386e-01 9.63000019e-01 -1.82691938e-02 -1.09179275e+01] [-7.81145870e-02 -2.89747151e-03 9.96940177e-01 -1.11749758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70119381699999 meters 0.06573544689690947 Centerline is valid? [True, True] Translation: X:90.32, Y:-10.96, Z:-11.18 [[ 9.61377348e-01 2.62972669e-01 8.12340502e-02 9.03223095e+01] [-2.62258375e-01 9.64799978e-01 -1.95332402e-02 -1.09613072e+01] [-8.35113181e-02 -2.52549528e-03 9.96503629e-01 -1.11769804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76119381699999 meters 0.06316406911841496 Centerline is valid? [True, True] Translation: X:90.38, Y:-11.00, Z:-11.18 [[ 9.63000881e-01 2.56009901e-01 8.41916520e-02 9.03761443e+01] [-2.55215943e-01 9.66672109e-01 -2.02449120e-02 -1.09978382e+01] [-8.65686197e-02 -1.99118375e-03 9.96243900e-01 -1.11795261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.821193817 meters 0.06175232990398624 Centerline is valid? [True, True] Translation: X:90.43, Y:-11.03, Z:-11.18 [[ 9.64666765e-01 2.49497299e-01 8.46707202e-02 9.04306468e+01] [-2.48669060e-01 9.68374464e-01 -2.03616435e-02 -1.10329766e+01] [-8.70731383e-02 -1.41278769e-03 9.96200920e-01 -1.11847421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.881193817 meters 0.061517724051488955 Centerline is valid? [True, True] Translation: X:90.48, Y:-11.07, Z:-11.19 [[ 9.66814806e-01 2.40417589e-01 8.64205653e-02 9.04827595e+01] [-2.39518021e-01 9.70669367e-01 -2.07869575e-02 -1.10712414e+01] [-8.88833456e-02 -6.02144500e-04 9.96041861e-01 -1.11942098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941193817 meters 0.061747198648044885 Centerline is valid? [True, True] Translation: X:90.54, Y:-11.11, Z:-11.20 [[ 9.69910682e-01 2.28456105e-01 8.41491370e-02 9.05371160e+01] [-2.27558842e-01 9.73554098e-01 -2.02334266e-02 -1.11084395e+01] [-8.65461870e-02 4.75736388e-04 9.96247726e-01 -1.11983750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00119381699999 meters 0.06416629018820716 Centerline is valid? [True, True] Translation: X:90.59, Y:-11.14, Z:-11.21 [[ 9.72577077e-01 2.18044579e-01 8.09344858e-02 9.05911491e+01] [-2.17175926e-01 9.75937833e-01 -1.94926313e-02 -1.11373388e+01] [-8.32372893e-02 1.38106442e-03 9.96528799e-01 -1.12088914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06119381699999 meters 0.0695662065878898 Centerline is valid? [True, True] Translation: X:90.65, Y:-11.17, Z:-11.21 [[ 9.76144766e-01 2.00621698e-01 8.30200532e-02 9.06455425e+01] [-1.99644563e-01 9.79664368e-01 -1.99943694e-02 -1.11734839e+01] [-8.53430923e-02 2.94289674e-03 9.96347277e-01 -1.12128510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12119381699999 meters 0.07265686742839646 Centerline is valid? [True, True] Translation: X:90.70, Y:-11.19, Z:-11.22 [[ 9.77479260e-01 1.93771910e-01 8.35867455e-02 9.07026986e+01] [-1.92756062e-01 9.81040116e-01 -2.01343452e-02 -1.11945976e+01] [-8.59034210e-02 3.56905292e-03 9.96297076e-01 -1.12195248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.181193817 meters 0.07602183418165867 Centerline is valid? [True, True] Translation: X:90.76, Y:-11.21, Z:-11.23 [[ 9.78843902e-01 1.88657232e-01 7.92026801e-02 9.07609349e+01] [-1.87728523e-01 9.82035615e-01 -1.90801810e-02 -1.12105035e+01] [-8.13794667e-02 3.80791673e-03 9.96675916e-01 -1.12325353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.241193817 meters 0.0720168741105547 Centerline is valid? [True, True] Translation: X:90.82, Y:-11.21, Z:-11.24 [[ 9.77615358e-01 1.94751808e-01 7.96237660e-02 9.08236996e+01] [-1.93833066e-01 9.80846931e-01 -1.91843709e-02 -1.12073175e+01] [-8.18349174e-02 3.32121701e-03 9.96640364e-01 -1.12398732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301193817 meters 0.0689025646041624 Centerline is valid? [True, True] Translation: X:90.89, Y:-11.20, Z:-11.25 [[ 9.75817438e-01 2.03833119e-01 7.89454730e-02 9.08867824e+01] [-2.02959234e-01 9.79002347e-01 -1.90250612e-02 -1.12047447e+01] [-8.11657410e-02 2.54227374e-03 9.96697376e-01 -1.12484598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361193817 meters 0.06591796478476321 Centerline is valid? [True, True] Translation: X:90.95, Y:-11.20, Z:-11.26 [[ 9.73886906e-01 2.13032538e-01 7.84947907e-02 9.09512333e+01] [-2.12198204e-01 9.77043506e-01 -1.89185123e-02 -1.11958123e+01] [-8.07230842e-02 1.76803775e-03 9.96734999e-01 -1.12570285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42119381699999 meters 0.06559396222352838 Centerline is valid? [True, True] Translation: X:91.01, Y:-11.20, Z:-11.26 [[ 9.73521483e-01 2.13998615e-01 8.03773235e-02 9.10131242e+01] [-2.13126890e-01 9.76832432e-01 -1.93733911e-02 -1.12014067e+01] [-8.26610553e-02 1.72984347e-03 9.96576218e-01 -1.12640046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48119381699999 meters 0.06463022884981322 Centerline is valid? [True, True] Translation: X:91.07, Y:-11.21, Z:-11.27 [[ 9.73317758e-01 2.14557967e-01 8.13475305e-02 9.10747185e+01] [-2.13667280e-01 9.76709778e-01 -1.96036294e-02 -1.12107427e+01] [-8.36590434e-02 1.69925505e-03 9.96492989e-01 -1.12674259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54119381699999 meters 0.06352795686393067 Centerline is valid? [True, True] Translation: X:91.14, Y:-11.21, Z:-11.27 [[ 9.72833334e-01 2.15225074e-01 8.52846468e-02 9.11368275e+01] [-2.14245222e-01 9.76562890e-01 -2.05890118e-02 -1.12138497e+01] [-8.77170927e-02 1.75784890e-03 9.96143876e-01 -1.12712671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.601193817 meters 0.06338131814975045 Centerline is valid? [True, True] Translation: X:91.20, Y:-11.21, Z:-11.28 [[ 9.72234062e-01 2.17806963e-01 8.55631696e-02 9.11989356e+01] [-2.16831000e-01 9.75990675e-01 -2.06523537e-02 -1.12128551e+01] [-8.80070821e-02 1.52617407e-03 9.96118680e-01 -1.12806850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661193817 meters 0.06259157286599341 Centerline is valid? [True, True] Translation: X:91.26, Y:-11.21, Z:-11.29 [[ 9.71607264e-01 2.20781546e-01 8.50578227e-02 9.12625082e+01] [-2.19826410e-01 9.75322454e-01 -2.05538102e-02 -1.12119545e+01] [-8.74967064e-02 1.27227545e-03 9.96163996e-01 -1.12893039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721193817 meters 0.06281549033268749 Centerline is valid? [True, True] Translation: X:91.32, Y:-11.21, Z:-11.30 [[ 9.70894064e-01 2.25132155e-01 8.17326762e-02 9.13241525e+01] [-2.24263655e-01 9.74327848e-01 -1.97751535e-02 -1.12113878e+01] [-8.40864455e-02 8.69910443e-04 9.96458084e-01 -1.13029929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78119381699999 meters 0.06277332412719668 Centerline is valid? [True, True] Translation: X:91.39, Y:-11.21, Z:-11.31 [[ 9.70189486e-01 2.28922940e-01 7.95402317e-02 9.13855816e+01] [-2.28111287e-01 9.73444393e-01 -1.92679869e-02 -1.12113659e+01] [-8.18388768e-02 5.49573705e-04 9.96645422e-01 -1.13143645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84119381699999 meters 0.06249044335871538 Centerline is valid? [True, True] Translation: X:91.45, Y:-11.22, Z:-11.32 [[ 9.69247379e-01 2.32797550e-01 7.97798184e-02 9.14471900e+01] [-2.31992724e-01 9.72525189e-01 -1.93425088e-02 -1.12173346e+01] [-8.20907716e-02 2.39338558e-04 9.96624828e-01 -1.13240795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90119381699999 meters 0.06192215790682774 Centerline is valid? [True, True] Translation: X:91.51, Y:-11.22, Z:-11.33 [[ 9.67741024e-01 2.39070723e-01 7.95141462e-02 9.15099629e+01] [-2.38290660e-01 9.71002119e-01 -1.92988415e-02 -1.12245012e+01] [-8.18221925e-02 -2.71197744e-04 9.96646906e-01 -1.13284420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.961193817 meters 0.062096823068464244 Centerline is valid? [True, True] Translation: X:91.57, Y:-11.24, Z:-11.34 [[ 9.67118324e-01 2.41363762e-01 8.01603526e-02 9.15688963e+01] [-2.40575955e-01 9.70434616e-01 -1.94901303e-02 -1.12383533e+01] [-8.24945922e-02 -4.35391161e-04 9.96591417e-01 -1.13376158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.021193817 meters 0.06149062266944329 Centerline is valid? [True, True] Translation: X:91.63, Y:-11.25, Z:-11.34 [[ 9.66880556e-01 2.41093295e-01 8.37616515e-02 9.16288470e+01] [-2.40230454e-01 9.70501856e-01 -2.03832669e-02 -1.12539608e+01] [-8.62051072e-02 -4.13915088e-04 9.96277325e-01 -1.13416336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081193817 meters 0.06129046186941169 Centerline is valid? [True, True] Translation: X:91.69, Y:-11.27, Z:-11.35 [[ 9.66692109e-01 2.41172042e-01 8.56878763e-02 9.16894712e+01] [-2.40269151e-01 9.70482283e-01 -2.08536039e-02 -1.12669335e+01] [-8.81878721e-02 -4.29138939e-04 9.96103767e-01 -1.13492221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14119381699999 meters 0.06061785630853156 Centerline is valid? [True, True] Translation: X:91.75, Y:-11.28, Z:-11.35 [[ 9.67500942e-01 2.38189482e-01 8.48981652e-02 9.17491270e+01] [-2.37289741e-01 9.71218695e-01 -2.06839542e-02 -1.12844725e+01] [-8.73813855e-02 -1.33718430e-04 9.96174922e-01 -1.13507834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20119381699999 meters 0.06120928812056853 Centerline is valid? [True, True] Translation: X:91.81, Y:-11.30, Z:-11.36 [[ 9.68289187e-01 2.33755081e-01 8.81737594e-02 9.18058534e+01] [-2.32762604e-01 9.72295461e-01 -2.15199200e-02 -1.13023038e+01] [-9.07613367e-02 3.13952066e-04 9.95872623e-01 -1.13596812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26119381699999 meters 0.061522622278786916 Centerline is valid? [True, True] Translation: X:91.87, Y:-11.32, Z:-11.36 [[ 9.70078421e-01 2.25129874e-01 9.09087276e-02 9.18655744e+01] [-2.24037479e-01 9.74328085e-01 -2.21808761e-02 -1.13235421e+01] [-9.35685043e-02 1.15022709e-03 9.95612180e-01 -1.13594986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.321193817 meters 0.06417397600208997 Centerline is valid? [True, True] Translation: X:91.92, Y:-11.34, Z:-11.37 [[ 9.71770989e-01 2.18246661e-01 8.96076957e-02 9.19216270e+01] [-2.17152586e-01 9.75891933e-01 -2.19018224e-02 -1.13426272e+01] [-9.22274270e-02 1.82501270e-03 9.95736296e-01 -1.13729113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.381193817 meters 0.06964373114558155 Centerline is valid? [True, True] Translation: X:91.98, Y:-11.37, Z:-11.38 [[ 9.75167210e-01 2.02346332e-01 9.00270759e-02 9.19775384e+01] [-2.01173640e-01 9.79308288e-01 -2.20100830e-02 -1.13706577e+01] [-9.26179212e-02 3.35243673e-03 9.95696079e-01 -1.13787247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441193817 meters 0.0748695762511165 Centerline is valid? [True, True] Translation: X:92.03, Y:-11.39, Z:-11.38 [[ 9.76867381e-01 1.92702843e-01 9.27131813e-02 9.20337314e+01] [-1.91415126e-01 9.81247293e-01 -2.26715416e-02 -1.13931506e+01] [-9.53434287e-02 4.40038421e-03 9.95434713e-01 -1.13834289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50119381699999 meters 0.07932727661842598 Centerline is valid? [True, True] Translation: X:92.09, Y:-11.40, Z:-11.39 [[ 9.78980748e-01 1.83825598e-01 8.83450325e-02 9.20930863e+01] [-1.82620682e-01 9.82946080e-01 -2.16030186e-02 -1.14028107e+01] [-9.08095912e-02 5.01530922e-03 9.95855645e-01 -1.13941018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56119381699999 meters 0.07835517073770416 Centerline is valid? [True, True] Translation: X:92.16, Y:-11.40, Z:-11.40 [[ 9.79085129e-01 1.83984460e-01 8.68448576e-02 9.21558161e+01] [-1.82821321e-01 9.82916890e-01 -2.12309216e-02 -1.14044574e+01] [-8.92674370e-02 4.90978803e-03 9.95995592e-01 -1.14024475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62119381699999 meters 0.07636783141186435 Centerline is valid? [True, True] Translation: X:92.22, Y:-11.40, Z:-11.41 [[ 9.78423411e-01 1.88011873e-01 8.56689236e-02 9.22203497e+01] [-1.86892433e-01 9.82156382e-01 -2.09776057e-02 -1.13974552e+01] [-8.80843190e-02 4.51410698e-03 9.96102794e-01 -1.14112213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.681193817 meters 0.07488986281595887 Centerline is valid? [True, True] Translation: X:92.28, Y:-11.39, Z:-11.42 [[ 9.77571081e-01 1.93554085e-01 8.30156434e-02 9.22848598e+01] [-1.92522423e-01 9.81081872e-01 -2.03341337e-02 -1.13874066e+01] [-8.53808975e-02 3.89568830e-03 9.96340768e-01 -1.14232204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.741193817 meters 0.07421130048159119 Centerline is valid? [True, True] Translation: X:92.35, Y:-11.39, Z:-11.43 [[ 9.77017510e-01 1.96964210e-01 8.14977580e-02 9.23489785e+01] [-1.95981726e-01 9.80404315e-01 -1.99635368e-02 -1.13852913e+01] [-8.38328558e-02 3.53265375e-03 9.96473568e-01 -1.14329733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801193817 meters 0.07532020766337559 Centerline is valid? [True, True] Translation: X:92.41, Y:-11.38, Z:-11.45 [[ 9.76466082e-01 1.99864430e-01 8.10444315e-02 9.24113081e+01] [-1.98901799e-01 9.79818080e-01 -1.98646788e-02 -1.13813330e+01] [-8.33790419e-02 3.27730187e-03 9.96512516e-01 -1.14450177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861193817 meters 0.0751428015767083 Centerline is valid? [True, True] Translation: X:92.47, Y:-11.38, Z:-11.45 [[ 9.76639559e-01 1.99078419e-01 8.08885382e-02 9.24746317e+01] [-1.98117520e-01 9.79977907e-01 -1.98179479e-02 -1.13837461e+01] [-8.32143061e-02 3.32955535e-03 9.96526113e-01 -1.14513544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92119381699999 meters 0.07474647033215824 Centerline is valid? [True, True] Translation: X:92.54, Y:-11.38, Z:-11.46 [[ 9.76529534e-01 1.99351944e-01 8.15406163e-02 9.25394662e+01] [-1.98374309e-01 9.79922206e-01 -2.00026095e-02 -1.13802389e+01] [-8.38910197e-02 3.35757553e-03 9.96469279e-01 -1.14577306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98119381699999 meters 0.07099929996923804 Centerline is valid? [True, True] Translation: X:92.60, Y:-11.38, Z:-11.46 [[ 9.75350793e-01 2.03915163e-01 8.43174784e-02 9.26030671e+01] [-2.02883541e-01 9.78983649e-01 -2.07191564e-02 -1.13767710e+01] [-8.67703828e-02 3.10181701e-03 9.96223509e-01 -1.14588310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04119381699999 meters 0.06636864881870748 Centerline is valid? [True, True] Translation: X:92.67, Y:-11.36, Z:-11.47 [[ 9.71922312e-01 2.19613793e-01 8.44795929e-02 9.26679683e+01] [-2.18636793e-01 9.75585393e-01 -2.07627923e-02 -1.13612795e+01] [-8.69768525e-02 1.70947385e-03 9.96208866e-01 -1.14660962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.101193817 meters 0.06424523215114647 Centerline is valid? [True, True] Translation: X:92.73, Y:-11.36, Z:-11.47 [[ 9.69670463e-01 2.29773146e-01 8.33276369e-02 9.27314080e+01] [-2.28860157e-01 9.73243897e-01 -2.04779321e-02 -1.13591726e+01] [-8.58033929e-02 7.86469773e-04 9.96311778e-01 -1.14728537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161193817 meters 0.06430712342355749 Centerline is valid? [True, True] Translation: X:92.79, Y:-11.36, Z:-11.49 [[ 9.68427243e-01 2.35346678e-01 8.22229671e-02 9.27929832e+01] [-2.34478364e-01 9.71911447e-01 -2.01998875e-02 -1.13634764e+01] [-8.46674194e-02 2.82614593e-04 9.96409227e-01 -1.14864540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221193817 meters 0.06397079826081016 Centerline is valid? [True, True] Translation: X:92.85, Y:-11.38, Z:-11.49 [[ 9.69060421e-01 2.32729232e-01 8.22131636e-02 9.28533827e+01] [-2.31849345e-01 9.72541420e-01 -2.02254002e-02 -1.13801867e+01] [-8.46627488e-02 5.38566689e-04 9.96409519e-01 -1.14895342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28119381699999 meters 0.06393819740652051 Centerline is valid? [True, True] Translation: X:92.91, Y:-11.41, Z:-11.49 [[ 9.69997229e-01 2.27370072e-01 8.60710518e-02 9.29105034e+01] [-2.26381775e-01 9.73807824e-01 -2.12041061e-02 -1.14066431e+01] [-8.86378427e-02 1.08300667e-03 9.96063331e-01 -1.14941385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34119381699999 meters 0.06446270899199634 Centerline is valid? [True, True] Translation: X:92.97, Y:-11.43, Z:-11.50 [[ 9.71038965e-01 2.22538578e-01 8.69477434e-02 9.29683241e+01] [-2.21508129e-01 9.74922625e-01 -2.14481724e-02 -1.14293721e+01] [-8.95403681e-02 1.56737917e-03 9.95981961e-01 -1.14996578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40119381699999 meters 0.06645620158871451 Centerline is valid? [True, True] Translation: X:93.02, Y:-11.45, Z:-11.51 [[ 9.72209776e-01 2.16588501e-01 8.88682858e-02 9.30247096e+01] [-2.15483908e-01 9.76260516e-01 -2.19565391e-02 -1.14539979e+01] [-9.15141325e-02 2.19667645e-03 9.95801355e-01 -1.15089390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.461193817 meters 0.06660513533068241 Centerline is valid? [True, True] Translation: X:93.08, Y:-11.47, Z:-11.51 [[ 9.73004370e-01 2.12695954e-01 8.95707929e-02 9.30840690e+01] [-2.11556310e-01 9.77114989e-01 -2.21410366e-02 -1.14709746e+01] [-9.22302732e-02 2.59405895e-03 9.95734326e-01 -1.15137385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.521193817 meters 0.06758622910830386 Centerline is valid? [True, True] Translation: X:93.14, Y:-11.49, Z:-11.53 [[ 9.73375157e-01 2.12367178e-01 8.62611468e-02 9.31424420e+01] [-2.11306741e-01 9.77186605e-01 -2.13494663e-02 -1.14865101e+01] [-8.88271631e-02 2.55347833e-03 9.96043782e-01 -1.15259421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581193817 meters 0.06651214201354665 Centerline is valid? [True, True] Translation: X:93.20, Y:-11.50, Z:-11.53 [[ 9.72363571e-01 2.16821643e-01 8.65878791e-02 9.32034156e+01] [-2.15767793e-01 9.76208785e-01 -2.14631752e-02 -1.14954039e+01] [-8.91815292e-02 2.18713403e-03 9.96012988e-01 -1.15333483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64119381699999 meters 0.06603496583177555 Centerline is valid? [True, True] Translation: X:93.26, Y:-11.50, Z:-11.54 [[ 9.71847901e-01 2.19713653e-01 8.50738914e-02 9.32643779e+01] [-2.18707282e-01 9.75562575e-01 -2.10899547e-02 -1.15002994e+01] [-8.76286556e-02 1.88994866e-03 9.96151418e-01 -1.15432818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70119381699999 meters 0.06798097252545587 Centerline is valid? [True, True] Translation: X:93.32, Y:-11.52, Z:-11.55 [[ 9.72916171e-01 2.15515146e-01 8.35903493e-02 9.33212318e+01] [-2.14526444e-01 9.76497910e-01 -2.07421448e-02 -1.15163968e+01] [-8.60960477e-02 2.24802769e-03 9.96284305e-01 -1.15531648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76119381699999 meters 0.07356440123888582 Centerline is valid? [True, True] Translation: X:93.38, Y:-11.54, Z:-11.55 [[ 9.76712402e-01 1.96481146e-01 8.61860978e-02 9.33775340e+01] [-1.95355816e-01 9.80499235e-01 -2.13858843e-02 -1.15439573e+01] [-8.87073259e-02 4.05090296e-03 9.96049497e-01 -1.15545159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.821193817 meters 0.08429623114250624 Centerline is valid? [True, True] Translation: X:93.43, Y:-11.57, Z:-11.56 [[ 9.79604663e-01 1.81577153e-01 8.60490700e-02 9.34311509e+01] [-1.80397931e-01 9.83361906e-01 -2.13529469e-02 -1.15746646e+01] [-8.84945847e-02 5.39437218e-03 9.96062051e-01 -1.15639541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.881193817 meters 0.08787947504053856 Centerline is valid? [True, True] Translation: X:93.49, Y:-11.58, Z:-11.56 [[ 9.81040860e-01 1.71114150e-01 9.09877906e-02 9.34917360e+01] [-1.69750417e-01 9.85228390e-01 -2.25791002e-02 -1.15834012e+01] [-9.35073579e-02 6.70580448e-03 9.95596006e-01 -1.15629877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941193817 meters 0.08503540086115126 Centerline is valid? [True, True] Translation: X:93.55, Y:-11.58, Z:-11.57 [[ 9.79925026e-01 1.76381291e-01 9.29332183e-02 9.35541097e+01] [-1.74981637e-01 9.84301500e-01 -2.30647712e-02 -1.15819671e+01] [-9.55425003e-02 6.34013979e-03 9.95405160e-01 -1.15692159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00119381699999 meters 0.0742777167990265 Centerline is valid? [True, True] Translation: X:93.62, Y:-11.56, Z:-11.58 [[ 9.76730857e-01 1.95144975e-01 8.89678185e-02 9.36219528e+01] [-1.93939725e-01 9.80764928e-01 -2.20802729e-02 -1.15552745e+01] [-9.15653705e-02 4.31208967e-03 9.95789731e-01 -1.15806867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06119381699999 meters 0.06612300540399704 Centerline is valid? [True, True] Translation: X:93.69, Y:-11.52, Z:-11.59 [[ 9.72776689e-01 2.15085082e-01 8.62781549e-02 9.36913472e+01] [-2.14029506e-01 9.76592451e-01 -2.14139206e-02 -1.15244671e+01] [-8.88644096e-02 2.36489197e-03 9.96040925e-01 -1.15929574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12119381699999 meters 0.06530542444130537 Centerline is valid? [True, True] Translation: X:93.75, Y:-11.52, Z:-11.61 [[ 9.70964174e-01 2.23623555e-01 8.49769277e-02 9.37530597e+01] [-2.22632321e-01 9.74674344e-01 -2.10896453e-02 -1.15228911e+01] [-8.75409727e-02 1.55867930e-03 9.96159700e-01 -1.16067924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.181193817 meters 0.06394711608364859 Centerline is valid? [True, True] Translation: X:93.82, Y:-11.52, Z:-11.62 [[ 9.69273298e-01 2.32753724e-01 7.95925759e-02 9.38175059e+01] [-2.31914756e-01 9.72535463e-01 -1.97564894e-02 -1.15150562e+01] [-8.20049991e-02 6.90744763e-04 9.96631679e-01 -1.16183169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.241193817 meters 0.06348110743571163 Centerline is valid? [True, True] Translation: X:93.88, Y:-11.52, Z:-11.62 [[ 9.68470609e-01 2.36420566e-01 7.85493202e-02 9.38788519e+01] [-2.35614989e-01 9.71650745e-01 -1.95040157e-02 -1.15171317e+01] [-8.09336559e-02 3.81668737e-04 9.96719418e-01 -1.16227114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301193817 meters 0.06296716064408146 Centerline is valid? [True, True] Translation: X:93.94, Y:-11.53, Z:-11.63 [[ 9.67868282e-01 2.37903532e-01 8.14426076e-02 9.39368171e+01] [-2.37042957e-01 9.71288752e-01 -2.02187163e-02 -1.15315703e+01] [-8.39143927e-02 2.63657728e-04 9.96472932e-01 -1.16260704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361193817 meters 0.06248029760377175 Centerline is valid? [True, True] Translation: X:93.99, Y:-11.55, Z:-11.63 [[ 9.67705229e-01 2.38148965e-01 8.26538533e-02 9.39936870e+01] [-2.37263761e-01 9.71228609e-01 -2.05157595e-02 -1.15482662e+01] [-8.51615939e-02 2.42443718e-04 9.96367123e-01 -1.16304216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42119381699999 meters 0.06273015476172647 Centerline is valid? [True, True] Translation: X:94.05, Y:-11.57, Z:-11.64 [[ 9.68733004e-01 2.33506697e-01 8.38509896e-02 9.40507475e+01] [-2.32578831e-01 9.72354974e-01 -2.08060596e-02 -1.15720431e+01] [-8.63912810e-02 6.53551486e-04 9.96261070e-01 -1.16359852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48119381699999 meters 0.06384072488153482 Centerline is valid? [True, True] Translation: X:94.11, Y:-11.60, Z:-11.65 [[ 9.70294447e-01 2.26808951e-01 8.41806694e-02 9.41050658e+01] [-2.25848580e-01 9.73938460e-01 -2.08876566e-02 -1.16028761e+01] [-8.67242990e-02 1.25509249e-03 9.96231560e-01 -1.16454233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54119381699999 meters 0.0675121014332664 Centerline is valid? [True, True] Translation: X:94.16, Y:-11.64, Z:-11.65 [[ 9.72946584e-01 2.14455717e-01 8.59284034e-02 9.41572244e+01] [-2.13405256e-01 9.76730706e-01 -2.13383323e-02 -1.16407159e+01] [-8.85050375e-02 2.42348454e-03 9.96072781e-01 -1.16518641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.601193817 meters 0.06774230029549656 Centerline is valid? [True, True] Translation: X:94.22, Y:-11.66, Z:-11.65 [[ 9.73393081e-01 2.11371001e-01 8.84771750e-02 9.42164017e+01] [-2.10244254e-01 9.77401931e-01 -2.19731537e-02 -1.16624759e+01] [-9.11222492e-02 2.78669809e-03 9.95835815e-01 -1.16531394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661193817 meters 0.06657967133198821 Centerline is valid? [True, True] Translation: X:94.28, Y:-11.67, Z:-11.66 [[ 9.72949218e-01 2.12701375e-01 9.01551110e-02 9.42779671e+01] [-2.11534020e-01 9.77113397e-01 -2.24224989e-02 -1.16738501e+01] [-9.28610630e-02 2.74507971e-03 9.95675292e-01 -1.16581529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721193817 meters 0.06787192502624767 Centerline is valid? [True, True] Translation: X:94.34, Y:-11.68, Z:-11.68 [[ 9.72614608e-01 2.17028124e-01 8.31842423e-02 9.43357403e+01] [-2.16049568e-01 9.76162961e-01 -2.06992457e-02 -1.16849365e+01] [-8.56936947e-02 2.16046918e-03 9.96319187e-01 -1.16784985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78119381699999 meters 0.0653319259721959 Centerline is valid? [True, True] Translation: X:94.40, Y:-11.69, Z:-11.68 [[ 9.72078765e-01 2.20516084e-01 8.02217630e-02 9.43985698e+01] [-2.19618547e-01 9.75381715e-01 -1.99550687e-02 -1.16898242e+01] [-8.26472544e-02 1.77971151e-03 9.96577274e-01 -1.16809985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84119381699999 meters 0.06518561366651546 Centerline is valid? [True, True] Translation: X:94.46, Y:-11.70, Z:-11.69 [[ 9.71414687e-01 2.23189879e-01 8.08689328e-02 9.44575949e+01] [-2.22284734e-01 9.74773689e-01 -2.01432950e-02 -1.17023205e+01] [-8.33246875e-02 1.59156342e-03 9.96521181e-01 -1.16901808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90119381699999 meters 0.06444932816895246 Centerline is valid? [True, True] Translation: X:94.52, Y:-11.71, Z:-11.70 [[ 9.70294826e-01 2.28047765e-01 8.07599394e-02 9.45180372e+01] [-2.27159904e-01 9.73649212e-01 -2.01392874e-02 -1.17139863e+01] [-8.32245709e-02 1.19562633e-03 9.96530101e-01 -1.16975371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.961193817 meters 0.06402957275605277 Centerline is valid? [True, True] Translation: X:94.58, Y:-11.73, Z:-11.70 [[ 9.69382516e-01 2.31480621e-01 8.19405936e-02 9.45767611e+01] [-2.30576506e-01 9.72839060e-01 -2.04606295e-02 -1.17301017e+01] [-8.44512493e-02 9.40600726e-04 9.96427168e-01 -1.17047641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.021193817 meters 0.06377028220287308 Centerline is valid? [True, True] Translation: X:94.64, Y:-11.75, Z:-11.71 [[ 9.69180157e-01 2.31580866e-01 8.40245536e-02 9.46352428e+01] [-2.30628381e-01 9.72815164e-01 -2.10049071e-02 -1.17517618e+01] [-8.66046945e-02 9.79092459e-04 9.96242274e-01 -1.17096928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081193817 meters 0.0648577160821923 Centerline is valid? [True, True] Translation: X:94.69, Y:-11.79, Z:-11.72 [[ 9.70309321e-01 2.26493715e-01 8.48552781e-02 9.46897312e+01] [-2.25500444e-01 9.74011511e-01 -2.12397211e-02 -1.17865221e+01] [-8.74606810e-02 1.47419641e-03 9.96166882e-01 -1.17168715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14119381699999 meters 0.06546000116454052 Centerline is valid? [True, True] Translation: X:94.75, Y:-11.81, Z:-11.73 [[ 9.70946828e-01 2.24364439e-01 8.32036956e-02 9.47466184e+01] [-2.23399773e-01 9.74503903e-01 -2.08490797e-02 -1.18108079e+01] [-8.57601182e-02 1.65566113e-03 9.96314439e-01 -1.17250250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20119381699999 meters 0.06453034511057029 Centerline is valid? [True, True] Translation: X:94.81, Y:-11.83, Z:-11.73 [[ 9.69748567e-01 2.29501292e-01 8.31677413e-02 9.48066061e+01] [-2.28554334e-01 9.73307588e-01 -2.08627879e-02 -1.18253882e+01] [-8.57358304e-02 1.22331091e-03 9.96317154e-01 -1.17323695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26119381699999 meters 0.06407962025501326 Centerline is valid? [True, True] Translation: X:94.87, Y:-11.84, Z:-11.74 [[ 9.68924365e-01 2.32915888e-01 8.32812405e-02 9.48666987e+01] [-2.31976738e-01 9.72496423e-01 -2.09165166e-02 -1.18395282e+01] [-8.58624975e-02 9.47212038e-04 9.96306546e-01 -1.17395088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.321193817 meters 0.06334129090906739 Centerline is valid? [True, True] Translation: X:94.93, Y:-11.85, Z:-11.75 [[ 9.66422219e-01 2.43317271e-01 8.26123463e-02 9.49271885e+01] [-2.42428819e-01 9.69946753e-01 -2.07741249e-02 -1.18459305e+01] [-8.51842804e-02 4.89623530e-05 9.96365212e-01 -1.17474063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.381193817 meters 0.06359382701060076 Centerline is valid? [True, True] Translation: X:94.99, Y:-11.86, Z:-11.76 [[ 9.64894124e-01 2.49249622e-01 8.27886234e-02 9.49893669e+01] [-2.48377339e-01 9.68439166e-01 -2.08393479e-02 -1.18562783e+01] [-8.53699450e-02 -4.55053637e-04 9.96349219e-01 -1.17561069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441193817 meters 0.0644058624741098 Centerline is valid? [True, True] Translation: X:95.05, Y:-11.87, Z:-11.77 [[ 9.64557073e-01 2.51573024e-01 7.96283044e-02 9.50469905e+01] [-2.50771050e-01 9.67838134e-01 -2.00805103e-02 -1.18746257e+01] [-8.21190243e-02 -5.99675259e-04 9.96622349e-01 -1.17687943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50119381699999 meters 0.06417740763190492 Centerline is valid? [True, True] Translation: X:95.10, Y:-11.90, Z:-11.78 [[ 9.65647691e-01 2.47161906e-01 8.02217453e-02 9.51026393e+01] [-2.46333114e-01 9.68974168e-01 -2.02251788e-02 -1.19006807e+01] [-8.27316927e-02 -2.30875068e-04 9.96571831e-01 -1.17777001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56119381699999 meters 0.06493606396213489 Centerline is valid? [True, True] Translation: X:95.15, Y:-11.94, Z:-11.79 [[ 9.68137909e-01 2.37413415e-01 7.96483474e-02 9.51546519e+01] [-2.36561687e-01 9.71408507e-01 -2.01017765e-02 -1.19424062e+01] [-8.21435136e-02 6.19544419e-04 9.96620319e-01 -1.17864245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62119381699999 meters 0.0653467345459422 Centerline is valid? [True, True] Translation: X:95.21, Y:-11.98, Z:-11.78 [[ 9.70608681e-01 2.27038631e-01 7.98263678e-02 9.52108179e+01] [-2.26145695e-01 9.73884553e-01 -2.01743064e-02 -1.19778019e+01] [-8.23220135e-02 1.52896754e-03 9.96604610e-01 -1.17843363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.681193817 meters 0.06644527051195429 Centerline is valid? [True, True] Translation: X:95.27, Y:-12.00, Z:-11.79 [[ 9.71759204e-01 2.21637575e-01 8.09989820e-02 9.52686681e+01] [-2.20699476e-01 9.75127029e-01 -2.04699292e-02 -1.20029187e+01] [-8.35212022e-02 2.01540927e-03 9.96503962e-01 -1.17887116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.741193817 meters 0.0688182271187978 Centerline is valid? [True, True] Translation: X:95.32, Y:-12.03, Z:-11.80 [[ 9.73089408e-01 2.16033686e-01 8.01651434e-02 9.53235502e+01] [-2.15092836e-01 9.76382694e-01 -2.02955093e-02 -1.20274265e+01] [-8.26563724e-02 2.50639713e-03 9.96574956e-01 -1.17974530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801193817 meters 0.07271916814766251 Centerline is valid? [True, True] Translation: X:95.38, Y:-12.05, Z:-11.80 [[ 9.74930329e-01 2.05950330e-01 8.42336906e-02 9.53810421e+01] [-2.04873856e-01 9.78556071e-01 -2.13241300e-02 -1.20510249e+01] [-8.68191010e-02 3.53226012e-03 9.96217831e-01 -1.18010538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861193817 meters 0.07534981532450846 Centerline is valid? [True, True] Translation: X:95.44, Y:-12.06, Z:-11.81 [[ 9.75625310e-01 2.01024095e-01 8.80032304e-02 9.54408624e+01] [-1.99829133e-01 9.79577519e-01 -2.22756034e-02 -1.20634260e+01] [-9.06839191e-02 4.14703328e-03 9.95871091e-01 -1.18063370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92119381699999 meters 0.07515637310671505 Centerline is valid? [True, True] Translation: X:95.50, Y:-12.07, Z:-11.81 [[ 9.75208363e-01 2.03117289e-01 8.78180799e-02 9.55017721e+01] [-2.01933350e-01 9.79146363e-01 -2.22558131e-02 -1.20694855e+01] [-9.05072940e-02 3.97065603e-03 9.95887877e-01 -1.18146015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98119381699999 meters 0.06727182104249674 Centerline is valid? [True, True] Translation: X:95.57, Y:-12.05, Z:-11.82 [[ 9.72552603e-01 2.14863886e-01 8.93025503e-02 9.55692867e+01] [-2.13686921e-01 9.76639559e-01 -2.26510762e-02 -1.20519353e+01] [-9.20833016e-02 2.94657611e-03 9.95746947e-01 -1.18181679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04119381699999 meters 0.06447566388015016 Centerline is valid? [True, True] Translation: X:95.63, Y:-12.04, Z:-11.83 [[ 9.70164231e-01 2.26969853e-01 8.52411327e-02 9.56316809e+01] [-2.25944042e-01 9.73900269e-01 -2.16230560e-02 -1.20434026e+01] [-8.79241439e-02 1.71818950e-03 9.96125691e-01 -1.18322742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.101193817 meters 0.06292885211052839 Centerline is valid? [True, True] Translation: X:95.70, Y:-12.03, Z:-11.84 [[ 9.67160474e-01 2.41028386e-01 8.06593680e-02 9.56986824e+01] [-2.40159832e-01 9.70517982e-01 -2.04475450e-02 -1.20330920e+01] [-8.32098058e-02 4.04917082e-04 9.96531969e-01 -1.18440732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161193817 meters 0.06390128090266235 Centerline is valid? [True, True] Translation: X:95.76, Y:-12.04, Z:-11.86 [[ 9.66255177e-01 2.45645321e-01 7.75197330e-02 9.57576524e+01] [-2.44855653e-01 9.69359776e-01 -1.96808017e-02 -1.20427596e+01] [-7.99790078e-02 3.55316453e-05 9.96796547e-01 -1.18602855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221193817 meters 0.06417315340450161 Centerline is valid? [True, True] Translation: X:95.82, Y:-12.06, Z:-11.87 [[ 9.65004278e-01 2.50337549e-01 7.80887691e-02 9.58150503e+01] [-2.49548725e-01 9.68158566e-01 -1.98601584e-02 -1.20554986e+01] [-8.05740541e-02 -3.21814971e-04 9.96748573e-01 -1.18695209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28119381699999 meters 0.06336239144525926 Centerline is valid? [True, True] Translation: X:95.87, Y:-12.07, Z:-11.87 [[ 9.64564627e-01 2.51413717e-01 8.00388908e-02 9.58748046e+01] [-2.50588978e-01 9.67879621e-01 -2.03519744e-02 -1.20714724e+01] [-8.25847768e-02 -4.26069199e-04 9.96583952e-01 -1.18710053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34119381699999 meters 0.0627335997122789 Centerline is valid? [True, True] Translation: X:95.93, Y:-12.10, Z:-11.88 [[ 9.65479779e-01 2.46731312e-01 8.35012322e-02 9.59316678e+01] [-2.45815771e-01 9.69083928e-01 -2.12355306e-02 -1.20977979e+01] [-8.61591724e-02 -2.34443437e-05 9.96281384e-01 -1.18754623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40119381699999 meters 0.06269833737196659 Centerline is valid? [True, True] Translation: X:95.99, Y:-12.13, Z:-11.88 [[ 9.67214097e-01 2.38550004e-01 8.71251177e-02 9.59874364e+01] [-2.37520008e-01 9.71129937e-01 -2.21560786e-02 -1.21286101e+01] [-8.98951427e-02 7.35712979e-04 9.95950964e-01 -1.18804889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.461193817 meters 0.06647628902150518 Centerline is valid? [True, True] Translation: X:96.04, Y:-12.17, Z:-11.89 [[ 9.71049214e-01 2.21699634e-01 8.89533374e-02 9.60382362e+01] [-2.20551785e-01 9.75112096e-01 -2.26563431e-02 -1.21724397e+01] [-9.17623783e-02 2.38160682e-03 9.95778085e-01 -1.18869564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.521193817 meters 0.06942116351486857 Centerline is valid? [True, True] Translation: X:96.09, Y:-12.20, Z:-11.89 [[ 9.73236293e-01 2.12560702e-01 8.73445263e-02 9.60940686e+01] [-2.11417138e-01 9.77142666e-01 -2.22486687e-02 -1.21985677e+01] [-9.00772559e-02 3.18708213e-03 9.95929681e-01 -1.18938737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581193817 meters 0.0710142589330355 Centerline is valid? [True, True] Translation: X:96.15, Y:-12.22, Z:-11.90 [[ 9.75004843e-01 2.04394097e-01 8.71126284e-02 9.61508366e+01] [-2.03224018e-01 9.78880785e-01 -2.21902661e-02 -1.22204464e+01] [-8.98084374e-02 3.93223854e-03 9.95951295e-01 -1.18974971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64119381699999 meters 0.07216357845685296 Centerline is valid? [True, True] Translation: X:96.21, Y:-12.24, Z:-11.90 [[ 9.75425178e-01 2.00785219e-01 9.07249540e-02 9.62095369e+01] [-1.99500864e-01 9.79625241e-01 -2.31039268e-02 -1.22398175e+01] [-9.35153819e-02 4.43644521e-03 9.95607951e-01 -1.19027652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70119381699999 meters 0.0769515694775961 Centerline is valid? [True, True] Translation: X:96.27, Y:-12.25, Z:-11.91 [[ 9.76574191e-01 1.95358245e-01 9.02108908e-02 9.62671428e+01] [-1.94061920e-01 9.80719384e-01 -2.30100367e-02 -1.22527010e+01] [-9.29667696e-02 4.96450935e-03 9.95656835e-01 -1.19139320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76119381699999 meters 0.0749500094614829 Centerline is valid? [True, True] Translation: X:96.33, Y:-12.26, Z:-11.92 [[ 9.77327669e-01 1.92195203e-01 8.88348514e-02 9.63288233e+01] [-1.90925449e-01 9.81343034e-01 -2.26566328e-02 -1.22590599e+01] [-9.15319587e-02 5.18212021e-03 9.95788655e-01 -1.19189905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.821193817 meters 0.07728847373991671 Centerline is valid? [True, True] Translation: X:96.39, Y:-12.28, Z:-11.93 [[ 9.77619222e-01 1.89481295e-01 9.14193393e-02 9.63877260e+01] [-1.88124746e-01 9.81868397e-01 -2.33137420e-02 -1.22754894e+01] [-9.41792782e-02 5.59372234e-03 9.95539539e-01 -1.19251720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.881193817 meters 0.07712923050235876 Centerline is valid? [True, True] Translation: X:96.45, Y:-12.27, Z:-11.94 [[ 9.76911055e-01 1.94663808e-01 8.80385865e-02 9.64491763e+01] [-1.93423939e-01 9.80857601e-01 -2.24843570e-02 -1.22724345e+01] [-9.07302073e-02 4.93644674e-03 9.95863274e-01 -1.19372091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941193817 meters 0.07197921322016414 Centerline is valid? [True, True] Translation: X:96.51, Y:-12.26, Z:-11.95 [[ 9.75688122e-01 2.02008884e-01 8.50005842e-02 9.65137387e+01] [-2.00881084e-01 9.79375086e-01 -2.17078528e-02 -1.22644994e+01] [-8.76326336e-02 4.10508464e-03 9.96144402e-01 -1.19465700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00119381699999 meters 0.06741783405342848 Centerline is valid? [True, True] Translation: X:96.58, Y:-12.25, Z:-11.96 [[ 9.72934404e-01 2.15353197e-01 8.37952618e-02 9.65770904e+01] [-2.14306142e-01 9.76532021e-01 -2.14030483e-02 -1.22533953e+01] [-8.64379712e-02 2.86592283e-03 9.96253112e-01 -1.19570315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06119381699999 meters 0.06500621066498817 Centerline is valid? [True, True] Translation: X:96.64, Y:-12.25, Z:-11.96 [[ 9.71413960e-01 2.21884047e-01 8.43942372e-02 9.66406917e+01] [-2.20846780e-01 9.75070350e-01 -2.15525386e-02 -1.22495640e+01] [-8.70724829e-02 2.29824129e-03 9.96199328e-01 -1.19631551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12119381699999 meters 0.06171348784822714 Centerline is valid? [True, True] Translation: X:96.70, Y:-12.24, Z:-11.97 [[ 9.68461126e-01 2.33279469e-01 8.75427659e-02 9.67047954e+01] [-2.32209237e-01 9.72408829e-01 -2.23593193e-02 -1.22421248e+01] [-9.03433286e-02 1.32589276e-03 9.95909798e-01 -1.19681639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.181193817 meters 0.061148805937872794 Centerline is valid? [True, True] Translation: X:96.76, Y:-12.25, Z:-11.98 [[ 9.67621753e-01 2.36410630e-01 8.84203482e-02 9.67636714e+01] [-2.35331705e-01 9.71652675e-01 -2.25846752e-02 -1.22527563e+01] [-9.12531252e-02 1.04531172e-03 9.95827181e-01 -1.19762104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.241193817 meters 0.059618484745933835 Centerline is valid? [True, True] Translation: X:96.82, Y:-12.26, Z:-11.98 [[ 9.65370332e-01 2.44142867e-01 9.19477182e-02 9.68235784e+01] [-2.43011396e-01 9.69739221e-01 -2.34798863e-02 -1.22605942e+01] [-9.48977553e-02 3.22442299e-04 9.95486972e-01 -1.19783467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301193817 meters 0.0598044671143512 Centerline is valid? [True, True] Translation: X:96.88, Y:-12.27, Z:-11.99 [[ 9.63541498e-01 2.51498679e-01 9.13027674e-02 9.68811726e+01] [-2.50416210e-01 9.67857559e-01 -2.33124086e-02 -1.22694017e+01] [-9.42311135e-02 -4.01219815e-04 9.95550268e-01 -1.19860830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361193817 meters 0.061708838065991464 Centerline is valid? [True, True] Translation: X:96.94, Y:-12.29, Z:-12.00 [[ 9.61101407e-01 2.61622732e-01 8.85303982e-02 9.69364021e+01] [-2.60648617e-01 9.65169261e-01 -2.25963720e-02 -1.22852513e+01] [-9.13585436e-02 -1.35792099e-03 9.95817138e-01 -1.19986721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42119381699999 meters 0.06130994279227388 Centerline is valid? [True, True] Translation: X:96.99, Y:-12.31, Z:-12.00 [[ 9.60535989e-01 2.63664531e-01 8.86094144e-02 9.69898916e+01] [-2.62697784e-01 9.64613180e-01 -2.26116562e-02 -1.23123635e+01] [-9.14357008e-02 -1.55818728e-03 9.95809763e-01 -1.20019194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48119381699999 meters 0.0607462609755602 Centerline is valid? [True, True] Translation: X:97.04, Y:-12.35, Z:-12.01 [[ 9.61014100e-01 2.61486288e-01 8.98711400e-02 9.70412391e+01] [-2.60483280e-01 9.65206203e-01 -2.29226213e-02 -1.23521831e+01] [-9.27381330e-02 -1.38096707e-03 9.95689576e-01 -1.20088225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54119381699999 meters 0.06134816936527324 Centerline is valid? [True, True] Translation: X:97.10, Y:-12.39, Z:-12.02 [[ 9.60776021e-01 2.62987587e-01 8.80168540e-02 9.70951292e+01] [-2.62032725e-01 9.64798046e-01 -2.24406050e-02 -1.23908803e+01] [-9.08200894e-02 -1.50290093e-03 9.95866182e-01 -1.20186885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.601193817 meters 0.06450693362947547 Centerline is valid? [True, True] Translation: X:97.15, Y:-12.41, Z:-12.03 [[ 9.59209176e-01 2.69440728e-01 8.55537873e-02 9.71499788e+01] [-2.68561094e-01 9.63014857e-01 -2.18477623e-02 -1.24133923e+01] [-8.82762452e-02 -2.01984467e-03 9.96093984e-01 -1.20332746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.661193817 meters 0.06843228920588963 Centerline is valid? [True, True] Translation: X:97.21, Y:-12.44, Z:-12.04 [[ 9.55559904e-01 2.82576620e-01 8.39983533e-02 9.72062045e+01] [-2.81779176e-01 9.59239486e-01 -2.14500523e-02 -1.24378781e+01] [-8.66358205e-02 -3.17217681e-03 9.96234998e-01 -1.20381782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721193817 meters 0.07010103859438427 Centerline is valid? [True, True] Translation: X:97.26, Y:-12.46, Z:-12.04 [[ 9.53482975e-01 2.89412408e-01 8.43248156e-02 9.72629003e+01] [-2.88635255e-01 9.57196933e-01 -2.15342066e-02 -1.24624920e+01] [-8.69477214e-02 -3.80661532e-03 9.96205603e-01 -1.20428583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78119381699999 meters 0.06777226485361097 Centerline is valid? [True, True] Translation: X:97.32, Y:-12.51, Z:-12.05 [[ 9.54109868e-01 2.87536794e-01 8.36477883e-02 9.73155649e+01] [-2.86764933e-01 9.57762802e-01 -2.13609123e-02 -1.25095973e+01] [-8.62567884e-02 -3.60659522e-03 9.96266410e-01 -1.20467061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84119381699999 meters 0.06511880332467047 Centerline is valid? [True, True] Translation: X:97.37, Y:-12.55, Z:-12.05 [[ 9.56349716e-01 2.80020998e-01 8.35671104e-02 9.73682336e+01] [-2.79220857e-01 9.59989457e-01 -2.13531258e-02 -1.25491359e+01] [-8.62028686e-02 -2.91262438e-03 9.96273347e-01 -1.20537986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90119381699999 meters 0.0615178385026278 Centerline is valid? [True, True] Translation: X:97.42, Y:-12.60, Z:-12.06 [[ 9.60080930e-01 2.66290180e-01 8.56396397e-02 9.74175980e+01] [-2.65394992e-01 9.63891378e-01 -2.18840008e-02 -1.26006993e+01] [-8.83748049e-02 -1.71791964e-03 9.96085811e-01 -1.20604651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.961193817 meters 0.06034593930381478 Centerline is valid? [True, True] Translation: X:97.47, Y:-12.65, Z:-12.07 [[ 9.63010333e-01 2.55976269e-01 8.41857933e-02 9.74675668e+01] [-2.55071846e-01 9.66682770e-01 -2.15122410e-02 -1.26515037e+01] [-8.68875790e-02 -7.56915310e-04 9.96217835e-01 -1.20695577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.021193817 meters 0.060140223137834826 Centerline is valid? [True, True] Translation: X:97.52, Y:-12.68, Z:-12.08 [[ 9.64461724e-01 2.50713673e-01 8.34040638e-02 9.75223424e+01] [-2.49806620e-01 9.68061245e-01 -2.13091202e-02 -1.26843826e+01] [-8.60827296e-02 -2.83056501e-04 9.96287952e-01 -1.20785749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081193817 meters 0.06026679871246196 Centerline is valid? [True, True] Translation: X:97.58, Y:-12.72, Z:-12.08 [[ 9.65995852e-01 2.44329826e-01 8.45869324e-02 9.75779816e+01] [-2.43369786e-01 9.69692134e-01 -2.16405397e-02 -1.27150903e+01] [-8.73107123e-02 3.18767993e-04 9.96181077e-01 -1.20847123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14119381699999 meters 0.0613713496520356 Centerline is valid? [True, True] Translation: X:97.63, Y:-12.75, Z:-12.09 [[ 9.68887681e-01 2.32799964e-01 8.40287982e-02 9.76314307e+01] [-2.31807012e-01 9.72523669e-01 -2.15225915e-02 -1.27547030e+01] [-8.67304537e-02 1.37450914e-03 9.96230866e-01 -1.20874632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20119381699999 meters 0.06450496646368566 Centerline is valid? [True, True] Translation: X:97.69, Y:-12.78, Z:-12.10 [[ 9.71450226e-01 2.22179004e-01 8.31922339e-02 9.76859901e+01] [-2.21163888e-01 9.75003099e-01 -2.13422308e-02 -1.27828161e+01] [-8.58544814e-02 2.33379703e-03 9.96304954e-01 -1.20958277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26119381699999 meters 0.06556742308628326 Centerline is valid? [True, True] Translation: X:97.75, Y:-12.80, Z:-12.10 [[ 9.72630428e-01 2.16694428e-01 8.38664080e-02 9.77453215e+01] [-2.15643058e-01 9.76235369e-01 -2.15076014e-02 -1.28005219e+01] [-8.65339311e-02 2.83373890e-03 9.96244874e-01 -1.20992138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.321193817 meters 0.06807348189648296 Centerline is valid? [True, True] Translation: X:97.80, Y:-12.81, Z:-12.11 [[ 9.73756230e-01 2.12209030e-01 8.22564971e-02 9.78034691e+01] [-2.11178851e-01 9.77219047e-01 -2.11288321e-02 -1.28134776e+01] [-8.48663447e-02 3.20349935e-03 9.96387194e-01 -1.21089538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.381193817 meters 0.0679673357835113 Centerline is valid? [True, True] Translation: X:97.87, Y:-12.82, Z:-12.11 [[ 9.73455819e-01 2.12470108e-01 8.50894938e-02 9.78666657e+01] [-2.11369237e-01 9.77162049e-01 -2.18489102e-02 -1.28162547e+01] [-8.77884645e-02 3.28364735e-03 9.96133728e-01 -1.21135853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441193817 meters 0.06700792478950894 Centerline is valid? [True, True] Translation: X:97.93, Y:-12.82, Z:-12.12 [[ 9.72855223e-01 2.14441300e-01 8.69922036e-02 9.79291737e+01] [-2.13295068e-01 9.76731598e-01 -2.23740976e-02 -1.28201664e+01] [-8.97659646e-02 3.21174974e-03 9.95957708e-01 -1.21190380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50119381699999 meters 0.06744944837833818 Centerline is valid? [True, True] Translation: X:97.99, Y:-12.82, Z:-12.13 [[ 9.72344357e-01 2.17756596e-01 8.44305398e-02 9.79907205e+01] [-2.16689641e-01 9.75999040e-01 -2.17134513e-02 -1.28199759e+01] [-8.71323730e-02 2.81772849e-03 9.96192757e-01 -1.21325017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56119381699999 meters 0.06543435785999137 Centerline is valid? [True, True] Translation: X:98.06, Y:-12.82, Z:-12.14 [[ 9.72018767e-01 2.18830098e-01 8.53985059e-02 9.80555474e+01] [-2.17740459e-01 9.75759026e-01 -2.19866912e-02 -1.28164472e+01] [-8.81397127e-02 2.77676655e-03 9.96104252e-01 -1.21377327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62119381699999 meters 0.06903294792220063 Centerline is valid? [True, True] Translation: X:98.11, Y:-12.83, Z:-12.15 [[ 9.72463542e-01 2.16810793e-01 8.54853156e-02 9.81135450e+01] [-2.15708509e-01 9.76209059e-01 -2.20388666e-02 -1.28323981e+01] [-8.82298037e-02 2.99208427e-03 9.96095653e-01 -1.21505413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.681193817 meters 0.06910767184691295 Centerline is valid? [True, True] Translation: X:98.18, Y:-12.84, Z:-12.15 [[ 9.73339438e-01 2.11896896e-01 8.78068599e-02 9.81768639e+01] [-2.10710707e-01 9.77285523e-01 -2.26716624e-02 -1.28371571e+01] [-9.06164279e-02 3.56537758e-03 9.95879486e-01 -1.21522595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.741193817 meters 0.07068348254786964 Centerline is valid? [True, True] Translation: X:98.24, Y:-12.85, Z:-12.16 [[ 9.74551503e-01 2.06207536e-01 8.79080160e-02 9.82374095e+01] [-2.04994596e-01 9.78499650e-01 -2.27079376e-02 -1.28462117e+01] [-9.07005108e-02 4.10938650e-03 9.95869736e-01 -1.21576692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801193817 meters 0.07665582895151506 Centerline is valid? [True, True] Translation: X:98.30, Y:-12.85, Z:-12.17 [[ 9.77111387e-01 1.95559666e-01 8.37242815e-02 9.82966515e+01] [-1.94420619e-01 9.80679785e-01 -2.16282635e-02 -1.28538294e+01] [-8.63363264e-02 4.85549591e-03 9.96254216e-01 -1.21709932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861193817 meters 0.07969662774107163 Centerline is valid? [True, True] Translation: X:98.36, Y:-12.86, Z:-12.18 [[ 9.78436354e-01 1.88644728e-01 8.41158038e-02 9.83576152e+01] [-1.87469136e-01 9.82030019e-01 -2.17339390e-02 -1.28608258e+01] [-8.67042374e-02 5.49615897e-03 9.96218936e-01 -1.21783464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92119381699999 meters 0.07983476004887131 Centerline is valid? [True, True] Translation: X:98.42, Y:-12.85, Z:-12.18 [[ 9.78760935e-01 1.86551847e-01 8.50025936e-02 9.84244954e+01] [-1.85343358e-01 9.82428333e-01 -2.19638317e-02 -1.28504941e+01] [-8.76063497e-02 5.74267432e-03 9.96138619e-01 -1.21840720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98119381699999 meters 0.07672204523533746 Centerline is valid? [True, True] Translation: X:98.49, Y:-12.84, Z:-12.19 [[ 9.77772368e-01 1.91430511e-01 8.55310274e-02 9.84893795e+01] [-1.90224507e-01 9.81491591e-01 -2.21109255e-02 -1.28390780e+01] [-8.81806899e-02 5.34935442e-03 9.96090132e-01 -1.21899815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04119381699999 meters 0.07136906195691943 Centerline is valid? [True, True] Translation: X:98.56, Y:-12.82, Z:-12.20 [[ 9.75356736e-01 2.03453517e-01 8.53575048e-02 9.85570921e+01] [-2.02298018e-01 9.79075358e-01 -2.20670840e-02 -1.28154435e+01] [-8.80610554e-02 4.25562500e-03 9.96105988e-01 -1.21999813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.101193817 meters 0.07095174496269771 Centerline is valid? [True, True] Translation: X:98.62, Y:-12.82, Z:-12.21 [[ 9.74849836e-01 2.06331769e-01 8.42318107e-02 9.86175765e+01] [-2.05218088e-01 9.78474183e-01 -2.17671798e-02 -1.28224132e+01] [-8.69099128e-02 3.93384052e-03 9.96208408e-01 -1.22091942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.161193817 meters 0.07106868762411471 Centerline is valid? [True, True] Translation: X:98.68, Y:-12.82, Z:-12.22 [[ 9.74842491e-01 2.06264973e-01 8.44800454e-02 9.86838565e+01] [-2.05142469e-01 9.78488104e-01 -2.18539951e-02 -1.28173563e+01] [-8.71704331e-02 3.97375796e-03 9.96185487e-01 -1.22169692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221193817 meters 0.07198429367776507 Centerline is valid? [True, True] Translation: X:98.75, Y:-12.82, Z:-12.22 [[ 9.75657075e-01 2.02056405e-01 8.52436599e-02 9.87461015e+01] [-2.00893835e-01 9.79363868e-01 -2.20925614e-02 -1.28219322e+01] [-8.79485040e-02 4.42983806e-03 9.96115173e-01 -1.22217880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28119381699999 meters 0.07420041368922635 Centerline is valid? [True, True] Translation: X:98.81, Y:-12.83, Z:-12.23 [[ 9.76840378e-01 1.95155528e-01 8.77336628e-02 9.88070011e+01] [-1.93895655e-01 9.80758495e-01 -2.27431195e-02 -1.28269337e+01] [-9.04839805e-02 5.20522142e-03 9.95884308e-01 -1.22253900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34119381699999 meters 0.07450065686859954 Centerline is valid? [True, True] Translation: X:98.87, Y:-12.83, Z:-12.23 [[ 9.77153633e-01 1.94495422e-01 8.56872651e-02 9.88712406e+01] [-1.93291437e-01 9.80889955e-01 -2.22107146e-02 -1.28254185e+01] [-8.83696600e-02 5.14066578e-03 9.96074484e-01 -1.22332311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40119381699999 meters 0.07147993569308837 Centerline is valid? [True, True] Translation: X:98.94, Y:-12.81, Z:-12.24 [[ 9.75545566e-01 2.03478757e-01 8.31098295e-02 9.89352798e+01] [-2.02377714e-01 9.79070322e-01 -2.15537668e-02 -1.28111215e+01] [-8.57561012e-02 4.20710434e-03 9.96307278e-01 -1.22440299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.461193817 meters 0.06818297133446856 Centerline is valid? [True, True] Translation: X:99.00, Y:-12.81, Z:-12.25 [[ 9.74186374e-01 2.10615599e-01 8.12525603e-02 9.89992306e+01] [-2.09588310e-01 9.77562711e-01 -2.10686273e-02 -1.28061922e+01] [-8.38668546e-02 3.49518288e-03 9.96470840e-01 -1.22512445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.521193817 meters 0.06520068120667484 Centerline is valid? [True, True] Translation: X:99.06, Y:-12.80, Z:-12.26 [[ 9.71984479e-01 2.20476225e-01 8.14641434e-02 9.90625204e+01] [-2.19477778e-01 9.75388736e-01 -2.11262567e-02 -1.27990806e+01] [-8.41170452e-02 2.65482443e-03 9.96452344e-01 -1.22594315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581193817 meters 0.06338169445931158 Centerline is valid? [True, True] Translation: X:99.12, Y:-12.80, Z:-12.27 [[ 9.70698321e-01 2.26142225e-01 8.12678485e-02 9.91229761e+01] [-2.25168340e-01 9.74091901e-01 -2.10757320e-02 -1.28036256e+01] [-8.39284660e-02 2.15923105e-03 9.96469443e-01 -1.22664692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64119381699999 meters 0.06253525663587847 Centerline is valid? [True, True] Translation: X:99.18, Y:-12.82, Z:-12.27 [[ 9.69470451e-01 2.29712372e-01 8.57861889e-02 9.91805456e+01] [-2.28640980e-01 9.73256602e-01 -2.22461104e-02 -1.28172614e+01] [-8.86021814e-02 1.95270848e-03 9.96065179e-01 -1.22711470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70119381699999 meters 0.06236717155668821 Centerline is valid? [True, True] Translation: X:99.24, Y:-12.84, Z:-12.27 [[ 9.69659173e-01 2.27955415e-01 8.83029813e-02 9.92367994e+01] [-2.26813069e-01 9.73669147e-01 -2.28959535e-02 -1.28365979e+01] [-9.11971450e-02 2.17300113e-03 9.95830487e-01 -1.22735878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76119381699999 meters 0.06281719820037038 Centerline is valid? [True, True] Translation: X:99.29, Y:-12.86, Z:-12.28 [[ 9.69982654e-01 2.25268327e-01 9.15851075e-02 9.92922110e+01] [-2.24028106e-01 9.74293533e-01 -2.37385458e-02 -1.28579057e+01] [-9.45783205e-02 2.50833952e-03 9.95514264e-01 -1.22784703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.821193817 meters 0.06432223072329891 Centerline is valid? [True, True] Translation: X:99.35, Y:-12.89, Z:-12.29 [[ 9.70954490e-01 2.20871797e-01 9.19947122e-02 9.93453676e+01] [-2.19601614e-01 9.75298416e-01 -2.38354994e-02 -1.28873201e+01] [-9.49868866e-02 2.94099785e-03 9.95474179e-01 -1.22871617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.881193817 meters 0.06378953911612427 Centerline is valid? [True, True] Translation: X:99.40, Y:-12.91, Z:-12.30 [[ 9.71231557e-01 2.21681931e-01 8.69849621e-02 9.94027464e+01] [-2.20550449e-01 9.75115295e-01 -2.25313174e-02 -1.29062895e+01] [-8.98151529e-02 2.69855403e-03 9.95954796e-01 -1.22989853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941193817 meters 0.06480174817042543 Centerline is valid? [True, True] Translation: X:99.46, Y:-12.92, Z:-12.31 [[ 9.71641266e-01 2.21702642e-01 8.22264496e-02 9.94580911e+01] [-2.20691575e-01 9.75110982e-01 -2.13026298e-02 -1.29240250e+01] [-8.49027633e-02 2.55182949e-03 9.96385974e-01 -1.23113251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00119381699999 meters 0.06567855148292993 Centerline is valid? [True, True] Translation: X:99.51, Y:-12.95, Z:-12.32 [[ 9.72422399e-01 2.19862001e-01 7.78163190e-02 9.95147241e+01] [-2.18950697e-01 9.75527605e-01 -2.01614390e-02 -1.29463939e+01] [-8.03447016e-02 2.56749756e-03 9.96763832e-01 -1.23218899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06119381699999 meters 0.06681630207857382 Centerline is valid? [True, True] Translation: X:99.57, Y:-12.97, Z:-12.33 [[ 9.73098226e-01 2.17415027e-01 7.62269549e-02 9.95707249e+01] [-2.16532580e-01 9.76075463e-01 -1.97568429e-02 -1.29676546e+01] [-7.86986948e-02 2.71972954e-03 9.96894738e-01 -1.23300004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12119381699999 meters 0.06768853906224835 Centerline is valid? [True, True] Translation: X:99.63, Y:-12.99, Z:-12.34 [[ 9.73528475e-01 2.16095655e-01 7.44645986e-02 9.96278405e+01] [-2.15250109e-01 9.76368307e-01 -1.92955965e-02 -1.29901274e+01] [-7.68745687e-02 2.75629965e-03 9.97036962e-01 -1.23396535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.181193817 meters 0.06819904158058969 Centerline is valid? [True, True] Translation: X:99.68, Y:-13.01, Z:-12.35 [[ 9.72808735e-01 2.18321695e-01 7.73227145e-02 9.96836936e+01] [-2.17416367e-01 9.75873159e-01 -2.00425003e-02 -1.30094248e+01] [-7.98328742e-02 2.68629570e-03 9.96804643e-01 -1.23476628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.241193817 meters 0.0655409619005273 Centerline is valid? [True, True] Translation: X:99.74, Y:-13.02, Z:-12.34 [[ 9.72381922e-01 2.18742541e-01 8.13947042e-02 9.97435558e+01] [-2.17740834e-01 9.75778622e-01 -2.10952860e-02 -1.30232386e+01] [-8.40376488e-02 2.78972398e-03 9.96458675e-01 -1.23448851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301193817 meters 0.0661209115704392 Centerline is valid? [True, True] Translation: X:99.80, Y:-13.05, Z:-12.35 [[ 9.72553093e-01 2.17172453e-01 8.35260888e-02 9.98017440e+01] [-2.16112606e-01 9.76128666e-01 -2.16372256e-02 -1.30451185e+01] [-8.62312190e-02 2.99230991e-03 9.96270657e-01 -1.23502442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36119381699999 meters 0.0683153318032244 Centerline is valid? [True, True] Translation: X:99.86, Y:-13.08, Z:-12.35 [[ 9.73949381e-01 2.08560651e-01 8.90227984e-02 9.98573029e+01] [-2.07316982e-01 9.78001087e-01 -2.30985438e-02 -1.30765711e+01] [-9.18818409e-02 4.04087454e-03 9.95761718e-01 -1.23517973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42119381699999 meters 0.07113738565697918 Centerline is valid? [True, True] Translation: X:99.91, Y:-13.10, Z:-12.36 [[ 9.75229321e-01 2.01535086e-01 9.11667748e-02 9.99128142e+01] [-2.00199548e-01 9.79469426e-01 -2.36597762e-02 -1.31032429e+01] [-9.40633436e-02 4.82216035e-03 9.95554536e-01 -1.23567375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48119381699999 meters 0.07684994135171602 Centerline is valid? [True, True] Translation: X:99.97, Y:-13.13, Z:-12.37 [[ 9.77303087e-01 1.91158979e-01 9.13067374e-02 9.99676002e+01] [-1.89774018e-01 9.81541760e-01 -2.36979958e-02 -1.31293499e+01] [-9.41514605e-02 5.83247803e-03 9.95540800e-01 -1.23653368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54119381699999 meters 0.08021847518926795 Centerline is valid? [True, True] Translation: X:100.02, Y:-13.15, Z:-12.38 [[ 9.78959128e-01 1.84348250e-01 8.74914231e-02 1.00024059e+02] [-1.83049768e-01 9.82841333e-01 -2.27089576e-02 -1.31488658e+01] [-9.01765435e-02 6.21585665e-03 9.95906398e-01 -1.23752341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.601193817 meters 0.08527792140317458 Centerline is valid? [True, True] Translation: X:100.08, Y:-13.17, Z:-12.39 [[ 9.80440945e-01 1.78770252e-01 8.23210207e-02 1.00079053e+02] [-1.77601434e-01 9.83870484e-01 -2.13682565e-02 -1.31672257e+01] [-8.48132310e-02 6.32998234e-03 9.96376760e-01 -1.23901612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.661193817 meters 0.08660027318166186 Centerline is valid? [True, True] Translation: X:100.14, Y:-13.18, Z:-12.40 [[ 9.80542015e-01 1.78952495e-01 8.07053981e-02 1.00139164e+02] [-1.77830874e-01 9.83838324e-01 -2.09363830e-02 -1.31801477e+01] [-8.31476816e-02 6.17709170e-03 9.96518091e-01 -1.24005316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721193817 meters 0.08283200100361097 Centerline is valid? [True, True] Translation: X:100.20, Y:-13.18, Z:-12.41 [[ 9.80105434e-01 1.81333876e-01 8.06930147e-02 1.00203078e+02] [-1.80217920e-01 9.83403251e-01 -2.09653968e-02 -1.31789165e+01] [-8.31555097e-02 6.00597207e-03 9.96518484e-01 -1.24050176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78119381699999 meters 0.08141196922233711 Centerline is valid? [True, True] Translation: X:100.27, Y:-13.18, Z:-12.41 [[ 9.79939731e-01 1.81999811e-01 8.12046286e-02 1.00266057e+02] [-1.80871579e-01 9.83280314e-01 -2.11020652e-02 -1.31849995e+01] [-8.36874845e-02 5.99114271e-03 9.96474039e-01 -1.24110810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84119381699999 meters 0.07945153949851073 Centerline is valid? [True, True] Translation: X:100.33, Y:-13.19, Z:-12.41 [[ 9.79536257e-01 1.82413426e-01 8.50532989e-02 1.00328862e+02] [-1.81175892e-01 9.83202040e-01 -2.21143412e-02 -1.31876454e+01] [-8.76585298e-02 6.25219172e-03 9.96130961e-01 -1.24139706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90119381699999 meters 0.08052391534397754 Centerline is valid? [True, True] Translation: X:100.39, Y:-13.19, Z:-12.42 [[ 9.79198477e-01 1.81924625e-01 8.98541805e-02 1.00391818e+02] [-1.80541226e-01 9.83289982e-01 -2.33597144e-02 -1.31903161e+01] [-9.26024228e-02 6.65141287e-03 9.95680948e-01 -1.24173241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.961193817 meters 0.08239499700800636 Centerline is valid? [True, True] Translation: X:100.45, Y:-13.20, Z:-12.42 [[ 9.79123960e-01 1.80745913e-01 9.29902490e-02 1.00452265e+02] [-1.79255696e-01 9.83504689e-01 -2.42058239e-02 -1.31983734e+01] [-9.58314496e-02 7.03147031e-03 9.95372740e-01 -1.24230018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.021193817 meters 0.0832264105504311 Centerline is valid? [True, True] Translation: X:100.51, Y:-13.21, Z:-12.43 [[ 9.79519028e-01 1.78819803e-01 9.25524294e-02 1.00512562e+02] [-1.77331993e-01 9.83855367e-01 -2.41242834e-02 -1.32054959e+01] [-9.53721040e-02 7.21768781e-03 9.95415525e-01 -1.24311262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081193817 meters 0.0824620160901817 Centerline is valid? [True, True] Translation: X:100.57, Y:-13.21, Z:-12.44 [[ 9.79710802e-01 1.78661517e-01 9.08119283e-02 1.00574974e+02] [-1.77229165e-01 9.83885049e-01 -2.36650414e-02 -1.32099749e+01] [-9.35765307e-02 7.09037444e-03 9.95586842e-01 -1.24408138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14119381699999 meters 0.08051619466602719 Centerline is valid? [True, True] Translation: X:100.64, Y:-13.21, Z:-12.45 [[ 9.79063969e-01 1.82841120e-01 8.94587523e-02 1.00637450e+02] [-1.81465391e-01 9.83120158e-01 -2.33466838e-02 -1.32093840e+01] [-9.22174365e-02 6.62422946e-03 9.95716859e-01 -1.24500554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20119381699999 meters 0.07212225353948501 Centerline is valid? [True, True] Translation: X:100.70, Y:-13.19, Z:-12.46 [[ 9.75589910e-01 2.02208930e-01 8.56497276e-02 1.00703186e+02] [-2.01021768e-01 9.79331636e-01 -2.23560969e-02 -1.31889274e+01] [-8.84000903e-02 4.59292288e-03 9.96074460e-01 -1.24617214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26119381699999 meters 0.0656407158758504 Centerline is valid? [True, True] Translation: X:100.77, Y:-13.18, Z:-12.47 [[ 9.72100110e-01 2.19168744e-01 8.35849124e-02 1.00768479e+02] [-2.18100562e-01 9.75682425e-01 -2.18162724e-02 -1.31771015e+01] [-8.63337751e-02 2.97768442e-03 9.96261819e-01 -1.24710060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.321193817 meters 0.06006483596640034 Centerline is valid? [True, True] Translation: X:100.84, Y:-13.16, Z:-12.47 [[ 9.66970142e-01 2.39954417e-01 8.59687258e-02 1.00835373e+02] [-2.38905610e-01 9.70783462e-01 -2.24405809e-02 -1.31586457e+01] [-8.88417337e-02 1.16096081e-03 9.96045079e-01 -1.24745388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.381193817 meters 0.05972420689750144 Centerline is valid? [True, True] Translation: X:100.89, Y:-13.16, Z:-12.48 [[ 9.65015319e-01 2.47817912e-01 8.56254392e-02 1.00893395e+02] [-2.46808089e-01 9.68806529e-01 -2.23534461e-02 -1.31632060e+01] [-8.84940689e-02 4.38366909e-04 9.96076607e-01 -1.24837787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441193817 meters 0.05930302035482217 Centerline is valid? [True, True] Translation: X:100.95, Y:-13.18, Z:-12.49 [[ 9.63423491e-01 2.52975088e-01 8.84238756e-02 1.00949666e+02] [-2.51920651e-01 9.67472792e-01 -2.30734264e-02 -1.31798354e+01] [-9.13846959e-02 -4.63193081e-05 9.95815663e-01 -1.24888114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50119381699999 meters 0.058823625992560816 Centerline is valid? [True, True] Translation: X:101.00, Y:-13.20, Z:-12.49 [[ 9.63180311e-01 2.52925274e-01 9.11728849e-02 1.01004757e+02] [-2.51804101e-01 9.67485816e-01 -2.37884594e-02 -1.32028658e+01] [-9.42251755e-02 -4.51306336e-05 9.95550910e-01 -1.24916717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56119381699999 meters 0.058659529336068036 Centerline is valid? [True, True] Translation: X:101.06, Y:-13.23, Z:-12.49 [[ 9.62986773e-01 2.53203850e-01 9.24353061e-02 1.01057345e+02] [-2.52055308e-01 9.67412942e-01 -2.40898608e-02 -1.32337657e+01] [-9.55227569e-02 -1.00592260e-04 9.95427241e-01 -1.24949438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62119381699999 meters 0.058973087513627565 Centerline is valid? [True, True] Translation: X:101.11, Y:-13.26, Z:-12.51 [[ 9.63394173e-01 2.52553001e-01 8.99369175e-02 1.01109333e+02] [-2.51465596e-01 9.67583060e-01 -2.34110273e-02 -1.32636224e+01] [-9.29339630e-02 -6.19933465e-05 9.95672273e-01 -1.25054657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.681193817 meters 0.05960388598872829 Centerline is valid? [True, True] Translation: X:101.16, Y:-13.31, Z:-12.52 [[ 9.64813644e-01 2.48077816e-01 8.71322520e-02 1.01156968e+02] [-2.47042023e-01 9.68740053e-01 -2.26483537e-02 -1.33063667e+01] [-9.00270566e-02 3.26112859e-04 9.95939267e-01 -1.25184572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.741193817 meters 0.06138291141350574 Centerline is valid? [True, True] Translation: X:101.20, Y:-13.35, Z:-12.53 [[ 9.67106049e-01 2.40420515e-01 8.30895099e-02 1.01204567e+02] [-2.39451460e-01 9.70668334e-01 -2.15866615e-02 -1.33518637e+01] [-8.58422324e-02 9.80686429e-04 9.96308260e-01 -1.25335857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801193817 meters 0.0615391418937126 Centerline is valid? [True, True] Translation: X:101.26, Y:-13.38, Z:-12.54 [[ 9.68094255e-01 2.37148639e-01 8.09570080e-02 1.01257069e+02] [-2.36217567e-01 9.71472592e-01 -2.10300940e-02 -1.33843046e+01] [-8.36347725e-02 1.23564575e-03 9.96495709e-01 -1.25388333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86119381699999 meters 0.062085005885998516 Centerline is valid? [True, True] Translation: X:101.31, Y:-13.41, Z:-12.55 [[ 9.68725198e-01 2.35119896e-01 7.93103103e-02 1.01309718e+02] [-2.34220017e-01 9.71965400e-01 -2.05972153e-02 -1.34139574e+01] [-8.19296926e-02 1.37697922e-03 9.96637160e-01 -1.25477545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92119381699999 meters 0.06200543767215326 Centerline is valid? [True, True] Translation: X:101.36, Y:-13.44, Z:-12.56 [[ 9.68172594e-01 2.38054339e-01 7.72784511e-02 1.01362775e+02] [-2.37209854e-01 9.71251221e-01 -2.00636539e-02 -1.34432273e+01] [-7.98330299e-02 1.09386980e-03 9.96807650e-01 -1.25584991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98119381699999 meters 0.06105196083222749 Centerline is valid? [True, True] Translation: X:101.42, Y:-13.47, Z:-12.56 [[ 9.66867057e-01 2.42868771e-01 7.86311234e-02 1.01417856e+02] [-2.42010570e-01 9.70058896e-01 -2.04113074e-02 -1.34687574e+01] [-8.12340899e-02 7.05457767e-04 9.96694800e-01 -1.25631337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04119381699999 meters 0.06035633599189623 Centerline is valid? [True, True] Translation: X:101.47, Y:-13.49, Z:-12.57 [[ 9.65787656e-01 2.45473052e-01 8.36491749e-02 1.01473148e+02] [-2.44511689e-01 9.69403279e-01 -2.17098489e-02 -1.34911880e+01] [-8.64189673e-02 5.13903034e-04 9.96258751e-01 -1.25666221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.101193817 meters 0.059332004591746014 Centerline is valid? [True, True] Translation: X:101.53, Y:-13.51, Z:-12.57 [[ 9.63416090e-01 2.52751013e-01 8.91423787e-02 1.01530509e+02] [-2.51690423e-01 9.67531344e-01 -2.31306879e-02 -1.35106366e+01] [-9.20943503e-02 -1.51806117e-04 9.95750274e-01 -1.25665123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.161193817 meters 0.059488393376721335 Centerline is valid? [True, True] Translation: X:101.59, Y:-13.53, Z:-12.57 [[ 9.61550828e-01 2.59133654e-01 9.09381943e-02 1.01588100e+02] [-2.58058374e-01 9.65841158e-01 -2.35952081e-02 -1.35266423e+01] [-9.39461634e-02 -7.79370661e-04 9.95576974e-01 -1.25715880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221193817 meters 0.05969286438650659 Centerline is valid? [True, True] Translation: X:101.65, Y:-13.55, Z:-12.57 [[ 9.59464774e-01 2.65858163e-01 9.35242429e-02 1.01645489e+02] [-2.64752925e-01 9.64011017e-01 -2.42620767e-02 -1.35456288e+01] [-9.66086716e-02 -1.48220895e-03 9.95321339e-01 -1.25730131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28119381699999 meters 0.0602673112291608 Centerline is valid? [True, True] Translation: X:101.70, Y:-13.58, Z:-12.58 [[ 9.58667879e-01 2.68199915e-01 9.49984360e-02 1.01700910e+02] [-2.67072184e-01 9.63361675e-01 -2.46319290e-02 -1.35765588e+01] [-9.81241337e-02 -1.75760064e-03 9.95172631e-01 -1.25821824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34119381699999 meters 0.0593538179201525 Centerline is valid? [True, True] Translation: X:101.76, Y:-13.61, Z:-12.59 [[ 9.60092967e-01 2.63210261e-01 9.45613720e-02 1.01755311e+02] [-2.62065805e-01 9.64737730e-01 -2.45484330e-02 -1.36116135e+01] [-9.76883229e-02 -1.21252420e-03 9.95216319e-01 -1.25903018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40119381699999 meters 0.05908404499725007 Centerline is valid? [True, True] Translation: X:101.81, Y:-13.66, Z:-12.60 [[ 9.63463330e-01 2.51573086e-01 9.19205834e-02 1.01806361e+02] [-2.50436207e-01 9.67838304e-01 -2.38898238e-02 -1.36616788e+01] [-9.49742982e-02 -3.27308388e-06 9.95479725e-01 -1.26015645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.461193817 meters 0.06167357468169387 Centerline is valid? [True, True] Translation: X:101.85, Y:-13.71, Z:-12.62 [[ 9.67244442e-01 2.38958469e-01 8.56565229e-02 1.01853350e+02] [-2.37918505e-01 9.71029057e-01 -2.23014556e-02 -1.37104740e+01] [-8.85040944e-02 1.19168706e-03 9.96075100e-01 -1.26184178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.521193817 meters 0.06404491792422173 Centerline is valid? [True, True] Translation: X:101.91, Y:-13.75, Z:-12.63 [[ 9.69477202e-01 2.30623594e-01 8.32268698e-02 1.01906268e+02] [-2.29611419e-01 9.73041194e-01 -2.16663347e-02 -1.37473711e+01] [-8.59799408e-02 1.89517782e-03 9.96295066e-01 -1.26266332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581193817 meters 0.06995602740296404 Centerline is valid? [True, True] Translation: X:101.96, Y:-13.79, Z:-12.63 [[ 9.72870131e-01 2.15953725e-01 8.29921459e-02 1.01956617e+02] [-2.14893527e-01 9.76398394e-01 -2.16089885e-02 -1.37912445e+01] [-8.56999395e-02 3.18826450e-03 9.96315891e-01 -1.26340936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64119381699999 meters 0.07502250387778499 Centerline is valid? [True, True] Translation: X:102.01, Y:-13.82, Z:-12.64 [[ 9.74867387e-01 2.07727799e-01 8.05154594e-02 1.02010084e+02] [-2.06701903e-01 9.78179303e-01 -2.09660216e-02 -1.38187848e+01] [-8.31137815e-02 3.79639196e-03 9.96532833e-01 -1.26446337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70119381699999 meters 0.07540821101563673 Centerline is valid? [True, True] Translation: X:102.07, Y:-13.84, Z:-12.64 [[ 9.76316479e-01 1.99764140e-01 8.30687727e-02 1.02067352e+02] [-1.98642322e-01 9.79833082e-01 -2.16415944e-02 -1.38419912e+01] [-8.57167461e-02 4.62807131e-03 9.96308798e-01 -1.26433695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76119381699999 meters 0.08113629373356572 Centerline is valid? [True, True] Translation: X:102.12, Y:-13.87, Z:-12.65 [[ 9.77828472e-01 1.91145507e-01 8.55270400e-02 1.02122804e+02] [-1.89923150e-01 9.81546044e-01 -2.22836264e-02 -1.38670748e+01] [-8.82081428e-02 5.54599950e-03 9.96086625e-01 -1.26496758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.821193817 meters 0.08411103581877459 Centerline is valid? [True, True] Translation: X:102.18, Y:-13.88, Z:-12.66 [[ 9.78151473e-01 1.89128142e-01 8.63147808e-02 1.02180841e+02] [-1.87875290e-01 9.81935397e-01 -2.24889155e-02 -1.38835399e+01] [-8.90088254e-02 5.78115134e-03 9.96014060e-01 -1.26572309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.881193817 meters 0.08272094067857044 Centerline is valid? [True, True] Translation: X:102.24, Y:-13.89, Z:-12.66 [[ 9.77931642e-01 1.89959470e-01 8.69776078e-02 1.02241679e+02] [-1.88690880e-01 9.81775120e-01 -2.26575556e-02 -1.38939015e+01] [-8.96964686e-02 5.74565926e-03 9.95952575e-01 -1.26634910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941193817 meters 0.07774444996462532 Centerline is valid? [True, True] Translation: X:102.31, Y:-13.89, Z:-12.67 [[ 9.76825773e-01 1.95821990e-01 8.64011376e-02 1.02305470e+02] [-1.94589840e-01 9.80625633e-01 -2.25424388e-02 -1.38894655e+01] [-8.91414755e-02 5.20725163e-03 9.96005362e-01 -1.26710668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00119381699999 meters 0.0787566719313177 Centerline is valid? [True, True] Translation: X:102.37, Y:-13.90, Z:-12.68 [[ 9.75937470e-01 2.00016889e-01 8.68291310e-02 1.02365304e+02] [-1.98788852e-01 9.79780448e-01 -2.26553978e-02 -1.38954169e+01] [-8.96049471e-02 4.84958838e-03 9.95965579e-01 -1.26813886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06119381699999 meters 0.06857118228220971 Centerline is valid? [True, True] Translation: X:102.43, Y:-13.88, Z:-12.68 [[ 9.73473470e-01 2.11740620e-01 8.66909042e-02 1.02433331e+02] [-2.10562655e-01 9.77318643e-01 -2.26194071e-02 -1.38751533e+01] [-8.95140842e-02 3.76552573e-03 9.95978438e-01 -1.26835400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12119381699999 meters 0.06666930936265017 Centerline is valid? [True, True] Translation: X:102.49, Y:-13.87, Z:-12.69 [[ 9.71613573e-01 2.20328818e-01 8.61526321e-02 1.02494736e+02] [-2.19199045e-01 9.75421177e-01 -2.24790311e-02 -1.38723035e+01] [-8.89878801e-02 2.95635709e-03 9.96028321e-01 -1.26948796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.181193817 meters 0.06277153171158438 Centerline is valid? [True, True] Translation: X:102.56, Y:-13.86, Z:-12.70 [[ 9.68982878e-01 2.31959979e-01 8.52452348e-02 1.02561208e+02] [-2.30898849e-01 9.72723537e-01 -2.22405321e-02 -1.38570886e+01] [-8.80789597e-02 1.86766820e-03 9.96111745e-01 -1.27032148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.241193817 meters 0.06139413323885338 Centerline is valid? [True, True] Translation: X:102.62, Y:-13.86, Z:-12.71 [[ 9.67076484e-01 2.40061196e-01 8.44612113e-02 1.02624819e+02] [-2.39050369e-01 9.70757111e-01 -2.20352378e-02 -1.38550741e+01] [-8.72811271e-02 1.11927659e-03 9.96183092e-01 -1.27125201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301193817 meters 0.06093688673098711 Centerline is valid? [True, True] Translation: X:102.69, Y:-13.86, Z:-12.72 [[ 9.66139603e-01 2.43223912e-01 8.61184965e-02 1.02685840e+02] [-2.42185611e-01 9.69969798e-01 -2.24660094e-02 -1.38635380e+01] [-8.89966113e-02 8.48640697e-04 9.96031567e-01 -1.27197515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36119381699999 meters 0.06062351105652027 Centerline is valid? [True, True] Translation: X:102.75, Y:-13.87, Z:-12.73 [[ 9.65482849e-01 2.45814059e-01 8.61296470e-02 1.02746882e+02] [-2.44783361e-01 9.69316792e-01 -2.24958274e-02 -1.38725304e+01] [-8.90167037e-02 6.36231008e-04 9.96029930e-01 -1.27278124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42119381699999 meters 0.06103400101014031 Centerline is valid? [True, True] Translation: X:102.81, Y:-13.89, Z:-12.73 [[ 9.66435068e-01 2.42054023e-01 8.60994161e-02 1.02805584e+02] [-2.41006769e-01 9.70262250e-01 -2.25145243e-02 -1.38923402e+01] [-8.89887443e-02 1.00828372e-03 9.96032121e-01 -1.27347663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48119381699999 meters 0.06298470709117457 Centerline is valid? [True, True] Translation: X:102.86, Y:-13.92, Z:-12.74 [[ 9.68239317e-01 2.34326005e-01 8.72006184e-02 1.02860851e+02] [-2.33217467e-01 9.72156459e-01 -2.28349103e-02 -1.39194499e+01] [-9.01234576e-02 1.77295059e-03 9.95929023e-01 -1.27431109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54119381699999 meters 0.06669243947926023 Centerline is valid? [True, True] Translation: X:102.91, Y:-13.95, Z:-12.75 [[ 9.70791443e-01 2.23138059e-01 8.81667811e-02 1.02914210e+02] [-2.21957045e-01 9.74782653e-01 -2.31051700e-02 -1.39526276e+01] [-9.10990916e-02 2.86106313e-03 9.95837723e-01 -1.27495856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.601193817 meters 0.07072928492927372 Centerline is valid? [True, True] Translation: X:102.97, Y:-13.98, Z:-12.76 [[ 9.72193933e-01 2.17699932e-01 8.62884423e-02 1.02968248e+02] [-2.16547461e-01 9.76010174e-01 -2.26127715e-02 -1.39780745e+01] [-8.91411964e-02 3.29845618e-03 9.96013538e-01 -1.27616208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.661193817 meters 0.07357339378221786 Centerline is valid? [True, True] Translation: X:103.02, Y:-13.99, Z:-12.78 [[ 9.73158109e-01 2.17382317e-01 7.55527814e-02 1.03023230e+02] [-2.16497930e-01 9.76082182e-01 -1.98045603e-02 -1.39942137e+01] [-7.80508849e-02 2.91594769e-03 9.96945112e-01 -1.27842288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721193817 meters 0.0726653669228848 Centerline is valid? [True, True] Translation: X:103.08, Y:-14.01, Z:-12.79 [[ 9.72765960e-01 2.20224757e-01 7.23010539e-02 1.03082894e+02] [-2.19423815e-01 9.75445801e-01 -1.89388241e-02 -1.40071501e+01] [-7.46965574e-02 2.55847031e-03 9.97203028e-01 -1.27945892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78119381699999 meters 0.06938625234695218 Centerline is valid? [True, True] Translation: X:103.14, Y:-14.01, Z:-12.80 [[ 9.70881063e-01 2.28090505e-01 7.32439920e-02 1.03144294e+02] [-2.27288257e-01 9.73637856e-01 -1.92191210e-02 -1.40102919e+01] [-7.56968223e-02 2.01198131e-03 9.97128850e-01 -1.28012605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84119381699999 meters 0.06332749001209814 Centerline is valid? [True, True] Translation: X:103.21, Y:-14.01, Z:-12.80 [[ 9.68303432e-01 2.38270467e-01 7.49376271e-02 1.03209835e+02] [-2.37460985e-01 9.71198040e-01 -1.96633475e-02 -1.40054358e+01] [-7.74644716e-02 1.24532419e-03 9.96994335e-01 -1.27959401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90119381699999 meters 0.06197675774535235 Centerline is valid? [True, True] Translation: X:103.27, Y:-14.02, Z:-12.80 [[ 9.67009359e-01 2.41854452e-01 7.99957755e-02 1.03269573e+02] [-2.40943992e-01 9.70311999e-01 -2.09908891e-02 -1.40200705e+01] [-8.26976009e-02 1.02388472e-03 9.96574161e-01 -1.27982523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.961193817 meters 0.06061407080230185 Centerline is valid? [True, True] Translation: X:103.33, Y:-14.04, Z:-12.80 [[ 9.65343454e-01 2.45229660e-01 8.92996634e-02 1.03327340e+02] [-2.44108640e-01 9.69464663e-01 -2.34358350e-02 -1.40352880e+01] [-9.23200300e-02 8.24810548e-04 9.95729045e-01 -1.27982417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.021193817 meters 0.06004504105181989 Centerline is valid? [True, True] Translation: X:103.39, Y:-14.05, Z:-12.80 [[ 9.64405001e-01 2.48629180e-01 9.00362442e-02 1.03388258e+02] [-2.47505335e-01 9.68598620e-01 -2.36182470e-02 -1.40482475e+01] [-9.30811673e-02 4.93104739e-04 9.95658402e-01 -1.28045013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081193817 meters 0.060284147339100015 Centerline is valid? [True, True] Translation: X:103.45, Y:-14.07, Z:-12.81 [[ 9.64609247e-01 2.48331317e-01 8.86597884e-02 1.03445555e+02] [-2.47237998e-01 9.68675006e-01 -2.32831629e-02 -1.40746697e+01] [-9.16644596e-02 5.39085645e-04 9.95789805e-01 -1.28122207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14119381699999 meters 0.06095349246312578 Centerline is valid? [True, True] Translation: X:103.50, Y:-14.10, Z:-12.82 [[ 9.65993505e-01 2.41931514e-01 9.12452201e-02 1.03503066e+02] [-2.40742075e-01 9.70292575e-01 -2.39910784e-02 -1.41032725e+01] [-9.43387575e-02 1.20866229e-03 9.95539421e-01 -1.28188173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20119381699999 meters 0.06305500383784113 Centerline is valid? [True, True] Translation: X:103.56, Y:-14.13, Z:-12.83 [[ 9.67968245e-01 2.33861368e-01 9.13582964e-02 1.03557572e+02] [-2.32629198e-01 9.72267817e-01 -2.40613598e-02 -1.41310615e+01] [-9.44517539e-02 2.03802503e-03 9.95527354e-01 -1.28263925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26119381699999 meters 0.06691185079081638 Centerline is valid? [True, True] Translation: X:103.61, Y:-14.16, Z:-12.84 [[ 9.70293067e-01 2.24271302e-01 9.07399928e-02 1.03609547e+02] [-2.23013171e-01 9.74522254e-01 -2.39061255e-02 -1.41641027e+01] [-9.37896002e-02 2.95973440e-03 9.95587641e-01 -1.28355581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.321193817 meters 0.07132081861528669 Centerline is valid? [True, True] Translation: X:103.66, Y:-14.19, Z:-12.85 [[ 9.72614391e-01 2.16740110e-01 8.39343276e-02 1.03663859e+02] [-2.15636168e-01 9.76223396e-01 -2.21116475e-02 -1.41902663e+01] [-8.67311352e-02 3.40682977e-03 9.96225930e-01 -1.28496567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.381193817 meters 0.07361363286510382 Centerline is valid? [True, True] Translation: X:103.72, Y:-14.20, Z:-12.86 [[ 9.74150131e-01 2.11805293e-01 7.85496037e-02 1.03722152e+02] [-2.10822738e-01 9.77305260e-01 -2.06930222e-02 -1.42039321e+01] [-8.11498325e-02 3.59806778e-03 9.96695419e-01 -1.28626905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441193817 meters 0.07567370345090549 Centerline is valid? [True, True] Translation: X:103.78, Y:-14.22, Z:-12.87 [[ 9.74049130e-01 2.12580705e-01 7.77028668e-02 1.03780729e+02] [-2.11622083e-01 9.77137277e-01 -2.04654624e-02 -1.42228578e+01] [-8.02769301e-02 3.49072332e-03 9.96766487e-01 -1.28741596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50119381699999 meters 0.06989759631321012 Centerline is valid? [True, True] Translation: X:103.84, Y:-14.22, Z:-12.87 [[ 9.73274508e-01 2.16496091e-01 7.65909555e-02 1.03844601e+02] [-2.15575025e-01 9.76278421e-01 -2.01953984e-02 -1.42236540e+01] [-7.91463219e-02 3.14456929e-03 9.96858050e-01 -1.28746802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56119381699999 meters 0.06521288162038454 Centerline is valid? [True, True] Translation: X:103.91, Y:-14.21, Z:-12.88 [[ 9.69138225e-01 2.33526168e-01 7.89723324e-02 1.03908278e+02] [-2.32602460e-01 9.72348819e-01 -2.08295502e-02 -1.42144102e+01] [-8.16528992e-02 1.81755449e-03 9.96659170e-01 -1.28831599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62119381699999 meters 0.06193320767881999 Centerline is valid? [True, True] Translation: X:103.97, Y:-14.21, Z:-12.89 [[ 9.65665927e-01 2.46540162e-01 8.18979028e-02 1.03971368e+02] [-2.45593348e-01 9.69132290e-01 -2.15988964e-02 -1.42136430e+01] [-8.46948975e-02 7.43738232e-04 9.96406655e-01 -1.28866840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.681193817 meters 0.0604706161391154 Centerline is valid? [True, True] Translation: X:104.03, Y:-14.22, Z:-12.89 [[ 9.63464556e-01 2.53930063e-01 8.51796523e-02 1.04033291e+02] [-2.52934565e-01 9.67222577e-01 -2.24631213e-02 -1.42196538e+01] [-8.80917446e-02 9.75428981e-05 9.96112361e-01 -1.28877037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.741193817 meters 0.0606684317058564 Centerline is valid? [True, True] Translation: X:104.09, Y:-14.24, Z:-12.90 [[ 9.63817962e-01 2.52406892e-01 8.57070392e-02 1.04091561e+02] [-2.51393388e-01 9.67621158e-01 -2.25977497e-02 -1.42395361e+01] [-8.86357723e-02 2.33934073e-04 9.96064077e-01 -1.28954648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.801193817 meters 0.06053555841879131 Centerline is valid? [True, True] Translation: X:104.15, Y:-14.26, Z:-12.90 [[ 9.64125114e-01 2.50938233e-01 8.65607714e-02 1.04150657e+02] [-2.49896044e-01 9.68003018e-01 -2.28500199e-02 -1.42583374e+01] [-8.95250316e-02 3.99083665e-04 9.95984493e-01 -1.29019834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86119381699999 meters 0.060966785827358566 Centerline is valid? [True, True] Translation: X:104.21, Y:-14.28, Z:-12.91 [[ 9.64750882e-01 2.49075194e-01 8.49546023e-02 1.04207675e+02] [-2.48061826e-01 9.68483971e-01 -2.24527825e-02 -1.42836582e+01] [-8.78696018e-02 5.87347867e-04 9.96131813e-01 -1.29110144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92119381699999 meters 0.060903241092086426 Centerline is valid? [True, True] Translation: X:104.27, Y:-14.30, Z:-12.92 [[ 9.63647771e-01 2.53645188e-01 8.39469650e-02 1.04267540e+02] [-2.52670888e-01 9.67297308e-01 -2.22112825e-02 -1.42992013e+01] [-8.68354581e-02 1.92898754e-04 9.96222649e-01 -1.29207723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98119381699999 meters 0.060518719098197 Centerline is valid? [True, True] Translation: X:104.33, Y:-14.32, Z:-12.93 [[ 9.62886358e-01 2.55530322e-01 8.69144192e-02 1.04326064e+02] [-2.54489707e-01 9.66801040e-01 -2.30377644e-02 -1.43185057e+01] [-8.99157982e-02 6.39240105e-05 9.95949369e-01 -1.29258608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04119381699999 meters 0.0606512943629048 Centerline is valid? [True, True] Translation: X:104.38, Y:-14.34, Z:-12.93 [[ 9.62926022e-01 2.55532199e-01 8.64683261e-02 1.04383419e+02] [-2.54502420e-01 9.66800544e-01 -2.29178226e-02 -1.43415545e+01] [-8.94538663e-02 6.17695196e-05 9.95990965e-01 -1.29343225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.101193817 meters 0.06039439801966748 Centerline is valid? [True, True] Translation: X:104.44, Y:-14.36, Z:-12.94 [[ 9.62429684e-01 2.56614176e-01 8.87596105e-02 1.04441020e+02] [-2.55530958e-01 9.66513924e-01 -2.35534460e-02 -1.43645570e+01] [-9.18315476e-02 -1.22927937e-05 9.95774556e-01 -1.29404561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.161193817 meters 0.06073704230775866 Centerline is valid? [True, True] Translation: X:104.50, Y:-14.39, Z:-12.95 [[ 9.62997912e-01 2.55397590e-01 8.60644683e-02 1.04498131e+02] [-2.54371618e-01 9.66836105e-01 -2.28697678e-02 -1.43886871e+01] [-8.90511189e-02 1.31180619e-04 9.96027048e-01 -1.29496068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221193817 meters 0.0627950298046912 Centerline is valid? [True, True] Translation: X:104.55, Y:-14.42, Z:-12.96 [[ 9.66456723e-01 2.44668135e-01 7.80954893e-02 1.04550364e+02] [-2.43787888e-01 9.69606338e-01 -2.07608822e-02 -1.44225302e+01] [-8.08014078e-02 1.02575978e-03 9.96729693e-01 -1.29634546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28119381699999 meters 0.06863649810179219 Centerline is valid? [True, True] Translation: X:104.60, Y:-14.47, Z:-12.98 [[ 9.70982166e-01 2.27384103e-01 7.40952331e-02 1.04599105e+02] [-2.26541483e-01 9.73802340e-01 -1.96966991e-02 -1.44663435e+01] [-7.66328276e-02 2.33949956e-03 9.97056637e-01 -1.29754398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34119381699999 meters 0.07188374528822618 Centerline is valid? [True, True] Translation: X:104.65, Y:-14.49, Z:-12.98 [[ 9.72612760e-01 2.20615663e-01 7.31652095e-02 1.04654029e+02] [-2.19774483e-01 9.75356676e-01 -1.94558763e-02 -1.44944961e+01] [-7.56544466e-02 2.84318747e-03 9.97130042e-01 -1.29832559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40119381699999 meters 0.06948591222768374 Centerline is valid? [True, True] Translation: X:104.71, Y:-14.50, Z:-12.98 [[ 9.71227578e-01 2.24305639e-01 8.00248190e-02 1.04713460e+02] [-2.23311224e-01 9.74514823e-01 -2.12827743e-02 -1.45039651e+01] [-8.27592186e-02 2.79997698e-03 9.96565639e-01 -1.29828017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.461193817 meters 0.06667780197065301 Centerline is valid? [True, True] Translation: X:104.77, Y:-14.51, Z:-12.99 [[ 9.69375118e-01 2.31360765e-01 8.23655094e-02 1.04774643e+02] [-2.30332810e-01 9.72865401e-01 -2.19022304e-02 -1.45100987e+01] [-8.51978711e-02 2.25999793e-03 9.96361488e-01 -1.29890897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.521193817 meters 0.06274396155994116 Centerline is valid? [True, True] Translation: X:104.84, Y:-14.51, Z:-13.00 [[ 9.65885537e-01 2.44909938e-01 8.41679962e-02 1.04837089e+02] [-2.43887462e-01 9.69545219e-01 -2.23824604e-02 -1.45088130e+01] [-8.70863653e-02 1.09137576e-03 9.96200168e-01 -1.29969467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581193817 meters 0.06204775629123819 Centerline is valid? [True, True] Translation: X:104.90, Y:-14.52, Z:-13.01 [[ 9.64236040e-01 2.51818513e-01 8.26818938e-02 1.04898840e+02] [-2.50858164e-01 9.67774372e-01 -2.19760494e-02 -1.45181926e+01] [-8.55513939e-02 4.48670791e-04 9.96333658e-01 -1.30074614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64119381699999 meters 0.06126173317213935 Centerline is valid? [True, True] Translation: X:104.96, Y:-14.53, Z:-13.01 [[ 9.62917163e-01 2.56989987e-01 8.21382051e-02 1.04960578e+02] [-2.56058774e-01 9.66414066e-01 -2.18576702e-02 -1.45296382e+01] [-8.49967191e-02 1.49176397e-05 9.96381231e-01 -1.30121164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70119381699999 meters 0.061347085377670314 Centerline is valid? [True, True] Translation: X:105.02, Y:-14.55, Z:-13.02 [[ 9.62591028e-01 2.58079401e-01 8.25441436e-02 1.05019290e+02] [-2.57140245e-01 9.66123709e-01 -2.19971404e-02 -1.45504906e+01] [-8.54248629e-02 -5.11713480e-05 9.96344614e-01 -1.30197192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76119381699999 meters 0.06118711792516078 Centerline is valid? [True, True] Translation: X:105.08, Y:-14.57, Z:-13.02 [[ 9.62569068e-01 2.58013356e-01 8.30054059e-02 1.05077201e+02] [-2.57061110e-01 9.66141350e-01 -2.21467407e-02 -1.45726492e+01] [-8.59091098e-02 -1.96942095e-05 9.96302978e-01 -1.30248093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.821193817 meters 0.06086822256545156 Centerline is valid? [True, True] Translation: X:105.14, Y:-14.59, Z:-13.03 [[ 9.62223699e-01 2.58638118e-01 8.50404468e-02 1.05135529e+02] [-2.57638464e-01 9.65974286e-01 -2.27178488e-02 -1.45931151e+01] [-8.80225865e-02 -5.00375347e-05 9.96118478e-01 -1.30298374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.881193817 meters 0.06162464949946902 Centerline is valid? [True, True] Translation: X:105.19, Y:-14.61, Z:-13.04 [[ 9.62146957e-01 2.59486929e-01 8.33052659e-02 1.05192484e+02] [-2.58528532e-01 9.65746615e-01 -2.22817070e-02 -1.46127290e+01] [-8.62335903e-02 -9.85114680e-05 9.96274941e-01 -1.30430012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941193817 meters 0.06151576063602301 Centerline is valid? [True, True] Translation: X:105.25, Y:-14.64, Z:-13.05 [[ 9.62886052e-01 2.56729911e-01 8.33078899e-02 1.05250696e+02] [-2.55759219e-01 9.66483173e-01 -2.23046628e-02 -1.46393042e+01] [-8.62419479e-02 1.70087893e-04 9.96274208e-01 -1.30483728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00119381699999 meters 0.06369200531161595 Centerline is valid? [True, True] Translation: X:105.30, Y:-14.67, Z:-13.06 [[ 9.65939098e-01 2.45864497e-01 8.06988790e-02 1.05302432e+02] [-2.44912632e-01 9.69303535e-01 -2.16439088e-02 -1.46724951e+01] [-8.35431774e-02 1.14252286e-03 9.96503503e-01 -1.30606921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06119381699999 meters 0.06720862060730468 Centerline is valid? [True, True] Translation: X:105.36, Y:-14.70, Z:-13.07 [[ 9.68281163e-01 2.36218893e-01 8.14384680e-02 1.05355532e+02] [-2.35214368e-01 9.71697800e-01 -2.18537635e-02 -1.47040113e+01] [-8.42958520e-02 2.00508977e-03 9.96438753e-01 -1.30701568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12119381699999 meters 0.07197057250542527 Centerline is valid? [True, True] Translation: X:105.41, Y:-14.73, Z:-13.07 [[ 9.71340870e-01 2.22284427e-01 8.41816379e-02 1.05410594e+02] [-2.21158421e-01 9.74976187e-01 -2.25917406e-02 -1.47343624e+01] [-8.70968845e-02 3.32680282e-03 9.96194291e-01 -1.30707392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.181193817 meters 0.07635897635076547 Centerline is valid? [True, True] Translation: X:105.47, Y:-14.76, Z:-13.08 [[ 9.72794086e-01 2.15264421e-01 8.56323270e-02 1.05467166e+02] [-2.14071860e-01 9.76547499e-01 -2.29830548e-02 -1.47550936e+01] [-8.85714688e-02 4.02630829e-03 9.96061687e-01 -1.30769817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.241193817 meters 0.07683851415219126 Centerline is valid? [True, True] Translation: X:105.53, Y:-14.76, Z:-13.08 [[ 9.73020969e-01 2.13651985e-01 8.70805562e-02 1.05529349e+02] [-2.12412787e-01 9.76900645e-01 -2.33653291e-02 -1.47628003e+01] [-9.00611004e-02 4.23793154e-03 9.95927225e-01 -1.30827079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.301193817 meters 0.07173876081570651 Centerline is valid? [True, True] Translation: X:105.60, Y:-14.75, Z:-13.09 [[ 9.72245742e-01 2.17116199e-01 8.71709467e-02 1.05595882e+02] [-2.15885272e-01 9.76137759e-01 -2.34227587e-02 -1.47520225e+01] [-9.01763129e-02 3.95375385e-03 9.95917969e-01 -1.30866477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36119381699999 meters 0.07279133285083418 Centerline is valid? [True, True] Translation: X:105.66, Y:-14.76, Z:-13.09 [[ 9.72234717e-01 2.16612231e-01 8.85369774e-02 1.05657154e+02] [-2.15340611e-01 9.76249282e-01 -2.37857323e-02 -1.47612911e+01] [-9.15864411e-02 4.05970787e-03 9.95788854e-01 -1.30946813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42119381699999 meters 0.07368886495610828 Centerline is valid? [True, True] Translation: X:105.72, Y:-14.76, Z:-13.11 [[ 9.72621322e-01 2.15231433e-01 8.76538360e-02 1.05721641e+02] [-2.13976249e-01 9.76554111e-01 -2.35845800e-02 -1.47580756e+01] [-9.06748569e-02 4.18302631e-03 9.95871765e-01 -1.31052493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48119381699999 meters 0.07397327889723013 Centerline is valid? [True, True] Translation: X:105.78, Y:-14.76, Z:-13.12 [[ 9.72194596e-01 2.17253234e-01 8.73996528e-02 1.05783459e+02] [-2.16013343e-01 9.76107145e-01 -2.35175859e-02 -1.47620936e+01] [-9.04206972e-02 3.98417867e-03 9.95895689e-01 -1.31158163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54119381699999 meters 0.06957699393877671 Centerline is valid? [True, True] Translation: X:105.85, Y:-14.75, Z:-13.13 [[ 9.70348754e-01 2.25964262e-01 8.58105384e-02 1.05849624e+02] [-2.24799999e-01 9.74130505e-01 -2.31239921e-02 -1.47461683e+01] [-8.88158590e-02 3.14812796e-03 9.96043088e-01 -1.31251871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.601193817 meters 0.06764110170937614 Centerline is valid? [True, True] Translation: X:105.91, Y:-14.74, Z:-13.14 [[ 9.68387090e-01 2.34517515e-01 8.50175254e-02 1.05911454e+02] [-2.33407340e-01 9.72109068e-01 -2.29123123e-02 -1.47412559e+01] [-8.80196459e-02 2.34427294e-03 9.96115980e-01 -1.31370842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.661193817 meters 0.06474727130456179 Centerline is valid? [True, True] Translation: X:105.98, Y:-14.73, Z:-13.14 [[ 9.66564662e-01 2.41690441e-01 8.56649531e-02 1.05977701e+02] [-2.40591585e-01 9.70351913e-01 -2.30836339e-02 -1.47299288e+01] [-8.87042448e-02 1.70155795e-03 9.96056555e-01 -1.31426765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721193817 meters 0.06506749099880801 Centerline is valid? [True, True] Translation: X:106.04, Y:-14.74, Z:-13.15 [[ 9.66397070e-01 2.42388546e-01 8.55832662e-02 1.06037608e+02] [-2.41295157e-01 9.70177891e-01 -2.30544611e-02 -1.47415499e+01] [-8.86191300e-02 1.62893606e-03 9.96064253e-01 -1.31519943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78119381699999 meters 0.0647316948122133 Centerline is valid? [True, True] Translation: X:106.10, Y:-14.75, Z:-13.15 [[ 9.66783731e-01 2.40525866e-01 8.64669072e-02 1.06099354e+02] [-2.39399814e-01 9.70640975e-01 -2.33200860e-02 -1.47498839e+01] [-8.95374070e-02 1.84531831e-03 9.95981751e-01 -1.31549742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84119381699999 meters 0.06529139621551863 Centerline is valid? [True, True] Translation: X:106.16, Y:-14.76, Z:-13.17 [[ 9.66773021e-01 2.41202063e-01 8.46846569e-02 1.06159746e+02] [-2.40122625e-01 9.70473307e-01 -2.28623225e-02 -1.47589102e+01] [-8.76986384e-02 1.76797449e-03 9.96145483e-01 -1.31657415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90119381699999 meters 0.0640558400155046 Centerline is valid? [True, True] Translation: X:106.22, Y:-14.76, Z:-13.17 [[ 9.65904352e-01 2.45214760e-01 8.30572385e-02 1.06221555e+02] [-2.44188595e-01 9.69467762e-01 -2.24541312e-02 -1.47603420e+01] [-8.60273995e-02 1.40691261e-03 9.96291778e-01 -1.31721661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.961193817 meters 0.06321467233204309 Centerline is valid? [True, True] Translation: X:106.28, Y:-14.77, Z:-13.18 [[ 9.64763401e-01 2.49014054e-01 8.49916541e-02 1.06279326e+02] [-2.47954081e-01 9.68499254e-01 -2.29775787e-02 -1.47703801e+01] [-8.80360936e-02 1.09389947e-03 9.96116685e-01 -1.31778363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.021193817 meters 0.06166667334705899 Centerline is valid? [True, True] Translation: X:106.34, Y:-14.78, Z:-13.18 [[ 9.63087619e-01 2.53737161e-01 8.98871055e-02 1.06339243e+02] [-2.52571832e-01 9.67272951e-01 -2.43003464e-02 -1.47789942e+01] [-9.31112667e-02 7.00411855e-04 9.95655463e-01 -1.31779002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081193817 meters 0.06252346425623158 Centerline is valid? [True, True] Translation: X:106.39, Y:-14.80, Z:-13.19 [[ 9.63424825e-01 2.53339851e-01 8.73586063e-02 1.06393449e+02] [-2.52237963e-01 9.67377077e-01 -2.36135821e-02 -1.47994951e+01] [-9.04909746e-02 7.14754365e-04 9.95897019e-01 -1.31904269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14119381699999 meters 0.06355824656915013 Centerline is valid? [True, True] Translation: X:106.45, Y:-14.82, Z:-13.20 [[ 9.64033021e-01 2.51237011e-01 8.67196595e-02 1.06446998e+02] [-2.50143182e-01 9.67925180e-01 -2.34357715e-02 -1.48240901e+01] [-8.98260752e-02 9.00525980e-04 9.95957060e-01 -1.32020771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20119381699999 meters 0.06366450118999979 Centerline is valid? [True, True] Translation: X:106.50, Y:-14.85, Z:-13.21 [[ 9.65558807e-01 2.46466962e-01 8.33680171e-02 1.06502568e+02] [-2.45439035e-01 9.69150341e-01 -2.25232451e-02 -1.48539191e+01] [-8.63473780e-02 1.28575194e-03 9.96264261e-01 -1.32054179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26119381699999 meters 0.06384884041472623 Centerline is valid? [True, True] Translation: X:106.56, Y:-14.87, Z:-13.21 [[ 9.65628807e-01 2.46324971e-01 8.29759948e-02 1.06560478e+02] [-2.45306564e-01 9.69186437e-01 -2.24129395e-02 -1.48740126e+01] [-8.59400754e-02 1.28802386e-03 9.96299475e-01 -1.32136458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.321193817 meters 0.06367737116436707 Centerline is valid? [True, True] Translation: X:106.62, Y:-14.90, Z:-13.22 [[ 9.65330111e-01 2.46080358e-01 8.70760283e-02 1.06617107e+02] [-2.44954571e-01 9.69248408e-01 -2.35538105e-02 -1.48964155e+01] [-9.01944320e-02 1.40753130e-03 9.95923181e-01 -1.32164252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.381193817 meters 0.06331728858594844 Centerline is valid? [True, True] Translation: X:106.68, Y:-14.92, Z:-13.22 [[ 9.65151904e-01 2.45356640e-01 9.10050577e-02 1.06675186e+02] [-2.44123356e-01 9.69431656e-01 -2.46181051e-02 -1.49167896e+01] [-9.42633994e-02 1.54375089e-03 9.95546096e-01 -1.32200628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441193817 meters 0.06398939465928176 Centerline is valid? [True, True] Translation: X:106.73, Y:-14.94, Z:-13.22 [[ 9.66695297e-01 2.39674898e-01 8.97560389e-02 1.06731958e+02] [-2.38450517e-01 9.70850991e-01 -2.42838198e-02 -1.49414804e+01] [-9.29599614e-02 2.07268057e-03 9.95667690e-01 -1.32247893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50119381699999 meters 0.06660133334686172 Centerline is valid? [True, True] Translation: X:106.79, Y:-14.97, Z:-13.24 [[ 9.68503140e-01 2.34138774e-01 8.47390232e-02 1.06785254e+02] [-2.33026212e-01 9.72200069e-01 -2.29305756e-02 -1.49669604e+01] [-8.77522210e-02 2.46192090e-03 9.96139291e-01 -1.32385737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56119381699999 meters 0.07319738713304512 Centerline is valid? [True, True] Translation: X:106.84, Y:-15.00, Z:-13.26 [[ 9.70732488e-01 2.26112117e-01 8.09428668e-02 1.06836218e+02] [-2.25069375e-01 9.74096528e-01 -2.19027752e-02 -1.50008640e+01] [-8.37986484e-02 3.04397507e-03 9.96478058e-01 -1.32555129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62119381699999 meters 0.06962200721069159 Centerline is valid? [True, True] Translation: X:106.90, Y:-15.01, Z:-13.25 [[ 9.71678660e-01 2.22413815e-01 7.98290527e-02 1.06897700e+02] [-2.21386312e-01 9.74946680e-01 -2.16118704e-02 -1.50104678e+01] [-8.26358484e-02 3.32673368e-03 9.96574257e-01 -1.32526014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.681193817 meters 0.0773000358196135 Centerline is valid? [True, True] Translation: X:106.95, Y:-15.04, Z:-13.27 [[ 9.71988170e-01 2.21151159e-01 7.95685978e-02 1.06950495e+02] [-2.20126064e-01 9.75233532e-01 -2.15423605e-02 -1.50401889e+01] [-8.23620827e-02 3.42379734e-03 9.96596591e-01 -1.32719857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.741193817 meters 0.06882265620215049 Centerline is valid? [True, True] Translation: X:107.02, Y:-15.03, Z:-13.27 [[ 9.70255055e-01 2.28382981e-01 8.02891116e-02 1.07015505e+02] [-2.27363397e-01 9.73567225e-01 -2.17426721e-02 -1.50348322e+01] [-8.31325039e-02 2.84113232e-03 9.96534452e-01 -1.32680793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.801193817 meters 0.0650063321070057 Centerline is valid? [True, True] Translation: X:107.08, Y:-15.03, Z:-13.27 [[ 9.67573051e-01 2.39115815e-01 8.14003601e-02 1.07078859e+02] [-2.38105473e-01 9.70989101e-01 -2.20442768e-02 -1.50336607e+01] [-8.43099977e-02 1.94757690e-03 9.96437671e-01 -1.32722928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86119381699999 meters 0.06204574516600656 Centerline is valid? [True, True] Translation: X:107.14, Y:-15.02, Z:-13.28 [[ 9.62595969e-01 2.57017982e-01 8.57365572e-02 1.07142915e+02] [-2.55967315e-01 9.66406536e-01 -2.32194062e-02 -1.50243920e+01] [-8.88241742e-02 4.05150394e-04 9.96047239e-01 -1.32770196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92119381699999 meters 0.06178746829970431 Centerline is valid? [True, True] Translation: X:107.20, Y:-15.03, Z:-13.28 [[ 9.60769564e-01 2.63003510e-01 8.80397562e-02 1.07201880e+02] [-2.61920691e-01 9.64794864e-01 -2.38415902e-02 -1.50330077e+01] [-9.12107266e-02 -1.53159550e-04 9.95831602e-01 -1.32824256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98119381699999 meters 0.061460982975470486 Centerline is valid? [True, True] Translation: X:107.26, Y:-15.05, Z:-13.29 [[ 9.60040310e-01 2.64505156e-01 9.14309859e-02 1.07259497e+02] [-2.63344424e-01 9.64384220e-01 -2.47545890e-02 -1.50515958e+01] [-9.47223165e-02 -3.12437044e-04 9.95503684e-01 -1.32856524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04119381699999 meters 0.06136307358165286 Centerline is valid? [True, True] Translation: X:107.32, Y:-15.07, Z:-13.29 [[ 9.59023548e-01 2.66907572e-01 9.50483111e-02 1.07316266e+02] [-2.65664717e-01 9.63721963e-01 -2.57339659e-02 -1.50716821e+01] [-9.84687353e-02 -5.71503326e-04 9.95139981e-01 -1.32914515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.101193817 meters 0.061777300582910435 Centerline is valid? [True, True] Translation: X:107.37, Y:-15.10, Z:-13.30 [[ 9.59075246e-01 2.67520124e-01 9.27774550e-02 1.07372487e+02] [-2.66339680e-01 9.63552070e-01 -2.51114384e-02 -1.50970916e+01] [-9.61137238e-02 -6.26558700e-04 9.95370162e-01 -1.33032104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.161193817 meters 0.06181234668436015 Centerline is valid? [True, True] Translation: X:107.42, Y:-15.14, Z:-13.31 [[ 9.61047397e-01 2.61394637e-01 8.97816466e-02 1.07424641e+02] [-2.60260076e-01 9.65232015e-01 -2.43279506e-02 -1.51382373e+01] [-9.30193155e-02 1.37354129e-05 9.95664304e-01 -1.33145902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221193817 meters 0.06295584292771128 Centerline is valid? [True, True] Translation: X:107.47, Y:-15.18, Z:-13.33 [[ 9.63524918e-01 2.52908106e-01 8.75055504e-02 1.07474507e+02] [-2.51792568e-01 9.67489937e-01 -2.37428874e-02 -1.51831934e+01] [-9.06655082e-02 8.43616369e-04 9.95881044e-01 -1.33266039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28119381699999 meters 0.06341342603839153 Centerline is valid? [True, True] Translation: X:107.53, Y:-15.21, Z:-13.34 [[ 9.64259400e-01 2.51881295e-01 8.22169291e-02 1.07529186e+02] [-2.50891725e-01 9.67757721e-01 -2.23234329e-02 -1.52115070e+01] [-8.51889231e-02 8.98032821e-04 9.96364412e-01 -1.33361904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34119381699999 meters 0.06332031401162129 Centerline is valid? [True, True] Translation: X:107.58, Y:-15.24, Z:-13.35 [[ 9.63606258e-01 2.54166270e-01 8.28401272e-02 1.07583228e+02] [-2.53170663e-01 9.67160289e-01 -2.24853391e-02 -1.52437637e+01] [-8.58346962e-02 6.94323552e-04 9.96309150e-01 -1.33456179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40119381699999 meters 0.06297944598066132 Centerline is valid? [True, True] Translation: X:107.64, Y:-15.27, Z:-13.35 [[ 9.63095555e-01 2.55291878e-01 8.52819394e-02 1.07641051e+02] [-2.54238713e-01 9.66863823e-01 -2.31738009e-02 -1.52659814e+01] [-8.83721051e-02 6.36614193e-04 9.96087328e-01 -1.33521735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.461193817 meters 0.06352077562280052 Centerline is valid? [True, True] Translation: X:107.70, Y:-15.30, Z:-13.36 [[ 9.63760860e-01 2.53112223e-01 8.42567973e-02 1.07695641e+02] [-2.52073327e-01 9.67436546e-01 -2.29252436e-02 -1.52972044e+01] [-8.73157643e-02 8.55561194e-04 9.96180318e-01 -1.33625348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.521193817 meters 0.06368047958824641 Centerline is valid? [True, True] Translation: X:107.75, Y:-15.33, Z:-13.37 [[ 9.64444594e-01 2.49680606e-01 8.66384441e-02 1.07752417e+02] [-2.48567306e-01 9.68327493e-01 -2.35830721e-02 -1.53255978e+01] [-8.97826231e-02 1.20908176e-03 9.95960651e-01 -1.33670004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581193817 meters 0.06244477041391791 Centerline is valid? [True, True] Translation: X:107.81, Y:-15.35, Z:-13.37 [[ 9.63770190e-01 2.51152169e-01 8.98310023e-02 1.07810190e+02] [-2.49958180e-01 9.67946938e-01 -2.44874298e-02 -1.53475541e+01] [-9.31017147e-02 1.14626100e-03 9.95655943e-01 -1.33682785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64119381699999 meters 0.06189411819533506 Centerline is valid? [True, True] Translation: X:107.87, Y:-15.36, Z:-13.37 [[ 9.63026440e-01 2.53877502e-01 9.01459321e-02 1.07869778e+02] [-2.52687312e-01 9.67235977e-01 -2.45700629e-02 -1.53625785e+01] [-9.34301749e-02 8.82886925e-04 9.95625443e-01 -1.33744997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70119381699999 meters 0.06133922970025597 Centerline is valid? [True, True] Translation: X:107.93, Y:-15.38, Z:-13.38 [[ 9.61571514e-01 2.59060767e-01 9.09271247e-02 1.07929178e+02] [-2.57869740e-01 9.65860936e-01 -2.48163375e-02 -1.53767074e+01] [-9.42518972e-02 4.15329205e-04 9.95548295e-01 -1.33810818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76119381699999 meters 0.06134946830229394 Centerline is valid? [True, True] Translation: X:107.99, Y:-15.40, Z:-13.39 [[ 9.60625883e-01 2.62766878e-01 9.02855515e-02 1.07986418e+02] [-2.61607794e-01 9.64859349e-01 -2.46535650e-02 -1.53977161e+01] [-9.35909988e-02 6.34486668e-05 9.95610728e-01 -1.33911974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.821193817 meters 0.06125117801407302 Centerline is valid? [True, True] Translation: X:108.04, Y:-15.42, Z:-13.40 [[ 9.61300387e-01 2.60799208e-01 8.87994378e-02 1.08043753e+02] [-2.59666952e-01 9.65393026e-01 -2.42771257e-02 -1.54200151e+01] [-9.20578131e-02 2.79330951e-04 9.95753625e-01 -1.33986108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.881193817 meters 0.06169761541101492 Centerline is valid? [True, True] Translation: X:108.10, Y:-15.45, Z:-13.41 [[ 9.62324544e-01 2.57042302e-01 8.86607436e-02 1.08099209e+02] [-2.55895184e-01 9.66399925e-01 -2.42660418e-02 -1.54450190e+01] [-9.19191351e-02 6.63950305e-04 9.95766254e-01 -1.34095202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941193817 meters 0.06332010058847663 Centerline is valid? [True, True] Translation: X:108.15, Y:-15.48, Z:-13.42 [[ 9.65338899e-01 2.45488082e-01 8.86363979e-02 1.08153134e+02] [-2.44289768e-01 9.69397942e-01 -2.42927944e-02 -1.54793102e+01] [-9.18875332e-02 1.79781432e-03 9.95767769e-01 -1.34158465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00119381699999 meters 0.06664078703049221 Centerline is valid? [True, True] Translation: X:108.21, Y:-15.51, Z:-13.43 [[ 9.67977533e-01 2.35150984e-01 8.78835010e-02 1.08207622e+02] [-2.33929954e-01 9.71954933e-01 -2.40912010e-02 -1.55068090e+01] [-9.10838719e-02 2.76115801e-03 9.95839397e-01 -1.34257675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06119381699999 meters 0.07142842564678015 Centerline is valid? [True, True] Translation: X:108.26, Y:-15.53, Z:-13.43 [[ 9.70218184e-01 2.24603284e-01 9.07195713e-02 1.08261852e+02] [-2.23255681e-01 9.74442577e-01 -2.48709464e-02 -1.55334552e+01] [-9.39871092e-02 3.87658475e-03 9.95565867e-01 -1.34311030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12119381699999 meters 0.07201354541134922 Centerline is valid? [True, True] Translation: X:108.32, Y:-15.55, Z:-13.44 [[ 9.70177607e-01 2.23888910e-01 9.28933059e-02 1.08322784e+02] [-2.22473265e-01 9.74606324e-01 -2.54589765e-02 -1.55458947e+01] [-9.62343859e-02 4.03345190e-03 9.95350528e-01 -1.34371617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.181193817 meters 0.07157535589681215 Centerline is valid? [True, True] Translation: X:108.39, Y:-15.55, Z:-13.45 [[ 9.70178865e-01 2.24105980e-01 9.23551842e-02 1.08385819e+02] [-2.22705039e-01 9.74556506e-01 -2.53393341e-02 -1.55495081e+01] [-9.56840420e-02 4.01572151e-03 9.95403656e-01 -1.34463398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.241193817 meters 0.07287361722468028 Centerline is valid? [True, True] Translation: X:108.45, Y:-15.56, Z:-13.45 [[ 9.70650188e-01 2.22140993e-01 9.21498390e-02 1.08446059e+02] [-2.20734209e-01 9.75005363e-01 -2.53170056e-02 -1.55623939e+01] [-9.54705320e-02 4.23333443e-03 9.95423255e-01 -1.34543325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.301193817 meters 0.07578776096701026 Centerline is valid? [True, True] Translation: X:108.51, Y:-15.57, Z:-13.46 [[ 9.72878707e-01 2.12472714e-01 9.14459829e-02 1.08507126e+02] [-2.11043941e-01 9.77153419e-01 -2.51326775e-02 -1.55665659e+01] [-9.46967630e-02 5.15192611e-03 9.95492833e-01 -1.34625513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36119381699999 meters 0.08431500912606352 Centerline is valid? [True, True] Translation: X:108.56, Y:-15.59, Z:-13.47 [[ 9.74687196e-01 2.05019076e-01 8.91742592e-02 1.08563221e+02] [-2.03629101e-01 9.78741180e-01 -2.45130736e-02 -1.55853647e+01] [-9.23041674e-02 5.73410468e-03 9.95714347e-01 -1.34748298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42119381699999 meters 0.08133105317827251 Centerline is valid? [True, True] Translation: X:108.63, Y:-15.58, Z:-13.47 [[ 9.75683141e-01 1.98187868e-01 9.36161178e-02 1.08628760e+02] [-1.96624090e-01 9.80141134e-01 -2.57356542e-02 -1.55768071e+01] [-9.68575024e-02 6.70265993e-03 9.95275690e-01 -1.34734875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48119381699999 meters 0.08128590487639943 Centerline is valid? [True, True] Translation: X:108.69, Y:-15.57, Z:-13.49 [[ 9.75421193e-01 2.00792389e-01 9.07519248e-02 1.08692715e+02] [-1.99334200e-01 9.79613904e-01 -2.49494761e-02 -1.55678241e+01] [-9.39115123e-02 6.24628547e-03 9.95560953e-01 -1.34858541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54119381699999 meters 0.07734459488458272 Centerline is valid? [True, True] Translation: X:108.76, Y:-15.56, Z:-13.50 [[ 9.75010496e-01 2.04431559e-01 8.69613144e-02 1.08757998e+02] [-2.03107308e-01 9.78864566e-01 -2.39077849e-02 -1.55604941e+01] [-9.00108551e-02 5.64786273e-03 9.95924770e-01 -1.34967233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.601193817 meters 0.07512248576752434 Centerline is valid? [True, True] Translation: X:108.82, Y:-15.55, Z:-13.51 [[ 9.73768266e-01 2.10803549e-01 8.56576183e-02 1.08823251e+02] [-2.09542584e-01 9.77515708e-01 -2.35572989e-02 -1.55497158e+01] [-8.86976297e-02 4.99043142e-03 9.96046096e-01 -1.35072647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.661193817 meters 0.07240674461004022 Centerline is valid? [True, True] Translation: X:108.89, Y:-15.54, Z:-13.51 [[ 9.72262426e-01 2.17527509e-01 8.59509086e-02 1.08886759e+02] [-2.16283917e-01 9.76044304e-01 -2.36386116e-02 -1.55445966e+01] [-8.90339431e-02 4.39313464e-03 9.96018904e-01 -1.35146848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721193817 meters 0.07033104560180316 Centerline is valid? [True, True] Translation: X:108.95, Y:-15.54, Z:-13.53 [[ 9.71133634e-01 2.23529493e-01 8.32708272e-02 1.08952394e+02] [-2.22384565e-01 9.74690067e-01 -2.28993255e-02 -1.55358583e+01] [-8.62819227e-02 3.72015850e-03 9.96263816e-01 -1.35253540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78119381699999 meters 0.07101096649587847 Centerline is valid? [True, True] Translation: X:109.01, Y:-15.55, Z:-13.53 [[ 9.71377142e-01 2.22521335e-01 8.31306382e-02 1.09013899e+02] [-2.21376828e-01 9.74920413e-01 -2.28580195e-02 -1.55451802e+01] [-8.61321531e-02 3.80056072e-03 9.96276472e-01 -1.35337149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84119381699999 meters 0.07086697454138047 Centerline is valid? [True, True] Translation: X:109.08, Y:-15.55, Z:-13.53 [[ 9.71632097e-01 2.19268230e-01 8.86143983e-02 1.09078465e+02] [-2.17951089e-01 9.75654739e-01 -2.43957489e-02 -1.55486307e+01] [-9.18062704e-02 4.39008807e-03 9.95767210e-01 -1.35331039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90119381699999 meters 0.07188687302028152 Centerline is valid? [True, True] Translation: X:109.14, Y:-15.56, Z:-13.54 [[ 9.72055234e-01 2.17462100e-01 8.84243061e-02 1.09139352e+02] [-2.16139966e-01 9.76057996e-01 -2.43783221e-02 -1.55602631e+01] [-9.16086122e-02 4.58504899e-03 9.95784535e-01 -1.35400036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.961193817 meters 0.07259592854966472 Centerline is valid? [True, True] Translation: X:109.20, Y:-15.57, Z:-13.55 [[ 9.72172904e-01 2.17792446e-01 8.62919214e-02 1.09199812e+02] [-2.16534695e-01 9.75984990e-01 -2.37912774e-02 -1.55720193e+01] [-8.94011806e-02 4.44404035e-03 9.95985783e-01 -1.35502215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.021193817 meters 0.07193593306393146 Centerline is valid? [True, True] Translation: X:109.26, Y:-15.58, Z:-13.56 [[ 9.71330888e-01 2.23417737e-01 8.12454400e-02 1.09260779e+02] [-2.22320652e-01 9.74715695e-01 -2.24241339e-02 -1.55771770e+01] [-8.42011548e-02 3.71871467e-03 9.96441838e-01 -1.35645479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081193817 meters 0.06864810075572285 Centerline is valid? [True, True] Translation: X:109.32, Y:-15.58, Z:-13.57 [[ 9.69451214e-01 2.32052859e-01 7.94720966e-02 1.09322120e+02] [-2.31029329e-01 9.72698744e-01 -2.19682295e-02 -1.55777733e+01] [-8.24001990e-02 2.93674156e-03 9.96594994e-01 -1.35734158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14119381699999 meters 0.0621869045475067 Centerline is valid? [True, True] Translation: X:109.39, Y:-15.57, Z:-13.57 [[ 9.65141486e-01 2.47672818e-01 8.46172928e-02 1.09388244e+02] [-2.46572045e-01 9.68842226e-01 -2.33873550e-02 -1.55683140e+01] [-8.77732184e-02 1.70784764e-03 9.96139019e-01 -1.35709474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20119381699999 meters 0.059880904698467366 Centerline is valid? [True, True] Translation: X:109.45, Y:-15.57, Z:-13.57 [[ 9.61018965e-01 2.61717552e-01 8.91429822e-02 1.09450545e+02] [-2.60555677e-01 9.65144404e-01 -2.46377710e-02 -1.55687413e+01] [-9.24839875e-02 4.50655130e-04 9.95714070e-01 -1.35746680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26119381699999 meters 0.0595125542157738 Centerline is valid? [True, True] Translation: X:109.51, Y:-15.58, Z:-13.58 [[ 9.59367321e-01 2.67554692e-01 8.96037388e-02 1.09507363e+02] [-2.66405921e-01 9.63542669e-01 -2.47671297e-02 -1.55843198e+01] [-9.29635874e-02 -1.10191662e-04 9.95669503e-01 -1.35810815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.321193817 meters 0.059577599997585794 Centerline is valid? [True, True] Translation: X:109.56, Y:-15.61, Z:-13.59 [[ 9.58576198e-01 2.69677736e-01 9.16820073e-02 1.09559828e+02] [-2.68485407e-01 9.62950575e-01 -2.53333270e-02 -1.56086395e+01] [-9.51170759e-02 -3.31356719e-04 9.95466038e-01 -1.35895801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.381193817 meters 0.059559262425846755 Centerline is valid? [True, True] Translation: X:109.61, Y:-15.64, Z:-13.60 [[ 9.58533986e-01 2.69821219e-01 9.17011852e-02 1.09611932e+02] [-2.68629995e-01 9.62910372e-01 -2.53286855e-02 -1.56361449e+01] [-9.51342391e-02 -3.55282970e-04 9.95464389e-01 -1.35969928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441193817 meters 0.05978230889187545 Centerline is valid? [True, True] Translation: X:109.66, Y:-15.67, Z:-13.61 [[ 9.59099193e-01 2.68951016e-01 8.82841350e-02 1.09661766e+02] [-2.67844573e-01 9.63153818e-01 -2.43722674e-02 -1.56747987e+01] [-9.15861478e-02 -2.71004394e-04 9.95797120e-01 -1.36067074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50119381699999 meters 0.05990801461000641 Centerline is valid? [True, True] Translation: X:109.71, Y:-15.70, Z:-13.62 [[ 9.59888766e-01 2.66457597e-01 8.72576977e-02 1.09714780e+02] [-2.65367213e-01 9.63846641e-01 -2.40810065e-02 -1.56999515e+01] [-9.05196060e-02 -4.02444696e-05 9.95894673e-01 -1.36155227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56119381699999 meters 0.06019099879509251 Centerline is valid? [True, True] Translation: X:109.77, Y:-15.74, Z:-13.62 [[ 9.61566765e-01 2.60315497e-01 8.73223784e-02 1.09767841e+02] [-2.59199296e-01 9.65523467e-01 -2.40865228e-02 -1.57373299e+01] [-9.05819007e-02 5.26900802e-04 9.95888870e-01 -1.36225457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62119381699999 meters 0.06233584653513825 Centerline is valid? [True, True] Translation: X:109.82, Y:-15.79, Z:-13.63 [[ 9.64542009e-01 2.48857469e-01 8.79128717e-02 1.09816908e+02] [-2.47678736e-01 9.68538776e-01 -2.42463057e-02 -1.57867287e+01] [-9.11808994e-02 1.61243144e-03 9.95833040e-01 -1.36305993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.681193817 meters 0.06566806307851654 Centerline is valid? [True, True] Translation: X:109.87, Y:-15.83, Z:-13.64 [[ 9.67434254e-01 2.38432614e-01 8.49755962e-02 1.09866521e+02] [-2.37288327e-01 9.71155718e-01 -2.34695721e-02 -1.58321070e+01] [-8.81204476e-02 2.54155094e-03 9.96106584e-01 -1.36410792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.741193817 meters 0.06744248450109586 Centerline is valid? [True, True] Translation: X:109.92, Y:-15.86, Z:-13.65 [[ 9.68975798e-01 2.33098078e-01 8.21656183e-02 1.09921963e+02] [-2.32009297e-01 9.72448830e-01 -2.26926938e-02 -1.58597053e+01] [-8.51914827e-02 2.92548375e-03 9.96360303e-01 -1.36501151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.801193817 meters 0.06970711357597956 Centerline is valid? [True, True] Translation: X:109.98, Y:-15.89, Z:-13.66 [[ 9.69974000e-01 2.30631394e-01 7.71984442e-02 1.09975163e+02] [-2.29662364e-01 9.73036703e-01 -2.13254238e-02 -1.58884494e+01] [-8.00352318e-02 2.95552937e-03 9.96787654e-01 -1.36639959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86119381699999 meters 0.06879759948183706 Centerline is valid? [True, True] Translation: X:110.03, Y:-15.90, Z:-13.67 [[ 9.69057232e-01 2.34933513e-01 7.57253307e-02 1.10034858e+02] [-2.34015167e-01 9.72008126e-01 -2.09070531e-02 -1.59033475e+01] [-7.85174042e-02 2.53925509e-03 9.96909509e-01 -1.36734087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92119381699999 meters 0.0660691690465244 Centerline is valid? [True, True] Translation: X:110.10, Y:-15.91, Z:-13.68 [[ 9.67171577e-01 2.42095253e-01 7.72594865e-02 1.10095387e+02] [-2.41159091e-01 9.70250356e-01 -2.13667805e-02 -1.59133459e+01] [-8.01338404e-02 2.03351518e-03 9.96782039e-01 -1.36775032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98119381699999 meters 0.061453215429361566 Centerline is valid? [True, True] Translation: X:110.16, Y:-15.92, Z:-13.67 [[ 9.63364514e-01 2.53470935e-01 8.76430172e-02 1.10157097e+02] [-2.52312041e-01 9.67342207e-01 -2.42422855e-02 -1.59229548e+01] [-9.09255045e-02 1.24076903e-03 9.95856924e-01 -1.36726814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04119381699999 meters 0.060044024412041964 Centerline is valid? [True, True] Translation: X:110.22, Y:-15.94, Z:-13.67 [[ 9.61733631e-01 2.57344970e-01 9.40318518e-02 1.10216184e+02] [-2.56028812e-01 9.66319141e-01 -2.60108793e-02 -1.59374977e+01] [-9.75585472e-02 9.40674160e-04 9.95229343e-01 -1.36733273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.101193817 meters 0.06027502093015411 Centerline is valid? [True, True] Translation: X:110.27, Y:-15.96, Z:-13.68 [[ 9.62027723e-01 2.54665302e-01 9.82254737e-02 1.10273206e+02] [-2.53215205e-01 9.67028431e-01 -2.71674948e-02 -1.59601959e+01] [-1.01905444e-01 1.26369974e-03 9.94793287e-01 -1.36790702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.161193817 meters 0.062100994358004986 Centerline is valid? [True, True] Translation: X:110.33, Y:-15.99, Z:-13.69 [[ 9.64138529e-01 2.48363605e-01 9.35543499e-02 1.10326923e+02] [-2.47016918e-01 9.68665097e-01 -2.58953996e-02 -1.59902319e+01] [-9.70543082e-02 1.85724532e-03 9.95277354e-01 -1.36912355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221193817 meters 0.0627494140912923 Centerline is valid? [True, True] Translation: X:110.38, Y:-16.01, Z:-13.70 [[ 9.64909418e-01 2.47566194e-01 8.75259694e-02 1.10384497e+02] [-2.46384486e-01 9.68869286e-01 -2.42279015e-02 -1.60085381e+01] [-9.07992328e-02 1.81268933e-03 9.95867568e-01 -1.37041783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28119381699999 meters 0.06314627520189232 Centerline is valid? [True, True] Translation: X:110.44, Y:-16.03, Z:-13.72 [[ 9.64709263e-01 2.50184755e-01 8.21195908e-02 1.10441421e+02] [-2.49154316e-01 9.68197001e-01 -2.27309057e-02 -1.60262966e+01] [-8.51948676e-02 1.46826474e-03 9.96363226e-01 -1.37169678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34119381699999 meters 0.06242304532118214 Centerline is valid? [True, True] Translation: X:110.50, Y:-16.04, Z:-13.72 [[ 9.63972366e-01 2.52355282e-01 8.41076065e-02 1.10501198e+02] [-2.51281715e-01 9.67633753e-01 -2.32899111e-02 -1.60431647e+01] [-8.72626911e-02 1.31612711e-03 9.96184466e-01 -1.37219236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40119381699999 meters 0.061308818262396515 Centerline is valid? [True, True] Translation: X:110.56, Y:-16.05, Z:-13.73 [[ 9.61828109e-01 2.60309234e-01 8.44144046e-02 1.10560824e+02] [-2.59255768e-01 9.65525096e-01 -2.34037523e-02 -1.60546976e+01] [-8.75964389e-02 6.25465506e-04 9.96155848e-01 -1.37306411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.461193817 meters 0.060459030943606946 Centerline is valid? [True, True] Translation: X:110.62, Y:-16.06, Z:-13.74 [[ 9.57915318e-01 2.73642958e-01 8.67051064e-02 1.10623266e+02] [-2.72582762e-01 9.61831170e-01 -2.40715238e-02 -1.60630106e+01] [-8.99826769e-02 -5.75835968e-04 9.95943164e-01 -1.37368325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.521193817 meters 0.060119761662905336 Centerline is valid? [True, True] Translation: X:110.68, Y:-16.08, Z:-13.74 [[ 9.57047637e-01 2.75480714e-01 9.03891362e-02 1.10681983e+02] [-2.74335986e-01 9.61306286e-01 -2.50996413e-02 -1.60829438e+01] [-9.38061119e-02 -7.75440445e-04 9.95590183e-01 -1.37412020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581193817 meters 0.06045822205589035 Centerline is valid? [True, True] Translation: X:110.73, Y:-16.12, Z:-13.75 [[ 9.59189488e-01 2.69039910e-01 8.70232913e-02 1.10734504e+02] [-2.67950122e-01 9.63129022e-01 -2.41912833e-02 -1.61219725e+01] [-9.03230782e-02 -1.13876867e-04 9.95912511e-01 -1.37516149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64119381699999 meters 0.06100342585577086 Centerline is valid? [True, True] Translation: X:110.79, Y:-16.16, Z:-13.76 [[ 9.60156274e-01 2.66359345e-01 8.45732114e-02 1.10788896e+02] [-2.65317532e-01 9.63873785e-01 -2.35357904e-02 -1.61569099e+01] [-8.77868791e-02 1.59281100e-04 9.96139267e-01 -1.37610344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70119381699999 meters 0.06094983461639806 Centerline is valid? [True, True] Translation: X:110.85, Y:-16.18, Z:-13.77 [[ 9.59114161e-01 2.70324440e-01 8.38136283e-02 1.10847220e+02] [-2.69314093e-01 9.62769269e-01 -2.33506573e-02 -1.61792751e+01] [-8.70054391e-02 -1.76245230e-04 9.96207821e-01 -1.37680200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76119381699999 meters 0.06087173374134134 Centerline is valid? [True, True] Translation: X:110.90, Y:-16.20, Z:-13.77 [[ 9.57345545e-01 2.75613319e-01 8.67571701e-02 1.10903748e+02] [-2.74549613e-01 9.61268367e-01 -2.41999191e-02 -1.62049057e+01] [-9.00667433e-02 -6.51462732e-04 9.95935519e-01 -1.37745816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.821193817 meters 0.06061877250918502 Centerline is valid? [True, True] Translation: X:110.96, Y:-16.23, Z:-13.78 [[ 9.57477098e-01 2.75228376e-01 8.65271447e-02 1.10961651e+02] [-2.74166404e-01 9.61378695e-01 -2.41617134e-02 -1.62302561e+01] [-8.98353426e-02 -5.88548841e-04 9.95956457e-01 -1.37798081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.881193817 meters 0.06079777838597365 Centerline is valid? [True, True] Translation: X:111.01, Y:-16.26, Z:-13.79 [[ 9.58343501e-01 2.72127729e-01 8.67423392e-02 1.11014848e+02] [-2.71044796e-01 9.62261102e-01 -2.42546979e-02 -1.62635120e+01] [-9.00691548e-02 -2.66727581e-04 9.95935478e-01 -1.37910789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.941193817 meters 0.06085088754874522 Centerline is valid? [True, True] Translation: X:111.07, Y:-16.29, Z:-13.80 [[ 9.59428694e-01 2.68704922e-01 8.54063604e-02 1.11070785e+02] [-2.67639557e-01 9.63222539e-01 -2.39041486e-02 -1.62923896e+01] [-8.86884937e-02 7.62056009e-05 9.96059409e-01 -1.37975237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00119381699999 meters 0.06217950246427313 Centerline is valid? [True, True] Translation: X:111.12, Y:-16.33, Z:-13.81 [[ 9.61550232e-01 2.61686004e-01 8.33161815e-02 1.11123525e+02] [-2.60643065e-01 9.65152781e-01 -2.33517099e-02 -1.63254103e+01] [-8.65236599e-02 7.38057201e-04 9.96249523e-01 -1.38095216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06119381699999 meters 0.062252141523560324 Centerline is valid? [True, True] Translation: X:111.18, Y:-16.35, Z:-13.81 [[ 9.62694929e-01 2.57419575e-01 8.33884607e-02 1.11180156e+02] [-2.56359303e-01 9.66299081e-01 -2.33665105e-02 -1.63527307e+01] [-8.65931902e-02 1.11741352e-03 9.96243128e-01 -1.38119811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12119381699999 meters 0.06166829799179137 Centerline is valid? [True, True] Translation: X:111.24, Y:-16.38, Z:-13.81 [[ 9.62547060e-01 2.56245501e-01 8.85516827e-02 1.11237771e+02] [-2.55041203e-01 9.66610812e-01 -2.48500183e-02 -1.63773178e+01] [-9.19627192e-02 1.33498440e-03 9.95761556e-01 -1.38127377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.181193817 meters 0.06202894145566957 Centerline is valid? [True, True] Translation: X:111.30, Y:-16.39, Z:-13.83 [[ 9.61667967e-01 2.59322802e-01 8.91426133e-02 1.11295631e+02] [-2.58115514e-01 9.65790136e-01 -2.50158925e-02 -1.63947163e+01] [-9.25802480e-02 1.04789104e-03 9.95704675e-01 -1.38253988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.241193817 meters 0.060451194752168196 Centerline is valid? [True, True] Translation: X:111.36, Y:-16.41, Z:-13.83 [[ 9.60202131e-01 2.65375156e-01 8.71085194e-02 1.11357321e+02] [-2.64245280e-01 9.64145114e-01 -2.44669518e-02 -1.64070536e+01] [-9.04781745e-02 4.75204199e-04 9.95898325e-01 -1.38294776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.301193817 meters 0.06062415898840157 Centerline is valid? [True, True] Translation: X:111.42, Y:-16.43, Z:-13.84 [[ 9.60099962e-01 2.66329077e-01 8.53046604e-02 1.11416096e+02] [-2.65246515e-01 9.63882076e-01 -2.39922954e-02 -1.64263999e+01] [-8.86134790e-02 4.08237968e-04 9.96066004e-01 -1.38390596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36119381699999 meters 0.06118984023860541 Centerline is valid? [True, True] Translation: X:111.47, Y:-16.45, Z:-13.85 [[ 9.60432663e-01 2.65988041e-01 8.25800339e-02 1.11474612e+02] [-2.64969605e-01 9.63976220e-01 -2.32584416e-02 -1.64460089e+01] [-8.57916563e-02 4.56968058e-04 9.96312994e-01 -1.38494817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42119381699999 meters 0.061646604109109916 Centerline is valid? [True, True] Translation: X:111.53, Y:-16.46, Z:-13.86 [[ 9.60643231e-01 2.65671158e-01 8.11382684e-02 1.11531984e+02] [-2.64686501e-01 9.64063589e-01 -2.28572150e-02 -1.64630072e+01] [-8.42949530e-02 4.81424564e-04 9.96440730e-01 -1.38602243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48119381699999 meters 0.06149907290556833 Centerline is valid? [True, True] Translation: X:111.59, Y:-16.48, Z:-13.87 [[ 9.60925395e-01 2.65164222e-01 7.94375241e-02 1.11591128e+02] [-2.64218222e-01 9.64203124e-01 -2.23845323e-02 -1.64795514e+01] [-8.25294860e-02 5.21024177e-04 9.96588487e-01 -1.38650022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54119381699999 meters 0.062143800400100195 Centerline is valid? [True, True] Translation: X:111.65, Y:-16.50, Z:-13.87 [[ 9.61301145e-01 2.63474394e-01 8.05068484e-02 1.11648060e+02] [-2.62494700e-01 9.64666136e-01 -2.27107392e-02 -1.64996114e+01] [-8.36459287e-02 6.99238516e-04 9.96495293e-01 -1.38724303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.601193817 meters 0.062276370867879106 Centerline is valid? [True, True] Translation: X:111.71, Y:-16.52, Z:-13.88 [[ 9.62146603e-01 2.59002995e-01 8.48019034e-02 1.11705800e+02] [-2.57895445e-01 9.65875799e-01 -2.39558030e-02 -1.65217742e+01] [-8.81127309e-02 1.17896984e-03 9.96109812e-01 -1.38767236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.661193817 meters 0.063339828572385 Centerline is valid? [True, True] Translation: X:111.76, Y:-16.54, Z:-13.89 [[ 9.62807720e-01 2.56676148e-01 8.43720839e-02 1.11763401e+02] [-2.55570775e-01 9.66496474e-01 -2.38357993e-02 -1.65392870e+01] [-8.76634027e-02 1.38625267e-03 9.96149189e-01 -1.38869622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721193817 meters 0.06359103884299684 Centerline is valid? [True, True] Translation: X:111.82, Y:-16.56, Z:-13.89 [[ 9.63466780e-01 2.54959516e-01 8.20207827e-02 1.11821760e+02] [-2.53906988e-01 9.66950534e-01 -2.31928062e-02 -1.65586885e+01] [-8.52232663e-02 1.51984838e-03 9.96360720e-01 -1.38934566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78119381699999 meters 0.0640307531343963 Centerline is valid? [True, True] Translation: X:111.88, Y:-16.58, Z:-13.90 [[ 9.63713197e-01 2.54531477e-01 8.04400495e-02 1.11880690e+02] [-2.53515835e-01 9.67063249e-01 -2.27682788e-02 -1.65758724e+01] [-8.35858593e-02 1.54926439e-03 9.96499375e-01 -1.39028663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84119381699999 meters 0.0647975362122692 Centerline is valid? [True, True] Translation: X:111.94, Y:-16.59, Z:-13.91 [[ 9.64736067e-01 2.51248875e-01 7.84749886e-02 1.11939723e+02] [-2.50268679e-01 9.67920804e-01 -2.22464783e-02 -1.65906007e+01] [-8.15469767e-02 1.82214831e-03 9.96667834e-01 -1.39114203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90119381699999 meters 0.06717493147416477 Centerline is valid? [True, True] Translation: X:111.99, Y:-16.61, Z:-13.92 [[ 9.65737227e-01 2.47786325e-01 7.71592215e-02 1.11994921e+02] [-2.46827317e-01 9.68812466e-01 -2.18788092e-02 -1.66124210e+01] [-8.01740853e-02 2.08417688e-03 9.96778698e-01 -1.39226615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.961193817 meters 0.0669911966373786 Centerline is valid? [True, True] Translation: X:112.05, Y:-16.63, Z:-13.93 [[ 9.66070471e-01 2.46231102e-01 7.79621081e-02 1.12054347e+02] [-2.45247935e-01 9.69208593e-01 -2.20942171e-02 -1.66323138e+01] [-8.10018285e-02 2.22452474e-03 9.96711470e-01 -1.39256530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.021193817 meters 0.06485455771455981 Centerline is valid? [True, True] Translation: X:112.12, Y:-16.64, Z:-13.93 [[ 9.64093831e-01 2.52895409e-01 8.10370109e-02 1.12115623e+02] [-2.51853178e-01 9.67492007e-01 -2.30041989e-02 -1.66365697e+01] [-8.42203166e-02 1.76877750e-03 9.96445588e-01 -1.39310828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081193817 meters 0.06289261411060026 Centerline is valid? [True, True] Translation: X:112.18, Y:-16.64, Z:-13.94 [[ 9.61734550e-01 2.60537397e-01 8.47756990e-02 1.12175834e+02] [-2.59426088e-01 9.65463069e-01 -2.40658946e-02 -1.66415999e+01] [-8.81178721e-02 1.15197433e-03 9.96109388e-01 -1.39355137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14119381699999 meters 0.06093497798531403 Centerline is valid? [True, True] Translation: X:112.24, Y:-16.65, Z:-13.93 [[ 9.60338785e-01 2.64138055e-01 8.93336821e-02 1.12237179e+02] [-2.62919606e-01 9.64484496e-01 -2.53562088e-02 -1.66508807e+01] [-9.28584911e-02 8.62974185e-04 9.95678942e-01 -1.39336237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20119381699999 meters 0.059961788838187605 Centerline is valid? [True, True] Translation: X:112.30, Y:-16.65, Z:-13.94 [[ 9.57381906e-01 2.73847385e-01 9.18013896e-02 1.12300951e+02] [-2.72604774e-01 9.61773156e-01 -2.60582704e-02 -1.66501368e+01] [-9.54281015e-02 -7.77805243e-05 9.95436322e-01 -1.39387179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26119381699999 meters 0.060429529035826046 Centerline is valid? [True, True] Translation: X:112.36, Y:-16.66, Z:-13.95 [[ 9.55437350e-01 2.81513347e-01 8.88240191e-02 1.12362079e+02] [-2.80383458e-01 9.59556964e-01 -2.52101194e-02 -1.66577606e+01] [-9.23286911e-02 -8.18095964e-04 9.95728248e-01 -1.39482101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.321193817 meters 0.0612717591439845 Centerline is valid? [True, True] Translation: X:112.42, Y:-16.67, Z:-13.96 [[ 9.54237601e-01 2.85990459e-01 8.74074263e-02 1.12421997e+02] [-2.84912836e-01 9.58231705e-01 -2.48329482e-02 -1.66659574e+01] [-9.08585534e-02 -1.20696476e-03 9.95863076e-01 -1.39600880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.381193817 meters 0.06104891140940969 Centerline is valid? [True, True] Translation: X:112.48, Y:-16.69, Z:-13.97 [[ 9.55510786e-01 2.82223772e-01 8.57256094e-02 1.12479808e+02] [-2.81170201e-01 9.59348260e-01 -2.43769060e-02 -1.66914875e+01] [-8.91204566e-02 -8.11090213e-04 9.96020525e-01 -1.39691649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.441193817 meters 0.06040448522322665 Centerline is valid? [True, True] Translation: X:112.54, Y:-16.72, Z:-13.97 [[ 9.56440285e-01 2.78738892e-01 8.67560467e-02 1.12535907e+02] [-2.77642667e-01 9.60366813e-01 -2.47008768e-02 -1.67205490e+01] [-9.02027232e-02 -4.62266477e-04 9.95923318e-01 -1.39742270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50119381699999 meters 0.060502744702683964 Centerline is valid? [True, True] Translation: X:112.59, Y:-16.74, Z:-13.98 [[ 9.56401177e-01 2.78989361e-01 8.63812751e-02 1.12594474e+02] [-2.77901315e-01 9.60294083e-01 -2.46197831e-02 -1.67432738e+01] [-8.98200849e-02 -4.59080408e-04 9.95957902e-01 -1.39843901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56119381699999 meters 0.060775227521118046 Centerline is valid? [True, True] Translation: X:112.65, Y:-16.77, Z:-13.99 [[ 9.56778492e-01 2.78341109e-01 8.42682851e-02 1.12648398e+02] [-2.77300458e-01 9.60482222e-01 -2.40490520e-02 -1.67742406e+01] [-8.76320296e-02 -3.58018379e-04 9.96152849e-01 -1.39945462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62119381699999 meters 0.06022423594196172 Centerline is valid? [True, True] Translation: X:112.71, Y:-16.80, Z:-14.00 [[ 9.56860959e-01 2.77862684e-01 8.49083843e-02 1.12706255e+02] [-2.76802208e-01 9.60620759e-01 -2.42547951e-02 -1.67995634e+01] [-8.83042590e-02 -2.94361745e-04 9.96093505e-01 -1.39970766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.681193817 meters 0.060130601732750755 Centerline is valid? [True, True] Translation: X:112.76, Y:-16.82, Z:-14.00 [[ 9.55529573e-01 2.81945612e-01 8.64286274e-02 1.12764228e+02] [-2.80860830e-01 9.59430165e-01 -2.47174699e-02 -1.68238724e+01] [-8.98912144e-02 -6.56142583e-04 9.95951374e-01 -1.40016724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.741193817 meters 0.060527733645956344 Centerline is valid? [True, True] Translation: X:112.82, Y:-16.84, Z:-14.01 [[ 9.53216809e-01 2.89343795e-01 8.75093306e-02 1.12823825e+02] [-2.88260103e-01 9.57224303e-01 -2.50548918e-02 -1.68390614e+01] [-9.10155354e-02 -1.34270463e-03 9.95848568e-01 -1.40077920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.801193817 meters 0.06330006066261813 Centerline is valid? [True, True] Translation: X:112.88, Y:-16.85, Z:-14.02 [[ 9.49706963e-01 3.01113812e-01 8.59485651e-02 1.12882276e+02] [-3.00113077e-01 9.53585217e-01 -2.46449757e-02 -1.68497191e+01] [-8.93802237e-02 -2.38878334e-03 9.95994714e-01 -1.40187194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86119381699999 meters 0.0647627752366404 Centerline is valid? [True, True] Translation: X:112.94, Y:-16.87, Z:-14.03 [[ 9.48803799e-01 3.04374616e-01 8.44241896e-02 1.12939547e+02] [-3.03422091e-01 9.52548727e-01 -2.42065722e-02 -1.68666193e+01] [-8.77860204e-02 -2.64887648e-03 9.96135833e-01 -1.40284860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92119381699999 meters 0.06395304829949365 Centerline is valid? [True, True] Translation: X:112.99, Y:-16.90, Z:-14.04 [[ 9.50392695e-01 3.00269552e-01 8.11906483e-02 1.12994423e+02] [-2.99374544e-01 9.53851873e-01 -2.32698675e-02 -1.68986771e+01] [-8.44310846e-02 -2.19090115e-03 9.96426912e-01 -1.40413296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98119381699999 meters 0.06214629956722355 Centerline is valid? [True, True] Translation: X:113.05, Y:-16.93, Z:-14.05 [[ 9.52073956e-01 2.95333620e-01 7.95816262e-02 1.13049424e+02] [-2.94454302e-01 9.55392689e-01 -2.28357960e-02 -1.69328190e+01] [-8.27758822e-02 -1.69178552e-03 9.96566752e-01 -1.40457770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04119381699999 meters 0.06063982500061142 Centerline is valid? [True, True] Translation: X:113.10, Y:-16.98, Z:-14.05 [[ 9.56568190e-01 2.79742450e-01 8.19845051e-02 1.13098783e+02] [-2.78748512e-01 9.60075030e-01 -2.35627518e-02 -1.69782232e+01] [-8.53027781e-02 -3.13679937e-04 9.96355026e-01 -1.40517327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.101193817 meters 0.061058041310025714 Centerline is valid? [True, True] Translation: X:113.15, Y:-17.02, Z:-14.06 [[ 9.59751682e-01 2.67735362e-01 8.48203040e-02 1.13152762e+02] [-2.66624639e-01 9.63492174e-01 -2.43748269e-02 -1.70172169e+01] [-8.82497022e-02 7.78598172e-04 9.96098079e-01 -1.40558677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.161193817 meters 0.06220018617915487 Centerline is valid? [True, True] Translation: X:113.21, Y:-17.06, Z:-14.06 [[ 9.61971941e-01 2.58541548e-01 8.81263439e-02 1.13207168e+02] [-2.57303351e-01 9.65998659e-01 -2.53293648e-02 -1.70554325e+01] [-9.16786232e-02 1.69093465e-03 9.95787212e-01 -1.40569744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22119381699999 meters 0.06189360476110025 Centerline is valid? [True, True] Translation: X:113.26, Y:-17.07, Z:-14.07 [[ 9.61034581e-01 2.61232392e-01 9.03890036e-02 1.13264432e+02] [-2.59938087e-01 9.65274763e-01 -2.60158303e-02 -1.70746371e+01] [-9.40464016e-02 1.50656788e-03 9.95566675e-01 -1.40650675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28119381699999 meters 0.06070430559134267 Centerline is valid? [True, True] Translation: X:113.33, Y:-17.09, Z:-14.07 [[ 9.59893085e-01 2.65844905e-01 8.90603783e-02 1.13325989e+02] [-2.64608185e-01 9.64015252e-01 -2.56340264e-02 -1.70853927e+01] [-9.26702383e-02 1.03981970e-03 9.95696312e-01 -1.40729869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34119381699999 meters 0.06063949196764128 Centerline is valid? [True, True] Translation: X:113.38, Y:-17.10, Z:-14.08 [[ 9.59349467e-01 2.67952125e-01 8.86016884e-02 1.13384242e+02] [-2.66735782e-01 9.63431857e-01 -2.55162461e-02 -1.71007675e+01] [-9.21988215e-02 8.45756384e-04 9.95740258e-01 -1.40821429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40119381699999 meters 0.06098121968620776 Centerline is valid? [True, True] Translation: X:113.44, Y:-17.12, Z:-14.09 [[ 9.60199353e-01 2.65023777e-01 8.82020368e-02 1.13442199e+02] [-2.63805073e-01 9.64241212e-01 -2.54119683e-02 -1.71214246e+01] [-9.17828147e-02 1.13241075e-03 9.95778405e-01 -1.40889775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.461193817 meters 0.06345682544936203 Centerline is valid? [True, True] Translation: X:113.50, Y:-17.15, Z:-14.10 [[ 9.62705403e-01 2.56404219e-01 8.63434042e-02 1.13497561e+02] [-2.55198710e-01 9.66567683e-01 -2.49104792e-02 -1.71472872e+01] [-8.98438962e-02 1.94672758e-03 9.95953957e-01 -1.40981141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.521193817 meters 0.06948182372966664 Centerline is valid? [True, True] Translation: X:113.55, Y:-17.17, Z:-14.11 [[ 9.66680806e-01 2.42988544e-01 8.05281749e-02 1.13551841e+02] [-2.41893569e-01 9.70024579e-01 -2.32339772e-02 -1.71734014e+01] [-8.37598993e-02 2.98059216e-03 9.96481508e-01 -1.41121607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581193817 meters 0.07163300711513716 Centerline is valid? [True, True] Translation: X:113.61, Y:-17.19, Z:-14.12 [[ 9.67391905e-01 2.40586313e-01 7.91904516e-02 1.13609618e+02] [-2.39519295e-01 9.70622678e-01 -2.28500278e-02 -1.71924732e+01] [-8.23614521e-02 3.13729076e-03 9.96597586e-01 -1.41204609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64119381699999 meters 0.06826251981420975 Centerline is valid? [True, True] Translation: X:113.67, Y:-17.19, Z:-14.13 [[ 9.65255827e-01 2.49590397e-01 7.73681015e-02 1.13671380e+02] [-2.48600406e-01 9.68348725e-01 -2.23290014e-02 -1.71907430e+01] [-8.04924068e-02 2.31945725e-03 9.96752523e-01 -1.41300272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70119381699999 meters 0.06158260696744145 Centerline is valid? [True, True] Translation: X:113.74, Y:-17.18, Z:-14.13 [[ 9.61700800e-01 2.61963022e-01 8.06656485e-02 1.13738128e+02] [-2.60929994e-01 9.65076981e-01 -2.32800236e-02 -1.71816655e+01] [-8.39470658e-02 1.34033012e-03 9.96469314e-01 -1.41282981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76119381699999 meters 0.060193808209702555 Centerline is valid? [True, True] Translation: X:113.80, Y:-17.18, Z:-14.14 [[ 9.57804434e-01 2.74764301e-01 8.43519094e-02 1.13800181e+02] [-2.73683603e-01 9.61511583e-01 -2.43466861e-02 -1.71782995e+01] [-8.77949381e-02 2.33629469e-04 9.96138542e-01 -1.41405297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.821193817 meters 0.05980495456127786 Centerline is valid? [True, True] Translation: X:113.86, Y:-17.19, Z:-14.15 [[ 9.56614499e-01 2.78230614e-01 8.64663291e-02 1.13860788e+02] [-2.77109497e-01 9.60514298e-01 -2.49521401e-02 -1.71877141e+01] [-8.99945947e-02 -9.10620181e-05 9.95942250e-01 -1.41483019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.881193817 meters 0.059828766955607744 Centerline is valid? [True, True] Translation: X:113.92, Y:-17.20, Z:-14.16 [[ 9.56329001e-01 2.79578233e-01 8.52692988e-02 1.13920587e+02] [-2.78492403e-01 9.60122893e-01 -2.46172950e-02 -1.72009694e+01] [-8.87514656e-02 -2.04618803e-04 9.96053781e-01 -1.41557141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.941193817 meters 0.05933415578082021 Centerline is valid? [True, True] Translation: X:113.98, Y:-17.22, Z:-14.16 [[ 9.56217506e-01 2.80882075e-01 8.21787191e-02 1.13980676e+02] [-2.79876291e-01 9.59742245e-01 -2.37504778e-02 -1.72169428e+01] [-8.55414719e-02 -2.89252455e-04 9.96334569e-01 -1.41585735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00119381699999 meters 0.05972589980000102 Centerline is valid? [True, True] Translation: X:114.04, Y:-17.24, Z:-14.17 [[ 9.56857027e-01 2.79021939e-01 8.10640962e-02 1.14037770e+02] [-2.78036622e-01 9.60284720e-01 -2.34284855e-02 -1.72370366e+01] [-8.43816744e-02 -1.21076565e-04 9.96433499e-01 -1.41689128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06119381699999 meters 0.06005109866239832 Centerline is valid? [True, True] Translation: X:114.09, Y:-17.26, Z:-14.18 [[ 9.58213747e-01 2.74446465e-01 8.06570047e-02 1.14094700e+02] [-2.73452928e-01 9.61602333e-01 -2.33334579e-02 -1.72613629e+01] [-8.39637489e-02 3.02546084e-04 9.96468764e-01 -1.41780024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12119381699999 meters 0.06227662178486174 Centerline is valid? [True, True] Translation: X:114.15, Y:-17.30, Z:-14.18 [[ 9.62471362e-01 2.59794921e-01 7.84568399e-02 1.14147402e+02] [-2.58803379e-01 9.65662532e-01 -2.27307200e-02 -1.72965315e+01] [-8.16681563e-02 1.57277176e-03 9.96658336e-01 -1.41843206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.181193817 meters 0.06483869091077799 Centerline is valid? [True, True] Translation: X:114.20, Y:-17.32, Z:-14.19 [[ 9.64757246e-01 2.51393535e-01 7.77479692e-02 1.14203099e+02] [-2.50392508e-01 9.67882307e-01 -2.25262276e-02 -1.73233883e+01] [-8.09138318e-02 2.26483227e-03 9.96718527e-01 -1.41921843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.241193817 meters 0.06800845356193215 Centerline is valid? [True, True] Translation: X:114.26, Y:-17.35, Z:-14.20 [[ 9.66561294e-01 2.44983549e-01 7.57781304e-02 1.14259485e+02] [-2.44012745e-01 9.69523381e-01 -2.19589013e-02 -1.73458925e+01] [-7.88482388e-02 2.73379449e-03 9.96882883e-01 -1.42019643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.301193817 meters 0.06975328926784347 Centerline is valid? [True, True] Translation: X:114.32, Y:-17.36, Z:-14.21 [[ 9.67431407e-01 2.41954512e-01 7.43941347e-02 1.14317545e+02] [-2.41009734e-01 9.70283173e-01 -2.15609053e-02 -1.73635996e+01] [-7.74001354e-02 2.92898629e-03 9.96995807e-01 -1.42109344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36119381699999 meters 0.07101286049923906 Centerline is valid? [True, True] Translation: X:114.38, Y:-17.38, Z:-14.22 [[ 9.67631832e-01 2.42057912e-01 7.13905167e-02 1.14377033e+02] [-2.41188069e-01 9.70257749e-01 -2.06933872e-02 -1.73753848e+01] [-7.42762001e-02 2.80503930e-03 9.97233763e-01 -1.42231864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42119381699999 meters 0.0695238698361993 Centerline is valid? [True, True] Translation: X:114.44, Y:-17.38, Z:-14.23 [[ 9.66619053e-01 2.45794015e-01 7.23388502e-02 1.14437552e+02] [-2.44911001e-01 9.69318715e-01 -2.09721226e-02 -1.73835969e+01] [-7.52742235e-02 2.55547307e-03 9.97159596e-01 -1.42307231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48119381699999 meters 0.06715191747446239 Centerline is valid? [True, True] Translation: X:114.50, Y:-17.39, Z:-14.24 [[ 9.64969823e-01 2.51302585e-01 7.53674392e-02 1.14499869e+02] [-2.50360456e-01 9.67906033e-01 -2.18529909e-02 -1.73851218e+01] [-7.84403122e-02 2.21845031e-03 9.96916343e-01 -1.42351275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54119381699999 meters 0.06712897081170702 Centerline is valid? [True, True] Translation: X:114.56, Y:-17.40, Z:-14.24 [[ 9.64633345e-01 2.51653264e-01 7.84419822e-02 1.14559459e+02] [-2.50633632e-01 9.67814772e-01 -2.27453223e-02 -1.73972131e+01] [-8.16412438e-02 2.28069748e-03 9.96659172e-01 -1.42396869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.601193817 meters 0.0666029464630852 Centerline is valid? [True, True] Translation: X:114.62, Y:-17.40, Z:-14.24 [[ 9.65728773e-01 2.46453999e-01 8.14147604e-02 1.14622933e+02] [-2.45337505e-01 9.69150392e-01 -2.36013967e-02 -1.74033546e+01] [-8.47198056e-02 2.81845370e-03 9.96400828e-01 -1.42392205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.661193817 meters 0.06691186126014313 Centerline is valid? [True, True] Translation: X:114.69, Y:-17.41, Z:-14.24 [[ 9.65652642e-01 2.44874330e-01 8.68995832e-02 1.14685511e+02] [-2.43592231e-01 9.69549567e-01 -2.52281953e-02 -1.74104670e+01] [-9.04311907e-02 3.19361014e-03 9.95897585e-01 -1.42410959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72119381699999 meters 0.06405476856004241 Centerline is valid? [True, True] Translation: X:114.75, Y:-17.41, Z:-14.24 [[ 9.64062050e-01 2.50511297e-01 8.84785497e-02 1.14749171e+02] [-2.49205019e-01 9.68109852e-01 -2.56938317e-02 -1.74112107e+01] [-9.20935507e-02 2.72114942e-03 9.95746641e-01 -1.42444089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78119381699999 meters 0.06126759959233716 Centerline is valid? [True, True] Translation: X:114.82, Y:-17.40, Z:-14.26 [[ 9.60966419e-01 2.63453206e-01 8.44745540e-02 1.14815369e+02] [-2.62312290e-01 9.64671136e-01 -2.45328627e-02 -1.73952027e+01] [-8.79534253e-02 1.41654350e-03 9.96123581e-01 -1.42592605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84119381699999 meters 0.06103603785785165 Centerline is valid? [True, True] Translation: X:114.88, Y:-17.40, Z:-14.27 [[ 9.59861943e-01 2.68239507e-01 8.19305588e-02 1.14877845e+02] [-2.67184452e-01 9.63351795e-01 -2.37862831e-02 -1.73977029e+01] [-8.53083718e-02 9.40976449e-04 9.96354152e-01 -1.42721074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90119381699999 meters 0.06135036238853931 Centerline is valid? [True, True] Translation: X:114.94, Y:-17.41, Z:-14.28 [[ 9.59590688e-01 2.69724159e-01 8.02158963e-02 1.14938001e+02] [-2.68716109e-01 9.62937285e-01 -2.33117613e-02 -1.74095605e+01] [-8.35306226e-02 8.14445558e-04 9.96504878e-01 -1.42827292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.961193817 meters 0.06194944070134564 Centerline is valid? [True, True] Translation: X:115.00, Y:-17.42, Z:-14.30 [[ 9.58372438e-01 2.75246879e-01 7.59040500e-02 1.14996799e+02] [-2.74359476e-01 9.61373516e-01 -2.20871017e-02 -1.74159306e+01] [-7.90515493e-02 3.42674160e-04 9.96870471e-01 -1.42987413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.021193817 meters 0.06154050704855349 Centerline is valid? [True, True] Translation: X:115.06, Y:-17.42, Z:-14.31 [[ 9.56068105e-01 2.83752685e-01 7.36083731e-02 1.15058782e+02] [-2.82942725e-01 9.58897438e-01 -2.14270218e-02 -1.74238505e+01] [-7.66628554e-02 -3.41261547e-04 9.97057014e-01 -1.43058014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081193817 meters 0.06354456076586866 Centerline is valid? [True, True] Translation: X:115.12, Y:-17.43, Z:-14.32 [[ 9.52608061e-01 2.94262648e-01 7.71192344e-02 1.15118603e+02] [-2.93407739e-01 9.55723784e-01 -2.24487943e-02 -1.74332728e+01] [-8.03105281e-02 -1.24247779e-03 9.96769118e-01 -1.43162017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14119381699999 meters 0.06295700310522018 Centerline is valid? [True, True] Translation: X:115.18, Y:-17.46, Z:-14.32 [[ 9.51684350e-01 2.96832497e-01 7.86598187e-02 1.15176959e+02] [-2.95949949e-01 9.54928435e-01 -2.29196815e-02 -1.74566062e+01] [-8.19178039e-02 -1.46706711e-03 9.96638009e-01 -1.43193871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20119381699999 meters 0.061377501232614 Centerline is valid? [True, True] Translation: X:115.23, Y:-17.49, Z:-14.32 [[ 9.52708105e-01 2.93217362e-01 7.98175725e-02 1.15232393e+02] [-2.92293205e-01 9.56045122e-01 -2.32896496e-02 -1.74859007e+01] [-8.31381304e-02 -1.14189614e-03 9.96537379e-01 -1.43214360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26119381699999 meters 0.06077598976541856 Centerline is valid? [True, True] Translation: X:115.29, Y:-17.51, Z:-14.33 [[ 9.53184592e-01 2.91029533e-01 8.21032544e-02 1.15288933e+02] [-2.90043169e-01 9.56713573e-01 -2.39603805e-02 -1.75096806e+01] [-8.55224763e-02 -9.74822505e-04 9.96335765e-01 -1.43269408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.321193817 meters 0.05950575264432288 Centerline is valid? [True, True] Translation: X:115.34, Y:-17.54, Z:-14.33 [[ 9.54150707e-01 2.86393622e-01 8.70351801e-02 1.15344181e+02] [-2.85265254e-01 9.58111866e-01 -2.54044813e-02 -1.75401886e+01] [-9.06651202e-02 -5.88408953e-04 9.95881263e-01 -1.43267430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.381193817 meters 0.059729268432271075 Centerline is valid? [True, True] Translation: X:115.40, Y:-17.56, Z:-14.34 [[ 9.54494571e-01 2.85853853e-01 8.50158124e-02 1.15400542e+02] [-2.84775426e-01 9.58273081e-01 -2.48124913e-02 -1.75637944e+01] [-8.85611107e-02 -5.27025983e-04 9.96070606e-01 -1.43368453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.441193817 meters 0.05992750857272309 Centerline is valid? [True, True] Translation: X:115.46, Y:-17.59, Z:-14.35 [[ 9.55493629e-01 2.82659464e-01 8.44721994e-02 1.15456349e+02] [-2.81581643e-01 9.59220297e-01 -2.46617195e-02 -1.75944833e+01] [-8.79983166e-02 -2.21704794e-04 9.96120599e-01 -1.43460039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50119381699999 meters 0.060031446175280966 Centerline is valid? [True, True] Translation: X:115.51, Y:-17.63, Z:-14.35 [[ 9.57234577e-01 2.77037400e-01 8.33801111e-02 1.15511610e+02] [-2.75963393e-01 9.60859082e-01 -2.43727192e-02 -1.76257940e+01] [-8.68686918e-02 3.20551205e-04 9.96219719e-01 -1.43525578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56119381699999 meters 0.06274240410741096 Centerline is valid? [True, True] Translation: X:115.56, Y:-17.66, Z:-14.36 [[ 9.61646193e-01 2.62292319e-01 8.02454913e-02 1.15562564e+02] [-2.61243354e-01 9.64987096e-01 -2.34907449e-02 -1.76649629e+01] [-8.35973056e-02 1.62618408e-03 9.96498292e-01 -1.43626972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62119381699999 meters 0.06589253135534077 Centerline is valid? [True, True] Translation: X:115.62, Y:-17.70, Z:-14.37 [[ 9.64244544e-01 2.52887706e-01 7.92481410e-02 1.15615745e+02] [-2.51832840e-01 9.67492628e-01 -2.31999049e-02 -1.76991628e+01] [-8.25389629e-02 2.41309727e-03 9.96584917e-01 -1.43699648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.681193817 meters 0.06849711178091801 Centerline is valid? [True, True] Translation: X:115.67, Y:-17.72, Z:-14.38 [[ 9.64645247e-01 2.51485758e-01 7.88318575e-02 1.15671540e+02] [-2.50437396e-01 9.67857722e-01 -2.30768296e-02 -1.77209005e+01] [-8.21015161e-02 2.51850892e-03 9.96620790e-01 -1.43825052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.741193817 meters 0.06504346091472864 Centerline is valid? [True, True] Translation: X:115.73, Y:-17.73, Z:-14.38 [[ 9.63800438e-01 2.54921234e-01 7.81273353e-02 1.15734569e+02] [-2.53901692e-01 9.66959275e-01 -2.28843052e-02 -1.77292887e+01] [-8.13796468e-02 2.21924068e-03 9.96680705e-01 -1.43842709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.801193817 meters 0.06266121516515333 Centerline is valid? [True, True] Translation: X:115.80, Y:-17.73, Z:-14.39 [[ 9.60486304e-01 2.66715694e-01 7.95537514e-02 1.15795349e+02] [-2.65697580e-01 9.63774433e-01 -2.33160538e-02 -1.77313671e+01] [-8.28906291e-02 1.25751106e-03 9.96557857e-01 -1.43931902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86119381699999 meters 0.0609859411369198 Centerline is valid? [True, True] Translation: X:115.86, Y:-17.73, Z:-14.40 [[ 9.57678220e-01 2.76564042e-01 7.97794299e-02 1.15858910e+02] [-2.75574306e-01 9.60995404e-01 -2.33802418e-02 -1.77309991e+01] [-8.31337996e-02 4.05587337e-04 9.96538312e-01 -1.44028040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92119381699999 meters 0.06028575576158049 Centerline is valid? [True, True] Translation: X:115.92, Y:-17.73, Z:-14.41 [[ 9.54713748e-01 2.87151463e-01 7.78825791e-02 1.15923770e+02] [-2.86243982e-01 9.57885054e-01 -2.28167777e-02 -1.77302975e+01] [-8.11544296e-02 -5.09928211e-04 9.96701409e-01 -1.44074956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98119381699999 meters 0.060923190436243134 Centerline is valid? [True, True] Translation: X:115.98, Y:-17.74, Z:-14.42 [[ 9.53767276e-01 2.90474979e-01 7.71509558e-02 1.15982588e+02] [-2.89593249e-01 9.56882286e-01 -2.26283359e-02 -1.77434889e+01] [-8.03973483e-02 -7.60229667e-04 9.96762604e-01 -1.44176271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04119381699999 meters 0.05999882829771856 Centerline is valid? [True, True] Translation: X:116.04, Y:-17.76, Z:-14.42 [[ 9.54169968e-01 2.88156705e-01 8.07798599e-02 1.16040188e+02] [-2.87178759e-01 9.57583104e-01 -2.37267671e-02 -1.77646675e+01] [-8.41904560e-02 -5.58891259e-04 9.96449524e-01 -1.44198999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.101193817 meters 0.059751854449619335 Centerline is valid? [True, True] Translation: X:116.09, Y:-17.79, Z:-14.43 [[ 9.54598016e-01 2.85343308e-01 8.55676586e-02 1.16094859e+02] [-2.84234029e-01 9.58425319e-01 -2.51381245e-02 -1.77910806e+01] [-8.91832061e-02 -3.24436612e-04 9.96015186e-01 -1.44253159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.161193817 meters 0.05952513252935927 Centerline is valid? [True, True] Translation: X:116.15, Y:-17.82, Z:-14.43 [[ 9.54676064e-01 2.85351980e-01 8.46632149e-02 1.16152314e+02] [-2.84266793e-01 9.58422735e-01 -2.48646601e-02 -1.78165200e+01] [-8.82383300e-02 -3.29244699e-04 9.96099337e-01 -1.44300019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22119381699999 meters 0.06062529094136519 Centerline is valid? [True, True] Translation: X:116.21, Y:-17.83, Z:-14.45 [[ 9.55187769e-01 2.85263271e-01 7.90012227e-02 1.16207633e+02] [-2.84315467e-01 9.58449162e-01 -2.32361714e-02 -1.78336731e+01] [-8.23470819e-02 -2.66362881e-04 9.96603676e-01 -1.44474421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28119381699999 meters 0.06126039547281315 Centerline is valid? [True, True] Translation: X:116.26, Y:-17.85, Z:-14.46 [[ 9.55065331e-01 2.86412732e-01 7.62755614e-02 1.16264564e+02] [-2.85533864e-01 9.58106265e-01 -2.24231494e-02 -1.78537542e+01] [-7.95023687e-02 -3.63683194e-04 9.96834611e-01 -1.44591618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34119381699999 meters 0.06164479985281254 Centerline is valid? [True, True] Translation: X:116.32, Y:-17.88, Z:-14.47 [[ 9.55286507e-01 2.86275728e-01 7.39857960e-02 1.16320949e+02] [-2.85446958e-01 9.58147224e-01 -2.17699423e-02 -1.78784395e+01] [-7.71214912e-02 -3.22488286e-04 9.97021651e-01 -1.44672695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40119381699999 meters 0.06196373864806912 Centerline is valid? [True, True] Translation: X:116.38, Y:-17.90, Z:-14.48 [[ 9.55180651e-01 2.87007513e-01 7.25024971e-02 1.16379352e+02] [-2.86212343e-01 9.57928265e-01 -2.13525951e-02 -1.78980701e+01] [-7.55805465e-02 -3.55523948e-04 9.97139636e-01 -1.44772473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.461193817 meters 0.06221037983877798 Centerline is valid? [True, True] Translation: X:116.44, Y:-17.92, Z:-14.49 [[ 9.54622266e-01 2.89316963e-01 7.06542555e-02 1.16438177e+02] [-2.88565915e-01 9.57233226e-01 -2.08389734e-02 -1.79161874e+01] [-7.36616694e-02 -4.95061901e-04 9.97283166e-01 -1.44868020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.521193817 meters 0.0625299041999373 Centerline is valid? [True, True] Translation: X:116.50, Y:-17.94, Z:-14.49 [[ 9.54313573e-01 2.90420395e-01 7.02965090e-02 1.16496452e+02] [-2.89680208e-01 9.56898979e-01 -2.07296995e-02 -1.79365178e+01] [-7.32869852e-02 -5.80873763e-04 9.97310724e-01 -1.44948708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581193817 meters 0.06152923899658212 Centerline is valid? [True, True] Translation: X:116.55, Y:-17.95, Z:-14.50 [[ 9.52918505e-01 2.92979687e-01 7.81615329e-02 1.16554074e+02] [-2.92069656e-01 9.56118308e-01 -2.30888880e-02 -1.79525612e+01] [-8.14962478e-02 -8.26783365e-04 9.96673306e-01 -1.44959101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64119381699999 meters 0.06080404725789251 Centerline is valid? [True, True] Translation: X:116.61, Y:-17.97, Z:-14.50 [[ 9.52043081e-01 2.94366023e-01 8.34422954e-02 1.16612454e+02] [-2.93334025e-01 9.55692222e-01 -2.46480422e-02 -1.79693062e+01] [-8.70006989e-02 -1.01046635e-03 9.96207738e-01 -1.44979174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70119381699999 meters 0.060638147672092836 Centerline is valid? [True, True] Translation: X:116.67, Y:-17.99, Z:-14.51 [[ 9.52591485e-01 2.91303544e-01 8.78163342e-02 1.16667060e+02] [-2.90147272e-01 9.56630364e-01 -2.59404445e-02 -1.79931624e+01] [-9.15643152e-02 -7.69023206e-04 9.95798868e-01 -1.45052618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76119381699999 meters 0.059539404701103096 Centerline is valid? [True, True] Translation: X:116.72, Y:-18.02, Z:-14.51 [[ 9.53836940e-01 2.87581662e-01 8.65556463e-02 1.16724995e+02] [-2.86444205e-01 9.57756030e-01 -2.55558968e-02 -1.80222594e+01] [-9.02485995e-02 -4.17204931e-04 9.95919182e-01 -1.45052873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.821193817 meters 0.060718214424657614 Centerline is valid? [True, True] Translation: X:116.78, Y:-18.05, Z:-14.52 [[ 9.56118531e-01 2.80061085e-01 8.60415206e-02 1.16778375e+02] [-2.78903372e-01 9.59982126e-01 -2.54406603e-02 -1.80528843e+01] [-8.97232608e-02 3.27016574e-04 9.95966681e-01 -1.45206068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.881193817 meters 0.06091665372894042 Centerline is valid? [True, True] Translation: X:116.84, Y:-18.08, Z:-14.53 [[ 9.57475130e-01 2.76235247e-01 8.32794332e-02 1.16835296e+02] [-2.75134930e-01 9.61089812e-01 -2.46402877e-02 -1.80782328e+01] [-8.68455307e-02 6.79381645e-04 9.96221558e-01 -1.45268833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.941193817 meters 0.062086660732077144 Centerline is valid? [True, True] Translation: X:116.89, Y:-18.11, Z:-14.54 [[ 9.58272576e-01 2.74508153e-01 7.97429847e-02 1.16889169e+02] [-2.73492736e-01 9.61584432e-01 -2.36030404e-02 -1.81055344e+01] [-8.31588397e-02 8.09019284e-04 9.96535977e-01 -1.45383523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00119381699999 meters 0.06178722971377368 Centerline is valid? [True, True] Translation: X:116.95, Y:-18.12, Z:-14.55 [[ 9.57115714e-01 2.79159650e-01 7.74557882e-02 1.16948026e+02] [-2.78217682e-01 9.60244626e-01 -2.29167914e-02 -1.81221554e+01] [-8.07739479e-02 3.84451317e-04 9.96732372e-01 -1.45483410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06119381699999 meters 0.06138418641682163 Centerline is valid? [True, True] Translation: X:117.01, Y:-18.13, Z:-14.56 [[ 9.54248633e-01 2.89491690e-01 7.48605888e-02 1.17009306e+02] [-2.88641149e-01 9.57180425e-01 -2.21793159e-02 -1.81313347e+01] [-7.80758178e-02 -4.43264431e-04 9.96947326e-01 -1.45578802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12119381699999 meters 0.061318902902950286 Centerline is valid? [True, True] Translation: X:117.07, Y:-18.15, Z:-14.57 [[ 9.52996940e-01 2.93039151e-01 7.69732895e-02 1.17069101e+02] [-2.92151499e-01 9.56100144e-01 -2.28038804e-02 -1.81457483e+01] [-8.02766029e-02 -7.55833683e-04 9.96772339e-01 -1.45651087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.181193817 meters 0.06127291943972203 Centerline is valid? [True, True] Translation: X:117.13, Y:-18.16, Z:-14.57 [[ 9.50321260e-01 2.99909035e-01 8.33311108e-02 1.17128644e+02] [-2.98891521e-01 9.53966760e-01 -2.47240631e-02 -1.81584887e+01] [-8.69100797e-02 -1.41115962e-03 9.96215161e-01 -1.45672282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.241193817 meters 0.06135069271573985 Centerline is valid? [True, True] Translation: X:117.19, Y:-18.18, Z:-14.57 [[ 9.49044466e-01 3.02781307e-01 8.73961208e-02 1.17187557e+02] [-3.01674330e-01 9.53058438e-01 -2.59270712e-02 -1.81774455e+01] [-9.11438428e-02 -1.75922270e-03 9.95836184e-01 -1.45706064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.301193817 meters 0.06146319151456339 Centerline is valid? [True, True] Translation: X:117.24, Y:-18.20, Z:-14.57 [[ 9.48040616e-01 3.04561823e-01 9.19841618e-02 1.17244448e+02] [-3.03340348e-01 9.52490472e-01 -2.73227886e-02 -1.81982873e+01] [-9.59355159e-02 -1.99939432e-03 9.95385543e-01 -1.45728613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36119381699999 meters 0.06156096449753521 Centerline is valid? [True, True] Translation: X:117.30, Y:-18.22, Z:-14.58 [[ 9.48434609e-01 3.03872203e-01 9.01857938e-02 1.17301804e+02] [-3.02695467e-01 9.52710915e-01 -2.67836822e-02 -1.82218006e+01] [-9.40598067e-02 -1.89625983e-03 9.95564743e-01 -1.45838604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42119381699999 meters 0.062416934449018406 Centerline is valid? [True, True] Translation: X:117.36, Y:-18.25, Z:-14.60 [[ 9.48839008e-01 3.03775160e-01 8.61695399e-02 1.17356819e+02] [-3.02698581e-01 9.52742087e-01 -2.56141470e-02 -1.82468527e+01] [-8.98782889e-02 -1.77969565e-03 9.95951166e-01 -1.45984211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48119381699999 meters 0.06276279309570353 Centerline is valid? [True, True] Translation: X:117.41, Y:-18.27, Z:-14.61 [[ 9.48590767e-01 3.04809032e-01 8.52467632e-02 1.17413646e+02] [-3.03757735e-01 9.52411716e-01 -2.53606168e-02 -1.82715150e+01] [-8.89201611e-02 -1.83751682e-03 9.96037062e-01 -1.46073045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54119381699999 meters 0.06433302249819378 Centerline is valid? [True, True] Translation: X:117.47, Y:-18.29, Z:-14.62 [[ 9.47298332e-01 3.09080702e-01 8.42317649e-02 1.17469962e+02] [-3.08068574e-01 9.51033308e-01 -2.50878764e-02 -1.82925351e+01] [-8.78613925e-02 -2.18345629e-03 9.96130317e-01 -1.46178588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.601193817 meters 0.06710780222287434 Centerline is valid? [True, True] Translation: X:117.53, Y:-18.31, Z:-14.63 [[ 9.45332668e-01 3.15296098e-01 8.32737491e-02 1.17527399e+02] [-3.14330472e-01 9.48989436e-01 -2.48073702e-02 -1.83110601e+01] [-8.68475752e-02 -2.72425941e-03 9.96217886e-01 -1.46278207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.661193817 meters 0.0691727622445837 Centerline is valid? [True, True] Translation: X:117.58, Y:-18.33, Z:-14.63 [[ 9.42902895e-01 3.22061314e-01 8.49154877e-02 1.17584217e+02] [-3.21084128e-01 9.46712673e-01 -2.53001357e-02 -1.83340157e+01] [-8.85387633e-02 -3.40944417e-03 9.96066897e-01 -1.46330929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72119381699999 meters 0.07289904836751458 Centerline is valid? [True, True] Translation: X:117.64, Y:-18.35, Z:-14.64 [[ 9.41877119e-01 3.24913722e-01 8.54316478e-02 1.17641450e+02] [-3.23936443e-01 9.45736417e-01 -2.54521165e-02 -1.83520258e+01] [-8.90655624e-02 -3.70165793e-03 9.96018887e-01 -1.46432103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78119381699999 meters 0.0668269153357911 Centerline is valid? [True, True] Translation: X:117.69, Y:-18.40, Z:-14.64 [[ 9.41176701e-01 3.26165573e-01 8.83314008e-02 1.17694391e+02] [-3.25125518e-01 9.45304431e-01 -2.63235843e-02 -1.83965923e+01] [-9.20859115e-02 -3.94364824e-03 9.95743256e-01 -1.46358558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84119381699999 meters 0.06679634227339143 Centerline is valid? [True, True] Translation: X:117.75, Y:-18.42, Z:-14.64 [[ 9.40889086e-01 3.26678979e-01 8.94906258e-02 1.17751332e+02] [-3.25611178e-01 9.45126804e-01 -2.66961472e-02 -1.84232120e+01] [-9.33010593e-02 -4.02103456e-03 9.95629823e-01 -1.46415465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90119381699999 meters 0.06731893617589792 Centerline is valid? [True, True] Translation: X:117.81, Y:-18.45, Z:-14.65 [[ 9.40201250e-01 3.28928102e-01 8.84754984e-02 1.17806987e+02] [-3.27891353e-01 9.44345782e-01 -2.64254549e-02 -1.84519519e+01] [-9.22435384e-02 -4.16510514e-03 9.95727765e-01 -1.46496669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.961193817 meters 0.06727218396613874 Centerline is valid? [True, True] Translation: X:117.86, Y:-18.49, Z:-14.66 [[ 9.40065600e-01 3.30217771e-01 8.50464054e-02 1.17859535e+02] [-3.29264935e-01 9.43895777e-01 -2.54040259e-02 -1.84864242e+01] [-8.86638037e-02 -4.12134829e-03 9.96053083e-01 -1.46589042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.021193817 meters 0.06708015584255189 Centerline is valid? [True, True] Translation: X:117.92, Y:-18.51, Z:-14.67 [[ 9.40221764e-01 3.30079005e-01 8.38503719e-02 1.17915995e+02] [-3.29151457e-01 9.43944659e-01 -2.50559392e-02 -1.85137444e+01] [-8.74205502e-02 -4.04133277e-03 9.96163297e-01 -1.46670694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.081193817 meters 0.06687685724673789 Centerline is valid? [True, True] Translation: X:117.97, Y:-18.55, Z:-14.68 [[ 9.39129289e-01 3.33068421e-01 8.42710260e-02 1.17970043e+02] [-3.32141338e-01 9.42892773e-01 -2.52061536e-02 -1.85456704e+01] [-8.78539152e-02 -4.31805421e-03 9.96124010e-01 -1.46753632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14119381699999 meters 0.07161512352508677 Centerline is valid? [True, True] Translation: X:118.03, Y:-18.56, Z:-14.69 [[ 9.37796001e-01 3.37038075e-01 8.33306455e-02 1.18026270e+02] [-3.36144457e-01 9.41479743e-01 -2.49559152e-02 -1.85637778e+01] [-8.68652083e-02 -4.60757712e-03 9.96209419e-01 -1.46897198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20119381699999 meters 0.07396518420712063 Centerline is valid? [True, True] Translation: X:118.08, Y:-18.59, Z:-14.69 [[ 9.35911830e-01 3.41080712e-01 8.79374476e-02 1.18082246e+02] [-3.40103177e-01 9.40019297e-01 -2.63353544e-02 -1.85941691e+01] [-9.16453791e-02 -5.26023555e-03 9.95777814e-01 -1.46946856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26119381699999 meters 0.0715152209358031 Centerline is valid? [True, True] Translation: X:118.14, Y:-18.63, Z:-14.70 [[ 9.34861133e-01 3.43039259e-01 9.14260810e-02 1.18137905e+02] [-3.41991724e-01 9.39303958e-01 -2.73812889e-02 -1.86269000e+01] [-9.52697368e-02 -5.66926024e-03 9.95435350e-01 -1.46969106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.321193817 meters 0.07653873978111754 Centerline is valid? [True, True] Translation: X:118.19, Y:-18.65, Z:-14.71 [[ 9.34769406e-01 3.42436975e-01 9.45678333e-02 1.18192671e+02] [-3.41309143e-01 9.39523113e-01 -2.83617438e-02 -1.86539937e+01] [-9.85607750e-02 -5.76517569e-03 9.95114333e-01 -1.47061141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.381193817 meters 0.07103372414269524 Centerline is valid? [True, True] Translation: X:118.24, Y:-18.69, Z:-14.71 [[ 9.35355289e-01 3.40816500e-01 9.46287355e-02 1.18244924e+02] [-3.39678599e-01 9.40113193e-01 -2.83836972e-02 -1.86941899e+01] [-9.86353550e-02 -5.59451505e-03 9.95107918e-01 -1.47100912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.441193817 meters 0.07042030676281477 Centerline is valid? [True, True] Translation: X:118.30, Y:-18.73, Z:-14.72 [[ 9.36556524e-01 3.37276065e-01 9.54292057e-02 1.18296781e+02] [-3.36099883e-01 9.41391092e-01 -2.86300691e-02 -1.87301791e+01] [-9.94924412e-02 -5.26006687e-03 9.95024415e-01 -1.47189110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50119381699999 meters 0.06896874104891786 Centerline is valid? [True, True] Translation: X:118.35, Y:-18.76, Z:-14.73 [[ 9.37520443e-01 3.34075178e-01 9.72069645e-02 1.18351063e+02] [-3.32835256e-01 9.42533215e-01 -2.91861245e-02 -1.87611094e+01] [-1.01371153e-01 -4.99131662e-03 9.94836155e-01 -1.47254336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56119381699999 meters 0.06766712350478968 Centerline is valid? [True, True] Translation: X:118.40, Y:-18.79, Z:-14.74 [[ 9.39437606e-01 3.29293505e-01 9.49882781e-02 1.18403222e+02] [-3.28083716e-01 9.44217563e-01 -2.85354123e-02 -1.87933003e+01] [-9.90861263e-02 -4.35686789e-03 9.95069323e-01 -1.47380447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62119381699999 meters 0.06649027311110246 Centerline is valid? [True, True] Translation: X:118.46, Y:-18.82, Z:-14.75 [[ 9.40808686e-01 3.26065448e-01 9.25221118e-02 1.18457412e+02] [-3.24900422e-01 9.45339178e-01 -2.78128408e-02 -1.88222148e+01] [-9.65335835e-02 -3.89391105e-03 9.95322111e-01 -1.47475239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.681193817 meters 0.06441869227569211 Centerline is valid? [True, True] Translation: X:118.51, Y:-18.86, Z:-14.75 [[ 9.43222802e-01 3.19730641e-01 9.00170172e-02 1.18510702e+02] [-3.18596729e-01 9.47503303e-01 -2.70853158e-02 -1.88579269e+01] [-9.39514266e-02 -3.13163974e-03 9.95571857e-01 -1.47548289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.741193817 meters 0.0637341556020954 Centerline is valid? [True, True] Translation: X:118.57, Y:-18.88, Z:-14.77 [[ 9.44645155e-01 3.16120463e-01 8.78258730e-02 1.18565486e+02] [-3.15025406e-01 9.48715210e-01 -2.64280699e-02 -1.88831576e+01] [-9.16761953e-02 -2.70223311e-03 9.95785204e-01 -1.47667668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.801193817 meters 0.06211230306573311 Centerline is valid? [True, True] Translation: X:118.62, Y:-18.92, Z:-14.78 [[ 9.46243382e-01 3.11486245e-01 8.71767207e-02 1.18619631e+02] [-3.10386224e-01 9.50248067e-01 -2.62488859e-02 -1.89160241e+01] [-9.10156772e-02 -2.22061853e-03 9.95846984e-01 -1.47750805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86119381699999 meters 0.061656724410687584 Centerline is valid? [True, True] Translation: X:118.67, Y:-18.94, Z:-14.78 [[ 9.47498342e-01 3.07272891e-01 8.84887729e-02 1.18673990e+02] [-3.06121044e-01 9.51619659e-01 -2.66445424e-02 -1.89448239e+01] [-9.23948015e-02 -1.84261578e-03 9.95720747e-01 -1.47832440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92119381699999 meters 0.060689858091858354 Centerline is valid? [True, True] Translation: X:118.73, Y:-18.97, Z:-14.78 [[ 9.47594316e-01 3.06057357e-01 9.16182625e-02 1.18731249e+02] [-3.04814184e-01 9.52011448e-01 -2.76137034e-02 -1.89708731e+01] [-9.56730118e-02 -1.75995752e-03 9.95411260e-01 -1.47840637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98119381699999 meters 0.060680838282234674 Centerline is valid? [True, True] Translation: X:118.79, Y:-18.99, Z:-14.79 [[ 9.46786078e-01 3.07376529e-01 9.54766562e-02 1.18789988e+02] [-3.06032741e-01 9.51585929e-01 -2.87781453e-02 -1.89914734e+01] [-9.96999690e-02 -1.97223545e-03 9.95015591e-01 -1.47853948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04119381699999 meters 0.06045840002421716 Centerline is valid? [True, True] Translation: X:118.85, Y:-19.01, Z:-14.79 [[ 9.45642794e-01 3.10213374e-01 9.76082377e-02 1.18850600e+02] [-3.08821179e-01 9.50664180e-01 -2.94464868e-02 -1.90095933e+01] [-1.01927349e-01 -2.29763304e-03 9.94789192e-01 -1.47886740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.101193817 meters 0.06104473501432302 Centerline is valid? [True, True] Translation: X:118.91, Y:-19.02, Z:-14.80 [[ 9.45187556e-01 3.11616718e-01 9.75474553e-02 1.18909638e+02] [-3.10230306e-01 9.50204813e-01 -2.94613613e-02 -1.90247071e+01] [-1.01870714e-01 -2.41566479e-03 9.94794714e-01 -1.47980187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.161193817 meters 0.06177949174339817 Centerline is valid? [True, True] Translation: X:118.97, Y:-19.04, Z:-14.81 [[ 9.45341318e-01 3.11978935e-01 9.48627245e-02 1.18967478e+02] [-3.10667097e-01 9.50086086e-01 -2.86772497e-02 -1.90398999e+01] [-9.90744524e-02 -2.36093825e-03 9.95077223e-01 -1.48090904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22119381699999 meters 0.06138604125708929 Centerline is valid? [True, True] Translation: X:119.03, Y:-19.06, Z:-14.82 [[ 9.46082573e-01 3.10292822e-01 9.29845641e-02 1.19026043e+02] [-3.09023546e-01 9.50638637e-01 -2.81181492e-02 -1.90597687e+01] [-9.71195791e-02 -2.13232871e-03 9.95270436e-01 -1.48193777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28119381699999 meters 0.0611943018485496 Centerline is valid? [True, True] Translation: X:119.08, Y:-19.08, Z:-14.83 [[ 9.47378491e-01 3.07893040e-01 8.76120486e-02 1.19084164e+02] [-3.06753278e-01 9.51419376e-01 -2.65254202e-02 -1.90786716e+01] [-9.15227928e-02 -1.74567058e-03 9.95801452e-01 -1.48334586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34119381699999 meters 0.060881377353551584 Centerline is valid? [True, True] Translation: X:119.14, Y:-19.10, Z:-14.84 [[ 9.47728426e-01 3.06756776e-01 8.78129299e-02 1.19142607e+02] [-3.05606772e-01 9.51786529e-01 -2.65876764e-02 -1.90993518e+01] [-9.17351136e-02 -1.63832939e-03 9.95782097e-01 -1.48410343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40119381699999 meters 0.05966055223320397 Centerline is valid? [True, True] Translation: X:119.20, Y:-19.13, Z:-14.85 [[ 9.49715457e-01 3.00515812e-01 8.79249584e-02 1.19198276e+02] [-2.99333832e-01 9.53776296e-01 -2.66464842e-02 -1.91264813e+01] [-9.18684310e-02 -1.01233680e-03 9.95770640e-01 -1.48465129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.461193817 meters 0.05929454958506109 Centerline is valid? [True, True] Translation: X:119.25, Y:-19.15, Z:-14.85 [[ 9.50861371e-01 2.96372870e-01 8.95866867e-02 1.19254712e+02] [-2.95124910e-01 9.55072125e-01 -2.71758004e-02 -1.91474921e+01] [-9.36159172e-02 -5.98844078e-04 9.95608207e-01 -1.48543581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.521193817 meters 0.05898575345995628 Centerline is valid? [True, True] Translation: X:119.31, Y:-19.17, Z:-14.86 [[ 9.51565373e-01 2.93384164e-01 9.19188410e-02 1.19312053e+02] [-2.92055340e-01 9.55994582e-01 -2.78933288e-02 -1.91697890e+01] [-9.60573750e-02 -3.03062572e-04 9.95375753e-01 -1.48602546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.581193817 meters 0.05846156628360281 Centerline is valid? [True, True] Translation: X:119.37, Y:-19.19, Z:-14.86 [[ 9.52680061e-01 2.89041423e-01 9.41050377e-02 1.19371021e+02] [-2.87624812e-01 9.57316577e-01 -2.85821274e-02 -1.91912612e+01] [-9.83497313e-02 1.62679036e-04 9.95151900e-01 -1.48595266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64119381699999 meters 0.05848306348296979 Centerline is valid? [True, True] Translation: X:119.43, Y:-19.20, Z:-14.87 [[ 9.53225063e-01 2.86970499e-01 9.49205531e-02 1.19430315e+02] [-2.85516219e-01 9.57939334e-01 -2.88568991e-02 -1.92046651e+01] [-9.92092102e-02 4.05762106e-04 9.95066514e-01 -1.48684168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70119381699999 meters 0.058272376117938104 Centerline is valid? [True, True] Translation: X:119.49, Y:-19.22, Z:-14.87 [[ 9.52857077e-01 2.88285135e-01 9.46312438e-02 1.19491983e+02] [-2.86843979e-01 9.57544567e-01 -2.87912199e-02 -1.92161254e+01] [-9.89137140e-02 2.89515105e-04 9.95095972e-01 -1.48723579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76119381699999 meters 0.05822610262791365 Centerline is valid? [True, True] Translation: X:119.55, Y:-19.22, Z:-14.88 [[ 9.51281914e-01 2.93940510e-01 9.30682344e-02 1.19554844e+02] [-2.92570342e-01 9.55823681e-01 -2.83493646e-02 -1.92193917e+01] [-9.72898491e-02 -2.60767300e-04 9.95256056e-01 -1.48802865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.821193817 meters 0.058648573903791905 Centerline is valid? [True, True] Translation: X:119.62, Y:-19.22, Z:-14.89 [[ 9.49824941e-01 2.98803546e-01 9.24609240e-02 1.19615779e+02] [-2.97472792e-01 9.54314358e-01 -2.81787899e-02 -1.92242554e+01] [-9.66567097e-02 -7.39691750e-04 9.95317504e-01 -1.48908411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.881193817 meters 0.06005208224775009 Centerline is valid? [True, True] Translation: X:119.68, Y:-19.23, Z:-14.90 [[ 9.47293797e-01 3.07515780e-01 8.98248676e-02 1.19679298e+02] [-3.06297629e-01 9.51541690e-01 -2.73893071e-02 -1.92272106e+01] [-9.38947504e-02 -1.56742329e-03 9.95580895e-01 -1.48995465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.941193817 meters 0.06119594169368137 Centerline is valid? [True, True] Translation: X:119.74, Y:-19.23, Z:-14.91 [[ 9.45183102e-01 3.13718983e-01 9.06052053e-02 1.19741554e+02] [-3.12507698e-01 9.49513328e-01 -2.76293118e-02 -1.92318703e+01] [-9.46986896e-02 -2.20006548e-03 9.95503550e-01 -1.49089444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00119381699999 meters 0.061786567691170156 Centerline is valid? [True, True] Translation: X:119.80, Y:-19.25, Z:-14.92 [[ 9.44403411e-01 3.15977123e-01 9.08881418e-02 1.19801024e+02] [-3.14766396e-01 9.48763744e-01 -2.77393745e-02 -1.92465949e+01] [-9.49963815e-02 -2.41137294e-03 9.95474697e-01 -1.49163588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06119381699999 meters 0.061623255633565466 Centerline is valid? [True, True] Translation: X:119.86, Y:-19.27, Z:-14.92 [[ 9.43702338e-01 3.17878063e-01 9.15392529e-02 1.19859668e+02] [-3.16656579e-01 9.48128040e-01 -2.79612368e-02 -1.92673071e+01] [-9.56791962e-02 -2.59942218e-03 9.95408828e-01 -1.49196841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12119381699999 meters 0.06192827267792746 Centerline is valid? [True, True] Translation: X:119.92, Y:-19.29, Z:-14.93 [[ 9.43533420e-01 3.18127822e-01 9.24087371e-02 1.19917702e+02] [-3.16881219e-01 9.48044208e-01 -2.82572711e-02 -1.92852991e+01] [-9.65969921e-02 -2.62091365e-03 9.95320125e-01 -1.49278825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.181193817 meters 0.06222268871284681 Centerline is valid? [True, True] Translation: X:119.98, Y:-19.31, Z:-14.94 [[ 9.43436671e-01 3.18617743e-01 9.17059507e-02 1.19975869e+02] [-3.17391213e-01 9.47879617e-01 -2.80543864e-02 -1.93059109e+01] [-9.58648267e-02 -2.63912600e-03 9.95390863e-01 -1.49376672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.241193817 meters 0.062498685991663847 Centerline is valid? [True, True] Translation: X:120.03, Y:-19.33, Z:-14.95 [[ 9.43534276e-01 3.18432419e-01 9.13447603e-02 1.20033963e+02] [-3.17212229e-01 9.47942039e-01 -2.79694872e-02 -1.93254291e+01] [-9.54959298e-02 -2.58550516e-03 9.95426463e-01 -1.49476772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.301193817 meters 0.06134293902977465 Centerline is valid? [True, True] Translation: X:120.09, Y:-19.35, Z:-14.95 [[ 9.44443197e-01 3.15397544e-01 9.24739760e-02 1.20090251e+02] [-3.14129547e-01 9.48956899e-01 -2.83448628e-02 -1.93508566e+01] [-9.66937176e-02 -2.27869534e-03 9.95311576e-01 -1.49531079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36119381699999 meters 0.06083223007232289 Centerline is valid? [True, True] Translation: X:120.15, Y:-19.37, Z:-14.96 [[ 9.45647822e-01 3.12323702e-01 9.05764973e-02 1.20148130e+02] [-3.11090783e-01 9.49973841e-01 -2.77889423e-02 -1.93733677e+01] [-9.47244484e-02 -1.89896078e-03 9.95501719e-01 -1.49624335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42119381699999 meters 0.06004626165334707 Centerline is valid? [True, True] Translation: X:120.20, Y:-19.40, Z:-14.97 [[ 9.47493350e-01 3.06972788e-01 8.95771101e-02 1.20204859e+02] [-3.05742684e-01 9.51717343e-01 -2.74865587e-02 -1.93975027e+01] [-9.36897148e-02 -1.34421447e-03 9.95600538e-01 -1.49705028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48119381699999 meters 0.05934785419474033 Centerline is valid? [True, True] Translation: X:120.26, Y:-19.42, Z:-14.98 [[ 9.50113697e-01 2.98924643e-01 8.90394386e-02 1.20259788e+02] [-2.97671493e-01 9.54276578e-01 -2.73476779e-02 -1.94232949e+01] [-9.31431456e-02 -5.21099315e-04 9.95652591e-01 -1.49792653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54119381699999 meters 0.059018663525641044 Centerline is valid? [True, True] Translation: X:120.32, Y:-19.45, Z:-14.99 [[ 9.52266248e-01 2.91855832e-01 8.94939473e-02 1.20316234e+02] [-2.90556429e-01 9.56462302e-01 -2.75104786e-02 -1.94496481e+01] [-9.36266805e-02 1.94258494e-04 9.95607356e-01 -1.49852792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.601193817 meters 0.059586061877438305 Centerline is valid? [True, True] Translation: X:120.37, Y:-19.48, Z:-14.99 [[ 9.56425061e-01 2.77034979e-01 9.22102131e-02 1.20371118e+02] [-2.75583660e-01 9.60858286e-01 -2.83725233e-02 -1.94815508e+01] [-9.64611287e-02 1.72456438e-03 9.95335258e-01 -1.49866675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.661193817 meters 0.06248305438150302 Centerline is valid? [True, True] Translation: X:120.43, Y:-19.51, Z:-14.99 [[ 9.60327970e-01 2.62568440e-01 9.39574589e-02 1.20425191e+02] [-2.60989525e-01 9.64907842e-01 -2.89365554e-02 -1.95126552e+01] [-9.82581151e-02 3.26667088e-03 9.95155602e-01 -1.49917754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72119381699999 meters 0.06340397411433742 Centerline is valid? [True, True] Translation: X:120.48, Y:-19.53, Z:-15.00 [[ 9.61749562e-01 2.57334229e-01 9.38982178e-02 1.20483778e+02] [-2.55730118e-01 9.66314900e-01 -2.89416710e-02 -1.95309543e+01] [-9.81829296e-02 3.82203714e-03 9.95161044e-01 -1.49966657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78119381699999 meters 0.06420459122706863 Centerline is valid? [True, True] Translation: X:120.55, Y:-19.54, Z:-15.01 [[ 9.61733281e-01 2.57442639e-01 9.37677116e-02 1.20546041e+02] [-2.55841017e-01 9.66285992e-01 -2.89267443e-02 -1.95371701e+01] [-9.80534036e-02 3.83018601e-03 9.95173784e-01 -1.50059894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84119381699999 meters 0.06271939833133697 Centerline is valid? [True, True] Translation: X:120.61, Y:-19.54, Z:-15.01 [[ 9.60555674e-01 2.62074846e-01 9.30030750e-02 1.20609366e+02] [-2.60518802e-01 9.65041733e-01 -2.87124912e-02 -1.95396413e+01] [-9.72766704e-02 3.35089667e-03 9.95251737e-01 -1.50118106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90119381699999 meters 0.06130387341086335 Centerline is valid? [True, True] Translation: X:120.67, Y:-19.53, Z:-15.02 [[ 9.58107171e-01 2.71370685e-01 9.15893018e-02 1.20673911e+02] [-2.69903708e-01 9.62471983e-01 -2.82784421e-02 -1.95344155e+01] [-9.58260772e-02 2.37348593e-03 9.95395263e-01 -1.50205522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.961193817 meters 0.06075412267945375 Centerline is valid? [True, True] Translation: X:120.74, Y:-19.54, Z:-15.03 [[ 9.57234150e-01 2.74503163e-01 9.13826915e-02 1.20735575e+02] [-2.73055587e-01 9.61583969e-01 -2.82297283e-02 -1.95435750e+01] [-9.56212808e-02 2.06990545e-03 9.95415635e-01 -1.50276708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.021193817 meters 0.059343805237077996 Centerline is valid? [True, True] Translation: X:120.80, Y:-19.54, Z:-15.03 [[ 9.55571391e-01 2.80126486e-01 9.17195095e-02 1.20800257e+02] [-2.78691071e-01 9.59961860e-01 -2.83639566e-02 -1.95409157e+01] [-9.59927265e-02 1.54237713e-03 9.95380840e-01 -1.50326263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.081193817 meters 0.05836786718433158 Centerline is valid? [True, True] Translation: X:120.87, Y:-19.53, Z:-15.04 [[ 9.52579588e-01 2.89737890e-01 9.29735631e-02 1.20865496e+02] [-2.88307922e-01 9.57105851e-01 -2.87564327e-02 -1.95331396e+01] [-9.73173694e-02 5.87776030e-04 9.95253226e-01 -1.50380844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14119381699999 meters 0.058496375911682004 Centerline is valid? [True, True] Translation: X:120.93, Y:-19.53, Z:-15.05 [[ 9.50173930e-01 2.98045941e-01 9.13133028e-02 1.20928641e+02] [-2.96705077e-01 9.54551491e-01 -2.82408847e-02 -1.95344410e+01] [-9.55803305e-02 -2.59368215e-04 9.95421686e-01 -1.50472345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20119381699999 meters 0.05948075021401416 Centerline is valid? [True, True] Translation: X:120.99, Y:-19.53, Z:-15.06 [[ 9.46045798e-01 3.11762091e-01 8.83274913e-02 1.20993632e+02] [-3.10565021e-01 9.50158903e-01 -2.73390957e-02 -1.95282104e+01] [-9.24484459e-02 -1.56739256e-03 9.95716239e-01 -1.50568383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26119381699999 meters 0.062342399396603625 Centerline is valid? [True, True] Translation: X:121.06, Y:-19.53, Z:-15.07 [[ 9.42434847e-01 3.23457781e-01 8.48034416e-02 1.21056388e+02] [-3.22399122e-01 9.46239092e-01 -2.62752327e-02 -1.95291342e+01] [-8.87432600e-02 -2.57786022e-03 9.96051198e-01 -1.50688769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.321193817 meters 0.06338576598754933 Centerline is valid? [True, True] Translation: X:121.12, Y:-19.54, Z:-15.08 [[ 9.41218295e-01 3.27051582e-01 8.45303693e-02 1.21116635e+02] [-3.26013904e-01 9.45002026e-01 -2.61936195e-02 -1.95424160e+01] [-8.84480349e-02 -2.90416183e-03 9.96076559e-01 -1.50761164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.381193817 meters 0.06430112116113613 Centerline is valid? [True, True] Translation: X:121.17, Y:-19.56, Z:-15.09 [[ 9.40689500e-01 3.28478237e-01 8.48841056e-02 1.21174523e+02] [-3.27437545e-01 9.44506614e-01 -2.63041790e-02 -1.95589990e+01] [-8.88139495e-02 -3.05017821e-03 9.96043563e-01 -1.50850827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.441193817 meters 0.06486957164887583 Centerline is valid? [True, True] Translation: X:121.23, Y:-19.58, Z:-15.10 [[ 9.41226807e-01 3.27061846e-01 8.43957690e-02 1.21231047e+02] [-3.26025454e-01 9.44998552e-01 -2.61751730e-02 -1.95801439e+01] [-8.83147799e-02 -2.87839434e-03 9.96088457e-01 -1.50959512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50119381699999 meters 0.06321535245699629 Centerline is valid? [True, True] Translation: X:121.29, Y:-19.61, Z:-15.10 [[ 9.41291797e-01 3.26202801e-01 8.69568035e-02 1.21286900e+02] [-3.25096128e-01 9.45295498e-01 -2.69986949e-02 -1.96107008e+01] [-9.10069248e-02 -2.85567015e-03 9.95846165e-01 -1.50961852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56119381699999 meters 0.06286396089887439 Centerline is valid? [True, True] Translation: X:121.34, Y:-19.63, Z:-15.10 [[ 9.41526554e-01 3.25281805e-01 8.78606593e-02 1.21344830e+02] [-3.24147560e-01 9.45613005e-01 -2.72837694e-02 -1.96333765e+01] [-9.19570958e-02 -2.79142499e-03 9.95759057e-01 -1.51049935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62119381699999 meters 0.06213086145858581 Centerline is valid? [True, True] Translation: X:121.40, Y:-19.66, Z:-15.11 [[ 9.42443667e-01 3.22411836e-01 8.86032904e-02 1.21399685e+02] [-3.21244666e-01 9.46596136e-01 -2.75249027e-02 -1.96640096e+01] [-9.27458867e-02 -2.52266425e-03 9.95686616e-01 -1.51113533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.681193817 meters 0.06116716189152888 Centerline is valid? [True, True] Translation: X:121.45, Y:-19.69, Z:-15.12 [[ 9.44196138e-01 3.17479221e-01 8.77530503e-02 1.21454413e+02] [-3.16313079e-01 9.48263082e-01 -2.72610190e-02 -1.96921877e+01] [-9.18677851e-02 -2.01768866e-03 9.95769170e-01 -1.51197534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.741193817 meters 0.06002087240695444 Centerline is valid? [True, True] Translation: X:121.51, Y:-19.72, Z:-15.13 [[ 9.47200939e-01 3.08451590e-01 8.75670993e-02 1.21508250e+02] [-3.07249274e-01 9.51239391e-01 -2.72305710e-02 -1.97240393e+01] [-9.16965872e-02 -1.11210522e-03 9.95786372e-01 -1.51295258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.801193817 meters 0.05939611089228996 Centerline is valid? [True, True] Translation: X:121.56, Y:-19.75, Z:-15.14 [[ 9.49346281e-01 3.01943760e-01 8.70149696e-02 1.21563366e+02] [-3.00729349e-01 9.53325618e-01 -2.70577892e-02 -1.97539710e+01] [-9.11235303e-02 -4.80743602e-04 9.95839481e-01 -1.51366540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86119381699999 meters 0.05909203326495494 Centerline is valid? [True, True] Translation: X:121.62, Y:-19.79, Z:-15.14 [[ 9.52704592e-01 2.90388980e-01 8.96002321e-02 1.21616294e+02] [-2.89047405e-01 9.56908454e-01 -2.78892059e-02 -1.97897395e+01] [-9.38379376e-02 6.71459950e-04 9.95587259e-01 -1.51417330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92119381699999 meters 0.05911242707505039 Centerline is valid? [True, True] Translation: X:121.67, Y:-19.82, Z:-15.15 [[ 9.54139992e-01 2.85098926e-01 9.12988410e-02 1.21673802e+02] [-2.83679466e-01 9.58497299e-01 -2.84409697e-02 -1.98150748e+01] [-9.56181824e-02 1.23706015e-03 9.95417316e-01 -1.51475061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98119381699999 meters 0.05922839410142553 Centerline is valid? [True, True] Translation: X:121.73, Y:-19.84, Z:-15.15 [[ 9.55368278e-01 2.79638034e-01 9.52576694e-02 1.21732751e+02] [-2.78062057e-01 9.60103632e-01 -2.97070428e-02 -1.98369007e+01] [-9.97644534e-02 1.89362283e-03 9.95009280e-01 -1.51518606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04119381699999 meters 0.06044752373047227 Centerline is valid? [True, True] Translation: X:121.79, Y:-19.86, Z:-15.16 [[ 9.55732287e-01 2.77627907e-01 9.74604623e-02 1.21789647e+02] [-2.75964075e-01 9.60686197e-01 -3.04279441e-02 -1.98609164e+01] [-1.02076567e-01 2.18538224e-03 9.94774144e-01 -1.51593516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.101193817 meters 0.06060050825061115 Centerline is valid? [True, True] Translation: X:121.85, Y:-19.87, Z:-15.16 [[ 9.57183583e-01 2.72112672e-01 9.87637717e-02 1.21850967e+02] [-2.70370984e-01 9.62261191e-01 -3.08695791e-02 -1.98733395e+01] [-1.03436548e-01 2.84499613e-03 9.94631985e-01 -1.51624072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.161193817 meters 0.060736334163951244 Centerline is valid? [True, True] Translation: X:121.91, Y:-19.88, Z:-15.17 [[ 9.56958975e-01 2.73212392e-01 9.79005105e-02 1.21913031e+02] [-2.71506481e-01 9.61949931e-01 -3.06032915e-02 -1.98847851e+01] [-1.02536588e-01 2.70547141e-03 9.94725554e-01 -1.51715339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22119381699999 meters 0.060165686515865034 Centerline is valid? [True, True] Translation: X:121.98, Y:-19.88, Z:-15.18 [[ 9.54717980e-01 2.82971897e-01 9.18721082e-02 1.21977407e+02] [-2.81512298e-01 9.59126895e-01 -2.87476191e-02 -1.98804702e+01] [-9.62517782e-02 1.58274060e-03 9.95355761e-01 -1.51836228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28119381699999 meters 0.05977515021474988 Centerline is valid? [True, True] Translation: X:122.04, Y:-19.88, Z:-15.19 [[ 9.52509834e-01 2.91723558e-01 8.73062567e-02 1.22041943e+02] [-2.90440466e-01 9.56502430e-01 -2.73393055e-02 -1.98808987e+01] [-9.14841662e-02 6.83687475e-04 9.95806296e-01 -1.51926859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34119381699999 meters 0.05979411684147485 Centerline is valid? [True, True] Translation: X:122.11, Y:-19.87, Z:-15.20 [[ 9.48009009e-01 3.06361009e-01 8.61501677e-02 1.22109814e+02] [-3.05169675e-01 9.51915149e-01 -2.70003495e-02 -1.98707556e+01] [-9.02795041e-02 -6.93844062e-04 9.95916226e-01 -1.51988318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40119381699999 meters 0.062142783021308545 Centerline is valid? [True, True] Translation: X:122.18, Y:-19.86, Z:-15.21 [[ 9.43432768e-01 3.19807552e-01 8.75085207e-02 1.22175190e+02] [-3.18632658e-01 9.47480459e-01 -2.74592203e-02 -1.98623397e+01] [-9.16942794e-02 -1.97714435e-03 9.95785243e-01 -1.52066016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.461193817 meters 0.06316948720694948 Centerline is valid? [True, True] Translation: X:122.24, Y:-19.87, Z:-15.21 [[ 9.40705344e-01 3.27918308e-01 8.68506704e-02 1.22236433e+02] [-3.26795760e-01 9.44702083e-01 -2.72489614e-02 -1.98697575e+01] [-9.09834426e-02 -2.74918728e-03 9.95848611e-01 -1.52113666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.521193817 meters 0.06579359794999515 Centerline is valid? [True, True] Translation: X:122.30, Y:-19.88, Z:-15.22 [[ 9.37629253e-01 3.36561044e-01 8.70519848e-02 1.22297103e+02] [-3.35468009e-01 9.41654878e-01 -2.73368782e-02 -1.98786452e+01] [-9.11734544e-02 -3.57129940e-03 9.95828623e-01 -1.52187540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.581193817 meters 0.06609905238572815 Centerline is valid? [True, True] Translation: X:122.36, Y:-19.90, Z:-15.23 [[ 9.36607017e-01 3.39487635e-01 8.66916494e-02 1.22355481e+02] [-3.38415879e-01 9.40602690e-01 -2.72263258e-02 -1.98985365e+01] [-9.07853995e-02 -3.83746297e-03 9.95863086e-01 -1.52254806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64119381699999 meters 0.06692336337710113 Centerline is valid? [True, True] Translation: X:122.41, Y:-19.92, Z:-15.24 [[ 9.35528949e-01 3.43167763e-01 8.37942295e-02 1.22411357e+02] [-3.42181188e-01 9.39265384e-01 -2.63167660e-02 -1.99208808e+01] [-8.77360849e-02 -4.05271264e-03 9.96135510e-01 -1.52362077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70119381699999 meters 0.07002862850862483 Centerline is valid? [True, True] Translation: X:122.47, Y:-19.94, Z:-15.25 [[ 9.35166604e-01 3.43859806e-01 8.49932729e-02 1.22469123e+02] [-3.42846070e-01 9.39011779e-01 -2.67105043e-02 -1.99380872e+01] [-8.89943532e-02 -4.16083798e-03 9.96023440e-01 -1.52504812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76119381699999 meters 0.06897211458505823 Centerline is valid? [True, True] Translation: X:122.52, Y:-19.97, Z:-15.26 [[ 9.34156616e-01 3.46210001e-01 8.65450818e-02 1.22523003e+02] [-3.45166487e-01 9.38146533e-01 -2.72245929e-02 -1.99722073e+01] [-9.06173948e-02 -4.44042829e-03 9.95875881e-01 -1.52561108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.821193817 meters 0.06977059084161424 Centerline is valid? [True, True] Translation: X:122.58, Y:-20.00, Z:-15.26 [[ 9.33433907e-01 3.48091949e-01 8.67936406e-02 1.22579239e+02] [-3.47047664e-01 9.37449076e-01 -2.73340154e-02 -1.99980899e+01] [-9.08793689e-02 -4.60703350e-03 9.95851252e-01 -1.52633835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.881193817 meters 0.0729781552774047 Centerline is valid? [True, True] Translation: X:122.64, Y:-20.02, Z:-15.27 [[ 9.32672454e-01 3.50112535e-01 8.68522108e-02 1.22635750e+02] [-3.49075040e-01 9.36695337e-01 -2.73580258e-02 -2.00176906e+01] [-9.09324487e-02 -4.80186186e-03 9.95845486e-01 -1.52747551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.941193817 meters 0.07152934974118681 Centerline is valid? [True, True] Translation: X:122.69, Y:-20.05, Z:-15.28 [[ 9.32441559e-01 3.50651387e-01 8.71570100e-02 1.22692339e+02] [-3.49608252e-01 9.36493428e-01 -2.74614263e-02 -2.00473610e+01] [-9.12513543e-02 -4.86463476e-03 9.95816010e-01 -1.52803794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00119381699999 meters 0.07095056453341525 Centerline is valid? [True, True] Translation: X:122.75, Y:-20.08, Z:-15.29 [[ 9.33152382e-01 3.48112534e-01 8.96899995e-02 1.22746504e+02] [-3.46992556e-01 9.37440890e-01 -2.82974081e-02 -2.00795993e+01] [-9.39297555e-02 -4.71596843e-03 9.95567658e-01 -1.52867662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06119381699999 meters 0.07003489063150051 Centerline is valid? [True, True] Translation: X:122.80, Y:-20.11, Z:-15.29 [[ 9.34163941e-01 3.45212258e-01 9.03671822e-02 1.22801415e+02] [-3.44061466e-01 9.38514065e-01 -2.85141628e-02 -2.01072896e+01] [-9.46543100e-02 -4.45496250e-03 9.95500234e-01 -1.52946274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12119381699999 meters 0.06607365128702519 Centerline is valid? [True, True] Translation: X:122.85, Y:-20.15, Z:-15.30 [[ 9.36808919e-01 3.38461380e-01 8.85039119e-02 1.22852856e+02] [-3.37326966e-01 9.40973059e-01 -2.79324305e-02 -2.01456767e+01] [-9.27338457e-02 -3.68740613e-03 9.95684105e-01 -1.53035476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.181193817 meters 0.06346663716723916 Centerline is valid? [True, True] Translation: X:122.91, Y:-20.18, Z:-15.31 [[ 9.39786742e-01 3.29745186e-01 8.98275687e-02 1.22905858e+02] [-3.28534063e-01 9.44065695e-01 -2.83783803e-02 -2.01774835e+01] [-9.41607604e-02 -2.84179058e-03 9.95552950e-01 -1.53128163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.241193817 meters 0.059174588058863366 Centerline is valid? [True, True] Translation: X:122.95, Y:-20.23, Z:-15.32 [[ 9.46717953e-01 3.09436988e-01 8.92965147e-02 1.22953237e+02] [-3.08149071e-01 9.50919608e-01 -2.82143373e-02 -2.02279179e+01] [-9.36443664e-02 -8.05618396e-04 9.95605385e-01 -1.53182582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.301193817 meters 0.058854684917959546 Centerline is valid? [True, True] Translation: X:123.01, Y:-20.27, Z:-15.33 [[ 9.51184664e-01 2.95033159e-01 9.05713565e-02 1.23005344e+02] [-2.93641063e-01 9.55486800e-01 -2.86339232e-02 -2.02657320e+01] [-9.49876924e-02 6.40679202e-04 9.95478241e-01 -1.53250090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36119381699999 meters 0.06058298817310802 Centerline is valid? [True, True] Translation: X:123.06, Y:-20.30, Z:-15.33 [[ 9.55771480e-01 2.79114871e-01 9.27133585e-02 1.23058917e+02] [-2.77578578e-01 9.60254960e-01 -2.93350488e-02 -2.03013889e+01] [-9.72163107e-02 2.30236078e-03 9.95260613e-01 -1.53288509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42119381699999 meters 0.0609475061138348 Centerline is valid? [True, True] Translation: X:123.12, Y:-20.32, Z:-15.33 [[ 9.57009500e-01 2.74349325e-01 9.41555342e-02 1.23117723e+02] [-2.72738992e-01 9.61625855e-01 -2.98187223e-02 -2.03201159e+01] [-9.87231425e-02 2.85691500e-03 9.95110838e-01 -1.53340261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48119381699999 meters 0.06145780519588464 Centerline is valid? [True, True] Translation: X:123.18, Y:-20.33, Z:-15.34 [[ 9.57349380e-01 2.73017236e-01 9.45714187e-02 1.23177650e+02] [-2.71385494e-01 9.62004421e-01 -2.99567613e-02 -2.03313017e+01] [-9.91568350e-02 3.01377563e-03 9.95067254e-01 -1.53436344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54119381699999 meters 0.061726004853519256 Centerline is valid? [True, True] Translation: X:123.24, Y:-20.34, Z:-15.35 [[ 9.57342579e-01 2.72687730e-01 9.55854990e-02 1.23239510e+02] [-2.71017917e-01 9.62097626e-01 -3.02893825e-02 -2.03426397e+01] [-1.00222125e-01 3.09193274e-03 9.94960283e-01 -1.53527757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.601193817 meters 0.06228540621981284 Centerline is valid? [True, True] Translation: X:123.30, Y:-20.35, Z:-15.36 [[ 9.57430554e-01 2.73521622e-01 9.22640628e-02 1.23301666e+02] [-2.71967153e-01 9.61861399e-01 -2.92662978e-02 -2.03481223e+01] [-9.67502058e-02 2.92765322e-03 9.95304389e-01 -1.53624899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.661193817 meters 0.061745163067288715 Centerline is valid? [True, True] Translation: X:123.36, Y:-20.35, Z:-15.37 [[ 9.56957193e-01 2.76874252e-01 8.70263176e-02 1.23364614e+02] [-2.75503696e-01 9.60903013e-01 -2.76245163e-02 -2.03533248e+01] [-9.12723681e-02 2.45940740e-03 9.95822929e-01 -1.53734771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72119381699999 meters 0.060428738221257404 Centerline is valid? [True, True] Translation: X:123.43, Y:-20.35, Z:-15.38 [[ 9.54619067e-01 2.86240506e-01 8.22727706e-02 1.23431073e+02] [-2.85048664e-01 9.58156629e-01 -2.61368197e-02 -2.03462836e+01] [-8.63116170e-02 1.49896307e-03 9.96267062e-01 -1.53835329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78119381699999 meters 0.06038731885176684 Centerline is valid? [True, True] Translation: X:123.50, Y:-20.34, Z:-15.40 [[ 9.52129829e-01 2.94281636e-01 8.27472507e-02 1.23495160e+02] [-2.93103563e-01 9.55718406e-01 -2.63178714e-02 -2.03418558e+01] [-8.68279368e-02 8.04516374e-04 9.96222998e-01 -1.53950347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84119381699999 meters 0.05886216717269177 Centerline is valid? [True, True] Translation: X:123.56, Y:-20.35, Z:-15.39 [[ 9.50960361e-01 2.97844898e-01 8.34434469e-02 1.23559793e+02] [-2.96660782e-01 9.54614155e-01 -2.65366714e-02 -2.03456312e+01] [-8.75601077e-02 4.80924411e-04 9.96159122e-01 -1.53915675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90119381699999 meters 0.058746724261393726 Centerline is valid? [True, True] Translation: X:123.62, Y:-20.35, Z:-15.40 [[ 9.50609532e-01 2.98562394e-01 8.48646891e-02 1.23621588e+02] [-2.97337875e-01 9.54390012e-01 -2.70165208e-02 -2.03549007e+01] [-8.90601288e-02 4.48675851e-04 9.96026150e-01 -1.53956399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.961193817 meters 0.05851851613806564 Centerline is valid? [True, True] Translation: X:123.69, Y:-20.36, Z:-15.40 [[ 9.50214857e-01 2.98679051e-01 8.87837307e-02 1.23685342e+02] [-2.97335655e-01 9.54353489e-01 -2.83006549e-02 -2.03602527e+01] [-9.31838759e-02 4.93134050e-04 9.95648795e-01 -1.53957819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.021193817 meters 0.057993815705430954 Centerline is valid? [True, True] Translation: X:123.75, Y:-20.36, Z:-15.40 [[ 9.48882402e-01 3.02565268e-01 8.98690489e-02 1.23748147e+02] [-3.01206060e-01 9.53128662e-01 -2.86472374e-02 -2.03626693e+01] [-9.43244254e-02 1.13757320e-04 9.95541506e-01 -1.54012996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.081193817 meters 0.05793591963551838 Centerline is valid? [True, True] Translation: X:123.81, Y:-20.37, Z:-15.41 [[ 9.47440222e-01 3.07486133e-01 8.83702633e-02 1.23810465e+02] [-3.06191063e-01 9.51552499e-01 -2.81935267e-02 -2.03701065e+01] [-9.27580633e-02 -3.46503639e-04 9.95688617e-01 -1.54098455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14119381699999 meters 0.05843611633909979 Centerline is valid? [True, True] Translation: X:123.87, Y:-20.38, Z:-15.42 [[ 9.46754039e-01 3.10496215e-01 8.51404145e-02 1.23870953e+02] [-3.09304060e-01 9.50574431e-01 -2.71891442e-02 -2.03789012e+01] [-8.93744274e-02 -5.92843777e-04 9.95997922e-01 -1.54237515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20119381699999 meters 0.05902823680276075 Centerline is valid? [True, True] Translation: X:123.93, Y:-20.39, Z:-15.44 [[ 9.46965787e-01 3.11128040e-01 8.03438879e-02 1.23930644e+02] [-3.10066451e-01 9.50367822e-01 -2.56865511e-02 -2.03907903e+01] [-8.43480521e-02 -5.87659084e-04 9.96436180e-01 -1.54367847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26119381699999 meters 0.06015741115235124 Centerline is valid? [True, True] Translation: X:123.99, Y:-20.41, Z:-15.45 [[ 9.49419525e-01 3.04745179e-01 7.57161957e-02 1.23985643e+02] [-3.03781772e-01 9.52433922e-01 -2.42127916e-02 -2.04124745e+01] [-7.94934048e-02 -1.31029642e-05 9.96835392e-01 -1.54500149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.321193817 meters 0.06068406986624854 Centerline is valid? [True, True] Translation: X:124.04, Y:-20.44, Z:-15.45 [[ 9.52418709e-01 2.95132217e-01 7.61286835e-02 1.24042907e+02] [-2.94128297e-01 9.55456099e-01 -2.43348900e-02 -2.04376055e+01] [-7.99196250e-02 7.85404483e-04 9.96801002e-01 -1.54546076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.381193817 meters 0.06491396552783388 Centerline is valid? [True, True] Translation: X:124.09, Y:-20.47, Z:-15.46 [[ 9.57561635e-01 2.77182544e-01 7.90288113e-02 1.24094591e+02] [-2.76035962e-01 9.60814248e-01 -2.53007755e-02 -2.04740699e+01] [-8.29449412e-02 2.41225798e-03 9.96551212e-01 -1.54566259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.441193817 meters 0.0675126184015686 Centerline is valid? [True, True] Translation: X:124.15, Y:-20.50, Z:-15.46 [[ 9.59856680e-01 2.68314674e-01 8.17458906e-02 1.24150635e+02] [-2.67056159e-01 9.63325728e-01 -2.61638920e-02 -2.05002168e+01] [-8.57680757e-02 3.28284294e-03 9.96309721e-01 -1.54583470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50119381699999 meters 0.0698746022360249 Centerline is valid? [True, True] Translation: X:124.21, Y:-20.52, Z:-15.47 [[ 9.60707142e-01 2.64401545e-01 8.44607073e-02 1.24209336e+02] [-2.63040751e-01 9.64405292e-01 -2.70554379e-02 -2.05164074e+01] [-8.86078527e-02 3.77574452e-03 9.96059432e-01 -1.54650462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56119381699999 meters 0.06813680853337195 Centerline is valid? [True, True] Translation: X:124.27, Y:-20.52, Z:-15.47 [[ 9.59608594e-01 2.67604582e-01 8.68281882e-02 1.24270883e+02] [-2.66176209e-01 9.63522054e-01 -2.78473862e-02 -2.05235247e+01] [-9.11129624e-02 3.61099313e-03 9.95834017e-01 -1.54710531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62119381699999 meters 0.06497849345278953 Centerline is valid? [True, True] Translation: X:124.33, Y:-20.52, Z:-15.48 [[ 9.56947765e-01 2.76590559e-01 8.80263457e-02 1.24333584e+02] [-2.75159710e-01 9.60983779e-01 -2.82366698e-02 -2.05228738e+01] [-9.24018866e-02 2.79971430e-03 9.95717858e-01 -1.54763082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.681193817 meters 0.06347477977953545 Centerline is valid? [True, True] Translation: X:124.40, Y:-20.53, Z:-15.49 [[ 9.55635844e-01 2.81875113e-01 8.54783873e-02 1.24395788e+02] [-2.80547500e-01 9.59448539e-01 -2.74153337e-02 -2.05270728e+01] [-8.97398142e-02 2.21832772e-03 9.95962773e-01 -1.54873739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.741193817 meters 0.06148862769409191 Centerline is valid? [True, True] Translation: X:124.46, Y:-20.53, Z:-15.49 [[ 9.54606889e-01 2.85654806e-01 8.44216730e-02 1.24459879e+02] [-2.84373740e-01 9.58330795e-01 -2.70862387e-02 -2.05300947e+01] [-8.86412032e-02 1.84940314e-03 9.96061904e-01 -1.54948628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.801193817 meters 0.06300329865946541 Centerline is valid? [True, True] Translation: X:124.52, Y:-20.54, Z:-15.51 [[ 9.54012469e-01 2.88516064e-01 8.13553331e-02 1.24518621e+02] [-2.87334729e-01 9.57473800e-01 -2.61280704e-02 -2.05416614e+01] [-8.54339680e-02 1.55029235e-03 9.96342629e-01 -1.55121006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86119381699999 meters 0.06534037898641941 Centerline is valid? [True, True] Translation: X:124.58, Y:-20.56, Z:-15.52 [[ 9.55562466e-01 2.83489296e-01 8.08343486e-02 1.24575838e+02] [-2.82302183e-01 9.58973273e-01 -2.59949851e-02 -2.05572847e+01] [-8.48872799e-02 2.02011901e-03 9.96388513e-01 -1.55198641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92119381699999 meters 0.06810781796787048 Centerline is valid? [True, True] Translation: X:124.63, Y:-20.58, Z:-15.52 [[ 9.57513544e-01 2.76057379e-01 8.34274323e-02 1.24634645e+02] [-2.74764743e-01 9.61137184e-01 -2.68262959e-02 -2.05780662e+01] [-8.75908042e-02 2.76362467e-03 9.96152706e-01 -1.55241116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98119381699999 meters 0.07261887861124303 Centerline is valid? [True, True] Translation: X:124.69, Y:-20.59, Z:-15.53 [[ 9.59588898e-01 2.68507240e-01 8.42200076e-02 1.24691947e+02] [-2.67159992e-01 9.63271324e-01 -2.70905053e-02 -2.05939903e+01] [-8.84007150e-02 3.49553159e-03 9.96078860e-01 -1.55310742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04119381699999 meters 0.07586365799037369 Centerline is valid? [True, True] Translation: X:124.75, Y:-20.61, Z:-15.54 [[ 9.60673994e-01 2.64502588e-01 8.45213471e-02 1.24750744e+02] [-2.63130292e-01 9.64377182e-01 -2.71864130e-02 -2.06103609e+01] [-8.87013352e-02 3.87715325e-03 9.96050722e-01 -1.55396260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.101193817 meters 0.07260752395757458 Centerline is valid? [True, True] Translation: X:124.82, Y:-20.61, Z:-15.54 [[ 9.62874650e-01 2.57105566e-01 8.22747626e-02 1.24815972e+02] [-2.55778275e-01 9.66373126e-01 -2.64661088e-02 -2.06075269e+01] [-8.63127034e-02 4.43944839e-03 9.96258204e-01 -1.55408787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.161193817 meters 0.07692464157690954 Centerline is valid? [True, True] Translation: X:124.87, Y:-20.62, Z:-15.55 [[ 9.63191002e-01 2.55475281e-01 8.36389498e-02 1.24874815e+02] [-2.54097545e-01 9.66804356e-01 -2.69030757e-02 -2.06215433e+01] [-8.77355718e-02 4.66034867e-03 9.96132898e-01 -1.55514033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22119381699999 meters 0.07365309165338536 Centerline is valid? [True, True] Translation: X:124.94, Y:-20.61, Z:-15.56 [[ 9.62354893e-01 2.59615728e-01 8.04532981e-02 1.24941655e+02] [-2.58352878e-01 9.65703089e-01 -2.59101150e-02 -2.06132049e+01] [-8.44206719e-02 4.14938487e-03 9.96421564e-01 -1.55593577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28119381699999 meters 0.06721096735970702 Centerline is valid? [True, True] Translation: X:125.01, Y:-20.60, Z:-15.56 [[ 9.59794450e-01 2.69169876e-01 7.96378840e-02 1.25010272e+02] [-2.67964859e-01 9.63087129e-01 -2.56518374e-02 -2.05992246e+01] [-8.36029229e-02 3.28033679e-03 9.96493748e-01 -1.55635633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34119381699999 meters 0.06522700837216885 Centerline is valid? [True, True] Translation: X:125.07, Y:-20.60, Z:-15.57 [[ 9.58112712e-01 2.75000765e-01 7.99663128e-02 1.25072270e+02] [-2.73805818e-01 9.61439973e-01 -2.57595158e-02 -2.06033844e+01] [-8.39666962e-02 2.78527788e-03 9.96464669e-01 -1.55707162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40119381699999 meters 0.06358585083674476 Centerline is valid? [True, True] Translation: X:125.14, Y:-20.60, Z:-15.58 [[ 9.56516194e-01 2.80659974e-01 7.94150435e-02 1.25136919e+02] [-2.79500882e-01 9.59804570e-01 -2.55821230e-02 -2.06010793e+01] [-8.34027996e-02 2.27314018e-03 9.96513324e-01 -1.55806947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.461193817 meters 0.06269554879618024 Centerline is valid? [True, True] Translation: X:125.20, Y:-20.61, Z:-15.59 [[ 9.55232122e-01 2.85255720e-01 7.84905576e-02 1.25199487e+02] [-2.84138650e-01 9.58449653e-01 -2.52881348e-02 -2.06089900e+01] [-8.24428328e-02 1.85383763e-03 9.96594071e-01 -1.55901376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.521193817 meters 0.06096322697688997 Centerline is valid? [True, True] Translation: X:125.26, Y:-20.61, Z:-15.60 [[ 9.53057700e-01 2.91980301e-01 8.01780764e-02 1.25262456e+02] [-2.90837200e-01 9.56423432e-01 -2.58445711e-02 -2.06104568e+01] [-8.42302966e-02 1.31260020e-03 9.96445450e-01 -1.55960863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.581193817 meters 0.059980043651280485 Centerline is valid? [True, True] Translation: X:125.33, Y:-20.62, Z:-15.60 [[ 9.51800995e-01 2.95703210e-01 8.14522999e-02 1.25325682e+02] [-2.94537720e-01 9.55279346e-01 -2.62469449e-02 -2.06162991e+01] [-8.55710056e-02 9.91093626e-04 9.96331582e-01 -1.56034517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64119381699999 meters 0.060058642894304126 Centerline is valid? [True, True] Translation: X:125.39, Y:-20.62, Z:-15.61 [[ 9.50799516e-01 2.99314154e-01 7.99457158e-02 1.25386335e+02] [-2.98201555e-01 9.54154374e-01 -2.57926807e-02 -2.06231821e+01] [-8.40006688e-02 6.83731505e-04 9.96465464e-01 -1.56136224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70119381699999 meters 0.0598587940320655 Centerline is valid? [True, True] Translation: X:125.45, Y:-20.64, Z:-15.62 [[ 9.50595520e-01 2.99746776e-01 8.07466924e-02 1.25447268e+02] [-2.98612639e-01 9.54018572e-01 -2.60587028e-02 -2.06351528e+01] [-8.48448563e-02 6.59303210e-04 9.96393956e-01 -1.56212041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76119381699999 meters 0.06194832331384212 Centerline is valid? [True, True] Translation: X:125.50, Y:-20.66, Z:-15.63 [[ 9.53238700e-01 2.91194844e-01 8.08798070e-02 1.25503360e+02] [-2.90023453e-01 9.56662662e-01 -2.61332843e-02 -2.06584995e+01] [-8.49845691e-02 1.45421703e-03 9.96381206e-01 -1.56315433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.821193817 meters 0.06380781044861615 Centerline is valid? [True, True] Translation: X:125.56, Y:-20.69, Z:-15.63 [[ 9.56810176e-01 2.78981311e-01 8.17539872e-02 1.25558116e+02] [-2.77738309e-01 9.60293053e-01 -2.64326467e-02 -2.06873365e+01] [-8.58820003e-02 2.58481125e-03 9.96301963e-01 -1.56313560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.881193817 meters 0.07235853522785012 Centerline is valid? [True, True] Translation: X:125.61, Y:-20.72, Z:-15.64 [[ 9.62346293e-01 2.58601708e-01 8.37542185e-02 1.25611034e+02] [-2.57219504e-01 9.65973469e-01 -2.70810612e-02 -2.07225038e+01] [-8.79075617e-02 4.51814035e-03 9.96118390e-01 -1.56355909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.941193817 meters 0.07547918233788883 Centerline is valid? [True, True] Translation: X:125.67, Y:-20.74, Z:-15.64 [[ 9.63661818e-01 2.53551082e-01 8.40699050e-02 1.25668726e+02] [-2.52139034e-01 9.67309073e-01 -2.71857328e-02 -2.07422867e+01] [-8.82145539e-02 5.00054812e-03 9.96088945e-01 -1.56420584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.001193817 meters 0.07402989558087816 Centerline is valid? [True, True] Translation: X:125.73, Y:-20.75, Z:-15.65 [[ 9.63253698e-01 2.55596815e-01 8.25383613e-02 1.25731732e+02] [-2.54243854e-01 9.66771947e-01 -2.66845426e-02 -2.07475811e+01] [-8.66162564e-02 4.71911332e-03 9.96230573e-01 -1.56498760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.061193817 meters 0.07236194074072554 Centerline is valid? [True, True] Translation: X:125.80, Y:-20.75, Z:-15.66 [[ 9.62485982e-01 2.59699393e-01 7.85936398e-02 1.25796334e+02] [-2.58484528e-01 9.65680530e-01 -2.54335099e-02 -2.07461743e+01] [-8.25014147e-02 4.16415684e-03 9.96582248e-01 -1.56633498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.121193817 meters 0.07132999279208352 Centerline is valid? [True, True] Translation: X:125.86, Y:-20.75, Z:-15.67 [[ 9.61586416e-01 2.62738912e-01 7.94973534e-02 1.25859048e+02] [-2.61503184e-01 9.64858743e-01 -2.57622004e-02 -2.07523170e+01] [-8.34724490e-02 3.98377087e-03 9.96502122e-01 -1.56709077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.181193817 meters 0.0697567645292724 Centerline is valid? [True, True] Translation: X:125.92, Y:-20.76, Z:-15.68 [[ 9.60365645e-01 2.66470740e-01 8.17995954e-02 1.25920685e+02] [-2.65175048e-01 9.63835621e-01 -2.65158350e-02 -2.07584703e+01] [-8.59070580e-02 3.77368529e-03 9.96296009e-01 -1.56754352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.241193817 meters 0.06577994570428153 Centerline is valid? [True, True] Translation: X:125.99, Y:-20.75, Z:-15.68 [[ 9.57592259e-01 2.76279524e-01 8.17721821e-02 1.25986223e+02] [-2.75020006e-01 9.61072960e-01 -2.65096412e-02 -2.07505787e+01] [-8.59131042e-02 2.89644111e-03 9.96298424e-01 -1.56843738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.301193817 meters 0.061981692230839366 Centerline is valid? [True, True] Translation: X:126.05, Y:-20.74, Z:-15.69 [[ 9.54092473e-01 2.87830869e-01 8.28308104e-02 1.26050249e+02] [-2.86581657e-01 9.57679407e-01 -2.68534542e-02 -2.07430620e+01] [-8.70546144e-02 1.88288765e-03 9.96201761e-01 -1.56931835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36119381700001 meters 0.05995915426508945 Centerline is valid? [True, True] Translation: X:126.11, Y:-20.75, Z:-15.70 [[ 9.51796966e-01 2.95148621e-01 8.34854884e-02 1.26113393e+02] [-2.93907980e-01 9.55450577e-01 -2.70609428e-02 -2.07478827e+01] [-8.77532579e-02 1.21947197e-03 9.96141495e-01 -1.57008038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42119381700002 meters 0.05950653595607703 Centerline is valid? [True, True] Translation: X:126.17, Y:-20.75, Z:-15.71 [[ 9.48475444e-01 3.06615489e-01 7.98828744e-02 1.26172904e+02] [-3.05519383e-01 9.51833449e-01 -2.59034946e-02 -2.07497538e+01] [-8.39776046e-02 1.63062080e-04 9.96467629e-01 -1.57146684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48119381700002 meters 0.0601755899835709 Centerline is valid? [True, True] Translation: X:126.23, Y:-20.77, Z:-15.73 [[ 9.47422241e-01 3.10497285e-01 7.73468402e-02 1.26228036e+02] [-3.09483271e-01 9.50574249e-01 -2.50739362e-02 -2.07689416e+01] [-8.13093036e-02 -1.81948268e-04 9.96688900e-01 -1.57256681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.541193817 meters 0.05975003916650398 Centerline is valid? [True, True] Translation: X:126.28, Y:-20.79, Z:-15.73 [[ 9.47057968e-01 3.11568299e-01 7.75009688e-02 1.26283731e+02] [-3.10554147e-01 9.50223720e-01 -2.51198005e-02 -2.07894829e+01] [-8.14697924e-02 -2.78340078e-04 9.96675772e-01 -1.57291419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.601193817 meters 0.05975294434917367 Centerline is valid? [True, True] Translation: X:126.34, Y:-20.82, Z:-15.74 [[ 9.47582508e-01 3.09829449e-01 7.80583330e-02 1.26336439e+02] [-3.08795455e-01 9.50792140e-01 -2.52917686e-02 -2.08192693e+01] [-8.20533842e-02 -1.38020961e-04 9.96627926e-01 -1.57356019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.661193817 meters 0.060397983497864516 Centerline is valid? [True, True] Translation: X:126.39, Y:-20.85, Z:-15.75 [[ 9.48982163e-01 3.05193559e-01 7.93079143e-02 1.26387934e+02] [-3.04111224e-01 9.52290306e-01 -2.56814288e-02 -2.08549243e+01] [-8.33619646e-02 2.52790987e-04 9.96519302e-01 -1.57455111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.721193817 meters 0.06121494264899451 Centerline is valid? [True, True] Translation: X:126.44, Y:-20.89, Z:-15.75 [[ 9.51900587e-01 2.95889560e-01 7.95904607e-02 1.26441142e+02] [-2.94765099e-01 9.55221531e-01 -2.57946489e-02 -2.08911910e+01] [-8.36588890e-02 1.09345137e-03 9.96493851e-01 -1.57495868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.781193817 meters 0.06819227497130513 Centerline is valid? [True, True] Translation: X:126.49, Y:-20.94, Z:-15.75 [[ 9.57318774e-01 2.77187341e-01 8.19020289e-02 1.26486790e+02] [-2.75924744e-01 9.60811677e-01 -2.65792658e-02 -2.09437633e+01] [-8.60598617e-02 2.84603381e-03 9.96285903e-01 -1.57545394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.841193817 meters 0.07076595197849764 Centerline is valid? [True, True] Translation: X:126.54, Y:-20.98, Z:-15.76 [[ 9.59977131e-01 2.67740997e-01 8.22111118e-02 1.26540316e+02] [-2.66434260e-01 9.63483790e-01 -2.66790534e-02 -2.09756698e+01] [-8.63521500e-02 3.70742444e-03 9.96257778e-01 -1.57565745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.901193817 meters 0.07844152972187003 Centerline is valid? [True, True] Translation: X:126.59, Y:-21.01, Z:-15.77 [[ 9.61481018e-01 2.62797715e-01 8.05705420e-02 1.26591026e+02] [-2.61525181e-01 9.64842365e-01 -2.61494048e-02 -2.10083161e+01] [-8.46098761e-02 4.07093078e-03 9.96405839e-01 -1.57719851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.961193817 meters 0.0699846284099143 Centerline is valid? [True, True] Translation: X:126.66, Y:-21.01, Z:-15.77 [[ 9.60378647e-01 2.66719725e-01 8.08297167e-02 1.26655093e+02] [-2.65452953e-01 9.63766897e-01 -2.62316107e-02 -2.10106595e+01] [-8.48974932e-02 3.73579178e-03 9.96382687e-01 -1.57711716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.021193817 meters 0.06865311397905548 Centerline is valid? [True, True] Translation: X:126.72, Y:-21.02, Z:-15.78 [[ 9.59598037e-01 2.69270291e-01 8.16401712e-02 1.26716182e+02] [-2.67987178e-01 9.63058121e-01 -2.64939374e-02 -2.10219642e+01] [-8.57582600e-02 3.54501119e-03 9.96309668e-01 -1.57762366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.081193817 meters 0.06787259466820285 Centerline is valid? [True, True] Translation: X:126.78, Y:-21.04, Z:-15.78 [[ 9.60281127e-01 2.66824467e-01 8.16385982e-02 1.26776724e+02] [-2.65531883e-01 9.63737765e-01 -2.65016827e-02 -2.10369472e+01] [-8.57494976e-02 3.77141504e-03 9.96309590e-01 -1.57807943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14119381700002 meters 0.07213478911842235 Centerline is valid? [True, True] Translation: X:126.84, Y:-21.05, Z:-15.79 [[ 9.62845126e-01 2.56904584e-01 8.32424087e-02 1.26835310e+02] [-2.55522682e-01 9.66425060e-01 -2.70326042e-02 -2.10538392e+01] [-8.73923498e-02 4.75788761e-03 9.96162607e-01 -1.57874632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20119381700002 meters 0.07735061465997166 Centerline is valid? [True, True] Translation: X:126.89, Y:-21.07, Z:-15.79 [[ 9.64749817e-01 2.49035172e-01 8.50839187e-02 1.26891473e+02] [-2.47560368e-01 9.68478263e-01 -2.76354387e-02 -2.10731455e+01] [-8.92841220e-02 5.59787823e-03 9.95990466e-01 -1.57940382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26119381700002 meters 0.080283601019861 Centerline is valid? [True, True] Translation: X:126.95, Y:-21.08, Z:-15.80 [[ 9.66850790e-01 2.41751832e-01 8.21924723e-02 1.26952131e+02] [-2.40349806e-01 9.70319225e-01 -2.66940576e-02 -2.10813009e+01] [-8.62062734e-02 6.05422594e-03 9.96258915e-01 -1.58032784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.321193817 meters 0.08518593661928635 Centerline is valid? [True, True] Translation: X:127.01, Y:-21.10, Z:-15.82 [[ 9.66967322e-01 2.41450335e-01 8.17063915e-02 1.27010283e+02] [-2.40064067e-01 9.70394368e-01 -2.65332606e-02 -2.10953103e+01] [-8.56938868e-02 6.04202731e-03 9.96303193e-01 -1.58161994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.381193817 meters 0.08214756739241888 Centerline is valid? [True, True] Translation: X:127.08, Y:-21.09, Z:-15.82 [[ 9.65442548e-01 2.46009886e-01 8.60222210e-02 1.27076966e+02] [-2.44489002e-01 9.69249010e-01 -2.79550358e-02 -2.10875956e+01] [-9.02541677e-02 5.95749410e-03 9.95900946e-01 -1.58197701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.441193817 meters 0.07737275511527242 Centerline is valid? [True, True] Translation: X:127.14, Y:-21.08, Z:-15.82 [[ 9.64782019e-01 2.47976581e-01 8.77682815e-02 1.27141519e+02] [-2.46401014e-01 9.68748097e-01 -2.85248036e-02 -2.10848368e+01] [-9.20988390e-02 5.89402401e-03 9.95732426e-01 -1.58234972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.501193817 meters 0.07821820461044322 Centerline is valid? [True, True] Translation: X:127.20, Y:-21.09, Z:-15.83 [[ 9.64320343e-01 2.49301057e-01 8.90800685e-02 1.27204393e+02] [-2.47683572e-01 9.68408341e-01 -2.89505433e-02 -2.10856842e+01] [-9.34832824e-02 5.85392827e-03 9.95603640e-01 -1.58305676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.561193817 meters 0.07476838916151896 Centerline is valid? [True, True] Translation: X:127.27, Y:-21.08, Z:-15.84 [[ 9.63702611e-01 2.53038774e-01 8.51390455e-02 1.27270447e+02] [-2.51575997e-01 9.67441906e-01 -2.76708415e-02 -2.10777247e+01] [-8.93688763e-02 5.24752195e-03 9.95984773e-01 -1.58404237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.621193817 meters 0.07311397904638878 Centerline is valid? [True, True] Translation: X:127.33, Y:-21.08, Z:-15.85 [[ 9.61967398e-01 2.60681974e-01 8.16310871e-02 1.27331292e+02] [-2.59364366e-01 9.65414907e-01 -2.65364499e-02 -2.10786747e+01] [-8.57254425e-02 4.35500449e-03 9.96309281e-01 -1.58530053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.681193817 meters 0.06482200584766647 Centerline is valid? [True, True] Translation: X:127.40, Y:-21.06, Z:-15.86 [[ 9.56790343e-01 2.79681876e-01 7.95631093e-02 1.27399935e+02] [-2.78495633e-01 9.60089246e-01 -2.58616080e-02 -2.10622187e+01] [-8.36207086e-02 2.58615832e-03 9.96494299e-01 -1.58618438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.741193817 meters 0.06155693090738905 Centerline is valid? [True, True] Translation: X:127.46, Y:-21.06, Z:-15.87 [[ 9.53328528e-01 2.91449879e-01 7.88776674e-02 1.27463215e+02] [-2.90323904e-01 9.56584855e-01 -2.56407242e-02 -2.10598376e+01] [-8.29261680e-02 1.54396149e-03 9.96554498e-01 -1.58704853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.801193817 meters 0.05923408616069331 Centerline is valid? [True, True] Translation: X:127.53, Y:-21.06, Z:-15.87 [[ 9.49318383e-01 3.02510078e-01 8.53361586e-02 1.27525512e+02] [-3.01236198e-01 9.53145980e-01 -2.77397592e-02 -2.10582444e+01] [-8.97293732e-02 6.27523369e-04 9.95965986e-01 -1.58732319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86119381700001 meters 0.05866447396668254 Centerline is valid? [True, True] Translation: X:127.58, Y:-21.08, Z:-15.88 [[ 9.48370528e-01 3.04123361e-01 9.00128989e-02 1.27580951e+02] [-3.02713455e-01 9.52632529e-01 -2.92545567e-02 -2.10803388e+01] [-9.46462096e-02 4.96043753e-04 9.95510848e-01 -1.58756226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92119381700002 meters 0.05878404811969877 Centerline is valid? [True, True] Translation: X:127.63, Y:-21.10, Z:-15.88 [[ 9.48134804e-01 3.04872026e-01 8.99635595e-02 1.27634617e+02] [-3.03466680e-01 9.52393232e-01 -2.92422084e-02 -2.11003688e+01] [-9.45958165e-02 4.24612855e-04 9.95515671e-01 -1.58836770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98119381700002 meters 0.05898709714723156 Centerline is valid? [True, True] Translation: X:127.69, Y:-21.12, Z:-15.89 [[ 9.46385641e-01 3.11245419e-01 8.64899253e-02 1.27689772e+02] [-3.09976431e-01 9.50329539e-01 -2.80781017e-02 -2.11211441e+01] [-9.09331114e-02 -2.37126023e-04 9.95856974e-01 -1.58909372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.041193817 meters 0.059946186642958546 Centerline is valid? [True, True] Translation: X:127.74, Y:-21.14, Z:-15.90 [[ 9.44882945e-01 3.15593150e-01 8.71618239e-02 1.27742158e+02] [-3.14323078e-01 9.48894369e-01 -2.82927434e-02 -2.11407164e+01] [-9.16363599e-02 -6.63642059e-04 9.95792316e-01 -1.59028814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.101193817 meters 0.06001253002943629 Centerline is valid? [True, True] Translation: X:127.79, Y:-21.17, Z:-15.91 [[ 9.44106079e-01 3.18057365e-01 8.66211524e-02 1.27793794e+02] [-3.16815208e-01 9.48071027e-01 -2.80971693e-02 -2.11712033e+01] [-9.10595165e-02 -9.16190067e-04 9.95845031e-01 -1.59091507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.161193817 meters 0.0593791224569152 Centerline is valid? [True, True] Translation: X:127.84, Y:-21.20, Z:-15.92 [[ 9.45616655e-01 3.13629793e-01 8.62872779e-02 1.27844443e+02] [-3.12381165e-01 9.49545202e-01 -2.79627843e-02 -2.12035958e+01] [-9.07036329e-02 -5.12445844e-04 9.95877798e-01 -1.59155312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.221193817 meters 0.06048933987105167 Centerline is valid? [True, True] Translation: X:127.89, Y:-21.26, Z:-15.93 [[ 9.50233761e-01 3.00209055e-01 8.32485631e-02 1.27888116e+02] [-2.98998256e-01 9.53873165e-01 -2.69449027e-02 -2.12553353e+01] [-8.74976741e-02 7.12781059e-04 9.96164469e-01 -1.59294182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.281193817 meters 0.06343905840136882 Centerline is valid? [True, True] Translation: X:127.93, Y:-21.30, Z:-15.94 [[ 9.52602691e-01 2.92331307e-01 8.42052308e-02 1.27934517e+02] [-2.91062349e-01 9.56316012e-01 -2.72469159e-02 -2.12966674e+01] [-8.84919371e-02 1.44651314e-03 9.96075843e-01 -1.59423847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.341193817 meters 0.06311747495890953 Centerline is valid? [True, True] Translation: X:127.99, Y:-21.33, Z:-15.94 [[ 9.55347049e-01 2.82690915e-01 8.60108239e-02 1.27989411e+02] [-2.81329012e-01 9.59208107e-01 -2.78171478e-02 -2.13310207e+01] [-9.03659346e-02 2.37768996e-03 9.95905791e-01 -1.59354775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.401193817 meters 0.0652029501614725 Centerline is valid? [True, True] Translation: X:128.04, Y:-21.36, Z:-15.94 [[ 9.57033242e-01 2.76633593e-01 8.69553236e-02 1.28043123e+02] [-2.75216120e-01 9.60970827e-01 -2.81275156e-02 -2.13609664e+01] [-9.13425449e-02 2.98746076e-03 9.95815050e-01 -1.59419099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.461193817 meters 0.06701110685396586 Centerline is valid? [True, True] Translation: X:128.10, Y:-21.39, Z:-15.95 [[ 9.58640340e-01 2.70459495e-01 8.86586665e-02 1.28097631e+02] [-2.68959339e-01 9.62724444e-01 -2.86796019e-02 -2.13907863e+01] [-9.31105360e-02 3.64784705e-03 9.95649095e-01 -1.59456730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.521193817 meters 0.06879437043657333 Centerline is valid? [True, True] Translation: X:128.15, Y:-21.41, Z:-15.95 [[ 9.59465808e-01 2.67095099e-01 8.99198062e-02 1.28154617e+02] [-2.65537155e-01 9.63661745e-01 -2.90871193e-02 -2.14139442e+01] [-9.44213043e-02 4.03104686e-03 9.95524167e-01 -1.59525071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.581193817 meters 0.06900413781537347 Centerline is valid? [True, True] Translation: X:128.21, Y:-21.43, Z:-15.96 [[ 9.59693728e-01 2.66490059e-01 8.92804350e-02 1.28213534e+02] [-2.64949171e-01 9.63829003e-01 -2.89065661e-02 -2.14327244e+01] [-9.37543852e-02 4.08667296e-03 9.95586970e-01 -1.59598488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64119381700002 meters 0.07115446277414517 Centerline is valid? [True, True] Translation: X:128.27, Y:-21.46, Z:-15.97 [[ 9.59713152e-01 2.66494952e-01 8.90567616e-02 1.28269567e+02] [-2.64958700e-01 9.63827560e-01 -2.88673188e-02 -2.14557100e+01] [-9.35283559e-02 4.10798178e-03 9.95608141e-01 -1.59708440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70119381700002 meters 0.06808448959050586 Centerline is valid? [True, True] Translation: X:128.33, Y:-21.46, Z:-15.98 [[ 9.58904862e-01 2.70035108e-01 8.70775836e-02 1.28332373e+02] [-2.68580085e-01 9.62843410e-01 -2.82365998e-02 -2.14626505e+01] [-9.14669508e-02 3.68890803e-03 9.95801280e-01 -1.59789137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76119381700002 meters 0.06746118445409499 Centerline is valid? [True, True] Translation: X:128.39, Y:-21.47, Z:-15.99 [[ 9.58535384e-01 2.72951235e-01 8.18995762e-02 1.28392605e+02] [-2.71672901e-01 9.62022446e-01 -2.65828685e-02 -2.14735330e+01] [-8.60450574e-02 3.23072465e-03 9.96286008e-01 -1.59911996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.821193817 meters 0.0680828692192375 Centerline is valid? [True, True] Translation: X:128.45, Y:-21.49, Z:-16.00 [[ 9.58628889e-01 2.72345200e-01 8.28175385e-02 1.28454245e+02] [-2.71033681e-01 9.62193798e-01 -2.69042683e-02 -2.14870019e+01] [-8.70137702e-02 3.34486657e-03 9.96201494e-01 -1.59989093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.881193817 meters 0.06842243369576904 Centerline is valid? [True, True] Translation: X:128.51, Y:-21.50, Z:-16.00 [[ 9.58870524e-01 2.70495946e-01 8.60189604e-02 1.28513775e+02] [-2.69070231e-01 9.62714068e-01 -2.79791791e-02 -2.15037425e+01] [-9.03799178e-02 3.68326856e-03 9.95900549e-01 -1.60021355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.941193817 meters 0.07094508882494895 Centerline is valid? [True, True] Translation: X:128.57, Y:-21.52, Z:-16.00 [[ 9.59328911e-01 2.66817155e-01 9.21772523e-02 1.28572896e+02] [-2.65159324e-01 9.63737342e-01 -3.00144584e-02 -2.15223355e+01] [-9.68430326e-02 4.35207980e-03 9.95290152e-01 -1.60049338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.001193817 meters 0.06896198780796961 Centerline is valid? [True, True] Translation: X:128.63, Y:-21.53, Z:-16.01 [[ 9.59243618e-01 2.67778341e-01 9.02576433e-02 1.28634514e+02] [-2.66190386e-01 9.63471413e-01 -2.94196455e-02 -2.15330710e+01] [-9.48386030e-02 4.19489031e-03 9.95483823e-01 -1.60122609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.061193817 meters 0.06748866227236987 Centerline is valid? [True, True] Translation: X:128.69, Y:-21.54, Z:-16.03 [[ 9.56559064e-01 2.78033827e-01 8.77037562e-02 1.28694322e+02] [-2.76574071e-01 9.60566203e-01 -2.86243496e-02 -2.15387568e+01] [-9.22038015e-02 3.12429612e-03 9.95735255e-01 -1.60265668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.121193817 meters 0.06204990443723738 Centerline is valid? [True, True] Translation: X:128.76, Y:-21.53, Z:-16.03 [[ 9.53334331e-01 2.89216536e-01 8.66455344e-02 1.28759257e+02] [-2.87837990e-01 9.57261577e-01 -2.82765804e-02 -2.15347914e+01] [-9.11204955e-02 2.01715837e-03 9.95837831e-01 -1.60302716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.181193817 meters 0.05943939697112056 Centerline is valid? [True, True] Translation: X:128.82, Y:-21.53, Z:-16.04 [[ 9.48453387e-01 3.04492797e-01 8.78652931e-02 1.28822509e+02] [-3.03140131e-01 9.52514473e-01 -2.86747196e-02 -2.15345385e+01] [-9.24242090e-02 5.61138433e-04 9.95719564e-01 -1.60366025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.241193817 meters 0.05939833844572083 Centerline is valid? [True, True] Translation: X:128.88, Y:-21.55, Z:-16.05 [[ 9.47754849e-01 3.06680417e-01 8.77944673e-02 1.28877335e+02] [-3.05339245e-01 9.51812482e-01 -2.86521420e-02 -2.15513756e+01] [-9.23509206e-02 3.48110156e-04 9.95726462e-01 -1.60459546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.301193817 meters 0.059603291444779924 Centerline is valid? [True, True] Translation: X:128.93, Y:-21.57, Z:-16.06 [[ 9.47988202e-01 3.06438005e-01 8.61052765e-02 1.28931967e+02] [-3.05148004e-01 9.51890552e-01 -2.80904286e-02 -2.15721061e+01] [-9.05707741e-02 3.54541625e-04 9.95889958e-01 -1.60561502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36119381700001 meters 0.06044156383565055 Centerline is valid? [True, True] Translation: X:128.98, Y:-21.60, Z:-16.07 [[ 9.48555879e-01 3.05790805e-01 8.20593012e-02 1.28983372e+02] [-3.04617611e-01 9.52098646e-01 -2.67633946e-02 -2.15981921e+01] [-8.63125495e-02 3.89866964e-04 9.96268032e-01 -1.60701442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42119381700002 meters 0.06121824348086447 Centerline is valid? [True, True] Translation: X:129.03, Y:-21.63, Z:-16.08 [[ 9.50206685e-01 3.00742889e-01 8.16147660e-02 1.29033683e+02] [-2.99564411e-01 9.53704888e-01 -2.66110840e-02 -2.16315231e+01] [-8.58394955e-02 8.37150649e-04 9.96308627e-01 -1.60792462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48119381700002 meters 0.06178657268009082 Centerline is valid? [True, True] Translation: X:129.08, Y:-21.67, Z:-16.08 [[ 9.52339174e-01 2.93089067e-01 8.45511506e-02 1.29084572e+02] [-2.91794732e-01 9.56083846e-01 -2.75592821e-02 -2.16680532e+01] [-8.89153135e-02 1.57420359e-03 9.96037946e-01 -1.60809864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.541193817 meters 0.06322398319490659 Centerline is valid? [True, True] Translation: X:129.14, Y:-21.70, Z:-16.08 [[ 9.54150158e-01 2.86102711e-01 8.79926991e-02 1.29138164e+02] [-2.84672255e-01 9.58196188e-01 -2.86665911e-02 -2.17049880e+01] [-9.25158583e-02 2.30315237e-03 9.95708547e-01 -1.60846647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.601193817 meters 0.06826960838727754 Centerline is valid? [True, True] Translation: X:129.19, Y:-21.74, Z:-16.10 [[ 9.56721885e-01 2.77285932e-01 8.82935262e-02 1.29188214e+02] [-2.75804750e-01 9.60782106e-01 -2.88007671e-02 -2.17426683e+01] [-9.28168877e-02 3.20255021e-03 9.95678045e-01 -1.60950964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.661193817 meters 0.0697037278248705 Centerline is valid? [True, True] Translation: X:129.24, Y:-21.77, Z:-16.10 [[ 9.57324398e-01 2.75792253e-01 8.64212412e-02 1.29244831e+02] [-2.74367503e-01 9.61211691e-01 -2.81878986e-02 -2.17664989e+01] [-9.08431115e-02 3.27378287e-03 9.95859835e-01 -1.61038867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.721193817 meters 0.07011614444111341 Centerline is valid? [True, True] Translation: X:129.30, Y:-21.79, Z:-16.11 [[ 9.58288826e-01 2.73188126e-01 8.39688830e-02 1.29300548e+02] [-2.71830649e-01 9.61954444e-01 -2.74179981e-02 -2.17896650e+01] [-8.82645117e-02 3.44904528e-03 9.96091100e-01 -1.61118651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.781193817 meters 0.06709394283312602 Centerline is valid? [True, True] Translation: X:129.36, Y:-21.80, Z:-16.12 [[ 9.57169393e-01 2.77496274e-01 8.25988507e-02 1.29361739e+02] [-2.76198780e-01 9.60722023e-01 -2.69708726e-02 -2.18002103e+01] [-8.68388516e-02 3.00199193e-03 9.96217849e-01 -1.61181171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.841193817 meters 0.06421481526972801 Centerline is valid? [True, True] Translation: X:129.42, Y:-21.81, Z:-16.12 [[ 9.54745173e-01 2.84998039e-01 8.50750916e-02 1.29422020e+02] [-2.83650305e-01 9.58525099e-01 -2.77873891e-02 -2.18106540e+01] [-8.94659621e-02 2.39830000e-03 9.95986993e-01 -1.61235599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.901193817 meters 0.060891607875065944 Centerline is valid? [True, True] Translation: X:129.48, Y:-21.82, Z:-16.13 [[ 9.52165865e-01 2.93186491e-01 8.61501441e-02 1.29484409e+02] [-2.91837738e-01 9.56053846e-01 -2.81385408e-02 -2.18159065e+01] [-9.06140167e-02 1.65069481e-03 9.95884720e-01 -1.61266511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.961193817 meters 0.06041156666415385 Centerline is valid? [True, True] Translation: X:129.54, Y:-21.83, Z:-16.13 [[ 9.51117664e-01 2.96182825e-01 8.74695537e-02 1.29541176e+02] [-2.94804654e-01 9.55130254e-01 -2.85729465e-02 -2.18310710e+01] [-9.20076331e-02 1.38980255e-03 9.95757332e-01 -1.61343345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.021193817 meters 0.05999242826384031 Centerline is valid? [True, True] Translation: X:129.60, Y:-21.85, Z:-16.14 [[ 9.50677185e-01 2.97483428e-01 8.78436156e-02 1.29597875e+02] [-2.96099088e-01 9.54726140e-01 -2.86936853e-02 -2.18473654e+01] [-9.24024919e-02 1.26801746e-03 9.95720931e-01 -1.61408582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.081193817 meters 0.05969513389829122 Centerline is valid? [True, True] Translation: X:129.65, Y:-21.87, Z:-16.15 [[ 9.50247918e-01 2.98005381e-01 9.06735226e-02 1.29653552e+02] [-2.96532926e-01 9.54563368e-01 -2.96142093e-02 -2.18661391e+01] [-9.53788168e-02 1.25315579e-03 9.95440260e-01 -1.61458436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14119381700002 meters 0.05906731823036471 Centerline is valid? [True, True] Translation: X:129.71, Y:-21.88, Z:-16.15 [[ 9.49585156e-01 3.00049597e-01 9.08750263e-02 1.29710584e+02] [-2.98580561e-01 9.53923032e-01 -2.96731956e-02 -2.18825056e+01] [-9.55912109e-02 1.04370972e-03 9.95420128e-01 -1.61513237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20119381700002 meters 0.05872811842106696 Centerline is valid? [True, True] Translation: X:129.77, Y:-21.90, Z:-16.16 [[ 9.48240621e-01 3.05061838e-01 8.81873019e-02 1.29766509e+02] [-3.03700392e-01 9.52332402e-01 -2.87935398e-02 -2.18963780e+01] [-9.27674352e-02 5.20685833e-04 9.95687668e-01 -1.61617234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26119381700002 meters 0.0586024475753623 Centerline is valid? [True, True] Translation: X:129.82, Y:-21.91, Z:-16.17 [[ 9.47344548e-01 3.08602129e-01 8.54577861e-02 1.29823102e+02] [-3.07339066e-01 9.51191201e-01 -2.78926201e-02 -2.19102910e+01] [-8.98944161e-02 1.59405487e-04 9.95951288e-01 -1.61699379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.321193817 meters 0.05972541052401879 Centerline is valid? [True, True] Translation: X:129.88, Y:-21.93, Z:-16.19 [[ 9.46599051e-01 3.11972242e-01 8.13852398e-02 1.29876994e+02] [-3.10839972e-01 9.50091203e-01 -2.65559250e-02 -2.19290528e+01] [-8.56081118e-02 -1.59972231e-04 9.96328874e-01 -1.61865347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.381193817 meters 0.059887125343696085 Centerline is valid? [True, True] Translation: X:129.93, Y:-21.95, Z:-16.20 [[ 9.46707388e-01 3.12088717e-01 7.96602425e-02 1.29931100e+02] [-3.11005010e-01 9.50052947e-01 -2.59861730e-02 -2.19499628e+01] [-8.37914396e-02 -1.73432566e-04 9.96483299e-01 -1.61954549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.441193817 meters 0.05915419605207387 Centerline is valid? [True, True] Translation: X:129.99, Y:-21.97, Z:-16.20 [[ 9.46790087e-01 3.11801792e-01 7.98008398e-02 1.29986296e+02] [-3.10713787e-01 9.50147156e-01 -2.60254468e-02 -2.19728331e+01] [-8.39373220e-02 -1.54586061e-04 9.96471024e-01 -1.61961443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.501193817 meters 0.060047632728898986 Centerline is valid? [True, True] Translation: X:130.04, Y:-22.00, Z:-16.21 [[ 9.47117935e-01 3.10794579e-01 7.98395090e-02 1.30038273e+02] [-3.09702520e-01 9.50477104e-01 -2.60312161e-02 -2.19963905e+01] [-8.39759861e-02 -7.18655455e-05 9.96467776e-01 -1.62101825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.561193817 meters 0.05867074415957413 Centerline is valid? [True, True] Translation: X:130.09, Y:-22.02, Z:-16.21 [[ 9.47487940e-01 3.09177123e-01 8.17074656e-02 1.30092733e+02] [-3.08028180e-01 9.51004470e-01 -2.66296452e-02 -2.20226618e+01] [-8.59374422e-02 6.30657511e-05 9.96300533e-01 -1.62069471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.621193817 meters 0.05808818765983768 Centerline is valid? [True, True] Translation: X:130.15, Y:-22.05, Z:-16.21 [[ 9.47335774e-01 3.08418814e-01 8.62134934e-02 1.30146765e+02] [-3.07137095e-01 9.51250660e-01 -2.80889073e-02 -2.20466203e+01] [-9.06737900e-02 1.30264839e-04 9.95880639e-01 -1.62089433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.681193817 meters 0.05778235432776878 Centerline is valid? [True, True] Translation: X:130.20, Y:-22.07, Z:-16.21 [[ 9.46922031e-01 3.09049516e-01 8.84706910e-02 1.30200504e+02] [-3.07702988e-01 9.51045946e-01 -2.88180346e-02 -2.20695495e+01] [-9.30458917e-02 6.57358996e-05 9.95661819e-01 -1.62134666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.741193817 meters 0.05782451215252363 Centerline is valid? [True, True] Translation: X:130.25, Y:-22.10, Z:-16.22 [[ 9.47688845e-01 3.06994745e-01 8.74075461e-02 1.30254241e+02] [-3.05672486e-01 9.51711175e-01 -2.84634983e-02 -2.20983112e+01] [-9.19248828e-02 2.56457902e-04 9.95765911e-01 -1.62210760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.801193817 meters 0.057924252034212954 Centerline is valid? [True, True] Translation: X:130.31, Y:-22.12, Z:-16.23 [[ 9.47965150e-01 3.06174174e-01 8.72894607e-02 1.30308597e+02] [-3.04851845e-01 9.51975452e-01 -2.84269425e-02 -2.21228266e+01] [-9.18010194e-02 3.37397669e-04 9.95777314e-01 -1.62294109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86119381700001 meters 0.05765756241909509 Centerline is valid? [True, True] Translation: X:130.36, Y:-22.15, Z:-16.23 [[ 9.48828337e-01 3.04141487e-01 8.49867212e-02 1.30363877e+02] [-3.02880672e-01 9.52626733e-01 -2.76695810e-02 -2.21527561e+01] [-8.93760901e-02 5.12847348e-04 9.95997817e-01 -1.62337349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92119381700002 meters 0.0591891852753967 Centerline is valid? [True, True] Translation: X:130.42, Y:-22.18, Z:-16.25 [[ 9.48440828e-01 3.06533141e-01 8.06066304e-02 1.30417940e+02] [-3.05404837e-01 9.51859937e-01 -2.62782283e-02 -2.21750433e+01] [-8.47813700e-02 3.05689721e-04 9.96399531e-01 -1.62539939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98119381700002 meters 0.057965417318532865 Centerline is valid? [True, True] Translation: X:130.48, Y:-22.20, Z:-16.25 [[ 9.46557573e-01 3.12405905e-01 8.01954599e-02 1.30477780e+02] [-3.11310981e-01 9.49948682e-01 -2.61337923e-02 -2.21977675e+01] [-8.43459225e-02 -2.28588283e-04 9.96436507e-01 -1.62538769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.041193817 meters 0.05771859362628697 Centerline is valid? [True, True] Translation: X:130.54, Y:-22.22, Z:-16.26 [[ 9.45012437e-01 3.16670316e-01 8.16786702e-02 1.30535325e+02] [-3.15547478e-01 9.48535484e-01 -2.66500417e-02 -2.22220956e+01] [-8.59143941e-02 -5.88877524e-04 9.96302349e-01 -1.62597604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.101193817 meters 0.05732164781554947 Centerline is valid? [True, True] Translation: X:130.59, Y:-22.25, Z:-16.26 [[ 9.44790227e-01 3.17354126e-01 8.15952603e-02 1.30593193e+02] [-3.16234072e-01 9.48306894e-01 -2.66467003e-02 -2.22467897e+01] [-8.58337881e-02 -6.27659406e-04 9.96309273e-01 -1.62647502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.161193817 meters 0.05766524479247859 Centerline is valid? [True, True] Translation: X:130.65, Y:-22.28, Z:-16.28 [[ 9.46090661e-01 3.13206777e-01 8.25468040e-02 1.30647124e+02] [-3.12041652e-01 9.49684930e-01 -2.69915167e-02 -2.22768487e+01] [-8.68473817e-02 -2.21619222e-04 9.96221603e-01 -1.62771383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.221193817 meters 0.05772899573360126 Centerline is valid? [True, True] Translation: X:130.70, Y:-22.31, Z:-16.28 [[ 9.47444241e-01 3.09227923e-01 8.20213451e-02 1.30701691e+02] [-3.08060337e-01 9.50987941e-01 -2.68470776e-02 -2.23078992e+01] [-8.63031761e-02 1.68585923e-04 9.96268906e-01 -1.62840058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.281193817 meters 0.057646704998610854 Centerline is valid? [True, True] Translation: X:130.76, Y:-22.34, Z:-16.29 [[ 9.49359136e-01 3.02779254e-01 8.39163568e-02 1.30757277e+02] [-3.01529527e-01 9.53060380e-01 -2.74928499e-02 -2.23382012e+01] [-8.83016195e-02 7.97328841e-04 9.96093464e-01 -1.62862674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.341193817 meters 0.05802798210408928 Centerline is valid? [True, True] Translation: X:130.81, Y:-22.36, Z:-16.29 [[ 9.50237825e-01 2.99818700e-01 8.45980127e-02 1.30814115e+02] [-2.98534521e-01 9.53995557e-01 -2.77419590e-02 -2.23648170e+01] [-8.90236864e-02 1.10603161e-03 9.96028895e-01 -1.62921787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.401193817 meters 0.06204654545924947 Centerline is valid? [True, True] Translation: X:130.86, Y:-22.40, Z:-16.30 [[ 9.52706730e-01 2.91291430e-01 8.65978606e-02 1.30864340e+02] [-2.89907144e-01 9.56632305e-01 -2.84337896e-02 -2.24048337e+01] [-9.11248303e-02 1.98372420e-03 9.95837502e-01 -1.63047003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.461193817 meters 0.061729701800016856 Centerline is valid? [True, True] Translation: X:130.92, Y:-22.43, Z:-16.31 [[ 9.54634131e-01 2.85464665e-01 8.47561263e-02 1.30920215e+02] [-2.84112931e-01 9.58385929e-01 -2.78613160e-02 -2.24298289e+01] [-8.91825001e-02 2.51705177e-03 9.96012121e-01 -1.63065729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.521193817 meters 0.06568786541089774 Centerline is valid? [True, True] Translation: X:130.97, Y:-22.46, Z:-16.32 [[ 9.56773342e-01 2.78896980e-01 8.24696644e-02 1.30972589e+02] [-2.77592394e-01 9.60316179e-01 -2.71163949e-02 -2.24573264e+01] [-8.67596337e-02 3.05129217e-03 9.96224601e-01 -1.63197875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.581193817 meters 0.06727803939751585 Centerline is valid? [True, True] Translation: X:131.03, Y:-22.48, Z:-16.33 [[ 9.57785055e-01 2.76199785e-01 7.97588013e-02 1.31029455e+02] [-2.74970610e-01 9.61094969e-01 -2.62226038e-02 -2.24783736e+01] [-8.38984602e-02 3.18429184e-03 9.96469221e-01 -1.63301076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64119381700002 meters 0.06873692195656195 Centerline is valid? [True, True] Translation: X:131.09, Y:-22.50, Z:-16.34 [[ 9.58970197e-01 2.72357282e-01 7.87252950e-02 1.31086501e+02] [-2.71146608e-01 9.62189905e-01 -2.58863513e-02 -2.24999046e+01] [-8.27990204e-02 3.47814268e-03 9.96560196e-01 -1.63369586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70119381700002 meters 0.07200332395413651 Centerline is valid? [True, True] Translation: X:131.14, Y:-22.52, Z:-16.34 [[ 9.58822494e-01 2.71837882e-01 8.22410583e-02 1.31144832e+02] [-2.70514143e-01 9.62336003e-01 -2.70465333e-02 -2.25160509e+01] [-8.64958037e-02 3.68545506e-03 9.96245398e-01 -1.63445117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76119381700002 meters 0.06796429333364143 Centerline is valid? [True, True] Translation: X:131.21, Y:-22.52, Z:-16.35 [[ 9.58009194e-01 2.74141065e-01 8.40539182e-02 1.31207586e+02] [-2.72766647e-01 9.61682906e-01 -2.76467815e-02 -2.25212905e+01] [-8.84123344e-02 3.55876542e-03 9.96077605e-01 -1.63467524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.821193817 meters 0.06777557710239418 Centerline is valid? [True, True] Translation: X:131.27, Y:-22.53, Z:-16.36 [[ 9.56822904e-01 2.77975985e-01 8.49663615e-02 1.31267998e+02] [-2.76586427e-01 9.60582557e-01 -2.79481767e-02 -2.25274439e+01] [-8.93861267e-02 3.24091324e-03 9.95991775e-01 -1.63568387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.881193817 meters 0.06563630817043312 Centerline is valid? [True, True] Translation: X:131.33, Y:-22.54, Z:-16.36 [[ 9.56248826e-01 2.79600330e-01 8.60920367e-02 1.31330589e+02] [-2.78179573e-01 9.60111356e-01 -2.83250587e-02 -2.25368389e+01] [-9.05776379e-02 3.13675804e-03 9.95884457e-01 -1.63611904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.941193817 meters 0.06528058070617077 Centerline is valid? [True, True] Translation: X:131.39, Y:-22.54, Z:-16.37 [[ 9.56113943e-01 2.80407551e-01 8.49572476e-02 1.31392766e+02] [-2.79024926e-01 9.59876208e-01 -2.79777713e-02 -2.25449629e+01] [-8.93936190e-02 3.04474751e-03 9.95991722e-01 -1.63695130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.001193817 meters 0.061853781939694714 Centerline is valid? [True, True] Translation: X:131.46, Y:-22.55, Z:-16.37 [[ 9.54775804e-01 2.84256797e-01 8.71850785e-02 1.31456343e+02] [-2.82813154e-01 9.58744119e-01 -2.87477684e-02 -2.25465606e+01] [-9.17599299e-02 2.79058660e-03 9.95777248e-01 -1.63713158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.061193817 meters 0.06002052814233573 Centerline is valid? [True, True] Translation: X:131.52, Y:-22.55, Z:-16.38 [[ 9.53257234e-01 2.88857954e-01 8.86663843e-02 1.31518178e+02] [-2.87384385e-01 9.57368984e-01 -2.92377114e-02 -2.25538395e+01] [-9.33319918e-02 2.38972554e-03 9.95632175e-01 -1.63765062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.121193817 meters 0.057888436712074665 Centerline is valid? [True, True] Translation: X:131.58, Y:-22.55, Z:-16.39 [[ 9.50453990e-01 2.98403680e-01 8.71347068e-02 1.31581669e+02] [-2.97020209e-01 9.54438679e-01 -2.87367966e-02 -2.25545386e+01] [-9.17399003e-02 1.43223417e-03 9.95781974e-01 -1.63873938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.181193817 meters 0.05702052161055408 Centerline is valid? [True, True] Translation: X:131.64, Y:-22.57, Z:-16.40 [[ 9.48548799e-01 3.04297328e-01 8.75117814e-02 1.31643167e+02] [-3.02926592e-01 9.52576706e-01 -2.88634504e-02 -2.25659489e+01] [-9.21447553e-02 8.68745555e-04 9.95745243e-01 -1.63970859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.241193817 meters 0.05652495771535167 Centerline is valid? [True, True] Translation: X:131.70, Y:-22.57, Z:-16.41 [[ 9.46569545e-01 3.10513909e-01 8.71045836e-02 1.31704757e+02] [-3.09181075e-01 9.50568797e-01 -2.87406584e-02 -2.25746879e+01] [-9.17232734e-02 2.73943131e-04 9.95784498e-01 -1.64058273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.301193817 meters 0.05692416342436844 Centerline is valid? [True, True] Translation: X:131.76, Y:-22.59, Z:-16.42 [[ 9.46423477e-01 3.11391414e-01 8.55452456e-02 1.31763216e+02] [-3.10108957e-01 9.50281722e-01 -2.82326818e-02 -2.25917420e+01] [-9.00834980e-02 1.91725985e-04 9.95934198e-01 -1.64169723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36119381700001 meters 0.057719681334375814 Centerline is valid? [True, True] Translation: X:131.82, Y:-22.62, Z:-16.43 [[ 9.48137545e-01 3.06281815e-01 8.50096787e-02 1.31817185e+02] [-3.04995187e-01 9.51940650e-01 -2.80523628e-02 -2.26223583e+01] [-8.95160974e-02 6.69955591e-04 9.95985150e-01 -1.64255238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42119381700002 meters 0.05836344432620837 Centerline is valid? [True, True] Translation: X:131.87, Y:-22.65, Z:-16.43 [[ 9.49266888e-01 3.02571639e-01 8.56900141e-02 1.31873625e+02] [-3.01246918e-01 9.53126065e-01 -2.83019136e-02 -2.26483409e+01] [-9.02367423e-02 1.05221681e-03 9.95919788e-01 -1.64320689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48119381700002 meters 0.06102765996506975 Centerline is valid? [True, True] Translation: X:131.93, Y:-22.68, Z:-16.43 [[ 9.53581335e-01 2.87589897e-01 8.93011181e-02 1.31926966e+02] [-2.86081704e-01 9.57750087e-01 -2.95301494e-02 -2.26846841e+01] [-9.40207263e-02 2.61198322e-03 9.95566814e-01 -1.64310982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.541193817 meters 0.06374493596182215 Centerline is valid? [True, True] Translation: X:131.98, Y:-22.71, Z:-16.44 [[ 9.55418939e-01 2.80998819e-01 9.06328537e-02 1.31981772e+02] [-2.79415091e-01 9.59702389e-01 -2.99755300e-02 -2.27109596e+01] [-9.54036547e-02 3.31500204e-03 9.95433149e-01 -1.64375695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.601193817 meters 0.06501525989453162 Centerline is valid? [True, True] Translation: X:132.04, Y:-22.73, Z:-16.45 [[ 9.55892838e-01 2.79773516e-01 8.94184638e-02 1.32038007e+02] [-2.78227187e-01 9.60060058e-01 -2.95688653e-02 -2.27330105e+01] [-9.41196809e-02 3.38601887e-03 9.95555132e-01 -1.64469015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.661193817 meters 0.06318243781745553 Centerline is valid? [True, True] Translation: X:132.10, Y:-22.74, Z:-16.46 [[ 9.54885695e-01 2.84144862e-01 8.63423785e-02 1.32099323e+02] [-2.82718964e-01 9.58777048e-01 -2.85755063e-02 -2.27434992e+01] [-9.09026741e-02 2.87571439e-03 9.95855629e-01 -1.64566933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.721193817 meters 0.06032576119592151 Centerline is valid? [True, True] Translation: X:132.16, Y:-22.74, Z:-16.47 [[ 9.52306811e-01 2.93484287e-01 8.35386761e-02 1.32163394e+02] [-2.92182402e-01 9.55961902e-01 -2.76818618e-02 -2.27445992e+01] [-8.79839832e-02 1.95309457e-03 9.96119975e-01 -1.64670208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.781193817 meters 0.05929196706481847 Centerline is valid? [True, True] Translation: X:132.22, Y:-22.76, Z:-16.48 [[ 9.50735038e-01 2.98312163e-01 8.43370669e-02 1.32222288e+02] [-2.97003466e-01 9.54467138e-01 -2.79539587e-02 -2.27562658e+01] [-8.88359647e-02 1.52840680e-03 9.96045097e-01 -1.64751956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.841193817 meters 0.0583451545085581 Centerline is valid? [True, True] Translation: X:132.28, Y:-22.77, Z:-16.48 [[ 9.49318867e-01 3.03059705e-01 8.33576900e-02 1.32283646e+02] [-3.01800220e-01 9.52970977e-01 -2.76214531e-02 -2.27683080e+01] [-8.78084087e-02 1.06419742e-03 9.96136813e-01 -1.64817330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.901193817 meters 0.0584819257408054 Centerline is valid? [True, True] Translation: X:132.34, Y:-22.78, Z:-16.49 [[ 9.48409330e-01 3.05727252e-01 8.39677862e-02 1.32341912e+02] [-3.04456736e-01 9.52118751e-01 -2.78563998e-02 -2.27831026e+01] [-8.84637643e-02 8.54711313e-04 9.96079029e-01 -1.64938576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.961193817 meters 0.05864461333794601 Centerline is valid? [True, True] Translation: X:132.40, Y:-22.80, Z:-16.50 [[ 9.47730733e-01 3.07959614e-01 8.34705592e-02 1.32398043e+02] [-3.06710808e-01 9.51399199e-01 -2.77136140e-02 -2.28008332e+01] [-8.79484970e-02 6.63721076e-04 9.96124802e-01 -1.65046289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.021193817 meters 0.058948542936156666 Centerline is valid? [True, True] Translation: X:132.45, Y:-22.82, Z:-16.51 [[ 9.47371285e-01 3.09547063e-01 8.16594446e-02 1.32453593e+02] [-3.08357939e-01 9.50883990e-01 -2.71112488e-02 -2.28200642e+01] [-8.60408659e-02 5.04080563e-04 9.96291481e-01 -1.65139090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.081193817 meters 0.05859038995624841 Centerline is valid? [True, True] Translation: X:132.51, Y:-22.84, Z:-16.52 [[ 9.47636055e-01 3.08958346e-01 8.08124229e-02 1.32512040e+02] [-3.07793072e-01 9.51075419e-01 -2.68136495e-02 -2.28417326e+01] [-8.51430098e-02 5.36077210e-04 9.96368597e-01 -1.65172874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14119381700002 meters 0.0595752390934205 Centerline is valid? [True, True] Translation: X:132.57, Y:-22.87, Z:-16.53 [[ 9.49419538e-01 3.03624416e-01 8.00921682e-02 1.32567421e+02] [-3.02458569e-01 9.52791241e-01 -2.66019618e-02 -2.28687502e+01] [-8.43881215e-02 1.03185964e-03 9.96432426e-01 -1.65258804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20119381700002 meters 0.0627588340025423 Centerline is valid? [True, True] Translation: X:132.62, Y:-22.91, Z:-16.53 [[ 9.53447892e-01 2.90321400e-01 8.15512226e-02 1.32618478e+02] [-2.89060881e-01 9.56926467e-01 -2.71209200e-02 -2.29088979e+01] [-8.59123068e-02 2.28511577e-03 9.96300082e-01 -1.65304199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26119381700002 meters 0.06644053129254632 Centerline is valid? [True, True] Translation: X:132.67, Y:-22.94, Z:-16.54 [[ 9.56043665e-01 2.81402834e-01 8.24193899e-02 1.32670167e+02] [-2.80081604e-01 9.59584634e-01 -2.74157813e-02 -2.29430597e+01] [-8.68032587e-02 3.12652910e-03 9.96220567e-01 -1.65371075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.321193817 meters 0.0714472477566483 Centerline is valid? [True, True] Translation: X:132.72, Y:-22.97, Z:-16.54 [[ 9.58734483e-01 2.72058904e-01 8.25357122e-02 1.32723010e+02] [-2.70699494e-01 9.62272380e-01 -2.74527122e-02 -2.29742299e+01] [-8.68905909e-02 3.97748630e-03 9.96209920e-01 -1.65431434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.381193817 meters 0.07417495598605474 Centerline is valid? [True, True] Translation: X:132.78, Y:-23.00, Z:-16.55 [[ 9.59804416e-01 2.68091322e-01 8.30814420e-02 1.32778161e+02] [-2.66698548e-01 9.63383588e-01 -2.76395681e-02 -2.29992496e+01] [-8.74492260e-02 4.37087956e-03 9.96159389e-01 -1.65503593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.441193817 meters 0.07254659537115067 Centerline is valid? [True, True] Translation: X:132.84, Y:-23.02, Z:-16.55 [[ 9.60003379e-01 2.67303136e-01 8.33219439e-02 1.32837863e+02] [-2.65899992e-01 9.63602225e-01 -2.77118562e-02 -2.30162644e+01] [-8.76966765e-02 4.44817135e-03 9.96137293e-01 -1.65543108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.501193817 meters 0.07041052636113711 Centerline is valid? [True, True] Translation: X:132.90, Y:-23.03, Z:-16.56 [[ 9.59164983e-01 2.70099290e-01 8.39577846e-02 1.32899410e+02] [-2.68682112e-01 9.62823054e-01 -2.79586951e-02 -2.30265146e+01] [-8.83881143e-02 4.25904647e-03 9.96077006e-01 -1.65605690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.561193817 meters 0.06901315433402115 Centerline is valid? [True, True] Translation: X:132.96, Y:-23.03, Z:-16.57 [[ 9.58190891e-01 2.74211565e-01 8.17204645e-02 1.32960808e+02] [-2.72883411e-01 9.61661955e-01 -2.72199920e-02 -2.30335023e+01] [-8.60514983e-02 3.78178922e-03 9.96283513e-01 -1.65715200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.621193817 meters 0.06992629473361314 Centerline is valid? [True, True] Translation: X:133.02, Y:-23.05, Z:-16.58 [[ 9.57581598e-01 2.75895656e-01 8.31809502e-02 1.33019638e+02] [-2.74525394e-01 9.61180468e-01 -2.77112788e-02 -2.30455562e+01] [-8.75973261e-02 3.70052751e-03 9.96149093e-01 -1.65793652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.681193817 meters 0.06929495353317672 Centerline is valid? [True, True] Translation: X:133.08, Y:-23.06, Z:-16.58 [[ 9.57581899e-01 2.75426745e-01 8.47172676e-02 1.33081028e+02] [-2.74004066e-01 9.61314527e-01 -2.82161837e-02 -2.30567200e+01] [-8.92114316e-02 3.80643099e-03 9.96005438e-01 -1.65842403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.741193817 meters 0.07049459640034801 Centerline is valid? [True, True] Translation: X:133.14, Y:-23.07, Z:-16.59 [[ 9.58978761e-01 2.70356929e-01 8.52459196e-02 1.33141749e+02] [-2.68893147e-01 9.62750379e-01 -2.84285596e-02 -2.30675662e+01] [-8.97563995e-02 4.34034122e-03 9.95954291e-01 -1.65891796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.801193817 meters 0.07163027596920853 Centerline is valid? [True, True] Translation: X:133.20, Y:-23.09, Z:-16.59 [[ 9.59783219e-01 2.66426529e-01 8.85046713e-02 1.33200473e+02] [-2.64832244e-01 9.63842855e-01 -2.95098778e-02 -2.30867822e+01] [-9.31668093e-02 4.88419481e-03 9.95638534e-01 -1.65928260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86119381700001 meters 0.07342955851823371 Centerline is valid? [True, True] Translation: X:133.26, Y:-23.10, Z:-16.60 [[ 9.60343365e-01 2.63950268e-01 8.98380566e-02 1.33261303e+02] [-2.62293935e-01 9.64522110e-01 -2.99831637e-02 -2.30958168e+01] [-9.45648561e-02 5.23015495e-03 9.95504964e-01 -1.66003297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92119381700002 meters 0.07437227870118537 Centerline is valid? [True, True] Translation: X:133.32, Y:-23.11, Z:-16.61 [[ 9.60339132e-01 2.64421834e-01 8.84864105e-02 1.33321203e+02] [-2.62814657e-01 9.64393475e-01 -2.95581175e-02 -2.31087862e+01] [-9.31515285e-02 5.13029131e-03 9.95638726e-01 -1.66110407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98119381700002 meters 0.07663891489400859 Centerline is valid? [True, True] Translation: X:133.38, Y:-23.12, Z:-16.62 [[ 9.61948402e-01 2.58867677e-01 8.74230929e-02 1.33380976e+02] [-2.57272801e-01 9.65896357e-01 -2.92392511e-02 -2.31196606e+01] [-9.20107440e-02 5.63506689e-03 9.95742070e-01 -1.66200248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.041193817 meters 0.08118450132295384 Centerline is valid? [True, True] Translation: X:133.44, Y:-23.14, Z:-16.63 [[ 9.63999488e-01 2.52093351e-01 8.45809084e-02 1.33438695e+02] [-2.50574819e-01 9.67683844e-01 -2.82884807e-02 -2.31356839e+01] [-8.89789164e-02 6.07623507e-03 9.96014976e-01 -1.66313538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.101193817 meters 0.08466386876803508 Centerline is valid? [True, True] Translation: X:133.50, Y:-23.14, Z:-16.64 [[ 9.66013904e-01 2.45010874e-01 8.23820925e-02 1.33500530e+02] [-2.43544683e-01 9.69498172e-01 -2.75550675e-02 -2.31406127e+01] [-8.66205793e-02 6.55485772e-03 9.96219810e-01 -1.66403820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.161193817 meters 0.09028829470386301 Centerline is valid? [True, True] Translation: X:133.56, Y:-23.15, Z:-16.65 [[ 9.67723577e-01 2.37420447e-01 8.45139579e-02 1.33561422e+02] [-2.35848465e-01 9.71378624e-01 -2.82678424e-02 -2.31500931e+01] [-8.88064159e-02 7.42297041e-03 9.96021245e-01 -1.66467291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.221193817 meters 0.09347524799540888 Centerline is valid? [True, True] Translation: X:133.62, Y:-23.16, Z:-16.66 [[ 9.68573044e-01 2.33867554e-01 8.46889897e-02 1.33620823e+02] [-2.32275345e-01 9.72237437e-01 -2.83289778e-02 -2.31606307e+01] [-8.89630350e-02 7.76751995e-03 9.96004641e-01 -1.66551866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.281193817 meters 0.09500786390658938 Centerline is valid? [True, True] Translation: X:133.68, Y:-23.17, Z:-16.66 [[ 9.68849650e-01 2.32784419e-01 8.45089981e-02 1.33680679e+02] [-2.31195610e-01 9.72496740e-01 -2.82609317e-02 -2.31747717e+01] [-8.87634297e-02 7.84248446e-03 9.96021862e-01 -1.66634866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.341193817 meters 0.09240053075316958 Centerline is valid? [True, True] Translation: X:133.75, Y:-23.17, Z:-16.67 [[ 9.68713158e-01 2.33812216e-01 8.32265857e-02 1.33747767e+02] [-2.32273206e-01 9.72251667e-01 -2.78541591e-02 -2.31682084e+01] [-8.74298294e-02 7.65138453e-03 9.96141296e-01 -1.66725334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.401193817 meters 0.09053268308909034 Centerline is valid? [True, True] Translation: X:133.81, Y:-23.17, Z:-16.68 [[ 9.67693882e-01 2.37679281e-01 8.41255597e-02 1.33811007e+02] [-2.36117997e-01 9.71315371e-01 -2.81911720e-02 -2.31693511e+01] [-8.84129067e-02 7.41686602e-03 9.96056298e-01 -1.66802651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.461193817 meters 0.08516597373295537 Centerline is valid? [True, True] Translation: X:133.88, Y:-23.16, Z:-16.69 [[ 9.66182071e-01 2.44221303e-01 8.27536158e-02 1.33879320e+02] [-2.42734452e-01 9.69696337e-01 -2.77308419e-02 -2.31554611e+01] [-8.70183405e-02 6.70588866e-03 9.96184139e-01 -1.66868315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.521193817 meters 0.08374361192989663 Centerline is valid? [True, True] Translation: X:133.94, Y:-23.16, Z:-16.69 [[ 9.65011939e-01 2.48341430e-01 8.41337675e-02 1.33941437e+02] [-2.46819942e-01 9.68651148e-01 -2.81934446e-02 -2.31586279e+01] [-8.84978708e-02 6.44111903e-03 9.96055540e-01 -1.66933260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.581193817 meters 0.08201124526371371 Centerline is valid? [True, True] Translation: X:134.01, Y:-23.15, Z:-16.70 [[ 9.64417409e-01 2.50530865e-01 8.44591426e-02 1.34005085e+02] [-2.49005828e-01 9.68088340e-01 -2.83030853e-02 -2.31542806e+01] [-8.88547076e-02 6.26516949e-03 9.96024894e-01 -1.67005325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64119381700002 meters 0.08554281130032092 Centerline is valid? [True, True] Translation: X:134.06, Y:-23.16, Z:-16.71 [[ 9.65032933e-01 2.46987773e-01 8.77979377e-02 1.34064379e+02] [-2.45325116e-01 9.68994374e-01 -2.94192144e-02 -2.31614424e+01] [-9.23418939e-02 6.85147148e-03 9.95703787e-01 -1.67066246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70119381700002 meters 0.0878364550319942 Centerline is valid? [True, True] Translation: X:134.12, Y:-23.17, Z:-16.71 [[ 9.65575324e-01 2.44563303e-01 8.86176313e-02 1.34122656e+02] [-2.42860093e-01 9.69607032e-01 -2.96846685e-02 -2.31730398e+01] [-9.31840590e-02 7.14109722e-03 9.95623290e-01 -1.67135207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76119381700002 meters 0.08373650714354319 Centerline is valid? [True, True] Translation: X:134.19, Y:-23.17, Z:-16.72 [[ 9.66462247e-01 2.41460558e-01 8.74501202e-02 1.34185731e+02] [-2.39790076e-01 9.70382912e-01 -2.92869063e-02 -2.31728507e+01] [-9.19317350e-02 7.33501831e-03 9.95738296e-01 -1.67199401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.821193817 meters 0.09291768221975644 Centerline is valid? [True, True] Translation: X:134.24, Y:-23.20, Z:-16.73 [[ 9.66710030e-01 2.40364352e-01 8.77308156e-02 1.34237440e+02] [-2.38678534e-01 9.70654039e-01 -2.93818735e-02 -2.31982544e+01] [-9.22186255e-02 7.46428933e-03 9.95710806e-01 -1.67318523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.881193817 meters 0.08566239262421449 Centerline is valid? [True, True] Translation: X:134.30, Y:-23.20, Z:-16.74 [[ 9.66328641e-01 2.41870958e-01 8.77917802e-02 1.34301076e+02] [-2.40190016e-01 9.70280856e-01 -2.93907687e-02 -2.31951577e+01] [-9.22914570e-02 7.31443253e-03 9.95705170e-01 -1.67368079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.941193817 meters 0.0830903247817783 Centerline is valid? [True, True] Translation: X:134.36, Y:-23.20, Z:-16.74 [[ 9.65772722e-01 2.43843468e-01 8.84500561e-02 1.34361488e+02] [-2.42145708e-01 9.69788053e-01 -2.96072450e-02 -2.32018150e+01] [-9.29973409e-02 7.17606816e-03 9.95640497e-01 -1.67419635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.001193817 meters 0.08125068180502641 Centerline is valid? [True, True] Translation: X:134.42, Y:-23.21, Z:-16.75 [[ 9.63904790e-01 2.51883366e-01 8.62689212e-02 1.34421508e+02] [-2.50300809e-01 9.67737497e-01 -2.88728442e-02 -2.32066745e+01] [-9.07582591e-02 6.23749202e-03 9.95853419e-01 -1.67528294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.061193817 meters 0.07498087108807519 Centerline is valid? [True, True] Translation: X:134.48, Y:-23.21, Z:-16.76 [[ 9.61652973e-01 2.61080167e-01 8.40280051e-02 1.34482807e+02] [-2.59613912e-01 9.65302965e-01 -2.81212009e-02 -2.32094288e+01] [-8.84543704e-02 5.22799734e-03 9.96066510e-01 -1.67618764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.121193817 meters 0.06838229464348497 Centerline is valid? [True, True] Translation: X:134.55, Y:-23.21, Z:-16.77 [[ 9.57122730e-01 2.77276007e-01 8.38695122e-02 1.34546817e+02] [-2.75877155e-01 9.60783091e-01 -2.80650625e-02 -2.32062361e+01] [-8.83621777e-02 3.72402679e-03 9.96081451e-01 -1.67683558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.181193817 meters 0.06526654598771944 Centerline is valid? [True, True] Translation: X:134.61, Y:-23.21, Z:-16.77 [[ 9.54281096e-01 2.86060819e-01 8.66994687e-02 1.34607970e+02] [-2.84601968e-01 9.58206740e-01 -2.90097202e-02 -2.32118909e+01] [-9.13745595e-02 3.00858818e-03 9.95812050e-01 -1.67705145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.241193817 meters 0.06537155995145043 Centerline is valid? [True, True] Translation: X:134.66, Y:-23.23, Z:-16.77 [[ 9.54754267e-01 2.83401924e-01 9.01534180e-02 1.34662275e+02] [-2.81812045e-01 9.58995206e-01 -3.01689572e-02 -2.32335100e+01] [-9.50066362e-02 3.39762152e-03 9.95470841e-01 -1.67743099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.301193817 meters 0.06795787848205101 Centerline is valid? [True, True] Translation: X:134.72, Y:-23.26, Z:-16.78 [[ 9.56390468e-01 2.76885021e-01 9.30158963e-02 1.34715806e+02] [-2.75165182e-01 9.60894142e-01 -3.10897145e-02 -2.32623395e+01] [-9.79867061e-02 4.13917063e-03 9.95179116e-01 -1.67800701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36119381700001 meters 0.06751555309223828 Centerline is valid? [True, True] Translation: X:134.77, Y:-23.28, Z:-16.79 [[ 9.56619737e-01 2.76918238e-01 9.05260682e-02 1.34770643e+02] [-2.75289138e-01 9.60885038e-01 -3.02627541e-02 -2.32812698e+01] [-9.53654530e-02 4.02910452e-03 9.95434175e-01 -1.67887834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42119381700002 meters 0.06401041221969522 Centerline is valid? [True, True] Translation: X:134.83, Y:-23.29, Z:-16.80 [[ 9.53894502e-01 2.86402500e-01 8.97712993e-02 1.34829515e+02] [-2.84845609e-01 9.58104626e-01 -2.99750604e-02 -2.32939689e+01] [-9.45952294e-02 3.02208490e-03 9.95511230e-01 -1.67956166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48119381700002 meters 0.06095979013406397 Centerline is valid? [True, True] Translation: X:134.89, Y:-23.30, Z:-16.80 [[ 9.49522965e-01 3.00316545e-01 9.06427689e-02 1.34889698e+02] [-2.98792305e-01 9.53838162e-01 -3.02641467e-02 -2.33023434e+01] [-9.55473561e-02 1.65314041e-03 9.95423513e-01 -1.68009035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.541193817 meters 0.060133426379665025 Centerline is valid? [True, True] Translation: X:134.95, Y:-23.31, Z:-16.81 [[ 9.43047895e-01 3.20845509e-01 8.78568514e-02 1.34947533e+02] [-3.19502041e-01 9.47131455e-01 -2.93334680e-02 -2.33084714e+01] [-9.26234989e-02 -4.07578088e-04 9.95701120e-01 -1.68135516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.601193817 meters 0.06105658761391054 Centerline is valid? [True, True] Translation: X:135.00, Y:-23.33, Z:-16.82 [[ 9.40374077e-01 3.28901485e-01 8.67202843e-02 1.35002195e+02] [-3.27627650e-01 9.44363483e-01 -2.89436641e-02 -2.33289052e+01] [-9.14150838e-02 -1.19409152e-03 9.95812159e-01 -1.68231766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.661193817 meters 0.06202539463586785 Centerline is valid? [True, True] Translation: X:135.05, Y:-23.36, Z:-16.83 [[ 9.38655491e-01 3.33344675e-01 8.83583418e-02 1.35051402e+02] [-3.32042349e-01 9.42803564e-01 -2.94841848e-02 -2.33630722e+01] [-9.31329556e-02 -1.66321944e-03 9.95652292e-01 -1.68323461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.721193817 meters 0.06148373426310248 Centerline is valid? [True, True] Translation: X:135.10, Y:-23.41, Z:-16.84 [[ 9.39895301e-01 3.30325141e-01 8.64992789e-02 1.35097030e+02] [-3.29065274e-01 9.43866248e-01 -2.88539530e-02 -2.34091017e+01] [-9.11749360e-02 -1.34421409e-03 9.95833984e-01 -1.68406331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.781193817 meters 0.06111748330633085 Centerline is valid? [True, True] Translation: X:135.14, Y:-23.45, Z:-16.85 [[ 9.41657403e-01 3.25464282e-01 8.57574334e-02 1.35143174e+02] [-3.24208648e-01 9.45553912e-01 -2.85753823e-02 -2.34511914e+01] [-9.03885429e-02 -8.95081269e-04 9.95906175e-01 -1.68504666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.841193817 meters 0.06071894235202873 Centerline is valid? [True, True] Translation: X:135.18, Y:-23.51, Z:-16.86 [[ 9.45627575e-01 3.14451498e-01 8.31188599e-02 1.35183974e+02] [-3.13230202e-01 9.49273529e-01 -2.76876665e-02 -2.35119066e+01] [-8.76089617e-02 1.46883630e-04 9.96154932e-01 -1.68592950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.901193817 meters 0.06111913804280213 Centerline is valid? [True, True] Translation: X:135.23, Y:-23.56, Z:-16.86 [[ 9.48297886e-01 3.06138223e-01 8.37287769e-02 1.35230504e+02] [-3.04868764e-01 9.51986650e-01 -2.78649358e-02 -2.35571684e+01] [-8.82391998e-02 8.97971012e-04 9.96098909e-01 -1.68644346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.961193817 meters 0.062466869637824614 Centerline is valid? [True, True] Translation: X:135.27, Y:-23.61, Z:-16.87 [[ 9.51395019e-01 2.95790865e-01 8.57629401e-02 1.35274958e+02] [-2.94419787e-01 9.55250888e-01 -2.85084380e-02 -2.36092391e+01] [-9.03576602e-02 1.87247937e-03 9.95907620e-01 -1.68669538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.021193817 meters 0.06473491736559951 Centerline is valid? [True, True] Translation: X:135.32, Y:-23.66, Z:-16.87 [[ 9.52851994e-01 2.90103503e-01 8.89552468e-02 1.35318922e+02] [-2.88604455e-01 9.56992030e-01 -2.95587940e-02 -2.36584127e+01] [-9.37045719e-02 2.49227529e-03 9.95596927e-01 -1.68743169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.081193817 meters 0.0644496917476231 Centerline is valid? [True, True] Translation: X:135.37, Y:-23.69, Z:-16.88 [[ 9.52723371e-01 2.89823510e-01 9.12168423e-02 1.35371454e+02] [-2.88246879e-01 9.57076648e-01 -3.02989527e-02 -2.36866746e+01] [-9.60828584e-02 2.57355016e-03 9.95370012e-01 -1.68799181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14119381700002 meters 0.0645387481627469 Centerline is valid? [True, True] Translation: X:135.42, Y:-23.71, Z:-16.89 [[ 9.52754692e-01 2.89711690e-01 9.12449075e-02 1.35422912e+02] [-2.88134241e-01 9.57110488e-01 -3.03013787e-02 -2.37136648e+01] [-9.61101215e-02 2.57899849e-03 9.95367366e-01 -1.68864058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20119381700002 meters 0.06455439506393258 Centerline is valid? [True, True] Translation: X:135.48, Y:-23.74, Z:-16.89 [[ 9.53263802e-01 2.87886650e-01 9.17027886e-02 1.35475987e+02] [-2.86286115e-01 9.57660500e-01 -3.04405416e-02 -2.37400888e+01] [-9.65835639e-02 2.76463130e-03 9.95321040e-01 -1.68914968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26119381700002 meters 0.06574566226195 Centerline is valid? [True, True] Translation: X:135.53, Y:-23.77, Z:-16.90 [[ 9.53772748e-01 2.86310000e-01 9.13462056e-02 1.35527382e+02] [-2.84715445e-01 9.58132633e-01 -3.03145762e-02 -2.37680882e+01] [-9.62011468e-02 2.90554102e-03 9.95357673e-01 -1.68996133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.321193817 meters 0.06730468711659957 Centerline is valid? [True, True] Translation: X:135.58, Y:-23.80, Z:-16.91 [[ 9.54770845e-01 2.83807565e-01 8.86899127e-02 1.35579737e+02] [-2.82294908e-01 9.58876393e-01 -2.94219029e-02 -2.37967266e+01] [-9.33928222e-02 3.05446434e-03 9.95624654e-01 -1.69113368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.381193817 meters 0.06538532221348806 Centerline is valid? [True, True] Translation: X:135.64, Y:-23.81, Z:-16.92 [[ 9.55103011e-01 2.83635211e-01 8.56113689e-02 1.35637681e+02] [-2.82225606e-01 9.58927683e-01 -2.83972801e-02 -2.38111890e+01] [-9.01495802e-02 2.96060727e-03 9.95923836e-01 -1.69170265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.441193817 meters 0.06481379751284957 Centerline is valid? [True, True] Translation: X:135.69, Y:-23.83, Z:-16.92 [[ 9.54485746e-01 2.85571811e-01 8.60563833e-02 1.35693943e+02] [-2.84155631e-01 9.58353255e-01 -2.85414672e-02 -2.38281764e+01] [-9.06230535e-02 2.78901776e-03 9.95881360e-01 -1.69247024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.501193817 meters 0.06457755704243191 Centerline is valid? [True, True] Translation: X:135.75, Y:-23.84, Z:-16.94 [[ 9.54025528e-01 2.87929202e-01 8.32590318e-02 1.35748880e+02] [-2.86613113e-01 9.57648494e-01 -2.76095001e-02 -2.38439270e+01] [-8.76824678e-02 2.47703764e-03 9.96145396e-01 -1.69362522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.561193817 meters 0.0651452104576218 Centerline is valid? [True, True] Translation: X:135.81, Y:-23.86, Z:-16.95 [[ 9.54354925e-01 2.88451936e-01 7.74735943e-02 1.35805294e+02] [-2.87315405e-01 9.57491738e-01 -2.56793742e-02 -2.38608224e+01] [-8.15875916e-02 2.24788009e-03 9.96663640e-01 -1.69498933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.621193817 meters 0.06343202835054278 Centerline is valid? [True, True] Translation: X:135.86, Y:-23.87, Z:-16.95 [[ 9.52587063e-01 2.93517644e-01 8.01578457e-02 1.35863355e+02] [-2.92318787e-01 9.55951814e-01 -2.65679405e-02 -2.38732967e+01] [-8.44251973e-02 1.87663220e-03 9.96428053e-01 -1.69548135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.681193817 meters 0.062132922959810086 Centerline is valid? [True, True] Translation: X:135.92, Y:-23.89, Z:-16.96 [[ 9.51756811e-01 2.94842502e-01 8.50110077e-02 1.35921018e+02] [-2.93499446e-01 9.55544051e-01 -2.81716637e-02 -2.38900806e+01] [-8.95379664e-02 1.86188920e-03 9.95981669e-01 -1.69570213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.741193817 meters 0.060870343568241066 Centerline is valid? [True, True] Translation: X:135.98, Y:-23.91, Z:-16.96 [[ 9.50682646e-01 2.97337329e-01 8.82780733e-02 1.35979205e+02] [-2.95899717e-01 9.54771000e-01 -2.92522591e-02 -2.39059078e+01] [-9.29831330e-02 1.68815815e-03 9.95666253e-01 -1.69594894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.801193817 meters 0.06049179913907181 Centerline is valid? [True, True] Translation: X:136.03, Y:-23.92, Z:-16.97 [[ 9.50505877e-01 2.98566695e-01 8.60029426e-02 1.36034871e+02] [-2.97207399e-01 9.54387550e-01 -2.84985349e-02 -2.39238343e+01] [-9.05888511e-02 1.52731406e-03 9.95887206e-01 -1.69671946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86119381700001 meters 0.060799355654863954 Centerline is valid? [True, True] Translation: X:136.09, Y:-23.95, Z:-16.98 [[ 9.51214837e-01 2.96805885e-01 8.42413172e-02 1.36089008e+02] [-2.95495609e-01 9.54936404e-01 -2.79071743e-02 -2.39464704e+01] [-8.87281141e-02 1.65277893e-03 9.96054512e-01 -1.69755826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92119381700002 meters 0.06195772071618075 Centerline is valid? [True, True] Translation: X:136.14, Y:-23.97, Z:-16.98 [[ 9.53425290e-01 2.90415412e-01 8.14807071e-02 1.36142541e+02] [-2.89167299e-01 9.56898220e-01 -2.69827594e-02 -2.39732344e+01] [-8.58049527e-02 2.16448916e-03 9.96309603e-01 -1.69837996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98119381700002 meters 0.06759955966703284 Centerline is valid? [True, True] Translation: X:136.19, Y:-24.01, Z:-17.00 [[ 9.57730314e-01 2.76495154e-01 7.93919083e-02 1.36191132e+02] [-2.75262775e-01 9.61009569e-01 -2.62871217e-02 -2.40109282e+01] [-8.35646453e-02 3.32233630e-03 9.96496820e-01 -1.69957140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.041193817 meters 0.07758115540874254 Centerline is valid? [True, True] Translation: X:136.24, Y:-24.05, Z:-17.01 [[ 9.59881899e-01 2.68299882e-01 8.14979305e-02 1.36239908e+02] [-2.66971239e-01 9.63326510e-01 -2.69887626e-02 -2.40508113e+01] [-8.57501988e-02 4.14842114e-03 9.96308032e-01 -1.70090681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.101193817 meters 0.06857652891447118 Centerline is valid? [True, True] Translation: X:136.30, Y:-24.05, Z:-17.00 [[ 9.58710003e-01 2.71632049e-01 8.42090259e-02 1.36304296e+02] [-2.70226364e-01 9.62392963e-01 -2.78836386e-02 -2.40540804e+01] [-8.86162638e-02 3.97682444e-03 9.96057901e-01 -1.70034199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.161193817 meters 0.06349490257913246 Centerline is valid? [True, True] Translation: X:136.37, Y:-24.05, Z:-17.01 [[ 9.54735016e-01 2.85037156e-01 8.50580331e-02 1.36366846e+02] [-2.83655401e-01 9.58512477e-01 -2.81681452e-02 -2.40545918e+01] [-8.95581540e-02 2.76594408e-03 9.95977754e-01 -1.70103417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.221193817 meters 0.05848287223502047 Centerline is valid? [True, True] Translation: X:136.43, Y:-24.05, Z:-17.02 [[ 9.48507358e-01 3.04307592e-01 8.79242938e-02 1.36431384e+02] [-3.02913094e-01 9.52573316e-01 -2.91158828e-02 -2.40486308e+01] [-9.26145203e-02 9.83209178e-04 9.95701554e-01 -1.70152839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.281193817 meters 0.05857434112639714 Centerline is valid? [True, True] Translation: X:136.49, Y:-24.06, Z:-17.03 [[ 9.47444383e-01 3.07970216e-01 8.66226740e-02 1.36486542e+02] [-3.06632184e-01 9.51395800e-01 -2.86833716e-02 -2.40626535e+01] [-9.12460724e-02 6.14599589e-04 9.95828186e-01 -1.70270349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.341193817 meters 0.05882684099531732 Centerline is valid? [True, True] Translation: X:136.54, Y:-24.09, Z:-17.03 [[ 9.48739827e-01 3.03294269e-01 8.89119091e-02 1.36537655e+02] [-3.01864932e-01 9.52896330e-01 -2.94303922e-02 -2.40897994e+01] [-9.36499011e-02 1.08239785e-03 9.95604602e-01 -1.70337508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.401193817 meters 0.05890014603593667 Centerline is valid? [True, True] Translation: X:136.59, Y:-24.11, Z:-17.04 [[ 9.49327151e-01 3.01704002e-01 8.80491681e-02 1.36592289e+02] [-3.00296466e-01 9.53400867e-01 -2.91345053e-02 -2.41110911e+01] [-9.27361500e-02 1.21732294e-03 9.95689974e-01 -1.70405796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.461193817 meters 0.0594456297617931 Centerline is valid? [True, True] Translation: X:136.65, Y:-24.14, Z:-17.05 [[ 9.50098027e-01 3.00487279e-01 8.37922060e-02 1.36646074e+02] [-2.99208814e-01 9.53784986e-01 -2.77179853e-02 -2.41350994e+01] [-8.82486500e-02 1.26343660e-03 9.96097676e-01 -1.70508183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.521193817 meters 0.06017726115506332 Centerline is valid? [True, True] Translation: X:136.70, Y:-24.16, Z:-17.06 [[ 9.50761166e-01 2.98743566e-01 8.24953741e-02 1.36697682e+02] [-2.97498265e-01 9.54332397e-01 -2.72847614e-02 -2.41605517e+01] [-8.68791550e-02 1.39906091e-03 9.96217875e-01 -1.70610433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.581193817 meters 0.06000966907477309 Centerline is valid? [True, True] Translation: X:136.75, Y:-24.18, Z:-17.07 [[ 9.50397291e-01 2.99688170e-01 8.32585787e-02 1.36751147e+02] [-2.98424212e-01 9.54036305e-01 -2.75266694e-02 -2.41849541e+01] [-8.76811239e-02 1.31489624e-03 9.96147726e-01 -1.70690291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64119381700002 meters 0.05889695670134862 Centerline is valid? [True, True] Translation: X:136.81, Y:-24.20, Z:-17.08 [[ 9.47500680e-01 3.08573385e-01 8.38148425e-02 1.36808195e+02] [-3.07327772e-01 9.51200414e-01 -2.77022347e-02 -2.41994662e+01] [-8.82728852e-02 4.89257457e-04 9.96096209e-01 -1.70774549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70119381700002 meters 0.05866667540225011 Centerline is valid? [True, True] Translation: X:136.86, Y:-24.22, Z:-17.09 [[ 9.46003616e-01 3.12920860e-01 8.46031590e-02 1.36863644e+02] [-3.11669436e-01 9.49779200e-01 -2.79577114e-02 -2.42169551e+01] [-8.91028718e-02 7.98772151e-05 9.96022425e-01 -1.70862374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.761193817 meters 0.058952808844743194 Centerline is valid? [True, True] Translation: X:136.92, Y:-24.24, Z:-17.10 [[ 9.44103216e-01 3.18803802e-01 8.38644909e-02 1.36916638e+02] [-3.17597888e-01 9.47820610e-01 -2.77069195e-02 -2.42387711e+01] [-8.83215641e-02 -4.76993387e-04 9.96091900e-01 -1.70954115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.821193817 meters 0.05882697850265391 Centerline is valid? [True, True] Translation: X:136.97, Y:-24.26, Z:-17.10 [[ 9.42455875e-01 3.23129091e-01 8.58167485e-02 1.36971692e+02] [-3.21885055e-01 9.46354457e-01 -2.83417210e-02 -2.42604954e+01] [-9.03710969e-02 -9.12307352e-04 9.95907743e-01 -1.70979542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.881193817 meters 0.05899882852772382 Centerline is valid? [True, True] Translation: X:137.03, Y:-24.29, Z:-17.10 [[ 9.39607234e-01 3.30293276e-01 8.96916805e-02 1.37025720e+02] [-3.28967389e-01 9.43876859e-01 -2.96130202e-02 -2.42850929e+01] [-9.44388832e-02 -1.68102996e-03 9.95529242e-01 -1.70982390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.941193817 meters 0.05951123550256075 Centerline is valid? [True, True] Translation: X:137.08, Y:-24.31, Z:-17.11 [[ 9.38946039e-01 3.32172695e-01 8.96751705e-02 1.37077637e+02] [-3.30856641e-01 9.43216717e-01 -2.95991137e-02 -2.43125845e+01] [-9.44151373e-02 -1.87765514e-03 9.95531143e-01 -1.71064765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.001193817 meters 0.0605631362707089 Centerline is valid? [True, True] Translation: X:137.13, Y:-24.35, Z:-17.12 [[ 9.39059876e-01 3.33598197e-01 8.29384893e-02 1.37127276e+02] [-3.32479119e-01 9.42713488e-01 -2.73663027e-02 -2.43491212e+01] [-8.73165818e-02 -1.87671901e-03 9.96178846e-01 -1.71209432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.061193817 meters 0.06165850338234079 Centerline is valid? [True, True] Translation: X:137.18, Y:-24.38, Z:-17.13 [[ 9.38526951e-01 3.35447041e-01 8.15011958e-02 1.37178641e+02] [-3.34373387e-01 9.42056916e-01 -2.68924816e-02 -2.43763828e+01] [-8.57997685e-02 -2.01251210e-03 9.96310368e-01 -1.71323898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.121193817 meters 0.062023663738124166 Centerline is valid? [True, True] Translation: X:137.23, Y:-24.41, Z:-17.14 [[ 9.37835842e-01 3.37324169e-01 8.17088589e-02 1.37230607e+02] [-3.36252773e-01 9.41385988e-01 -2.69535526e-02 -2.44057749e+01] [-8.60116596e-02 -2.19682265e-03 9.96291708e-01 -1.71389250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.181193817 meters 0.060804436485568734 Centerline is valid? [True, True] Translation: X:137.28, Y:-24.44, Z:-17.14 [[ 9.37675160e-01 3.37708554e-01 8.19647872e-02 1.37284401e+02] [-3.36633756e-01 9.41248016e-01 -2.70164189e-02 -2.44404710e+01] [-8.62728691e-02 -2.25948927e-03 9.96268983e-01 -1.71420850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.241193817 meters 0.06120099001926617 Centerline is valid? [True, True] Translation: X:137.34, Y:-24.48, Z:-17.15 [[ 9.36984756e-01 3.38952348e-01 8.46810025e-02 1.37337388e+02] [-3.37807404e-01 9.40800417e-01 -2.79415969e-02 -2.44758453e+01] [-8.91387924e-02 -2.42501930e-03 9.96016262e-01 -1.71485941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.301193817 meters 0.05890790769769653 Centerline is valid? [True, True] Translation: X:137.39, Y:-24.52, Z:-17.15 [[ 9.38300430e-01 3.34754129e-01 8.67869583e-02 1.37388250e+02] [-3.33530136e-01 9.42303297e-01 -2.86730823e-02 -2.45200587e+01] [-9.13780696e-02 -2.04210056e-03 9.95814179e-01 -1.71510199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36119381700001 meters 0.057940251468210524 Centerline is valid? [True, True] Translation: X:137.44, Y:-24.56, Z:-17.16 [[ 9.40446844e-01 3.28554590e-01 8.72445696e-02 1.37440683e+02] [-3.27290368e-01 9.44483883e-01 -2.88306927e-02 -2.45560732e+01] [-9.18735463e-02 -1.44057329e-03 9.95769640e-01 -1.71593809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42119381700002 meters 0.0571738600396605 Centerline is valid? [True, True] Translation: X:137.49, Y:-24.60, Z:-17.17 [[ 9.45497437e-01 3.14126059e-01 8.57870395e-02 1.37487748e+02] [-3.12844304e-01 9.49381282e-01 -2.83482563e-02 -2.46048674e+01] [-9.03495355e-02 -3.47830376e-05 9.95910117e-01 -1.71697856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48119381700002 meters 0.059263486177660106 Centerline is valid? [True, True] Translation: X:137.54, Y:-24.65, Z:-17.18 [[ 9.49881050e-01 3.01766414e-01 8.16273374e-02 1.37537646e+02] [-3.00557629e-01 9.53381235e-01 -2.70061478e-02 -2.46452757e+01] [-8.59715201e-02 1.11890897e-03 9.96296967e-01 -1.71819476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.541193817 meters 0.06334375292092288 Centerline is valid? [True, True] Translation: X:137.59, Y:-24.69, Z:-17.19 [[ 9.54717434e-01 2.86469029e-01 8.03126197e-02 1.37587264e+02] [-2.85244578e-01 9.58086344e-01 -2.65723213e-02 -2.46883734e+01] [-8.45585713e-02 2.46031912e-03 9.96415473e-01 -1.71884890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.601193817 meters 0.06625383373418374 Centerline is valid? [True, True] Translation: X:137.64, Y:-24.72, Z:-17.20 [[ 9.56744678e-01 2.79173438e-01 8.18645971e-02 1.37642252e+02] [-2.77874126e-01 9.60235464e-01 -2.70891701e-02 -2.47166775e+01] [-8.61718662e-02 3.16936596e-03 9.96275245e-01 -1.71950879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.661193817 meters 0.07111638783814885 Centerline is valid? [True, True] Translation: X:137.70, Y:-24.75, Z:-17.20 [[ 9.59177603e-01 2.70673442e-01 8.19403001e-02 1.37695237e+02] [-2.69340292e-01 9.62663152e-01 -2.71194227e-02 -2.47458883e+01] [-8.62214151e-02 3.94251854e-03 9.96268199e-01 -1.72023821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.721193817 meters 0.07397319648115569 Centerline is valid? [True, True] Translation: X:137.75, Y:-24.77, Z:-17.21 [[ 9.60489716e-01 2.66500988e-01 8.02292282e-02 1.37751907e+02] [-2.65208543e-01 9.63825378e-01 -2.65531257e-02 -2.47652173e+01] [-8.44034004e-02 4.22652747e-03 9.96422703e-01 -1.72119012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.781193817 meters 0.07244851424221221 Centerline is valid? [True, True] Translation: X:137.82, Y:-24.77, Z:-17.22 [[ 9.60769855e-01 2.65655734e-01 7.96763202e-02 1.37815674e+02] [-2.64378999e-01 9.64058541e-01 -2.63604903e-02 -2.47703590e+01] [-8.38154524e-02 4.26161870e-03 9.96472182e-01 -1.72173493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.841193817 meters 0.07604368802917595 Centerline is valid? [True, True] Translation: X:137.87, Y:-24.78, Z:-17.23 [[ 9.60203934e-01 2.67747455e-01 7.94965786e-02 1.37874146e+02] [-2.66481266e-01 9.63480418e-01 -2.63290570e-02 -2.47847208e+01] [-8.36429347e-02 4.09691519e-03 9.96487368e-01 -1.72300553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.901193817 meters 0.07067532443358646 Centerline is valid? [True, True] Translation: X:137.94, Y:-24.78, Z:-17.23 [[ 9.59835411e-01 2.68368859e-01 8.18177174e-02 1.37941985e+02] [-2.67027518e-01 9.63307132e-01 -2.71233235e-02 -2.47802650e+01] [-8.60946460e-02 4.18634436e-03 9.96278167e-01 -1.72290194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.961193817 meters 0.07371253887929204 Centerline is valid? [True, True] Translation: X:138.00, Y:-24.79, Z:-17.24 [[ 9.60769123e-01 2.64710926e-01 8.27696678e-02 1.38000336e+02] [-2.63321454e-01 9.64316830e-01 -2.74747818e-02 -2.47922702e+01] [-8.70890586e-02 4.60189271e-03 9.96189901e-01 -1.72376123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.021193817 meters 0.07784102977698416 Centerline is valid? [True, True] Translation: X:138.06, Y:-24.80, Z:-17.24 [[ 9.63112704e-01 2.54925623e-01 8.61791525e-02 1.38061332e+02] [-2.53378730e-01 9.66943697e-01 -2.86200378e-02 -2.48007343e+01] [-9.06263693e-02 5.72835778e-03 9.95868489e-01 -1.72414246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.081193817 meters 0.08049700318347179 Centerline is valid? [True, True] Translation: X:138.12, Y:-24.81, Z:-17.25 [[ 9.64992956e-01 2.47503218e-01 8.67799110e-02 1.38122298e+02] [-2.45904703e-01 9.68865457e-01 -2.88201701e-02 -2.48112583e+01] [-9.12111430e-02 6.47167291e-03 9.95810547e-01 -1.72472154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14119381700002 meters 0.0833151446132478 Centerline is valid? [True, True] Translation: X:138.18, Y:-24.81, Z:-17.26 [[ 9.66196006e-01 2.43454437e-01 8.48246122e-02 1.38184986e+02] [-2.41911489e-01 9.69889178e-01 -2.81747169e-02 -2.48139046e+01] [-8.91297332e-02 6.70225075e-03 9.95997475e-01 -1.72565668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20119381700002 meters 0.07884588606575069 Centerline is valid? [True, True] Translation: X:138.25, Y:-24.80, Z:-17.27 [[ 9.64655845e-01 2.50300575e-01 8.23937041e-02 1.38253406e+02] [-2.48869605e-01 9.68150223e-01 -2.73690573e-02 -2.47984940e+01] [-8.66199738e-02 5.89643251e-03 9.96223977e-01 -1.72673248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.261193817 meters 0.07469094995743239 Centerline is valid? [True, True] Translation: X:138.32, Y:-24.79, Z:-17.27 [[ 9.62838766e-01 2.56530618e-01 8.44603637e-02 1.38319384e+02] [-2.55050354e-01 9.66520607e-01 -2.80576648e-02 -2.47925346e+01] [-8.88303321e-02 5.47336168e-03 9.96031734e-01 -1.72720770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.321193817 meters 0.07184687594434037 Centerline is valid? [True, True] Translation: X:138.39, Y:-24.78, Z:-17.28 [[ 9.60894095e-01 2.63435382e-01 8.53483298e-02 1.38386966e+02] [-2.61950607e-01 9.64664657e-01 -2.83545215e-02 -2.47804202e+01] [-8.98021015e-02 4.88864544e-03 9.95947631e-01 -1.72801958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.381193817 meters 0.07082210128054366 Centerline is valid? [True, True] Translation: X:138.45, Y:-24.78, Z:-17.29 [[ 9.60556538e-01 2.65244919e-01 8.35240757e-02 1.38451332e+02] [-2.63830182e-01 9.64170025e-01 -2.77452256e-02 -2.47830542e+01] [-8.78906903e-02 4.61468571e-03 9.96119436e-01 -1.72899025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.441193817 meters 0.06811642705503239 Centerline is valid? [True, True] Translation: X:138.52, Y:-24.78, Z:-17.30 [[ 9.58796520e-01 2.71555496e-01 8.34676323e-02 1.38517065e+02] [-2.70164614e-01 9.62414245e-01 -2.77471117e-02 -2.47773540e+01] [-8.78653190e-02 4.05383342e-03 9.96124115e-01 -1.72966661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.501193817 meters 0.06627815073870212 Centerline is valid? [True, True] Translation: X:138.58, Y:-24.78, Z:-17.31 [[ 9.57199537e-01 2.77274890e-01 8.29920591e-02 1.38578342e+02] [-2.75921064e-01 9.60784216e-01 -2.75908751e-02 -2.47798826e+01] [-8.73877173e-02 3.51071570e-03 9.96168189e-01 -1.73051625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.561193817 meters 0.06254104734191843 Centerline is valid? [True, True] Translation: X:138.64, Y:-24.78, Z:-17.31 [[ 9.55251510e-01 2.84195385e-01 8.20215626e-02 1.38643337e+02] [-2.82898775e-01 9.58762177e-01 -2.72648257e-02 -2.47753572e+01] [-8.63877096e-02 2.84096634e-03 9.96257543e-01 -1.73092374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.621193817 meters 0.061087145883659724 Centerline is valid? [True, True] Translation: X:138.70, Y:-24.78, Z:-17.31 [[ 9.53772548e-01 2.88650544e-01 8.36587769e-02 1.38703456e+02] [-2.87319034e-01 9.57431305e-01 -2.78041327e-02 -2.47827709e+01] [-8.81232099e-02 2.48205953e-03 9.96106490e-01 -1.73142900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.681193817 meters 0.05997827665514428 Centerline is valid? [True, True] Translation: X:138.76, Y:-24.79, Z:-17.32 [[ 9.51946338e-01 2.94846313e-01 8.28481872e-02 1.38762985e+02] [-2.93564107e-01 9.55542823e-01 -2.75323085e-02 -2.47879638e+01] [-8.72827903e-02 1.88802622e-03 9.96181786e-01 -1.73235791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.741193817 meters 0.06089131902430293 Centerline is valid? [True, True] Translation: X:138.82, Y:-24.80, Z:-17.34 [[ 9.51550702e-01 2.96616756e-01 8.10540677e-02 1.38817326e+02] [-2.95396553e-01 9.54995116e-01 -2.69296318e-02 -2.48036582e+01] [-8.53940188e-02 1.68181787e-03 9.96345840e-01 -1.73364914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.801193817 meters 0.059455658690032366 Centerline is valid? [True, True] Translation: X:138.87, Y:-24.82, Z:-17.34 [[ 9.50307609e-01 3.00757354e-01 8.03769992e-02 1.38874451e+02] [-2.99572442e-01 9.53699812e-01 -2.67024313e-02 -2.48169613e+01] [-8.46864816e-02 1.29678965e-03 9.96406804e-01 -1.73407179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86119381700001 meters 0.05848332681701135 Centerline is valid? [True, True] Translation: X:138.93, Y:-24.83, Z:-17.35 [[ 9.48537180e-01 3.05894858e-01 8.18874519e-02 1.38931084e+02] [-3.04686312e-01 9.52064940e-01 -2.71772374e-02 -2.48338740e+01] [-8.62755491e-02 8.28634484e-04 9.96270969e-01 -1.73466118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92119381700002 meters 0.05814095484974794 Centerline is valid? [True, True] Translation: X:138.99, Y:-24.85, Z:-17.35 [[ 9.47570170e-01 3.08337901e-01 8.38958421e-02 1.38985721e+02] [-3.07081514e-01 9.51276715e-01 -2.78128600e-02 -2.48545663e+01] [-8.83839199e-02 5.91774198e-04 9.96086308e-01 -1.73520069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98119381700002 meters 0.05854222726607815 Centerline is valid? [True, True] Translation: X:139.04, Y:-24.88, Z:-17.36 [[ 9.48342987e-01 3.05772427e-01 8.45505811e-02 1.39035931e+02] [-3.04486092e-01 9.52104259e-01 -2.80303232e-02 -2.48847933e+01] [-8.90718683e-02 8.37884402e-04 9.96024849e-01 -1.73589264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.041193817 meters 0.059268703707001394 Centerline is valid? [True, True] Translation: X:139.09, Y:-24.91, Z:-17.37 [[ 9.49285889e-01 3.03013174e-01 8.39006403e-02 1.39088456e+02] [-3.01738477e-01 9.52985778e-01 -2.77848601e-02 -2.49100867e+01] [-8.83752956e-02 1.05972424e-03 9.96086685e-01 -1.73677606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.101193817 meters 0.06375998084564921 Centerline is valid? [True, True] Translation: X:139.14, Y:-24.96, Z:-17.38 [[ 9.53390221e-01 2.91079152e-01 7.94985146e-02 1.39135347e+02] [-2.89896041e-01 9.56696834e-01 -2.62954903e-02 -2.49563970e+01] [-8.37100463e-02 2.02355869e-03 9.96488100e-01 -1.73796672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.161193817 meters 0.06762844355658762 Centerline is valid? [True, True] Translation: X:139.19, Y:-24.99, Z:-17.39 [[ 9.55704876e-01 2.83713927e-01 7.83236665e-02 1.39186032e+02] [-2.82540961e-01 9.58905365e-01 -2.59057361e-02 -2.49897230e+01] [-8.24548021e-02 2.62859430e-03 9.96591339e-01 -1.73874688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.221193817 meters 0.06682533396396932 Centerline is valid? [True, True] Translation: X:139.24, Y:-25.01, Z:-17.38 [[ 9.57822646e-01 2.75775122e-01 8.07704229e-02 1.39242721e+02] [-2.74499588e-01 9.61216118e-01 -2.67123879e-02 -2.50131757e+01] [-8.50044443e-02 3.41428226e-03 9.96374722e-01 -1.73827379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.281193817 meters 0.06964155840873398 Centerline is valid? [True, True] Translation: X:139.30, Y:-25.04, Z:-17.39 [[ 9.59059679e-01 2.71651632e-01 8.00619997e-02 1.39295295e+02] [-2.70384179e-01 9.62388363e-01 -2.64770415e-02 -2.50396247e+01] [-8.42432684e-02 3.74556478e-03 9.96438178e-01 -1.73906502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.341193817 meters 0.07247490093043873 Centerline is valid? [True, True] Translation: X:139.35, Y:-25.06, Z:-17.40 [[ 9.60283882e-01 2.67699377e-01 7.86886912e-02 1.39350746e+02] [-2.66462430e-01 9.63494120e-01 -2.60164316e-02 -2.50646056e+01] [-8.27806738e-02 4.01558012e-03 9.96559700e-01 -1.74005708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.401193817 meters 0.07177544809851678 Centerline is valid? [True, True] Translation: X:139.41, Y:-25.08, Z:-17.40 [[ 9.60966575e-01 2.65179899e-01 7.88851212e-02 1.39409610e+02] [-2.63928193e-01 9.64189611e-01 -2.60826322e-02 -2.50804029e+01] [-8.29768040e-02 4.24453030e-03 9.96542440e-01 -1.74045857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.461193817 meters 0.07067922436536167 Centerline is valid? [True, True] Translation: X:139.47, Y:-25.10, Z:-17.41 [[ 9.61210224e-01 2.63623430e-01 8.11023567e-02 1.39468857e+02] [-2.62294023e-01 9.64615127e-01 -2.68235408e-02 -2.50966402e+01] [-8.53038739e-02 4.51039830e-03 9.96344772e-01 -1.74077289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.521193817 meters 0.07203711309540684 Centerline is valid? [True, True] Translation: X:139.53, Y:-25.12, Z:-17.41 [[ 9.61949148e-01 2.60879517e-01 8.12140088e-02 1.39526523e+02] [-2.59536365e-01 9.65359612e-01 -2.68643756e-02 -2.51162015e+01] [-8.54090893e-02 4.76417456e-03 9.96334577e-01 -1.74147567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.581193817 meters 0.07810005934718638 Centerline is valid? [True, True] Translation: X:139.58, Y:-25.14, Z:-17.43 [[ 9.62680916e-01 2.59211787e-01 7.78119787e-02 1.39580608e+02] [-2.57973260e-01 9.65809025e-01 -2.57434463e-02 -2.51400082e+01] [-8.18245159e-02 4.70931460e-03 9.96635626e-01 -1.74307629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64119381700002 meters 0.07530957641099127 Centerline is valid? [True, True] Translation: X:139.64, Y:-25.15, Z:-17.44 [[ 9.62997012e-01 2.58740227e-01 7.54337471e-02 1.39641813e+02] [-2.57574900e-01 9.65935970e-01 -2.49574288e-02 -2.51500743e+01] [-7.93216605e-02 4.60408946e-03 9.96838441e-01 -1.74364354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70119381700002 meters 0.07163480874172802 Centerline is valid? [True, True] Translation: X:139.70, Y:-25.15, Z:-17.44 [[ 9.61496353e-01 2.64421778e-01 7.48724729e-02 1.39703854e+02] [-2.63290443e-01 9.64398378e-01 -2.47772324e-02 -2.51536202e+01] [-7.87585313e-02 4.11001202e-03 9.96885250e-01 -1.74421652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.761193817 meters 0.06530829310409228 Centerline is valid? [True, True] Translation: X:139.77, Y:-25.15, Z:-17.45 [[ 9.56519372e-01 2.82161891e-01 7.38604000e-02 1.39768388e+02] [-2.81113358e-01 9.59363236e-01 -2.44430293e-02 -2.51457087e+01] [-7.77558437e-02 2.61708598e-03 9.96968996e-01 -1.74503113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.821193817 meters 0.0595038152253076 Centerline is valid? [True, True] Translation: X:139.84, Y:-25.14, Z:-17.45 [[ 9.50730221e-01 2.99447075e-01 8.02713876e-02 1.39835517e+02] [-2.98269637e-01 9.54112013e-01 -2.65610741e-02 -2.51356952e+01] [-8.45415311e-02 1.30989827e-03 9.96419095e-01 -1.74498962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.881193817 meters 0.05899249937000077 Centerline is valid? [True, True] Translation: X:139.89, Y:-25.15, Z:-17.46 [[ 9.49790118e-01 3.02233370e-01 8.09550552e-02 1.39893586e+02] [-3.01045009e-01 9.53233352e-01 -2.67970132e-02 -2.51463342e+01] [-8.52680102e-02 1.08042304e-03 9.96357466e-01 -1.74563531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.941193817 meters 0.06041312977515314 Centerline is valid? [True, True] Translation: X:139.95, Y:-25.17, Z:-17.46 [[ 9.52129272e-01 2.94520005e-01 8.19012533e-02 1.39945628e+02] [-2.93277465e-01 9.55643681e-01 -2.70828889e-02 -2.51737768e+01] [-8.62448678e-02 1.76661938e-03 9.96272403e-01 -1.74648762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.001193817 meters 0.06216144214609936 Centerline is valid? [True, True] Translation: X:140.00, Y:-25.20, Z:-17.47 [[ 9.54007879e-01 2.87531105e-01 8.48223465e-02 1.39998895e+02] [-2.86173762e-01 9.57768165e-01 -2.80128433e-02 -2.52004973e+01] [-8.92947070e-02 2.45054321e-03 9.96002234e-01 -1.74704365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.061193817 meters 0.0631064615591879 Centerline is valid? [True, True] Translation: X:140.06, Y:-25.22, Z:-17.48 [[ 9.55150511e-01 2.84088985e-01 8.35520750e-02 1.40055390e+02] [-2.82759719e-01 9.58794054e-01 -2.75844638e-02 -2.52190947e+01] [-8.79456751e-02 2.72215347e-03 9.96121553e-01 -1.74776493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.121193817 meters 0.06270409947144714 Centerline is valid? [True, True] Translation: X:140.11, Y:-25.23, Z:-17.49 [[ 9.53504825e-01 2.90774622e-01 7.92380467e-02 1.40109424e+02] [-2.89602415e-01 9.56789495e-01 -2.61592059e-02 -2.52342959e+01] [-8.34205639e-02 1.99539934e-03 9.96512432e-01 -1.74931351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.181193817 meters 0.06073465818101763 Centerline is valid? [True, True] Translation: X:140.17, Y:-25.24, Z:-17.50 [[ 9.51857159e-01 2.96075974e-01 7.94164106e-02 1.40168353e+02] [-2.94917078e-01 9.55163164e-01 -2.62153860e-02 -2.52439905e+01] [-8.36173760e-02 1.53204705e-03 9.96496757e-01 -1.74995829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.241193817 meters 0.05888894882226982 Centerline is valid? [True, True] Translation: X:140.23, Y:-25.25, Z:-17.50 [[ 9.49284453e-01 3.03589852e-01 8.18060481e-02 1.40229366e+02] [-3.02390638e-01 9.52802420e-01 -2.69712796e-02 -2.52491342e+01] [-8.61332074e-02 8.66033303e-04 9.96283253e-01 -1.75043058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.301193817 meters 0.05795728194390579 Centerline is valid? [True, True] Translation: X:140.29, Y:-25.26, Z:-17.51 [[ 9.47607002e-01 3.08410169e-01 8.32114073e-02 1.40287063e+02] [-3.07188033e-01 9.51253373e-01 -2.74323218e-02 -2.52618348e+01] [-8.76155388e-02 4.33511653e-04 9.96154270e-01 -1.75088169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36119381700001 meters 0.057888230263414095 Centerline is valid? [True, True] Translation: X:140.34, Y:-25.28, Z:-17.52 [[ 9.46501227e-01 3.11719433e-01 8.34650977e-02 1.40340658e+02] [-3.10503253e-01 9.50174184e-01 -2.75090741e-02 -2.52810161e+01] [-8.78814941e-02 1.21188037e-04 9.96130929e-01 -1.75185788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42119381700002 meters 0.05760238676064063 Centerline is valid? [True, True] Translation: X:140.39, Y:-25.30, Z:-17.52 [[ 9.46903311e-01 3.10474000e-01 8.35464891e-02 1.40394123e+02] [-3.09250692e-01 9.50581843e-01 -2.75348832e-02 -2.53030650e+01] [-8.79666409e-02 2.36062495e-04 9.96123393e-01 -1.75224660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48119381700002 meters 0.0579455551968238 Centerline is valid? [True, True] Translation: X:140.45, Y:-25.33, Z:-17.53 [[ 9.47800341e-01 3.08106854e-01 8.21259973e-02 1.40445073e+02] [-3.06918681e-01 9.51351665e-01 -2.70357509e-02 -2.53347160e+01] [-8.64606045e-02 4.18491104e-04 9.96255183e-01 -1.75299920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.541193817 meters 0.05821178735805947 Centerline is valid? [True, True] Translation: X:140.50, Y:-25.36, Z:-17.54 [[ 9.48165324e-01 3.06007567e-01 8.56848126e-02 1.40495553e+02] [-3.04708498e-01 9.52028888e-01 -2.81731608e-02 -2.53635078e+01] [-9.01956172e-02 6.03923631e-04 9.95923886e-01 -1.75384149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.601193817 meters 0.05789775578993702 Centerline is valid? [True, True] Translation: X:140.55, Y:-25.39, Z:-17.54 [[ 9.48390312e-01 3.04658837e-01 8.79705067e-02 1.40549249e+02] [-3.03284615e-01 9.52461256e-01 -2.89136427e-02 -2.53889255e+01] [-9.25972960e-02 7.41317324e-04 9.95703365e-01 -1.75418267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.661193817 meters 0.05891641816269721 Centerline is valid? [True, True] Translation: X:140.60, Y:-25.42, Z:-17.56 [[ 9.49191930e-01 3.02572521e-01 8.65132915e-02 1.40597533e+02] [-3.01237446e-01 9.53125939e-01 -2.84067948e-02 -2.54220381e+01] [-9.10531777e-02 9.02457356e-04 9.95845623e-01 -1.75551714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.721193817 meters 0.06041424418602432 Centerline is valid? [True, True] Translation: X:140.65, Y:-25.46, Z:-17.57 [[ 9.51514190e-01 2.96913005e-01 8.03953560e-02 1.40648784e+02] [-2.95741840e-01 9.54903616e-01 -2.63789445e-02 -2.54567324e+01] [-8.46020679e-02 1.32366957e-03 9.96413939e-01 -1.75664464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.781193817 meters 0.06143019648080423 Centerline is valid? [True, True] Translation: X:140.70, Y:-25.49, Z:-17.57 [[ 9.53208838e-01 2.91410336e-01 8.04545058e-02 1.40701261e+02] [-2.90217772e-01 9.56596426e-01 -2.63992813e-02 -2.54874669e+01] [-8.46555161e-02 1.81470081e-03 9.96408626e-01 -1.75723909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.841193817 meters 0.06249594765358043 Centerline is valid? [True, True] Translation: X:140.75, Y:-25.52, Z:-17.57 [[ 9.55202587e-01 2.84055255e-01 8.30700317e-02 1.40754079e+02] [-2.82756257e-01 9.58804537e-01 -2.72536219e-02 -2.55203295e+01] [-8.73894577e-02 2.54415892e-03 9.96170974e-01 -1.75725276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.901193817 meters 0.06447356215073848 Centerline is valid? [True, True] Translation: X:140.81, Y:-25.55, Z:-17.58 [[ 9.55450597e-01 2.82071512e-01 8.68896880e-02 1.40806336e+02] [-2.80642228e-01 9.59389156e-01 -2.85024149e-02 -2.55494976e+01] [-9.14007437e-02 2.84773371e-03 9.95810120e-01 -1.75792523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.961193817 meters 0.06315110025404955 Centerline is valid? [True, True] Translation: X:140.86, Y:-25.57, Z:-17.58 [[ 9.55458081e-01 2.81460959e-01 8.87670205e-02 1.40864179e+02] [-2.79966966e-01 9.59568102e-01 -2.91128187e-02 -2.55686214e+01] [-9.33721232e-02 2.96424449e-03 9.95626868e-01 -1.75811837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.021193817 meters 0.06459035191057524 Centerline is valid? [True, True] Translation: X:140.92, Y:-25.60, Z:-17.59 [[ 9.55317379e-01 2.81394806e-01 9.04746906e-02 1.40918945e+02] [-2.79842754e-01 9.59587317e-01 -2.96684091e-02 -2.55976102e+01] [-9.51669018e-02 3.02406015e-03 9.95456737e-01 -1.75884631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.081193817 meters 0.0626263593142993 Centerline is valid? [True, True] Translation: X:140.98, Y:-25.62, Z:-17.59 [[ 9.55428476e-01 2.80771064e-01 9.12361537e-02 1.40979331e+02] [-2.79188718e-01 9.59769686e-01 -2.99300793e-02 -2.56152542e+01] [-9.59691948e-02 3.12394529e-03 9.95379402e-01 -1.75912586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14119381700002 meters 0.06445564172660927 Centerline is valid? [True, True] Translation: X:141.03, Y:-25.64, Z:-17.60 [[ 9.56442933e-01 2.78287176e-01 8.81655510e-02 1.41033946e+02] [-2.76795651e-01 9.60492260e-01 -2.89618123e-02 -2.56385255e+01] [-9.27420303e-02 3.29647963e-03 9.95684714e-01 -1.76012280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20119381700002 meters 0.06539353760027265 Centerline is valid? [True, True] Translation: X:141.09, Y:-25.66, Z:-17.61 [[ 9.56310163e-01 2.79336179e-01 8.62680194e-02 1.41091577e+02] [-2.77912218e-01 9.60188266e-01 -2.83424138e-02 -2.56567266e+01] [-9.07506015e-02 3.12920177e-03 9.95868735e-01 -1.76133681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.261193817 meters 0.06090182464975794 Centerline is valid? [True, True] Translation: X:141.15, Y:-25.66, Z:-17.62 [[ 9.54081335e-01 2.86940022e-01 8.59897150e-02 1.41153296e+02] [-2.85552816e-01 9.57945462e-01 -2.82857040e-02 -2.56606339e+01] [-9.04897577e-02 2.43225694e-03 9.95894416e-01 -1.76173987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.321193817 meters 0.059399004924951204 Centerline is valid? [True, True] Translation: X:141.21, Y:-25.67, Z:-17.62 [[ 9.52622613e-01 2.91276515e-01 8.75679640e-02 1.41212252e+02] [-2.89856236e-01 9.56636694e-01 -2.88027451e-02 -2.56716756e+01] [-9.21602908e-02 2.05602591e-03 9.95742062e-01 -1.76235779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.381193817 meters 0.05891184992518775 Centerline is valid? [True, True] Translation: X:141.27, Y:-25.68, Z:-17.63 [[ 9.52254743e-01 2.92452820e-01 8.76484604e-02 1.41269773e+02] [-2.91035149e-01 9.56277982e-01 -2.88264213e-02 -2.56828338e+01] [-9.22466611e-02 1.94131370e-03 9.95734294e-01 -1.76301723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.441193817 meters 0.05977610246441172 Centerline is valid? [True, True] Translation: X:141.32, Y:-25.70, Z:-17.64 [[ 9.52866564e-01 2.90684419e-01 8.68785346e-02 1.41323491e+02] [-2.89284952e-01 9.56816709e-01 -2.85657510e-02 -2.57008735e+01] [-9.14304523e-02 2.08669629e-03 9.95809278e-01 -1.76393299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.501193817 meters 0.0618139521851714 Centerline is valid? [True, True] Translation: X:141.38, Y:-25.73, Z:-17.65 [[ 9.54545903e-01 2.85844441e-01 8.44693731e-02 1.41377803e+02] [-2.84503793e-01 9.58272854e-01 -2.77619919e-02 -2.57255921e+01] [-8.88803183e-02 2.46823859e-03 9.96039255e-01 -1.76495740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.561193817 meters 0.06003090969035046 Centerline is valid? [True, True] Translation: X:141.44, Y:-25.74, Z:-17.65 [[ 9.54188021e-01 2.87193645e-01 8.39346775e-02 1.41435697e+02] [-2.85875120e-01 9.57869715e-01 -2.75866894e-02 -2.57391746e+01] [-8.83212075e-02 2.32805251e-03 9.96089326e-01 -1.76529606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.621193817 meters 0.05796662644107321 Centerline is valid? [True, True] Translation: X:141.49, Y:-25.75, Z:-17.66 [[ 9.52037716e-01 2.94253935e-01 8.38976148e-02 1.41494375e+02] [-2.92964700e-01 9.55725825e-01 -2.75650320e-02 -2.57512083e+01] [-8.82942363e-02 1.66391048e-03 9.96093047e-01 -1.76581362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.681193817 meters 0.05656812259761425 Centerline is valid? [True, True] Translation: X:141.55, Y:-25.76, Z:-17.67 [[ 9.48611247e-01 3.05349845e-01 8.30552471e-02 1.41551854e+02] [-3.04128855e-01 9.52240034e-01 -2.72865813e-02 -2.57597718e+01] [-8.74204847e-02 6.24860633e-04 9.96171305e-01 -1.76679164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.741193817 meters 0.05646297489379448 Centerline is valid? [True, True] Translation: X:141.61, Y:-25.77, Z:-17.68 [[ 9.47386586e-01 3.09784746e-01 8.05733713e-02 1.41608374e+02] [-3.08652622e-01 9.50806695e-01 -2.64610608e-02 -2.57745315e+01] [-8.48069339e-02 1.99671669e-04 9.96397383e-01 -1.76768043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.801193817 meters 0.056359161893046454 Centerline is valid? [True, True] Translation: X:141.66, Y:-25.80, Z:-17.68 [[ 9.46907829e-01 3.10758518e-01 8.24300090e-02 1.41662018e+02] [-3.09577902e-01 9.50488891e-01 -2.70627129e-02 -2.57994499e+01] [-8.67587764e-02 1.07385516e-04 9.96229343e-01 -1.76832324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86119381700001 meters 0.055968694504640135 Centerline is valid? [True, True] Translation: X:141.71, Y:-25.83, Z:-17.69 [[ 9.47332599e-01 3.09223570e-01 8.33170464e-02 1.41714362e+02] [-3.08012130e-01 9.50989340e-01 -2.73459909e-02 -2.58271159e+01] [-8.76896479e-02 2.43087676e-04 9.96147814e-01 -1.76878017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92119381700002 meters 0.056240616766027984 Centerline is valid? [True, True] Translation: X:141.77, Y:-25.85, Z:-17.69 [[ 9.48292933e-01 3.05955017e-01 8.44514151e-02 1.41765383e+02] [-3.04698028e-01 9.52045813e-01 -2.77106822e-02 -2.58549301e+01] [-8.88798383e-02 5.45664459e-04 9.96042206e-01 -1.76949639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98119381700002 meters 0.055504894378665945 Centerline is valid? [True, True] Translation: X:141.82, Y:-25.88, Z:-17.70 [[ 9.47322474e-01 3.08556565e-01 8.58660415e-02 1.41818641e+02] [-3.07268688e-01 9.51205950e-01 -2.81637095e-02 -2.58803855e+01] [-9.03663871e-02 2.96169019e-04 9.95908544e-01 -1.76978255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.041193817 meters 0.05533396415072903 Centerline is valid? [True, True] Translation: X:141.87, Y:-25.90, Z:-17.71 [[ 9.45487647e-01 3.13988856e-01 8.63950724e-02 1.41871907e+02] [-3.12708304e-01 9.49426640e-01 -2.83296913e-02 -2.59019184e+01] [-9.09209907e-02 -2.31083446e-04 9.95858082e-01 -1.77054712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.101193817 meters 0.05571516184095729 Centerline is valid? [True, True] Translation: X:141.92, Y:-25.93, Z:-17.71 [[ 9.44944020e-01 3.16287588e-01 8.39223475e-02 1.41924740e+02] [-3.15089350e-01 9.48663249e-01 -2.75089260e-02 -2.59266197e+01] [-8.83147787e-02 -4.48642820e-04 9.96092515e-01 -1.77148700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.161193817 meters 0.056371034646437994 Centerline is valid? [True, True] Translation: X:141.98, Y:-25.95, Z:-17.73 [[ 9.44898178e-01 3.17460877e-01 7.99126109e-02 1.41978263e+02] [-3.16379502e-01 9.48271217e-01 -2.61860671e-02 -2.59517014e+01] [-8.40918806e-02 -5.39544983e-04 9.96457859e-01 -1.77265167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.221193817 meters 0.056453163805700875 Centerline is valid? [True, True] Translation: X:142.03, Y:-25.98, Z:-17.73 [[ 9.44123779e-01 3.20462040e-01 7.70348689e-02 1.42032102e+02] [-3.19467563e-01 9.47261036e-01 -2.52389683e-02 -2.59793373e+01] [-8.10602610e-02 -7.81431738e-04 9.96708896e-01 -1.77325065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.281193817 meters 0.05595378145706738 Centerline is valid? [True, True] Translation: X:142.08, Y:-26.02, Z:-17.74 [[ 9.44762206e-01 3.18237051e-01 7.84190855e-02 1.42084165e+02] [-3.17199182e-01 9.48010977e-01 -2.56878561e-02 -2.60156071e+01] [-8.25169814e-02 -6.05554213e-04 9.96589475e-01 -1.77382427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.341193817 meters 0.05542623330341124 Centerline is valid? [True, True] Translation: X:142.14, Y:-26.05, Z:-17.74 [[ 9.46492395e-01 3.12410475e-01 8.09434464e-02 1.42136295e+02] [-3.11283209e-01 9.49947201e-01 -2.65156342e-02 -2.60500795e+01] [-8.51757622e-02 -9.94895984e-05 9.96365937e-01 -1.77442834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.401193817 meters 0.05519648142951778 Centerline is valid? [True, True] Translation: X:142.19, Y:-26.09, Z:-17.74 [[ 9.49648893e-01 3.01118147e-01 8.65727517e-02 1.42187818e+02] [-2.99779829e-01 9.53586322e-01 -2.83757193e-02 -2.60924211e+01] [-9.10990359e-02 9.94205799e-04 9.95841341e-01 -1.77426243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.461193817 meters 0.056556882308608274 Centerline is valid? [True, True] Translation: X:142.24, Y:-26.13, Z:-17.75 [[ 9.51419370e-01 2.94380625e-01 9.02287664e-02 1.42242338e+02] [-2.92896667e-01 9.55686736e-01 -2.95703481e-02 -2.61266327e+01] [-9.49353728e-02 1.70609698e-03 9.95481976e-01 -1.77489834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.521193817 meters 0.05978464898940609 Centerline is valid? [True, True] Translation: X:142.30, Y:-26.16, Z:-17.76 [[ 9.54808326e-01 2.83753987e-01 8.84575312e-02 1.42295122e+02] [-2.82278193e-01 9.58893167e-01 -2.90330315e-02 -2.61593364e+01] [-9.30595607e-02 2.75134815e-03 9.95656742e-01 -1.77580425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.581193817 meters 0.06222552271400836 Centerline is valid? [True, True] Translation: X:142.35, Y:-26.18, Z:-17.77 [[ 9.56491321e-01 2.79022277e-01 8.52697052e-02 1.42350481e+02] [-2.77632337e-01 9.60279638e-01 -2.79875464e-02 -2.61819844e+01] [-8.96919105e-02 3.09621760e-03 9.95964746e-01 -1.77687570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64119381700002 meters 0.06246627170524161 Centerline is valid? [True, True] Translation: X:142.41, Y:-26.20, Z:-17.78 [[ 9.56822660e-01 2.78279354e-01 8.39702228e-02 1.42409057e+02] [-2.76929330e-01 9.60495147e-01 -2.75539447e-02 -2.61994102e+01] [-8.83206853e-02 3.11042114e-03 9.96087236e-01 -1.77771248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70119381700002 meters 0.06360589535400589 Centerline is valid? [True, True] Translation: X:142.47, Y:-26.22, Z:-17.79 [[ 9.57263201e-01 2.76660056e-01 8.42993352e-02 1.42467861e+02] [-2.75290827e-01 9.60962194e-01 -2.76879529e-02 -2.62172231e+01] [-8.86686246e-02 3.29782469e-03 9.96055721e-01 -1.77851912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.761193817 meters 0.0671174716680204 Centerline is valid? [True, True] Translation: X:142.52, Y:-26.24, Z:-17.79 [[ 9.59510685e-01 2.68048775e-01 8.65395794e-02 1.42524993e+02] [-2.66567060e-01 9.63396004e-01 -2.84630025e-02 -2.62364458e+01] [-9.10013579e-02 4.24195382e-03 9.95841734e-01 -1.77921545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.821193817 meters 0.06907927676060206 Centerline is valid? [True, True] Translation: X:142.58, Y:-26.26, Z:-17.80 [[ 9.60529159e-01 2.64807659e-01 8.52093757e-02 1.42581506e+02] [-2.63358462e-01 9.64290846e-01 -2.80264977e-02 -2.62569227e+01] [-8.95882523e-02 4.47965817e-03 9.95968814e-01 -1.78006349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.881193817 meters 0.07374333864369985 Centerline is valid? [True, True] Translation: X:142.64, Y:-26.28, Z:-17.81 [[ 9.62503407e-01 2.57326427e-01 8.58504583e-02 1.42637439e+02] [-2.55825319e-01 9.66310443e-01 -2.82406472e-02 -2.62758633e+01] [-9.02252592e-02 5.21899829e-03 9.95907709e-01 -1.78087274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.941193817 meters 0.07592922466181584 Centerline is valid? [True, True] Translation: X:142.70, Y:-26.29, Z:-17.82 [[ 9.63223689e-01 2.54170251e-01 8.71642613e-02 1.42697752e+02] [-2.52610178e-01 9.67143300e-01 -2.86694147e-02 -2.62879750e+01] [-9.15872437e-02 5.59647987e-03 9.95781330e-01 -1.78167684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.001193817 meters 0.07875315957357283 Centerline is valid? [True, True] Translation: X:142.76, Y:-26.29, Z:-17.82 [[ 9.63755906e-01 2.51080720e-01 9.01832859e-02 1.42759541e+02] [-2.49397105e-01 9.67946969e-01 -2.96605814e-02 -2.62948696e+01] [-9.47398383e-02 6.09411010e-03 9.95483413e-01 -1.78230898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.061193817 meters 0.07989652634045799 Centerline is valid? [True, True] Translation: X:142.82, Y:-26.30, Z:-17.83 [[ 9.63688783e-01 2.51318378e-01 9.02385880e-02 1.42821688e+02] [-2.49631047e-01 9.67885241e-01 -2.97069010e-02 -2.63035536e+01] [-9.48064877e-02 6.10185410e-03 9.95477020e-01 -1.78315829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.121193817 meters 0.0789802360161792 Centerline is valid? [True, True] Translation: X:142.89, Y:-26.30, Z:-17.84 [[ 9.62881636e-01 2.53717638e-01 9.21212036e-02 1.42886915e+02] [-2.51967398e-01 9.67259632e-01 -3.03518464e-02 -2.62988994e+01] [-9.68059203e-02 6.01369546e-03 9.95285110e-01 -1.78372248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.181193817 meters 0.07607434654084488 Centerline is valid? [True, True] Translation: X:142.95, Y:-26.30, Z:-17.84 [[ 9.61468229e-01 2.58989603e-01 9.22129606e-02 1.42950779e+02] [-2.57259621e-01 9.65864497e-01 -3.03852191e-02 -2.62981050e+01] [-9.69346806e-02 5.49175152e-03 9.95275594e-01 -1.78445032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.241193817 meters 0.0694176735969244 Centerline is valid? [True, True] Translation: X:143.02, Y:-26.28, Z:-17.85 [[ 9.58658783e-01 2.69885206e-01 9.01959695e-02 1.43019758e+02] [-2.68278180e-01 9.62882931e-01 -2.97200112e-02 -2.62818736e+01] [-9.48691509e-02 4.29373923e-03 9.95480491e-01 -1.78542276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.301193817 meters 0.06384961948235653 Centerline is valid? [True, True] Translation: X:143.08, Y:-26.28, Z:-17.87 [[ 9.56655480e-01 2.78467473e-01 8.52417738e-02 1.43083812e+02] [-2.77066103e-01 9.60440142e-01 -2.80910782e-02 -2.62772636e+01] [-8.96920729e-02 3.25587775e-03 9.95964222e-01 -1.78653034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36119381700001 meters 0.060791633954642765 Centerline is valid? [True, True] Translation: X:143.15, Y:-26.27, Z:-17.88 [[ 9.54235970e-01 2.87120476e-01 8.36393820e-02 1.43146967e+02] [-2.85804567e-01 9.57891482e-01 -2.75619006e-02 -2.62715528e+01] [-8.80310376e-02 2.39603954e-03 9.96114851e-01 -1.78752805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42119381700002 meters 0.05929261340321409 Centerline is valid? [True, True] Translation: X:143.21, Y:-26.28, Z:-17.88 [[ 9.53833895e-01 2.87729215e-01 8.60976129e-02 1.43206717e+02] [-2.86337327e-01 9.57708779e-01 -2.83695119e-02 -2.62783397e+01] [-9.06191772e-02 2.40684171e-03 9.95882710e-01 -1.78770440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48119381700002 meters 0.06091799603785297 Centerline is valid? [True, True] Translation: X:143.26, Y:-26.30, Z:-17.88 [[ 9.55335122e-01 2.81490516e-01 8.99883011e-02 1.43263169e+02] [-2.79942834e-01 9.59558914e-01 -2.96428794e-02 -2.62955626e+01] [-9.46932659e-02 3.12730385e-03 9.95501585e-01 -1.78792358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.541193817 meters 0.06509997794766227 Centerline is valid? [True, True] Translation: X:143.32, Y:-26.32, Z:-17.89 [[ 9.57361550e-01 2.74633818e-01 8.96388747e-02 1.43317030e+02] [-2.73069042e-01 9.61541450e-01 -2.95184286e-02 -2.63185096e+01] [-9.42982523e-02 3.78220693e-03 9.95536807e-01 -1.78885971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.601193817 meters 0.06617562100638424 Centerline is valid? [True, True] Translation: X:143.37, Y:-26.33, Z:-17.90 [[ 9.58098539e-01 2.72855453e-01 8.71612921e-02 1.43374502e+02] [-2.71369203e-01 9.62047363e-01 -2.86988851e-02 -2.63324475e+01] [-9.16839386e-02 3.84346954e-03 9.95780741e-01 -1.78987957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.661193817 meters 0.06775950659805953 Centerline is valid? [True, True] Translation: X:143.43, Y:-26.35, Z:-17.91 [[ 9.58448830e-01 2.72057658e-01 8.57931920e-02 1.43429541e+02] [-2.70614738e-01 9.62273224e-01 -2.82472334e-02 -2.63457347e+01] [-9.02413676e-02 3.85662564e-03 9.95912457e-01 -1.79096381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.721193817 meters 0.06937381805831631 Centerline is valid? [True, True] Translation: X:143.49, Y:-26.36, Z:-17.92 [[ 9.58874895e-01 2.71018426e-01 8.43086445e-02 1.43485057e+02] [-2.69622243e-01 9.62566366e-01 -2.77459268e-02 -2.63619959e+01] [-8.86723230e-02 3.87338681e-03 9.96053320e-01 -1.79191405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.781193817 meters 0.07283570283468106 Centerline is valid? [True, True] Translation: X:143.54, Y:-26.38, Z:-17.93 [[ 9.60118674e-01 2.66849306e-01 8.34480642e-02 1.43540354e+02] [-2.65466417e-01 9.63729078e-01 -2.74562615e-02 -2.63828489e+01] [-8.77480103e-02 4.20861079e-03 9.96133813e-01 -1.79269855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.841193817 meters 0.0699759445739506 Centerline is valid? [True, True] Translation: X:143.60, Y:-26.39, Z:-17.93 [[ 9.61398803e-01 2.62234610e-01 8.33387661e-02 1.43600490e+02] [-2.60838212e-01 9.64993079e-01 -2.74186796e-02 -2.63937847e+01] [-8.76114593e-02 4.62235101e-03 9.96143999e-01 -1.79279407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.901193817 meters 0.07419553707096765 Centerline is valid? [True, True] Translation: X:143.65, Y:-26.42, Z:-17.93 [[ 9.64215383e-01 2.51824736e-01 8.29035497e-02 1.43654535e+02] [-2.50404764e-01 9.67757014e-01 -2.72730021e-02 -2.64207769e+01] [-8.70985082e-02 5.53760436e-03 9.96184313e-01 -1.79339692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.961193817 meters 0.08011681048518081 Centerline is valid? [True, True] Translation: X:143.71, Y:-26.45, Z:-17.94 [[ 9.66143631e-01 2.43491164e-01 8.53143393e-02 1.43707411e+02] [-2.41954766e-01 9.69881505e-01 -2.80670359e-02 -2.64481669e+01] [-8.95788750e-02 6.47457703e-03 9.95958686e-01 -1.79395098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.021193817 meters 0.08820957182485495 Centerline is valid? [True, True] Translation: X:143.76, Y:-26.47, Z:-17.94 [[ 9.68824792e-01 2.31963161e-01 8.70150182e-02 1.43762528e+02] [-2.30318970e-01 9.72694190e-01 -2.86213895e-02 -2.64727537e+01] [-9.12781106e-02 7.68790237e-03 9.95795764e-01 -1.79442847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.081193817 meters 0.08897932161656054 Centerline is valid? [True, True] Translation: X:143.82, Y:-26.49, Z:-17.95 [[ 9.69509324e-01 2.28605322e-01 8.82682143e-02 1.43821098e+02] [-2.26899490e-01 9.73485319e-01 -2.90337029e-02 -2.64888177e+01] [-9.25650697e-02 8.12043277e-03 9.95673524e-01 -1.79508148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14119381700002 meters 0.08713410054234727 Centerline is valid? [True, True] Translation: X:143.88, Y:-26.50, Z:-17.96 [[ 9.69879617e-01 2.26956013e-01 8.84561860e-02 1.43882875e+02] [-2.25236115e-01 9.73869680e-01 -2.90953424e-02 -2.64961808e+01] [-9.27481604e-02 8.29545193e-03 9.95655043e-01 -1.79587562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20119381700002 meters 0.08657595162937043 Centerline is valid? [True, True] Translation: X:143.94, Y:-26.50, Z:-17.97 [[ 9.69582920e-01 2.28335581e-01 8.81579450e-02 1.43943119e+02] [-2.26632454e-01 9.73548453e-01 -2.90024248e-02 -2.65040538e+01] [-9.24483165e-02 8.14080427e-03 9.95684205e-01 -1.79678727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.261193817 meters 0.08175474884566404 Centerline is valid? [True, True] Translation: X:144.01, Y:-26.50, Z:-17.97 [[ 9.68662806e-01 2.31600054e-01 8.97428711e-02 1.44007945e+02] [-2.29848790e-01 9.72778429e-01 -2.95239343e-02 -2.64999674e+01] [-9.41376739e-02 7.97144672e-03 9.95527275e-01 -1.79732479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.321193817 meters 0.08579368191715116 Centerline is valid? [True, True] Translation: X:144.06, Y:-26.51, Z:-17.98 [[ 9.68071774e-01 2.34033679e-01 8.98068868e-02 1.44064455e+02] [-2.32290204e-01 9.72197671e-01 -2.95457114e-02 -2.65146225e+01] [-9.42247378e-02 7.74110926e-03 9.95520856e-01 -1.79824557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.381193817 meters 0.0862524106822774 Centerline is valid? [True, True] Translation: X:144.12, Y:-26.52, Z:-17.99 [[ 9.68182657e-01 2.33027669e-01 9.12164921e-02 1.44123930e+02] [-2.31224746e-01 9.72437527e-01 -3.00062045e-02 -2.65217949e+01] [-9.56946160e-02 7.95997657e-03 9.95378912e-01 -1.79901694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.441193817 meters 0.08908187125749097 Centerline is valid? [True, True] Translation: X:144.18, Y:-26.54, Z:-18.00 [[ 9.69090184e-01 2.29313050e-01 9.09930811e-02 1.44181694e+02] [-2.27503704e-01 9.73317364e-01 -2.99227873e-02 -2.65373838e+01] [-9.54268315e-02 8.29661639e-03 9.95401872e-01 -1.79979384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.501193817 meters 0.09378254753320496 Centerline is valid? [True, True] Translation: X:144.24, Y:-26.55, Z:-18.01 [[ 9.71418572e-01 2.20103807e-01 8.88834768e-02 1.44239018e+02] [-2.18339447e-01 9.75435057e-01 -2.92290051e-02 -2.65534040e+01] [-9.31334746e-02 8.98682921e-03 9.95613074e-01 -1.80071044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.561193817 meters 0.09343221393611024 Centerline is valid? [True, True] Translation: X:144.30, Y:-26.56, Z:-18.01 [[ 9.72765904e-01 2.14109065e-01 8.87907905e-02 1.44299180e+02] [-2.12323707e-01 9.76763066e-01 -2.91985696e-02 -2.65638528e+01] [-9.29792432e-02 9.55098320e-03 9.95622237e-01 -1.80131387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.621193817 meters 0.09679214337796999 Centerline is valid? [True, True] Translation: X:144.36, Y:-26.57, Z:-18.02 [[ 9.73931229e-01 2.07452677e-01 9.17679039e-02 1.44360561e+02] [-2.05516050e-01 9.78188372e-01 -3.01771884e-02 -2.65724105e+01] [-9.60266350e-02 1.05307290e-02 9.95323058e-01 -1.80162219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.681193817 meters 0.09450869340274035 Centerline is valid? [True, True] Translation: X:144.42, Y:-26.58, Z:-18.02 [[ 9.73892160e-01 2.06897007e-01 9.34221064e-02 1.44421627e+02] [-2.04886982e-01 9.78303338e-01 -3.07230007e-02 -2.65753232e+01] [-9.77516555e-02 1.07799161e-02 9.95152454e-01 -1.80217305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.741193817 meters 0.09404225135184129 Centerline is valid? [True, True] Translation: X:144.48, Y:-26.59, Z:-18.03 [[ 9.73810368e-01 2.07225290e-01 9.35470287e-02 1.44479792e+02] [-2.05212188e-01 9.78234148e-01 -3.07556352e-02 -2.65859078e+01] [-9.78842433e-02 1.07531660e-02 9.95139711e-01 -1.80283376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.801193817 meters 0.09329790019643526 Centerline is valid? [True, True] Translation: X:144.54, Y:-26.58, Z:-18.04 [[ 9.72592840e-01 2.12417320e-01 9.45624100e-02 1.44542335e+02] [-2.10385257e-01 9.77124407e-01 -3.10795128e-02 -2.65831940e+01] [-9.90010657e-02 1.03331747e-02 9.95033675e-01 -1.80353655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86119381700001 meters 0.08552835801121524 Centerline is valid? [True, True] Translation: X:144.61, Y:-26.58, Z:-18.04 [[ 9.70995610e-01 2.19344190e-01 9.51611928e-02 1.44608697e+02] [-2.17319247e-01 9.75599459e-01 -3.12736539e-02 -2.65750801e+01] [-9.96989025e-02 9.68622183e-03 9.94970505e-01 -1.80391748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92119381700002 meters 0.08079745906052144 Centerline is valid? [True, True] Translation: X:144.67, Y:-26.57, Z:-18.05 [[ 9.68515248e-01 2.30749253e-01 9.34505038e-02 1.44673605e+02] [-2.28849215e-01 9.72977361e-01 -3.07097930e-02 -2.65669135e+01] [-9.80114864e-02 8.35682838e-03 9.95150196e-01 -1.80464227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98119381700002 meters 0.07781514364910239 Centerline is valid? [True, True] Translation: X:144.74, Y:-26.57, Z:-18.05 [[ 9.66270055e-01 2.40228644e-01 9.28029044e-02 1.44735433e+02] [-2.38398267e-01 9.70688559e-01 -3.04957073e-02 -2.65656290e+01] [-9.74086599e-02 7.34303718e-03 9.95217380e-01 -1.80533667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.041193817 meters 0.07536455819418023 Centerline is valid? [True, True] Translation: X:144.80, Y:-26.57, Z:-18.06 [[ 9.65344966e-01 2.43969025e-01 9.26726079e-02 1.44796660e+02] [-2.42161229e-01 9.69758104e-01 -3.04492918e-02 -2.65720315e+01] [-9.72986966e-02 6.95235785e-03 9.95230942e-01 -1.80587364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.101193817 meters 0.07045382358038942 Centerline is valid? [True, True] Translation: X:144.86, Y:-26.57, Z:-18.06 [[ 9.64716608e-01 2.46928202e-01 9.13691941e-02 1.44859992e+02] [-2.45184267e-01 9.69011580e-01 -3.00205444e-02 -2.65703318e+01] [-9.59507262e-02 6.55902888e-03 9.95364475e-01 -1.80621640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.161193817 meters 0.07271214196626685 Centerline is valid? [True, True] Translation: X:144.91, Y:-26.59, Z:-18.07 [[ 9.64574840e-01 2.48163956e-01 8.94987634e-02 1.44914260e+02] [-2.46496394e-01 9.68697553e-01 -2.94037256e-02 -2.65865742e+01] [-9.39941779e-02 6.30097156e-03 9.95552807e-01 -1.80732275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.221193817 meters 0.07299058217973636 Centerline is valid? [True, True] Translation: X:144.97, Y:-26.60, Z:-18.08 [[ 9.65285384e-01 2.45907300e-01 8.80552552e-02 1.44972968e+02] [-2.44285090e-01 9.69272205e-01 -2.89168936e-02 -2.66002698e+01] [-9.24603867e-02 6.40246881e-03 9.95695779e-01 -1.80816149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.281193817 meters 0.07510785748017723 Centerline is valid? [True, True] Translation: X:145.03, Y:-26.62, Z:-18.09 [[ 9.66392389e-01 2.42037518e-01 8.66232621e-02 1.45030432e+02] [-2.40452311e-01 9.70244018e-01 -2.84469826e-02 -2.66176717e+01] [-9.09309390e-02 6.66218396e-03 9.95834916e-01 -1.80893772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.341193817 meters 0.07537952081127844 Centerline is valid? [True, True] Translation: X:145.09, Y:-26.63, Z:-18.10 [[ 9.67384304e-01 2.39582822e-01 8.22659060e-02 1.45088734e+02] [-2.38144750e-01 9.70853884e-01 -2.70150801e-02 -2.66305663e+01] [-8.63405235e-02 6.54277080e-03 9.96244200e-01 -1.80984376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.401193817 meters 0.07469729127585946 Centerline is valid? [True, True] Translation: X:145.15, Y:-26.65, Z:-18.11 [[ 9.66829018e-01 2.41569358e-01 8.29812975e-02 1.45146364e+02] [-2.40113414e-01 9.70362315e-01 -2.72493397e-02 -2.66460995e+01] [-8.71045294e-02 6.42052974e-03 9.96178487e-01 -1.81061960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.461193817 meters 0.07332022355421611 Centerline is valid? [True, True] Translation: X:145.21, Y:-26.66, Z:-18.11 [[ 9.66181158e-01 2.43417129e-01 8.51003618e-02 1.45205680e+02] [-2.41892946e-01 9.69900497e-01 -2.79433208e-02 -2.66586337e+01] [-8.93407661e-02 6.41313274e-03 9.95980471e-01 -1.81100814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.521193817 meters 0.07408953369461065 Centerline is valid? [True, True] Translation: X:145.26, Y:-26.68, Z:-18.12 [[ 9.66546176e-01 2.41947110e-01 8.51474311e-02 1.45260643e+02] [-2.40414993e-01 9.70267270e-01 -2.79652510e-02 -2.66779759e+01] [-8.93818772e-02 6.55898739e-03 9.95975833e-01 -1.81175005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.581193817 meters 0.07623470811746165 Centerline is valid? [True, True] Translation: X:145.32, Y:-26.70, Z:-18.12 [[ 9.67840714e-01 2.37022501e-01 8.42893061e-02 1.45315719e+02] [-2.35505593e-01 9.71479583e-01 -2.76502365e-02 -2.67014082e+01] [-8.84390682e-02 6.91042163e-03 9.96057617e-01 -1.81248591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64119381700002 meters 0.08358981006491542 Centerline is valid? [True, True] Translation: X:145.37, Y:-26.73, Z:-18.13 [[ 9.68874478e-01 2.33463149e-01 8.23237750e-02 1.45367592e+02] [-2.32003776e-01 9.72339995e-01 -2.70033771e-02 -2.67304710e+01] [-8.63509924e-02 7.06345619e-03 9.96239737e-01 -1.81345929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70119381700002 meters 0.0832835369030789 Centerline is valid? [True, True] Translation: X:145.42, Y:-26.75, Z:-18.14 [[ 9.69649225e-01 2.30021419e-01 8.28886431e-02 1.45424272e+02] [-2.28529575e-01 9.73157284e-01 -2.71870031e-02 -2.67507212e+01] [-8.69172798e-02 7.41935009e-03 9.96187904e-01 -1.81388156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.761193817 meters 0.08279493225791848 Centerline is valid? [True, True] Translation: X:145.48, Y:-26.77, Z:-18.14 [[ 9.70083656e-01 2.27825501e-01 8.38644257e-02 1.45480887e+02] [-2.26290073e-01 9.73671478e-01 -2.75073829e-02 -2.67674679e+01] [-8.79232826e-02 7.70677561e-03 9.96097436e-01 -1.81435168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.821193817 meters 0.08395763749636918 Centerline is valid? [True, True] Translation: X:145.54, Y:-26.78, Z:-18.15 [[ 9.70486855e-01 2.26662672e-01 8.23364878e-02 1.45537298e+02] [-2.25179129e-01 9.73943171e-01 -2.70011075e-02 -2.67835540e+01] [-8.63112032e-02 7.66376132e-03 9.96238748e-01 -1.81513890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.881193817 meters 0.08117967236882283 Centerline is valid? [True, True] Translation: X:145.60, Y:-26.79, Z:-18.16 [[ 9.70122958e-01 2.28168866e-01 8.24646313e-02 1.45597185e+02] [-2.26686644e-01 9.73592415e-01 -2.70365641e-02 -2.67937563e+01] [-8.64558417e-02 7.53516101e-03 9.96227187e-01 -1.81567260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.941193817 meters 0.0782876904856995 Centerline is valid? [True, True] Translation: X:145.66, Y:-26.80, Z:-18.16 [[ 9.68448296e-01 2.34633263e-01 8.39948163e-02 1.45657853e+02] [-2.33119588e-01 9.72058132e-01 -2.75362705e-02 -2.68014530e+01] [-8.81087692e-02 7.08661734e-03 9.96085651e-01 -1.81622848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.001193817 meters 0.07564267632280539 Centerline is valid? [True, True] Translation: X:145.72, Y:-26.81, Z:-18.17 [[ 9.66714897e-01 2.41098080e-01 8.56389187e-02 1.45717019e+02] [-2.39549627e-01 9.70478144e-01 -2.80739774e-02 -2.68116939e+01] [-8.98792809e-02 6.62476115e-03 9.95930634e-01 -1.81689664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.061193817 meters 0.0687800136446924 Centerline is valid? [True, True] Translation: X:145.78, Y:-26.81, Z:-18.17 [[ 9.64623421e-01 2.49601850e-01 8.48561798e-02 1.45779372e+02] [-2.48114452e-01 9.68331319e-01 -2.78150323e-02 -2.68148392e+01] [-8.91115800e-02 5.77698706e-03 9.96004896e-01 -1.81744587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.121193817 meters 0.06936810866161994 Centerline is valid? [True, True] Translation: X:145.83, Y:-26.83, Z:-18.19 [[ 9.62945292e-01 2.56008345e-01 8.48297763e-02 1.45834267e+02] [-2.54546568e-01 9.66660679e-01 -2.78060555e-02 -2.68323668e+01] [-8.91201914e-02 5.18258188e-03 9.96007396e-01 -1.81855987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.181193817 meters 0.06344435584643797 Centerline is valid? [True, True] Translation: X:145.90, Y:-26.84, Z:-18.19 [[ 9.60602855e-01 2.64725164e-01 8.46329887e-02 1.45895246e+02] [-2.63304274e-01 9.64314051e-01 -2.77357300e-02 -2.68393698e+01] [-8.89551258e-02 4.35879382e-03 9.96026097e-01 -1.81905407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.241193817 meters 0.0577435322986673 Centerline is valid? [True, True] Translation: X:145.96, Y:-26.85, Z:-18.20 [[ 9.56798140e-01 2.79008535e-01 8.18019393e-02 1.45955268e+02] [-2.77733162e-01 9.60284151e-01 -2.68074442e-02 -2.68459318e+01] [-8.60326116e-02 2.93020148e-03 9.96288012e-01 -1.81993477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.301193817 meters 0.055730580935539245 Centerline is valid? [True, True] Translation: X:146.01, Y:-26.86, Z:-18.21 [[ 9.53162204e-01 2.90982457e-01 8.25289244e-02 1.46012502e+02] [-2.89729092e-01 9.56726570e-01 -2.70429888e-02 -2.68614483e+01] [-8.68266501e-02 1.86532446e-03 9.96221689e-01 -1.82095408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36119381700001 meters 0.055028603762331166 Centerline is valid? [True, True] Translation: X:146.07, Y:-26.88, Z:-18.22 [[ 9.51755002e-01 2.95774857e-01 8.17291253e-02 1.46068249e+02] [-2.94563051e-01 9.55256628e-01 -2.67840221e-02 -2.68794168e+01] [-8.59943289e-02 1.41744650e-03 9.96294618e-01 -1.82174839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42119381700002 meters 0.0545787633350713 Centerline is valid? [True, True] Translation: X:146.12, Y:-26.90, Z:-18.22 [[ 9.49585855e-01 3.01970339e-01 8.42651646e-02 1.46122296e+02] [-3.00709216e-01 9.53316940e-01 -2.75822316e-02 -2.69015889e+01] [-8.86604247e-02 8.52385429e-04 9.96061546e-01 -1.82244497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48119381700002 meters 0.05366502551615283 Centerline is valid? [True, True] Translation: X:146.18, Y:-26.93, Z:-18.23 [[ 9.48722583e-01 3.03806827e-01 8.73319690e-02 1.46176585e+02] [-3.02460004e-01 9.52733392e-01 -2.85837174e-02 -2.69263819e+01] [-9.18880116e-02 7.03590527e-04 9.95769099e-01 -1.82252591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.541193817 meters 0.053612962885352736 Centerline is valid? [True, True] Translation: X:146.23, Y:-26.96, Z:-18.23 [[ 9.49022866e-01 3.01690512e-01 9.13150356e-02 1.46226031e+02] [-3.00208780e-01 9.53405448e-01 -2.98787721e-02 -2.69634679e+01] [-9.60743944e-02 9.42062499e-04 9.95373710e-01 -1.82302026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.601193817 meters 0.05430476210224696 Centerline is valid? [True, True] Translation: X:146.28, Y:-26.99, Z:-18.24 [[ 9.49913729e-01 2.99242160e-01 9.01001552e-02 1.46276902e+02] [-2.97789413e-01 9.54176487e-01 -2.94736657e-02 -2.69910888e+01] [-9.47912129e-02 1.16656740e-03 9.95496492e-01 -1.82408698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.661193817 meters 0.05588107540185507 Centerline is valid? [True, True] Translation: X:146.32, Y:-27.04, Z:-18.25 [[ 9.52221167e-01 2.91921938e-01 8.97576219e-02 1.46322791e+02] [-2.90448794e-01 9.56440304e-01 -2.93503414e-02 -2.70390653e+01] [-9.44158158e-02 1.87802322e-03 9.95531078e-01 -1.82496301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.721193817 meters 0.056387997262866474 Centerline is valid? [True, True] Translation: X:146.37, Y:-27.08, Z:-18.26 [[ 9.53477720e-01 2.88054141e-01 8.89103397e-02 1.46373389e+02] [-2.86592537e-01 9.57611519e-01 -2.90670870e-02 -2.70754259e+01] [-9.35144603e-02 2.23378006e-03 9.95615416e-01 -1.82563728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.781193817 meters 0.05755094072585941 Centerline is valid? [True, True] Translation: X:146.42, Y:-27.12, Z:-18.27 [[ 9.54127275e-01 2.86527165e-01 8.68523297e-02 1.46419555e+02] [-2.85126589e-01 9.58069298e-01 -2.83910063e-02 -2.71203903e+01] [-9.13453451e-02 2.32472498e-03 9.95816561e-01 -1.82673718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.841193817 meters 0.05763451343592432 Centerline is valid? [True, True] Translation: X:146.47, Y:-27.15, Z:-18.27 [[ 9.54175217e-01 2.86224724e-01 8.73216039e-02 1.46470595e+02] [-2.84807588e-01 9.58159592e-01 -2.85453080e-02 -2.71513502e+01] [-9.18384053e-02 2.36737001e-03 9.95771110e-01 -1.82729376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.901193817 meters 0.057713781431351675 Centerline is valid? [True, True] Translation: X:146.52, Y:-27.19, Z:-18.28 [[ 9.53655089e-01 2.88398559e-01 8.58384725e-02 1.46518692e+02] [-2.87040977e-01 9.57508174e-01 -2.80280946e-02 -2.71887576e+01] [-9.02743012e-02 2.08997601e-03 9.95914747e-01 -1.82811665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.961193817 meters 0.05700885895201231 Centerline is valid? [True, True] Translation: X:146.57, Y:-27.22, Z:-18.28 [[ 9.53076616e-01 2.89915498e-01 8.71433723e-02 1.46571545e+02] [-2.88522914e-01 9.57050215e-01 -2.84502094e-02 -2.72164759e+01] [-9.16487398e-02 1.97236964e-03 9.95789445e-01 -1.82843420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.021193817 meters 0.05562396709365381 Centerline is valid? [True, True] Translation: X:146.63, Y:-27.24, Z:-18.29 [[ 9.50124431e-01 2.99533495e-01 8.68518866e-02 1.46625883e+02] [-2.98193496e-01 9.54085253e-01 -2.83190635e-02 -2.72428330e+01] [-9.13466123e-02 1.00796632e-03 9.95818648e-01 -1.82913690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.081193817 meters 0.0550535711324965 Centerline is valid? [True, True] Translation: X:146.68, Y:-27.27, Z:-18.30 [[ 9.47879042e-01 3.05839718e-01 8.93721867e-02 1.46679339e+02] [-3.04448578e-01 9.52082925e-01 -2.91404655e-02 -2.72686872e+01] [-9.40020447e-02 4.12401410e-04 9.95571919e-01 -1.82960145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14119381700002 meters 0.05475811299832997 Centerline is valid? [True, True] Translation: X:146.73, Y:-27.29, Z:-18.30 [[ 9.45330735e-01 3.12523646e-01 9.31599271e-02 1.46734093e+02] [-3.11044521e-01 9.49909943e-01 -3.03711417e-02 -2.72919085e+01] [-9.79852410e-02 -2.66111197e-04 9.95187832e-01 -1.82993875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20119381700002 meters 0.05623061968237561 Centerline is valid? [True, True] Translation: X:146.79, Y:-27.32, Z:-18.31 [[ 9.42616481e-01 3.20892912e-01 9.22057992e-02 1.46786186e+02] [-3.19486391e-01 9.47114787e-01 -3.00337438e-02 -2.73200269e+01] [-9.69670914e-02 -1.14819607e-03 9.95286926e-01 -1.83090065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.261193817 meters 0.05829907913118984 Centerline is valid? [True, True] Translation: X:146.84, Y:-27.36, Z:-18.32 [[ 9.41589020e-01 3.25541828e-01 8.62127363e-02 1.46835193e+02] [-3.24335036e-01 9.45526366e-01 -2.80477396e-02 -2.73595684e+01] [-9.06471277e-02 -1.55236729e-03 9.95881865e-01 -1.83243241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.321193817 meters 0.05956582601964091 Centerline is valid? [True, True] Translation: X:146.89, Y:-27.39, Z:-18.33 [[ 9.40887249e-01 3.28000412e-01 8.45394219e-02 1.46885817e+02] [-3.26849969e-01 9.44675951e-01 -2.75035428e-02 -2.73901350e+01] [-8.88835322e-02 -1.75397464e-03 9.96040482e-01 -1.83339160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.381193817 meters 0.06062938532545192 Centerline is valid? [True, True] Translation: X:146.94, Y:-27.42, Z:-18.34 [[ 9.40393640e-01 3.29697047e-01 8.34245736e-02 1.46935248e+02] [-3.28584044e-01 9.44084883e-01 -2.71341187e-02 -2.74243735e+01] [-8.77059176e-02 -1.89523114e-03 9.96144608e-01 -1.83442354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.441193817 meters 0.06118934015135711 Centerline is valid? [True, True] Translation: X:146.98, Y:-27.47, Z:-18.35 [[ 9.39772327e-01 3.31094806e-01 8.48775718e-02 1.46980548e+02] [-3.29949191e-01 9.43595222e-01 -2.75968995e-02 -2.74692518e+01] [-8.92272612e-02 -2.07048368e-03 9.96009141e-01 -1.83518898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.501193817 meters 0.06097257625437806 Centerline is valid? [True, True] Translation: X:147.03, Y:-27.51, Z:-18.36 [[ 9.39357626e-01 3.31757741e-01 8.68565005e-02 1.47030771e+02] [-3.30561250e-01 9.43362080e-01 -2.82355572e-02 -2.75058308e+01] [-9.13044937e-02 -2.18810735e-03 9.95820617e-01 -1.83575171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.561193817 meters 0.059751111854507516 Centerline is valid? [True, True] Translation: X:147.08, Y:-27.56, Z:-18.36 [[ 9.40629859e-01 3.28446790e-01 8.56631412e-02 1.47076570e+02] [-3.27271430e-01 9.44520638e-01 -2.78240132e-02 -2.75550837e+01] [-9.00493126e-02 -1.86300113e-03 9.95935565e-01 -1.83647333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.621193817 meters 0.05832635289159045 Centerline is valid? [True, True] Translation: X:147.12, Y:-27.60, Z:-18.37 [[ 9.42049604e-01 3.24113109e-01 8.65634792e-02 1.47124501e+02] [-3.22897722e-01 9.46017153e-01 -2.80821614e-02 -2.75975827e+01] [-9.09923327e-02 -1.49636124e-03 9.95850469e-01 -1.83711784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.681193817 meters 0.05682279312375887 Centerline is valid? [True, True] Translation: X:147.17, Y:-27.65, Z:-18.38 [[ 9.45213893e-01 3.14767663e-01 8.65564195e-02 1.47169604e+02] [-3.13513976e-01 9.49168560e-01 -2.80719049e-02 -2.76494306e+01] [-9.09927600e-02 -6.02692719e-04 9.95851372e-01 -1.83765297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.741193817 meters 0.0571149572005792 Centerline is valid? [True, True] Translation: X:147.22, Y:-27.70, Z:-18.38 [[ 9.47963297e-01 3.06919498e-01 8.46522827e-02 1.47216736e+02] [-3.05690853e-01 9.51735470e-01 -2.74353332e-02 -2.77009174e+01] [-8.89870187e-02 1.30260422e-04 9.96032777e-01 -1.83840512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.801193817 meters 0.05690197543360975 Centerline is valid? [True, True] Translation: X:147.27, Y:-27.73, Z:-18.39 [[ 9.47775081e-01 3.07381533e-01 8.50822524e-02 1.47271098e+02] [-3.06140050e-01 9.51586350e-01 -2.75987044e-02 -2.77337856e+01] [-8.94464420e-02 1.10279289e-04 9.95991627e-01 -1.83882663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86119381700001 meters 0.05697441296691866 Centerline is valid? [True, True] Translation: X:147.33, Y:-27.76, Z:-18.40 [[ 9.46660873e-01 3.10866382e-01 8.48250166e-02 1.47327771e+02] [-3.09644101e-01 9.50453605e-01 -2.75404417e-02 -2.77615350e+01] [-8.91836403e-02 -1.94107354e-04 9.96015181e-01 -1.83956224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92119381700002 meters 0.05652718987540443 Centerline is valid? [True, True] Translation: X:147.38, Y:-27.79, Z:-18.40 [[ 9.45240153e-01 3.14850122e-01 8.59677490e-02 1.47382987e+02] [-3.13608206e-01 9.49141244e-01 -2.79426584e-02 -2.77937525e+01] [-9.03932856e-02 -5.47668877e-04 9.95905997e-01 -1.83984048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98119381700002 meters 0.05668506383808155 Centerline is valid? [True, True] Translation: X:147.44, Y:-27.82, Z:-18.41 [[ 9.44856877e-01 3.16361852e-01 8.46206873e-02 1.47438079e+02] [-3.15161803e-01 9.48638369e-01 -2.75369262e-02 -2.78223680e+01] [-8.89860638e-02 -6.50754306e-04 9.96032659e-01 -1.84054348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.041193817 meters 0.056512617543320064 Centerline is valid? [True, True] Translation: X:147.49, Y:-27.86, Z:-18.41 [[ 9.45614840e-01 3.13929049e-01 8.52122408e-02 1.47490487e+02] [-3.12701297e-01 9.49446355e-01 -2.77401960e-02 -2.78598232e+01] [-8.96129047e-02 -4.14437225e-04 9.95976584e-01 -1.84125716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.101193817 meters 0.056301772506709105 Centerline is valid? [True, True] Translation: X:147.55, Y:-27.89, Z:-18.42 [[ 9.46807469e-01 3.09700108e-01 8.74154384e-02 1.47545309e+02] [-3.08387139e-01 9.50834288e-01 -2.84873607e-02 -2.78911044e+01] [-9.19401348e-02 1.42489358e-05 9.95764536e-01 -1.84196373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.161193817 meters 0.057141578559894594 Centerline is valid? [True, True] Translation: X:147.60, Y:-27.93, Z:-18.43 [[ 9.49632402e-01 3.00841443e-01 8.77081924e-02 1.47596519e+02] [-2.99479114e-01 9.53673743e-01 -2.86120881e-02 -2.79308864e+01] [-9.22527020e-02 9.04194194e-04 9.95735217e-01 -1.84270296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.221193817 meters 0.060618121420928706 Centerline is valid? [True, True] Translation: X:147.65, Y:-27.97, Z:-18.44 [[ 9.54291080e-01 2.86627529e-01 8.46947110e-02 1.47646227e+02] [-2.85298453e-01 9.58039494e-01 -2.76608017e-02 -2.79714069e+01] [-8.90692254e-02 2.23318624e-03 9.96022934e-01 -1.84378607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.281193817 meters 0.06473803190375713 Centerline is valid? [True, True] Translation: X:147.70, Y:-28.00, Z:-18.45 [[ 9.57064155e-01 2.77887075e-01 8.25044042e-02 1.47698296e+02] [-2.76593247e-01 9.60609153e-01 -2.69486787e-02 -2.80039154e+01] [-8.67431753e-02 2.97145331e-03 9.96226276e-01 -1.84491835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.341193817 meters 0.06838348742439378 Centerline is valid? [True, True] Translation: X:147.75, Y:-28.03, Z:-18.46 [[ 9.59082230e-01 2.71295783e-01 8.09930515e-02 1.47752350e+02] [-2.70025405e-01 9.62489647e-01 -2.64567719e-02 -2.80307685e+01] [-8.51325842e-02 3.50403827e-03 9.96363470e-01 -1.84595484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.401193817 meters 0.06897315804884882 Centerline is valid? [True, True] Translation: X:147.81, Y:-28.05, Z:-18.47 [[ 9.59295171e-01 2.70273654e-01 8.18836169e-02 1.47811478e+02] [-2.68972042e-01 9.62776710e-01 -2.67403718e-02 -2.80497892e+01] [-8.60628573e-02 3.62750589e-03 9.96283105e-01 -1.84656936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.461193817 meters 0.06852235734468812 Centerline is valid? [True, True] Translation: X:147.87, Y:-28.06, Z:-18.47 [[ 9.58662343e-01 2.72434236e-01 8.21346372e-02 1.47870864e+02] [-2.71129421e-01 9.62168117e-01 -2.68579737e-02 -2.80632939e+01] [-8.63443608e-02 3.47861136e-03 9.96259279e-01 -1.84739309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.521193817 meters 0.06507380254152555 Centerline is valid? [True, True] Translation: X:147.93, Y:-28.07, Z:-18.48 [[ 9.57108403e-01 2.76758201e-01 8.57228220e-02 1.47934680e+02] [-2.75353413e-01 9.60934164e-01 -2.80362299e-02 -2.80650341e+01] [-9.01332449e-02 3.22963957e-03 9.95924479e-01 -1.84762970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.581193817 meters 0.06691595010391836 Centerline is valid? [True, True] Translation: X:147.99, Y:-28.08, Z:-18.49 [[ 9.56312186e-01 2.79495128e-01 8.57290922e-02 1.47992473e+02] [-2.78101753e-01 9.60142533e-01 -2.80309150e-02 -2.80829598e+01] [-9.01466519e-02 2.96489475e-03 9.95924089e-01 -1.84881327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64119381700002 meters 0.060972240422084184 Centerline is valid? [True, True] Translation: X:148.06, Y:-28.08, Z:-18.49 [[ 9.53532791e-01 2.88020843e-01 8.84263015e-02 1.48058114e+02] [-2.86571127e-01 9.57621462e-01 -2.89503719e-02 -2.80777756e+01] [-9.30172346e-02 2.26470400e-03 9.95661923e-01 -1.84891013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70119381700002 meters 0.05933515017865205 Centerline is valid? [True, True] Translation: X:148.12, Y:-28.08, Z:-18.50 [[ 9.51856565e-01 2.93570912e-01 8.82337698e-02 1.48119626e+02] [-2.92151320e-01 9.55935754e-01 -2.88866675e-02 -2.80831536e+01] [-9.28261006e-02 1.71835183e-03 9.95680854e-01 -1.84978876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.761193817 meters 0.05687595071610473 Centerline is valid? [True, True] Translation: X:148.19, Y:-28.08, Z:-18.50 [[ 9.49765766e-01 3.00430056e-01 8.76742306e-02 1.48185405e+02] [-2.99057927e-01 9.53803284e-01 -2.86993499e-02 -2.80806438e+01] [-9.22461164e-02 1.03798639e-03 9.95735696e-01 -1.85026230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.821193817 meters 0.05752362676198444 Centerline is valid? [True, True] Translation: X:148.25, Y:-28.09, Z:-18.52 [[ 9.49147922e-01 3.02624932e-01 8.68122887e-02 1.48245900e+02] [-3.01286300e-01 9.53109353e-01 -2.84451439e-02 -2.80916740e+01] [-9.13498140e-02 8.43295968e-04 9.95818508e-01 -1.85165978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.881193817 meters 0.057721239325592165 Centerline is valid? [True, True] Translation: X:148.30, Y:-28.11, Z:-18.52 [[ 9.49027359e-01 3.02722852e-01 8.77835223e-02 1.48304071e+02] [-3.01351354e-01 9.53078228e-01 -2.87967487e-02 -2.81073419e+01] [-9.23819978e-02 8.75219062e-04 9.95723255e-01 -1.85249230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.941193817 meters 0.05748379258380575 Centerline is valid? [True, True] Translation: X:148.36, Y:-28.12, Z:-18.53 [[ 9.49998139e-01 2.99668065e-01 8.77643870e-02 1.48363954e+02] [-2.98282049e-01 9.54042780e-01 -2.88130768e-02 -2.81232258e+01] [-9.23653387e-02 1.19382809e-03 9.95724469e-01 -1.85280103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.001193817 meters 0.05903324345954379 Centerline is valid? [True, True] Translation: X:148.42, Y:-28.14, Z:-18.54 [[ 9.51710900e-01 2.94631327e-01 8.62481492e-02 1.48422044e+02] [-2.93269166e-01 9.55609512e-01 -2.83488512e-02 -2.81425016e+01] [-9.07720114e-02 1.68598784e-03 9.95870272e-01 -1.85396506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.061193817 meters 0.06074232188135809 Centerline is valid? [True, True] Translation: X:148.48, Y:-28.16, Z:-18.55 [[ 9.53853815e-01 2.87549336e-01 8.64770479e-02 1.48479327e+02] [-2.86150005e-01 9.57762881e-01 -2.84330586e-02 -2.81642827e+01] [-9.10004137e-02 2.37557372e-03 9.95848021e-01 -1.85453682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.121193817 meters 0.06293714040171064 Centerline is valid? [True, True] Translation: X:148.53, Y:-28.19, Z:-18.55 [[ 9.55676372e-01 2.82078292e-01 8.43475543e-02 1.48534930e+02] [-2.80725497e-01 9.59387216e-01 -2.77374191e-02 -2.81871969e+01] [-8.87460892e-02 2.82948696e-03 9.96050263e-01 -1.85546709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.181193817 meters 0.067167300369636 Centerline is valid? [True, True] Translation: X:148.59, Y:-28.21, Z:-18.56 [[ 9.58371594e-01 2.72996320e-01 8.36474597e-02 1.48591429e+02] [-2.71631169e-01 9.62008180e-01 -2.75094587e-02 -2.82080172e+01] [-8.79795214e-02 3.64302652e-03 9.96115622e-01 -1.85649495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.241193817 meters 0.06929496769399845 Centerline is valid? [True, True] Translation: X:148.65, Y:-28.23, Z:-18.57 [[ 9.60319385e-01 2.65967423e-01 8.39524180e-02 1.48648440e+02] [-2.64565363e-01 9.63972407e-01 -2.76110034e-02 -2.82268450e+01] [-8.82714418e-02 4.30447993e-03 9.96087157e-01 -1.85701283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.301193817 meters 0.07556594778132565 Centerline is valid? [True, True] Translation: X:148.70, Y:-28.25, Z:-18.58 [[ 9.63752208e-01 2.53105776e-01 8.43750474e-02 1.48703856e+02] [-2.51640281e-01 9.67422906e-01 -2.77504902e-02 -2.82511946e+01] [-8.86501629e-02 5.51243559e-03 9.96047570e-01 -1.85771272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36119381700001 meters 0.08616549774258474 Centerline is valid? [True, True] Translation: X:148.76, Y:-28.27, Z:-18.59 [[ 9.66192899e-01 2.43359527e-01 8.51317942e-02 1.48758257e+02] [-2.41829753e-01 9.69914594e-01 -2.80009014e-02 -2.82746809e+01] [-8.93848557e-02 6.46687137e-03 9.95976168e-01 -1.85876750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42119381700002 meters 0.08356612240514151 Centerline is valid? [True, True] Translation: X:148.82, Y:-28.28, Z:-18.59 [[ 9.66587541e-01 2.41831777e-01 8.50053933e-02 1.48820619e+02] [-2.40301136e-01 9.70295789e-01 -2.79543539e-02 -2.82817224e+01] [-8.92406262e-02 6.59343761e-03 9.95988272e-01 -1.85925997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48119381700002 meters 0.08415868422570444 Centerline is valid? [True, True] Translation: X:148.88, Y:-28.29, Z:-18.60 [[ 9.66047587e-01 2.43727854e-01 8.57251024e-02 1.48879745e+02] [-2.42175522e-01 9.69821846e-01 -2.82241599e-02 -2.82938650e+01] [-9.00170910e-02 6.50536013e-03 9.95918974e-01 -1.86015209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.541193817 meters 0.08055456804262161 Centerline is valid? [True, True] Translation: X:148.94, Y:-28.29, Z:-18.61 [[ 9.64463326e-01 2.49423628e-01 8.71684969e-02 1.48942397e+02] [-2.47840998e-01 9.68375381e-01 -2.87047215e-02 -2.82943837e+01] [-9.15714622e-02 6.08072387e-03 9.95779942e-01 -1.86094875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.601193817 meters 0.07951104412669498 Centerline is valid? [True, True] Translation: X:149.00, Y:-28.30, Z:-18.62 [[ 9.63680466e-01 2.51728905e-01 8.91768882e-02 1.49002882e+02] [-2.50082108e-01 9.67779203e-01 -2.93658635e-02 -2.83034030e+01] [-9.36957744e-02 5.99776486e-03 9.95582809e-01 -1.86151709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.661193817 meters 0.07684939526433053 Centerline is valid? [True, True] Translation: X:149.07, Y:-28.31, Z:-18.62 [[ 9.63926068e-01 2.49935835e-01 9.15347669e-02 1.49067416e+02] [-2.48193238e-01 9.68241715e-01 -3.01346624e-02 -2.83074527e+01] [-9.61595117e-02 6.32927649e-03 9.95345814e-01 -1.86176338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.721193817 meters 0.07938483995163231 Centerline is valid? [True, True] Translation: X:149.13, Y:-28.33, Z:-18.62 [[ 9.64164672e-01 2.48754614e-01 9.22367956e-02 1.49125470e+02] [-2.46976729e-01 9.68544547e-01 -3.03966315e-02 -2.83252645e+01] [-9.68967478e-02 6.52701618e-03 9.95273037e-01 -1.86249754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.781193817 meters 0.07966601760772424 Centerline is valid? [True, True] Translation: X:149.19, Y:-28.33, Z:-18.63 [[ 9.64919502e-01 2.46057945e-01 9.15742418e-02 1.49188385e+02] [-2.44290386e-01 9.69231404e-01 -3.02107883e-02 -2.83294023e+01] [-9.61902355e-02 6.78027191e-03 9.95339875e-01 -1.86321182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.841193817 meters 0.07984078531063167 Centerline is valid? [True, True] Translation: X:149.25, Y:-28.33, Z:-18.65 [[ 9.65499463e-01 2.45687498e-01 8.63043439e-02 1.49250189e+02] [-2.44116274e-01 9.69327794e-01 -2.84758406e-02 -2.83345694e+01] [-9.06533573e-02 6.42511393e-03 9.95861781e-01 -1.86450488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.901193817 meters 0.07951044634405081 Centerline is valid? [True, True] Translation: X:149.31, Y:-28.35, Z:-18.65 [[ 9.65465289e-01 2.46411832e-01 8.46048737e-02 1.49311225e+02] [-2.44905213e-01 9.69145211e-01 -2.79105044e-02 -2.83452874e+01] [-8.88718867e-02 6.22644861e-03 9.96023604e-01 -1.86541866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.961193817 meters 0.07851113772487153 Centerline is valid? [True, True] Translation: X:149.37, Y:-28.35, Z:-18.66 [[ 9.65497205e-01 2.45918576e-01 8.56691369e-02 1.49374887e+02] [-2.44369232e-01 9.69269500e-01 -2.82898217e-02 -2.83488458e+01] [-8.99934742e-02 6.37884261e-03 9.95921927e-01 -1.86591334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.021193817 meters 0.08324983762260747 Centerline is valid? [True, True] Translation: X:149.43, Y:-28.37, Z:-18.67 [[ 9.66075590e-01 2.43843190e-01 8.50791020e-02 1.49432185e+02] [-2.42304157e-01 9.69792490e-01 -2.81286754e-02 -2.83654615e+01] [-8.93680600e-02 6.55940655e-03 9.95977070e-01 -1.86682809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.081193817 meters 0.08035951125094146 Centerline is valid? [True, True] Translation: X:149.50, Y:-28.37, Z:-18.67 [[ 9.66625888e-01 2.41685259e-01 8.49860443e-02 1.49495574e+02] [-2.40141150e-01 9.70331195e-01 -2.80998234e-02 -2.83666822e+01] [-8.92559230e-02 6.75337034e-03 9.95985829e-01 -1.86733194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14119381700002 meters 0.07950861095140072 Centerline is valid? [True, True] Translation: X:149.56, Y:-28.38, Z:-18.68 [[ 9.66207823e-01 2.43046520e-01 8.58535504e-02 1.49556516e+02] [-2.41475778e-01 9.69991509e-01 -2.83887537e-02 -2.83753274e+01] [-9.01770027e-02 6.69788306e-03 9.95903232e-01 -1.86801768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20119381700002 meters 0.08247984866635061 Centerline is valid? [True, True] Translation: X:149.61, Y:-28.39, Z:-18.69 [[ 9.65662858e-01 2.44986023e-01 8.64701898e-02 1.49613526e+02] [-2.43399897e-01 9.69504362e-01 -2.85968801e-02 -2.83873256e+01] [-9.08390622e-02 6.56810970e-03 9.95843926e-01 -1.86901957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.261193817 meters 0.07911017782351054 Centerline is valid? [True, True] Translation: X:149.67, Y:-28.39, Z:-18.70 [[ 9.66441594e-01 2.42364359e-01 8.51478880e-02 1.49674976e+02] [-2.40817024e-01 9.70162146e-01 -2.81526349e-02 -2.83926927e+01] [-8.94304531e-02 6.70281628e-03 9.95970515e-01 -1.86956891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.321193817 meters 0.08505645465786797 Centerline is valid? [True, True] Translation: X:149.73, Y:-28.41, Z:-18.70 [[ 9.67818081e-01 2.36485956e-01 8.60380988e-02 1.49732447e+02] [-2.34883156e-01 9.71607331e-01 -2.84446516e-02 -2.84068660e+01] [-9.03220082e-02 7.32034797e-03 9.95885710e-01 -1.87028819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.381193817 meters 0.0874350136259938 Centerline is valid? [True, True] Translation: X:149.79, Y:-28.42, Z:-18.71 [[ 9.68458073e-01 2.33282768e-01 8.75677465e-02 1.49790669e+02] [-2.31609380e-01 9.72378018e-01 -2.89497166e-02 -2.84215813e+01] [-9.19024218e-02 7.75507531e-03 9.95737819e-01 -1.87084652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.441193817 meters 0.08882353671064815 Centerline is valid? [True, True] Translation: X:149.85, Y:-28.44, Z:-18.72 [[ 9.68534818e-01 2.33010330e-01 8.74442276e-02 1.49847390e+02] [-2.31340645e-01 9.72443226e-01 -2.89081073e-02 -2.84372252e+01] [-9.17704343e-02 7.76910443e-03 9.95749882e-01 -1.87156948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.501193817 meters 0.08830863453175868 Centerline is valid? [True, True] Translation: X:149.91, Y:-28.44, Z:-18.72 [[ 9.67735667e-01 2.36534777e-01 8.68272920e-02 1.49909074e+02] [-2.34903513e-01 9.71595047e-01 -2.86950122e-02 -2.84379905e+01] [-9.11483352e-02 7.37315080e-03 9.95810031e-01 -1.87239729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.561193817 meters 0.07916193849439354 Centerline is valid? [True, True] Translation: X:149.98, Y:-28.43, Z:-18.73 [[ 9.65922685e-01 2.43118029e-01 8.88087267e-02 1.49976064e+02] [-2.41439041e-01 9.69972136e-01 -2.93469695e-02 -2.84277036e+01] [-9.32767677e-02 6.90500977e-03 9.95616274e-01 -1.87268139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.621193817 meters 0.0830869285383216 Centerline is valid? [True, True] Translation: X:150.03, Y:-28.44, Z:-18.73 [[ 9.64709614e-01 2.47029073e-01 9.11701572e-02 1.50033637e+02] [-2.45276669e-01 9.68984893e-01 -3.01269543e-02 -2.84427826e+01] [-9.57847386e-02 6.70184994e-03 9.95379510e-01 -1.87345914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.681193817 meters 0.08096311432915904 Centerline is valid? [True, True] Translation: X:150.09, Y:-28.45, Z:-18.74 [[ 9.63584892e-01 2.51447299e-01 9.09857800e-02 1.50094292e+02] [-2.49721590e-01 9.67850815e-01 -3.00653850e-02 -2.84490487e+01] [-9.56205212e-02 6.24943708e-03 9.95398242e-01 -1.87422853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.741193817 meters 0.07021747827951534 Centerline is valid? [True, True] Translation: X:150.16, Y:-28.44, Z:-18.75 [[ 9.61970038e-01 2.58442549e-01 8.84369533e-02 1.50160286e+02] [-2.56841772e-01 9.66011551e-01 -2.92230526e-02 -2.84407188e+01] [-9.29835986e-02 5.39739719e-03 9.95653011e-01 -1.87492733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.801193817 meters 0.06780546790294564 Centerline is valid? [True, True] Translation: X:150.22, Y:-28.44, Z:-18.76 [[ 9.60365253e-01 2.64485377e-01 8.80117348e-02 1.50222114e+02] [-2.62925441e-01 9.64377816e-01 -2.90799011e-02 -2.84445101e+01] [-9.25677732e-02 4.78680243e-03 9.95694880e-01 -1.87579032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86119381700001 meters 0.07363719068047728 Centerline is valid? [True, True] Translation: X:150.27, Y:-28.47, Z:-18.77 [[ 9.59999724e-01 2.65866563e-01 8.78379243e-02 1.50274149e+02] [-2.64318399e-01 9.63998644e-01 -2.90241006e-02 -2.84666163e+01] [-9.23921778e-02 4.64594908e-03 9.95711856e-01 -1.87723920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92119381700002 meters 0.0668294614893279 Centerline is valid? [True, True] Translation: X:150.34, Y:-28.47, Z:-18.77 [[ 9.60439959e-01 2.64754449e-01 8.63722561e-02 1.50335852e+02] [-2.63253475e-01 9.64304555e-01 -2.85365328e-02 -2.84678115e+01] [-9.08443339e-02 4.66982986e-03 9.95854156e-01 -1.87734888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98119381700002 meters 0.06725626256624834 Centerline is valid? [True, True] Translation: X:150.39, Y:-28.48, Z:-18.78 [[ 9.60385397e-01 2.64422787e-01 8.79799917e-02 1.50391836e+02] [-2.62866494e-01 9.64395101e-01 -2.90395362e-02 -2.84836368e+01] [-9.25261881e-02 4.76215449e-03 9.95698863e-01 -1.87805466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.041193817 meters 0.06632452130270516 Centerline is valid? [True, True] Translation: X:150.45, Y:-28.50, Z:-18.79 [[ 9.59259300e-01 2.68026354e-01 8.93502636e-02 1.50449361e+02] [-2.66439853e-01 9.63401299e-01 -2.94574535e-02 -2.84956280e+01] [-9.39755339e-02 4.45086512e-03 9.95564558e-01 -1.87857651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.101193817 meters 0.06450438382990435 Centerline is valid? [True, True] Translation: X:150.51, Y:-28.51, Z:-18.79 [[ 9.57411518e-01 2.74742939e-01 8.87665573e-02 1.50506569e+02] [-2.73206454e-01 9.61510361e-01 -2.92585006e-02 -2.85088247e+01] [-9.33885310e-02 3.76082914e-03 9.95622639e-01 -1.87941783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.161193817 meters 0.06278242364727174 Centerline is valid? [True, True] Translation: X:150.56, Y:-28.52, Z:-18.80 [[ 9.56136005e-01 2.79254124e-01 8.84368388e-02 1.50563127e+02] [-2.77748524e-01 9.60211544e-01 -2.91470126e-02 -2.85248623e+01] [-9.30574970e-02 3.30530677e-03 9.95655250e-01 -1.88022548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.221193817 meters 0.06072162805633903 Centerline is valid? [True, True] Translation: X:150.62, Y:-28.54, Z:-18.81 [[ 9.55125350e-01 2.83043888e-01 8.73024809e-02 1.50620271e+02] [-2.81592735e-01 9.59102586e-01 -2.87708331e-02 -2.85386664e+01] [-9.18754437e-02 2.89600772e-03 9.95766296e-01 -1.88073125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.281193817 meters 0.05857597596204328 Centerline is valid? [True, True] Translation: X:150.68, Y:-28.55, Z:-18.81 [[ 9.55606065e-01 2.82231501e-01 8.46311273e-02 1.50677640e+02] [-2.80865457e-01 9.59342020e-01 -2.78834017e-02 -2.85540146e+01] [-8.90597710e-02 2.87558756e-03 9.96022132e-01 -1.88105741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.341193817 meters 0.06087522528462972 Centerline is valid? [True, True] Translation: X:150.73, Y:-28.59, Z:-18.82 [[ 9.56619495e-01 2.78351106e-01 8.60221178e-02 1.50726763e+02] [-2.76924470e-01 9.60473771e-01 -2.83367764e-02 -2.85861890e+01] [-9.05095609e-02 3.28588332e-03 9.95890166e-01 -1.88201858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.401193817 meters 0.06272486320852258 Centerline is valid? [True, True] Translation: X:150.78, Y:-28.61, Z:-18.83 [[ 9.57762082e-01 2.74345646e-01 8.61757546e-02 1.50780175e+02] [-2.72898764e-01 9.61624183e-01 -2.83759456e-02 -2.86127923e+01] [-9.06535068e-02 3.66014778e-03 9.95875768e-01 -1.88262728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.461193817 meters 0.06403885316150104 Centerline is valid? [True, True] Translation: X:150.83, Y:-28.64, Z:-18.83 [[ 9.59484855e-01 2.69420628e-01 8.24702327e-02 1.50834241e+02] [-2.68078225e-01 9.63014536e-01 -2.71489925e-02 -2.86389843e+01] [-8.67345315e-02 3.94057349e-03 9.96223666e-01 -1.88345448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.521193817 meters 0.06677481587308728 Centerline is valid? [True, True] Translation: X:150.89, Y:-28.67, Z:-18.85 [[ 9.60041181e-01 2.68031182e-01 8.04997912e-02 1.50885632e+02] [-2.66747327e-01 9.63402059e-01 -2.65016063e-02 -2.86659057e+01] [-8.46569215e-02 3.96952920e-03 9.96402252e-01 -1.88465134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.581193817 meters 0.06643254327647836 Centerline is valid? [True, True] Translation: X:150.94, Y:-28.69, Z:-18.85 [[ 9.59829450e-01 2.69101833e-01 7.94457727e-02 1.50940175e+02] [-2.67855049e-01 9.63104135e-01 -2.61552485e-02 -2.86874976e+01] [-8.35529776e-02 3.82462647e-03 9.96495997e-01 -1.88543010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64119381700002 meters 0.06343203413799342 Centerline is valid? [True, True] Translation: X:151.00, Y:-28.70, Z:-18.86 [[ 9.58422625e-01 2.74831572e-01 7.67703037e-02 1.50998690e+02] [-2.73688511e-01 9.61487126e-01 -2.52409680e-02 -2.87004745e+01] [-8.07506735e-02 3.18036467e-03 9.96729258e-01 -1.88611031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70119381700002 meters 0.05939086263725714 Centerline is valid? [True, True] Translation: X:151.06, Y:-28.71, Z:-18.87 [[ 9.55221969e-01 2.85956695e-01 7.60247260e-02 1.51057418e+02] [-2.84870924e-01 9.58239975e-01 -2.49941190e-02 -2.87127043e+01] [-7.99971673e-02 2.21769763e-03 9.96792624e-01 -1.88667894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.761193817 meters 0.057990158075445386 Centerline is valid? [True, True] Translation: X:151.11, Y:-28.73, Z:-18.87 [[ 9.53692827e-01 2.90564258e-01 7.77329049e-02 1.51114551e+02] [-2.89444439e-01 9.56853651e-01 -2.55539861e-02 -2.87314907e+01] [-8.18040889e-02 1.87129612e-03 9.96646672e-01 -1.88716196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.821193817 meters 0.05761799016172792 Centerline is valid? [True, True] Translation: X:151.17, Y:-28.75, Z:-18.88 [[ 9.52986322e-01 2.92457266e-01 7.92831448e-02 1.51168252e+02] [-2.91298735e-01 9.56277003e-01 -2.60641428e-02 -2.87548253e+01] [-8.34392961e-02 1.74369181e-03 9.96511336e-01 -1.88778509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.881193817 meters 0.05832939878558904 Centerline is valid? [True, True] Translation: X:151.22, Y:-28.78, Z:-18.89 [[ 9.53424164e-01 2.90853927e-01 7.99146868e-02 1.51220481e+02] [-2.89671756e-01 9.56765598e-01 -2.62652503e-02 -2.87793630e+01] [-8.40989743e-02 1.89289657e-03 9.96455608e-01 -1.88857843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.941193817 meters 0.0595783631471675 Centerline is valid? [True, True] Translation: X:151.27, Y:-28.81, Z:-18.89 [[ 9.55163887e-01 2.84083061e-01 8.34192031e-02 1.51272075e+02] [-2.82769742e-01 9.58796175e-01 -2.74074341e-02 -2.88097342e+01] [-8.77680006e-02 2.59016477e-03 9.96137575e-01 -1.88876716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.001193817 meters 0.062058158722360125 Centerline is valid? [True, True] Translation: X:151.33, Y:-28.84, Z:-18.90 [[ 9.56785286e-01 2.78794464e-01 8.26774664e-02 1.51325359e+02] [-2.77485794e-01 9.60345994e-01 -2.71515462e-02 -2.88384851e+01] [-8.69686744e-02 3.03637743e-03 9.96206419e-01 -1.88964966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.061193817 meters 0.06660222754859517 Centerline is valid? [True, True] Translation: X:151.38, Y:-28.87, Z:-18.91 [[ 9.59137369e-01 2.71487596e-01 7.96868450e-02 1.51375712e+02] [-2.70247073e-01 9.62435344e-01 -2.61673216e-02 -2.88725323e+01] [-8.37975392e-02 3.56291934e-03 9.96476431e-01 -1.89086789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.121193817 meters 0.06854408403180569 Centerline is valid? [True, True] Translation: X:151.43, Y:-28.90, Z:-18.92 [[ 9.60114660e-01 2.67650535e-01 8.08890008e-02 1.51429273e+02] [-2.66358553e-01 9.63507926e-01 -2.65630724e-02 -2.88980357e+01] [-8.50468140e-02 3.95811804e-03 9.96369095e-01 -1.89156733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.181193817 meters 0.06800889215015633 Centerline is valid? [True, True] Translation: X:151.48, Y:-28.92, Z:-18.92 [[ 9.60445719e-01 2.66423841e-01 8.10083884e-02 1.51484590e+02] [-2.65123424e-01 9.63847356e-01 -2.66053558e-02 -2.89166880e+01] [-8.51680221e-02 4.07577876e-03 9.96358267e-01 -1.89209584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.241193817 meters 0.07201751452226623 Centerline is valid? [True, True] Translation: X:151.54, Y:-28.94, Z:-18.93 [[ 9.60737075e-01 2.65754545e-01 7.97420520e-02 1.51535561e+02] [-2.64494809e-01 9.64032258e-01 -2.61591590e-02 -2.89413299e+01] [-8.38258259e-02 4.04071509e-03 9.96472229e-01 -1.89342284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.301193817 meters 0.07232482175774274 Centerline is valid? [True, True] Translation: X:151.59, Y:-28.96, Z:-18.94 [[ 9.61537991e-01 2.63106725e-01 7.88640813e-02 1.51591606e+02] [-2.61866799e-01 9.64757539e-01 -2.58586795e-02 -2.89601709e+01] [-8.28883095e-02 4.21221823e-03 9.96549941e-01 -1.89404335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36119381700001 meters 0.07638793194479232 Centerline is valid? [True, True] Translation: X:151.64, Y:-28.99, Z:-18.95 [[ 9.62319631e-01 2.60307347e-01 7.86194134e-02 1.51644534e+02] [-2.59066220e-01 9.65515623e-01 -2.57735407e-02 -2.89850093e+01] [-8.26173139e-02 4.43474995e-03 9.96571479e-01 -1.89506180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42119381700002 meters 0.07270925799910358 Centerline is valid? [True, True] Translation: X:151.70, Y:-29.00, Z:-18.95 [[ 9.64425803e-01 2.52447949e-01 7.84404511e-02 1.51703854e+02] [-2.51187090e-01 9.67597084e-01 -2.57085247e-02 -2.89997931e+01] [-8.23888161e-02 5.09073592e-03 9.96587260e-01 -1.89476229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48119381700002 meters 0.07547734149994272 Centerline is valid? [True, True] Translation: X:151.76, Y:-29.02, Z:-18.96 [[ 9.64974589e-01 2.50115329e-01 7.91603677e-02 1.51758805e+02] [-2.48823295e-01 9.68201328e-01 -2.59452700e-02 -2.90172453e+01] [-8.31324829e-02 5.33958280e-03 9.96524199e-01 -1.89550550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.541193817 meters 0.07335586543551759 Centerline is valid? [True, True] Translation: X:151.82, Y:-29.03, Z:-18.96 [[ 9.64003044e-01 2.52265821e-01 8.40243181e-02 1.51818298e+02] [-2.50818781e-01 9.67642554e-01 -2.75286392e-02 -2.90311952e+01] [-8.82500405e-02 5.46281500e-03 9.96083374e-01 -1.89577516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.601193817 meters 0.0746182275179542 Centerline is valid? [True, True] Translation: X:151.87, Y:-29.05, Z:-18.96 [[ 9.63871701e-01 2.51111722e-01 8.88495798e-02 1.51872669e+02] [-2.49488137e-01 9.67940171e-01 -2.91117594e-02 -2.90500521e+01] [-9.33113815e-02 5.89308489e-03 9.95619535e-01 -1.89626064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.661193817 meters 0.07690378422969467 Centerline is valid? [True, True] Translation: X:151.93, Y:-29.07, Z:-18.97 [[ 9.64547034e-01 2.49089460e-01 8.71978268e-02 1.51928047e+02] [-2.47518729e-01 9.68462123e-01 -2.85586348e-02 -2.90709234e+01] [-9.15614474e-02 5.96305120e-03 9.95781574e-01 -1.89734305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.721193817 meters 0.07680521459536895 Centerline is valid? [True, True] Translation: X:151.98, Y:-29.09, Z:-18.98 [[ 9.65568080e-01 2.45557631e-01 8.59053761e-02 1.51984591e+02] [-2.44019540e-01 9.69362154e-01 -2.81332194e-02 -2.90892034e+01] [-9.01817471e-02 6.20194822e-03 9.95906014e-01 -1.89818871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.781193817 meters 0.08429086666198661 Centerline is valid? [True, True] Translation: X:152.04, Y:-29.12, Z:-18.99 [[ 9.67207480e-01 2.39171000e-01 8.54805469e-02 1.52037048e+02] [-2.37623341e-01 9.70953904e-01 -2.79940088e-02 -2.91173010e+01] [-8.96930258e-02 6.76384159e-03 9.95946490e-01 -1.89904441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.841193817 meters 0.08081361751331367 Centerline is valid? [True, True] Translation: X:152.10, Y:-29.13, Z:-19.00 [[ 9.67521304e-01 2.37990479e-01 8.52235796e-02 1.52095522e+02] [-2.36447908e-01 9.71243339e-01 -2.79063465e-02 -2.91295780e+01] [-8.94142787e-02 6.84904765e-03 9.95970972e-01 -1.89953898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.901193817 meters 0.07995106182981321 Centerline is valid? [True, True] Translation: X:152.15, Y:-29.14, Z:-19.00 [[ 9.66531950e-01 2.42242590e-01 8.44660746e-02 1.52153376e+02] [-2.40743865e-01 9.70194644e-01 -2.76540137e-02 -2.91421406e+01] [-8.86475131e-02 6.39379851e-03 9.96042538e-01 -1.90049667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.961193817 meters 0.07674250192875828 Centerline is valid? [True, True] Translation: X:152.21, Y:-29.15, Z:-19.01 [[ 9.64778895e-01 2.49274908e-01 8.40458462e-02 1.52213183e+02] [-2.47817740e-01 9.68415889e-01 -2.75142323e-02 -2.91513946e+01] [-8.82499406e-02 5.71709895e-03 9.96081956e-01 -1.90143443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.021193817 meters 0.07164681957636099 Centerline is valid? [True, True] Translation: X:152.27, Y:-29.16, Z:-19.02 [[ 9.61856730e-01 2.60247333e-01 8.42790335e-02 1.52272853e+02] [-2.58824016e-01 9.65530437e-01 -2.75881208e-02 -2.91578646e+01] [-8.85537069e-02 4.72238176e-03 9.96060209e-01 -1.90241001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.081193817 meters 0.06488532034722848 Centerline is valid? [True, True] Translation: X:152.33, Y:-29.16, Z:-19.03 [[ 9.57884321e-01 2.74078350e-01 8.56661330e-02 1.52334618e+02] [-2.72662700e-01 9.61700993e-01 -2.80402074e-02 -2.91590228e+01] [-9.00704189e-02 3.50131599e-03 9.95929245e-01 -1.90307651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14119381700002 meters 0.05977211882127583 Centerline is valid? [True, True] Translation: X:152.40, Y:-29.16, Z:-19.04 [[ 9.55073685e-01 2.83633364e-01 8.59439951e-02 1.52395844e+02] [-2.82247137e-01 9.58929254e-01 -2.81289824e-02 -2.91649451e+01] [-9.03925290e-02 2.60780430e-03 9.95902802e-01 -1.90354613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20119381700002 meters 0.05556466942963882 Centerline is valid? [True, True] Translation: X:152.46, Y:-29.17, Z:-19.04 [[ 9.52069787e-01 2.93218113e-01 8.70991305e-02 1.52457341e+02] [-2.91834350e-01 9.56044026e-01 -2.85049562e-02 -2.91711050e+01] [-9.16287728e-02 1.72018946e-03 9.95791750e-01 -1.90373702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.261193817 meters 0.05492338899331032 Centerline is valid? [True, True] Translation: X:152.51, Y:-29.19, Z:-19.05 [[ 9.49717077e-01 3.00373805e-01 8.83914615e-02 1.52513641e+02] [-2.98979454e-01 9.53820992e-01 -2.89275332e-02 -2.91853707e+01] [-9.29987047e-02 1.04574142e-03 9.95665681e-01 -1.90483524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.321193817 meters 0.05373735456388786 Centerline is valid? [True, True] Translation: X:152.57, Y:-29.20, Z:-19.05 [[ 9.46265940e-01 3.11534517e-01 8.67583801e-02 1.52570495e+02] [-3.10237702e-01 9.50234836e-01 -2.83958685e-02 -2.91973554e+01] [-9.12871282e-02 -4.56772947e-05 9.95824612e-01 -1.90541489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.381193817 meters 0.054328723701674186 Centerline is valid? [True, True] Translation: X:152.63, Y:-29.22, Z:-19.06 [[ 9.44166017e-01 3.17888094e-01 8.65892097e-02 1.52626058e+02] [-3.16626031e-01 9.48127989e-01 -2.83067674e-02 -2.92156320e+01] [-9.10960376e-02 -6.90109965e-04 9.95841873e-01 -1.90623558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.441193817 meters 0.05411094855188464 Centerline is valid? [True, True] Translation: X:152.68, Y:-29.24, Z:-19.07 [[ 9.44353897e-01 3.16790440e-01 8.85411441e-02 1.52678718e+02] [-3.15468717e-01 9.48495348e-01 -2.89147596e-02 -2.92441220e+01] [-9.31407827e-02 -6.26195224e-04 9.95652752e-01 -1.90679869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.501193817 meters 0.054127512111176466 Centerline is valid? [True, True] Translation: X:152.73, Y:-29.28, Z:-19.08 [[ 9.46134803e-01 3.11358015e-01 8.87982095e-02 1.52728024e+02] [-3.10007119e-01 9.50292678e-01 -2.89726225e-02 -2.92788044e+01] [-9.34051465e-02 -1.16070647e-04 9.95628176e-01 -1.90765884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.561193817 meters 0.05513614181685173 Centerline is valid? [True, True] Translation: X:152.77, Y:-29.33, Z:-19.08 [[ 9.50266048e-01 2.98333324e-01 8.93961159e-02 1.52773100e+02] [-2.96909063e-01 9.54461058e-01 -2.91392751e-02 -2.93295422e+01] [-9.40183281e-02 1.14754679e-03 9.95569805e-01 -1.90829319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.621193817 meters 0.060110534075755034 Centerline is valid? [True, True] Translation: X:152.82, Y:-29.38, Z:-19.09 [[ 9.55235980e-01 2.81742390e-01 9.02521337e-02 1.52817857e+02] [-2.80219904e-01 9.59486071e-01 -2.93817293e-02 -2.93838555e+01] [-9.48737437e-02 2.77604079e-03 9.95485443e-01 -1.90897896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.681193817 meters 0.06497397687477446 Centerline is valid? [True, True] Translation: X:152.87, Y:-29.42, Z:-19.10 [[ 9.58802248e-01 2.69973690e-01 8.83880957e-02 1.52866928e+02] [-2.68463583e-01 9.62859960e-01 -2.87750304e-02 -2.94242850e+01] [-9.28738595e-02 3.86057897e-03 9.95670398e-01 -1.90985978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.741193817 meters 0.07087597479213528 Centerline is valid? [True, True] Translation: X:152.92, Y:-29.47, Z:-19.11 [[ 9.63105403e-01 2.55806265e-01 8.36130184e-02 1.52915610e+02] [-2.54402068e-01 9.66715428e-01 -2.72189242e-02 -2.94681513e+01] [-8.77927662e-02 4.94336817e-03 9.96126495e-01 -1.91088680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.801193817 meters 0.07715821065487635 Centerline is valid? [True, True] Translation: X:152.97, Y:-29.50, Z:-19.12 [[ 9.64210073e-01 2.52451016e-01 8.10396154e-02 1.52966723e+02] [-2.51120363e-01 9.67596309e-01 -2.63807748e-02 -2.95000789e+01] [-8.50734862e-02 5.08591116e-03 9.96361699e-01 -1.91217605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86119381700001 meters 0.06916722256390553 Centerline is valid? [True, True] Translation: X:153.03, Y:-29.51, Z:-19.12 [[ 9.62683212e-01 2.57377767e-01 8.36523720e-02 1.53027647e+02] [-2.55978490e-01 9.66298949e-01 -2.72278113e-02 -2.95106598e+01] [-8.78410324e-02 4.79854897e-03 9.96122948e-01 -1.91183945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92119381700002 meters 0.06516839781792177 Centerline is valid? [True, True] Translation: X:153.09, Y:-29.52, Z:-19.12 [[ 9.60216958e-01 2.65679634e-01 8.60100362e-02 1.53087554e+02] [-2.64233270e-01 9.64052423e-01 -2.79947251e-02 -2.95228680e+01] [-9.03558121e-02 4.15429658e-03 9.95900883e-01 -1.91223089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98119381700002 meters 0.06065187413780886 Centerline is valid? [True, True] Translation: X:153.15, Y:-29.53, Z:-19.13 [[ 9.56319087e-01 2.78093716e-01 9.00982160e-02 1.53147885e+02] [-2.76560801e-01 9.60548856e-01 -2.93260827e-02 -2.95295637e+01] [-9.46991375e-02 3.12745782e-03 9.95501026e-01 -1.91270178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.041193817 meters 0.05734618682775049 Centerline is valid? [True, True] Translation: X:153.21, Y:-29.54, Z:-19.13 [[ 9.53100430e-01 2.87436663e-01 9.47614668e-02 1.53207399e+02] [-2.85786639e-01 9.57796854e-01 -3.08412700e-02 -2.95386929e+01] [-9.96271465e-02 2.31326660e-03 9.95022151e-01 -1.91312473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.101193817 meters 0.056308913368825465 Centerline is valid? [True, True] Translation: X:153.26, Y:-29.55, Z:-19.14 [[ 9.51940573e-01 2.91623842e-01 9.36198672e-02 1.53264979e+02] [-2.90033328e-01 9.56531282e-01 -3.04725431e-02 -2.95496583e+01] [-9.84368517e-02 1.85516853e-03 9.95141570e-01 -1.91407162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.161193817 meters 0.054753297018608676 Centerline is valid? [True, True] Translation: X:153.32, Y:-29.56, Z:-19.15 [[ 9.50754103e-01 2.96319040e-01 9.08936840e-02 1.53322516e+02] [-2.94844439e-01 9.55088132e-01 -2.95536261e-02 -2.95614528e+01] [-9.55687810e-02 1.29873399e-03 9.95421982e-01 -1.91481219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.221193817 meters 0.054256290889744145 Centerline is valid? [True, True] Translation: X:153.38, Y:-29.58, Z:-19.16 [[ 9.49799097e-01 2.99851513e-01 8.92790346e-02 1.53377359e+02] [-2.98444584e-01 9.53985436e-01 -2.90278785e-02 -2.95763928e+01] [-9.38749521e-02 9.25808478e-04 9.95583566e-01 -1.91575770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.281193817 meters 0.0540387274155096 Centerline is valid? [True, True] Translation: X:153.43, Y:-29.59, Z:-19.17 [[ 9.49393769e-01 3.01389405e-01 8.84075638e-02 1.53431852e+02] [-3.00019553e-01 9.53500858e-01 -2.87120467e-02 -2.95939535e+01] [-9.29501946e-02 7.35040515e-04 9.95670488e-01 -1.91653702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.341193817 meters 0.054479088578663536 Centerline is valid? [True, True] Translation: X:153.48, Y:-29.62, Z:-19.17 [[ 9.50514344e-01 2.98113477e-01 8.74690589e-02 1.53484629e+02] [-2.96762386e-01 9.54529906e-01 -2.83680229e-02 -2.96184105e+01] [-9.19487225e-02 1.00668600e-03 9.95763234e-01 -1.91737602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.401193817 meters 0.05525954509912254 Centerline is valid? [True, True] Translation: X:153.54, Y:-29.64, Z:-19.18 [[ 9.51068903e-01 2.96958787e-01 8.53429550e-02 1.53536372e+02] [-2.95669564e-01 9.54889692e-01 -2.76619972e-02 -2.96426511e+01] [-8.97075811e-02 1.07515114e-03 9.95967567e-01 -1.91846865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.461193817 meters 0.05491123050224884 Centerline is valid? [True, True] Translation: X:153.59, Y:-29.67, Z:-19.19 [[ 9.50029456e-01 3.01149036e-01 8.21784148e-02 1.53589155e+02] [-2.99970307e-01 9.53576868e-01 -2.66265434e-02 -2.96670817e+01] [-8.63819932e-02 6.44916215e-04 9.96261881e-01 -1.91948507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.521193817 meters 0.05469362205474457 Centerline is valid? [True, True] Translation: X:153.64, Y:-29.69, Z:-19.20 [[ 9.48770744e-01 3.05013703e-01 8.24664599e-02 1.53643585e+02] [-3.03841916e-01 9.52347919e-01 -2.67120082e-02 -2.96874141e+01] [-8.66842900e-02 2.86804778e-04 9.96235791e-01 -1.92016078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.581193817 meters 0.0543758253171011 Centerline is valid? [True, True] Translation: X:153.70, Y:-29.71, Z:-19.21 [[ 9.46497063e-01 3.11336369e-01 8.49292394e-02 1.53696706e+02] [-3.10118870e-01 9.50299729e-01 -2.75083998e-02 -2.97121456e+01] [-8.92725985e-02 -3.01540114e-04 9.96007185e-01 -1.92070569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64119381700002 meters 0.054395758572779 Centerline is valid? [True, True] Translation: X:153.75, Y:-29.73, Z:-19.21 [[ 9.45177474e-01 3.14888635e-01 8.65141026e-02 1.53751239e+02] [-3.13642652e-01 9.49128384e-01 -2.79928017e-02 -2.97345678e+01] [-9.09276056e-02 -6.76346917e-04 9.95857275e-01 -1.92128926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70119381700002 meters 0.05393738799590665 Centerline is valid? [True, True] Translation: X:153.80, Y:-29.77, Z:-19.21 [[ 9.43967147e-01 3.17546364e-01 8.99462707e-02 1.53803689e+02] [-3.16214623e-01 9.48242217e-01 -2.90690482e-02 -2.97660987e+01] [-9.45216218e-02 -1.00209953e-03 9.95522305e-01 -1.92131349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.761193817 meters 0.05349265347905849 Centerline is valid? [True, True] Translation: X:153.86, Y:-29.79, Z:-19.22 [[ 9.44247569e-01 3.16343526e-01 9.12321379e-02 1.53856617e+02] [-3.14969489e-01 9.48644266e-01 -2.94665603e-02 -2.97934743e+01] [-9.58684000e-02 -9.11611931e-04 9.95393600e-01 -1.92178931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.821193817 meters 0.05334256691815154 Centerline is valid? [True, True] Translation: X:153.91, Y:-29.83, Z:-19.23 [[ 9.47329291e-01 3.07507262e-01 8.94790404e-02 1.53905829e+02] [-3.06147001e-01 9.51545734e-01 -2.88916971e-02 -2.98307996e+01] [-9.40278058e-02 -2.37890147e-05 9.95569571e-01 -1.92267262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.881193817 meters 0.054667323765680696 Centerline is valid? [True, True] Translation: X:153.96, Y:-29.87, Z:-19.24 [[ 9.50864091e-01 2.97062984e-01 8.72414158e-02 1.53955307e+02] [-2.95726965e-01 9.54857388e-01 -2.81590330e-02 -2.98689786e+01] [-9.16681168e-02 9.75774164e-04 9.95789136e-01 -1.92368365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.941193817 meters 0.06038404048754767 Centerline is valid? [True, True] Translation: X:154.00, Y:-29.92, Z:-19.24 [[ 9.56899249e-01 2.77050797e-01 8.71015616e-02 1.54003222e+02] [-2.75636145e-01 9.60850924e-01 -2.81108003e-02 -2.99172917e+01] [-9.14797356e-02 2.89086508e-03 9.95802742e-01 -1.92425791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.001193817 meters 0.06504136580687249 Centerline is valid? [True, True] Translation: X:154.06, Y:-29.95, Z:-19.25 [[ 9.59730821e-01 2.66081639e-01 9.00961292e-02 1.54056100e+02] [-2.64519334e-01 9.63941882e-01 -2.90786937e-02 -2.99519645e+01] [-9.45847387e-02 4.07555045e-03 9.95508472e-01 -1.92463338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.061193817 meters 0.072264151561078 Centerline is valid? [True, True] Translation: X:154.11, Y:-29.99, Z:-19.25 [[ 9.62378301e-01 2.54882292e-01 9.41436307e-02 1.54107590e+02] [-2.53122463e-01 9.66956937e-01 -3.03858574e-02 -2.99860642e+01] [-9.87776538e-02 5.41282212e-03 9.95094808e-01 -1.92503012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.121193817 meters 0.07259309575220231 Centerline is valid? [True, True] Translation: X:154.17, Y:-30.00, Z:-19.26 [[ 9.63900609e-01 2.49471238e-01 9.30576033e-02 1.54165983e+02] [-2.47726901e-01 9.68364252e-01 -3.00342839e-02 -3.00024004e+01] [-9.76063464e-02 5.89719286e-03 9.95207629e-01 -1.92564953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.181193817 meters 0.0738953076588092 Centerline is valid? [True, True] Translation: X:154.23, Y:-30.02, Z:-19.27 [[ 9.64336606e-01 2.48154922e-01 9.20545778e-02 1.54225742e+02] [-2.46442722e-01 9.68702031e-01 -2.97045430e-02 -3.00163298e+01] [-9.65447850e-02 5.95899743e-03 9.95310803e-01 -1.92661772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.241193817 meters 0.07528746902158301 Centerline is valid? [True, True] Translation: X:154.29, Y:-30.02, Z:-19.28 [[ 9.64957214e-01 2.47251764e-01 8.78870872e-02 1.54286464e+02] [-2.45684765e-01 9.68933882e-01 -2.83923992e-02 -3.00228773e+01] [-9.21768474e-02 5.80493202e-03 9.95725731e-01 -1.92793205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.301193817 meters 0.07569016325844355 Centerline is valid? [True, True] Translation: X:154.35, Y:-30.03, Z:-19.29 [[ 9.65397596e-01 2.46508204e-01 8.50951682e-02 1.54346794e+02] [-2.45036465e-01 9.69124007e-01 -2.74916182e-02 -3.00326656e+01] [-8.92446798e-02 5.68892284e-03 9.95993486e-01 -1.92907477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36119381700001 meters 0.07651446074558553 Centerline is valid? [True, True] Translation: X:154.41, Y:-30.04, Z:-19.30 [[ 9.65923890e-01 2.45400631e-01 8.22773856e-02 1.54407605e+02] [-2.44020674e-01 9.69405566e-01 -2.65849420e-02 -3.00407797e+01] [-8.62841171e-02 5.60164755e-03 9.96254823e-01 -1.93019225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42119381700002 meters 0.07532089811927821 Centerline is valid? [True, True] Translation: X:154.47, Y:-30.04, Z:-19.31 [[ 9.65229755e-01 2.48810772e-01 8.01543558e-02 1.54471425e+02] [-2.47512649e-01 9.68538356e-01 -2.59025595e-02 -3.00402242e+01] [-8.40774038e-02 5.16270423e-03 9.96445852e-01 -1.93114578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48119381700002 meters 0.06871320690046863 Centerline is valid? [True, True] Translation: X:154.54, Y:-30.03, Z:-19.32 [[ 9.61511542e-01 2.62514313e-01 8.11282386e-02 1.54536307e+02] [-2.61232238e-01 9.64919723e-01 -2.62229994e-02 -3.00312272e+01] [-8.51661502e-02 4.02040523e-03 9.96358652e-01 -1.93171907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.541193817 meters 0.06089125625545781 Centerline is valid? [True, True] Translation: X:154.60, Y:-30.02, Z:-19.32 [[ 9.58004667e-01 2.74332397e-01 8.34793052e-02 1.54602937e+02] [-2.73019403e-01 9.61630069e-01 -2.69817676e-02 -3.00222475e+01] [-8.76781830e-02 3.05718920e-03 9.96144161e-01 -1.93171838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.601193817 meters 0.05741179003439503 Centerline is valid? [True, True] Translation: X:154.67, Y:-30.02, Z:-19.32 [[ 9.53840752e-01 2.87491029e-01 8.68143317e-02 1.54665026e+02] [-2.86124733e-01 9.57781393e-01 -2.80613563e-02 -3.00197085e+01] [-9.12165397e-02 1.92633769e-03 9.95829218e-01 -1.93246713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.661193817 meters 0.055668012961499806 Centerline is valid? [True, True] Translation: X:154.72, Y:-30.03, Z:-19.33 [[ 9.53085274e-01 2.89255880e-01 8.92160134e-02 1.54724208e+02] [-2.87820422e-01 9.57250109e-01 -2.88380632e-02 -3.00299130e+01] [-9.37436179e-02 1.80694268e-03 9.95594731e-01 -1.93270026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.721193817 meters 0.05710580910747645 Centerline is valid? [True, True] Translation: X:154.78, Y:-30.05, Z:-19.33 [[ 9.54397975e-01 2.84149322e-01 9.15623719e-02 1.54779949e+02] [-2.82616950e-01 9.58777189e-01 -2.95628425e-02 -3.00466570e+01] [-9.61881752e-02 2.33763880e-03 9.95360422e-01 -1.93336471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.781193817 meters 0.05894436557741562 Centerline is valid? [True, True] Translation: X:154.83, Y:-30.07, Z:-19.34 [[ 9.56327354e-01 2.77896064e-01 9.06188132e-02 1.54834902e+02] [-2.76368108e-01 9.60606689e-01 -2.92481964e-02 -3.00702529e+01] [-9.51769968e-02 2.92670031e-03 9.95456063e-01 -1.93421785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.841193817 meters 0.06299318763179063 Centerline is valid? [True, True] Translation: X:154.89, Y:-30.10, Z:-19.35 [[ 9.59085610e-01 2.69558816e-01 8.65611759e-02 1.54887761e+02] [-2.68131212e-01 9.62977259e-01 -2.79365755e-02 -3.00983322e+01] [-9.08869941e-02 3.58381457e-03 9.95854764e-01 -1.93548530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.901193817 meters 0.06525115857458817 Centerline is valid? [True, True] Translation: X:154.94, Y:-30.12, Z:-19.36 [[ 9.60727899e-01 2.63918278e-01 8.57265761e-02 1.54943238e+02] [-2.62495899e-01 9.64536432e-01 -2.76654104e-02 -3.01216782e+01] [-8.99878133e-02 4.07605695e-03 9.95934526e-01 -1.93625189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.961193817 meters 0.06941671772404374 Centerline is valid? [True, True] Translation: X:155.00, Y:-30.15, Z:-19.37 [[ 9.62618877e-01 2.57194291e-01 8.49470077e-02 1.54996642e+02] [-2.55771791e-01 9.66348477e-01 -2.74118749e-02 -3.01490038e+01] [-8.91385892e-02 4.66013990e-03 9.96008331e-01 -1.93724137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.021193817 meters 0.07035747109494364 Centerline is valid? [True, True] Translation: X:155.05, Y:-30.17, Z:-19.38 [[ 9.63551861e-01 2.53547947e-01 8.53302387e-02 1.55052425e+02] [-2.52098490e-01 9.67309803e-01 -2.75335596e-02 -3.01698346e+01] [-8.95218539e-02 5.01838829e-03 9.95972215e-01 -1.93787362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.081193817 meters 0.07318189569544098 Centerline is valid? [True, True] Translation: X:155.11, Y:-30.19, Z:-19.39 [[ 9.64843942e-01 2.48748900e-01 8.48537080e-02 1.55107656e+02] [-2.47297431e-01 9.68552786e-01 -2.73766774e-02 -3.01939029e+01] [-8.89952137e-02 5.43011737e-03 9.96017252e-01 -1.93863305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14119381700002 meters 0.07660803353942669 Centerline is valid? [True, True] Translation: X:155.16, Y:-30.22, Z:-19.39 [[ 9.65772640e-01 2.44608985e-01 8.63113629e-02 1.55162777e+02] [-2.43090489e-01 9.69603769e-01 -2.78486069e-02 -3.02179826e+01] [-9.04998423e-02 5.91395126e-03 9.95878910e-01 -1.93927092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20119381700002 meters 0.07607573633794526 Centerline is valid? [True, True] Translation: X:155.22, Y:-30.24, Z:-19.40 [[ 9.66179062e-01 2.42373551e-01 8.80515846e-02 1.55221815e+02] [-2.40784220e-01 9.70162914e-01 -2.84056154e-02 -3.02359709e+01] [-9.23091518e-02 6.24347875e-03 9.95710821e-01 -1.93969815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.261193817 meters 0.08036506443354219 Centerline is valid? [True, True] Translation: X:155.28, Y:-30.26, Z:-19.40 [[ 9.67947172e-01 2.34158607e-01 9.08186021e-02 1.55277915e+02] [-2.32429687e-01 9.72171233e-01 -2.93178228e-02 -3.02591574e+01] [-9.51562529e-02 7.26916440e-03 9.95435807e-01 -1.94008132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.321193817 meters 0.08400170693241865 Centerline is valid? [True, True] Translation: X:155.33, Y:-30.28, Z:-19.41 [[ 9.69230774e-01 2.28374185e-01 9.18528103e-02 1.55333926e+02] [-2.26579817e-01 9.73541164e-01 -2.96511217e-02 -3.02816218e+01] [-9.61940426e-02 7.92678663e-03 9.95331037e-01 -1.94070495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.381193817 meters 0.08748932105471918 Centerline is valid? [True, True] Translation: X:155.39, Y:-30.30, Z:-19.41 [[ 9.70319774e-01 2.23241981e-01 9.29653343e-02 1.55391049e+02] [-2.21380313e-01 9.74725650e-01 -3.00110791e-02 -3.03031442e+01] [-9.73154286e-02 8.53964873e-03 9.95216952e-01 -1.94144208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.441193817 meters 0.08849180210276301 Centerline is valid? [True, True] Translation: X:155.45, Y:-30.32, Z:-19.43 [[ 9.70642413e-01 2.23650533e-01 8.85084457e-02 1.55451024e+02] [-2.21965665e-01 9.74635876e-01 -2.85683964e-02 -3.03154589e+01] [-9.26528436e-02 8.08386119e-03 9.95665658e-01 -1.94265552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.501193817 meters 0.08424740026628981 Centerline is valid? [True, True] Translation: X:155.51, Y:-30.32, Z:-19.43 [[ 9.70177427e-01 2.26041128e-01 8.75281059e-02 1.55511969e+02] [-2.24400182e-01 9.74086538e-01 -2.82838128e-02 -3.03240929e+01] [-9.16532547e-02 7.79899380e-03 9.95760441e-01 -1.94346223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.561193817 meters 0.08121410378828336 Centerline is valid? [True, True] Translation: X:155.57, Y:-30.33, Z:-19.44 [[ 9.68493280e-01 2.32511041e-01 8.92153761e-02 1.55573535e+02] [-2.30832683e-01 9.72566120e-01 -2.88342485e-02 -3.03312739e+01] [-9.34721334e-02 7.33195123e-03 9.95594899e-01 -1.94410298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.621193817 meters 0.07910305285799756 Centerline is valid? [True, True] Translation: X:155.63, Y:-30.34, Z:-19.45 [[ 9.67160656e-01 2.37417220e-01 9.07376972e-02 1.55633518e+02] [-2.35702221e-01 9.71382719e-01 -2.93270581e-02 -3.03429689e+01] [-9.51037796e-02 6.97689993e-03 9.95442913e-01 -1.94475889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.681193817 meters 0.08154877925135294 Centerline is valid? [True, True] Translation: X:155.69, Y:-30.36, Z:-19.46 [[ 9.66343566e-01 2.41044511e-01 8.98757854e-02 1.55689145e+02] [-2.39377290e-01 9.70491893e-01 -2.90516481e-02 -3.03592469e+01] [-9.42264614e-02 6.55965130e-03 9.95529178e-01 -1.94588079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.741193817 meters 0.07984923260738132 Centerline is valid? [True, True] Translation: X:155.75, Y:-30.37, Z:-19.47 [[ 9.66564078e-01 2.41088554e-01 8.73509739e-02 1.55747296e+02] [-2.39514407e-01 9.70482238e-01 -2.82325041e-02 -3.03705583e+01] [-9.15791022e-02 6.36670758e-03 9.95777452e-01 -1.94680118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.801193817 meters 0.08175880691491907 Centerline is valid? [True, True] Translation: X:155.80, Y:-30.39, Z:-19.48 [[ 9.66806339e-01 2.40200035e-01 8.71174297e-02 1.55802469e+02] [-2.38630922e-01 9.70702106e-01 -2.81550106e-02 -3.03859400e+01] [-9.13279071e-02 6.43153020e-03 9.95800105e-01 -1.94755509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86119381700001 meters 0.07833106586452718 Centerline is valid? [True, True] Translation: X:155.86, Y:-30.39, Z:-19.48 [[ 9.67085808e-01 2.38526947e-01 8.85998612e-02 1.55862360e+02] [-2.36897798e-01 9.71112817e-01 -2.86239426e-02 -3.03917735e+01] [-9.28680425e-02 6.69269666e-03 9.95655932e-01 -1.94786380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92119381700002 meters 0.0883115548697474 Centerline is valid? [True, True] Translation: X:155.91, Y:-30.42, Z:-19.49 [[ 9.67691757e-01 2.35131554e-01 9.10264614e-02 1.55914584e+02] [-2.33397681e-01 9.71936865e-01 -2.93981929e-02 -3.04204008e+01] [-9.53844163e-02 7.20302397e-03 9.95414451e-01 -1.94878627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98119381700002 meters 0.08205338284493693 Centerline is valid? [True, True] Translation: X:155.98, Y:-30.42, Z:-19.49 [[ 9.68684845e-01 2.29712405e-01 9.42437326e-02 1.55978482e+02] [-2.27828459e-01 9.73225611e-01 -3.04319452e-02 -3.04221368e+01] [-9.87110095e-02 8.00755969e-03 9.95083924e-01 -1.94872651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.041193817 meters 0.0894722473690842 Centerline is valid? [True, True] Translation: X:156.03, Y:-30.44, Z:-19.49 [[ 9.68913212e-01 2.27730785e-01 9.66740800e-02 1.56032748e+02] [-2.25738176e-01 9.73687691e-01 -3.12178950e-02 -3.04448132e+01] [-1.01239637e-01 8.42440038e-03 9.94826400e-01 -1.94940833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.101193817 meters 0.09938418966340924 Centerline is valid? [True, True] Translation: X:156.09, Y:-30.47, Z:-19.51 [[ 9.69680971e-01 2.26242322e-01 9.23754637e-02 1.56086546e+02] [-2.24417594e-01 9.74036641e-01 -2.98222128e-02 -3.04657094e+01] [-9.67241331e-02 8.18735291e-03 9.95277554e-01 -1.95104775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.161193817 meters 0.08720795642771675 Centerline is valid? [True, True] Translation: X:156.15, Y:-30.46, Z:-19.52 [[ 9.69741787e-01 2.27228836e-01 8.92632172e-02 1.56150981e+02] [-2.25529226e-01 9.73810019e-01 -2.88204055e-02 -3.04572104e+01] [-9.34742424e-02 7.81688729e-03 9.95591012e-01 -1.95162416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.221193817 meters 0.08544181303643293 Centerline is valid? [True, True] Translation: X:156.21, Y:-30.46, Z:-19.52 [[ 9.68975461e-01 2.30298468e-01 8.97171705e-02 1.56212048e+02] [-2.28595427e-01 9.73090754e-01 -2.89571226e-02 -3.04630523e+01] [-9.39717301e-02 7.54980639e-03 9.95546239e-01 -1.95237580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.281193817 meters 0.08588576464943141 Centerline is valid? [True, True] Translation: X:156.27, Y:-30.47, Z:-19.53 [[ 9.68354767e-01 2.32750179e-01 9.00910592e-02 1.56271839e+02] [-2.31043358e-01 9.72508836e-01 -2.90780085e-02 -3.04666143e+01] [-9.43822628e-02 7.34288733e-03 9.95508950e-01 -1.95328860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.341193817 meters 0.08704666914122604 Centerline is valid? [True, True] Translation: X:156.33, Y:-30.48, Z:-19.54 [[ 9.68773886e-01 2.31493800e-01 8.88131626e-02 1.56330972e+02] [-2.29830544e-01 9.72808595e-01 -2.86593643e-02 -3.04765584e+01] [-9.30326731e-02 7.35246626e-03 9.95635909e-01 -1.95415622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.401193817 meters 0.09008238632973119 Centerline is valid? [True, True] Translation: X:156.39, Y:-30.49, Z:-19.55 [[ 9.69901999e-01 2.26673524e-01 8.89338281e-02 1.56390852e+02] [-2.24986062e-01 9.73939393e-01 -2.86937253e-02 -3.04859390e+01] [-9.31202664e-02 7.82122977e-03 9.95624148e-01 -1.95494982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.461193817 meters 0.08999624666061493 Centerline is valid? [True, True] Translation: X:156.45, Y:-30.49, Z:-19.55 [[ 9.71291237e-01 2.20225260e-01 8.99675928e-02 1.56451385e+02] [-2.18470864e-01 9.75411676e-01 -2.90266119e-02 -3.04928781e+01] [-9.41478336e-02 8.53799601e-03 9.95521616e-01 -1.95539300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.521193817 meters 0.09054264367277731 Centerline is valid? [True, True] Translation: X:156.51, Y:-30.50, Z:-19.56 [[ 9.71786393e-01 2.17383563e-01 9.15182652e-02 1.56510325e+02] [-2.15555692e-01 9.76045092e-01 -2.95249447e-02 -3.05043810e+01] [-9.57441912e-02 8.96465650e-03 9.95365604e-01 -1.95599499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.581193817 meters 0.09338787145354636 Centerline is valid? [True, True] Translation: X:156.57, Y:-30.52, Z:-19.57 [[ 9.72122577e-01 2.16293188e-01 9.05259763e-02 1.56567806e+02] [-2.14500281e-01 9.76287233e-01 -2.92039063e-02 -3.05152794e+01] [-9.46959610e-02 8.97192930e-03 9.95465810e-01 -1.95691455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64119381700002 meters 0.0848801342255953 Centerline is valid? [True, True] Translation: X:156.63, Y:-30.51, Z:-19.58 [[ 9.71999116e-01 2.17592632e-01 8.87195850e-02 1.56630090e+02] [-2.15876067e-01 9.76001185e-01 -2.86218616e-02 -3.05139319e+01] [-9.28183262e-02 8.66798908e-03 9.95645331e-01 -1.95750739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70119381700002 meters 0.09342544898513422 Centerline is valid? [True, True] Translation: X:156.68, Y:-30.53, Z:-19.59 [[ 9.71514336e-01 2.20160016e-01 8.76895836e-02 1.56684772e+02] [-2.18496506e-01 9.75428522e-01 -2.82573015e-02 -3.05313782e+01] [-9.17560489e-02 8.29250582e-03 9.95746987e-01 -1.95881870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.761193817 meters 0.08658050339570189 Centerline is valid? [True, True] Translation: X:156.75, Y:-30.53, Z:-19.59 [[ 9.70781942e-01 2.22924803e-01 8.88085163e-02 1.56748076e+02] [-2.21230538e-01 9.74801761e-01 -2.86107582e-02 -3.05297438e+01] [-9.29487457e-02 8.12765154e-03 9.95637721e-01 -1.95924523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.821193817 meters 0.09205719576202075 Centerline is valid? [True, True] Translation: X:156.80, Y:-30.55, Z:-19.60 [[ 9.70152168e-01 2.25084762e-01 9.02309277e-02 1.56803475e+02] [-2.23345094e-01 9.74305962e-01 -2.90665187e-02 -3.05491213e+01] [-9.44549613e-02 8.04631114e-03 9.95496618e-01 -1.96016033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.881193817 meters 0.08462906927403868 Centerline is valid? [True, True] Translation: X:156.87, Y:-30.55, Z:-19.60 [[ 9.69745162e-01 2.26274299e-01 9.16202117e-02 1.56866623e+02] [-2.24486108e-01 9.74030360e-01 -2.95100821e-02 -3.05488107e+01] [-9.59182410e-02 8.04979460e-03 9.95356666e-01 -1.96030445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.941193817 meters 0.08729439484571724 Centerline is valid? [True, True] Translation: X:156.92, Y:-30.56, Z:-19.61 [[ 9.70063044e-01 2.24418895e-01 9.28108299e-02 1.56922803e+02] [-2.22575666e-01 9.74457097e-01 -2.98904508e-02 -3.05622075e+01] [-9.71481539e-02 8.33818943e-03 9.95235003e-01 -1.96105750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.001193817 meters 0.09117259970532292 Centerline is valid? [True, True] Translation: X:156.98, Y:-30.58, Z:-19.62 [[ 9.71281278e-01 2.19439087e-01 9.19737220e-02 1.56979884e+02] [-2.17607851e-01 9.75586991e-01 -2.96115759e-02 -3.05778868e+01] [-9.62263039e-02 8.74696525e-03 9.95321048e-01 -1.96201980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.061193817 meters 0.09443587448452569 Centerline is valid? [True, True] Translation: X:157.04, Y:-30.60, Z:-19.63 [[ 9.71869021e-01 2.17433347e-01 9.05171034e-02 1.57035998e+02] [-2.15651372e-01 9.76035490e-01 -2.91411755e-02 -3.05971585e+01] [-9.46841686e-02 8.80126816e-03 9.95468455e-01 -1.96287497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.121193817 meters 0.0885915766854916 Centerline is valid? [True, True] Translation: X:157.10, Y:-30.60, Z:-19.63 [[ 9.72832244e-01 2.14063470e-01 8.81717416e-02 1.57098678e+02] [-2.12359495e-01 9.76779316e-01 -2.83833078e-02 -3.06001589e+01] [-9.22001629e-02 8.88809049e-03 9.95700824e-01 -1.96345761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.181193817 meters 0.08626947178349861 Centerline is valid? [True, True] Translation: X:157.16, Y:-30.60, Z:-19.64 [[ 9.74163615e-01 2.08834637e-01 8.59845668e-02 1.57160663e+02] [-2.07194330e-01 9.77908181e-01 -2.76784860e-02 -3.06041503e+01] [-8.98652379e-02 9.14785930e-03 9.95911922e-01 -1.96410446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.241193817 meters 0.09057148933713316 Centerline is valid? [True, True] Translation: X:157.22, Y:-30.62, Z:-19.65 [[ 9.74370011e-01 2.07661111e-01 8.64866720e-02 1.57216840e+02] [-2.05996871e-01 9.78156509e-01 -2.78412119e-02 -3.06195686e+01] [-9.03790382e-02 9.31165812e-03 9.95863908e-01 -1.96490912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.301193817 meters 0.08923013152986715 Centerline is valid? [True, True] Translation: X:157.28, Y:-30.63, Z:-19.65 [[ 9.73834573e-01 2.08263712e-01 9.09530120e-02 1.57278431e+02] [-2.06426150e-01 9.78024335e-01 -2.92684834e-02 -3.06251013e+01] [-9.50498221e-02 9.72758092e-03 9.95424987e-01 -1.96521546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36119381700001 meters 0.09162958656658658 Centerline is valid? [True, True] Translation: X:157.34, Y:-30.64, Z:-19.66 [[ 9.73382687e-01 2.09248063e-01 9.34954160e-02 1.57335219e+02] [-2.07310562e-01 9.77812455e-01 -3.00854396e-02 -3.06393875e+01] [-9.77163022e-02 9.90205883e-03 9.95165048e-01 -1.96570943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42119381700002 meters 0.08662126616759076 Centerline is valid? [True, True] Translation: X:157.40, Y:-30.64, Z:-19.66 [[ 9.72180724e-01 2.15411243e-01 9.19925843e-02 1.57398334e+02] [-2.13563626e-01 9.76480787e-01 -2.95947629e-02 -3.06392818e+01] [-9.62040357e-02 9.12518817e-03 9.95319805e-01 -1.96637645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48119381700002 meters 0.07922777044767183 Centerline is valid? [True, True] Translation: X:157.46, Y:-30.64, Z:-19.67 [[ 9.70506456e-01 2.23551254e-01 9.02333375e-02 1.57461277e+02] [-2.21808690e-01 9.74658043e-01 -2.90276527e-02 -3.06395139e+01] [-9.44358163e-02 8.15698599e-03 9.95497534e-01 -1.96716062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.541193817 meters 0.06765476399916642 Centerline is valid? [True, True] Translation: X:157.53, Y:-30.63, Z:-19.68 [[ 9.66124737e-01 2.41552076e-01 9.08602564e-02 1.57527853e+02] [-2.39863655e-01 9.70366451e-01 -2.92297264e-02 -3.06295748e+01] [-9.52282457e-02 6.44548854e-03 9.95434597e-01 -1.96763588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.601193817 meters 0.06014669638996699 Centerline is valid? [True, True] Translation: X:157.59, Y:-30.62, Z:-19.68 [[ 9.60643866e-01 2.62017825e-01 9.22497843e-02 1.57592611e+02] [-2.60370784e-01 9.65052604e-01 -2.96736531e-02 -3.06241566e+01] [-9.68009206e-02 4.48666418e-03 9.95293651e-01 -1.96808005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.661193817 meters 0.05691826083000613 Centerline is valid? [True, True] Translation: X:157.65, Y:-30.63, Z:-19.69 [[ 9.57389054e-01 2.73393816e-01 9.30699777e-02 1.57653056e+02] [-2.71770896e-01 9.61896302e-01 -2.99346748e-02 -3.06310871e+01] [-9.77076224e-02 3.36541872e-03 9.95209473e-01 -1.96868417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.721193817 meters 0.055137770949440425 Centerline is valid? [True, True] Translation: X:157.71, Y:-30.64, Z:-19.69 [[ 9.54897494e-01 2.81566588e-01 9.42922721e-02 1.57710833e+02] [-2.79940700e-01 9.59538278e-01 -3.03232218e-02 -3.06447137e+01] [-9.90150504e-02 2.55932380e-03 9.95082645e-01 -1.96944660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.781193817 meters 0.05478082613201335 Centerline is valid? [True, True] Translation: X:157.76, Y:-30.67, Z:-19.71 [[ 9.53525407e-01 2.86485543e-01 9.33559457e-02 1.57763287e+02] [-2.84915403e-01 9.58082419e-01 -3.00215094e-02 -3.06679379e+01] [-9.80434187e-02 2.02772503e-03 9.95180072e-01 -1.97057805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.841193817 meters 0.05500259442749514 Centerline is valid? [True, True] Translation: X:157.81, Y:-30.70, Z:-19.71 [[ 9.53790339e-01 2.85688232e-01 9.30925565e-02 1.57814820e+02] [-2.84123494e-01 9.58320313e-01 -2.99335628e-02 -3.06974948e+01] [-9.77641545e-02 2.10056055e-03 9.95207394e-01 -1.97141249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.901193817 meters 0.05584132756456979 Centerline is valid? [True, True] Translation: X:157.87, Y:-30.73, Z:-19.72 [[ 9.54747481e-01 2.82559993e-01 9.28283253e-02 1.57866147e+02] [-2.80992162e-01 9.59246659e-01 -2.98203268e-02 -3.07279716e+01] [-9.74712923e-02 2.38685005e-03 9.95235475e-01 -1.97218835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.961193817 meters 0.058024810958027875 Centerline is valid? [True, True] Translation: X:157.92, Y:-30.77, Z:-19.73 [[ 9.56923315e-01 2.75770911e-01 9.08194588e-02 1.57915939e+02] [-2.74243053e-01 9.61218772e-01 -2.91413836e-02 -3.07679108e+01] [-9.53337145e-02 2.97946368e-03 9.95440910e-01 -1.97310326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.021193817 meters 0.05905177506029076 Centerline is valid? [True, True] Translation: X:157.97, Y:-30.80, Z:-19.74 [[ 9.58099609e-01 2.71563523e-01 9.10955096e-02 1.57968641e+02] [-2.70007499e-01 9.62414486e-01 -2.92285388e-02 -3.07983986e+01] [-9.56090430e-02 3.40738083e-03 9.95413131e-01 -1.97379687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.081193817 meters 0.06432829664435066 Centerline is valid? [True, True] Translation: X:158.02, Y:-30.84, Z:-19.74 [[ 9.60495728e-01 2.62426308e-01 9.26303896e-02 1.58016801e+02] [-2.60775267e-01 9.64942065e-01 -2.97165224e-02 -3.08417932e+01] [-9.71813566e-02 4.38687822e-03 9.95257022e-01 -1.97447512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14119381700002 meters 0.06755249119509428 Centerline is valid? [True, True] Translation: X:158.07, Y:-30.88, Z:-19.75 [[ 9.63188460e-01 2.52351486e-01 9.26645459e-02 1.58067338e+02] [-2.50653018e-01 9.67620551e-01 -2.97243115e-02 -3.08794024e+01] [-9.71650931e-02 5.40346577e-03 9.95253610e-01 -1.97507439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20119381700002 meters 0.0659471943765288 Centerline is valid? [True, True] Translation: X:158.12, Y:-30.90, Z:-19.76 [[ 9.64365747e-01 2.48289115e-01 9.13850184e-02 1.58123353e+02] [-2.46619438e-01 9.68669028e-01 -2.93115637e-02 -3.09024533e+01] [-9.57995792e-02 5.72974615e-03 9.95384152e-01 -1.97565020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.261193817 meters 0.07263815278766124 Centerline is valid? [True, True] Translation: X:158.17, Y:-30.94, Z:-19.77 [[ 9.65350971e-01 2.44362948e-01 9.15655669e-02 1.58171575e+02] [-2.42669031e-01 9.69664450e-01 -2.93699824e-02 -3.09417488e+01] [-9.59648106e-02 6.13221361e-03 9.95365838e-01 -1.97668993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.321193817 meters 0.07369995493376652 Centerline is valid? [True, True] Translation: X:158.22, Y:-30.97, Z:-19.77 [[ 9.65395599e-01 2.43433380e-01 9.35496020e-02 1.58223907e+02] [-2.41660196e-01 9.69896731e-01 -3.00113408e-02 -3.09677544e+01] [-9.80392153e-02 6.36560115e-03 9.95162194e-01 -1.97728891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.381193817 meters 0.0679932445119745 Centerline is valid? [True, True] Translation: X:158.28, Y:-30.98, Z:-19.78 [[ 9.64476410e-01 2.47424973e-01 9.25534330e-02 1.58282652e+02] [-2.45711463e-01 9.68889344e-01 -2.96532555e-02 -3.09820843e+01] [-9.70109909e-02 5.85842598e-03 9.95266068e-01 -1.97766071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.441193817 meters 0.0649475572850127 Centerline is valid? [True, True] Translation: X:158.34, Y:-31.00, Z:-19.78 [[ 9.63104430e-01 2.53612551e-01 9.00584815e-02 1.58340162e+02] [-2.52017482e-01 9.67292487e-01 -2.88519362e-02 -3.09973507e+01] [-9.44301057e-02 5.09111583e-03 9.95518476e-01 -1.97846413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.501193817 meters 0.06266678692828467 Centerline is valid? [True, True] Translation: X:158.40, Y:-31.01, Z:-19.79 [[ 9.61255605e-01 2.61031327e-01 8.86019646e-02 1.58397554e+02] [-2.59519071e-01 9.65320799e-01 -2.83831943e-02 -3.10131854e+01] [-9.29382222e-02 4.28960500e-03 9.95662637e-01 -1.97934264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.561193817 meters 0.05857443077309816 Centerline is valid? [True, True] Translation: X:158.46, Y:-31.02, Z:-19.80 [[ 9.57731547e-01 2.73250288e-01 8.99142066e-02 1.58456079e+02] [-2.71746335e-01 9.61937810e-01 -2.88024188e-02 -3.10245544e+01] [-9.43621442e-02 3.15112907e-03 9.95532951e-01 -1.97983360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.621193817 meters 0.05722226438856635 Centerline is valid? [True, True] Translation: X:158.51, Y:-31.04, Z:-19.81 [[ 9.56263471e-01 2.78467466e-01 8.95323619e-02 1.58513011e+02] [-2.76999351e-01 9.60442083e-01 -2.86769170e-02 -3.10409555e+01] [-9.39762366e-02 2.62228204e-03 9.95570987e-01 -1.98064331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.681193817 meters 0.05583231622503503 Centerline is valid? [True, True] Translation: X:158.57, Y:-31.06, Z:-19.81 [[ 9.55107401e-01 2.82069858e-01 9.05894414e-02 1.58568363e+02] [-2.80583068e-01 9.59391127e-01 -2.90139118e-02 -3.10615681e+01] [-9.50946563e-02 2.29353853e-03 9.95465593e-01 -1.98130411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.741193817 meters 0.05701109691879436 Centerline is valid? [True, True] Translation: X:158.62, Y:-31.09, Z:-19.82 [[ 9.55728986e-01 2.79780061e-01 9.11329977e-02 1.58620420e+02] [-2.78266143e-01 9.60060802e-01 -2.91755068e-02 -3.10862951e+01] [-9.56559439e-02 2.52464977e-03 9.95411255e-01 -1.98215514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.801193817 meters 0.05716814666767254 Centerline is valid? [True, True] Translation: X:158.67, Y:-31.11, Z:-19.83 [[ 9.57029069e-01 2.75866508e-01 8.94037518e-02 1.58673923e+02] [-2.74394162e-01 9.61191750e-01 -2.86053108e-02 -3.11124296e+01] [-9.38253959e-02 2.84424641e-03 9.95584605e-01 -1.98271504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86119381700001 meters 0.05931187076104948 Centerline is valid? [True, True] Translation: X:158.73, Y:-31.15, Z:-19.84 [[ 9.59324027e-01 2.68460212e-01 8.73299826e-02 1.58725883e+02] [-2.67025567e-01 9.63284492e-01 -2.79344679e-02 -3.11463176e+01] [-9.16229111e-02 3.47886811e-03 9.95787698e-01 -1.98352597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92119381700002 meters 0.0652097870222686 Centerline is valid? [True, True] Translation: X:158.78, Y:-31.18, Z:-19.85 [[ 9.60753880e-01 2.63249461e-01 8.74740196e-02 1.58775669e+02] [-2.61788557e-01 9.64719577e-01 -2.79801571e-02 -3.11820748e+01] [-9.17536605e-02 3.98234719e-03 9.95773773e-01 -1.98476677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98119381700002 meters 0.06396901390435883 Centerline is valid? [True, True] Translation: X:158.83, Y:-31.20, Z:-19.85 [[ 9.61366490e-01 2.61083737e-01 8.72339112e-02 1.58831769e+02] [-2.59622291e-01 9.65307132e-01 -2.78999566e-02 -3.12003628e+01] [-9.14917415e-02 4.17421544e-03 9.95797086e-01 -1.98514525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.041193817 meters 0.06372370635166004 Centerline is valid? [True, True] Translation: X:158.89, Y:-31.23, Z:-19.86 [[ 9.62240148e-01 2.58048513e-01 8.66306088e-02 1.58885891e+02] [-2.56595580e-01 9.66121823e-01 -2.77007348e-02 -3.12262551e+01] [-9.08438552e-02 4.42572785e-03 9.95855314e-01 -1.98554919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.101193817 meters 0.06436793816784814 Centerline is valid? [True, True] Translation: X:158.94, Y:-31.25, Z:-19.86 [[ 9.62338015e-01 2.57787362e-01 8.63204499e-02 1.58939285e+02] [-2.56343432e-01 9.66191481e-01 -2.76055531e-02 -3.12492391e+01] [-9.05184460e-02 4.43819284e-03 9.95884890e-01 -1.98633487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.161193817 meters 0.06362119406493628 Centerline is valid? [True, True] Translation: X:158.99, Y:-31.27, Z:-19.87 [[ 9.62391519e-01 2.57981590e-01 8.51355573e-02 1.58994444e+02] [-2.56580258e-01 9.66140116e-01 -2.72001309e-02 -3.12673870e+01] [-8.92700102e-02 4.33307197e-03 9.95998037e-01 -1.98707814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.221193817 meters 0.06371269090203857 Centerline is valid? [True, True] Translation: X:159.05, Y:-31.29, Z:-19.88 [[ 9.62755633e-01 2.56378251e-01 8.58590892e-02 1.59049125e+02] [-2.54949128e-01 9.66566090e-01 -2.74032095e-02 -3.12895778e+01] [-9.00140711e-02 4.49289447e-03 9.95930359e-01 -1.98768487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.281193817 meters 0.06411066881506151 Centerline is valid? [True, True] Translation: X:159.11, Y:-31.31, Z:-19.88 [[ 9.62784666e-01 2.55588490e-01 8.78647311e-02 1.59105434e+02] [-2.54091137e-01 9.66774506e-01 -2.80133573e-02 -3.13074912e+01] [-9.21052737e-02 4.64518143e-03 9.95738440e-01 -1.98811387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.341193817 meters 0.06663121217294624 Centerline is valid? [True, True] Translation: X:159.16, Y:-31.33, Z:-19.89 [[ 9.63987348e-01 2.50778962e-01 8.85342001e-02 1.59160978e+02] [-2.49241914e-01 9.68030899e-01 -2.81894696e-02 -3.13305409e+01] [-9.27731672e-02 5.10785853e-03 9.95674168e-01 -1.98859485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.401193817 meters 0.06888131597237951 Centerline is valid? [True, True] Translation: X:159.21, Y:-31.35, Z:-19.89 [[ 9.64366516e-01 2.49039035e-01 8.93128339e-02 1.59214041e+02] [-2.47467306e-01 9.68478824e-01 -2.84376579e-02 -3.13535581e+01] [-9.35796752e-02 5.32231863e-03 9.95597568e-01 -1.98943662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.461193817 meters 0.06469202437682103 Centerline is valid? [True, True] Translation: X:159.27, Y:-31.36, Z:-19.90 [[ 9.63354338e-01 2.52726306e-01 8.98767663e-02 1.59274308e+02] [-2.51151736e-01 9.67524974e-01 -2.86047105e-02 -3.13619722e+01] [-9.41871789e-02 4.98376611e-03 9.95542032e-01 -1.98989089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.521193817 meters 0.062004999953538684 Centerline is valid? [True, True] Translation: X:159.33, Y:-31.37, Z:-19.91 [[ 9.61453607e-01 2.59407910e-01 9.11838714e-02 1.59333280e+02] [-2.57817134e-01 9.65757865e-01 -2.90184623e-02 -3.13730624e+01] [-9.55891596e-02 4.39114084e-03 9.95411187e-01 -1.99056724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.581193817 meters 0.05769809342945344 Centerline is valid? [True, True] Translation: X:159.39, Y:-31.38, Z:-19.91 [[ 9.57770796e-01 2.72133239e-01 9.28364292e-02 1.59394432e+02] [-2.70543590e-01 9.62254330e-01 -2.95426845e-02 -3.13786420e+01] [-9.73718024e-02 3.17881956e-03 9.95242999e-01 -1.99124233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64119381700002 meters 0.05410585808796902 Centerline is valid? [True, True] Translation: X:159.46, Y:-31.38, Z:-19.92 [[ 9.53258283e-01 2.88713251e-01 8.91252187e-02 1.59455102e+02] [-2.87320587e-01 9.57414552e-01 -2.83594068e-02 -3.13809411e+01] [-9.35175179e-02 1.42632932e-03 9.95616613e-01 -1.99244700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70119381700002 meters 0.05300539970712358 Centerline is valid? [True, True] Translation: X:159.51, Y:-31.39, Z:-19.93 [[ 9.49851454e-01 3.00386597e-01 8.68913540e-02 1.59514481e+02] [-2.99111140e-01 9.53817496e-01 -2.76533863e-02 -3.13870330e+01] [-9.11852003e-02 2.76437241e-04 9.95833913e-01 -1.99327338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.761193817 meters 0.054250792987532784 Centerline is valid? [True, True] Translation: X:159.57, Y:-31.39, Z:-19.94 [[ 9.44902875e-01 3.15946269e-01 8.56534380e-02 1.59574064e+02] [-3.14773542e-01 9.48776278e-01 -2.72248343e-02 -3.13944205e+01] [-8.98675349e-02 -1.23661188e-03 9.95952959e-01 -1.99406780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.821193817 meters 0.055004397125145654 Centerline is valid? [True, True] Translation: X:159.63, Y:-31.42, Z:-19.95 [[ 9.43858276e-01 3.19488748e-01 8.40148466e-02 1.59628117e+02] [-3.18374723e-01 9.47588809e-01 -2.67017691e-02 -3.14177520e+01] [-8.81424432e-02 -1.54551771e-03 9.96106682e-01 -1.99501444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.881193817 meters 0.05436404116071575 Centerline is valid? [True, True] Translation: X:159.68, Y:-31.46, Z:-19.96 [[ 9.45217889e-01 3.15031898e-01 8.55455767e-02 1.59676744e+02] [-3.13859358e-01 9.49080377e-01 -2.71798185e-02 -3.14563344e+01] [-8.97521379e-02 -1.15842909e-03 9.95963459e-01 -1.99579323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.941193817 meters 0.05376157701924718 Centerline is valid? [True, True] Translation: X:159.73, Y:-31.49, Z:-19.97 [[ 9.47150793e-01 3.09019935e-01 8.60932944e-02 1.59725940e+02] [-3.07807579e-01 9.51055376e-01 -2.73526279e-02 -3.14930912e+01] [-9.03319978e-02 -5.93105396e-04 9.95911531e-01 -1.99651360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.001193817 meters 0.054574015096569894 Centerline is valid? [True, True] Translation: X:159.77, Y:-31.55, Z:-19.98 [[ 9.51830268e-01 2.94777793e-01 8.44108609e-02 1.59767775e+02] [-2.93559277e-01 9.55565561e-01 -2.67844953e-02 -3.15497585e+01] [-8.85555860e-02 7.14702038e-04 9.96070980e-01 -1.99760468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.061193817 meters 0.05724090965619068 Centerline is valid? [True, True] Translation: X:159.81, Y:-31.60, Z:-19.98 [[ 9.55522431e-01 2.82090608e-01 8.60335583e-02 1.59813776e+02] [-2.80774126e-01 9.59385848e-01 -2.72889104e-02 -3.15956093e+01] [-9.02373236e-02 1.91916888e-03 9.95918442e-01 -1.99827196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.121193817 meters 0.06301210713489587 Centerline is valid? [True, True] Translation: X:159.86, Y:-31.65, Z:-19.99 [[ 9.59495668e-01 2.67637793e-01 8.79663277e-02 1.59859075e+02] [-2.66201611e-01 9.63513793e-01 -2.78903638e-02 -3.16482053e+01] [-9.22212855e-02 3.34390516e-03 9.95732922e-01 -1.99876243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.181193817 meters 0.06472683255237692 Centerline is valid? [True, True] Translation: X:159.91, Y:-31.68, Z:-19.99 [[ 9.61646483e-01 2.59770148e-01 8.80653816e-02 1.59911210e+02] [-2.58297993e-01 9.65661766e-01 -2.79195246e-02 -3.16846718e+01] [-9.22940310e-02 4.10160131e-03 9.95723349e-01 -1.99918290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.241193817 meters 0.06616484576531609 Centerline is valid? [True, True] Translation: X:159.97, Y:-31.71, Z:-20.00 [[ 9.62272406e-01 2.57299291e-01 8.84810223e-02 1.59965060e+02] [-2.55802664e-01 9.66321925e-01 -2.80523555e-02 -3.17089771e+01] [-9.27190030e-02 4.36032648e-03 9.95682768e-01 -1.99991671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.301193817 meters 0.06692686207722803 Centerline is valid? [True, True] Translation: X:160.02, Y:-31.73, Z:-20.01 [[ 9.63237957e-01 2.54136697e-01 8.71044072e-02 1.60019595e+02] [-2.52674170e-01 9.67157443e-01 -2.76087843e-02 -3.17333494e+01] [-9.12600810e-02 4.58479515e-03 9.95816538e-01 -2.00076163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36119381700001 meters 0.06863107703242455 Centerline is valid? [True, True] Translation: X:160.07, Y:-31.76, Z:-20.01 [[ 9.64365065e-01 2.49593969e-01 8.77660066e-02 1.60074672e+02] [-2.48090517e-01 9.68337407e-01 -2.78165634e-02 -3.17568748e+01] [-9.19299537e-02 5.05140799e-03 9.95752664e-01 -2.00144378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42119381700002 meters 0.07064856859329136 Centerline is valid? [True, True] Translation: X:160.13, Y:-31.78, Z:-20.02 [[ 9.65415920e-01 2.45286111e-01 8.83562465e-02 1.60130594e+02] [-2.43744600e-01 9.69435153e-01 -2.80009743e-02 -3.17780169e+01] [-9.25239014e-02 5.49622836e-03 9.95695294e-01 -2.00206782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48119381700002 meters 0.07206809316551413 Centerline is valid? [True, True] Translation: X:160.19, Y:-31.80, Z:-20.03 [[ 9.65805173e-01 2.44014804e-01 8.76193071e-02 1.60186295e+02] [-2.42493923e-01 9.69755516e-01 -2.77657610e-02 -3.17980976e+01] [-9.17445630e-02 5.56916612e-03 9.95767001e-01 -2.00288243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.541193817 meters 0.06841187479099918 Centerline is valid? [True, True] Translation: X:160.25, Y:-31.80, Z:-20.04 [[ 9.64174407e-01 2.50690422e-01 8.67296113e-02 1.60247120e+02] [-2.49227636e-01 9.68055014e-01 -2.74786387e-02 -3.18039128e+01] [-9.08476666e-02 4.87878416e-03 9.95852850e-01 -2.00368588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.601193817 meters 0.06556249747945622 Centerline is valid? [True, True] Translation: X:160.31, Y:-31.81, Z:-20.04 [[ 9.62401340e-01 2.57443707e-01 8.66394706e-02 1.60307688e+02] [-2.56011185e-01 9.66284009e-01 -2.74497173e-02 -3.18109184e+01] [-9.07850920e-02 4.23697115e-03 9.95861494e-01 -2.00446492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.661193817 meters 0.06119710275737843 Centerline is valid? [True, True] Translation: X:160.37, Y:-31.81, Z:-20.05 [[ 9.59031332e-01 2.68453907e-01 9.05063710e-02 1.60369586e+02] [-2.66938942e-01 9.63286738e-01 -2.86750965e-02 -3.18121989e+01] [-9.48815286e-02 3.34064104e-03 9.95482966e-01 -2.00472104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.721193817 meters 0.05836832481658499 Centerline is valid? [True, True] Translation: X:160.43, Y:-31.82, Z:-20.05 [[ 9.57185540e-01 2.74372092e-01 9.22810731e-02 1.60430756e+02] [-2.72824542e-01 9.61619507e-01 -2.92351249e-02 -3.18176092e+01] [-9.67605825e-02 2.80689731e-03 9.95303728e-01 -2.00507761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.781193817 meters 0.057474636685236995 Centerline is valid? [True, True] Translation: X:160.49, Y:-31.82, Z:-20.06 [[ 9.56244303e-01 2.78621809e-01 8.92564830e-02 1.60489806e+02] [-2.77192433e-01 9.60398142e-01 -2.82801039e-02 -3.18235134e+01] [-9.36012141e-02 2.30146660e-03 9.95607109e-01 -2.00614669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.841193817 meters 0.05724043493905803 Centerline is valid? [True, True] Translation: X:160.55, Y:-31.84, Z:-20.07 [[ 9.55795116e-01 2.80389580e-01 8.85289726e-02 1.60545804e+02] [-2.78994206e-01 9.59884038e-01 -2.80154828e-02 -3.18368909e+01] [-9.28327971e-02 2.07799115e-03 9.95679544e-01 -2.00702511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.901193817 meters 0.056453840622502444 Centerline is valid? [True, True] Translation: X:160.60, Y:-31.85, Z:-20.08 [[ 9.55010702e-01 2.83123265e-01 8.82936958e-02 1.60603248e+02] [-2.81747360e-01 9.59081834e-01 -2.79367185e-02 -3.18497864e+01] [-9.25904147e-02 1.80334950e-03 9.95702648e-01 -2.00775233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.961193817 meters 0.0558532227763921 Centerline is valid? [True, True] Translation: X:160.66, Y:-31.86, Z:-20.09 [[ 9.54171475e-01 2.86101822e-01 8.77641356e-02 1.60660475e+02] [-2.84757568e-01 9.58198081e-01 -2.77410360e-02 -3.18631628e+01] [-9.20321873e-02 1.47820343e-03 9.95754935e-01 -2.00856519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.021193817 meters 0.05505389223883813 Centerline is valid? [True, True] Translation: X:160.72, Y:-31.88, Z:-20.09 [[ 9.52021972e-01 2.93298574e-01 8.73505063e-02 1.60717676e+02] [-2.91999696e-01 9.56020596e-01 -2.75825638e-02 -3.18753710e+01] [-9.15988097e-02 7.52885507e-04 9.95795708e-01 -2.00940043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.081193817 meters 0.05504637948610594 Centerline is valid? [True, True] Translation: X:160.77, Y:-31.89, Z:-20.10 [[ 9.50312176e-01 2.99164739e-01 8.60652463e-02 1.60773969e+02] [-2.97930277e-01 9.54201464e-01 -2.71498902e-02 -3.18902474e+01] [-9.02458739e-02 1.59428554e-04 9.95919503e-01 -2.01037049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14119381700002 meters 0.05555017742799398 Centerline is valid? [True, True] Translation: X:160.83, Y:-31.91, Z:-20.11 [[ 9.48003600e-01 3.06563352e-01 8.54873440e-02 1.60828413e+02] [-3.05378338e-01 9.51850085e-01 -2.69348495e-02 -3.19085343e+01] [-8.96283734e-02 -5.71648782e-04 9.95975114e-01 -2.01128253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20119381700002 meters 0.055822052576750776 Centerline is valid? [True, True] Translation: X:160.88, Y:-31.93, Z:-20.12 [[ 9.47043798e-01 3.09122367e-01 8.68988274e-02 1.60881132e+02] [-3.07908947e-01 9.51021909e-01 -2.73753452e-02 -3.19343456e+01] [-9.11050202e-02 -8.31275486e-04 9.95840943e-01 -2.01191427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.261193817 meters 0.05598620791155874 Centerline is valid? [True, True] Translation: X:160.93, Y:-31.96, Z:-20.13 [[ 9.47220214e-01 3.08627576e-01 8.67345700e-02 1.60933174e+02] [-3.07418961e-01 9.51182616e-01 -2.72985864e-02 -3.19606339e+01] [-9.09255117e-02 -8.06078606e-04 9.95857370e-01 -2.01274941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.321193817 meters 0.05600908594234132 Centerline is valid? [True, True] Translation: X:160.98, Y:-31.99, Z:-20.14 [[ 9.47765405e-01 3.06994390e-01 8.65747202e-02 1.60984376e+02] [-3.05786164e-01 9.51711083e-01 -2.72182904e-02 -3.19893751e+01] [-9.07499833e-02 -6.76797583e-04 9.95873477e-01 -2.01358271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.381193817 meters 0.05577219956217414 Centerline is valid? [True, True] Translation: X:161.03, Y:-32.03, Z:-20.14 [[ 9.50736454e-01 2.98019030e-01 8.53513463e-02 1.61031599e+02] [-2.96811222e-01 9.54559917e-01 -2.68041640e-02 -3.20324173e+01] [-8.94611250e-02 1.50458429e-04 9.95990303e-01 -2.01432777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.441193817 meters 0.05602251553027787 Centerline is valid? [True, True] Translation: X:161.08, Y:-32.07, Z:-20.14 [[ 9.54100497e-01 2.86429407e-01 8.74667748e-02 1.61081725e+02] [-2.85115179e-01 9.58100550e-01 -2.74348565e-02 -3.20721835e+01] [-9.16601147e-02 1.23750505e-03 9.95789582e-01 -2.01425663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.501193817 meters 0.06586022273306914 Centerline is valid? [True, True] Translation: X:161.12, Y:-32.14, Z:-20.15 [[ 9.60124040e-01 2.64532618e-01 9.04672382e-02 1.61123695e+02] [-2.63030283e-01 9.64370621e-01 -2.83615087e-02 -3.21350909e+01] [-9.47464909e-02 3.43494307e-03 9.95495507e-01 -2.01521636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.561193817 meters 0.07230499006403476 Centerline is valid? [True, True] Translation: X:161.17, Y:-32.18, Z:-20.15 [[ 9.65560224e-01 2.44161504e-01 8.98811137e-02 1.61173697e+02] [-2.42589133e-01 9.69719464e-01 -2.81899635e-02 -3.21779335e+01] [-9.40423693e-02 5.41492600e-03 9.95553470e-01 -2.01543738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.621193817 meters 0.07779362236849727 Centerline is valid? [True, True] Translation: X:161.23, Y:-32.21, Z:-20.16 [[ 9.67549013e-01 2.35680501e-01 9.11241385e-02 1.61226779e+02] [-2.34026705e-01 9.71809994e-01 -2.85803387e-02 -3.22097676e+01] [-9.52911771e-02 6.32739661e-03 9.95429332e-01 -2.01620994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.681193817 meters 0.07825376871470881 Centerline is valid? [True, True] Translation: X:161.28, Y:-32.23, Z:-20.17 [[ 9.68574933e-01 2.31452815e-01 9.10614855e-02 1.61283663e+02] [-2.29782679e-01 9.72822787e-01 -2.85612530e-02 -3.22295619e+01] [-9.51972706e-02 6.73936162e-03 9.95435614e-01 -2.01692434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.741193817 meters 0.0832598823548065 Centerline is valid? [True, True] Translation: X:161.34, Y:-32.25, Z:-20.18 [[ 9.68737330e-01 2.31181422e-01 9.00174209e-02 1.61340324e+02] [-2.29548954e-01 9.72887718e-01 -2.82270344e-02 -3.22510940e+01] [-9.41024092e-02 6.68117705e-03 9.95540104e-01 -2.01799216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.801193817 meters 0.07868429988373196 Centerline is valid? [True, True] Translation: X:161.40, Y:-32.25, Z:-20.19 [[ 9.68529291e-01 2.32125223e-01 8.98270151e-02 1.61404765e+02] [-2.30501235e-01 9.72663512e-01 -2.81934805e-02 -3.22535435e+01] [-9.39158780e-02 6.60097379e-03 9.95558253e-01 -2.01862327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86119381700001 meters 0.07915130026593414 Centerline is valid? [True, True] Translation: X:161.47, Y:-32.26, Z:-20.20 [[ 9.68832857e-01 2.31826245e-01 8.72896747e-02 1.61467253e+02] [-2.30288664e-01 9.72735667e-01 -2.74308792e-02 -3.22606352e+01] [-9.12689777e-02 6.47411448e-03 9.95805232e-01 -2.01952303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92119381700002 meters 0.08008269028319355 Centerline is valid? [True, True] Translation: X:161.53, Y:-32.27, Z:-20.21 [[ 9.69417315e-01 2.30474944e-01 8.43289422e-02 1.61526031e+02] [-2.29034248e-01 9.73057311e-01 -2.65100370e-02 -3.22730222e+01] [-8.81667931e-02 6.38507298e-03 9.96085261e-01 -2.02062354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98119381700002 meters 0.08401812284940399 Centerline is valid? [True, True] Translation: X:161.59, Y:-32.29, Z:-20.22 [[ 9.70851971e-01 2.25215376e-01 8.20029517e-02 1.61585237e+02] [-2.23834511e-01 9.74286148e-01 -2.57801016e-02 -3.22866960e+01] [-8.57004152e-02 6.67357181e-03 9.96298601e-01 -2.02153546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.041193817 meters 0.08885270972014184 Centerline is valid? [True, True] Translation: X:161.64, Y:-32.30, Z:-20.22 [[ 9.71266660e-01 2.23340997e-01 8.22184485e-02 1.61642740e+02] [-2.21945861e-01 9.74716230e-01 -2.58516106e-02 -3.23024251e+01] [-8.59133807e-02 6.86076308e-03 9.96278988e-01 -2.02246586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.101193817 meters 0.08382795359612322 Centerline is valid? [True, True] Translation: X:161.71, Y:-32.30, Z:-20.23 [[ 9.70270344e-01 2.26929314e-01 8.41340990e-02 1.61707375e+02] [-2.25481362e-01 9.73888189e-01 -2.64565762e-02 -3.22993142e+01] [-8.79409780e-02 6.69936005e-03 9.96103159e-01 -2.02264084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.161193817 meters 0.08123128689925305 Centerline is valid? [True, True] Translation: X:161.77, Y:-32.30, Z:-20.23 [[ 9.68462803e-01 2.33498307e-01 8.69387130e-02 1.61769565e+02] [-2.31978140e-01 9.72336744e-01 -2.73386110e-02 -3.23026962e+01] [-9.09172245e-02 6.30854686e-03 9.95838471e-01 -2.02301548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.221193817 meters 0.07244679749929876 Centerline is valid? [True, True] Translation: X:161.84, Y:-32.29, Z:-20.23 [[ 9.65972337e-01 2.42753728e-01 8.92640547e-02 1.61838048e+02] [-2.41190090e-01 9.70071872e-01 -2.80696265e-02 -3.22888724e+01] [-9.34065551e-02 5.58487740e-03 9.95612387e-01 -2.02317064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.281193817 meters 0.07016364715043902 Centerline is valid? [True, True] Translation: X:161.90, Y:-32.29, Z:-20.24 [[ 9.64904940e-01 2.46596131e-01 9.02707300e-02 1.61899865e+02] [-2.45013690e-01 9.69103997e-01 -2.83854590e-02 -3.22911308e+01] [-9.44814696e-02 5.27170490e-03 9.95512662e-01 -2.02383704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.341193817 meters 0.06604660493976047 Centerline is valid? [True, True] Translation: X:161.96, Y:-32.29, Z:-20.24 [[ 9.63776677e-01 2.51392650e-01 8.90856435e-02 1.61963746e+02] [-2.49872077e-01 9.67873596e-01 -2.80115661e-02 -3.22852969e+01] [-9.32655440e-02 4.73687933e-03 9.95630002e-01 -2.02444848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.401193817 meters 0.06259073600475175 Centerline is valid? [True, True] Translation: X:162.03, Y:-32.28, Z:-20.25 [[ 9.61336371e-01 2.61344124e-01 8.67849652e-02 1.62025861e+02] [-2.59941878e-01 9.65238714e-01 -2.72845016e-02 -3.22803221e+01] [-9.08988524e-02 3.67053684e-03 9.95853366e-01 -2.02543591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.461193817 meters 0.059596848506813585 Centerline is valid? [True, True] Translation: X:162.09, Y:-32.28, Z:-20.27 [[ 9.58776316e-01 2.71562192e-01 8.36776613e-02 1.62086512e+02] [-2.70297913e-01 9.62417380e-01 -2.63025522e-02 -3.22808564e+01] [-8.76756143e-02 2.60036684e-03 9.96145684e-01 -2.02655750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.521193817 meters 0.05570645788784625 Centerline is valid? [True, True] Translation: X:162.15, Y:-32.28, Z:-20.27 [[ 9.54220152e-01 2.88160922e-01 8.01697236e-02 1.62150701e+02] [-2.87059077e-01 9.57581445e-01 -2.51964908e-02 -3.22751782e+01] [-8.40296838e-02 1.02955243e-03 9.96462720e-01 -2.02746609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.581193817 meters 0.0544278817945217 Centerline is valid? [True, True] Translation: X:162.21, Y:-32.28, Z:-20.28 [[ 9.50194912e-01 3.00873054e-01 8.12713622e-02 1.62210789e+02] [-2.99786200e-01 9.53664196e-01 -2.55506605e-02 -3.22814595e+01] [-8.51930935e-02 -8.59252443e-05 9.96364456e-01 -2.02786477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64119381700002 meters 0.05459702769564014 Centerline is valid? [True, True] Translation: X:162.27, Y:-32.30, Z:-20.29 [[ 9.48948527e-01 3.04660750e-01 8.17222135e-02 1.62266463e+02] [-3.03577774e-01 9.52460826e-01 -2.56692540e-02 -3.22973376e+01] [-8.56576211e-02 -4.50246876e-04 9.96324530e-01 -2.02864165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70119381700002 meters 0.05484038378258524 Centerline is valid? [True, True] Translation: X:162.32, Y:-32.32, Z:-20.29 [[ 9.48412688e-01 3.06326286e-01 8.17164634e-02 1.62319665e+02] [-3.05252413e-01 9.51926367e-01 -2.56350626e-02 -3.23208336e+01] [-8.56407497e-02 -6.31529008e-04 9.96325882e-01 -2.02947393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.761193817 meters 0.054742002456356964 Centerline is valid? [True, True] Translation: X:162.37, Y:-32.35, Z:-20.30 [[ 9.48798541e-01 3.05184550e-01 8.15090088e-02 1.62371470e+02] [-3.04114084e-01 9.52293068e-01 -2.55448061e-02 -3.23483252e+01] [-8.54163442e-02 -5.51162806e-04 9.96345193e-01 -2.03018216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.821193817 meters 0.05497245958872783 Centerline is valid? [True, True] Translation: X:162.42, Y:-32.38, Z:-20.31 [[ 9.50250838e-01 3.01333612e-01 7.88758471e-02 1.62423153e+02] [-3.00320522e-01 9.53518748e-01 -2.46896940e-02 -3.23784053e+01] [-8.26494337e-02 -2.26633229e-04 9.96578657e-01 -2.03122368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.881193817 meters 0.05560577121159753 Centerline is valid? [True, True] Translation: X:162.47, Y:-32.42, Z:-20.32 [[ 9.53922566e-01 2.90067650e-01 7.67625940e-02 1.62471727e+02] [-2.89074435e-01 9.57005889e-01 -2.39937374e-02 -3.24221685e+01] [-8.04220615e-02 6.98064023e-04 9.96760656e-01 -2.03202551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.941193817 meters 0.05748722670944832 Centerline is valid? [True, True] Translation: X:162.52, Y:-32.46, Z:-20.33 [[ 9.56931926e-01 2.79425956e-01 7.87554759e-02 1.62519398e+02] [-2.78344426e-01 9.60165853e-01 -2.46153565e-02 -3.24624496e+01] [-8.24964882e-02 1.63407274e-03 9.96590016e-01 -2.03263430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.001193817 meters 0.06288959013040603 Centerline is valid? [True, True] Translation: X:162.57, Y:-32.51, Z:-20.33 [[ 9.60617494e-01 2.65163319e-01 8.30809458e-02 1.62565038e+02] [-2.63907219e-01 9.64198827e-01 -2.59538411e-02 -3.25132784e+01] [-8.69885571e-02 3.00605242e-03 9.96204775e-01 -2.03318051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.061193817 meters 0.06315167251286632 Centerline is valid? [True, True] Translation: X:162.62, Y:-32.54, Z:-20.34 [[ 9.62301309e-01 2.59644655e-01 8.09990365e-02 1.62619578e+02] [-2.58431462e-01 9.65698187e-01 -2.53020042e-02 -3.25400208e+01] [-8.47901528e-02 3.41545233e-03 9.96392977e-01 -2.03362757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.121193817 meters 0.0644121064550481 Centerline is valid? [True, True] Translation: X:162.67, Y:-32.57, Z:-20.34 [[ 9.63429258e-01 2.55567201e-01 8.05572513e-02 1.62671858e+02] [-2.54353030e-01 9.66784007e-01 -2.51638559e-02 -3.25694749e+01] [-8.43125184e-02 3.75361402e-03 9.96432291e-01 -2.03430338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.181193817 meters 0.06951286361959191 Centerline is valid? [True, True] Translation: X:162.72, Y:-32.60, Z:-20.36 [[ 9.64253191e-01 2.52709328e-01 7.97105974e-02 1.62722820e+02] [-2.51511336e-01 9.67534158e-01 -2.48937814e-02 -3.25999757e+01] [-8.34136165e-02 3.95578929e-03 9.96507160e-01 -2.03555490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.241193817 meters 0.06783059319921891 Centerline is valid? [True, True] Translation: X:162.78, Y:-32.62, Z:-20.36 [[ 9.64669419e-01 2.49978904e-01 8.32073330e-02 1.62778989e+02] [-2.48663599e-01 9.68241414e-01 -2.59803679e-02 -3.26196696e+01] [-8.70593297e-02 4.37183149e-03 9.96193536e-01 -2.03555377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.301193817 meters 0.06946124099892434 Centerline is valid? [True, True] Translation: X:162.83, Y:-32.64, Z:-20.36 [[ 9.64891693e-01 2.48154067e-01 8.60440613e-02 1.62833476e+02] [-2.46740789e-01 9.68709250e-01 -2.68583623e-02 -3.26387566e+01] [-9.00166899e-02 4.68483110e-03 9.95929238e-01 -2.03605708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36119381700001 meters 0.06970899518802814 Centerline is valid? [True, True] Translation: X:162.89, Y:-32.65, Z:-20.37 [[ 9.64973086e-01 2.48012484e-01 8.55380118e-02 1.62889420e+02] [-2.46616204e-01 9.68745628e-01 -2.66900091e-02 -3.26545607e+01] [-8.94840304e-02 4.66008076e-03 9.95977355e-01 -2.03688055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42119381700002 meters 0.06999250879639274 Centerline is valid? [True, True] Translation: X:162.95, Y:-32.67, Z:-20.38 [[ 9.64893407e-01 2.48772157e-01 8.42207096e-02 1.62946569e+02] [-2.47422195e-01 9.68551528e-01 -2.62715514e-02 -3.26666217e+01] [-8.81077275e-02 4.51117389e-03 9.96100737e-01 -2.03784624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48119381700002 meters 0.06618505832939822 Centerline is valid? [True, True] Translation: X:163.01, Y:-32.67, Z:-20.38 [[ 9.64011433e-01 2.52136895e-01 8.43145534e-02 1.63007508e+02] [-2.50797561e-01 9.67682465e-01 -2.62912693e-02 -3.26722936e+01] [-8.82187138e-02 4.19919989e-03 9.96092277e-01 -2.03826925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.541193817 meters 0.0607640951858521 Centerline is valid? [True, True] Translation: X:163.07, Y:-32.67, Z:-20.39 [[ 9.60640042e-01 2.64969737e-01 8.34370880e-02 1.63070336e+02] [-2.63706405e-01 9.64252096e-01 -2.60159219e-02 -3.26711279e+01] [-8.73478190e-02 2.98904184e-03 9.96173391e-01 -2.03892125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.601193817 meters 0.0592478230882557 Centerline is valid? [True, True] Translation: X:163.13, Y:-32.68, Z:-20.40 [[ 9.57920252e-01 2.73536094e-01 8.69873358e-02 1.63128332e+02] [-2.72198035e-01 9.61858986e-01 -2.71205026e-02 -3.26809812e+01] [-9.10879869e-02 2.30149681e-03 9.95840189e-01 -2.03979339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.661193817 meters 0.05586808333164924 Centerline is valid? [True, True] Translation: X:163.19, Y:-32.68, Z:-20.40 [[ 9.55886505e-01 2.80353197e-01 8.76531532e-02 1.63189935e+02] [-2.79023320e-01 9.59895474e-01 -2.73251821e-02 -3.26843347e+01] [-9.17985672e-02 1.66249894e-03 9.95776209e-01 -2.04007179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.721193817 meters 0.055513251809774344 Centerline is valid? [True, True] Translation: X:163.25, Y:-32.70, Z:-20.41 [[ 9.55104337e-01 2.83604731e-01 8.56975047e-02 1.63245334e+02] [-2.82346870e-01 9.58940363e-01 -2.67137664e-02 -3.26975548e+01] [-8.97549468e-02 1.31801194e-03 9.95963008e-01 -2.04119036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.781193817 meters 0.05677447768527724 Centerline is valid? [True, True] Translation: X:163.30, Y:-32.73, Z:-20.42 [[ 9.57353457e-01 2.75783118e-01 8.61279849e-02 1.63298103e+02] [-2.74481937e-01 9.61217698e-01 -2.68366089e-02 -3.27273728e+01] [-9.01888271e-02 2.05154413e-03 9.95922571e-01 -2.04181833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.841193817 meters 0.05835870201910397 Centerline is valid? [True, True] Translation: X:163.35, Y:-32.75, Z:-20.43 [[ 9.59068120e-01 2.69925320e-01 8.56076152e-02 1.63351770e+02] [-2.68616745e-01 9.62877791e-01 -2.66721541e-02 -3.27526694e+01] [-8.96291612e-02 2.58477372e-03 9.95971853e-01 -2.04260852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.901193817 meters 0.05978398574153129 Centerline is valid? [True, True] Translation: X:163.41, Y:-32.78, Z:-20.43 [[ 9.60770628e-01 2.64121266e-01 8.46153427e-02 1.63406768e+02] [-2.62821419e-01 9.64484564e-01 -2.63520054e-02 -3.27770318e+01] [-8.85703169e-02 3.07950833e-03 9.96065166e-01 -2.04326023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.961193817 meters 0.06094566483625207 Centerline is valid? [True, True] Translation: X:163.46, Y:-32.80, Z:-20.44 [[ 9.61589350e-01 2.61447429e-01 8.36131784e-02 1.63460794e+02] [-2.60168221e-01 9.65212125e-01 -2.60394152e-02 -3.28002073e+01] [-8.75123918e-02 3.28573253e-03 9.96158012e-01 -2.04421851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.021193817 meters 0.06290655541241033 Centerline is valid? [True, True] Translation: X:163.52, Y:-32.82, Z:-20.45 [[ 9.62711259e-01 2.56528792e-01 8.59069943e-02 1.63515130e+02] [-2.55159367e-01 9.66529004e-01 -2.67466209e-02 -3.28249880e+01] [-8.98928800e-02 3.82929875e-03 9.95944078e-01 -2.04479931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.081193817 meters 0.06720929195552436 Centerline is valid? [True, True] Translation: X:163.57, Y:-32.85, Z:-20.46 [[ 9.64580818e-01 2.49212098e-01 8.64706639e-02 1.63568392e+02] [-2.47795702e-01 9.68438303e-01 -2.69173448e-02 -3.28529595e+01] [-9.04496310e-02 4.53689562e-03 9.95890697e-01 -2.04561312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14119381700002 meters 0.07047695152610302 Centerline is valid? [True, True] Translation: X:163.62, Y:-32.88, Z:-20.46 [[ 9.65698686e-01 2.44646091e-01 8.70306726e-02 1.63622069e+02] [-2.43192936e-01 9.69599575e-01 -2.70898419e-02 -3.28774802e+01] [-9.10123271e-02 4.99537998e-03 9.95837237e-01 -2.04635865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20119381700002 meters 0.07075103507959832 Centerline is valid? [True, True] Translation: X:163.68, Y:-32.89, Z:-20.47 [[ 9.66735082e-01 2.40819919e-01 8.61919236e-02 1.63680488e+02] [-2.39380006e-01 9.70555350e-01 -2.68239849e-02 -3.28919808e+01] [-9.01137824e-02 5.29906405e-03 9.95917379e-01 -2.04686920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.261193817 meters 0.06896551370795222 Centerline is valid? [True, True] Translation: X:163.74, Y:-32.90, Z:-20.47 [[ 9.65211162e-01 2.45813725e-01 8.91236532e-02 1.63739063e+02] [-2.44295156e-01 9.69304201e-01 -2.77352239e-02 -3.29043820e+01] [-9.32056302e-02 4.99787091e-03 9.95634336e-01 -2.04725721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.321193817 meters 0.06375481155937894 Centerline is valid? [True, True] Translation: X:163.80, Y:-32.91, Z:-20.47 [[ 9.62948582e-01 2.53587163e-01 9.17800607e-02 1.63801140e+02] [-2.52011780e-01 9.67302664e-01 -2.85590498e-02 -3.29085170e+01] [-9.60213056e-02 4.37123995e-03 9.95369681e-01 -2.04745755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.381193817 meters 0.05793904733149715 Centerline is valid? [True, True] Translation: X:163.86, Y:-32.90, Z:-20.48 [[ 9.58301137e-01 2.69215913e-01 9.58213128e-02 1.63864684e+02] [-2.67575933e-01 9.63075384e-01 -2.98148467e-02 -3.29048195e+01] [-1.00309779e-01 2.93212428e-03 9.94951934e-01 -2.04799632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.441193817 meters 0.05526466695103846 Centerline is valid? [True, True] Translation: X:163.92, Y:-32.91, Z:-20.49 [[ 9.55484646e-01 2.78774150e-01 9.66129612e-02 1.63924623e+02] [-2.77155445e-01 9.60354719e-01 -3.00611600e-02 -3.29107342e+01] [-1.01162988e-01 1.94616857e-03 9.94867962e-01 -2.04887293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.501193817 meters 0.053908214400936585 Centerline is valid? [True, True] Translation: X:163.98, Y:-32.92, Z:-20.51 [[ 9.52868075e-01 2.89649664e-01 9.02524464e-02 1.63981594e+02] [-2.88285960e-01 9.57132448e-01 -2.80835019e-02 -3.29151468e+01] [-9.45179218e-02 7.41359299e-04 9.95522884e-01 -2.05056631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.561193817 meters 0.05355438656789311 Centerline is valid? [True, True] Translation: X:164.04, Y:-32.93, Z:-20.51 [[ 9.51401653e-01 2.95179154e-01 8.77733498e-02 1.64039064e+02] [-2.93914642e-01 9.55441907e-01 -2.72936816e-02 -3.29264632e+01] [-9.19188626e-02 1.69381112e-04 9.95766486e-01 -2.05131479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.621193817 meters 0.054011782887544636 Centerline is valid? [True, True] Translation: X:164.09, Y:-32.94, Z:-20.52 [[ 9.49352322e-01 3.01717097e-01 8.77323292e-02 1.64094224e+02] [-3.00484756e-01 9.53397371e-01 -2.72463629e-02 -3.29411050e+01] [-9.18644656e-02 -4.95829645e-04 9.95771397e-01 -2.05239527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.681193817 meters 0.053807628636072524 Centerline is valid? [True, True] Translation: X:164.15, Y:-32.96, Z:-20.53 [[ 9.48573029e-01 3.04175759e-01 8.76716383e-02 1.64149890e+02] [-3.02955950e-01 9.52615644e-01 -2.72236617e-02 -3.29595612e+01] [-9.17981521e-02 -7.37013185e-04 9.95777363e-01 -2.05284228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.741193817 meters 0.054129835759591946 Centerline is valid? [True, True] Translation: X:164.20, Y:-32.98, Z:-20.54 [[ 9.47921139e-01 3.05619945e-01 8.96769983e-02 1.64201940e+02] [-3.04353470e-01 9.52153129e-01 -2.78097936e-02 -3.29844999e+01] [-9.38854621e-02 -9.32014398e-04 9.95582569e-01 -2.05377425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.801193817 meters 0.05307502804009062 Centerline is valid? [True, True] Translation: X:164.25, Y:-33.02, Z:-20.54 [[ 9.49793701e-01 2.99123734e-01 9.17437624e-02 1.64253782e+02] [-2.97768736e-01 9.54214283e-01 -2.84408460e-02 -3.30177951e+01] [-9.60505406e-02 -3.05487739e-04 9.95376411e-01 -2.05395364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86119381700001 meters 0.05506271602299885 Centerline is valid? [True, True] Translation: X:164.30, Y:-33.07, Z:-20.55 [[ 9.55687493e-01 2.79579146e-01 9.21787261e-02 1.64297961e+02] [-2.78121606e-01 9.60121220e-01 -2.85589716e-02 -3.30705308e+01] [-9.64872438e-02 1.65655663e-03 9.95332843e-01 -2.05468288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92119381700002 meters 0.05857197876278774 Centerline is valid? [True, True] Translation: X:164.35, Y:-33.11, Z:-20.55 [[ 9.59214957e-01 2.66722325e-01 9.36262123e-02 1.64349182e+02] [-2.65158261e-01 9.63768784e-01 -2.89970155e-02 -3.31081088e+01] [-9.79681722e-02 2.98860732e-03 9.95185061e-01 -2.05517256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.981193817 meters 0.061013444657719 Centerline is valid? [True, True] Translation: X:164.40, Y:-33.14, Z:-20.56 [[ 9.60519215e-01 2.61483047e-01 9.50234340e-02 1.64401525e+02] [-2.59846575e-01 9.65201456e-01 -2.94263103e-02 -3.31396418e+01] [-9.94112381e-02 3.57302265e-03 9.95040019e-01 -2.05562996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.041193817 meters 0.05738552367702931 Centerline is valid? [True, True] Translation: X:164.46, Y:-33.15, Z:-20.56 [[ 9.58736355e-01 2.67288077e-01 9.68591015e-02 1.64460152e+02] [-2.65617243e-01 9.63611912e-01 -2.99927186e-02 -3.31534676e+01] [-1.01351280e-01 3.02766218e-03 9.94846094e-01 -2.05600771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.101193817 meters 0.05808345985736087 Centerline is valid? [True, True] Translation: X:164.51, Y:-33.17, Z:-20.57 [[ 9.58346062e-01 2.68853925e-01 9.63866781e-02 1.64514710e+02] [-2.67207554e-01 9.63176760e-01 -2.98438097e-02 -3.31744109e+01] [-1.00861034e-01 2.84544908e-03 9.94896455e-01 -2.05700533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.161193817 meters 0.057686477742941375 Centerline is valid? [True, True] Translation: X:164.57, Y:-33.19, Z:-20.58 [[ 9.59272119e-01 2.65894504e-01 9.53788003e-02 1.64571973e+02] [-2.64268693e-01 9.63997098e-01 -2.95237581e-02 -3.31937224e+01] [-9.97950917e-02 3.11568702e-03 9.95003132e-01 -2.05766625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.221193817 meters 0.0612815364561418 Centerline is valid? [True, True] Translation: X:164.62, Y:-33.22, Z:-20.59 [[ 9.61718299e-01 2.58186810e-01 9.18557811e-02 1.64624678e+02] [-2.56644115e-01 9.66087654e-01 -2.84331377e-02 -3.32235408e+01] [-9.60817972e-02 3.77042321e-03 9.95366300e-01 -2.05901657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.281193817 meters 0.06179428251143095 Centerline is valid? [True, True] Translation: X:164.68, Y:-33.24, Z:-20.60 [[ 9.62087989e-01 2.58087280e-01 8.81910246e-02 1.64683595e+02] [-2.56665325e-01 9.66114800e-01 -2.72965965e-02 -3.32419267e+01] [-9.22475584e-02 3.62614968e-03 9.95729501e-01 -2.05996448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.341193817 meters 0.059947332614570324 Centerline is valid? [True, True] Translation: X:164.74, Y:-33.26, Z:-20.61 [[ 9.60737689e-01 2.62862678e-01 8.88048758e-02 1.64741751e+02] [-2.61440022e-01 9.64827945e-01 -2.74982038e-02 -3.32568066e+01] [-9.29096773e-02 3.20141210e-03 9.95669394e-01 -2.06063818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.401193817 meters 0.05549104373529649 Centerline is valid? [True, True] Translation: X:164.80, Y:-33.26, Z:-20.61 [[ 9.57692955e-01 2.72640751e-01 9.21478448e-02 1.64804288e+02] [-2.71153921e-01 9.62113069e-01 -2.85305652e-02 -3.32609096e+01] [-9.64352405e-02 2.33727180e-03 9.95336517e-01 -2.06080534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.461193817 meters 0.05366413898422573 Centerline is valid? [True, True] Translation: X:164.86, Y:-33.27, Z:-20.61 [[ 9.55887554e-01 2.78147436e-01 9.44086269e-02 1.64863605e+02] [-2.76613233e-01 9.60536655e-01 -2.92310310e-02 -3.32723562e+01] [-9.88134831e-02 1.82690322e-03 9.95104295e-01 -2.06120077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.521193817 meters 0.0533866124171038 Centerline is valid? [True, True] Translation: X:164.92, Y:-33.29, Z:-20.62 [[ 9.55088062e-01 2.81351074e-01 9.29965968e-02 1.64917331e+02] [-2.79877676e-01 9.59603774e-01 -2.87937952e-02 -3.32909279e+01] [-9.73410505e-02 1.47293862e-03 9.95249994e-01 -2.06227217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.581193817 meters 0.05345346239785487 Centerline is valid? [True, True] Translation: X:164.97, Y:-33.31, Z:-20.63 [[ 9.54925038e-01 2.82704872e-01 9.05324630e-02 1.64972247e+02] [-2.81315696e-01 9.59206073e-01 -2.80211993e-02 -3.33076110e+01] [-9.47610180e-02 1.28994195e-03 9.95499214e-01 -2.06336034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64119381700002 meters 0.05300333579384626 Centerline is valid? [True, True] Translation: X:165.03, Y:-33.32, Z:-20.64 [[ 9.54301613e-01 2.86288275e-01 8.57173001e-02 1.65028890e+02] [-2.85058922e-01 9.58143134e-01 -2.65168926e-02 -3.33241253e+01] [-8.97209181e-02 8.70632181e-04 9.95966565e-01 -2.06418428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70119381700002 meters 0.05361269349474115 Centerline is valid? [True, True] Translation: X:165.08, Y:-33.35, Z:-20.65 [[ 9.55340421e-01 2.83168993e-01 8.44985236e-02 1.65081055e+02] [-2.81962455e-01 9.59069346e-01 -2.61373898e-02 -3.33529829e+01] [-8.84412422e-02 1.14469383e-03 9.96080738e-01 -2.06505598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.761193817 meters 0.053842215244147125 Centerline is valid? [True, True] Translation: X:165.14, Y:-33.38, Z:-20.65 [[ 9.56131680e-01 2.79776712e-01 8.68170566e-02 1.65135129e+02] [-2.78489702e-01 9.60063940e-01 -2.68461783e-02 -3.33776953e+01] [-9.08608609e-02 1.49082540e-03 9.95862481e-01 -2.06546050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.821193817 meters 0.05456976254713172 Centerline is valid? [True, True] Translation: X:165.19, Y:-33.41, Z:-20.66 [[ 9.56883189e-01 2.76064246e-01 9.03498494e-02 1.65187223e+02] [-2.74654492e-01 9.61137287e-01 -2.79289236e-02 -3.34065246e+01] [-9.45487864e-02 1.90972542e-03 9.95518398e-01 -2.06594833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.881193817 meters 0.05529151906968024 Centerline is valid? [True, True] Translation: X:165.24, Y:-33.43, Z:-20.67 [[ 9.57825750e-01 2.73250141e-01 8.89055305e-02 1.65243192e+02] [-2.71874067e-01 9.61940627e-01 -2.74721882e-02 -3.34299796e+01] [-9.30286210e-02 2.14246104e-03 9.95661130e-01 -2.06674219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.941193817 meters 0.05831656982095785 Centerline is valid? [True, True] Translation: X:165.30, Y:-33.46, Z:-20.68 [[ 9.59989612e-01 2.66751884e-01 8.52254477e-02 1.65296874e+02] [-2.65461224e-01 9.63761550e-01 -2.63441372e-02 -3.34592513e+01] [-8.91643577e-02 2.66604633e-03 9.96013358e-01 -2.06795128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.001193817 meters 0.060902732246803516 Centerline is valid? [True, True] Translation: X:165.35, Y:-33.49, Z:-20.69 [[ 9.61396562e-01 2.61936848e-01 8.42955459e-02 1.65351610e+02] [-2.60655729e-01 9.65080103e-01 -2.60573527e-02 -3.34855763e+01] [-8.81773349e-02 3.07933232e-03 9.96100033e-01 -2.06884672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.061193817 meters 0.06193441562474428 Centerline is valid? [True, True] Translation: X:165.41, Y:-33.51, Z:-20.69 [[ 9.62227360e-01 2.59521227e-01 8.22632341e-02 1.65408662e+02] [-2.58292312e-01 9.65732027e-01 -2.54309418e-02 -3.35059897e+01] [-8.60441090e-02 3.22238706e-03 9.96286117e-01 -2.06949396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.121193817 meters 0.059344073063049604 Centerline is valid? [True, True] Translation: X:165.47, Y:-33.52, Z:-20.70 [[ 9.61349968e-01 2.62272146e-01 8.37828214e-02 1.65468842e+02] [-2.61007603e-01 9.64989183e-01 -2.59018812e-02 -3.35190673e+01] [-8.76428583e-02 3.03281931e-03 9.96147344e-01 -2.06979465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.181193817 meters 0.05680555630179695 Centerline is valid? [True, True] Translation: X:165.53, Y:-33.53, Z:-20.70 [[ 9.59053938e-01 2.69163123e-01 8.81292057e-02 1.65527714e+02] [-2.67792035e-01 9.63091266e-01 -2.72514243e-02 -3.35313518e+01] [-9.22115467e-02 2.53528649e-03 9.95736212e-01 -2.07026237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.241193817 meters 0.05609178381702738 Centerline is valid? [True, True] Translation: X:165.59, Y:-33.55, Z:-20.71 [[ 9.58261835e-01 2.72008069e-01 8.80106018e-02 1.65586976e+02] [-2.70653468e-01 9.62292341e-01 -2.72057231e-02 -3.35487579e+01] [-9.20921042e-02 2.24983157e-03 9.95747951e-01 -2.07102859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.301193817 meters 0.0566965629766037 Centerline is valid? [True, True] Translation: X:165.64, Y:-33.57, Z:-20.72 [[ 9.58545474e-01 2.70771591e-01 8.87317237e-02 1.65644049e+02] [-2.69386638e-01 9.62640590e-01 -2.74578409e-02 -3.35716720e+01] [-9.28515621e-02 2.41644835e-03 9.95677030e-01 -2.07181992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36119381700001 meters 0.05855429886182675 Centerline is valid? [True, True] Translation: X:165.70, Y:-33.60, Z:-20.73 [[ 9.59866739e-01 2.66657928e-01 8.68872400e-02 1.65699678e+02] [-2.65310027e-01 9.63787199e-01 -2.69225682e-02 -3.35972891e+01] [-9.09199259e-02 2.79002177e-03 9.95854298e-01 -2.07267075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42119381700002 meters 0.06254951539733544 Centerline is valid? [True, True] Translation: X:165.75, Y:-33.63, Z:-20.73 [[ 9.61856431e-01 2.58824510e-01 8.85555150e-02 1.65753483e+02] [-2.57390768e-01 9.65917644e-01 -2.74426190e-02 -3.36255986e+01] [-9.26401568e-02 3.60248753e-03 9.95693137e-01 -2.07333837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.481193817 meters 0.06191366621437372 Centerline is valid? [True, True] Translation: X:165.81, Y:-33.64, Z:-20.74 [[ 9.62718877e-01 2.55243730e-01 8.95712143e-02 1.65813231e+02] [-2.53760690e-01 9.66868470e-01 -2.77646031e-02 -3.36421166e+01] [-9.36903239e-02 3.99985435e-03 9.95593353e-01 -2.07374045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.541193817 meters 0.06609285301250903 Centerline is valid? [True, True] Translation: X:165.87, Y:-33.67, Z:-20.75 [[ 9.63025075e-01 2.54095709e-01 8.95437052e-02 1.65867760e+02] [-2.52608346e-01 9.67170332e-01 -2.77591778e-02 -3.36681861e+01] [-9.36575031e-02 4.11329697e-03 9.95595979e-01 -2.07499993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.601193817 meters 0.06340073776669201 Centerline is valid? [True, True] Translation: X:165.93, Y:-33.68, Z:-20.75 [[ 9.63319780e-01 2.53345618e-01 8.84929345e-02 1.65928775e+02] [-2.51887513e-01 9.67366879e-01 -2.74590954e-02 -3.36812971e+01] [-9.25617754e-02 4.16162448e-03 9.95698247e-01 -2.07548759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.661193817 meters 0.06990996344017358 Centerline is valid? [True, True] Translation: X:165.98, Y:-33.71, Z:-20.77 [[ 9.64953864e-01 2.48133591e-01 8.54035250e-02 1.65981695e+02] [-2.46752143e-01 9.68715216e-01 -2.65369668e-02 -3.37059095e+01] [-8.93164070e-02 4.53344583e-03 9.95992986e-01 -2.07698895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.721193817 meters 0.07062288175955103 Centerline is valid? [True, True] Translation: X:166.04, Y:-33.72, Z:-20.78 [[ 9.66806339e-01 2.41639657e-01 8.30408315e-02 1.66040165e+02] [-2.40309816e-01 9.70353214e-01 -2.58037371e-02 -3.37227841e+01] [-8.68141439e-02 4.99168960e-03 9.96212019e-01 -2.07754313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.781193817 meters 0.07536720534953995 Centerline is valid? [True, True] Translation: X:166.10, Y:-33.75, Z:-20.78 [[ 9.69809897e-01 2.28465629e-01 8.52773123e-02 1.66095902e+02] [-2.27011893e-01 9.73531313e-01 -2.65025184e-02 -3.37488375e+01] [-8.90750483e-02 6.34344058e-03 9.96004717e-01 -2.07772117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.841193817 meters 0.08239830205876303 Centerline is valid? [True, True] Translation: X:166.15, Y:-33.77, Z:-20.78 [[ 9.70581990e-01 2.22803725e-01 9.12639058e-02 1.66151018e+02] [-2.21112976e-01 9.74835606e-01 -2.83653388e-02 -3.37726444e+01] [-9.52872080e-02 7.35125318e-03 9.95422678e-01 -2.07810128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.901193817 meters 0.07637327226640889 Centerline is valid? [True, True] Translation: X:166.22, Y:-33.77, Z:-20.78 [[ 9.69833858e-01 2.23645709e-01 9.69787823e-02 1.66216337e+02] [-2.21740018e-01 9.74639871e-01 -3.01411083e-02 -3.37698693e+01] [-1.01260317e-01 7.72779049e-03 9.94829950e-01 -2.07818293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.961193817 meters 0.0723797160770224 Centerline is valid? [True, True] Translation: X:166.28, Y:-33.77, Z:-20.79 [[ 9.68525170e-01 2.29779111e-01 9.57107850e-02 1.66279835e+02] [-2.27952483e-01 9.73217662e-01 -2.97497480e-02 -3.37670217e+01] [-9.99832971e-02 6.99586865e-03 9.94964521e-01 -2.07909462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.021193817 meters 0.07361453250244507 Centerline is valid? [True, True] Translation: X:166.34, Y:-33.77, Z:-20.81 [[ 9.67678415e-01 2.34876878e-01 9.18223190e-02 1.66339321e+02] [-2.33218883e-01 9.72005332e-01 -2.85409770e-02 -3.37741141e+01] [-9.59553992e-02 6.20378869e-03 9.95366302e-01 -2.08053034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.081193817 meters 0.06975616180942389 Centerline is valid? [True, True] Translation: X:166.40, Y:-33.77, Z:-20.82 [[ 9.66870939e-01 2.39422272e-01 8.85300138e-02 1.66404040e+02] [-2.37900289e-01 9.70899702e-01 -2.75176353e-02 -3.37664841e+01] [-9.25420988e-02 5.54468598e-03 9.95693335e-01 -2.08164831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14119381700002 meters 0.07071736174660676 Centerline is valid? [True, True] Translation: X:166.47, Y:-33.78, Z:-20.82 [[ 9.66833898e-01 2.39724984e-01 8.81143917e-02 1.66465221e+02] [-2.38219369e-01 9.70825366e-01 -2.73795658e-02 -3.37780011e+01] [-9.21072526e-02 5.48093753e-03 9.95734007e-01 -2.08247198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20119381700002 meters 0.06958720119870039 Centerline is valid? [True, True] Translation: X:166.53, Y:-33.78, Z:-20.83 [[ 9.67126859e-01 2.37827973e-01 9.00194133e-02 1.66526418e+02] [-2.36244597e-01 9.71289842e-01 -2.80095076e-02 -3.37847795e+01] [-9.40963862e-02 5.82214709e-03 9.95546068e-01 -2.08291117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.261193817 meters 0.07070770386164049 Centerline is valid? [True, True] Translation: X:166.58, Y:-33.80, Z:-20.84 [[ 9.66971126e-01 2.38362719e-01 9.02776544e-02 1.66584046e+02] [-2.36772478e-01 9.71158957e-01 -2.80904478e-02 -3.37981758e+01] [-9.43696682e-02 5.78738796e-03 9.95520403e-01 -2.08367530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.321193817 meters 0.06979563033671891 Centerline is valid? [True, True] Translation: X:166.64, Y:-33.80, Z:-20.85 [[ 9.66182464e-01 2.42285519e-01 8.82562961e-02 1.66643867e+02] [-2.40782274e-01 9.70190620e-01 -2.74601095e-02 -3.38045967e+01] [-9.22786176e-02 5.28092462e-03 9.95719222e-01 -2.08464859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.381193817 meters 0.06816809387782218 Centerline is valid? [True, True] Translation: X:166.70, Y:-33.81, Z:-20.85 [[ 9.64797271e-01 2.47682506e-01 8.84285166e-02 1.66703107e+02] [-2.46196305e-01 9.68829512e-01 -2.75092128e-02 -3.38132753e+01] [-9.24857074e-02 4.77003946e-03 9.95702586e-01 -2.08546052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.441193817 meters 0.06382019753348302 Centerline is valid? [True, True] Translation: X:166.77, Y:-33.81, Z:-20.86 [[ 9.63576712e-01 2.52257919e-01 8.88023830e-02 1.66765754e+02] [-2.50778632e-01 9.67650269e-01 -2.76230618e-02 -3.38141491e+01] [-9.28977859e-02 4.34719887e-03 9.95666161e-01 -2.08578922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.501193817 meters 0.06245092253449444 Centerline is valid? [True, True] Translation: X:166.83, Y:-33.82, Z:-20.86 [[ 9.62673192e-01 2.54557260e-01 9.19832984e-02 1.66825782e+02] [-2.52980386e-01 9.67048263e-01 -2.86108570e-02 -3.38217135e+01] [-9.62353903e-02 4.27293475e-03 9.95349432e-01 -2.08611363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.561193817 meters 0.06057452020171958 Centerline is valid? [True, True] Translation: X:166.89, Y:-33.83, Z:-20.87 [[ 9.60999242e-01 2.59686534e-01 9.50965921e-02 1.66887120e+02] [-2.58026269e-01 9.65685158e-01 -2.95739671e-02 -3.38288629e+01] [-9.95133286e-02 3.88314115e-03 9.95028652e-01 -2.08660082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.621193817 meters 0.05888192860068072 Centerline is valid? [True, True] Translation: X:166.95, Y:-33.84, Z:-20.87 [[ 9.59432560e-01 2.65690225e-01 9.43285021e-02 1.66945837e+02] [-2.64085663e-01 9.64053031e-01 -2.93345417e-02 -3.38358731e+01] [-9.87315794e-02 3.23370944e-03 9.95108847e-01 -2.08749499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.681193817 meters 0.05656326095073299 Centerline is valid? [True, True] Translation: X:167.01, Y:-33.84, Z:-20.89 [[ 9.57257504e-01 2.74875956e-01 9.00071058e-02 1.67006721e+02] [-2.73456157e-01 9.61477231e-01 -2.79868504e-02 -3.38371417e+01] [-9.42326951e-02 2.17762534e-03 9.95547818e-01 -2.08873257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.741193817 meters 0.056250507520010484 Centerline is valid? [True, True] Translation: X:167.06, Y:-33.85, Z:-20.90 [[ 9.56433361e-01 2.78341584e-01 8.80976143e-02 1.67061934e+02] [-2.76996367e-01 9.60480474e-01 -2.73910943e-02 -3.38506443e+01] [-9.22401189e-02 1.79503729e-03 9.95735175e-01 -2.08972339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.801193817 meters 0.05690529687925502 Centerline is valid? [True, True] Translation: X:167.12, Y:-33.87, Z:-20.91 [[ 9.56634042e-01 2.77297403e-01 8.92045943e-02 1.67116552e+02] [-2.75914056e-01 9.60782226e-01 -2.77299286e-02 -3.38726087e+01] [-9.33956258e-02 1.91459223e-03 9.95627235e-01 -2.09057518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86119381700001 meters 0.05805596245024984 Centerline is valid? [True, True] Translation: X:167.17, Y:-33.90, Z:-20.91 [[ 9.57566801e-01 2.74189384e-01 8.88031714e-02 1.67170579e+02] [-2.72807419e-01 9.61673235e-01 -2.75808196e-02 -3.38950572e+01] [-9.29620011e-02 2.18431319e-03 9.95667261e-01 -2.09139115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92119381700002 meters 0.06107167927578474 Centerline is valid? [True, True] Translation: X:167.22, Y:-33.92, Z:-20.93 [[ 9.59325849e-01 2.68869435e-01 8.60415211e-02 1.67221942e+02] [-2.67553851e-01 9.63173167e-01 -2.66906010e-02 -3.39240218e+01] [-9.00491711e-02 2.58424314e-03 9.95933968e-01 -2.09260566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.981193817 meters 0.06443087098354841 Centerline is valid? [True, True] Translation: X:167.28, Y:-33.95, Z:-20.94 [[ 9.61021965e-01 2.62769872e-01 8.59579987e-02 1.67275063e+02] [-2.61432921e-01 9.64853399e-01 -2.66598183e-02 -3.39546024e+01] [-8.99422642e-02 3.14842031e-03 9.95942005e-01 -2.09354545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.041193817 meters 0.06901993154565343 Centerline is valid? [True, True] Translation: X:167.33, Y:-33.99, Z:-20.94 [[ 9.63457305e-01 2.53229959e-01 8.73190097e-02 1.67328738e+02] [-2.51811095e-01 9.67397406e-01 -2.70819191e-02 -3.39856659e+01] [-9.13301368e-02 4.10437735e-03 9.95812211e-01 -2.09415184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.101193817 meters 0.07121223273456678 Centerline is valid? [True, True] Translation: X:167.38, Y:-34.01, Z:-20.95 [[ 9.65632610e-01 2.45010281e-01 8.67388358e-02 1.67383478e+02] [-2.43577119e-01 9.69508347e-01 -2.69026366e-02 -3.40114904e+01] [-9.06854479e-02 4.85046751e-03 9.95867774e-01 -2.09474146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.161193817 meters 0.07742577929184898 Centerline is valid? [True, True] Translation: X:167.43, Y:-34.04, Z:-20.96 [[ 9.66369571e-01 2.41945763e-01 8.71326599e-02 1.67434450e+02] [-2.40487148e-01 9.70276047e-01 -2.70244967e-02 -3.40400140e+01] [-9.10811954e-02 5.16136640e-03 9.95830094e-01 -2.09585348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.221193817 meters 0.068676929523021 Centerline is valid? [True, True] Translation: X:167.50, Y:-34.04, Z:-20.96 [[ 9.65773993e-01 2.44515575e-01 8.65605493e-02 1.67495580e+02] [-2.43086940e-01 9.69633083e-01 -2.68407122e-02 -3.40444003e+01] [-9.04949445e-02 4.88032276e-03 9.95884957e-01 -2.09593596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.281193817 meters 0.06696925944248991 Centerline is valid? [True, True] Translation: X:167.55, Y:-34.06, Z:-20.97 [[ 9.64037657e-01 2.50500354e-01 8.87748219e-02 1.67553278e+02] [-2.49023474e-01 9.68106407e-01 -2.75189633e-02 -3.40592960e+01] [-9.28369840e-02 4.42230231e-03 9.95671501e-01 -2.09659816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.341193817 meters 0.06124943070917466 Centerline is valid? [True, True] Translation: X:167.62, Y:-34.06, Z:-20.97 [[ 9.60025166e-01 2.65066426e-01 8.99525990e-02 1.67615693e+02] [-2.63613400e-01 9.64225308e-01 -2.78842258e-02 -3.40610760e+01] [-9.41257446e-02 3.05684802e-03 9.95555624e-01 -2.09716043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.401193817 meters 0.05871694145280049 Centerline is valid? [True, True] Translation: X:167.68, Y:-34.07, Z:-20.98 [[ 9.57086548e-01 2.74922583e-01 9.16674031e-02 1.67675333e+02] [-2.73458445e-01 9.61464009e-01 -2.84154443e-02 -3.40708157e+01] [-9.59469563e-02 2.12881399e-03 9.95384172e-01 -2.09801289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.461193817 meters 0.056733129113693985 Centerline is valid? [True, True] Translation: X:167.74, Y:-34.08, Z:-20.99 [[ 9.53917724e-01 2.84770793e-01 9.45863136e-02 1.67735050e+02] [-2.83259857e-01 9.58594916e-01 -2.93196282e-02 -3.40811997e+01] [-9.90193330e-02 1.17600733e-03 9.95084815e-01 -2.09863068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.521193817 meters 0.05641831934539304 Centerline is valid? [True, True] Translation: X:167.79, Y:-34.10, Z:-20.99 [[ 9.53113796e-01 2.86848793e-01 9.63943017e-02 1.67791318e+02] [-2.85289616e-01 9.57975368e-01 -2.98835990e-02 -3.40968006e+01] [-1.00915441e-01 9.82177080e-04 9.94894522e-01 -2.09929340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.581193817 meters 0.05669720200152011 Centerline is valid? [True, True] Translation: X:167.84, Y:-34.12, Z:-21.00 [[ 9.52331753e-01 2.89696237e-01 9.56050336e-02 1.67844465e+02] [-2.88180351e-01 9.57118425e-01 -2.96041672e-02 -3.41157389e+01] [-1.00081555e-01 6.41496365e-04 9.94979030e-01 -2.10042560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64119381700002 meters 0.05675409942686813 Centerline is valid? [True, True] Translation: X:167.90, Y:-34.14, Z:-21.01 [[ 9.52455919e-01 2.89764384e-01 9.41505343e-02 1.67898811e+02] [-2.88295270e-01 9.57097810e-01 -2.91482249e-02 -3.41379631e+01] [-9.85573876e-02 6.19245588e-04 9.95131176e-01 -2.10124192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70119381700002 meters 0.05727313900594221 Centerline is valid? [True, True] Translation: X:167.95, Y:-34.16, Z:-21.02 [[ 9.52726078e-01 2.89895550e-01 9.09592790e-02 1.67950094e+02] [-2.88528488e-01 9.57058131e-01 -2.81255343e-02 -3.41637113e+01] [-9.52067848e-02 5.51586775e-04 9.95457364e-01 -2.10247635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.761193817 meters 0.05755367032495329 Centerline is valid? [True, True] Translation: X:168.00, Y:-34.19, Z:-21.03 [[ 9.52816049e-01 2.90213243e-01 8.89823004e-02 1.68003833e+02] [-2.88906900e-01 9.56961869e-01 -2.75097038e-02 -3.41873625e+01] [-9.31363489e-02 5.04086795e-04 9.95653236e-01 -2.10347931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.821193817 meters 0.05800747905255032 Centerline is valid? [True, True] Translation: X:168.06, Y:-34.21, Z:-21.04 [[ 9.53630147e-01 2.87890819e-01 8.77976044e-02 1.68055802e+02] [-2.86612427e-01 9.57662990e-01 -2.71093072e-02 -3.42147451e+01] [-9.18850370e-02 6.88368187e-04 9.95769384e-01 -2.10437497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.881193817 meters 0.058971244397782195 Centerline is valid? [True, True] Translation: X:168.10, Y:-34.25, Z:-21.05 [[ 9.55910755e-01 2.80256892e-01 8.76966501e-02 1.68104267e+02] [-2.78950255e-01 9.59923998e-01 -2.70679411e-02 -3.42543412e+01] [-9.17680960e-02 1.41153314e-03 9.95779405e-01 -2.10499011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.941193817 meters 0.059914871466111894 Centerline is valid? [True, True] Translation: X:168.15, Y:-34.29, Z:-21.06 [[ 9.57390986e-01 2.74674259e-01 8.91995040e-02 1.68154981e+02] [-2.73299145e-01 9.61535319e-01 -2.75210378e-02 -3.42866679e+01] [-9.33277942e-02 1.97024533e-03 9.95633487e-01 -2.10556973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.001193817 meters 0.059996018828857585 Centerline is valid? [True, True] Translation: X:168.21, Y:-34.32, Z:-21.06 [[ 9.57336461e-01 2.74181906e-01 9.12753124e-02 1.68206704e+02] [-2.72740773e-01 9.61675653e-01 -2.81497523e-02 -3.43176513e+01] [-9.54953985e-02 2.05428504e-03 9.95427752e-01 -2.10605391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.061193817 meters 0.05839160887703452 Centerline is valid? [True, True] Translation: X:168.26, Y:-34.34, Z:-21.07 [[ 9.54943918e-01 2.82225385e-01 9.18201837e-02 1.68263380e+02] [-2.80804942e-01 9.59347316e-01 -2.83074356e-02 -3.43370202e+01] [-9.60765238e-02 1.24845210e-03 9.95373168e-01 -2.10676920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.121193817 meters 0.057354441290904175 Centerline is valid? [True, True] Translation: X:168.32, Y:-34.35, Z:-21.07 [[ 9.52459701e-01 2.89803166e-01 9.39927861e-02 1.68319780e+02] [-2.88351323e-01 9.57086140e-01 -2.89764680e-02 -3.43513028e+01] [-9.83566650e-02 4.95973860e-04 9.95151104e-01 -2.10742946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.181193817 meters 0.056813802214186714 Centerline is valid? [True, True] Translation: X:168.38, Y:-34.37, Z:-21.08 [[ 9.49347077e-01 2.98713864e-01 9.75200200e-02 1.68376309e+02] [-2.97198424e-01 9.54342614e-01 -3.00544901e-02 -3.43668380e+01] [-1.02045204e-01 -4.50653988e-04 9.94779661e-01 -2.10782361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.241193817 meters 0.05701259064982721 Centerline is valid? [True, True] Translation: X:168.43, Y:-34.39, Z:-21.09 [[ 9.48882955e-01 3.00564428e-01 9.63439777e-02 1.68431565e+02] [-2.99095811e-01 9.53761292e-01 -2.96832293e-02 -3.43865622e+01] [-1.00810880e-01 -6.50169761e-04 9.94905394e-01 -2.10866258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.301193817 meters 0.0572362400108008 Centerline is valid? [True, True] Translation: X:168.48, Y:-34.42, Z:-21.10 [[ 9.49618154e-01 2.99369392e-01 9.27541290e-02 1.68484005e+02] [-2.98003678e-01 9.54137152e-01 -2.85675367e-02 -3.44165240e+01] [-9.70524065e-02 -5.12820053e-04 9.95279140e-01 -2.10989216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36119381700001 meters 0.05721075946529021 Centerline is valid? [True, True] Translation: X:168.54, Y:-34.44, Z:-21.11 [[ 9.50033039e-01 2.97957619e-01 9.30509676e-02 1.68536751e+02] [-2.96576705e-01 9.54579027e-01 -2.86555366e-02 -3.44437784e+01] [-9.73626376e-02 -3.73042870e-04 9.95248902e-01 -2.11065711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42119381700002 meters 0.057277784473102215 Centerline is valid? [True, True] Translation: X:168.59, Y:-34.47, Z:-21.12 [[ 9.50587777e-01 2.96452523e-01 9.21888253e-02 1.68589429e+02] [-2.95091088e-01 9.55047564e-01 -2.83795588e-02 -3.44728970e+01] [-9.64579049e-02 -2.26839039e-04 9.95337039e-01 -2.11161044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.481193817 meters 0.05740719062323863 Centerline is valid? [True, True] Translation: X:168.64, Y:-34.50, Z:-21.12 [[ 9.50609507e-01 2.96754752e-01 9.09845190e-02 1.68644202e+02] [-2.95430373e-01 9.54953691e-01 -2.80061289e-02 -3.44996167e+01] [-9.51969540e-02 -2.56698013e-04 9.95458424e-01 -2.11245107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.541193817 meters 0.05712599730934896 Centerline is valid? [True, True] Translation: X:168.70, Y:-34.53, Z:-21.13 [[ 9.50180534e-01 2.97965557e-01 9.15067205e-02 1.68698034e+02] [-2.96631917e-01 9.54576545e-01 -2.81624998e-02 -3.45308946e+01] [-9.57416240e-02 -3.84354869e-04 9.95406145e-01 -2.11320977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.601193817 meters 0.05701047445607281 Centerline is valid? [True, True] Translation: X:168.75, Y:-34.56, Z:-21.14 [[ 9.50297620e-01 2.97580053e-01 9.15453252e-02 1.68754947e+02] [-2.96242218e-01 9.54696811e-01 -2.81877070e-02 -3.45555361e+01] [-9.57861294e-02 -3.32879292e-04 9.95401882e-01 -2.11406295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.661193817 meters 0.05645723204456517 Centerline is valid? [True, True] Translation: X:168.81, Y:-34.59, Z:-21.15 [[ 9.51081501e-01 2.94061724e-01 9.47189635e-02 1.68810050e+02] [-2.92608847e-01 9.55786430e-01 -2.91952516e-02 -3.45873475e+01] [-9.91163060e-02 5.14570097e-05 9.95075854e-01 -2.11453483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.721193817 meters 0.05637468978350703 Centerline is valid? [True, True] Translation: X:168.87, Y:-34.62, Z:-21.15 [[ 9.52463184e-01 2.89411563e-01 9.51568697e-02 1.68866398e+02] [-2.87919273e-01 9.57204591e-01 -2.93575142e-02 -3.46182828e+01] [-9.95809966e-02 5.64454793e-04 9.95029299e-01 -2.11482619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.781193817 meters 0.057242806799079275 Centerline is valid? [True, True] Translation: X:168.92, Y:-34.65, Z:-21.16 [[ 9.54612135e-01 2.83339200e-01 9.18399078e-02 1.68920594e+02] [-2.81917247e-01 9.59019012e-01 -2.83760570e-02 -3.46510142e+01] [-9.61162670e-02 1.19687435e-03 9.95369394e-01 -2.11587837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.841193817 meters 0.057725410678187976 Centerline is valid? [True, True] Translation: X:168.98, Y:-34.68, Z:-21.17 [[ 9.55356627e-01 2.80806474e-01 9.18773085e-02 1.68977342e+02] [-2.79371363e-01 9.59763307e-01 -2.83907637e-02 -3.46758816e+01] [-9.61527797e-02 1.45541530e-03 9.95365523e-01 -2.11667776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.901193817 meters 0.05786193509421088 Centerline is valid? [True, True] Translation: X:169.03, Y:-34.70, Z:-21.17 [[ 9.55853640e-01 2.79133103e-01 9.18070276e-02 1.69034747e+02] [-2.77689500e-01 9.60250999e-01 -2.84000223e-02 -3.47008551e+01] [-9.60851763e-02 1.65241717e-03 9.95371744e-01 -2.11732312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.961193817 meters 0.058773220854976854 Centerline is valid? [True, True] Translation: X:169.09, Y:-34.73, Z:-21.18 [[ 9.57262048e-01 2.74179910e-01 9.20583943e-02 1.69090916e+02] [-2.72701879e-01 9.61675918e-01 -2.85151400e-02 -3.47280154e+01] [-9.63486194e-02 2.19196421e-03 9.95345236e-01 -2.11817365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.021193817 meters 0.059743549703873945 Centerline is valid? [True, True] Translation: X:169.15, Y:-34.75, Z:-21.19 [[ 9.58303828e-01 2.70002086e-01 9.35555817e-02 1.69148034e+02] [-2.68455192e-01 9.62856066e-01 -2.89828577e-02 -3.47540205e+01] [-9.79059914e-02 2.65890182e-03 9.95192116e-01 -2.11867746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.081193817 meters 0.06063228628323977 Centerline is valid? [True, True] Translation: X:169.20, Y:-34.78, Z:-21.19 [[ 9.58829750e-01 2.67911224e-01 9.41758247e-02 1.69204939e+02] [-2.66330336e-01 9.63439166e-01 -2.92083038e-02 -3.47751323e+01] [-9.85579105e-02 2.92391158e-03 9.95127022e-01 -2.11948468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14119381700002 meters 0.060016191581091186 Centerline is valid? [True, True] Translation: X:169.27, Y:-34.79, Z:-21.20 [[ 9.58127673e-01 2.70323769e-01 9.44268095e-02 1.69265183e+02] [-2.68743186e-01 9.62765656e-01 -2.93153771e-02 -3.47887279e+01] [-9.88355325e-02 2.71131243e-03 9.95100089e-01 -2.12030648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20119381700002 meters 0.05847029577790067 Centerline is valid? [True, True] Translation: X:169.33, Y:-34.80, Z:-21.21 [[ 9.56800962e-01 2.74446308e-01 9.59747029e-02 1.69325868e+02] [-2.72830118e-01 9.61599528e-01 -2.98341248e-02 -3.47998786e+01] [-1.00477094e-01 2.36052985e-03 9.94936572e-01 -2.12088247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.261193817 meters 0.057147294467979545 Centerline is valid? [True, True] Translation: X:169.39, Y:-34.81, Z:-21.22 [[ 9.55140938e-01 2.80576553e-01 9.47765102e-02 1.69387755e+02] [-2.79030741e-01 9.59830157e-01 -2.94603916e-02 -3.48059278e+01] [-9.92352478e-02 1.69326621e-03 9.95062560e-01 -2.12191339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.321193817 meters 0.05617460613003476 Centerline is valid? [True, True] Translation: X:169.45, Y:-34.82, Z:-21.23 [[ 9.54208263e-01 2.83760322e-01 9.46925014e-02 1.69449628e+02] [-2.82229582e-01 9.58894228e-01 -2.94673325e-02 -3.48169179e+01] [-9.91617527e-02 1.39294715e-03 9.95070353e-01 -2.12253998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.381193817 meters 0.05587219995756022 Centerline is valid? [True, True] Translation: X:169.51, Y:-34.83, Z:-21.23 [[ 9.53809380e-01 2.84600647e-01 9.61776400e-02 1.69509753e+02] [-2.83024173e-01 9.58645229e-01 -2.99439854e-02 -3.48327769e+01] [-1.00722313e-01 1.34025719e-03 9.94913674e-01 -2.12323505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.441193817 meters 0.055236089469765146 Centerline is valid? [True, True] Translation: X:169.57, Y:-34.84, Z:-21.24 [[ 9.53000896e-01 2.86864694e-01 9.74573697e-02 1.69570627e+02] [-2.85254270e-01 9.57970422e-01 -3.03755085e-02 -3.48444587e+01] [-1.02074939e-01 1.14775595e-03 9.94776050e-01 -2.12388899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.501193817 meters 0.05570492702723689 Centerline is valid? [True, True] Translation: X:169.63, Y:-34.86, Z:-21.25 [[ 9.53674527e-01 2.86125850e-01 9.29348973e-02 1.69629392e+02] [-2.84654830e-01 9.58191291e-01 -2.90013436e-02 -3.48620061e+01] [-9.73474433e-02 1.20347521e-03 9.95249731e-01 -2.12511095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.561193817 meters 0.056350743266943615 Centerline is valid? [True, True] Translation: X:169.69, Y:-34.88, Z:-21.26 [[ 9.54309304e-01 2.84253463e-01 9.21613800e-02 1.69687453e+02] [-2.82797853e-01 9.58748167e-01 -2.87632886e-02 -3.48832495e+01] [-9.65356185e-02 1.38603355e-03 9.95328565e-01 -2.12602789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.621193817 meters 0.056755682949324496 Centerline is valid? [True, True] Translation: X:169.75, Y:-34.90, Z:-21.27 [[ 9.55523605e-01 2.80150613e-01 9.21426833e-02 1.69745365e+02] [-2.78673550e-01 9.59954314e-01 -2.87883372e-02 -3.49038740e+01] [-9.65178366e-02 1.83020710e-03 9.95329572e-01 -2.12655600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.681193817 meters 0.05748834130907266 Centerline is valid? [True, True] Translation: X:169.80, Y:-34.93, Z:-21.27 [[ 9.55848437e-01 2.79010947e-01 9.22315374e-02 1.69801784e+02] [-2.77522549e-01 9.60285882e-01 -2.88489043e-02 -3.49250771e+01] [-9.66178034e-02 1.97884876e-03 9.95319589e-01 -2.12736754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.741193817 meters 0.05711234118840648 Centerline is valid? [True, True] Translation: X:169.86, Y:-34.94, Z:-21.28 [[ 9.56332473e-01 2.77819096e-01 9.08006123e-02 1.69861656e+02] [-2.76370106e-01 9.60631163e-01 -2.84136201e-02 -3.49422296e+01] [-9.51197440e-02 2.07829273e-03 9.95463668e-01 -2.12788864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.801193817 meters 0.05742239179822895 Centerline is valid? [True, True] Translation: X:169.92, Y:-34.96, Z:-21.29 [[ 9.56459603e-01 2.77201253e-01 9.13482011e-02 1.69920585e+02] [-2.75728779e-01 9.60809396e-01 -2.86172052e-02 -3.49599626e+01] [-9.57009351e-02 2.18387276e-03 9.95407736e-01 -2.12856694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86119381700001 meters 0.05729595785666635 Centerline is valid? [True, True] Translation: X:169.98, Y:-34.98, Z:-21.29 [[ 9.56273411e-01 2.77100080e-01 9.35772873e-02 1.69979764e+02] [-2.75550576e-01 9.60838349e-01 -2.93521436e-02 -3.49771012e+01] [-9.80461276e-02 2.28339916e-03 9.95179252e-01 -2.12907310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92119381700002 meters 0.05711975982694185 Centerline is valid? [True, True] Translation: X:170.04, Y:-34.99, Z:-21.30 [[ 9.56275101e-01 2.77128391e-01 9.34761219e-02 1.70039882e+02] [-2.75579318e-01 9.60830124e-01 -2.93515192e-02 -3.49937445e+01] [-9.79488131e-02 2.30804109e-03 9.95188778e-01 -2.12968910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.981193817 meters 0.059158133189973046 Centerline is valid? [True, True] Translation: X:170.10, Y:-35.02, Z:-21.30 [[ 9.57778649e-01 2.71569364e-01 9.43935380e-02 1.70096409e+02] [-2.69958363e-01 9.62414356e-01 -2.96831560e-02 -3.50150965e+01] [-9.89067318e-02 2.94756805e-03 9.95092343e-01 -2.13045392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.041193817 meters 0.061339967795968814 Centerline is valid? [True, True] Translation: X:170.15, Y:-35.04, Z:-21.31 [[ 9.59143419e-01 2.66792010e-01 9.41590474e-02 1.70153399e+02] [-2.65164174e-01 9.63747954e-01 -2.96283885e-02 -3.50372968e+01] [-9.86502066e-02 3.45026782e-03 9.95116190e-01 -2.13125820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.101193817 meters 0.06428977961755167 Centerline is valid? [True, True] Translation: X:170.21, Y:-35.06, Z:-21.32 [[ 9.61351923e-01 2.58953558e-01 9.35175689e-02 1.70209387e+02] [-2.57310348e-01 9.65880505e-01 -2.94318556e-02 -3.50597041e+01] [-9.79482804e-02 4.23133278e-03 9.95182511e-01 -2.13190800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.161193817 meters 0.06717811812142822 Centerline is valid? [True, True] Translation: X:170.27, Y:-35.08, Z:-21.33 [[ 9.62512924e-01 2.55112229e-01 9.21228663e-02 1.70265333e+02] [-2.53500211e-01 9.66900727e-01 -2.89935626e-02 -3.50803871e+01] [-9.64702788e-02 4.55351266e-03 9.95325450e-01 -2.13294230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.221193817 meters 0.06780923295556163 Centerline is valid? [True, True] Translation: X:170.33, Y:-35.09, Z:-21.34 [[ 9.63068832e-01 2.52794411e-01 9.27006550e-02 1.70325383e+02] [-2.51151782e-01 9.67508053e-01 -2.91710481e-02 -3.50942641e+01] [-9.70629081e-02 4.81179248e-03 9.95266617e-01 -2.13361328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.281193817 meters 0.06697241841715948 Centerline is valid? [True, True] Translation: X:170.39, Y:-35.10, Z:-21.34 [[ 9.62534052e-01 2.55146147e-01 9.18076340e-02 1.70387668e+02] [-2.53543069e-01 9.66891760e-01 -2.89177415e-02 -3.51019391e+01] [-9.61462952e-02 4.55712160e-03 9.95356782e-01 -2.13427590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.341193817 meters 0.06454271689950022 Centerline is valid? [True, True] Translation: X:170.45, Y:-35.11, Z:-21.35 [[ 9.61683362e-01 2.57498237e-01 9.41263506e-02 1.70448771e+02] [-2.55820339e-01 9.66268432e-01 -2.96861990e-02 -3.51111841e+01] [-9.85954651e-02 4.46928868e-03 9.95117561e-01 -2.13465576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.401193817 meters 0.06215629644432567 Centerline is valid? [True, True] Translation: X:170.51, Y:-35.11, Z:-21.35 [[ 9.60216626e-01 2.62016976e-01 9.65978028e-02 1.70511834e+02] [-2.60271663e-01 9.65054480e-01 -3.04714814e-02 -3.51121618e+01] [-1.01206188e-01 4.11755224e-03 9.94856951e-01 -2.13499203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.461193817 meters 0.060057994909615206 Centerline is valid? [True, True] Translation: X:170.57, Y:-35.12, Z:-21.36 [[ 9.58501498e-01 2.68490979e-01 9.58513023e-02 1.70572593e+02] [-2.66804802e-01 9.63276171e-01 -3.02360001e-02 -3.51180437e+01] [-1.00449369e-01 3.40766368e-03 9.94936336e-01 -2.13578828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.521193817 meters 0.05813304343773528 Centerline is valid? [True, True] Translation: X:170.63, Y:-35.12, Z:-21.37 [[ 9.56857332e-01 2.75850829e-01 9.12708404e-02 1.70634628e+02] [-2.74355800e-01 9.61197188e-01 -2.87899491e-02 -3.51228313e+01] [-9.56710064e-02 2.50718950e-03 9.95409852e-01 -2.13693270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.581193817 meters 0.057414523403387326 Centerline is valid? [True, True] Translation: X:170.70, Y:-35.14, Z:-21.38 [[ 9.56535354e-01 2.77289783e-01 9.02800769e-02 1.70695837e+02] [-2.75833934e-01 9.60783499e-01 -2.84729324e-02 -3.51354336e+01] [-9.46348615e-02 2.33305767e-03 9.95509317e-01 -2.13771002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64119381700002 meters 0.05940839141951028 Centerline is valid? [True, True] Translation: X:170.75, Y:-35.16, Z:-21.39 [[ 9.57658276e-01 2.73701521e-01 8.93202332e-02 1.70752468e+02] [-2.72257161e-01 9.61810895e-01 -2.82106433e-02 -3.51554802e+01] [-9.36304694e-02 2.69808291e-03 9.95603363e-01 -2.13871029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70119381700002 meters 0.06228797432650991 Centerline is valid? [True, True] Translation: X:170.81, Y:-35.18, Z:-21.40 [[ 9.60179522e-01 2.65439874e-01 8.71605375e-02 1.70808027e+02] [-2.64028940e-01 9.64121287e-01 -2.75474694e-02 -3.51798384e+01] [-9.13455264e-02 3.43761174e-03 9.95813325e-01 -2.13955976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.761193817 meters 0.06588766654904821 Centerline is valid? [True, True] Translation: X:170.86, Y:-35.20, Z:-21.40 [[ 9.62252924e-01 2.57761734e-01 8.73395561e-02 1.70864264e+02] [-2.56313379e-01 9.66199487e-01 -2.76044025e-02 -3.52027802e+01] [-9.15027929e-02 4.17612031e-03 9.95796063e-01 -2.14034776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.821193817 meters 0.06860088855213067 Centerline is valid? [True, True] Translation: X:170.92, Y:-35.22, Z:-21.41 [[ 9.63777234e-01 2.52576829e-01 8.56643937e-02 1.70921001e+02] [-2.51163205e-01 9.67566009e-01 -2.70751439e-02 -3.52215052e+01] [-8.97245095e-02 4.57866368e-03 9.95956098e-01 -2.14116718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.881193817 meters 0.07788810491669919 Centerline is valid? [True, True] Translation: X:170.97, Y:-35.25, Z:-21.42 [[ 9.66286963e-01 2.43085096e-01 8.48477559e-02 1.70973188e+02] [-2.41661735e-01 9.69989880e-01 -2.68186108e-02 -3.52499117e+01] [-8.88206692e-02 5.41001805e-03 9.96032941e-01 -2.14228017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.941193817 meters 0.07447079283374962 Centerline is valid? [True, True] Translation: X:171.04, Y:-35.26, Z:-21.42 [[ 9.67204014e-01 2.38622064e-01 8.70396755e-02 1.71035202e+02] [-2.37106287e-01 9.71094168e-01 -2.75086257e-02 -3.52585535e+01] [-9.10878864e-02 5.96879887e-03 9.95824970e-01 -2.14216920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.001193817 meters 0.08031541379463013 Centerline is valid? [True, True] Translation: X:171.09, Y:-35.28, Z:-21.43 [[ 9.68044645e-01 2.35439874e-01 8.63575750e-02 1.71091526e+02] [-2.33935059e-01 9.71869007e-01 -2.72950665e-02 -3.52790918e+01] [-9.03545977e-02 6.22077851e-03 9.95890229e-01 -2.14300524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.061193817 meters 0.07819403394620143 Centerline is valid? [True, True] Translation: X:171.16, Y:-35.28, Z:-21.43 [[ 9.68344147e-01 2.34106591e-01 8.66239990e-02 1.71155719e+02] [-2.32587152e-01 9.72190101e-01 -2.73792851e-02 -3.52822377e+01] [-9.06246654e-02 6.36494121e-03 9.95864779e-01 -2.14332426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.121193817 meters 0.07795896861783903 Centerline is valid? [True, True] Translation: X:171.22, Y:-35.29, Z:-21.44 [[ 9.67999476e-01 2.35550208e-01 8.65627733e-02 1.71217379e+02] [-2.34037868e-01 9.71842189e-01 -2.73685379e-02 -3.52906014e+01] [-9.05720199e-02 6.23376341e-03 9.95870398e-01 -2.14407377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.181193817 meters 0.06995391847389942 Centerline is valid? [True, True] Translation: X:171.28, Y:-35.28, Z:-21.44 [[ 9.66685532e-01 2.41055335e-01 8.60895329e-02 1.71284418e+02] [-2.39580500e-01 9.70494669e-01 -2.72264713e-02 -3.52801529e+01] [-9.01125189e-02 5.69406255e-03 9.95915313e-01 -2.14445739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.241193817 meters 0.06918375698464853 Centerline is valid? [True, True] Translation: X:171.34, Y:-35.29, Z:-21.45 [[ 9.65727803e-01 2.45131251e-01 8.53257370e-02 1.71344994e+02] [-2.43698270e-01 9.69475594e-01 -2.69856432e-02 -3.52851237e+01] [-8.93362441e-02 5.26705135e-03 9.95987597e-01 -2.14526976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.301193817 meters 0.0673778724612941 Centerline is valid? [True, True] Translation: X:171.41, Y:-35.29, Z:-21.46 [[ 9.64620326e-01 2.49040925e-01 8.65230915e-02 1.71406484e+02] [-2.47582838e-01 9.68480180e-01 -2.73656676e-02 -3.52876485e+01] [-9.06110704e-02 4.97584661e-03 9.95873925e-01 -2.14586061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36119381700001 meters 0.06500351086534209 Centerline is valid? [True, True] Translation: X:171.47, Y:-35.29, Z:-21.47 [[ 9.62890493e-01 2.55328414e-01 8.74602713e-02 1.71468686e+02] [-2.53864733e-01 9.66844248e-01 -2.76567873e-02 -3.52907308e+01] [-9.16220239e-02 4.42737909e-03 9.95784014e-01 -2.14665341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42119381700002 meters 0.06095650840844142 Centerline is valid? [True, True] Translation: X:171.53, Y:-35.29, Z:-21.48 [[ 9.60330466e-01 2.65062387e-01 8.66448368e-02 1.71531911e+02] [-2.63665223e-01 9.64225029e-01 -2.73996954e-02 -3.52871002e+01] [-9.08077490e-02 3.46753201e-03 9.95862405e-01 -2.14758980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.481193817 meters 0.058465089840865764 Centerline is valid? [True, True] Translation: X:171.59, Y:-35.29, Z:-21.48 [[ 9.58533859e-01 2.71456248e-01 8.67429938e-02 1.71592493e+02] [-2.70082262e-01 9.62446525e-01 -2.74273333e-02 -3.52921075e+01] [-9.09308139e-02 2.86228360e-03 9.95853099e-01 -2.14832313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.541193817 meters 0.05734645468959373 Centerline is valid? [True, True] Translation: X:171.65, Y:-35.30, Z:-21.49 [[ 9.57405777e-01 2.76007254e-01 8.48184744e-02 1.71650231e+02] [-2.74711074e-01 9.61152605e-01 -2.68234238e-02 -3.53016399e+01] [-8.89269571e-02 2.38032666e-03 9.96035306e-01 -2.14935892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.601193817 meters 0.056682830108780315 Centerline is valid? [True, True] Translation: X:171.71, Y:-35.31, Z:-21.51 [[ 9.56005586e-01 2.81744124e-01 8.16919091e-02 1.71706552e+02] [-2.80565528e-01 9.59487985e-01 -2.58029177e-02 -3.53113481e+01] [-8.56522257e-02 1.74779989e-03 9.96323563e-01 -2.15063778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.661193817 meters 0.05501385790992808 Centerline is valid? [True, True] Translation: X:171.76, Y:-35.32, Z:-21.51 [[ 9.54444420e-01 2.87034628e-01 8.15289615e-02 1.71763860e+02] [-2.85880808e-01 9.57919376e-01 -2.57416548e-02 -3.53240531e+01] [-8.54869182e-02 1.26141339e-03 9.96338495e-01 -2.15113215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.721193817 meters 0.053872586227009564 Centerline is valid? [True, True] Translation: X:171.82, Y:-35.34, Z:-21.52 [[ 9.52460744e-01 2.93201460e-01 8.27733944e-02 1.71819722e+02] [-2.92035932e-01 9.56050415e-01 -2.61269531e-02 -3.53411749e+01] [-8.67959989e-02 7.12091817e-04 9.96225852e-01 -2.15166384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.781193817 meters 0.05370880391394116 Centerline is valid? [True, True] Translation: X:171.87, Y:-35.36, Z:-21.52 [[ 9.52321067e-01 2.93403924e-01 8.36583734e-02 1.71873998e+02] [-2.92214110e-01 9.55988309e-01 -2.64058268e-02 -3.53634150e+01] [-8.77240001e-02 7.00668048e-04 9.96144572e-01 -2.15217963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.841193817 meters 0.05469912291783329 Centerline is valid? [True, True] Translation: X:171.92, Y:-35.41, Z:-21.53 [[ 9.54841482e-01 2.84351230e-01 8.61517375e-02 1.71921780e+02] [-2.83055108e-01 9.58718923e-01 -2.71630729e-02 -3.54060335e+01] [-9.03191542e-02 1.55073948e-03 9.95911666e-01 -2.15279051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.901193817 meters 0.05645542737196012 Centerline is valid? [True, True] Translation: X:171.97, Y:-35.44, Z:-21.53 [[ 9.57903106e-01 2.73639974e-01 8.68493223e-02 1.71973663e+02] [-2.72282075e-01 9.61828819e-01 -2.73458331e-02 -3.54428019e+01] [-9.10170941e-02 2.54714477e-03 9.95846073e-01 -2.15316866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.961193817 meters 0.06209348015565991 Centerline is valid? [True, True] Translation: X:172.02, Y:-35.49, Z:-21.54 [[ 9.61349123e-01 2.61120379e-01 8.73155910e-02 1.72021469e+02] [-2.59696117e-01 9.65298942e-01 -2.74932712e-02 -3.54877552e+01] [-9.14647010e-02 3.75511220e-03 9.95801239e-01 -2.15411647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.021193817 meters 0.06435003294419078 Centerline is valid? [True, True] Translation: X:172.08, Y:-35.52, Z:-21.55 [[ 9.62952309e-01 2.55909521e-01 8.50480381e-02 1.72075444e+02] [-2.54538390e-01 9.66691886e-01 -2.67769535e-02 -3.55165483e+01] [-8.90677257e-02 4.13693855e-03 9.96016981e-01 -2.15500174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.081193817 meters 0.06474778257114841 Centerline is valid? [True, True] Translation: X:172.13, Y:-35.54, Z:-21.56 [[ 9.63520053e-01 2.54135782e-01 8.39292087e-02 1.72130068e+02] [-2.52793797e-01 9.67159235e-01 -2.64255561e-02 -3.55398118e+01] [-8.78885886e-02 4.24476993e-03 9.96121267e-01 -2.15570748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14119381700002 meters 0.06366182282457086 Centerline is valid? [True, True] Translation: X:172.19, Y:-35.56, Z:-21.56 [[ 9.63016327e-01 2.55921281e-01 8.42843504e-02 1.72186837e+02] [-2.54575040e-01 9.66688950e-01 -2.65334456e-02 -3.55566722e+01] [-8.82672235e-02 4.09544940e-03 9.96088412e-01 -2.15627039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20119381700002 meters 0.06345004320523955 Centerline is valid? [True, True] Translation: X:172.24, Y:-35.58, Z:-21.57 [[ 9.62621458e-01 2.56527762e-01 8.69105049e-02 1.72243664e+02] [-2.55098888e-01 9.66527896e-01 -2.73565908e-02 -3.55756270e+01] [-9.10191525e-02 4.16326816e-03 9.95840440e-01 -2.15680685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.261193817 meters 0.06305027514253633 Centerline is valid? [True, True] Translation: X:172.30, Y:-35.59, Z:-21.58 [[ 9.62282426e-01 2.57487093e-01 8.78232871e-02 1.72299850e+02] [-2.56032451e-01 9.66272995e-01 -2.76384174e-02 -3.55913199e+01] [-9.19778064e-02 4.11035187e-03 9.95752574e-01 -2.15750512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.321193817 meters 0.061417223271516316 Centerline is valid? [True, True] Translation: X:172.36, Y:-35.60, Z:-21.58 [[ 9.61453444e-01 2.61141778e-01 8.60944087e-02 1.72357008e+02] [-2.59759268e-01 9.65293447e-01 -2.70865964e-02 -3.56036006e+01] [-9.01798105e-02 3.67868080e-03 9.95918706e-01 -2.15838450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.381193817 meters 0.057719600974205656 Centerline is valid? [True, True] Translation: X:172.42, Y:-35.61, Z:-21.59 [[ 9.58424765e-01 2.72024710e-01 8.61656901e-02 1.72416158e+02] [-2.70684413e-01 9.62286619e-01 -2.71000403e-02 -3.56088249e+01] [-9.02879712e-02 2.64964060e-03 9.95912176e-01 -2.15927616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.441193817 meters 0.055189013704984136 Centerline is valid? [True, True] Translation: X:172.48, Y:-35.62, Z:-21.60 [[ 9.56445302e-01 2.78649019e-01 8.69891259e-02 1.72475817e+02] [-2.77310721e-01 9.60390841e-01 -2.73531899e-02 -3.56188682e+01] [-9.11654993e-02 2.03881277e-03 9.95833668e-01 -2.15979945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.501193817 meters 0.05396888509431233 Centerline is valid? [True, True] Translation: X:172.53, Y:-35.63, Z:-21.61 [[ 9.55240521e-01 2.82483498e-01 8.78556770e-02 1.72533273e+02] [-2.81134505e-01 9.59270670e-01 -2.76255720e-02 -3.56313020e+01] [-9.20811423e-02 1.68980351e-03 9.95750073e-01 -2.16051351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.561193817 meters 0.05427935314035704 Centerline is valid? [True, True] Translation: X:172.59, Y:-35.65, Z:-21.61 [[ 9.55879589e-01 2.80076092e-01 8.86092255e-02 1.72587960e+02] [-2.78694244e-01 9.59975862e-01 -2.78543037e-02 -3.56510823e+01] [-9.28640422e-02 1.93047930e-03 9.95676927e-01 -2.16118588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.621193817 meters 0.05756946182594947 Centerline is valid? [True, True] Translation: X:172.64, Y:-35.68, Z:-21.62 [[ 9.58638766e-01 2.70372213e-01 8.89414532e-02 1.72639624e+02] [-2.68939080e-01 9.62751583e-01 -2.79492562e-02 -3.56817341e+01] [-9.31852271e-02 2.87340782e-03 9.95644644e-01 -2.16203063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.681193817 meters 0.0612685789544364 Centerline is valid? [True, True] Translation: X:172.69, Y:-35.71, Z:-21.63 [[ 9.60979941e-01 2.62090212e-01 8.84662324e-02 1.72693847e+02] [-2.60637814e-01 9.65036465e-01 -2.77947953e-02 -3.57094889e+01] [-9.26578840e-02 3.65259533e-03 9.95691305e-01 -2.16285577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.741193817 meters 0.06794651564431285 Centerline is valid? [True, True] Translation: X:172.75, Y:-35.74, Z:-21.64 [[ 9.64002405e-01 2.50888788e-01 8.80578115e-02 1.72745150e+02] [-2.49403197e-01 9.68004469e-01 -2.76657603e-02 -3.57405789e+01] [-9.21813841e-02 4.70795978e-03 9.95731102e-01 -2.16365490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.801193817 meters 0.0677888160094442 Centerline is valid? [True, True] Translation: X:172.80, Y:-35.76, Z:-21.64 [[ 9.65616963e-01 2.44203514e-01 8.91544923e-02 1.72803192e+02] [-2.42652062e-01 9.69708884e-01 -2.80117147e-02 -3.57591765e+01] [-9.32944624e-02 5.41506552e-03 9.95623835e-01 -2.16388812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86119381700001 meters 0.0730464551370365 Centerline is valid? [True, True] Translation: X:172.86, Y:-35.78, Z:-21.65 [[ 9.66413356e-01 2.41260617e-01 8.85355309e-02 1.72858252e+02] [-2.39718606e-01 9.70443873e-01 -2.78150998e-02 -3.57810566e+01] [-9.26294516e-02 5.65726988e-03 9.95684579e-01 -2.16473224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92119381700002 meters 0.06869359497644265 Centerline is valid? [True, True] Translation: X:172.92, Y:-35.79, Z:-21.65 [[ 9.65853142e-01 2.43671441e-01 8.80450845e-02 1.72918962e+02] [-2.42155432e-01 9.69842769e-01 -2.76721902e-02 -3.57881842e+01] [-9.21328110e-02 5.40667645e-03 9.95732049e-01 -2.16533204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.981193817 meters 0.0625530478173623 Centerline is valid? [True, True] Translation: X:172.98, Y:-35.79, Z:-21.66 [[ 9.62913565e-01 2.55280835e-01 8.73450713e-02 1.72982349e+02] [-2.53836264e-01 9.66857551e-01 -2.74522771e-02 -3.57864167e+01] [-9.14582820e-02 4.26282342e-03 9.95799785e-01 -2.16610085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.041193817 meters 0.058929472893266846 Centerline is valid? [True, True] Translation: X:173.04, Y:-35.79, Z:-21.67 [[ 9.60216568e-01 2.64899562e-01 8.83875772e-02 1.73044433e+02] [-2.63460630e-01 9.64270055e-01 -2.77805242e-02 -3.57878845e+01] [-9.25885426e-02 3.38867284e-03 9.95698689e-01 -2.16678326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.101193817 meters 0.053535080120505105 Centerline is valid? [True, True] Translation: X:173.11, Y:-35.78, Z:-21.67 [[ 9.55418303e-01 2.81187817e-01 9.00515315e-02 1.73108424e+02] [-2.79766211e-01 9.59650983e-01 -2.82994236e-02 -3.57836625e+01] [-9.43754939e-02 1.84441150e-03 9.95534964e-01 -2.16736654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.161193817 meters 0.05181038117537669 Centerline is valid? [True, True] Translation: X:173.17, Y:-35.79, Z:-21.68 [[ 9.52405599e-01 2.91117320e-01 9.04117313e-02 1.73168733e+02] [-2.89728765e-01 9.56686969e-01 -2.84127700e-02 -3.57894957e+01] [-9.47671746e-02 8.65601901e-04 9.95499088e-01 -2.16805958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.221193817 meters 0.05148779694301571 Centerline is valid? [True, True] Translation: X:173.23, Y:-35.80, Z:-21.69 [[ 9.50992780e-01 2.95630298e-01 9.06391754e-02 1.73226806e+02] [-2.94254940e-01 9.55302335e-01 -2.84864773e-02 -3.58009842e+01] [-9.50092816e-02 4.19409097e-04 9.95476298e-01 -2.16877577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.281193817 meters 0.05209177833319143 Centerline is valid? [True, True] Translation: X:173.29, Y:-35.81, Z:-21.69 [[ 9.47264864e-01 3.06480219e-01 9.35903406e-02 1.73285777e+02] [-3.05069062e-01 9.51876758e-01 -2.93854434e-02 -3.58086721e+01] [-9.80925272e-02 -7.15719350e-04 9.95177041e-01 -2.16930455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.341193817 meters 0.05234456277382579 Centerline is valid? [True, True] Translation: X:173.34, Y:-35.83, Z:-21.70 [[ 9.46999728e-01 3.06797167e-01 9.52208615e-02 1.73338792e+02] [-3.05341035e-01 9.51774591e-01 -2.98660525e-02 -3.58335777e+01] [-9.97916168e-02 -7.91692796e-04 9.95008043e-01 -2.17011126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.401193817 meters 0.0519919702300329 Centerline is valid? [True, True] Translation: X:173.39, Y:-35.87, Z:-21.71 [[ 9.48542644e-01 3.01387435e-01 9.71208894e-02 1.73387336e+02] [-2.99847389e-01 9.53501729e-01 -3.04301643e-02 -3.58726531e+01] [-1.01776205e-01 -2.57136622e-04 9.94807287e-01 -2.17079737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.461193817 meters 0.05202753963934216 Centerline is valid? [True, True] Translation: X:173.44, Y:-35.90, Z:-21.71 [[ 9.49430778e-01 2.98194472e-01 9.82916855e-02 1.73439201e+02] [-2.96603692e-01 9.54505136e-01 -3.07602890e-02 -3.59033398e+01] [-1.02992467e-01 5.10882524e-05 9.94682135e-01 -2.17147223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.521193817 meters 0.052518556126166675 Centerline is valid? [True, True] Translation: X:173.49, Y:-35.94, Z:-21.72 [[ 9.50418374e-01 2.95148590e-01 9.79399040e-02 1.73488369e+02] [-2.93554019e-01 9.55451292e-01 -3.06409215e-02 -3.59402700e+01] [-1.02620433e-01 3.71042376e-04 9.94720518e-01 -2.17244579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.581193817 meters 0.05317926533070145 Centerline is valid? [True, True] Translation: X:173.54, Y:-35.97, Z:-21.73 [[ 9.52120740e-01 2.90492865e-01 9.52889880e-02 1.73539463e+02] [-2.88961234e-01 9.56876788e-01 -2.98029828e-02 -3.59714455e+01] [-9.98373746e-02 8.41214558e-04 9.95003413e-01 -2.17348519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64119381700002 meters 0.05561738274821139 Centerline is valid? [True, True] Translation: X:173.59, Y:-36.01, Z:-21.75 [[ 9.55466619e-01 2.79465032e-01 9.47778239e-02 1.73588242e+02] [-2.77896522e-01 9.60153839e-01 -2.96332265e-02 -3.60133604e+01] [-9.92827421e-02 1.97513107e-03 9.95057303e-01 -2.17450930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70119381700002 meters 0.05802624791357898 Centerline is valid? [True, True] Translation: X:173.64, Y:-36.05, Z:-21.75 [[ 9.57559360e-01 2.71251511e-01 9.74817466e-02 1.73641638e+02] [-2.69550086e-01 9.62504126e-01 -3.04722739e-02 -3.60477188e+01] [-1.02092234e-01 2.90279790e-03 9.94770702e-01 -2.17505276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.761193817 meters 0.06273909120441372 Centerline is valid? [True, True] Translation: X:173.69, Y:-36.09, Z:-21.75 [[ 9.60171178e-01 2.60236262e-01 1.01727076e-01 1.73692710e+02] [-2.58320521e-01 9.65535571e-01 -3.18051877e-02 -3.60851280e+01] [-1.06497973e-01 4.26023334e-03 9.94303793e-01 -2.17535364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.821193817 meters 0.06362251077621117 Centerline is valid? [True, True] Translation: X:173.75, Y:-36.11, Z:-21.76 [[ 9.61375429e-01 2.56419347e-01 1.00032010e-01 1.73749287e+02] [-2.54546841e-01 9.66554677e-01 -3.12723902e-02 -3.61076542e+01] [-1.04705253e-01 4.60167551e-03 9.94492652e-01 -2.17622126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.881193817 meters 0.06876392918169481 Centerline is valid? [True, True] Translation: X:173.80, Y:-36.14, Z:-21.77 [[ 9.62565760e-01 2.52772037e-01 9.78440380e-02 1.73801541e+02] [-2.50961502e-01 9.67513490e-01 -3.05936526e-02 -3.61370134e+01] [-1.02398647e-01 4.89331569e-03 9.94731407e-01 -2.17745491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.941193817 meters 0.06952901485931143 Centerline is valid? [True, True] Translation: X:173.86, Y:-36.16, Z:-21.78 [[ 9.62828021e-01 2.51603146e-01 9.82754277e-02 1.73859989e+02] [-2.49771043e-01 9.67817393e-01 -3.07232682e-02 -3.61572883e+01] [-1.02842739e-01 5.03486747e-03 9.94684885e-01 -2.17817429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.001193817 meters 0.0687918497740657 Centerline is valid? [True, True] Translation: X:173.92, Y:-36.17, Z:-21.79 [[ 9.62105515e-01 2.54431269e-01 9.80699107e-02 1.73918997e+02] [-2.52617933e-01 9.67079165e-01 -3.06931393e-02 -3.61706475e+01] [-1.02650662e-01 4.75582046e-03 9.94706099e-01 -2.17892701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.061193817 meters 0.06526510535114871 Centerline is valid? [True, True] Translation: X:173.98, Y:-36.18, Z:-21.80 [[ 9.60866227e-01 2.59123133e-01 9.79351608e-02 1.73980454e+02] [-2.57338557e-01 9.65834930e-01 -3.06554268e-02 -3.61776746e+01] [-1.02532729e-01 4.25327134e-03 9.94720538e-01 -2.17963916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.121193817 meters 0.06056569301102513 Centerline is valid? [True, True] Translation: X:174.04, Y:-36.18, Z:-21.80 [[ 9.58109345e-01 2.69030873e-01 9.82286760e-02 1.74042625e+02] [-2.67286928e-01 9.63126214e-01 -3.07505175e-02 -3.61798918e+01] [-1.02879451e-01 3.20711715e-03 9.94688661e-01 -2.18043485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.181193817 meters 0.057709282524051574 Centerline is valid? [True, True] Translation: X:174.10, Y:-36.19, Z:-21.81 [[ 9.56563309e-01 2.74575408e-01 9.79539730e-02 1.74104811e+02] [-2.72870295e-01 9.61562048e-01 -3.06631728e-02 -3.61862090e+01] [-1.02608176e-01 2.60253651e-03 9.94718447e-01 -2.18116117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.241193817 meters 0.0569530946439169 Centerline is valid? [True, True] Translation: X:174.16, Y:-36.20, Z:-21.82 [[ 9.55388771e-01 2.77727293e-01 1.00497990e-01 1.74162037e+02] [-2.75948623e-01 9.60657125e-01 -3.14681603e-02 -3.61979400e+01] [-1.05283677e-01 2.33204499e-03 9.94439495e-01 -2.18175436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.301193817 meters 0.05686411402346636 Centerline is valid? [True, True] Translation: X:174.22, Y:-36.21, Z:-21.82 [[ 9.55479380e-01 2.76977334e-01 1.01699121e-01 1.74219048e+02] [-2.75151669e-01 9.60873348e-01 -3.18428761e-02 -3.62148352e+01] [-1.06539730e-01 2.44252870e-03 9.94305446e-01 -2.18228651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36119381700001 meters 0.05796659018730142 Centerline is valid? [True, True] Translation: X:174.28, Y:-36.23, Z:-21.83 [[ 9.56350940e-01 2.74173884e-01 1.01101739e-01 1.74275139e+02] [-2.72354626e-01 9.61676250e-01 -3.16503936e-02 -3.62345242e+01] [-1.05904853e-01 2.73335727e-03 9.94372511e-01 -2.18316458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42119381700002 meters 0.05781366996175384 Centerline is valid? [True, True] Translation: X:174.33, Y:-36.25, Z:-21.84 [[ 9.56907756e-01 2.72941136e-01 9.91497992e-02 1.74334344e+02] [-2.71185596e-01 9.62026635e-01 -3.10342809e-02 -3.62530661e+01] [-1.03855280e-01 2.80894665e-03 9.94588453e-01 -2.18397516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.481193817 meters 0.06011656471990142 Centerline is valid? [True, True] Translation: X:174.39, Y:-36.28, Z:-21.86 [[ 9.58287528e-01 2.69998019e-01 9.37341088e-02 1.74387112e+02] [-2.68412050e-01 9.62856237e-01 -2.93741220e-02 -3.62800776e+01] [-9.81834260e-02 2.98949046e-03 9.95163845e-01 -2.18559599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.541193817 meters 0.0613385565309263 Centerline is valid? [True, True] Translation: X:174.44, Y:-36.30, Z:-21.87 [[ 9.59409448e-01 2.67149375e-01 9.03588585e-02 1.74442734e+02] [-2.65662207e-01 9.63649908e-01 -2.83274944e-02 -3.63021551e+01] [-9.46419781e-02 3.17273205e-03 9.95506318e-01 -2.18672862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.601193817 meters 0.06408301414740127 Centerline is valid? [True, True] Translation: X:174.50, Y:-36.33, Z:-21.88 [[ 9.60687409e-01 2.63445458e-01 8.76138856e-02 1.74495553e+02] [-2.62031949e-01 9.64668189e-01 -2.74689296e-02 -3.63320501e+01] [-9.17548932e-02 3.43141764e-03 9.95775710e-01 -2.18784384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.661193817 meters 0.06517706528832617 Centerline is valid? [True, True] Translation: X:174.55, Y:-36.36, Z:-21.88 [[ 9.61733775e-01 2.59517113e-01 8.78579229e-02 1.74551546e+02] [-2.58079161e-01 9.65730958e-01 -2.75474788e-02 -3.63560384e+01] [-9.19961582e-02 3.81904176e-03 9.95752038e-01 -2.18840144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.721193817 meters 0.06847495402971028 Centerline is valid? [True, True] Translation: X:174.61, Y:-36.38, Z:-21.89 [[ 9.63660630e-01 2.51133449e-01 9.10504317e-02 1.74606029e+02] [-2.49551208e-01 9.67940612e-01 -2.85510978e-02 -3.63846706e+01] [-9.53015463e-02 4.79182370e-03 9.95436916e-01 -2.18864639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.781193817 meters 0.07232105003751277 Centerline is valid? [True, True] Translation: X:174.66, Y:-36.41, Z:-21.89 [[ 9.65091985e-01 2.44168673e-01 9.47582205e-02 1.74661717e+02] [-2.42421028e-01 9.69715992e-01 -2.97143172e-02 -3.64113781e+01] [-9.91438672e-02 5.70566413e-03 9.95056752e-01 -2.18883794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.841193817 meters 0.07537059868325768 Centerline is valid? [True, True] Translation: X:174.72, Y:-36.43, Z:-21.89 [[ 9.67161778e-01 2.35690960e-01 9.51202720e-02 1.74719472e+02] [-2.33889003e-01 9.71805635e-01 -2.98285416e-02 -3.64302240e+01] [-9.94687340e-02 6.60143970e-03 9.95018790e-01 -2.18925867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.901193817 meters 0.07932171397741847 Centerline is valid? [True, True] Translation: X:174.78, Y:-36.45, Z:-21.90 [[ 9.68155285e-01 2.31526559e-01 9.52407312e-02 1.74775541e+02] [-2.29699972e-01 9.72803119e-01 -2.98666052e-02 -3.64487713e+01] [-9.95653927e-02 7.03871840e-03 9.95006125e-01 -2.19022657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.961193817 meters 0.0762735272381149 Centerline is valid? [True, True] Translation: X:174.84, Y:-36.45, Z:-21.91 [[ 9.68865995e-01 2.28519987e-01 9.52748636e-02 1.74838125e+02] [-2.26677329e-01 9.73511448e-01 -2.98805734e-02 -3.64540394e+01] [-9.95794787e-02 7.35361981e-03 9.95002438e-01 -2.19077293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.021193817 meters 0.0784941066667589 Centerline is valid? [True, True] Translation: X:174.90, Y:-36.47, Z:-21.92 [[ 9.68614085e-01 2.29371746e-01 9.57880822e-02 1.74897530e+02] [-2.27513342e-01 9.73311484e-01 -3.00405581e-02 -3.64687509e+01] [-1.00122096e-01 7.30464099e-03 9.94948344e-01 -2.19158750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.081193817 meters 0.07420121583600715 Centerline is valid? [True, True] Translation: X:174.96, Y:-36.47, Z:-21.93 [[ 9.67505670e-01 2.35518502e-01 9.19989866e-02 1.74960988e+02] [-2.33828664e-01 9.71848540e-01 -2.88889552e-02 -3.64667497e+01] [-9.62129643e-02 6.43822782e-03 9.95339949e-01 -2.19263111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14119381700002 meters 0.07163737032265581 Centerline is valid? [True, True] Translation: X:175.02, Y:-36.48, Z:-21.93 [[ 9.66778155e-01 2.38821939e-01 9.11267285e-02 1.75021320e+02] [-2.37178744e-01 9.71044529e-01 -2.86140949e-02 -3.64768321e+01] [-9.53217848e-02 6.05015884e-03 9.95428125e-01 -2.19348239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20119381700002 meters 0.06902100041630925 Centerline is valid? [True, True] Translation: X:175.08, Y:-36.48, Z:-21.94 [[ 9.65423390e-01 2.44482165e-01 9.04773381e-02 1.75082987e+02] [-2.42886552e-01 9.69638433e-01 -2.84153483e-02 -3.64809899e+01] [-9.46773502e-02 5.45711322e-03 9.95493053e-01 -2.19426694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.261193817 meters 0.06505945483954823 Centerline is valid? [True, True] Translation: X:175.15, Y:-36.48, Z:-21.95 [[ 9.62735175e-01 2.54409405e-01 9.17433247e-02 1.75146252e+02] [-2.52813269e-01 9.67085923e-01 -2.88143867e-02 -3.64786235e+01] [-9.60543288e-02 4.54669388e-03 9.95365708e-01 -2.19489745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.321193817 meters 0.06247504757869437 Centerline is valid? [True, True] Translation: X:175.21, Y:-36.48, Z:-21.95 [[ 9.61015350e-01 2.60376252e-01 9.30252935e-02 1.75207869e+02] [-2.58763089e-01 9.65498925e-01 -2.92145347e-02 -3.64826314e+01] [-9.74225920e-02 4.00410394e-03 9.95235050e-01 -2.19545897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.381193817 meters 0.06054178937890874 Centerline is valid? [True, True] Translation: X:175.27, Y:-36.48, Z:-21.96 [[ 9.59838682e-01 2.64370648e-01 9.39034926e-02 1.75270015e+02] [-2.62745807e-01 9.64414309e-01 -2.94903539e-02 -3.64837673e+01] [-9.83582559e-02 3.63323355e-03 9.95144438e-01 -2.19600707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.441193817 meters 0.06148684293180693 Centerline is valid? [True, True] Translation: X:175.33, Y:-36.50, Z:-21.97 [[ 9.60156623e-01 2.63411573e-01 9.33466767e-02 1.75326001e+02] [-2.61801907e-01 9.64676431e-01 -2.93111761e-02 -3.64976728e+01] [-9.77702419e-02 3.70498186e-03 9.95202117e-01 -2.19689892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.501193817 meters 0.06297801771050081 Centerline is valid? [True, True] Translation: X:175.38, Y:-36.51, Z:-21.98 [[ 9.61272860e-01 2.59988816e-01 9.14346990e-02 1.75384907e+02] [-2.58430421e-01 9.65603521e-01 -2.86977073e-02 -3.65105696e+01] [-9.57507503e-02 3.95681941e-03 9.95397477e-01 -2.19775956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.561193817 meters 0.06399164017868376 Centerline is valid? [True, True] Translation: X:175.44, Y:-36.52, Z:-21.98 [[ 9.61713521e-01 2.57474692e-01 9.38822970e-02 1.75442837e+02] [-2.55819364e-01 9.66275373e-01 -2.94678827e-02 -3.65237349e+01] [-9.83033856e-02 4.32275170e-03 9.95147104e-01 -2.19810336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.621193817 meters 0.06340656170515628 Centerline is valid? [True, True] Translation: X:175.50, Y:-36.54, Z:-21.99 [[ 9.61467143e-01 2.57457548e-01 9.64185889e-02 1.75499441e+02] [-2.55712110e-01 9.66279438e-01 -3.02549882e-02 -3.65384905e+01] [-1.00956675e-01 4.43377620e-03 9.94880943e-01 -2.19855245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.681193817 meters 0.06258610686986056 Centerline is valid? [True, True] Translation: X:175.56, Y:-36.55, Z:-21.99 [[ 9.61398538e-01 2.56887226e-01 9.85992077e-02 1.75556421e+02] [-2.55059649e-01 9.66430499e-01 -3.09300304e-02 -3.65536609e+01] [-1.03234811e-01 4.58740669e-03 9.94646434e-01 -2.19898779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.741193817 meters 0.06276626816508216 Centerline is valid? [True, True] Translation: X:175.61, Y:-36.57, Z:-22.00 [[ 9.61054564e-01 2.58542978e-01 9.76199445e-02 1.75612500e+02] [-2.56761070e-01 9.65989932e-01 -3.06137744e-02 -3.65680613e+01] [-1.02214860e-01 4.35650620e-03 9.94752805e-01 -2.19992745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.801193817 meters 0.06190134197037393 Centerline is valid? [True, True] Translation: X:175.67, Y:-36.58, Z:-22.01 [[ 9.60477250e-01 2.61637005e-01 9.50238427e-02 1.75669472e+02] [-2.59964805e-01 9.65158423e-01 -2.97912389e-02 -3.65804967e+01] [-9.95075527e-02 3.91095244e-03 9.95029121e-01 -2.20095493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86119381700001 meters 0.060914262952575716 Centerline is valid? [True, True] Translation: X:175.73, Y:-36.59, Z:-22.02 [[ 9.60277779e-01 2.62672848e-01 9.41783545e-02 1.75727214e+02] [-2.61036154e-01 9.64877623e-01 -2.95177629e-02 -3.65914988e+01] [-9.86241017e-02 3.76129636e-03 9.95117651e-01 -2.20171594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92119381700002 meters 0.06301294927680236 Centerline is valid? [True, True] Translation: X:175.78, Y:-36.61, Z:-22.03 [[ 9.60751560e-01 2.61588857e-01 9.23455971e-02 1.75780709e+02] [-2.60011198e-01 9.65171961e-01 -2.89355001e-02 -3.66107148e+01] [-9.66985854e-02 3.78893754e-03 9.95306499e-01 -2.20283517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.981193817 meters 0.06528440845376932 Centerline is valid? [True, True] Translation: X:175.84, Y:-36.63, Z:-22.04 [[ 9.61773792e-01 2.58344835e-01 9.08246623e-02 1.75836878e+02] [-2.56805454e-01 9.66044332e-01 -2.84483184e-02 -3.66254865e+01] [-9.50901264e-02 4.03657843e-03 9.95460483e-01 -2.20388262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.041193817 meters 0.0656406290721824 Centerline is valid? [True, True] Translation: X:175.89, Y:-36.64, Z:-22.05 [[ 9.62594083e-01 2.55373691e-01 9.05367894e-02 1.75894724e+02] [-2.53831899e-01 9.66832833e-01 -2.83485336e-02 -3.66394879e+01] [-9.47734103e-02 4.30700546e-03 9.95489553e-01 -2.20463064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.101193817 meters 0.06644909085541728 Centerline is valid? [True, True] Translation: X:175.95, Y:-36.65, Z:-22.05 [[ 9.63980120e-01 2.49449073e-01 9.22902360e-02 1.75952779e+02] [-2.47820175e-01 9.68375108e-01 -2.88930914e-02 -3.66544283e+01] [-9.65789221e-02 4.98098327e-03 9.95312866e-01 -2.20495554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.161193817 meters 0.06829800024442519 Centerline is valid? [True, True] Translation: X:176.01, Y:-36.67, Z:-22.05 [[ 9.64669975e-01 2.45718540e-01 9.50486070e-02 1.76009036e+02] [-2.43972747e-01 9.69325539e-01 -2.97539593e-02 -3.66729530e+01] [-9.94441416e-02 5.51348144e-03 9.95027871e-01 -2.20548812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.221193817 meters 0.07129287711750491 Centerline is valid? [True, True] Translation: X:176.06, Y:-36.69, Z:-22.06 [[ 9.65212699e-01 2.42658932e-01 9.73708817e-02 1.76064085e+02] [-2.40811385e-01 9.70093301e-01 -3.04772570e-02 -3.66934809e+01] [-1.01854419e-01 5.96901859e-03 9.94781407e-01 -2.20603209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.281193817 meters 0.07498919864709266 Centerline is valid? [True, True] Translation: X:176.12, Y:-36.71, Z:-22.07 [[ 9.66345603e-01 2.39203303e-01 9.46464730e-02 1.76118318e+02] [-2.37442576e-01 9.70950064e-01 -2.96141287e-02 -3.67139053e+01] [-9.89807964e-02 6.14438073e-03 9.95070374e-01 -2.20718955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.341193817 meters 0.07671253933889721 Centerline is valid? [True, True] Translation: X:176.17, Y:-36.73, Z:-22.08 [[ 9.67131774e-01 2.36441637e-01 9.35493686e-02 1.76174885e+02] [-2.34708789e-01 9.71624931e-01 -2.92707683e-02 -3.67322831e+01] [-9.78157272e-02 6.35183106e-03 9.95184273e-01 -2.20801769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.401193817 meters 0.07299416613061332 Centerline is valid? [True, True] Translation: X:176.23, Y:-36.74, Z:-22.08 [[ 9.67767960e-01 2.33431382e-01 9.45249430e-02 1.76234935e+02] [-2.31647920e-01 9.72350020e-01 -2.95749907e-02 -3.67387656e+01] [-9.88150611e-02 6.72522199e-03 9.95083090e-01 -2.20836041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.461193817 meters 0.07373645886126681 Centerline is valid? [True, True] Translation: X:176.29, Y:-36.75, Z:-22.09 [[ 9.67978190e-01 2.32187863e-01 9.54307131e-02 1.76291047e+02] [-2.30364517e-01 9.72646395e-01 -2.98526480e-02 -3.67537801e+01] [-9.97517616e-02 6.91286200e-03 9.94988341e-01 -2.20902762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.521193817 meters 0.07382979439340831 Centerline is valid? [True, True] Translation: X:176.35, Y:-36.76, Z:-22.10 [[ 9.67934257e-01 2.32042180e-01 9.62273389e-02 1.76348677e+02] [-2.30188618e-01 9.72680717e-01 -3.00902523e-02 -3.67647518e+01] [-1.00580685e-01 6.97494790e-03 9.94904456e-01 -2.20966928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.581193817 meters 0.07508854091241367 Centerline is valid? [True, True] Translation: X:176.41, Y:-36.78, Z:-22.11 [[ 9.67064338e-01 2.35480858e-01 9.66195186e-02 1.76405869e+02] [-2.33630116e-01 9.71856337e-01 -3.02031231e-02 -3.67776148e+01] [-1.01012549e-01 6.63513390e-03 9.94863026e-01 -2.21056369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64119381700002 meters 0.07275938603614295 Centerline is valid? [True, True] Translation: X:176.46, Y:-36.79, Z:-22.11 [[ 9.66683247e-01 2.37281164e-01 9.60268184e-02 1.76464111e+02] [-2.35462289e-01 9.71419909e-01 -3.00144929e-02 -3.67866540e+01] [-1.00404237e-01 6.40381292e-03 9.94926118e-01 -2.21116578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70119381700002 meters 0.07305627779588442 Centerline is valid? [True, True] Translation: X:176.52, Y:-36.80, Z:-22.12 [[ 9.66421979e-01 2.37802922e-01 9.73567075e-02 1.76520394e+02] [-2.35936666e-01 9.71292143e-01 -3.04214245e-02 -3.68020131e+01] [-1.01796109e-01 6.42991630e-03 9.94784504e-01 -2.21192727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.761193817 meters 0.07332260394886242 Centerline is valid? [True, True] Translation: X:176.58, Y:-36.82, Z:-22.13 [[ 9.67191696e-01 2.34462175e-01 9.78146787e-02 1.76577048e+02] [-2.32562279e-01 9.72101429e-01 -3.05548307e-02 -3.68202257e+01] [-1.02249741e-01 6.80437393e-03 9.94735488e-01 -2.21258704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.821193817 meters 0.07608928946205658 Centerline is valid? [True, True] Translation: X:176.63, Y:-36.84, Z:-22.14 [[ 9.68174672e-01 2.31028725e-01 9.62472463e-02 1.76632328e+02] [-2.29172827e-01 9.72921396e-01 -3.00628138e-02 -3.68418647e+01] [-1.00586379e-01 7.04880135e-03 9.94903360e-01 -2.21362847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.881193817 meters 0.07874529502873157 Centerline is valid? [True, True] Translation: X:176.69, Y:-36.86, Z:-22.15 [[ 9.68853346e-01 2.29034222e-01 9.41621905e-02 1.76688071e+02] [-2.27249006e-01 9.73392514e-01 -2.94092356e-02 -3.68595590e+01] [-9.83924928e-02 7.09497220e-03 9.95122394e-01 -2.21461788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.941193817 meters 0.0763247835894899 Centerline is valid? [True, True] Translation: X:176.75, Y:-36.87, Z:-22.15 [[ 9.68434154e-01 2.30250810e-01 9.54979224e-02 1.76747025e+02] [-2.28420501e-01 9.73105643e-01 -2.98241860e-02 -3.68695034e+01] [-9.97966102e-02 7.06907707e-03 9.94982746e-01 -2.21507612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.001193817 meters 0.07138780650994764 Centerline is valid? [True, True] Translation: X:176.81, Y:-36.87, Z:-22.16 [[ 9.67222541e-01 2.34668608e-01 9.70113428e-02 1.76808159e+02] [-2.32803329e-01 9.72052319e-01 -3.02803440e-02 -3.68744320e+01] [-1.01405947e-01 6.70326774e-03 9.94822547e-01 -2.21554968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.061193817 meters 0.07416908030802344 Centerline is valid? [True, True] Translation: X:176.86, Y:-36.89, Z:-22.16 [[ 9.65453795e-01 2.41189892e-01 9.86225444e-02 1.76864639e+02] [-2.39295640e-01 9.70458645e-01 -3.07833481e-02 -3.68903951e+01] [-1.03133733e-01 6.11995543e-03 9.94648671e-01 -2.21645970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.121193817 meters 0.06435343996469335 Centerline is valid? [True, True] Translation: X:176.93, Y:-36.88, Z:-22.17 [[ 9.62901558e-01 2.50871996e-01 9.94174647e-02 1.76930544e+02] [-2.48998564e-01 9.68006721e-01 -3.10274715e-02 -3.68807331e+01] [-1.04020698e-01 5.12159472e-03 9.94561946e-01 -2.21690389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.181193817 meters 0.06143988993102579 Centerline is valid? [True, True] Translation: X:176.99, Y:-36.89, Z:-22.17 [[ 9.61263676e-01 2.56532601e-01 1.00812552e-01 1.76991004e+02] [-2.54637225e-01 9.66524770e-01 -3.14603438e-02 -3.68874629e+01] [-1.05508432e-01 4.57105728e-03 9.94407902e-01 -2.21742835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.241193817 meters 0.06003180922629089 Centerline is valid? [True, True] Translation: X:177.05, Y:-36.90, Z:-22.18 [[ 9.58844225e-01 2.65289270e-01 1.01189698e-01 1.77048653e+02] [-2.63428154e-01 9.64162066e-01 -3.15771947e-02 -3.68993783e+01] [-1.05940360e-01 3.62139540e-03 9.94365891e-01 -2.21843883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.301193817 meters 0.055762323030751425 Centerline is valid? [True, True] Translation: X:177.11, Y:-36.90, Z:-22.19 [[ 9.55935870e-01 2.76103283e-01 9.97676775e-02 1.77110431e+02] [-2.74353207e-01 9.61125010e-01 -3.11293032e-02 -3.69024527e+01] [-1.04484113e-01 2.38603525e-03 9.94523694e-01 -2.21922758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36119381700001 meters 0.05348377981028601 Centerline is valid? [True, True] Translation: X:177.17, Y:-36.90, Z:-22.20 [[ 9.49667735e-01 2.97818351e-01 9.71361023e-02 1.77172945e+02] [-2.96272213e-01 9.54622559e-01 -3.03075173e-02 -3.68994743e+01] [-1.01754449e-01 3.34329587e-06 9.94809546e-01 -2.22013610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42119381700002 meters 0.05511536647796908 Centerline is valid? [True, True] Translation: X:177.23, Y:-36.91, Z:-22.21 [[ 9.46024321e-01 3.10076876e-01 9.42884715e-02 1.77230144e+02] [-3.08681128e-01 9.50710629e-01 -2.94153343e-02 -3.69097559e+01] [-9.87620670e-02 -1.27745005e-03 9.95110256e-01 -2.22125892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.481193817 meters 0.05745558060038655 Centerline is valid? [True, True] Translation: X:177.29, Y:-36.93, Z:-22.22 [[ 9.43147099e-01 3.19565692e-01 9.13855489e-02 1.77285156e+02] [-3.18299696e-01 9.47561556e-01 -2.85026387e-02 -3.69323886e+01] [-9.57018984e-02 -2.20581148e-03 9.95407595e-01 -2.22220705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.541193817 meters 0.05887135607280456 Centerline is valid? [True, True] Translation: X:177.34, Y:-36.96, Z:-22.23 [[ 9.42690181e-01 3.21012671e-01 9.10279486e-02 1.77336516e+02] [-3.19763290e-01 9.47072001e-01 -2.83912684e-02 -3.69598508e+01] [-9.53239783e-02 -2.34322642e-03 9.95443544e-01 -2.22323965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.601193817 meters 0.05680913906692053 Centerline is valid? [True, True] Translation: X:177.38, Y:-37.01, Z:-22.24 [[ 9.44286485e-01 3.16140358e-01 9.15330934e-02 1.77383347e+02] [-3.14855269e-01 9.48710582e-01 -2.85375292e-02 -3.70069741e+01] [-9.58602791e-02 -1.87207358e-03 9.95393039e-01 -2.22375828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.661193817 meters 0.05597793861830409 Centerline is valid? [True, True] Translation: X:177.43, Y:-37.05, Z:-22.24 [[ 9.45693427e-01 3.11762982e-01 9.20205668e-02 1.77432379e+02] [-3.10443748e-01 9.50158815e-01 -2.86863374e-02 -3.70450219e+01] [-9.63774908e-02 -1.43872890e-03 9.95343815e-01 -2.22448644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.721193817 meters 0.055516517577278116 Centerline is valid? [True, True] Translation: X:177.48, Y:-37.09, Z:-22.26 [[ 9.48077377e-01 3.05335131e-01 8.89929462e-02 1.77477780e+02] [-3.04075603e-01 9.52244634e-01 -2.77161337e-02 -3.70926228e+01] [-9.32057648e-02 -7.83544420e-04 9.95646560e-01 -2.22556777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.781193817 meters 0.05497026400067766 Centerline is valid? [True, True] Translation: X:177.53, Y:-37.13, Z:-22.26 [[ 9.50003365e-01 2.99133010e-01 8.95156319e-02 1.77526499e+02] [-2.97834388e-01 9.54211401e-01 -2.78438324e-02 -3.71321657e+01] [-9.37458459e-02 -2.09098884e-04 9.95596139e-01 -2.22626672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.841193817 meters 0.05501702406726553 Centerline is valid? [True, True] Translation: X:177.57, Y:-37.18, Z:-22.27 [[ 9.52879187e-01 2.89055718e-01 9.20219929e-02 1.77571677e+02] [-2.87639684e-01 9.57311965e-01 -2.85869556e-02 -3.71839392e+01] [-9.63569778e-02 7.70738021e-04 9.95346542e-01 -2.22666550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.901193817 meters 0.05621719522669377 Centerline is valid? [True, True] Translation: X:177.62, Y:-37.23, Z:-22.27 [[ 9.55065420e-01 2.80917258e-01 9.45279749e-02 1.77619812e+02] [-2.79383911e-01 9.59730611e-01 -2.93561691e-02 -3.72250375e+01] [-9.89680456e-02 1.62746662e-03 9.95089281e-01 -2.22725952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.961193817 meters 0.06115416487145157 Centerline is valid? [True, True] Translation: X:177.66, Y:-37.28, Z:-22.28 [[ 9.58467670e-01 2.68384993e-01 9.64843010e-02 1.77664873e+02] [-2.66724858e-01 9.63307141e-01 -2.99533451e-02 -3.72756050e+01] [-1.00983044e-01 2.97455145e-03 9.94883700e-01 -2.22821326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.021193817 meters 0.0625395276188268 Centerline is valid? [True, True] Translation: X:177.72, Y:-37.30, Z:-22.29 [[ 9.60080488e-01 2.62687377e-01 9.61290719e-02 1.77718827e+02] [-2.61011642e-01 9.64874451e-01 -2.98364969e-02 -3.73048958e+01] [-1.00590157e-01 3.55463162e-03 9.94921597e-01 -2.22888519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.081193817 meters 0.06567978976436567 Centerline is valid? [True, True] Translation: X:177.77, Y:-37.34, Z:-22.30 [[ 9.62383359e-01 2.54215588e-01 9.58786015e-02 1.77771225e+02] [-2.52505932e-01 9.67137403e-01 -2.97657240e-02 -3.73382197e+01] [-1.00294693e-01 4.43612181e-03 9.94947886e-01 -2.22951199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14119381700002 meters 0.06893445568857151 Centerline is valid? [True, True] Translation: X:177.83, Y:-37.36, Z:-22.30 [[ 9.64144985e-01 2.47766437e-01 9.50591461e-02 1.77825760e+02] [-2.46054687e-01 9.68806560e-01 -2.95116989e-02 -3.73635192e+01] [-9.94059328e-02 5.06380799e-03 9.95034079e-01 -2.23034273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20119381700002 meters 0.07408946646361393 Centerline is valid? [True, True] Translation: X:177.88, Y:-37.39, Z:-22.31 [[ 9.66082059e-01 2.39755186e-01 9.59317828e-02 1.77881114e+02] [-2.37972463e-01 9.70815190e-01 -2.97821008e-02 -3.73889566e+01] [-1.00272445e-01 5.94283068e-03 9.94942269e-01 -2.23113566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.261193817 meters 0.07581286425288976 Centerline is valid? [True, True] Translation: X:177.94, Y:-37.41, Z:-22.32 [[ 9.66614289e-01 2.37502628e-01 9.61733787e-02 1.77939668e+02] [-2.35699327e-01 9.71367130e-01 -2.98617862e-02 -3.74064102e+01] [-1.00511912e-01 6.19682856e-03 9.94916557e-01 -2.23185375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.321193817 meters 0.0755744091261993 Centerline is valid? [True, True] Translation: X:178.00, Y:-37.41, Z:-22.33 [[ 9.66061686e-01 2.39405851e-01 9.70033921e-02 1.78000078e+02] [-2.37580226e-01 9.70900698e-01 -3.01242477e-02 -3.74143823e+01] [-1.01392582e-01 6.05579374e-03 9.94828061e-01 -2.23263706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.381193817 meters 0.0695418473495764 Centerline is valid? [True, True] Translation: X:178.06, Y:-37.41, Z:-22.33 [[ 9.64320477e-01 2.45903045e-01 9.80699276e-02 1.78063742e+02] [-2.44069987e-01 9.69279190e-01 -3.04580499e-02 -3.74129599e+01] [-1.02546867e-01 5.43539526e-03 9.94713324e-01 -2.23313053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.441193817 meters 0.06317022227658363 Centerline is valid? [True, True] Translation: X:178.13, Y:-37.40, Z:-22.34 [[ 9.60415898e-01 2.61170705e-01 9.69080312e-02 1.78128083e+02] [-2.59457952e-01 9.65285297e-01 -3.00976034e-02 -3.74040366e+01] [-1.01404510e-01 3.76265747e-03 9.94838162e-01 -2.23395433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.501193817 meters 0.057228500705150724 Centerline is valid? [True, True] Translation: X:178.20, Y:-37.39, Z:-22.35 [[ 9.56463377e-01 2.75998142e-01 9.48832647e-02 1.78195095e+02] [-2.74429070e-01 9.61155776e-01 -2.94662470e-02 -3.73887927e+01] [-9.93302273e-02 2.14466005e-03 9.95052213e-01 -2.23463139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.561193817 meters 0.05656398708664722 Centerline is valid? [True, True] Translation: X:178.25, Y:-37.40, Z:-22.36 [[ 9.54724968e-01 2.82292971e-01 9.38664665e-02 1.78252703e+02] [-2.80787849e-01 9.59327113e-01 -2.91491830e-02 -3.73956194e+01] [-9.82772558e-02 1.47288966e-03 9.95157983e-01 -2.23575486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.621193817 meters 0.05604856823530968 Centerline is valid? [True, True] Translation: X:178.31, Y:-37.41, Z:-22.36 [[ 9.54232506e-01 2.83906347e-01 9.40080388e-02 1.78310260e+02] [-2.82405579e-01 9.58851136e-01 -2.91819711e-02 -3.74069717e+01] [-9.84246616e-02 1.29799076e-03 9.95143659e-01 -2.23645777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.681193817 meters 0.056524555634739126 Centerline is valid? [True, True] Translation: X:178.37, Y:-37.42, Z:-22.37 [[ 9.54987933e-01 2.81554831e-01 9.34073081e-02 1.78365396e+02] [-2.80062808e-01 9.59543933e-01 -2.89873249e-02 -3.74249728e+01] [-9.77899371e-02 1.52263256e-03 9.95205913e-01 -2.23717937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.741193817 meters 0.056573793051664316 Centerline is valid? [True, True] Translation: X:178.42, Y:-37.44, Z:-22.38 [[ 9.54896881e-01 2.81831366e-01 9.35041589e-02 1.78421977e+02] [-2.80338379e-01 9.59462801e-01 -2.90090682e-02 -3.74402491e+01] [-9.78894276e-02 1.48786447e-03 9.95196185e-01 -2.23790856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.801193817 meters 0.05638392609304957 Centerline is valid? [True, True] Translation: X:178.48, Y:-37.46, Z:-22.39 [[ 9.54276856e-01 2.84037445e-01 9.31579912e-02 1.78477481e+02] [-2.82566320e-01 9.58812368e-01 -2.88983936e-02 -3.74558962e+01] [-9.75292600e-02 1.25375752e-03 9.95231868e-01 -2.23876468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86119381700001 meters 0.05595098334863379 Centerline is valid? [True, True] Translation: X:178.53, Y:-37.48, Z:-22.39 [[ 9.54596469e-01 2.82501915e-01 9.45423143e-02 1.78533152e+02] [-2.80982464e-01 9.59265714e-01 -2.92941121e-02 -3.74760274e+01] [-9.89668434e-02 1.39932354e-03 9.95089748e-01 -2.23901245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92119381700002 meters 0.056783597137818345 Centerline is valid? [True, True] Translation: X:178.59, Y:-37.50, Z:-22.40 [[ 9.55847938e-01 2.77841098e-01 9.57028904e-02 1.78587227e+02] [-2.76261582e-01 9.60625175e-01 -2.96447636e-02 -3.75002745e+01] [-1.00171140e-01 1.89685421e-03 9.94968414e-01 -2.23957296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.981193817 meters 0.05826700079775017 Centerline is valid? [True, True] Translation: X:178.64, Y:-37.52, Z:-22.40 [[ 9.57039163e-01 2.73055365e-01 9.75541258e-02 1.78640349e+02] [-2.71390067e-01 9.61995235e-01 -3.02092552e-02 -3.75246199e+01] [-1.02095403e-01 2.43621958e-03 9.94771629e-01 -2.24026536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.041193817 meters 0.060512571726839194 Centerline is valid? [True, True] Translation: X:178.69, Y:-37.55, Z:-22.41 [[ 9.59067083e-01 2.66794641e-01 9.49260175e-02 1.78694302e+02] [-2.65188777e-01 9.63748712e-01 -2.93825129e-02 -3.75529887e+01] [-9.93239241e-02 3.00648640e-03 9.95050611e-01 -2.24123473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.101193817 meters 0.06074272308294141 Centerline is valid? [True, True] Translation: X:178.75, Y:-37.57, Z:-22.42 [[ 9.59532735e-01 2.65462863e-01 9.39489139e-02 1.78748682e+02] [-2.63883419e-01 9.64116058e-01 -2.90820871e-02 -3.75734438e+01] [-9.82978706e-02 3.11365404e-03 9.95152166e-01 -2.24204079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.161193817 meters 0.06120506725154447 Centerline is valid? [True, True] Translation: X:178.80, Y:-37.59, Z:-22.43 [[ 9.59537203e-01 2.66409031e-01 9.11843384e-02 1.78801969e+02] [-2.64926407e-01 9.63855644e-01 -2.82187169e-02 -3.75935943e+01] [-9.54062602e-02 2.91976956e-03 9.95434137e-01 -2.24305814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.221193817 meters 0.061455026154001606 Centerline is valid? [True, True] Translation: X:178.86, Y:-37.61, Z:-22.44 [[ 9.59753199e-01 2.65968792e-01 9.01909053e-02 1.78857315e+02] [-2.64517451e-01 9.63977215e-01 -2.79006545e-02 -3.76128614e+01] [-9.43626811e-02 2.92067402e-03 9.95533603e-01 -2.24376480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.281193817 meters 0.062048830093926054 Centerline is valid? [True, True] Translation: X:178.91, Y:-37.64, Z:-22.44 [[ 9.60536788e-01 2.62430339e-01 9.21921723e-02 1.78911422e+02] [-2.60898259e-01 9.64945183e-01 -2.85112617e-02 -3.76377090e+01] [-9.64426126e-02 3.33333843e-03 9.95332965e-01 -2.24417235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.341193817 meters 0.06352472037074251 Centerline is valid? [True, True] Translation: X:178.96, Y:-37.66, Z:-22.45 [[ 9.60961466e-01 2.59347361e-01 9.63950585e-02 1.78964553e+02] [-2.57657398e-01 9.65776626e-01 -2.98022359e-02 -3.76601522e+01] [-1.00825226e-01 3.80190035e-03 9.94896889e-01 -2.24458769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.401193817 meters 0.062188326847382756 Centerline is valid? [True, True] Translation: X:179.02, Y:-37.67, Z:-22.45 [[ 9.60984313e-01 2.58748418e-01 9.77671000e-02 1.79022540e+02] [-2.57008177e-01 9.65936847e-01 -3.02126643e-02 -3.76729513e+01] [-1.02254323e-01 3.90695233e-03 9.94750617e-01 -2.24495247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.461193817 meters 0.06108236735194499 Centerline is valid? [True, True] Translation: X:179.08, Y:-37.68, Z:-22.46 [[ 9.58825535e-01 2.66767566e-01 9.74097483e-02 1.79079772e+02] [-2.65081644e-01 9.63756111e-01 -3.00978392e-02 -3.76834380e+01] [-1.01908368e-01 3.03704059e-03 9.94789154e-01 -2.24610828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.521193817 meters 0.05920032704478097 Centerline is valid? [True, True] Translation: X:179.14, Y:-37.69, Z:-22.47 [[ 9.57171110e-01 2.72511720e-01 9.77794864e-02 1.79138205e+02] [-2.70843369e-01 9.62149396e-01 -3.02061227e-02 -3.76920516e+01] [-1.02309996e-01 2.42950248e-03 9.94749598e-01 -2.24691128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.581193817 meters 0.0574864121383309 Centerline is valid? [True, True] Translation: X:179.20, Y:-37.70, Z:-22.47 [[ 9.56200578e-01 2.75551962e-01 9.87500447e-02 1.79196742e+02] [-2.73866723e-01 9.61283835e-01 -3.05025489e-02 -3.77009937e+01] [-1.03331859e-01 2.12220367e-03 9.94644672e-01 -2.24731121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64119381700002 meters 0.05773463479295972 Centerline is valid? [True, True] Translation: X:179.25, Y:-37.72, Z:-22.48 [[ 9.56698341e-01 2.73668794e-01 9.91648881e-02 1.79252094e+02] [-2.71960170e-01 9.61821177e-01 -3.06217023e-02 -3.77193690e+01] [-1.03759094e-01 2.32683201e-03 9.94599737e-01 -2.24795234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70119381700002 meters 0.05785728278453618 Centerline is valid? [True, True] Translation: X:179.31, Y:-37.74, Z:-22.49 [[ 9.57245194e-01 2.72581683e-01 9.68548681e-02 1.79307235e+02] [-2.70947306e-01 9.62129704e-01 -2.98996655e-02 -3.77382525e+01] [-1.01337047e-01 2.37874552e-03 9.94849307e-01 -2.24882120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.761193817 meters 0.05931237331365719 Centerline is valid? [True, True] Translation: X:179.36, Y:-37.76, Z:-22.50 [[ 9.57998426e-01 2.71965663e-01 9.09598530e-02 1.79360451e+02] [-2.70522727e-01 9.62304242e-01 -2.80713316e-02 -3.77604172e+01] [-9.51654907e-02 2.28558397e-03 9.95458842e-01 -2.25046342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.821193817 meters 0.05794887388300218 Centerline is valid? [True, True] Translation: X:179.42, Y:-37.78, Z:-22.51 [[ 9.57483740e-01 2.74487471e-01 8.87778978e-02 1.79416646e+02] [-2.73124278e-01 9.61588634e-01 -2.73939465e-02 -3.77751044e+01] [-9.28871126e-02 1.98185913e-03 9.95674674e-01 -2.25106791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.881193817 meters 0.055713738251634 Centerline is valid? [True, True] Translation: X:179.48, Y:-37.79, Z:-22.52 [[ 9.54932787e-01 2.83096847e-01 8.92162954e-02 1.79475463e+02] [-2.81758918e-01 9.59090654e-01 -2.75141589e-02 -3.77865693e+01] [-9.33556867e-02 1.13668565e-03 9.95632173e-01 -2.25154399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.941193817 meters 0.05497860447478411 Centerline is valid? [True, True] Translation: X:179.53, Y:-37.80, Z:-22.52 [[ 9.53304846e-01 2.88187239e-01 9.03215734e-02 1.79532517e+02] [-2.86838929e-01 9.57573862e-01 -2.78518891e-02 -3.78003051e+01] [-9.45161369e-02 6.43597448e-04 9.95523122e-01 -2.25208109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.001193817 meters 0.054790927880198376 Centerline is valid? [True, True] Translation: X:179.59, Y:-37.82, Z:-22.53 [[ 9.52818243e-01 2.89571837e-01 9.10249834e-02 1.79587788e+02] [-2.88209523e-01 9.57156152e-01 -2.80601401e-02 -3.78176788e+01] [-9.52505491e-02 5.01946325e-04 9.95453204e-01 -2.25278626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.061193817 meters 0.05531096031382089 Centerline is valid? [True, True] Translation: X:179.64, Y:-37.85, Z:-22.54 [[ 9.54237764e-01 2.84891579e-01 9.09234770e-02 1.79639498e+02] [-2.83511833e-01 9.58559265e-01 -2.80209839e-02 -3.78460828e+01] [-9.51384836e-02 9.60799402e-04 9.95463583e-01 -2.25361047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.121193817 meters 0.05691632458898474 Centerline is valid? [True, True] Translation: X:179.69, Y:-37.88, Z:-22.55 [[ 9.56586387e-01 2.78419487e-01 8.61688686e-02 1.79691513e+02] [-2.77155453e-01 9.60458387e-01 -2.65431985e-02 -3.78791262e+01] [-9.01517563e-02 1.50869046e-03 9.95926897e-01 -2.25479562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.181193817 meters 0.05816072860423015 Centerline is valid? [True, True] Translation: X:179.74, Y:-37.91, Z:-22.56 [[ 9.57687754e-01 2.75451482e-01 8.34304952e-02 1.79743493e+02] [-2.74255175e-01 9.61313411e-01 -2.57026106e-02 -3.79053305e+01] [-8.72826762e-02 1.73383032e-03 9.96182076e-01 -2.25579219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.241193817 meters 0.058653599804768614 Centerline is valid? [True, True] Translation: X:179.80, Y:-37.93, Z:-22.56 [[ 9.58622001e-01 2.72112848e-01 8.36567776e-02 1.79795769e+02] [-2.70898001e-01 9.62263193e-01 -2.57647346e-02 -3.79344110e+01] [-8.75107532e-02 2.03618767e-03 9.96161494e-01 -2.25625432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.301193817 meters 0.059021400467297785 Centerline is valid? [True, True] Translation: X:179.85, Y:-37.96, Z:-22.57 [[ 9.59178734e-01 2.69861055e-01 8.45645765e-02 1.79849482e+02] [-2.68611659e-01 9.62896626e-01 -2.60358264e-02 -3.79604430e+01] [-8.84530009e-02 2.25797983e-03 9.96077792e-01 -2.25678158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36119381700001 meters 0.05954369938837423 Centerline is valid? [True, True] Translation: X:179.90, Y:-37.99, Z:-22.57 [[ 9.60156455e-01 2.65845258e-01 8.61735466e-02 1.79904809e+02] [-2.64532466e-01 9.64012019e-01 -2.65217087e-02 -3.79888159e+01] [-9.01230052e-02 2.66928902e-03 9.95927065e-01 -2.25715031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42119381700002 meters 0.06146182758742281 Centerline is valid? [True, True] Translation: X:179.96, Y:-38.01, Z:-22.58 [[ 9.59988155e-01 2.65695936e-01 8.84783176e-02 1.79960606e+02] [-2.64311468e-01 9.64052951e-01 -2.72278392e-02 -3.80145605e+01] [-9.25321094e-02 2.75256915e-03 9.95705896e-01 -2.25813557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.481193817 meters 0.06049994466807102 Centerline is valid? [True, True] Translation: X:180.02, Y:-38.04, Z:-22.59 [[ 9.59896361e-01 2.66736247e-01 8.63177277e-02 1.80018920e+02] [-2.65420476e-01 9.63766023e-01 -2.65899304e-02 -3.80354567e+01] [-9.02825914e-02 2.61308507e-03 9.95912760e-01 -2.25882508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.541193817 meters 0.060345399825089095 Centerline is valid? [True, True] Translation: X:180.08, Y:-38.05, Z:-22.60 [[ 9.59739267e-01 2.67762527e-01 8.48750142e-02 1.80076998e+02] [-2.66491464e-01 9.63481679e-01 -2.61792742e-02 -3.80543924e+01] [-8.87853497e-02 2.50681062e-03 9.96047628e-01 -2.25963363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.601193817 meters 0.059068068156024306 Centerline is valid? [True, True] Translation: X:180.14, Y:-38.07, Z:-22.60 [[ 9.59266588e-01 2.69513724e-01 8.46756557e-02 1.80136263e+02] [-2.68255008e-01 9.62993696e-01 -2.61226267e-02 -3.80688685e+01] [-8.85825290e-02 2.34389422e-03 9.96066083e-01 -2.26007330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.661193817 meters 0.060027584082435886 Centerline is valid? [True, True] Translation: X:180.19, Y:-38.09, Z:-22.61 [[ 9.58890935e-01 2.70359521e-01 8.62200935e-02 1.80192085e+02] [-2.69057626e-01 9.62756666e-01 -2.66006792e-02 -3.80883483e+01] [-9.02007167e-02 2.30897647e-03 9.95920930e-01 -2.26105079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.721193817 meters 0.057995163216478955 Centerline is valid? [True, True] Translation: X:180.25, Y:-38.10, Z:-22.62 [[ 9.58705425e-01 2.71600477e-01 8.43628426e-02 1.80251754e+02] [-2.70359336e-01 9.62407709e-01 -2.60236736e-02 -3.81041459e+01] [-8.82594922e-02 2.14075497e-03 9.96095216e-01 -2.26152207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.781193817 meters 0.0584882662777635 Centerline is valid? [True, True] Translation: X:180.31, Y:-38.13, Z:-22.62 [[ 9.58849990e-01 2.71400206e-01 8.33584088e-02 1.80308954e+02] [-2.70187412e-01 9.62464213e-01 -2.57177263e-02 -3.81253738e+01] [-8.72092815e-02 2.13704886e-03 9.96187720e-01 -2.26249185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.841193817 meters 0.05967958085464353 Centerline is valid? [True, True] Translation: X:180.37, Y:-38.15, Z:-22.64 [[ 9.59070727e-01 2.70729788e-01 8.29983317e-02 1.80365456e+02] [-2.69525351e-01 9.62652903e-01 -2.56022226e-02 -3.81470113e+01] [-8.68298693e-02 2.18418768e-03 9.96220760e-01 -2.26351146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.901193817 meters 0.060635652389871036 Centerline is valid? [True, True] Translation: X:180.42, Y:-38.17, Z:-22.64 [[ 9.60226726e-01 2.67040129e-01 8.15733094e-02 1.80421088e+02] [-2.65860657e-01 9.63682150e-01 -2.51957090e-02 -3.81719394e+01] [-8.53390076e-02 2.50645953e-03 9.96348820e-01 -2.26424210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.961193817 meters 0.061395740775564804 Centerline is valid? [True, True] Translation: X:180.48, Y:-38.20, Z:-22.65 [[ 9.60522895e-01 2.65980395e-01 8.15487422e-02 1.80478203e+02] [-2.64798522e-01 9.63974954e-01 -2.51799838e-02 -3.81964520e+01] [-8.53083270e-02 2.59196452e-03 9.96351229e-01 -2.26494775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.021193817 meters 0.060764500970941784 Centerline is valid? [True, True] Translation: X:180.54, Y:-38.22, Z:-22.65 [[ 9.60646097e-01 2.64443964e-01 8.50203824e-02 1.80536215e+02] [-2.63150589e-01 9.64396775e-01 -2.62798125e-02 -3.82192201e+01] [-8.89429204e-02 2.87243559e-03 9.96032583e-01 -2.26509857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.081193817 meters 0.063356931023648 Centerline is valid? [True, True] Translation: X:180.59, Y:-38.24, Z:-22.66 [[ 9.61109112e-01 2.62713396e-01 8.51524897e-02 1.80591647e+02] [-2.61406627e-01 9.64869045e-01 -2.63495863e-02 -3.82429712e+01] [-8.90833907e-02 3.06540238e-03 9.96019454e-01 -2.26616559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14119381700002 meters 0.060994488678688286 Centerline is valid? [True, True] Translation: X:180.65, Y:-38.26, Z:-22.66 [[ 9.60600745e-01 2.63888604e-01 8.72296579e-02 1.80652632e+02] [-2.62519553e-01 9.64548326e-01 -2.70187155e-02 -3.82557096e+01] [-9.12671517e-02 3.05470745e-03 9.95821759e-01 -2.26641456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20119381700002 meters 0.05963030833469715 Centerline is valid? [True, True] Translation: X:180.71, Y:-38.27, Z:-22.67 [[ 9.59363746e-01 2.68983161e-01 8.52599666e-02 1.80712811e+02] [-2.67693014e-01 9.63141536e-01 -2.64354181e-02 -3.82703498e+01] [-8.92280975e-02 2.53768429e-03 9.96007985e-01 -2.26729884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.261193817 meters 0.05783852772540293 Centerline is valid? [True, True] Translation: X:180.77, Y:-38.28, Z:-22.69 [[ 9.57018990e-01 2.78347539e-01 8.14696267e-02 1.80772793e+02] [-2.77200873e-01 9.60479058e-01 -2.52914158e-02 -3.82770946e+01] [-8.52896736e-02 1.62091358e-03 9.96354879e-01 -2.26850082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.321193817 meters 0.05606721952187323 Centerline is valid? [True, True] Translation: X:180.83, Y:-38.29, Z:-22.69 [[ 9.54709301e-01 2.85625856e-01 8.33547830e-02 1.80832111e+02] [-2.84451574e-01 9.58340675e-01 -2.58930909e-02 -3.82874854e+01] [-8.72780153e-02 1.00997548e-03 9.96183481e-01 -2.26896315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.381193817 meters 0.0539681562138625 Centerline is valid? [True, True] Translation: X:180.89, Y:-38.30, Z:-22.69 [[ 9.51132325e-01 2.95600306e-01 8.92623116e-02 1.80891349e+02] [-2.94297101e-01 9.55311702e-01 -2.77266600e-02 -3.82996079e+01] [-9.34693400e-02 1.02083104e-04 9.95622153e-01 -2.26882894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.441193817 meters 0.05401345288849848 Centerline is valid? [True, True] Translation: X:180.95, Y:-38.32, Z:-22.69 [[ 9.49368802e-01 3.01073587e-01 8.97416992e-02 1.80947745e+02] [-2.99780955e-01 9.53600807e-01 -2.78725493e-02 -3.83159660e+01] [-9.39694453e-02 -4.41523518e-04 9.95574984e-01 -2.26946128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.501193817 meters 0.05486240197710188 Centerline is valid? [True, True] Translation: X:181.00, Y:-38.34, Z:-22.70 [[ 9.47190770e-01 3.07659409e-01 9.04175521e-02 1.81002069e+02] [-3.06377881e-01 9.51495903e-01 -2.80738295e-02 -3.83358467e+01] [-9.46691083e-02 -1.11066581e-03 9.95508175e-01 -2.27036444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.561193817 meters 0.055377768998738995 Centerline is valid? [True, True] Translation: X:181.05, Y:-38.36, Z:-22.71 [[ 9.46834459e-01 3.09136732e-01 8.91010031e-02 1.81053797e+02] [-3.07899567e-01 9.51016785e-01 -2.76573832e-02 -3.83610227e+01] [-9.32864626e-02 -1.24719690e-03 9.95638529e-01 -2.27128595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.621193817 meters 0.05505980461337729 Centerline is valid? [True, True] Translation: X:181.10, Y:-38.40, Z:-22.72 [[ 9.48205345e-01 3.05454483e-01 8.72019610e-02 1.81104246e+02] [-3.04255177e-01 9.52206274e-01 -2.70554731e-02 -3.83982122e+01] [-9.12984699e-02 -8.77503847e-04 9.95823187e-01 -2.27220151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.681193817 meters 0.054631432788735716 Centerline is valid? [True, True] Translation: X:181.16, Y:-38.44, Z:-22.73 [[ 9.50482391e-01 2.98119733e-01 8.77943618e-02 1.81157205e+02] [-2.96873788e-01 9.54528465e-01 -2.72279813e-02 -3.84356356e+01] [-9.19194160e-02 -1.84128025e-04 9.95766432e-01 -2.27308817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.741193817 meters 0.0557027920604526 Centerline is valid? [True, True] Translation: X:181.21, Y:-38.48, Z:-22.74 [[ 9.54643352e-01 2.84501247e-01 8.78357020e-02 1.81206581e+02] [-2.83193877e-01 9.58674973e-01 -2.72676454e-02 -3.84849301e+01] [-9.19635683e-02 1.15634349e-03 9.95761701e-01 -2.27360203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.801193817 meters 0.057887640971284855 Centerline is valid? [True, True] Translation: X:181.26, Y:-38.52, Z:-22.75 [[ 9.56844479e-01 2.77610077e-01 8.59144221e-02 1.81258704e+02] [-2.76328390e-01 9.60692123e-01 -2.67070342e-02 -3.85207553e+01] [-8.99514504e-02 1.81388420e-03 9.95944500e-01 -2.27454699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86119381700001 meters 0.06029030167554399 Centerline is valid? [True, True] Translation: X:181.31, Y:-38.56, Z:-22.75 [[ 9.58585218e-01 2.71848153e-01 8.49291604e-02 1.81310485e+02] [-2.70572992e-01 9.62337339e-01 -2.64026862e-02 -3.85563836e+01] [-8.89080237e-02 2.32968761e-03 9.96037116e-01 -2.27547359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92119381700002 meters 0.06103086039911997 Centerline is valid? [True, True] Translation: X:181.37, Y:-38.58, Z:-22.76 [[ 9.58982881e-01 2.70358202e-01 8.51955244e-02 1.81366457e+02] [-2.69069769e-01 9.62756640e-01 -2.64785230e-02 -3.85835506e+01] [-8.91812426e-02 2.46891024e-03 9.96012355e-01 -2.27612891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.981193817 meters 0.06202732234567941 Centerline is valid? [True, True] Translation: X:181.42, Y:-38.61, Z:-22.77 [[ 9.60054053e-01 2.66423470e-01 8.55263106e-02 1.81422497e+02] [-2.65106932e-01 9.63851796e-01 -2.66088328e-02 -3.86107702e+01] [-8.95239056e-02 2.87230001e-03 9.95980532e-01 -2.27664402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.041193817 meters 0.062107940783298995 Centerline is valid? [True, True] Translation: X:181.48, Y:-38.63, Z:-22.77 [[ 9.60723748e-01 2.63207202e-01 8.79309344e-02 1.81480182e+02] [-2.61799558e-01 9.64733727e-01 -2.73829883e-02 -3.86340300e+01] [-9.20373378e-02 3.28720733e-03 9.95750131e-01 -2.27694567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.101193817 meters 0.06452813108878892 Centerline is valid? [True, True] Translation: X:181.54, Y:-38.66, Z:-22.77 [[ 9.62447319e-01 2.55653920e-01 9.13029632e-02 1.81535290e+02] [-2.54098272e-01 9.66759230e-01 -2.84720874e-02 -3.86615040e+01] [-9.55469831e-02 4.20295907e-03 9.95416048e-01 -2.27730488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.161193817 meters 0.07153869608963348 Centerline is valid? [True, True] Translation: X:181.59, Y:-38.69, Z:-22.79 [[ 9.63702565e-01 2.50917815e-01 9.12009645e-02 1.81588226e+02] [-2.49343856e-01 9.67997109e-01 -2.84471305e-02 -3.86902158e+01] [-9.54201618e-02 4.67417244e-03 9.95426112e-01 -2.27860716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.221193817 meters 0.07032936335818064 Centerline is valid? [True, True] Translation: X:181.65, Y:-38.70, Z:-22.79 [[ 9.65188664e-01 2.45065784e-01 9.13980597e-02 1.81649130e+02] [-2.43458917e-01 9.69492163e-01 -2.85079393e-02 -3.86993788e+01] [-9.55960231e-02 5.26386720e-03 9.95406295e-01 -2.27903386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.281193817 meters 0.07320724987833503 Centerline is valid? [True, True] Translation: X:181.71, Y:-38.72, Z:-22.80 [[ 9.66108548e-01 2.41502783e-01 9.11629251e-02 1.81707310e+02] [-2.39888216e-01 9.70383945e-01 -2.84366336e-02 -3.87174081e+01] [-9.53305651e-02 5.60396333e-03 9.95429897e-01 -2.27985420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.341193817 meters 0.07674089576718689 Centerline is valid? [True, True] Translation: X:181.77, Y:-38.73, Z:-22.81 [[ 9.67296792e-01 2.36422185e-01 9.18774515e-02 1.81766001e+02] [-2.34758913e-01 9.71630916e-01 -2.86638398e-02 -3.87273649e+01] [-9.60477400e-02 6.15738963e-03 9.95357684e-01 -2.28060028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.401193817 meters 0.0783179108312151 Centerline is valid? [True, True] Translation: X:181.83, Y:-38.74, Z:-22.81 [[ 9.67248871e-01 2.36641765e-01 9.18166516e-02 1.81827708e+02] [-2.34981696e-01 9.71577625e-01 -2.86447422e-02 -3.87366894e+01] [-9.59855466e-02 6.13136208e-03 9.95363844e-01 -2.28141498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.461193817 meters 0.07535253707138095 Centerline is valid? [True, True] Translation: X:181.89, Y:-38.73, Z:-22.82 [[ 9.66773537e-01 2.38182800e-01 9.28325445e-02 1.81893015e+02] [-2.36490340e-01 9.71201380e-01 -2.89861804e-02 -3.87337300e+01] [-9.70631049e-02 6.06907208e-03 9.95259725e-01 -2.28198523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.521193817 meters 0.07508042297710167 Centerline is valid? [True, True] Translation: X:181.96, Y:-38.74, Z:-22.83 [[ 9.66298951e-01 2.39737615e-01 9.37668081e-02 1.81955112e+02] [-2.38017390e-01 9.70819302e-01 -2.92848755e-02 -3.87384500e+01] [-9.80513135e-02 5.97981351e-03 9.95163395e-01 -2.28283320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.581193817 meters 0.07492592745441254 Centerline is valid? [True, True] Translation: X:182.02, Y:-38.74, Z:-22.84 [[ 9.65966038e-01 2.41936277e-01 9.15229566e-02 1.82019178e+02] [-2.40307672e-01 9.70275892e-01 -2.85817515e-02 -3.87369474e+01] [-9.57174808e-02 5.61533254e-03 9.95392702e-01 -2.28403364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64119381700002 meters 0.07415933863179439 Centerline is valid? [True, True] Translation: X:182.08, Y:-38.74, Z:-22.85 [[ 9.65716291e-01 2.43311581e-01 9.05070128e-02 1.82082161e+02] [-2.41721972e-01 9.69932875e-01 -2.82967590e-02 -3.87429396e+01] [-9.46706563e-02 5.44910752e-03 9.95493734e-01 -2.28497303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70119381700002 meters 0.06903455595067345 Centerline is valid? [True, True] Translation: X:182.15, Y:-38.74, Z:-22.86 [[ 9.65013061e-01 2.45921878e-01 9.09517602e-02 1.82148425e+02] [-2.44326974e-01 9.69275542e-01 -2.84473877e-02 -3.87352899e+01] [-9.51531516e-02 5.23013226e-03 9.95448905e-01 -2.28556992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.761193817 meters 0.06742440126482778 Centerline is valid? [True, True] Translation: X:182.21, Y:-38.74, Z:-22.86 [[ 9.64481424e-01 2.47822300e-01 9.14313455e-02 1.82209221e+02] [-2.46218554e-01 9.68792219e-01 -2.86017357e-02 -3.87446195e+01] [-9.56661240e-02 5.07374909e-03 9.95400547e-01 -2.28626107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.821193817 meters 0.06298268036933206 Centerline is valid? [True, True] Translation: X:182.27, Y:-38.74, Z:-22.87 [[ 9.61325006e-01 2.59194188e-01 9.31268230e-02 1.82274982e+02] [-2.57582643e-01 9.65816852e-01 -2.91374583e-02 -3.87357784e+01] [-9.74957148e-02 4.02271414e-03 9.95227815e-01 -2.28693148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.881193817 meters 0.05918653977449931 Centerline is valid? [True, True] Translation: X:182.34, Y:-38.74, Z:-22.88 [[ 9.58301869e-01 2.69764904e-01 9.42572204e-02 1.82337953e+02] [-2.68164502e-01 9.62921584e-01 -2.94927615e-02 -3.87354978e+01] [-9.87184240e-02 2.98652797e-03 9.95110925e-01 -2.28768039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.941193817 meters 0.05535071659259006 Centerline is valid? [True, True] Translation: X:182.40, Y:-38.73, Z:-22.88 [[ 9.54105007e-01 2.84281651e-01 9.41678237e-02 1.82403738e+02] [-2.82754505e-01 9.58739660e-01 -2.94644582e-02 -3.87253858e+01] [-9.86586321e-02 1.48581073e-03 9.95120227e-01 -2.28842769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.001193817 meters 0.05419269518649927 Centerline is valid? [True, True] Translation: X:182.46, Y:-38.73, Z:-22.89 [[ 9.51418768e-01 2.92319687e-01 9.67032989e-02 1.82463102e+02] [-2.90750186e-01 9.56320422e-01 -3.02585591e-02 -3.87301206e+01] [-1.01324512e-01 6.72058936e-04 9.94853201e-01 -2.28913305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.061193817 meters 0.05382135068010841 Centerline is valid? [True, True] Translation: X:182.52, Y:-38.74, Z:-22.90 [[ 9.50648807e-01 2.93986752e-01 9.91898917e-02 1.82520406e+02] [-2.92344991e-01 9.55809363e-01 -3.10301154e-02 -3.87448263e+01] [-1.03929070e-01 5.01074181e-04 9.94584585e-01 -2.28954836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.121193817 meters 0.05373549804560023 Centerline is valid? [True, True] Translation: X:182.57, Y:-38.77, Z:-22.90 [[ 9.50787114e-01 2.93063682e-01 1.00585994e-01 1.82574042e+02] [-2.91371056e-01 9.56092734e-01 -3.14577803e-02 -3.87689383e+01] [-1.05388671e-01 6.01804908e-04 9.94430926e-01 -2.29016946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.181193817 meters 0.0540867509106264 Centerline is valid? [True, True] Translation: X:182.63, Y:-38.79, Z:-22.91 [[ 9.51414642e-01 2.91145833e-01 1.00221176e-01 1.82627294e+02] [-2.89455855e-01 9.56678347e-01 -3.13344545e-02 -3.87942109e+01] [-1.05002325e-01 8.02452792e-04 9.94471653e-01 -2.29108108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.241193817 meters 0.05495510536048512 Centerline is valid? [True, True] Translation: X:182.68, Y:-38.82, Z:-22.92 [[ 9.52777229e-01 2.87662751e-01 9.72917915e-02 1.82677555e+02] [-2.86053108e-01 9.57731086e-01 -3.04102904e-02 -3.88247065e+01] [-1.01927281e-01 1.14361290e-03 9.94791195e-01 -2.29229729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.301193817 meters 0.05580680309973204 Centerline is valid? [True, True] Translation: X:182.73, Y:-38.85, Z:-22.93 [[ 9.53598656e-01 2.85842379e-01 9.45713321e-02 1.82729955e+02] [-2.84313882e-01 9.58275780e-01 -2.95490451e-02 -3.88517781e+01] [-9.90717863e-02 1.28998713e-03 9.95079453e-01 -2.29349594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36119381700001 meters 0.056560171089795434 Centerline is valid? [True, True] Translation: X:182.78, Y:-38.88, Z:-22.94 [[ 9.55067653e-01 2.81660810e-01 9.22657398e-02 1.82782627e+02] [-2.80187600e-01 9.59512581e-01 -2.88186788e-02 -3.88841414e+01] [-9.66472305e-02 1.67207175e-03 9.95317295e-01 -2.29439444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42119381700002 meters 0.057407089148950305 Centerline is valid? [True, True] Translation: X:182.84, Y:-38.91, Z:-22.95 [[ 9.56268318e-01 2.78178125e-01 9.03760800e-02 1.82838075e+02] [-2.76749495e-01 9.60527465e-01 -2.82260011e-02 -3.89138952e+01] [-9.46605631e-02 1.98009612e-03 9.95507638e-01 -2.29525756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.481193817 meters 0.06052352465722411 Centerline is valid? [True, True] Translation: X:182.89, Y:-38.95, Z:-22.96 [[ 9.58235221e-01 2.71483816e-01 8.98988262e-02 1.82888194e+02] [-2.70039840e-01 9.62439389e-01 -2.80874808e-02 -3.89535102e+01] [-9.41474679e-02 2.63814871e-03 9.95554767e-01 -2.29636201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.541193817 meters 0.06230587119422269 Centerline is valid? [True, True] Translation: X:182.94, Y:-38.99, Z:-22.97 [[ 9.60659793e-01 2.62961033e-01 8.93546758e-02 1.82941430e+02] [-2.61497485e-01 9.64800268e-01 -2.79196907e-02 -3.89863178e+01] [-9.35512058e-02 3.45530132e-03 9.95608474e-01 -2.29669072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.601193817 meters 0.06468094611053023 Centerline is valid? [True, True] Translation: X:183.00, Y:-39.01, Z:-22.97 [[ 9.62272192e-01 2.56331921e-01 9.12478724e-02 1.82996293e+02] [-2.54775629e-01 9.66579741e-01 -2.85128671e-02 -3.90139651e+01] [-9.55071029e-02 4.18940506e-03 9.95419933e-01 -2.29726144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.661193817 meters 0.07006611416952561 Centerline is valid? [True, True] Translation: X:183.05, Y:-39.04, Z:-22.98 [[ 9.64023191e-01 2.48830367e-01 9.35026017e-02 1.83048614e+02] [-2.47160481e-01 9.68533868e-01 -2.92206010e-02 -3.90443579e+01] [-9.78314093e-02 5.05918894e-03 9.95190143e-01 -2.29790085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.721193817 meters 0.07044920727121916 Centerline is valid? [True, True] Translation: X:183.11, Y:-39.06, Z:-22.99 [[ 9.64579865e-01 2.46268124e-01 9.45393858e-02 1.83106986e+02] [-2.44549439e-01 9.69186858e-01 -2.95365234e-02 -3.90638960e+01] [-9.89002344e-02 5.37078200e-03 9.95082860e-01 -2.29851028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.781193817 meters 0.07057866878944091 Centerline is valid? [True, True] Translation: X:183.17, Y:-39.08, Z:-22.99 [[ 9.63844087e-01 2.47656337e-01 9.83408122e-02 1.83167165e+02] [-2.45799725e-01 9.68832474e-01 -3.07592616e-02 -3.90782342e+01] [-1.02893498e-01 5.47498787e-03 9.94677311e-01 -2.29895261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.841193817 meters 0.06773420571626053 Centerline is valid? [True, True] Translation: X:183.23, Y:-39.09, Z:-23.00 [[ 9.62802313e-01 2.51803363e-01 9.80141450e-02 1.83228128e+02] [-2.49979686e-01 9.67765386e-01 -3.06645445e-02 -3.90854885e+01] [-1.02576132e-01 5.02234921e-03 9.94712478e-01 -2.29982046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.901193817 meters 0.06587502518759772 Centerline is valid? [True, True] Translation: X:183.29, Y:-39.09, Z:-23.01 [[ 9.61239415e-01 2.59175250e-01 9.40583729e-02 1.83288799e+02] [-2.57531057e-01 9.65821753e-01 -2.94295052e-02 -3.90897202e+01] [-9.84710220e-02 4.06584817e-03 9.95131613e-01 -2.30108163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.961193817 meters 0.06160786483670374 Centerline is valid? [True, True] Translation: X:183.35, Y:-39.09, Z:-23.02 [[ 9.59830023e-01 2.64999662e-01 9.22036158e-02 1.83352246e+02] [-2.63446749e-01 9.64242518e-01 -2.88474816e-02 -3.90917697e+01] [-9.65512196e-02 3.39793614e-03 9.95322217e-01 -2.30174260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.021193817 meters 0.0598570356754281 Centerline is valid? [True, True] Translation: X:183.41, Y:-39.10, Z:-23.03 [[ 9.56998487e-01 2.74819896e-01 9.28866018e-02 1.83412181e+02] [-2.73288929e-01 9.61492639e-01 -2.90700271e-02 -3.90957123e+01] [-9.72988058e-02 2.43509200e-03 9.95252236e-01 -2.30280930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.081193817 meters 0.05700227420079197 Centerline is valid? [True, True] Translation: X:183.47, Y:-39.10, Z:-23.03 [[ 9.54650628e-01 2.83353845e-01 9.13935326e-02 1.83474540e+02] [-2.81910886e-01 9.59014197e-01 -2.86010990e-02 -3.90970656e+01] [-9.57519267e-02 1.53922537e-03 9.95404038e-01 -2.30336588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14119381700002 meters 0.05568606156704612 Centerline is valid? [True, True] Translation: X:183.54, Y:-39.10, Z:-23.04 [[ 9.50976015e-01 2.95329093e-01 9.17896800e-02 1.83535568e+02] [-2.93929104e-01 9.55395527e-01 -2.87239940e-02 -3.90981707e+01] [-9.61784809e-02 3.36170979e-04 9.95364047e-01 -2.30426858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20119381700002 meters 0.055586113162112184 Centerline is valid? [True, True] Translation: X:183.59, Y:-39.11, Z:-23.05 [[ 9.49283584e-01 3.00390096e-01 9.28787741e-02 1.83592960e+02] [-2.98981303e-01 9.53816416e-01 -2.90589735e-02 -3.91100973e+01] [-9.73183273e-02 -1.83810399e-04 9.95253289e-01 -2.30484352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.261193817 meters 0.05557222237773997 Centerline is valid? [True, True] Translation: X:183.65, Y:-39.13, Z:-23.06 [[ 9.49267299e-01 3.00395217e-01 9.30285391e-02 1.83647548e+02] [-2.98982742e-01 9.53814802e-01 -2.90971409e-02 -3.91323798e+01] [-9.74726395e-02 -1.92963381e-04 9.95238186e-01 -2.30555258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.321193817 meters 0.055798547424847196 Centerline is valid? [True, True] Translation: X:183.70, Y:-39.16, Z:-23.07 [[ 9.50372201e-01 2.97296462e-01 9.16923792e-02 1.83699179e+02] [-2.95910746e-01 9.54785212e-01 -2.86710659e-02 -3.91570787e+01] [-9.60703341e-02 1.15423678e-04 9.95374541e-01 -2.30664554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.381193817 meters 0.05612628239370128 Centerline is valid? [True, True] Translation: X:183.75, Y:-39.19, Z:-23.07 [[ 9.51667849e-01 2.93193516e-01 9.14651141e-02 1.83750914e+02] [-2.91796895e-01 9.56052977e-01 -2.85880602e-02 -3.91879943e+01] [-9.58273285e-02 5.17101424e-04 9.95397838e-01 -2.30746383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.441193817 meters 0.056711813602814236 Centerline is valid? [True, True] Translation: X:183.80, Y:-39.22, Z:-23.08 [[ 9.52783175e-01 2.89828881e-01 9.05728442e-02 1.83803365e+02] [-2.88444964e-01 9.57078113e-01 -2.83017525e-02 -3.92169063e+01] [-9.48879521e-02 8.40152828e-04 9.95487604e-01 -2.30848530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.501193817 meters 0.05765694393861231 Centerline is valid? [True, True] Translation: X:183.86, Y:-39.25, Z:-23.09 [[ 9.54958499e-01 2.83584700e-01 8.73726707e-02 1.83856198e+02] [-2.82271296e-01 9.58946162e-01 -2.72978539e-02 -3.92517837e+01] [-9.15269409e-02 1.40552059e-03 9.95801609e-01 -2.30925271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.561193817 meters 0.05934224655020598 Centerline is valid? [True, True] Translation: X:183.91, Y:-39.29, Z:-23.10 [[ 9.56614768e-01 2.78418617e-01 8.58560334e-02 1.83908358e+02] [-2.77130060e-01 9.60458016e-01 -2.68203044e-02 -3.92865312e+01] [-8.99283876e-02 1.86341162e-03 9.95946491e-01 -2.31028709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.621193817 meters 0.05942054788392204 Centerline is valid? [True, True] Translation: X:183.96, Y:-39.31, Z:-23.11 [[ 9.56730043e-01 2.78273189e-01 8.50391566e-02 1.83964326e+02] [-2.77006262e-01 9.60500123e-01 -2.65903292e-02 -3.93129206e+01] [-8.90794960e-02 1.88338794e-03 9.96022739e-01 -2.31102323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.681193817 meters 0.06091335016476298 Centerline is valid? [True, True] Translation: X:184.02, Y:-39.34, Z:-23.12 [[ 9.56544927e-01 2.79174225e-01 8.41638504e-02 1.84019464e+02] [-2.77934204e-01 9.60238762e-01 -2.63457503e-02 -3.93370405e+01] [-8.81724459e-02 1.80888104e-03 9.96103583e-01 -2.31242591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.741193817 meters 0.05835864307059007 Centerline is valid? [True, True] Translation: X:184.08, Y:-39.35, Z:-23.13 [[ 9.54651873e-01 2.85888701e-01 8.31110821e-02 1.84079635e+02] [-2.84702771e-01 9.58262081e-01 -2.60406645e-02 -3.93529370e+01] [-8.70869302e-02 1.19781372e-03 9.96199996e-01 -2.31271484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.801193817 meters 0.057003156737248144 Centerline is valid? [True, True] Translation: X:184.14, Y:-39.37, Z:-23.13 [[ 9.52035105e-01 2.93531520e-01 8.64199347e-02 1.84138083e+02] [-2.92276819e-01 9.55949233e-01 -2.71168830e-02 -3.93696956e+01] [-9.05727302e-02 5.57681029e-04 9.95889687e-01 -2.31313602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86119381700001 meters 0.056676358610509424 Centerline is valid? [True, True] Translation: X:184.20, Y:-39.39, Z:-23.14 [[ 9.50319556e-01 2.98887662e-01 8.69419779e-02 1.84197729e+02] [-2.97640088e-01 9.54288302e-01 -2.72803021e-02 -3.93878351e+01] [-9.11214582e-02 4.75867120e-05 9.95839785e-01 -2.31379642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92119381700002 meters 0.056279517010279695 Centerline is valid? [True, True] Translation: X:184.25, Y:-39.41, Z:-23.14 [[ 9.48809819e-01 3.02892138e-01 8.95336758e-02 1.84254629e+02] [-3.01586085e-01 9.53024783e-01 -2.80997649e-02 -3.94092666e+01] [-9.38390098e-02 -3.40777892e-04 9.95587326e-01 -2.31422873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.981193817 meters 0.05595393183164397 Centerline is valid? [True, True] Translation: X:184.31, Y:-39.44, Z:-23.15 [[ 9.49210594e-01 3.01202209e-01 9.09751421e-02 1.84311936e+02] [-2.99843278e-01 9.53560279e-01 -2.85797558e-02 -3.94353876e+01] [-9.53585675e-02 -1.50077832e-04 9.95442977e-01 -2.31467319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.041193817 meters 0.055749205814078724 Centerline is valid? [True, True] Translation: X:184.37, Y:-39.47, Z:-23.15 [[ 9.50962943e-01 2.94537152e-01 9.44317077e-02 1.84365472e+02] [-2.93036573e-01 9.55639859e-01 -2.96989343e-02 -3.94735036e+01] [-9.89901434e-02 5.70641945e-04 9.95088250e-01 -2.31501442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.101193817 meters 0.0563443170275128 Centerline is valid? [True, True] Translation: X:184.42, Y:-39.50, Z:-23.16 [[ 9.52452337e-01 2.89144682e-01 9.60723588e-02 1.84419263e+02] [-2.87560538e-01 9.57284676e-01 -3.02487318e-02 -3.95042648e+01] [-1.00714857e-01 1.18385614e-03 9.94914628e-01 -2.31566063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.161193817 meters 0.05680019631241129 Centerline is valid? [True, True] Translation: X:184.47, Y:-39.54, Z:-23.16 [[ 9.53563606e-01 2.84922940e-01 9.76492105e-02 1.84474284e+02] [-2.83261020e-01 9.58548943e-01 -3.07752939e-02 -3.95360136e+01] [-1.02370135e-01 1.68598520e-03 9.94744949e-01 -2.31623026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.221193817 meters 0.05739527936170217 Centerline is valid? [True, True] Translation: X:184.53, Y:-39.56, Z:-23.17 [[ 9.53747426e-01 2.84560268e-01 9.69087322e-02 1.84530116e+02] [-2.82918198e-01 9.58656566e-01 -3.05758441e-02 -3.95614871e+01] [-1.01602863e-01 1.74438871e-03 9.94823510e-01 -2.31711517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.281193817 meters 0.05789778143073881 Centerline is valid? [True, True] Translation: X:184.59, Y:-39.59, Z:-23.18 [[ 9.54098504e-01 2.85246467e-01 9.12715584e-02 1.84586033e+02] [-2.83790548e-01 9.58452860e-01 -2.88277619e-02 -3.95857306e+01] [-9.57025035e-02 1.60251891e-03 9.95408691e-01 -2.31845083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.341193817 meters 0.058229225518667445 Centerline is valid? [True, True] Translation: X:184.64, Y:-39.61, Z:-23.19 [[ 9.54233953e-01 2.85355669e-01 8.94969582e-02 1.84643171e+02] [-2.83955553e-01 9.58420409e-01 -2.82765736e-02 -3.96079027e+01] [-9.38445918e-02 1.56930839e-03 9.95585622e-01 -2.31945667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.401193817 meters 0.05891798420949943 Centerline is valid? [True, True] Translation: X:184.70, Y:-39.63, Z:-23.20 [[ 9.54793429e-01 2.83850118e-01 8.83097862e-02 1.84698803e+02] [-2.82477420e-01 9.58867107e-01 -2.79352635e-02 -3.96341542e+01] [-9.26067771e-02 1.72688542e-03 9.95701262e-01 -2.32043743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.461193817 meters 0.06077755007991593 Centerline is valid? [True, True] Translation: X:184.75, Y:-39.66, Z:-23.22 [[ 9.56508722e-01 2.79067104e-01 8.49271225e-02 1.84752827e+02] [-2.77777337e-01 9.60269256e-01 -2.68832251e-02 -3.96636561e+01] [-8.90551285e-02 2.12320942e-03 9.96024435e-01 -2.32152634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.521193817 meters 0.06248479261101809 Centerline is valid? [True, True] Translation: X:184.81, Y:-39.69, Z:-23.22 [[ 9.57797574e-01 2.74450494e-01 8.54443311e-02 1.84808680e+02] [-2.73126931e-01 9.61597810e-01 -2.70431327e-02 -3.96898548e+01] [-8.95850828e-02 2.56469894e-03 9.95975871e-01 -2.32231223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.581193817 meters 0.06597197799930182 Centerline is valid? [True, True] Translation: X:184.86, Y:-39.72, Z:-23.23 [[ 9.60265149e-01 2.65908817e-01 8.47546180e-02 1.84862900e+02] [-2.64570208e-01 9.63992298e-01 -2.68599083e-02 -3.97175006e+01] [-8.88450854e-02 3.36908691e-03 9.96039758e-01 -2.32312104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64119381700002 meters 0.06774941262009224 Centerline is valid? [True, True] Translation: X:184.92, Y:-39.74, Z:-23.24 [[ 9.61269577e-01 2.62381628e-01 8.43604258e-02 1.84919992e+02] [-2.61041879e-01 9.64957176e-01 -2.67354935e-02 -3.97400182e+01] [-8.84191006e-02 3.67841245e-03 9.96076569e-01 -2.32380649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70119381700002 meters 0.06892765960381106 Centerline is valid? [True, True] Translation: X:184.98, Y:-39.76, Z:-23.24 [[ 9.61361709e-01 2.60798838e-01 8.81341623e-02 1.84979407e+02] [-2.59329894e-01 9.65384907e-01 -2.79282385e-02 -3.97561189e+01] [-9.23670423e-02 3.99331609e-03 9.95717020e-01 -2.32422879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.761193817 meters 0.06670530040148061 Centerline is valid? [True, True] Translation: X:185.04, Y:-39.77, Z:-23.24 [[ 9.60946647e-01 2.61112436e-01 9.16615398e-02 1.85041455e+02] [-2.59521000e-01 9.65299431e-01 -2.90836486e-02 -3.97651652e+01] [-9.60749346e-02 4.15974015e-03 9.95365412e-01 -2.32441421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.821193817 meters 0.06642214256474303 Centerline is valid? [True, True] Translation: X:185.10, Y:-39.78, Z:-23.25 [[ 9.60584924e-01 2.61666551e-01 9.38467927e-02 1.85101881e+02] [-2.60000601e-01 9.65149180e-01 -2.97783229e-02 -3.97794171e+01] [-9.83681461e-02 4.20438558e-03 9.95141212e-01 -2.32494520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.881193817 meters 0.06667732633173945 Centerline is valid? [True, True] Translation: X:185.16, Y:-39.79, Z:-23.26 [[ 9.60456430e-01 2.62538002e-01 9.27213249e-02 1.85164640e+02] [-2.60912979e-01 9.64912966e-01 -2.94514195e-02 -3.97886276e+01] [-9.72001254e-02 4.09460819e-03 9.95256434e-01 -2.32586230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.941193817 meters 0.06741843361628183 Centerline is valid? [True, True] Translation: X:185.22, Y:-39.80, Z:-23.27 [[ 9.60784594e-01 2.61888974e-01 9.11434572e-02 1.85224675e+02] [-2.60312588e-01 9.65089198e-01 -2.89861307e-02 -3.98028412e+01] [-9.55527141e-02 4.12363862e-03 9.95415830e-01 -2.32679656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.001193817 meters 0.0699226635124609 Centerline is valid? [True, True] Translation: X:185.28, Y:-39.81, Z:-23.28 [[ 9.61658809e-01 2.59337261e-01 8.91993266e-02 1.85282740e+02] [-2.57813336e-01 9.65777172e-01 -2.84031387e-02 -3.98146363e+01] [-9.35126656e-02 4.31735257e-03 9.95608729e-01 -2.32781655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.061193817 meters 0.07601550711076582 Centerline is valid? [True, True] Translation: X:185.34, Y:-39.84, Z:-23.29 [[ 9.62504656e-01 2.56590763e-01 8.80111759e-02 1.85337577e+02] [-2.55094917e-01 9.66509513e-01 -2.80347097e-02 -3.98362990e+01] [-9.22570863e-02 4.53233497e-03 9.95724906e-01 -2.32909384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.121193817 meters 0.0728307740590164 Centerline is valid? [True, True] Translation: X:185.40, Y:-39.84, Z:-23.29 [[ 9.64008191e-01 2.50009371e-01 9.04628190e-02 1.85401081e+02] [-2.48398720e-01 9.68228803e-01 -2.88281290e-02 -3.98394217e+01] [-9.47960093e-02 5.31970411e-03 9.95482505e-01 -2.32899451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.181193817 meters 0.07499207409681515 Centerline is valid? [True, True] Translation: X:185.46, Y:-39.85, Z:-23.30 [[ 9.65045751e-01 2.45445920e-01 9.18857940e-02 1.85460438e+02] [-2.43763373e-01 9.69392570e-01 -2.92824856e-02 -3.98531802e+01] [-9.62606726e-02 5.86054728e-03 9.95338906e-01 -2.32963343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.241193817 meters 0.07906969766222179 Centerline is valid? [True, True] Translation: X:185.52, Y:-39.87, Z:-23.30 [[ 9.66269053e-01 2.40255500e-01 9.27437978e-02 1.85517451e+02] [-2.38516910e-01 9.70688298e-01 -2.95620120e-02 -3.98683828e+01] [-9.71277551e-02 6.44389324e-03 9.95251062e-01 -2.33041654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.301193817 meters 0.07798185394270452 Centerline is valid? [True, True] Translation: X:185.58, Y:-39.87, Z:-23.31 [[ 9.67109264e-01 2.36585909e-01 9.34172260e-02 1.85580485e+02] [-2.34805119e-01 9.71586355e-01 -2.97743292e-02 -3.98725287e+01] [-9.78070889e-02 6.86018677e-03 9.95181748e-01 -2.33085742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36119381700001 meters 0.07935439586493045 Centerline is valid? [True, True] Translation: X:185.64, Y:-39.87, Z:-23.32 [[ 9.66996571e-01 2.37463581e-01 9.23508522e-02 1.85643594e+02] [-2.35727468e-01 9.71373392e-01 -2.94328706e-02 -3.98736621e+01] [-9.66963954e-02 6.69185238e-03 9.95291428e-01 -2.33188446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42119381700002 meters 0.07867571378281892 Centerline is valid? [True, True] Translation: X:185.71, Y:-39.88, Z:-23.33 [[ 9.67393142e-01 2.36565371e-01 9.04838906e-02 1.85705959e+02] [-2.34892133e-01 9.71592658e-01 -2.88685573e-02 -3.98787117e+01] [-9.47427847e-02 6.67329032e-03 9.95479418e-01 -2.33279724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.481193817 meters 0.08069055568553642 Centerline is valid? [True, True] Translation: X:185.77, Y:-39.88, Z:-23.34 [[ 9.68803555e-01 2.31799754e-01 8.76843584e-02 1.85768988e+02] [-2.30207815e-01 9.72738816e-01 -2.79921007e-02 -3.98804239e+01] [-9.17825411e-02 6.93322215e-03 9.95754938e-01 -2.33367970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.541193817 meters 0.08401002625813844 Centerline is valid? [True, True] Translation: X:185.83, Y:-39.90, Z:-23.35 [[ 9.69279316e-01 2.29965558e-01 8.72550804e-02 1.85826700e+02] [-2.28381511e-01 9.73173048e-01 -2.78586423e-02 -3.98963705e+01] [-9.13208208e-02 7.07535863e-03 9.95796388e-01 -2.33461671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.601193817 meters 0.08638264636540763 Centerline is valid? [True, True] Translation: X:185.89, Y:-39.90, Z:-23.36 [[ 9.70150691e-01 2.26829369e-01 8.57675555e-02 1.85887369e+02] [-2.25286643e-01 9.73907556e-01 -2.73861554e-02 -3.99028387e+01] [-8.97416547e-02 7.24641288e-03 9.95938715e-01 -2.33558644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.661193817 meters 0.08539429867304538 Centerline is valid? [True, True] Translation: X:185.95, Y:-39.90, Z:-23.36 [[ 9.70501252e-01 2.25854795e-01 8.43619132e-02 1.85953289e+02] [-2.24358890e-01 9.74134271e-01 -2.69352921e-02 -3.98993400e+01] [-8.82632957e-02 7.21338950e-03 9.96071061e-01 -2.33627268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.721193817 meters 0.0850348517946667 Centerline is valid? [True, True] Translation: X:186.02, Y:-39.89, Z:-23.37 [[ 9.70107077e-01 2.26882601e-01 8.61193670e-02 1.86019836e+02] [-2.25326694e-01 9.73894915e-01 -2.75059076e-02 -3.98921173e+01] [-9.01118255e-02 7.27868340e-03 9.95905056e-01 -2.33680712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.781193817 meters 0.08848363813980493 Centerline is valid? [True, True] Translation: X:186.08, Y:-39.90, Z:-23.37 [[ 9.69799632e-01 2.27346012e-01 8.83315644e-02 1.86080467e+02] [-2.25710412e-01 9.73785720e-01 -2.82166940e-02 -3.99005661e+01] [-9.24309689e-02 7.42718561e-03 9.95691394e-01 -2.33748373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.841193817 meters 0.08112136089314922 Centerline is valid? [True, True] Translation: X:186.15, Y:-39.89, Z:-23.38 [[ 9.69444041e-01 2.28455831e-01 8.93654615e-02 1.86147741e+02] [-2.26785780e-01 9.73526056e-01 -2.85522067e-02 -3.98885698e+01] [-9.35225234e-02 7.41295078e-03 9.95589567e-01 -2.33766826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.901193817 meters 0.08509701573548334 Centerline is valid? [True, True] Translation: X:186.21, Y:-39.90, Z:-23.39 [[ 9.68918000e-01 2.30384775e-01 9.01152908e-02 1.86205574e+02] [-2.28694595e-01 9.73072308e-01 -2.87935068e-02 -3.98980733e+01] [-9.43222795e-02 7.28966714e-03 9.95515027e-01 -2.33863712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.961193817 meters 0.07583028030709663 Centerline is valid? [True, True] Translation: X:186.27, Y:-39.88, Z:-23.39 [[ 9.67419234e-01 2.36778347e-01 8.96439621e-02 1.86274977e+02] [-2.35133656e-01 9.71541107e-01 -2.86363486e-02 -3.98785731e+01] [-9.38732615e-02 6.62504184e-03 9.95562112e-01 -2.33913709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.021193817 meters 0.07400475206794634 Centerline is valid? [True, True] Translation: X:186.34, Y:-39.88, Z:-23.40 [[ 9.65394505e-01 2.45571403e-01 8.77959885e-02 1.86337718e+02] [-2.44030493e-01 9.69362063e-01 -2.80411962e-02 -3.98758304e+01] [-9.19922164e-02 5.64591839e-03 9.95743720e-01 -2.34019989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.081193817 meters 0.06938936297050664 Centerline is valid? [True, True] Translation: X:186.40, Y:-39.87, Z:-23.41 [[ 9.63863673e-01 2.52503821e-01 8.49037186e-02 1.86400700e+02] [-2.51089977e-01 9.67583911e-01 -2.71145560e-02 -3.98739036e+01] [-8.89980010e-02 4.81626273e-03 9.96020160e-01 -2.34100075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14119381700002 meters 0.06791957976881459 Centerline is valid? [True, True] Translation: X:186.46, Y:-39.87, Z:-23.42 [[ 9.61986929e-01 2.58930913e-01 8.68097377e-02 1.86462805e+02] [-2.57478684e-01 9.65886193e-01 -2.77234408e-02 -3.98735793e+01] [-9.10267829e-02 4.31793061e-03 9.95839084e-01 -2.34172455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20119381700002 meters 0.06806120786574894 Centerline is valid? [True, True] Translation: X:186.52, Y:-39.89, Z:-23.42 [[ 9.62179774e-01 2.58297032e-01 8.65605325e-02 1.86519357e+02] [-2.56850121e-01 9.66055663e-01 -2.76490773e-02 -3.98869119e+01] [-9.07639672e-02 4.37029969e-03 9.95862843e-01 -2.34245864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.261193817 meters 0.06892073276727126 Centerline is valid? [True, True] Translation: X:186.58, Y:-39.90, Z:-23.43 [[ 9.62519137e-01 2.57071973e-01 8.64344381e-02 1.86576580e+02] [-2.55626817e-01 9.66382000e-01 -2.75818748e-02 -3.98988237e+01] [-9.06192121e-02 4.45312197e-03 9.95875659e-01 -2.34330007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.321193817 meters 0.06888726937576636 Centerline is valid? [True, True] Translation: X:186.63, Y:-39.91, Z:-23.44 [[ 9.62372880e-01 2.57537156e-01 8.66778669e-02 1.86633794e+02] [-2.56088146e-01 9.66258397e-01 -2.76328013e-02 -3.99117730e+01] [-9.08696898e-02 4.39588430e-03 9.95853089e-01 -2.34396188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.381193817 meters 0.06700163001371777 Centerline is valid? [True, True] Translation: X:186.69, Y:-39.92, Z:-23.44 [[ 9.61535054e-01 2.60333964e-01 8.76160235e-02 1.86693612e+02] [-2.58868076e-01 9.65509741e-01 -2.78972857e-02 -3.99220273e+01] [-9.18567351e-02 4.14322669e-03 9.95763613e-01 -2.34448900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.441193817 meters 0.06430413241506831 Centerline is valid? [True, True] Translation: X:186.75, Y:-39.93, Z:-23.45 [[ 9.59957200e-01 2.66712578e-01 8.57121601e-02 1.86753139e+02] [-2.65335306e-01 9.63769926e-01 -2.72892882e-02 -3.99311065e+01] [-8.98851986e-02 3.45408649e-03 9.95946143e-01 -2.34538585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.501193817 meters 0.059030966375043084 Centerline is valid? [True, True] Translation: X:186.82, Y:-39.93, Z:-23.46 [[ 9.56225018e-01 2.80241923e-01 8.42506902e-02 1.86815709e+02] [-2.78963598e-01 9.59927008e-01 -2.68225527e-02 -3.99293034e+01] [-8.83913168e-02 2.14552025e-03 9.96083517e-01 -2.34613202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.561193817 meters 0.057673884065578114 Centerline is valid? [True, True] Translation: X:186.87, Y:-39.94, Z:-23.47 [[ 9.54199011e-01 2.87071102e-01 8.42284355e-02 1.86874646e+02] [-2.85820210e-01 9.57908086e-01 -2.68124233e-02 -3.99414563e+01] [-8.83801714e-02 1.51019867e-03 9.96085671e-01 -2.34690853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.621193817 meters 0.05630248978768457 Centerline is valid? [True, True] Translation: X:186.93, Y:-39.96, Z:-23.47 [[ 9.52603410e-01 2.91526822e-01 8.69416819e-02 1.86931658e+02] [-2.90212461e-01 9.56561985e-01 -2.76748229e-02 -3.99592084e+01] [-9.12330610e-02 1.13157126e-03 9.95828925e-01 -2.34721394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.681193817 meters 0.056449184394973415 Centerline is valid? [True, True] Translation: X:186.98, Y:-39.99, Z:-23.48 [[ 9.53193106e-01 2.89462740e-01 8.73740560e-02 1.86984240e+02] [-2.88126226e-01 9.57188345e-01 -2.78163659e-02 -3.99880554e+01] [-9.16852296e-02 1.33961120e-03 9.95787138e-01 -2.34785578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.741193817 meters 0.05710719044088622 Centerline is valid? [True, True] Translation: X:187.04, Y:-40.02, Z:-23.49 [[ 9.54062082e-01 2.86715499e-01 8.69469173e-02 1.87036075e+02] [-2.85383283e-01 9.58014490e-01 -2.76517352e-02 -4.00168376e+01] [-9.12245877e-02 1.56827532e-03 9.95829109e-01 -2.34874770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.801193817 meters 0.05780356165941417 Centerline is valid? [True, True] Translation: X:187.09, Y:-40.05, Z:-23.50 [[ 9.55081232e-01 2.83323236e-01 8.68779904e-02 1.87086353e+02] [-2.81981736e-01 9.59022665e-01 -2.76012516e-02 -4.00494470e+01] [-9.11380378e-02 1.86343088e-03 9.95836526e-01 -2.34959993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86119381700001 meters 0.05811920101481034 Centerline is valid? [True, True] Translation: X:187.14, Y:-40.07, Z:-23.50 [[ 9.55222463e-01 2.83062588e-01 8.61720268e-02 1.87139054e+02] [-2.81744841e-01 9.59099674e-01 -2.73433788e-02 -4.00744637e+01] [-9.03874504e-02 1.84048560e-03 9.95904976e-01 -2.35039651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92119381700002 meters 0.05873063382421104 Centerline is valid? [True, True] Translation: X:187.19, Y:-40.11, Z:-23.51 [[ 9.55781349e-01 2.80704984e-01 8.76739737e-02 1.87188170e+02] [-2.79331722e-01 9.59791821e-01 -2.78109634e-02 -4.01054899e+01] [-9.19554389e-02 2.09107801e-03 9.95760927e-01 -2.35114327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.981193817 meters 0.0597163550998242 Centerline is valid? [True, True] Translation: X:187.24, Y:-40.13, Z:-23.52 [[ 9.56691912e-01 2.77323179e-01 8.85010737e-02 1.87241095e+02] [-2.75910310e-01 9.60773621e-01 -2.80633133e-02 -4.01332205e+01] [-9.28121043e-02 2.42958618e-03 9.95680677e-01 -2.35179236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.041193817 meters 0.06305983187191011 Centerline is valid? [True, True] Translation: X:187.29, Y:-40.17, Z:-23.52 [[ 9.59242930e-01 2.68107159e-01 8.92835538e-02 1.87292321e+02] [-2.66632620e-01 9.63383386e-01 -2.82753938e-02 -4.01710895e+01] [-9.35951279e-02 3.31706373e-03 9.95604816e-01 -2.35247693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.101193817 meters 0.06714873524517956 Centerline is valid? [True, True] Translation: X:187.34, Y:-40.20, Z:-23.53 [[ 9.61009505e-01 2.61729685e-01 8.92093281e-02 1.87343093e+02] [-2.60230051e-01 9.65133190e-01 -2.82532510e-02 -4.02047148e+01] [-9.34935979e-02 3.93669479e-03 9.95612098e-01 -2.35336023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.161193817 meters 0.07144028920210771 Centerline is valid? [True, True] Translation: X:187.40, Y:-40.24, Z:-23.54 [[ 9.62954240e-01 2.53900841e-01 9.08487465e-02 1.87395014e+02] [-2.52310935e-01 9.67218434e-01 -2.87696701e-02 -4.02404031e+01] [-9.51752257e-02 4.78174361e-03 9.95449050e-01 -2.35397306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.221193817 meters 0.07439017906054637 Centerline is valid? [True, True] Translation: X:187.45, Y:-40.27, Z:-23.55 [[ 9.64036656e-01 2.49533058e-01 9.14689995e-02 1.87447954e+02] [-2.47901721e-01 9.68352054e-01 -2.89661300e-02 -4.02703536e+01] [-9.58022005e-02 5.24908868e-03 9.95386551e-01 -2.35466283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.281193817 meters 0.0799197730545612 Centerline is valid? [True, True] Translation: X:187.50, Y:-40.30, Z:-23.56 [[ 9.65764841e-01 2.42950250e-01 9.09584977e-02 1.87499473e+02] [-2.41308330e-01 9.70021010e-01 -2.88015579e-02 -4.03028376e+01] [-9.52289995e-02 5.86648886e-03 9.95438106e-01 -2.35554832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.341193817 meters 0.0801331222119894 Centerline is valid? [True, True] Translation: X:187.56, Y:-40.33, Z:-23.56 [[ 9.67065454e-01 2.37799754e-01 9.07506720e-02 1.87555460e+02] [-2.36142921e-01 9.71293392e-01 -2.87344237e-02 -4.03253067e+01] [-9.49785670e-02 6.35793965e-03 9.95459014e-01 -2.35615341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.401193817 meters 0.07759184815735874 Centerline is valid? [True, True] Translation: X:187.61, Y:-40.34, Z:-23.57 [[ 9.67634142e-01 2.35413161e-01 9.09110025e-02 1.87613343e+02] [-2.33739880e-01 9.71872942e-01 -2.87863173e-02 -4.03404896e+01] [-9.51306214e-02 6.60509661e-03 9.95442885e-01 -2.35663253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.461193817 meters 0.07572395175451103 Centerline is valid? [True, True] Translation: X:187.67, Y:-40.35, Z:-23.57 [[ 9.67114906e-01 2.37839614e-01 9.01170122e-02 1.87672162e+02] [-2.36206406e-01 9.71283972e-01 -2.85303332e-02 -4.03526079e+01] [-9.43148530e-02 6.30589489e-03 9.95522448e-01 -2.35729770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.521193817 meters 0.07519120029950942 Centerline is valid? [True, True] Translation: X:187.73, Y:-40.36, Z:-23.58 [[ 9.65233195e-01 2.45180137e-01 9.06177719e-02 1.87730718e+02] [-2.43560947e-01 9.69461259e-01 -2.86867923e-02 -4.03634647e+01] [-9.48838509e-02 5.61849389e-03 9.95472495e-01 -2.35810568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.581193817 meters 0.06886139586176437 Centerline is valid? [True, True] Translation: X:187.79, Y:-40.36, Z:-23.58 [[ 9.62432183e-01 2.54444622e-01 9.47746120e-02 1.87794310e+02] [-2.52717791e-01 9.67074821e-01 -3.00001433e-02 -4.03632918e+01] [-9.92875161e-02 4.92187290e-03 9.95046614e-01 -2.35845466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64119381700002 meters 0.0673021144130043 Centerline is valid? [True, True] Translation: X:187.85, Y:-40.37, Z:-23.59 [[ 9.62639082e-01 2.53025136e-01 9.64586875e-02 1.87853212e+02] [-2.51228991e-01 9.67445943e-01 -3.05342671e-02 -4.03703711e+01] [-1.01044503e-01 5.16026009e-03 9.94868524e-01 -2.35898857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70119381700002 meters 0.07063442147191931 Centerline is valid? [True, True] Translation: X:187.91, Y:-40.39, Z:-23.60 [[ 9.63719763e-01 2.49395282e-01 9.51115781e-02 1.87908811e+02] [-2.47632525e-01 9.68386419e-01 -3.00977626e-02 -4.03891645e+01] [-9.96110006e-02 5.45308838e-03 9.95011514e-01 -2.36004423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.761193817 meters 0.0755485272228932 Centerline is valid? [True, True] Translation: X:187.96, Y:-40.41, Z:-23.61 [[ 9.65704679e-01 2.42567918e-01 9.26027994e-02 1.87964377e+02] [-2.40866161e-01 9.70115922e-01 -2.93017062e-02 -4.04085816e+01] [-9.69431040e-02 5.99191396e-03 9.95271888e-01 -2.36106847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.821193817 meters 0.07469929637909054 Centerline is valid? [True, True] Translation: X:188.02, Y:-40.42, Z:-23.62 [[ 9.65875042e-01 2.42097511e-01 9.20554054e-02 1.88021945e+02] [-2.40413736e-01 9.70233351e-01 -2.91286694e-02 -4.04202634e+01] [-9.63672029e-02 6.00327082e-03 9.95327747e-01 -2.36172311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.881193817 meters 0.07136638738476013 Centerline is valid? [True, True] Translation: X:188.08, Y:-40.42, Z:-23.63 [[ 9.63794942e-01 2.50729976e-01 9.07402291e-02 1.88082433e+02] [-2.49132954e-01 9.68043852e-01 -2.87031503e-02 -4.04243613e+01] [-9.50372612e-02 5.05756968e-03 9.95460868e-01 -2.36256426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.941193817 meters 0.06591210784703919 Centerline is valid? [True, True] Translation: X:188.14, Y:-40.43, Z:-23.63 [[ 9.60629233e-01 2.62480680e-01 9.10789150e-02 1.88144844e+02] [-2.60924387e-01 9.64929334e-01 -2.88070375e-02 -4.04254668e+01] [-9.54460076e-02 3.90817226e-03 9.95426936e-01 -2.36329501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.001193817 meters 0.06073569662490188 Centerline is valid? [True, True] Translation: X:188.21, Y:-40.42, Z:-23.64 [[ 9.56801391e-01 2.76205965e-01 9.07819557e-02 1.88207019e+02] [-2.74721164e-01 9.61095130e-01 -2.87129290e-02 -4.04241588e+01] [-9.51807779e-02 2.53284583e-03 9.95456782e-01 -2.36411871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.061193817 meters 0.05621655054138101 Centerline is valid? [True, True] Translation: X:188.27, Y:-40.42, Z:-23.65 [[ 9.51759457e-01 2.93297678e-01 9.01687808e-02 1.88270234e+02] [-2.91909308e-01 9.56020816e-01 -2.85158644e-02 -4.04216002e+01] [-9.45668682e-02 8.19137185e-04 9.95518175e-01 -2.36476468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.121193817 meters 0.05627843783805513 Centerline is valid? [True, True] Translation: X:188.33, Y:-40.44, Z:-23.66 [[ 9.49660648e-01 3.00615039e-01 8.81773905e-02 1.88325887e+02] [-2.99318726e-01 9.53745558e-01 -2.78874562e-02 -4.04350634e+01] [-9.24821833e-02 9.04755117e-05 9.95714335e-01 -2.36591898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.181193817 meters 0.05632568498704744 Centerline is valid? [True, True] Translation: X:188.38, Y:-40.46, Z:-23.67 [[ 9.49320571e-01 3.01986617e-01 8.71466387e-02 1.88380469e+02] [-3.00726586e-01 9.53312164e-01 -2.75579286e-02 -4.04570248e+01] [-9.14000763e-02 -4.60025981e-05 9.95814252e-01 -2.36657205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.241193817 meters 0.0570092025744965 Centerline is valid? [True, True] Translation: X:188.43, Y:-40.48, Z:-23.68 [[ 9.47919932e-01 3.06963623e-01 8.49772762e-02 1.88433869e+02] [-3.05787863e-01 9.51721097e-01 -2.68465383e-02 -4.04796445e+01] [-8.91155771e-02 -5.36650968e-04 9.96021147e-01 -2.36758987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.301193817 meters 0.057613575318117574 Centerline is valid? [True, True] Translation: X:188.49, Y:-40.50, Z:-23.68 [[ 9.46965869e-01 3.10043729e-01 8.44306238e-02 1.88487910e+02] [-3.08897540e-01 9.50721921e-01 -2.66484182e-02 -4.05016829e+01] [-8.85322198e-02 -8.45269497e-04 9.96072955e-01 -2.36842390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36119381700001 meters 0.057379481872272535 Centerline is valid? [True, True] Translation: X:188.54, Y:-40.54, Z:-23.69 [[ 9.48022782e-01 3.06699339e-01 8.47839601e-02 1.88535686e+02] [-3.05532977e-01 9.51806281e-01 -2.67283379e-02 -4.05402650e+01] [-8.88954693e-02 -5.65222507e-04 9.96040800e-01 -2.36927786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42119381700002 meters 0.05666481085660163 Centerline is valid? [True, True] Translation: X:188.58, Y:-40.58, Z:-23.70 [[ 9.51278452e-01 2.96279338e-01 8.53689696e-02 1.88584375e+02] [-2.95055034e-01 9.55101244e-01 -2.69098719e-02 -4.05821267e+01] [-8.95088481e-02 4.10237073e-04 9.95985943e-01 -2.36961221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.481193817 meters 0.06059126543576131 Centerline is valid? [True, True] Translation: X:188.63, Y:-40.64, Z:-23.70 [[ 9.56894196e-01 2.77682450e-01 8.51231703e-02 1.88626956e+02] [-2.76394551e-01 9.60670593e-01 -2.67967219e-02 -4.06407131e+01] [-8.92163058e-02 2.11404721e-03 9.96010031e-01 -2.37047176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.541193817 meters 0.06545130488219572 Centerline is valid? [True, True] Translation: X:188.67, Y:-40.69, Z:-23.71 [[ 9.60134108e-01 2.66239760e-01 8.51990864e-02 1.88674963e+02] [-2.64904552e-01 9.63901588e-01 -2.68199122e-02 -4.06895882e+01] [-8.92640617e-02 3.18108673e-03 9.96002916e-01 -2.37120414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.601193817 meters 0.06734649171347375 Centerline is valid? [True, True] Translation: X:188.73, Y:-40.72, Z:-23.72 [[ 9.60997073e-01 2.63291007e-01 8.46313902e-02 1.88727761e+02] [-2.61962053e-01 9.64710350e-01 -2.66425152e-02 -4.07199576e+01] [-8.86595127e-02 3.43316636e-03 9.96056075e-01 -2.37194602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.661193817 meters 0.06822378047874418 Centerline is valid? [True, True] Translation: X:188.78, Y:-40.75, Z:-23.73 [[ 9.61237899e-01 2.62529029e-01 8.42627519e-02 1.88779823e+02] [-2.61208936e-01 9.64917798e-01 -2.65242150e-02 -4.07476201e+01] [-8.82700054e-02 3.48589694e-03 9.96090485e-01 -2.37272303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.721193817 meters 0.06762175572677358 Centerline is valid? [True, True] Translation: X:188.84, Y:-40.77, Z:-23.73 [[ 9.60905939e-01 2.63797619e-01 8.40868190e-02 1.88835370e+02] [-2.62488499e-01 9.64572214e-01 -2.64618808e-02 -4.07666143e+01] [-8.80883903e-02 3.35555544e-03 9.96107010e-01 -2.37345112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.781193817 meters 0.06457556402784205 Centerline is valid? [True, True] Translation: X:188.89, Y:-40.78, Z:-23.74 [[ 9.59525130e-01 2.68911029e-01 8.36563385e-02 1.88894206e+02] [-2.67635436e-01 9.63160766e-01 -2.63175066e-02 -4.07789639e+01] [-8.76515709e-02 2.86290828e-03 9.96147080e-01 -2.37407114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.841193817 meters 0.0641598538327058 Centerline is valid? [True, True] Translation: X:188.95, Y:-40.79, Z:-23.75 [[ 9.58984500e-01 2.71196459e-01 8.24694420e-02 1.88949087e+02] [-2.69965214e-01 9.62520457e-01 -2.59451748e-02 -4.07944663e+01] [-8.64147646e-02 2.61713989e-03 9.96255810e-01 -2.37500059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.901193817 meters 0.06476599486577173 Centerline is valid? [True, True] Translation: X:189.00, Y:-40.81, Z:-23.76 [[ 9.58955004e-01 2.70537845e-01 8.49386544e-02 1.89002882e+02] [-2.69229850e-01 9.62705418e-01 -2.67126523e-02 -4.08146986e+01] [-8.89976862e-02 2.74821038e-03 9.96028041e-01 -2.37558284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.961193817 meters 0.0677923770573128 Centerline is valid? [True, True] Translation: X:189.06, Y:-40.84, Z:-23.76 [[ 9.60351252e-01 2.64643215e-01 8.76894644e-02 1.89057409e+02] [-2.63225409e-01 9.64340431e-01 -2.75666048e-02 -4.08394616e+01] [-9.18578108e-02 3.39152827e-03 9.95766358e-01 -2.37606065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.021193817 meters 0.065081337350035 Centerline is valid? [True, True] Translation: X:189.12, Y:-40.85, Z:-23.76 [[ 9.61952867e-01 2.58325280e-01 8.89647821e-02 1.89116698e+02] [-2.56839277e-01 9.66049508e-01 -2.79630895e-02 -4.08546437e+01] [-9.31679568e-02 4.04952374e-03 9.95642171e-01 -2.37576975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.081193817 meters 0.06798402829975596 Centerline is valid? [True, True] Translation: X:189.17, Y:-40.88, Z:-23.76 [[ 9.63525768e-01 2.51925075e-01 9.02875997e-02 1.89172363e+02] [-2.50366623e-01 9.67735150e-01 -2.83766269e-02 -4.08805611e+01] [-9.45232677e-02 4.73660973e-03 9.95511384e-01 -2.37643874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14119381700002 meters 0.06729055690273365 Centerline is valid? [True, True] Translation: X:189.23, Y:-40.89, Z:-23.78 [[ 9.62758346e-01 2.56154961e-01 8.64927954e-02 1.89231851e+02] [-2.54741746e-01 9.66626858e-01 -2.71874989e-02 -4.08919801e+01] [-9.05704718e-02 4.14166572e-03 9.95881437e-01 -2.37750675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20119381700002 meters 0.06334904853366927 Centerline is valid? [True, True] Translation: X:189.29, Y:-40.90, Z:-23.79 [[ 9.60248777e-01 2.66440875e-01 8.32559108e-02 1.89293001e+02] [-2.65169875e-01 9.63846422e-01 -2.61727364e-02 -4.08962723e+01] [-8.72193985e-02 3.05537867e-03 9.96184441e-01 -2.37850853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.261193817 meters 0.059258128744613885 Centerline is valid? [True, True] Translation: X:189.36, Y:-40.89, Z:-23.80 [[ 9.55597889e-01 2.83897368e-01 7.89617545e-02 1.89356207e+02] [-2.82813452e-01 9.58853666e-01 -2.48233361e-02 -4.08906687e+01] [-8.27600475e-02 1.38968117e-03 9.96568534e-01 -2.37972091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.321193817 meters 0.057946380369821776 Centerline is valid? [True, True] Translation: X:189.41, Y:-40.90, Z:-23.80 [[ 9.53851562e-01 2.89564208e-01 7.94969674e-02 1.89414108e+02] [-2.88485128e-01 9.57158164e-01 -2.49915921e-02 -4.09005475e+01] [-8.33278420e-02 9.04576318e-04 9.96521777e-01 -2.38029913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.381193817 meters 0.05707042629890246 Centerline is valid? [True, True] Translation: X:189.47, Y:-40.91, Z:-23.81 [[ 9.50310807e-01 3.00515351e-01 8.12397310e-02 1.89473742e+02] [-2.99428809e-01 9.53776976e-01 -2.55317128e-02 -4.09066215e+01] [-8.51572566e-02 -6.24532295e-05 9.96367521e-01 -2.38093854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.441193817 meters 0.05768233180298834 Centerline is valid? [True, True] Translation: X:189.53, Y:-40.92, Z:-23.82 [[ 9.49094354e-01 3.04186147e-01 8.17966715e-02 1.89528711e+02] [-3.03098814e-01 9.52612527e-01 -2.56998345e-02 -4.09209090e+01] [-8.57380676e-02 -4.00906321e-04 9.96317632e-01 -2.38208231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.501193817 meters 0.05691562107493725 Centerline is valid? [True, True] Translation: X:189.58, Y:-40.95, Z:-23.82 [[ 9.49973819e-01 3.00769325e-01 8.41876308e-02 1.89581337e+02] [-2.99604358e-01 9.53696914e-01 -2.64466527e-02 -4.09508835e+01] [-8.82438256e-02 -9.93534183e-05 9.96098899e-01 -2.38238380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.561193817 meters 0.0563243237201146 Centerline is valid? [True, True] Translation: X:189.63, Y:-40.98, Z:-23.82 [[ 9.51497693e-01 2.95276538e-01 8.63938968e-02 1.89633046e+02] [-2.94029822e-01 9.55411751e-01 -2.71081343e-02 -4.09830772e+01] [-9.05461403e-02 3.90945169e-04 9.95892185e-01 -2.38245471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.621193817 meters 0.057023769696387124 Centerline is valid? [True, True] Translation: X:189.68, Y:-41.02, Z:-23.83 [[ 9.54330517e-01 2.85738118e-01 8.72180699e-02 1.89681719e+02] [-2.84428346e-01 9.58306858e-01 -2.73584055e-02 -4.10245616e+01] [-9.13990138e-02 1.30166987e-03 9.95813500e-01 -2.38274489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.681193817 meters 0.057970210929150584 Centerline is valid? [True, True] Translation: X:189.73, Y:-41.06, Z:-23.83 [[ 9.55492962e-01 2.81027370e-01 8.97597766e-02 1.89732082e+02] [-2.79619997e-01 9.59698074e-01 -2.81472019e-02 -4.10556478e+01] [-9.40524188e-02 1.79582488e-03 9.95565627e-01 -2.38332614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.741193817 meters 0.057535776624011464 Centerline is valid? [True, True] Translation: X:189.78, Y:-41.08, Z:-23.84 [[ 9.54604729e-01 2.84266587e-01 8.90074148e-02 1.89783618e+02] [-2.82897836e-01 9.58744176e-01 -2.79001730e-02 -4.10841260e+01] [-9.32664275e-02 1.45363197e-03 9.95640126e-01 -2.38426013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.801193817 meters 0.05692782952389856 Centerline is valid? [True, True] Translation: X:189.84, Y:-41.10, Z:-23.85 [[ 9.53046170e-01 2.90779835e-01 8.45581798e-02 1.89839754e+02] [-2.89571109e-01 9.56789684e-01 -2.64966694e-02 -4.11021121e+01] [-8.86090913e-02 7.66943346e-04 9.96066183e-01 -2.38538038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86119381700001 meters 0.057588713125995034 Centerline is valid? [True, True] Translation: X:189.89, Y:-41.12, Z:-23.87 [[ 9.51049592e-01 2.98724962e-01 7.91711437e-02 1.89893857e+02] [-2.97693239e-01 9.54339246e-01 -2.48060305e-02 -4.11218640e+01] [-8.29663101e-02 2.30510515e-05 9.96552352e-01 -2.38688943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92119381700002 meters 0.056624768782928346 Centerline is valid? [True, True] Translation: X:189.95, Y:-41.15, Z:-23.87 [[ 9.49706700e-01 3.01899682e-01 8.31490535e-02 1.89947272e+02] [-3.00774077e-01 9.53339660e-01 -2.60470092e-02 -4.11487614e+01] [-8.71328742e-02 -2.72060676e-04 9.96196661e-01 -2.38689488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.981193817 meters 0.056583683080026946 Centerline is valid? [True, True] Translation: X:190.00, Y:-41.17, Z:-23.88 [[ 9.48733870e-01 3.04222260e-01 8.57488184e-02 1.90000092e+02] [-3.03035207e-01 9.52600944e-01 -2.68534026e-02 -4.11713418e+01] [-8.98538082e-02 -5.08178273e-04 9.95954836e-01 -2.38758300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.041193817 meters 0.05656490623242177 Centerline is valid? [True, True] Translation: X:190.05, Y:-41.20, Z:-23.88 [[ 9.47537999e-01 3.07795343e-01 8.62192952e-02 1.90052855e+02] [-3.06610961e-01 9.51452197e-01 -2.69895406e-02 -4.11980710e+01] [-9.03407927e-02 -8.62165600e-04 9.95910537e-01 -2.38812578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.101193817 meters 0.05647483083998926 Centerline is valid? [True, True] Translation: X:190.11, Y:-41.22, Z:-23.89 [[ 9.46537880e-01 3.09979137e-01 8.93251130e-02 1.90107773e+02] [-3.08718361e-01 9.50742700e-01 -2.79515858e-02 -4.12228259e+01] [-9.35896076e-02 -1.11906771e-03 9.95610231e-01 -2.38860776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.161193817 meters 0.0560794253094629 Centerline is valid? [True, True] Translation: X:190.16, Y:-41.26, Z:-23.89 [[ 9.46672186e-01 3.09293672e-01 9.02729075e-02 1.90161504e+02] [-3.08004158e-01 9.50965965e-01 -2.82342288e-02 -4.12589031e+01] [-9.45791309e-02 -1.07587172e-03 9.95516766e-01 -2.38920836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.221193817 meters 0.05651598565397688 Centerline is valid? [True, True] Translation: X:190.21, Y:-41.30, Z:-23.90 [[ 9.47301735e-01 3.08318187e-01 8.69443415e-02 1.90214703e+02] [-3.07115591e-01 9.51282848e-01 -2.72205308e-02 -4.12952208e+01] [-9.11012455e-02 -9.15906718e-04 9.95841214e-01 -2.39027994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.281193817 meters 0.056745419337070974 Centerline is valid? [True, True] Translation: X:190.27, Y:-41.32, Z:-23.91 [[ 9.46465215e-01 3.11021974e-01 8.64229639e-02 1.90270087e+02] [-3.09842469e-01 9.50402035e-01 -2.70853649e-02 -4.13236649e+01] [-9.05607043e-02 -1.14214885e-03 9.95890282e-01 -2.39100449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.341193817 meters 0.05771066248738664 Centerline is valid? [True, True] Translation: X:190.33, Y:-41.35, Z:-23.92 [[ 9.44860519e-01 3.16182320e-01 8.52486921e-02 1.90325685e+02] [-3.15053084e-01 9.48697118e-01 -2.67456898e-02 -4.13507966e+01] [-8.93317027e-02 -1.58691706e-03 9.96000667e-01 -2.39184841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.401193817 meters 0.05817509310477971 Centerline is valid? [True, True] Translation: X:190.38, Y:-41.38, Z:-23.93 [[ 9.44082489e-01 3.19093803e-01 8.29903532e-02 1.90382567e+02] [-3.18032208e-01 9.47721460e-01 -2.60681675e-02 -4.13759205e+01] [-8.69699294e-02 -1.78310479e-03 9.96209341e-01 -2.39270486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.461193817 meters 0.05812613333843488 Centerline is valid? [True, True] Translation: X:190.44, Y:-41.41, Z:-23.94 [[ 9.44606945e-01 3.17837560e-01 8.18352274e-02 1.90438063e+02] [-3.16800816e-01 9.48143753e-01 -2.57034359e-02 -4.14068228e+01] [-8.57610770e-02 -1.64582275e-03 9.96314373e-01 -2.39353742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.521193817 meters 0.057265842339952876 Centerline is valid? [True, True] Translation: X:190.49, Y:-41.45, Z:-23.95 [[ 9.48425824e-01 3.06705708e-01 8.01253015e-02 1.90488089e+02] [-3.05669461e-01 9.51804211e-01 -2.51977132e-02 -4.14517714e+01] [-8.39918819e-02 -5.93695752e-04 9.96466262e-01 -2.39460015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.581193817 meters 0.057391737501192634 Centerline is valid? [True, True] Translation: X:190.54, Y:-41.49, Z:-23.95 [[ 9.52133663e-01 2.94595471e-01 8.15781644e-02 1.90540587e+02] [-2.93474395e-01 9.55621917e-01 -2.56813503e-02 -4.14930046e+01] [-8.55234913e-02 5.10975666e-04 9.96336023e-01 -2.39501362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64119381700002 meters 0.06191195012348285 Centerline is valid? [True, True] Translation: X:190.59, Y:-41.54, Z:-23.95 [[ 9.58025710e-01 2.73446925e-01 8.61017902e-02 1.90588378e+02] [-2.72108473e-01 9.61883643e-01 -2.71447435e-02 -4.15432168e+01] [-9.02425503e-02 2.57633547e-03 9.95916485e-01 -2.39545534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70119381700002 meters 0.067296701690611 Centerline is valid? [True, True] Translation: X:190.64, Y:-41.58, Z:-23.96 [[ 9.61394300e-01 2.61253116e-01 8.64164861e-02 1.90638813e+02] [-2.59855301e-01 9.65263087e-01 -2.72469379e-02 -4.15799756e+01] [-9.05329916e-02 3.73926885e-03 9.95886437e-01 -2.39613590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.761193817 meters 0.07545008503214928 Centerline is valid? [True, True] Translation: X:190.69, Y:-41.62, Z:-23.97 [[ 9.64868858e-01 2.48650824e-01 8.48578514e-02 1.90689727e+02] [-2.47253330e-01 9.68581068e-01 -2.67676152e-02 -4.16164226e+01] [-8.88474980e-02 4.84585193e-03 9.96033453e-01 -2.39718722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.821193817 meters 0.07462588108014445 Centerline is valid? [True, True] Translation: X:190.75, Y:-41.63, Z:-23.98 [[ 9.65278938e-01 2.47872632e-01 8.24362195e-02 1.90748829e+02] [-2.46551988e-01 9.68780904e-01 -2.59938059e-02 -4.16327470e+01] [-8.63057883e-02 4.76645959e-03 9.96257292e-01 -2.39793949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.881193817 meters 0.07243963593087124 Centerline is valid? [True, True] Translation: X:190.81, Y:-41.64, Z:-23.99 [[ 9.63772199e-01 2.54463175e-01 7.99477401e-02 1.90808124e+02] [-2.53240807e-01 9.67073842e-01 -2.52443750e-02 -4.16404066e+01] [-8.37391319e-02 4.08379661e-03 9.96479343e-01 -2.39904855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.941193817 meters 0.06896581095694665 Centerline is valid? [True, True] Translation: X:190.87, Y:-41.65, Z:-24.00 [[ 9.61576170e-01 2.63289398e-01 7.77815052e-02 1.90869731e+02] [-2.62161259e-01 9.64711508e-01 -2.45597370e-02 -4.16453692e+01] [-8.15030316e-02 3.22476054e-03 9.96667877e-01 -2.40002092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.001193817 meters 0.0656190648449502 Centerline is valid? [True, True] Translation: X:190.93, Y:-41.65, Z:-24.01 [[ 9.59181369e-01 2.72078925e-01 7.70983831e-02 1.90931653e+02] [-2.70998717e-01 9.62271801e-01 -2.43449531e-02 -4.16473710e+01] [-8.08133486e-02 2.45766251e-03 9.96726222e-01 -2.40105102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.061193817 meters 0.06150153929207931 Centerline is valid? [True, True] Translation: X:190.99, Y:-41.65, Z:-24.02 [[ 9.55524250e-01 2.84363869e-01 7.81703117e-02 1.90994392e+02] [-2.83293916e-01 9.58715341e-01 -2.46870816e-02 -4.16460171e+01] [-8.19631911e-02 1.44393144e-03 9.96634311e-01 -2.40171091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.121193817 meters 0.060162590055875084 Centerline is valid? [True, True] Translation: X:191.06, Y:-41.66, Z:-24.02 [[ 9.54534479e-01 2.86211569e-01 8.33478601e-02 1.91055150e+02] [-2.85002152e-01 9.58165469e-01 -2.63193548e-02 -4.16564546e+01] [-8.73939452e-02 1.36841212e-03 9.96172890e-01 -2.40202822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.181193817 meters 0.06266650139115701 Centerline is valid? [True, True] Translation: X:191.11, Y:-41.68, Z:-24.02 [[ 9.56489987e-01 2.78064314e-01 8.83580382e-02 1.91114121e+02] [-2.76670574e-01 9.60559857e-01 -2.78954126e-02 -4.16769364e+01] [-9.26299033e-02 2.23561365e-03 9.95698098e-01 -2.40237656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.241193817 meters 0.0639247055947436 Centerline is valid? [True, True] Translation: X:191.17, Y:-41.70, Z:-24.02 [[ 9.59612050e-01 2.66696492e-01 8.95415822e-02 1.91171963e+02] [-2.65212119e-01 9.63774517e-01 -2.83057038e-02 -4.16973304e+01] [-9.38469270e-02 3.41498177e-03 9.95580781e-01 -2.40229556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.301193817 meters 0.07116091224428667 Centerline is valid? [True, True] Translation: X:191.23, Y:-41.73, Z:-24.03 [[ 9.63143128e-01 2.54472364e-01 8.71729896e-02 1.91225090e+02] [-2.53015520e-01 9.67069639e-01 -2.75582851e-02 -4.17252218e+01] [-9.13151735e-02 4.48645358e-03 9.95811935e-01 -2.40341911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36119381700001 meters 0.07492403359112237 Centerline is valid? [True, True] Translation: X:191.28, Y:-41.74, Z:-24.04 [[ 9.65618151e-01 2.45784439e-01 8.46852715e-02 1.91281989e+02] [-2.44375928e-01 9.69310767e-01 -2.67776416e-02 -4.17436936e+01] [-8.86678731e-02 5.16193502e-03 9.96047872e-01 -2.40440049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42119381700002 meters 0.07861199490719602 Centerline is valid? [True, True] Translation: X:191.34, Y:-41.76, Z:-24.05 [[ 9.66874461e-01 2.41422985e-01 8.28777327e-02 1.91339540e+02] [-2.40058017e-01 9.70404711e-01 -2.62077164e-02 -4.17560010e+01] [-8.67520874e-02 5.44410747e-03 9.96215056e-01 -2.40535865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.481193817 meters 0.07764897949063468 Centerline is valid? [True, True] Translation: X:191.40, Y:-41.76, Z:-24.06 [[ 9.66765453e-01 2.43043072e-01 7.93386688e-02 1.91400772e+02] [-2.41798058e-01 9.70002254e-01 -2.50863563e-02 -4.17648213e+01] [-8.30557527e-02 5.06868654e-03 9.96532012e-01 -2.40641194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.541193817 meters 0.07751110841047013 Centerline is valid? [True, True] Translation: X:191.46, Y:-41.77, Z:-24.08 [[ 9.65757866e-01 2.47873359e-01 7.66194580e-02 1.91460843e+02] [-2.46724668e-01 9.68781866e-01 -2.42618058e-02 -4.17723890e+01] [-8.02413968e-02 4.52711946e-03 9.96765180e-01 -2.40765390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.601193817 meters 0.0693214783088944 Centerline is valid? [True, True] Translation: X:191.53, Y:-41.76, Z:-24.08 [[ 9.61843167e-01 2.62807924e-01 7.60901909e-02 1.91527692e+02] [-2.61721026e-01 9.64842647e-01 -2.40991933e-02 -4.17595473e+01] [-7.97485201e-02 3.26524158e-03 9.96809667e-01 -2.40847140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.661193817 meters 0.06331288698116389 Centerline is valid? [True, True] Translation: X:191.59, Y:-41.75, Z:-24.09 [[ 9.57187764e-01 2.78331288e-01 7.95190455e-02 1.91592769e+02] [-2.77197012e-01 9.60482912e-01 -2.51871529e-02 -4.17492785e+01] [-8.33870571e-02 2.06639274e-03 9.96515092e-01 -2.40924032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.721193817 meters 0.06044319388903901 Centerline is valid? [True, True] Translation: X:191.66, Y:-41.76, Z:-24.09 [[ 9.56182305e-01 2.80414903e-01 8.41598540e-02 1.91655215e+02] [-2.79152419e-01 9.59876822e-01 -2.66535892e-02 -4.17557300e+01] [-8.82571568e-02 1.99226352e-03 9.96095731e-01 -2.40905460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.781193817 meters 0.06323349028298247 Centerline is valid? [True, True] Translation: X:191.71, Y:-41.78, Z:-24.09 [[ 9.58126006e-01 2.71826279e-01 9.00279437e-02 1.91713214e+02] [-2.70343698e-01 9.62341739e-01 -2.85072129e-02 -4.17756258e+01] [-9.43866576e-02 2.97501478e-03 9.95531169e-01 -2.40934649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.841193817 meters 0.06740587111146604 Centerline is valid? [True, True] Translation: X:191.77, Y:-41.80, Z:-24.10 [[ 9.60918773e-01 2.61192697e-01 9.17250632e-02 1.91768801e+02] [-2.59601700e-01 9.65277838e-01 -2.90801148e-02 -4.18004451e+01] [-9.61356843e-02 4.13164588e-03 9.95359663e-01 -2.40983083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.901193817 meters 0.07148571063188802 Centerline is valid? [True, True] Translation: X:191.83, Y:-41.82, Z:-24.10 [[ 9.64069235e-01 2.49224436e-01 9.19657038e-02 1.91826913e+02] [-2.47570643e-01 9.68431026e-01 -2.91569101e-02 -4.18181547e+01] [-9.63290554e-02 5.34127153e-03 9.95335212e-01 -2.41049392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.961193817 meters 0.07304843728999302 Centerline is valid? [True, True] Translation: X:191.89, Y:-41.83, Z:-24.11 [[ 9.64566787e-01 2.47654796e-01 9.09835966e-02 1.91887058e+02] [-2.46029263e-01 9.68833070e-01 -2.88458711e-02 -4.18328050e+01] [-9.52917355e-02 5.43914204e-03 9.95434529e-01 -2.41137651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.021193817 meters 0.06961599670525516 Centerline is valid? [True, True] Translation: X:191.95, Y:-41.83, Z:-24.12 [[ 9.63078313e-01 2.54489651e-01 8.78360982e-02 1.91950105e+02] [-2.53002290e-01 9.67064527e-01 -2.78575224e-02 -4.18341437e+01] [-9.20326260e-02 4.60624173e-03 9.95745338e-01 -2.41243439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.081193817 meters 0.06613583765449102 Centerline is valid? [True, True] Translation: X:192.01, Y:-41.84, Z:-24.14 [[ 9.60659459e-01 2.64581351e-01 8.44399975e-02 1.92011443e+02] [-2.63245458e-01 9.64357012e-01 -2.67840110e-02 -4.18372240e+01] [-8.85168535e-02 3.50186770e-03 9.96068524e-01 -2.41360490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14119381700002 meters 0.06135081881414848 Centerline is valid? [True, True] Translation: X:192.08, Y:-41.83, Z:-24.14 [[ 9.57484883e-01 2.75831662e-01 8.44961159e-02 1.92075537e+02] [-2.74537502e-01 9.61202797e-01 -2.68019166e-02 -4.18345247e+01] [-8.86107202e-02 2.46507746e-03 9.96063283e-01 -2.41428840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20119381700002 meters 0.059911312456605886 Centerline is valid? [True, True] Translation: X:192.14, Y:-41.84, Z:-24.15 [[ 9.56206020e-01 2.79945119e-01 8.54445857e-02 1.92135590e+02] [-2.78638038e-01 9.60013692e-01 -2.71026752e-02 -4.18447022e+01] [-8.96152338e-02 2.10762949e-03 9.95974230e-01 -2.41495282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.261193817 meters 0.0589837348537747 Centerline is valid? [True, True] Translation: X:192.19, Y:-41.86, Z:-24.16 [[ 9.55233423e-01 2.83095816e-01 8.59410659e-02 1.92194288e+02] [-2.81786110e-01 9.59089899e-01 -2.72608568e-02 -4.18572689e+01] [-9.01426427e-02 1.82348292e-03 9.95927196e-01 -2.41562165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.321193817 meters 0.058183500797526086 Centerline is valid? [True, True] Translation: X:192.25, Y:-41.87, Z:-24.16 [[ 9.54611271e-01 2.84983384e-01 8.66128845e-02 1.92252025e+02] [-2.83660945e-01 9.58531025e-01 -2.74725901e-02 -4.18711502e+01] [-9.08503686e-02 1.65695157e-03 9.95863176e-01 -2.41621134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.381193817 meters 0.05946984519436269 Centerline is valid? [True, True] Translation: X:192.31, Y:-41.89, Z:-24.17 [[ 9.55853149e-01 2.80846153e-01 8.64303001e-02 1.92307398e+02] [-2.79512842e-01 9.59750630e-01 -2.74098526e-02 -4.18935185e+01] [-9.06494866e-02 2.04141508e-03 9.95880768e-01 -2.41707101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.441193817 meters 0.060767422641375815 Centerline is valid? [True, True] Translation: X:192.36, Y:-41.92, Z:-24.18 [[ 9.56847629e-01 2.77102503e-01 8.75032413e-02 1.92362837e+02] [-2.75720371e-01 9.60837305e-01 -2.77479899e-02 -4.19155695e+01] [-9.17654160e-02 2.42417223e-03 9.95777702e-01 -2.41767897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.501193817 meters 0.059626891764921225 Centerline is valid? [True, True] Translation: X:192.42, Y:-41.93, Z:-24.18 [[ 9.56121289e-01 2.79009915e-01 8.93618909e-02 1.92420598e+02] [-2.77576737e-01 9.60285496e-01 -2.83358684e-02 -4.19299384e+01] [-9.37189160e-02 2.28774491e-03 9.95596068e-01 -2.41799912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.561193817 meters 0.05822279373885911 Centerline is valid? [True, True] Translation: X:192.48, Y:-41.94, Z:-24.19 [[ 9.54729245e-01 2.84265604e-01 8.76649007e-02 1.92478615e+02] [-2.82908903e-01 9.58744001e-01 -2.77937738e-02 -4.19410350e+01] [-9.19490115e-02 1.73434778e-03 9.95762206e-01 -2.41888471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.621193817 meters 0.05644027045968758 Centerline is valid? [True, True] Translation: X:192.54, Y:-41.95, Z:-24.20 [[ 9.51739460e-01 2.94554539e-01 8.61952636e-02 1.92537372e+02] [-2.93285245e-01 9.55634394e-01 -2.73252473e-02 -4.19483588e+01] [-9.04199341e-02 7.26717078e-04 9.95903463e-01 -2.41980556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.681193817 meters 0.056500533093880825 Centerline is valid? [True, True] Translation: X:192.59, Y:-41.96, Z:-24.21 [[ 9.49712671e-01 3.01337264e-01 8.50981478e-02 1.92592468e+02] [-3.00127900e-01 9.53517618e-01 -2.69702838e-02 -4.19617011e+01] [-8.92697347e-02 7.36919019e-05 9.96007484e-01 -2.42094219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.741193817 meters 0.05685365157247841 Centerline is valid? [True, True] Translation: X:192.65, Y:-41.98, Z:-24.22 [[ 9.47296795e-01 3.08930596e-01 8.47978164e-02 1.92647523e+02] [-3.07761002e-01 9.51084363e-01 -2.68644795e-02 -4.19807475e+01] [-8.89491369e-02 -6.48825609e-04 9.96035958e-01 -2.42171688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.801193817 meters 0.05587722568988466 Centerline is valid? [True, True] Translation: X:192.70, Y:-42.01, Z:-24.22 [[ 9.47123102e-01 3.08619687e-01 8.78163973e-02 1.92701322e+02] [-3.07364564e-01 9.51185296e-01 -2.78129071e-02 -4.20079163e+01] [-9.21132765e-02 -6.49401787e-04 9.95748323e-01 -2.42156840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86119381700001 meters 0.056570255906788346 Centerline is valid? [True, True] Translation: X:192.75, Y:-42.04, Z:-24.23 [[ 9.46714658e-01 3.09433816e-01 8.93424307e-02 1.92752010e+02] [-3.08139004e-01 9.50920687e-01 -2.82878409e-02 -4.20367230e+01] [-9.37107801e-02 -7.49374045e-04 9.95599180e-01 -2.42270690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92119381700002 meters 0.05612672046940617 Centerline is valid? [True, True] Translation: X:192.80, Y:-42.07, Z:-24.23 [[ 9.45670913e-01 3.11944965e-01 9.16344013e-02 1.92804626e+02] [-3.10595629e-01 9.50099609e-01 -2.90015193e-02 -4.20675367e+01] [-9.61086867e-02 -1.03535133e-03 9.95370307e-01 -2.42279729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.981193817 meters 0.05584556581225823 Centerline is valid? [True, True] Translation: X:192.86, Y:-42.10, Z:-24.24 [[ 9.46266051e-01 3.09914528e-01 9.23771938e-02 1.92857561e+02] [-3.08534475e-01 9.50764046e-01 -2.92268179e-02 -4.20961704e+01] [-9.68867300e-02 -8.45203408e-04 9.95295055e-01 -2.42354556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.041193817 meters 0.055711850685531764 Centerline is valid? [True, True] Translation: X:192.91, Y:-42.13, Z:-24.24 [[ 9.48165114e-01 3.04207746e-01 9.18725442e-02 1.92911309e+02] [-3.02817231e-01 9.52605676e-01 -2.90542793e-02 -4.21292871e+01] [-9.63568439e-02 -2.72335461e-04 9.95346816e-01 -2.42433090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.101193817 meters 0.05717925369225048 Centerline is valid? [True, True] Translation: X:192.96, Y:-42.17, Z:-24.25 [[ 9.51689606e-01 2.93353386e-01 9.07231247e-02 1.92960385e+02] [-2.91945346e-01 9.56003700e-01 -2.87200303e-02 -4.21737139e+01] [-9.51567611e-02 8.46360213e-04 9.95461940e-01 -2.42533804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.161193817 meters 0.057425998255488594 Centerline is valid? [True, True] Translation: X:193.02, Y:-42.20, Z:-24.26 [[ 9.52722892e-01 2.90025025e-01 9.05791178e-02 1.93017422e+02] [-2.88604010e-01 9.57018308e-01 -2.86999000e-02 -4.21988163e+01] [-9.50095632e-02 1.20155514e-03 9.95475635e-01 -2.42583272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.221193817 meters 0.05822233240423382 Centerline is valid? [True, True] Translation: X:193.07, Y:-42.23, Z:-24.26 [[ 9.54600844e-01 2.83780566e-01 9.05859772e-02 1.93072718e+02] [-2.82327850e-01 9.58887448e-01 -2.87375473e-02 -4.22289307e+01] [-9.50169140e-02 1.85794270e-03 9.95473924e-01 -2.42624706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.281193817 meters 0.06037018674354246 Centerline is valid? [True, True] Translation: X:193.12, Y:-42.26, Z:-24.27 [[ 9.56671754e-01 2.77569143e-01 8.79461506e-02 1.93124395e+02] [-2.76172940e-01 9.60702635e-01 -2.79097651e-02 -4.22641177e+01] [-9.22369882e-02 2.41213697e-03 9.95734161e-01 -2.42722440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.341193817 meters 0.06235406306282833 Centerline is valid? [True, True] Translation: X:193.18, Y:-42.29, Z:-24.28 [[ 9.58133224e-01 2.72681880e-01 8.73230660e-02 1.93178029e+02] [-2.71284716e-01 9.62099980e-01 -2.77169803e-02 -4.22944453e+01] [-9.15714384e-02 2.86714656e-03 9.95794382e-01 -2.42812533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.401193817 meters 0.06487876067719753 Centerline is valid? [True, True] Translation: X:193.23, Y:-42.32, Z:-24.29 [[ 9.60357863e-01 2.64765092e-01 8.72480436e-02 1.93231896e+02] [-2.63337042e-01 9.64306120e-01 -2.77003391e-02 -4.23247907e+01] [-9.14679053e-02 3.62659675e-03 9.95801421e-01 -2.42871398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.461193817 meters 0.06515962669195624 Centerline is valid? [True, True] Translation: X:193.29, Y:-42.35, Z:-24.29 [[ 9.59986700e-01 2.66159815e-01 8.70889755e-02 1.93288139e+02] [-2.64742844e-01 9.63922612e-01 -2.76482203e-02 -4.23469549e+01] [-9.13058780e-02 3.48574071e-03 9.95816794e-01 -2.42945179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.521193817 meters 0.06314839759671861 Centerline is valid? [True, True] Translation: X:193.35, Y:-42.36, Z:-24.30 [[ 9.58297107e-01 2.71493350e-01 8.92077096e-02 1.93347623e+02] [-2.70027226e-01 9.62435408e-01 -2.83440010e-02 -4.23584439e+01] [-9.35518662e-02 3.07346381e-03 9.95609664e-01 -2.43002782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.581193817 meters 0.06070991491857773 Centerline is valid? [True, True] Translation: X:193.41, Y:-42.37, Z:-24.30 [[ 9.56098802e-01 2.77706574e-01 9.35635551e-02 1.93407657e+02] [-2.76122929e-01 9.60662459e-01 -2.97282281e-02 -4.23651755e+01] [-9.81387193e-02 2.58808037e-03 9.95169379e-01 -2.43039411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64119381700002 meters 0.06012387707162094 Centerline is valid? [True, True] Translation: X:193.47, Y:-42.38, Z:-24.31 [[ 9.55435612e-01 2.78894434e-01 9.67506419e-02 1.93467901e+02] [-2.77207564e-01 9.60318397e-01 -3.07334064e-02 -4.23801563e+01] [-1.01482797e-01 2.54378118e-03 9.94834042e-01 -2.43088186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70119381700002 meters 0.060905985839974815 Centerline is valid? [True, True] Translation: X:193.53, Y:-42.39, Z:-24.32 [[ 9.56498381e-01 2.75363726e-01 9.63621632e-02 1.93527868e+02] [-2.73668906e-01 9.61335616e-01 -3.06457625e-02 -4.23945648e+01] [-1.01075111e-01 2.94129442e-03 9.94874450e-01 -2.43163165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.761193817 meters 0.06297882373075733 Centerline is valid? [True, True] Translation: X:193.58, Y:-42.41, Z:-24.33 [[ 9.57924499e-01 2.71061188e-01 9.43741806e-02 1.93584885e+02] [-2.69413952e-01 9.62556343e-01 -3.00234810e-02 -4.24145986e+01] [-9.89786666e-02 3.33450711e-03 9.95083969e-01 -2.43269871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.821193817 meters 0.06552688083805902 Centerline is valid? [True, True] Translation: X:193.64, Y:-42.44, Z:-24.34 [[ 9.59438926e-01 2.66339673e-01 9.24128004e-02 1.93641811e+02] [-2.64738120e-01 9.63871956e-01 -2.94037583e-02 -4.24358975e+01] [-9.69054940e-02 3.74591917e-03 9.95286538e-01 -2.43367023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.881193817 meters 0.0698317120985786 Centerline is valid? [True, True] Translation: X:193.70, Y:-42.46, Z:-24.35 [[ 9.61506163e-01 2.58931129e-01 9.19813551e-02 1.93696128e+02] [-2.57310165e-01 9.65885408e-01 -2.92721310e-02 -4.24588913e+01] [-9.64229146e-02 4.47759671e-03 9.95330384e-01 -2.43455239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.941193817 meters 0.06760988619591847 Centerline is valid? [True, True] Translation: X:193.76, Y:-42.47, Z:-24.35 [[ 9.61397572e-01 2.59879945e-01 9.04274484e-02 1.93759353e+02] [-2.58318663e-01 9.65631373e-01 -2.87666321e-02 -4.24673532e+01] [-9.47954520e-02 4.29707265e-03 9.95487497e-01 -2.43522879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.001193817 meters 0.06646564250512631 Centerline is valid? [True, True] Translation: X:193.82, Y:-42.48, Z:-24.36 [[ 9.60076741e-01 2.65178749e-01 8.90667300e-02 1.93818146e+02] [-2.63682758e-01 9.64191940e-01 -2.83779299e-02 -4.24780908e+01] [-9.34026471e-02 3.75962951e-03 9.95621319e-01 -2.43626262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.061193817 meters 0.0630010746188156 Centerline is valid? [True, True] Translation: X:193.88, Y:-42.48, Z:-24.37 [[ 9.57497931e-01 2.74477796e-01 8.86546747e-02 1.93880565e+02] [-2.73035272e-01 9.61589244e-01 -2.82465348e-02 -4.24802620e+01] [-9.30024282e-02 2.84014542e-03 9.95661831e-01 -2.43713301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.121193817 meters 0.06069395202325935 Centerline is valid? [True, True] Translation: X:193.94, Y:-42.49, Z:-24.38 [[ 9.55721427e-01 2.80595965e-01 8.86705059e-02 1.93942296e+02] [-2.79179204e-01 9.59823351e-01 -2.82507934e-02 -4.24871414e+01] [-9.30350808e-02 2.24492728e-03 9.95660301e-01 -2.43789910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.181193817 meters 0.05770428060486869 Centerline is valid? [True, True] Translation: X:194.01, Y:-42.49, Z:-24.39 [[ 9.52420329e-01 2.91341320e-01 8.95307322e-02 1.94005912e+02] [-2.89943604e-01 9.56618400e-01 -2.85296951e-02 -4.24871526e+01] [-9.39586248e-02 1.21339843e-03 9.95575364e-01 -2.43858900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.241193817 meters 0.05681082311566688 Centerline is valid? [True, True] Translation: X:194.07, Y:-42.50, Z:-24.39 [[ 9.50536671e-01 2.97442278e-01 8.94881504e-02 1.94066972e+02] [-2.96073299e-01 9.54739611e-01 -2.85110060e-02 -4.24960801e+01] [-9.39182604e-02 6.05704864e-04 9.95579727e-01 -2.43948830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.301193817 meters 0.056447701074404805 Centerline is valid? [True, True] Translation: X:194.13, Y:-42.51, Z:-24.40 [[ 9.49381841e-01 3.01793511e-01 8.71481357e-02 1.94127693e+02] [-3.00511385e-01 9.53373295e-01 -2.77897145e-02 -4.25098919e+01] [-9.14714608e-02 1.94043313e-04 9.95807679e-01 -2.44012642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36119381700001 meters 0.05674164698208926 Centerline is valid? [True, True] Translation: X:194.19, Y:-42.53, Z:-24.41 [[ 9.49697381e-01 3.01207306e-01 8.57265636e-02 1.94185680e+02] [-2.99961775e-01 9.53558642e-01 -2.73651213e-02 -4.25315419e+01] [-8.99878801e-02 2.73891923e-04 9.95942823e-01 -2.44111275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42119381700002 meters 0.05717926668762328 Centerline is valid? [True, True] Translation: X:194.24, Y:-42.56, Z:-24.42 [[ 9.50270653e-01 2.99523696e-01 8.52715760e-02 1.94241604e+02] [-2.98282043e-01 9.54088751e-01 -2.72484419e-02 -4.25598462e+01] [-8.95182055e-02 4.58414819e-04 9.95985081e-01 -2.44198507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.481193817 meters 0.05698545143778518 Centerline is valid? [True, True] Translation: X:194.30, Y:-42.58, Z:-24.42 [[ 9.50602049e-01 2.98366692e-01 8.56332999e-02 1.94300133e+02] [-2.97107378e-01 9.54451132e-01 -2.73905680e-02 -4.25841532e+01] [-8.99052331e-02 5.95244905e-04 9.95950147e-01 -2.44243524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.541193817 meters 0.058079290040506604 Centerline is valid? [True, True] Translation: X:194.35, Y:-42.62, Z:-24.43 [[ 9.51983046e-01 2.93510855e-01 8.70612285e-02 1.94354270e+02] [-2.92185428e-01 9.55955099e-01 -2.78841033e-02 -4.26169485e+01] [-9.14109124e-02 1.10717127e-03 9.95812643e-01 -2.44338623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.601193817 meters 0.05948472772055634 Centerline is valid? [True, True] Translation: X:194.41, Y:-42.65, Z:-24.44 [[ 9.54019721e-01 2.86561505e-01 8.79140222e-02 1.94408857e+02] [-2.85177210e-01 9.58060110e-01 -2.81919216e-02 -4.26483367e+01] [-9.23056372e-02 1.82457362e-03 9.95729050e-01 -2.44392374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.661193817 meters 0.06532663305340149 Centerline is valid? [True, True] Translation: X:194.46, Y:-42.69, Z:-24.45 [[ 9.58581931e-01 2.70813903e-01 8.82072113e-02 1.94458553e+02] [-2.69350251e-01 9.62625753e-01 -2.83214144e-02 -4.26891626e+01] [-9.25803660e-02 3.38976154e-03 9.95699445e-01 -2.44456301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.721193817 meters 0.07011429802668094 Centerline is valid? [True, True] Translation: X:194.51, Y:-42.72, Z:-24.45 [[ 9.61494081e-01 2.60226402e-01 8.83818566e-02 1.94511980e+02] [-2.58712132e-01 9.65537508e-01 -2.83787591e-02 -4.27196194e+01] [-9.27208999e-02 4.42055028e-03 9.95682326e-01 -2.44522967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.781193817 meters 0.07641116495579031 Centerline is valid? [True, True] Translation: X:194.57, Y:-42.75, Z:-24.46 [[ 9.64219517e-01 2.50270283e-01 8.74385997e-02 1.94566304e+02] [-2.48747289e-01 9.68161379e-01 -2.80772117e-02 -4.27479205e+01] [-9.16815671e-02 5.32248085e-03 9.95774152e-01 -2.44601414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.841193817 meters 0.0764620612166201 Centerline is valid? [True, True] Translation: X:194.63, Y:-42.76, Z:-24.47 [[ 9.64980164e-01 2.47829486e-01 8.59873810e-02 1.94626518e+02] [-2.46347120e-01 9.68788273e-01 -2.76112124e-02 -4.27600642e+01] [-9.01464389e-02 5.46152858e-03 9.95913546e-01 -2.44678130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.901193817 meters 0.07801338190490921 Centerline is valid? [True, True] Translation: X:194.68, Y:-42.77, Z:-24.48 [[ 9.64496229e-01 2.49547786e-01 8.64460911e-02 1.94684653e+02] [-2.48055947e-01 9.68347794e-01 -2.77632279e-02 -4.27742970e+01] [-9.06381337e-02 5.33406157e-03 9.95869608e-01 -2.44772971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.961193817 meters 0.07310133046152623 Centerline is valid? [True, True] Translation: X:194.75, Y:-42.77, Z:-24.48 [[ 9.63001298e-01 2.55270622e-01 8.64026069e-02 1.94748602e+02] [-2.53802936e-01 9.66857751e-01 -2.77517377e-02 -4.27718757e+01] [-9.06232336e-02 4.79572404e-03 9.95873702e-01 -2.44836351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.021193817 meters 0.06918660374232131 Centerline is valid? [True, True] Translation: X:194.81, Y:-42.77, Z:-24.49 [[ 9.61852037e-01 2.58927497e-01 8.83018111e-02 1.94811887e+02] [-2.57409724e-01 9.65886043e-01 -2.83616863e-02 -4.27727122e+01] [-9.26331074e-02 4.55000092e-03 9.95689914e-01 -2.44877850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.081193817 meters 0.06865216974607755 Centerline is valid? [True, True] Translation: X:194.87, Y:-42.79, Z:-24.50 [[ 9.61403754e-01 2.60623372e-01 8.81945547e-02 1.94872382e+02] [-2.59116968e-01 9.65430637e-01 -2.83210478e-02 -4.27853226e+01] [-9.25268521e-02 4.37525608e-03 9.95700577e-01 -2.44959839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14119381700002 meters 0.06870450996132516 Centerline is valid? [True, True] Translation: X:194.94, Y:-42.79, Z:-24.50 [[ 9.61663680e-01 2.59618675e-01 8.83238939e-02 1.94935245e+02] [-2.58100934e-01 9.65700696e-01 -2.83914263e-02 -4.27921938e+01] [-9.26653903e-02 4.50652397e-03 9.95687108e-01 -2.45043716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.201193817 meters 0.07566343552818196 Centerline is valid? [True, True] Translation: X:194.99, Y:-42.81, Z:-24.52 [[ 9.63828523e-01 2.51359397e-01 8.86173278e-02 1.94992731e+02] [-2.49793200e-01 9.67879006e-01 -2.85234526e-02 -4.28072364e+01] [-9.29404890e-02 5.35571128e-03 9.95657261e-01 -2.45151925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.261193817 meters 0.07645691550034339 Centerline is valid? [True, True] Translation: X:195.05, Y:-42.82, Z:-24.52 [[ 9.65728077e-01 2.44952202e-01 8.58353032e-02 1.95053067e+02] [-2.43457844e-01 9.69517903e-01 -2.76281458e-02 -4.28173118e+01] [-8.99864383e-02 5.78399833e-03 9.95926195e-01 -2.45223844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.321193817 meters 0.07874866841858702 Centerline is valid? [True, True] Translation: X:195.11, Y:-42.83, Z:-24.53 [[ 9.67012909e-01 2.40794368e-01 8.30909524e-02 1.95112391e+02] [-2.39378565e-01 9.70557749e-01 -2.67499334e-02 -4.28290471e+01] [-8.70858010e-02 5.97733805e-03 9.96182882e-01 -2.45322315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.381193817 meters 0.07957152981671052 Centerline is valid? [True, True] Translation: X:195.17, Y:-42.83, Z:-24.54 [[ 9.66340451e-01 2.44413376e-01 8.03008978e-02 1.95174272e+02] [-2.43103679e-01 9.69655758e-01 -2.58517449e-02 -4.28310563e+01] [-8.41827402e-02 5.46014309e-03 9.96435373e-01 -2.45430938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.441193817 meters 0.07501414379228678 Centerline is valid? [True, True] Translation: X:195.24, Y:-42.83, Z:-24.55 [[ 9.64143767e-01 2.52897568e-01 8.04339237e-02 1.95239211e+02] [-2.51612641e-01 9.67481498e-01 -2.58965157e-02 -4.28266141e+01] [-8.43674988e-02 4.72977230e-03 9.96423481e-01 -2.45504632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.501193817 meters 0.06741994350389631 Centerline is valid? [True, True] Translation: X:195.31, Y:-42.81, Z:-24.56 [[ 9.59685792e-01 2.68699766e-01 8.24840370e-02 1.95305547e+02] [-2.67405920e-01 9.63217865e-01 -2.65597212e-02 -4.28125600e+01] [-8.65866889e-02 3.43226726e-03 9.96238408e-01 -2.45569083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.561193817 meters 0.06206985226413823 Centerline is valid? [True, True] Translation: X:195.37, Y:-42.81, Z:-24.56 [[ 9.57030718e-01 2.77036454e-01 8.56913529e-02 1.95370217e+02] [-2.75673232e-01 9.60855382e-01 -2.75899122e-02 -4.28092788e+01] [-8.99804091e-02 2.78158123e-03 9.95939651e-01 -2.45575692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.621193817 meters 0.05994525384054945 Centerline is valid? [True, True] Translation: X:195.43, Y:-42.81, Z:-24.56 [[ 9.55157384e-01 2.83151856e-01 8.65990676e-02 1.95432585e+02] [-2.81784553e-01 9.59072498e-01 -2.78820753e-02 -4.28097283e+01] [-9.09496455e-02 2.22949053e-03 9.95852997e-01 -2.45622525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.681193817 meters 0.060072638541945146 Centerline is valid? [True, True] Translation: X:195.49, Y:-42.82, Z:-24.57 [[ 9.54896020e-01 2.83938942e-01 8.69037876e-02 1.95488176e+02] [-2.82565422e-01 9.58839930e-01 -2.79780497e-02 -4.28223798e+01] [-9.12708795e-02 2.16012287e-03 9.95823760e-01 -2.45707458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.741193817 meters 0.06040334416436469 Centerline is valid? [True, True] Translation: X:195.54, Y:-42.84, Z:-24.58 [[ 9.55157585e-01 2.83597827e-01 8.51249737e-02 1.95544099e+02] [-2.82279636e-01 9.58940927e-01 -2.73953471e-02 -4.28390635e+01] [-8.93990821e-02 2.13782700e-03 9.95993591e-01 -2.45796663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.801193817 meters 0.061175262047305966 Centerline is valid? [True, True] Translation: X:195.60, Y:-42.86, Z:-24.59 [[ 9.55619452e-01 2.83172039e-01 8.12715123e-02 1.95599786e+02] [-2.81969924e-01 9.59066896e-01 -2.61467292e-02 -4.28572880e+01] [-8.53488396e-02 2.07020094e-03 9.96348980e-01 -2.45914512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86119381700001 meters 0.06222649954505612 Centerline is valid? [True, True] Translation: X:195.65, Y:-42.88, Z:-24.60 [[ 9.56202151e-01 2.82116524e-01 7.80238036e-02 1.95654975e+02] [-2.81005448e-01 9.59377903e-01 -2.50993345e-02 -4.28759910e+01] [-8.19352501e-02 2.07492381e-03 9.96635495e-01 -2.46030730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92119381700002 meters 0.06349775319666837 Centerline is valid? [True, True] Translation: X:195.71, Y:-42.90, Z:-24.61 [[ 9.56902569e-01 2.80524274e-01 7.51239272e-02 1.95709654e+02] [-2.79489881e-01 9.59844582e-01 -2.41616577e-02 -4.28960887e+01] [-7.88852260e-02 2.12397487e-03 9.96881442e-01 -2.46146558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.981193817 meters 0.06391494492598082 Centerline is valid? [True, True] Translation: X:195.76, Y:-42.91, Z:-24.62 [[ 9.57429521e-01 2.78325564e-01 7.65740942e-02 1.95764669e+02] [-2.77243281e-01 9.60483905e-01 -2.46339576e-02 -4.29144693e+01] [-8.04044451e-02 2.35562513e-03 9.96759538e-01 -2.46203296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.041193817 meters 0.06347007760450633 Centerline is valid? [True, True] Translation: X:195.82, Y:-42.93, Z:-24.62 [[ 9.57801642e-01 2.76772193e-01 7.75446157e-02 1.95820052e+02] [-2.75660180e-01 9.60932356e-01 -2.49092945e-02 -4.29328106e+01] [-8.14093302e-02 2.48220042e-03 9.96677661e-01 -2.46236806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.101193817 meters 0.0636721807043471 Centerline is valid? [True, True] Translation: X:195.87, Y:-42.96, Z:-24.62 [[ 9.58428646e-01 2.73089863e-01 8.26828654e-02 1.95874736e+02] [-2.71812540e-01 9.61983939e-01 -2.65488848e-02 -4.29558690e+01] [-8.67898200e-02 2.97097209e-03 9.96222214e-01 -2.46244324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.161193817 meters 0.06387323217078855 Centerline is valid? [True, True] Translation: X:195.93, Y:-42.98, Z:-24.63 [[ 9.58922286e-01 2.70154460e-01 8.65136856e-02 1.95929586e+02] [-2.68744584e-01 9.62811064e-01 -2.77705523e-02 -4.29775525e+01] [-9.07986723e-02 3.37971710e-03 9.95863534e-01 -2.46267234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.221193817 meters 0.06526443297144384 Centerline is valid? [True, True] Translation: X:195.98, Y:-43.00, Z:-24.63 [[ 9.59846896e-01 2.66169559e-01 8.85872618e-02 1.95982968e+02] [-2.64674975e-01 9.63918578e-01 -2.84276702e-02 -4.30038301e+01] [-9.29574879e-02 3.83937965e-03 9.95662676e-01 -2.46321675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.281193817 meters 0.06735886182229314 Centerline is valid? [True, True] Translation: X:196.04, Y:-43.03, Z:-24.64 [[ 9.60922239e-01 2.62577522e-01 8.76441401e-02 1.96036205e+02] [-2.61100517e-01 9.64902043e-01 -2.81170419e-02 -4.30289304e+01] [-9.19509130e-02 4.13436060e-03 9.95754958e-01 -2.46420051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.341193817 meters 0.06912064924824239 Centerline is valid? [True, True] Translation: X:196.09, Y:-43.05, Z:-24.65 [[ 9.63173209e-01 2.55854267e-01 8.26798813e-02 1.96091875e+02] [-2.54516382e-01 9.66704914e-01 -2.65145152e-02 -4.30507755e+01] [-8.67108994e-02 4.49468647e-03 9.96223377e-01 -2.46517165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.401193817 meters 0.07237595128006635 Centerline is valid? [True, True] Translation: X:196.15, Y:-43.07, Z:-24.66 [[ 9.64725346e-01 2.50502235e-01 8.09545406e-02 1.96145392e+02] [-2.49200933e-01 9.68103763e-01 -2.59614862e-02 -4.30746265e+01] [-8.48758057e-02 4.87175669e-03 9.96379628e-01 -2.46622649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.461193817 meters 0.07327450917323781 Centerline is valid? [True, True] Translation: X:196.20, Y:-43.09, Z:-24.67 [[ 9.65857058e-01 2.45806598e-01 8.18490074e-02 1.96203211e+02] [-2.44459460e-01 9.69304161e-01 -2.62491094e-02 -4.30911259e+01] [-8.57887878e-02 5.34412347e-03 9.96299013e-01 -2.46675121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.521193817 meters 0.07784418006288643 Centerline is valid? [True, True] Translation: X:196.26, Y:-43.11, Z:-24.67 [[ 9.67262007e-01 2.38742074e-01 8.60606236e-02 1.96259351e+02] [-2.37224717e-01 9.71062718e-01 -2.75976641e-02 -4.31104785e+01] [-9.01589866e-02 6.27846498e-03 9.95907595e-01 -2.46711382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.581193817 meters 0.07943989672001713 Centerline is valid? [True, True] Translation: X:196.32, Y:-43.13, Z:-24.68 [[ 9.68003739e-01 2.34604264e-01 8.90483039e-02 1.96316832e+02] [-2.32962285e-01 9.72066513e-01 -2.85528867e-02 -4.31271984e+01] [-9.32595032e-02 6.89440481e-03 9.95617965e-01 -2.46760450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64119381700002 meters 0.08062326110752209 Centerline is valid? [True, True] Translation: X:196.38, Y:-43.14, Z:-24.68 [[ 9.68581700e-01 2.32056790e-01 8.94378880e-02 1.96375235e+02] [-2.30389698e-01 9.72675812e-01 -2.86766743e-02 -4.31421401e+01] [-9.36486873e-02 7.17013390e-03 9.95579486e-01 -2.46827865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.701193817 meters 0.08307870738858777 Centerline is valid? [True, True] Translation: X:196.43, Y:-43.15, Z:-24.69 [[ 9.68048446e-01 2.33987599e-01 9.01776574e-02 1.96432542e+02] [-2.32300872e-01 9.72214069e-01 -2.89155627e-02 -4.31524241e+01] [-9.44378702e-02 7.04331704e-03 9.95505841e-01 -2.46920682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.761193817 meters 0.07850544766968623 Centerline is valid? [True, True] Translation: X:196.49, Y:-43.15, Z:-24.70 [[ 9.66960238e-01 2.39296348e-01 8.78928609e-02 1.96494904e+02] [-2.37716677e-01 9.70925807e-01 -2.81755082e-02 -4.31546479e+01] [-9.20797431e-02 6.35099739e-03 9.95731382e-01 -2.47008018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.821193817 meters 0.07508229100871415 Centerline is valid? [True, True] Translation: X:196.56, Y:-43.15, Z:-24.71 [[ 9.65084035e-01 2.47298209e-01 8.63504597e-02 1.96557933e+02] [-2.45805432e-01 9.68923872e-01 -2.76806920e-02 -4.31540085e+01] [-9.05124073e-02 5.48878189e-03 9.95880202e-01 -2.47109138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.881193817 meters 0.07225831340773396 Centerline is valid? [True, True] Translation: X:196.62, Y:-43.16, Z:-24.72 [[ 9.64110465e-01 2.51211746e-01 8.59282808e-02 1.96619096e+02] [-2.49748983e-01 9.67918738e-01 -2.75456214e-02 -4.31588741e+01] [-9.00913768e-02 5.09652117e-03 9.95920463e-01 -2.47173734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.941193817 meters 0.06801902732172099 Centerline is valid? [True, True] Translation: X:196.68, Y:-43.16, Z:-24.72 [[ 9.63233989e-01 2.53610663e-01 8.86674319e-02 1.96681399e+02] [-2.52063120e-01 9.67293314e-01 -2.84223155e-02 -4.31610019e+01] [-9.29756163e-02 5.02755086e-03 9.95655693e-01 -2.47189750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.001193817 meters 0.06813011811526562 Centerline is valid? [True, True] Translation: X:196.74, Y:-43.17, Z:-24.72 [[ 9.63064133e-01 2.53479766e-01 9.08596996e-02 1.96740469e+02] [-2.51853761e-01 9.67326885e-01 -2.91269711e-02 -4.31698140e+01] [-9.52741279e-02 5.16778404e-03 9.95437660e-01 -2.47247018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.061193817 meters 0.07101074199041991 Centerline is valid? [True, True] Translation: X:196.80, Y:-43.18, Z:-24.73 [[ 9.64594562e-01 2.47695993e-01 9.05760841e-02 1.96800250e+02] [-2.46058101e-01 9.68821114e-01 -2.90010536e-02 -4.31807580e+01] [-9.49354674e-02 5.68727934e-03 9.95467183e-01 -2.47311686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.121193817 meters 0.07322705196558114 Centerline is valid? [True, True] Translation: X:196.86, Y:-43.20, Z:-24.74 [[ 9.65073345e-01 2.45795977e-01 9.06519558e-02 1.96855927e+02] [-2.44146807e-01 9.69303745e-01 -2.90273450e-02 -4.31956567e+01] [-9.50040849e-02 5.88113138e-03 9.95459510e-01 -2.47402628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.181193817 meters 0.07196324936900239 Centerline is valid? [True, True] Translation: X:196.92, Y:-43.20, Z:-24.75 [[ 9.64697711e-01 2.47612084e-01 8.97027498e-02 1.96916586e+02] [-2.46005430e-01 9.68842843e-01 -2.87206308e-02 -4.31993675e+01] [-9.40194424e-02 5.63936322e-03 9.95554389e-01 -2.47478466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.241193817 meters 0.07024885354857749 Centerline is valid? [True, True] Translation: X:196.98, Y:-43.21, Z:-24.76 [[ 9.63612529e-01 2.52112554e-01 8.88265435e-02 1.96977329e+02] [-2.50559275e-01 9.67684387e-01 -2.84073377e-02 -4.32061469e+01] [-9.31179058e-02 5.11735211e-03 9.95641938e-01 -2.47556265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.301193817 meters 0.06845316336280899 Centerline is valid? [True, True] Translation: X:197.04, Y:-43.21, Z:-24.76 [[ 9.62050910e-01 2.57934294e-01 8.90390217e-02 1.97036946e+02] [-2.56398483e-01 9.66151683e-01 -2.84735686e-02 -4.32128507e+01] [-9.33695104e-02 4.56355249e-03 9.95621067e-01 -2.47634052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36119381700001 meters 0.06631407652265309 Centerline is valid? [True, True] Translation: X:197.10, Y:-43.22, Z:-24.77 [[ 9.61063911e-01 2.62410262e-01 8.65852985e-02 1.97096636e+02] [-2.60976481e-01 9.64948063e-01 -2.76859515e-02 -4.32212921e+01] [-9.08153939e-02 4.01124226e-03 9.95859666e-01 -2.47720895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42119381700002 meters 0.06499493498445126 Centerline is valid? [True, True] Translation: X:197.16, Y:-43.23, Z:-24.78 [[ 9.59786322e-01 2.67855774e-01 8.40446399e-02 1.97155513e+02] [-2.66525965e-01 9.63453051e-01 -2.68724651e-02 -4.32285659e+01] [-8.81710096e-02 3.39174567e-03 9.96099578e-01 -2.47836698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.481193817 meters 0.0661632809531629 Centerline is valid? [True, True] Translation: X:197.21, Y:-43.25, Z:-24.79 [[ 9.60313368e-01 2.66037503e-01 8.37990560e-02 1.97210413e+02] [-2.64708712e-01 9.63956155e-01 -2.67923469e-02 -4.32470107e+01] [-8.79063849e-02 3.54670876e-03 9.96122426e-01 -2.47912961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.541193817 meters 0.06874351633917714 Centerline is valid? [True, True] Translation: X:197.27, Y:-43.27, Z:-24.79 [[ 9.62509735e-01 2.57150531e-01 8.63053557e-02 1.97266078e+02] [-2.55706322e-01 9.66360982e-01 -2.75813162e-02 -4.32707864e+01] [-9.04946784e-02 4.47846026e-03 9.95886869e-01 -2.47936851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.601193817 meters 0.0691663530899134 Centerline is valid? [True, True] Translation: X:197.32, Y:-43.29, Z:-24.80 [[ 9.63608670e-01 2.52157287e-01 8.87413825e-02 1.97323325e+02] [-2.50609117e-01 9.67672887e-01 -2.83593980e-02 -4.32886974e+01] [-9.30236586e-02 5.08796234e-03 9.95650898e-01 -2.47965250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.661193817 meters 0.07273841838464458 Centerline is valid? [True, True] Translation: X:197.38, Y:-43.31, Z:-24.81 [[ 9.65114082e-01 2.46532735e-01 8.81840126e-02 1.97376461e+02] [-2.44980849e-01 9.69118329e-01 -2.81788608e-02 -4.33139308e+01] [-9.24077545e-02 5.59242104e-03 9.95705545e-01 -2.48064779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.721193817 meters 0.0808188505375539 Centerline is valid? [True, True] Translation: X:197.43, Y:-43.34, Z:-24.82 [[ 9.66545343e-01 2.40974366e-01 8.78718043e-02 1.97428502e+02] [-2.39410686e-01 9.70512300e-01 -2.80784349e-02 -4.33432451e+01] [-9.20468499e-02 6.10163153e-03 9.95735983e-01 -2.48179991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.781193817 meters 0.0783156476593775 Centerline is valid? [True, True] Translation: X:197.49, Y:-43.35, Z:-24.82 [[ 9.67501013e-01 2.37620347e-01 8.64775168e-02 1.97487738e+02] [-2.36092747e-01 9.71337560e-01 -2.76325812e-02 -4.33546133e+01] [-9.05649237e-02 6.31783582e-03 9.95870513e-01 -2.48221398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.841193817 meters 0.07932675130239081 Centerline is valid? [True, True] Translation: X:197.54, Y:-43.37, Z:-24.83 [[ 9.67710795e-01 2.36566531e-01 8.70177764e-02 1.97544655e+02] [-2.35014857e-01 9.71593792e-01 -2.78122288e-02 -4.33693027e+01] [-9.11253738e-02 6.46372379e-03 9.95818451e-01 -2.48282518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.901193817 meters 0.07627531707425562 Centerline is valid? [True, True] Translation: X:197.60, Y:-43.38, Z:-24.83 [[ 9.67242091e-01 2.38079385e-01 8.80962188e-02 1.97604006e+02] [-2.36498293e-01 9.71224829e-01 -2.81227342e-02 -4.33791990e+01] [-9.22566783e-02 6.36688682e-03 9.95714903e-01 -2.48322186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.961193817 meters 0.0730230670462522 Centerline is valid? [True, True] Translation: X:197.66, Y:-43.39, Z:-24.84 [[ 9.66380668e-01 2.41546877e-01 8.81107828e-02 1.97664471e+02] [-2.39979918e-01 9.70370397e-01 -2.81235208e-02 -4.33855121e+01] [-9.22932439e-02 6.03320843e-03 9.95713592e-01 -2.48386681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.021193817 meters 0.07132461407519985 Centerline is valid? [True, True] Translation: X:197.72, Y:-43.39, Z:-24.85 [[ 9.66396224e-01 2.41998723e-01 8.66888421e-02 1.97721382e+02] [-2.40483369e-01 9.70258641e-01 -2.76752241e-02 -4.33945855e+01] [-9.08079671e-02 5.89800734e-03 9.95850956e-01 -2.48459904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.081193817 meters 0.07294168314264339 Centerline is valid? [True, True] Translation: X:197.78, Y:-43.41, Z:-24.86 [[ 9.65862600e-01 2.44586800e-01 8.53623827e-02 1.97776613e+02] [-2.43131203e-01 9.69611639e-01 -2.72118965e-02 -4.34107892e+01] [-8.94240305e-02 5.52869429e-03 9.95978301e-01 -2.48565136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14119381700002 meters 0.06729514690839343 Centerline is valid? [True, True] Translation: X:197.84, Y:-43.41, Z:-24.86 [[ 9.63643895e-01 2.54093805e-01 8.26243381e-02 1.97839955e+02] [-2.52765831e-01 9.67169169e-01 -2.63293386e-02 -4.34091538e+01] [-8.66018342e-02 4.48749693e-03 9.96232897e-01 -2.48635109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.201193817 meters 0.06503751496465375 Centerline is valid? [True, True] Translation: X:197.90, Y:-43.42, Z:-24.87 [[ 9.61543265e-01 2.61477027e-01 8.40494706e-02 1.97899347e+02] [-2.60130752e-01 9.65201862e-01 -2.67835220e-02 -4.34160361e+01] [-8.81279813e-02 3.88966323e-03 9.96101566e-01 -2.48699246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.261193817 meters 0.060472818552402184 Centerline is valid? [True, True] Translation: X:197.96, Y:-43.42, Z:-24.87 [[ 9.58011991e-01 2.72912982e-01 8.79291108e-02 1.97962681e+02] [-2.71487610e-01 9.62034151e-01 -2.80137414e-02 -4.34165037e+01] [-9.22361212e-02 2.96583606e-03 9.95732746e-01 -2.48732630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.321193817 meters 0.05969527077401079 Centerline is valid? [True, True] Translation: X:198.02, Y:-43.43, Z:-24.88 [[ 9.56843007e-01 2.76976631e-01 8.79511592e-02 1.98018963e+02] [-2.75567732e-01 9.60873207e-01 -2.80197182e-02 -4.34298793e+01] [-9.22707196e-02 2.57396991e-03 9.95730631e-01 -2.48819720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.381193817 meters 0.059082129396625674 Centerline is valid? [True, True] Translation: X:198.08, Y:-43.45, Z:-24.89 [[ 9.56611481e-01 2.76983970e-01 9.04121353e-02 1.98075601e+02] [-2.75495184e-01 9.60870903e-01 -2.88012401e-02 -4.34454758e+01] [-9.48518719e-02 2.64348912e-03 9.95487888e-01 -2.48859236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.441193817 meters 0.061509324110084654 Centerline is valid? [True, True] Translation: X:198.13, Y:-43.47, Z:-24.89 [[ 9.58113972e-01 2.71008777e-01 9.25843406e-02 1.98127156e+02] [-2.69422998e-01 9.62571289e-01 -2.94577784e-02 -4.34749062e+01] [-9.71023447e-02 3.27955844e-03 9.95268998e-01 -2.48933727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.501193817 meters 0.06496091974044599 Centerline is valid? [True, True] Translation: X:198.18, Y:-43.51, Z:-24.90 [[ 9.61549246e-01 2.58925747e-01 9.15451004e-02 1.98178988e+02] [-2.57321410e-01 9.65887006e-01 -2.91201505e-02 -4.35083378e+01] [-9.59621797e-02 4.44394441e-03 9.95375061e-01 -2.48990128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.561193817 meters 0.06808781933429806 Centerline is valid? [True, True] Translation: X:198.23, Y:-43.54, Z:-24.91 [[ 9.63076966e-01 2.53912601e-01 8.95050172e-02 1.98231132e+02] [-2.52357812e-01 9.67215104e-01 -2.84688788e-02 -4.35392261e+01] [-9.37992116e-02 4.83043118e-03 9.95579417e-01 -2.49108098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.621193817 meters 0.06843468919535284 Centerline is valid? [True, True] Translation: X:198.28, Y:-43.56, Z:-24.92 [[ 9.63199685e-01 2.53391814e-01 8.96602240e-02 1.98284381e+02] [-2.51828638e-01 9.67351335e-01 -2.85259642e-02 -4.35605741e+01] [-9.39611833e-02 4.89718761e-03 9.95563817e-01 -2.49163024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.681193817 meters 0.06736270888774375 Centerline is valid? [True, True] Translation: X:198.34, Y:-43.58, Z:-24.92 [[ 9.62160639e-01 2.57460339e-01 8.92248765e-02 1.98340409e+02] [-2.55933347e-01 9.66278663e-01 -2.83490340e-02 -4.35758150e+01] [-9.35148463e-02 4.44070337e-03 9.95607982e-01 -2.49241860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.741193817 meters 0.0658410973915986 Centerline is valid? [True, True] Translation: X:198.40, Y:-43.59, Z:-24.93 [[ 9.60975141e-01 2.62078024e-01 8.85544384e-02 1.98395666e+02] [-2.60593982e-01 9.65038580e-01 -2.81303360e-02 -4.35922796e+01] [-9.28307923e-02 3.95579992e-03 9.95674041e-01 -2.49342850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.801193817 meters 0.06625446469400832 Centerline is valid? [True, True] Translation: X:198.45, Y:-43.61, Z:-24.94 [[ 9.60857711e-01 2.61932172e-01 9.02440944e-02 1.98451606e+02] [-2.60390162e-01 9.65077803e-01 -2.86670240e-02 -4.36104697e+01] [-9.46013882e-02 4.04625673e-03 9.95507009e-01 -2.49405233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86119381700001 meters 0.06518155762281384 Centerline is valid? [True, True] Translation: X:198.51, Y:-43.63, Z:-24.94 [[ 9.61497012e-01 2.59714863e-01 8.98425618e-02 1.98508694e+02] [-2.58179933e-01 9.65676150e-01 -2.85078093e-02 -4.36265845e+01] [-9.41627210e-02 4.21462692e-03 9.95547899e-01 -2.49445184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92119381700002 meters 0.0639827817167361 Centerline is valid? [True, True] Translation: X:198.56, Y:-43.64, Z:-24.95 [[ 9.61568042e-01 2.59512505e-01 8.96669368e-02 1.98564449e+02] [-2.57982532e-01 9.65730493e-01 -2.84539735e-02 -4.36409604e+01] [-9.39782569e-02 4.22792814e-03 9.95565273e-01 -2.49500703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.981193817 meters 0.06308255052616397 Centerline is valid? [True, True] Translation: X:198.62, Y:-43.66, Z:-24.96 [[ 9.59708810e-01 2.66325841e-01 8.96077377e-02 1.98620136e+02] [-2.64831321e-01 9.63876633e-01 -2.83937908e-02 -4.36586652e+01] [-9.39328047e-02 3.51883562e-03 9.95572321e-01 -2.49591502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.041193817 meters 0.05900817502287491 Centerline is valid? [True, True] Translation: X:198.68, Y:-43.67, Z:-24.96 [[ 9.57127675e-01 2.74793136e-01 9.16261223e-02 1.98680615e+02] [-2.73269289e-01 9.61499449e-01 -2.90293797e-02 -4.36675730e+01] [-9.60755404e-02 2.74621736e-03 9.95370257e-01 -2.49616746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.101193817 meters 0.05660413871497653 Centerline is valid? [True, True] Translation: X:198.74, Y:-43.68, Z:-24.97 [[ 9.53340288e-01 2.87810925e-01 9.11436609e-02 1.98739300e+02] [-2.86362338e-01 9.57686187e-01 -2.88752253e-02 -4.36767845e+01] [-9.55976304e-02 1.42780377e-03 9.95419035e-01 -2.49692904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.161193817 meters 0.05585294900807808 Centerline is valid? [True, True] Translation: X:198.79, Y:-43.69, Z:-24.98 [[ 9.50861811e-01 2.95465819e-01 9.25298111e-02 1.98794928e+02] [-2.94008996e-01 9.55353078e-01 -2.93122164e-02 -4.36910100e+01] [-9.70593979e-02 6.67270314e-04 9.95278367e-01 -2.49766364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.221193817 meters 0.05545786615320608 Centerline is valid? [True, True] Translation: X:198.85, Y:-43.71, Z:-24.98 [[ 9.48936999e-01 3.01364805e-01 9.32621317e-02 1.98849746e+02] [-2.99913716e-01 9.53508915e-01 -2.95383180e-02 -4.37127363e+01] [-9.78280834e-02 5.94103124e-05 9.95203327e-01 -2.49825520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.281193817 meters 0.055421879632425945 Centerline is valid? [True, True] Translation: X:198.90, Y:-43.74, Z:-24.99 [[ 9.48990939e-01 3.00943540e-01 9.40700979e-02 1.98901654e+02] [-2.99468386e-01 9.53641956e-01 -2.97607983e-02 -4.37389049e+01] [-9.86655122e-02 7.17075129e-05 9.95120652e-01 -2.49889824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.341193817 meters 0.055324781611435225 Centerline is valid? [True, True] Translation: X:198.95, Y:-43.78, Z:-24.99 [[ 9.50996676e-01 2.94115818e-01 9.54002564e-02 1.98949709e+02] [-2.92564712e-01 9.55769463e-01 -3.01765274e-02 -4.37784557e+01] [-1.00056046e-01 7.87028713e-04 9.94981491e-01 -2.49915999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.401193817 meters 0.05637752194903191 Centerline is valid? [True, True] Translation: X:199.00, Y:-43.82, Z:-25.00 [[ 9.52630983e-01 2.89003430e-01 9.47165676e-02 1.98997839e+02] [-2.87453295e-01 9.57327211e-01 -2.99201388e-02 -4.38152695e+01] [-9.93217703e-02 1.27626184e-03 9.95054550e-01 -2.50039203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.461193817 meters 0.05902744912471053 Centerline is valid? [True, True] Translation: X:199.05, Y:-43.86, Z:-25.02 [[ 9.55290827e-01 2.82020742e-01 8.87904155e-02 1.99046067e+02] [-2.80629918e-01 9.59406494e-01 -2.80361874e-02 -4.38582020e+01] [-9.30928876e-02 1.86546561e-03 9.95655681e-01 -2.50195784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.521193817 meters 0.061463329364676376 Centerline is valid? [True, True] Translation: X:199.10, Y:-43.89, Z:-25.03 [[ 9.57019808e-01 2.76424585e-01 8.77640991e-02 1.99096027e+02] [-2.75042279e-01 9.61032660e-01 -2.77123018e-02 -4.38945256e+01] [-9.20045271e-02 2.38238397e-03 9.95755739e-01 -2.50301525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.581193817 meters 0.062491306189716565 Centerline is valid? [True, True] Translation: X:199.15, Y:-43.93, Z:-25.03 [[ 9.60392731e-01 2.64442808e-01 8.78396472e-02 1.99147254e+02] [-2.63008621e-01 9.64394915e-01 -2.77292886e-02 -4.39345336e+01] [-9.20449200e-02 3.52842267e-03 9.95748604e-01 -2.50289081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64119381700002 meters 0.06573139323853013 Centerline is valid? [True, True] Translation: X:199.20, Y:-43.97, Z:-25.04 [[ 9.62597697e-01 2.56261462e-01 8.79530349e-02 1.99198477e+02] [-2.54789471e-01 9.66597862e-01 -2.77650770e-02 -4.39706042e+01] [-9.21303347e-02 4.31709196e-03 9.95737598e-01 -2.50362811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.701193817 meters 0.07052419559327759 Centerline is valid? [True, True] Translation: X:199.25, Y:-44.01, Z:-25.04 [[ 9.65090141e-01 2.47029647e-01 8.70481069e-02 1.99248640e+02] [-2.45550377e-01 9.68994259e-01 -2.74797754e-02 -4.40117371e+01] [-9.11374351e-02 5.14576482e-03 9.95825029e-01 -2.50431266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.761193817 meters 0.06928985961637547 Centerline is valid? [True, True] Translation: X:199.30, Y:-44.04, Z:-25.05 [[ 9.64419412e-01 2.48819448e-01 8.93536802e-02 1.99303982e+02] [-2.47268219e-01 9.68536410e-01 -2.82072817e-02 -4.40360991e+01] [-9.35608129e-02 5.10932465e-03 9.95600457e-01 -2.50457456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.821193817 meters 0.06492788591201135 Centerline is valid? [True, True] Translation: X:199.36, Y:-44.05, Z:-25.05 [[ 9.61509603e-01 2.59462019e-01 9.04364072e-02 1.99364114e+02] [-2.57920222e-01 9.65744532e-01 -2.85422186e-02 -4.40462107e+01] [-9.47440874e-02 4.11823901e-03 9.95493143e-01 -2.50508905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.881193817 meters 0.06018426209364175 Centerline is valid? [True, True] Translation: X:199.42, Y:-44.05, Z:-25.06 [[ 9.57957869e-01 2.72069039e-01 9.10777632e-02 1.99424904e+02] [-2.70561764e-01 9.62273382e-01 -2.87449218e-02 -4.40514294e+01] [-9.54623105e-02 2.89426375e-03 9.95428837e-01 -2.50564432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.941193817 meters 0.05728225140241815 Centerline is valid? [True, True] Translation: X:199.49, Y:-44.06, Z:-25.06 [[ 9.54095408e-01 2.84829107e-01 9.25976922e-02 1.99485666e+02] [-2.83330946e-01 9.58576901e-01 -2.92215566e-02 -4.40594105e+01] [-9.70851587e-02 1.64436129e-03 9.95274720e-01 -2.50636241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.001193817 meters 0.05657743731176524 Centerline is valid? [True, True] Translation: X:199.54, Y:-44.07, Z:-25.07 [[ 9.52262035e-01 2.91609440e-01 9.03379803e-02 1.99542261e+02] [-2.90213585e-01 9.56537015e-01 -2.85134099e-02 -4.40717851e+01] [-9.47264014e-02 9.34928622e-04 9.95502905e-01 -2.50743033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.061193817 meters 0.05666155286925231 Centerline is valid? [True, True] Translation: X:199.60, Y:-44.09, Z:-25.08 [[ 9.51590372e-01 2.93893512e-01 9.00131534e-02 1.99596818e+02] [-2.92521070e-01 9.55837931e-01 -2.83773303e-02 -4.40888733e+01] [-9.43778996e-02 6.72850322e-04 9.95536217e-01 -2.50839595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.121193817 meters 0.05612498136223814 Centerline is valid? [True, True] Translation: X:199.65, Y:-44.11, Z:-25.09 [[ 9.51250069e-01 2.94752022e-01 9.07995121e-02 1.99651066e+02] [-2.93359791e-01 9.55573597e-01 -2.86205071e-02 -4.41129867e+01] [-9.52015687e-02 5.88333437e-04 9.95457842e-01 -2.50874835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.181193817 meters 0.05610117118426696 Centerline is valid? [True, True] Translation: X:199.71, Y:-44.13, Z:-25.10 [[ 9.50529235e-01 2.96969839e-01 9.11212873e-02 1.99705237e+02] [-2.95580740e-01 9.54886800e-01 -2.86919199e-02 -4.41349637e+01] [-9.55311492e-02 3.38811137e-04 9.95426383e-01 -2.50957639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.241193817 meters 0.056414500719374025 Centerline is valid? [True, True] Translation: X:199.76, Y:-44.16, Z:-25.11 [[ 9.48221347e-01 3.04178334e-01 9.13882869e-02 1.99756840e+02] [-3.02817663e-01 9.52615014e-01 -2.87419284e-02 -4.41573814e+01] [-9.58005261e-02 -4.20277438e-04 9.95400463e-01 -2.51050498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.301193817 meters 0.056724722158106665 Centerline is valid? [True, True] Translation: X:199.81, Y:-44.18, Z:-25.11 [[ 9.47189603e-01 3.07648353e-01 9.04673767e-02 1.99810522e+02] [-3.06331757e-01 9.51499813e-01 -2.84422483e-02 -4.41805096e+01] [-9.48299028e-02 -7.72828546e-04 9.95493190e-01 -2.51118184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36119381700001 meters 0.05691146700629182 Centerline is valid? [True, True] Translation: X:199.86, Y:-44.21, Z:-25.12 [[ 9.47326066e-01 3.07368932e-01 8.99870235e-02 1.99860207e+02] [-3.06068234e-01 9.51590113e-01 -2.82576383e-02 -4.42141945e+01] [-9.43162819e-02 -7.72971966e-04 9.95541984e-01 -2.51215585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42119381700002 meters 0.05630872158055789 Centerline is valid? [True, True] Translation: X:199.91, Y:-44.26, Z:-25.13 [[ 9.49247281e-01 3.01588348e-01 8.92976315e-02 1.99908293e+02] [-3.00283619e-01 9.53438211e-01 -2.80236585e-02 -4.42556519e+01] [-9.35913829e-02 -2.13234277e-04 9.95610671e-01 -2.51292197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.481193817 meters 0.05625522775931204 Centerline is valid? [True, True] Translation: X:199.96, Y:-44.29, Z:-25.14 [[ 9.50791328e-01 2.96604427e-01 8.95637442e-02 1.99958683e+02] [-2.95270596e-01 9.55000388e-01 -2.80986619e-02 -4.42890367e+01] [-9.38675980e-02 2.70423986e-04 9.95584653e-01 -2.51370919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.541193817 meters 0.0564017933626539 Centerline is valid? [True, True] Translation: X:200.01, Y:-44.33, Z:-25.14 [[ 9.52748934e-01 2.89848135e-01 9.08709409e-02 2.00008373e+02] [-2.88445085e-01 9.57072187e-01 -2.85002077e-02 -4.43279435e+01] [-9.52307822e-02 9.42266203e-04 9.95454776e-01 -2.51416441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.601193817 meters 0.057595306278427065 Centerline is valid? [True, True] Translation: X:200.06, Y:-44.36, Z:-25.15 [[ 9.54323032e-01 2.84542686e-01 9.11208528e-02 2.00058734e+02] [-2.83108675e-01 9.58662250e-01 -2.85686727e-02 -4.43619939e+01] [-9.54831286e-02 1.46663843e-03 9.95429968e-01 -2.51512491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.661193817 meters 0.058229467246966364 Centerline is valid? [True, True] Translation: X:200.11, Y:-44.40, Z:-25.16 [[ 9.55560320e-01 2.80180955e-01 9.16684610e-02 2.00112805e+02] [-2.78710861e-01 9.59945320e-01 -2.87269674e-02 -4.43974021e+01] [-9.60454593e-02 1.90135452e-03 9.95375133e-01 -2.51570231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.721193817 meters 0.05793293511369446 Centerline is valid? [True, True] Translation: X:200.17, Y:-44.42, Z:-25.16 [[ 9.55332256e-01 2.80706628e-01 9.24341325e-02 2.00170085e+02] [-2.79211262e-01 9.59791749e-01 -2.89977373e-02 -4.44227455e+01] [-9.68573748e-02 1.89382297e-03 9.95296470e-01 -2.51637929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.781193817 meters 0.05834891885822929 Centerline is valid? [True, True] Translation: X:200.23, Y:-44.45, Z:-25.17 [[ 9.55178562e-01 2.81069331e-01 9.29190232e-02 2.00226033e+02] [-2.79556758e-01 9.59685589e-01 -2.91820140e-02 -4.44467395e+01] [-9.73752166e-02 1.89789324e-03 9.95245932e-01 -2.51725651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.841193817 meters 0.05845729988995262 Centerline is valid? [True, True] Translation: X:200.28, Y:-44.48, Z:-25.18 [[ 9.55637799e-01 2.79146311e-01 9.39879484e-02 2.00282051e+02] [-2.77586527e-01 9.60246183e-01 -2.95463644e-02 -4.44763436e+01] [-9.84993273e-02 2.14583444e-03 9.95134804e-01 -2.51783262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.901193817 meters 0.05942713269865163 Centerline is valid? [True, True] Translation: X:200.34, Y:-44.50, Z:-25.19 [[ 9.56309437e-01 2.76565444e-01 9.47829926e-02 2.00338139e+02] [-2.74963285e-01 9.60991930e-01 -2.98278783e-02 -4.45024811e+01] [-9.93350514e-02 2.46283855e-03 9.95050995e-01 -2.51855043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.961193817 meters 0.06064897502386197 Centerline is valid? [True, True] Translation: X:200.40, Y:-44.53, Z:-25.19 [[ 9.57412267e-01 2.72333042e-01 9.58982051e-02 2.00395055e+02] [-2.70668043e-01 9.62198465e-01 -3.02146427e-02 -4.45290426e+01] [-1.00501551e-01 2.97129000e-03 9.94932465e-01 -2.51915151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.021193817 meters 0.06002096238517996 Centerline is valid? [True, True] Translation: X:200.45, Y:-44.55, Z:-25.20 [[ 9.57581766e-01 2.71305930e-01 9.71094920e-02 2.00454124e+02] [-2.69592749e-01 9.62488099e-01 -3.06007985e-02 -4.45477566e+01] [-1.01768908e-01 3.12275177e-03 9.94803165e-01 -2.51963831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.081193817 meters 0.06018695102877867 Centerline is valid? [True, True] Translation: X:200.51, Y:-44.56, Z:-25.21 [[ 9.57112804e-01 2.73272352e-01 9.62148684e-02 2.00513310e+02] [-2.71597267e-01 9.61932277e-01 -3.03515900e-02 -4.45625002e+01] [-1.00846438e-01 2.91820008e-03 9.94897723e-01 -2.52067853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14119381700002 meters 0.05865387998636252 Centerline is valid? [True, True] Translation: X:200.57, Y:-44.57, Z:-25.21 [[ 9.56281964e-01 2.75903459e-01 9.69643529e-02 2.00574514e+02] [-2.74212224e-01 9.61181579e-01 -3.06207238e-02 -4.45733762e+01] [-1.01648713e-01 2.69323507e-03 9.94816710e-01 -2.52122421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.201193817 meters 0.05732143230187954 Centerline is valid? [True, True] Translation: X:200.63, Y:-44.58, Z:-25.22 [[ 9.54144132e-01 2.82610331e-01 9.86933466e-02 2.00633904e+02] [-2.80889529e-01 9.59232600e-01 -3.12072437e-02 -4.45833932e+01] [-1.03489365e-01 2.05428078e-03 9.94628439e-01 -2.52197948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.261193817 meters 0.05607203747577916 Centerline is valid? [True, True] Translation: X:200.69, Y:-44.59, Z:-25.23 [[ 9.52201713e-01 2.89471980e-01 9.75595784e-02 2.00694788e+02] [-2.87827054e-01 9.57185621e-01 -3.08427222e-02 -4.45938643e+01] [-1.02310729e-01 1.28820689e-03 9.94751655e-01 -2.52283116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.321193817 meters 0.05532666206298489 Centerline is valid? [True, True] Translation: X:200.76, Y:-44.60, Z:-25.24 [[ 9.49718675e-01 2.97777369e-01 9.67629951e-02 2.00755043e+02] [-2.96198246e-01 9.54635247e-01 -3.06291299e-02 -4.46007269e+01] [-1.01494027e-01 4.28027218e-04 9.94836056e-01 -2.52383656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.381193817 meters 0.05561738590879467 Centerline is valid? [True, True] Translation: X:200.81, Y:-44.61, Z:-25.25 [[ 9.48236013e-01 3.03382969e-01 9.38468896e-02 2.00810580e+02] [-3.01924959e-01 9.52868694e-01 -2.97081129e-02 -4.46142100e+01] [-9.84366986e-02 -1.64415779e-04 9.95143301e-01 -2.52508076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.441193817 meters 0.05632283311836874 Centerline is valid? [True, True] Translation: X:200.87, Y:-44.63, Z:-25.26 [[ 9.47397802e-01 3.06816939e-01 9.11085696e-02 2.00865693e+02] [-3.05459637e-01 9.51768408e-01 -2.88324251e-02 -4.46321916e+01] [-9.55605346e-02 -5.14214448e-04 9.95423488e-01 -2.52625500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.501193817 meters 0.05646771159800384 Centerline is valid? [True, True] Translation: X:200.92, Y:-44.65, Z:-25.27 [[ 9.46230799e-01 3.10679836e-01 9.01405310e-02 2.00920735e+02] [-3.09369269e-01 9.50514193e-01 -2.85206155e-02 -4.46512769e+01] [-9.45406342e-02 -8.99625358e-04 9.95520597e-01 -2.52687799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.561193817 meters 0.057170963664571195 Centerline is valid? [True, True] Translation: X:200.98, Y:-44.67, Z:-25.28 [[ 9.44556669e-01 3.15686187e-01 9.03046498e-02 2.00976073e+02] [-3.14394433e-01 9.48862604e-01 -2.85639632e-02 -4.46690998e+01] [-9.47039538e-02 -1.41099724e-03 9.95504480e-01 -2.52757659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.621193817 meters 0.05721629060619827 Centerline is valid? [True, True] Translation: X:201.03, Y:-44.70, Z:-25.28 [[ 9.44848033e-01 3.14695058e-01 9.07150177e-02 2.01029120e+02] [-3.13387773e-01 9.49191900e-01 -2.86852041e-02 -4.46956480e+01] [-9.51330520e-02 -1.32581875e-03 9.95463683e-01 -2.52833158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.681193817 meters 0.05583918550999259 Centerline is valid? [True, True] Translation: X:201.08, Y:-44.74, Z:-25.29 [[ 9.47933474e-01 3.04747647e-01 9.24716220e-02 2.01078249e+02] [-3.03342862e-01 9.52433071e-01 -2.92293365e-02 -4.47404938e+01] [-9.69806024e-02 -3.43139953e-04 9.95286213e-01 -2.52877280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.741193817 meters 0.05600598876407383 Centerline is valid? [True, True] Translation: X:201.13, Y:-44.78, Z:-25.29 [[ 9.50674233e-01 2.95634723e-01 9.39074672e-02 2.01130886e+02] [-2.94141498e-01 9.55300872e-01 -2.96820489e-02 -4.47762462e+01] [-9.84849296e-02 5.95876049e-04 9.95138364e-01 -2.52938956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.801193817 meters 0.05811341831653534 Centerline is valid? [True, True] Translation: X:201.18, Y:-44.82, Z:-25.30 [[ 9.53780949e-01 2.85345321e-01 9.42334836e-02 2.01182493e+02] [-2.83789578e-01 9.58423295e-01 -2.98037411e-02 -4.48171167e+01] [-9.88199239e-02 1.68375990e-03 9.95103908e-01 -2.53011177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86119381700001 meters 0.06007195198720514 Centerline is valid? [True, True] Translation: X:201.24, Y:-44.85, Z:-25.31 [[ 9.55175940e-01 2.80332366e-01 9.51456205e-02 2.01235471e+02] [-2.78720992e-01 9.59900411e-01 -3.00966861e-02 -4.48531574e+01] [-9.97673954e-02 2.22854867e-03 9.95008292e-01 -2.53072080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92119381700002 meters 0.06181677079113984 Centerline is valid? [True, True] Translation: X:201.29, Y:-44.88, Z:-25.32 [[ 9.56339896e-01 2.77406711e-01 9.19756484e-02 2.01289812e+02] [-2.75884723e-01 9.60749382e-01 -2.91246553e-02 -4.48794432e+01] [-9.64449222e-02 2.47839359e-03 9.95335237e-01 -2.53182411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.981193817 meters 0.0655152236068625 Centerline is valid? [True, True] Translation: X:201.34, Y:-44.91, Z:-25.33 [[ 9.58416725e-01 2.71018107e-01 8.93675956e-02 2.01342666e+02] [-2.69553490e-01 9.62569466e-01 -2.83008852e-02 -4.49090343e+01] [-9.36925711e-02 3.03469446e-03 9.95596551e-01 -2.53302440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.041193817 meters 0.06755922177172041 Centerline is valid? [True, True] Translation: X:201.40, Y:-44.94, Z:-25.34 [[ 9.59091401e-01 2.68809016e-01 8.87997542e-02 2.01399170e+02] [-2.67353641e-01 9.63188085e-01 -2.81201657e-02 -4.49352351e+01] [-9.30898193e-02 3.22887150e-03 9.95652479e-01 -2.53398389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.101193817 meters 0.06558814787993823 Centerline is valid? [True, True] Translation: X:201.46, Y:-44.95, Z:-25.35 [[ 9.57746176e-01 2.74116180e-01 8.70780266e-02 2.01457803e+02] [-2.72737915e-01 9.61692883e-01 -2.75831280e-02 -4.49494888e+01] [-9.13033001e-02 2.66815591e-03 9.95819556e-01 -2.53500886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.161193817 meters 0.061897728944449504 Centerline is valid? [True, True] Translation: X:201.52, Y:-44.95, Z:-25.36 [[ 9.55171231e-01 2.83320501e-01 8.58918643e-02 2.01518613e+02] [-2.82016207e-01 9.59023651e-01 -2.72120502e-02 -4.49537942e+01] [-9.00820610e-02 1.76926975e-03 9.95932775e-01 -2.53603521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.221193817 meters 0.05841464186154805 Centerline is valid? [True, True] Translation: X:201.58, Y:-44.96, Z:-25.36 [[ 9.52196600e-01 2.92226507e-01 8.90241770e-02 2.01580759e+02] [-2.90863828e-01 9.56348651e-01 -2.82044405e-02 -4.49575804e+01] [-9.33802367e-02 9.62259452e-04 9.95630055e-01 -2.53645401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.281193817 meters 0.055998285838494574 Centerline is valid? [True, True] Translation: X:201.64, Y:-44.96, Z:-25.36 [[ 9.49480593e-01 2.99888803e-01 9.24840990e-02 2.01644200e+02] [-2.98454153e-01 9.53974139e-01 -2.92994892e-02 -4.49633023e+01] [-9.70140275e-02 2.17032998e-04 9.95282991e-01 -2.53612440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.341193817 meters 0.05602995602449195 Centerline is valid? [True, True] Translation: X:201.70, Y:-44.98, Z:-25.37 [[ 9.48986687e-01 3.01350175e-01 9.28026901e-02 2.01704726e+02] [-2.99912841e-01 9.53513538e-01 -2.93976226e-02 -4.49801863e+01] [-9.73476002e-02 6.52340314e-05 9.95250441e-01 -2.53693648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.401193817 meters 0.05630532402040379 Centerline is valid? [True, True] Translation: X:201.76, Y:-45.00, Z:-25.38 [[ 9.49716238e-01 2.99372710e-01 9.17335731e-02 2.01762118e+02] [-2.97956035e-01 9.54136203e-01 -2.90913729e-02 -4.50036285e+01] [-9.62354862e-02 2.95977495e-04 9.95358550e-01 -2.53763580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.461193817 meters 0.056809988789679716 Centerline is valid? [True, True] Translation: X:201.82, Y:-45.02, Z:-25.39 [[ 9.49735330e-01 3.00706632e-01 8.70535699e-02 2.01819766e+02] [-2.99433749e-01 9.53716671e-01 -2.76395024e-02 -4.50238552e+01] [-9.13358225e-02 1.83435068e-04 9.95820131e-01 -2.53877488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.521193817 meters 0.05768598521812455 Centerline is valid? [True, True] Translation: X:201.88, Y:-45.04, Z:-25.40 [[ 9.49113205e-01 3.03702245e-01 8.33610855e-02 2.01876589e+02] [-3.02546709e-01 9.52766990e-01 -2.64679500e-02 -4.50431320e+01] [-8.74620663e-02 -9.95412358e-05 9.96167846e-01 -2.54031049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.581193817 meters 0.05761744178465569 Centerline is valid? [True, True] Translation: X:201.93, Y:-45.07, Z:-25.41 [[ 9.48286649e-01 3.06667888e-01 8.18977269e-02 2.01933721e+02] [-3.05561619e-01 9.51816520e-01 -2.60270785e-02 -4.50679115e+01] [-8.59332786e-02 -3.43670931e-04 9.96300835e-01 -2.54082839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64119381700002 meters 0.05770001040937894 Centerline is valid? [True, True] Translation: X:201.99, Y:-45.09, Z:-25.42 [[ 9.48092665e-01 3.07424365e-01 8.13053382e-02 2.01990739e+02] [-3.06334568e-01 9.51572442e-01 -2.58654194e-02 -4.50925622e+01] [-8.53195794e-02 -3.83821247e-04 9.96353563e-01 -2.54163007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.701193817 meters 0.05788471672261316 Centerline is valid? [True, True] Translation: X:202.05, Y:-45.11, Z:-25.43 [[ 9.47985050e-01 3.07978226e-01 8.04596619e-02 2.02048969e+02] [-3.06910737e-01 9.51393320e-01 -2.56232353e-02 -4.51136892e+01] [-8.44401835e-02 -4.03490074e-04 9.96428468e-01 -2.54252554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.761193817 meters 0.05854220643800762 Centerline is valid? [True, True] Translation: X:202.11, Y:-45.14, Z:-25.44 [[ 9.46681900e-01 3.11779903e-01 8.11583121e-02 2.02106035e+02] [-3.10705065e-01 9.50154079e-01 -2.58764038e-02 -4.51362734e+01] [-8.51806440e-02 -7.19575516e-04 9.96365264e-01 -2.54357091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.821193817 meters 0.0583629387036246 Centerline is valid? [True, True] Translation: X:202.16, Y:-45.16, Z:-25.44 [[ 9.45471148e-01 3.14752409e-01 8.37569684e-02 2.02163748e+02] [-3.13617562e-01 9.49173281e-01 -2.67227964e-02 -4.51590882e+01] [-8.79109411e-02 -1.00202322e-03 9.96127834e-01 -2.54384888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.881193817 meters 0.057558957394425896 Centerline is valid? [True, True] Translation: X:202.22, Y:-45.18, Z:-25.44 [[ 9.44805742e-01 3.15428144e-01 8.85843988e-02 2.02220465e+02] [-3.14157886e-01 9.48948838e-01 -2.83006425e-02 -4.51849456e+01] [-9.29888814e-02 -1.09087794e-03 9.95666550e-01 -2.54386848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.941193817 meters 0.05714674880328673 Centerline is valid? [True, True] Translation: X:202.28, Y:-45.21, Z:-25.44 [[ 9.45313133e-01 3.13222864e-01 9.09643751e-02 2.02277118e+02] [-3.11873312e-01 9.49679224e-01 -2.90587238e-02 -4.52109289e+01] [-9.54888339e-02 -8.99767720e-04 9.95430094e-01 -2.54436550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.001193817 meters 0.057115386061385935 Centerline is valid? [True, True] Translation: X:202.33, Y:-45.25, Z:-25.46 [[ 9.47987592e-01 3.05533743e-01 8.92673344e-02 2.02330665e+02] [-3.04197594e-01 9.52181245e-01 -2.85429722e-02 -4.52475520e+01] [-9.37195228e-02 -9.65248179e-05 9.95598635e-01 -2.54551662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.061193817 meters 0.0581408900659043 Centerline is valid? [True, True] Translation: X:202.38, Y:-45.28, Z:-25.47 [[ 9.49484150e-01 3.01692353e-01 8.63803932e-02 2.02384081e+02] [-3.00422664e-01 9.53405282e-01 -2.76512430e-02 -4.52771641e+01] [-9.06976917e-02 3.03789065e-04 9.95878425e-01 -2.54681986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.121193817 meters 0.05844268953790853 Centerline is valid? [True, True] Translation: X:202.44, Y:-45.30, Z:-25.48 [[ 9.49851041e-01 3.00984432e-01 8.48019610e-02 2.02440000e+02] [-2.99755959e-01 9.53628975e-01 -2.71687765e-02 -4.53030998e+01] [-8.90469859e-02 3.86397492e-04 9.96027352e-01 -2.54780685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.181193817 meters 0.058880428138136445 Centerline is valid? [True, True] Translation: X:202.50, Y:-45.33, Z:-25.49 [[ 9.49921907e-01 3.01154164e-01 8.33938824e-02 2.02496170e+02] [-2.99964603e-01 9.53575387e-01 -2.67435727e-02 -4.53264840e+01] [-8.75762920e-02 3.89092752e-04 9.96157739e-01 -2.54876886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.241193817 meters 0.058553536630166825 Centerline is valid? [True, True] Translation: X:202.56, Y:-45.35, Z:-25.49 [[ 9.49832888e-01 3.01546861e-01 8.29878037e-02 2.02555105e+02] [-3.00368586e-01 9.53451285e-01 -2.66338028e-02 -4.53497484e+01] [-8.71561677e-02 3.70732620e-04 9.96194592e-01 -2.54929591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.301193817 meters 0.059442545810598005 Centerline is valid? [True, True] Translation: X:202.61, Y:-45.38, Z:-25.50 [[ 9.50653097e-01 2.98577347e-01 8.43223376e-02 2.02609282e+02] [-2.97346122e-01 9.54385193e-01 -2.70958753e-02 -4.53774321e+01] [-8.85662050e-02 6.85857703e-04 9.96070056e-01 -2.55032361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36119381700001 meters 0.058887133835091095 Centerline is valid? [True, True] Translation: X:202.67, Y:-45.40, Z:-25.50 [[ 9.51791314e-01 2.94774388e-01 8.48607959e-02 2.02667435e+02] [-2.93510126e-01 9.55566281e-01 -2.72926634e-02 -4.54012238e+01] [-8.91352932e-02 1.06941705e-03 9.96018954e-01 -2.55038394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42119381700002 meters 0.06046209385060179 Centerline is valid? [True, True] Translation: X:202.72, Y:-45.43, Z:-25.51 [[ 9.53945781e-01 2.87847339e-01 8.44473586e-02 2.02722310e+02] [-2.86565685e-01 9.57674732e-01 -2.71885124e-02 -4.54301678e+01] [-8.86992425e-02 1.73665156e-03 9.96056940e-01 -2.55111253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.481193817 meters 0.06196283499177234 Centerline is valid? [True, True] Translation: X:202.78, Y:-45.46, Z:-25.52 [[ 9.55542658e-01 2.82081669e-01 8.58379915e-02 2.02779115e+02] [-2.80731073e-01 9.59387537e-01 -2.76698187e-02 -4.54558320e+01] [-9.01570479e-02 2.34230063e-03 9.95924807e-01 -2.55170344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.541193817 meters 0.06496885843307976 Centerline is valid? [True, True] Translation: X:202.83, Y:-45.48, Z:-25.53 [[ 9.57171421e-01 2.77292048e-01 8.32585800e-02 2.02834103e+02] [-2.76002685e-01 9.60781834e-01 -2.68474470e-02 -4.54791385e+01] [-8.74379148e-02 2.71801732e-03 9.96166263e-01 -2.55282578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.601193817 meters 0.06561112601287747 Centerline is valid? [True, True] Translation: X:202.89, Y:-45.50, Z:-25.54 [[ 9.57535503e-01 2.76561243e-01 8.14839809e-02 2.02892329e+02] [-2.75323521e-01 9.60992425e-01 -2.62777190e-02 -4.54986569e+01] [-8.55728870e-02 2.72739241e-03 9.96328180e-01 -2.55358485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.661193817 meters 0.0646244020257776 Centerline is valid? [True, True] Translation: X:202.95, Y:-45.51, Z:-25.54 [[ 9.57083542e-01 2.77712148e-01 8.28677033e-02 2.02953522e+02] [-2.76436230e-01 9.60660625e-01 -2.67240369e-02 -4.55099149e+01] [-8.70293293e-02 2.66950041e-03 9.96202173e-01 -2.55417998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.721193817 meters 0.06612358446993735 Centerline is valid? [True, True] Translation: X:203.01, Y:-45.53, Z:-25.55 [[ 9.57464047e-01 2.77002680e-01 8.08214883e-02 2.03010422e+02] [-2.75784327e-01 9.60865375e-01 -2.60909175e-02 -4.55297546e+01] [-8.48858238e-02 2.69181571e-03 9.96387049e-01 -2.55523039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.781193817 meters 0.06810526772288451 Centerline is valid? [True, True] Translation: X:203.07, Y:-45.55, Z:-25.56 [[ 9.58478141e-01 2.73320091e-01 8.13374507e-02 2.03067725e+02] [-2.72070130e-01 9.61918247e-01 -2.62893587e-02 -4.55538148e+01] [-8.54253879e-02 3.06828482e-03 9.96339846e-01 -2.55590811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.841193817 meters 0.06796003662194382 Centerline is valid? [True, True] Translation: X:203.13, Y:-45.57, Z:-25.57 [[ 9.59388512e-01 2.70727269e-01 7.92491525e-02 2.03127322e+02] [-2.69531269e-01 9.62650697e-01 -2.56228730e-02 -4.55673504e+01] [-8.32260623e-02 3.22216541e-03 9.96525484e-01 -2.55665164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.901193817 meters 0.0703192643746169 Centerline is valid? [True, True] Translation: X:203.18, Y:-45.59, Z:-25.57 [[ 9.60521784e-01 2.66700535e-01 7.91752929e-02 2.03184944e+02] [-2.65492850e-01 9.63772832e-01 -2.56022363e-02 -4.55862949e+01] [-8.31351265e-02 3.57103159e-03 9.96531885e-01 -2.55741482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.961193817 meters 0.07229056876127668 Centerline is valid? [True, True] Translation: X:203.24, Y:-45.61, Z:-25.58 [[ 9.61389032e-01 2.62069978e-01 8.39669938e-02 2.03243473e+02] [-2.60693945e-01 9.65039684e-01 -2.71491134e-02 -4.56081592e+01] [-8.81464488e-02 4.21117294e-03 9.96098624e-01 -2.55758963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.021193817 meters 0.0754523207710087 Centerline is valid? [True, True] Translation: X:203.30, Y:-45.62, Z:-25.58 [[ 9.62169794e-01 2.58297103e-01 8.66711879e-02 2.03301946e+02] [-2.56812062e-01 9.66053893e-01 -2.80613800e-02 -4.56238692e+01] [-9.09772116e-02 4.74160574e-03 9.95841686e-01 -2.55803486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.081193817 meters 0.0754856744164856 Centerline is valid? [True, True] Translation: X:203.36, Y:-45.63, Z:-25.59 [[ 9.61958432e-01 2.59202561e-01 8.63134224e-02 2.03363686e+02] [-2.57733773e-01 9.65811871e-01 -2.79415847e-02 -4.56337038e+01] [-9.06050583e-02 4.63275897e-03 9.95876127e-01 -2.55893281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14119381700002 meters 0.0695895484856016 Centerline is valid? [True, True] Translation: X:203.43, Y:-45.62, Z:-25.60 [[ 9.59530739e-01 2.68304063e-01 8.55201188e-02 2.03430821e+02] [-2.66894872e-01 9.63326885e-01 -2.77207683e-02 -4.56235289e+01] [-8.98214244e-02 3.77404817e-03 9.95950736e-01 -2.55967458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.201193817 meters 0.06731291884476652 Centerline is valid? [True, True] Translation: X:203.49, Y:-45.62, Z:-25.61 [[ 9.57201682e-01 2.76762837e-01 8.46597404e-02 2.03492550e+02] [-2.75414598e-01 9.60933718e-01 -2.74442821e-02 -4.56232221e+01] [-8.89479565e-02 2.95318464e-03 9.96031897e-01 -2.56081528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.261193817 meters 0.06182211973681331 Centerline is valid? [True, True] Translation: X:203.56, Y:-45.61, Z:-25.61 [[ 9.53980568e-01 2.88397937e-01 8.21444244e-02 2.03560416e+02] [-2.87171811e-01 9.57508927e-01 -2.66271444e-02 -4.56111528e+01] [-8.63332332e-02 1.81221522e-03 9.96264668e-01 -2.56131750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.321193817 meters 0.061316608614984176 Centerline is valid? [True, True] Translation: X:203.62, Y:-45.61, Z:-25.63 [[ 9.51340783e-01 2.96931365e-01 8.23558059e-02 2.03621511e+02] [-2.95730893e-01 9.54898258e-01 -2.66937309e-02 -4.56145881e+01] [-8.65676216e-02 1.03967883e-03 9.96245435e-01 -2.56275569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.381193817 meters 0.060232417276081744 Centerline is valid? [True, True] Translation: X:203.69, Y:-45.62, Z:-25.63 [[ 9.48759929e-01 3.05477974e-01 8.08566850e-02 2.03685659e+02] [-3.04351334e-01 9.52199107e-01 -2.62131008e-02 -4.56175968e+01] [-8.49991882e-02 2.61099789e-04 9.96380986e-01 -2.56344266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.441193817 meters 0.06095371801095717 Centerline is valid? [True, True] Translation: X:203.74, Y:-45.63, Z:-25.65 [[ 9.48235352e-01 3.07241556e-01 8.03264761e-02 2.03742956e+02] [-3.06133682e-01 9.51631552e-01 -2.60683461e-02 -4.56346242e+01] [-8.44504883e-02 1.28287457e-04 9.96427669e-01 -2.56484218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.501193817 meters 0.060078593459646584 Centerline is valid? [True, True] Translation: X:203.80, Y:-45.66, Z:-25.65 [[ 9.48096099e-01 3.07255428e-01 8.19017024e-02 2.03802453e+02] [-3.06100970e-01 9.51627068e-01 -2.66105184e-02 -4.56554860e+01] [-8.61161032e-02 1.59138164e-04 9.96285095e-01 -2.56483531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.561193817 meters 0.059983188444692706 Centerline is valid? [True, True] Translation: X:203.86, Y:-45.68, Z:-25.65 [[ 9.47835817e-01 3.07675474e-01 8.33250648e-02 2.03860920e+02] [-3.06481788e-01 9.51491349e-01 -2.70763238e-02 -4.56760505e+01] [-8.76137991e-02 1.26294721e-04 9.96154509e-01 -2.56549800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.621193817 meters 0.05961612493798779 Centerline is valid? [True, True] Translation: X:203.92, Y:-45.70, Z:-25.66 [[ 9.47254321e-01 3.09030870e-01 8.49068475e-02 2.03919499e+02] [-3.07793588e-01 9.51052007e-01 -2.76258386e-02 -4.56979449e+01] [-8.92880647e-02 3.49116989e-05 9.96005844e-01 -2.56599204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.681193817 meters 0.06021095325206962 Centerline is valid? [True, True] Translation: X:203.98, Y:-45.72, Z:-25.67 [[ 9.47549704e-01 3.08416569e-01 8.38378043e-02 2.03975052e+02] [-3.07207550e-01 9.51251392e-01 -2.72820566e-02 -4.57231087e+01] [-8.81650663e-02 9.54982493e-05 9.96105874e-01 -2.56708899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.741193817 meters 0.061203324697573946 Centerline is valid? [True, True] Translation: X:204.03, Y:-45.75, Z:-25.68 [[ 9.48850815e-01 3.05239373e-01 8.06911095e-02 2.04028770e+02] [-3.04105701e-01 9.52275571e-01 -2.62861136e-02 -4.57500805e+01] [-8.48637292e-02 4.02973876e-04 9.96392485e-01 -2.56834488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.801193817 meters 0.06104799764914578 Centerline is valid? [True, True] Translation: X:204.09, Y:-45.78, Z:-25.69 [[ 9.49881275e-01 3.02073256e-01 8.04817477e-02 2.04085505e+02] [-3.00933565e-01 9.53284465e-01 -2.62243702e-02 -4.57755635e+01] [-8.46436807e-02 6.90378912e-04 9.96411045e-01 -2.56867230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86119381700001 meters 0.06230698928489051 Centerline is valid? [True, True] Translation: X:204.14, Y:-45.80, Z:-25.70 [[ 9.51225445e-01 2.98609947e-01 7.74742089e-02 2.04139014e+02] [-2.97539520e-01 9.54374720e-01 -2.52809680e-02 -4.58035676e+01] [-8.14885750e-02 9.96261117e-04 9.96673778e-01 -2.56991544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92119381700002 meters 0.061852054802717306 Centerline is valid? [True, True] Translation: X:204.20, Y:-45.83, Z:-25.70 [[ 9.51116194e-01 2.98707933e-01 7.84318545e-02 2.04196775e+02] [-2.97611954e-01 9.54344062e-01 -2.55839132e-02 -4.58259124e+01] [-8.24930925e-02 9.91016726e-04 9.96591144e-01 -2.57037564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.981193817 meters 0.06174683966686019 Centerline is valid? [True, True] Translation: X:204.25, Y:-45.85, Z:-25.71 [[ 9.50176642e-01 3.00906473e-01 8.13611957e-02 2.04252857e+02] [-2.99731667e-01 9.53653261e-01 -2.65779024e-02 -4.58475895e+01] [-8.55878325e-02 8.67175211e-04 9.96330252e-01 -2.57125482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.041193817 meters 0.06066443581665129 Centerline is valid? [True, True] Translation: X:204.31, Y:-45.87, Z:-25.72 [[ 9.49226381e-01 3.03484858e-01 8.28626476e-02 2.04311633e+02] [-3.02276457e-01 9.52836045e-01 -2.70631470e-02 -4.58671995e+01] [-8.71677728e-02 6.41625576e-04 9.96193439e-01 -2.57152627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.101193817 meters 0.0596662984337133 Centerline is valid? [True, True] Translation: X:204.37, Y:-45.89, Z:-25.72 [[ 9.47727450e-01 3.06854091e-01 8.74828416e-02 2.04369565e+02] [-3.05517614e-01 9.51756490e-01 -2.86106728e-02 -4.58890243e+01] [-9.20416643e-02 3.87570874e-04 9.95755081e-01 -2.57184537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.161193817 meters 0.0594581125858398 Centerline is valid? [True, True] Translation: X:204.43, Y:-45.91, Z:-25.73 [[ 9.46856445e-01 3.08678920e-01 9.04444446e-02 2.04427395e+02] [-3.07258463e-01 9.51166272e-01 -2.95797219e-02 -4.59091201e+01] [-9.51583418e-02 2.17929279e-04 9.95462125e-01 -2.57254548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.221193817 meters 0.05947640442225542 Centerline is valid? [True, True] Translation: X:204.49, Y:-45.93, Z:-25.73 [[ 9.45152152e-01 3.13673445e-01 9.10844593e-02 2.04485137e+02] [-3.12252966e-01 9.49530886e-01 -2.98191553e-02 -4.59283301e+01] [-9.58409845e-02 -2.57753764e-04 9.95396624e-01 -2.57334503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.281193817 meters 0.060198535991086745 Centerline is valid? [True, True] Translation: X:204.54, Y:-45.95, Z:-25.74 [[ 9.43862424e-01 3.18410817e-01 8.79674715e-02 2.04543843e+02] [-3.17103814e-01 9.47952574e-01 -2.88285983e-02 -4.59465423e+01] [-9.25683286e-02 -6.84590058e-04 9.95706099e-01 -2.57448925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.341193817 meters 0.06087105145819684 Centerline is valid? [True, True] Translation: X:204.60, Y:-45.97, Z:-25.76 [[ 9.43626353e-01 3.19881415e-01 8.51186602e-02 2.04601601e+02] [-3.18663172e-01 9.47457254e-01 -2.79022350e-02 -4.59658057e+01] [-8.95716985e-02 -7.94897990e-04 9.95980060e-01 -2.57571033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.401193817 meters 0.060890237559717425 Centerline is valid? [True, True] Translation: X:204.66, Y:-46.00, Z:-25.77 [[ 9.45291706e-01 3.15525880e-01 8.28674259e-02 2.04656016e+02] [-3.14354633e-01 9.48916899e-01 -2.71640129e-02 -4.59966790e+01] [-8.72052499e-02 -3.71843131e-04 9.96190296e-01 -2.57662236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.461193817 meters 0.061296316953671416 Centerline is valid? [True, True] Translation: X:204.71, Y:-46.03, Z:-25.77 [[ 9.47957224e-01 3.07574668e-01 8.23099347e-02 2.04709705e+02] [-3.06386967e-01 9.51523871e-01 -2.70064589e-02 -4.60315210e+01] [-8.66263703e-02 3.82276595e-04 9.96240797e-01 -2.57744104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.521193817 meters 0.062627659408754 Centerline is valid? [True, True] Translation: X:204.76, Y:-46.07, Z:-25.78 [[ 9.50490776e-01 2.99746205e-01 8.19725355e-02 2.04763480e+02] [-2.98536329e-01 9.54018318e-01 -2.69278427e-02 -4.60663206e+01] [-8.62748191e-02 1.12288633e-03 9.96270744e-01 -2.57825381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.581193817 meters 0.06524764980458654 Centerline is valid? [True, True] Translation: X:204.81, Y:-46.10, Z:-25.79 [[ 9.53626221e-01 2.89600721e-01 8.20271531e-02 2.04814706e+02] [-2.88350857e-01 9.57145344e-01 -2.69550219e-02 -4.61034862e+01] [-8.63181014e-02 2.05241577e-03 9.96265513e-01 -2.57895945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64119381700002 meters 0.06828034319794549 Centerline is valid? [True, True] Translation: X:204.87, Y:-46.13, Z:-25.80 [[ 9.55001677e-01 2.85035131e-01 8.20168999e-02 2.04868226e+02] [-2.83769356e-01 9.58513918e-01 -2.69448028e-02 -4.61331395e+01] [-8.62945555e-02 2.45844895e-03 9.96266634e-01 -2.57998724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.701193817 meters 0.06532905896722656 Centerline is valid? [True, True] Translation: X:204.93, Y:-46.15, Z:-25.80 [[ 9.54494743e-01 2.86490919e-01 8.28416490e-02 2.04929476e+02] [-2.85203005e-01 9.58080021e-01 -2.72381918e-02 -4.61478784e+01] [-8.71724235e-02 2.37202370e-03 9.96190415e-01 -2.57992317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.761193817 meters 0.06350116655307808 Centerline is valid? [True, True] Translation: X:204.99, Y:-46.16, Z:-25.81 [[ 9.52123681e-01 2.94571668e-01 8.17803669e-02 2.04989781e+02] [-2.93343188e-01 9.55627973e-01 -2.69249212e-02 -4.61569723e+01] [-8.60829252e-02 1.64614153e-03 9.96286615e-01 -2.58070875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.821193817 meters 0.062057518752181476 Centerline is valid? [True, True] Translation: X:205.05, Y:-46.17, Z:-25.81 [[ 9.50862697e-01 2.98667905e-01 8.15941982e-02 2.05051624e+02] [-2.97459945e-01 9.54356254e-01 -2.68648697e-02 -4.61691680e+01] [-8.58936077e-02 1.27379673e-03 9.96303501e-01 -2.58122076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.881193817 meters 0.06225554240514721 Centerline is valid? [True, True] Translation: X:205.11, Y:-46.19, Z:-25.82 [[ 9.49680225e-01 3.02027981e-01 8.29853494e-02 2.05109836e+02] [-3.00790871e-01 9.53298546e-01 -2.73264282e-02 -4.61858203e+01] [-8.73631589e-02 9.90132982e-04 9.96176038e-01 -2.58240759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.941193817 meters 0.06092209787543416 Centerline is valid? [True, True] Translation: X:205.17, Y:-46.20, Z:-25.83 [[ 9.47476453e-01 3.09315588e-01 8.13156759e-02 2.05173273e+02] [-3.08152481e-01 9.50959386e-01 -2.68010027e-02 -4.61951131e+01] [-8.56178731e-02 3.35691674e-04 9.96327992e-01 -2.58285423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.001193817 meters 0.06106783561541227 Centerline is valid? [True, True] Translation: X:205.23, Y:-46.21, Z:-25.84 [[ 9.44778710e-01 3.17179883e-01 8.24021327e-02 2.05232658e+02] [-3.16012172e-01 9.48365331e-01 -2.71938722e-02 -4.62088777e+01] [-8.67726750e-02 -3.47885436e-04 9.96228077e-01 -2.58399396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.061193817 meters 0.06082581613529359 Centerline is valid? [True, True] Translation: X:205.29, Y:-46.23, Z:-25.84 [[ 9.43068679e-01 3.21993958e-01 8.33148085e-02 2.05293189e+02] [-3.20816553e-01 9.46741407e-01 -2.75217607e-02 -4.62267223e+01] [-8.77394197e-02 -7.73859135e-04 9.96143160e-01 -2.58439781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.121193817 meters 0.06182196287357682 Centerline is valid? [True, True] Translation: X:205.35, Y:-46.24, Z:-25.86 [[ 9.41040779e-01 3.27892732e-01 8.32382658e-02 2.05350551e+02] [-3.26737434e-01 9.44714081e-01 -2.75309788e-02 -4.62447988e+01] [-8.76635696e-02 -1.28928370e-03 9.96149304e-01 -2.58555692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.181193817 meters 0.062206371088364326 Centerline is valid? [True, True] Translation: X:205.41, Y:-46.27, Z:-25.86 [[ 9.40173631e-01 3.30280708e-01 8.35954385e-02 2.05407703e+02] [-3.29122640e-01 9.43881571e-01 -2.76743143e-02 -4.62668786e+01] [-8.80444859e-02 -1.49449088e-03 9.96115423e-01 -2.58639749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.241193817 meters 0.061332551073735676 Centerline is valid? [True, True] Translation: X:205.46, Y:-46.29, Z:-25.87 [[ 9.40114495e-01 3.30121957e-01 8.48777386e-02 2.05464136e+02] [-3.28925002e-01 9.43937133e-01 -2.81252929e-02 -4.62936317e+01] [-8.94040260e-02 -1.47741480e-03 9.95994346e-01 -2.58680424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.301193817 meters 0.0604769414302519 Centerline is valid? [True, True] Translation: X:205.51, Y:-46.33, Z:-25.88 [[ 9.43092856e-01 3.21239547e-01 8.59128477e-02 2.05514214e+02] [-3.19972803e-01 9.46997775e-01 -2.85064691e-02 -4.63312549e+01] [-9.05166809e-02 -6.05527348e-04 9.95894755e-01 -2.58769348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36119381700001 meters 0.06101022076834926 Centerline is valid? [True, True] Translation: X:205.56, Y:-46.38, Z:-25.88 [[ 9.48839594e-01 3.04015481e-01 8.53112654e-02 2.05564636e+02] [-3.02697230e-01 9.52666537e-01 -2.82994186e-02 -4.63769930e+01] [-8.98766491e-02 1.02812518e-03 9.95952374e-01 -2.58823809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42119381700002 meters 0.06332765174298335 Centerline is valid? [True, True] Translation: X:205.62, Y:-46.41, Z:-25.89 [[ 9.52613610e-01 2.92683281e-01 8.28480953e-02 2.05616804e+02] [-2.91394016e-01 9.56207192e-01 -2.75196735e-02 -4.64124145e+01] [-8.72744929e-02 2.07417631e-03 9.96182142e-01 -2.58903495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.481193817 meters 0.064787955028316 Centerline is valid? [True, True] Translation: X:205.67, Y:-46.44, Z:-25.90 [[ 9.53535321e-01 2.89761101e-01 8.25160344e-02 2.05672042e+02] [-2.88471903e-01 9.57096180e-01 -2.74018744e-02 -4.64377300e+01] [-8.69157787e-02 2.32509762e-03 9.96212950e-01 -2.58998122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.541193817 meters 0.06453586073077018 Centerline is valid? [True, True] Translation: X:205.73, Y:-46.46, Z:-25.91 [[ 9.53111904e-01 2.90988947e-01 8.30850841e-02 2.05730618e+02] [-2.89684241e-01 9.56723761e-01 -2.76167689e-02 -4.64550971e+01] [-8.75256486e-02 2.25343165e-03 9.96159718e-01 -2.59087476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.601193817 meters 0.06263592433918098 Centerline is valid? [True, True] Translation: X:205.79, Y:-46.47, Z:-25.91 [[ 9.50868365e-01 2.97913408e-01 8.42434224e-02 2.05790526e+02] [-2.96595555e-01 9.54591425e-01 -2.80408193e-02 -4.64667834e+01] [-8.87717847e-02 1.67690342e-03 9.96050580e-01 -2.59139958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.661193817 meters 0.06069608134578582 Centerline is valid? [True, True] Translation: X:205.85, Y:-46.47, Z:-25.92 [[ 9.47871504e-01 3.06405901e-01 8.74930564e-02 2.05851824e+02] [-3.05020080e-01 9.51900510e-01 -2.91233532e-02 -4.64739560e+01] [-9.22082523e-02 9.18057547e-04 9.95739321e-01 -2.59195512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.721193817 meters 0.06053316558752942 Centerline is valid? [True, True] Translation: X:205.91, Y:-46.49, Z:-25.93 [[ 9.47069502e-01 3.09015460e-01 8.69988719e-02 2.05911756e+02] [-3.07656997e-01 9.51056791e-01 -2.89508663e-02 -4.64903858e+01] [-9.16871332e-02 6.52670847e-04 9.95787650e-01 -2.59292741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.781193817 meters 0.06050655974921013 Centerline is valid? [True, True] Translation: X:205.97, Y:-46.51, Z:-25.94 [[ 9.46567017e-01 3.10976415e-01 8.54666706e-02 2.05971212e+02] [-3.09670409e-01 9.50417504e-01 -2.84746409e-02 -4.65062489e+01] [-9.00839615e-02 4.86657016e-04 9.95934056e-01 -2.59394737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.841193817 meters 0.06061598590641671 Centerline is valid? [True, True] Translation: X:206.03, Y:-46.53, Z:-25.95 [[ 9.46141879e-01 3.12646711e-01 8.40688918e-02 2.06029245e+02] [-3.11387313e-01 9.49869419e-01 -2.80361925e-02 -4.65262753e+01] [-8.86198928e-02 3.48229535e-04 9.96065456e-01 -2.59487124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.901193817 meters 0.06060183549755348 Centerline is valid? [True, True] Translation: X:206.09, Y:-46.55, Z:-25.96 [[ 9.45832849e-01 3.13471167e-01 8.44751353e-02 2.06086229e+02] [-3.12200175e-01 9.49597671e-01 -2.82013030e-02 -4.65470841e+01] [-8.90576871e-02 3.00566786e-04 9.96026424e-01 -2.59584631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.961193817 meters 0.06053371563819098 Centerline is valid? [True, True] Translation: X:206.14, Y:-46.57, Z:-25.97 [[ 9.45979144e-01 3.12500325e-01 8.64118408e-02 2.06142845e+02] [-3.11163667e-01 9.49917556e-01 -2.88757353e-02 -4.65676018e+01] [-9.11078013e-02 4.27618038e-04 9.95840944e-01 -2.59664250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.021193817 meters 0.06086000631737357 Centerline is valid? [True, True] Translation: X:206.20, Y:-46.59, Z:-25.98 [[ 9.46423292e-01 3.11102215e-01 8.65931011e-02 2.06199566e+02] [-3.09751875e-01 9.50376277e-01 -2.89604547e-02 -4.65898035e+01] [-9.13056907e-02 5.86473444e-04 9.95822739e-01 -2.59760095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.081193817 meters 0.060990957182559834 Centerline is valid? [True, True] Translation: X:206.26, Y:-46.61, Z:-25.98 [[ 9.47364920e-01 3.08345310e-01 8.61561257e-02 2.06257700e+02] [-3.06994620e-01 9.51274095e-01 -2.88426640e-02 -4.66128066e+01] [-9.08515907e-02 8.75061069e-04 9.95864058e-01 -2.59807038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14119381700002 meters 0.061102733581964816 Centerline is valid? [True, True] Translation: X:206.32, Y:-46.64, Z:-25.98 [[ 9.48441655e-01 3.04529805e-01 8.78636675e-02 2.06315425e+02] [-3.03106015e-01 9.52501931e-01 -2.94417183e-02 -4.66382204e+01] [-9.26561937e-02 1.29174593e-03 9.95697324e-01 -2.59841022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.201193817 meters 0.06168747729545394 Centerline is valid? [True, True] Translation: X:206.37, Y:-46.66, Z:-25.99 [[ 9.49019195e-01 3.03403087e-01 8.54934769e-02 2.06373084e+02] [-3.02046976e-01 9.52861270e-01 -2.86884214e-02 -4.66588330e+01] [-9.01675786e-02 1.40281644e-03 9.95925620e-01 -2.59936005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.261193817 meters 0.06118227118899488 Centerline is valid? [True, True] Translation: X:206.43, Y:-46.68, Z:-26.00 [[ 9.47851838e-01 3.07155944e-01 8.50418738e-02 2.06432575e+02] [-3.05829112e-01 9.51658627e-01 -2.85379142e-02 -4.66761282e+01] [-8.96964228e-02 1.04143366e-03 9.95968608e-01 -2.60019974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.321193817 meters 0.06041583444724863 Centerline is valid? [True, True] Translation: X:206.50, Y:-46.69, Z:-26.01 [[ 9.45152170e-01 3.15960200e-01 8.28041520e-02 2.06495345e+02] [-3.14733812e-01 9.48772418e-01 -2.78123521e-02 -4.66856535e+01] [-8.73498918e-02 2.25638613e-04 9.96177668e-01 -2.60112584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.381193817 meters 0.06028181884361819 Centerline is valid? [True, True] Translation: X:206.55, Y:-46.70, Z:-26.02 [[ 9.43232430e-01 3.22186955e-01 8.06730990e-02 2.06554861e+02] [-3.21042856e-01 9.46676011e-01 -2.71295984e-02 -4.67005227e+01] [-8.51120903e-02 -3.10005052e-04 9.96371334e-01 -2.60196519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.441193817 meters 0.06024139297051749 Centerline is valid? [True, True] Translation: X:206.61, Y:-46.72, Z:-26.03 [[ 9.42522489e-01 3.24039122e-01 8.15475639e-02 2.06612043e+02] [-3.22874737e-01 9.46043571e-01 -2.74493380e-02 -4.67233605e+01] [-8.60422079e-02 -4.58029912e-04 9.96291387e-01 -2.60270168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.501193817 meters 0.05979926503053552 Centerline is valid? [True, True] Translation: X:206.67, Y:-46.75, Z:-26.03 [[ 9.43258577e-01 3.21306381e-01 8.38180573e-02 2.06669822e+02] [-3.20062144e-01 9.46975278e-01 -2.82497279e-02 -4.67467937e+01] [-8.84504460e-02 -1.80188981e-04 9.96080562e-01 -2.60338147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.561193817 meters 0.05914552728381418 Centerline is valid? [True, True] Translation: X:206.73, Y:-46.77, Z:-26.04 [[ 9.43432674e-01 3.19786713e-01 8.75856570e-02 2.06727193e+02] [-3.18420174e-01 9.47489555e-01 -2.95319410e-02 -4.67702592e+01] [-9.24304176e-02 -2.76420195e-05 9.95719146e-01 -2.60362835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.621193817 meters 0.05885221036822426 Centerline is valid? [True, True] Translation: X:206.79, Y:-46.79, Z:-26.04 [[ 9.43092298e-01 3.20730860e-01 8.77988219e-02 2.06786334e+02] [-3.19361947e-01 9.47170365e-01 -2.96014607e-02 -4.67915609e+01] [-9.26545441e-02 -1.22693107e-04 9.95698308e-01 -2.60415612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.681193817 meters 0.05890310575281476 Centerline is valid? [True, True] Translation: X:206.84, Y:-46.81, Z:-26.05 [[ 9.42572773e-01 3.22407717e-01 8.72343449e-02 2.06844457e+02] [-3.21060205e-01 9.46600867e-01 -2.94473074e-02 -4.68086140e+01] [-9.20701456e-02 -2.51246522e-04 9.95752492e-01 -2.60519318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.741193817 meters 0.05916079648739791 Centerline is valid? [True, True] Translation: X:206.90, Y:-46.83, Z:-26.06 [[ 9.42667332e-01 3.22771929e-01 8.48326824e-02 2.06902328e+02] [-3.21496977e-01 9.46476739e-01 -2.86614181e-02 -4.68293244e+01] [-8.95432618e-02 -2.55268431e-04 9.95982901e-01 -2.60610948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.801193817 meters 0.059262810682440166 Centerline is valid? [True, True] Translation: X:206.96, Y:-46.85, Z:-26.07 [[ 9.42734008e-01 3.22500807e-01 8.51223760e-02 2.06959553e+02] [-3.21213393e-01 9.46569167e-01 -2.87883303e-02 -4.68523280e+01] [-8.98584764e-02 -2.02709154e-04 9.95954524e-01 -2.60704853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86119381700001 meters 0.06022071702059962 Centerline is valid? [True, True] Translation: X:207.01, Y:-46.88, Z:-26.08 [[ 9.44354806e-01 3.19529612e-01 7.80693771e-02 2.07013061e+02] [-3.18434083e-01 9.47576285e-01 -2.64370852e-02 -4.68795853e+01] [-8.24241219e-02 1.06038000e-04 9.96597337e-01 -2.60838852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92119381700002 meters 0.060897507135942865 Centerline is valid? [True, True] Translation: X:207.07, Y:-46.91, Z:-26.10 [[ 9.45761163e-01 3.15803948e-01 7.61819537e-02 2.07068063e+02] [-3.14748834e-01 9.48824373e-01 -2.57969234e-02 -4.69088740e+01] [-8.04300647e-02 4.19547161e-04 9.96760166e-01 -2.60950025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.981193817 meters 0.06086198135004253 Centerline is valid? [True, True] Translation: X:207.12, Y:-46.93, Z:-26.10 [[ 9.46473393e-01 3.13691616e-01 7.60636984e-02 2.07124124e+02] [-3.12633127e-01 9.49524731e-01 -2.57548670e-02 -4.69349357e+01] [-8.03034486e-02 5.96264496e-04 9.96770285e-01 -2.61018394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.041193817 meters 0.060914479796352054 Centerline is valid? [True, True] Translation: X:207.18, Y:-46.96, Z:-26.11 [[ 9.47575658e-01 3.09432279e-01 7.96996658e-02 2.07180225e+02] [-3.08252501e-01 9.50920923e-01 -2.70147017e-02 -4.69622279e+01] [-8.41473005e-02 1.03085243e-03 9.96452793e-01 -2.61069917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.101193817 meters 0.06173410833756764 Centerline is valid? [True, True] Translation: X:207.24, Y:-46.99, Z:-26.11 [[ 9.48994777e-01 3.04386557e-01 8.22054577e-02 2.07237488e+02] [-3.03110004e-01 9.52547331e-01 -2.78909902e-02 -4.69887340e+01] [-8.67942318e-02 1.55110739e-03 9.96225053e-01 -2.61126396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.161193817 meters 0.06447714149810081 Centerline is valid? [True, True] Translation: X:207.29, Y:-47.02, Z:-26.12 [[ 9.51721107e-01 2.94442474e-01 8.67788211e-02 2.07291816e+02] [-2.92974853e-01 9.55665580e-01 -2.94793767e-02 -4.70183487e+01] [-9.16115130e-02 2.63213268e-03 9.95791345e-01 -2.61157106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.221193817 meters 0.06715888803691833 Centerline is valid? [True, True] Translation: X:207.35, Y:-47.04, Z:-26.12 [[ 9.53790098e-01 2.87950505e-01 8.58426216e-02 2.07347577e+02] [-2.86485224e-01 9.57639770e-01 -2.91939608e-02 -4.70419104e+01] [-9.06127242e-02 3.25226806e-03 9.95880895e-01 -2.61226755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.281193817 meters 0.06866370162768902 Centerline is valid? [True, True] Translation: X:207.41, Y:-47.06, Z:-26.13 [[ 9.56000933e-01 2.81003286e-01 8.42577590e-02 2.07405650e+02] [-2.79564544e-01 9.59699118e-01 -2.86577868e-02 -4.70582031e+01] [-8.89150292e-02 3.84138896e-03 9.96031807e-01 -2.61287391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.341193817 meters 0.06918392842410634 Centerline is valid? [True, True] Translation: X:207.46, Y:-47.07, Z:-26.14 [[ 9.56878699e-01 2.78424481e-01 8.28430089e-02 2.07464092e+02] [-2.77023485e-01 9.60449715e-01 -2.81839191e-02 -4.70736153e+01] [-8.74136373e-02 4.01913281e-03 9.96163994e-01 -2.61353877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.401193817 meters 0.07029523592008749 Centerline is valid? [True, True] Translation: X:207.52, Y:-47.09, Z:-26.14 [[ 9.57403413e-01 2.76845250e-01 8.20695538e-02 2.07524018e+02] [-2.75464610e-01 9.60905668e-01 -2.79203578e-02 -4.70894772e+01] [-8.65907178e-02 4.12378819e-03 9.96235435e-01 -2.61434318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.461193817 meters 0.07183338692137672 Centerline is valid? [True, True] Translation: X:207.58, Y:-47.10, Z:-26.15 [[ 9.58106881e-01 2.74968688e-01 8.01462772e-02 2.07582609e+02] [-2.73644801e-01 9.61444003e-01 -2.72754937e-02 -4.71049767e+01] [-8.45560643e-02 4.20122609e-03 9.96409866e-01 -2.61532504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.521193817 meters 0.07241980686132361 Centerline is valid? [True, True] Translation: X:207.64, Y:-47.12, Z:-26.16 [[ 9.58946724e-01 2.71629593e-01 8.14772701e-02 2.07643605e+02] [-2.70249702e-01 9.62391041e-01 -2.77233201e-02 -4.71160776e+01] [-8.59434689e-02 4.56597899e-03 9.96289552e-01 -2.61589180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.581193817 meters 0.07371256132286655 Centerline is valid? [True, True] Translation: X:207.70, Y:-47.13, Z:-26.17 [[ 9.59249774e-01 2.69647133e-01 8.44410688e-02 2.07702393e+02] [-2.68154408e-01 9.62946495e-01 -2.87621400e-02 -4.71306204e+01] [-8.90678598e-02 4.94683147e-03 9.96013276e-01 -2.61650160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64119381700002 meters 0.07973882717223077 Centerline is valid? [True, True] Translation: X:207.76, Y:-47.15, Z:-26.17 [[ 9.60448976e-01 2.65032007e-01 8.54154509e-02 2.07759933e+02] [-2.63483502e-01 9.64224109e-01 -2.91257799e-02 -4.71454761e+01] [-9.00789009e-02 5.46826335e-03 9.95919620e-01 -2.61735437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.701193817 meters 0.07749819679802004 Centerline is valid? [True, True] Translation: X:207.82, Y:-47.15, Z:-26.18 [[ 9.61167800e-01 2.62205945e-01 8.60494209e-02 2.07822932e+02] [-2.60623107e-01 9.64994657e-01 -2.93412455e-02 -4.71491405e+01] [-9.07306804e-02 5.77539292e-03 9.95858719e-01 -2.61767854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.761193817 meters 0.07517401285032371 Centerline is valid? [True, True] Translation: X:207.89, Y:-47.14, Z:-26.18 [[ 9.61165171e-01 2.61733775e-01 8.75039710e-02 2.07891350e+02] [-2.60095645e-01 9.65122008e-01 -2.98289464e-02 -4.71431079e+01] [-9.22592509e-02 5.91114258e-03 9.95717474e-01 -2.61791935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.821193817 meters 0.07633813237978708 Centerline is valid? [True, True] Translation: X:207.95, Y:-47.15, Z:-26.19 [[ 9.60873259e-01 2.62877115e-01 8.72823192e-02 2.07953604e+02] [-2.61248151e-01 9.64811729e-01 -2.97948309e-02 -4.71487484e+01] [-9.20433844e-02 5.82671182e-03 9.95737950e-01 -2.61869972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.881193817 meters 0.07433308433636959 Centerline is valid? [True, True] Translation: X:208.02, Y:-47.14, Z:-26.19 [[ 9.59914916e-01 2.66696484e-01 8.62342184e-02 2.08020946e+02] [-2.65119801e-01 9.63765352e-01 -2.94590628e-02 -4.71394715e+01] [-9.09661804e-02 5.41579496e-03 9.95839256e-01 -2.61948430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.941193817 meters 0.07344287839730687 Centerline is valid? [True, True] Translation: X:208.08, Y:-47.14, Z:-26.20 [[ 9.59166513e-01 2.69404659e-01 8.61436634e-02 2.08084488e+02] [-2.67842016e-01 9.63013269e-01 -2.94295410e-02 -4.71411029e+01] [-9.08859463e-02 5.15493768e-03 9.95847966e-01 -2.62035979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.001193817 meters 0.07161931624337542 Centerline is valid? [True, True] Translation: X:208.15, Y:-47.14, Z:-26.21 [[ 9.58574623e-01 2.71640760e-01 8.57087525e-02 2.08151036e+02] [-2.70102404e-01 9.62386135e-01 -2.92851240e-02 -4.71353757e+01] [-9.04399484e-02 4.92183660e-03 9.95889749e-01 -2.62104579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.061193817 meters 0.07094009678478745 Centerline is valid? [True, True] Translation: X:208.22, Y:-47.14, Z:-26.22 [[ 9.58376389e-01 2.72650990e-01 8.47120703e-02 2.08215197e+02] [-2.71152778e-01 9.62101212e-01 -2.89383466e-02 -4.71402721e+01] [-8.93916544e-02 4.76391489e-03 9.95985159e-01 -2.62178465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.121193817 meters 0.06944422340057944 Centerline is valid? [True, True] Translation: X:208.28, Y:-47.14, Z:-26.22 [[ 9.57187861e-01 2.76231121e-01 8.65318789e-02 2.08280131e+02] [-2.74678042e-01 9.61080374e-01 -2.96055268e-02 -4.71371590e+01] [-9.13420584e-02 4.56964385e-03 9.95809092e-01 -2.62238407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.181193817 meters 0.06680310579164409 Centerline is valid? [True, True] Translation: X:208.34, Y:-47.14, Z:-26.23 [[ 9.54876628e-01 2.83446103e-01 8.87069980e-02 2.08342517e+02] [-2.81844343e-01 9.58979901e-01 -3.03531877e-02 -4.71366767e+01] [-9.36717209e-02 3.98198400e-03 9.95595175e-01 -2.62295859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.241193817 meters 0.061582274496105975 Centerline is valid? [True, True] Translation: X:208.41, Y:-47.12, Z:-26.24 [[ 9.51296782e-01 2.95385924e-01 8.82133061e-02 2.08410241e+02] [-2.93853117e-01 9.55373941e-01 -3.01824059e-02 -4.71233035e+01] [-9.31921518e-02 2.79067066e-03 9.95644231e-01 -2.62363003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.301193817 meters 0.059745869463507004 Centerline is valid? [True, True] Translation: X:208.47, Y:-47.12, Z:-26.25 [[ 9.49141373e-01 3.02682923e-01 8.66816103e-02 2.08473074e+02] [-3.01233604e-01 9.53089138e-01 -2.96548500e-02 -4.71225477e+01] [-9.15913180e-02 2.03523113e-03 9.95794601e-01 -2.62461344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36119381700001 meters 0.05991036536464411 Centerline is valid? [True, True] Translation: X:208.53, Y:-47.13, Z:-26.26 [[ 9.49074186e-01 3.03585274e-01 8.42269051e-02 2.08530609e+02] [-3.02220517e-01 9.52802391e-01 -2.88160157e-02 -4.71322073e+01] [-8.89997146e-02 1.89343787e-03 9.96029852e-01 -2.62561980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42119381700002 meters 0.060233754047487466 Centerline is valid? [True, True] Translation: X:208.59, Y:-47.14, Z:-26.26 [[ 9.49767926e-01 3.02214533e-01 8.12850744e-02 2.08588842e+02] [-3.00939455e-01 9.53237959e-01 -2.77999714e-02 -4.71440245e+01] [-8.58855738e-02 1.94163514e-03 9.96303116e-01 -2.62631127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.481193817 meters 0.06047947859574291 Centerline is valid? [True, True] Translation: X:208.64, Y:-47.16, Z:-26.27 [[ 9.50019171e-01 3.00827863e-01 8.34635940e-02 2.08644941e+02] [-2.99478821e-01 9.53676112e-01 -2.85360957e-02 -4.71618220e+01] [-8.81816885e-02 2.11425919e-03 9.96102163e-01 -2.62674883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.541193817 meters 0.06186235258728791 Centerline is valid? [True, True] Translation: X:208.70, Y:-47.18, Z:-26.27 [[ 9.51264251e-01 2.95291810e-01 8.88767184e-02 2.08698814e+02] [-2.93738342e-01 9.55403034e-01 -3.03781069e-02 -4.71831602e+01] [-9.38834925e-02 2.79110722e-03 9.95579278e-01 -2.62693411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.601193817 meters 0.06248977185560509 Centerline is valid? [True, True] Translation: X:208.75, Y:-47.20, Z:-26.27 [[ 9.52272093e-01 2.91865096e-01 8.94014862e-02 2.08754502e+02] [-2.90279178e-01 9.56454351e-01 -3.05462593e-02 -4.72024267e+01] [-9.44238274e-02 3.13696041e-03 9.95527147e-01 -2.62747748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.661193817 meters 0.06348286951802247 Centerline is valid? [True, True] Translation: X:208.81, Y:-47.22, Z:-26.28 [[ 9.52792752e-01 2.90139974e-01 8.94693653e-02 2.08808304e+02] [-2.88544771e-01 9.56978518e-01 -3.05619222e-02 -4.72226686e+01] [-9.44874959e-02 3.30326044e-03 9.95520568e-01 -2.62828679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.721193817 meters 0.06313128534449018 Centerline is valid? [True, True] Translation: X:208.86, Y:-47.24, Z:-26.29 [[ 9.52390616e-01 2.91738499e-01 8.85480800e-02 2.08864341e+02] [-2.90184206e-01 9.56493096e-01 -3.02338060e-02 -4.72377992e+01] [-9.35159924e-02 3.09913884e-03 9.95612954e-01 -2.62918619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.781193817 meters 0.06176274974222144 Centerline is valid? [True, True] Translation: X:208.92, Y:-47.25, Z:-26.30 [[ 9.50806481e-01 2.96770510e-01 8.88498701e-02 2.08922056e+02] [-2.95228338e-01 9.54945277e-01 -3.03273396e-02 -4.72508234e+01] [-9.38470238e-02 2.60443159e-03 9.95583223e-01 -2.63000522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.841193817 meters 0.0609840668480405 Centerline is valid? [True, True] Translation: X:208.98, Y:-47.27, Z:-26.31 [[ 9.49786465e-01 3.00098052e-01 8.85823412e-02 2.08979291e+02] [-2.98579916e-01 9.53905670e-01 -3.02325449e-02 -4.72652168e+01] [-9.35719253e-02 2.26555395e-03 9.95609945e-01 -2.63083569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.901193817 meters 0.060774611678578144 Centerline is valid? [True, True] Translation: X:209.03, Y:-47.28, Z:-26.32 [[ 9.49265309e-01 3.02307800e-01 8.66335229e-02 2.09033036e+02] [-3.00865349e-01 9.53208265e-01 -2.95642447e-02 -4.72818372e+01] [-9.15172918e-02 1.99928674e-03 9.95801480e-01 -2.63193691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.961193817 meters 0.05954662417019166 Centerline is valid? [True, True] Translation: X:209.09, Y:-47.30, Z:-26.32 [[ 9.49376206e-01 3.02065228e-01 8.62636473e-02 2.09089404e+02] [-3.00635453e-01 9.53285161e-01 -2.94232086e-02 -4.72994957e+01] [-9.11215831e-02 1.99978340e-03 9.95837767e-01 -2.63222651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.021193817 meters 0.05995171771666733 Centerline is valid? [True, True] Translation: X:209.14, Y:-47.32, Z:-26.33 [[ 9.49598925e-01 3.01256782e-01 8.66385212e-02 2.09143433e+02] [-2.99811885e-01 9.53540785e-01 -2.95432599e-02 -4.73190719e+01] [-9.15134709e-02 2.07898946e-03 9.95801668e-01 -2.63300581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.081193817 meters 0.05991108692651988 Centerline is valid? [True, True] Translation: X:209.20, Y:-47.34, Z:-26.34 [[ 9.49811716e-01 3.00911936e-01 8.54968463e-02 2.09198795e+02] [-2.99504529e-01 9.53649676e-01 -2.91432948e-02 -4.73386441e+01] [-9.03036051e-02 2.07395013e-03 9.95912123e-01 -2.63368355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14119381700002 meters 0.060022410708384204 Centerline is valid? [True, True] Translation: X:209.25, Y:-47.36, Z:-26.34 [[ 9.49508588e-01 3.01401338e-01 8.71244760e-02 2.09251161e+02] [-2.99942380e-01 9.53495144e-01 -2.96913857e-02 -4.73617445e+01] [-9.20217881e-02 2.05990303e-03 9.95754863e-01 -2.63439654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.201193817 meters 0.059295832350670694 Centerline is valid? [True, True] Translation: X:209.31, Y:-47.38, Z:-26.35 [[ 9.48923244e-01 3.02653379e-01 8.91381497e-02 2.09306830e+02] [-3.01133140e-01 9.53098663e-01 -3.03606759e-02 -4.73814821e+01] [-9.41462124e-02 1.96750009e-03 9.95556437e-01 -2.63481459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.261193817 meters 0.057934057796800685 Centerline is valid? [True, True] Translation: X:209.36, Y:-47.40, Z:-26.35 [[ 9.46679071e-01 3.08380408e-01 9.32751891e-02 2.09363139e+02] [-3.06744088e-01 9.51262009e-01 -3.17593400e-02 -4.74007820e+01] [-9.85231019e-02 1.45428965e-03 9.95133701e-01 -2.63519953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.321193817 meters 0.05717299806924853 Centerline is valid? [True, True] Translation: X:209.42, Y:-47.42, Z:-26.36 [[ 9.45718728e-01 3.11162056e-01 9.37777239e-02 2.09419302e+02] [-3.09521964e-01 9.50356150e-01 -3.19271500e-02 -4.74174307e+01] [-9.90567542e-02 1.16783846e-03 9.95081100e-01 -2.63564757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.381193817 meters 0.05704208810327593 Centerline is valid? [True, True] Translation: X:209.47, Y:-47.43, Z:-26.37 [[ 9.41848362e-01 3.23318020e-01 9.15812237e-02 2.09473754e+02] [-3.21811945e-01 9.46290360e-01 -3.11709350e-02 -4.74327152e+01] [-9.67405541e-02 -1.13637575e-04 9.95309626e-01 -2.63685462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.441193817 meters 0.05845517083722851 Centerline is valid? [True, True] Translation: X:209.53, Y:-47.45, Z:-26.38 [[ 9.38593305e-01 3.33443545e-01 8.86454195e-02 2.09529635e+02] [-3.32078584e-01 9.42769394e-01 -3.01609814e-02 -4.74454957e+01] [-9.36291729e-02 -1.12835017e-03 9.95606501e-01 -2.63803080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.501193817 meters 0.06147506891370674 Centerline is valid? [True, True] Translation: X:209.59, Y:-47.47, Z:-26.39 [[ 9.33221068e-01 3.48585107e-01 8.71025879e-02 2.09586070e+02] [-3.47333889e-01 9.37273503e-01 -2.96234724e-02 -4.74651724e+01] [-9.19652490e-02 -2.60843209e-03 9.95758801e-01 -2.63879097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.561193817 meters 0.06361323840256417 Centerline is valid? [True, True] Translation: X:209.64, Y:-47.49, Z:-26.40 [[ 9.31311995e-01 3.53462082e-01 8.78778915e-02 2.09638864e+02] [-3.52209842e-01 9.35443666e-01 -2.98893726e-02 -4.74902885e+01] [-9.27695769e-02 -3.11512707e-03 9.95682731e-01 -2.63968143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.621193817 meters 0.06343109832193915 Centerline is valid? [True, True] Translation: X:209.69, Y:-47.53, Z:-26.40 [[ 9.30926639e-01 3.53623381e-01 9.12474536e-02 2.09687546e+02] [-3.52274310e-01 9.35382220e-01 -3.10308375e-02 -4.75297369e+01] [-9.63244755e-02 -3.25670048e-03 9.95344659e-01 -2.64024644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.681193817 meters 0.06200736440795107 Centerline is valid? [True, True] Translation: X:209.74, Y:-47.57, Z:-26.41 [[ 9.32088065e-01 3.50420771e-01 9.17448723e-02 2.09736241e+02] [-3.49045013e-01 9.36587650e-01 -3.11633263e-02 -4.75696446e+01] [-9.68473912e-02 -2.97612569e-03 9.95294793e-01 -2.64074025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.741193817 meters 0.06122103017223075 Centerline is valid? [True, True] Translation: X:209.78, Y:-47.62, Z:-26.42 [[ 9.33927262e-01 3.45241830e-01 9.26711877e-02 2.09781523e+02] [-3.43813586e-01 9.38510504e-01 -3.14682787e-02 -4.76163903e+01] [-9.78370491e-02 -2.47253000e-03 9.95199376e-01 -2.64158623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.801193817 meters 0.06020726655748953 Centerline is valid? [True, True] Translation: X:209.83, Y:-47.65, Z:-26.42 [[ 9.35024770e-01 3.42462414e-01 9.19139549e-02 2.09832847e+02] [-3.41044968e-01 9.39529018e-01 -3.12018262e-02 -4.76547260e+01] [-9.70412805e-02 -2.17231141e-03 9.95277987e-01 -2.64216346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86119381700001 meters 0.059236691803043404 Centerline is valid? [True, True] Translation: X:209.88, Y:-47.70, Z:-26.43 [[ 9.36849275e-01 3.37355226e-01 9.22219462e-02 2.09881941e+02] [-3.35903143e-01 9.41375986e-01 -3.13102541e-02 -4.77011599e+01] [-9.73782034e-02 -1.64465270e-03 9.95246090e-01 -2.64288868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92119381700002 meters 0.05899630099037191 Centerline is valid? [True, True] Translation: X:209.94, Y:-47.74, Z:-26.44 [[ 9.37291607e-01 3.36117801e-01 9.22456938e-02 2.09935749e+02] [-3.34658917e-01 9.41818733e-01 -3.13190432e-02 -4.77363393e+01] [-9.74056104e-02 -1.51576772e-03 9.95243613e-01 -2.64353641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.981193817 meters 0.0597754865825797 Centerline is valid? [True, True] Translation: X:209.99, Y:-47.77, Z:-26.45 [[ 9.36796802e-01 3.37871461e-01 9.08549840e-02 2.09986557e+02] [-3.36461592e-01 9.41190828e-01 -3.08775214e-02 -4.77730836e+01] [-9.59445109e-02 -1.64324934e-03 9.95385328e-01 -2.64467389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.041193817 meters 0.06060480078823663 Centerline is valid? [True, True] Translation: X:210.04, Y:-47.81, Z:-26.46 [[ 9.35331969e-01 3.42663340e-01 8.79542160e-02 2.10039073e+02] [-3.41360224e-01 9.39456064e-01 -2.99249164e-02 -4.78062031e+01] [-9.28832934e-02 -2.03433989e-03 9.95674924e-01 -2.64565857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.101193817 meters 0.06157033076768593 Centerline is valid? [True, True] Translation: X:210.09, Y:-47.83, Z:-26.47 [[ 9.34365669e-01 3.45556535e-01 8.68992441e-02 2.10093995e+02] [-3.44297004e-01 9.38395130e-01 -2.95660679e-02 -4.78348004e+01] [-9.17625755e-02 -2.29363063e-03 9.95778273e-01 -2.64657783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.161193817 meters 0.06123989934675623 Centerline is valid? [True, True] Translation: X:210.15, Y:-47.87, Z:-26.47 [[ 9.34359591e-01 3.44816303e-01 8.98547288e-02 2.10145123e+02] [-3.43465101e-01 9.38667398e-01 -3.05817028e-02 -4.78729396e+01] [-9.48887742e-02 -2.28765627e-03 9.95485252e-01 -2.64710320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.221193817 meters 0.05964147867351171 Centerline is valid? [True, True] Translation: X:210.20, Y:-47.91, Z:-26.47 [[ 9.35852442e-01 3.39823670e-01 9.32742165e-02 2.10197379e+02] [-3.38342188e-01 9.40487358e-01 -3.17505019e-02 -4.79094048e+01] [-9.85127936e-02 -1.84481770e-03 9.95134074e-01 -2.64735879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.281193817 meters 0.057943763889033384 Centerline is valid? [True, True] Translation: X:210.25, Y:-47.95, Z:-26.48 [[ 9.38477263e-01 3.31622708e-01 9.63680737e-02 2.10247001e+02] [-3.29997561e-01 9.43411550e-01 -3.28063594e-02 -4.79530495e+01] [-1.01794088e-01 -1.01320680e-03 9.94804974e-01 -2.64779402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.341193817 meters 0.05746057910978982 Centerline is valid? [True, True] Translation: X:210.30, Y:-47.99, Z:-26.49 [[ 9.41029269e-01 3.23933802e-01 9.76258525e-02 2.10298746e+02] [-3.22224708e-01 9.46079731e-01 -3.32322082e-02 -4.79899843e+01] [-1.03126876e-01 -1.84981205e-04 9.94668193e-01 -2.64859732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.401193817 meters 0.058120995217705335 Centerline is valid? [True, True] Translation: X:210.35, Y:-48.03, Z:-26.49 [[ 9.45110075e-01 3.12473727e-01 9.55359411e-02 2.10349561e+02] [-3.10775464e-01 9.49925795e-01 -3.25514327e-02 -4.80337058e+01] [-1.00923522e-01 1.07446062e-03 9.94893606e-01 -2.64915790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.461193817 meters 0.05916917717404018 Centerline is valid? [True, True] Translation: X:210.40, Y:-48.06, Z:-26.50 [[ 9.46906808e-01 3.07807347e-01 9.28554514e-02 2.10402623e+02] [-3.06180471e-01 9.51447472e-01 -3.16421874e-02 -4.80647992e+01] [-9.80867822e-02 1.53167680e-03 9.95176686e-01 -2.65021186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.521193817 meters 0.05987054450182287 Centerline is valid? [True, True] Translation: X:210.46, Y:-48.09, Z:-26.51 [[ 9.47767426e-01 3.06385581e-01 8.86836082e-02 2.10458158e+02] [-3.04892718e-01 9.51906092e-01 -3.02526627e-02 -4.80911255e+01] [-9.36874465e-02 1.63350190e-03 9.95600318e-01 -2.65146260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.581193817 meters 0.059737718070598925 Centerline is valid? [True, True] Translation: X:210.51, Y:-48.11, Z:-26.52 [[ 9.47065346e-01 3.08564396e-01 8.86298094e-02 2.10514677e+02] [-3.07082576e-01 9.51202395e-01 -3.02373066e-02 -4.81132505e+01] [-9.36350432e-02 1.42003507e-03 9.95605576e-01 -2.65228547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64119381700002 meters 0.058612887994286655 Centerline is valid? [True, True] Translation: X:210.57, Y:-48.13, Z:-26.53 [[ 9.45036659e-01 3.14363431e-01 8.98963042e-02 2.10573661e+02] [-3.12861758e-01 9.49302291e-01 -3.07031013e-02 -4.81315296e+01] [-9.49906998e-02 8.90440504e-04 9.95477762e-01 -2.65284180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.701193817 meters 0.05761329750508881 Centerline is valid? [True, True] Translation: X:210.63, Y:-48.14, Z:-26.53 [[ 9.41679400e-01 3.23400872e-01 9.30149684e-02 2.10633627e+02] [-3.21835752e-01 9.46262054e-01 -3.17785036e-02 -4.81429915e+01] [-9.82937308e-02 -1.03800775e-05 9.95157446e-01 -2.65342754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.761193817 meters 0.057713767584575866 Centerline is valid? [True, True] Translation: X:210.69, Y:-48.16, Z:-26.54 [[ 9.40139939e-01 3.28224620e-01 9.16814759e-02 2.10692628e+02] [-3.26727156e-01 9.44599566e-01 -3.13213201e-02 -4.81593966e+01] [-9.68827107e-02 -5.08403948e-04 9.95295676e-01 -2.65420694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.821193817 meters 0.05754245310138667 Centerline is valid? [True, True] Translation: X:210.75, Y:-48.18, Z:-26.55 [[ 9.40213581e-01 3.27457703e-01 9.36476065e-02 2.10748849e+02] [-3.25888531e-01 9.44865749e-01 -3.20215836e-02 -4.81818170e+01] [-9.89701301e-02 -4.11553101e-04 9.95090320e-01 -2.65485615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.881193817 meters 0.057863909344285515 Centerline is valid? [True, True] Translation: X:210.80, Y:-48.22, Z:-26.55 [[ 9.43960076e-01 3.15692303e-01 9.63210520e-02 2.10802161e+02] [-3.13967749e-01 9.48861214e-01 -3.29643595e-02 -4.82174210e+01] [-1.01801905e-01 8.75335322e-04 9.94804305e-01 -2.65518875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.941193817 meters 0.0597625413950225 Centerline is valid? [True, True] Translation: X:210.86, Y:-48.25, Z:-26.56 [[ 9.47325698e-01 3.05726587e-01 9.54215675e-02 2.10855779e+02] [-3.03980107e-01 9.52117326e-01 -3.26908595e-02 -4.82488732e+01] [-1.00846993e-01 1.96263295e-03 9.94900011e-01 -2.65592061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.001193817 meters 0.06438495868059241 Centerline is valid? [True, True] Translation: X:210.91, Y:-48.28, Z:-26.57 [[ 9.51962919e-01 2.91337745e-01 9.42810625e-02 2.10909079e+02] [-2.89561778e-01 9.56614028e-01 -3.23044586e-02 -4.82810973e+01] [-9.96020951e-02 3.45245461e-03 9.95021358e-01 -2.65677857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.061193817 meters 0.06954537029505349 Centerline is valid? [True, True] Translation: X:210.96, Y:-48.31, Z:-26.58 [[ 9.54913324e-01 2.82161204e-01 9.23341685e-02 2.10962953e+02] [-2.80414869e-01 9.59357271e-01 -3.16406036e-02 -4.83066533e+01] [-9.75092067e-02 4.32216024e-03 9.95225238e-01 -2.65778640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.121193817 meters 0.07039068685957425 Centerline is valid? [True, True] Translation: X:211.02, Y:-48.32, Z:-26.59 [[ 9.56400427e-01 2.78031142e-01 8.94254296e-02 2.11021876e+02] [-2.76374780e-01 9.60561050e-01 -3.06504427e-02 -4.83208902e+01] [-9.44203622e-02 4.59916306e-03 9.95521794e-01 -2.65865594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.181193817 meters 0.07290577032279884 Centerline is valid? [True, True] Translation: X:211.08, Y:-48.33, Z:-26.60 [[ 9.57133154e-01 2.75791941e-01 8.85151431e-02 2.11079612e+02] [-2.74159434e-01 9.61205504e-01 -3.03411219e-02 -4.83347180e+01] [-9.34490796e-02 4.77323226e-03 9.95612618e-01 -2.65958258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.241193817 meters 0.0722730170958578 Centerline is valid? [True, True] Translation: X:211.14, Y:-48.35, Z:-26.60 [[ 9.56744574e-01 2.76738804e-01 8.97521901e-02 2.11140543e+02] [-2.75064586e-01 9.60933465e-01 -3.07627813e-02 -4.83486463e+01] [-9.47591383e-02 4.74447504e-03 9.95488923e-01 -2.66034612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.301193817 meters 0.06944004794682772 Centerline is valid? [True, True] Translation: X:211.20, Y:-48.34, Z:-26.61 [[ 9.54193210e-01 2.85018796e-01 9.09923283e-02 2.11204552e+02] [-2.83333919e-01 9.58513619e-01 -3.12014825e-02 -4.83441884e+01] [-9.61103949e-02 3.99102977e-03 9.95362679e-01 -2.66134589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36119381700001 meters 0.06400786470282346 Centerline is valid? [True, True] Translation: X:211.27, Y:-48.34, Z:-26.62 [[ 9.52583264e-01 2.90076950e-01 9.18721283e-02 2.11269677e+02] [-2.88382763e-01 9.56996874e-01 -3.15018373e-02 -4.83411730e+01] [-9.70592964e-02 3.51378482e-03 9.95272398e-01 -2.66170039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42119381700002 meters 0.06837921365262858 Centerline is valid? [True, True] Translation: X:211.33, Y:-48.36, Z:-26.63 [[ 9.51727281e-01 2.92460371e-01 9.31778647e-02 2.11326507e+02] [-2.90728682e-01 9.56271880e-01 -3.19519182e-02 -4.83572073e+01] [-9.84480417e-02 3.32003446e-03 9.95136654e-01 -2.66313539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.481193817 meters 0.06438614433240157 Centerline is valid? [True, True] Translation: X:211.39, Y:-48.35, Z:-26.63 [[ 9.51504811e-01 2.93257553e-01 9.29440760e-02 2.11394496e+02] [-2.91538777e-01 9.56028036e-01 -3.18674834e-02 -4.83522563e+01] [-9.82025226e-02 3.22526153e-03 9.95161224e-01 -2.66330763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.541193817 meters 0.06297391598738684 Centerline is valid? [True, True] Translation: X:211.46, Y:-48.35, Z:-26.64 [[ 9.50330252e-01 2.96392879e-01 9.49930145e-02 2.11460385e+02] [-2.94609220e-01 9.55061389e-01 -3.26059755e-02 -4.83506634e+01] [-1.00388339e-01 3.00062703e-03 9.94943806e-01 -2.66381661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.601193817 meters 0.06105736274891081 Centerline is valid? [True, True] Translation: X:211.52, Y:-48.35, Z:-26.65 [[ 9.48327286e-01 3.03089748e-01 9.38720544e-02 2.11524131e+02] [-3.01379756e-01 9.52959303e-01 -3.22305626e-02 -4.83533062e+01] [-9.92250007e-02 2.27398514e-03 9.95062424e-01 -2.66481794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.661193817 meters 0.05868920470738631 Centerline is valid? [True, True] Translation: X:211.59, Y:-48.35, Z:-26.66 [[ 9.44285971e-01 3.15590955e-01 9.34149579e-02 2.11588851e+02] [-3.13957155e-01 9.48894836e-01 -3.20857550e-02 -4.83459128e+01] [-9.87669451e-02 9.69833816e-04 9.95110120e-01 -2.66576332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.721193817 meters 0.05840797357247161 Centerline is valid? [True, True] Translation: X:211.65, Y:-48.35, Z:-26.67 [[ 9.42746065e-01 3.20681955e-01 9.16129956e-02 2.11651517e+02] [-3.19135739e-01 9.47186840e-01 -3.14558583e-02 -4.83538847e+01] [-9.68619499e-02 4.17905650e-04 9.95297738e-01 -2.66678250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.781193817 meters 0.05877261769953789 Centerline is valid? [True, True] Translation: X:211.71, Y:-48.37, Z:-26.68 [[ 9.42223503e-01 3.23064151e-01 8.85687576e-02 2.11711571e+02] [-3.21626629e-01 9.46377047e-01 -3.04433364e-02 -4.83659959e+01] [-9.36545899e-02 1.98356158e-04 9.95604730e-01 -2.66802549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.841193817 meters 0.05902778759454667 Centerline is valid? [True, True] Translation: X:211.77, Y:-48.38, Z:-26.69 [[ 9.41700491e-01 3.24731365e-01 8.80325245e-02 2.11770411e+02] [-3.23316222e-01 9.45806290e-01 -3.02833778e-02 -4.83833832e+01] [-9.30956780e-02 5.55285352e-05 9.95657166e-01 -2.66907498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.901193817 meters 0.05854695722266566 Centerline is valid? [True, True] Translation: X:211.83, Y:-48.40, Z:-26.69 [[ 9.41079260e-01 3.26098827e-01 8.96068220e-02 2.11829542e+02] [-3.24635831e-01 9.45335682e-01 -3.08548995e-02 -4.84042136e+01] [-9.47702727e-02 -5.26791115e-05 9.95499168e-01 -2.66926624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.961193817 meters 0.05941801600346817 Centerline is valid? [True, True] Translation: X:211.88, Y:-48.44, Z:-26.70 [[ 9.43368244e-01 3.19048345e-01 9.09093434e-02 2.11882444e+02] [-3.17506662e-01 9.47738186e-01 -3.13344826e-02 -4.84380836e+01] [-9.61554711e-02 6.95633650e-04 9.95366084e-01 -2.67033103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.021193817 meters 0.06279423603200945 Centerline is valid? [True, True] Translation: X:211.93, Y:-48.48, Z:-26.71 [[ 9.48749284e-01 3.02220943e-01 9.23975018e-02 2.11932612e+02] [-3.00544206e-01 9.53234667e-01 -3.18880890e-02 -4.84798781e+01] [-9.77137502e-02 2.48426785e-03 9.95211461e-01 -2.67067450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.081193817 meters 0.06638913191730514 Centerline is valid? [True, True] Translation: X:211.99, Y:-48.51, Z:-26.71 [[ 9.51489346e-01 2.93198861e-01 9.32869412e-02 2.11985609e+02] [-2.91445771e-01 9.56045254e-01 -3.21999348e-02 -4.85105515e+01] [-9.86275216e-02 3.44981045e-03 9.95118441e-01 -2.67136450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14119381700002 meters 0.06734737058048436 Centerline is valid? [True, True] Translation: X:212.04, Y:-48.53, Z:-26.72 [[ 9.51465009e-01 2.93350868e-01 9.30570020e-02 2.12042448e+02] [-2.91607673e-01 9.55998728e-01 -3.21153636e-02 -4.85346503e+01] [-9.83834453e-02 3.42050891e-03 9.95142702e-01 -2.67216850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.201193817 meters 0.06327048984361093 Centerline is valid? [True, True] Translation: X:212.10, Y:-48.54, Z:-26.73 [[ 9.48830532e-01 3.02220422e-01 9.15611136e-02 2.12103756e+02] [-3.00570314e-01 9.53234797e-01 -3.16371341e-02 -4.85415202e+01] [-9.68406275e-02 2.49772616e-03 9.95296767e-01 -2.67294437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.261193817 meters 0.05919156792089723 Centerline is valid? [True, True] Translation: X:212.17, Y:-48.54, Z:-26.74 [[ 9.42636110e-01 3.21457927e-01 9.00109162e-02 2.12168341e+02] [-3.19949986e-01 9.46923719e-01 -3.11042940e-02 -4.85359647e+01] [-9.52321934e-02 5.21039287e-04 9.95454950e-01 -2.67399506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.321193817 meters 0.05896894969846341 Centerline is valid? [True, True] Translation: X:212.23, Y:-48.54, Z:-26.75 [[ 9.38684746e-01 3.32523986e-01 9.10974530e-02 2.12230659e+02] [-3.31031907e-01 9.43094598e-01 -3.14715016e-02 -4.85432510e+01] [-9.63785450e-02 -6.14345107e-04 9.95344563e-01 -2.67475663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.381193817 meters 0.05990231115175147 Centerline is valid? [True, True] Translation: X:212.29, Y:-48.56, Z:-26.75 [[ 9.35992615e-01 3.40076114e-01 9.09178803e-02 2.12290185e+02] [-3.38622633e-01 9.40396929e-01 -3.14377039e-02 -4.85603258e+01] [-9.61901076e-02 -1.36139337e-03 9.95362050e-01 -2.67547054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.441193817 meters 0.06001344501954871 Centerline is valid? [True, True] Translation: X:212.35, Y:-48.59, Z:-26.76 [[ 9.35446261e-01 3.41070500e-01 9.27965905e-02 2.12345317e+02] [-3.39558154e-01 9.40036576e-01 -3.21169010e-02 -4.85873850e+01] [-9.81863167e-02 -1.46620410e-03 9.95166970e-01 -2.67633572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.501193817 meters 0.05859973389016429 Centerline is valid? [True, True] Translation: X:212.40, Y:-48.63, Z:-26.77 [[ 9.37389127e-01 3.35209056e-01 9.45331342e-02 2.12396253e+02] [-3.33606438e-01 9.42143401e-01 -3.27499149e-02 -4.86272229e+01] [-1.00041837e-01 -8.37448092e-04 9.94982879e-01 -2.67675701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.561193817 meters 0.058214747318024465 Centerline is valid? [True, True] Translation: X:212.45, Y:-48.66, Z:-26.77 [[ 9.38821399e-01 3.31132041e-01 9.46887143e-02 2.12449562e+02] [-3.29503527e-01 9.43584341e-01 -3.28027056e-02 -4.86607135e+01] [-1.00208815e-01 -4.04383375e-04 9.94966346e-01 -2.67749336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.621193817 meters 0.05826117060797497 Centerline is valid? [True, True] Translation: X:212.50, Y:-48.70, Z:-26.78 [[ 9.40191594e-01 3.27276883e-01 9.44966052e-02 2.12501706e+02] [-3.25632509e-01 9.44928484e-01 -3.27662741e-02 -4.86982433e+01] [-1.00016178e-01 3.54088227e-05 9.94985810e-01 -2.67828392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.681193817 meters 0.05792356399837351 Centerline is valid? [True, True] Translation: X:212.56, Y:-48.73, Z:-26.79 [[ 9.40550123e-01 3.25881285e-01 9.57436883e-02 2.12557639e+02] [-3.24182494e-01 9.45410673e-01 -3.32320577e-02 -4.87261072e+01] [-1.01346810e-01 2.17988310e-04 9.94851133e-01 -2.67864951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.741193817 meters 0.05774140730024824 Centerline is valid? [True, True] Translation: X:212.61, Y:-48.75, Z:-26.79 [[ 9.40498433e-01 3.25677385e-01 9.69378110e-02 2.12613638e+02] [-3.23931382e-01 9.45480918e-01 -3.36792773e-02 -4.87540278e+01] [-1.02621430e-01 2.74108345e-04 9.94720447e-01 -2.67941462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.801193817 meters 0.057770253145118924 Centerline is valid? [True, True] Translation: X:212.67, Y:-48.78, Z:-26.80 [[ 9.40689003e-01 3.25206746e-01 9.66683655e-02 2.12670435e+02] [-3.23464794e-01 9.45642875e-01 -3.36166606e-02 -4.87816275e+01] [-1.02346116e-01 3.54009922e-04 9.94748786e-01 -2.68023522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86119381700001 meters 0.05806987116191101 Centerline is valid? [True, True] Translation: X:212.72, Y:-48.81, Z:-26.81 [[ 9.41677478e-01 3.22743723e-01 9.52891244e-02 2.12723706e+02] [-3.21035030e-01 9.46486170e-01 -3.31728674e-02 -4.88143219e+01] [-1.00896173e-01 6.46995153e-04 9.94896750e-01 -2.68116750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92119381700002 meters 0.05807527827946593 Centerline is valid? [True, True] Translation: X:212.78, Y:-48.84, Z:-26.82 [[ 9.42220769e-01 3.21159584e-01 9.52708960e-02 2.12779694e+02] [-3.19440391e-01 9.47024713e-01 -3.31968350e-02 -4.88418621e+01] [-1.00885375e-01 8.45375146e-04 9.94897697e-01 -2.68190970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.981193817 meters 0.05805923455143398 Centerline is valid? [True, True] Translation: X:212.84, Y:-48.87, Z:-26.83 [[ 9.42450344e-01 3.20306031e-01 9.58717628e-02 2.12835905e+02] [-3.18557503e-01 9.47313624e-01 -3.34367331e-02 -4.88705780e+01] [-1.01530614e-01 9.71791228e-04 9.94831941e-01 -2.68263026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.041193817 meters 0.05887523135608145 Centerline is valid? [True, True] Translation: X:212.89, Y:-48.90, Z:-26.83 [[ 9.44040873e-01 3.15676837e-01 9.55770058e-02 2.12890509e+02] [-3.13911573e-01 9.48865576e-01 -3.33712879e-02 -4.89017793e+01] [-1.01224273e-01 1.50113155e-03 9.94862500e-01 -2.68335773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.101193817 meters 0.05974762407771601 Centerline is valid? [True, True] Translation: X:212.95, Y:-48.93, Z:-26.84 [[ 9.44714137e-01 3.13777453e-01 9.51783075e-02 2.12945598e+02] [-3.12014039e-01 9.49494983e-01 -3.32643456e-02 -4.89264172e+01] [-1.00808927e-01 1.72832940e-03 9.94904303e-01 -2.68424131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.161193817 meters 0.06134036896960029 Centerline is valid? [True, True] Translation: X:213.00, Y:-48.95, Z:-26.85 [[ 9.46382120e-01 3.08426196e-01 9.60945645e-02 2.13000780e+02] [-3.06597957e-01 9.51245373e-01 -3.36144622e-02 -4.89536343e+01] [-1.01777091e-01 2.34972879e-03 9.94804454e-01 -2.68500221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.221193817 meters 0.06574152042061177 Centerline is valid? [True, True] Translation: X:213.05, Y:-48.99, Z:-26.86 [[ 9.50142507e-01 2.96535714e-01 9.64146622e-02 2.13053582e+02] [-2.94630657e-01 9.55014716e-01 -3.37589705e-02 -4.89850902e+01] [-1.02088162e-01 3.66911759e-03 9.94768589e-01 -2.68562806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.281193817 meters 0.07028525435551622 Centerline is valid? [True, True] Translation: X:213.11, Y:-49.01, Z:-26.86 [[ 9.53056931e-01 2.87744514e-01 9.42633622e-02 2.13108111e+02] [-2.85880146e-01 9.57696565e-01 -3.30126011e-02 -4.90109064e+01] [-9.97748931e-02 4.51486452e-03 9.94999792e-01 -2.68649722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.341193817 meters 0.07448254332510107 Centerline is valid? [True, True] Translation: X:213.16, Y:-49.03, Z:-26.88 [[ 9.54536797e-01 2.84173827e-01 9.00263310e-02 2.13163973e+02] [-2.82457922e-01 9.58761419e-01 -3.15287847e-02 -4.90287815e+01] [-9.52734283e-02 4.66673476e-03 9.95440202e-01 -2.68784487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.401193817 meters 0.06960140363875232 Centerline is valid? [True, True] Translation: X:213.23, Y:-49.03, Z:-26.89 [[ 9.52940585e-01 2.90846909e-01 8.55120875e-02 2.13227899e+02] [-2.89325419e-01 9.56762047e-01 -2.99530666e-02 -4.90308135e+01] [-9.05264767e-02 3.80267226e-03 9.95886789e-01 -2.68879427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.461193817 meters 0.06315098195525956 Centerline is valid? [True, True] Translation: X:213.29, Y:-49.02, Z:-26.90 [[ 9.47272641e-01 3.08793515e-01 8.55634781e-02 2.13294735e+02] [-3.07342037e-01 9.51126780e-01 -2.99786581e-02 -4.90201112e+01] [-9.06389306e-02 2.10070896e-03 9.95881605e-01 -2.68977261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.521193817 meters 0.059310690983155015 Centerline is valid? [True, True] Translation: X:213.36, Y:-49.02, Z:-26.90 [[ 9.43696518e-01 3.19147511e-01 8.70732358e-02 2.13359086e+02] [-3.17687848e-01 9.47704379e-01 -3.05096941e-02 -4.90199201e+01] [-9.22567798e-02 1.12978317e-03 9.95734608e-01 -2.68995441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.581193817 meters 0.05798866212426988 Centerline is valid? [True, True] Translation: X:213.42, Y:-49.02, Z:-26.91 [[ 9.38988634e-01 3.32413351e-01 8.83272825e-02 2.13422548e+02] [-3.30969571e-01 9.43133784e-01 -3.09484844e-02 -4.90201912e+01] [-9.35921335e-02 -1.73367755e-04 9.95610608e-01 -2.69066396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64119381700002 meters 0.05813739439095658 Centerline is valid? [True, True] Translation: X:213.48, Y:-49.03, Z:-26.92 [[ 9.36807983e-01 3.38540869e-01 8.82093117e-02 2.13483424e+02] [-3.37128547e-01 9.40951357e-01 -3.09012286e-02 -4.90315452e+01] [-9.34620004e-02 -7.89359408e-04 9.95622535e-01 -2.69151541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.701193817 meters 0.058484761619355355 Centerline is valid? [True, True] Translation: X:213.54, Y:-49.05, Z:-26.92 [[ 9.35765848e-01 3.42309945e-01 8.46532872e-02 2.13541922e+02] [-3.41021656e-01 9.39586464e-01 -2.96901903e-02 -4.90480947e+01] [-8.97023302e-02 -1.08553807e-03 9.95968028e-01 -2.69239651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.761193817 meters 0.05906533020593082 Centerline is valid? [True, True] Translation: X:213.60, Y:-49.07, Z:-26.94 [[ 9.35712875e-01 3.42771885e-01 8.33597662e-02 2.13598322e+02] [-3.41524933e-01 9.39418005e-01 -2.92323732e-02 -4.90685871e+01] [-8.83297009e-02 -1.11633059e-03 9.96090667e-01 -2.69355254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.821193817 meters 0.058972896399796054 Centerline is valid? [True, True] Translation: X:213.66, Y:-49.09, Z:-26.94 [[ 9.35603439e-01 3.42977960e-01 8.37396188e-02 2.13656253e+02] [-3.41718131e-01 9.39342787e-01 -2.93912861e-02 -4.90914203e+01] [-8.87407703e-02 -1.11675760e-03 9.96054129e-01 -2.69422972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.881193817 meters 0.05923250848366008 Centerline is valid? [True, True] Translation: X:213.71, Y:-49.11, Z:-26.95 [[ 9.34261336e-01 3.46216258e-01 8.53818375e-02 2.13714947e+02] [-3.44917326e-01 9.38153650e-01 -2.99961151e-02 -4.91114090e+01] [-9.04864252e-02 -1.42546454e-03 9.95896669e-01 -2.69489091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.941193817 meters 0.06002323101142001 Centerline is valid? [True, True] Translation: X:213.77, Y:-49.13, Z:-26.96 [[ 9.33247976e-01 3.49078017e-01 8.48100995e-02 2.13772386e+02] [-3.47805748e-01 9.37092186e-01 -2.98227542e-02 -4.91318405e+01] [-8.98853494e-02 -1.66541507e-03 9.95950727e-01 -2.69582247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.001193817 meters 0.061273130998298626 Centerline is valid? [True, True] Translation: X:213.83, Y:-49.16, Z:-26.97 [[ 9.32749093e-01 3.50619273e-01 8.39360145e-02 2.13826406e+02] [-3.49376869e-01 9.36516416e-01 -2.95432986e-02 -4.91593181e+01] [-8.89659053e-02 -1.76881698e-03 9.96033101e-01 -2.69715829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.061193817 meters 0.06003389916185776 Centerline is valid? [True, True] Translation: X:213.88, Y:-49.19, Z:-26.98 [[ 9.32665382e-01 3.51334839e-01 8.18481316e-02 2.13880945e+02] [-3.50155703e-01 9.36248176e-01 -2.88155624e-02 -4.91907341e+01] [-8.67540749e-02 -1.78431258e-03 9.96228160e-01 -2.69750892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.121193817 meters 0.06048249964604726 Centerline is valid? [True, True] Translation: X:213.93, Y:-49.22, Z:-26.98 [[ 9.31513152e-01 3.54297717e-01 8.21971790e-02 2.13934139e+02] [-3.53117608e-01 9.35130447e-01 -2.89655444e-02 -4.92242658e+01] [-8.71275109e-02 -2.04348567e-03 9.96195072e-01 -2.69824938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.181193817 meters 0.061207460841519463 Centerline is valid? [True, True] Translation: X:213.99, Y:-49.25, Z:-26.99 [[ 9.30658797e-01 3.56842229e-01 8.08568289e-02 2.13989274e+02] [-3.55707019e-01 9.34162046e-01 -2.85269674e-02 -4.92535598e+01] [-8.57130073e-02 -2.21246843e-03 9.96317412e-01 -2.69918457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.241193817 meters 0.061363761095456895 Centerline is valid? [True, True] Translation: X:214.04, Y:-49.29, Z:-27.00 [[ 9.30222109e-01 3.57656032e-01 8.22738758e-02 2.14041775e+02] [-3.56483678e-01 9.33850496e-01 -2.90282270e-02 -4.92877990e+01] [-8.72136202e-02 -2.32659529e-03 9.96186916e-01 -2.69994462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.301193817 meters 0.05958159081223702 Centerline is valid? [True, True] Translation: X:214.09, Y:-49.32, Z:-27.00 [[ 9.31714676e-01 3.52957539e-01 8.56080511e-02 2.14094135e+02] [-3.51665155e-01 9.35637347e-01 -3.02386215e-02 -4.93239354e+01] [-9.07710392e-02 -1.93160121e-03 9.95869915e-01 -2.70023815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36119381700001 meters 0.05779794492421063 Centerline is valid? [True, True] Translation: X:214.14, Y:-49.37, Z:-27.01 [[ 9.34872456e-01 3.44086986e-01 8.72790746e-02 2.14143183e+02] [-3.42704606e-01 9.38937146e-01 -3.08316335e-02 -4.93672676e+01] [-9.25583290e-02 -1.08729587e-03 9.95706670e-01 -2.70060607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42119381700002 meters 0.05712503450394544 Centerline is valid? [True, True] Translation: X:214.19, Y:-49.41, Z:-27.01 [[ 9.39582994e-01 3.30579543e-01 8.88873583e-02 2.14193533e+02] [-3.29084860e-01 9.43778100e-01 -3.14014814e-02 -4.94091028e+01] [-9.42706294e-02 2.52814096e-04 9.95546576e-01 -2.70097972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.481193817 meters 0.05871475137829128 Centerline is valid? [True, True] Translation: X:214.25, Y:-49.45, Z:-27.02 [[ 9.43769099e-01 3.18614291e-01 8.82316389e-02 2.14246068e+02] [-3.17088942e-01 9.47883354e-01 -3.11729153e-02 -4.94453587e+01] [-9.35654381e-02 1.44275709e-03 9.95612087e-01 -2.70175133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.541193817 meters 0.0628403559891716 Centerline is valid? [True, True] Translation: X:214.30, Y:-49.48, Z:-27.02 [[ 9.48975961e-01 3.02575214e-01 8.88417976e-02 2.14297224e+02] [-3.00957216e-01 9.53120602e-01 -3.13985845e-02 -4.94842467e+01] [-9.41773811e-02 3.05892179e-03 9.95550734e-01 -2.70225944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.601193817 meters 0.06655890367434747 Centerline is valid? [True, True] Translation: X:214.35, Y:-49.51, Z:-27.03 [[ 9.51159364e-01 2.95186064e-01 9.03385380e-02 2.14350999e+02] [-2.93479195e-01 9.55431989e-01 -3.19323707e-02 -4.95118569e+01] [-9.57383199e-02 3.86029196e-03 9.95399052e-01 -2.70298650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.661193817 meters 0.0675258351789739 Centerline is valid? [True, True] Translation: X:214.41, Y:-49.53, Z:-27.04 [[ 9.51961474e-01 2.92279691e-01 9.13341952e-02 2.14408928e+02] [-2.90522177e-01 9.56323692e-01 -3.22778637e-02 -4.95312962e+01] [-9.67792188e-02 4.19267347e-03 9.95297043e-01 -2.70365804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.721193817 meters 0.06685949757232267 Centerline is valid? [True, True] Translation: X:214.47, Y:-49.54, Z:-27.05 [[ 9.52250281e-01 2.91574387e-01 9.05747160e-02 2.14470097e+02] [-2.89840206e-01 9.56538692e-01 -3.20372459e-02 -4.95410446e+01] [-9.59794607e-02 4.25528204e-03 9.95374219e-01 -2.70459911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.781193817 meters 0.06726830261460072 Centerline is valid? [True, True] Translation: X:214.53, Y:-49.55, Z:-27.06 [[ 9.52320964e-01 2.91656293e-01 8.95622067e-02 2.14530816e+02] [-2.89958458e-01 9.56513851e-01 -3.17071872e-02 -4.95549065e+01] [-9.49150919e-02 4.22609971e-03 9.95476401e-01 -2.70551353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.841193817 meters 0.07068803717374064 Centerline is valid? [True, True] Translation: X:214.59, Y:-49.56, Z:-27.06 [[ 9.53825710e-01 2.86903462e-01 8.88983624e-02 2.14590999e+02] [-2.85206547e-01 9.57947964e-01 -3.15107025e-02 -4.95637921e+01] [-9.42005349e-02 4.70132319e-03 9.95542142e-01 -2.70649338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.901193817 meters 0.07515040531353606 Centerline is valid? [True, True] Translation: X:214.65, Y:-49.57, Z:-27.07 [[ 9.55955432e-01 2.80150551e-01 8.75493077e-02 2.14652515e+02] [-2.78476562e-01 9.59941521e-01 -3.10335392e-02 -4.95702703e+01] [-9.27362787e-02 5.28625018e-03 9.95676674e-01 -2.70728496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.961193817 meters 0.0796805687582388 Centerline is valid? [True, True] Translation: X:214.71, Y:-49.58, Z:-27.08 [[ 9.57625982e-01 2.75226210e-01 8.48705637e-02 2.14712984e+02] [-2.73633561e-01 9.61363234e-01 -3.00899646e-02 -4.95797693e+01] [-8.98729865e-02 5.59149734e-03 9.95937539e-01 -2.70840008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.021193817 meters 0.0830235182444445 Centerline is valid? [True, True] Translation: X:214.77, Y:-49.59, Z:-27.09 [[ 9.58839378e-01 2.71484405e-01 8.32061654e-02 2.14774741e+02] [-2.69939502e-01 9.62425195e-01 -2.95027018e-02 -4.95865034e+01] [-8.80892334e-02 5.82772137e-03 9.96095540e-01 -2.70936763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.081193817 meters 0.08613891000588525 Centerline is valid? [True, True] Translation: X:214.84, Y:-49.59, Z:-27.10 [[ 9.59390180e-01 2.69140821e-01 8.44612410e-02 2.14837693e+02] [-2.67540203e-01 9.63081323e-01 -2.99433706e-02 -4.95909199e+01] [-8.94020270e-02 6.13059815e-03 9.95976753e-01 -2.71023582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14119381700002 meters 0.08793009037737876 Centerline is valid? [True, True] Translation: X:214.91, Y:-49.58, Z:-27.11 [[ 9.59804166e-01 2.67400732e-01 8.52807743e-02 2.14907087e+02] [-2.65759135e-01 9.63564260e-01 -3.02654840e-02 -4.95811992e+01] [-9.02665188e-02 6.38479288e-03 9.95897178e-01 -2.71083667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.201193817 meters 0.08966486270954903 Centerline is valid? [True, True] Translation: X:214.97, Y:-49.58, Z:-27.12 [[ 9.60139382e-01 2.66048457e-01 8.57355590e-02 2.14971462e+02] [-2.64383190e-01 9.63937372e-01 -3.04347176e-02 -4.95839876e+01] [-9.07408190e-02 6.55453030e-03 9.95852972e-01 -2.71168463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.261193817 meters 0.08567333003297334 Centerline is valid? [True, True] Translation: X:215.04, Y:-49.57, Z:-27.12 [[ 9.60750739e-01 2.64647448e-01 8.31850107e-02 2.15040390e+02] [-2.63074122e-01 9.64323366e-01 -2.95373021e-02 -4.95703466e+01] [-8.80342212e-02 6.49416112e-03 9.96096281e-01 -2.71227390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.321193817 meters 0.08493295369298604 Centerline is valid? [True, True] Translation: X:215.10, Y:-49.57, Z:-27.13 [[ 9.59998958e-01 2.67167460e-01 8.38066184e-02 2.15104458e+02] [-2.65579459e-01 9.63629418e-01 -2.97640023e-02 -4.95695817e+01] [-8.87104958e-02 6.31609479e-03 9.96037426e-01 -2.71319847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.381193817 meters 0.08092580496357862 Centerline is valid? [True, True] Translation: X:215.17, Y:-49.56, Z:-27.14 [[ 9.58311197e-01 2.72940140e-01 8.45182184e-02 2.15171653e+02] [-2.71346997e-01 9.62013328e-01 -3.00194068e-02 -4.95594456e+01] [-8.95011536e-02 5.83416900e-03 9.95969631e-01 -2.71381285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.441193817 meters 0.07931704043863028 Centerline is valid? [True, True] Translation: X:215.24, Y:-49.56, Z:-27.14 [[ 9.57146438e-01 2.76156291e-01 8.72261374e-02 2.15235401e+02] [-2.74472430e-01 9.61095768e-01 -3.09807857e-02 -4.95605642e+01] [-9.23882104e-02 5.71197876e-03 9.95706680e-01 -2.71446907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.501193817 meters 0.07889795891939554 Centerline is valid? [True, True] Translation: X:215.30, Y:-49.55, Z:-27.15 [[ 9.56508938e-01 2.78470096e-01 8.68622940e-02 2.15300758e+02] [-2.76809729e-01 9.60429347e-01 -3.08519665e-02 -4.95549896e+01] [-9.20164463e-02 5.46585364e-03 9.95742486e-01 -2.71532429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.561193817 meters 0.07312947663734436 Centerline is valid? [True, True] Translation: X:215.37, Y:-49.55, Z:-27.15 [[ 9.56468239e-01 2.79042780e-01 8.54613065e-02 2.15369742e+02] [-2.77438543e-01 9.60263954e-01 -3.03478732e-02 -4.95457122e+01] [-9.05337670e-02 5.31651647e-03 9.95879195e-01 -2.71549692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.621193817 meters 0.07396626895404408 Centerline is valid? [True, True] Translation: X:215.43, Y:-49.55, Z:-27.16 [[ 9.56269063e-01 2.79632944e-01 8.57606861e-02 2.15430689e+02] [-2.78016451e-01 9.60092274e-01 -3.04906382e-02 -4.95514390e+01] [-9.08643590e-02 5.31437244e-03 9.95849098e-01 -2.71621717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.681193817 meters 0.08155959424985883 Centerline is valid? [True, True] Translation: X:215.49, Y:-49.56, Z:-27.17 [[ 9.56267812e-01 2.79057861e-01 8.76275162e-02 2.15488272e+02] [-2.77367782e-01 9.60258622e-01 -3.11527216e-02 -4.95607879e+01] [-9.28384898e-02 5.48529508e-03 9.95666072e-01 -2.71728874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.741193817 meters 0.07367530753826423 Centerline is valid? [True, True] Translation: X:215.55, Y:-49.56, Z:-27.17 [[ 9.56166284e-01 2.78820667e-01 8.94710728e-02 2.15552512e+02] [-2.77057728e-01 9.60326726e-01 -3.18055915e-02 -4.95569199e+01] [-9.47895186e-02 5.62278213e-03 9.95481457e-01 -2.71717466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.801193817 meters 0.07449649815074529 Centerline is valid? [True, True] Translation: X:215.61, Y:-49.56, Z:-27.18 [[ 9.55966997e-01 2.79879214e-01 8.82877416e-02 2.15611932e+02] [-2.78167920e-01 9.60019825e-01 -3.13774340e-02 -4.95617163e+01] [-9.35398738e-02 5.43697391e-03 9.95600689e-01 -2.71805666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86119381700001 meters 0.07419214559051988 Centerline is valid? [True, True] Translation: X:215.67, Y:-49.57, Z:-27.19 [[ 9.55540328e-01 2.82065034e-01 8.59185537e-02 2.15670439e+02] [-2.80454294e-01 9.59381880e-01 -3.05253535e-02 -4.95708314e+01] [-9.10388385e-02 5.07197897e-03 9.95834426e-01 -2.71906724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92119381700002 meters 0.06887311166178645 Centerline is valid? [True, True] Translation: X:215.73, Y:-49.57, Z:-27.19 [[ 9.54451937e-01 2.84953695e-01 8.84471071e-02 2.15734833e+02] [-2.83259667e-01 9.58528604e-01 -3.14145907e-02 -4.95701748e+01] [-9.37307858e-02 4.93021886e-03 9.95585372e-01 -2.71915176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.981193817 meters 0.07015485396624205 Centerline is valid? [True, True] Translation: X:215.79, Y:-49.58, Z:-27.20 [[ 9.54048576e-01 2.85269721e-01 9.17196898e-02 2.15791383e+02] [-2.83449448e-01 9.58433824e-01 -3.25732426e-02 -4.95843771e+01] [-9.71994128e-02 5.07856023e-03 9.95251969e-01 -2.71977890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.041193817 meters 0.07224622898765488 Centerline is valid? [True, True] Translation: X:215.85, Y:-49.60, Z:-27.21 [[ 9.54115327e-01 2.84677912e-01 9.28570308e-02 2.15845565e+02] [-2.82810023e-01 9.58609142e-01 -3.29697388e-02 -4.96002548e+01] [-9.83993551e-02 5.19603412e-03 9.95133442e-01 -2.72052231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.101193817 meters 0.06696279193492966 Centerline is valid? [True, True] Translation: X:215.91, Y:-49.60, Z:-27.21 [[ 9.53192250e-01 2.88865700e-01 8.93372367e-02 2.15907907e+02] [-2.87156819e-01 9.57358735e-01 -3.17051021e-02 -4.95976814e+01] [-9.46863004e-02 4.56726087e-03 9.95496682e-01 -2.72137657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.161193817 meters 0.0632953548658866 Centerline is valid? [True, True] Translation: X:215.97, Y:-49.59, Z:-27.23 [[ 9.49210337e-01 3.02992880e-01 8.48236491e-02 2.15971102e+02] [-3.01509489e-01 9.52988128e-01 -3.00941358e-02 -4.95931081e+01] [-8.99542394e-02 2.99052971e-03 9.95941410e-01 -2.72289604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.221193817 meters 0.06080690574711087 Centerline is valid? [True, True] Translation: X:216.03, Y:-49.60, Z:-27.24 [[ 9.47106612e-01 3.10089509e-01 8.26653561e-02 2.16031743e+02] [-3.08707948e-01 9.50704692e-01 -2.93256111e-02 -4.95986145e+01] [-8.76839063e-02 2.25502770e-03 9.96145796e-01 -2.72377601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.281193817 meters 0.06029141755988214 Centerline is valid? [True, True] Translation: X:216.09, Y:-49.61, Z:-27.25 [[ 9.45171709e-01 3.15339401e-01 8.49205684e-02 2.16088949e+02] [-3.13902730e-01 9.48977226e-01 -3.01214409e-02 -4.96123090e+01] [-9.00861625e-02 1.81313549e-03 9.95932325e-01 -2.72481425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.341193817 meters 0.05850612418895509 Centerline is valid? [True, True] Translation: X:216.15, Y:-49.62, Z:-27.25 [[ 9.43605227e-01 3.19473770e-01 8.68659072e-02 2.16148383e+02] [-3.17988198e-01 9.47594014e-01 -3.08073258e-02 -4.96242553e+01] [-9.21557462e-02 1.44762033e-03 9.95743553e-01 -2.72487522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.401193817 meters 0.05755002618727871 Centerline is valid? [True, True] Translation: X:216.20, Y:-49.64, Z:-27.25 [[ 9.40901448e-01 3.26611938e-01 8.96052816e-02 2.16204087e+02] [-3.25063596e-01 9.45158214e-01 -3.17743341e-02 -4.96448766e+01] [-9.50690448e-02 7.69101912e-04 9.95470384e-01 -2.72542589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.461193817 meters 0.057325357310664425 Centerline is valid? [True, True] Translation: X:216.26, Y:-49.67, Z:-27.26 [[ 9.39966504e-01 3.28946960e-01 9.08673113e-02 2.16256991e+02] [-3.27365732e-01 9.44348245e-01 -3.22190899e-02 -4.96679954e+01] [-9.64087577e-02 5.38021437e-04 9.95341681e-01 -2.72608699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.521193817 meters 0.057557020543416715 Centerline is valid? [True, True] Translation: X:216.31, Y:-49.71, Z:-27.27 [[ 9.41090948e-01 3.25032405e-01 9.32832382e-02 2.16305090e+02] [-3.23347210e-01 9.45702394e-01 -3.30690803e-02 -4.97066731e+01] [-9.89667044e-02 9.58137301e-04 9.95090284e-01 -2.72656486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.581193817 meters 0.059147059363207174 Centerline is valid? [True, True] Translation: X:216.35, Y:-49.75, Z:-27.28 [[ 9.43857308e-01 3.17209373e-01 9.22583116e-02 2.16349965e+02] [-3.15527216e-01 9.48353960e-01 -3.26701985e-02 -4.97545941e+01] [-9.78568284e-02 1.72599745e-03 9.95199006e-01 -2.72760567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64119381700002 meters 0.05981269117747385 Centerline is valid? [True, True] Translation: X:216.40, Y:-49.79, Z:-27.29 [[ 9.44840492e-01 3.14860921e-01 9.02166592e-02 2.16399488e+02] [-3.13242192e-01 9.49135873e-01 -3.19440750e-02 -4.97894983e+01] [-9.56858084e-02 1.92239143e-03 9.95409730e-01 -2.72852013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.701193817 meters 0.05999299415858444 Centerline is valid? [True, True] Translation: X:216.45, Y:-49.83, Z:-27.30 [[ 9.44581829e-01 3.17024000e-01 8.52112202e-02 2.16448184e+02] [-3.15592111e-01 9.48416206e-01 -3.01383528e-02 -4.98262546e+01] [-9.03702833e-02 1.57615160e-03 9.95906987e-01 -2.72980282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.761193817 meters 0.05976633389899781 Centerline is valid? [True, True] Translation: X:216.50, Y:-49.86, Z:-27.30 [[ 9.44242150e-01 3.17925116e-01 8.56176590e-02 2.16500225e+02] [-3.16483338e-01 9.48114647e-01 -3.02805708e-02 -4.98552519e+01] [-9.08023105e-02 1.49562875e-03 9.95867814e-01 -2.73049894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.821193817 meters 0.05925830653330992 Centerline is valid? [True, True] Translation: X:216.55, Y:-49.89, Z:-27.31 [[ 9.43407080e-01 3.19345955e-01 8.94496700e-02 2.16549720e+02] [-3.17781861e-01 9.47637190e-01 -3.15981636e-02 -4.98904173e+01] [-9.48565797e-02 1.38444863e-03 9.95489986e-01 -2.73100861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.881193817 meters 0.0591842645258941 Centerline is valid? [True, True] Translation: X:216.60, Y:-49.92, Z:-27.32 [[ 9.43652200e-01 3.18401026e-01 9.02292243e-02 2.16602083e+02] [-3.16805727e-01 9.47954944e-01 -3.18677848e-02 -4.99187341e+01] [-9.56799747e-02 1.48697026e-03 9.95411036e-01 -2.73150227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.941193817 meters 0.05967019765189133 Centerline is valid? [True, True] Translation: X:216.65, Y:-49.95, Z:-27.32 [[ 9.44739142e-01 3.14757349e-01 9.16284076e-02 2.16654170e+02] [-3.13095808e-01 9.49170316e-01 -3.23531506e-02 -4.99479178e+01] [-9.71543565e-02 1.87681749e-03 9.95267556e-01 -2.73203097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.001193817 meters 0.06176216183578267 Centerline is valid? [True, True] Translation: X:216.70, Y:-49.98, Z:-27.33 [[ 9.46888715e-01 3.08052985e-01 9.22232065e-02 2.16702836e+02] [-3.06338908e-01 9.51365722e-01 -3.25535811e-02 -4.99827017e+01] [-9.77662253e-02 2.57306219e-03 9.95206081e-01 -2.73282703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.061193817 meters 0.06523068510857355 Centerline is valid? [True, True] Translation: X:216.75, Y:-50.02, Z:-27.33 [[ 9.49932900e-01 2.98042488e-01 9.37985136e-02 2.16753403e+02] [-2.96221262e-01 9.54545594e-01 -3.31009589e-02 -5.00206163e+01] [-9.94004500e-02 3.65857575e-03 9.95040786e-01 -2.73343488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.121193817 meters 0.06725438346860532 Centerline is valid? [True, True] Translation: X:216.81, Y:-50.05, Z:-27.34 [[ 9.51007305e-01 2.94184697e-01 9.50813813e-02 2.16806286e+02] [-2.92294003e-01 9.55739719e-01 -3.35530187e-02 -5.00498164e+01] [-1.00743837e-01 4.11744837e-03 9.94903878e-01 -2.73410251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.181193817 meters 0.06764048277091907 Centerline is valid? [True, True] Translation: X:216.86, Y:-50.07, Z:-27.35 [[ 9.51323060e-01 2.93879310e-01 9.28406541e-02 2.16862434e+02] [-2.92076135e-01 9.55833976e-01 -3.27557776e-02 -5.00735970e+01] [-9.83664969e-02 4.04478715e-03 9.95142036e-01 -2.73512089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.241193817 meters 0.06577225159507417 Centerline is valid? [True, True] Translation: X:216.92, Y:-50.09, Z:-27.36 [[ 9.51198020e-01 2.94838111e-01 9.10648951e-02 2.16921573e+02] [-2.93105313e-01 9.55539284e-01 -3.21551332e-02 -5.00912479e+01] [-9.64966434e-02 3.89429450e-03 9.95325692e-01 -2.73584775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.301193817 meters 0.06594407144419859 Centerline is valid? [True, True] Translation: X:216.98, Y:-50.11, Z:-27.37 [[ 9.50463461e-01 2.97154430e-01 9.12055604e-02 2.16978205e+02] [-2.95423698e-01 9.54822278e-01 -3.22374990e-02 -5.01118535e+01] [-9.66646166e-02 3.69628097e-03 9.95310147e-01 -2.73668393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36119381700001 meters 0.06490710624800342 Centerline is valid? [True, True] Translation: X:217.04, Y:-50.12, Z:-27.38 [[ 9.49378951e-01 3.01501923e-01 8.81827575e-02 2.17036498e+02] [-2.99899658e-01 9.53460270e-01 -3.12043074e-02 -5.01249345e+01] [-9.34869145e-02 3.17873379e-03 9.95615434e-01 -2.73782458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42119381700002 meters 0.06472452552760571 Centerline is valid? [True, True] Translation: X:217.09, Y:-50.14, Z:-27.39 [[ 9.49435038e-01 3.01337661e-01 8.81403531e-02 2.17093514e+02] [-2.99736118e-01 9.53512144e-01 -3.11905584e-02 -5.01416377e+01] [-9.34417870e-02 3.19456178e-03 9.95619620e-01 -2.73853774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.481193817 meters 0.06627690474806361 Centerline is valid? [True, True] Translation: X:217.15, Y:-50.16, Z:-27.39 [[ 9.50341821e-01 2.97778630e-01 9.04340143e-02 2.17148464e+02] [-2.96076725e-01 9.54628033e-01 -3.19982904e-02 -5.01628055e+01] [-9.58592523e-02 3.63390680e-03 9.95388265e-01 -2.73917082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.541193817 meters 0.06879935506115015 Centerline is valid? [True, True] Translation: X:217.20, Y:-50.19, Z:-27.40 [[ 9.52142237e-01 2.91658173e-01 9.14367006e-02 2.17204684e+02] [-2.89890907e-01 9.56512995e-01 -3.23442923e-02 -5.01864527e+01] [-9.68938695e-02 4.28969875e-03 9.95285475e-01 -2.73979621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.601193817 meters 0.06883010412081428 Centerline is valid? [True, True] Translation: X:217.26, Y:-50.20, Z:-27.40 [[ 9.51749577e-01 2.92328250e-01 9.33645365e-02 2.17261057e+02] [-2.90488240e-01 9.56308303e-01 -3.30304561e-02 -5.02016180e+01] [-9.89410169e-02 4.31542269e-03 9.95083942e-01 -2.74022055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.661193817 meters 0.06481525059910943 Centerline is valid? [True, True] Translation: X:217.32, Y:-50.21, Z:-27.41 [[ 9.48845686e-01 3.01628046e-01 9.33401601e-02 2.17322087e+02] [-2.99834458e-01 9.53419832e-01 -3.30139640e-02 -5.02081611e+01] [-9.89502973e-02 3.33856104e-03 9.95086776e-01 -2.74095261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.721193817 meters 0.061699123885823506 Centerline is valid? [True, True] Translation: X:217.38, Y:-50.22, Z:-27.42 [[ 9.46072463e-01 3.10193593e-01 9.34175046e-02 2.17382796e+02] [-3.08438530e-01 9.50670265e-01 -3.30411894e-02 -5.02167548e+01] [-9.90584091e-02 2.44580166e-03 9.95078615e-01 -2.74167659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.781193817 meters 0.06007099654862419 Centerline is valid? [True, True] Translation: X:217.44, Y:-50.23, Z:-27.43 [[ 9.43245707e-01 3.19526540e-01 9.05004272e-02 2.17438916e+02] [-3.17922265e-01 9.47576261e-01 -3.20103658e-02 -5.02275810e+01] [-9.59842178e-02 1.42153931e-03 9.95381841e-01 -2.74296069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.841193817 meters 0.05966805477068367 Centerline is valid? [True, True] Translation: X:217.49, Y:-50.25, Z:-27.44 [[ 9.42593714e-01 3.21529352e-01 9.01995910e-02 2.17493883e+02] [-3.19945939e-01 9.46898848e-01 -3.18930682e-02 -5.02459400e+01] [-9.56644464e-02 1.20321273e-03 9.95412912e-01 -2.74372813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.901193817 meters 0.059527682738442174 Centerline is valid? [True, True] Translation: X:217.55, Y:-50.27, Z:-27.45 [[ 9.42302673e-01 3.23042784e-01 8.78010979e-02 2.17547202e+02] [-3.21549905e-01 9.46383818e-01 -3.10375123e-02 -5.02691825e+01] [-9.31199827e-02 1.01429607e-03 9.95654378e-01 -2.74468643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.961193817 meters 0.05997789240202677 Centerline is valid? [True, True] Translation: X:217.60, Y:-50.29, Z:-27.46 [[ 9.41727483e-01 3.25584722e-01 8.45218164e-02 2.17599865e+02] [-3.24212332e-01 9.45512591e-01 -2.98714687e-02 -5.02891717e+01] [-8.96421355e-02 7.27767825e-04 9.95973774e-01 -2.74600512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.021193817 meters 0.059457500370914976 Centerline is valid? [True, True] Translation: X:217.66, Y:-50.31, Z:-27.47 [[ 9.40087027e-01 3.30793017e-01 8.25370361e-02 2.17655719e+02] [-3.29505304e-01 9.43703308e-01 -2.91602727e-02 -5.03073050e+01] [-8.75364886e-02 2.16802901e-04 9.96161290e-01 -2.74668256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.081193817 meters 0.05918507924104007 Centerline is valid? [True, True] Translation: X:217.71, Y:-50.34, Z:-27.47 [[ 9.40774598e-01 3.28083671e-01 8.54649653e-02 2.17708350e+02] [-3.26692386e-01 9.44648546e-01 -3.01862285e-02 -5.03356693e+01] [-9.06379639e-02 4.77683528e-04 9.95883794e-01 -2.74707210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14119381700002 meters 0.059723230518065135 Centerline is valid? [True, True] Translation: X:217.76, Y:-50.37, Z:-27.47 [[ 9.42734941e-01 3.21708413e-01 8.80597938e-02 2.17758929e+02] [-3.20204175e-01 9.46838133e-01 -3.10939847e-02 -5.03681035e+01] [-9.33815672e-02 1.11627224e-03 9.95629769e-01 -2.74747946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.201193817 meters 0.0599571523369608 Centerline is valid? [True, True] Translation: X:217.81, Y:-50.40, Z:-27.48 [[ 9.43713020e-01 3.18243431e-01 9.01490677e-02 2.17809689e+02] [-3.16651849e-01 9.48007864e-01 -3.18228774e-02 -5.04017347e+01] [-9.55894468e-02 1.48579479e-03 9.95419736e-01 -2.74780523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.261193817 meters 0.05929640172609438 Centerline is valid? [True, True] Translation: X:217.86, Y:-50.42, Z:-27.49 [[ 9.42426018e-01 3.22414100e-01 8.87825975e-02 2.17864693e+02] [-3.20889794e-01 9.46598157e-01 -3.13316121e-02 -5.04223500e+01] [-9.41431967e-02 1.03829702e-03 9.95558125e-01 -2.74863572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.321193817 meters 0.059487550619391004 Centerline is valid? [True, True] Translation: X:217.92, Y:-50.45, Z:-27.50 [[ 9.40685501e-01 3.28102503e-01 8.63686072e-02 2.17916980e+02] [-3.26684456e-01 9.44642019e-01 -3.04749494e-02 -5.04450056e+01] [-9.15863226e-02 4.52061548e-04 9.95797038e-01 -2.74998521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.381193817 meters 0.059570520606401736 Centerline is valid? [True, True] Translation: X:217.97, Y:-50.47, Z:-27.51 [[ 9.40939788e-01 3.28016629e-01 8.38892541e-02 2.17969231e+02] [-3.26679707e-01 9.44671848e-01 -2.95883005e-02 -5.04748168e+01] [-8.89532713e-02 4.35892253e-04 9.96035705e-01 -2.75067410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.441193817 meters 0.06097129239784702 Centerline is valid? [True, True] Translation: X:218.02, Y:-50.51, Z:-27.52 [[ 9.41695518e-01 3.26751454e-01 8.02685418e-02 2.18018303e+02] [-3.25523452e-01 9.45110157e-01 -2.83067625e-02 -5.05100945e+01] [-8.51118899e-02 5.27058575e-04 9.96371260e-01 -2.75230740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.501193817 meters 0.06041085445619464 Centerline is valid? [True, True] Translation: X:218.07, Y:-50.55, Z:-27.52 [[ 9.42347179e-01 3.24224362e-01 8.28272713e-02 2.18071897e+02] [-3.22907441e-01 9.45979896e-01 -2.92030844e-02 -5.05451257e+01] [-8.78212849e-02 7.73901990e-04 9.96135946e-01 -2.75236888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.561193817 meters 0.06122940658752384 Centerline is valid? [True, True] Translation: X:218.13, Y:-50.58, Z:-27.53 [[ 9.43958706e-01 3.18907179e-01 8.50892015e-02 2.18126586e+02] [-3.17495520e-01 9.47785054e-01 -3.00014331e-02 -5.05802978e+01] [-9.02139459e-02 1.30467371e-03 9.95921554e-01 -2.75285882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.621193817 meters 0.06413246568975624 Centerline is valid? [True, True] Translation: X:218.18, Y:-50.62, Z:-27.53 [[ 9.47921487e-01 3.06743631e-01 8.57507969e-02 2.18177565e+02] [-3.05256167e-01 9.51788828e-01 -3.02770563e-02 -5.06197168e+01] [-9.09039447e-02 2.52431268e-03 9.95856466e-01 -2.75339776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.681193817 meters 0.06730330424808484 Centerline is valid? [True, True] Translation: X:218.23, Y:-50.65, Z:-27.54 [[ 9.50580020e-01 2.98033034e-01 8.70283595e-02 2.18230093e+02] [-2.96463858e-01 9.54549453e-01 -3.07330848e-02 -5.06523441e+01] [-9.22323474e-02 3.41349317e-03 9.95731662e-01 -2.75410175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.741193817 meters 0.07078522739555965 Centerline is valid? [True, True] Translation: X:218.28, Y:-50.68, Z:-27.55 [[ 9.53610231e-01 2.88141101e-01 8.71907862e-02 2.18283996e+02] [-2.86524513e-01 9.57577936e-01 -3.07928590e-02 -5.06808511e+01] [-9.23646614e-02 4.38208778e-03 9.95715605e-01 -2.75465766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.801193817 meters 0.0705379637678619 Centerline is valid? [True, True] Translation: X:218.34, Y:-50.70, Z:-27.56 [[ 9.53191252e-01 2.89961022e-01 8.57265533e-02 2.18343108e+02] [-2.88406485e-01 9.57029559e-01 -3.02675243e-02 -5.06988027e+01] [-9.08192478e-02 4.12664553e-03 9.95858843e-01 -2.75552587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86119381700001 meters 0.06788024667783214 Centerline is valid? [True, True] Translation: X:218.40, Y:-50.71, Z:-27.56 [[ 9.51331910e-01 2.96782709e-01 8.29916849e-02 2.18402961e+02] [-2.95348595e-01 9.54938988e-01 -2.93383178e-02 -5.07111616e+01] [-8.79591011e-02 3.39900039e-03 9.96118288e-01 -2.75645050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92119381700002 meters 0.06486417758668749 Centerline is valid? [True, True] Translation: X:218.46, Y:-50.72, Z:-27.57 [[ 9.48164170e-01 3.07158572e-01 8.14758784e-02 2.18463067e+02] [-3.05814214e-01 9.51655331e-01 -2.88062174e-02 -5.07174367e+01] [-8.63850306e-02 2.39654151e-03 9.96258944e-01 -2.75745076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.981193817 meters 0.06217627689947941 Centerline is valid? [True, True] Translation: X:218.52, Y:-50.72, Z:-27.58 [[ 9.44663149e-01 3.17514812e-01 8.24371238e-02 2.18524411e+02] [-3.16177885e-01 9.48252179e-01 -2.91436105e-02 -5.07245083e+01] [-8.74247103e-02 1.46609938e-03 9.96170051e-01 -2.75825104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.041193817 meters 0.060142971953000605 Centerline is valid? [True, True] Translation: X:218.59, Y:-50.73, Z:-27.59 [[ 9.40666206e-01 3.28430748e-01 8.53248667e-02 2.18586753e+02] [-3.27042748e-01 9.44527936e-01 -3.01665277e-02 -5.07313238e+01] [-9.04993354e-02 4.71754292e-04 9.95896404e-01 -2.75868790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.101193817 meters 0.06028380133524847 Centerline is valid? [True, True] Translation: X:218.64, Y:-50.75, Z:-27.60 [[ 9.39280569e-01 3.32384556e-01 8.52790701e-02 2.18643701e+02] [-3.31014099e-01 9.43143944e-01 -3.01524109e-02 -5.07488159e+01] [-9.04526342e-02 9.29991532e-05 9.95900754e-01 -2.75977797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.161193817 meters 0.0602680626078075 Centerline is valid? [True, True] Translation: X:218.70, Y:-50.76, Z:-27.60 [[ 9.36776621e-01 3.39392503e-01 8.52190813e-02 2.18700527e+02] [-3.38052347e-01 9.40644670e-01 -3.01366112e-02 -5.07634787e+01] [-9.03890146e-02 -5.77237597e-04 9.95906368e-01 -2.76036165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.221193817 meters 0.0613568352550253 Centerline is valid? [True, True] Translation: X:218.76, Y:-50.78, Z:-27.61 [[ 9.34165454e-01 3.46214977e-01 8.64297084e-02 2.18756282e+02] [-3.44866119e-01 9.38154358e-01 -3.05574904e-02 -5.07788764e+01] [-9.16638684e-02 -1.26092620e-03 9.95789207e-01 -2.76109667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.281193817 meters 0.06216236963778347 Centerline is valid? [True, True] Translation: X:218.81, Y:-50.80, Z:-27.62 [[ 9.31995611e-01 3.51347252e-01 8.91026884e-02 2.18810979e+02] [-3.49938054e-01 9.36243426e-01 -3.14897781e-02 -5.08001989e+01] [-9.44856532e-02 -1.83208642e-03 9.95524538e-01 -2.76152054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.341193817 meters 0.06193025241219446 Centerline is valid? [True, True] Translation: X:218.86, Y:-50.83, Z:-27.62 [[ 9.32150766e-01 3.50400296e-01 9.11843313e-02 2.18863405e+02] [-3.48920659e-01 9.36598338e-01 -3.22168828e-02 -5.08279901e+01] [-9.66918984e-02 -1.78510498e-03 9.95312760e-01 -2.76208543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.401193817 meters 0.05996121319012877 Centerline is valid? [True, True] Translation: X:218.91, Y:-50.87, Z:-27.63 [[ 9.34843261e-01 3.43121827e-01 9.12988958e-02 2.18912111e+02] [-3.41604857e-01 9.39290330e-01 -3.22459075e-02 -5.08730931e+01] [-9.68204446e-02 -1.04327689e-03 9.95301318e-01 -2.76253436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.461193817 meters 0.05979010979561683 Centerline is valid? [True, True] Translation: X:218.96, Y:-50.91, Z:-27.64 [[ 9.37815226e-01 3.35719529e-01 8.82892933e-02 2.18964053e+02] [-3.34268619e-01 9.41961955e-01 -3.11795842e-02 -5.09105351e+01] [-9.36327506e-02 -2.71651312e-04 9.95606767e-01 -2.76366665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.521193817 meters 0.06170790057083568 Centerline is valid? [True, True] Translation: X:219.01, Y:-50.96, Z:-27.65 [[ 9.43677009e-01 3.20729895e-01 8.12775360e-02 2.19009464e+02] [-3.19441886e-01 9.47169994e-01 -2.87381822e-02 -5.09617645e+01] [-8.62008375e-02 1.15611236e-03 9.96277110e-01 -2.76511452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.581193817 meters 0.06490055720075612 Centerline is valid? [True, True] Translation: X:219.06, Y:-51.00, Z:-27.66 [[ 9.47284479e-01 3.11067656e-01 7.67400144e-02 2.19058653e+02] [-3.09887831e-01 9.50385822e-01 -2.71352372e-02 -5.10019310e+01] [-8.13735163e-02 1.92399247e-03 9.96681819e-01 -2.76640797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64119381700002 meters 0.07007466188304023 Centerline is valid? [True, True] Translation: X:219.11, Y:-51.05, Z:-27.67 [[ 9.51575323e-01 2.97653636e-01 7.68551683e-02 2.19106874e+02] [-2.96426363e-01 9.54668966e-01 -2.71767827e-02 -5.10465875e+01] [-8.14605122e-02 3.07885773e-03 9.96671814e-01 -2.76708751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.701193817 meters 0.07188315325475715 Centerline is valid? [True, True] Translation: X:219.16, Y:-51.07, Z:-27.68 [[ 9.52998506e-01 2.92791065e-01 7.78924916e-02 2.19161992e+02] [-2.91513732e-01 9.56169864e-01 -2.75487666e-02 -5.10729511e+01] [-8.25444858e-02 3.54720249e-03 9.96581068e-01 -2.76756659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.761193817 meters 0.07482739900071056 Centerline is valid? [True, True] Translation: X:219.22, Y:-51.10, Z:-27.68 [[ 9.54061831e-01 2.89150504e-01 7.84729794e-02 2.19216112e+02] [-2.87841855e-01 9.57275746e-01 -2.77526995e-02 -5.10987530e+01] [-8.31449869e-02 3.88998337e-03 9.96529869e-01 -2.76814965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.821193817 meters 0.07569363471301112 Centerline is valid? [True, True] Translation: X:219.28, Y:-51.12, Z:-27.68 [[ 9.54623119e-01 2.86034089e-01 8.29409502e-02 2.19276792e+02] [-2.84559903e-01 9.58209331e-01 -2.93349700e-02 -5.11181703e+01] [-8.78655938e-02 4.40217179e-03 9.96122612e-01 -2.76827905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.881193817 meters 0.07814222945518788 Centerline is valid? [True, True] Translation: X:219.34, Y:-51.13, Z:-27.68 [[ 9.55341347e-01 2.81760823e-01 8.90715957e-02 2.19336112e+02] [-2.80037884e-01 9.59470639e-01 -3.15416738e-02 -5.11344162e+01] [-9.43487888e-02 5.18964399e-03 9.95525677e-01 -2.76821213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.941193817 meters 0.07533468523292827 Centerline is valid? [True, True] Translation: X:219.40, Y:-51.14, Z:-27.68 [[ 9.54450575e-01 2.83066592e-01 9.43260505e-02 2.19399979e+02] [-2.81136449e-01 9.59085075e-01 -3.34382511e-02 -5.11363835e+01] [-9.99319589e-02 5.39666717e-03 9.94979638e-01 -2.76822688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.001193817 meters 0.07638022511008612 Centerline is valid? [True, True] Translation: X:219.46, Y:-51.14, Z:-27.69 [[ 9.53321626e-01 2.86947945e-01 9.40146495e-02 2.19459412e+02] [-2.85049267e-01 9.57933264e-01 -3.33283203e-02 -5.11437325e+01] [-9.96232531e-02 4.97380160e-03 9.95012798e-01 -2.76943705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.061193817 meters 0.07194280438571043 Centerline is valid? [True, True] Translation: X:219.52, Y:-51.14, Z:-27.70 [[ 9.51902618e-01 2.92343355e-01 9.17429427e-02 2.19524088e+02] [-2.90560786e-01 9.56303760e-01 -3.25199637e-02 -5.11427031e+01] [-9.72411163e-02 4.29893703e-03 9.95251568e-01 -2.77035588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.121193817 meters 0.07002787426938172 Centerline is valid? [True, True] Translation: X:219.59, Y:-51.14, Z:-27.72 [[ 9.50562947e-01 2.98119622e-01 8.69182064e-02 2.19588542e+02] [-2.96544037e-01 9.54522056e-01 -3.08103556e-02 -5.11413673e+01] [-9.21505167e-02 3.51210660e-03 9.95738895e-01 -2.77183077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.181193817 meters 0.07024821574217566 Centerline is valid? [True, True] Translation: X:219.65, Y:-51.15, Z:-27.73 [[ 9.50567087e-01 2.99505013e-01 8.19692671e-02 2.19650475e+02] [-2.98108891e-01 9.54089400e-01 -2.90603864e-02 -5.11489468e+01] [-8.69097402e-02 3.18807951e-03 9.96211089e-01 -2.77334765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.241193817 meters 0.07174587996326094 Centerline is valid? [True, True] Translation: X:219.71, Y:-51.16, Z:-27.74 [[ 9.51061502e-01 2.98403642e-01 8.02326984e-02 2.19710820e+02] [-2.97062239e-01 9.54434338e-01 -2.84450566e-02 -5.11594603e+01] [-8.50649509e-02 3.21889325e-03 9.96370209e-01 -2.77442397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.301193817 meters 0.072198644772453 Centerline is valid? [True, True] Translation: X:219.77, Y:-51.17, Z:-27.75 [[ 9.51012509e-01 2.98299592e-01 8.11945843e-02 2.19771369e+02] [-2.96923439e-01 9.54466625e-01 -2.88085638e-02 -5.11744734e+01] [-8.60911036e-02 3.28872936e-03 9.96281841e-01 -2.77514663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36119381700001 meters 0.07040190778200962 Centerline is valid? [True, True] Translation: X:219.83, Y:-51.18, Z:-27.76 [[ 9.49654358e-01 3.01937198e-01 8.36093772e-02 2.19833516e+02] [-3.00488744e-01 9.53322840e-01 -2.96998010e-02 -5.11783176e+01] [-8.86742036e-02 3.08086871e-03 9.96055919e-01 -2.77567147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42119381700002 meters 0.06554740916889662 Centerline is valid? [True, True] Translation: X:219.90, Y:-51.18, Z:-27.76 [[ 9.46409459e-01 3.11580995e-01 8.50083541e-02 2.19897615e+02] [-3.10122126e-01 9.50217013e-01 -3.01976087e-02 -5.11759071e+01] [-9.01853852e-02 2.21633102e-03 9.95922529e-01 -2.77631430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.481193817 meters 0.06349525484289083 Centerline is valid? [True, True] Translation: X:219.96, Y:-51.18, Z:-27.77 [[ 9.44460102e-01 3.17716942e-01 8.39705908e-02 2.19957580e+02] [-3.16317829e-01 9.48184241e-01 -2.98274408e-02 -5.11821646e+01] [-8.90962742e-02 1.60943276e-03 9.96021718e-01 -2.77734424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.541193817 meters 0.06245795723293452 Centerline is valid? [True, True] Translation: X:220.02, Y:-51.19, Z:-27.78 [[ 9.42806363e-01 3.23032212e-01 8.22578411e-02 2.20015407e+02] [-3.21710171e-01 9.46387352e-01 -2.92154981e-02 -5.11888295e+01] [-8.72853275e-02 1.08137330e-03 9.96182765e-01 -2.77849235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.601193817 meters 0.062090515771998284 Centerline is valid? [True, True] Translation: X:220.07, Y:-51.20, Z:-27.79 [[ 9.42268238e-01 3.24383074e-01 8.31034836e-02 2.20072082e+02] [-3.23039682e-01 9.45925316e-01 -2.95069390e-02 -5.12035043e+01] [-8.81812406e-02 9.57728527e-04 9.96103986e-01 -2.77916853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.661193817 meters 0.06278851565889289 Centerline is valid? [True, True] Translation: X:220.13, Y:-51.22, Z:-27.80 [[ 9.42743807e-01 3.23134759e-01 8.25714401e-02 2.20125646e+02] [-3.21804273e-01 9.46352365e-01 -2.93122897e-02 -5.12243998e+01] [-8.76134973e-02 1.06213736e-03 9.96153978e-01 -2.78002192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.721193817 meters 0.061596811994421526 Centerline is valid? [True, True] Translation: X:220.18, Y:-51.24, Z:-27.80 [[ 9.43151374e-01 3.22233725e-01 8.14304206e-02 2.20181391e+02] [-3.20937160e-01 9.46659478e-01 -2.88993477e-02 -5.12432897e+01] [-8.63992239e-02 1.12241157e-03 9.96259963e-01 -2.78006538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.781193817 meters 0.06192114468648338 Centerline is valid? [True, True] Translation: X:220.24, Y:-51.27, Z:-27.81 [[ 9.43674805e-01 3.20949825e-01 8.04305420e-02 2.20235199e+02] [-3.19680892e-01 9.47095415e-01 -2.85377205e-02 -5.12668422e+01] [-8.53345739e-02 1.21822039e-03 9.96351608e-01 -2.78086035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.841193817 meters 0.06271736823075545 Centerline is valid? [True, True] Translation: X:220.29, Y:-51.29, Z:-27.82 [[ 9.43797801e-01 3.21039068e-01 7.86106100e-02 2.20287031e+02] [-3.19827834e-01 9.47065221e-01 -2.78859231e-02 -5.12912041e+01] [-8.34018455e-02 1.17681180e-03 9.96515302e-01 -2.78206405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.901193817 meters 0.06234537625904465 Centerline is valid? [True, True] Translation: X:220.34, Y:-51.31, Z:-27.83 [[ 9.43520079e-01 3.21859551e-01 7.85893738e-02 2.20340862e+02] [-3.20652601e-01 9.46786792e-01 -2.78689647e-02 -5.13132182e+01] [-8.33772736e-02 1.09504066e-03 9.96517451e-01 -2.78272896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.961193817 meters 0.06241044242627428 Centerline is valid? [True, True] Translation: X:220.39, Y:-51.34, Z:-27.84 [[ 9.43353888e-01 3.22589531e-01 7.75850298e-02 2.20393731e+02] [-3.21416303e-01 9.46538416e-01 -2.75061472e-02 -5.13381407e+01] [-8.23104063e-02 1.01093749e-03 9.96606229e-01 -2.78355753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.021193817 meters 0.061132295230994796 Centerline is valid? [True, True] Translation: X:220.45, Y:-51.36, Z:-27.83 [[ 9.43633401e-01 3.21171765e-01 8.00293781e-02 2.20449481e+02] [-3.19918956e-01 9.47020246e-01 -2.83639800e-02 -5.13612747e+01] [-8.48991509e-02 1.16228382e-03 9.96388872e-01 -2.78339269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.081193817 meters 0.06195810980022385 Centerline is valid? [True, True] Translation: X:220.50, Y:-51.39, Z:-27.84 [[ 9.45382911e-01 3.14615153e-01 8.52552442e-02 2.20502330e+02] [-3.13166953e-01 9.49217491e-01 -3.02095189e-02 -5.13929277e+01] [-9.04301414e-02 1.86043793e-03 9.95901064e-01 -2.78356083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14119381700002 meters 0.0639380332063884 Centerline is valid? [True, True] Translation: X:220.56, Y:-51.42, Z:-27.84 [[ 9.47274457e-01 3.08441510e-01 8.68040200e-02 2.20556748e+02] [-3.06914350e-01 9.51240042e-01 -3.07565329e-02 -5.14231762e+01] [-9.20580511e-02 2.49347857e-03 9.95750520e-01 -2.78419066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.201193817 meters 0.06848705484629239 Centerline is valid? [True, True] Translation: X:220.61, Y:-51.46, Z:-27.85 [[ 9.50150519e-01 2.98670419e-01 8.94984478e-02 2.20609063e+02] [-2.97001580e-01 9.54349650e-01 -3.17302064e-02 -5.14558020e+01] [-9.48896864e-02 3.56729166e-03 9.95481402e-01 -2.78474489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.261193817 meters 0.07214731348607244 Centerline is valid? [True, True] Translation: X:220.66, Y:-51.48, Z:-27.85 [[ 9.52004027e-01 2.92434304e-01 9.03908714e-02 2.20663403e+02] [-2.90703678e-01 9.56276244e-01 -3.20486569e-02 -5.14838585e+01] [-9.58107697e-02 4.23349168e-03 9.95390564e-01 -2.78537213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.321193817 meters 0.07791717951324097 Centerline is valid? [True, True] Translation: X:220.72, Y:-51.51, Z:-27.87 [[ 9.55441699e-01 2.82200182e-01 8.65691450e-02 2.20717201e+02] [-2.80570980e-01 9.59342305e-01 -3.06963847e-02 -5.15088675e+01] [-9.17119685e-02 5.03981611e-03 9.95772823e-01 -2.78660111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.381193817 meters 0.08650125366486237 Centerline is valid? [True, True] Translation: X:220.77, Y:-51.54, Z:-27.88 [[ 9.58193336e-01 2.74165769e-01 8.18453509e-02 2.20768912e+02] [-2.72680909e-01 9.61666787e-01 -2.90191648e-02 -5.15370561e+01] [-8.66640173e-02 5.48830564e-03 9.96222478e-01 -2.78819362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.441193817 meters 0.08837636044106097 Centerline is valid? [True, True] Translation: X:220.83, Y:-51.56, Z:-27.89 [[ 9.60241878e-01 2.66776001e-01 8.22563073e-02 2.20827246e+02] [-2.65249045e-01 9.63738694e-01 -2.91663231e-02 -5.15551371e+01] [-8.70544612e-02 6.18831792e-03 9.96184333e-01 -2.78858565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.501193817 meters 0.09179680916206004 Centerline is valid? [True, True] Translation: X:220.89, Y:-51.57, Z:-27.89 [[ 9.61374408e-01 2.60919788e-01 8.76362499e-02 2.20886927e+02] [-2.59161477e-01 9.65333894e-01 -3.10773629e-02 -5.15693029e+01] [-9.27069413e-02 7.16504145e-03 9.95667658e-01 -2.78863001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.561193817 meters 0.08886092244583804 Centerline is valid? [True, True] Translation: X:220.95, Y:-51.56, Z:-27.89 [[ 9.61577440e-01 2.58461831e-01 9.25543536e-02 2.20954321e+02] [-2.56489213e-01 9.65989851e-01 -3.28160096e-02 -5.15649898e+01] [-9.78882522e-02 7.81594116e-03 9.95166720e-01 -2.78865497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.621193817 meters 0.09628031207927508 Centerline is valid? [True, True] Translation: X:221.01, Y:-51.58, Z:-27.90 [[ 9.61673070e-01 2.57535511e-01 9.41295276e-02 2.21012444e+02] [-2.55487719e-01 9.66235104e-01 -3.34028259e-02 -5.15821622e+01] [-9.95536678e-02 8.07365979e-03 9.94999439e-01 -2.78959004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.681193817 meters 0.09409966356632361 Centerline is valid? [True, True] Translation: X:221.08, Y:-51.57, Z:-27.91 [[ 9.62652084e-01 2.55295645e-01 9.01393328e-02 2.21078487e+02] [-2.53405588e-01 9.66830101e-01 -3.20181685e-02 -5.15732287e+01] [-9.53235192e-02 7.98054600e-03 9.95414355e-01 -2.79080350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.741193817 meters 0.09684170958991699 Centerline is valid? [True, True] Translation: X:221.14, Y:-51.58, Z:-27.92 [[ 9.63654729e-01 2.52836874e-01 8.62732745e-02 2.21139807e+02] [-2.51096094e-01 9.67476922e-01 -3.06456625e-02 -5.15774399e+01] [-9.12157556e-02 7.86895537e-03 9.95800063e-01 -2.79203269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.801193817 meters 0.0999226537289527 Centerline is valid? [True, True] Translation: X:221.21, Y:-51.57, Z:-27.93 [[ 9.64831639e-01 2.49196193e-01 8.36729651e-02 2.21205433e+02] [-2.47545548e-01 9.68420283e-01 -2.97213142e-02 -5.15742104e+01] [-8.84370349e-02 7.96319434e-03 9.96049938e-01 -2.79299851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86119381700001 meters 0.09172891584808639 Centerline is valid? [True, True] Translation: X:221.27, Y:-51.56, Z:-27.93 [[ 9.65214132e-01 2.47631668e-01 8.39061127e-02 2.21273610e+02] [-2.45965518e-01 9.68820105e-01 -2.98088553e-02 -5.15627265e+01] [-8.86715455e-02 8.13391795e-03 9.96027709e-01 -2.79324713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92119381700002 meters 0.09168041124527605 Centerline is valid? [True, True] Translation: X:221.34, Y:-51.55, Z:-27.94 [[ 9.65365629e-01 2.47274738e-01 8.32130184e-02 2.21338733e+02] [-2.45634631e-01 9.68911550e-01 -2.95641211e-02 -5.15524813e+01] [-8.79365149e-02 8.10018736e-03 9.96093146e-01 -2.79396738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.981193817 meters 0.09155612105953162 Centerline is valid? [True, True] Translation: X:221.41, Y:-51.54, Z:-27.95 [[ 9.64965056e-01 2.48341772e-01 8.46687928e-02 2.21405199e+02] [-2.46648933e-01 9.68638354e-01 -3.00673111e-02 -5.15427024e+01] [-8.94804094e-02 8.13043707e-03 9.95955397e-01 -2.79453483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.041193817 meters 0.09071704388214089 Centerline is valid? [True, True] Translation: X:221.47, Y:-51.54, Z:-27.95 [[ 9.64524262e-01 2.49916448e-01 8.50571394e-02 2.21468445e+02] [-2.48214457e-01 9.68234216e-01 -3.02007620e-02 -5.15425441e+01] [-8.99028999e-02 8.01695604e-03 9.95918268e-01 -2.79524994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.101193817 meters 0.09058960760601859 Centerline is valid? [True, True] Translation: X:221.53, Y:-51.55, Z:-27.96 [[ 9.63920217e-01 2.52181576e-01 8.52189412e-02 2.21530069e+02] [-2.50481953e-01 9.67648339e-01 -3.02569474e-02 -5.15459102e+01] [-9.00922116e-02 7.81947652e-03 9.95902731e-01 -2.79597972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.161193817 meters 0.08603695237336972 Centerline is valid? [True, True] Translation: X:221.60, Y:-51.54, Z:-27.96 [[ 9.62620022e-01 2.56381203e-01 8.73577227e-02 2.21597655e+02] [-2.54612477e-01 9.66545791e-01 -3.10116168e-02 -5.15360529e+01] [-9.23860349e-02 7.61003713e-03 9.95694184e-01 -2.79630664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.221193817 meters 0.08495951303686573 Centerline is valid? [True, True] Translation: X:221.66, Y:-51.54, Z:-27.97 [[ 9.61199058e-01 2.61266976e-01 8.85208324e-02 2.21658659e+02] [-2.59471208e-01 9.65239452e-01 -3.14243780e-02 -5.15391511e+01] [-9.36539520e-02 7.23647517e-03 9.95578511e-01 -2.79700765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.281193817 meters 0.07719181367040168 Centerline is valid? [True, True] Translation: X:221.73, Y:-51.53, Z:-27.98 [[ 9.58806780e-01 2.70396842e-01 8.70350875e-02 2.21726076e+02] [-2.68698747e-01 9.62728779e-01 -3.08914523e-02 -5.15292819e+01] [-9.21441347e-02 6.23271494e-03 9.95726173e-01 -2.79770013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.341193817 meters 0.07067197619914273 Centerline is valid? [True, True] Translation: X:221.79, Y:-51.53, Z:-27.98 [[ 9.56069609e-01 2.80283747e-01 8.58599115e-02 2.21790702e+02] [-2.78671170e-01 9.59903082e-01 -3.04705235e-02 -5.15266829e+01] [-9.09575862e-02 5.20525954e-03 9.95841163e-01 -2.79839545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.401193817 meters 0.06429292597420916 Centerline is valid? [True, True] Translation: X:221.86, Y:-51.51, Z:-27.99 [[ 9.50815142e-01 2.97559571e-01 8.60747725e-02 2.21858877e+02] [-2.96009044e-01 9.54696599e-01 -3.05458722e-02 -5.15142126e+01] [-9.12645091e-02 3.56456669e-03 9.95820307e-01 -2.79903840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.461193817 meters 0.06185598266112252 Centerline is valid? [True, True] Translation: X:221.92, Y:-51.52, Z:-28.00 [[ 9.48381833e-01 3.05157199e-01 8.63190722e-02 2.21920414e+02] [-3.03629374e-01 9.52297758e-01 -3.06297808e-02 -5.15198906e+01] [-9.15483570e-02 2.83972180e-03 9.95796583e-01 -2.79973198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.521193817 meters 0.06155257440445576 Centerline is valid? [True, True] Translation: X:221.98, Y:-51.53, Z:-28.01 [[ 9.47732024e-01 3.07053426e-01 8.67306376e-02 2.21975818e+02] [-3.05518993e-01 9.51688539e-01 -3.07745084e-02 -5.15342993e+01] [-9.19899720e-02 2.66813011e-03 9.95756359e-01 -2.80062987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.581193817 meters 0.06204518727287418 Centerline is valid? [True, True] Translation: X:222.03, Y:-51.55, Z:-28.02 [[ 9.48074728e-01 3.06312686e-01 8.55970107e-02 2.22030304e+02] [-3.04815528e-01 9.51927122e-01 -3.03685251e-02 -5.15540686e+01] [-9.07843806e-02 2.70033317e-03 9.95866911e-01 -2.80159501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64119381700002 meters 0.06111361455407814 Centerline is valid? [True, True] Translation: X:222.09, Y:-51.57, Z:-28.02 [[ 9.48462032e-01 3.05321957e-01 8.48426551e-02 2.22086180e+02] [-3.03849443e-01 9.52245221e-01 -3.00758338e-02 -5.15718068e+01] [-8.99738252e-02 2.74639290e-03 9.95940344e-01 -2.80205256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.701193817 meters 0.0630715362551736 Centerline is valid? [True, True] Translation: X:222.14, Y:-51.60, Z:-28.03 [[ 9.50369524e-01 2.99537623e-01 8.41128999e-02 2.22136392e+02] [-2.98070987e-01 9.54079017e-01 -2.97811402e-02 -5.16044313e+01] [-8.91709248e-02 3.23147292e-03 9.96011096e-01 -2.80295185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.761193817 meters 0.0652042766409458 Centerline is valid? [True, True] Translation: X:222.19, Y:-51.64, Z:-28.04 [[ 9.51892686e-01 2.94243526e-01 8.55632012e-02 2.22186409e+02] [-2.92704615e-01 9.55722962e-01 -3.02923656e-02 -5.16370793e+01] [-9.06880485e-02 3.79033737e-03 9.95872136e-01 -2.80359519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.821193817 meters 0.0667328796461638 Centerline is valid? [True, True] Translation: X:222.24, Y:-51.67, Z:-28.04 [[ 9.52220563e-01 2.92909878e-01 8.64858528e-02 2.22236512e+02] [-2.91332839e-01 9.56131889e-01 -3.06102726e-02 -5.16652971e+01] [-9.16579330e-02 3.95156206e-03 9.95782711e-01 -2.80446406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.881193817 meters 0.06552738488360035 Centerline is valid? [True, True] Translation: X:222.29, Y:-51.69, Z:-28.05 [[ 9.51873893e-01 2.93624336e-01 8.78683126e-02 2.22290850e+02] [-2.92000097e-01 9.55912780e-01 -3.10918211e-02 -5.16888936e+01] [-9.31237583e-02 3.93793704e-03 9.95646754e-01 -2.80502186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.941193817 meters 0.0654260546112145 Centerline is valid? [True, True] Translation: X:222.34, Y:-51.71, Z:-28.06 [[ 9.51688954e-01 2.93981271e-01 8.86743915e-02 2.22344946e+02] [-2.92330933e-01 9.55803162e-01 -3.13518740e-02 -5.17121187e+01] [-9.39721276e-02 3.91496457e-03 9.95567131e-01 -2.80569764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.001193817 meters 0.06516572331473741 Centerline is valid? [True, True] Translation: X:222.40, Y:-51.74, Z:-28.06 [[ 9.51907792e-01 2.93525965e-01 8.78297438e-02 2.22398251e+02] [-2.91907564e-01 9.55943161e-01 -3.10265524e-02 -5.17350101e+01] [-9.30673417e-02 3.89625046e-03 9.95652193e-01 -2.80641949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.061193817 meters 0.06680713301108285 Centerline is valid? [True, True] Translation: X:222.45, Y:-51.76, Z:-28.07 [[ 9.52943872e-01 2.90714635e-01 8.59242572e-02 2.22451044e+02] [-2.89157665e-01 9.56801248e-01 -3.03185731e-02 -5.17644175e+01] [-9.10264894e-02 4.04624081e-03 9.95840251e-01 -2.80745597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.121193817 meters 0.06813580315045016 Centerline is valid? [True, True] Translation: X:222.50, Y:-51.79, Z:-28.08 [[ 9.54089022e-01 2.87201503e-01 8.50260808e-02 2.22504738e+02] [-2.85663204e-01 9.57860382e-01 -3.00003777e-02 -5.17906793e+01] [-9.00592678e-02 4.33420832e-03 9.95926977e-01 -2.80818847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.181193817 meters 0.07094375473838602 Centerline is valid? [True, True] Translation: X:222.56, Y:-51.82, Z:-28.09 [[ 9.55466075e-01 2.82707227e-01 8.46238891e-02 2.22555378e+02] [-2.81166064e-01 9.59194566e-01 -2.98568187e-02 -5.18229373e+01] [-8.96115130e-02 4.73381160e-03 9.95965545e-01 -2.80907350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.241193817 meters 0.0736285618201855 Centerline is valid? [True, True] Translation: X:222.61, Y:-51.85, Z:-28.10 [[ 9.55699598e-01 2.81582452e-01 8.57298130e-02 2.22606396e+02] [-2.79996320e-01 9.59524519e-01 -3.02449787e-02 -5.18507706e+01] [-9.07763128e-02 4.90108187e-03 9.95859247e-01 -2.80989291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.301193817 meters 0.07141643726942308 Centerline is valid? [True, True] Translation: X:222.66, Y:-51.87, Z:-28.10 [[ 9.55158925e-01 2.82819960e-01 8.76601303e-02 2.22662056e+02] [-2.81167648e-01 9.59160594e-01 -3.09145355e-02 -5.18723119e+01] [-9.28233903e-02 4.88110185e-03 9.95670625e-01 -2.81015687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36119381700001 meters 0.07023238595351775 Centerline is valid? [True, True] Translation: X:222.72, Y:-51.89, Z:-28.11 [[ 9.54975292e-01 2.83380360e-01 8.78508035e-02 2.22716233e+02] [-2.81722888e-01 9.58995382e-01 -3.09850267e-02 -5.18949206e+01] [-9.30290629e-02 4.84035284e-03 9.95651628e-01 -2.81074986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.421193817 meters 0.0723635187900281 Centerline is valid? [True, True] Translation: X:222.77, Y:-51.92, Z:-28.12 [[ 9.55694382e-01 2.81200121e-01 8.70329790e-02 2.22766718e+02] [-2.79567464e-01 9.59636261e-01 -3.06639870e-02 -5.19242311e+01] [-9.21427193e-02 4.97381089e-03 9.95733388e-01 -2.81176992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.481193817 meters 0.0747785129985508 Centerline is valid? [True, True] Translation: X:222.82, Y:-51.95, Z:-28.12 [[ 9.56938401e-01 2.77186286e-01 8.62360668e-02 2.22819786e+02] [-2.75568097e-01 9.60801567e-01 -3.03738736e-02 -5.19530741e+01] [-9.12749693e-02 5.30201725e-03 9.95811613e-01 -2.81248453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.541193817 meters 0.07879517711671333 Centerline is valid? [True, True] Translation: X:222.87, Y:-51.99, Z:-28.13 [[ 9.59429495e-01 2.68436032e-01 8.62388568e-02 2.22871760e+02] [-2.66782683e-01 9.63277983e-01 -3.03731419e-02 -5.19854699e+01] [-9.12252377e-02 6.13385464e-03 9.95811394e-01 -2.81313720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.601193817 meters 0.08048313934533274 Centerline is valid? [True, True] Translation: X:222.93, Y:-52.01, Z:-28.13 [[ 9.60433380e-01 2.63941833e-01 8.88956141e-02 2.22927640e+02] [-2.62165778e-01 9.64514889e-01 -3.13070985e-02 -5.20085657e+01] [-9.40043964e-02 6.76299463e-03 9.95548811e-01 -2.81347854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.661193817 meters 0.08087198850583874 Centerline is valid? [True, True] Translation: X:222.98, Y:-52.03, Z:-28.14 [[ 9.59859708e-01 2.64740156e-01 9.26390358e-02 2.22984351e+02] [-2.62814778e-01 9.64294619e-01 -3.26233112e-02 -5.20275339e+01] [-9.79680243e-02 6.96689435e-03 9.95165177e-01 -2.81393610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.721193817 meters 0.07835233341811816 Centerline is valid? [True, True] Translation: X:223.04, Y:-52.04, Z:-28.14 [[ 9.59317903e-01 2.66057369e-01 9.44597114e-02 2.23043367e+02] [-2.64061808e-01 9.63932023e-01 -3.32628378e-02 -5.20389274e+01] [-9.99025639e-02 6.96643366e-03 9.94972837e-01 -2.81440717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.781193817 meters 0.07912089738300092 Centerline is valid? [True, True] Translation: X:223.10, Y:-52.05, Z:-28.15 [[ 9.58988343e-01 2.67586723e-01 9.34810384e-02 2.23099047e+02] [-2.65639911e-01 9.63510254e-01 -3.29154820e-02 -5.20533489e+01] [-9.88776850e-02 6.73326883e-03 9.95076814e-01 -2.81537488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.841193817 meters 0.0754368266901309 Centerline is valid? [True, True] Translation: X:223.16, Y:-52.06, Z:-28.16 [[ 9.59210401e-01 2.67553942e-01 9.12704535e-02 2.23157558e+02] [-2.65698705e-01 9.63520475e-01 -3.21324138e-02 -5.20624394e+01] [-9.65381047e-02 6.57130425e-03 9.95307597e-01 -2.81621256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.901193817 meters 0.08322565315230017 Centerline is valid? [True, True] Translation: X:223.21, Y:-52.09, Z:-28.18 [[ 9.59563344e-01 2.67275971e-01 8.83274842e-02 2.23209116e+02] [-2.65540745e-01 9.63599088e-01 -3.10630009e-02 -5.20881645e+01] [-9.34146770e-02 6.35237104e-03 9.95607024e-01 -2.81776980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.961193817 meters 0.07549186056486222 Centerline is valid? [True, True] Translation: X:223.27, Y:-52.09, Z:-28.18 [[ 9.59547178e-01 2.67988099e-01 8.63225988e-02 2.23268700e+02] [-2.66333584e-01 9.63402645e-01 -3.03605840e-02 -5.20917418e+01] [-9.12996952e-02 6.14180557e-03 9.95804521e-01 -2.81821818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.021193817 meters 0.07335469848928437 Centerline is valid? [True, True] Translation: X:223.33, Y:-52.10, Z:-28.19 [[ 9.58363868e-01 2.72798640e-01 8.43777089e-02 2.23328271e+02] [-2.71240088e-01 9.62055338e-01 -2.96368322e-02 -5.21018429e+01] [-8.92609128e-02 5.51625200e-03 9.95993002e-01 -2.81920936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.081193817 meters 0.07151389118203855 Centerline is valid? [True, True] Translation: X:223.39, Y:-52.11, Z:-28.20 [[ 9.57239996e-01 2.76861796e-01 8.38995618e-02 2.23387572e+02] [-2.75336518e-01 9.60896178e-01 -2.94675392e-02 -5.21117044e+01] [-8.87772041e-02 5.10689386e-03 9.96038417e-01 -2.82006079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14119381700002 meters 0.07005972993773411 Centerline is valid? [True, True] Translation: X:223.45, Y:-52.12, Z:-28.21 [[ 9.55879560e-01 2.81825854e-01 8.28761369e-02 2.23446167e+02] [-2.80356418e-01 9.59454612e-01 -2.91054372e-02 -5.21197469e+01] [-8.77185565e-02 4.58643559e-03 9.96134740e-01 -2.82094563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.201193817 meters 0.06867694517021541 Centerline is valid? [True, True] Translation: X:223.50, Y:-52.13, Z:-28.22 [[ 9.55213725e-01 2.84147094e-01 8.26266769e-02 2.23504914e+02] [-2.82694863e-01 9.58770771e-01 -2.90210736e-02 -5.21285127e+01] [-8.74662965e-02 4.36319064e-03 9.96157924e-01 -2.82166576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.261193817 meters 0.06688120398295064 Centerline is valid? [True, True] Translation: X:223.56, Y:-52.14, Z:-28.22 [[ 9.54885966e-01 2.85175829e-01 8.28706181e-02 2.23563227e+02] [-2.83718858e-01 9.58465657e-01 -2.91066117e-02 -5.21397277e+01] [-8.77291435e-02 4.28153793e-03 9.96135164e-01 -2.82207700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.321193817 meters 0.07079855319372584 Centerline is valid? [True, True] Translation: X:223.62, Y:-52.16, Z:-28.23 [[ 9.55174473e-01 2.83612094e-01 8.48876092e-02 2.23616041e+02] [-2.82080030e-01 9.58928526e-01 -2.97815315e-02 -5.21623852e+01] [-8.98475524e-02 4.50145935e-03 9.95945357e-01 -2.82290250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.381193817 meters 0.06964507961445661 Centerline is valid? [True, True] Translation: X:223.67, Y:-52.18, Z:-28.23 [[ 9.55613754e-01 2.81506186e-01 8.69288270e-02 2.23672254e+02] [-2.79891599e-01 9.59547388e-01 -3.04877377e-02 -5.21784024e+01] [-9.19948156e-02 4.80385301e-03 9.95747898e-01 -2.82321359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.441193817 meters 0.0726369569575633 Centerline is valid? [True, True] Translation: X:223.73, Y:-52.20, Z:-28.24 [[ 9.56969177e-01 2.76930568e-01 8.67147948e-02 2.23726607e+02] [-2.75306269e-01 9.60875752e-01 -3.04014327e-02 -5.22005527e+01] [-9.17412297e-02 5.22010738e-03 9.95769199e-01 -2.82410134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.501193817 meters 0.07640254011284049 Centerline is valid? [True, True] Translation: X:223.78, Y:-52.22, Z:-28.25 [[ 9.58020457e-01 2.73676336e-01 8.54287267e-02 2.23780600e+02] [-2.72087454e-01 9.61806430e-01 -2.99467543e-02 -5.22237639e+01] [-9.03616167e-02 5.44551851e-03 9.95894133e-01 -2.82502659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.561193817 meters 0.07653225082202608 Centerline is valid? [True, True] Translation: X:223.84, Y:-52.24, Z:-28.26 [[ 9.58545134e-01 2.72178541e-01 8.43212162e-02 2.23836530e+02] [-2.70625050e-01 9.62230978e-01 -2.95571971e-02 -5.22430902e+01] [-8.91813211e-02 5.51247413e-03 9.96000153e-01 -2.82584854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.621193817 meters 0.08130444327083033 Centerline is valid? [True, True] Translation: X:223.89, Y:-52.27, Z:-28.27 [[ 9.60258566e-01 2.66497676e-01 8.29606828e-02 2.23888791e+02] [-2.64973293e-01 9.63817267e-01 -2.90762794e-02 -5.22703404e+01] [-8.77076994e-02 5.93838106e-03 9.96128553e-01 -2.82711419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.681193817 meters 0.08496225228655395 Centerline is valid? [True, True] Translation: X:223.94, Y:-52.29, Z:-28.28 [[ 9.61340037e-01 2.62723483e-01 8.24724454e-02 2.23944122e+02] [-2.61203406e-01 9.64850967e-01 -2.89031557e-02 -5.22936636e+01] [-8.71671563e-02 6.24367708e-03 9.96174133e-01 -2.82794580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.741193817 meters 0.08404698014653124 Centerline is valid? [True, True] Translation: X:224.00, Y:-52.31, Z:-28.28 [[ 9.62464619e-01 2.57836503e-01 8.47478349e-02 2.24002852e+02] [-2.56212438e-01 9.66164128e-01 -2.96995603e-02 -5.23099662e+01] [-8.95379488e-02 6.87132660e-03 9.95959708e-01 -2.82821223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.801193817 meters 0.08768401951254814 Centerline is valid? [True, True] Translation: X:224.06, Y:-52.33, Z:-28.29 [[ 9.63261440e-01 2.54327877e-01 8.62828417e-02 2.24057085e+02] [-2.52630341e-01 9.67090286e-01 -3.02372219e-02 -5.23329989e+01] [-9.11334665e-02 7.32868628e-03 9.95811720e-01 -2.82894812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86119381700001 meters 0.09278630941312707 Centerline is valid? [True, True] Translation: X:224.11, Y:-52.35, Z:-28.29 [[ 9.64670389e-01 2.47959678e-01 8.90339226e-02 2.24113585e+02] [-2.46125348e-01 9.68735808e-01 -3.11969152e-02 -5.23539603e+01] [-9.39859260e-02 8.18123508e-03 9.95539910e-01 -2.82940401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.921193817 meters 0.08879651467870801 Centerline is valid? [True, True] Translation: X:224.17, Y:-52.36, Z:-28.30 [[ 9.65690543e-01 2.44391845e-01 8.78316603e-02 2.24174616e+02] [-2.42592407e-01 9.69640079e-01 -3.07740307e-02 -5.23614761e+01] [-9.26860201e-02 8.41089655e-03 9.95659861e-01 -2.82999021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.981193817 meters 0.08761254656959917 Centerline is valid? [True, True] Translation: X:224.24, Y:-52.37, Z:-28.31 [[ 9.66022618e-01 2.43090909e-01 8.77901594e-02 2.24235533e+02] [-2.41287876e-01 9.69965991e-01 -3.07593567e-02 -5.23658004e+01] [-9.26307889e-02 8.53153326e-03 9.95663974e-01 -2.83071783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.041193817 meters 0.09103922445827793 Centerline is valid? [True, True] Translation: X:224.29, Y:-52.38, Z:-28.31 [[ 9.65352279e-01 2.44734419e-01 9.05540801e-02 2.24292075e+02] [-2.42823482e-01 9.69551716e-01 -3.17210916e-02 -5.23828735e+01] [-9.55601066e-02 8.63337107e-03 9.95386222e-01 -2.83143945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.101193817 meters 0.08536904750819956 Centerline is valid? [True, True] Translation: X:224.35, Y:-52.38, Z:-28.32 [[ 9.64776526e-01 2.47451060e-01 8.92985333e-02 2.24354730e+02] [-2.45604759e-01 9.68865322e-01 -3.12776166e-02 -5.23846152e+01] [-9.42579316e-02 8.24376551e-03 9.95513678e-01 -2.83214494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.161193817 meters 0.08376384266959797 Centerline is valid? [True, True] Translation: X:224.41, Y:-52.39, Z:-28.33 [[ 9.64829305e-01 2.47189722e-01 8.94519667e-02 2.24414418e+02] [-2.45335594e-01 9.68931661e-01 -3.13349947e-02 -5.23882264e+01] [-9.44185313e-02 8.28716975e-03 9.95498098e-01 -2.83272393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.221193817 meters 0.09114581533773915 Centerline is valid? [True, True] Translation: X:224.47, Y:-52.41, Z:-28.34 [[ 9.64931079e-01 2.46100307e-01 9.13381206e-02 2.24465982e+02] [-2.44165804e-01 9.69206786e-01 -3.19572511e-02 -5.24131115e+01] [-9.63902156e-02 8.53489911e-03 9.95307029e-01 -2.83366794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.281193817 meters 0.08587786514928887 Centerline is valid? [True, True] Translation: X:224.53, Y:-52.42, Z:-28.34 [[ 9.65856153e-01 2.42549755e-01 9.10577149e-02 2.24528245e+02] [-2.40612644e-01 9.70098594e-01 -3.18476477e-02 -5.24156242e+01] [-9.60596003e-02 8.85060896e-03 9.95336235e-01 -2.83417874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.341193817 meters 0.08803429280458343 Centerline is valid? [True, True] Translation: X:224.58, Y:-52.43, Z:-28.35 [[ 9.66015146e-01 2.42261510e-01 9.01337763e-02 2.24582716e+02] [-2.40362500e-01 9.70171193e-01 -3.15234018e-02 -5.24325211e+01] [-9.50821002e-02 8.78730380e-03 9.95430649e-01 -2.83512954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.401193817 meters 0.09048999128543452 Centerline is valid? [True, True] Translation: X:224.64, Y:-52.44, Z:-28.36 [[ 9.64877676e-01 2.46788065e-01 9.00373354e-02 2.24640363e+02] [-2.44913629e-01 9.69033745e-01 -3.14788206e-02 -5.24437389e+01] [-9.50178135e-02 8.32184065e-03 9.95440788e-01 -2.83603901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.461193817 meters 0.08036617978404778 Centerline is valid? [True, True] Translation: X:224.71, Y:-52.44, Z:-28.37 [[ 9.63950373e-01 2.50925390e-01 8.85219061e-02 2.24705241e+02] [-2.49131430e-01 9.67975206e-01 -3.09439952e-02 -5.24407660e+01] [-9.34516444e-02 7.77488659e-03 9.95593462e-01 -2.83664149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.521193817 meters 0.086862979092312 Centerline is valid? [True, True] Translation: X:224.76, Y:-52.46, Z:-28.38 [[ 9.62075858e-01 2.56962762e-01 9.15433341e-02 2.24759912e+02] [-2.55071374e-01 9.66392731e-01 -3.19950505e-02 -5.24592023e+01] [-9.66883492e-02 7.43158159e-03 9.95286961e-01 -2.83782925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.581193817 meters 0.07645597848512403 Centerline is valid? [True, True] Translation: X:224.82, Y:-52.46, Z:-28.38 [[ 9.61052210e-01 2.59884284e-01 9.40149335e-02 2.24824406e+02] [-2.57903308e-01 9.65611959e-01 -3.28546613e-02 -5.24570544e+01] [-9.93203542e-02 7.32828258e-03 9.95028524e-01 -2.83779423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64119381700002 meters 0.07591789197853566 Centerline is valid? [True, True] Translation: X:224.88, Y:-52.47, Z:-28.39 [[ 9.60345841e-01 2.62220696e-01 9.47426662e-02 2.24883179e+02] [-2.60220287e-01 9.64981514e-01 -3.31070861e-02 -5.24684175e+01] [-1.00106285e-01 7.14028867e-03 9.94951128e-01 -2.83864140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.701193817 meters 0.07547466226614478 Centerline is valid? [True, True] Translation: X:224.94, Y:-52.48, Z:-28.40 [[ 9.60510572e-01 2.62029035e-01 9.35960737e-02 2.24939799e+02] [-2.60075619e-01 9.65034044e-01 -3.27103237e-02 -5.24824954e+01] [-9.88944521e-02 7.07655494e-03 9.95072766e-01 -2.83956130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.761193817 meters 0.08089571754413745 Centerline is valid? [True, True] Translation: X:224.99, Y:-52.51, Z:-28.41 [[ 9.61553727e-01 2.58808684e-01 9.18286217e-02 2.24993589e+02] [-2.56917232e-01 9.65901510e-01 -3.20594730e-02 -5.25055206e+01] [-9.69946743e-02 7.23455046e-03 9.95258607e-01 -2.84071028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.821193817 meters 0.08221691405740117 Centerline is valid? [True, True] Translation: X:225.05, Y:-52.52, Z:-28.41 [[ 9.62667606e-01 2.54758141e-01 9.14842638e-02 2.25050429e+02] [-2.52863150e-01 9.66974860e-01 -3.19350509e-02 -5.25236581e+01] [-9.65986974e-02 7.60983981e-03 9.95294319e-01 -2.84141204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.881193817 meters 0.08681326990129767 Centerline is valid? [True, True] Translation: X:225.11, Y:-52.54, Z:-28.42 [[ 9.65570118e-01 2.43496301e-01 9.15636331e-02 2.25106382e+02] [-2.41547919e-01 9.69862414e-01 -3.19609171e-02 -5.25449933e+01] [-9.65864913e-02 8.74350151e-03 9.95286190e-01 -2.84214943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.941193817 meters 0.0937085583342999 Centerline is valid? [True, True] Translation: X:225.16, Y:-52.57, Z:-28.43 [[ 9.67011534e-01 2.37662695e-01 9.16795273e-02 2.25159613e+02] [-2.35683663e-01 9.71302880e-01 -3.19988600e-02 -5.25690632e+01] [-9.66535242e-02 9.33589997e-03 9.95274303e-01 -2.84296176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.001193817 meters 0.093584002417119 Centerline is valid? [True, True] Translation: X:225.22, Y:-52.58, Z:-28.44 [[ 9.66907228e-01 2.37664056e-01 9.27696563e-02 2.25218926e+02] [-2.35637245e-01 9.71301438e-01 -3.23821857e-02 -5.25780242e+01] [-9.78033821e-02 9.45058322e-03 9.95160884e-01 -2.84354315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.061193817 meters 0.09180900988830884 Centerline is valid? [True, True] Translation: X:225.28, Y:-52.59, Z:-28.44 [[ 9.65325404e-01 2.43140637e-01 9.50236534e-02 2.25279004e+02] [-2.41043040e-01 9.69948505e-01 -3.31383484e-02 -5.25868231e+01] [-1.00225330e-01 9.08449922e-03 9.94923291e-01 -2.84412291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.121193817 meters 0.08517636035004209 Centerline is valid? [True, True] Translation: X:225.34, Y:-52.58, Z:-28.45 [[ 9.61741844e-01 2.56605518e-01 9.59491149e-02 2.25341756e+02] [-2.54533102e-01 9.66485103e-01 -3.34581060e-02 -5.25844953e+01] [-1.01318925e-01 7.75583475e-03 9.94823765e-01 -2.84464104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.181193817 meters 0.0733868819019888 Centerline is valid? [True, True] Translation: X:225.41, Y:-52.58, Z:-28.45 [[ 9.58500617e-01 2.68483052e-01 9.58823110e-02 2.25408170e+02] [-2.66472661e-01 9.63262520e-01 -3.34310997e-02 -5.25766689e+01] [-1.01335520e-01 6.49371518e-03 9.94831113e-01 -2.84518263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.241193817 meters 0.06671245888542296 Centerline is valid? [True, True] Translation: X:225.47, Y:-52.57, Z:-28.46 [[ 9.53872002e-01 2.85524178e-01 9.27585396e-02 2.25471123e+02] [-2.83723086e-01 9.58360804e-01 -3.23385071e-02 -5.25740065e+01] [-9.81295743e-02 4.52905738e-03 9.95163341e-01 -2.84621543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.301193817 meters 0.0624650092475619 Centerline is valid? [True, True] Translation: X:225.53, Y:-52.58, Z:-28.47 [[ 9.51048527e-01 2.95213814e-01 9.14084361e-02 2.25532103e+02] [-2.93509699e-01 9.55424893e-01 -3.18642376e-02 -5.25799124e+01] [-9.67406585e-02 3.47517363e-03 9.95303556e-01 -2.84711323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36119381700001 meters 0.06001756819748218 Centerline is valid? [True, True] Translation: X:225.59, Y:-52.59, Z:-28.48 [[ 9.48927887e-01 3.02396362e-01 8.99572458e-02 2.25591778e+02] [-3.00778550e-01 9.53178458e-01 -3.13542774e-02 -5.25898907e+01] [-9.52267283e-02 2.69573821e-03 9.95451959e-01 -2.84777955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.421193817 meters 0.059916609179955324 Centerline is valid? [True, True] Translation: X:225.65, Y:-52.61, Z:-28.49 [[ 9.47907343e-01 3.05826769e-01 8.91159733e-02 2.25646037e+02] [-3.04255161e-01 9.52084348e-01 -3.10514310e-02 -5.26080027e+01] [-9.43422822e-02 2.31988461e-03 9.95537117e-01 -2.84871977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.481193817 meters 0.05882595892251612 Centerline is valid? [True, True] Translation: X:225.70, Y:-52.63, Z:-28.49 [[ 9.47251630e-01 3.07610744e-01 8.99443097e-02 2.25700477e+02] [-3.06018172e-01 9.51509839e-01 -3.13353531e-02 -5.26289796e+01] [-9.52219869e-02 2.15787108e-03 9.95453724e-01 -2.84911158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.541193817 meters 0.05899803197004518 Centerline is valid? [True, True] Translation: X:225.75, Y:-52.65, Z:-28.50 [[ 9.47382517e-01 3.07665932e-01 8.83631160e-02 2.25752231e+02] [-3.06132172e-01 9.51492160e-01 -3.07532687e-02 -5.26549318e+01] [-9.35385452e-02 2.08431651e-03 9.95613477e-01 -2.85011028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.601193817 meters 0.059162674941394135 Centerline is valid? [True, True] Translation: X:225.80, Y:-52.68, Z:-28.51 [[ 9.47297398e-01 3.08222334e-01 8.73305995e-02 2.25803508e+02] [-3.06727025e-01 9.51312244e-01 -3.03898942e-02 -5.26841497e+01] [-9.24455127e-02 2.00161268e-03 9.95715733e-01 -2.85084950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.661193817 meters 0.058146337388172646 Centerline is valid? [True, True] Translation: X:225.86, Y:-52.71, Z:-28.51 [[ 9.46274483e-01 3.11111199e-01 8.81726997e-02 2.25856656e+02] [-3.09602298e-01 9.50371985e-01 -3.06513675e-02 -5.27090330e+01] [-9.33328473e-02 1.70613646e-03 9.95633501e-01 -2.85126869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.721193817 meters 0.05743822113705352 Centerline is valid? [True, True] Translation: X:225.91, Y:-52.74, Z:-28.52 [[ 9.43939336e-01 3.18224737e-01 8.78154070e-02 2.25909126e+02] [-3.16758920e-01 9.48014779e-01 -3.05248260e-02 -5.27376656e+01] [-9.29640584e-02 9.97270541e-04 9.95668966e-01 -2.85184638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.781193817 meters 0.05782836783957779 Centerline is valid? [True, True] Translation: X:225.96, Y:-52.77, Z:-28.53 [[ 9.43022667e-01 3.21411551e-01 8.60399004e-02 2.25959747e+02] [-3.20020231e-01 9.46939386e-01 -2.98806152e-02 -5.27670854e+01] [-9.10785454e-02 6.43588553e-04 9.95843504e-01 -2.85268357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.841193817 meters 0.05850947506429899 Centerline is valid? [True, True] Translation: X:226.01, Y:-52.81, Z:-28.53 [[ 9.43346263e-01 3.20917493e-01 8.43195728e-02 2.26006839e+02] [-3.19580192e-01 9.47106919e-01 -2.92743197e-02 -5.28101728e+01] [-8.92542920e-02 6.68954850e-04 9.96008646e-01 -2.85323271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.901193817 meters 0.059623633964153815 Centerline is valid? [True, True] Translation: X:226.05, Y:-52.85, Z:-28.54 [[ 9.44472213e-01 3.18443181e-01 8.10319607e-02 2.26054473e+02] [-3.17201869e-01 9.47941579e-01 -2.81022507e-02 -5.28489563e+01] [-8.57625349e-02 8.38305520e-04 9.96315254e-01 -2.85436927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.961193817 meters 0.060184261363606995 Centerline is valid? [True, True] Translation: X:226.10, Y:-52.90, Z:-28.55 [[ 9.46557232e-01 3.12640985e-01 7.92781263e-02 2.26100199e+02] [-3.11432979e-01 9.49870436e-01 -2.74891767e-02 -5.28967325e+01] [-8.38981917e-02 1.33025604e-03 9.96473444e-01 -2.85511596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.021193817 meters 0.061445691679402115 Centerline is valid? [True, True] Translation: X:226.15, Y:-52.94, Z:-28.56 [[ 9.48393257e-01 3.06471056e-01 8.13985354e-02 2.26147855e+02] [-3.05174557e-01 9.51878023e-01 -2.82262022e-02 -5.29378011e+01] [-8.61319910e-02 1.92877786e-03 9.96281868e-01 -2.85604911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.081193817 meters 0.06549211905305811 Centerline is valid? [True, True] Translation: X:226.19, Y:-52.99, Z:-28.57 [[ 9.52173766e-01 2.94914482e-01 7.99410200e-02 2.26192112e+02] [-2.93625836e-01 9.55519269e-01 -2.76910713e-02 -5.29867570e+01] [-8.45516829e-02 2.89396282e-03 9.96414892e-01 -2.85703766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14119381700002 meters 0.0687554858880271 Centerline is valid? [True, True] Translation: X:226.24, Y:-53.02, Z:-28.58 [[ 9.54694998e-01 2.86635309e-01 7.99853736e-02 2.26241755e+02] [-2.85316428e-01 9.58032902e-01 -2.77036939e-02 -5.30245333e+01] [-8.45694765e-02 3.62743684e-03 9.96410982e-01 -2.85781300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.201193817 meters 0.06939856743879542 Centerline is valid? [True, True] Translation: X:226.29, Y:-53.06, Z:-28.58 [[ 9.57267583e-01 2.76884739e-01 8.35081781e-02 2.26294477e+02] [-2.75409977e-01 9.60891708e-01 -2.89217977e-02 -5.30581463e+01] [-8.82503202e-02 4.68691395e-03 9.96087302e-01 -2.85774213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.261193817 meters 0.07115415130282267 Centerline is valid? [True, True] Translation: X:226.35, Y:-53.08, Z:-28.59 [[ 9.58173342e-01 2.73983842e-01 8.26843481e-02 2.26348126e+02] [-2.72527436e-01 9.61721792e-01 -2.86354931e-02 -5.30846007e+01] [-8.73650018e-02 4.90401279e-03 9.96164297e-01 -2.85851672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.321193817 meters 0.07354774372208381 Centerline is valid? [True, True] Translation: X:226.40, Y:-53.11, Z:-28.59 [[ 9.59123482e-01 2.70177033e-01 8.41814507e-02 2.26400977e+02] [-2.68652888e-01 9.62795829e-01 -2.91516353e-02 -5.31108418e+01] [-8.89256519e-02 5.34442810e-03 9.96023928e-01 -2.85904867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.381193817 meters 0.07250635709630661 Centerline is valid? [True, True] Translation: X:226.46, Y:-53.13, Z:-28.59 [[ 9.59700382e-01 2.67514125e-01 8.60893178e-02 2.26457006e+02] [-2.65909558e-01 9.63536985e-01 -2.98091371e-02 -5.31299017e+01] [-9.09246070e-02 5.71586773e-03 9.95841375e-01 -2.85940646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.441193817 meters 0.07464193872368796 Centerline is valid? [True, True] Translation: X:226.51, Y:-53.15, Z:-28.60 [[ 9.61134522e-01 2.61973087e-01 8.71236618e-02 2.26512221e+02] [-2.60307671e-01 9.65054559e-01 -3.01598005e-02 -5.31533079e+01] [-9.19801431e-02 6.30866788e-03 9.95740857e-01 -2.85996253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.501193817 meters 0.07963473827825839 Centerline is valid? [True, True] Translation: X:226.57, Y:-53.18, Z:-28.61 [[ 9.62157663e-01 2.57773929e-01 8.83472287e-02 2.26565072e+02] [-2.56043709e-01 9.66181294e-01 -3.05830975e-02 -5.31784720e+01] [-9.32429650e-02 6.80500947e-03 9.95620129e-01 -2.86082529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.561193817 meters 0.08176396831917263 Centerline is valid? [True, True] Translation: X:226.62, Y:-53.20, Z:-28.62 [[ 9.63984456e-01 2.50930408e-01 8.81356832e-02 2.26622090e+02] [-2.49180502e-01 9.67976499e-01 -3.05053150e-02 -5.31951997e+01] [-9.29679812e-02 7.44495565e-03 9.95641264e-01 -2.86151992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.621193817 meters 0.08410870772007566 Centerline is valid? [True, True] Translation: X:226.68, Y:-53.21, Z:-28.62 [[ 9.64678322e-01 2.48662410e-01 8.69640229e-02 2.26678248e+02] [-2.46949866e-01 9.68560717e-01 -3.00981976e-02 -5.32125735e+01] [-9.17142267e-02 7.55932503e-03 9.95756676e-01 -2.86241761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.681193817 meters 0.08199523125374054 Centerline is valid? [True, True] Translation: X:226.74, Y:-53.22, Z:-28.63 [[ 9.64407261e-01 2.50156896e-01 8.56747506e-02 2.26739301e+02] [-2.48500562e-01 9.68177730e-01 -2.96538901e-02 -5.32154332e+01] [-9.03665107e-02 7.30820326e-03 9.95881762e-01 -2.86320147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.741193817 meters 0.0802482848021761 Centerline is valid? [True, True] Translation: X:226.80, Y:-53.22, Z:-28.64 [[ 9.63184552e-01 2.55854072e-01 8.25482479e-02 2.26798741e+02] [-2.54338677e-01 9.66693488e-01 -2.85576125e-02 -5.32208546e+01] [-8.71054352e-02 6.51103897e-03 9.96177820e-01 -2.86423678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.801193817 meters 0.07487382313738535 Centerline is valid? [True, True] Translation: X:226.86, Y:-53.21, Z:-28.65 [[ 9.59604295e-01 2.69426316e-01 8.10497190e-02 2.26862936e+02] [-2.68013822e-01 9.63007075e-01 -2.80350566e-02 -5.32144725e+01] [-8.56048348e-02 5.18011577e-03 9.96315702e-01 -2.86510448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86119381700001 meters 0.06734244092595447 Centerline is valid? [True, True] Translation: X:226.93, Y:-53.21, Z:-28.65 [[ 9.56861764e-01 2.78597065e-01 8.24575040e-02 2.26929086e+02] [-2.77169135e-01 9.60397849e-01 -2.85174125e-02 -5.32090799e+01] [-8.71368769e-02 4.43254660e-03 9.96186487e-01 -2.86524151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.921193817 meters 0.0630670939757737 Centerline is valid? [True, True] Translation: X:226.99, Y:-53.21, Z:-28.66 [[ 9.53153329e-01 2.91784375e-01 7.97534285e-02 2.26993184e+02] [-2.90494655e-01 9.56479031e-01 -2.75811221e-02 -5.32066947e+01] [-8.43302225e-02 3.12109364e-03 9.96432974e-01 -2.86606309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.981193817 meters 0.061432732988227365 Centerline is valid? [True, True] Translation: X:227.05, Y:-53.22, Z:-28.67 [[ 9.50964412e-01 2.98526299e-01 8.09242607e-02 2.27052585e+02] [-2.97222964e-01 9.54397982e-01 -2.79821626e-02 -5.32180659e+01] [-8.55873625e-02 2.55749219e-03 9.96327387e-01 -2.86675561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.041193817 meters 0.05896872458224004 Centerline is valid? [True, True] Translation: X:227.11, Y:-53.23, Z:-28.67 [[ 9.47126714e-01 3.09944338e-01 8.29788824e-02 2.27112864e+02] [-3.08617513e-01 9.50753416e-01 -2.86910018e-02 -5.32273623e+01] [-8.77850694e-02 1.56527794e-03 9.96138209e-01 -2.86703046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.101193817 meters 0.05814024269293179 Centerline is valid? [True, True] Translation: X:227.17, Y:-53.24, Z:-28.68 [[ 9.43765891e-01 3.19790396e-01 8.39049800e-02 2.27171169e+02] [-3.18472777e-01 9.47488087e-01 -2.90071733e-02 -5.32403463e+01] [-8.87751844e-02 6.54528742e-04 9.96051474e-01 -2.86758339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.161193817 meters 0.059599446469904054 Centerline is valid? [True, True] Translation: X:227.23, Y:-53.25, Z:-28.69 [[ 9.38823153e-01 3.33907395e-01 8.43619517e-02 2.27226527e+02] [-3.32632083e-01 9.42605637e-01 -2.91635250e-02 -5.32538923e+01] [-8.92579679e-02 -6.82099179e-04 9.96008308e-01 -2.86859702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.221193817 meters 0.06201950487882901 Centerline is valid? [True, True] Translation: X:227.28, Y:-53.28, Z:-28.70 [[ 9.36962808e-01 3.39954383e-01 8.08190153e-02 2.27277144e+02] [-3.38807373e-01 9.40441143e-01 -2.79288384e-02 -5.32817988e+01] [-8.55000581e-02 -1.21379539e-03 9.96337426e-01 -2.87005634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.281193817 meters 0.061224354426569906 Centerline is valid? [True, True] Translation: X:227.33, Y:-53.32, Z:-28.71 [[ 9.37242972e-01 3.39574148e-01 7.91518124e-02 2.27327155e+02] [-3.38472334e-01 9.40578585e-01 -2.73569829e-02 -5.33167191e+01] [-8.37382238e-02 -1.15055872e-03 9.96487123e-01 -2.87054902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.341193817 meters 0.0607981855858715 Centerline is valid? [True, True] Translation: X:227.37, Y:-53.36, Z:-28.72 [[ 9.38738630e-01 3.35722656e-01 7.78465294e-02 2.27370970e+02] [-3.34645949e-01 9.41960523e-01 -2.68786497e-02 -5.33602585e+01] [-8.23521292e-02 -8.18998897e-04 9.96602958e-01 -2.87156341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.401193817 meters 0.06086069649129574 Centerline is valid? [True, True] Translation: X:227.42, Y:-53.39, Z:-28.72 [[ 9.39263330e-01 3.34406910e-01 7.71778147e-02 2.27422724e+02] [-3.33345567e-01 9.42428517e-01 -2.66312422e-02 -5.33884073e+01] [-8.16402449e-02 -7.13133132e-04 9.96661609e-01 -2.87238125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.461193817 meters 0.06030794229460335 Centerline is valid? [True, True] Translation: X:227.47, Y:-53.43, Z:-28.73 [[ 9.40037520e-01 3.32319441e-01 7.67675067e-02 2.27469650e+02] [-3.31264202e-01 9.43166734e-01 -2.64677431e-02 -5.34282354e+01] [-8.12003041e-02 -5.49655272e-04 9.96697651e-01 -2.87312447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.521193817 meters 0.06021077756194066 Centerline is valid? [True, True] Translation: X:227.51, Y:-53.48, Z:-28.74 [[ 9.39910728e-01 3.32028220e-01 7.95304021e-02 2.27513705e+02] [-3.30897909e-01 9.43269274e-01 -2.73797577e-02 -5.34768258e+01] [-8.41094368e-02 -5.81915787e-04 9.96456353e-01 -2.87399605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.581193817 meters 0.06008685169019404 Centerline is valid? [True, True] Translation: X:227.56, Y:-53.52, Z:-28.75 [[ 9.39901770e-01 3.31602592e-01 8.13903220e-02 2.27562323e+02] [-3.30417159e-01 9.43419001e-01 -2.80194665e-02 -5.35155012e+01] [-8.60765040e-02 -5.57212782e-04 9.96288374e-01 -2.87456011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64119381700002 meters 0.05861687995763343 Centerline is valid? [True, True] Translation: X:227.61, Y:-53.57, Z:-28.75 [[ 9.40691860e-01 3.28727165e-01 8.38884690e-02 2.27605141e+02] [-3.27459201e-01 9.44424872e-01 -2.88467019e-02 -5.35719762e+01] [-8.87090512e-02 -3.34193364e-04 9.96057525e-01 -2.87472542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.701193817 meters 0.058295766454546684 Centerline is valid? [True, True] Translation: X:227.65, Y:-53.61, Z:-28.75 [[ 9.42225304e-01 3.24129500e-01 8.45668026e-02 2.27652604e+02] [-3.22822495e-01 9.46012715e-01 -2.90788475e-02 -5.36149306e+01] [-8.94265828e-02 9.87597648e-05 9.95993412e-01 -2.87532526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.761193817 meters 0.0587123108820221 Centerline is valid? [True, True] Translation: X:227.70, Y:-53.67, Z:-28.76 [[ 9.44842255e-01 3.16299611e-01 8.50157010e-02 2.27695240e+02] [-3.14949431e-01 9.48658993e-01 -2.92056728e-02 -5.36698113e+01] [-8.98886522e-02 8.19107102e-04 9.95951484e-01 -2.87606842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.821193817 meters 0.05907988796788962 Centerline is valid? [True, True] Translation: X:227.74, Y:-53.71, Z:-28.77 [[ 9.46119607e-01 3.12511012e-01 8.48207362e-02 2.27743726e+02] [-3.11154199e-01 9.49913439e-01 -2.91122346e-02 -5.37075629e+01] [-8.96702511e-02 1.15132766e-03 9.95970843e-01 -2.87671935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.881193817 meters 0.059806599367828284 Centerline is valid? [True, True] Translation: X:227.79, Y:-53.75, Z:-28.78 [[ 9.46800960e-01 3.11064234e-01 8.25044516e-02 2.27791703e+02] [-3.09778057e-01 9.50388105e-01 -2.82843605e-02 -5.37477620e+01] [-8.72095023e-02 1.22159091e-03 9.96189244e-01 -2.87764486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.941193817 meters 0.05977253744352039 Centerline is valid? [True, True] Translation: X:227.84, Y:-53.77, Z:-28.79 [[ 9.46339240e-01 3.12864541e-01 8.09803834e-02 2.27843849e+02] [-3.11632101e-01 9.49797192e-01 -2.77619965e-02 -5.37744891e+01] [-8.56006851e-02 1.03617959e-03 9.96328986e-01 -2.87851537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.001193817 meters 0.060044584654001934 Centerline is valid? [True, True] Translation: X:227.89, Y:-53.80, Z:-28.80 [[ 9.44917341e-01 3.17510200e-01 7.94889443e-02 2.27894025e+02] [-3.16341907e-01 9.48254683e-01 -2.72186314e-02 -5.38036523e+01] [-8.40179568e-02 5.73672549e-04 9.96464076e-01 -2.87957525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.061193817 meters 0.059869615093868 Centerline is valid? [True, True] Translation: X:227.95, Y:-53.83, Z:-28.80 [[ 9.43767414e-01 3.20861295e-01 7.96937748e-02 2.27946904e+02] [-3.19699059e-01 9.47126155e-01 -2.72865880e-02 -5.38289034e+01] [-8.42352685e-02 2.74167772e-04 9.96445856e-01 -2.88027953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.121193817 meters 0.059754883615627086 Centerline is valid? [True, True] Translation: X:228.00, Y:-53.85, Z:-28.81 [[ 9.41609560e-01 3.27230092e-01 7.93215185e-02 2.28000239e+02] [-3.26103220e-01 9.44944637e-01 -2.71352620e-02 -5.38540838e+01] [-8.38339178e-02 -3.16180460e-04 9.96479691e-01 -2.88078927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.181193817 meters 0.05966102616137324 Centerline is valid? [True, True] Translation: X:228.05, Y:-53.88, Z:-28.81 [[ 9.39861724e-01 3.31317727e-01 8.29970080e-02 2.28052107e+02] [-3.30102710e-01 9.43518950e-01 -2.83582739e-02 -5.38801768e+01] [-8.77048487e-02 -7.44681095e-04 9.96146227e-01 -2.88125484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.241193817 meters 0.05950202542117233 Centerline is valid? [True, True] Translation: X:228.10, Y:-53.91, Z:-28.81 [[ 9.37334031e-01 3.37264327e-01 8.75082113e-02 2.28104318e+02] [-3.35939578e-01 9.41408987e-01 -2.98951385e-02 -5.39115633e+01] [-9.24635803e-02 -1.37574083e-03 9.95715117e-01 -2.88118985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.301193817 meters 0.06046874389543525 Centerline is valid? [True, True] Translation: X:228.16, Y:-53.94, Z:-28.82 [[ 9.35580299e-01 3.41688512e-01 8.90980674e-02 2.28156823e+02] [-3.40338427e-01 9.39811379e-01 -3.04027381e-02 -5.39372890e+01] [-9.41236440e-02 -1.87929329e-03 9.95558742e-01 -2.88185701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36119381700001 meters 0.061609959966399334 Centerline is valid? [True, True] Translation: X:228.21, Y:-53.97, Z:-28.83 [[ 9.34139748e-01 3.46126011e-01 8.70615573e-02 2.28206119e+02] [-3.44857261e-01 9.38185255e-01 -2.96967513e-02 -5.39736167e+01] [-9.19586874e-02 -2.28289433e-03 9.95760206e-01 -2.88278481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.421193817 meters 0.061899643862173524 Centerline is valid? [True, True] Translation: X:228.26, Y:-54.01, Z:-28.84 [[ 9.34663610e-01 3.45178599e-01 8.51802295e-02 2.28255905e+02] [-3.43960103e-01 9.38534578e-01 -2.90567321e-02 -5.40060131e+01] [-8.99743528e-02 -2.14033040e-03 9.95941783e-01 -2.88387431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.481193817 meters 0.06177331191640827 Centerline is valid? [True, True] Translation: X:228.30, Y:-54.05, Z:-28.85 [[ 9.36895585e-01 3.39730831e-01 8.25204496e-02 2.28301198e+02] [-3.38569147e-01 9.40521351e-01 -2.81161908e-02 -5.40487637e+01] [-8.71641817e-02 -1.59694318e-03 9.96192680e-01 -2.88525898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.541193817 meters 0.06034295197344306 Centerline is valid? [True, True] Translation: X:228.35, Y:-54.09, Z:-28.86 [[ 9.38353709e-01 3.36176758e-01 8.04829391e-02 2.28350581e+02] [-3.35059592e-01 9.41798088e-01 -2.74122339e-02 -5.40873275e+01] [-8.50140341e-02 -1.24420935e-03 9.96378977e-01 -2.88567391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.601193817 meters 0.0609257646296313 Centerline is valid? [True, True] Translation: X:228.40, Y:-54.12, Z:-28.87 [[ 9.38101682e-01 3.37439727e-01 7.81003546e-02 2.28400368e+02] [-3.36392925e-01 9.41346201e-01 -2.65919031e-02 -5.41241825e+01] [-8.24926367e-02 -1.32649771e-03 9.96590791e-01 -2.88657288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.661193817 meters 0.062216105893165286 Centerline is valid? [True, True] Translation: X:228.45, Y:-54.15, Z:-28.87 [[ 9.36469961e-01 3.41762163e-01 7.88836870e-02 2.28452242e+02] [-3.40709613e-01 9.39784894e-01 -2.68572659e-02 -5.41506956e+01] [-8.33124947e-02 -1.72540774e-03 9.96521977e-01 -2.88730332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.721193817 meters 0.06387222227782456 Centerline is valid? [True, True] Translation: X:228.50, Y:-54.18, Z:-28.88 [[ 9.34807846e-01 3.46405155e-01 7.83438615e-02 2.28504087e+02] [-3.45384182e-01 9.38082571e-01 -2.66618920e-02 -5.41824490e+01] [-8.27288279e-02 -2.13498468e-03 9.96569808e-01 -2.88819437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.781193817 meters 0.06297515924887814 Centerline is valid? [True, True] Translation: X:228.56, Y:-54.22, Z:-28.89 [[ 9.35129422e-01 3.45322982e-01 7.92780098e-02 2.28556238e+02] [-3.44274046e-01 9.38481624e-01 -2.69744806e-02 -5.42168336e+01] [-8.37158634e-02 -2.06873069e-03 9.96487519e-01 -2.88863657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.841193817 meters 0.060752667621701915 Centerline is valid? [True, True] Translation: X:228.60, Y:-54.26, Z:-28.89 [[ 9.36960894e-01 3.39191702e-01 8.39837580e-02 2.28604213e+02] [-3.37989720e-01 9.40715894e-01 -2.85754556e-02 -5.42640735e+01] [-8.86974134e-02 -1.61156248e-03 9.96057313e-01 -2.88871300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.901193817 meters 0.059458876741136084 Centerline is valid? [True, True] Translation: X:228.65, Y:-54.30, Z:-28.89 [[ 9.38954959e-01 3.32900752e-01 8.68370572e-02 2.28654676e+02] [-3.31588593e-01 9.42961285e-01 -2.95469230e-02 -5.43003782e+01] [-9.17201759e-02 -1.05094778e-03 9.95784266e-01 -2.88927535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.961193817 meters 0.0581470499990302 Centerline is valid? [True, True] Translation: X:228.71, Y:-54.34, Z:-28.90 [[ 9.41959497e-01 3.23968213e-01 8.80732849e-02 2.28705394e+02] [-3.22580113e-01 9.46067947e-01 -2.99584677e-02 -5.43440738e+01] [-9.30289031e-02 -1.91027124e-04 9.95663390e-01 -2.88957997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.021193817 meters 0.058580987187672774 Centerline is valid? [True, True] Translation: X:228.76, Y:-54.38, Z:-28.90 [[ 9.43932610e-01 3.18927629e-01 8.53017919e-02 2.28758852e+02] [-3.17601946e-01 9.47779014e-01 -2.90507329e-02 -5.43787274e+01] [-9.01123296e-02 3.29919054e-04 9.95931553e-01 -2.89047789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.081193817 meters 0.05929408386077279 Centerline is valid? [True, True] Translation: X:228.81, Y:-54.41, Z:-28.92 [[ 9.45572840e-01 3.14525695e-01 8.34601171e-02 2.28810995e+02] [-3.13239499e-01 9.49248675e-01 -2.84247982e-02 -5.44123740e+01] [-8.81647350e-02 7.34711954e-04 9.96105637e-01 -2.89155272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14119381700002 meters 0.059544826891806873 Centerline is valid? [True, True] Translation: X:228.87, Y:-54.44, Z:-28.93 [[ 9.45470174e-01 3.15500094e-01 8.09063757e-02 2.28867970e+02] [-3.14293115e-01 9.48925325e-01 -2.75783431e-02 -5.44352016e+01] [-8.54750787e-02 6.46184019e-04 9.96340099e-01 -2.89262393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.201193817 meters 0.06021042634771297 Centerline is valid? [True, True] Translation: X:228.92, Y:-54.46, Z:-28.94 [[ 9.45542043e-01 3.15869233e-01 7.85930796e-02 2.28922427e+02] [-3.14729565e-01 9.48802532e-01 -2.68152299e-02 -5.44610379e+01] [-8.30394190e-02 6.19361525e-04 9.96546071e-01 -2.89381078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.261193817 meters 0.06032363468009519 Centerline is valid? [True, True] Translation: X:228.98, Y:-54.48, Z:-28.95 [[ 9.45251695e-01 3.16701244e-01 7.87372558e-02 2.28979838e+02] [-3.15558351e-01 9.48525170e-01 -2.68873397e-02 -5.44825812e+01] [-8.31995229e-02 5.69104797e-04 9.96532747e-01 -2.89457836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.321193817 meters 0.06030710823396458 Centerline is valid? [True, True] Translation: X:229.04, Y:-54.50, Z:-28.95 [[ 9.44692191e-01 3.18633143e-01 7.76504007e-02 2.29037980e+02] [-3.17526136e-01 9.47878023e-01 -2.65406514e-02 -5.45038764e+01] [-8.20598395e-02 4.16714423e-04 9.96627317e-01 -2.89540921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.381193817 meters 0.06036365665471247 Centerline is valid? [True, True] Translation: X:229.10, Y:-54.53, Z:-28.96 [[ 9.44086758e-01 3.20355218e-01 7.79277073e-02 2.29095046e+02] [-3.19244071e-01 9.47297445e-01 -2.66603541e-02 -5.45269539e+01] [-8.23615016e-02 2.91728794e-04 9.96602477e-01 -2.89635160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.441193817 meters 0.06004517481636867 Centerline is valid? [True, True] Translation: X:229.15, Y:-54.55, Z:-28.97 [[ 9.45291039e-01 3.16469958e-01 7.91935459e-02 2.29151979e+02] [-3.15306649e-01 9.48602301e-01 -2.71181130e-02 -5.45535054e+01] [-8.37052479e-02 6.64257568e-04 9.96490336e-01 -2.89668650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.501193817 meters 0.0619307309358678 Centerline is valid? [True, True] Translation: X:229.20, Y:-54.59, Z:-28.97 [[ 9.48424996e-01 3.06576069e-01 8.06296519e-02 2.29204133e+02] [-3.05331905e-01 9.51844827e-01 -2.76378996e-02 -5.45889703e+01] [-8.52200356e-02 1.59366961e-03 9.96360881e-01 -2.89737277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.561193817 meters 0.06564825033564994 Centerline is valid? [True, True] Translation: X:229.26, Y:-54.62, Z:-28.98 [[ 9.52290295e-01 2.94604378e-01 7.96960132e-02 2.29256227e+02] [-2.93344110e-01 9.55615583e-01 -2.73512439e-02 -5.46225815e+01] [-8.42165483e-02 2.66796810e-03 9.96443905e-01 -2.89807144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.621193817 meters 0.0685391226352857 Centerline is valid? [True, True] Translation: X:229.31, Y:-54.65, Z:-28.99 [[ 9.54810442e-01 2.86848053e-01 7.78152535e-02 2.29312232e+02] [-2.85620977e-01 9.57970502e-01 -2.67053294e-02 -5.46466603e+01] [-8.22050892e-02 3.27285867e-03 9.96610060e-01 -2.89894438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.681193817 meters 0.07376149264497543 Centerline is valid? [True, True] Translation: X:229.37, Y:-54.67, Z:-29.00 [[ 9.57760708e-01 2.77511597e-01 7.53773199e-02 2.29367469e+02] [-2.76331328e-01 9.60714173e-01 -2.58703418e-02 -5.46712981e+01] [-7.95953795e-02 3.94848196e-03 9.96819435e-01 -2.89997969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.741193817 meters 0.07566475725315808 Centerline is valid? [True, True] Translation: X:229.43, Y:-54.69, Z:-29.01 [[ 9.58457187e-01 2.75053320e-01 7.55347050e-02 2.29426245e+02] [-2.73860584e-01 9.61419972e-01 -2.59233173e-02 -5.46893238e+01] [-7.97508685e-02 4.16041131e-03 9.96806145e-01 -2.90070093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.801193817 meters 0.07751188798994163 Centerline is valid? [True, True] Translation: X:229.49, Y:-54.70, Z:-29.02 [[ 9.58511588e-01 2.74607567e-01 7.64605821e-02 2.29486296e+02] [-2.73383560e-01 9.61546977e-01 -2.62457636e-02 -5.47045338e+01] [-8.07277269e-02 4.25380238e-03 9.96727114e-01 -2.90156005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86119381700001 meters 0.07712419731640183 Centerline is valid? [True, True] Translation: X:229.55, Y:-54.71, Z:-29.02 [[ 9.59135065e-01 2.72505788e-01 7.61611653e-02 2.29548720e+02] [-2.71282474e-01 9.62143895e-01 -2.61714350e-02 -5.47120253e+01] [-8.04098678e-02 4.44075165e-03 9.96751992e-01 -2.90199395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.921193817 meters 0.0755283367070848 Centerline is valid? [True, True] Translation: X:229.61, Y:-54.72, Z:-29.02 [[ 9.59576687e-01 2.70672526e-01 7.71295413e-02 2.29611459e+02] [-2.69410100e-01 9.62660131e-01 -2.65267774e-02 -5.47203361e+01] [-8.14296042e-02 4.67499975e-03 9.96668131e-01 -2.90228910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.981193817 meters 0.07655217966349523 Centerline is valid? [True, True] Translation: X:229.67, Y:-54.72, Z:-29.03 [[ 9.59485906e-01 2.70762608e-01 7.79384810e-02 2.29674283e+02] [-2.69471458e-01 9.62634461e-01 -2.68333472e-02 -5.47228596e+01] [-8.22917346e-02 4.74402227e-03 9.96596992e-01 -2.90305687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.041193817 meters 0.07832358885866127 Centerline is valid? [True, True] Translation: X:229.74, Y:-54.72, Z:-29.04 [[ 9.58370915e-01 2.74277497e-01 7.93539129e-02 2.29735761e+02] [-2.72947756e-01 9.61639779e-01 -2.73579490e-02 -5.47245972e+01] [-8.38135491e-02 4.55959011e-03 9.96471023e-01 -2.90400589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.101193817 meters 0.07288670212043918 Centerline is valid? [True, True] Translation: X:229.80, Y:-54.72, Z:-29.04 [[ 9.58188430e-01 2.75163920e-01 7.84840743e-02 2.29804034e+02] [-2.73867576e-01 9.61387181e-01 -2.70414474e-02 -5.47203707e+01] [-8.28944135e-02 4.41655884e-03 9.96548549e-01 -2.90424828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.161193817 meters 0.07393287850975598 Centerline is valid? [True, True] Translation: X:229.87, Y:-54.73, Z:-29.05 [[ 9.58109338e-01 2.75246444e-01 7.91573800e-02 2.29866547e+02] [-2.73924801e-01 9.61363244e-01 -2.73114645e-02 -5.47261781e+01] [-8.36163792e-02 4.48419963e-03 9.96487929e-01 -2.90513104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.221193817 meters 0.07977904733437446 Centerline is valid? [True, True] Translation: X:229.93, Y:-54.74, Z:-29.06 [[ 9.57945332e-01 2.75435925e-01 8.04723067e-02 2.29926112e+02] [-2.74069557e-01 9.61308646e-01 -2.77770609e-02 -5.47371632e+01] [-8.50095247e-02 4.55389640e-03 9.96369732e-01 -2.90648721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.281193817 meters 0.07071692912315784 Centerline is valid? [True, True] Translation: X:229.99, Y:-54.73, Z:-29.06 [[ 9.56980972e-01 2.78557825e-01 8.11970328e-02 2.29993548e+02] [-2.77174948e-01 9.60409617e-01 -2.80609165e-02 -5.47298230e+01] [-8.57989990e-02 4.34797982e-03 9.96302979e-01 -2.90635071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.341193817 meters 0.06879645917081677 Centerline is valid? [True, True] Translation: X:230.06, Y:-54.72, Z:-29.07 [[ 9.55176466e-01 2.85110802e-01 7.96853119e-02 2.30057952e+02] [-2.83801478e-01 9.58487454e-01 -2.75412669e-02 -5.47247305e+01] [-8.42296844e-02 3.69196075e-03 9.96439526e-01 -2.90749410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.401193817 meters 0.06697296999090971 Centerline is valid? [True, True] Translation: X:230.12, Y:-54.73, Z:-29.08 [[ 9.54099471e-01 2.88465856e-01 8.05086878e-02 2.30120750e+02] [-2.87141363e-01 9.57484043e-01 -2.78234733e-02 -5.47310439e+01] [-8.51119059e-02 3.42898682e-03 9.96365498e-01 -2.90817748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.461193817 meters 0.06556124426804971 Centerline is valid? [True, True] Translation: X:230.18, Y:-54.74, Z:-29.09 [[ 9.52367218e-01 2.93383384e-01 8.32038021e-02 2.30182518e+02] [-2.91986415e-01 9.55989846e-01 -2.87636637e-02 -5.47351159e+01] [-8.79807709e-02 3.09919053e-03 9.96117352e-01 -2.90874659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.521193817 meters 0.06131542466788692 Centerline is valid? [True, True] Translation: X:230.25, Y:-54.73, Z:-29.09 [[ 9.50252867e-01 3.00466942e-01 8.20920512e-02 2.30246619e+02] [-2.99133525e-01 9.53789185e-01 -2.83782616e-02 -5.47341763e+01] [-8.68252401e-02 2.41003976e-03 9.96220643e-01 -2.90915992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.581193817 meters 0.059770179175140464 Centerline is valid? [True, True] Translation: X:230.31, Y:-54.73, Z:-29.10 [[ 9.46570178e-01 3.12550956e-01 7.94782834e-02 2.30308053e+02] [-3.11343607e-01 9.49900157e-01 -2.74745337e-02 -5.47328217e+01] [-8.40836257e-02 1.26151888e-03 9.96457903e-01 -2.91048789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64119381700002 meters 0.05932641930792013 Centerline is valid? [True, True] Translation: X:230.37, Y:-54.74, Z:-29.11 [[ 9.44684987e-01 3.18480630e-01 7.83604686e-02 2.30366233e+02] [-3.17327777e-01 9.47929096e-01 -2.70834044e-02 -5.47428659e+01] [-8.29057079e-02 7.19332211e-04 9.96557136e-01 -2.91127342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.701193817 meters 0.05911723272694437 Centerline is valid? [True, True] Translation: X:230.42, Y:-54.76, Z:-29.12 [[ 9.43158558e-01 3.23081007e-01 7.79140437e-02 2.30423141e+02] [-3.21957521e-01 9.46371264e-01 -2.69218433e-02 -5.47558987e+01] [-8.24335482e-02 3.06554580e-04 9.96596516e-01 -2.91201283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.761193817 meters 0.05983288130307486 Centerline is valid? [True, True] Translation: X:230.48, Y:-54.77, Z:-29.13 [[ 9.41799518e-01 3.27572201e-01 7.55653383e-02 2.30479256e+02] [-3.26529772e-01 9.44826146e-01 -2.61124720e-02 -5.47701050e+01] [-7.99498273e-02 -8.16191028e-05 9.96798886e-01 -2.91309048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.821193817 meters 0.061279188045956175 Centerline is valid? [True, True] Translation: X:230.53, Y:-54.79, Z:-29.14 [[ 9.39190384e-01 3.35273984e-01 7.42480801e-02 2.30533763e+02] [-3.34294180e-01 9.42120367e-01 -2.56245032e-02 -5.47876993e+01] [-7.85418578e-02 -7.54413997e-04 9.96910531e-01 -2.91408846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.881193817 meters 0.060545248976401914 Centerline is valid? [True, True] Translation: X:230.59, Y:-54.81, Z:-29.14 [[ 9.37807493e-01 3.38758407e-01 7.58936646e-02 2.30587920e+02] [-3.37745773e-01 9.40872788e-01 -2.61952028e-02 -5.48115172e+01] [-8.02801290e-02 -1.06670697e-03 9.96771771e-01 -2.91394924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.941193817 meters 0.06089694555809325 Centerline is valid? [True, True] Translation: X:230.64, Y:-54.84, Z:-29.14 [[ 9.36787111e-01 3.40020703e-01 8.25580455e-02 2.30639315e+02] [-3.38830645e-01 9.40417027e-01 -2.84536424e-02 -5.48431814e+01] [-8.73138191e-02 -1.31819039e-03 9.96179983e-01 -2.91445432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.001193817 meters 0.06034748040188783 Centerline is valid? [True, True] Translation: X:230.69, Y:-54.88, Z:-29.15 [[ 9.36890940e-01 3.39403566e-01 8.39081952e-02 2.30689817e+02] [-3.38171972e-01 9.40639979e-01 -2.89162030e-02 -5.48756214e+01] [-8.87416654e-02 -1.28407126e-03 9.96053848e-01 -2.91492772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.061193817 meters 0.06057141240139529 Centerline is valid? [True, True] Translation: X:230.74, Y:-54.91, Z:-29.16 [[ 9.37322512e-01 3.38931892e-01 8.09424616e-02 2.30738812e+02] [-3.37784967e-01 9.40810143e-01 -2.78853356e-02 -5.49135657e+01] [-8.56027183e-02 -1.20359392e-03 9.96328623e-01 -2.91590750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.121193817 meters 0.06108393917624785 Centerline is valid? [True, True] Translation: X:230.79, Y:-54.94, Z:-29.17 [[ 9.37349631e-01 3.39308204e-01 7.90291861e-02 2.30790264e+02] [-3.38216447e-01 9.40674480e-01 -2.72242041e-02 -5.49434838e+01] [-8.35781344e-02 -1.21037295e-03 9.96500492e-01 -2.91681333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.181193817 meters 0.06148933656800531 Centerline is valid? [True, True] Translation: X:230.84, Y:-54.98, Z:-29.18 [[ 9.37036973e-01 3.40669208e-01 7.68518173e-02 2.30841948e+02] [-3.39642158e-01 9.40182319e-01 -2.64653040e-02 -5.49761486e+01] [-8.12706339e-02 -1.30314875e-03 9.96691219e-01 -2.91759657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.241193817 meters 0.06228647291696952 Centerline is valid? [True, True] Translation: X:230.89, Y:-55.01, Z:-29.19 [[ 9.36597580e-01 3.42395571e-01 7.44999755e-02 2.30893434e+02] [-3.41436151e-01 9.39554832e-01 -2.56529008e-02 -5.50064584e+01] [-7.87802516e-02 -1.41054013e-03 9.96891008e-01 -2.91856261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.301193817 meters 0.06266353119265988 Centerline is valid? [True, True] Translation: X:230.95, Y:-55.04, Z:-29.19 [[ 9.36231191e-01 3.43346184e-01 7.47298752e-02 2.30946311e+02] [-3.42384353e-01 9.39207722e-01 -2.57256688e-02 -5.50356642e+01] [-7.90196860e-02 -1.50116643e-03 9.96871925e-01 -2.91939211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36119381700001 meters 0.06284469437738603 Centerline is valid? [True, True] Translation: X:231.00, Y:-55.07, Z:-29.20 [[ 9.36721534e-01 3.42326887e-01 7.32466389e-02 2.30998031e+02] [-3.41401256e-01 9.39579868e-01 -2.51962911e-02 -5.50742024e+01] [-7.74464352e-02 -1.40458611e-03 9.96995525e-01 -2.92039321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.421193817 meters 0.061974304541852876 Centerline is valid? [True, True] Translation: X:231.05, Y:-55.11, Z:-29.21 [[ 9.38238590e-01 3.38013214e-01 7.38607853e-02 2.31049885e+02] [-3.37055885e-01 9.41140807e-01 -2.54423231e-02 -5.51121396e+01] [-7.81132404e-02 -1.02424303e-03 9.96943967e-01 -2.92104503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.481193817 meters 0.06022281986462923 Centerline is valid? [True, True] Translation: X:231.10, Y:-55.16, Z:-29.21 [[ 9.40853400e-01 3.29463054e-01 7.90504616e-02 2.31097948e+02] [-3.28335334e-01 9.44168411e-01 -2.72382067e-02 -5.51584551e+01] [-8.36109315e-02 -3.27900293e-04 9.96498422e-01 -2.92129910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.541193817 meters 0.06011988955367707 Centerline is valid? [True, True] Translation: X:231.15, Y:-55.19, Z:-29.22 [[ 9.42861163e-01 3.23605414e-01 7.93244145e-02 2.31150828e+02] [-3.22449971e-01 9.46192107e-01 -2.73224028e-02 -5.51935114e+01] [-8.38978123e-02 1.83077338e-04 9.96474347e-01 -2.92206307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.601193817 meters 0.06120423158379144 Centerline is valid? [True, True] Translation: X:231.20, Y:-55.24, Z:-29.23 [[ 9.46344827e-01 3.13291909e-01 7.92442338e-02 2.31201900e+02] [-3.12099714e-01 9.49656202e-01 -2.73288520e-02 -5.52351307e+01] [-8.38166863e-02 1.13041500e-03 9.96480549e-01 -2.92280224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.661193817 meters 0.06222508877528633 Centerline is valid? [True, True] Translation: X:231.26, Y:-55.27, Z:-29.23 [[ 9.48249246e-01 3.06566547e-01 8.27062306e-02 2.31257185e+02] [-3.05242179e-01 9.51847525e-01 -2.85219487e-02 -5.52672413e+01] [-8.74675962e-02 1.80048629e-03 9.96165738e-01 -2.92324338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.721193817 meters 0.06757650134236277 Centerline is valid? [True, True] Translation: X:231.31, Y:-55.31, Z:-29.24 [[ 9.52035939e-01 2.94216797e-01 8.40478845e-02 2.31306093e+02] [-2.92796822e-01 9.55733910e-01 -2.90295437e-02 -5.53067868e+01] [-8.88683926e-02 3.02821539e-03 9.96038774e-01 -2.92411803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.781193817 meters 0.06923599048067185 Centerline is valid? [True, True] Translation: X:231.36, Y:-55.33, Z:-29.25 [[ 9.54099218e-01 2.88123795e-01 8.17273577e-02 2.31362562e+02] [-2.86759095e-01 9.57586791e-01 -2.82269247e-02 -5.53290039e+01] [-8.63938868e-02 3.49522365e-03 9.96254927e-01 -2.92499117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.841193817 meters 0.07429264291314033 Centerline is valid? [True, True] Translation: X:231.42, Y:-55.36, Z:-29.26 [[ 9.56454838e-01 2.80520048e-01 8.06389820e-02 2.31416419e+02] [-2.79164521e-01 9.59839294e-01 -2.78513967e-02 -5.53550688e+01] [-8.52133386e-02 4.12706035e-03 9.96354181e-01 -2.92606890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.901193817 meters 0.0764851394424701 Centerline is valid? [True, True] Translation: X:231.47, Y:-55.37, Z:-29.27 [[ 9.57589203e-01 2.77221641e-01 7.85562202e-02 2.31474117e+02] [-2.75923861e-01 9.60796324e-01 -2.71375484e-02 -5.53735425e+01] [-8.29996433e-02 4.31108780e-03 9.96540252e-01 -2.92691249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.961193817 meters 0.07954203398782621 Centerline is valid? [True, True] Translation: X:231.53, Y:-55.39, Z:-29.28 [[ 9.58282496e-01 2.75077516e-01 7.76338687e-02 2.31531858e+02] [-2.73803211e-01 9.61411788e-01 -2.68174442e-02 -5.53878149e+01] [-8.20149924e-02 4.44228485e-03 9.96621195e-01 -2.92778539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.021193817 meters 0.08187421216735853 Centerline is valid? [True, True] Translation: X:231.59, Y:-55.40, Z:-29.29 [[ 9.58329069e-01 2.74221815e-01 8.00486775e-02 2.31591883e+02] [-2.72863579e-01 9.61655177e-01 -2.76547841e-02 -5.53999650e+01] [-8.45627702e-02 4.66001484e-03 9.96407257e-01 -2.92859689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.081193817 meters 0.07800665915964201 Centerline is valid? [True, True] Translation: X:231.66, Y:-55.40, Z:-29.29 [[ 9.56329093e-01 2.79930000e-01 8.41062466e-02 2.31657415e+02] [-2.78449072e-01 9.60010325e-01 -2.90910736e-02 -5.53957706e+01] [-8.88863294e-02 4.40133368e-03 9.96032052e-01 -2.92883205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14119381700002 meters 0.07553922874593373 Centerline is valid? [True, True] Translation: X:231.72, Y:-55.40, Z:-29.29 [[ 9.55482587e-01 2.82499462e-01 8.51297790e-02 2.31721701e+02] [-2.80992358e-01 9.59258205e-01 -2.94447195e-02 -5.53976858e+01] [-8.99795564e-02 4.21309947e-03 9.95934701e-01 -2.92948518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.201193817 meters 0.0777570391291288 Centerline is valid? [True, True] Translation: X:231.78, Y:-55.40, Z:-29.31 [[ 9.56452909e-01 2.79983332e-01 8.25055593e-02 2.31784443e+02] [-2.78558010e-01 9.59995150e-01 -2.85437919e-02 -5.53992466e+01] [-8.71967227e-02 4.31820844e-03 9.96181753e-01 -2.93069866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.261193817 meters 0.08278691115520609 Centerline is valid? [True, True] Translation: X:231.84, Y:-55.42, Z:-29.32 [[ 9.58544270e-01 2.73336487e-01 8.04987445e-02 2.31842764e+02] [-2.71956347e-01 9.61906486e-01 -2.78506409e-02 -5.54161958e+01] [-8.50448607e-02 4.80392782e-03 9.96365542e-01 -2.93169193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.321193817 meters 0.08126279408753467 Centerline is valid? [True, True] Translation: X:231.91, Y:-55.42, Z:-29.32 [[ 9.60932775e-01 2.65169457e-01 7.93307035e-02 2.31907367e+02] [-2.63801154e-01 9.64186422e-01 -2.74498425e-02 -5.54163953e+01] [-8.37684470e-02 5.44992217e-03 9.96470344e-01 -2.93192274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.381193817 meters 0.09022698950766303 Centerline is valid? [True, True] Translation: X:231.96, Y:-55.44, Z:-29.34 [[ 9.61147342e-01 2.64832738e-01 7.78421947e-02 2.31963043e+02] [-2.63514188e-01 9.64279371e-01 -2.69363617e-02 -5.54359120e+01] [-8.21952530e-02 5.37728978e-03 9.96601738e-01 -2.93360470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.441193817 meters 0.08131892993663624 Centerline is valid? [True, True] Translation: X:232.03, Y:-55.42, Z:-29.34 [[ 9.59896335e-01 2.68830383e-01 7.95565975e-02 2.32032971e+02] [-2.67466213e-01 9.63173758e-01 -2.75342662e-02 -5.54213393e+01] [-8.40288743e-02 5.15133930e-03 9.96450005e-01 -2.93373752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.501193817 meters 0.07638576143419176 Centerline is valid? [True, True] Translation: X:232.10, Y:-55.42, Z:-29.34 [[ 9.58722973e-01 2.72523789e-01 8.11236489e-02 2.32097385e+02] [-2.71118162e-01 9.62136436e-01 -2.80788274e-02 -5.54210179e+01] [-8.57041669e-02 4.92572233e-03 9.96308453e-01 -2.93400326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.561193817 meters 0.07122137080597887 Centerline is valid? [True, True] Translation: X:232.16, Y:-55.41, Z:-29.35 [[ 9.55404403e-01 2.83833052e-01 8.14937077e-02 2.32164479e+02] [-2.82455184e-01 9.58865650e-01 -2.82087766e-02 -5.54113891e+01] [-8.61481002e-02 3.93246920e-03 9.96274581e-01 -2.93481558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.621193817 meters 0.06706065206478214 Centerline is valid? [True, True] Translation: X:232.23, Y:-55.41, Z:-29.36 [[ 9.52293454e-01 2.94386598e-01 8.04593539e-02 2.32228922e+02] [-2.93080896e-01 9.55681891e-01 -2.78516068e-02 -5.54080463e+01] [-8.50926872e-02 2.94180333e-03 9.96368697e-01 -2.93563662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.681193817 meters 0.062396785929349795 Centerline is valid? [True, True] Translation: X:232.30, Y:-55.40, Z:-29.36 [[ 9.47487822e-01 3.08498202e-01 8.42358969e-02 2.32296307e+02] [-3.07122078e-01 9.51223303e-01 -2.91591798e-02 -5.53980608e+01] [-8.91227026e-02 1.75726411e-03 9.96019104e-01 -2.93599186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.741193817 meters 0.06126028147628822 Centerline is valid? [True, True] Translation: X:232.36, Y:-55.41, Z:-29.36 [[ 9.45729432e-01 3.12740214e-01 8.82575804e-02 2.32356694e+02] [-3.11247856e-01 9.49837638e-01 -3.05488619e-02 -5.54078867e+01] [-9.33842294e-02 1.42097511e-03 9.95629131e-01 -2.93642066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.801193817 meters 0.06089419968973119 Centerline is valid? [True, True] Translation: X:232.41, Y:-55.42, Z:-29.37 [[ 9.45815258e-01 3.11915183e-01 9.02353352e-02 2.32413872e+02] [-3.10351320e-01 9.50108709e-01 -3.12329796e-02 -5.54222675e+01] [-9.54754184e-02 1.53597332e-03 9.95430603e-01 -2.93696691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86119381700001 meters 0.06190736583949918 Centerline is valid? [True, True] Translation: X:232.47, Y:-55.44, Z:-29.38 [[ 9.46691759e-01 3.09528521e-01 8.92569756e-02 2.32466685e+02] [-3.07988628e-01 9.50888549e-01 -3.08864423e-02 -5.54428274e+01] [-9.44336708e-02 1.74980698e-03 9.95529618e-01 -2.93799728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.921193817 meters 0.0625840837703989 Centerline is valid? [True, True] Translation: X:232.52, Y:-55.46, Z:-29.39 [[ 9.47327420e-01 3.08197921e-01 8.70907560e-02 2.32521076e+02] [-3.06727415e-01 9.51320507e-01 -3.01261795e-02 -5.54639980e+01] [-9.21360480e-02 1.82623345e-03 9.95744753e-01 -2.93898928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.981193817 meters 0.062756007452073 Centerline is valid? [True, True] Translation: X:232.58, Y:-55.49, Z:-29.40 [[ 9.48194976e-01 3.06562223e-01 8.33420130e-02 2.32575208e+02] [-3.05210133e-01 9.51848738e-01 -2.88228093e-02 -5.54866924e+01] [-8.81649744e-02 1.89281607e-03 9.96104088e-01 -2.93980654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.041193817 meters 0.06296543137658746 Centerline is valid? [True, True] Translation: X:232.63, Y:-55.51, Z:-29.41 [[ 9.48516905e-01 3.05472236e-01 8.36803104e-02 2.32629318e+02] [-3.04105673e-01 9.52198896e-01 -2.89309927e-02 -5.55080595e+01] [-8.85179142e-02 1.99387851e-03 9.96072589e-01 -2.94055902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.101193817 meters 0.06328764920687145 Centerline is valid? [True, True] Translation: X:232.68, Y:-55.53, Z:-29.41 [[ 9.49077325e-01 3.03037781e-01 8.61413661e-02 2.32682463e+02] [-3.01580225e-01 9.52975819e-01 -2.97734322e-02 -5.55322963e+01] [-9.11131136e-02 2.27875684e-03 9.95837943e-01 -2.94110553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.161193817 meters 0.06378826031844781 Centerline is valid? [True, True] Translation: X:232.74, Y:-55.56, Z:-29.42 [[ 9.49642935e-01 3.01078180e-01 8.67768744e-02 2.32735916e+02] [-2.99591582e-01 9.53596242e-01 -2.99848527e-02 -5.55567024e+01] [-9.17778862e-02 2.47728242e-03 9.95776422e-01 -2.94176180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.221193817 meters 0.06373140471640666 Centerline is valid? [True, True] Translation: X:232.79, Y:-55.58, Z:-29.42 [[ 9.50225300e-01 2.98766549e-01 8.83766306e-02 2.32789385e+02] [-2.97215296e-01 9.54322286e-01 -3.05293632e-02 -5.55820924e+01] [-9.34609407e-02 2.74288685e-03 9.95619169e-01 -2.94219875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.281193817 meters 0.06272473276007326 Centerline is valid? [True, True] Translation: X:232.84, Y:-55.60, Z:-29.43 [[ 9.49422613e-01 3.01242207e-01 8.85992961e-02 2.32844692e+02] [-2.99694632e-01 9.53544385e-01 -3.05979213e-02 -5.56000079e+01] [-9.37007467e-02 2.49762494e-03 9.95597274e-01 -2.94281876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.341193817 meters 0.06251765858104012 Centerline is valid? [True, True] Translation: X:232.90, Y:-55.62, Z:-29.44 [[ 9.48883038e-01 3.03660339e-01 8.60893634e-02 2.32897726e+02] [-3.02209960e-01 9.52777840e-01 -2.97241913e-02 -5.56200121e+01] [-9.10500957e-02 2.18771784e-03 9.95843910e-01 -2.94376130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.401193817 meters 0.06293820192788635 Centerline is valid? [True, True] Translation: X:232.95, Y:-55.64, Z:-29.45 [[ 9.49291428e-01 3.02570641e-01 8.54212679e-02 2.32951264e+02] [-3.01139463e-01 9.53124278e-01 -2.94810951e-02 -5.56445539e+01] [-9.03371981e-02 2.26243605e-03 9.95908667e-01 -2.94451766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.461193817 meters 0.06408401511232471 Centerline is valid? [True, True] Translation: X:233.00, Y:-55.68, Z:-29.45 [[ 9.51164142e-01 2.96056969e-01 8.73901903e-02 2.33003585e+02] [-2.94532259e-01 9.55165760e-01 -3.01516190e-02 -5.56750401e+01] [-9.23987144e-02 2.93990869e-03 9.95717748e-01 -2.94474268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.521193817 meters 0.06482282682035155 Centerline is valid? [True, True] Translation: X:233.06, Y:-55.70, Z:-29.45 [[ 9.52422622e-01 2.91389174e-01 8.93504263e-02 2.33057917e+02] [-2.89775345e-01 9.56598328e-01 -3.08202524e-02 -5.57016558e+01] [-9.44531563e-02 3.46235505e-03 9.95523286e-01 -2.94510339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.581193817 meters 0.0662255971061503 Centerline is valid? [True, True] Translation: X:233.11, Y:-55.73, Z:-29.46 [[ 9.54173707e-01 2.85992949e-01 8.80941043e-02 2.33111869e+02] [-2.84401668e-01 9.58223634e-01 -3.03835226e-02 -5.57299211e+01] [-9.31033260e-02 3.93704822e-03 9.95648668e-01 -2.94581704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64119381700002 meters 0.06776601382641542 Centerline is valid? [True, True] Translation: X:233.17, Y:-55.75, Z:-29.47 [[ 9.54347246e-01 2.85192613e-01 8.88060151e-02 2.33168653e+02] [-2.83572482e-01 9.58461699e-01 -3.06238114e-02 -5.57516533e+01] [-9.38508490e-02 4.04280794e-03 9.95578060e-01 -2.94663838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.701193817 meters 0.06604654322701578 Centerline is valid? [True, True] Translation: X:233.23, Y:-55.77, Z:-29.47 [[ 9.53172856e-01 2.87644280e-01 9.33931229e-02 2.33228839e+02] [-2.85859985e-01 9.57728815e-01 -3.22426070e-02 -5.57652104e+01] [-9.87196864e-02 4.03542113e-03 9.95107099e-01 -2.94681463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.761193817 meters 0.06489143443722796 Centerline is valid? [True, True] Translation: X:233.29, Y:-55.78, Z:-29.47 [[ 9.51816608e-01 2.90909871e-01 9.70391260e-02 2.33286312e+02] [-2.88999400e-01 9.56742724e-01 -3.35068282e-02 -5.57792360e+01] [-1.02588945e-01 3.84810634e-03 9.94716392e-01 -2.94708707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.821193817 meters 0.0629564959207866 Centerline is valid? [True, True] Translation: X:233.35, Y:-55.79, Z:-29.48 [[ 9.51016987e-01 2.93185985e-01 9.80238137e-02 2.33346880e+02] [-2.91248923e-01 9.56048515e-01 -3.38423119e-02 -5.57863703e+01] [-1.03637613e-01 3.63528335e-03 9.94608481e-01 -2.94769766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.881193817 meters 0.0640462473621907 Centerline is valid? [True, True] Translation: X:233.40, Y:-55.80, Z:-29.49 [[ 9.51355342e-01 2.92972032e-01 9.53435984e-02 2.33401928e+02] [-2.91139094e-01 9.56114407e-01 -3.29130437e-02 -5.58033615e+01] [-1.00801989e-01 3.55375109e-03 9.94900161e-01 -2.94881313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.941193817 meters 0.06173941993196354 Centerline is valid? [True, True] Translation: X:233.46, Y:-55.81, Z:-29.50 [[ 9.50705917e-01 2.96907869e-01 8.94649505e-02 2.33461578e+02] [-2.95312400e-01 9.54901615e-01 -3.08786607e-02 -5.58097872e+01] [-9.45983431e-02 2.93641618e-03 9.95511191e-01 -2.94979432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.001193817 meters 0.06268226922371549 Centerline is valid? [True, True] Translation: X:233.52, Y:-55.82, Z:-29.52 [[ 9.49847633e-01 3.01244099e-01 8.39134456e-02 2.33516048e+02] [-2.99858380e-01 9.53544184e-01 -2.89558640e-02 -5.58246037e+01] [-8.87379612e-02 2.34150905e-03 9.96052253e-01 -2.95152961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.061193817 meters 0.060859226110599476 Centerline is valid? [True, True] Translation: X:233.58, Y:-55.83, Z:-29.52 [[ 9.48777445e-01 3.05727493e-01 7.96998148e-02 2.33575160e+02] [-3.04494288e-01 9.52117326e-01 -2.74923008e-02 -5.58334432e+01] [-8.42887267e-02 1.81593656e-03 9.96439719e-01 -2.95224453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.121193817 meters 0.059819944334224336 Centerline is valid? [True, True] Translation: X:233.63, Y:-55.85, Z:-29.53 [[ 9.47264163e-01 3.10687600e-01 7.85100096e-02 2.33632356e+02] [-3.09508585e-01 9.50511126e-01 -2.70746289e-02 -5.58460686e+01] [-8.30363891e-02 1.34730372e-03 9.96545605e-01 -2.95295218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.181193817 meters 0.05889354617920586 Centerline is valid? [True, True] Translation: X:233.69, Y:-55.86, Z:-29.53 [[ 9.46505792e-01 3.12721647e-01 7.95736011e-02 2.33690305e+02] [-3.11518209e-01 9.49844084e-01 -2.74339394e-02 -5.58592147e+01] [-8.41617010e-02 1.17775688e-03 9.96451414e-01 -2.95331851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.241193817 meters 0.057701593969398265 Centerline is valid? [True, True] Translation: X:233.75, Y:-55.87, Z:-29.54 [[ 9.44424162e-01 3.17815760e-01 8.40008628e-02 2.33748228e+02] [-3.16495368e-01 9.48152188e-01 -2.89501285e-02 -5.58741274e+01] [-8.88464090e-02 7.55316857e-04 9.96045052e-01 -2.95360229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.301193817 meters 0.05710763876682993 Centerline is valid? [True, True] Translation: X:233.80, Y:-55.89, Z:-29.54 [[ 9.42373617e-01 3.23357845e-01 8.58584351e-02 2.33804458e+02] [-3.22001453e-01 9.46276729e-01 -2.95874247e-02 -5.58887566e+01] [-9.08131650e-02 2.35867540e-04 9.95867920e-01 -2.95430503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36119381700001 meters 0.056765784565221404 Centerline is valid? [True, True] Translation: X:233.86, Y:-55.91, Z:-29.55 [[ 9.41451882e-01 3.26027009e-01 8.58763303e-02 2.33859092e+02] [-3.24681063e-01 9.45360455e-01 -2.95942309e-02 -5.59076069e+01] [-9.08326052e-02 -2.08738620e-05 9.95866174e-01 -2.95468326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.421193817 meters 0.05662009165362948 Centerline is valid? [True, True] Translation: X:233.91, Y:-55.93, Z:-29.55 [[ 9.41029228e-01 3.26606517e-01 8.82732946e-02 2.33911752e+02] [-3.25190804e-01 9.45160393e-01 -3.03771714e-02 -5.59307959e+01] [-9.33538040e-02 -1.19857459e-04 9.95632991e-01 -2.95534421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.481193817 meters 0.05671700846465922 Centerline is valid? [True, True] Translation: X:233.96, Y:-55.97, Z:-29.56 [[ 9.42931321e-01 3.21205503e-01 8.77926452e-02 2.33961019e+02] [-3.19782834e-01 9.47009431e-01 -3.02006077e-02 -5.59660389e+01] [-9.28410644e-02 4.02518088e-04 9.95680860e-01 -2.95627607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.541193817 meters 0.05705800711862931 Centerline is valid? [True, True] Translation: X:234.01, Y:-56.00, Z:-29.57 [[ 9.44582267e-01 3.16634533e-01 8.66424489e-02 2.34011782e+02] [-3.15230285e-01 9.48547244e-01 -2.97992159e-02 -5.59962685e+01] [-9.16199169e-02 8.35487059e-04 9.95793700e-01 -2.95702283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.601193817 meters 0.058221911958570675 Centerline is valid? [True, True] Translation: X:234.06, Y:-56.03, Z:-29.58 [[ 9.45944791e-01 3.13140660e-01 8.44474976e-02 2.34060839e+02] [-3.11794443e-01 9.49706089e-01 -2.90270611e-02 -5.60301995e+01] [-8.92898558e-02 1.12773674e-03 9.96005045e-01 -2.95830350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.661193817 meters 0.058918634475016884 Centerline is valid? [True, True] Translation: X:234.11, Y:-56.06, Z:-29.60 [[ 9.46631945e-01 3.12096246e-01 8.05226274e-02 2.34112953e+02] [-3.10869241e-01 9.50049778e-01 -2.76719073e-02 -5.60594194e+01] [-8.51368026e-02 1.16310332e-03 9.96368592e-01 -2.95952161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.721193817 meters 0.05883104287883479 Centerline is valid? [True, True] Translation: X:234.17, Y:-56.08, Z:-29.60 [[ 9.46804900e-01 3.12147547e-01 7.82584813e-02 2.34166342e+02] [-3.10989009e-01 9.50032971e-01 -2.68922157e-02 -5.60833804e+01] [-8.27424766e-02 1.12415403e-03 9.96570328e-01 -2.96021770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.781193817 meters 0.05851225515880014 Centerline is valid? [True, True] Translation: X:234.22, Y:-56.11, Z:-29.61 [[ 9.46814498e-01 3.11725022e-01 7.98111343e-02 2.34220427e+02] [-3.10519189e-01 9.50171630e-01 -2.74172598e-02 -5.61078837e+01] [-8.43809215e-02 1.17617038e-03 9.96432876e-01 -2.96072596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.841193817 meters 0.05857320060481749 Centerline is valid? [True, True] Translation: X:234.27, Y:-56.14, Z:-29.61 [[ 9.47590424e-01 3.08384670e-01 8.34942143e-02 2.34273575e+02] [-3.07052410e-01 9.51260499e-01 -2.86754166e-02 -5.61379026e+01] [-8.82678068e-02 1.53545040e-03 9.96095596e-01 -2.96102937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.901193817 meters 0.058771171202843905 Centerline is valid? [True, True] Translation: X:234.33, Y:-56.17, Z:-29.61 [[ 9.48611592e-01 3.03846334e-01 8.83937362e-02 2.34328065e+02] [-3.02333610e-01 9.52718809e-01 -3.03522599e-02 -5.61653506e+01] [-9.34367980e-02 2.06810817e-03 9.95623065e-01 -2.96118515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.961193817 meters 0.06021659509367004 Centerline is valid? [True, True] Translation: X:234.38, Y:-56.20, Z:-29.61 [[ 9.50201550e-01 2.97267965e-01 9.35348638e-02 2.34382656e+02] [-2.95542526e-01 9.54789784e-01 -3.21104837e-02 -5.61987052e+01] [-9.88515506e-02 2.86790146e-03 9.95098059e-01 -2.96140232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.021193817 meters 0.06099779994074163 Centerline is valid? [True, True] Translation: X:234.44, Y:-56.22, Z:-29.62 [[ 9.50382634e-01 2.96318761e-01 9.46997429e-02 2.34439921e+02] [-2.94542087e-01 9.55084282e-01 -3.25418737e-02 -5.62238879e+01] [-1.00089004e-01 3.03417176e-03 9.94973862e-01 -2.96206877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.081193817 meters 0.061985426131307 Centerline is valid? [True, True] Translation: X:234.50, Y:-56.25, Z:-29.63 [[ 9.50484397e-01 2.95799374e-01 9.53002718e-02 2.34495484e+02] [-2.93993665e-01 9.55244913e-01 -3.27853856e-02 -5.62506835e+01] [-1.00732996e-01 3.14432134e-03 9.94908527e-01 -2.96293056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14119381700002 meters 0.0610033456450215 Centerline is valid? [True, True] Translation: X:234.55, Y:-56.27, Z:-29.64 [[ 9.50461635e-01 2.96563981e-01 9.31261774e-02 2.34554630e+02] [-2.94840451e-01 9.55008201e-01 -3.20693595e-02 -5.62680279e+01] [-9.84468800e-02 3.02333168e-03 9.95137715e-01 -2.96379342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.201193817 meters 0.060507992910040914 Centerline is valid? [True, True] Translation: X:234.61, Y:-56.29, Z:-29.65 [[ 9.49850519e-01 3.00427404e-01 8.67603946e-02 2.34612077e+02] [-2.98945618e-01 9.53801492e-01 -2.99036894e-02 -5.62872499e+01] [-9.17360816e-02 2.46739512e-03 9.95780299e-01 -2.96519138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.261193817 meters 0.06007233007313949 Centerline is valid? [True, True] Translation: X:234.67, Y:-56.30, Z:-29.67 [[ 9.48687232e-01 3.05882163e-01 8.01787871e-02 2.34670588e+02] [-3.04633749e-01 9.52067634e-01 -2.76676601e-02 -5.63037459e+01] [-8.47986719e-02 1.82279141e-03 9.96396439e-01 -2.96667006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.321193817 meters 0.05869919004840209 Centerline is valid? [True, True] Translation: X:234.73, Y:-56.31, Z:-29.68 [[ 9.45666650e-01 3.15884554e-01 7.70164653e-02 2.34728888e+02] [-3.14764837e-01 9.48797204e-01 -2.65887627e-02 -5.63149287e+01] [-8.14719864e-02 9.02030965e-04 9.96675224e-01 -2.96780143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.381193817 meters 0.05747220384864684 Centerline is valid? [True, True] Translation: X:234.79, Y:-56.33, Z:-29.68 [[ 9.43873376e-01 3.20421775e-01 8.02055905e-02 2.34786739e+02] [-3.19223962e-01 9.47274832e-01 -2.76849184e-02 -5.63316605e+01] [-8.48475880e-02 5.27511079e-04 9.96393802e-01 -2.96810823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.441193817 meters 0.05680384277402031 Centerline is valid? [True, True] Translation: X:234.84, Y:-56.36, Z:-29.68 [[ 9.43537803e-01 3.20513154e-01 8.37121989e-02 2.34842089e+02] [-3.19208554e-01 9.47243910e-01 -2.88941792e-02 -5.63565808e+01] [-8.85568351e-02 5.41100338e-04 9.96070978e-01 -2.96833814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.501193817 meters 0.056383105100669066 Centerline is valid? [True, True] Translation: X:234.90, Y:-56.39, Z:-29.69 [[ 9.43861319e-01 3.18620221e-01 8.72179242e-02 2.34896582e+02] [-3.17196492e-01 9.47882168e-01 -3.00961854e-02 -5.63862265e+01] [-9.22615683e-02 7.41405711e-04 9.95734530e-01 -2.96868603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.561193817 meters 0.05617280864585319 Centerline is valid? [True, True] Translation: X:234.95, Y:-56.41, Z:-29.69 [[ 9.43868501e-01 3.18210318e-01 8.86253185e-02 2.34953715e+02] [-3.16738648e-01 9.48019814e-01 -3.05787784e-02 -5.64113331e+01] [-9.37490407e-02 7.91282174e-04 9.95595546e-01 -2.96920576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.621193817 meters 0.056396890786267105 Centerline is valid? [True, True] Translation: X:235.01, Y:-56.44, Z:-29.70 [[ 9.43687632e-01 3.19178775e-01 8.70549456e-02 2.35008475e+02] [-3.17760031e-01 9.47694255e-01 -3.00692924e-02 -5.64383092e+01] [-9.20989517e-02 7.13437077e-04 9.95749604e-01 -2.97015270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.681193817 meters 0.056250032912170476 Centerline is valid? [True, True] Translation: X:235.07, Y:-56.46, Z:-29.71 [[ 9.43752139e-01 3.19475562e-01 8.52482603e-02 2.35065234e+02] [-3.18115437e-01 9.47594271e-01 -2.94561795e-02 -5.64645029e+01] [-9.01912926e-02 6.80544826e-04 9.95924228e-01 -2.97071824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.741193817 meters 0.056444943404205784 Centerline is valid? [True, True] Translation: X:235.12, Y:-56.49, Z:-29.72 [[ 9.43637430e-01 3.20336459e-01 8.32643672e-02 2.35120546e+02] [-3.19039854e-01 9.47303636e-01 -2.87991668e-02 -5.64903192e+01] [-8.81020609e-02 6.11320148e-04 9.96111265e-01 -2.97174485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.801193817 meters 0.05618435096332029 Centerline is valid? [True, True] Translation: X:235.18, Y:-56.51, Z:-29.73 [[ 9.42354611e-01 3.24053709e-01 8.34085177e-02 2.35176119e+02] [-3.22764779e-01 9.46038641e-01 -2.88753828e-02 -5.65145270e+01] [-8.82648556e-02 2.89518305e-04 9.96096999e-01 -2.97266792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86119381700001 meters 0.05601706807647341 Centerline is valid? [True, True] Translation: X:235.23, Y:-56.54, Z:-29.73 [[ 9.41886788e-01 3.25212031e-01 8.41808367e-02 2.35232389e+02] [-3.23901402e-01 9.45641101e-01 -2.91682995e-02 -5.65398197e+01] [-8.90907410e-02 2.06944874e-04 9.96023492e-01 -2.97338557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.921193817 meters 0.05696461223511116 Centerline is valid? [True, True] Translation: X:235.28, Y:-56.58, Z:-29.75 [[ 9.43135152e-01 3.22684000e-01 7.98193013e-02 2.35283632e+02] [-3.21494085e-01 9.46506646e-01 -2.76897618e-02 -5.65750485e+01] [-8.44845422e-02 4.53754449e-04 9.96424687e-01 -2.97471489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.981193817 meters 0.05803106532658201 Centerline is valid? [True, True] Translation: X:235.34, Y:-56.61, Z:-29.76 [[ 9.44284302e-01 3.19889843e-01 7.74444690e-02 2.35336918e+02] [-3.18760150e-01 9.47454494e-01 -2.68691133e-02 -5.66077466e+01] [-8.19702666e-02 6.85871318e-04 9.96634539e-01 -2.97589640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.041193817 meters 0.058147578931732544 Centerline is valid? [True, True] Translation: X:235.39, Y:-56.64, Z:-29.77 [[ 9.44443388e-01 3.19024622e-01 7.90567936e-02 2.35391187e+02] [-3.17843934e-01 9.47746106e-01 -2.74326993e-02 -5.66368294e+01] [-8.36774748e-02 7.80909198e-04 9.96492584e-01 -2.97661368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.101193817 meters 0.05797489702247792 Centerline is valid? [True, True] Translation: X:235.45, Y:-56.67, Z:-29.77 [[ 9.43845821e-01 3.20389479e-01 8.06576029e-02 2.35446162e+02] [-3.19164424e-01 9.47285656e-01 -2.79992182e-02 -5.66650960e+01] [-8.53764452e-02 6.83907706e-04 9.96348531e-01 -2.97721326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.161193817 meters 0.05798760261156967 Centerline is valid? [True, True] Translation: X:235.50, Y:-56.69, Z:-29.78 [[ 9.44333454e-01 3.18014299e-01 8.42688150e-02 2.35500986e+02] [-3.16664563e-01 9.48085421e-01 -2.92846191e-02 -5.66946115e+01] [-8.92069626e-02 9.69498009e-04 9.96012639e-01 -2.97756255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.221193817 meters 0.06227969641672413 Centerline is valid? [True, True] Translation: X:235.55, Y:-56.74, Z:-29.78 [[ 9.48280420e-01 3.05045112e-01 8.78164248e-02 2.35549686e+02] [-3.03522879e-01 9.52335150e-01 -3.05225270e-02 -5.67375062e+01] [-9.29414157e-02 2.28962070e-03 9.95668946e-01 -2.97793180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.281193817 meters 0.06367349314109189 Centerline is valid? [True, True] Translation: X:235.60, Y:-56.77, Z:-29.78 [[ 9.51605127e-01 2.94712551e-01 8.71331989e-02 2.35604144e+02] [-2.93170718e-01 9.55580345e-01 -3.02842433e-02 -5.67669310e+01] [-9.21879188e-02 3.27373868e-03 9.95736245e-01 -2.97810588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.341193817 meters 0.0696594715800213 Centerline is valid? [True, True] Translation: X:235.66, Y:-56.80, Z:-29.79 [[ 9.54303170e-01 2.85778039e-01 8.73863330e-02 2.35655513e+02] [-2.84189615e-01 9.58286844e-01 -3.03741369e-02 -5.67999524e+01] [-9.24214345e-02 4.15184678e-03 9.95711324e-01 -2.97910079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.401193817 meters 0.06979837201392793 Centerline is valid? [True, True] Translation: X:235.71, Y:-56.82, Z:-29.80 [[ 9.54713924e-01 2.84340420e-01 8.75890965e-02 2.35714127e+02] [-2.82738740e-01 9.58713743e-01 -3.04427926e-02 -5.68177702e+01] [-9.26289870e-02 4.29932716e-03 9.95691411e-01 -2.97987553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.461193817 meters 0.071576837905932 Centerline is valid? [True, True] Translation: X:235.77, Y:-56.83, Z:-29.82 [[ 9.55304134e-01 2.84435438e-01 8.05635918e-02 2.35772410e+02] [-2.83078616e-01 9.58686963e-01 -2.80321915e-02 -5.68297824e+01] [-8.52086139e-02 3.97343831e-03 9.96355210e-01 -2.98159966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.521193817 meters 0.07090969344903249 Centerline is valid? [True, True] Translation: X:235.83, Y:-56.84, Z:-29.83 [[ 9.54966881e-01 2.86174432e-01 7.83737839e-02 2.35833490e+02] [-2.84897111e-01 9.58170375e-01 -2.72611256e-02 -5.68414995e+01] [-8.28968750e-02 3.70500754e-03 9.96551244e-01 -2.98258641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.581193817 meters 0.06957586379365151 Centerline is valid? [True, True] Translation: X:235.89, Y:-56.85, Z:-29.83 [[ 9.53631336e-01 2.89999215e-01 8.05464501e-02 2.35892965e+02] [-2.88660253e-01 9.57020471e-01 -2.80548986e-02 -5.68513076e+01] [-8.52205002e-02 3.50347182e-03 9.96355956e-01 -2.98324255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64119381700002 meters 0.066180544329853 Centerline is valid? [True, True] Translation: X:235.96, Y:-56.85, Z:-29.83 [[ 9.51333282e-01 2.95547320e-01 8.72740954e-02 2.35957076e+02] [-2.93998009e-01 9.55322540e-01 -3.03976298e-02 -5.68534310e+01] [-9.23588485e-02 3.25986666e-03 9.95720451e-01 -2.98321166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.701193817 meters 0.06613464225373594 Centerline is valid? [True, True] Translation: X:236.02, Y:-56.86, Z:-29.83 [[ 9.51054720e-01 2.93916630e-01 9.54354964e-02 2.36018567e+02] [-2.92054728e-01 9.55823733e-01 -3.32419640e-02 -5.68642885e+01] [-1.00989878e-01 3.74253887e-03 9.94880414e-01 -2.98320202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.761193817 meters 0.06943368660785294 Centerline is valid? [True, True] Translation: X:236.08, Y:-56.89, Z:-29.84 [[ 9.52571391e-01 2.88324094e-01 9.73496865e-02 2.36075062e+02] [-2.86356934e-01 9.57522643e-01 -3.39130543e-02 -5.68851700e+01] [-1.02992480e-01 4.42784764e-03 9.94672279e-01 -2.98386451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.821193817 meters 0.06988285332667601 Centerline is valid? [True, True] Translation: X:236.13, Y:-56.90, Z:-29.85 [[ 9.54317498e-01 2.83174261e-01 9.53438533e-02 2.36134162e+02] [-2.81261441e-01 9.59056031e-01 -3.32194265e-02 -5.68986517e+01] [-1.00846984e-01 4.88533037e-03 9.94889953e-01 -2.98471581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.881193817 meters 0.07082862328181162 Centerline is valid? [True, True] Translation: X:236.20, Y:-56.91, Z:-29.86 [[ 9.54483799e-01 2.83372828e-01 9.30619071e-02 2.36195057e+02] [-2.81552202e-01 9.58998100e-01 -3.24191547e-02 -5.69112238e+01] [-9.84328996e-02 4.74177307e-03 9.95132393e-01 -2.98585457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.941193817 meters 0.06673430764017925 Centerline is valid? [True, True] Translation: X:236.26, Y:-56.91, Z:-29.87 [[ 9.52968250e-01 2.89058544e-01 9.10860734e-02 2.36258268e+02] [-2.87337083e-01 9.57302646e-01 -3.17654717e-02 -5.69133255e+01] [-9.63790200e-02 4.09907934e-03 9.95336266e-01 -2.98670237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.001193817 meters 0.06301332195674374 Centerline is valid? [True, True] Translation: X:236.32, Y:-56.91, Z:-29.88 [[ 9.49435217e-01 3.01139772e-01 8.88122036e-02 2.36321816e+02] [-2.99555567e-01 9.53575885e-01 -3.09756964e-02 -5.69087611e+01] [-9.40171898e-02 2.80522705e-03 9.95566622e-01 -2.98800893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.061193817 meters 0.06136727002901296 Centerline is valid? [True, True] Translation: X:236.38, Y:-56.92, Z:-29.89 [[ 9.47738260e-01 3.06641914e-01 8.81074724e-02 2.36384154e+02] [-3.05106899e-01 9.51822321e-01 -3.07253925e-02 -5.69159683e+01] [-9.32843520e-02 2.23743232e-03 9.95636994e-01 -2.98896243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.121193817 meters 0.05924878308657375 Centerline is valid? [True, True] Translation: X:236.45, Y:-56.92, Z:-29.89 [[ 9.46876498e-01 3.08711333e-01 9.01233110e-02 2.36447315e+02] [-3.07113853e-01 9.51153489e-01 -3.14343967e-02 -5.69226719e+01] [-9.54252563e-02 2.08637412e-03 9.95434411e-01 -2.98932838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.181193817 meters 0.05892000915269781 Centerline is valid? [True, True] Translation: X:236.51, Y:-56.94, Z:-29.90 [[ 9.45948218e-01 3.11464050e-01 9.03997482e-02 2.36505484e+02] [-3.09868889e-01 9.50256197e-01 -3.15346084e-02 -5.69386104e+01] [-9.57248178e-02 1.81803709e-03 9.95406175e-01 -2.99018751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.241193817 meters 0.05815339066524154 Centerline is valid? [True, True] Translation: X:236.56, Y:-56.95, Z:-29.91 [[ 9.44573726e-01 3.15969139e-01 8.91290014e-02 2.36564682e+02] [-3.14436606e-01 9.48768490e-01 -3.11122751e-02 -5.69521141e+01] [-9.43933068e-02 1.36241694e-03 9.95534051e-01 -2.99112159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.301193817 meters 0.058230225087576956 Centerline is valid? [True, True] Translation: X:236.62, Y:-56.97, Z:-29.92 [[ 9.44505816e-01 3.16023390e-01 8.96547793e-02 2.36620867e+02] [-3.14472553e-01 9.48750411e-01 -3.12996889e-02 -5.69698635e+01] [-9.49514426e-02 1.36877088e-03 9.95480964e-01 -2.99186497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36119381700001 meters 0.05846296973338841 Centerline is valid? [True, True] Translation: X:236.68, Y:-57.00, Z:-29.92 [[ 9.45474494e-01 3.12471468e-01 9.18670915e-02 2.36677352e+02] [-3.10827484e-01 9.49925522e-01 -3.20589685e-02 -5.69963383e+01] [-9.72844079e-02 1.75612012e-03 9.95255073e-01 -2.99224012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.421193817 meters 0.0615606356688276 Centerline is valid? [True, True] Translation: X:236.73, Y:-57.02, Z:-29.93 [[ 9.48088703e-01 3.04249261e-01 9.25213372e-02 2.36730809e+02] [-3.02538809e-01 9.52588753e-01 -3.23254796e-02 -5.70247034e+01] [-9.79697885e-02 2.65612687e-03 9.95185845e-01 -2.99313693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.481193817 meters 0.06517611816615278 Centerline is valid? [True, True] Translation: X:236.78, Y:-57.05, Z:-29.94 [[ 9.51362056e-01 2.94336969e-01 9.09724518e-02 2.36784603e+02] [-2.92637902e-01 9.55694853e-01 -3.17868793e-02 -5.70531962e+01] [-9.62979577e-02 3.61884347e-03 9.95345974e-01 -2.99393412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.541193817 meters 0.07062245186231397 Centerline is valid? [True, True] Translation: X:236.84, Y:-57.08, Z:-29.95 [[ 9.55761007e-01 2.81112096e-01 8.65845652e-02 2.36837248e+02] [-2.79519125e-01 9.59663365e-01 -3.02536644e-02 -5.70845646e+01] [-9.15967062e-02 4.71323085e-03 9.95785031e-01 -2.99489429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.601193817 meters 0.08022655112738264 Centerline is valid? [True, True] Translation: X:236.89, Y:-57.12, Z:-29.96 [[ 9.60217825e-01 2.66714353e-01 8.27356233e-02 2.36887926e+02] [-2.65206751e-01 9.63758066e-01 -2.89096641e-02 -5.71179108e+01] [-8.74477467e-02 5.81752890e-03 9.96152121e-01 -2.99590850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.661193817 meters 0.07758609329732781 Centerline is valid? [True, True] Translation: X:236.95, Y:-57.13, Z:-29.96 [[ 9.60062137e-01 2.66746563e-01 8.44213491e-02 2.36950337e+02] [-2.65176926e-01 9.63748446e-01 -2.94979880e-02 -5.71295624e+01] [-8.92294309e-02 5.93330761e-03 9.95993426e-01 -2.99619720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.721193817 meters 0.07546431065972242 Centerline is valid? [True, True] Translation: X:237.01, Y:-57.13, Z:-29.97 [[ 9.58379599e-01 2.71076253e-01 8.95891149e-02 2.37012715e+02] [-2.69325370e-01 9.62539879e-01 -3.13181331e-02 -5.71341202e+01] [-9.47226981e-02 5.88603830e-03 9.95486296e-01 -2.99652745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.781193817 meters 0.07543596178330628 Centerline is valid? [True, True] Translation: X:237.07, Y:-57.15, Z:-29.97 [[ 9.58135346e-01 2.72055045e-01 8.92340308e-02 2.37073385e+02] [-2.70323053e-01 9.62264463e-01 -3.11857485e-02 -5.71462010e+01] [-9.43509770e-02 5.75815234e-03 9.95522344e-01 -2.99735511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.841193817 meters 0.07494073808162757 Centerline is valid? [True, True] Translation: X:237.14, Y:-57.15, Z:-29.98 [[ 9.58981188e-01 2.69472673e-01 8.79747640e-02 2.37135255e+02] [-2.67775296e-01 9.62989591e-01 -3.07804950e-02 -5.71528874e+01] [-9.30132842e-02 5.96044718e-03 9.95647027e-01 -2.99826811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.901193817 meters 0.0768320549462203 Centerline is valid? [True, True] Translation: X:237.19, Y:-57.17, Z:-29.99 [[ 9.59714133e-01 2.67333842e-01 8.64950843e-02 2.37193931e+02] [-2.65684178e-01 9.63584869e-01 -3.02674434e-02 -5.71673489e+01] [-9.14368664e-02 6.06771782e-03 9.95792389e-01 -2.99924271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.961193817 meters 0.07965357071714799 Centerline is valid? [True, True] Translation: X:237.25, Y:-57.18, Z:-30.00 [[ 9.60740727e-01 2.64082617e-01 8.50742369e-02 2.37254079e+02] [-2.62473963e-01 9.64479656e-01 -2.97726581e-02 -5.71772346e+01] [-8.99148123e-02 6.27403310e-03 9.95929698e-01 -3.00013254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.021193817 meters 0.08621113533930473 Centerline is valid? [True, True] Translation: X:237.31, Y:-57.20, Z:-30.01 [[ 9.61433314e-01 2.61122371e-01 8.63775972e-02 2.37310152e+02] [-2.59452030e-01 9.65282785e-01 -3.02289500e-02 -5.71979284e+01] [-9.12722627e-02 6.65227659e-03 9.95803756e-01 -3.00099376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.081193817 meters 0.0802056514061873 Centerline is valid? [True, True] Translation: X:237.38, Y:-57.19, Z:-30.01 [[ 9.62107783e-01 2.58383825e-01 8.71000158e-02 2.37376606e+02] [-2.56674030e-01 9.66017177e-01 -3.04837057e-02 -5.71936541e+01] [-9.20166078e-02 6.97229845e-03 9.95733062e-01 -3.00120495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14119381700002 meters 0.08595564905359394 Centerline is valid? [True, True] Translation: X:237.43, Y:-57.21, Z:-30.03 [[ 9.62344342e-01 2.59009750e-01 8.25064609e-02 2.37433709e+02] [-2.57478184e-01 9.65852524e-01 -2.88770966e-02 -5.72104409e+01] [-8.71685231e-02 6.54609674e-03 9.96172072e-01 -3.00268231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.201193817 meters 0.07612032146254435 Centerline is valid? [True, True] Translation: X:237.50, Y:-57.19, Z:-30.03 [[ 9.60320182e-01 2.66782572e-01 8.13154786e-02 2.37503559e+02] [-2.65322171e-01 9.63739524e-01 -2.84653473e-02 -5.71938137e+01] [-8.59609992e-02 5.76104811e-03 9.96281846e-01 -3.00315452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.261193817 meters 0.07698828592402004 Centerline is valid? [True, True] Translation: X:237.56, Y:-57.20, Z:-30.04 [[ 9.58188153e-01 2.74058911e-01 8.22628460e-02 2.37563781e+02] [-2.72590691e-01 9.61699010e-01 -2.87980816e-02 -5.71989412e+01] [-8.70044684e-02 5.16989460e-03 9.96194506e-01 -3.00421458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.321193817 meters 0.06880749112219092 Centerline is valid? [True, True] Translation: X:237.63, Y:-57.19, Z:-30.04 [[ 9.55564880e-01 2.82765975e-01 8.33016378e-02 2.37631234e+02] [-2.81293351e-01 9.59178692e-01 -2.91597022e-02 -5.71878593e+01] [-8.81465276e-02 4.43179047e-03 9.96097660e-01 -3.00441820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.381193817 meters 0.0646492660812185 Centerline is valid? [True, True] Translation: X:237.69, Y:-57.19, Z:-30.05 [[ 9.53597008e-01 2.88697991e-01 8.54764116e-02 2.37694197e+02] [-2.87171236e-01 9.57411930e-01 -2.99178387e-02 -5.71904821e+01] [-9.04733562e-02 3.98319467e-03 9.95890911e-01 -3.00475061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.441193817 meters 0.06100042456797148 Centerline is valid? [True, True] Translation: X:237.76, Y:-57.19, Z:-30.05 [[ 9.50064212e-01 2.99706531e-01 8.69136870e-02 2.37756329e+02] [-2.98173623e-01 9.54026770e-01 -3.04205910e-02 -5.71920796e+01] [-9.20352339e-02 2.98614582e-03 9.95751273e-01 -3.00536457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.501193817 meters 0.058446623804372155 Centerline is valid? [True, True] Translation: X:237.82, Y:-57.20, Z:-30.06 [[ 9.48237096e-01 3.05168845e-01 8.78543468e-02 2.37817058e+02] [-3.03626147e-01 9.52295031e-01 -3.07463394e-02 -5.72004513e+01] [-9.30460828e-02 2.47994277e-03 9.95658715e-01 -3.00573994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.561193817 meters 0.05738822038871639 Centerline is valid? [True, True] Translation: X:237.87, Y:-57.21, Z:-30.06 [[ 9.46019746e-01 3.10912856e-01 9.15414489e-02 2.37873600e+02] [-3.09264474e-01 9.50436328e-01 -3.20354799e-02 -5.72149598e+01] [-9.69645610e-02 1.99567848e-03 9.95285834e-01 -3.00636019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.621193817 meters 0.05656896606995611 Centerline is valid? [True, True] Translation: X:237.93, Y:-57.23, Z:-30.07 [[ 9.44831367e-01 3.14796151e-01 9.05376805e-02 2.37929056e+02] [-3.13201578e-01 9.49157989e-01 -3.16841179e-02 -5.72330240e+01] [-9.59086011e-02 1.57960409e-03 9.95388891e-01 -3.00714632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.681193817 meters 0.05653423408634706 Centerline is valid? [True, True] Translation: X:237.98, Y:-57.25, Z:-30.08 [[ 9.43029873e-01 3.20725719e-01 8.84854303e-02 2.37983127e+02] [-3.19231821e-01 9.47171663e-01 -3.09335532e-02 -5.72497225e+01] [-9.37320783e-02 9.23899654e-04 9.95597029e-01 -3.00846722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.741193817 meters 0.05649056930221864 Centerline is valid? [True, True] Translation: X:238.04, Y:-57.27, Z:-30.09 [[ 9.42204857e-01 3.23917949e-01 8.55988857e-02 2.38037417e+02] [-3.22534145e-01 9.46085001e-01 -2.99148136e-02 -5.72700716e+01] [-9.06737669e-02 5.77319232e-04 9.95880482e-01 -3.00935898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.801193817 meters 0.056613200341201306 Centerline is valid? [True, True] Translation: X:238.09, Y:-57.29, Z:-30.10 [[ 9.42025165e-01 3.24746870e-01 8.44278291e-02 2.38092122e+02] [-3.23406522e-01 9.45800853e-01 -2.94782556e-02 -5.72910695e+01] [-8.94248841e-02 4.64748035e-04 9.95993461e-01 -3.01009758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86119381700001 meters 0.056903923671783554 Centerline is valid? [True, True] Translation: X:238.14, Y:-57.32, Z:-30.11 [[ 9.41776720e-01 3.25546829e-01 8.41182054e-02 2.38141516e+02] [-3.24222451e-01 9.45525851e-01 -2.93371155e-02 -5.73212240e+01] [-8.90865427e-02 3.56001626e-04 9.96023826e-01 -3.01111548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.921193817 meters 0.056717473773816356 Centerline is valid? [True, True] Translation: X:238.19, Y:-57.35, Z:-30.12 [[ 9.41468675e-01 3.26429383e-01 8.41462498e-02 2.38192633e+02] [-3.25108379e-01 9.45221555e-01 -2.93386080e-02 -5.73491025e+01] [-8.91138328e-02 2.64729574e-04 9.96021413e-01 -3.01169291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.981193817 meters 0.057317936974221606 Centerline is valid? [True, True] Translation: X:238.24, Y:-57.38, Z:-30.13 [[ 9.41013183e-01 3.28581312e-01 8.07992041e-02 2.38243103e+02] [-3.27374752e-01 9.44475686e-01 -2.81327313e-02 -5.73820750e+01] [-8.55567735e-02 2.16515752e-05 9.96333297e-01 -3.01281709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.041193817 meters 0.058019355829623136 Centerline is valid? [True, True] Translation: X:238.29, Y:-57.41, Z:-30.14 [[ 9.41386578e-01 3.28106473e-01 7.83419041e-02 2.38293336e+02] [-3.26970886e-01 9.44640746e-01 -2.72745492e-02 -5.74136471e+01] [-8.29539109e-02 6.03727380e-05 9.96553383e-01 -3.01403119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.101193817 meters 0.05707451655013594 Centerline is valid? [True, True] Translation: X:238.34, Y:-57.46, Z:-30.14 [[ 9.43120418e-01 3.22543635e-01 8.05573078e-02 2.38338636e+02] [-3.21322232e-01 9.46554425e-01 -2.80489426e-02 -5.74627323e+01] [-8.52988841e-02 5.68676501e-04 9.96355246e-01 -3.01414999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.161193817 meters 0.05758090179341114 Centerline is valid? [True, True] Translation: X:238.39, Y:-57.50, Z:-30.15 [[ 9.45264916e-01 3.15795947e-01 8.21410880e-02 2.38385137e+02] [-3.14503434e-01 9.48826408e-01 -2.85663608e-02 -5.75040139e+01] [-8.69587744e-02 1.16912442e-03 9.96211225e-01 -3.01474537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.221193817 meters 0.059896824517854275 Centerline is valid? [True, True] Translation: X:238.43, Y:-57.56, Z:-30.15 [[ 9.49325023e-01 3.02240111e-01 8.62143648e-02 2.38430676e+02] [-3.00761047e-01 9.53228490e-01 -2.99706117e-02 -5.75561769e+01] [-9.12403098e-02 2.52192903e-03 9.95825711e-01 -3.01489944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.281193817 meters 0.06184433304435678 Centerline is valid? [True, True] Translation: X:238.48, Y:-57.60, Z:-30.15 [[ 9.51585504e-01 2.94222277e-01 8.89847197e-02 2.38481029e+02] [-2.92611866e-01 9.55730998e-01 -3.09282414e-02 -5.75956303e+01] [-9.41452325e-02 3.39288133e-03 9.95552693e-01 -3.01520667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.341193817 meters 0.06435024270264189 Centerline is valid? [True, True] Translation: X:238.53, Y:-57.63, Z:-30.16 [[ 9.54315520e-01 2.85909523e-01 8.68195401e-02 2.38532299e+02] [-2.84342453e-01 9.58247805e-01 -3.01747299e-02 -5.76317479e+01] [-9.18218763e-02 4.10973207e-03 9.95766967e-01 -3.01602552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.401193817 meters 0.06583557606300099 Centerline is valid? [True, True] Translation: X:238.59, Y:-57.66, Z:-30.17 [[ 9.55169852e-01 2.84521438e-01 8.18419502e-02 2.38587276e+02] [-2.83123973e-01 9.58661329e-01 -2.84477205e-02 -5.76565058e+01] [-8.65526991e-02 4.00098689e-03 9.96239240e-01 -3.01733452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.461193817 meters 0.06508603793436885 Centerline is valid? [True, True] Translation: X:238.64, Y:-57.67, Z:-30.18 [[ 9.53968149e-01 2.89075900e-01 7.98742474e-02 2.38644062e+02] [-2.87760695e-01 9.57299772e-01 -2.77655922e-02 -5.76737131e+01] [-8.44899624e-02 3.50282163e-03 9.96418174e-01 -3.01837467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.521193817 meters 0.06096905545024042 Centerline is valid? [True, True] Translation: X:238.70, Y:-57.68, Z:-30.19 [[ 9.50802710e-01 2.99098168e-01 8.07124031e-02 2.38704454e+02] [-2.97790697e-01 9.54218681e-01 -2.80608345e-02 -5.76817949e+01] [-8.54102270e-02 2.64491471e-03 9.96342360e-01 -3.01883475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.581193817 meters 0.05874281133082297 Centerline is valid? [True, True] Translation: X:238.76, Y:-57.69, Z:-30.19 [[ 9.48398395e-01 3.06386333e-01 8.16572114e-02 2.38763801e+02] [-3.05075158e-01 9.51905130e-01 -2.83861241e-02 -5.76932158e+01] [-8.64270389e-02 2.00976788e-03 9.96256156e-01 -3.01947200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64119381700002 meters 0.056384686697596706 Centerline is valid? [True, True] Translation: X:238.82, Y:-57.71, Z:-30.20 [[ 9.45688123e-01 3.13842055e-01 8.47179943e-02 2.38823295e+02] [-3.12460468e-01 9.49474205e-01 -2.94480834e-02 -5.77052716e+01] [-8.96795973e-02 1.37767855e-03 9.95969714e-01 -3.01980350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.701193817 meters 0.0566115971788817 Centerline is valid? [True, True] Translation: X:238.88, Y:-57.73, Z:-30.21 [[ 9.44721040e-01 3.16790718e-01 8.45328161e-02 2.38876631e+02] [-3.15426872e-01 9.48494828e-01 -2.93845134e-02 -5.77257397e+01] [-8.94876800e-02 1.09624633e-03 9.95987326e-01 -3.02104268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.761193817 meters 0.056500940334215106 Centerline is valid? [True, True] Translation: X:238.93, Y:-57.75, Z:-30.22 [[ 9.44342803e-01 3.18041491e-01 8.40611694e-02 2.38929958e+02] [-3.16698641e-01 9.48076306e-01 -2.92111072e-02 -5.77479169e+01] [-8.89867471e-02 9.63240728e-04 9.96032344e-01 -3.02196802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.821193817 meters 0.0560511778972625 Centerline is valid? [True, True] Translation: X:238.98, Y:-57.77, Z:-30.23 [[ 9.43835334e-01 3.19832029e-01 8.29598393e-02 2.38984784e+02] [-3.18532177e-01 9.47473945e-01 -2.88162379e-02 -5.77692457e+01] [-8.78186421e-02 7.72405326e-04 9.96136180e-01 -3.02253587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.881193817 meters 0.05629046417685067 Centerline is valid? [True, True] Translation: X:239.04, Y:-57.79, Z:-30.23 [[ 9.43355281e-01 3.21623098e-01 8.14824968e-02 2.39038003e+02] [-3.20376528e-01 9.46867592e-01 -2.82956293e-02 -5.77932212e+01] [-8.62536635e-02 5.87751890e-04 9.96273035e-01 -3.02343804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.941193817 meters 0.05538132246901114 Centerline is valid? [True, True] Translation: X:239.09, Y:-57.82, Z:-30.24 [[ 9.41324780e-01 3.25816983e-01 8.80394861e-02 2.39092457e+02] [-3.24380472e-01 9.45432837e-01 -3.05624069e-02 -5.78160478e+01] [-9.31931724e-02 2.10860943e-04 9.95648024e-01 -3.02367772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.001193817 meters 0.0550711303525596 Centerline is valid? [True, True] Translation: X:239.15, Y:-57.84, Z:-30.24 [[ 9.40098089e-01 3.28752096e-01 9.02088782e-02 2.39147559e+02] [-3.27257570e-01 9.44416249e-01 -3.13118309e-02 -5.78378955e+01] [-9.54885605e-02 -8.53458097e-05 9.95430524e-01 -3.02411782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.061193817 meters 0.05545567019131478 Centerline is valid? [True, True] Translation: X:239.20, Y:-57.86, Z:-30.25 [[ 9.39071966e-01 3.31696860e-01 9.01167849e-02 2.39201182e+02] [-3.30219442e-01 9.43385945e-01 -3.12742510e-02 -5.78607165e+01] [-9.53884791e-02 -3.89542113e-04 9.95440047e-01 -3.02500292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.121193817 meters 0.05662718719742277 Centerline is valid? [True, True] Translation: X:239.25, Y:-57.89, Z:-30.26 [[ 9.38743968e-01 3.33748340e-01 8.58592386e-02 2.39251186e+02] [-3.32416771e-01 9.42662035e-01 -2.97888853e-02 -5.78916591e+01] [-9.08782356e-02 -5.76914525e-04 9.95861845e-01 -3.02638962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.181193817 meters 0.05716900210241943 Centerline is valid? [True, True] Translation: X:239.30, Y:-57.92, Z:-30.27 [[ 9.38133996e-01 3.36245490e-01 8.27259117e-02 2.39304039e+02] [-3.35019701e-01 9.41774039e-01 -2.86959861e-02 -5.79185948e+01] [-8.75580119e-02 -7.94130126e-04 9.96159106e-01 -3.02728637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.241193817 meters 0.05817921109920865 Centerline is valid? [True, True] Translation: X:239.36, Y:-57.95, Z:-30.28 [[ 9.37117583e-01 3.40033453e-01 7.86631150e-02 2.39358025e+02] [-3.38939012e-01 9.40412702e-01 -2.72817885e-02 -5.79457816e+01] [-8.32525133e-02 -1.09575478e-03 9.96527881e-01 -3.02829375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.301193817 meters 0.05848589486911481 Centerline is valid? [True, True] Translation: X:239.41, Y:-57.99, Z:-30.29 [[ 9.37003182e-01 3.40040168e-01 7.99857568e-02 2.39406703e+02] [-3.38908644e-01 9.40410251e-01 -2.77397155e-02 -5.79867621e+01] [-8.46520432e-02 -1.11566264e-03 9.96409949e-01 -3.02911296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36119381700001 meters 0.05658694070503091 Centerline is valid? [True, True] Translation: X:239.46, Y:-58.03, Z:-30.29 [[ 9.38659675e-01 3.34559567e-01 8.35937250e-02 2.39456810e+02] [-3.33301568e-01 9.42374383e-01 -2.89928900e-02 -5.80278490e+01] [-8.84764337e-02 -6.47462930e-04 9.96078060e-01 -3.02939518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.421193817 meters 0.05573503197902965 Centerline is valid? [True, True] Translation: X:239.50, Y:-58.09, Z:-30.30 [[ 9.43307758e-01 3.19975153e-01 8.82404454e-02 2.39501553e+02] [-3.18508902e-01 9.47425625e-01 -3.06066068e-02 -5.80852851e+01] [-9.33946128e-02 7.66082194e-04 9.95628876e-01 -3.02971835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.481193817 meters 0.0584460295418479 Centerline is valid? [True, True] Translation: X:239.55, Y:-58.13, Z:-30.31 [[ 9.47255253e-01 3.08413491e-01 8.71125964e-02 2.39548531e+02] [-3.06935128e-01 9.51250520e-01 -3.02204443e-02 -5.81314201e+01] [-9.21862953e-02 1.88855875e-03 9.95739986e-01 -3.03058379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.541193817 meters 0.06441158501547405 Centerline is valid? [True, True] Translation: X:239.60, Y:-58.18, Z:-30.31 [[ 9.51844820e-01 2.94404179e-01 8.55430777e-02 2.39596207e+02] [-2.92922096e-01 9.55675682e-01 -2.96755227e-02 -5.81767267e+01] [-9.04880370e-02 3.18903501e-03 9.95892437e-01 -3.03149050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.601193817 meters 0.06962416430869534 Centerline is valid? [True, True] Translation: X:239.65, Y:-58.21, Z:-30.32 [[ 9.53713239e-01 2.88377209e-01 8.52622007e-02 2.39648586e+02] [-2.86880820e-01 9.57509546e-01 -2.95781006e-02 -5.82074125e+01] [-9.01690212e-02 3.74893603e-03 9.95919421e-01 -3.03244102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.661193817 meters 0.0694307651448439 Centerline is valid? [True, True] Translation: X:239.71, Y:-58.23, Z:-30.33 [[ 9.53860188e-01 2.87881757e-01 8.52926456e-02 2.39707173e+02] [-2.86382513e-01 9.57658442e-01 -2.95865769e-02 -5.82258148e+01] [-9.01986579e-02 3.79513556e-03 9.95916562e-01 -3.03309315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.721193817 meters 0.06575419473264874 Centerline is valid? [True, True] Translation: X:239.77, Y:-58.24, Z:-30.33 [[ 9.54339591e-01 2.86247499e-01 8.54301709e-02 2.39770046e+02] [-2.84734654e-01 9.58147448e-01 -2.96588097e-02 -5.82351701e+01] [-9.03444603e-02 3.97964617e-03 9.95902626e-01 -3.03327302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.781193817 meters 0.0677846918906531 Centerline is valid? [True, True] Translation: X:239.83, Y:-58.25, Z:-30.34 [[ 9.54462471e-01 2.85288122e-01 8.72472279e-02 2.39830508e+02] [-2.83703314e-01 9.58432659e-01 -3.03194344e-02 -5.82490289e+01] [-9.22703671e-02 4.18643462e-03 9.95725190e-01 -3.03406326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.841193817 meters 0.06763633271538823 Centerline is valid? [True, True] Translation: X:239.89, Y:-58.26, Z:-30.35 [[ 9.54519043e-01 2.85421609e-01 8.61852760e-02 2.39891077e+02] [-2.83872957e-01 9.58393064e-01 -2.99813055e-02 -5.82613991e+01] [-9.11566832e-02 4.15205790e-03 9.95827907e-01 -3.03497968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.901193817 meters 0.06819336511578934 Centerline is valid? [True, True] Translation: X:239.95, Y:-58.28, Z:-30.36 [[ 9.54469923e-01 2.86017924e-01 8.47402719e-02 2.39951274e+02] [-2.84520792e-01 9.58215700e-01 -2.95057683e-02 -5.82754642e+01] [-8.96386376e-02 4.05199917e-03 9.95966112e-01 -3.03613456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.961193817 meters 0.06924909305527763 Centerline is valid? [True, True] Translation: X:240.01, Y:-58.29, Z:-30.37 [[ 9.54538809e-01 2.85977851e-01 8.40971547e-02 2.40012047e+02] [-2.84500871e-01 9.58227667e-01 -2.93085603e-02 -5.82872642e+01] [-8.89658195e-02 4.05044447e-03 9.96026444e-01 -3.03722248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.021193817 meters 0.06884745507649945 Centerline is valid? [True, True] Translation: X:240.07, Y:-58.30, Z:-30.38 [[ 9.53956698e-01 2.87752734e-01 8.46462171e-02 2.40072459e+02] [-2.86260197e-01 9.57696617e-01 -2.95345446e-02 -5.82990706e+01] [-8.95640418e-02 3.94383391e-03 9.95973257e-01 -3.03805234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.081193817 meters 0.0681534716414086 Centerline is valid? [True, True] Translation: X:240.13, Y:-58.30, Z:-30.40 [[ 9.53012426e-01 2.92131673e-01 8.01648415e-02 2.40133921e+02] [-2.90808838e-01 9.56372266e-01 -2.79697858e-02 -5.83039729e+01] [-8.48382914e-02 3.34290897e-03 9.96389125e-01 -3.03955599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14119381700002 meters 0.06375158712811761 Centerline is valid? [True, True] Translation: X:240.20, Y:-58.30, Z:-30.40 [[ 9.51617603e-01 2.96133394e-01 8.20301816e-02 2.40199381e+02] [-2.94761168e-01 9.55141640e-01 -2.86409145e-02 -5.83001337e+01] [-8.68319733e-02 3.07588623e-03 9.96218223e-01 -3.03975364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.201193817 meters 0.06475463067481793 Centerline is valid? [True, True] Translation: X:240.26, Y:-58.31, Z:-30.41 [[ 9.50597310e-01 2.98666753e-01 8.46340689e-02 2.40257634e+02] [-2.97215756e-01 9.54352948e-01 -2.95507341e-02 -5.83117796e+01] [-8.95965949e-02 2.93626960e-03 9.95973809e-01 -3.04075194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.261193817 meters 0.06037881987699439 Centerline is valid? [True, True] Translation: X:240.32, Y:-58.31, Z:-30.41 [[ 9.48819260e-01 3.04250118e-01 8.46987486e-02 2.40322629e+02] [-3.02819449e-01 9.52589142e-01 -2.95687174e-02 -5.83133577e+01] [-8.96793939e-02 2.40694018e-03 9.95967777e-01 -3.04101273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.321193817 meters 0.05710449212847947 Centerline is valid? [True, True] Translation: X:240.39, Y:-58.30, Z:-30.42 [[ 9.44295952e-01 3.18555587e-01 8.26286425e-02 2.40388824e+02] [-3.17247846e-01 9.47903619e-01 -2.88536393e-02 -5.83037215e+01] [-8.75154773e-02 1.03261587e-03 9.96162625e-01 -3.04212609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.381193817 meters 0.05575312476683777 Centerline is valid? [True, True] Translation: X:240.45, Y:-58.31, Z:-30.42 [[ 9.41247251e-01 3.27366639e-01 8.29740650e-02 2.40450293e+02] [-3.26081842e-01 9.44897368e-01 -2.89757808e-02 -5.83081661e+01] [-8.78876797e-02 2.17038051e-04 9.96130367e-01 -3.04245324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.441193817 meters 0.05625281347494018 Centerline is valid? [True, True] Translation: X:240.51, Y:-58.32, Z:-30.44 [[ 9.39407671e-01 3.32081498e-01 8.50594332e-02 2.40507012e+02] [-3.30750624e-01 9.43250669e-01 -2.97018371e-02 -5.83186644e+01] [-9.00957979e-02 -2.31327069e-04 9.95933077e-01 -3.04355337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.501193817 meters 0.056763075195704435 Centerline is valid? [True, True] Translation: X:240.56, Y:-58.34, Z:-30.45 [[ 9.39352539e-01 3.32460298e-01 8.41840714e-02 2.40560252e+02] [-3.31159047e-01 9.43117212e-01 -2.93872451e-02 -5.83382194e+01] [-8.91655390e-02 -2.73333496e-04 9.96016783e-01 -3.04461401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.561193817 meters 0.05677012942082536 Centerline is valid? [True, True] Translation: X:240.62, Y:-58.36, Z:-30.45 [[ 9.36704992e-01 3.39528114e-01 8.54658841e-02 2.40615766e+02] [-3.38217468e-01 9.40595403e-01 -2.98200047e-02 -5.83581158e+01] [-9.05135476e-02 -9.73507614e-04 9.95894748e-01 -3.04465316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.621193817 meters 0.0597829938873899 Centerline is valid? [True, True] Translation: X:240.67, Y:-58.38, Z:-30.46 [[ 9.33029807e-01 3.50180908e-01 8.26360132e-02 2.40672650e+02] [-3.48998148e-01 9.36680063e-01 -2.88227846e-02 -5.83765329e+01] [-8.74966949e-02 -1.94729839e-03 9.96162907e-01 -3.04566710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.681193817 meters 0.06229238256974283 Centerline is valid? [True, True] Translation: X:240.73, Y:-58.40, Z:-30.47 [[ 9.32465750e-01 3.52535283e-01 7.89081736e-02 2.40725684e+02] [-3.51465447e-01 9.35796232e-01 -2.75218427e-02 -5.83991543e+01] [-8.35443922e-02 -2.07032086e-03 9.96501906e-01 -3.04714112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.741193817 meters 0.06049613992201192 Centerline is valid? [True, True] Translation: X:240.77, Y:-58.44, Z:-30.48 [[ 9.33955468e-01 3.48620632e-01 7.86818799e-02 2.40774025e+02] [-3.47542905e-01 9.37262354e-01 -2.74446602e-02 -5.84396572e+01] [-8.33133387e-02 -1.71323870e-03 9.96521928e-01 -3.04764938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.801193817 meters 0.05908379487816199 Centerline is valid? [True, True] Translation: X:240.83, Y:-58.48, Z:-30.48 [[ 9.35131445e-01 3.45420786e-01 7.88267767e-02 2.40825709e+02] [-3.44328699e-01 9.38446803e-01 -2.74835266e-02 -5.84769500e+01] [-8.34681179e-02 -1.44161157e-03 9.96509405e-01 -3.04811609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86119381700001 meters 0.05890962518885642 Centerline is valid? [True, True] Translation: X:240.88, Y:-58.52, Z:-30.49 [[ 9.36351846e-01 3.42297137e-01 7.79608264e-02 2.40875892e+02] [-3.41218653e-01 9.39591046e-01 -2.71753044e-02 -5.85173890e+01] [-8.25533233e-02 -1.15604172e-03 9.96585978e-01 -3.04924431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.921193817 meters 0.05828839914097222 Centerline is valid? [True, True] Translation: X:240.93, Y:-58.55, Z:-30.50 [[ 9.37464400e-01 3.39107754e-01 7.85266257e-02 2.40928331e+02] [-3.38000255e-01 9.40747148e-01 -2.73976675e-02 -5.85546629e+01] [-8.31644607e-02 -8.57681549e-04 9.96535467e-01 -3.04993788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.981193817 meters 0.05752025627162397 Centerline is valid? [True, True] Translation: X:240.98, Y:-58.61, Z:-30.51 [[ 9.40526847e-01 3.30290931e-01 7.94805122e-02 2.40975944e+02] [-3.29122659e-01 9.43879176e-01 -2.77556677e-02 -5.86057095e+01] [-8.41874456e-02 -5.38868714e-05 9.96449934e-01 -3.05051788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.041193817 meters 0.05790080234464182 Centerline is valid? [True, True] Translation: X:241.03, Y:-58.64, Z:-30.51 [[ 9.42449113e-01 3.24838418e-01 7.91812585e-02 2.41027680e+02] [-3.23657643e-01 9.45769420e-01 -2.76755311e-02 -5.86445934e+01] [-8.38772886e-02 4.55160225e-04 9.96475987e-01 -3.05118411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.101193817 meters 0.05853393342073643 Centerline is valid? [True, True] Translation: X:241.08, Y:-58.68, Z:-30.52 [[ 9.42979320e-01 3.23336574e-01 7.90155810e-02 2.41079771e+02] [-3.22153372e-01 9.46283829e-01 -2.76427005e-02 -5.86785384e+01] [-8.37090627e-02 6.11359001e-04 9.96490050e-01 -3.05199863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.161193817 meters 0.056908234814825764 Centerline is valid? [True, True] Translation: X:241.14, Y:-58.71, Z:-30.52 [[ 9.41917173e-01 3.26060017e-01 8.04792192e-02 2.41135666e+02] [-3.24840586e-01 9.45348987e-01 -2.81759774e-02 -5.87076731e+01] [-8.52680080e-02 3.96520235e-04 9.96357973e-01 -3.05188511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.221193817 meters 0.0568875054968906 Centerline is valid? [True, True] Translation: X:241.19, Y:-58.73, Z:-30.53 [[ 9.39510815e-01 3.33235232e-01 7.92067405e-02 2.41191775e+02] [-3.32077336e-01 9.42843693e-01 -2.77563294e-02 -5.87331672e+01] [-8.39289626e-02 -2.25391672e-04 9.96471715e-01 -3.05261306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.281193817 meters 0.057440618747900976 Centerline is valid? [True, True] Translation: X:241.25, Y:-58.76, Z:-30.54 [[ 9.38178932e-01 3.37162086e-01 7.83710356e-02 2.41247031e+02] [-3.36039846e-01 9.41446458e-01 -2.74916210e-02 -5.87561877e+01] [-8.30512661e-02 -5.43731119e-04 9.96545128e-01 -3.05366602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.341193817 meters 0.05790363723403741 Centerline is valid? [True, True] Translation: X:241.30, Y:-58.79, Z:-30.54 [[ 9.37125045e-01 3.40548189e-01 7.63123893e-02 2.41301306e+02] [-3.39494037e-01 9.40226719e-01 -2.67865019e-02 -5.87858417e+01] [-8.08730422e-02 -8.05299297e-04 9.96724085e-01 -3.05443483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.401193817 meters 0.058484057603852314 Centerline is valid? [True, True] Translation: X:241.36, Y:-58.81, Z:-30.55 [[ 9.36967552e-01 3.41377367e-01 7.45204682e-02 2.41356668e+02] [-3.40372669e-01 9.39925957e-01 -2.61847736e-02 -5.88119263e+01] [-7.89826114e-02 -8.30447473e-04 9.96875648e-01 -3.05540424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.461193817 meters 0.058778929612072185 Centerline is valid? [True, True] Translation: X:241.41, Y:-58.84, Z:-30.56 [[ 9.36946654e-01 3.41378109e-01 7.47793665e-02 2.41412488e+02] [-3.40365914e-01 9.39925690e-01 -2.62819768e-02 -5.88388162e+01] [-7.92591392e-02 -8.27537251e-04 9.96853702e-01 -3.05638635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.521193817 meters 0.05878722335242214 Centerline is valid? [True, True] Translation: X:241.47, Y:-58.87, Z:-30.57 [[ 9.37624988e-01 3.39435911e-01 7.51175365e-02 2.41466156e+02] [-3.38405976e-01 9.40628967e-01 -2.64299324e-02 -5.88694858e+01] [-7.96289989e-02 -6.38858218e-04 9.96824365e-01 -3.05719433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.581193817 meters 0.05800708884791777 Centerline is valid? [True, True] Translation: X:241.52, Y:-58.91, Z:-30.57 [[ 9.39844812e-01 3.32885800e-01 7.66731553e-02 2.41518943e+02] [-3.31789409e-01 9.42967147e-01 -2.69953437e-02 -5.89063160e+01] [-8.12866330e-02 -6.79071879e-05 9.96690764e-01 -3.05725809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64119381700002 meters 0.05816486036576219 Centerline is valid? [True, True] Translation: X:241.58, Y:-58.93, Z:-30.58 [[ 9.40733799e-01 3.30366115e-01 7.66690943e-02 2.41575444e+02] [-3.29261970e-01 9.43852853e-01 -2.69878904e-02 -5.89328731e+01] [-8.12802279e-02 1.44203654e-04 9.96691278e-01 -3.05801144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.701193817 meters 0.05835865794410444 Centerline is valid? [True, True] Translation: X:241.63, Y:-58.96, Z:-30.58 [[ 9.42353383e-01 3.25099789e-01 7.92478922e-02 2.41630223e+02] [-3.23898607e-01 9.45679494e-01 -2.79282566e-02 -5.89641227e+01] [-8.40225769e-02 6.50005160e-04 9.96463639e-01 -3.05845863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.761193817 meters 0.06077683759737953 Centerline is valid? [True, True] Translation: X:241.68, Y:-59.00, Z:-30.59 [[ 9.46093979e-01 3.13936055e-01 7.96889971e-02 2.41680215e+02] [-3.12678564e-01 9.49442627e-01 -2.81213904e-02 -5.90015364e+01] [-8.44884491e-02 1.68843690e-03 9.96423028e-01 -3.05917942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.821193817 meters 0.06361171803017057 Centerline is valid? [True, True] Translation: X:241.73, Y:-59.03, Z:-30.60 [[ 9.48535820e-01 3.06776974e-01 7.85346206e-02 2.41733265e+02] [-3.05531249e-01 9.51778668e-01 -2.77132132e-02 -5.90319154e+01] [-8.32493523e-02 2.29219471e-03 9.96526112e-01 -3.06004382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.881193817 meters 0.06830088239004743 Centerline is valid? [True, True] Translation: X:241.78, Y:-59.06, Z:-30.61 [[ 9.51299364e-01 2.98818876e-01 7.57416677e-02 2.41784913e+02] [-2.97635240e-01 9.54305495e-01 -2.67261103e-02 -5.90630178e+01] [-8.02669560e-02 2.88114227e-03 9.96769238e-01 -3.06096985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.941193817 meters 0.06933377938523158 Centerline is valid? [True, True] Translation: X:241.84, Y:-59.08, Z:-30.62 [[ 9.51837834e-01 2.96795909e-01 7.69215624e-02 2.41842995e+02] [-2.95568341e-01 9.54935900e-01 -2.71437458e-02 -5.90825903e+01] [-8.15113141e-02 3.10086557e-03 9.96667593e-01 -3.06165984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.001193817 meters 0.06819922779098204 Centerline is valid? [True, True] Translation: X:241.91, Y:-59.10, Z:-30.62 [[ 9.51721756e-01 2.97295893e-01 7.64254613e-02 2.41905327e+02] [-2.96084210e-01 9.54780504e-01 -2.69875861e-02 -5.90952144e+01] [-8.09928390e-02 3.05630045e-03 9.96709997e-01 -3.06215133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.061193817 meters 0.067580862922676 Centerline is valid? [True, True] Translation: X:241.97, Y:-59.10, Z:-30.63 [[ 9.50469010e-01 3.02086750e-01 7.31591147e-02 2.41966719e+02] [-3.00988528e-01 9.53276997e-01 -2.58625631e-02 -5.90999417e+01] [-7.75536389e-02 2.56151053e-03 9.96984890e-01 -3.06349728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.121193817 meters 0.06455860042270595 Centerline is valid? [True, True] Translation: X:242.03, Y:-59.11, Z:-30.64 [[ 9.49056935e-01 3.06510499e-01 7.30906806e-02 2.42030465e+02] [-3.05425004e-01 9.51864671e-01 -2.58692009e-02 -5.91050961e+01] [-7.75016184e-02 2.22762310e-03 9.96989738e-01 -3.06402738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.181193817 meters 0.062369051568335616 Centerline is valid? [True, True] Translation: X:242.09, Y:-59.10, Z:-30.65 [[ 9.46363397e-01 3.14146242e-01 7.55543435e-02 2.42094745e+02] [-3.13009719e-01 9.49373143e-01 -2.67498090e-02 -5.91029164e+01] [-8.01326165e-02 1.66579633e-03 9.96782819e-01 -3.06478433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.241193817 meters 0.061024350710953995 Centerline is valid? [True, True] Translation: X:242.16, Y:-59.11, Z:-30.65 [[ 9.44298029e-01 3.19864811e-01 7.73804608e-02 2.42155693e+02] [-3.18691784e-01 9.47462422e-01 -2.73953447e-02 -5.91113449e+01] [-8.20778856e-02 1.20885283e-03 9.96625185e-01 -3.06539479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.301193817 meters 0.05960250033711144 Centerline is valid? [True, True] Translation: X:242.22, Y:-59.12, Z:-30.66 [[ 9.42956314e-01 3.23555873e-01 7.83899655e-02 2.42218237e+02] [-3.22365557e-01 9.46208648e-01 -2.77424283e-02 -5.91197761e+01] [-8.31494889e-02 8.89673113e-04 9.96536688e-01 -3.06574577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36119381700001 meters 0.059694814633744854 Centerline is valid? [True, True] Translation: X:242.28, Y:-59.13, Z:-30.67 [[ 9.41864008e-01 3.26013147e-01 8.12872526e-02 2.42278252e+02] [-3.24738831e-01 9.45364950e-01 -2.88063036e-02 -5.91297244e+01] [-8.62373532e-02 7.34493160e-04 9.96274349e-01 -3.06678284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.421193817 meters 0.05972683139928814 Centerline is valid? [True, True] Translation: X:242.34, Y:-59.14, Z:-30.68 [[ 9.40931617e-01 3.28340896e-01 8.27039830e-02 2.42337348e+02] [-3.27030650e-01 9.44559143e-01 -2.93083579e-02 -5.91430086e+01] [-8.77419358e-02 5.30423263e-04 9.96143098e-01 -3.06770307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.481193817 meters 0.058877771977977805 Centerline is valid? [True, True] Translation: X:242.40, Y:-59.16, Z:-30.68 [[ 9.39787331e-01 3.31687262e-01 8.23609884e-02 2.42398904e+02] [-3.30400022e-01 9.43389374e-01 -2.91944437e-02 -5.91575377e+01] [-8.73819063e-02 2.24495937e-04 9.96174860e-01 -3.06791404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.541193817 meters 0.060099445641096864 Centerline is valid? [True, True] Translation: X:242.46, Y:-59.17, Z:-30.70 [[ 9.38649688e-01 3.35122560e-01 8.14225614e-02 2.42456356e+02] [-3.33874475e-01 9.42174541e-01 -2.88958348e-02 -5.91728997e+01] [-8.63979105e-02 -6.18486234e-05 9.96260707e-01 -3.06967631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.601193817 meters 0.059664934597224835 Centerline is valid? [True, True] Translation: X:242.52, Y:-59.19, Z:-30.70 [[ 9.38490467e-01 3.35854423e-01 8.02337194e-02 2.42515057e+02] [-3.34643199e-01 9.41913900e-01 -2.84979548e-02 -5.91936601e+01] [-8.51444197e-02 -1.04609646e-04 9.96368615e-01 -3.07004391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.661193817 meters 0.05958720978069678 Centerline is valid? [True, True] Translation: X:242.57, Y:-59.22, Z:-30.71 [[ 9.38536819e-01 3.35545565e-01 8.09803213e-02 2.42572484e+02] [-3.34308161e-01 9.42023976e-01 -2.87903198e-02 -5.92165340e+01] [-8.59458683e-02 -5.16071346e-05 9.96299807e-01 -3.07071504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.721193817 meters 0.059731701092552394 Centerline is valid? [True, True] Translation: X:242.63, Y:-59.24, Z:-30.72 [[ 9.38243275e-01 3.36293964e-01 8.12768499e-02 2.42629946e+02] [-3.35047925e-01 9.41757060e-01 -2.89227888e-02 -5.92391361e+01] [-8.62696065e-02 -9.50277976e-05 9.96271823e-01 -3.07159480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.781193817 meters 0.06001902769755163 Centerline is valid? [True, True] Translation: X:242.69, Y:-59.26, Z:-30.73 [[ 9.37370846e-01 3.38710263e-01 8.13096303e-02 2.42687097e+02] [-3.37469717e-01 9.40890681e-01 -2.89640476e-02 -5.92596464e+01] [-8.63138936e-02 -2.89484101e-04 9.96267950e-01 -3.07259183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.841193817 meters 0.06053392689126524 Centerline is valid? [True, True] Translation: X:242.74, Y:-59.28, Z:-30.74 [[ 9.36850289e-01 3.40508440e-01 7.97843267e-02 2.42744014e+02] [-3.39319318e-01 9.40241360e-01 -2.84356305e-02 -5.92819876e+01] [-8.46990960e-02 -4.32434681e-04 9.96406481e-01 -3.07367739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.901193817 meters 0.06084860719549201 Centerline is valid? [True, True] Translation: X:242.80, Y:-59.31, Z:-30.75 [[ 9.36516332e-01 3.41485510e-01 7.95286551e-02 2.42800217e+02] [-3.40305350e-01 9.39886909e-01 -2.83701769e-02 -5.93053529e+01] [-8.44359461e-02 -4.94892817e-04 9.96428786e-01 -3.07461107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.961193817 meters 0.060999283319991895 Centerline is valid? [True, True] Translation: X:242.86, Y:-59.33, Z:-30.75 [[ 9.36342334e-01 3.41767711e-01 8.03608388e-02 2.42856779e+02] [-3.40561767e-01 9.39784325e-01 -2.86898156e-02 -5.93295001e+01] [-8.53271092e-02 -5.04340400e-04 9.96352864e-01 -3.07536891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.021193817 meters 0.061148514315251 Centerline is valid? [True, True] Translation: X:242.91, Y:-59.36, Z:-30.76 [[ 9.37262839e-01 3.39314719e-01 8.00243219e-02 2.42910919e+02] [-3.38107943e-01 9.40672874e-01 -2.85930671e-02 -5.93613546e+01] [-8.49787574e-02 -2.57639670e-04 9.96382730e-01 -3.07623097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.081193817 meters 0.06072664150273018 Centerline is valid? [True, True] Translation: X:242.97, Y:-59.39, Z:-30.77 [[ 9.37240592e-01 3.38755204e-01 8.26134697e-02 2.42967052e+02] [-3.37463572e-01 9.40874529e-01 -2.95543209e-02 -5.93862001e+01] [-8.77405894e-02 -1.79527396e-04 9.96143341e-01 -3.07685825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14119381700002 meters 0.060479963044891234 Centerline is valid? [True, True] Translation: X:243.02, Y:-59.41, Z:-30.77 [[ 9.35927956e-01 3.41641118e-01 8.55582076e-02 2.43022078e+02] [-3.40267193e-01 9.39830375e-01 -3.06121669e-02 -5.94102501e+01] [-9.08685773e-02 -4.61868294e-04 9.95862786e-01 -3.07745895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.201193817 meters 0.06012628579288714 Centerline is valid? [True, True] Translation: X:243.08, Y:-59.43, Z:-30.78 [[ 9.34428055e-01 3.45770837e-01 8.53623903e-02 2.43079596e+02] [-3.44420622e-01 9.38318593e-01 -3.05393659e-02 -5.94334232e+01] [-9.06567400e-02 -8.63727346e-04 9.95881825e-01 -3.07760885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.261193817 meters 0.06221761702864149 Centerline is valid? [True, True] Translation: X:243.14, Y:-59.45, Z:-30.79 [[ 9.30158045e-01 3.57044334e-01 8.55882896e-02 2.43137793e+02] [-3.55732557e-01 9.34085410e-01 -3.06397435e-02 -5.94482249e+01] [-9.08865194e-02 -1.94673723e-03 9.95859353e-01 -3.07855161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.321193817 meters 0.06680245469577606 Centerline is valid? [True, True] Translation: X:243.20, Y:-59.46, Z:-30.80 [[ 9.27807451e-01 3.63081183e-01 8.57052374e-02 2.43195200e+02] [-3.61791474e-01 9.31754043e-01 -3.06811428e-02 -5.94609825e+01] [-9.09959471e-02 -2.54123127e-03 9.95848020e-01 -3.08024812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.381193817 meters 0.06317602220477082 Centerline is valid? [True, True] Translation: X:243.25, Y:-59.50, Z:-30.81 [[ 9.29609192e-01 3.59286411e-01 8.20976531e-02 2.43248094e+02] [-3.58088352e-01 9.33225032e-01 -2.93899903e-02 -5.95010895e+01] [-8.71750092e-02 -2.07700810e-03 9.96190847e-01 -3.08056953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.441193817 meters 0.061704948286460615 Centerline is valid? [True, True] Translation: X:243.30, Y:-59.54, Z:-30.82 [[ 9.33665295e-01 3.49071619e-01 8.01131792e-02 2.43297428e+02] [-3.47889911e-01 9.37095452e-01 -2.87180055e-02 -5.95404872e+01] [-8.50983365e-02 -1.05756169e-03 9.96371996e-01 -3.08166833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.501193817 meters 0.06039081590459034 Centerline is valid? [True, True] Translation: X:243.35, Y:-59.58, Z:-30.82 [[ 9.37883497e-01 3.37640419e-01 7.98341652e-02 2.43349197e+02] [-3.36425984e-01 9.41275171e-01 -2.86113748e-02 -5.95818065e+01] [-8.48062740e-02 -2.41513635e-05 9.96397459e-01 -3.08185519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.561193817 meters 0.062227515359714526 Centerline is valid? [True, True] Translation: X:243.40, Y:-59.62, Z:-30.83 [[ 9.41099351e-01 3.28335152e-01 8.07962834e-02 2.43398870e+02] [-3.27054368e-01 9.44560903e-01 -2.89851703e-02 -5.96192978e+01] [-8.58338607e-02 8.53147547e-04 9.96309099e-01 -3.08331959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.621193817 meters 0.06351671962876079 Centerline is valid? [True, True] Translation: X:243.45, Y:-59.65, Z:-30.84 [[ 9.42863326e-01 3.22676648e-01 8.29971646e-02 2.43452747e+02] [-3.21300422e-01 9.46508174e-01 -2.98046291e-02 -5.96531099e+01] [-8.81747524e-02 1.43466770e-03 9.96103988e-01 -3.08385813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.681193817 meters 0.06102662218719915 Centerline is valid? [True, True] Translation: X:243.51, Y:-59.67, Z:-30.83 [[ 9.42434087e-01 3.23029217e-01 8.64298358e-02 2.43511397e+02] [-3.21535833e-01 9.46387831e-01 -3.10609216e-02 -5.96746919e+01] [-9.18297300e-02 1.48258202e-03 9.95773620e-01 -3.08332309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.741193817 meters 0.05981949177168315 Centerline is valid? [True, True] Translation: X:243.57, Y:-59.69, Z:-30.84 [[ 9.40216302e-01 3.28528806e-01 8.97893615e-02 2.43571395e+02] [-3.26941433e-01 9.44493436e-01 -3.22714840e-02 -5.96907579e+01] [-9.54075747e-02 9.86312781e-04 9.95437804e-01 -3.08372236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.801193817 meters 0.059464442267814506 Centerline is valid? [True, True] Translation: X:243.63, Y:-59.70, Z:-30.85 [[ 9.36289742e-01 3.39726183e-01 8.91495401e-02 2.43633320e+02] [-3.38211484e-01 9.40524374e-01 -3.20451786e-02 -5.97007391e+01] [-9.47339016e-02 -1.47826209e-04 9.95502620e-01 -3.08455982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86119381700001 meters 0.060471936307674785 Centerline is valid? [True, True] Translation: X:243.69, Y:-59.71, Z:-30.86 [[ 9.32836266e-01 3.49919666e-01 8.58645956e-02 2.43694348e+02] [-3.48554399e-01 9.36779061e-01 -3.09001896e-02 -5.97083442e+01] [-9.12487393e-02 -1.10366503e-03 9.95827520e-01 -3.08583924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.921193817 meters 0.062204957333619526 Centerline is valid? [True, True] Translation: X:243.75, Y:-59.72, Z:-30.87 [[ 9.30345362e-01 3.57226535e-01 8.27448466e-02 2.43753291e+02] [-3.55987501e-01 9.34016132e-01 -2.97786002e-02 -5.97232728e+01] [-8.79227277e-02 -1.75174855e-03 9.96125758e-01 -3.08690780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.981193817 meters 0.0635160223957824 Centerline is valid? [True, True] Translation: X:243.81, Y:-59.74, Z:-30.88 [[ 9.27772993e-01 3.64792784e-01 7.85079448e-02 2.43811182e+02] [-3.63704197e-01 9.31085798e-01 -2.82576352e-02 -5.97413440e+01] [-8.34058139e-02 -2.33699819e-03 9.96512924e-01 -3.08796010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.041193817 meters 0.0656019784953011 Centerline is valid? [True, True] Translation: X:243.87, Y:-59.76, Z:-30.89 [[ 9.26943184e-01 3.67143381e-01 7.73438548e-02 2.43867320e+02] [-3.66095236e-01 9.30160967e-01 -2.78361863e-02 -5.97606428e+01] [-8.21621063e-02 -2.51265368e-03 9.96615811e-01 -3.08925813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.101193817 meters 0.06332382925011007 Centerline is valid? [True, True] Translation: X:243.92, Y:-59.80, Z:-30.89 [[ 9.28310915e-01 3.63356678e-01 7.88084432e-02 2.43919889e+02] [-3.62253379e-01 9.31647503e-01 -2.83798992e-02 -5.97974493e+01] [-8.37337152e-02 -2.20325468e-03 9.96485730e-01 -3.08938901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.161193817 meters 0.06083644019949118 Centerline is valid? [True, True] Translation: X:243.97, Y:-59.84, Z:-30.89 [[ 9.30862800e-01 3.56049482e-01 8.19952040e-02 2.43971143e+02] [-3.54826072e-01 9.34465730e-01 -2.95340173e-02 -5.98366836e+01] [-8.71372797e-02 -1.60191815e-03 9.96195025e-01 -3.08942648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.221193817 meters 0.060294475817857775 Centerline is valid? [True, True] Translation: X:244.02, Y:-59.87, Z:-30.90 [[ 9.32558388e-01 3.50890613e-01 8.49154385e-02 2.44023656e+02] [-3.49556448e-01 9.36415744e-01 -3.05915712e-02 -5.98671722e+01] [-9.02504487e-02 -1.15431270e-03 9.95918432e-01 -3.09008801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.281193817 meters 0.058957270142694335 Centerline is valid? [True, True] Translation: X:244.08, Y:-59.90, Z:-30.90 [[ 9.34308183e-01 3.45201826e-01 8.89039835e-02 2.44076425e+02] [-3.43713295e-01 9.38528262e-01 -3.20292286e-02 -5.99046458e+01] [-9.44954494e-02 -6.32310722e-04 9.95525093e-01 -3.09003945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.341193817 meters 0.05869523077895586 Centerline is valid? [True, True] Translation: X:244.13, Y:-59.94, Z:-30.91 [[ 9.35486314e-01 3.41535568e-01 9.06576644e-02 2.44131319e+02] [-3.39970351e-01 9.39868812e-01 -3.26615354e-02 -5.99350824e+01] [-9.63613874e-02 -2.66498615e-04 9.95346378e-01 -3.09072110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.401193817 meters 0.05870500984746415 Centerline is valid? [True, True] Translation: X:244.18, Y:-59.97, Z:-30.91 [[ 9.37475858e-01 3.36182735e-01 9.01120708e-02 2.44184215e+02] [-3.34608856e-01 9.41796726e-01 -3.24937003e-02 -5.99687874e+01] [-9.57910743e-02 3.09762579e-04 9.95401414e-01 -3.09148737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.461193817 meters 0.0595425679693196 Centerline is valid? [True, True] Translation: X:244.24, Y:-60.00, Z:-30.92 [[ 9.38888598e-01 3.32978202e-01 8.72566218e-02 2.44237597e+02] [-3.31486300e-01 9.42934305e-01 -3.14917319e-02 -5.99986602e+01] [-9.27633223e-02 6.42853323e-04 9.95687980e-01 -3.09246614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.521193817 meters 0.061767796399551364 Centerline is valid? [True, True] Translation: X:244.29, Y:-60.03, Z:-30.94 [[ 9.43167857e-01 3.21953996e-01 8.23408703e-02 2.44289067e+02] [-3.20581110e-01 9.46753860e-01 -2.97469529e-02 -6.00325380e+01] [-8.75336871e-02 1.65944224e-03 9.96160178e-01 -3.09356749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.581193817 meters 0.0657703504480241 Centerline is valid? [True, True] Translation: X:244.34, Y:-60.06, Z:-30.95 [[ 9.46931386e-01 3.11544085e-01 7.91279604e-02 2.44340396e+02] [-3.10239588e-01 9.50228343e-01 -2.85918696e-02 -6.00648635e+01] [-8.40972585e-02 2.52591281e-03 9.96454350e-01 -3.09462756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64119381700002 meters 0.06707626487469501 Centerline is valid? [True, True] Translation: X:244.40, Y:-60.09, Z:-30.95 [[ 9.49500522e-01 3.04137924e-01 7.71289931e-02 2.44396125e+02] [-3.02873908e-01 9.52622948e-01 -2.78732030e-02 -6.00899060e+01] [-8.19521468e-02 3.10526131e-03 9.96631428e-01 -3.09505791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.701193817 meters 0.07214013816214812 Centerline is valid? [True, True] Translation: X:244.45, Y:-60.11, Z:-30.96 [[ 9.50785422e-01 2.99727707e-01 7.85517829e-02 2.44450786e+02] [-2.98401015e-01 9.54018164e-01 -2.83932557e-02 -6.01144449e+01] [-8.34500731e-02 3.55596185e-03 9.96505615e-01 -3.09615347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.761193817 meters 0.06988540668760067 Centerline is valid? [True, True] Translation: X:244.51, Y:-60.12, Z:-30.97 [[ 9.50518964e-01 3.00962121e-01 7.70422045e-02 2.44514560e+02] [-2.99689517e-01 9.53630079e-01 -2.78543716e-02 -6.01185353e+01] [-8.18528743e-02 3.38736742e-03 9.96638667e-01 -3.09677707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.821193817 meters 0.07012890995160546 Centerline is valid? [True, True] Translation: X:244.58, Y:-60.13, Z:-30.97 [[ 9.50673812e-01 3.00414405e-01 7.72689357e-02 2.44575796e+02] [-2.99130361e-01 9.53802469e-01 -2.79620803e-02 -6.01307056e+01] [-8.20995133e-02 3.46933282e-03 9.96618098e-01 -3.09747422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.881193817 meters 0.07051692111012269 Centerline is valid? [True, True] Translation: X:244.64, Y:-60.14, Z:-30.98 [[ 9.50404102e-01 3.01373054e-01 7.68526254e-02 2.44639721e+02] [-3.00103874e-01 9.53500274e-01 -2.78368758e-02 -6.01366245e+01] [-8.16682837e-02 3.39251031e-03 9.96653793e-01 -3.09820129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.941193817 meters 0.06714926739315649 Centerline is valid? [True, True] Translation: X:244.70, Y:-60.14, Z:-30.98 [[ 9.49377049e-01 3.04232987e-01 7.82656211e-02 2.44703905e+02] [-3.02923277e-01 9.52592146e-01 -2.83847121e-02 -6.01402944e+01] [-8.31907817e-02 3.23931581e-03 9.96528374e-01 -3.09842971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.001193817 meters 0.06574694839185899 Centerline is valid? [True, True] Translation: X:244.77, Y:-60.15, Z:-30.99 [[ 9.48409635e-01 3.07261304e-01 7.81642825e-02 2.44766431e+02] [-3.05964909e-01 9.51620538e-01 -2.83518114e-02 -6.01463409e+01] [-8.30941511e-02 2.97360353e-03 9.96537265e-01 -3.09906990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.061193817 meters 0.06491433001238713 Centerline is valid? [True, True] Translation: X:244.83, Y:-60.15, Z:-31.00 [[ 9.47483480e-01 3.09369066e-01 8.10298418e-02 2.44829413e+02] [-3.07982901e-01 9.50937637e-01 -2.93963070e-02 -6.01483763e+01] [-8.61486343e-02 2.89670957e-03 9.96278085e-01 -3.09960513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.121193817 meters 0.06714778679283119 Centerline is valid? [True, True] Translation: X:244.89, Y:-60.16, Z:-31.01 [[ 9.47615732e-01 3.09100175e-01 8.05078050e-02 2.44887567e+02] [-3.07731537e-01 9.51025079e-01 -2.91993080e-02 -6.01639456e+01] [-8.55904528e-02 2.89493302e-03 9.96326198e-01 -3.10075566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.181193817 meters 0.06612303158031994 Centerline is valid? [True, True] Translation: X:244.95, Y:-60.17, Z:-31.01 [[ 9.48270232e-01 3.06909317e-01 8.11802799e-02 2.44951906e+02] [-3.05507539e-01 9.51733575e-01 -2.94677042e-02 -6.01684659e+01] [-8.63059110e-02 3.14215921e-03 9.96263728e-01 -3.10119587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.241193817 meters 0.0676510291632266 Centerline is valid? [True, True] Translation: X:245.01, Y:-60.18, Z:-31.02 [[ 9.48483230e-01 3.06116349e-01 8.16844167e-02 2.45011170e+02] [-3.04691635e-01 9.51988519e-01 -2.96793931e-02 -6.01814760e+01] [-8.68479744e-02 3.26184815e-03 9.96216236e-01 -3.10212187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.301193817 meters 0.06588812545099068 Centerline is valid? [True, True] Translation: X:245.08, Y:-60.19, Z:-31.02 [[ 9.47965318e-01 3.06859337e-01 8.48475310e-02 2.45075483e+02] [-3.05321678e-01 9.51748976e-01 -3.08635803e-02 -6.01855233e+01] [-9.02243285e-02 3.35181315e-03 9.95915828e-01 -3.10222737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36119381700001 meters 0.0642756458277858 Centerline is valid? [True, True] Translation: X:245.14, Y:-60.19, Z:-31.03 [[ 9.47252398e-01 3.09305273e-01 8.39234302e-02 2.45138987e+02] [-3.07810998e-01 9.50957813e-01 -3.05225820e-02 -6.01909008e+01] [-8.92484372e-02 3.08003414e-03 9.96004633e-01 -3.10284829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.421193817 meters 0.0627285755481928 Centerline is valid? [True, True] Translation: X:245.20, Y:-60.19, Z:-31.04 [[ 9.45639314e-01 3.15051004e-01 8.06793237e-02 2.45203117e+02] [-3.13688824e-01 9.49071543e-01 -2.93688374e-02 -6.01936350e+01] [-8.58231319e-02 2.46412509e-03 9.96307341e-01 -3.10389255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.481193817 meters 0.06191376539703874 Centerline is valid? [True, True] Translation: X:245.27, Y:-60.20, Z:-31.05 [[ 9.43681909e-01 3.21546746e-01 7.79239756e-02 2.45266483e+02] [-3.20296103e-01 9.46891930e-01 -2.83915258e-02 -6.01969843e+01] [-8.29147864e-02 1.83382347e-03 9.96554953e-01 -3.10514999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.541193817 meters 0.06140123418414546 Centerline is valid? [True, True] Translation: X:245.33, Y:-60.20, Z:-31.06 [[ 9.42095456e-01 3.26689053e-01 7.56994985e-02 2.45330342e+02] [-3.25523538e-01 9.45130891e-01 -2.76048079e-02 -6.02009647e+01] [-8.05641231e-02 1.36439554e-03 9.96748494e-01 -3.10618050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.601193817 meters 0.06135186440161885 Centerline is valid? [True, True] Translation: X:245.39, Y:-60.22, Z:-31.07 [[ 9.42071469e-01 3.26775379e-01 7.56253910e-02 2.45391372e+02] [-3.25610284e-01 9.45101024e-01 -2.76043077e-02 -6.02157090e+01] [-8.04940426e-02 1.38082561e-03 9.96754133e-01 -3.10696107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.661193817 meters 0.063767678179668 Centerline is valid? [True, True] Translation: X:245.45, Y:-60.24, Z:-31.08 [[ 9.44741893e-01 3.19115909e-01 7.50186135e-02 2.45447567e+02] [-3.17941956e-01 9.47713460e-01 -2.74246121e-02 -6.02382608e+01] [-7.98477798e-02 2.05761526e-03 9.96804945e-01 -3.10793659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.721193817 meters 0.06746642657251566 Centerline is valid? [True, True] Translation: X:245.50, Y:-60.26, Z:-31.09 [[ 9.47729274e-01 3.10470338e-01 7.36029410e-02 2.45501705e+02] [-3.09313898e-01 9.50579123e-01 -2.69117687e-02 -6.02649775e+01] [-7.83207250e-02 2.73865839e-03 9.96924452e-01 -3.10877391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.781193817 meters 0.07176347657907457 Centerline is valid? [True, True] Translation: X:245.56, Y:-60.29, Z:-31.09 [[ 9.52454447e-01 2.96224809e-01 7.12838661e-02 2.45557430e+02] [-2.95100234e-01 9.55110729e-01 -2.60642806e-02 -6.02899185e+01] [-7.58048719e-02 3.78915432e-03 9.97115472e-01 -3.10910585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.841193817 meters 0.07634729007297217 Centerline is valid? [True, True] Translation: X:245.61, Y:-60.31, Z:-31.10 [[ 9.54782908e-01 2.88453827e-01 7.19999241e-02 2.45612746e+02] [-2.87284384e-01 9.57483456e-01 -2.63270705e-02 -6.03138341e+01] [-7.65328804e-02 4.45218308e-03 9.97057118e-01 -3.10965745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.901193817 meters 0.07796257618196158 Centerline is valid? [True, True] Translation: X:245.67, Y:-60.32, Z:-31.10 [[ 9.55377399e-01 2.85779053e-01 7.47285643e-02 2.45674474e+02] [-2.84511278e-01 9.58283309e-01 -2.73209039e-02 -6.03214519e+01] [-7.94188779e-02 4.84065478e-03 9.96829579e-01 -3.11010308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.961193817 meters 0.07598814995327312 Centerline is valid? [True, True] Translation: X:245.74, Y:-60.33, Z:-31.10 [[ 9.54456945e-01 2.88204695e-01 7.71362002e-02 2.45737045e+02] [-2.86859149e-01 9.57556704e-01 -2.82309751e-02 -6.03275313e+01] [-8.19985852e-02 4.81802554e-03 9.96620800e-01 -3.11044409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.021193817 meters 0.07565296044262712 Centerline is valid? [True, True] Translation: X:245.80, Y:-60.33, Z:-31.11 [[ 9.53648044e-01 2.90413710e-01 7.88370764e-02 2.45800182e+02] [-2.89015571e-01 9.56889491e-01 -2.88530984e-02 -6.03266852e+01] [-8.38177053e-02 4.73055819e-03 9.96469876e-01 -3.11103472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.081193817 meters 0.07612492043434245 Centerline is valid? [True, True] Translation: X:245.86, Y:-60.34, Z:-31.12 [[ 9.53763766e-01 2.89747709e-01 7.98808143e-02 2.45863013e+02] [-2.88309936e-01 9.57090758e-01 -2.92346045e-02 -6.03356567e+01] [-8.49238487e-02 4.85247402e-03 9.96375629e-01 -3.11174091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14119381700002 meters 0.07359941858058343 Centerline is valid? [True, True] Translation: X:245.93, Y:-60.33, Z:-31.13 [[ 9.53822433e-01 2.90535838e-01 7.62344633e-02 2.45929297e+02] [-2.89226585e-01 9.56853091e-01 -2.79310607e-02 -6.03334446e+01] [-8.10601560e-02 4.59223877e-03 9.96698632e-01 -3.11262890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.201193817 meters 0.07408600141756273 Centerline is valid? [True, True] Translation: X:245.99, Y:-60.34, Z:-31.14 [[ 9.53094193e-01 2.93437327e-01 7.42023897e-02 2.45989625e+02] [-2.92205938e-01 9.55968965e-01 -2.71850520e-02 -6.03428678e+01] [-7.89122907e-02 4.22753633e-03 9.96872599e-01 -3.11378115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.261193817 meters 0.06814412915689855 Centerline is valid? [True, True] Translation: X:246.06, Y:-60.34, Z:-31.14 [[ 9.50936996e-01 3.00518575e-01 7.35351285e-02 2.46056959e+02] [-2.99327619e-01 9.53769015e-01 -2.69748360e-02 -6.03354267e+01] [-7.82419664e-02 3.64027457e-03 9.96927752e-01 -3.11419677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.321193817 meters 0.06700898878463907 Centerline is valid? [True, True] Translation: X:246.12, Y:-60.34, Z:-31.15 [[ 9.48727907e-01 3.07670734e-01 7.24850234e-02 2.46116094e+02] [-3.06534234e-01 9.51488133e-01 -2.65912890e-02 -6.03428042e+01] [-7.71500010e-02 3.00875683e-03 9.97014957e-01 -3.11530503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.381193817 meters 0.0633598939517148 Centerline is valid? [True, True] Translation: X:246.18, Y:-60.34, Z:-31.16 [[ 9.45673644e-01 3.16722609e-01 7.34040029e-02 2.46180870e+02] [-3.15584377e-01 9.48515424e-01 -2.69256731e-02 -6.03380833e+01] [-7.81527984e-02 2.29774286e-03 9.96938745e-01 -3.11606623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.441193817 meters 0.06306299411757346 Centerline is valid? [True, True] Translation: X:246.24, Y:-60.35, Z:-31.17 [[ 9.44981483e-01 3.18948759e-01 7.26752104e-02 2.46239107e+02] [-3.17839595e-01 9.47769650e-01 -2.66586371e-02 -6.03489441e+01] [-7.73820980e-02 2.09285895e-03 9.96999313e-01 -3.11691410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.501193817 meters 0.061187079377131935 Centerline is valid? [True, True] Translation: X:246.30, Y:-60.36, Z:-31.17 [[ 9.44398925e-01 3.20321720e-01 7.41934318e-02 2.46297956e+02] [-3.19170395e-01 9.47306673e-01 -2.72089400e-02 -6.03598812e+01] [-7.89995475e-02 2.01574677e-03 9.96872614e-01 -3.11713759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.561193817 meters 0.06044495880603191 Centerline is valid? [True, True] Translation: X:246.36, Y:-60.38, Z:-31.17 [[ 9.43906142e-01 3.20773382e-01 7.83940883e-02 2.46355751e+02] [-3.19490078e-01 9.47153686e-01 -2.87399700e-02 -6.03751888e+01] [-8.34702670e-02 2.08170074e-03 9.96508094e-01 -3.11745567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.621193817 meters 0.06060460038423755 Centerline is valid? [True, True] Translation: X:246.41, Y:-60.39, Z:-31.18 [[ 9.44164951e-01 3.20068376e-01 7.81586876e-02 2.46410866e+02] [-3.18790534e-01 9.47392038e-01 -2.86517367e-02 -6.03938322e+01] [-8.32174332e-02 2.13571589e-03 9.96529125e-01 -3.11806490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.681193817 meters 0.060169356427693506 Centerline is valid? [True, True] Translation: X:246.47, Y:-60.41, Z:-31.18 [[ 9.44991377e-01 3.17629516e-01 7.81203499e-02 2.46466800e+02] [-3.16345186e-01 9.48212003e-01 -2.86307797e-02 -6.04121359e+01] [-8.31686341e-02 2.34284329e-03 9.96532734e-01 -3.11847335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.741193817 meters 0.06400862159906084 Centerline is valid? [True, True] Translation: X:246.52, Y:-60.44, Z:-31.20 [[ 9.46475594e-01 3.12536437e-01 8.06531153e-02 2.46516843e+02] [-3.11149460e-01 9.49901422e-01 -2.95516928e-02 -6.04408366e+01] [-8.58484896e-02 2.87478279e-03 9.96304056e-01 -3.11952908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.801193817 meters 0.06290062754332972 Centerline is valid? [True, True] Translation: X:246.57, Y:-60.46, Z:-31.20 [[ 9.47598390e-01 3.08706649e-01 8.22039910e-02 2.46572987e+02] [-3.07252246e-01 9.51151662e-01 -3.01093530e-02 -6.04605783e+01] [-8.74834202e-02 3.27421359e-03 9.96160595e-01 -3.11961541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86119381700001 meters 0.06585382119905105 Centerline is valid? [True, True] Translation: X:246.62, Y:-60.49, Z:-31.20 [[ 9.48989752e-01 3.03953202e-01 8.38504679e-02 2.46624348e+02] [-3.02422032e-01 9.52679466e-01 -3.07042415e-02 -6.04874827e+01] [-8.92152715e-02 3.77978167e-03 9.96005195e-01 -3.12037799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.921193817 meters 0.06538361286710981 Centerline is valid? [True, True] Translation: X:246.68, Y:-60.51, Z:-31.21 [[ 9.48890866e-01 3.04077135e-01 8.45175742e-02 2.46679873e+02] [-3.02522655e-01 9.52639872e-01 -3.09405387e-02 -6.05053711e+01] [-8.99231214e-02 3.79071368e-03 9.95941496e-01 -3.12109433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.981193817 meters 0.06570734095118001 Centerline is valid? [True, True] Translation: X:246.73, Y:-60.53, Z:-31.22 [[ 9.49383986e-01 3.02659460e-01 8.40672290e-02 2.46734703e+02] [-3.01116690e-01 9.53090797e-01 -3.07680231e-02 -6.05256700e+01] [-8.94359356e-02 3.89662269e-03 9.95984955e-01 -3.12196319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04119381699996 meters 0.06626065459576276 Centerline is valid? [True, True] Translation: X:246.79, Y:-60.54, Z:-31.23 [[ 9.48985708e-01 3.03975162e-01 8.38166239e-02 2.46789150e+02] [-3.02447310e-01 9.52672557e-01 -3.06695824e-02 -6.05431477e+01] [-8.91725888e-02 3.75488298e-03 9.96009112e-01 -3.12290180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10119381699997 meters 0.06413272746611186 Centerline is valid? [True, True] Translation: X:246.85, Y:-60.55, Z:-31.24 [[ 9.47452907e-01 3.08842326e-01 8.33631048e-02 2.46848164e+02] [-3.07350925e-01 9.51107643e-01 -3.04903306e-02 -6.05546128e+01] [-8.87039908e-02 3.26642495e-03 9.96052676e-01 -3.12379377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16119381699997 meters 0.06105782308064014 Centerline is valid? [True, True] Translation: X:246.91, Y:-60.57, Z:-31.24 [[ 9.45874268e-01 3.14186012e-01 8.12958710e-02 2.46906691e+02] [-3.12787480e-01 9.49357614e-01 -2.97340258e-02 -6.05659118e+01] [-8.65208691e-02 2.69631926e-03 9.96246390e-01 -3.12444280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22119381699997 meters 0.05823900029321597 Centerline is valid? [True, True] Translation: X:246.97, Y:-60.57, Z:-31.25 [[ 9.42398342e-01 3.24608219e-01 8.07147419e-02 2.46967769e+02] [-3.23268266e-01 9.45846996e-01 -2.95142080e-02 -6.05727858e+01] [-8.59243507e-02 1.72162600e-03 9.96300177e-01 -3.12540735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.281193817 meters 0.05732267282805924 Centerline is valid? [True, True] Translation: X:247.02, Y:-60.59, Z:-31.26 [[ 9.40537380e-01 3.29798422e-01 8.13783638e-02 2.47024479e+02] [-3.28455541e-01 9.44050536e-01 -2.97580745e-02 -6.05865339e+01] [-8.66394540e-02 1.25940689e-03 9.96238937e-01 -3.12620622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.341193817 meters 0.05615046038384766 Centerline is valid? [True, True] Translation: X:247.09, Y:-60.59, Z:-31.27 [[ 9.34349779e-01 3.46448741e-01 8.34491496e-02 2.47088289e+02] [-3.45103126e-01 9.38068858e-01 -3.05065478e-02 -6.05866676e+01] [-8.88500035e-02 -2.94776216e-04 9.96044974e-01 -3.12678490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.401193817 meters 0.057446783185746954 Centerline is valid? [True, True] Translation: X:247.15, Y:-60.60, Z:-31.28 [[ 9.31991087e-01 3.53006145e-01 8.23363483e-02 2.47145814e+02] [-3.51721416e-01 9.35620567e-01 -3.01031619e-02 -6.05985576e+01] [-8.76621820e-02 -9.03578461e-04 9.96149851e-01 -3.12776865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.461193817 meters 0.05768370558103235 Centerline is valid? [True, True] Translation: X:247.19, Y:-60.63, Z:-31.29 [[ 9.34377713e-01 3.47546846e-01 7.84186201e-02 2.47194164e+02] [-3.46365003e-01 9.37662535e-01 -2.86401058e-02 -6.06320888e+01] [-8.34839805e-02 -4.00789057e-04 9.96509039e-01 -3.12919693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.521193817 meters 0.056232727565468765 Centerline is valid? [True, True] Translation: X:247.24, Y:-60.67, Z:-31.29 [[ 9.37890307e-01 3.37878303e-01 7.87402264e-02 2.47243193e+02] [-3.36652301e-01 9.41189691e-01 -2.87609795e-02 -6.06696308e+01] [-8.38272003e-02 4.66565500e-04 9.96480197e-01 -3.12910295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.581193817 meters 0.057223785481454466 Centerline is valid? [True, True] Translation: X:247.29, Y:-60.71, Z:-31.30 [[ 9.41444323e-01 3.26879875e-01 8.26567188e-02 2.47289914e+02] [-3.25489948e-01 9.45064738e-01 -3.01485507e-02 -6.07104024e+01] [-8.79709048e-02 1.47925080e-03 9.96121946e-01 -3.12951717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.641193817 meters 0.0578699053988625 Centerline is valid? [True, True] Translation: X:247.34, Y:-60.74, Z:-31.30 [[ 9.42566522e-01 3.22347208e-01 8.75250216e-02 2.47339550e+02] [-3.20769859e-01 9.46619384e-01 -3.19129953e-02 -6.07426168e+01] [-9.31399470e-02 2.00473218e-03 9.95651009e-01 -3.12977658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.701193817 meters 0.05713093749003036 Centerline is valid? [True, True] Translation: X:247.39, Y:-60.77, Z:-31.30 [[ 9.42096617e-01 3.22320683e-01 9.25383300e-02 2.47392995e+02] [-3.20558094e-01 9.46628185e-01 -3.37281521e-02 -6.07703971e+01] [-9.84706723e-02 2.11126726e-03 9.95137714e-01 -3.12998550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.761193817 meters 0.05597277686673915 Centerline is valid? [True, True] Translation: X:247.45, Y:-60.79, Z:-31.30 [[ 9.40892022e-01 3.25067246e-01 9.51498215e-02 2.47447677e+02] [-3.23217833e-01 9.45689050e-01 -3.46764142e-02 -6.07922457e+01] [-1.01254311e-01 1.87264230e-03 9.94858813e-01 -3.13044292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.821193817 meters 0.05593118104485402 Centerline is valid? [True, True] Translation: X:247.50, Y:-60.81, Z:-31.31 [[ 9.40849984e-01 3.25995885e-01 9.23471149e-02 2.47501533e+02] [-3.24259377e-01 9.45369637e-01 -3.36467713e-02 -6.08128283e+01] [-9.82708675e-02 1.71214630e-03 9.95158231e-01 -3.13143940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.881193817 meters 0.05697602002271806 Centerline is valid? [True, True] Translation: X:247.55, Y:-60.84, Z:-31.33 [[ 9.41690714e-01 3.24505595e-01 8.89646985e-02 2.47554147e+02] [-3.22888415e-01 9.45882081e-01 -3.24061709e-02 -6.08375441e+01] [-9.46660979e-02 1.79091974e-03 9.95507470e-01 -3.13268296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.941193817 meters 0.05813682934917898 Centerline is valid? [True, True] Translation: X:247.61, Y:-60.86, Z:-31.34 [[ 9.43020414e-01 3.20886292e-01 8.80027687e-02 2.47606928e+02] [-3.19289027e-01 9.47115347e-01 -3.20474175e-02 -6.08635641e+01] [-9.36323497e-02 2.12305050e-03 9.95604578e-01 -3.13357889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.001193817 meters 0.058975576746986454 Centerline is valid? [True, True] Translation: X:247.66, Y:-60.89, Z:-31.35 [[ 9.43351017e-01 3.20692384e-01 8.51190560e-02 2.47660488e+02] [-3.19198283e-01 9.47181153e-01 -3.09890318e-02 -6.08884754e+01] [-9.05611121e-02 2.06367819e-03 9.95888762e-01 -3.13479000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06119381699995 meters 0.057617165511533175 Centerline is valid? [True, True] Translation: X:247.72, Y:-60.91, Z:-31.35 [[ 9.42226555e-01 3.24412739e-01 8.34595333e-02 2.47716502e+02] [-3.22991193e-01 9.45914152e-01 -3.03826581e-02 -6.09056068e+01] [-8.88020751e-02 1.67065305e-03 9.96047891e-01 -3.13548742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12119381699995 meters 0.057002279166796746 Centerline is valid? [True, True] Translation: X:247.77, Y:-60.92, Z:-31.36 [[ 9.40560893e-01 3.29337660e-01 8.29572897e-02 2.47773211e+02] [-3.27952995e-01 9.44211463e-01 -3.01918262e-02 -6.09205883e+01] [-8.82725292e-02 1.19115935e-03 9.96095649e-01 -3.13639474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18119381699995 meters 0.05672371912168802 Centerline is valid? [True, True] Translation: X:247.83, Y:-60.94, Z:-31.37 [[ 9.39423599e-01 3.32280148e-01 8.41023460e-02 2.47826933e+02] [-3.30869399e-01 9.43180289e-01 -3.06003851e-02 -6.09436109e+01] [-8.94915755e-02 9.19831206e-04 9.95987154e-01 -3.13704940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24119381699995 meters 0.05620449234286485 Centerline is valid? [True, True] Translation: X:247.88, Y:-60.97, Z:-31.37 [[ 9.39249872e-01 3.31223478e-01 9.00038072e-02 2.47881226e+02] [-3.29603415e-01 9.43551712e-01 -3.27376705e-02 -6.09703982e+01] [-9.57667314e-02 1.08329066e-03 9.95403215e-01 -3.13717518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30119381699996 meters 0.05600794971478826 Centerline is valid? [True, True] Translation: X:247.94, Y:-60.99, Z:-31.37 [[ 9.39191823e-01 3.30682338e-01 9.25630136e-02 2.47935223e+02] [-3.28966492e-01 9.43741401e-01 -3.36632736e-02 -6.09946439e+01] [-9.84873981e-02 1.16614141e-03 9.95137615e-01 -3.13744400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36119381699996 meters 0.05699410959600869 Centerline is valid? [True, True] Translation: X:247.99, Y:-61.02, Z:-31.39 [[ 9.38928496e-01 3.31202788e-01 9.33701958e-02 2.47985690e+02] [-3.29460242e-01 9.43558941e-01 -3.39481114e-02 -6.10223449e+01] [-9.93439922e-02 1.11308181e-03 9.95052527e-01 -3.13879498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42119381699996 meters 0.056456719782671305 Centerline is valid? [True, True] Translation: X:248.04, Y:-61.04, Z:-31.39 [[ 9.39077322e-01 3.31227181e-01 9.17732935e-02 2.48041218e+02] [-3.29545206e-01 9.43550417e-01 -3.33551832e-02 -6.10446073e+01] [-9.76408726e-02 1.07964725e-03 9.95221128e-01 -3.13919643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48119381699996 meters 0.05727653156561447 Centerline is valid? [True, True] Translation: X:248.09, Y:-61.07, Z:-31.40 [[ 9.39857031e-01 3.30027805e-01 8.80364085e-02 2.48094107e+02] [-3.28475573e-01 9.43970511e-01 -3.19917514e-02 -6.10725311e+01] [-9.36619410e-02 1.14986272e-03 9.95603394e-01 -3.14044004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54119381699996 meters 0.05721966565902518 Centerline is valid? [True, True] Translation: X:248.15, Y:-61.10, Z:-31.41 [[ 9.39269732e-01 3.31552226e-01 8.85747796e-02 2.48148588e+02] [-3.29987551e-01 9.43436331e-01 -3.21885835e-02 -6.10954136e+01] [-9.42368616e-02 1.00518759e-03 9.95549297e-01 -3.14121411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60119381699997 meters 0.05775006341531501 Centerline is valid? [True, True] Translation: X:248.20, Y:-61.12, Z:-31.42 [[ 9.39324292e-01 3.32132786e-01 8.57769617e-02 2.48201441e+02] [-3.30668383e-01 9.43232198e-01 -3.11679637e-02 -6.11217288e+01] [-9.12594947e-02 9.13096212e-04 9.95826727e-01 -3.14232970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66119381699997 meters 0.05803180003063737 Centerline is valid? [True, True] Translation: X:248.25, Y:-61.15, Z:-31.43 [[ 9.39269461e-01 3.32044862e-01 8.67126818e-02 2.48253794e+02] [-3.30548467e-01 9.43263141e-01 -3.15017273e-02 -6.11513774e+01] [-9.22528633e-02 9.25866385e-04 9.95735182e-01 -3.14313141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72119381699997 meters 0.05816189703539102 Centerline is valid? [True, True] Translation: X:248.31, Y:-61.18, Z:-31.44 [[ 9.39248826e-01 3.32327257e-01 8.58500809e-02 2.48307325e+02] [-3.30861278e-01 9.43163716e-01 -3.11932542e-02 -6.11756887e+01] [-9.13370500e-02 8.93759885e-04 9.95819635e-01 -3.14400803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.781193817 meters 0.058804489472960006 Centerline is valid? [True, True] Translation: X:248.36, Y:-61.20, Z:-31.45 [[ 9.39364061e-01 3.32333119e-01 8.45568386e-02 2.48359714e+02] [-3.30911544e-01 9.43161668e-01 -3.07183535e-02 -6.12041059e+01] [-8.99594952e-02 8.74883235e-04 9.95945041e-01 -3.14512459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.841193817 meters 0.05869877675993847 Centerline is valid? [True, True] Translation: X:248.41, Y:-61.23, Z:-31.46 [[ 9.39645831e-01 3.31372777e-01 8.51926868e-02 2.48414337e+02] [-3.29925870e-01 9.43499410e-01 -3.09480937e-02 -6.12325558e+01] [-9.06346055e-02 9.72975915e-04 9.95883739e-01 -3.14568451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.901193817 meters 0.05784468683107424 Centerline is valid? [True, True] Translation: X:248.47, Y:-61.26, Z:-31.46 [[ 9.39283578e-01 3.32864722e-01 8.33512873e-02 2.48471194e+02] [-3.31486175e-01 9.42974246e-01 -3.02735556e-02 -6.12583887e+01] [-8.86751159e-02 8.05654170e-04 9.96060277e-01 -3.14599466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.961193817 meters 0.057640748418015364 Centerline is valid? [True, True] Translation: X:248.53, Y:-61.28, Z:-31.47 [[ 9.38520285e-01 3.34959515e-01 8.35571518e-02 2.48528767e+02] [-3.33579830e-01 9.42232306e-01 -3.03772813e-02 -6.12807906e+01] [-8.89054072e-02 6.36714210e-04 9.96039870e-01 -3.14669778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.021193817 meters 0.05710936063558284 Centerline is valid? [True, True] Translation: X:248.59, Y:-61.30, Z:-31.47 [[ 9.36317686e-01 3.40545772e-01 8.56607753e-02 2.48587006e+02] [-3.39115591e-01 9.40227928e-01 -3.11778675e-02 -6.13028616e+01] [-9.11581443e-02 1.43484218e-04 9.95836418e-01 -3.14723416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.081193817 meters 0.05748407146311277 Centerline is valid? [True, True] Translation: X:248.64, Y:-61.32, Z:-31.48 [[ 9.35153549e-01 3.44155313e-01 8.39342638e-02 2.48642804e+02] [-3.42796054e-01 9.38912713e-01 -3.05578723e-02 -6.13244392e+01] [-8.93236014e-02 -1.96031673e-04 9.96002638e-01 -3.14835593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.141193817 meters 0.05770677995604161 Centerline is valid? [True, True] Translation: X:248.70, Y:-61.35, Z:-31.49 [[ 9.34687579e-01 3.45852430e-01 8.21293259e-02 2.48697632e+02] [-3.44556942e-01 9.38288857e-01 -2.99087648e-02 -6.13537765e+01] [-8.74050503e-02 -3.42878479e-04 9.96172796e-01 -3.14924185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.201193817 meters 0.05765354459665138 Centerline is valid? [True, True] Translation: X:248.76, Y:-61.38, Z:-31.50 [[ 9.34678959e-01 3.45913373e-01 8.19706193e-02 2.48755102e+02] [-3.44620897e-01 9.38266398e-01 -2.98764731e-02 -6.13791301e+01] [-8.72449493e-02 -3.23877615e-04 9.96186837e-01 -3.15004862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.261193817 meters 0.05765248379842978 Centerline is valid? [True, True] Translation: X:248.81, Y:-61.41, Z:-31.51 [[ 9.34611869e-01 3.46223602e-01 8.14240279e-02 2.48810171e+02] [-3.44946729e-01 9.38151968e-01 -2.97092540e-02 -6.14075559e+01] [-8.66741570e-02 -3.20330668e-04 9.96236663e-01 -3.15076729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.321193817 meters 0.058175984689359764 Centerline is valid? [True, True] Translation: X:248.87, Y:-61.43, Z:-31.52 [[ 9.32604417e-01 3.51487552e-01 8.18871315e-02 2.48865283e+02] [-3.50213756e-01 9.36192225e-01 -2.99072340e-02 -6.14334780e+01] [-8.71741163e-02 -7.86381391e-04 9.96192780e-01 -3.15166926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.381193817 meters 0.05810718856384233 Centerline is valid? [True, True] Translation: X:248.92, Y:-61.46, Z:-31.52 [[ 9.31140498e-01 3.55197237e-01 8.25366298e-02 2.48923399e+02] [-3.53915571e-01 9.34790708e-01 -3.01678886e-02 -6.14586299e+01] [-8.78700253e-02 -1.12045565e-03 9.96131318e-01 -3.15202685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.441193817 meters 0.05778680734729041 Centerline is valid? [True, True] Translation: X:248.98, Y:-61.49, Z:-31.52 [[ 9.30363110e-01 3.56490011e-01 8.56700461e-02 2.48976897e+02] [-3.55111159e-01 9.34298290e-01 -3.13491728e-02 -6.14928952e+01] [-9.12170445e-02 -1.25627551e-03 9.95830243e-01 -3.15241132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.501193817 meters 0.05718821517240162 Centerline is valid? [True, True] Translation: X:249.03, Y:-61.53, Z:-31.53 [[ 9.32274061e-01 3.51481635e-01 8.55905043e-02 2.49027792e+02] [-3.50081554e-01 9.36194486e-01 -3.13494641e-02 -6.15295197e+01] [-9.11481191e-02 -7.37364535e-04 9.95837073e-01 -3.15327955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56119381699995 meters 0.0568643947748621 Centerline is valid? [True, True] Translation: X:249.08, Y:-61.56, Z:-31.54 [[ 9.32691334e-01 3.50421391e-01 8.53915949e-02 2.49082805e+02] [-3.49021212e-01 9.36591948e-01 -3.13004253e-02 -6.15602598e+01] [-9.09454188e-02 -6.09842530e-04 9.95855692e-01 -3.15397922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62119381699995 meters 0.05725758927879038 Centerline is valid? [True, True] Translation: X:249.14, Y:-61.59, Z:-31.55 [[ 9.31554056e-01 3.53732820e-01 8.41435269e-02 2.49136961e+02] [-3.52383835e-01 9.35346087e-01 -3.08760330e-02 -6.15903137e+01] [-8.96251849e-02 -8.88124940e-04 9.95975169e-01 -3.15478021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68119381699995 meters 0.05792048822647732 Centerline is valid? [True, True] Translation: X:249.19, Y:-61.62, Z:-31.56 [[ 9.30131480e-01 3.57665478e-01 8.32516395e-02 2.49193370e+02] [-3.56358481e-01 9.33848967e-01 -3.05735193e-02 -6.16151758e+01] [-8.86795499e-02 -1.23003504e-03 9.96059448e-01 -3.15576310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74119381699995 meters 0.059275719205635395 Centerline is valid? [True, True] Translation: X:249.25, Y:-61.64, Z:-31.57 [[ 9.28810015e-01 3.61868214e-01 7.97706155e-02 2.49245981e+02] [-3.60681110e-01 9.32228002e-01 -2.93272759e-02 -6.16431632e+01] [-8.49770105e-02 -1.53228654e-03 9.96381734e-01 -3.15691542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80119381699996 meters 0.060973690372678184 Centerline is valid? [True, True] Translation: X:249.30, Y:-61.67, Z:-31.58 [[ 9.27436057e-01 3.65148063e-01 8.08037881e-02 2.49301584e+02] [-3.63941836e-01 9.30947618e-01 -2.97131905e-02 -6.16659564e+01] [-8.60738079e-02 -1.85079471e-03 9.96287044e-01 -3.15798003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86119381699996 meters 0.062194253567172474 Centerline is valid? [True, True] Translation: X:249.36, Y:-61.69, Z:-31.58 [[ 9.24260798e-01 3.73326223e-01 7.98091973e-02 2.49356334e+02] [-3.72178324e-01 9.27696592e-01 -2.93654082e-02 -6.16944160e+01] [-8.50015973e-02 -2.56195767e-03 9.96377521e-01 -3.15842841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92119381699996 meters 0.06467956082674915 Centerline is valid? [True, True] Translation: X:249.41, Y:-61.72, Z:-31.59 [[ 9.22156833e-01 3.78561098e-01 7.94875506e-02 2.49411202e+02] [-3.77441411e-01 9.25571353e-01 -2.92515243e-02 -6.17175489e+01] [-8.46448890e-02 -3.02740021e-03 9.96406582e-01 -3.15937699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98119381699996 meters 0.06316184743629515 Centerline is valid? [True, True] Translation: X:249.46, Y:-61.76, Z:-31.59 [[ 9.20593446e-01 3.81986869e-01 8.12018405e-02 2.49463238e+02] [-3.80832505e-01 9.24161405e-01 -2.98714094e-02 -6.17575916e+01] [-8.64540931e-02 -3.42487666e-03 9.96249949e-01 -3.15946009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04119381699996 meters 0.06287458243893962 Centerline is valid? [True, True] Translation: X:249.51, Y:-61.79, Z:-31.60 [[ 9.22209767e-01 3.77834595e-01 8.22810049e-02 2.49513432e+02] [-3.76629381e-01 9.25868122e-01 -3.03072753e-02 -6.17930137e+01] [-8.76324966e-02 -3.03977862e-03 9.96148235e-01 -3.16026714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10119381699997 meters 0.05883645386880026 Centerline is valid? [True, True] Translation: X:249.56, Y:-61.85, Z:-31.61 [[ 9.27509924e-01 3.64644999e-01 8.22153644e-02 2.49558465e+02] [-3.63389806e-01 9.31144900e-01 -3.02824134e-02 -6.18456690e+01] [-8.75967478e-02 -1.78898642e-03 9.96154410e-01 -3.16088357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16119381699997 meters 0.05724782632466636 Centerline is valid? [True, True] Translation: X:249.61, Y:-61.89, Z:-31.62 [[ 9.31044795e-01 3.55736062e-01 8.12861884e-02 2.49608451e+02] [-3.54475105e-01 9.34585991e-01 -2.99403740e-02 -6.18874922e+01] [-8.66198037e-02 -9.38100789e-04 9.96241000e-01 -3.16151340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22119381699997 meters 0.05729980835216786 Centerline is valid? [True, True] Translation: X:249.66, Y:-61.93, Z:-31.62 [[ 9.35113800e-01 3.44937624e-01 8.11185282e-02 2.49655792e+02] [-3.43641295e-01 9.38625608e-01 -2.98768914e-02 -6.19335532e+01] [-8.64455918e-02 6.26173841e-05 9.96256571e-01 -3.16225056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.281193817 meters 0.057026221253585835 Centerline is valid? [True, True] Translation: X:249.71, Y:-61.97, Z:-31.63 [[ 9.36336049e-01 3.41294424e-01 8.24191719e-02 2.49710613e+02] [-3.39939927e-01 9.39956346e-01 -3.03794825e-02 -6.19651345e+01] [-8.78387717e-02 4.27837327e-04 9.96134613e-01 -3.16254389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.341193817 meters 0.05711478723278081 Centerline is valid? [True, True] Translation: X:249.77, Y:-62.00, Z:-31.63 [[ 9.37200022e-01 3.38524448e-01 8.40078409e-02 2.49765201e+02] [-3.37103477e-01 9.40957315e-01 -3.09931790e-02 -6.19952729e+01] [-8.95397413e-02 7.27472793e-04 9.95982985e-01 -3.16297006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.401193817 meters 0.057139409857882996 Centerline is valid? [True, True] Translation: X:249.82, Y:-62.02, Z:-31.64 [[ 9.37091696e-01 3.38500687e-01 8.53020424e-02 2.49820669e+02] [-3.37032645e-01 9.40965830e-01 -3.15008481e-02 -6.20196435e+01] [-9.09293658e-02 7.69610196e-04 9.95857047e-01 -3.16368019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.461193817 meters 0.057163156210023575 Centerline is valid? [True, True] Translation: X:249.88, Y:-62.04, Z:-31.65 [[ 9.35893968e-01 3.42124122e-01 8.39855124e-02 2.49877996e+02] [-3.40713454e-01 9.39654668e-01 -3.10394283e-02 -6.20406941e+01] [-8.95367160e-02 4.34619637e-04 9.95983427e-01 -3.16463157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.521193817 meters 0.05699897101212768 Centerline is valid? [True, True] Translation: X:249.94, Y:-62.06, Z:-31.66 [[ 9.34501329e-01 3.45950777e-01 8.38172164e-02 2.49935779e+02] [-3.44558262e-01 9.38252658e-01 -3.10089307e-02 -6.20576586e+01] [-8.93692898e-02 9.79725353e-05 9.95998554e-01 -3.16554527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.581193817 meters 0.05720059912264828 Centerline is valid? [True, True] Translation: X:249.99, Y:-62.07, Z:-31.67 [[ 9.32894343e-01 3.51160082e-01 7.99671329e-02 2.49994497e+02] [-3.49910507e-01 9.36315364e-01 -2.96002583e-02 -6.20715983e+01] [-8.52688843e-02 -3.67426583e-04 9.96357909e-01 -3.16652712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.641193817 meters 0.057199943121524745 Centerline is valid? [True, True] Translation: X:250.05, Y:-62.09, Z:-31.67 [[ 9.32593796e-01 3.52230170e-01 7.87573425e-02 2.50052807e+02] [-3.51021836e-01 9.35913297e-01 -2.91542714e-02 -6.20922488e+01] [-8.39790580e-02 -4.56454325e-04 9.96467415e-01 -3.16728401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.701193817 meters 0.05723048304650402 Centerline is valid? [True, True] Translation: X:250.11, Y:-62.11, Z:-31.68 [[ 9.32791379e-01 3.51068459e-01 8.15547743e-02 2.50108359e+02] [-3.49764766e-01 9.36349737e-01 -3.02287759e-02 -6.21138785e+01] [-8.69761612e-02 -3.27845023e-04 9.96210339e-01 -3.16798762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.761193817 meters 0.05713912980214704 Centerline is valid? [True, True] Translation: X:250.17, Y:-62.13, Z:-31.69 [[ 9.31884165e-01 3.53185181e-01 8.27776011e-02 2.50167451e+02] [-3.51850973e-01 9.35553278e-01 -3.06750168e-02 -6.21330674e+01] [-8.82768174e-02 -5.39817063e-04 9.96095835e-01 -3.16852654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.821193817 meters 0.05704030261265854 Centerline is valid? [True, True] Translation: X:250.23, Y:-62.16, Z:-31.69 [[ 9.31452005e-01 3.54359683e-01 8.26218997e-02 2.50226330e+02] [-3.53032965e-01 9.35108989e-01 -3.06415307e-02 -6.21550352e+01] [-8.81186042e-02 -6.27139043e-04 9.96109792e-01 -3.16908674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.881193817 meters 0.05721995470096985 Centerline is valid? [True, True] Translation: X:250.28, Y:-62.18, Z:-31.70 [[ 9.31956943e-01 3.52592452e-01 8.44678616e-02 2.50282211e+02] [-3.51195348e-01 9.35776881e-01 -3.13601163e-02 -6.21793199e+01] [-9.01004124e-02 -4.38441906e-04 9.95932590e-01 -3.17006313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.941193817 meters 0.057547441176357274 Centerline is valid? [True, True] Translation: X:250.34, Y:-62.20, Z:-31.71 [[ 9.32041803e-01 3.52602461e-01 8.34840202e-02 2.50339060e+02] [-3.51235415e-01 9.35773123e-01 -3.10217073e-02 -6.22014893e+01] [-8.90604327e-02 -4.09016459e-04 9.96026140e-01 -3.17101653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.001193817 meters 0.05763925184274189 Centerline is valid? [True, True] Translation: X:250.40, Y:-62.22, Z:-31.72 [[ 9.30326846e-01 3.57506366e-01 8.17383552e-02 2.50397290e+02] [-3.56212153e-01 9.33910332e-01 -3.04038450e-02 -6.22223891e+01] [-8.72058626e-02 -8.30682221e-04 9.96189966e-01 -3.17164174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06119381699995 meters 0.058828989046374805 Centerline is valid? [True, True] Translation: X:250.45, Y:-62.24, Z:-31.73 [[ 9.28162374e-01 3.63495867e-01 7.99084582e-02 2.50454567e+02] [-3.62280347e-01 9.31594829e-01 -2.97325522e-02 -6.22389418e+01] [-8.52499662e-02 -1.35262773e-03 9.96358677e-01 -3.17289187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12119381699995 meters 0.05837240860896143 Centerline is valid? [True, True] Translation: X:250.51, Y:-62.26, Z:-31.73 [[ 9.28167888e-01 3.63794982e-01 7.84702675e-02 2.50511405e+02] [-3.62624730e-01 9.31478047e-01 -2.91882483e-02 -6.22643363e+01] [-8.37118698e-02 -1.36366475e-03 9.96489068e-01 -3.17334755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18119381699995 meters 0.05866290101193909 Centerline is valid? [True, True] Translation: X:250.57, Y:-62.29, Z:-31.74 [[ 9.29314702e-01 3.60804773e-01 7.87026145e-02 2.50565474e+02] [-3.59614559e-01 9.32640749e-01 -2.93019084e-02 -6.22920891e+01] [-8.39735338e-02 -1.07191179e-03 9.96467409e-01 -3.17441458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24119381699995 meters 0.058094221545939156 Centerline is valid? [True, True] Translation: X:250.62, Y:-62.33, Z:-31.75 [[ 9.32499961e-01 3.52585571e-01 7.82766812e-02 2.50617473e+02] [-3.51377299e-01 9.35779526e-01 -2.91662931e-02 -6.23312263e+01] [-8.35333297e-02 -3.07081647e-04 9.96504937e-01 -3.17469622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30119381699996 meters 0.0581976272440736 Centerline is valid? [True, True] Translation: X:250.67, Y:-62.36, Z:-31.75 [[ 9.33495507e-01 3.49738294e-01 7.91786788e-02 2.50672506e+02] [-3.48489526e-01 9.36847439e-01 -2.95283903e-02 -6.23594779e+01] [-8.45055513e-02 -2.83205390e-05 9.96423008e-01 -3.17527341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36119381699996 meters 0.057759800240253185 Centerline is valid? [True, True] Translation: X:250.73, Y:-62.38, Z:-31.76 [[ 9.32896572e-01 3.51057418e-01 8.03907726e-02 2.50729305e+02] [-3.49772708e-01 9.36353925e-01 -3.00063192e-02 -6.23849422e+01] [-8.58081564e-02 -1.25705909e-04 9.96311670e-01 -3.17565101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42119381699996 meters 0.05748227527685082 Centerline is valid? [True, True] Translation: X:250.79, Y:-62.41, Z:-31.76 [[ 9.31695159e-01 3.53528554e-01 8.34367621e-02 2.50785407e+02] [-3.52150911e-01 9.35423675e-01 -3.11814643e-02 -6.24073884e+01] [-8.90722606e-02 -3.30712388e-04 9.96025112e-01 -3.17614693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48119381699996 meters 0.05728250473424312 Centerline is valid? [True, True] Translation: X:250.84, Y:-62.43, Z:-31.77 [[ 9.30557779e-01 3.56516810e-01 8.34145250e-02 2.50843276e+02] [-3.55152526e-01 9.34288700e-01 -3.11658141e-02 -6.24293280e+01] [-8.90443847e-02 -6.23288509e-04 9.96027464e-01 -3.17667447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54119381699996 meters 0.05809686475601375 Centerline is valid? [True, True] Translation: X:250.90, Y:-62.45, Z:-31.78 [[ 9.29389821e-01 3.60135648e-01 8.08509474e-02 2.50899191e+02] [-3.58865028e-01 9.32899505e-01 -3.02391394e-02 -6.24493346e+01] [-8.63160009e-02 -9.10629205e-04 9.96267393e-01 -3.17793391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60119381699997 meters 0.05867791724882292 Centerline is valid? [True, True] Translation: X:250.95, Y:-62.48, Z:-31.79 [[ 9.29167533e-01 3.61237320e-01 7.84556791e-02 2.50954905e+02] [-3.60043678e-01 9.32473410e-01 -2.93579695e-02 -6.24762015e+01] [-8.37630288e-02 -9.68999142e-04 9.96485231e-01 -3.17899263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66119381699997 meters 0.05865195678095162 Centerline is valid? [True, True] Translation: X:251.01, Y:-62.51, Z:-31.80 [[ 9.30082652e-01 3.59006301e-01 7.78507312e-02 2.51010667e+02] [-3.57823426e-01 9.33334823e-01 -2.91290888e-02 -6.25054687e+01] [-8.31183249e-02 -7.64355270e-04 9.96539392e-01 -3.17979799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72119381699997 meters 0.05850885747289934 Centerline is valid? [True, True] Translation: X:251.06, Y:-62.54, Z:-31.81 [[ 9.32920393e-01 3.51782676e-01 7.68667042e-02 2.51064581e+02] [-3.50602885e-01 9.36081695e-01 -2.87867500e-02 -6.25408751e+01] [-8.20801947e-02 -9.39421387e-05 9.96625724e-01 -3.18052904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.781193817 meters 0.06024122527569754 Centerline is valid? [True, True] Translation: X:251.12, Y:-62.57, Z:-31.82 [[ 9.35200445e-01 3.45780687e-01 7.63926932e-02 2.51115431e+02] [-3.44592684e-01 9.38315247e-01 -2.86422620e-02 -6.25744062e+01] [-8.15843698e-02 4.61893008e-04 9.96666332e-01 -3.18193735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.841193817 meters 0.061863058458936124 Centerline is valid? [True, True] Translation: X:251.17, Y:-62.61, Z:-31.82 [[ 9.38256763e-01 3.36560239e-01 8.00090738e-02 2.51167420e+02] [-3.35221538e-01 9.41660978e-01 -3.00187125e-02 -6.26135089e+01] [-8.54445277e-02 1.34449524e-03 9.96342022e-01 -3.18222718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.901193817 meters 0.06395001216589932 Centerline is valid? [True, True] Translation: X:251.22, Y:-62.64, Z:-31.83 [[ 9.40347044e-01 3.30421726e-01 8.10488703e-02 2.51222303e+02] [-3.29022382e-01 9.43831368e-01 -3.04404626e-02 -6.26435064e+01] [-8.65546563e-02 1.95770664e-03 9.96245180e-01 -3.18292500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.961193817 meters 0.06550057767735774 Centerline is valid? [True, True] Translation: X:251.28, Y:-62.67, Z:-31.83 [[ 9.42432842e-01 3.24753395e-01 7.97218362e-02 2.51278691e+02] [-3.23378689e-01 9.45795567e-01 -2.99494469e-02 -6.26684056e+01] [-8.51267438e-02 2.44499949e-03 9.96367131e-01 -3.18346739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.021193817 meters 0.06358822446713905 Centerline is valid? [True, True] Translation: X:251.34, Y:-62.69, Z:-31.83 [[ 9.43286407e-01 3.22274278e-01 7.96871615e-02 2.51338846e+02] [-3.20892336e-01 9.46642592e-01 -2.99317893e-02 -6.26852850e+01] [-8.50815069e-02 2.66325060e-03 9.96370435e-01 -3.18346927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.081193817 meters 0.0662637303328853 Centerline is valid? [True, True] Translation: X:251.40, Y:-62.70, Z:-31.84 [[ 9.44799126e-01 3.17562365e-01 8.06768602e-02 2.51395626e+02] [-3.16125798e-01 9.48232130e-01 -3.03365765e-02 -6.27046092e+01] [-8.61341459e-02 3.15793412e-03 9.96278544e-01 -3.18440441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.141193817 meters 0.0682593146978498 Centerline is valid? [True, True] Translation: X:251.45, Y:-62.72, Z:-31.85 [[ 9.45961464e-01 3.13969908e-01 8.11160022e-02 2.51453260e+02] [-3.12503038e-01 9.49426410e-01 -3.05179056e-02 -6.27242581e+01] [-8.65953787e-02 3.51976554e-03 9.96237347e-01 -3.18513972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.201193817 meters 0.07177482957487305 Centerline is valid? [True, True] Translation: X:251.51, Y:-62.74, Z:-31.86 [[ 9.48090835e-01 3.07167846e-01 8.22902420e-02 2.51512112e+02] [-3.05631657e-01 9.51646036e-01 -3.09695235e-02 -6.27410355e+01] [-8.78240245e-02 4.21141828e-03 9.96127103e-01 -3.18593864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.261193817 meters 0.07391816376713424 Centerline is valid? [True, True] Translation: X:251.57, Y:-62.76, Z:-31.87 [[ 9.48928808e-01 3.04124845e-01 8.39177944e-02 2.51570574e+02] [-3.02513500e-01 9.52621070e-01 -3.16018828e-02 -6.27584099e+01] [-8.95527768e-02 4.60167119e-03 9.95971448e-01 -3.18664982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.321193817 meters 0.07067418633417684 Centerline is valid? [True, True] Translation: X:251.64, Y:-62.76, Z:-31.87 [[ 9.47728854e-01 3.07537659e-01 8.50329797e-02 2.51635915e+02] [-3.05893735e-01 9.51525883e-01 -3.20549028e-02 -6.27588003e+01] [-9.07691709e-02 4.36830045e-03 9.95862378e-01 -3.18705016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.381193817 meters 0.06873074099364417 Centerline is valid? [True, True] Translation: X:251.70, Y:-62.76, Z:-31.88 [[ 9.45075852e-01 3.15623528e-01 8.49318747e-02 2.51698324e+02] [-3.14015393e-01 9.48877690e-01 -3.20228351e-02 -6.27613325e+01] [-9.06971213e-02 3.59409217e-03 9.95872037e-01 -3.18822824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.441193817 meters 0.0610282382256761 Centerline is valid? [True, True] Translation: X:251.77, Y:-62.74, Z:-31.89 [[ 9.40274685e-01 3.30417691e-01 8.19003440e-02 2.51770000e+02] [-3.28978267e-01 9.43832493e-01 -3.08791974e-02 -6.27432571e+01] [-8.75032389e-02 2.09149434e-03 9.96162039e-01 -3.18914735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.501193817 meters 0.05964834811402941 Centerline is valid? [True, True] Translation: X:251.83, Y:-62.75, Z:-31.90 [[ 9.37629337e-01 3.38278234e-01 8.01190520e-02 2.51833984e+02] [-3.36929807e-01 9.41045207e-01 -3.02030391e-02 -6.27458925e+01] [-8.56126806e-02 1.32475879e-03 9.96327614e-01 -3.19037348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56119381699995 meters 0.05971591066356183 Centerline is valid? [True, True] Translation: X:251.90, Y:-62.75, Z:-31.92 [[ 9.35002379e-01 3.45599966e-01 7.95689352e-02 2.51897185e+02] [-3.44294093e-01 9.38381695e-01 -3.00228507e-02 -6.27461196e+01] [-8.50419285e-02 6.76322447e-04 9.96377144e-01 -3.19206771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62119381699995 meters 0.05899674452055148 Centerline is valid? [True, True] Translation: X:251.96, Y:-62.75, Z:-31.93 [[ 9.33796974e-01 3.48316529e-01 8.18462466e-02 2.51959531e+02] [-3.46942110e-01 9.37376857e-01 -3.09160271e-02 -6.27521594e+01] [-8.74893406e-02 4.73383120e-04 9.96165343e-01 -3.19259004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68119381699995 meters 0.057459216001920166 Centerline is valid? [True, True] Translation: X:252.02, Y:-62.77, Z:-31.92 [[ 9.33056519e-01 3.50300073e-01 8.18253721e-02 2.52021998e+02] [-3.48934620e-01 9.36637486e-01 -3.09006586e-02 -6.27671069e+01] [-8.74652138e-02 2.80355896e-04 9.96167535e-01 -3.19231403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74119381699995 meters 0.057250996533543964 Centerline is valid? [True, True] Translation: X:252.08, Y:-62.78, Z:-31.93 [[ 9.31171013e-01 3.54901934e-01 8.34575468e-02 2.52082907e+02] [-3.53496581e-01 9.34903526e-01 -3.15525647e-02 -6.27767757e+01] [-8.92228210e-02 -1.21123890e-04 9.96011683e-01 -3.19303357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80119381699996 meters 0.05726608564578555 Centerline is valid? [True, True] Translation: X:252.14, Y:-62.79, Z:-31.94 [[ 9.29567877e-01 3.58888278e-01 8.42779071e-02 2.52142869e+02] [-3.57469094e-01 9.33380399e-01 -3.18885146e-02 -6.27914002e+01] [-9.01077607e-02 -4.84208295e-04 9.95931904e-01 -3.19384132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86119381699996 meters 0.05764676079276627 Centerline is valid? [True, True] Translation: X:252.20, Y:-62.81, Z:-31.95 [[ 9.28705299e-01 3.61491543e-01 8.26458273e-02 2.52200667e+02] [-3.60134799e-01 9.32375127e-01 -3.12977442e-02 -6.28115747e+01] [-8.83707836e-02 -6.97257463e-04 9.96087405e-01 -3.19469785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92119381699996 meters 0.05790760656939556 Centerline is valid? [True, True] Translation: X:252.26, Y:-62.84, Z:-31.96 [[ 9.29596449e-01 3.59549492e-01 8.10839379e-02 2.52255711e+02] [-3.58233935e-01 9.33125894e-01 -3.07329382e-02 -6.28366196e+01] [-8.67115343e-02 -4.77787893e-04 9.96233347e-01 -3.19580883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98119381699996 meters 0.05813596353051035 Centerline is valid? [True, True] Translation: X:252.31, Y:-62.87, Z:-31.97 [[ 9.31631297e-01 3.54661878e-01 7.92343244e-02 2.52308944e+02] [-3.53386222e-01 9.34994627e-01 -3.00537195e-02 -6.28687480e+01] [-8.47425762e-02 -1.33285631e-06 9.96402878e-01 -3.19671483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04119381699996 meters 0.058496771773168706 Centerline is valid? [True, True] Translation: X:252.36, Y:-62.89, Z:-31.98 [[ 9.32420412e-01 3.52704571e-01 7.86871045e-02 2.52364945e+02] [-3.51437393e-01 9.35734709e-01 -2.98715998e-02 -6.28946199e+01] [-8.41661046e-02 1.99298472e-04 9.96451718e-01 -3.19764925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10119381699997 meters 0.05971640218154926 Centerline is valid? [True, True] Translation: X:252.42, Y:-62.93, Z:-31.99 [[ 9.34974852e-01 3.46612787e-01 7.53763970e-02 2.52416782e+02] [-3.45427694e-01 9.38008004e-01 -2.86477249e-02 -6.29282214e+01] [-8.06333315e-02 7.47807391e-04 9.96743551e-01 -3.19867856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16119381699997 meters 0.059764379634853204 Centerline is valid? [True, True] Translation: X:252.47, Y:-62.96, Z:-31.99 [[ 9.35803694e-01 3.44452946e-01 7.49907641e-02 2.52472438e+02] [-3.43273659e-01 9.38803131e-01 -2.84934584e-02 -6.29572019e+01] [-8.02162198e-02 9.21929637e-04 9.96777060e-01 -3.19911132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22119381699997 meters 0.060049610055528266 Centerline is valid? [True, True] Translation: X:252.53, Y:-62.98, Z:-32.00 [[ 9.35940934e-01 3.43564835e-01 7.73160581e-02 2.52527603e+02] [-3.42305832e-01 9.39128368e-01 -2.94045299e-02 -6.29845525e+01] [-8.27120659e-02 1.05516554e-03 9.96572928e-01 -3.19983399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.281193817 meters 0.06003220820915308 Centerline is valid? [True, True] Translation: X:252.58, Y:-63.01, Z:-32.00 [[ 9.36002741e-01 3.42965781e-01 7.92044343e-02 2.52583326e+02] [-3.41639932e-01 9.39347180e-01 -3.01501561e-02 -6.30118152e+01] [-8.47409338e-02 1.16123115e-03 9.96402341e-01 -3.20049563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.341193817 meters 0.060115795122948824 Centerline is valid? [True, True] Translation: X:252.64, Y:-63.04, Z:-32.01 [[ 9.36079123e-01 3.42476245e-01 8.04107988e-02 2.52640014e+02] [-3.41105502e-01 9.39525657e-01 -3.06361837e-02 -6.30374351e+01] [-8.60401738e-02 1.24932611e-03 9.96290885e-01 -3.20111505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.401193817 meters 0.06170521098360748 Centerline is valid? [True, True] Translation: X:252.69, Y:-63.07, Z:-32.02 [[ 9.37545724e-01 3.38310484e-01 8.09569780e-02 2.52694215e+02] [-3.36902776e-01 9.41033059e-01 -3.08755763e-02 -6.30666860e+01] [-8.66287238e-02 1.67263387e-03 9.96239262e-01 -3.20186950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.461193817 meters 0.06373116755493419 Centerline is valid? [True, True] Translation: X:252.75, Y:-63.09, Z:-32.03 [[ 9.39129681e-01 3.33934725e-01 8.07653468e-02 2.52748477e+02] [-3.32516308e-01 9.42593896e-01 -3.08164177e-02 -6.30943126e+01] [-8.64195948e-02 2.08481755e-03 9.96256647e-01 -3.20274040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.521193817 meters 0.06354307952238603 Centerline is valid? [True, True] Translation: X:252.81, Y:-63.12, Z:-32.03 [[ 9.41526926e-01 3.26519283e-01 8.31396716e-02 2.52806573e+02] [-3.24985890e-01 9.45186209e-01 -3.17364411e-02 -6.31176664e+01] [-8.89450310e-02 2.86149365e-03 9.96032426e-01 -3.20259390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.581193817 meters 0.06686753312264346 Centerline is valid? [True, True] Translation: X:252.86, Y:-63.14, Z:-32.03 [[ 9.44716453e-01 3.17095810e-01 8.34330274e-02 2.52861226e+02] [-3.15513857e-01 9.48386002e-01 -3.18590241e-02 -6.31438399e+01] [-8.92290783e-02 3.77346795e-03 9.96003982e-01 -3.20318576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.641193817 meters 0.07079798200179294 Centerline is valid? [True, True] Translation: X:252.92, Y:-63.17, Z:-32.04 [[ 9.46797303e-01 3.11243154e-01 8.18692013e-02 2.52915175e+02] [-3.09698146e-01 9.50320829e-01 -3.12630698e-02 -6.31681556e+01] [-8.75324237e-02 4.24505036e-03 9.96152626e-01 -3.20426876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.701193817 meters 0.07475526915797137 Centerline is valid? [True, True] Translation: X:252.97, Y:-63.19, Z:-32.05 [[ 9.48988395e-01 3.05233519e-01 7.90792300e-02 2.52972075e+02] [-3.03771491e-01 9.52266254e-01 -3.01970610e-02 -6.31880658e+01] [-8.45216373e-02 4.63464491e-03 9.96410866e-01 -3.20532494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.761193817 meters 0.07686139274367154 Centerline is valid? [True, True] Translation: X:253.03, Y:-63.21, Z:-32.06 [[ 9.48837136e-01 3.05634436e-01 7.93453268e-02 2.53030146e+02] [-3.04163957e-01 9.52137753e-01 -3.02982823e-02 -6.32050699e+01] [-8.48078797e-02 4.61414687e-03 9.96386638e-01 -3.20631865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.821193817 meters 0.07292205370613279 Centerline is valid? [True, True] Translation: X:253.09, Y:-63.21, Z:-32.07 [[ 9.46317777e-01 3.13306884e-01 7.95076128e-02 2.53093626e+02] [-3.11855391e-01 9.49643694e-01 -3.03820745e-02 -6.32050701e+01] [-8.50228162e-02 3.95621958e-03 9.96371150e-01 -3.20716138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.881193817 meters 0.06616424406717498 Centerline is valid? [True, True] Translation: X:253.16, Y:-63.20, Z:-32.07 [[ 9.43169545e-01 3.22179823e-01 8.14332348e-02 2.53159278e+02] [-3.20689932e-01 9.46672966e-01 -3.11169242e-02 -6.32038705e+01] [-8.71158871e-02 3.23371676e-03 9.96192936e-01 -3.20743138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.941193817 meters 0.06035058890199188 Centerline is valid? [True, True] Translation: X:253.23, Y:-63.19, Z:-32.08 [[ 9.38160142e-01 3.36093485e-01 8.30464821e-02 2.53228022e+02] [-3.34597855e-01 9.41826540e-01 -3.17339497e-02 -6.31935824e+01] [-8.88809547e-02 1.98435197e-03 9.96040279e-01 -3.20797131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.001193817 meters 0.058535345961231534 Centerline is valid? [True, True] Translation: X:253.29, Y:-63.20, Z:-32.09 [[ 9.34786586e-01 3.45693117e-01 8.16719466e-02 2.53292218e+02] [-3.44283130e-01 9.38347034e-01 -3.12085057e-02 -6.31966474e+01] [-8.74251945e-02 1.05501916e-03 9.96170529e-01 -3.20887833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06119381699995 meters 0.05771637713795585 Centerline is valid? [True, True] Translation: X:253.36, Y:-63.20, Z:-32.10 [[ 9.31647847e-01 3.54291116e-01 8.06851561e-02 2.53356843e+02] [-3.52947090e-01 9.35135148e-01 -3.08319244e-02 -6.31997902e+01] [-8.63750023e-02 2.46904924e-04 9.96262665e-01 -3.20955175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12119381699995 meters 0.05753608368480291 Centerline is valid? [True, True] Translation: X:253.42, Y:-63.22, Z:-32.10 [[ 9.31168179e-01 3.54888933e-01 8.35444052e-02 2.53415648e+02] [-3.53447324e-01 9.34908441e-01 -3.19561528e-02 -6.32163925e+01] [-8.94472546e-02 2.28006084e-04 9.95991534e-01 -3.21013090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18119381699995 meters 0.05752474591781684 Centerline is valid? [True, True] Translation: X:253.47, Y:-63.24, Z:-32.11 [[ 9.32269102e-01 3.51177040e-01 8.68850313e-02 2.53474566e+02] [-3.49598811e-01 9.36308861e-01 -3.32624025e-02 -6.32367836e+01] [-9.30322168e-02 6.34606487e-04 9.95662897e-01 -3.21057145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24119381699995 meters 0.05864073385305652 Centerline is valid? [True, True] Translation: X:253.53, Y:-63.26, Z:-32.12 [[ 9.34180128e-01 3.46724246e-01 8.42008633e-02 2.53529626e+02] [-3.45221019e-01 9.37966490e-01 -3.22693675e-02 -6.32646524e+01] [-9.01661603e-02 1.07749399e-03 9.95926153e-01 -3.21161097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30119381699996 meters 0.059515492906625424 Centerline is valid? [True, True] Translation: X:253.59, Y:-63.29, Z:-32.13 [[ 9.35515086e-01 3.43336842e-01 8.32546551e-02 2.53586535e+02] [-3.41853820e-01 9.39211310e-01 -3.19073978e-02 -6.32873031e+01] [-8.91486988e-02 1.38893013e-03 9.96017359e-01 -3.21259132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36119381699996 meters 0.06025143396506916 Centerline is valid? [True, True] Translation: X:253.64, Y:-63.31, Z:-32.14 [[ 9.35656454e-01 3.42978682e-01 8.31421835e-02 2.53643152e+02] [-3.41495280e-01 9.39342064e-01 -3.18976557e-02 -6.33092936e+01] [-8.90391661e-02 1.45258422e-03 9.96027066e-01 -3.21363588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42119381699996 meters 0.060207177437639106 Centerline is valid? [True, True] Translation: X:253.70, Y:-63.33, Z:-32.14 [[ 9.35569217e-01 3.43395785e-01 8.23988817e-02 2.53700244e+02] [-3.41939505e-01 9.39189728e-01 -3.16232363e-02 -6.33318827e+01] [-8.82474694e-02 1.41029361e-03 9.96097583e-01 -3.21441784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48119381699996 meters 0.05973742961908944 Centerline is valid? [True, True] Translation: X:253.76, Y:-63.35, Z:-32.15 [[ 9.35242392e-01 3.44245576e-01 8.25630183e-02 2.53758403e+02] [-3.42784351e-01 9.38878660e-01 -3.17135773e-02 -6.33538873e+01] [-8.84339146e-02 1.35857120e-03 9.96081120e-01 -3.21501415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54119381699996 meters 0.059848780512505806 Centerline is valid? [True, True] Translation: X:253.81, Y:-63.38, Z:-32.16 [[ 9.35342326e-01 3.44076675e-01 8.21338897e-02 2.53814865e+02] [-3.42627552e-01 9.38940520e-01 -3.15762508e-02 -6.33781971e+01] [-8.79834885e-02 1.39327024e-03 9.96120959e-01 -3.21576169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60119381699997 meters 0.0599855107294569 Centerline is valid? [True, True] Translation: X:253.87, Y:-63.40, Z:-32.17 [[ 9.35111923e-01 3.45285588e-01 7.96464348e-02 2.53872166e+02] [-3.43925209e-01 9.38496810e-01 -3.06461844e-02 -6.34010564e+01] [-8.53296108e-02 1.26519574e-03 9.96351974e-01 -3.21680028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66119381699997 meters 0.05906629152392647 Centerline is valid? [True, True] Translation: X:253.93, Y:-63.42, Z:-32.18 [[ 9.31936484e-01 3.53648010e-01 8.01715352e-02 2.53929602e+02] [-3.52297136e-01 9.35378423e-01 -3.08858191e-02 -6.34188297e+01] [-8.59134327e-02 5.39419364e-04 9.96302460e-01 -3.21772087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72119381699997 meters 0.058503624934443964 Centerline is valid? [True, True] Translation: X:253.99, Y:-63.44, Z:-32.18 [[ 9.29011711e-01 3.61314089e-01 7.99335323e-02 2.53989859e+02] [-3.60000070e-01 9.32444153e-01 -3.07871893e-02 -6.34364961e+01] [-8.56574000e-02 -1.74417754e-04 9.96324636e-01 -3.21841835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.781193817 meters 0.05946672556877501 Centerline is valid? [True, True] Translation: X:254.05, Y:-63.45, Z:-32.19 [[ 9.24406405e-01 3.73186658e-01 7.87687533e-02 2.54049914e+02] [-3.71950060e-01 9.27755486e-01 -3.03794545e-02 -6.34480278e+01] [-8.44153501e-02 -1.21508016e-03 9.96429913e-01 -3.21919987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.841193817 meters 0.060903002492562634 Centerline is valid? [True, True] Translation: X:254.11, Y:-63.47, Z:-32.20 [[ 9.21431209e-01 3.80726359e-01 7.75368764e-02 2.54107616e+02] [-3.79554669e-01 9.24685854e-01 -2.99052658e-02 -6.34681671e+01] [-8.30829757e-02 -1.87383827e-03 9.96540871e-01 -3.21987641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.901193817 meters 0.06142187709574763 Centerline is valid? [True, True] Translation: X:254.16, Y:-63.49, Z:-32.20 [[ 9.20014467e-01 3.84131613e-01 7.75647176e-02 2.54164848e+02] [-3.82971682e-01 9.23275753e-01 -2.99094267e-02 -6.34918372e+01] [-8.31027794e-02 -2.18798511e-03 9.96538580e-01 -3.22048006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.961193817 meters 0.06428549781730834 Centerline is valid? [True, True] Translation: X:254.22, Y:-63.51, Z:-32.21 [[ 9.17477849e-01 3.89654240e-01 8.00248119e-02 2.54220503e+02] [-3.88437118e-01 9.20957150e-01 -3.08955057e-02 -6.35142863e+01] [-8.57379875e-02 -2.73866521e-03 9.96313955e-01 -3.22147749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.021193817 meters 0.06296470831345508 Centerline is valid? [True, True] Translation: X:254.27, Y:-63.55, Z:-32.22 [[ 9.17977416e-01 3.88687077e-01 7.89925274e-02 2.54273839e+02] [-3.87498242e-01 9.21366099e-01 -3.04897341e-02 -6.35502335e+01] [-8.46320025e-02 -2.62057820e-03 9.96408830e-01 -3.22224077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.081193817 meters 0.060948173569159825 Centerline is valid? [True, True] Translation: X:254.32, Y:-63.59, Z:-32.23 [[ 9.20496876e-01 3.82666885e-01 7.90667810e-02 2.54322467e+02] [-3.81450063e-01 9.23884157e-01 -3.05600014e-02 -6.35913578e+01] [-8.47428469e-02 -2.02964273e-03 9.96400788e-01 -3.22292783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.141193817 meters 0.058052533651844936 Centerline is valid? [True, True] Translation: X:254.37, Y:-63.64, Z:-32.23 [[ 9.25335901e-01 3.70199469e-01 8.18890955e-02 2.54367793e+02] [-3.68845203e-01 9.28951834e-01 -3.16497284e-02 -6.36440780e+01] [-8.77877381e-02 -9.17770176e-04 9.96138781e-01 -3.22322829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.201193817 meters 0.05869008363001895 Centerline is valid? [True, True] Translation: X:254.41, Y:-63.69, Z:-32.24 [[ 9.29488476e-01 3.59330616e-01 8.32627296e-02 2.54411836e+02] [-3.57886725e-01 9.33210317e-01 -3.21806866e-02 -6.36949603e+01] [-8.92651443e-02 1.12951737e-04 9.96007892e-01 -3.22438074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.261193817 meters 0.058354702579013824 Centerline is valid? [True, True] Translation: X:254.46, Y:-63.74, Z:-32.24 [[ 9.32583539e-01 3.50908038e-01 8.45664992e-02 2.54464465e+02] [-3.49383364e-01 9.36409455e-01 -3.26894201e-02 -6.37350386e+01] [-9.06598497e-02 9.39487086e-04 9.95881473e-01 -3.22419743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.321193817 meters 0.06208588090533026 Centerline is valid? [True, True] Translation: X:254.51, Y:-63.78, Z:-32.25 [[ 9.37444737e-01 3.38416261e-01 8.16810854e-02 2.54511477e+02] [-3.36943063e-01 9.40994137e-01 -3.16133936e-02 -6.37770183e+01] [-8.75599089e-02 2.11393431e-03 9.96157013e-01 -3.22529894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.381193817 meters 0.0652810655526267 Centerline is valid? [True, True] Translation: X:254.56, Y:-63.81, Z:-32.26 [[ 9.40183086e-01 3.31136264e-01 8.00283607e-02 2.54563307e+02] [-3.29695213e-01 9.43578959e-01 -3.09808735e-02 -6.38108524e+01] [-8.57719680e-02 2.74272584e-03 9.96311019e-01 -3.22609937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.441193817 meters 0.0671750306053213 Centerline is valid? [True, True] Translation: X:254.62, Y:-63.84, Z:-32.26 [[ 9.42558042e-01 3.24069514e-01 8.10141193e-02 2.54617241e+02] [-3.22566164e-01 9.46027042e-01 -3.13672707e-02 -6.38396302e+01] [-8.68067238e-02 3.43305961e-03 9.96219256e-01 -3.22647400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.501193817 meters 0.07030367988885008 Centerline is valid? [True, True] Translation: X:254.67, Y:-63.86, Z:-32.27 [[ 9.44586505e-01 3.17823214e-01 8.21263589e-02 2.54672751e+02] [-3.16254541e-01 9.48141281e-01 -3.17990090e-02 -6.38637389e+01] [-8.79738543e-02 4.06408088e-03 9.96114494e-01 -3.22721433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56119381699995 meters 0.07143513530055681 Centerline is valid? [True, True] Translation: X:254.73, Y:-63.88, Z:-32.28 [[ 9.44940189e-01 3.16761283e-01 8.21603820e-02 2.54731026e+02] [-3.15187679e-01 9.48496167e-01 -3.18079993e-02 -6.38831427e+01] [-8.80043500e-02 4.16071675e-03 9.96111401e-01 -3.22801046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62119381699995 meters 0.07070053384017157 Centerline is valid? [True, True] Translation: X:254.79, Y:-63.89, Z:-32.29 [[ 9.44634592e-01 3.16958108e-01 8.48707537e-02 2.54794003e+02] [-3.15276190e-01 9.48429724e-01 -3.28934968e-02 -6.38912217e+01] [-9.09198060e-02 4.31460705e-03 9.95848871e-01 -3.22857973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68119381699995 meters 0.07279516270106164 Centerline is valid? [True, True] Translation: X:254.85, Y:-63.90, Z:-32.29 [[ 9.45155786e-01 3.14851214e-01 8.68864396e-02 2.54854795e+02] [-3.13079080e-01 9.49129754e-01 -3.36778848e-02 -6.39013814e+01] [-9.30700280e-02 4.62852105e-03 9.95648807e-01 -3.22933835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74119381699995 meters 0.08085584629586186 Centerline is valid? [True, True] Translation: X:254.91, Y:-63.92, Z:-32.31 [[ 9.46473291e-01 3.10779680e-01 8.72026424e-02 2.54909578e+02] [-3.08974169e-01 9.50468402e-01 -3.38346055e-02 -6.39236885e+01] [-9.33984640e-02 5.08018646e-03 9.95615849e-01 -3.23065368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80119381699996 meters 0.08366729707601224 Centerline is valid? [True, True] Translation: X:254.97, Y:-63.93, Z:-32.31 [[ 9.49161443e-01 3.02372094e-01 8.75424006e-02 2.54971390e+02] [-3.00516656e-01 9.53171503e-01 -3.39679985e-02 -6.39333843e+01] [-9.37138964e-02 5.93316494e-03 9.95581490e-01 -3.23121247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86119381699996 meters 0.08669672970443466 Centerline is valid? [True, True] Translation: X:255.03, Y:-63.95, Z:-32.32 [[ 9.50271573e-01 2.98511169e-01 8.87413021e-02 2.55030699e+02] [-2.96587279e-01 9.54384647e-01 -3.44373616e-02 -6.39471588e+01] [-9.49732733e-02 6.40530448e-03 9.95459215e-01 -3.23196025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92119381699996 meters 0.08950240324931084 Centerline is valid? [True, True] Translation: X:255.09, Y:-63.95, Z:-32.33 [[ 9.51609583e-01 2.95097092e-01 8.57724241e-02 2.55094279e+02] [-2.93286190e-01 9.55445023e-01 -3.32869101e-02 -6.39481019e+01] [-9.17737061e-02 6.52027515e-03 9.95758541e-01 -3.23326008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98119381699996 meters 0.08998964930511678 Centerline is valid? [True, True] Translation: X:255.16, Y:-63.96, Z:-32.34 [[ 9.51840515e-01 2.95490876e-01 8.17604854e-02 2.55157107e+02] [-2.93847242e-01 9.55325591e-01 -3.17303114e-02 -6.39560282e+01] [-8.74839016e-02 6.17710275e-03 9.96146782e-01 -3.23444780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04119381699996 meters 0.08781273822008874 Centerline is valid? [True, True] Translation: X:255.22, Y:-63.96, Z:-32.35 [[ 9.51394044e-01 2.97336039e-01 8.02536750e-02 2.55222893e+02] [-2.95758554e-01 9.54754653e-01 -3.11517217e-02 -6.39580526e+01] [-8.58850992e-02 5.90185163e-03 9.96287568e-01 -3.23521408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10119381699997 meters 0.08004760469358821 Centerline is valid? [True, True] Translation: X:255.29, Y:-63.94, Z:-32.35 [[ 9.49785758e-01 3.01434172e-01 8.39312484e-02 2.55294648e+02] [-2.99723080e-01 9.53469351e-01 -3.25925285e-02 -6.39418150e+01] [-8.98503747e-02 5.79978709e-03 9.95938388e-01 -3.23540889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16119381699997 meters 0.07866749000208062 Centerline is valid? [True, True] Translation: X:255.36, Y:-63.95, Z:-32.36 [[ 9.49302486e-01 3.02047199e-01 8.71336909e-02 2.55359161e+02] [-3.00205372e-01 9.53274332e-01 -3.38346306e-02 -6.39475079e+01] [-9.32819664e-02 5.96129679e-03 9.95621885e-01 -3.23562637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22119381699997 meters 0.08281663718628322 Centerline is valid? [True, True] Translation: X:255.42, Y:-63.95, Z:-32.36 [[ 9.49843739e-01 2.98860999e-01 9.20813512e-02 2.55422641e+02] [-2.96787760e-01 9.54273545e-01 -3.57634739e-02 -6.39511553e+01] [-9.85591050e-02 6.64109375e-03 9.95109039e-01 -3.23614770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.281193817 meters 0.08820392035354527 Centerline is valid? [True, True] Translation: X:255.48, Y:-63.96, Z:-32.37 [[ 9.51905643e-01 2.92666424e-01 9.06753041e-02 2.55484299e+02] [-2.90627819e-01 9.56187680e-01 -3.52220196e-02 -6.39558634e+01] [-9.70109112e-02 7.17527333e-03 9.95257453e-01 -3.23729116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.341193817 meters 0.08933569135714453 Centerline is valid? [True, True] Translation: X:255.55, Y:-63.96, Z:-32.38 [[ 9.52935108e-01 2.89314003e-01 9.06205671e-02 2.55545365e+02] [-2.87262560e-01 9.57204752e-01 -3.52034811e-02 -6.39641486e+01] [-9.69272975e-02 7.51473694e-03 9.95263095e-01 -3.23808504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.401193817 meters 0.0904407355263475 Centerline is valid? [True, True] Translation: X:255.61, Y:-63.96, Z:-32.39 [[ 9.52708501e-01 2.89792519e-01 9.14702577e-02 2.55611384e+02] [-2.87704909e-01 9.57059850e-01 -3.55292788e-02 -6.39641688e+01] [-9.78386303e-02 7.53260377e-03 9.95173785e-01 -3.23886534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.461193817 meters 0.08857340371235262 Centerline is valid? [True, True] Translation: X:255.67, Y:-63.97, Z:-32.40 [[ 9.51357904e-01 2.94191448e-01 9.14851345e-02 2.55674780e+02] [-2.92119890e-01 9.55720028e-01 -3.55696250e-02 -6.39673955e+01] [-9.78984548e-02 7.11481648e-03 9.95170976e-01 -3.23969820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.521193817 meters 0.0825137489765546 Centerline is valid? [True, True] Translation: X:255.74, Y:-63.96, Z:-32.40 [[ 9.48213106e-01 3.03884641e-01 9.24447468e-02 2.55743369e+02] [-3.01814763e-01 9.52688786e-01 -3.59433686e-02 -6.39555256e+01] [-9.89937113e-02 6.18078379e-03 9.95068863e-01 -3.24045931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.581193817 meters 0.07123792453590602 Centerline is valid? [True, True] Translation: X:255.81, Y:-63.95, Z:-32.41 [[ 9.46426125e-01 3.08993878e-01 9.38103006e-02 2.55811988e+02] [-3.06887018e-01 9.51046755e-01 -3.64750271e-02 -6.39454738e+01] [-1.00488542e-01 5.73175509e-03 9.94921705e-01 -3.24058331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.641193817 meters 0.071226611583145 Centerline is valid? [True, True] Translation: X:255.87, Y:-63.95, Z:-32.41 [[ 9.45638245e-01 3.11229444e-01 9.43638875e-02 2.55871642e+02] [-3.09108582e-01 9.50318726e-01 -3.66906488e-02 -6.39532769e+01] [-1.01094980e-01 5.52739335e-03 9.94861424e-01 -3.24138885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.701193817 meters 0.07019641655034062 Centerline is valid? [True, True] Translation: X:255.93, Y:-63.95, Z:-32.42 [[ 9.45395340e-01 3.12729325e-01 9.18042509e-02 2.55933390e+02] [-3.10729648e-01 9.49827959e-01 -3.56922065e-02 -6.39546467e+01] [-9.83602440e-02 5.21694312e-03 9.95137200e-01 -3.24233244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.761193817 meters 0.06961628245282687 Centerline is valid? [True, True] Translation: X:255.99, Y:-63.96, Z:-32.43 [[ 9.43653571e-01 3.17833494e-01 9.21944019e-02 2.55994139e+02] [-3.15841922e-01 9.48134916e-01 -3.58338034e-02 -6.39597286e+01] [-9.88019145e-02 4.69583950e-03 9.95096041e-01 -3.24315085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.821193817 meters 0.06780589988419995 Centerline is valid? [True, True] Translation: X:256.05, Y:-63.97, Z:-32.44 [[ 9.42848406e-01 3.20315504e-01 9.18414942e-02 2.56051758e+02] [-3.18351069e-01 9.47300621e-01 -3.56949519e-02 -6.39724596e+01] [-9.84351510e-02 4.41709058e-03 9.95133665e-01 -3.24382494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.881193817 meters 0.06573633801437337 Centerline is valid? [True, True] Translation: X:256.11, Y:-63.98, Z:-32.45 [[ 9.40876052e-01 3.26210942e-01 9.13163569e-02 2.56112165e+02] [-3.24297529e-01 9.45289486e-01 -3.54809915e-02 -6.39818395e+01] [-9.78946797e-02 3.76954630e-03 9.95189641e-01 -3.24468633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.941193817 meters 0.06423669952283664 Centerline is valid? [True, True] Translation: X:256.17, Y:-63.99, Z:-32.45 [[ 9.39574386e-01 3.29475722e-01 9.29823793e-02 2.56173032e+02] [-3.27507711e-01 9.44157593e-01 -3.61267122e-02 -6.39898189e+01] [-9.96928939e-02 3.49128715e-03 9.95012129e-01 -3.24519229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.001193817 meters 0.06291002733666348 Centerline is valid? [True, True] Translation: X:256.23, Y:-64.00, Z:-32.46 [[ 9.39772473e-01 3.28230498e-01 9.53542787e-02 2.56231471e+02] [-3.26154036e-01 9.44590346e-01 -3.70489405e-02 -6.40029372e+01] [-1.02231323e-01 3.71739163e-03 9.94753707e-01 -3.24555890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06119381699995 meters 0.06455341354920428 Centerline is valid? [True, True] Translation: X:256.29, Y:-64.02, Z:-32.47 [[ 9.40499711e-01 3.26594012e-01 9.37904334e-02 2.56285030e+02] [-3.24580499e-01 9.45157084e-01 -3.64086039e-02 -6.40210293e+01] [-1.00537525e-01 3.79973578e-03 9.94926011e-01 -3.24665418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12119381699995 meters 0.06349984823335307 Centerline is valid? [True, True] Translation: X:256.34, Y:-64.03, Z:-32.48 [[ 9.40665401e-01 3.26747072e-01 9.15693987e-02 2.56342537e+02] [-3.24830287e-01 9.45104661e-01 -3.55311818e-02 -6.40344096e+01] [-9.81523752e-02 3.67843931e-03 9.95164600e-01 -3.24758960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18119381699995 meters 0.06322221774461037 Centerline is valid? [True, True] Translation: X:256.40, Y:-64.05, Z:-32.49 [[ 9.39916532e-01 3.29312095e-01 9.00580732e-02 2.56397544e+02] [-3.27472811e-01 9.44215274e-01 -3.49152554e-02 -6.40512883e+01] [-9.65322241e-02 3.32585541e-03 9.95324303e-01 -3.24868747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24119381699995 meters 0.0622318195215553 Centerline is valid? [True, True] Translation: X:256.45, Y:-64.07, Z:-32.50 [[ 9.38424064e-01 3.33518236e-01 9.01435642e-02 2.56452870e+02] [-3.31698202e-01 9.42739302e-01 -3.49129108e-02 -6.40686199e+01] [-9.66259732e-02 2.86265749e-03 9.95316646e-01 -3.24953403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30119381699996 meters 0.060513862738755676 Centerline is valid? [True, True] Translation: X:256.51, Y:-64.08, Z:-32.50 [[ 9.36504446e-01 3.39286392e-01 8.85673017e-02 2.56509744e+02] [-3.37555312e-01 9.40680489e-01 -3.43020371e-02 -6.40836137e+01] [-9.49517471e-02 2.22764706e-03 9.95479384e-01 -3.25048826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36119381699996 meters 0.05981699981408104 Centerline is valid? [True, True] Translation: X:256.56, Y:-64.11, Z:-32.51 [[ 9.36585500e-01 3.38913674e-01 8.91354161e-02 2.56563506e+02] [-3.37161009e-01 9.40814770e-01 -3.44967039e-02 -6.41082299e+01] [-9.55513207e-02 2.25612588e-03 9.95421948e-01 -3.25087354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42119381699996 meters 0.062342865038417385 Centerline is valid? [True, True] Translation: X:256.61, Y:-64.15, Z:-32.52 [[ 9.39152159e-01 3.32075206e-01 8.78594358e-02 2.56611981e+02] [-3.30346015e-01 9.43248529e-01 -3.39664930e-02 -6.41456719e+01] [-9.41527137e-02 2.87569071e-03 9.95553613e-01 -3.25176011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48119381699996 meters 0.06405538852353722 Centerline is valid? [True, True] Translation: X:256.66, Y:-64.18, Z:-32.53 [[ 9.41183661e-01 3.26861179e-01 8.56451132e-02 2.56663375e+02] [-3.25197122e-01 9.45066575e-01 -3.31058862e-02 -6.41784095e+01] [-9.17613628e-02 3.30717483e-03 9.95775534e-01 -3.25262540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54119381699996 meters 0.0665678750347525 Centerline is valid? [True, True] Translation: X:256.71, Y:-64.21, Z:-32.53 [[ 9.43654072e-01 3.19698423e-01 8.54980214e-02 2.56713118e+02] [-3.18010933e-01 9.47510926e-01 -3.30468050e-02 -6.42148740e+01] [-9.15753209e-02 3.99544650e-03 9.95790137e-01 -3.25322499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60119381699997 meters 0.06871616324972545 Centerline is valid? [True, True] Translation: X:256.76, Y:-64.24, Z:-32.54 [[ 9.44769557e-01 3.16567774e-01 8.48252888e-02 2.56764779e+02] [-3.14894218e-01 9.48560306e-01 -3.27868513e-02 -6.42428592e+01] [-9.08411625e-02 4.26502600e-03 9.95856261e-01 -3.25402567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66119381699997 meters 0.06715980488162075 Centerline is valid? [True, True] Translation: X:256.82, Y:-64.26, Z:-32.55 [[ 9.44567168e-01 3.17286065e-01 8.43944160e-02 2.56820256e+02] [-3.15632196e-01 9.48320680e-01 -3.26221505e-02 -6.42612020e+01] [-9.03835238e-02 4.17621750e-03 9.95898277e-01 -3.25457036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72119381699997 meters 0.06381966378497249 Centerline is valid? [True, True] Translation: X:256.88, Y:-64.27, Z:-32.55 [[ 9.41222367e-01 3.27525630e-01 8.26281850e-02 2.56878504e+02] [-3.25982884e-01 9.44837236e-01 -3.19023043e-02 -6.42747960e+01] [-8.85190083e-02 3.09178837e-03 9.96069689e-01 -3.25548024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.781193817 meters 0.06096234214543482 Centerline is valid? [True, True] Translation: X:256.94, Y:-64.29, Z:-32.56 [[ 9.37011204e-01 3.39257591e-01 8.31522082e-02 2.56936866e+02] [-3.37741105e-01 9.40691393e-01 -3.21037374e-02 -6.42851772e+01] [-8.91120031e-02 1.99764301e-03 9.96019608e-01 -3.25634093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.841193817 meters 0.05887301284369929 Centerline is valid? [True, True] Translation: X:257.00, Y:-64.30, Z:-32.57 [[ 9.33699038e-01 3.47756357e-01 8.52738061e-02 2.56996213e+02] [-3.46197021e-01 9.37584152e-01 -3.29177687e-02 -6.42982987e+01] [-9.13987325e-02 1.21375131e-03 9.95813636e-01 -3.25669051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.901193817 meters 0.05810270605069187 Centerline is valid? [True, True] Translation: X:257.05, Y:-64.33, Z:-32.57 [[ 9.32991247e-01 3.48119563e-01 9.13241673e-02 2.57049250e+02] [-3.46332399e-01 9.37449294e-01 -3.52518149e-02 -6.43278604e+01] [-9.78836226e-02 1.26111684e-03 9.95197069e-01 -3.25686326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.961193817 meters 0.05879087125225925 Centerline is valid? [True, True] Translation: X:257.10, Y:-64.36, Z:-32.58 [[ 9.34288580e-01 3.44091131e-01 9.33067175e-02 2.57099532e+02] [-3.42205304e-01 9.38934681e-01 -3.60165777e-02 -6.43594329e+01] [-1.00001898e-01 1.71982360e-03 9.94985760e-01 -3.25751657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.021193817 meters 0.059893256639608636 Centerline is valid? [True, True] Translation: X:257.15, Y:-64.39, Z:-32.59 [[ 9.35018822e-01 3.42899590e-01 9.03309161e-02 2.57148431e+02] [-3.41130223e-01 9.39370422e-01 -3.48336301e-02 -6.43917592e+01] [-9.67986282e-02 1.75549421e-03 9.95302438e-01 -3.25879231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.081193817 meters 0.0603543235853677 Centerline is valid? [True, True] Translation: X:257.20, Y:-64.42, Z:-32.60 [[ 9.35161884e-01 3.43649588e-01 8.58906932e-02 2.57200626e+02] [-3.42054011e-01 9.39096606e-01 -3.31152107e-02 -6.44183932e+01] [-9.20396871e-02 1.58882665e-03 9.95754072e-01 -3.26011049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.141193817 meters 0.06020638556574352 Centerline is valid? [True, True] Translation: X:257.25, Y:-64.45, Z:-32.61 [[ 9.35360273e-01 3.44163632e-01 8.15631840e-02 2.57252679e+02] [-3.42727285e-01 9.38908552e-01 -3.14442203e-02 -6.44456291e+01] [-8.74023281e-02 1.45774587e-03 9.96172027e-01 -3.26108264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.201193817 meters 0.06122706691644922 Centerline is valid? [True, True] Translation: X:257.30, Y:-64.47, Z:-32.62 [[ 9.36291081e-01 3.41719393e-01 8.11595186e-02 2.57303207e+02] [-3.40288465e-01 9.39800540e-01 -3.12842633e-02 -6.44737772e+01] [-8.69641989e-02 1.67352870e-03 9.96210032e-01 -3.26203752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.261193817 meters 0.062403110555077274 Centerline is valid? [True, True] Translation: X:257.35, Y:-64.51, Z:-32.63 [[ 9.38420562e-01 3.35498582e-01 8.25078751e-02 2.57352428e+02] [-3.33995882e-01 9.42037940e-01 -3.18004759e-02 -6.45087090e+01] [-8.83945633e-02 2.28492998e-03 9.96082918e-01 -3.26250482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.321193817 meters 0.06385359153400878 Centerline is valid? [True, True] Translation: X:257.40, Y:-64.54, Z:-32.63 [[ 9.40237457e-01 3.30415286e-01 8.23362843e-02 2.57403836e+02] [-3.28902368e-01 9.43831717e-01 -3.17004965e-02 -6.45394968e+01] [-8.81859253e-02 2.72539533e-03 9.96100304e-01 -3.26318877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.381193817 meters 0.06775449614594456 Centerline is valid? [True, True] Translation: X:257.45, Y:-64.58, Z:-32.64 [[ 9.42836289e-01 3.23079389e-01 8.17278425e-02 2.57452715e+02] [-3.21562170e-01 9.46365840e-01 -3.14557961e-02 -6.45771074e+01] [-8.75071577e-02 3.37708370e-03 9.96158166e-01 -3.26404057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.441193817 meters 0.06959144290676211 Centerline is valid? [True, True] Translation: X:257.51, Y:-64.61, Z:-32.65 [[ 9.44147827e-01 3.19107252e-01 8.21915021e-02 2.57505001e+02] [-3.17557856e-01 9.47711129e-01 -3.16326529e-02 -6.46052155e+01] [-8.79880102e-02 3.76534335e-03 9.96114417e-01 -3.26471899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.501193817 meters 0.06993029398280107 Centerline is valid? [True, True] Translation: X:257.56, Y:-64.63, Z:-32.65 [[ 9.46372872e-01 3.12481022e-01 8.20609416e-02 2.57559354e+02] [-3.10912355e-01 9.49913960e-01 -3.15749121e-02 -6.46328397e+01] [-8.78173948e-02 4.36787966e-03 9.96127013e-01 -3.26501073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56119381699995 meters 0.07378732944009452 Centerline is valid? [True, True] Translation: X:257.61, Y:-64.66, Z:-32.66 [[ 9.48234431e-01 3.06832353e-01 8.18863249e-02 2.57611515e+02] [-3.05249463e-01 9.51751067e-01 -3.15067106e-02 -6.46611461e+01] [-8.76026753e-02 4.87999113e-03 9.96143542e-01 -3.26575842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62119381699995 meters 0.07796460817418938 Centerline is valid? [True, True] Translation: X:257.66, Y:-64.69, Z:-32.66 [[ 9.50271286e-01 3.00057478e-01 8.33666203e-02 2.57664359e+02] [-2.98390625e-01 9.53904649e-01 -3.20773520e-02 -6.46879353e+01] [-8.91488560e-02 5.60636862e-03 9.96002535e-01 -3.26630739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68119381699995 meters 0.08120138239417829 Centerline is valid? [True, True] Translation: X:257.72, Y:-64.71, Z:-32.67 [[ 9.51333439e-01 2.95668593e-01 8.68606433e-02 2.57720561e+02] [-2.93840839e-01 9.55270008e-01 -3.34181675e-02 -6.47127241e+01] [-9.28560700e-02 6.26861593e-03 9.95659809e-01 -3.26673501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74119381699995 meters 0.07887988325587288 Centerline is valid? [True, True] Translation: X:257.78, Y:-64.73, Z:-32.67 [[ 9.51548620e-01 2.94953027e-01 8.69363868e-02 2.57780382e+02] [-2.93119440e-01 9.55490716e-01 -3.34437738e-02 -6.47296146e+01] [-9.29312528e-02 6.34063184e-03 9.95652338e-01 -3.26725322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80119381699996 meters 0.0866039818179212 Centerline is valid? [True, True] Translation: X:257.83, Y:-64.75, Z:-32.68 [[ 9.52855993e-01 2.90928807e-01 8.61735782e-02 2.57834329e+02] [-2.89107507e-01 9.56721175e-01 -3.31880063e-02 -6.47526349e+01] [-9.20994340e-02 6.70996234e-03 9.95727207e-01 -3.26841098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86119381699996 meters 0.0796584207895803 Centerline is valid? [True, True] Translation: X:257.90, Y:-64.76, Z:-32.69 [[ 9.53002388e-01 2.90610136e-01 8.56282548e-02 2.57897923e+02] [-2.88810921e-01 9.56818130e-01 -3.29745122e-02 -6.47569335e+01] [-9.15133941e-02 6.69441370e-03 9.95781343e-01 -3.26881447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92119381699996 meters 0.08002339545334171 Centerline is valid? [True, True] Translation: X:257.96, Y:-64.76, Z:-32.70 [[ 9.52935193e-01 2.90925454e-01 8.53047312e-02 2.57958950e+02] [-2.89140359e-01 9.56722637e-01 -3.28580135e-02 -6.47612520e+01] [-9.11721999e-02 6.64651682e-03 9.95812961e-01 -3.26958109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98119381699996 meters 0.07775504932197412 Centerline is valid? [True, True] Translation: X:258.02, Y:-64.76, Z:-32.70 [[ 9.52827873e-01 2.91304636e-01 8.52094669e-02 2.58020358e+02] [-2.89525776e-01 9.56607607e-01 -3.28132691e-02 -6.47646693e+01] [-9.10706817e-02 6.59506036e-03 9.95822593e-01 -3.27007746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04119381699996 meters 0.07853589614157666 Centerline is valid? [True, True] Translation: X:258.08, Y:-64.77, Z:-32.71 [[ 9.52251504e-01 2.94095641e-01 8.20050446e-02 2.58078739e+02] [-2.92459262e-01 9.55756647e-01 -3.15723371e-02 -6.47710421e+01] [-8.76621531e-02 6.08167064e-03 9.96131698e-01 -3.27127917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10119381699997 meters 0.0764452856422383 Centerline is valid? [True, True] Translation: X:258.14, Y:-64.78, Z:-32.72 [[ 9.51214161e-01 2.97856132e-01 8.04570942e-02 2.58139586e+02] [-2.96295456e-01 9.54594258e-01 -3.09645697e-02 -6.47771063e+01] [-8.60268671e-02 5.61486580e-03 9.96276995e-01 -3.27222881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16119381699997 meters 0.07100558701905849 Centerline is valid? [True, True] Translation: X:258.21, Y:-64.77, Z:-32.73 [[ 9.47909013e-01 3.08010262e-01 8.12291977e-02 2.58206066e+02] [-3.06456782e-01 9.51371250e-01 -3.12567594e-02 -6.47718348e+01] [-8.69065260e-02 4.73532536e-03 9.96205216e-01 -3.27278884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22119381699997 meters 0.0669936935977518 Centerline is valid? [True, True] Translation: X:258.27, Y:-64.77, Z:-32.74 [[ 9.44436021e-01 3.18738427e-01 8.02895852e-02 2.58269843e+02] [-3.17259228e-01 9.47835472e-01 -3.08949784e-02 -6.47708223e+01] [-8.59487337e-02 3.70571870e-03 9.96292669e-01 -3.27356765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.281193817 meters 0.06524500151691641 Centerline is valid? [True, True] Translation: X:258.33, Y:-64.78, Z:-32.74 [[ 9.42892591e-01 3.23014466e-01 8.13339798e-02 2.58328557e+02] [-3.21512499e-01 9.46388072e-01 -3.12942352e-02 -6.47842203e+01] [-8.70819991e-02 3.35721143e-03 9.96195490e-01 -3.27429992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.341193817 meters 0.06460447715601995 Centerline is valid? [True, True] Translation: X:258.39, Y:-64.80, Z:-32.75 [[ 9.42433293e-01 3.24376367e-01 8.12370677e-02 2.58386221e+02] [-3.22882606e-01 9.45922579e-01 -3.12617404e-02 -6.47971528e+01] [-8.69845464e-02 3.23206879e-03 9.96204418e-01 -3.27497277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.401193817 meters 0.06479739448207744 Centerline is valid? [True, True] Translation: X:258.44, Y:-64.81, Z:-32.76 [[ 9.42316051e-01 3.25002151e-01 8.00878399e-02 2.58441636e+02] [-3.23554895e-01 9.45708180e-01 -3.07939570e-02 -6.48149662e+01] [-8.57478276e-02 3.10482734e-03 9.96312035e-01 -3.27591180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.461193817 meters 0.06601112595153173 Centerline is valid? [True, True] Translation: X:258.49, Y:-64.84, Z:-32.77 [[ 9.42788227e-01 3.23816518e-01 7.93298284e-02 2.58494648e+02] [-3.22394977e-01 9.46114644e-01 -3.04722810e-02 -6.48356234e+01] [-8.49225402e-02 3.15336951e-03 9.96382566e-01 -3.27694158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.521193817 meters 0.06713696565723709 Centerline is valid? [True, True] Translation: X:258.55, Y:-64.86, Z:-32.78 [[ 9.43561870e-01 3.21052866e-01 8.13391405e-02 2.58549017e+02] [-3.19548860e-01 9.47054882e-01 -3.12342162e-02 -6.48571238e+01] [-8.70604648e-02 3.47958578e-03 9.96196952e-01 -3.27759348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.581193817 meters 0.06894785304138205 Centerline is valid? [True, True] Translation: X:258.60, Y:-64.88, Z:-32.78 [[ 9.44707343e-01 3.17624363e-01 8.15033807e-02 2.58603514e+02] [-3.16104488e-01 9.48209123e-01 -3.12635849e-02 -6.48798057e+01] [-8.72123253e-02 3.77135378e-03 9.96182607e-01 -3.27832778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.641193817 meters 0.0708983635052276 Centerline is valid? [True, True] Translation: X:258.66, Y:-64.90, Z:-32.79 [[ 9.47410764e-01 3.09514933e-01 8.13225039e-02 2.58659309e+02] [-3.07972409e-01 9.50883915e-01 -3.11893509e-02 -6.49030055e+01] [-8.69818308e-02 4.50403939e-03 9.96199716e-01 -3.27892192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.701193817 meters 0.07907609657088938 Centerline is valid? [True, True] Translation: X:258.71, Y:-64.94, Z:-32.80 [[ 9.49915164e-01 3.02055780e-01 8.01466582e-02 2.58708224e+02] [-3.00531178e-01 9.53276545e-01 -3.07382311e-02 -6.49370066e+01] [-8.56865898e-02 5.11214220e-03 9.96309026e-01 -3.28023263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.761193817 meters 0.08387292248740391 Centerline is valid? [True, True] Translation: X:258.76, Y:-64.97, Z:-32.81 [[ 9.51564117e-01 2.96923350e-01 7.97637487e-02 2.58760985e+02] [-2.95395381e-01 9.54885201e-01 -3.05911874e-02 -6.49659602e+01] [-8.52484611e-02 5.54763329e-03 9.96344280e-01 -3.28108046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.821193817 meters 0.07840910952424848 Centerline is valid? [True, True] Translation: X:258.82, Y:-64.98, Z:-32.81 [[ 9.52835819e-01 2.92621970e-01 8.04753606e-02 2.58821372e+02] [-2.91051264e-01 9.56209468e-01 -3.08644649e-02 -6.49783273e+01] [-8.59829223e-02 5.98631225e-03 9.96278626e-01 -3.28104496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.881193817 meters 0.07744884363372886 Centerline is valid? [True, True] Translation: X:258.88, Y:-65.00, Z:-32.82 [[ 9.51570460e-01 2.96596458e-01 8.08962287e-02 2.58877794e+02] [-2.95023564e-01 9.54986151e-01 -3.10249506e-02 -6.49961270e+01] [-8.64566686e-02 5.65613287e-03 9.96239556e-01 -3.28170036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.941193817 meters 0.06941070911312076 Centerline is valid? [True, True] Translation: X:258.94, Y:-65.00, Z:-32.82 [[ 9.47000863e-01 3.10198110e-01 8.34655432e-02 2.58942292e+02] [-3.08576025e-01 9.50661024e-01 -3.20071091e-02 -6.49976570e+01] [-8.92759835e-02 4.55529442e-03 9.95996510e-01 -3.28195473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.001193817 meters 0.06321589246198807 Centerline is valid? [True, True] Translation: X:259.01, Y:-65.00, Z:-32.82 [[ 9.43389348e-01 3.19367306e-01 8.95603849e-02 2.59006224e+02] [-3.17540178e-01 9.47622736e-01 -3.43421796e-02 -6.50019537e+01] [-9.58372264e-02 3.95902582e-03 9.95389146e-01 -3.28171750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06119381699995 meters 0.0654084016912654 Centerline is valid? [True, True] Translation: X:259.06, Y:-65.02, Z:-32.83 [[ 9.42952998e-01 3.20208206e-01 9.11391675e-02 2.59058735e+02] [-3.18319742e-01 9.47338987e-01 -3.49483312e-02 -6.50234602e+01] [-9.75304290e-02 3.94323734e-03 9.95224732e-01 -3.28263854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12119381699995 meters 0.06505811582540307 Centerline is valid? [True, True] Translation: X:259.11, Y:-65.04, Z:-32.83 [[ 9.43563103e-01 3.18363019e-01 9.12888755e-02 2.59113604e+02] [-3.16460351e-01 9.47959858e-01 -3.49993490e-02 -6.50425584e+01] [-9.76806878e-02 4.13478477e-03 9.95209218e-01 -3.28328811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18119381699995 meters 0.06514850863321953 Centerline is valid? [True, True] Translation: X:259.17, Y:-65.06, Z:-32.84 [[ 9.43185610e-01 3.19887329e-01 8.98498896e-02 2.59169938e+02] [-3.18054007e-01 9.47447621e-01 -3.44188170e-02 -6.50587971e+01] [-9.61382075e-02 3.88621548e-03 9.95360408e-01 -3.28432487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24119381699995 meters 0.06329655950718333 Centerline is valid? [True, True] Translation: X:259.23, Y:-65.07, Z:-32.86 [[ 9.41447544e-01 3.26152380e-01 8.54467476e-02 2.59227175e+02] [-3.24522570e-01 9.45312242e-01 -3.27088082e-02 -6.50718807e+01] [-9.14419122e-02 3.06422896e-03 9.95805698e-01 -3.28554574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30119381699996 meters 0.06077126009678459 Centerline is valid? [True, True] Translation: X:259.29, Y:-65.08, Z:-32.86 [[ 9.39430048e-01 3.31244721e-01 8.80234076e-02 2.59286281e+02] [-3.29540192e-01 9.43541249e-01 -3.36626395e-02 -6.50841725e+01] [-9.42042876e-02 2.61644438e-03 9.95549450e-01 -3.28595896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36119381699996 meters 0.06042258123692896 Centerline is valid? [True, True] Translation: X:259.34, Y:-65.11, Z:-32.87 [[ 9.39158646e-01 3.31566534e-01 8.96920866e-02 2.59341357e+02] [-3.29797880e-01 9.43428158e-01 -3.43026227e-02 -6.51053137e+01] [-9.59916417e-02 2.63534473e-03 9.95378651e-01 -3.28651523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42119381699996 meters 0.0602334975307901 Centerline is valid? [True, True] Translation: X:259.40, Y:-65.12, Z:-32.88 [[ 9.38341792e-01 3.35188753e-01 8.46355828e-02 2.59395633e+02] [-3.33631103e-01 9.42148623e-01 -3.23459235e-02 -6.51247941e+01] [-9.05812876e-02 2.11446904e-03 9.95886821e-01 -3.28794055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48119381699996 meters 0.05950892860277485 Centerline is valid? [True, True] Translation: X:259.45, Y:-65.14, Z:-32.89 [[ 9.37733900e-01 3.37427977e-01 8.24469149e-02 2.59450553e+02] [-3.35960865e-01 9.41349579e-01 -3.14844114e-02 -6.51448925e+01] [-8.82350898e-02 1.82506307e-03 9.96098006e-01 -3.28873393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54119381699996 meters 0.059615577543171636 Centerline is valid? [True, True] Translation: X:259.50, Y:-65.17, Z:-32.90 [[ 9.36564123e-01 3.40763054e-01 8.20255066e-02 2.59501183e+02] [-3.39326662e-01 9.40148061e-01 -3.12896189e-02 -6.51716278e+01] [-8.77784671e-02 1.47129316e-03 9.96138934e-01 -3.28961806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60119381699997 meters 0.05942209581786141 Centerline is valid? [True, True] Translation: X:259.55, Y:-65.20, Z:-32.90 [[ 9.36264956e-01 3.41589746e-01 8.20023050e-02 2.59553736e+02] [-3.40157597e-01 9.39848132e-01 -3.12777441e-02 -6.51988676e+01] [-8.77538698e-02 1.39054868e-03 9.96141217e-01 -3.29018718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66119381699997 meters 0.05991877835310789 Centerline is valid? [True, True] Translation: X:259.61, Y:-65.22, Z:-32.91 [[ 9.36027115e-01 3.42148147e-01 8.23886211e-02 2.59605644e+02] [-3.40707559e-01 9.39645104e-01 -3.13916819e-02 -6.52235067e+01] [-8.81566703e-02 1.31303946e-03 9.96105756e-01 -3.29117448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72119381699997 meters 0.058762064150745155 Centerline is valid? [True, True] Translation: X:259.66, Y:-65.25, Z:-32.91 [[ 9.34290318e-01 3.46864036e-01 8.23828999e-02 2.59659132e+02] [-3.45442237e-01 9.37915024e-01 -3.13858080e-02 -6.52497648e+01] [-8.81547676e-02 8.64923322e-04 9.96106414e-01 -3.29141012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.781193817 meters 0.05870875018435348 Centerline is valid? [True, True] Translation: X:259.71, Y:-65.28, Z:-32.92 [[ 9.33118182e-01 3.49960239e-01 8.25729399e-02 2.59711097e+02] [-3.48546073e-01 9.36764393e-01 -3.14341855e-02 -6.52759580e+01] [-8.83521050e-02 5.51336118e-04 9.96089153e-01 -3.29222401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.841193817 meters 0.059402136088290376 Centerline is valid? [True, True] Translation: X:259.76, Y:-65.31, Z:-32.93 [[ 9.32856792e-01 3.51181619e-01 8.03098748e-02 2.59758940e+02] [-3.49851232e-01 9.36307276e-01 -3.05417836e-02 -6.53090539e+01] [-8.59204332e-02 3.94601662e-04 9.96301924e-01 -3.29334005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.901193817 meters 0.05920772105786264 Centerline is valid? [True, True] Translation: X:259.81, Y:-65.34, Z:-32.94 [[ 9.33080876e-01 3.50467361e-01 8.08251662e-02 2.59809193e+02] [-3.49117559e-01 9.36574833e-01 -3.07329126e-02 -6.53410992e+01] [-8.64696993e-02 4.58808322e-04 9.96254375e-01 -3.29382216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.961193817 meters 0.05917291704463294 Centerline is valid? [True, True] Translation: X:259.86, Y:-65.37, Z:-32.94 [[ 9.32887709e-01 3.50711715e-01 8.19866762e-02 2.59859223e+02] [-3.49326684e-01 9.36483382e-01 -3.11407038e-02 -6.53712883e+01] [-8.77005694e-02 4.10646108e-04 9.96146797e-01 -3.29444344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.021193817 meters 0.05982308244577097 Centerline is valid? [True, True] Translation: X:259.91, Y:-65.41, Z:-32.96 [[ 9.32992304e-01 3.51271828e-01 7.83164349e-02 2.59907358e+02] [-3.50011051e-01 9.36273460e-01 -2.97367160e-02 -6.54085745e+01] [-8.37712701e-02 3.32509530e-04 9.96484954e-01 -3.29551511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.081193817 meters 0.05992842373461172 Centerline is valid? [True, True] Translation: X:259.96, Y:-65.45, Z:-32.96 [[ 9.34385468e-01 3.47295724e-01 7.94322162e-02 2.59955300e+02] [-3.45984083e-01 9.37755398e-01 -3.01633395e-02 -6.54459999e+01] [-8.49635884e-02 7.01903560e-04 9.96383810e-01 -3.29611910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.141193817 meters 0.06264408767973322 Centerline is valid? [True, True] Translation: X:260.00, Y:-65.50, Z:-32.97 [[ 9.39204388e-01 3.33317215e-01 8.24302784e-02 2.59996062e+02] [-3.31853610e-01 9.42812596e-01 -3.12664548e-02 -6.55034444e+01] [-8.81379524e-02 2.01080617e-03 9.96106248e-01 -3.29667785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.201193817 meters 0.06994521640455614 Centerline is valid? [True, True] Translation: X:260.04, Y:-65.56, Z:-32.97 [[ 9.45038528e-01 3.16269032e-01 8.29221293e-02 2.60038353e+02] [-3.14722698e-01 9.48662635e-01 -3.14456277e-02 -6.55609849e+01] [-8.86104040e-02 3.61985342e-03 9.96059784e-01 -3.29734192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.261193817 meters 0.0739527307882642 Centerline is valid? [True, True] Translation: X:260.09, Y:-65.60, Z:-32.98 [[ 9.47061808e-01 3.10065692e-01 8.32658312e-02 2.60087993e+02] [-3.08482642e-01 9.50705780e-01 -3.15749776e-02 -6.55974341e+01] [-8.89516243e-02 4.21739181e-03 9.96027019e-01 -3.29809560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.321193817 meters 0.07540538337744015 Centerline is valid? [True, True] Translation: X:260.14, Y:-65.63, Z:-32.99 [[ 9.47438419e-01 3.09153660e-01 8.23678108e-02 2.60139596e+02] [-3.07600978e-01 9.51002564e-01 -3.12371820e-02 -6.56260988e+01] [-8.79890884e-02 4.25888716e-03 9.96112334e-01 -3.29885131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.381193817 meters 0.06799505714825434 Centerline is valid? [True, True] Translation: X:260.20, Y:-65.63, Z:-32.99 [[ 9.45063213e-01 3.16658645e-01 8.11346171e-02 2.60201010e+02] [-3.15180486e-01 9.48533111e-01 -3.07603328e-02 -6.56341532e+01] [-8.66993961e-02 3.49841093e-03 9.96228375e-01 -3.29913846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.441193817 meters 0.06459754408557102 Centerline is valid? [True, True] Translation: X:260.26, Y:-65.64, Z:-33.00 [[ 9.42146186e-01 3.25192057e-01 8.13061586e-02 2.60261110e+02] [-3.23739266e-01 9.45644083e-01 -3.08245939e-02 -6.56440667e+01] [-8.69106009e-02 2.71927743e-03 9.96212404e-01 -3.29984204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.501193817 meters 0.06115511105113186 Centerline is valid? [True, True] Translation: X:260.32, Y:-65.65, Z:-33.01 [[ 9.37837484e-01 3.37650490e-01 8.03305704e-02 2.60322985e+02] [-3.36277821e-01 9.41270286e-01 -3.04544989e-02 -6.56504013e+01] [-8.58957554e-02 1.54798148e-03 9.96302927e-01 -3.30077677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56119381699995 meters 0.06020487929592976 Centerline is valid? [True, True] Translation: X:260.38, Y:-65.66, Z:-33.02 [[ 9.35924321e-01 3.42862141e-01 8.05680953e-02 2.60379884e+02] [-3.41500390e-01 9.39385116e-01 -3.05464793e-02 -6.56641934e+01] [-8.61577008e-02 1.07515690e-03 9.96280932e-01 -3.30160896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62119381699995 meters 0.05929349002396248 Centerline is valid? [True, True] Translation: X:260.44, Y:-65.68, Z:-33.02 [[ 9.34561908e-01 3.46608207e-01 8.03541543e-02 2.60437246e+02] [-3.45267428e-01 9.38009712e-01 -3.04661003e-02 -6.56783864e+01] [-8.59327775e-02 7.28784636e-04 9.96300671e-01 -3.30218315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68119381699995 meters 0.05948946712258636 Centerline is valid? [True, True] Translation: X:260.49, Y:-65.70, Z:-33.03 [[ 9.34437151e-01 3.47305190e-01 7.87801751e-02 2.60490588e+02] [-3.46021154e-01 9.37751945e-01 -2.98437533e-02 -6.57022255e+01] [-8.42411529e-02 6.27504693e-04 9.96445199e-01 -3.30316817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74119381699995 meters 0.059707912681659495 Centerline is valid? [True, True] Translation: X:260.54, Y:-65.73, Z:-33.04 [[ 9.34286284e-01 3.47812692e-01 7.83292498e-02 2.60542464e+02] [-3.46547285e-01 9.37563877e-01 -2.96471797e-02 -6.57289543e+01] [-8.37503405e-02 5.54164531e-04 9.96486615e-01 -3.30411004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80119381699996 meters 0.05951291798401503 Centerline is valid? [True, True] Translation: X:260.59, Y:-65.75, Z:-33.05 [[ 9.33622234e-01 3.49251237e-01 7.98316840e-02 2.60594102e+02] [-3.47944864e-01 9.37029035e-01 -3.01821082e-02 -6.57547029e+01] [-8.53457444e-02 4.01662854e-04 9.96351315e-01 -3.30469016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86119381699996 meters 0.05872480266023667 Centerline is valid? [True, True] Translation: X:260.65, Y:-65.78, Z:-33.05 [[ 9.32962690e-01 3.50570198e-01 8.17383371e-02 2.60647059e+02] [-3.49205837e-01 9.36536414e-01 -3.09002969e-02 -6.57811947e+01] [-8.73836523e-02 2.85319631e-04 9.96174691e-01 -3.30488188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92119381699996 meters 0.05837669276250039 Centerline is valid? [True, True] Translation: X:260.70, Y:-65.81, Z:-33.05 [[ 9.32150281e-01 3.52195264e-01 8.39901771e-02 2.60698560e+02] [-3.50764376e-01 9.35926539e-01 -3.17154107e-02 -6.58105313e+01] [-8.97786532e-02 1.02766993e-04 9.95961738e-01 -3.30533805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98119381699996 meters 0.058606139309936495 Centerline is valid? [True, True] Translation: X:260.75, Y:-65.84, Z:-33.06 [[ 9.31740039e-01 3.53597522e-01 8.26395328e-02 2.60750530e+02] [-3.52218577e-01 9.35397665e-01 -3.11974848e-02 -6.58384631e+01] [-8.83321793e-02 -3.92329306e-05 9.96091072e-01 -3.30624302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04119381699996 meters 0.05896628138285066 Centerline is valid? [True, True] Translation: X:260.80, Y:-65.87, Z:-33.07 [[ 9.32120061e-01 3.52987508e-01 8.09444927e-02 2.60801263e+02] [-3.51663020e-01 9.35628035e-01 -3.05499751e-02 -6.58678667e+01] [-8.65176962e-02 1.10598423e-05 9.96250314e-01 -3.30721983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10119381699997 meters 0.05925085132227943 Centerline is valid? [True, True] Translation: X:260.85, Y:-65.90, Z:-33.08 [[ 9.32818251e-01 3.51457934e-01 7.95451589e-02 2.60851615e+02] [-3.50174007e-01 9.36203664e-01 -3.00144089e-02 -6.58986022e+01] [-8.50192714e-02 1.43341421e-04 9.96379297e-01 -3.30802257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16119381699997 meters 0.059279158434568435 Centerline is valid? [True, True] Translation: X:260.90, Y:-65.93, Z:-33.09 [[ 9.32097999e-01 3.53353015e-01 7.95925107e-02 2.60903355e+02] [-3.52074959e-01 9.35490057e-01 -3.00262795e-02 -6.59259331e+01] [-8.50678787e-02 -3.50949186e-05 9.96375158e-01 -3.30873472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22119381699997 meters 0.05954900729646131 Centerline is valid? [True, True] Translation: X:260.96, Y:-65.95, Z:-33.10 [[ 9.30971027e-01 3.56619422e-01 7.82018889e-02 2.60956061e+02] [-3.55398251e-01 9.34249685e-01 -2.94891570e-02 -6.59512834e+01] [-8.35764961e-02 -3.39263709e-04 9.96501307e-01 -3.30957119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.281193817 meters 0.059826028814949674 Centerline is valid? [True, True] Translation: X:261.01, Y:-65.98, Z:-33.10 [[ 9.30163960e-01 3.58879905e-01 7.74610959e-02 2.61006087e+02] [-3.57690218e-01 9.33383586e-01 -2.92025703e-02 -6.59831637e+01] [-8.27811311e-02 -5.43897838e-04 9.96567604e-01 -3.31024951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.341193817 meters 0.05961419971510278 Centerline is valid? [True, True] Translation: X:261.06, Y:-66.02, Z:-33.11 [[ 9.30885095e-01 3.56671032e-01 7.89855316e-02 2.61055331e+02] [-3.55426630e-01 9.34229974e-01 -2.97702128e-02 -6.60152833e+01] [-8.44088237e-02 -3.60913957e-04 9.96431142e-01 -3.31096971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.401193817 meters 0.05895279845902921 Centerline is valid? [True, True] Translation: X:261.10, Y:-66.06, Z:-33.11 [[ 9.33327640e-01 3.49401949e-01 8.25699344e-02 2.61104406e+02] [-3.48014718e-01 9.36972887e-01 -3.11057165e-02 -6.60596721e+01] [-8.82341878e-02 2.96272453e-04 9.96099714e-01 -3.31115663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.461193817 meters 0.0597668721954338 Centerline is valid? [True, True] Translation: X:261.16, Y:-66.10, Z:-33.12 [[ 9.36119874e-01 3.41700460e-01 8.31888095e-02 2.61155105e+02] [-3.40262287e-01 9.39808354e-01 -3.13342335e-02 -6.61008162e+01] [-8.88884601e-02 1.02658414e-03 9.96041057e-01 -3.31177896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.521193817 meters 0.06061805822306124 Centerline is valid? [True, True] Translation: X:261.21, Y:-66.13, Z:-33.12 [[ 9.37387733e-01 3.38106395e-01 8.35960715e-02 2.61209691e+02] [-3.36637260e-01 9.41106850e-01 -3.15159047e-02 -6.61308655e+01] [-8.93285644e-02 1.40107002e-03 9.96001227e-01 -3.31248378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.581193817 meters 0.06261800382871627 Centerline is valid? [True, True] Translation: X:261.26, Y:-66.17, Z:-33.13 [[ 9.40195398e-01 3.29240137e-01 8.73701710e-02 2.61261650e+02] [-3.27593817e-01 9.44243235e-01 -3.29697486e-02 -6.61683913e+01] [-9.33536574e-02 2.37607808e-03 9.95630177e-01 -3.31274841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.641193817 meters 0.06309721562749955 Centerline is valid? [True, True] Translation: X:261.32, Y:-66.20, Z:-33.13 [[ 9.40250788e-01 3.28340150e-01 9.01177104e-02 2.61316964e+02] [-3.26581469e-01 9.44556052e-01 -3.40354046e-02 -6.61953933e+01] [-9.62964186e-02 2.57104173e-03 9.95349381e-01 -3.31311455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.701193817 meters 0.06318976398287789 Centerline is valid? [True, True] Translation: X:261.37, Y:-66.22, Z:-33.14 [[ 9.39936641e-01 3.29787502e-01 8.80869681e-02 2.61373532e+02] [-3.28111258e-01 9.44052160e-01 -3.32944715e-02 -6.62151074e+01] [-9.41387931e-02 2.39236773e-03 9.95556208e-01 -3.31422916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.761193817 meters 0.06341535043646282 Centerline is valid? [True, True] Translation: X:261.43, Y:-66.24, Z:-33.15 [[ 9.39855844e-01 3.30440445e-01 8.64876034e-02 2.61431585e+02] [-3.28825158e-01 9.43824024e-01 -3.27143300e-02 -6.62350291e+01] [-9.24392156e-02 2.30745440e-03 9.95715656e-01 -3.31536263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.821193817 meters 0.06363303725115528 Centerline is valid? [True, True] Translation: X:261.49, Y:-66.26, Z:-33.16 [[ 9.40512595e-01 3.29296767e-01 8.36642022e-02 2.61489308e+02] [-3.27778094e-01 9.44223502e-01 -3.16780726e-02 -6.62569245e+01] [-8.94291928e-02 2.37033353e-03 9.95990362e-01 -3.31634569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.881193817 meters 0.06670188415990821 Centerline is valid? [True, True] Translation: X:261.54, Y:-66.29, Z:-33.18 [[ 9.41561095e-01 3.27028210e-01 8.07171273e-02 2.61541641e+02] [-3.25605727e-01 9.45011261e-01 -3.05716603e-02 -6.62853015e+01] [-8.62763896e-02 2.50312699e-03 9.96268096e-01 -3.31786665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.941193817 meters 0.06476001561325269 Centerline is valid? [True, True] Translation: X:261.60, Y:-66.31, Z:-33.18 [[ 9.42403687e-01 3.24216681e-01 8.22121292e-02 2.61600370e+02] [-3.22730865e-01 9.45978686e-01 -3.11305979e-02 -6.63056216e+01] [-8.78639811e-02 2.80519868e-03 9.96128532e-01 -3.31783158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.001193817 meters 0.06657599582021051 Centerline is valid? [True, True] Translation: X:261.65, Y:-66.33, Z:-33.19 [[ 9.43366262e-01 3.21644860e-01 8.12691847e-02 2.61654658e+02] [-3.20181237e-01 9.46855521e-01 -3.07993062e-02 -6.63326435e+01] [-8.68566148e-02 3.03415825e-03 9.96216203e-01 -3.31881221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06119381699995 meters 0.06673798559130388 Centerline is valid? [True, True] Translation: X:261.71, Y:-66.35, Z:-33.20 [[ 9.43903186e-01 3.20433351e-01 7.98075344e-02 2.61712080e+02] [-3.19015010e-01 9.47265930e-01 -3.02767424e-02 -6.63548734e+01] [-8.53006363e-02 3.11851222e-03 9.96350378e-01 -3.31961727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12119381699995 meters 0.06680756745683565 Centerline is valid? [True, True] Translation: X:261.77, Y:-66.38, Z:-33.20 [[ 9.43785197e-01 3.20018662e-01 8.28103739e-02 2.61770110e+02] [-3.18489630e-01 9.47405572e-01 -3.14171445e-02 -6.63760238e+01] [-8.85090822e-02 3.27679056e-03 9.96069980e-01 -3.32016580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18119381699995 meters 0.06693452045856146 Centerline is valid? [True, True] Translation: X:261.83, Y:-66.40, Z:-33.21 [[ 9.43571800e-01 3.20600466e-01 8.29915563e-02 2.61829144e+02] [-3.19063856e-01 9.47208898e-01 -3.15207602e-02 -6.63955700e+01] [-8.87159110e-02 3.26249444e-03 9.96051627e-01 -3.32096444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24119381699995 meters 0.06383053900891858 Centerline is valid? [True, True] Translation: X:261.89, Y:-66.40, Z:-33.22 [[ 9.41070967e-01 3.28352069e-01 8.10577257e-02 2.61891502e+02] [-3.26913895e-01 9.44552140e-01 -3.07987152e-02 -6.64016520e+01] [-8.66760701e-02 2.48487984e-03 9.96233449e-01 -3.32166780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30119381699996 meters 0.061049964620143386 Centerline is valid? [True, True] Translation: X:261.95, Y:-66.41, Z:-33.22 [[ 9.37290338e-01 3.38754176e-01 8.20513923e-02 2.61952777e+02] [-3.37319767e-01 9.40873645e-01 -3.11794618e-02 -6.64060958e+01] [-8.77621655e-02 1.54665175e-03 9.96140256e-01 -3.32235533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36119381699996 meters 0.05897809024301095 Centerline is valid? [True, True] Translation: X:262.02, Y:-66.40, Z:-33.23 [[ 9.31330822e-01 3.54652422e-01 8.27318583e-02 2.62016681e+02] [-3.53256286e-01 9.34998212e-01 -3.14378672e-02 -6.64027417e+01] [-8.85036553e-02 5.35056795e-05 9.96075851e-01 -3.32303936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42119381699996 meters 0.05971853504343769 Centerline is valid? [True, True] Translation: X:262.07, Y:-66.42, Z:-33.24 [[ 9.28781336e-01 3.61739629e-01 8.06825337e-02 2.62074453e+02] [-3.60438793e-01 9.32278966e-01 -3.06562410e-02 -6.64152454e+01] [-8.63082063e-02 -6.08170652e-04 9.96268299e-01 -3.32397317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48119381699996 meters 0.060621819366210854 Centerline is valid? [True, True] Translation: X:262.13, Y:-66.44, Z:-33.25 [[ 9.29116922e-01 3.61548416e-01 7.76175757e-02 2.62125363e+02] [-3.60344447e-01 9.32353160e-01 -2.94866870e-02 -6.64433316e+01] [-8.30278569e-02 -5.72482498e-04 9.96547062e-01 -3.32523711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54119381699996 meters 0.060512403731759416 Centerline is valid? [True, True] Translation: X:262.18, Y:-66.48, Z:-33.26 [[ 9.30845056e-01 3.57059597e-01 7.76912234e-02 2.62175581e+02] [-3.55837916e-01 9.34081589e-01 -2.95120887e-02 -6.64764307e+01] [-8.31075158e-02 -1.74301142e-04 9.96540571e-01 -3.32609560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60119381699997 meters 0.05910503203417948 Centerline is valid? [True, True] Translation: X:262.23, Y:-66.52, Z:-33.26 [[ 9.31699392e-01 3.53967272e-01 8.15071370e-02 2.62226722e+02] [-3.52612216e-01 9.35257805e-01 -3.09428932e-02 -6.65187151e+01] [-8.71829576e-02 8.90626074e-05 9.96192313e-01 -3.32571399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66119381699997 meters 0.059171725926118225 Centerline is valid? [True, True] Translation: X:262.28, Y:-66.55, Z:-33.27 [[ 9.30901211e-01 3.55538482e-01 8.37575290e-02 2.62281258e+02] [-3.54113871e-01 9.34661642e-01 -3.17959430e-02 -6.65466359e+01] [-8.95896309e-02 -6.08209861e-05 9.95978762e-01 -3.32662577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72119381699997 meters 0.05881339761435787 Centerline is valid? [True, True] Translation: X:262.34, Y:-66.58, Z:-33.27 [[ 9.28850151e-01 3.61009455e-01 8.31238280e-02 2.62337039e+02] [-3.59625816e-01 9.32561988e-01 -3.15818154e-02 -6.65755320e+01] [-8.89194563e-02 -5.58700480e-04 9.96038663e-01 -3.32700641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.781193817 meters 0.05948363050357407 Centerline is valid? [True, True] Translation: X:262.39, Y:-66.60, Z:-33.28 [[ 9.28531942e-01 3.61997535e-01 8.23784988e-02 2.62390930e+02] [-3.60640022e-01 9.32178845e-01 -3.13269053e-02 -6.66031495e+01] [-8.81317563e-02 -6.20951443e-04 9.96108633e-01 -3.32827549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.841193817 meters 0.059804450767450355 Centerline is valid? [True, True] Translation: X:262.44, Y:-66.65, Z:-33.29 [[ 9.32060129e-01 3.53660723e-01 7.86638984e-02 2.62440708e+02] [-3.52390851e-01 9.35373753e-01 -2.99437982e-02 -6.66454008e+01] [-8.41700912e-02 1.88982365e-04 9.96451384e-01 -3.32938959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.901193817 meters 0.06078386925994775 Centerline is valid? [True, True] Translation: X:262.49, Y:-66.69, Z:-33.30 [[ 9.35593231e-01 3.44356929e-01 7.79975063e-02 2.62491772e+02] [-3.43075535e-01 9.38838247e-01 -2.96971995e-02 -6.66856143e+01] [-8.34534785e-02 1.02546263e-03 9.96511147e-01 -3.33016168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.961193817 meters 0.06492851655771827 Centerline is valid? [True, True] Translation: X:262.54, Y:-66.73, Z:-33.31 [[ 9.41075379e-01 3.29096449e-01 7.79272588e-02 2.62537902e+02] [-3.27764036e-01 9.44293290e-01 -2.96802894e-02 -6.67345609e+01] [-8.33538654e-02 2.38963671e-03 9.96517146e-01 -3.33074940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.021193817 meters 0.06710479792513338 Centerline is valid? [True, True] Translation: X:262.59, Y:-66.77, Z:-33.31 [[ 9.43712139e-01 3.21352500e-01 7.83579556e-02 2.62590204e+02] [-3.19978538e-01 9.46954597e-01 -2.98450474e-02 -6.67674631e+01] [-8.37922069e-02 3.09226944e-03 9.96478451e-01 -3.33129318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.081193817 meters 0.0717322167860442 Centerline is valid? [True, True] Translation: X:262.64, Y:-66.80, Z:-33.32 [[ 9.46319017e-01 3.14074046e-01 7.64055764e-02 2.62640349e+02] [-3.12743859e-01 9.49391486e-01 -2.91047237e-02 -6.68020570e+01] [-8.16798420e-02 3.64697867e-03 9.96651947e-01 -3.33230940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.141193817 meters 0.07374678971468604 Centerline is valid? [True, True] Translation: X:262.70, Y:-66.83, Z:-33.33 [[ 9.47192253e-01 3.11202746e-01 7.73284347e-02 2.62696207e+02] [-3.09830357e-01 9.50335355e-01 -2.94595136e-02 -6.68293839e+01] [-8.26558270e-02 3.94512659e-03 9.96570344e-01 -3.33302395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.201193817 meters 0.0749953903640578 Centerline is valid? [True, True] Translation: X:262.75, Y:-66.85, Z:-33.34 [[ 9.47462256e-01 3.10145404e-01 7.82630260e-02 2.62753229e+02] [-3.08736024e-01 9.50680353e-01 -2.98149954e-02 -6.68533027e+01] [-8.36501050e-02 4.08596729e-03 9.96486811e-01 -3.33371258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.261193817 meters 0.07274286501430945 Centerline is valid? [True, True] Translation: X:262.81, Y:-66.87, Z:-33.34 [[ 9.45731774e-01 3.14661126e-01 8.11158840e-02 2.62812308e+02] [-3.13160042e-01 9.49196230e-01 -3.09403344e-02 -6.68664131e+01] [-8.67306118e-02 3.85900366e-03 9.96224327e-01 -3.33418994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.321193817 meters 0.06711301986761668 Centerline is valid? [True, True] Translation: X:262.88, Y:-66.86, Z:-33.35 [[ 9.41626902e-01 3.26332098e-01 8.27413946e-02 2.62876027e+02] [-3.24814843e-01 9.45250911e-01 -3.15600037e-02 -6.68645454e+01] [-8.85104208e-02 2.84211538e-03 9.96071196e-01 -3.33496877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.381193817 meters 0.06404293241929279 Centerline is valid? [True, True] Translation: X:262.94, Y:-66.87, Z:-33.36 [[ 9.39043037e-01 3.33798676e-01 8.23202198e-02 2.62938290e+02] [-3.32325705e-01 9.42641994e-01 -3.13958106e-02 -6.68712008e+01] [-8.80783761e-02 2.12489224e-03 9.96111281e-01 -3.33592293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.441193817 meters 0.06169806761320148 Centerline is valid? [True, True] Translation: X:263.00, Y:-66.88, Z:-33.36 [[ 9.38177135e-01 3.36348012e-01 8.18148998e-02 2.62999842e+02] [-3.34903479e-01 9.41735914e-01 -3.11950015e-02 -6.68846502e+01] [-8.75404061e-02 1.86634253e-03 9.96159221e-01 -3.33627513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.501193817 meters 0.06397053053227995 Centerline is valid? [True, True] Translation: X:263.06, Y:-66.90, Z:-33.38 [[ 9.37718453e-01 3.37872303e-01 8.07861938e-02 2.63057013e+02] [-3.36467326e-01 9.41190377e-01 -3.08287716e-02 -6.69047346e+01] [-8.64513762e-02 1.72679336e-03 9.96254575e-01 -3.33803259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56119381699995 meters 0.06669750529168024 Centerline is valid? [True, True] Translation: X:263.11, Y:-66.93, Z:-33.39 [[ 9.39464977e-01 3.33354693e-01 7.92477456e-02 2.63111238e+02] [-3.31983413e-01 9.42799063e-01 -3.02810203e-02 -6.69272609e+01] [-8.48090206e-02 2.13902095e-03 9.96394929e-01 -3.33914577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62119381699995 meters 0.06911250079393438 Centerline is valid? [True, True] Translation: X:263.17, Y:-66.95, Z:-33.40 [[ 9.40500699e-01 3.30918617e-01 7.71446935e-02 2.63166638e+02] [-3.29611170e-01 9.43656506e-01 -2.94766933e-02 -6.69508851e+01] [-8.25524785e-02 2.29509799e-03 9.96584076e-01 -3.34025139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68119381699995 meters 0.06471378996050862 Centerline is valid? [True, True] Translation: X:263.23, Y:-66.96, Z:-33.40 [[ 9.39405090e-01 3.33832616e-01 7.79349797e-02 2.63229003e+02] [-3.32508123e-01 9.42630117e-01 -2.97793693e-02 -6.69609010e+01] [-8.34051838e-02 2.06087724e-03 9.96513587e-01 -3.34007789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74119381699995 meters 0.06272387196611845 Centerline is valid? [True, True] Translation: X:263.29, Y:-66.98, Z:-33.40 [[ 9.38122474e-01 3.36666935e-01 8.11270501e-02 2.63288347e+02] [-3.35241639e-01 9.41621904e-01 -3.10037738e-02 -6.69774193e+01] [-8.68289529e-02 1.88817169e-03 9.96221445e-01 -3.34031515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80119381699996 meters 0.06226402494166354 Centerline is valid? [True, True] Translation: X:263.35, Y:-67.00, Z:-33.41 [[ 9.37315488e-01 3.38567171e-01 8.25345180e-02 2.63346654e+02] [-3.37099800e-01 9.40940624e-01 -3.15351794e-02 -6.69954157e+01] [-8.83368573e-02 1.73604258e-03 9.96089146e-01 -3.34100353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86119381699996 meters 0.06077590287458733 Centerline is valid? [True, True] Translation: X:263.41, Y:-67.01, Z:-33.41 [[ 9.36418697e-01 3.40716682e-01 8.38580122e-02 2.63406569e+02] [-3.39208155e-01 9.40164689e-01 -3.20653341e-02 -6.70130540e+01] [-8.97655362e-02 1.58125683e-03 9.95961670e-01 -3.34133492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92119381699996 meters 0.06038391662934755 Centerline is valid? [True, True] Translation: X:263.46, Y:-67.03, Z:-33.42 [[ 9.35158349e-01 3.43878032e-01 8.50103581e-02 2.63463656e+02] [-3.42337911e-01 9.39013389e-01 -3.25362739e-02 -6.70329463e+01] [-9.10143744e-02 1.32429972e-03 9.95848698e-01 -3.34218134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98119381699996 meters 0.059740741701312355 Centerline is valid? [True, True] Translation: X:263.52, Y:-67.05, Z:-33.43 [[ 9.32174376e-01 3.51948344e-01 8.47543288e-02 2.63521642e+02] [-3.50448239e-01 9.36019256e-01 -3.24651087e-02 -6.70489958e+01] [-9.07577251e-02 5.61137165e-04 9.95872844e-01 -3.34338438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04119381699996 meters 0.05910288545199764 Centerline is valid? [True, True] Translation: X:263.58, Y:-67.06, Z:-33.44 [[ 9.26811775e-01 3.66017762e-01 8.39698212e-02 2.63583105e+02] [-3.64600430e-01 9.30607536e-01 -3.21891399e-02 -6.70609893e+01] [-8.99247454e-02 -7.82158958e-04 9.95948256e-01 -3.34371732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10119381699997 meters 0.0606703765496807 Centerline is valid? [True, True] Translation: X:263.64, Y:-67.08, Z:-33.45 [[ 9.22945368e-01 3.75794082e-01 8.33705895e-02 2.63641628e+02] [-3.74433574e-01 9.26701654e-01 -3.19928639e-02 -6.70781651e+01] [-8.92823921e-02 -1.68908228e-03 9.96004920e-01 -3.34458249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16119381699997 meters 0.0656190321160162 Centerline is valid? [True, True] Translation: X:263.70, Y:-67.10, Z:-33.46 [[ 9.17796476e-01 3.88475296e-01 8.20766259e-02 2.63697050e+02] [-3.87206866e-01 9.21454665e-01 -3.14983259e-02 -6.70976063e+01] [-8.78662113e-02 -2.87158053e-03 9.96128146e-01 -3.34580868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22119381699997 meters 0.06728935624134326 Centerline is valid? [True, True] Translation: X:263.75, Y:-67.13, Z:-33.47 [[ 9.15691658e-01 3.93475312e-01 8.17677647e-02 2.63750535e+02] [-3.92235284e-01 9.19329160e-01 -3.13907386e-02 -6.71268578e+01] [-8.75229711e-02 -3.32796488e-03 9.96156943e-01 -3.34655054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.281193817 meters 0.06846107824961369 Centerline is valid? [True, True] Translation: X:263.80, Y:-67.16, Z:-33.47 [[ 9.15028729e-01 3.95283864e-01 8.04555297e-02 2.63801901e+02] [-3.94090537e-01 9.18552551e-01 -3.08846219e-02 -6.71629613e+01] [-8.61108248e-02 -3.44644658e-03 9.96279603e-01 -3.34749870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.341193817 meters 0.06577949326942481 Centerline is valid? [True, True] Translation: X:263.85, Y:-67.22, Z:-33.48 [[ 9.16025806e-01 3.93116351e-01 7.97261469e-02 2.63846599e+02] [-3.91935906e-01 9.19483141e-01 -3.06104408e-02 -6.72189207e+01] [-8.53403127e-02 -3.20758598e-03 9.96346698e-01 -3.34816617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.401193817 meters 0.06753168634600809 Centerline is valid? [True, True] Translation: X:263.90, Y:-67.26, Z:-33.49 [[ 9.16400594e-01 3.92359379e-01 7.91458714e-02 2.63895844e+02] [-3.91191015e-01 9.19806812e-01 -3.04141068e-02 -6.72589802e+01] [-8.47321717e-02 -3.08964829e-03 9.96398973e-01 -3.34940560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.461193817 meters 0.0688273156793792 Centerline is valid? [True, True] Translation: X:263.94, Y:-67.31, Z:-33.50 [[ 9.15079828e-01 3.94994951e-01 8.12889687e-02 2.63941759e+02] [-3.93770155e-01 9.18677009e-01 -3.12668999e-02 -6.73080202e+01] [-8.70285741e-02 -3.39746042e-03 9.96200022e-01 -3.35006515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.521193817 meters 0.0697952794805254 Centerline is valid? [True, True] Translation: X:263.99, Y:-67.36, Z:-33.50 [[ 9.13402290e-01 3.98608076e-01 8.25097498e-02 2.63987574e+02] [-3.97359429e-01 9.17113562e-01 -3.17521230e-02 -6.73616776e+01] [-8.83274632e-02 -3.78356523e-03 9.96084306e-01 -3.35041341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.581193817 meters 0.06464548980600425 Centerline is valid? [True, True] Translation: X:264.03, Y:-67.42, Z:-33.50 [[ 9.14201916e-01 3.96346101e-01 8.45258810e-02 2.64033597e+02] [-3.95025257e-01 9.18093937e-01 -3.25356620e-02 -6.74160057e+01] [-9.04980817e-02 -3.64569329e-03 9.95889957e-01 -3.35027043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.641193817 meters 0.06205110491714544 Centerline is valid? [True, True] Translation: X:264.07, Y:-67.48, Z:-33.50 [[ 9.17211437e-01 3.88314300e-01 8.90796553e-02 2.64073456e+02] [-3.86808439e-01 9.21522113e-01 -3.42961645e-02 -6.74814649e+01] [-9.54065633e-02 -2.99992803e-03 9.95433869e-01 -3.35047681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.701193817 meters 0.06031160275963836 Centerline is valid? [True, True] Translation: X:264.12, Y:-67.53, Z:-33.51 [[ 9.20394447e-01 3.80904690e-01 8.82364896e-02 2.64119005e+02] [-3.79392974e-01 9.24611673e-01 -3.39738923e-02 -6.75328059e+01] [-9.45253032e-02 -2.20692229e-03 9.95520013e-01 -3.35122424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.761193817 meters 0.05945971972380958 Centerline is valid? [True, True] Translation: X:264.16, Y:-67.59, Z:-33.53 [[ 9.23118215e-01 3.74671770e-01 8.64512887e-02 2.64160633e+02] [-3.73193250e-01 9.27156249e-01 -3.32879443e-02 -6.75911250e+01] [-9.26259056e-02 -1.53432963e-03 9.95699798e-01 -3.35272250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.821193817 meters 0.05897192032579516 Centerline is valid? [True, True] Translation: X:264.21, Y:-67.63, Z:-33.54 [[ 9.24278167e-01 3.71928119e-01 8.59031055e-02 2.64209652e+02] [-3.70455407e-01 9.28260705e-01 -3.30885976e-02 -6.76349481e+01] [-9.20470571e-02 -1.24020158e-03 9.95753886e-01 -3.35391119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.881193817 meters 0.05836575965627281 Centerline is valid? [True, True] Translation: X:264.26, Y:-67.68, Z:-33.55 [[ 9.25542691e-01 3.69189866e-01 8.40807362e-02 2.64258616e+02] [-3.67765517e-01 9.29353534e-01 -3.24119406e-02 -6.76792794e+01] [-9.01068893e-02 -9.23360732e-04 9.95931672e-01 -3.35487331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.941193817 meters 0.05838281591180183 Centerline is valid? [True, True] Translation: X:264.30, Y:-67.73, Z:-33.56 [[ 9.27241536e-01 3.65067953e-01 8.33578069e-02 2.64304665e+02] [-3.63649085e-01 9.30980744e-01 -3.21589312e-02 -6.77298743e+01] [-8.93447082e-02 -4.93893477e-04 9.96000642e-01 -3.35589192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.001193817 meters 0.0581628606774403 Centerline is valid? [True, True] Translation: X:264.36, Y:-67.77, Z:-33.57 [[ 9.27851105e-01 3.63206259e-01 8.46967517e-02 2.64355374e+02] [-3.61731347e-01 9.31708713e-01 -3.27002701e-02 -6.77696580e+01] [-9.07896443e-02 -2.96488275e-04 9.95870048e-01 -3.35656071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06119381699995 meters 0.058156888980980474 Centerline is valid? [True, True] Translation: X:264.40, Y:-67.82, Z:-33.57 [[ 9.29334594e-01 3.58800801e-01 8.71733750e-02 2.64402408e+02] [-3.57216343e-01 9.33414141e-01 -3.36827136e-02 -6.78165401e+01] [-9.34542455e-02 1.62756730e-04 9.95623562e-01 -3.35734742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12119381699995 meters 0.05830104089658006 Centerline is valid? [True, True] Translation: X:264.45, Y:-67.86, Z:-33.58 [[ 9.30169318e-01 3.56386367e-01 8.81691430e-02 2.64452886e+02] [-3.54752447e-01 9.34338574e-01 -3.40900261e-02 -6.78558968e+01] [-9.45290520e-02 4.31277105e-04 9.95522010e-01 -3.35798202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18119381699995 meters 0.0584772578177934 Centerline is valid? [True, True] Translation: X:264.50, Y:-67.90, Z:-33.59 [[ 9.30721447e-01 3.54458450e-01 9.00932621e-02 2.64502483e+02] [-3.52740696e-01 9.35071529e-01 -3.48602513e-02 -6.78990461e+01] [-9.66001550e-02 6.65623595e-04 9.95323047e-01 -3.35861826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24119381699995 meters 0.058523285662398526 Centerline is valid? [True, True] Translation: X:264.56, Y:-67.93, Z:-33.59 [[ 9.29955824e-01 3.56071869e-01 9.16241756e-02 2.64556701e+02] [-3.54300290e-01 9.34458421e-01 -3.54790543e-02 -6.79305999e+01] [-9.82520757e-02 5.31481158e-04 9.95161418e-01 -3.35934505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30119381699996 meters 0.05965258442304223 Centerline is valid? [True, True] Translation: X:264.61, Y:-67.96, Z:-33.61 [[ 9.27556592e-01 3.62872708e-01 8.92309777e-02 2.64609039e+02] [-3.61221572e-01 9.31838705e-01 -3.45774977e-02 -6.79609678e+01] [-9.56961089e-02 -1.59568120e-04 9.95410583e-01 -3.36084032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36119381699996 meters 0.059833509139076375 Centerline is valid? [True, True] Translation: X:264.67, Y:-67.99, Z:-33.61 [[ 9.26534155e-01 3.65650518e-01 8.85107823e-02 2.64665730e+02] [-3.64036498e-01 9.30752126e-01 -3.43206530e-02 -6.79863726e+01] [-9.49309634e-02 -4.21897961e-04 9.95483769e-01 -3.36128484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42119381699996 meters 0.061619978977048434 Centerline is valid? [True, True] Translation: X:264.72, Y:-68.01, Z:-33.63 [[ 9.25544361e-01 3.69042745e-01 8.47058936e-02 2.64718511e+02] [-3.67576697e-01 9.29412149e-01 -3.28698702e-02 -6.80135322e+01] [-9.08570738e-02 -7.13389558e-04 9.95863687e-01 -3.36308547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48119381699996 meters 0.06254627868360911 Centerline is valid? [True, True] Translation: X:264.77, Y:-68.05, Z:-33.64 [[ 9.23727656e-01 3.73681020e-01 8.42004277e-02 2.64770314e+02] [-3.72250142e-01 9.27556564e-01 -3.26902363e-02 -6.80506960e+01] [-9.03163803e-02 -1.14674576e-03 9.95912464e-01 -3.36356905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54119381699996 meters 0.06292608813672455 Centerline is valid? [True, True] Translation: X:264.82, Y:-68.08, Z:-33.64 [[ 9.22046197e-01 3.77295693e-01 8.64798869e-02 2.64824313e+02] [-3.75799715e-01 9.26091601e-01 -3.35994300e-02 -6.80845663e+01] [-9.27652171e-02 -1.51889015e-03 9.95686852e-01 -3.36378882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60119381699997 meters 0.06444330609896469 Centerline is valid? [True, True] Translation: X:264.88, Y:-68.12, Z:-33.64 [[ 9.19035488e-01 3.84138220e-01 8.83832560e-02 2.64876749e+02] [-3.82604584e-01 9.23272894e-01 -3.43641488e-02 -6.81212049e+01] [-9.48024476e-02 -2.23396665e-03 9.95493599e-01 -3.36421800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66119381699997 meters 0.0661441839001513 Centerline is valid? [True, True] Translation: X:264.93, Y:-68.15, Z:-33.65 [[ 9.16841157e-01 3.88986654e-01 8.99537469e-02 2.64929534e+02] [-3.87418515e-01 9.21239259e-01 -3.50017372e-02 -6.81537362e+01] [-9.64841318e-02 -2.75871383e-03 9.95330700e-01 -3.36498684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72119381699997 meters 0.06787252758122603 Centerline is valid? [True, True] Translation: X:264.98, Y:-68.19, Z:-33.66 [[ 9.15300092e-01 3.92526346e-01 9.02707530e-02 2.64981383e+02] [-3.90961905e-01 9.19735468e-01 -3.51490872e-02 -6.81877068e+01] [-9.68221559e-02 -3.12046281e-03 9.95296806e-01 -3.36591970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.781193817 meters 0.06987488448137429 Centerline is valid? [True, True] Translation: X:265.03, Y:-68.23, Z:-33.68 [[ 9.14939584e-01 3.94582786e-01 8.47937626e-02 2.65028418e+02] [-3.93209428e-01 9.18855123e-01 -3.30395050e-02 -6.82306360e+01] [-9.09500031e-02 -3.11255587e-03 9.95850596e-01 -3.36773256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.841193817 meters 0.06629557658473643 Centerline is valid? [True, True] Translation: X:265.08, Y:-68.27, Z:-33.68 [[ 9.18985087e-01 3.85527422e-01 8.26741582e-02 2.65078164e+02] [-3.84184108e-01 9.22693883e-01 -3.22268499e-02 -6.82747358e+01] [-8.87072744e-02 -2.14610329e-03 9.96055427e-01 -3.36805611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.901193817 meters 0.06525506527843287 Centerline is valid? [True, True] Translation: X:265.13, Y:-68.30, Z:-33.69 [[ 9.21370324e-01 3.80311386e-01 8.02494591e-02 2.65133624e+02] [-3.79025411e-01 9.24857140e-01 -3.12891192e-02 -6.82997057e+01] [-8.61188935e-02 -1.58771837e-03 9.96283602e-01 -3.36948511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.961193817 meters 0.06534064614278173 Centerline is valid? [True, True] Translation: X:265.19, Y:-68.32, Z:-33.71 [[ 9.22539641e-01 3.77557748e-01 7.98170249e-02 2.65190917e+02] [-3.76273469e-01 9.25985123e-01 -3.11420718e-02 -6.83186750e+01] [-8.56673081e-02 -1.30323307e-03 9.96322947e-01 -3.37102637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.021193817 meters 0.06424947950156853 Centerline is valid? [True, True] Translation: X:265.24, Y:-68.35, Z:-33.71 [[ 9.24189988e-01 3.73070099e-01 8.18020066e-02 2.65244471e+02] [-3.71701374e-01 9.27802735e-01 -3.19401717e-02 -6.83486257e+01] [-8.78120485e-02 -8.87131285e-04 9.96136666e-01 -3.37128471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.081193817 meters 0.062420151737139884 Centerline is valid? [True, True] Translation: X:265.30, Y:-68.39, Z:-33.71 [[ 9.28428168e-01 3.61823677e-01 8.42897644e-02 2.65296005e+02] [-3.60321997e-01 9.32246526e-01 -3.29313345e-02 -6.83888197e+01] [-9.04941765e-02 2.02922327e-04 9.95896964e-01 -3.37099915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.141193817 meters 0.06255693470833343 Centerline is valid? [True, True] Translation: X:265.35, Y:-68.42, Z:-33.72 [[ 9.30583883e-01 3.56203290e-01 8.44562235e-02 2.65351386e+02] [-3.54670555e-01 9.34408166e-01 -3.30178266e-02 -6.84166800e+01] [-9.06776433e-02 7.71721615e-04 9.95879998e-01 -3.37165866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.201193817 meters 0.06512844338230982 Centerline is valid? [True, True] Translation: X:265.40, Y:-68.44, Z:-33.74 [[ 9.28605830e-01 3.59789109e-01 9.07910228e-02 2.65403924e+02] [-3.58031657e-01 9.33033530e-01 -3.55213295e-02 -6.84418820e+01] [-9.74912559e-02 4.79253319e-04 9.95236266e-01 -3.37447118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.261193817 meters 0.06551685625417746 Centerline is valid? [True, True] Translation: X:265.46, Y:-68.48, Z:-33.73 [[ 9.37211148e-01 3.37463272e-01 8.80556852e-02 2.65459305e+02] [-3.35709230e-01 9.41334689e-01 -3.44719505e-02 -6.84787235e+01] [-9.45228883e-02 2.74639000e-03 9.95518900e-01 -3.37278035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.321193817 meters 0.0668334098757179 Centerline is valid? [True, True] Translation: X:265.52, Y:-68.50, Z:-33.73 [[ 9.38883608e-01 3.32765833e-01 8.81162313e-02 2.65515726e+02] [-3.30986272e-01 9.43003903e-01 -3.45213830e-02 -6.85048415e+01] [-9.45814869e-02 3.24629770e-03 9.95511830e-01 -3.37349296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.381193817 meters 0.06797282752833142 Centerline is valid? [True, True] Translation: X:265.57, Y:-68.53, Z:-33.74 [[ 9.39896745e-01 3.29821714e-01 8.83840803e-02 2.65572385e+02] [-3.28016025e-01 9.44036465e-01 -3.46502508e-02 -6.85291229e+01] [-9.48661998e-02 3.57626326e-03 9.95483608e-01 -3.37415280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.441193817 meters 0.06980407740557462 Centerline is valid? [True, True] Translation: X:265.63, Y:-68.55, Z:-33.75 [[ 9.40913576e-01 3.26659088e-01 8.93055541e-02 2.65630112e+02] [-3.24798623e-01 9.45133928e-01 -3.50387265e-02 -6.85501325e+01] [-9.58514276e-02 3.96209238e-03 9.95387766e-01 -3.37508275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.501193817 meters 0.06960577029081821 Centerline is valid? [True, True] Translation: X:265.69, Y:-68.57, Z:-33.76 [[ 9.40898451e-01 3.26684199e-01 8.93730306e-02 2.65689618e+02] [-3.24819945e-01 9.45125202e-01 -3.50764236e-02 -6.85692929e+01] [-9.59276169e-02 3.97320971e-03 9.95380383e-01 -3.37582439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56119381699995 meters 0.07021467811079889 Centerline is valid? [True, True] Translation: X:265.75, Y:-68.59, Z:-33.77 [[ 9.40175183e-01 3.29111117e-01 8.80709794e-02 2.65746738e+02] [-3.27308930e-01 9.44283965e-01 -3.45927524e-02 -6.85893424e+01] [-9.45488730e-02 3.69682928e-03 9.95513357e-01 -3.37704741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62119381699995 meters 0.06938557385622945 Centerline is valid? [True, True] Translation: X:265.80, Y:-68.61, Z:-33.78 [[ 9.39436613e-01 3.31917712e-01 8.53784648e-02 2.65803804e+02] [-3.30233844e-01 9.43302468e-01 -3.35568610e-02 -6.86114002e+01] [-9.16758331e-02 3.32968518e-03 9.95783337e-01 -3.37794742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68119381699995 meters 0.0665357218245396 Centerline is valid? [True, True] Translation: X:265.86, Y:-68.63, Z:-33.79 [[ 9.37049829e-01 3.38265284e-01 8.66845705e-02 2.65863417e+02] [-3.36554274e-01 9.41046710e-01 -3.40926631e-02 -6.86284693e+01] [-9.31065942e-02 2.77246145e-03 9.95652286e-01 -3.37861370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74119381699995 meters 0.0634774450218572 Centerline is valid? [True, True] Translation: X:265.92, Y:-68.64, Z:-33.79 [[ 9.31947032e-01 3.51708188e-01 8.81820841e-02 2.65923360e+02] [-3.49994783e-01 9.36108518e-01 -3.47058119e-02 -6.86405250e+01] [-9.47543183e-02 1.48070899e-03 9.95499586e-01 -3.37942830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80119381699996 meters 0.06121701119079745 Centerline is valid? [True, True] Translation: X:265.99, Y:-68.64, Z:-33.80 [[ 9.26859561e-01 3.65098246e-01 8.73763380e-02 2.65988986e+02] [-3.63473430e-01 9.30968986e-01 -3.44065689e-02 -6.86439780e+01] [-9.39064388e-02 1.31079996e-04 9.95581018e-01 -3.37957287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86119381699996 meters 0.06263361209170008 Centerline is valid? [True, True] Translation: X:266.05, Y:-68.65, Z:-33.81 [[ 9.21018136e-01 3.79806212e-01 8.64455612e-02 2.66053804e+02] [-3.78277961e-01 9.25065121e-01 -3.40632590e-02 -6.86468146e+01] [-9.29052109e-02 -1.32757131e-03 9.95674073e-01 -3.38073420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92119381699996 meters 0.06096603107143091 Centerline is valid? [True, True] Translation: X:266.11, Y:-68.68, Z:-33.81 [[ 9.23718392e-01 3.72339949e-01 9.00405167e-02 2.66107396e+02] [-3.70643795e-01 9.28096239e-01 -3.55041910e-02 -6.86826281e+01] [-9.67858936e-02 -5.77084627e-04 9.95305058e-01 -3.38071087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98119381699996 meters 0.061030710888297375 Centerline is valid? [True, True] Translation: X:266.16, Y:-68.71, Z:-33.82 [[ 9.25937850e-01 3.67097403e-01 8.87614519e-02 2.66160449e+02] [-3.65422595e-01 9.30182507e-01 -3.50261394e-02 -6.87112644e+01] [-9.54223547e-02 -3.41195639e-06 9.95436876e-01 -3.38188094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04119381699996 meters 0.06095281386781079 Centerline is valid? [True, True] Translation: X:266.22, Y:-68.74, Z:-33.82 [[ 9.27709743e-01 3.62854540e-01 8.76995760e-02 2.66216294e+02] [-3.61198645e-01 9.31845686e-01 -3.46288493e-02 -6.87377680e+01] [-9.42877067e-02 4.48552880e-04 9.95544890e-01 -3.38245444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10119381699997 meters 0.06163321348191872 Centerline is valid? [True, True] Translation: X:266.27, Y:-68.76, Z:-33.84 [[ 9.29584929e-01 3.58490369e-01 8.57701239e-02 2.66270603e+02] [-3.56885757e-01 9.33532995e-01 -3.38925363e-02 -6.87648389e+01] [-9.22193885e-02 8.95855335e-04 9.95738310e-01 -3.38378742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16119381699997 meters 0.06243546178358322 Centerline is valid? [True, True] Translation: X:266.32, Y:-68.80, Z:-33.84 [[ 9.31455725e-01 3.53737430e-01 8.52060035e-02 2.66323944e+02] [-3.52133003e-01 9.35343765e-01 -3.36807005e-02 -6.87993284e+01] [-9.16110286e-02 1.36823546e-03 9.95793928e-01 -3.38449093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22119381699997 meters 0.06205768323016541 Centerline is valid? [True, True] Translation: X:266.38, Y:-68.83, Z:-33.85 [[ 9.31737385e-01 3.52978821e-01 8.52724949e-02 2.66380354e+02] [-3.51366384e-01 9.35630161e-01 -3.37322774e-02 -6.88264951e+01] [-9.16902976e-02 1.46773575e-03 9.95786491e-01 -3.38467888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.281193817 meters 0.06204791971650178 Centerline is valid? [True, True] Translation: X:266.44, Y:-68.85, Z:-33.85 [[ 9.31679300e-01 3.53091036e-01 8.54423886e-02 2.66438871e+02] [-3.51470601e-01 9.35587799e-01 -3.38214066e-02 -6.88495181e+01] [-9.18808918e-02 1.48021673e-03 9.95768904e-01 -3.38540849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.341193817 meters 0.06160441485156798 Centerline is valid? [True, True] Translation: X:266.50, Y:-68.87, Z:-33.86 [[ 9.31277350e-01 3.53732014e-01 8.71559526e-02 2.66497880e+02] [-3.52045959e-01 9.35345656e-01 -3.45274781e-02 -6.88683284e+01] [-9.37344160e-02 1.47175738e-03 9.95596150e-01 -3.38598412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.401193817 meters 0.06235827332327055 Centerline is valid? [True, True] Translation: X:266.55, Y:-68.89, Z:-33.87 [[ 9.31358962e-01 3.53618962e-01 8.67416549e-02 2.66553557e+02] [-3.51946189e-01 9.35388360e-01 -3.43874439e-02 -6.88911185e+01] [-9.32971866e-02 1.49865916e-03 9.95637177e-01 -3.38718937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.461193817 meters 0.06222445760884448 Centerline is valid? [True, True] Translation: X:266.61, Y:-68.91, Z:-33.88 [[ 9.30997634e-01 3.54860486e-01 8.55420380e-02 2.66611185e+02] [-3.53237065e-01 9.34918256e-01 -3.39327233e-02 -6.89132390e+01] [-9.20161957e-02 1.37466670e-03 9.95756562e-01 -3.38799978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.521193817 meters 0.062426528835892205 Centerline is valid? [True, True] Translation: X:266.67, Y:-68.94, Z:-33.89 [[ 9.32489087e-01 3.51277882e-01 8.40711129e-02 2.66667643e+02] [-3.49693606e-01 9.36269673e-01 -3.33688577e-02 -6.89396137e+01] [-9.04349751e-02 1.71696505e-03 9.95900882e-01 -3.38857756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.581193817 meters 0.06490187880839099 Centerline is valid? [True, True] Translation: X:266.72, Y:-68.98, Z:-33.89 [[ 9.35635234e-01 3.42864343e-01 8.38495754e-02 2.66719052e+02] [-3.41252004e-01 9.39381461e-01 -3.33097573e-02 -6.89757717e+01] [-9.01874648e-02 2.55194685e-03 9.95921537e-01 -3.38940781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.641193817 meters 0.06538207405813906 Centerline is valid? [True, True] Translation: X:266.78, Y:-69.00, Z:-33.90 [[ 9.35918816e-01 3.41711966e-01 8.53750702e-02 2.66776368e+02] [-3.40034728e-01 9.39800795e-01 -3.39241627e-02 -6.90016152e+01] [-9.18278512e-02 2.71977341e-03 9.95771183e-01 -3.38986783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.701193817 meters 0.06379286566227058 Centerline is valid? [True, True] Translation: X:266.84, Y:-69.02, Z:-33.90 [[ 9.34222194e-01 3.45300765e-01 8.94218815e-02 2.66835562e+02] [-3.43473827e-01 9.38488726e-01 -3.55617948e-02 -6.90180794e+01] [-9.62009426e-02 2.50854213e-03 9.95358772e-01 -3.39018994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.761193817 meters 0.06202595861579632 Centerline is valid? [True, True] Translation: X:266.90, Y:-69.03, Z:-33.91 [[ 9.32391796e-01 3.49885782e-01 9.06944202e-02 2.66895868e+02] [-3.48025745e-01 9.36790045e-01 -3.60900764e-02 -6.90330626e+01] [-9.75890346e-02 2.08609803e-03 9.95224612e-01 -3.39059530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.821193817 meters 0.06018768303447483 Centerline is valid? [True, True] Translation: X:266.96, Y:-69.04, Z:-33.91 [[ 9.29285918e-01 3.58271687e-01 8.98280628e-02 2.66957824e+02] [-3.56483894e-01 9.33616581e-01 -3.57674907e-02 -6.90431856e+01] [-9.66794481e-02 1.21596788e-03 9.95314827e-01 -3.39145555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.881193817 meters 0.05973230479047719 Centerline is valid? [True, True] Translation: X:267.02, Y:-69.06, Z:-33.93 [[ 9.26781893e-01 3.65160749e-01 8.79371915e-02 2.67018902e+02] [-3.63476394e-01 9.30944343e-01 -3.50362795e-02 -6.90555687e+01] [-9.46585050e-02 5.07896177e-04 9.95509673e-01 -3.39253279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.941193817 meters 0.06012252816115583 Centerline is valid? [True, True] Translation: X:267.08, Y:-69.07, Z:-33.94 [[ 9.24290767e-01 3.72215120e-01 8.45132050e-02 2.67080173e+02] [-3.70687029e-01 9.28146470e-01 -3.36935724e-02 -6.90672704e+01] [-9.09818900e-02 -1.85291002e-04 9.95852530e-01 -3.39377102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00119381699994 meters 0.06191269190448196 Centerline is valid? [True, True] Translation: X:267.14, Y:-69.08, Z:-33.95 [[ 9.21280143e-01 3.80757489e-01 7.91620659e-02 2.67140902e+02] [-3.79446368e-01 9.24674458e-01 -3.15848286e-02 -6.90781471e+01] [-8.52253004e-02 -9.39282997e-04 9.96361263e-01 -3.39541276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06119381699995 meters 0.06286336670959124 Centerline is valid? [True, True] Translation: X:267.20, Y:-69.10, Z:-33.96 [[ 9.19712722e-01 3.84918211e-01 7.72429896e-02 2.67199442e+02] [-3.83684157e-01 9.22949790e-01 -3.08245566e-02 -6.90969838e+01] [-8.31563342e-02 -1.28717447e-03 9.96535683e-01 -3.39623515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12119381699995 meters 0.06331646367014807 Centerline is valid? [True, True] Translation: X:267.26, Y:-69.12, Z:-33.97 [[ 9.18269880e-01 3.88068888e-01 7.86318337e-02 2.67258067e+02] [-3.86799952e-01 9.21629008e-01 -3.13969437e-02 -6.91185157e+01] [-8.46535559e-02 -1.58392180e-03 9.96409186e-01 -3.39672011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18119381699995 meters 0.06372495534275809 Centerline is valid? [True, True] Translation: X:267.32, Y:-69.14, Z:-33.97 [[ 9.16843817e-01 3.91017472e-01 8.06396400e-02 2.67316136e+02] [-3.89691773e-01 9.20381338e-01 -3.22259812e-02 -6.91387819e+01] [-8.68201415e-02 -1.87841266e-03 9.96222232e-01 -3.39718951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24119381699995 meters 0.06372979123302755 Centerline is valid? [True, True] Translation: X:267.37, Y:-69.16, Z:-33.98 [[ 9.15969542e-01 3.92646455e-01 8.26350998e-02 2.67373733e+02] [-3.91258706e-01 9.19687181e-01 -3.30471372e-02 -6.91609732e+01] [-8.89742833e-02 -2.06153107e-03 9.96031790e-01 -3.39769128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30119381699996 meters 0.06390043934034602 Centerline is valid? [True, True] Translation: X:267.43, Y:-69.18, Z:-33.98 [[ 9.15615136e-01 3.93325611e-01 8.33299871e-02 2.67430969e+02] [-3.91915067e-01 9.19396788e-01 -3.33485687e-02 -6.91845421e+01] [-8.97301686e-02 -2.12382316e-03 9.95963848e-01 -3.39846911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36119381699996 meters 0.06464401940677875 Centerline is valid? [True, True] Translation: X:267.49, Y:-69.21, Z:-34.00 [[ 9.16348472e-01 3.91551628e-01 8.36229698e-02 2.67486613e+02] [-3.90121590e-01 9.20154106e-01 -3.34897935e-02 -6.92067510e+01] [-9.00590022e-02 -1.93480488e-03 9.95934552e-01 -3.39978438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42119381699996 meters 0.06260746669365486 Centerline is valid? [True, True] Translation: X:267.54, Y:-69.24, Z:-34.00 [[ 9.17856363e-01 3.88282673e-01 8.23180604e-02 2.67539742e+02] [-3.86882113e-01 9.21538985e-01 -3.29868216e-02 -6.92400670e+01] [-8.86675131e-02 -1.57022096e-03 9.96060042e-01 -3.40006631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48119381699996 meters 0.06096332025217375 Centerline is valid? [True, True] Translation: X:267.59, Y:-69.28, Z:-34.01 [[ 9.22537580e-01 3.76757833e-01 8.35341239e-02 2.67589707e+02] [-3.75265946e-01 9.26311685e-01 -3.34982288e-02 -6.92796071e+01] [-8.99993552e-02 -4.44137071e-04 9.95941725e-01 -3.40089385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54119381699996 meters 0.06290056018738822 Centerline is valid? [True, True] Translation: X:267.63, Y:-69.34, Z:-34.02 [[ 9.31534951e-01 3.54293462e-01 8.19681537e-02 2.67633429e+02] [-3.52767610e-01 9.35132703e-01 -3.28913606e-02 -6.93359630e+01] [-8.83042951e-02 1.72374223e-03 9.96092054e-01 -3.40174952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60119381699997 meters 0.06470720828967295 Centerline is valid? [True, True] Translation: X:267.69, Y:-69.37, Z:-34.02 [[ 9.34052051e-01 3.48004668e-01 8.02466025e-02 2.67685929e+02] [-3.46517043e-01 9.37489997e-01 -3.22249236e-02 -6.93690526e+01] [-8.64448109e-02 2.29294057e-03 9.96254002e-01 -3.40247365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66119381699997 meters 0.06703695483595469 Centerline is valid? [True, True] Translation: X:267.74, Y:-69.39, Z:-34.04 [[ 9.37029248e-01 3.39792160e-01 8.07308937e-02 2.67741696e+02] [-3.38253832e-01 9.40495464e-01 -3.24442252e-02 -6.93945569e+01] [-8.69513327e-02 3.09365372e-03 9.96207757e-01 -3.40353522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72119381699997 meters 0.0694606098339733 Centerline is valid? [True, True] Translation: X:267.80, Y:-69.42, Z:-34.04 [[ 9.37691650e-01 3.37455593e-01 8.28135979e-02 2.67797238e+02] [-3.35826698e-01 9.41335287e-01 -3.32912425e-02 -6.94184092e+01] [-8.91896779e-02 3.40590298e-03 9.96008836e-01 -3.40445682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.781193817 meters 0.0712286238595608 Centerline is valid? [True, True] Translation: X:267.85, Y:-69.44, Z:-34.05 [[ 9.39868268e-01 3.30202078e-01 8.72595314e-02 2.67854292e+02] [-3.28359729e-01 9.43900295e-01 -3.51015933e-02 -6.94441582e+01] [-9.39549164e-02 4.33835763e-03 9.95567000e-01 -3.40452838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.841193817 meters 0.07461962680941493 Centerline is valid? [True, True] Translation: X:267.91, Y:-69.47, Z:-34.05 [[ 9.41623628e-01 3.24256251e-01 9.05694570e-02 2.67909458e+02] [-3.22241132e-01 9.45955290e-01 -3.64587859e-02 -6.94736204e+01] [-9.74966462e-02 5.14524993e-03 9.95222553e-01 -3.40515836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.901193817 meters 0.0756369444012458 Centerline is valid? [True, True] Translation: X:267.96, Y:-69.50, Z:-34.06 [[ 9.44087634e-01 3.15733597e-01 9.49254173e-02 2.67964146e+02] [-3.13473463e-01 9.48826655e-01 -3.82408936e-02 -6.95026700e+01] [-1.02141701e-01 6.34615547e-03 9.94749616e-01 -3.40571099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.961193817 meters 0.0750933040119614 Centerline is valid? [True, True] Translation: X:268.02, Y:-69.53, Z:-34.06 [[ 9.43004237e-01 3.18471593e-01 9.65342074e-02 2.68019901e+02] [-3.16146740e-01 9.47912348e-01 -3.89026886e-02 -6.95309289e+01] [-1.03895368e-01 6.16642522e-03 9.94569117e-01 -3.40602834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.021193817 meters 0.07099205268869474 Centerline is valid? [True, True] Translation: X:268.08, Y:-69.55, Z:-34.07 [[ 9.40202076e-01 3.26306264e-01 9.76948199e-02 2.68079101e+02] [-3.23963903e-01 9.45248717e-01 -3.93986458e-02 -6.95478247e+01] [-1.05201928e-01 5.39309351e-03 9.94436257e-01 -3.40683956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.081193817 meters 0.06929670113515407 Centerline is valid? [True, True] Translation: X:268.14, Y:-69.57, Z:-34.08 [[ 9.38502954e-01 3.31450070e-01 9.67112039e-02 2.68137803e+02] [-3.29179268e-01 9.43460593e-01 -3.90271651e-02 -6.95662830e+01] [-1.04178766e-01 4.79178639e-03 9.94547044e-01 -3.40801838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.141193817 meters 0.0665678610292777 Centerline is valid? [True, True] Translation: X:268.20, Y:-69.58, Z:-34.09 [[ 9.35577145e-01 3.39655713e-01 9.65888269e-02 2.68196993e+02] [-3.37431150e-01 9.40541749e-01 -3.90056104e-02 -6.95835963e+01] [-1.04094303e-01 3.90067867e-03 9.94559782e-01 -3.40879212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.201193817 meters 0.06529657749068286 Centerline is valid? [True, True] Translation: X:268.25, Y:-69.61, Z:-34.09 [[ 9.34149081e-01 3.43338691e-01 9.73860246e-02 2.68254816e+02] [-3.41094018e-01 9.39204964e-01 -3.93561544e-02 -6.96055450e+01] [-1.04977928e-01 3.54672504e-03 9.94468227e-01 -3.40938884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.261193817 meters 0.06654138362211175 Centerline is valid? [True, True] Translation: X:268.31, Y:-69.63, Z:-34.10 [[ 9.35047020e-01 3.41075416e-01 9.67193374e-02 2.68310044e+02] [-3.38848194e-01 9.40028314e-01 -3.90982238e-02 -6.96310670e+01] [-1.04254359e-01 3.78550484e-03 9.94543462e-01 -3.41040228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.321193817 meters 0.06816262728670097 Centerline is valid? [True, True] Translation: X:268.37, Y:-69.66, Z:-34.11 [[ 9.36130810e-01 3.37771478e-01 9.78239999e-02 2.68365834e+02] [-3.35472083e-01 9.41218657e-01 -3.95717216e-02 -6.96583037e+01] [-1.05439973e-01 4.22708674e-03 9.94416685e-01 -3.41098091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.381193817 meters 0.07030159232675487 Centerline is valid? [True, True] Translation: X:268.42, Y:-69.68, Z:-34.12 [[ 9.40236777e-01 3.26051601e-01 9.82097559e-02 2.68422426e+02] [-3.23667331e-01 9.45335442e-01 -3.97537505e-02 -6.96846942e+01] [-1.05802937e-01 5.59064870e-03 9.94371401e-01 -3.41166440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.441193817 meters 0.08202257245946691 Centerline is valid? [True, True] Translation: X:268.47, Y:-69.73, Z:-34.13 [[ 9.44629097e-01 3.13662955e-01 9.63920134e-02 2.68469346e+02] [-3.11298875e-01 9.49509463e-01 -3.90485567e-02 -6.97289275e+01] [-1.03773215e-01 6.87967749e-03 9.94577192e-01 -3.41302131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50119381699994 meters 0.09275437190626432 Centerline is valid? [True, True] Translation: X:268.52, Y:-69.77, Z:-34.14 [[ 9.49571485e-01 2.98586308e-01 9.57089956e-02 2.68518685e+02] [-2.96177638e-01 9.54344906e-01 -3.87892688e-02 -6.97699969e+01] [-1.02921337e-01 8.48631934e-03 9.94653297e-01 -3.41357695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56119381699995 meters 0.08946899081395433 Centerline is valid? [True, True] Translation: X:268.58, Y:-69.78, Z:-34.14 [[ 9.52046100e-01 2.90987997e-01 9.45209434e-02 2.68579501e+02] [-2.88600583e-01 9.56682434e-01 -3.83200340e-02 -6.97840305e+01] [-1.01577196e-01 9.20363957e-03 9.94785085e-01 -3.41414586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62119381699995 meters 0.10100219279779966 Centerline is valid? [True, False] Translation: X:268.54, Y:-69.76, Z:-34.13 [[ 9.59810933e-01 2.59543081e-01 1.06772478e-01 2.68538798e+02] [-2.58075183e-01 9.65730929e-01 -2.75857385e-02 -6.97574011e+01] [-1.10273172e-01 -1.07823361e-03 9.93900732e-01 -3.41332298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68119381699995 meters 0.10366095370376702 Centerline is valid? [False, False] Translation: X:268.51, Y:-69.74, Z:-34.13 [[ 9.65334717e-01 2.34073295e-01 1.15492758e-01 2.68506901e+02] [-2.32961997e-01 9.72208584e-01 -2.32201842e-02 -6.97389298e+01] [-1.17718276e-01 -4.49017362e-03 9.93036880e-01 -3.41281068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74119381699995 meters 0.10916110760098414 Centerline is valid? [False, False] Translation: X:268.47, Y:-69.73, Z:-34.12 [[ 9.69154727e-01 2.17880250e-01 1.15183818e-01 2.68472973e+02] [-2.16620588e-01 9.75973076e-01 -2.34962770e-02 -6.97250141e+01] [-1.17535680e-01 -2.17965843e-03 9.93066268e-01 -3.41178102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80119381699996 meters 0.11123334849286032 Centerline is valid? [False, False] Translation: X:268.45, Y:-69.71, Z:-34.11 [[ 9.71164874e-01 2.05474369e-01 1.20909350e-01 2.68445123e+02] [-2.04913985e-01 9.78629095e-01 -1.71858629e-02 -6.97096325e+01] [-1.21856662e-01 -8.08571024e-03 9.92514773e-01 -3.41109538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86119381699996 meters 0.1011651978547081 Centerline is valid? [False, False] Translation: X:268.43, Y:-69.70, Z:-34.11 [[ 9.71587252e-01 2.04493617e-01 1.19166152e-01 2.68431078e+02] [-2.04940215e-01 9.78736472e-01 -8.62712561e-03 -6.97020144e+01] [-1.18396451e-01 -1.60399315e-02 9.92836845e-01 -3.41065452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92119381699996 meters 0.09708668956512595 Centerline is valid? [False, True] Translation: X:268.40, Y:-69.69, Z:-34.10 [[ 9.70244498e-01 2.07752704e-01 1.24356055e-01 2.68399114e+02] [-2.08256839e-01 9.78032055e-01 -9.07677566e-03 -6.96858617e+01] [-1.23509933e-01 -1.70913074e-02 9.92196142e-01 -3.41027742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98119381699996 meters 0.08786298355909807 Centerline is valid? [True, True] Translation: X:268.46, Y:-69.68, Z:-34.13 [[ 9.67419338e-01 2.24910977e-01 1.16253505e-01 2.68463310e+02] [-2.21959673e-01 9.74318694e-01 -3.79075907e-02 -6.96764315e+01] [-1.21793797e-01 1.08689463e-02 9.92495913e-01 -3.41340478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04119381699996 meters 0.08191120191661568 Centerline is valid? [True, True] Translation: X:268.53, Y:-69.68, Z:-34.14 [[ 9.65874389e-01 2.30966434e-01 1.17222745e-01 2.68525375e+02] [-2.28008373e-01 9.72908253e-01 -3.82323562e-02 -6.96842555e+01] [-1.22877367e-01 1.01998862e-02 9.92369445e-01 -3.41417571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10119381699997 meters 0.0838288778183213 Centerline is valid? [True, True] Translation: X:268.58, Y:-69.71, Z:-34.15 [[ 9.66218455e-01 2.29491413e-01 1.17284217e-01 2.68582213e+02] [-2.26515569e-01 9.73254864e-01 -3.82840198e-02 -6.97075915e+01] [-1.22933288e-01 1.04240254e-02 9.92360190e-01 -3.41521043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16119381699997 meters 0.08078696402204107 Centerline is valid? [True, True] Translation: X:268.64, Y:-69.72, Z:-34.16 [[ 9.65782445e-01 2.32964292e-01 1.13982052e-01 2.68642127e+02] [-2.30177670e-01 9.72436885e-01 -3.72121541e-02 -6.97222809e+01] [-1.19509455e-01 9.70272186e-03 9.92785650e-01 -3.41599737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22119381699997 meters 0.08302980389727158 Centerline is valid? [True, True] Translation: X:268.70, Y:-69.74, Z:-34.18 [[ 9.66100725e-01 2.33711612e-01 1.09673480e-01 2.68697700e+02] [-2.31134241e-01 9.72261781e-01 -3.58328250e-02 -6.97437650e+01] [-1.15005880e-01 9.26882169e-03 9.93321567e-01 -3.41756382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.281193817 meters 0.08473039109079039 Centerline is valid? [True, True] Translation: X:268.75, Y:-69.77, Z:-34.19 [[ 9.66587077e-01 2.32370878e-01 1.08227531e-01 2.68753674e+02] [-2.29850013e-01 9.72582522e-01 -3.53865819e-02 -6.97665398e+01] [-1.13483016e-01 9.32811336e-03 9.93496146e-01 -3.41891485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.341193817 meters 0.08199825980640853 Centerline is valid? [True, True] Translation: X:268.81, Y:-69.79, Z:-34.19 [[ 9.66456472e-01 2.33768489e-01 1.06368140e-01 2.68812090e+02] [-2.31339499e-01 9.72250368e-01 -3.48031265e-02 -6.97874488e+01] [-1.11552337e-01 9.02855476e-03 9.93717546e-01 -3.41934964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.401193817 meters 0.0832334967484468 Centerline is valid? [True, True] Translation: X:268.87, Y:-69.81, Z:-34.20 [[ 9.65952120e-01 2.34962190e-01 1.08301761e-01 2.68868441e+02] [-2.32447692e-01 9.71962065e-01 -3.54656769e-02 -6.98106188e+01] [-1.13598296e-01 9.08365152e-03 9.93485236e-01 -3.41992403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.461193817 meters 0.08464422183409244 Centerline is valid? [True, True] Translation: X:268.93, Y:-69.83, Z:-34.21 [[ 9.66280751e-01 2.32855405e-01 1.09908461e-01 2.68926075e+02] [-2.30248797e-01 9.72464988e-01 -3.60185988e-02 -6.98301256e+01] [-1.15269255e-01 9.49778792e-03 9.93288876e-01 -3.42080287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.521193817 meters 0.08667146026818207 Centerline is valid? [True, True] Translation: X:268.98, Y:-69.85, Z:-34.22 [[ 9.67482498e-01 2.28199671e-01 1.09098701e-01 2.68982588e+02] [-2.25598908e-01 9.73562939e-01 -3.57817943e-02 -6.98526076e+01] [-1.14379845e-01 1.00057120e-02 9.93386700e-01 -3.42173727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.581193817 meters 0.09125840560881908 Centerline is valid? [True, True] Translation: X:269.04, Y:-69.88, Z:-34.23 [[ 9.69239803e-01 2.20888623e-01 1.08546862e-01 2.69037373e+02] [-2.18267766e-01 9.75238989e-01 -3.56103409e-02 -6.98808597e+01] [-1.13725051e-01 1.08226786e-02 9.93453312e-01 -3.42251193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.641193817 meters 0.09760621760240476 Centerline is valid? [True, True] Translation: X:269.09, Y:-69.91, Z:-34.24 [[ 9.70594782e-01 2.15704828e-01 1.06851283e-01 2.69092029e+02] [-2.13131340e-01 9.76393487e-01 -3.50826138e-02 -6.99073584e+01] [-1.11896386e-01 1.12776446e-02 9.93655883e-01 -3.42361852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.701193817 meters 0.09411070182412777 Centerline is valid? [True, True] Translation: X:269.15, Y:-69.92, Z:-34.25 [[ 9.71294960e-01 2.13531451e-01 1.04835210e-01 2.69153185e+02] [-2.11041032e-01 9.76870633e-01 -3.44303453e-02 -6.99154471e+01] [-1.09762399e-01 1.13174899e-02 9.93893420e-01 -3.42451868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.761193817 meters 0.0995079451009753 Centerline is valid? [True, True] Translation: X:269.21, Y:-69.93, Z:-34.26 [[ 9.70567561e-01 2.16528964e-01 1.05422096e-01 2.69209812e+02] [-2.14025065e-01 9.76213480e-01 -3.46484084e-02 -6.99342710e+01] [-1.10416855e-01 1.10656502e-02 9.93823762e-01 -3.42569246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.821193817 meters 0.09326996596296969 Centerline is valid? [True, True] Translation: X:269.27, Y:-69.94, Z:-34.26 [[ 9.70675589e-01 2.15462469e-01 1.06605937e-01 2.69272134e+02] [-2.12892919e-01 9.76446322e-01 -3.50597315e-02 -6.99414178e+01] [-1.11649032e-01 1.13359763e-02 9.93683043e-01 -3.42623827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.881193817 meters 0.09422502290944912 Centerline is valid? [True, True] Translation: X:269.33, Y:-69.96, Z:-34.27 [[ 9.71041747e-01 2.13802191e-01 1.06614020e-01 2.69330612e+02] [-2.11219461e-01 9.76808652e-01 -3.50884038e-02 -6.99588047e+01] [-1.11643475e-01 1.15533491e-02 9.93681163e-01 -3.42712955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.941193817 meters 0.09431450117315698 Centerline is valid? [True, True] Translation: X:269.39, Y:-69.98, Z:-34.28 [[ 9.70738715e-01 2.14938184e-01 1.07088391e-01 2.69388027e+02] [-2.12336106e-01 9.76559940e-01 -3.52712490e-02 -6.99781955e+01] [-1.12159371e-01 1.15004350e-02 9.93623679e-01 -3.42783425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00119381699994 meters 0.09829076435857788 Centerline is valid? [True, True] Translation: X:269.44, Y:-70.00, Z:-34.29 [[ 9.70542640e-01 2.14902731e-01 1.08921075e-01 2.69443309e+02] [-2.12207306e-01 9.76565030e-01 -3.58998732e-02 -7.00031814e+01] [-1.14083494e-01 1.17285097e-02 9.93401932e-01 -3.42851578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06119381699995 meters 0.09446678731737386 Centerline is valid? [True, True] Translation: X:269.50, Y:-70.02, Z:-34.29 [[ 9.69906621e-01 2.15247493e-01 1.13796592e-01 2.69504141e+02] [-2.12302569e-01 9.76482698e-01 -3.75387833e-02 -7.00167677e+01] [-1.19200532e-01 1.22498058e-02 9.92794629e-01 -3.42877867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12119381699995 meters 0.09612146795002072 Centerline is valid? [True, True] Translation: X:269.56, Y:-70.04, Z:-34.29 [[ 9.70048583e-01 2.13544857e-01 1.15777117e-01 2.69561928e+02] [-2.10482718e-01 9.76850843e-01 -3.82028161e-02 -7.00362103e+01] [-1.21254989e-01 1.26895054e-02 9.92540278e-01 -3.42948628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18119381699995 meters 0.09333502603966808 Centerline is valid? [True, True] Translation: X:269.63, Y:-70.05, Z:-34.28 [[ 9.66490717e-01 2.20571413e-01 1.31316202e-01 2.69626391e+02] [-2.16687453e-01 9.75278235e-01 -4.33464114e-02 -7.00457059e+01] [-1.37630813e-01 1.34393309e-02 9.90392419e-01 -3.42814965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24119381699995 meters 0.07680795367451677 Centerline is valid? [True, True] Translation: X:269.70, Y:-70.02, Z:-34.28 [[ 9.62419731e-01 2.35611897e-01 1.35038127e-01 2.69699402e+02] [-2.31644014e-01 9.71777408e-01 -4.46062803e-02 -7.00208607e+01] [-1.41736771e-01 1.16491906e-02 9.89835837e-01 -3.42834125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30119381699996 meters 0.06287353767258222 Centerline is valid? [True, True] Translation: X:269.78, Y:-69.97, Z:-34.30 [[ 9.53502691e-01 2.70704104e-01 1.32483609e-01 2.69780241e+02] [-2.67216415e-01 9.62641739e-01 -4.37752139e-02 -6.99697569e+01] [-1.39384382e-01 6.33798912e-03 9.90218069e-01 -3.42966188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36119381699996 meters 0.05532863324264639 Centerline is valid? [True, True] Translation: X:269.86, Y:-69.93, Z:-34.31 [[ 9.44969142e-01 3.00069370e-01 1.30352191e-01 2.69858307e+02] [-2.96967171e-01 9.53915283e-01 -4.30828614e-02 -6.99260953e+01] [-1.37272794e-01 2.00165313e-03 9.90531258e-01 -3.43063994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42119381699996 meters 0.066107768878363 Centerline is valid? [True, True] Translation: X:269.96, Y:-69.82, Z:-34.31 [[ 9.25291371e-01 3.56623727e-01 1.29055791e-01 2.69955889e+02] [-3.54116864e-01 9.34227385e-01 -4.26666084e-02 -6.98228670e+01] [-1.35783379e-01 -6.22178737e-03 9.90719013e-01 -3.43076054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48119381699996 meters 0.08613757185555317 Centerline is valid? [True, True] Translation: X:270.04, Y:-69.75, Z:-34.31 [[ 9.08226692e-01 3.98578179e-01 1.27513572e-01 2.70044692e+02] [-3.96530642e-01 9.17052381e-01 -4.21708443e-02 -6.97495627e+01] [-1.33745004e-01 -1.22623524e-02 9.90939912e-01 -3.43133285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54119381699996 meters 0.10409055047449317 Centerline is valid? [True, False] Translation: X:270.00, Y:-69.65, Z:-34.29 [[ 9.00722179e-01 4.18305057e-01 1.17134265e-01 2.70004777e+02] [-4.19397853e-01 9.07655185e-01 -1.63556362e-02 -6.96537183e+01] [-1.13159168e-01 -3.43939749e-02 9.92981398e-01 -3.42900544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60119381699997 meters 0.08665059603834994 Centerline is valid? [False, True] Translation: X:270.00, Y:-69.61, Z:-34.28 [[ 9.21173123e-01 3.78213211e-01 9.16233841e-02 2.69997819e+02] [-3.79231560e-01 9.25277514e-01 -6.70417398e-03 -6.96115398e+01] [-8.73126643e-02 -2.85707740e-02 9.95771163e-01 -3.42818423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66119381699997 meters 0.06133994947059896 Centerline is valid? [True, True] Translation: X:270.03, Y:-69.71, Z:-34.31 [[ 9.64081047e-01 2.54981816e-01 7.43774726e-02 2.70029809e+02] [-2.54002894e-01 9.66941806e-01 -2.24960815e-02 -6.97115691e+01] [-7.76547794e-02 2.79595252e-03 9.96976388e-01 -3.43087478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72119381699997 meters 0.10418084080092707 Centerline is valid? [True, False] Translation: X:270.04, Y:-69.72, Z:-34.29 [[ 9.85877760e-01 1.61102849e-01 4.57265172e-02 2.70040220e+02] [-1.61363349e-01 9.86892957e-01 2.03974726e-03 -6.97230487e+01] [-4.47985687e-02 -9.38952544e-03 9.98951913e-01 -3.42862816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2410.96 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%| | 0/9392 [00:00