+ python -m lidar_slam --no-model /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 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 0.00864 Adjusted end_distance from 9.223372036854776e+18 to 434.03864 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00864 meters 0.2979995725293949 Centerline is valid? [0, False] SLAMing on 0.06863999999999999 meters 0.3206715037292212 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:0.01 [[ 9.99977936e-01 9.70188358e-04 6.57169461e-03 3.22388767e-02] [-9.74193852e-04 9.99999342e-01 6.06333328e-04 4.34697434e-03] [-6.57110203e-03 -6.12722054e-04 9.99978222e-01 8.53007407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12863999999999998 meters 0.3228857870939037 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 9.99995767e-01 1.11796986e-03 2.68636809e-03 5.48461771e-02] [-1.11829410e-03 9.99999368e-01 1.19199241e-04 7.76818499e-03] [-2.68623313e-03 -1.22202886e-04 9.99996385e-01 -1.50862718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18863999999999997 meters 0.3236599631621375 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.04 [[ 9.99992700e-01 2.91160275e-03 -2.47440873e-03 8.30233907e-02] [-2.91016814e-03 9.99995595e-01 5.83184596e-04 1.48104966e-02] [ 2.47609584e-03 -5.75979393e-04 9.99996769e-01 -4.39158372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24863999999999997 meters 0.3099278744714849 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.03 [[ 0.99992321 0.00443467 -0.01157195 0.14277928] [-0.00444745 0.99998953 -0.00107887 0.02603696] [ 0.01156704 0.00113026 0.99993246 -0.03270228] [ 0. 0. 0. 1. ]] SLAMing on 0.3086399999999999 meters 0.27101286439239997 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.02 [[ 9.99920032e-01 -3.06720353e-03 -1.22687069e-02 1.98313966e-01] [ 3.05644600e-03 9.99994928e-01 -8.95481273e-04 3.02295459e-02] [ 1.22713913e-02 8.57911023e-04 9.99924336e-01 2.24451417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3686399999999999 meters 0.2777355238953665 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.03 [[ 9.99995513e-01 -1.53539731e-03 -2.57216371e-03 2.01133158e-01] [ 1.53592588e-03 9.99998800e-01 2.03532888e-04 3.33304829e-02] [ 2.57184812e-03 -2.07482627e-04 9.99996671e-01 -2.96986803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4286399999999999 meters 0.28265296964633874 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.05 [[ 9.99979418e-01 -1.44118200e-03 -6.25193261e-03 2.23369801e-01] [ 1.43891639e-03 9.99998897e-01 -3.66868818e-04 3.71428022e-02] [ 6.25245444e-03 3.57865259e-04 9.99980389e-01 -5.21646200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4886399999999999 meters 0.2900289934916886 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:-0.07 [[ 9.99949081e-01 -1.95773246e-03 -9.89963454e-03 2.45495107e-01] [ 1.95275141e-03 9.99997962e-01 -5.12795928e-04 3.60488224e-02] [ 9.90061828e-03 4.93438292e-04 9.99950866e-01 -7.43379711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5486399999999999 meters 0.2718497647419847 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.03 [[ 9.99885601e-01 -2.60756542e-03 -1.48991942e-02 2.91654074e-01] [ 2.60657690e-03 9.99996599e-01 -8.57656972e-05 3.74999805e-02] [ 1.48993672e-02 4.69199902e-05 9.99888997e-01 -3.35666499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6086399999999998 meters 0.275029318474364 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.05 [[ 9.99968784e-01 -3.34508402e-03 7.15828947e-03 2.98958742e-01] [ 3.34465097e-03 9.99994404e-01 7.24667562e-05 3.38344710e-02] [-7.15849181e-03 -4.85225143e-05 9.99974376e-01 -4.76700877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6686399999999999 meters 0.27587747421329717 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.06 [[ 0.9999739 0.00311439 0.00651956 0.33334165] [-0.0030951 0.99999081 -0.00296759 0.03566945] [-0.00652874 0.00294733 0.99997434 -0.06077467] [ 0. 0. 0. 1. ]] SLAMing on 0.7286399999999998 meters 0.2601304847197718 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.02 [[ 0.99999668 0.00136662 0.0021841 0.37895271] [-0.00135679 0.99998897 -0.00449578 0.03256376] [-0.00219022 0.0044928 0.99998751 -0.02321531] [ 0. 0. 0. 1. ]] SLAMing on 0.7886399999999999 meters 0.3387823008926478 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.06 [[ 0.99988666 0.00169217 0.01495987 0.36913461] [-0.0016363 0.99999164 -0.00374638 0.02744799] [-0.01496608 0.00372148 0.99988108 -0.06231595] [ 0. 0. 0. 1. ]] SLAMing on 0.8486399999999998 meters Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.06 [[ 0.99999058 0.00140465 -0.00410797 0.4127808 ] [-0.0014221 0.99998996 -0.00424936 0.02629062] [ 0.00410196 0.00425516 0.99998253 -0.05829376] [ 0. 0. 0. 1. ]] SLAMing on 0.9086399999999999 meters 0.2666660765827106 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:-0.03 [[ 9.99923954e-01 6.08731179e-04 -1.23173089e-02 4.68169144e-01] [-6.62322814e-04 9.99990331e-01 -4.34730944e-03 2.66043790e-02] [ 1.23145435e-02 4.35513688e-03 9.99914689e-01 -2.88889818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9686399999999998 meters SLAMing on 1.0286399999999998 meters SLAMing on 1.0886399999999998 meters 0.275837031020385 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.04 [[ 0.99995479 -0.00105321 0.00945002 0.47091804] [ 0.00110352 0.99998524 -0.0053205 0.02218908] [-0.00944427 0.00533069 0.99994119 -0.03829344] [ 0. 0. 0. 1. ]] SLAMing on 1.1486399999999999 meters 0.2744900532499719 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.02 [[ 0.99985524 0.00494873 0.016279 0.51550312] [-0.00482351 0.99995855 -0.0077224 0.02409083] [-0.01631655 0.00764276 0.99983767 -0.01868215] [ 0. 0. 0. 1. ]] SLAMing on 1.2086399999999997 meters 0.2813366793687665 Centerline is valid? [False, False] Translation: X:0.55, Y:0.01, Z:-0.03 [[ 0.99987687 -0.00107461 0.01565553 0.54706866] [ 0.00110881 0.99999702 -0.00217603 0.01380837] [-0.01565315 0.00219312 0.99987508 -0.02888916] [ 0. 0. 0. 1. ]] SLAMing on 1.2686399999999998 meters 0.2769509528078323 Centerline is valid? [False, False] Translation: X:0.58, Y:0.01, Z:-0.01 [[ 0.99984775 -0.00242572 0.01727958 0.57946146] [ 0.00250125 0.99998741 -0.00435064 0.01274571] [-0.01726881 0.0043932 0.99984123 -0.00652278] [ 0. 0. 0. 1. ]] SLAMing on 1.3286399999999998 meters 0.2968163771107033 Centerline is valid? [False, False] Translation: X:0.59, Y:0.00, Z:-0.04 [[ 9.99336678e-01 -1.07874801e-02 3.47826698e-02 5.87235074e-01] [ 1.08414873e-02 9.99940298e-01 -1.36446822e-03 2.21351229e-04] [-3.47658740e-02 1.74065902e-03 9.99393968e-01 -4.41418733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3886399999999999 meters 0.2987507243958857 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.05 [[ 0.99990892 -0.00365733 0.01299154 0.64371073] [ 0.00368543 0.99999092 -0.0021394 -0.00235788] [-0.01298359 0.00218708 0.99991332 -0.04840247] [ 0. 0. 0. 1. ]] SLAMing on 1.4486399999999997 meters 0.30534105017386864 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.00, Z:-0.05 [[ 0.99991501 0.00456903 0.01221092 0.66457134] [-0.00453228 0.99998512 -0.0030354 -0.00241247] [-0.01222461 0.0029798 0.99992084 -0.04518897] [ 0. 0. 0. 1. ]] SLAMing on 1.5086399999999998 meters 0.3065520568488831 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.00, Z:-0.03 [[ 9.99805776e-01 7.13791896e-03 1.83700729e-02 6.94393648e-01] [-7.13298757e-03 9.99974504e-01 -3.33956317e-04 -1.93364016e-03] [-1.83719883e-02 2.02857954e-04 9.99831200e-01 -3.38635365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5686399999999998 meters 0.32154438242824906 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.05 [[ 9.99832449e-01 -1.42583090e-03 1.82493946e-02 6.83632103e-01] [ 1.41346961e-03 9.99998763e-01 6.90234171e-04 -4.57266938e-03] [-1.82503562e-02 -6.64323558e-04 9.99833228e-01 -4.68754919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6286399999999996 meters 0.41802740698191104 Centerline is valid? [False, False] Translation: X:0.72, Y:0.00, Z:-0.02 [[ 0.99957329 -0.00704368 0.02834837 0.71799892] [ 0.00692862 0.99996736 0.00415498 0.00128423] [-0.02837671 -0.00395679 0.99958947 -0.01945073] [ 0. 0. 0. 1. ]] SLAMing on 1.6886399999999997 meters 0.43281911242220195 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.03 [[ 0.99962256 -0.00113736 0.02744877 0.75054822] [ 0.00118187 0.99999801 -0.00160547 0.01308099] [-0.02744689 0.00163731 0.99962192 -0.03022944] [ 0. 0. 0. 1. ]] SLAMing on 1.7486399999999998 meters 0.4437516751312747 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.04 [[ 9.99668542e-01 -9.82007149e-04 2.57262908e-02 7.61687012e-01] [ 1.05002875e-03 9.99995988e-01 -2.63067457e-03 1.92700687e-02] [-2.57236043e-02 2.65681595e-03 9.99665563e-01 -4.10390688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8086399999999998 meters 0.4520705181813841 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.04 [[ 0.9996679 -0.00722221 0.02473702 0.78623047] [ 0.00718879 0.99997312 0.00143932 0.01631227] [-0.02474675 -0.00126102 0.99969296 -0.04274891] [ 0. 0. 0. 1. ]] SLAMing on 1.8686399999999996 meters 0.35758826776914476 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.99973704 -0.00263551 0.02277952 0.81013395] [ 0.00271728 0.99998997 -0.00355957 0.01792906] [-0.02276991 0.00362054 0.99973418 -0.041966 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9286399999999997 meters 0.36998814630506904 Centerline is valid? [False, False] Translation: X:0.83, Y:0.01, Z:-0.04 [[ 0.99975387 0.00204812 0.02209069 0.83238811] [-0.00188906 0.99997216 -0.00721877 0.01303698] [-0.02210486 0.00717526 0.99972991 -0.04081199] [ 0. 0. 0. 1. ]] SLAMing on 1.9886399999999997 meters 0.3757719744527874 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.05 [[ 0.99978417 0.00333908 0.02050509 0.83893142] [-0.00325589 0.99998634 -0.00408947 0.00391731] [-0.02051846 0.00402183 0.99978138 -0.04655519] [ 0. 0. 0. 1. ]] SLAMing on 2.04864 meters 0.39011261988559204 Centerline is valid? [False, False] Translation: X:0.85, Y:0.00, Z:-0.06 [[ 0.9998145 0.00325179 0.01898396 0.84982013] [-0.00318245 0.99998816 -0.00368129 0.00145727] [-0.01899571 0.00362019 0.99981301 -0.05781631] [ 0. 0. 0. 1. ]] SLAMing on 2.10864 meters 0.4000129374507059 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.05 [[ 0.99981595 -0.00142327 0.01913242 0.86945219] [ 0.00137909 0.99999635 0.00232181 -0.0038621 ] [-0.01913566 -0.002295 0.99981426 -0.05480523] [ 0. 0. 0. 1. ]] SLAMing on 2.16864 meters 0.40505668676848133 Centerline is valid? [False, False] Translation: X:0.89, Y:0.00, Z:-0.05 [[ 0.99980456 0.00244939 0.01961727 0.88693787] [-0.00235313 0.99998508 -0.0049288 0.0047267 ] [-0.01962904 0.00488168 0.99979541 -0.04947334] [ 0. 0. 0. 1. ]] SLAMing on 2.22864 meters 0.42141766807738673 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.07 [[ 0.99984595 0.00437546 0.01699825 0.90359319] [-0.00432053 0.99998533 -0.00326693 0.00606332] [-0.01701229 0.00319299 0.99985018 -0.06650926] [ 0. 0. 0. 1. ]] SLAMing on 2.28864 meters 0.3784876420311769 Centerline is valid? [False, False] Translation: X:0.92, Y:0.00, Z:-0.06 [[ 9.99854581e-01 -2.40283171e-04 1.70516426e-02 9.23289722e-01] [ 2.03018986e-04 9.99997588e-01 2.18706959e-03 3.93249305e-03] [-1.70521269e-02 -2.18328974e-03 9.99852218e-01 -6.36120535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34864 meters 0.39368847248789346 Centerline is valid? [False, False] Translation: X:0.93, Y:0.01, Z:-0.07 [[ 9.99880771e-01 -5.84029924e-05 1.54415330e-02 9.34198056e-01] [ 4.33269473e-05 9.99999522e-01 9.76663588e-04 1.05208962e-02] [-1.54415827e-02 -9.75878107e-04 9.99880295e-01 -7.48083261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4086399999999997 meters 0.25722671302254174 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.07 [[ 9.99997224e-01 9.75155194e-05 -2.35403636e-03 9.72061706e-01] [-9.75362050e-05 9.99999995e-01 -8.67246508e-06 1.75452895e-02] [ 2.35403550e-03 8.90204479e-06 9.99997229e-01 -7.27902577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4686399999999997 meters 0.1987525940550548 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.07 [[ 9.99999690e-01 5.44338374e-04 5.68215635e-04 1.00741222e+00] [-5.43811475e-04 9.99999422e-01 -9.27029925e-04 2.72344974e-02] [-5.68719925e-04 9.26720636e-04 9.99999409e-01 -6.59986926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5286399999999998 meters 0.12769448899815583 Centerline is valid? [False, False] Translation: X:1.05, Y:0.04, Z:-0.06 [[ 0.99999573 0.0016068 0.00244257 1.04722522] [-0.00160422 0.99999815 -0.00105759 0.03627595] [-0.00244427 0.00105366 0.99999646 -0.06307953] [ 0. 0. 0. 1. ]] SLAMing on 2.58864 meters 0.03222579046661897 Centerline is valid? [False, True] Translation: X:1.07, Y:0.04, Z:-0.07 [[ 0.99998592 -0.00509768 0.00147616 1.072186 ] [ 0.00509482 0.99998515 0.00193523 0.03765637] [-0.001486 -0.00192768 0.99999704 -0.06532191] [ 0. 0. 0. 1. ]] SLAMing on 2.64864 meters 0.031430428233468845 Centerline is valid? [True, True] Translation: X:1.13, Y:0.05, Z:-0.06 [[ 9.99903130e-01 -8.69721138e-03 1.08669274e-02 1.13336374e+00] [ 8.69612904e-03 9.99962177e-01 1.46848034e-04 4.82416213e-02] [-1.08677935e-02 -5.23336054e-05 9.99940942e-01 -6.43187677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70864 meters 0.03094651591678439 Centerline is valid? [True, True] Translation: X:1.19, Y:0.05, Z:-0.06 [[ 9.99677141e-01 -1.45358419e-02 2.08404239e-02 1.19446064e+00] [ 1.45331745e-02 9.99894349e-01 2.79449560e-04 5.35944165e-02] [-2.08422841e-02 2.35181802e-05 9.99782776e-01 -6.32989264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76864 meters 0.030763950914059188 Centerline is valid? [True, True] Translation: X:1.26, Y:0.06, Z:-0.06 [[ 9.99446043e-01 -2.21321282e-02 2.48551090e-02 1.25672624e+00] [ 2.21304670e-02 9.99755033e-01 3.41938036e-04 5.76714300e-02] [-2.48565882e-02 2.08306553e-04 9.99691006e-01 -6.23162531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8286399999999996 meters 0.030814217846425455 Centerline is valid? [True, True] Translation: X:1.32, Y:0.06, Z:-0.06 [[ 9.99134370e-01 -2.76702479e-02 3.10623228e-02 1.31943077e+00] [ 2.76711002e-02 9.99617001e-01 4.02513248e-04 5.78843550e-02] [-3.10615636e-02 4.57363825e-04 9.99517369e-01 -6.27698510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8886399999999997 meters 0.030869379667482533 Centerline is valid? [True, True] Translation: X:1.38, Y:0.06, Z:-0.06 [[ 9.98933541e-01 -2.92780317e-02 3.57012154e-02 1.38208949e+00] [ 2.92803105e-02 9.99571134e-01 4.59118750e-04 5.60743774e-02] [-3.56993464e-02 5.86713552e-04 9.99362403e-01 -6.38345319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9486399999999997 meters 0.030374709190643216 Centerline is valid? [True, True] Translation: X:1.44, Y:0.05, Z:-0.06 [[ 9.98803912e-01 -2.69876359e-02 4.07727015e-02 1.44470373e+00] [ 2.69895801e-02 9.99635588e-01 5.02862676e-04 5.14749478e-02] [-4.07714145e-02 5.98176884e-04 9.99168321e-01 -6.48615446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0086399999999998 meters 0.030244721496469246 Centerline is valid? [True, True] Translation: X:1.51, Y:0.05, Z:-0.07 [[ 9.98790037e-01 -2.48901252e-02 4.24139626e-02 1.50721040e+00] [ 2.48911983e-02 9.99690040e-01 5.02888167e-04 4.68989728e-02] [-4.24133329e-02 5.53454661e-04 9.99099996e-01 -6.64948046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06864 meters 0.029984930602014476 Centerline is valid? [True, True] Translation: X:1.57, Y:0.04, Z:-0.07 [[ 9.98663973e-01 -2.22207731e-02 4.66530318e-02 1.56922318e+00] [ 2.22202657e-02 9.99752959e-01 5.29544536e-04 4.30363761e-02] [-4.66532735e-02 5.07805712e-04 9.98911014e-01 -6.94779149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12864 meters 0.029793892199807194 Centerline is valid? [True, True] Translation: X:1.63, Y:0.04, Z:-0.07 [[ 9.98442824e-01 -1.84444043e-02 5.26472357e-02 1.63102666e+00] [ 1.84399348e-02 9.99829807e-01 5.70678160e-04 3.59046082e-02] [-5.26488013e-02 4.01022079e-04 9.98613010e-01 -7.24993426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18864 meters 0.029786603506613343 Centerline is valid? [True, True] Translation: X:1.69, Y:0.03, Z:-0.07 [[ 9.98341556e-01 -1.20956855e-02 5.62834992e-02 1.69453222e+00] [ 1.20820781e-02 9.99926840e-01 5.82051947e-04 2.84187751e-02] [-5.62864218e-02 9.89349893e-05 9.98414658e-01 -7.46403373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2486399999999995 meters 0.03003246589630294 Centerline is valid? [True, True] Translation: X:1.76, Y:0.02, Z:-0.08 [[ 9.98081387e-01 -5.13723356e-03 6.17021328e-02 1.75701024e+00] [ 5.10972255e-03 9.99986763e-01 6.03651468e-04 2.00733714e-02] [-6.17044172e-02 -2.87212515e-04 9.98094426e-01 -7.73775676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3086399999999996 meters 0.03030725020548757 Centerline is valid? [True, True] Translation: X:1.82, Y:0.02, Z:-0.08 [[ 9.97892081e-01 1.57531924e-03 6.48761285e-02 1.81868908e+00] [-1.61789443e-03 9.99998509e-01 6.03721986e-04 1.59294868e-02] [-6.48750807e-02 -7.07412117e-04 9.97893142e-01 -8.02780418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3686399999999996 meters 0.03132020852712761 Centerline is valid? [True, True] Translation: X:1.88, Y:0.01, Z:-0.08 [[ 9.97613032e-01 1.36014054e-02 6.76996266e-02 1.87959377e+00] [-1.36738321e-02 9.99906325e-01 6.06530216e-04 9.07091050e-03] [-6.76850351e-02 -1.53079577e-03 9.97705564e-01 -8.14387763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4286399999999997 meters 0.032395242883846626 Centerline is valid? [True, True] Translation: X:1.94, Y:0.01, Z:-0.08 [[ 9.97429434e-01 2.32010622e-02 6.77955441e-02 1.94059515e+00] [-2.32954725e-02 9.99728442e-01 6.02225294e-04 7.38165932e-03] [-6.77631614e-02 -2.18000647e-03 9.97699054e-01 -8.45561176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4886399999999997 meters 0.03394164924411939 Centerline is valid? [True, True] Translation: X:2.00, Y:0.01, Z:-0.09 [[ 9.97226198e-01 3.37196387e-02 6.63543165e-02 2.00184284e+00] [-3.38331039e-02 9.99427324e-01 5.86689197e-04 8.65149628e-03] [-6.62965340e-02 -2.83003432e-03 9.97795951e-01 -8.65673694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54864 meters 0.034817394670840454 Centerline is valid? [True, True] Translation: X:2.06, Y:0.01, Z:-0.09 [[ 9.96878961e-01 3.92158387e-02 6.85160931e-02 2.06277476e+00] [-3.93495152e-02 9.99225327e-01 6.01970055e-04 1.32030589e-02] [-6.84394088e-02 -3.29616633e-03 9.97649830e-01 -8.87740200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60864 meters 0.035517602845738114 Centerline is valid? [True, True] Translation: X:2.12, Y:0.02, Z:-0.09 [[ 9.96537171e-01 4.29651800e-02 7.11875046e-02 2.12344875e+00] [-4.31188855e-02 9.99069754e-01 6.23147716e-04 1.69469559e-02] [-7.10945091e-02 -3.69051572e-03 9.97462757e-01 -9.10861711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6686399999999995 meters 0.03548223201259045 Centerline is valid? [True, True] Translation: X:2.19, Y:0.02, Z:-0.10 [[ 9.96517261e-01 4.27207356e-02 7.16120588e-02 2.18509618e+00] [-4.28748092e-02 9.99080263e-01 6.15031379e-04 1.90060883e-02] [-7.15199200e-02 -3.68324274e-03 9.97432371e-01 -9.53359715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7286399999999995 meters 0.03457663528784194 Centerline is valid? [True, True] Translation: X:2.25, Y:0.02, Z:-0.10 [[ 9.96434336e-01 4.02413126e-02 7.41569363e-02 2.24686154e+00] [-4.03972894e-02 9.99183514e-01 6.03989635e-04 2.14079315e-02] [-7.40720829e-02 -3.59757522e-03 9.97246401e-01 -9.92471498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7886399999999996 meters 0.03412887226139779 Centerline is valid? [True, True] Translation: X:2.31, Y:0.03, Z:-0.10 [[ 9.96560797e-01 3.94940607e-02 7.28477701e-02 2.30929287e+00] [-3.96402815e-02 9.99213857e-01 5.61962437e-04 2.66958615e-02] [-7.27683072e-02 -3.44773584e-03 9.97342913e-01 -1.00514129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8486399999999996 meters 0.034868086633238725 Centerline is valid? [True, True] Translation: X:2.37, Y:0.03, Z:-0.10 [[ 9.96217328e-01 4.36307865e-02 7.51491229e-02 2.37045934e+00] [-4.37963933e-02 9.99040323e-01 5.56372059e-04 3.27090879e-02] [-7.50527290e-02 -3.84552803e-03 9.97172152e-01 -1.03899150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9086399999999997 meters 0.035249163177442255 Centerline is valid? [True, True] Translation: X:2.43, Y:0.04, Z:-0.11 [[ 9.95988182e-01 4.65161488e-02 7.64446835e-02 2.43195294e+00] [-4.66948769e-02 9.98909047e-01 5.51296988e-04 4.44731740e-02] [-7.63356418e-02 -4.11866038e-03 9.97073672e-01 -1.07855575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9686399999999997 meters 0.03446415189793981 Centerline is valid? [True, True] Translation: X:2.49, Y:0.06, Z:-0.11 [[ 9.96330893e-01 4.27619973e-02 7.41361160e-02 2.49367745e+00] [-4.29181226e-02 9.99078461e-01 5.13393255e-04 5.60110374e-02] [-7.40458429e-02 -3.69329247e-03 9.97248000e-01 -1.10740817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.028639999999999 meters 0.03293844131658601 Centerline is valid? [True, True] Translation: X:2.55, Y:0.07, Z:-0.11 [[ 9.96563804e-01 3.41015256e-02 7.54829173e-02 2.55477628e+00] [-3.42382218e-02 9.99413566e-01 5.17272503e-04 7.21325343e-02] [-7.54210118e-02 -3.09989592e-03 9.97146961e-01 -1.12180355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.088639999999999 meters 0.0319149568383311 Centerline is valid? [True, True] Translation: X:2.62, Y:0.08, Z:-0.12 [[ 9.96649365e-01 2.76207096e-02 7.69879168e-02 2.61577053e+00] [-2.77433847e-02 9.99614941e-01 5.24144902e-04 8.16409980e-02] [-7.69437947e-02 -2.65829408e-03 9.97031888e-01 -1.16516296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.148639999999999 meters 0.03076734143435047 Centerline is valid? [True, True] Translation: X:2.68, Y:0.09, Z:-0.12 [[ 9.96784886e-01 1.65513932e-02 7.83960594e-02 2.67710932e+00] [-1.66439671e-02 9.99861340e-01 5.27534440e-04 9.33265847e-02] [-7.83764576e-02 -1.83065979e-03 9.96922153e-01 -1.20205440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.208639999999999 meters 0.029919881410077353 Centerline is valid? [True, True] Translation: X:2.74, Y:0.10, Z:-0.13 [[ 9.97081202e-01 3.84067098e-03 7.62517323e-02 2.73866388e+00] [-3.89045166e-03 9.99992305e-01 5.04313586e-04 1.01991959e-01] [-7.62492086e-02 -7.99495274e-04 9.97088471e-01 -1.25947531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2686399999999995 meters 0.029454119760819367 Centerline is valid? [True, True] Translation: X:2.80, Y:0.11, Z:-0.13 [[ 9.97208300e-01 -7.30835494e-03 7.43114658e-02 2.80072148e+00] [ 7.29341640e-03 9.99973291e-01 4.72395026e-04 1.08023974e-01] [-7.43129335e-02 7.09082224e-05 9.97234969e-01 -1.29282591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.328639999999999 meters 0.029814165810680086 Centerline is valid? [True, True] Translation: X:2.86, Y:0.11, Z:-0.13 [[ 9.96949440e-01 -1.55554706e-02 7.64842541e-02 2.86302962e+00] [ 1.55666048e-02 9.99878732e-01 4.50632611e-04 1.11977082e-01] [-7.64819887e-02 7.41342225e-04 9.97070687e-01 -1.33264763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.388639999999999 meters 0.03021781800052036 Centerline is valid? [True, True] Translation: X:2.92, Y:0.11, Z:-0.14 [[ 9.96770355e-01 -2.24108072e-02 7.71142967e-02 2.92482378e+00] [ 2.24452695e-02 9.99747985e-01 4.19898260e-04 1.13519683e-01] [-7.71042730e-02 1.31230903e-03 9.97022171e-01 -1.38095870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.448639999999999 meters 0.03128079904655296 Centerline is valid? [True, True] Translation: X:2.99, Y:0.11, Z:-0.14 [[ 9.96418750e-01 -3.14920490e-02 7.84724443e-02 2.98614813e+00] [ 3.15576637e-02 9.99501851e-01 4.04134718e-04 1.07902538e-01] [-7.84460803e-02 2.07371959e-03 9.96916201e-01 -1.42539441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.508639999999999 meters 0.03184868821347912 Centerline is valid? [True, True] Translation: X:3.05, Y:0.10, Z:-0.15 [[ 9.96418516e-01 -3.78401589e-02 7.56192024e-02 3.04793591e+00] [ 3.79199799e-02 9.99280706e-01 3.80467242e-04 9.80712931e-02] [-7.55792069e-02 2.48837403e-03 9.97136696e-01 -1.45483180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.568639999999999 meters 0.03135268716759283 Centerline is valid? [True, True] Translation: X:3.11, Y:0.08, Z:-0.15 [[ 9.96570821e-01 -3.55155424e-02 7.47344986e-02 3.10989994e+00] [ 3.55886155e-02 9.99366462e-01 3.54135904e-04 8.32331339e-02] [-7.46997287e-02 2.30677583e-03 9.97203404e-01 -1.49064852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.628639999999999 meters 0.030230510581220418 Centerline is valid? [True, True] Translation: X:3.17, Y:0.07, Z:-0.15 [[ 9.96701703e-01 -2.68249421e-02 7.65907187e-02 3.17143331e+00] [ 2.68778427e-02 9.99638668e-01 3.40221793e-04 6.51259249e-02] [-7.65721705e-02 1.71949365e-03 9.97062559e-01 -1.52169735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6886399999999995 meters 0.02969867335428443 Centerline is valid? [True, True] Translation: X:3.23, Y:0.06, Z:-0.16 [[ 9.96873036e-01 -1.95535219e-02 7.65624626e-02 3.23369303e+00] [ 1.95861772e-02 9.99808120e-01 3.24415369e-04 5.69769384e-02] [-7.65541153e-02 1.17616502e-03 9.97064734e-01 -1.55068667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.748639999999999 meters 0.028958011479379812 Centerline is valid? [True, True] Translation: X:3.29, Y:0.05, Z:-0.16 [[ 9.97314697e-01 -8.80161506e-03 7.27043799e-02 3.29480605e+00] [ 8.80408903e-03 9.99961202e-01 2.86450269e-04 4.76902979e-02] [-7.27040804e-02 3.54414770e-04 9.97353494e-01 -1.57691263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.808639999999999 meters 0.0290139412426015 Centerline is valid? [True, True] Translation: X:3.36, Y:0.04, Z:-0.16 [[ 9.97406134e-01 -2.49810342e-03 7.19358210e-02 3.35713066e+00] [ 2.48516895e-03 9.99996876e-01 2.69307540e-04 3.96462752e-02] [-7.19362691e-02 -8.98363241e-05 9.97409227e-01 -1.59941087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.868639999999999 meters 0.029197494728583042 Centerline is valid? [True, True] Translation: X:3.42, Y:0.03, Z:-0.16 [[ 9.97246515e-01 2.04804046e-03 7.41295682e-02 3.41919674e+00] [-2.07173543e-03 9.99997824e-01 2.42749759e-04 3.48295515e-02] [-7.41289098e-02 -3.95658204e-04 9.97248589e-01 -1.61911962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.928639999999999 meters 0.029531190003841096 Centerline is valid? [True, True] Translation: X:3.48, Y:0.04, Z:-0.17 [[ 9.97166907e-01 3.78892961e-03 7.51252481e-02 3.48086071e+00] [-3.81555165e-03 9.99992699e-01 2.10846527e-04 3.51868752e-02] [-7.51239007e-02 -4.96893444e-04 9.97174083e-01 -1.65122825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.988639999999999 meters 0.029545095248476934 Centerline is valid? [True, True] Translation: X:3.54, Y:0.04, Z:-0.17 [[ 9.97208708e-01 7.84423211e-03 7.42513396e-02 3.54381248e+00] [-7.87877970e-03 9.99968947e-01 1.72376616e-04 3.74275835e-02] [-7.42476817e-02 -7.56905410e-04 9.97239544e-01 -1.68755062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.048639999999999 meters 0.029538326287151532 Centerline is valid? [True, True] Translation: X:3.61, Y:0.04, Z:-0.17 [[ 9.97095852e-01 9.32336262e-03 7.55839724e-02 3.60631489e+00] [-9.36045635e-03 9.99956181e-01 1.36512094e-04 3.84951856e-02] [-7.55793876e-02 -8.43616117e-04 9.97139431e-01 -1.71110349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.108639999999999 meters 0.02946374589934247 Centerline is valid? [True, True] Translation: X:3.67, Y:0.04, Z:-0.17 [[ 9.97213608e-01 1.10706713e-02 7.37730385e-02 3.66884684e+00] [-1.11082801e-02 9.99938296e-01 9.94919706e-05 4.39363451e-02] [-7.37673850e-02 -9.18706320e-04 9.97275052e-01 -1.73332440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.168639999999999 meters 0.02921978223928972 Centerline is valid? [True, True] Translation: X:3.73, Y:0.05, Z:-0.18 [[ 9.97359393e-01 9.06219458e-03 7.20563507e-02 3.73112354e+00] [-9.09045891e-03 9.99958679e-01 6.43172369e-05 4.90451875e-02] [-7.20527904e-02 -7.19172696e-04 9.97400561e-01 -1.75856191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.228639999999999 meters 0.029106705374580287 Centerline is valid? [True, True] Translation: X:3.79, Y:0.06, Z:-0.18 [[ 9.97601464e-01 8.03279297e-03 6.87516734e-02 3.79347957e+00] [-8.05392894e-03 9.99967566e-01 3.02374361e-05 5.64739619e-02] [-6.87492006e-02 -5.83886003e-04 9.97633804e-01 -1.78735538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.288639999999999 meters 0.02898778948976315 Centerline is valid? [True, True] Translation: X:3.86, Y:0.06, Z:-0.18 [[ 9.97602287e-01 6.76756672e-03 6.88758130e-02 3.85677589e+00] [-6.78344801e-03 9.99976992e-01 -3.30688364e-06 6.04088630e-02] [-6.88742507e-02 -4.63916542e-04 9.97625241e-01 -1.81668443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.348639999999999 meters 0.029013590457723386 Centerline is valid? [True, True] Translation: X:3.92, Y:0.06, Z:-0.19 [[ 9.97619439e-01 5.13016798e-03 6.87687206e-02 3.91974707e+00] [-5.13958006e-03 9.99986791e-01 -4.00654033e-05 6.20346210e-02] [-6.87680178e-02 -3.13472320e-04 9.97632629e-01 -1.85876006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.408639999999999 meters 0.028924950062963334 Centerline is valid? [True, True] Translation: X:3.98, Y:0.06, Z:-0.19 [[ 9.97644787e-01 3.88637317e-03 6.84819294e-02 3.98250173e+00] [-3.89028385e-03 9.99992430e-01 -7.62587033e-05 6.22222560e-02] [-6.84817073e-02 -1.90335046e-04 9.97652354e-01 -1.88619812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.468639999999999 meters 0.02906946230890793 Centerline is valid? [True, True] Translation: X:4.04, Y:0.06, Z:-0.19 [[ 9.97408905e-01 7.85394491e-03 7.15107739e-02 4.04445796e+00] [-7.86572830e-03 9.99969058e-01 -1.16827638e-04 6.11293937e-02] [-7.15094788e-02 -4.45959392e-04 9.97439821e-01 -1.91279974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.528639999999999 meters 0.029042783262153746 Centerline is valid? [True, True] Translation: X:4.11, Y:0.06, Z:-0.20 [[ 9.97396290e-01 8.16639760e-03 7.16515951e-02 4.10764455e+00] [-8.17652646e-03 9.99966560e-01 -1.51948623e-04 6.15579794e-02] [-7.16504399e-02 -4.34308170e-04 9.97429710e-01 -1.95898376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.588639999999999 meters 0.029043578158317537 Centerline is valid? [True, True] Translation: X:4.17, Y:0.06, Z:-0.20 [[ 9.97372201e-01 4.86982398e-03 7.22840064e-02 4.17041877e+00] [-4.86867634e-03 9.99988129e-01 -1.92072024e-04 6.22829433e-02] [-7.22840837e-02 -1.60360134e-04 9.97384071e-01 -1.98155621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6486399999999986 meters 0.02884462613427887 Centerline is valid? [True, True] Translation: X:4.23, Y:0.06, Z:-0.20 [[ 9.97464281e-01 4.35609534e-03 7.10354318e-02 4.23270361e+00] [-4.35115250e-03 9.99990509e-01 -2.24321752e-04 6.38432222e-02] [-7.10357348e-02 -8.53330615e-05 9.97473768e-01 -2.00771386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.708639999999999 meters 0.02878954761053889 Centerline is valid? [True, True] Translation: X:4.30, Y:0.07, Z:-0.20 [[ 9.97383476e-01 7.99459811e-03 7.18490597e-02 4.29514856e+00] [-7.99656040e-03 9.99967993e-01 -2.60337662e-04 6.62496339e-02] [-7.18488413e-02 -3.14888862e-04 9.97415483e-01 -2.04155151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.768639999999999 meters 0.028773498589610876 Centerline is valid? [True, True] Translation: X:4.36, Y:0.07, Z:-0.21 [[ 9.97221581e-01 1.05060865e-02 7.37478193e-02 4.35687966e+00] [-1.05125150e-02 9.99944697e-01 -3.01007298e-04 6.96731053e-02] [-7.37469033e-02 -4.75104084e-04 9.97276877e-01 -2.06749134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.828639999999999 meters 0.028696785693243482 Centerline is valid? [True, True] Translation: X:4.42, Y:0.07, Z:-0.21 [[ 9.97393142e-01 9.41419303e-03 7.15422427e-02 4.41901786e+00] [-9.41521902e-03 9.99955624e-01 -3.22891402e-04 6.97916717e-02] [-7.15421077e-02 -3.51536214e-04 9.97437518e-01 -2.09944659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.888639999999999 meters 0.02862734095322693 Centerline is valid? [True, True] Translation: X:4.48, Y:0.07, Z:-0.21 [[ 9.97375843e-01 9.02571760e-03 7.18328878e-02 4.48195311e+00] [-9.02322445e-03 9.99959225e-01 -3.59215494e-04 7.24684521e-02] [-7.18332010e-02 -2.89891413e-04 9.97416617e-01 -2.12158430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.948639999999999 meters 0.028696890580130377 Centerline is valid? [True, True] Translation: X:4.54, Y:0.08, Z:-0.21 [[ 9.97480741e-01 1.03645563e-02 7.01765435e-02 4.54400829e+00] [-1.03630013e-02 9.99946228e-01 -3.86236406e-04 7.61130437e-02] [-7.01767731e-02 -3.41976236e-04 9.97534512e-01 -2.14529934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.008639999999999 meters 0.02866657338870263 Centerline is valid? [True, True] Translation: X:4.61, Y:0.08, Z:-0.22 [[ 9.97428107e-01 1.13071436e-02 7.07765500e-02 4.60684857e+00] [-1.13054826e-02 9.99936001e-01 -4.24064042e-04 7.68209091e-02] [-7.07768154e-02 -3.77189663e-04 9.97492105e-01 -2.17856109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0686399999999985 meters 0.02850108209972872 Centerline is valid? [True, True] Translation: X:4.67, Y:0.08, Z:-0.22 [[ 9.97445698e-01 1.02924432e-02 7.06834106e-02 4.66997998e+00] [-1.02855964e-02 9.99946996e-01 -4.60841542e-04 7.94552688e-02] [-7.06844072e-02 -2.67356617e-04 9.97498693e-01 -2.21585229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.128639999999999 meters 0.02826041396315049 Centerline is valid? [True, True] Translation: X:4.73, Y:0.08, Z:-0.22 [[ 9.97401643e-01 1.04806336e-02 7.12749578e-02 4.73349306e+00] [-1.04714486e-02 9.99945047e-01 -5.02527373e-04 8.34745216e-02] [-7.12763078e-02 -2.45130433e-04 9.97456579e-01 -2.24094739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.188639999999999 meters 0.028467550586862962 Centerline is valid? [True, True] Translation: X:4.80, Y:0.09, Z:-0.23 [[ 9.97270260e-01 1.04909463e-02 7.30887777e-02 4.79540540e+00] [-1.04785655e-02 9.99944945e-01 -5.52848421e-04 8.58260338e-02] [-7.30905537e-02 -2.14526257e-04 9.97325285e-01 -2.27160268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.248639999999999 meters 0.028312604166066076 Centerline is valid? [True, True] Translation: X:4.86, Y:0.09, Z:-0.23 [[ 9.97273565e-01 1.01048641e-02 7.30980784e-02 4.85867156e+00] [-1.00888494e-02 9.99948933e-01 -5.88323082e-04 8.72019965e-02] [-7.31002904e-02 -1.50756446e-04 9.97324583e-01 -2.29709513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.308639999999999 meters 0.028557779913723474 Centerline is valid? [True, True] Translation: X:4.92, Y:0.09, Z:-0.23 [[ 9.97033934e-01 8.81614805e-03 7.64565847e-02 4.92097932e+00] [-8.79180325e-03 9.99961137e-01 -6.55002297e-04 8.84270923e-02] [-7.64593879e-02 -1.91317323e-05 9.97072696e-01 -2.32433388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.368639999999999 meters 0.02852667455135239 Centerline is valid? [True, True] Translation: X:4.98, Y:0.09, Z:-0.24 [[ 9.97046866e-01 9.64848709e-03 7.61869710e-02 4.98390053e+00] [-9.62392567e-03 9.99953451e-01 -6.89527886e-04 8.98082090e-02] [-7.61900775e-02 -4.57261288e-05 9.97093311e-01 -2.35242178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.428639999999999 meters 0.028751219245937897 Centerline is valid? [True, True] Translation: X:5.05, Y:0.09, Z:-0.24 [[ 9.97049466e-01 9.95008987e-03 7.61141184e-02 5.04671038e+00] [-9.92341905e-03 9.99950496e-01 -7.28611727e-04 9.15595229e-02] [-7.61176002e-02 -2.88503593e-05 9.97098847e-01 -2.38238650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.488639999999998 meters 0.028737570776906363 Centerline is valid? [True, True] Translation: X:5.11, Y:0.09, Z:-0.24 [[ 9.97093049e-01 1.01428924e-02 7.55153912e-02 5.10953930e+00] [-1.01142105e-02 9.99948560e-01 -7.62250159e-04 9.27989155e-02] [-7.55192381e-02 -3.74423096e-06 9.97144345e-01 -2.40762588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.548639999999999 meters 0.028767572330502297 Centerline is valid? [True, True] Translation: X:5.17, Y:0.10, Z:-0.24 [[ 9.97177155e-01 8.31940625e-03 7.46224458e-02 5.17138607e+00] [-8.28354191e-03 9.99965379e-01 -7.90103610e-04 9.80873544e-02] [-7.46264354e-02 1.69735113e-04 9.97211545e-01 -2.43408678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6086399999999985 meters 0.029174130415009575 Centerline is valid? [True, True] Translation: X:5.23, Y:0.10, Z:-0.25 [[ 9.97109783e-01 5.10291478e-03 7.58026380e-02 5.23312403e+00] [-5.05405073e-03 9.99986878e-01 -8.36440361e-04 1.03359297e-01] [-7.58059116e-02 4.50912489e-04 9.97122490e-01 -2.46782450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.668639999999999 meters 0.029266011587565154 Centerline is valid? [True, True] Translation: X:5.30, Y:0.11, Z:-0.25 [[ 9.97216516e-01 9.67235399e-04 7.45539086e-02 5.29637556e+00] [-9.05930060e-04 9.99999223e-01 -8.56108432e-04 1.06497151e-01] [-7.45546788e-02 7.86184840e-04 9.97216617e-01 -2.50736089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.728639999999999 meters 0.02950256263023238 Centerline is valid? [True, True] Translation: X:5.36, Y:0.11, Z:-0.25 [[ 9.97363009e-01 -4.00341767e-03 7.24637872e-02 5.35985764e+00] [ 4.07706139e-03 9.99991312e-01 -8.68396967e-04 1.06464309e-01] [-7.24596811e-02 1.16154632e-03 9.97370666e-01 -2.53513638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.788639999999999 meters 0.029871880237113704 Centerline is valid? [True, True] Translation: X:5.42, Y:0.11, Z:-0.26 [[ 9.97316610e-01 -7.49797474e-03 7.28241727e-02 5.42149697e+00] [ 7.58417684e-03 9.99970828e-01 -9.07247219e-04 1.07270753e-01] [-7.28152458e-02 1.45712413e-03 9.97344382e-01 -2.56536872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.848639999999999 meters 0.030037491519418372 Centerline is valid? [True, True] Translation: X:5.48, Y:0.11, Z:-0.26 [[ 9.97356334e-01 -8.77542623e-03 7.21341518e-02 5.48414325e+00] [ 8.86560525e-03 9.99960267e-01 -9.30072435e-04 1.06281340e-01] [-7.21231239e-02 1.56712655e-03 9.97394505e-01 -2.59909367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.908639999999998 meters 0.029927667327056273 Centerline is valid? [True, True] Translation: X:5.55, Y:0.10, Z:-0.26 [[ 9.97331588e-01 -7.01360330e-03 7.26671384e-02 5.54752703e+00] [ 7.10310951e-03 9.99974299e-01 -9.73375960e-04 1.00322096e-01] [-7.26584439e-02 1.48694123e-03 9.97355774e-01 -2.63155322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.968639999999999 meters 0.029585811238463027 Centerline is valid? [True, True] Translation: X:5.61, Y:0.10, Z:-0.27 [[ 9.97278603e-01 -2.58721861e-03 7.36796780e-02 5.60960481e+00] [ 2.66980355e-03 9.99995913e-01 -1.02239752e-03 9.79621367e-02] [-7.36767317e-02 1.21632544e-03 9.97281435e-01 -2.65751558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0286399999999984 meters 0.029368080115514724 Centerline is valid? [True, True] Translation: X:5.67, Y:0.09, Z:-0.27 [[ 9.97179714e-01 1.97574963e-03 7.50247643e-02 5.67212561e+00] [-1.90109160e-03 9.99997624e-01 -1.06651390e-03 9.35506754e-02] [-7.50266932e-02 9.20877075e-04 9.97181101e-01 -2.69417677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.088639999999999 meters 0.029156755173609588 Centerline is valid? [True, True] Translation: X:5.73, Y:0.09, Z:-0.27 [[ 9.97273882e-01 5.30800425e-03 7.35977491e-02 5.73433721e+00] [-5.24383335e-03 9.99985684e-01 -1.06511703e-03 9.02552937e-02] [-7.36023492e-02 6.76279067e-04 9.97287439e-01 -2.71901985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1486399999999986 meters 0.02912818618990447 Centerline is valid? [True, True] Translation: X:5.80, Y:0.09, Z:-0.28 [[ 9.97154094e-01 6.74257078e-03 7.50882806e-02 5.79635871e+00] [-6.67727692e-03 9.99977079e-01 -1.12057715e-03 8.95169074e-02] [-7.50941151e-02 6.16002855e-04 9.97176260e-01 -2.75272616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.208639999999999 meters 0.02901997994982788 Centerline is valid? [True, True] Translation: X:5.86, Y:0.09, Z:-0.28 [[ 9.97163063e-01 1.25765763e-02 7.42135832e-02 5.85833092e+00] [-1.25264572e-02 9.99920890e-01 -1.14077465e-03 9.12741284e-02] [-7.42220592e-02 2.07905072e-04 9.97241717e-01 -2.77408141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.268639999999999 meters 0.0291774103531197 Centerline is valid? [True, True] Translation: X:5.92, Y:0.10, Z:-0.28 [[ 9.96999183e-01 1.88965993e-02 7.50702807e-02 5.92173164e+00] [-1.88604780e-02 9.99821417e-01 -1.19013192e-03 9.54973799e-02] [-7.50793639e-02 -2.29300820e-04 9.97177535e-01 -2.80622225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.328639999999998 meters 0.02938934694929892 Centerline is valid? [True, True] Translation: X:5.98, Y:0.10, Z:-0.29 [[ 9.96875858e-01 2.29330391e-02 7.55817383e-02 5.98352668e+00] [-2.29051407e-02 9.99736879e-01 -1.23605429e-03 1.01353307e-01] [-7.55901976e-02 -4.99017664e-04 9.97138843e-01 -2.85066343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.388639999999999 meters 0.02946287480661108 Centerline is valid? [True, True] Translation: X:6.05, Y:0.11, Z:-0.29 [[ 9.96818002e-01 2.63806623e-02 7.52192241e-02 6.04675244e+00] [-2.63601015e-02 9.99651710e-01 -1.26630481e-03 1.07310749e-01] [-7.52264320e-02 -7.20510951e-04 9.97166217e-01 -2.87458102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.448639999999998 meters 0.029626398997836527 Centerline is valid? [True, True] Translation: X:6.11, Y:0.11, Z:-0.29 [[ 9.96752555e-01 2.90929590e-02 7.50862492e-02 6.10979931e+00] [-2.90771937e-02 9.99576319e-01 -1.30337717e-03 1.14606566e-01] [-7.50923557e-02 -8.84152896e-04 9.97176191e-01 -2.92308348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.508639999999999 meters 0.029545275580750336 Centerline is valid? [True, True] Translation: X:6.17, Y:0.12, Z:-0.29 [[ 9.96686427e-01 2.96140878e-02 7.57573251e-02 6.17286730e+00] [-2.95965099e-02 9.99561009e-01 -1.35495523e-03 1.18477942e-01] [-7.57641941e-02 -8.91686942e-04 9.97125364e-01 -2.94447554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5686399999999985 meters 0.029469020911482933 Centerline is valid? [True, True] Translation: X:6.24, Y:0.12, Z:-0.30 [[ 9.96630596e-01 3.01577435e-02 7.62755933e-02 6.23556673e+00] [-3.01384653e-02 9.99544747e-01 -1.40408574e-03 1.19583474e-01] [-7.62832127e-02 -8.99474507e-04 9.97085785e-01 -2.97604145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.628639999999999 meters 0.02928310730091295 Centerline is valid? [True, True] Translation: X:6.30, Y:0.12, Z:-0.30 [[ 9.96829450e-01 2.88967820e-02 7.41351696e-02 6.29823195e+00] [-2.88729707e-02 9.99582118e-01 -1.39311818e-03 1.20886141e-01] [-7.41444465e-02 -7.51801354e-04 9.97247229e-01 -3.00452386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.688639999999999 meters 0.02934674363053577 Centerline is valid? [True, True] Translation: X:6.36, Y:0.12, Z:-0.31 [[ 9.96822577e-01 2.54728425e-02 7.54710882e-02 6.36082338e+00] [-2.54366673e-02 9.99675398e-01 -1.44067983e-03 1.18629849e-01] [-7.54832883e-02 -4.83630784e-04 9.97146950e-01 -3.05092416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.748639999999998 meters 0.029126860387639463 Centerline is valid? [True, True] Translation: X:6.42, Y:0.11, Z:-0.31 [[ 9.96938362e-01 2.47630031e-02 7.41666723e-02 6.42320385e+00] [-2.47233865e-02 9.99693275e-01 -1.45234025e-03 1.13710557e-01] [-7.41798879e-02 -3.85757595e-04 9.97244802e-01 -3.06183794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.808639999999999 meters 0.02912843909773141 Centerline is valid? [True, True] Translation: X:6.49, Y:0.11, Z:-0.31 [[ 9.96894254e-01 2.78772073e-02 7.36526088e-02 6.48603427e+00] [-2.78440449e-02 9.99611188e-01 -1.47720359e-03 1.10704624e-01] [-7.36651521e-02 -5.78170773e-04 9.97282864e-01 -3.08506343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.868639999999998 meters 0.029374788755466077 Centerline is valid? [True, True] Translation: X:6.55, Y:0.11, Z:-0.31 [[ 9.96647617e-01 3.22719724e-02 7.51800984e-02 6.54788234e+00] [-3.22470565e-02 9.99478733e-01 -1.54559727e-03 1.06124695e-01] [-7.51907890e-02 -8.83921045e-04 9.97168774e-01 -3.11639035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.928639999999999 meters 0.029455995288883804 Centerline is valid? [True, True] Translation: X:6.61, Y:0.11, Z:-0.31 [[ 9.96533426e-01 3.42712766e-02 7.58064040e-02 6.60993671e+00] [-3.42490851e-02 9.99412058e-01 -1.59312290e-03 1.06067591e-01] [-7.58164326e-02 -1.00869977e-03 9.97121282e-01 -3.13013046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.988639999999998 meters 0.029607599907215558 Centerline is valid? [True, True] Translation: X:6.67, Y:0.10, Z:-0.32 [[ 9.96580361e-01 3.53366480e-02 7.46920681e-02 6.67208941e+00] [-3.53155528e-02 9.99374925e-01 -1.60356514e-03 1.04882307e-01] [-7.47020446e-02 -1.03971015e-03 9.97205357e-01 -3.16522481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.048639999999999 meters 0.02949011874402851 Centerline is valid? [True, True] Translation: X:6.73, Y:0.11, Z:-0.32 [[ 9.96672467e-01 3.57545495e-02 7.32502964e-02 6.73458473e+00] [-3.57329381e-02 9.99360084e-01 -1.60591832e-03 1.08299168e-01] [-7.32608413e-02 -1.01687374e-03 9.97312296e-01 -3.19513238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10864 meters 0.029764608306901037 Centerline is valid? [True, True] Translation: X:6.80, Y:0.11, Z:-0.32 [[ 9.96466418e-01 4.03859035e-02 7.36454760e-02 6.79652122e+00] [-4.03741887e-02 9.99183270e-01 -1.64838297e-03 1.09703969e-01] [-7.36518990e-02 -1.33081807e-03 9.97283123e-01 -3.21946341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.168639999999998 meters 0.030082408441203103 Centerline is valid? [True, True] Translation: X:6.86, Y:0.11, Z:-0.33 [[ 9.96185062e-01 4.11942369e-02 7.69308528e-02 6.85814713e+00] [-4.11811493e-02 9.99150151e-01 -1.75719170e-03 1.13111765e-01] [-7.69378594e-02 -1.41761281e-03 9.97034882e-01 -3.26462170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.228639999999999 meters 0.029811537071543426 Centerline is valid? [True, True] Translation: X:6.92, Y:0.11, Z:-0.33 [[ 9.96410934e-01 3.70943156e-02 7.60872029e-02 6.92058975e+00] [-3.70670494e-02 9.99311211e-01 -1.77102190e-03 1.14464559e-01] [-7.61004897e-02 -1.05566253e-03 9.97099594e-01 -3.29324997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28864 meters 0.029455424851413715 Centerline is valid? [True, True] Translation: X:6.98, Y:0.12, Z:-0.33 [[ 9.96506662e-01 2.76068066e-02 7.88183807e-02 6.98327082e+00] [-2.75448167e-02 9.99618813e-01 -1.87379987e-03 1.17619396e-01] [-7.88400658e-02 -3.03783798e-04 9.96887231e-01 -3.34411028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.348639999999998 meters 0.029490466332697 Centerline is valid? [True, True] Translation: X:7.05, Y:0.11, Z:-0.34 [[ 9.96914816e-01 1.59850911e-02 7.68461209e-02 7.04547462e+00] [-1.58887646e-02 9.99872027e-01 -1.86477426e-03 1.13913806e-01] [-7.68660952e-02 6.38031170e-04 9.97041221e-01 -3.37341163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.408639999999998 meters 0.02995066571667729 Centerline is valid? [True, True] Translation: X:7.11, Y:0.11, Z:-0.34 [[ 9.96883083e-01 1.01871210e-02 7.82326077e-02 7.10796514e+00] [-1.00666836e-02 9.99947460e-01 -1.93370995e-03 1.11192901e-01] [-7.82481963e-02 1.14013983e-03 9.96933257e-01 -3.40300222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.468639999999999 meters 0.029956215198601366 Centerline is valid? [True, True] Translation: X:7.17, Y:0.11, Z:-0.34 [[ 9.96952320e-01 9.68042710e-03 7.74103359e-02 7.17088252e+00] [-9.55823072e-03 9.99952420e-01 -1.94891557e-03 1.07543988e-01] [-7.74255190e-02 1.20307005e-03 9.96997413e-01 -3.41849603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52864 meters 0.029822421253074553 Centerline is valid? [True, True] Translation: X:7.23, Y:0.10, Z:-0.35 [[ 9.97015058e-01 1.08132300e-02 7.64463774e-02 7.23284345e+00] [-1.06946338e-02 9.99940889e-01 -1.96058907e-03 1.02423586e-01] [-7.64630588e-02 1.13717081e-03 9.97071766e-01 -3.45336901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.588639999999998 meters 0.02917739202440866 Centerline is valid? [True, True] Translation: X:7.29, Y:0.10, Z:-0.35 [[ 9.97114825e-01 1.76073722e-02 7.38377000e-02 7.29460596e+00] [-1.75136778e-02 9.99844787e-01 -1.91625053e-03 9.71099187e-02] [-7.38599796e-02 6.17552121e-04 9.97268430e-01 -3.47693809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.648639999999999 meters 0.02891026441666317 Centerline is valid? [True, True] Translation: X:7.36, Y:0.09, Z:-0.35 [[ 9.97070560e-01 2.44630129e-02 7.24697079e-02 7.35709168e+00] [-2.43897163e-02 9.99700728e-01 -1.89629185e-03 9.41483267e-02] [-7.24944088e-02 1.23221160e-04 9.97368811e-01 -3.50033795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.708639999999999 meters 0.028945432137538835 Centerline is valid? [True, True] Translation: X:7.42, Y:0.09, Z:-0.35 [[ 9.97015593e-01 2.78112689e-02 7.20169467e-02 7.42036562e+00] [-2.77451513e-02 9.99613188e-01 -1.91847612e-03 9.11582073e-02] [-7.20424450e-02 -8.53704755e-05 9.97401563e-01 -3.53207344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.768639999999998 meters 0.0292064727376576 Centerline is valid? [True, True] Translation: X:7.48, Y:0.09, Z:-0.36 [[ 9.96705456e-01 3.06745539e-02 7.50819996e-02 7.48232003e+00] [-3.06079042e-02 9.99529390e-01 -2.03847893e-03 9.02151405e-02] [-7.51091947e-02 -2.66339577e-04 9.97175279e-01 -3.56618118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.828639999999998 meters 0.029286339790734164 Centerline is valid? [True, True] Translation: X:7.54, Y:0.09, Z:-0.36 [[ 9.96696597e-01 3.44344066e-02 7.35538251e-02 7.54414782e+00] [-3.43782320e-02 9.99406832e-01 -2.03000166e-03 9.05310434e-02] [-7.35800972e-02 -5.05354721e-04 9.97289183e-01 -3.59797594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.888639999999999 meters 0.02952867954411733 Centerline is valid? [True, True] Translation: X:7.61, Y:0.09, Z:-0.36 [[ 9.96497584e-01 3.58473403e-02 7.55482146e-02 7.60669890e+00] [-3.57894487e-02 9.99357103e-01 -2.12043361e-03 9.13168790e-02] [-7.55756568e-02 -5.90821980e-04 9.97139895e-01 -3.64154882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94864 meters 0.02961329707981771 Centerline is valid? [True, True] Translation: X:7.67, Y:0.09, Z:-0.37 [[ 9.96582242e-01 3.56473113e-02 7.45191483e-02 7.66938203e+00] [-3.55884614e-02 9.99364286e-01 -2.11786042e-03 9.16413766e-02] [-7.45472715e-02 -5.41399750e-04 9.97217334e-01 -3.66727374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.008639999999998 meters 0.02953608284574699 Centerline is valid? [True, True] Translation: X:7.73, Y:0.09, Z:-0.37 [[ 9.96466778e-01 3.58152453e-02 7.59686063e-02 7.73120672e+00] [-3.57529945e-02 9.99358280e-01 -2.17972578e-03 9.29285081e-02] [-7.59979231e-02 -5.44080839e-04 9.97107827e-01 -3.70922083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.068639999999998 meters 0.02960443188265221 Centerline is valid? [True, True] Translation: X:7.79, Y:0.10, Z:-0.37 [[ 9.96472923e-01 3.57807832e-02 7.59042060e-02 7.79412123e+00] [-3.57157838e-02 9.99359535e-01 -2.21404666e-03 9.50279258e-02] [-7.59348124e-02 -5.04740659e-04 9.97112656e-01 -3.72531494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.128639999999999 meters 0.029540393649205816 Centerline is valid? [True, True] Translation: X:7.86, Y:0.10, Z:-0.37 [[ 9.96526941e-01 3.52328385e-02 7.54500056e-02 7.85621415e+00] [-3.51642380e-02 9.99379041e-01 -2.23790255e-03 9.54205826e-02] [-7.54820019e-02 -4.23011776e-04 9.97147075e-01 -3.74596542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.188639999999998 meters 0.029461466802907288 Centerline is valid? [True, True] Translation: X:7.92, Y:0.10, Z:-0.38 [[ 9.96672570e-01 3.25626174e-02 7.47225778e-02 7.91861679e+00] [-3.24853183e-02 9.99469680e-01 -2.24996527e-03 9.74640170e-02] [-7.47562157e-02 -1.84908056e-04 9.97201822e-01 -3.77965444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.248639999999998 meters 0.029547582294177043 Centerline is valid? [True, True] Translation: X:7.98, Y:0.10, Z:-0.38 [[ 9.96901293e-01 2.92504033e-02 7.30220910e-02 7.98096699e+00] [-2.91653179e-02 9.99572111e-01 -2.23143837e-03 9.74326557e-02] [-7.30561161e-02 9.48113009e-05 9.97327827e-01 -3.79326890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.308639999999999 meters 0.029610864722702898 Centerline is valid? [True, True] Translation: X:8.04, Y:0.10, Z:-0.38 [[ 9.97006389e-01 2.76369094e-02 7.22112278e-02 8.04413491e+00] [-2.75470063e-02 9.99617998e-01 -2.24079779e-03 9.65486656e-02] [-7.22455717e-02 2.44886564e-04 9.97386844e-01 -3.82687732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36864 meters 0.029560857369973336 Centerline is valid? [True, True] Translation: X:8.11, Y:0.09, Z:-0.39 [[ 9.97064966e-01 2.59840432e-02 7.20158562e-02 8.10728419e+00] [-2.58876485e-02 9.99662277e-01 -2.27172845e-03 9.16847657e-02] [-7.20505636e-02 4.00739676e-04 9.97400900e-01 -3.85874274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.428639999999998 meters 0.02975164049868896 Centerline is valid? [True, True] Translation: X:8.17, Y:0.08, Z:-0.39 [[ 9.97072397e-01 2.58833919e-02 7.19491897e-02 8.17002318e+00] [-2.57842513e-02 9.99664870e-01 -2.30652153e-03 8.38638098e-02] [-7.19847780e-02 4.44612963e-04 9.97405632e-01 -3.89801526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.488639999999998 meters 0.029983162075565464 Centerline is valid? [True, True] Translation: X:8.23, Y:0.08, Z:-0.39 [[ 9.97097102e-01 2.53103358e-02 7.18105597e-02 8.23255287e+00] [-2.52074362e-02 9.99679506e-01 -2.33896535e-03 7.56473922e-02] [-7.18467449e-02 5.22015468e-04 9.97415547e-01 -3.93798437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.548639999999999 meters 0.029666671935316993 Centerline is valid? [True, True] Translation: X:8.29, Y:0.07, Z:-0.39 [[ 9.96961954e-01 3.00566772e-02 7.18572111e-02 8.29460346e+00] [-2.99634116e-02 9.99548173e-01 -2.37575800e-03 7.16095713e-02] [-7.18961514e-02 2.15453145e-04 9.97412100e-01 -3.93925078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.608639999999998 meters 0.02978938502366753 Centerline is valid? [True, True] Translation: X:8.36, Y:0.06, Z:-0.40 [[ 9.96781877e-01 3.55841843e-02 7.18307402e-02 8.35730550e+00] [-3.55028814e-02 9.99366671e-01 -2.40870499e-03 6.19773153e-02] [-7.18709596e-02 -1.49244767e-04 9.97413928e-01 -3.96671301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.668639999999998 meters 0.029903152185732793 Centerline is valid? [True, True] Translation: X:8.42, Y:0.06, Z:-0.40 [[ 9.96544524e-01 3.93583426e-02 7.31432357e-02 8.41935967e+00] [-3.92814870e-02 9.99225083e-01 -2.48953074e-03 6.03722639e-02] [-7.31845396e-02 -3.92246834e-04 9.97318339e-01 -3.98672530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.728639999999999 meters 0.030003261955484785 Centerline is valid? [True, True] Translation: X:8.48, Y:0.06, Z:-0.40 [[ 9.96458263e-01 4.47233601e-02 7.12092058e-02 8.48209873e+00] [-4.46618043e-02 9.98999142e-01 -2.45718813e-03 5.64315201e-02] [-7.12478292e-02 -7.31846205e-04 9.97458376e-01 -4.02159963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78864 meters 0.029950060877561465 Centerline is valid? [True, True] Translation: X:8.54, Y:0.05, Z:-0.40 [[ 9.96536422e-01 4.48881624e-02 7.00015150e-02 8.54452268e+00] [-4.48266337e-02 9.98991776e-01 -2.45040264e-03 5.30887907e-02] [-7.00409319e-02 -6.96016789e-04 9.97543875e-01 -4.04133124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.848639999999998 meters 0.030067070046688675 Centerline is valid? [True, True] Translation: X:8.61, Y:0.05, Z:-0.41 [[ 9.96438096e-01 4.39099546e-02 7.19933043e-02 8.60609074e+00] [-4.38398747e-02 9.99035306e-01 -2.55403747e-03 4.74514957e-02] [-7.20360005e-02 -6.11237207e-04 9.97401845e-01 -4.07911125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.908639999999998 meters 0.030022649931033457 Centerline is valid? [True, True] Translation: X:8.67, Y:0.05, Z:-0.41 [[ 9.96451003e-01 4.67627942e-02 6.99902855e-02 8.66818265e+00] [-4.67013732e-02 9.98905731e-01 -2.51453357e-03 4.54290363e-02] [-7.00312839e-02 -7.63032953e-04 9.97544504e-01 -4.09350623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.968639999999999 meters 0.030616896280436873 Centerline is valid? [True, True] Translation: X:8.73, Y:0.04, Z:-0.41 [[ 9.95941164e-01 5.60852362e-02 7.03963345e-02 8.73022973e+00] [-5.60445809e-02 9.98425001e-01 -2.55406536e-03 4.24635263e-02] [-7.04287057e-02 -1.40163424e-03 9.97515831e-01 -4.12688924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.028639999999998 meters 0.031468409888702475 Centerline is valid? [True, True] Translation: X:8.79, Y:0.04, Z:-0.42 [[ 9.95463732e-01 6.48507452e-02 6.96156518e-02 8.79205314e+00] [-6.48312892e-02 9.97893003e-01 -2.54120717e-03 4.26310904e-02] [-6.96337710e-02 -1.98359289e-03 9.97570651e-01 -4.15796447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.088639999999998 meters 0.031543657921122605 Centerline is valid? [True, True] Translation: X:8.85, Y:0.04, Z:-0.42 [[ 9.95367483e-01 6.73939480e-02 6.85684306e-02 8.85436259e+00] [-6.73790620e-02 9.97724235e-01 -2.53247447e-03 4.40026568e-02] [-6.85830584e-02 -2.09933380e-03 9.97643201e-01 -4.18238981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.148639999999999 meters 0.031819458212442996 Centerline is valid? [True, True] Translation: X:8.92, Y:0.05, Z:-0.42 [[ 9.95164912e-01 6.76277402e-02 7.12270079e-02 8.91657069e+00] [-6.76098798e-02 9.97708277e-01 -2.66438351e-03 5.07981774e-02] [-7.12439615e-02 -2.16414845e-03 9.97456573e-01 -4.22266781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.208639999999999 meters 0.03169967164787752 Centerline is valid? [True, True] Translation: X:8.98, Y:0.05, Z:-0.43 [[ 9.95169529e-01 6.74915735e-02 7.12916247e-02 8.98002002e+00] [-6.74708644e-02 9.97717588e-01 -2.70132175e-03 5.43845576e-02] [-7.13112243e-02 -2.12183445e-03 9.97451857e-01 -4.25894263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.268639999999998 meters 0.03171779007423092 Centerline is valid? [True, True] Translation: X:9.04, Y:0.06, Z:-0.43 [[ 9.95066672e-01 6.61502077e-02 7.39355749e-02 9.04360034e+00] [-6.61212822e-02 9.97807547e-01 -2.84155849e-03 5.86113274e-02] [-7.39614443e-02 -2.06117487e-03 9.97258972e-01 -4.29324115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.328639999999998 meters 0.031454104998361175 Centerline is valid? [True, True] Translation: X:9.11, Y:0.06, Z:-0.43 [[ 9.95016133e-01 6.61446554e-02 7.46175600e-02 9.10716479e+00] [-6.61122138e-02 9.97807959e-01 -2.90741582e-03 6.01571202e-02] [-7.46463052e-02 -2.04020643e-03 9.97207986e-01 -4.31708805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.388639999999999 meters 0.03163930264912951 Centerline is valid? [True, True] Translation: X:9.17, Y:0.07, Z:-0.43 [[ 9.94953607e-01 6.85373489e-02 7.32799587e-02 9.17078426e+00] [-6.85097333e-02 9.97646252e-01 -2.89332998e-03 6.53256939e-02] [-7.33057773e-02 -2.14166132e-03 9.97307213e-01 -4.34067607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.448639999999997 meters 0.03141638183244034 Centerline is valid? [True, True] Translation: X:9.23, Y:0.07, Z:-0.44 [[ 9.94986202e-01 6.81698444e-02 7.31801156e-02 9.23325427e+00] [-6.81386168e-02 9.97671573e-01 -2.92609975e-03 6.68119087e-02] [-7.32091928e-02 -2.07496298e-03 9.97314448e-01 -4.35642556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.508639999999998 meters 0.031195430449784935 Centerline is valid? [True, True] Translation: X:9.30, Y:0.07, Z:-0.44 [[ 9.95253034e-01 6.72844280e-02 7.03150297e-02 9.29581891e+00] [-6.72511827e-02 9.97732027e-01 -2.84270895e-03 6.74043314e-02] [-7.03468271e-02 -1.89955420e-03 9.97520785e-01 -4.39245036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.568639999999998 meters 0.03125287706000635 Centerline is valid? [True, True] Translation: X:9.36, Y:0.07, Z:-0.44 [[ 9.95412611e-01 6.72043970e-02 6.80977421e-02 9.35793232e+00] [-6.71709528e-02 9.97737599e-01 -2.78335593e-03 7.10396741e-02] [-6.81307315e-02 -1.80360262e-03 9.97674772e-01 -4.42947613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.628639999999999 meters 0.031081547631416243 Centerline is valid? [True, True] Translation: X:9.42, Y:0.07, Z:-0.44 [[ 9.95320827e-01 6.81409827e-02 6.85073576e-02 9.42123986e+00] [-6.81071090e-02 9.97673994e-01 -2.83272208e-03 7.15171822e-02] [-6.85410335e-02 -1.84637079e-03 9.97646590e-01 -4.44975632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.688639999999998 meters 0.030996627451686926 Centerline is valid? [True, True] Translation: X:9.48, Y:0.07, Z:-0.45 [[ 9.95172202e-01 6.95084350e-02 6.92882735e-02 9.48389476e+00] [-6.94746675e-02 9.97579501e-01 -2.89994246e-03 7.17714219e-02] [-6.93221317e-02 -1.92783764e-03 9.97592465e-01 -4.48009325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.748639999999998 meters 0.03118529441043903 Centerline is valid? [True, True] Translation: X:9.55, Y:0.07, Z:-0.45 [[ 9.94977703e-01 6.95848474e-02 7.19535923e-02 9.54623744e+00] [-6.95462155e-02 9.97574083e-01 -3.04510973e-03 7.00056550e-02] [-7.19909323e-02 -1.97428375e-03 9.97403333e-01 -4.50311358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.808639999999999 meters 0.030753828894110376 Centerline is valid? [True, True] Translation: X:9.61, Y:0.07, Z:-0.45 [[ 9.95185589e-01 6.82825418e-02 7.03074587e-02 9.60885895e+00] [-6.82401645e-02 9.97664391e-01 -3.00725051e-03 7.22248975e-02] [-7.03485906e-02 -1.80502018e-03 9.97520836e-01 -4.53865844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.868639999999997 meters 0.03062949937062653 Centerline is valid? [True, True] Translation: X:9.67, Y:0.07, Z:-0.46 [[ 9.95193469e-01 6.75187978e-02 7.09307521e-02 9.67187233e+00] [-6.74713019e-02 9.97716498e-01 -3.06805595e-03 7.35921021e-02] [-7.09759330e-02 -1.73248095e-03 9.97476524e-01 -4.55650070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.928639999999998 meters 0.030573449500299932 Centerline is valid? [True, True] Translation: X:9.73, Y:0.07, Z:-0.46 [[ 9.95105443e-01 6.82373464e-02 7.14760257e-02 9.73494574e+00] [-6.81882672e-02 9.97667564e-01 -3.12931987e-03 7.40746801e-02] [-7.15228489e-02 -1.75982310e-03 9.97437409e-01 -4.58306849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.988639999999998 meters 0.03037383558663741 Centerline is valid? [True, True] Translation: X:9.80, Y:0.08, Z:-0.46 [[ 9.95196121e-01 6.76918954e-02 7.07282727e-02 9.79751534e+00] [-6.76399687e-02 9.97704880e-01 -3.13170208e-03 7.70866397e-02] [-7.07779336e-02 -1.66740039e-03 9.97490704e-01 -4.59016911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.048639999999999 meters 0.030216324508763492 Centerline is valid? [True, True] Translation: X:9.86, Y:0.08, Z:-0.46 [[ 9.95285754e-01 6.69768684e-02 7.01453248e-02 9.86004735e+00] [-6.69217874e-02 9.97753291e-01 -3.13761707e-03 7.94562969e-02] [-7.01978764e-02 -1.57142494e-03 9.97531848e-01 -4.61829935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.108639999999998 meters 0.029986095541765727 Centerline is valid? [True, True] Translation: X:9.92, Y:0.08, Z:-0.46 [[ 9.95469100e-01 6.55864319e-02 6.88454072e-02 9.92257386e+00] [-6.55279124e-02 9.97845889e-01 -3.11043905e-03 8.42766092e-02] [-6.89011092e-02 -1.41494985e-03 9.97622491e-01 -4.63947618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.168639999999998 meters 0.030076635596514318 Centerline is valid? [True, True] Translation: X:9.99, Y:0.09, Z:-0.47 [[ 9.95514902e-01 6.48337245e-02 6.88960665e-02 9.98501951e+00] [-6.47711629e-02 9.97895191e-01 -3.14392297e-03 8.75156853e-02] [-6.89548857e-02 -1.33265618e-03 9.97618889e-01 -4.67142943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.228639999999999 meters 0.029641514904084492 Centerline is valid? [True, True] Translation: X:10.05, Y:0.09, Z:-0.47 [[ 9.95769685e-01 5.85137779e-02 7.08440027e-02 1.00476944e+01] [-5.84293291e-02 9.98286206e-01 -3.26552236e-03 9.12389771e-02] [-7.09136688e-02 -8.87659380e-04 9.97482062e-01 -4.71699749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.288639999999997 meters 0.029348652221199516 Centerline is valid? [True, True] Translation: X:10.11, Y:0.09, Z:-0.47 [[ 9.96266748e-01 4.80204561e-02 7.17398205e-02 1.01100119e+01] [-4.79042953e-02 9.98846346e-01 -3.33985594e-03 9.15134482e-02] [-7.18174390e-02 -1.09258123e-04 9.97417788e-01 -4.73897346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.348639999999998 meters 0.029519297440333016 Centerline is valid? [True, True] Translation: X:10.17, Y:0.09, Z:-0.48 [[ 9.96550154e-01 4.26751772e-02 7.11801971e-02 1.01727195e+01] [-4.25448094e-02 9.99088952e-01 -3.34730384e-03 8.89436472e-02] [-7.12581953e-02 3.07408240e-04 9.97457856e-01 -4.76734293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.408639999999998 meters 0.02952919502483733 Centerline is valid? [True, True] Translation: X:10.23, Y:0.08, Z:-0.48 [[ 9.96814162e-01 3.94645216e-02 6.93114607e-02 1.02349962e+01] [-3.93308584e-02 9.99220818e-01 -3.29259857e-03 8.23310717e-02] [-6.93873953e-02 5.56029637e-04 9.97589635e-01 -4.78880513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.468639999999999 meters 0.029568209350326037 Centerline is valid? [True, True] Translation: X:10.30, Y:0.07, Z:-0.48 [[ 9.96432113e-01 4.03561081e-02 7.41244077e-02 1.02964791e+01] [-4.02031275e-02 9.99185202e-01 -3.55535590e-03 7.23342615e-02] [-7.42074916e-02 5.62637773e-04 9.97242664e-01 -4.83075055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.528639999999998 meters 0.02941355683231094 Centerline is valid? [True, True] Translation: X:10.36, Y:0.06, Z:-0.48 [[ 9.96759931e-01 3.89669869e-02 7.03648614e-02 1.03585225e+01] [-3.88235907e-02 9.99240279e-01 -3.40487133e-03 6.08069538e-02] [-7.04440813e-02 6.62022731e-04 9.97515510e-01 -4.83153073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.588639999999998 meters 0.029727399745210808 Centerline is valid? [True, True] Translation: X:10.42, Y:0.05, Z:-0.49 [[ 9.96733636e-01 3.77913642e-02 7.13713648e-02 1.04204731e+01] [-3.76385550e-02 9.99285341e-01 -3.48518576e-03 5.21368143e-02] [-7.14520686e-02 7.87486834e-04 9.97443724e-01 -4.88044828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.648639999999999 meters 0.02992638051371468 Centerline is valid? [True, True] Translation: X:10.48, Y:0.04, Z:-0.49 [[ 9.96918499e-01 3.52608838e-02 7.00726443e-02 1.04835419e+01] [-3.51051168e-02 9.99377658e-01 -3.45354611e-03 3.96486074e-02] [-7.01508102e-02 9.82995642e-04 9.97535913e-01 -4.88835313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.708639999999997 meters 0.030177083911732325 Centerline is valid? [True, True] Translation: X:10.54, Y:0.03, Z:-0.49 [[ 9.96683737e-01 3.57676084e-02 7.30903942e-02 1.05448594e+01] [-3.55968289e-02 9.99359609e-01 -3.63827078e-03 2.74660247e-02] [-7.31737200e-02 1.02441906e-03 9.97318684e-01 -4.94424229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.768639999999998 meters 0.030214796401465353 Centerline is valid? [True, True] Translation: X:10.61, Y:0.01, Z:-0.50 [[ 9.96618420e-01 3.78180977e-02 7.29487241e-02 1.06059902e+01] [-3.76511220e-02 9.99284231e-01 -3.66321695e-03 1.24516404e-02] [-7.30350456e-02 9.04228179e-04 9.97328965e-01 -4.99125446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.828639999999998 meters 0.030405202395401443 Centerline is valid? [True, True] Translation: X:10.67, Y:0.00, Z:-0.50 [[ 9.96536943e-01 3.82286845e-02 7.38423209e-02 1.06673364e+01] [-3.80563450e-02 9.99268596e-01 -3.73999838e-03 4.47688437e-03] [-7.39312876e-02 9.16877714e-04 9.97262916e-01 -5.02489970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.888639999999999 meters 0.030522319485472488 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.01, Z:-0.50 [[ 9.96656140e-01 3.78085970e-02 7.24365162e-02 1.07291277e+01] [-3.76394792e-02 9.99284538e-01 -3.69880224e-03 -7.68427062e-03] [-7.25245372e-02 9.59961215e-04 9.97366166e-01 -5.04857643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.948639999999997 meters 0.030780345784968313 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.02, Z:-0.51 [[ 9.96703789e-01 3.69476274e-02 7.22248606e-02 1.07912051e+01] [-3.67748262e-02 9.99316649e-01 -3.72130244e-03 -1.87405079e-02] [-7.23129989e-02 1.05297955e-03 9.97381432e-01 -5.09546731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.008639999999998 meters 0.03063036221124499 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.03, Z:-0.51 [[ 9.96649171e-01 3.74082766e-02 7.27396044e-02 1.08532819e+01] [-3.72315379e-02 9.99299499e-01 -3.78460454e-03 -2.99754668e-02] [-7.28302258e-02 1.06371564e-03 9.97343786e-01 -5.11903745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.068639999999998 meters 0.030840246299399163 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.04, Z:-0.52 [[ 9.96719252e-01 3.59151697e-02 7.25316082e-02 1.09152492e+01] [-3.57329505e-02 9.99354116e-01 -3.80872662e-03 -3.91777842e-02] [-7.26215523e-02 1.20446278e-03 9.97358842e-01 -5.15506816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.128639999999997 meters 0.03097902875743043 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.05, Z:-0.52 [[ 9.96795835e-01 3.25285536e-02 7.30750034e-02 1.09771165e+01] [-3.23321281e-02 9.99469689e-01 -3.86962328e-03 -5.15989848e-02] [-7.31621242e-02 1.49455400e-03 9.97318941e-01 -5.17196578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.188639999999998 meters 0.03122547676832626 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.06, Z:-0.52 [[ 9.96838145e-01 3.07423160e-02 7.32708800e-02 1.10387972e+01] [-3.05376422e-02 9.99525961e-01 -3.91228196e-03 -6.18471354e-02] [-7.33564194e-02 1.66239198e-03 9.97304403e-01 -5.21651127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.248639999999998 meters 0.03120394196415095 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.08, Z:-0.52 [[ 9.96875570e-01 3.14046102e-02 7.24765394e-02 1.10998839e+01] [-3.12038126e-02 9.99505428e-01 -3.90139905e-03 -7.66527564e-02] [-7.25632165e-02 1.62766505e-03 9.97362487e-01 -5.23624195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.308639999999999 meters 0.030954302876423003 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.09, Z:-0.53 [[ 9.96696563e-01 3.44283985e-02 7.35570963e-02 1.11608044e+01] [-3.42273792e-02 9.99406099e-01 -3.99200404e-03 -9.29881434e-02] [-7.36508490e-02 1.46115008e-03 9.97283018e-01 -5.27494339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.368639999999997 meters 0.029900023625152997 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.11, Z:-0.53 [[ 9.96448220e-01 4.32608117e-02 7.22457384e-02 1.12211231e+01] [-4.30884902e-02 9.99063480e-01 -3.94276164e-03 -1.08978790e-01] [-7.23486459e-02 8.15798024e-04 9.97379069e-01 -5.28216875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.428639999999998 meters 0.02950368143524603 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.12, Z:-0.53 [[ 9.96085702e-01 5.14937544e-02 7.18447391e-02 1.12830533e+01] [-5.13437080e-02 9.98673290e-01 -3.93492545e-03 -1.15563147e-01] [-7.19520460e-02 2.30747671e-04 9.97408066e-01 -5.31619264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.488639999999998 meters 0.029952667952810753 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.12, Z:-0.53 [[ 9.95282081e-01 6.12340887e-02 7.52593224e-02 1.13448076e+01] [-6.10945191e-02 9.98123326e-01 -4.15752070e-03 -1.24653543e-01] [-7.53726672e-02 -4.60026254e-04 9.97155329e-01 -5.34639976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.548639999999997 meters 0.0299688130054099 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.13, Z:-0.54 [[ 9.95099899e-01 6.28979371e-02 7.62891960e-02 1.14071745e+01] [-6.27566680e-02 9.98019808e-01 -4.25005363e-03 -1.27752273e-01] [-7.64054484e-02 -5.58427808e-04 9.97076675e-01 -5.36921126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.608639999999998 meters 0.03011090871918869 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.13, Z:-0.54 [[ 9.94832254e-01 6.73283507e-02 7.59978958e-02 1.14695145e+01] [-6.71983839e-02 9.97730501e-01 -4.26892573e-03 -1.30524318e-01] [-7.61128385e-02 -8.60070773e-04 9.97098840e-01 -5.39872864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.668639999999998 meters 0.03012016324638393 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.13, Z:-0.54 [[ 9.95156383e-01 6.47120980e-02 7.40007977e-02 1.15320914e+01] [-6.45791344e-02 9.97903790e-01 -4.19063166e-03 -1.31286436e-01] [-7.41168611e-02 -6.08573622e-04 9.97249377e-01 -5.42326729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.728639999999999 meters 0.030001797959032715 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.13, Z:-0.55 [[ 9.95269736e-01 6.23525756e-02 7.45003923e-02 1.15951151e+01] [-6.22084501e-02 9.98054105e-01 -4.25576750e-03 -1.32654762e-01] [-7.46207805e-02 -3.98917343e-04 9.97211903e-01 -5.46312507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.788639999999997 meters 0.030039543249176223 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.14, Z:-0.55 [[ 9.95742915e-01 5.56163845e-02 7.35041769e-02 1.16568146e+01] [-5.54550112e-02 9.98452201e-01 -4.23604485e-03 -1.38655237e-01] [-7.36260007e-02 1.41836701e-04 9.97285913e-01 -5.49359632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.848639999999998 meters 0.030251501808255907 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.15, Z:-0.55 [[ 9.95680730e-01 5.38544517e-02 7.56279224e-02 1.17185333e+01] [-5.36758272e-02 9.98548746e-01 -4.39399139e-03 -1.48322824e-01] [-7.57548031e-02 3.15621256e-04 9.97126426e-01 -5.53701108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.908639999999998 meters 0.03007533032094533 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.16, Z:-0.56 [[ 9.95906753e-01 5.44040668e-02 7.21798975e-02 1.17804000e+01] [-5.42404854e-02 9.98518959e-01 -4.22592007e-03 -1.58061204e-01] [-7.23029033e-02 2.93549655e-04 9.97382677e-01 -5.55845737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.968639999999997 meters 0.029892686715604345 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.17, Z:-0.56 [[ 9.95747852e-01 5.56925066e-02 7.33795642e-02 1.18419482e+01] [-5.55244132e-02 9.98447940e-01 -4.33027031e-03 -1.65424830e-01] [-7.35068383e-02 2.37500115e-04 9.97294685e-01 -5.59217827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.028639999999998 meters 0.02998141227419848 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.18, Z:-0.56 [[ 9.95500425e-01 5.46363889e-02 7.74194404e-02 1.19037130e+01] [-5.44431900e-02 9.98506248e-01 -4.60552180e-03 -1.75910443e-01] [-7.75554241e-02 3.69837599e-04 9.96987974e-01 -5.61316071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.088639999999998 meters 0.03024026605315194 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.18, Z:-0.57 [[ 9.95565849e-01 5.02932579e-02 7.94935797e-02 1.19653025e+01] [-5.00727513e-02 9.98734201e-01 -4.76611588e-03 -1.84090797e-01] [-7.96326603e-02 7.64519958e-04 9.96823984e-01 -5.67043500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.148639999999999 meters 0.030192236244082037 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.19, Z:-0.57 [[ 9.95489888e-01 5.03945526e-02 8.03758123e-02 1.20272411e+01] [-5.01664552e-02 9.98729065e-01 -4.85600811e-03 -1.94786121e-01] [-8.05183762e-02 8.01937389e-04 9.96752802e-01 -5.70787082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.208639999999997 meters 0.029934195026149645 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.20, Z:-0.57 [[ 9.95464744e-01 5.26359416e-02 7.92426676e-02 1.20890455e+01] [-5.24184809e-02 9.98613558e-01 -4.82335169e-03 -2.04502918e-01] [-7.93866839e-02 6.47696301e-04 9.96843686e-01 -5.72656155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.268639999999998 meters 0.029888480760564086 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.22, Z:-0.58 [[ 9.94901949e-01 6.14683707e-02 7.99484287e-02 1.21512254e+01] [-6.12723237e-02 9.98109032e-01 -4.90543348e-03 -2.15776074e-01] [-8.00987777e-02 -1.82006719e-05 9.96786931e-01 -5.76154616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.328639999999998 meters 0.029910989114303645 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.22, Z:-0.58 [[ 9.94365254e-01 7.06600497e-02 7.90246707e-02 1.22141013e+01] [-7.04941714e-02 9.97500204e-01 -4.89036275e-03 -2.22472903e-01] [-7.91726784e-02 -7.07971877e-04 9.96860665e-01 -5.79241271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.388639999999997 meters 0.030287053619527042 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.23, Z:-0.58 [[ 9.94214729e-01 7.70727859e-02 7.48121490e-02 1.22765030e+01] [-7.69401183e-02 9.97024834e-01 -4.65810359e-03 -2.28779780e-01] [-7.49485835e-02 -1.12490039e-03 9.97186765e-01 -5.81071003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.448639999999997 meters 0.030320950570760802 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.23, Z:-0.58 [[ 9.94028664e-01 7.88616630e-02 7.54178617e-02 1.23385177e+01] [-7.87303841e-02 9.96884787e-01 -4.71683522e-03 -2.31177813e-01] [-7.55548965e-02 -1.24900781e-03 9.97140861e-01 -5.83036229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.508639999999998 meters 0.030406839792544695 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.24, Z:-0.59 [[ 9.93968549e-01 7.93812139e-02 7.56646935e-02 1.24015922e+01] [-7.92477235e-02 9.96843542e-01 -4.76980326e-03 -2.35133488e-01] [-7.58044939e-02 -1.25522028e-03 9.97121910e-01 -5.87366404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.568639999999998 meters 0.030282741301112994 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.23, Z:-0.59 [[ 9.93954236e-01 7.99278836e-02 7.52762282e-02 1.24649314e+01] [-7.97942645e-02 9.96799865e-01 -4.78579179e-03 -2.34011044e-01] [-7.54178523e-02 -1.24975324e-03 9.97151235e-01 -5.89461871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.628639999999997 meters 0.030531705238360317 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.24, Z:-0.59 [[ 9.93898202e-01 8.00501370e-02 7.58837244e-02 1.25275058e+01] [-7.99115860e-02 9.96790082e-01 -4.86535087e-03 -2.37870663e-01] [-7.60296158e-02 -1.22832528e-03 9.97104803e-01 -5.93502093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.688639999999998 meters 0.0303659321829038 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.24, Z:-0.60 [[ 9.94080087e-01 7.77730849e-02 7.58691556e-02 1.25900699e+01] [-7.76249981e-02 9.96970570e-01 -4.90333592e-03 -2.35050521e-01] [-7.60206629e-02 -1.01503447e-03 9.97105726e-01 -5.96003679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.748639999999998 meters 0.03028226676400971 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.23, Z:-0.60 [[ 9.94391562e-01 7.35226631e-02 7.60252555e-02 1.26529695e+01] [-7.33588262e-02 9.97293331e-01 -4.94919469e-03 -2.30263915e-01] [-7.61833582e-02 -6.55686064e-04 9.97093609e-01 -5.99069403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.808639999999997 meters 0.030287608920788803 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.22, Z:-0.60 [[ 9.94853765e-01 6.99232596e-02 7.33261447e-02 1.27155527e+01] [-6.97586048e-02 9.97552318e-01 -4.80727626e-03 -2.24707040e-01] [-7.34828060e-02 -3.32592662e-04 9.97296429e-01 -6.02786355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.868639999999997 meters 0.030184082419790027 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.22, Z:-0.61 [[ 9.94966412e-01 6.85586270e-02 7.30859283e-02 1.27783906e+01] [-6.83887292e-02 9.97647070e-01 -4.82753389e-03 -2.24907082e-01] [-7.32449313e-02 -1.95019680e-04 9.97313964e-01 -6.05909201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.928639999999998 meters 0.03016461425146678 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.22, Z:-0.61 [[ 9.95026413e-01 6.51155994e-02 7.53816738e-02 1.28413006e+01] [-6.49220108e-02 9.97877722e-01 -5.01833482e-03 -2.17560069e-01] [-7.55484648e-02 9.94458519e-05 9.97142126e-01 -6.08982260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.988639999999998 meters 0.030314915266368994 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.22, Z:-0.61 [[ 9.95234223e-01 6.08749049e-02 7.61779930e-02 1.29033914e+01] [-6.06620691e-02 9.98145297e-01 -5.10689240e-03 -2.17874799e-01] [-7.63475870e-02 4.61439412e-04 9.97081157e-01 -6.13522424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.048639999999997 meters 0.0303256482481183 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.22, Z:-0.61 [[ 9.95632023e-01 5.71018944e-02 7.38664227e-02 1.29662952e+01] [-5.68895282e-02 9.98368071e-01 -4.97752719e-03 -2.17188044e-01] [-7.40301042e-02 7.53559528e-04 9.97255722e-01 -6.14361665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.108639999999998 meters 0.030398947979122615 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.22, Z:-0.62 [[ 9.95637225e-01 5.76306606e-02 7.33840800e-02 1.30296553e+01] [-5.74209343e-02 9.98337705e-01 -4.96622280e-03 -2.19111358e-01] [-7.35483007e-02 7.30773848e-04 9.97291388e-01 -6.18389073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.168639999999998 meters 0.030268862628543985 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.22, Z:-0.62 [[ 9.95486764e-01 6.31444224e-02 7.08440826e-02 1.30914288e+01] [-6.29604599e-02 9.98004339e-01 -4.82895701e-03 -2.22551848e-01] [-7.10076236e-02 3.46786761e-04 9.97475713e-01 -6.20578550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.228639999999997 meters 0.03014804728823074 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.23, Z:-0.62 [[ 9.94959556e-01 6.95237894e-02 7.22628904e-02 1.31543647e+01] [-6.93466221e-02 9.97580291e-01 -4.96074394e-03 -2.28568847e-01] [-7.24329249e-02 -7.54477637e-05 9.97373283e-01 -6.21452294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.288639999999997 meters 0.03018550094926498 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.23, Z:-0.62 [[ 9.95135441e-01 6.88083333e-02 7.05043774e-02 1.32166569e+01] [-6.86354120e-02 9.97629898e-01 -4.87515263e-03 -2.32060027e-01] [-7.06727260e-02 1.23401704e-05 9.97499557e-01 -6.24409807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.348639999999998 meters 0.030460389162072936 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.24, Z:-0.63 [[ 9.95006000e-01 6.73267064e-02 7.36897147e-02 1.32784541e+01] [-6.71311145e-02 9.97730971e-01 -5.13068026e-03 -2.36479723e-01] [-7.38679424e-02 1.58184970e-04 9.97268019e-01 -6.27717122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.408639999999998 meters 0.030153980070546302 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.24, Z:-0.63 [[ 9.95079362e-01 6.75900659e-02 7.24475417e-02 1.33405320e+01] [-6.73992965e-02 9.97713162e-01 -5.07745977e-03 -2.40442692e-01] [-7.26250517e-02 1.69562093e-04 9.97359300e-01 -6.28926073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.468639999999997 meters 0.030138306616402356 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.24, Z:-0.63 [[ 9.94982745e-01 6.92993126e-02 7.21591404e-02 1.34037634e+01] [-6.91120001e-02 9.97595910e-01 -5.09239976e-03 -2.44924535e-01] [-7.23385631e-02 7.97873721e-05 9.97380131e-01 -6.32762536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.528639999999998 meters 0.030305152936914243 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.25, Z:-0.64 [[ 9.94728291e-01 7.25434157e-02 7.24781371e-02 1.34666545e+01] [-7.23602128e-02 9.97365248e-01 -5.15370648e-03 -2.47480843e-01] [-7.26610426e-02 -1.17995781e-04 9.97356686e-01 -6.37804763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.588639999999998 meters 0.030297851245960725 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.25, Z:-0.64 [[ 9.94777987e-01 7.14367331e-02 7.28941000e-02 1.35297283e+01] [-7.12455807e-02 9.97445133e-01 -5.22245750e-03 -2.53235516e-01] [-7.30809406e-02 1.80326742e-06 9.97326013e-01 -6.40967077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.648639999999997 meters 0.030248613162495917 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.26, Z:-0.64 [[ 9.94805665e-01 6.99697449e-02 7.39318799e-02 1.35922443e+01] [-6.97662290e-02 9.97549103e-01 -5.33486206e-03 -2.56464962e-01] [-7.41239594e-02 1.49202538e-04 9.97249024e-01 -6.44276388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.708639999999997 meters 0.03028965058686997 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.26, Z:-0.65 [[ 9.94594389e-01 7.35803102e-02 7.32662221e-02 1.36544949e+01] [-7.33877331e-02 9.97289291e-01 -5.32070242e-03 -2.59525958e-01] [-7.34591177e-02 -8.49011854e-05 9.97298226e-01 -6.46573662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.768639999999998 meters 0.030039920450347476 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.27, Z:-0.65 [[ 9.94447710e-01 7.72912019e-02 7.14130429e-02 1.37165994e+01] [-7.71154653e-02 9.97008510e-01 -5.21876923e-03 -2.65714253e-01] [-7.16027764e-02 -3.17256923e-04 9.97433177e-01 -6.48276817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.828639999999998 meters 0.030064470990469338 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.27, Z:-0.65 [[ 9.94096207e-01 8.22831267e-02 7.07263653e-02 1.37797271e+01] [-8.21209360e-02 9.96608791e-01 -5.20281759e-03 -2.67369287e-01] [-7.09146216e-02 -6.36014096e-04 9.97482186e-01 -6.49879128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.888639999999997 meters 0.030259797189384766 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.27, Z:-0.65 [[ 9.93652628e-01 8.85333568e-02 6.93995712e-02 1.38420446e+01] [-8.83899730e-02 9.96072683e-01 -5.14022473e-03 -2.67732162e-01] [-6.95820985e-02 -1.02662841e-03 9.97575700e-01 -6.52981085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.948639999999997 meters 0.030329703116404285 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.27, Z:-0.65 [[ 9.93510681e-01 9.11448029e-02 6.80378630e-02 1.39053069e+01] [-9.10108824e-02 9.95836982e-01 -5.07190621e-03 -2.66112557e-01] [-6.82168980e-02 -1.15319295e-03 9.97669848e-01 -6.54434804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.008639999999998 meters 0.030128980933441338 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.27, Z:-0.66 [[ 9.93321342e-01 9.04981310e-02 7.15737365e-02 1.39678992e+01] [-9.03455169e-02 9.95895986e-01 -5.37341251e-03 -2.65220677e-01] [-7.17662807e-02 -1.12884090e-03 9.97420837e-01 -6.58067274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.068639999999997 meters 0.029891975732378923 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.26, Z:-0.66 [[ 9.93734084e-01 8.51984520e-02 7.23449703e-02 1.40305460e+01] [-8.50260164e-02 9.96363741e-01 -5.46545242e-03 -2.63126753e-01] [-7.25475533e-02 -7.19998276e-04 9.97364695e-01 -6.62277311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.128639999999997 meters 0.029907374643458915 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.27, Z:-0.67 [[ 9.93901115e-01 8.36417645e-02 7.18653475e-02 1.40924330e+01] [-8.34651196e-02 9.96495726e-01 -5.46279106e-03 -2.67204642e-01] [-7.20704291e-02 -5.68775700e-04 9.97399383e-01 -6.66092886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.188639999999998 meters 0.02963713478442232 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.27, Z:-0.67 [[ 9.93840699e-01 8.73820820e-02 6.81545059e-02 1.41547725e+01] [-8.72299088e-02 9.96174576e-01 -5.21131968e-03 -2.68631018e-01] [-6.83491620e-02 -7.65889736e-04 9.97661168e-01 -6.67520078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.248639999999998 meters 0.030150289641657686 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.27, Z:-0.67 [[ 9.93160084e-01 9.52403547e-02 6.75449603e-02 1.42172135e+01] [-9.51069138e-02 9.95453504e-01 -5.19586067e-03 -2.71711092e-01] [-6.77327230e-02 -1.26367130e-03 9.97702702e-01 -6.68472692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.308639999999997 meters 0.03053386535729412 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.27, Z:-0.67 [[ 9.92643912e-01 9.90116311e-02 6.96761074e-02 1.42793249e+01] [-9.88765928e-02 9.95085090e-01 -5.39280882e-03 -2.73930577e-01] [-6.98676065e-02 -1.53619726e-03 9.97555090e-01 -6.70984006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.368639999999997 meters 0.030994678269130268 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.27, Z:-0.67 [[ 9.91818403e-01 1.06345013e-01 7.06186455e-02 1.43413798e+01] [-1.06222540e-01 9.94327181e-01 -5.49807869e-03 -2.73639928e-01] [-7.08027319e-02 -2.04819626e-03 9.97488235e-01 -6.72676633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.428639999999998 meters 0.03250350061145737 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.27, Z:-0.67 [[ 9.90623598e-01 1.18646872e-01 6.77333518e-02 1.44025332e+01] [-1.18561461e-01 9.92932604e-01 -5.29379492e-03 -2.70993717e-01] [-6.78827456e-02 -2.78640697e-03 9.97689415e-01 -6.74602343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.488639999999997 meters 0.0335965426800191 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.26, Z:-0.68 [[ 9.89816664e-01 1.25809443e-01 6.65954619e-02 1.44647518e+01] [-1.25742835e-01 9.92049202e-01 -5.20762443e-03 -2.61877257e-01] [-6.67211432e-02 -3.21930877e-03 9.97766468e-01 -6.76383719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.548639999999997 meters 0.03318175459957294 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.26, Z:-0.68 [[ 9.89712222e-01 1.24914116e-01 6.97580136e-02 1.45281326e+01] [-1.24837809e-01 9.92162086e-01 -5.46954701e-03 -2.56566678e-01] [-6.98944799e-02 -3.29516003e-03 9.97548948e-01 -6.79756515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.608639999999998 meters 0.032053940829307806 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.25, Z:-0.68 [[ 9.90643481e-01 1.15909890e-01 7.20443643e-02 1.45900303e+01] [-1.15802858e-01 9.93256006e-01 -5.67494211e-03 -2.46476242e-01] [-7.22162795e-02 -2.72109891e-03 9.97385284e-01 -6.83820873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.668639999999998 meters 0.031010375081075108 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.24, Z:-0.69 [[ 9.91761628e-01 1.07563379e-01 6.95628674e-02 1.46519171e+01] [-1.07442928e-01 9.94196142e-01 -5.48170625e-03 -2.38444706e-01] [-6.97487652e-02 -2.03749221e-03 9.97562509e-01 -6.87045310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.728639999999997 meters 0.030145479641366782 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.23, Z:-0.69 [[ 9.92421688e-01 1.00208836e-01 7.11152763e-02 1.47148959e+01] [-1.00063203e-01 9.94965231e-01 -5.61644419e-03 -2.33670581e-01] [-7.13200447e-02 -1.54214132e-03 9.97452291e-01 -6.89406836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.788639999999997 meters 0.029720169980267955 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.23, Z:-0.69 [[ 9.92836619e-01 9.53888894e-02 7.19472611e-02 1.47771475e+01] [-9.52247713e-02 9.95439388e-01 -5.71554401e-03 -2.34822010e-01] [-7.21643370e-02 -1.17656009e-03 9.97392061e-01 -6.93116259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.848639999999998 meters 0.029434680163104788 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.23, Z:-0.69 [[ 9.93221467e-01 9.15028714e-02 7.16822327e-02 1.48401437e+01] [-9.13274712e-02 9.95804443e-01 -5.72751299e-03 -2.33178360e-01] [-7.19055697e-02 -8.57868195e-04 9.97411075e-01 -6.94582362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.908639999999997 meters 0.029237115420173546 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.23, Z:-0.70 [[ 9.93329880e-01 9.10714950e-02 7.07229316e-02 1.49026037e+01] [-9.08973840e-02 9.95844049e-01 -5.68300538e-03 -2.33688567e-01] [-7.09465704e-02 -7.83430424e-04 9.97479810e-01 -6.97865908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.968639999999997 meters 0.029237884359220947 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.23, Z:-0.70 [[ 9.93507496e-01 8.92018886e-02 7.06107531e-02 1.49648600e+01] [-8.90213263e-02 9.96013375e-01 -5.70620076e-03 -2.34610679e-01] [-7.08382584e-02 -6.16709663e-04 9.97487624e-01 -7.01255972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.028639999999996 meters 0.029222490089937457 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.24, Z:-0.71 [[ 9.93759093e-01 8.38949048e-02 7.35153760e-02 1.50268920e+01] [-8.36821151e-02 9.96474585e-01 -5.97531818e-03 -2.35489195e-01] [-7.37575026e-02 -2.13895384e-04 9.97276183e-01 -7.05263934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.088639999999998 meters 0.02940614587693403 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.24, Z:-0.71 [[ 9.94075071e-01 7.87525297e-02 7.49185771e-02 1.50886761e+01] [-7.85143360e-02 9.96894175e-01 -6.12390229e-03 -2.37480905e-01] [-7.51681659e-02 2.05436273e-04 9.97170850e-01 -7.08746764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.148639999999997 meters 0.029205197684043258 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.24, Z:-0.71 [[ 9.94399748e-01 7.51466279e-02 7.43110082e-02 1.51511183e+01] [-7.48996130e-02 9.97172365e-01 -6.10924846e-03 -2.43238176e-01] [-7.45599732e-02 5.09169367e-04 9.97216401e-01 -7.11540744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20864 meters 0.029327225678054854 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.25, Z:-0.71 [[ 9.94094507e-01 7.72755398e-02 7.61879342e-02 1.52128468e+01] [-7.70192271e-02 9.97009696e-01 -6.30115277e-03 -2.51274668e-01] [-7.64470341e-02 3.96005556e-04 9.97073565e-01 -7.14021408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.268639999999998 meters 0.028972157707747616 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.26, Z:-0.72 [[ 9.94083070e-01 7.95388294e-02 7.39758383e-02 1.52749165e+01] [-7.93010627e-02 9.96831738e-01 -6.15046362e-03 -2.60126709e-01] [-7.42306641e-02 2.47709168e-04 9.97241068e-01 -7.16721951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.328639999999996 meters 0.029030950325503336 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.27, Z:-0.72 [[ 9.94097054e-01 8.01753450e-02 7.30955667e-02 1.53365155e+01] [-7.99425372e-02 9.96780749e-01 -6.10980536e-03 -2.65854134e-01] [-7.33501094e-02 2.30294449e-04 9.97306226e-01 -7.18980352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38864 meters 0.029282934723790177 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.28, Z:-0.72 [[ 9.94185426e-01 7.68274070e-02 7.54512335e-02 1.53976054e+01] [-7.65671325e-02 9.97044268e-01 -6.34050098e-03 -2.75574588e-01] [-7.57153441e-02 5.26549075e-04 9.97129334e-01 -7.23014091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.448639999999997 meters 0.02928171535393617 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.28, Z:-0.73 [[ 9.94284623e-01 7.44423522e-02 7.65272854e-02 1.54591138e+01] [-7.41649984e-02 9.97225036e-01 -6.46383606e-03 -2.80893406e-01] [-7.67961081e-02 7.51246801e-04 9.97046535e-01 -7.26454239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.508639999999996 meters 0.029516794546823245 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.29, Z:-0.73 [[ 9.94507038e-01 7.25312816e-02 7.54649827e-02 1.55212337e+01] [-7.22534383e-02 9.97365712e-01 -6.40907083e-03 -2.91130723e-01] [-7.57310443e-02 9.21261584e-04 9.97127855e-01 -7.30728679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56864 meters 0.02932740632306578 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.30, Z:-0.73 [[ 9.94476476e-01 7.35021487e-02 7.49264442e-02 1.55825501e+01] [-7.32283001e-02 9.97294673e-01 -6.39933693e-03 -3.00309611e-01] [-7.51941087e-02 8.77253900e-04 9.97168530e-01 -7.33303166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.628639999999997 meters 0.028952514502787168 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.31, Z:-0.74 [[ 9.94406603e-01 7.55779395e-02 7.37799652e-02 1.56440911e+01] [-7.53157386e-02 9.97139622e-01 -6.33356623e-03 -3.10018848e-01] [-7.40476045e-02 7.41347505e-04 9.97254432e-01 -7.36198351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.688639999999996 meters 0.02898255336840287 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.32, Z:-0.74 [[ 9.93827543e-01 8.11598588e-02 7.56299654e-02 1.57068515e+01] [-8.08977131e-02 9.96701029e-01 -6.52835541e-03 -3.19149330e-01] [-7.59103047e-02 3.69768170e-04 9.97114582e-01 -7.38987237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.748639999999998 meters 0.02877980485054265 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.33, Z:-0.74 [[ 9.93729339e-01 8.34664660e-02 7.43999327e-02 1.57691783e+01] [-8.32171212e-02 9.96510563e-01 -6.45054632e-03 -3.26359470e-01] [-7.46787231e-02 2.18748918e-04 9.97207622e-01 -7.40765891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.808639999999997 meters 0.02881628609325752 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.33, Z:-0.74 [[ 9.93675871e-01 8.37010992e-02 7.48491106e-02 1.58319472e+01] [-8.34477610e-02 9.96490881e-01 -6.51117363e-03 -3.31939682e-01] [-7.51314485e-02 2.24005442e-04 9.97173613e-01 -7.43513439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.868639999999996 meters 0.028848747041540328 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.34, Z:-0.75 [[ 9.93606121e-01 8.34974026e-02 7.59938147e-02 1.58935795e+01] [-8.32327613e-02 9.96507955e-01 -6.64849951e-03 -3.38066015e-01] [-7.62835734e-02 2.80814764e-04 9.97086123e-01 -7.47504877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.928639999999998 meters 0.028749520546126915 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.34, Z:-0.75 [[ 9.93538809e-01 8.56898100e-02 7.44170168e-02 1.59560179e+01] [-8.54397035e-02 9.96321854e-01 -6.54378643e-03 -3.42128303e-01] [-7.47040359e-02 1.43337918e-04 9.97205739e-01 -7.49990032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.988639999999997 meters 0.029095988309584295 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.34, Z:-0.75 [[ 9.93087725e-01 8.93069604e-02 7.61645395e-02 1.60178562e+01] [-8.90529504e-02 9.96004145e-01 -6.73162090e-03 -3.41919839e-01] [-7.64613777e-02 -9.75868724e-05 9.97072539e-01 -7.54364443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04864 meters 0.02905064302465196 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.35, Z:-0.76 [[ 9.93381777e-01 8.62570437e-02 7.58443626e-02 1.60809485e+01] [-8.59936404e-02 9.96272901e-01 -6.73800566e-03 -3.45100851e-01] [-7.61428836e-02 1.71279194e-04 9.97096902e-01 -7.56680660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.108639999999998 meters 0.029244236098036284 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.34, Z:-0.76 [[ 9.94161770e-01 7.91495978e-02 7.33329102e-02 1.61438770e+01] [-7.88814470e-02 9.96862484e-01 -6.55020630e-03 -3.44057254e-01] [-7.36212733e-02 7.27358613e-04 9.97286007e-01 -7.60860970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.168639999999996 meters 0.029861664748047665 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.35, Z:-0.76 [[ 9.94504677e-01 7.37174906e-02 7.43382722e-02 1.62054701e+01] [-7.34243281e-02 9.97278469e-01 -6.67258527e-03 -3.47224669e-01] [-7.46278445e-02 1.17767957e-03 9.97210759e-01 -7.62930758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22864 meters 0.030567458074790433 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.35, Z:-0.77 [[ 9.94619604e-01 6.87521516e-02 7.74918418e-02 1.62673732e+01] [-6.84166097e-02 9.97632423e-01 -6.97975869e-03 -3.51244821e-01] [-7.77882473e-02 1.64047573e-03 9.96968554e-01 -7.66176744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.288639999999997 meters 0.030975145653908798 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.36, Z:-0.77 [[ 9.95147444e-01 6.36622278e-02 7.50245699e-02 1.63293655e+01] [-6.33319934e-02 9.97969518e-01 -6.77499899e-03 -3.60761279e-01] [-7.53035454e-02 1.99066736e-03 9.97158670e-01 -7.69769360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.348639999999996 meters 0.03176734320842869 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.37, Z:-0.77 [[ 9.95145017e-01 5.99040007e-02 7.80890867e-02 1.63902632e+01] [-5.95320270e-02 9.98201254e-01 -7.08483957e-03 -3.70412469e-01] [-7.83730344e-02 2.40164118e-03 9.96921210e-01 -7.72597492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40864 meters 0.031961834612770426 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.38, Z:-0.78 [[ 9.95266739e-01 5.94076197e-02 7.69080866e-02 1.64526930e+01] [-5.90428277e-02 9.98230835e-01 -7.01038431e-03 -3.81681609e-01] [-7.71884937e-02 2.43633143e-03 9.97013541e-01 -7.75316269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.468639999999997 meters 0.030962059247171034 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.39, Z:-0.78 [[ 9.94917110e-01 6.50560167e-02 7.68612925e-02 1.65127213e+01] [-6.47065510e-02 9.97879565e-01 -7.03104121e-03 -3.94116726e-01] [-7.71557246e-02 2.02187407e-03 9.97017004e-01 -7.78704486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.528639999999996 meters 0.030508701359332875 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.41, Z:-0.78 [[ 9.94192704e-01 7.14106951e-02 8.05070167e-02 1.65730952e+01] [-7.10465938e-02 9.97445683e-01 -7.38177121e-03 -4.11530804e-01] [-8.08285137e-02 1.61915377e-03 9.96726708e-01 -7.82224242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.588639999999998 meters 0.030086228953871065 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.42, Z:-0.79 [[ 9.94176788e-01 7.48671091e-02 7.75076084e-02 1.66334285e+01] [-7.45384829e-02 9.97192660e-01 -7.12835922e-03 -4.23828416e-01] [-7.78236978e-02 1.30954973e-03 9.96966277e-01 -7.86157210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.648639999999997 meters 0.029443756266509295 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.44, Z:-0.79 [[ 9.93848170e-01 8.23600443e-02 7.40448341e-02 1.66943997e+01] [-8.20805247e-02 9.96602398e-01 -6.81530832e-03 -4.36083121e-01] [-7.43545683e-02 6.95742876e-04 9.97231625e-01 -7.87495304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.708639999999995 meters 0.029307025252400136 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.45, Z:-0.79 [[ 9.92880624e-01 9.36483504e-02 7.36074209e-02 1.67561612e+01] [-9.34018597e-02 9.95605328e-01 -6.79143264e-03 -4.45261533e-01] [-7.39199469e-02 -1.31988116e-04 9.97264170e-01 -7.90243948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.768639999999998 meters 0.029537095046862347 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.45, Z:-0.79 [[ 9.92211980e-01 1.00600989e-01 7.34494909e-02 1.68179303e+01] [-1.00372089e-01 9.94926662e-01 -6.81036036e-03 -4.53098709e-01] [-7.37619858e-02 -6.14957675e-04 9.97275685e-01 -7.92451267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.828639999999996 meters 0.02987853914679844 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.46, Z:-0.79 [[ 9.91597318e-01 1.06310151e-01 7.37082825e-02 1.68798671e+01] [-1.06092853e-01 9.94332506e-01 -6.86829005e-03 -4.59569572e-01] [-7.40207102e-02 -1.00934400e-03 9.97256194e-01 -7.93537560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88864 meters 0.02990730530522167 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.46, Z:-0.80 [[ 9.91456998e-01 1.06856072e-01 7.47984084e-02 1.69417788e+01] [-1.06631223e-01 9.94273965e-01 -7.00467836e-03 -4.63772740e-01] [-7.51186025e-02 -1.03100835e-03 9.97174073e-01 -7.96860721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.948639999999997 meters 0.030146620785846078 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.47, Z:-0.80 [[ 9.91571087e-01 1.05646866e-01 7.50034626e-02 1.70050715e+01] [-1.05414540e-01 9.94403299e-01 -7.06076619e-03 -4.67457040e-01] [-7.53296385e-02 -9.05203876e-04 9.97158275e-01 -8.00503237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.008639999999996 meters 0.030044834896959915 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.47, Z:-0.80 [[ 9.91620712e-01 1.04198282e-01 7.63615145e-02 1.70682365e+01] [-1.03950004e-01 9.94556246e-01 -7.22976506e-03 -4.70547443e-01] [-7.66991503e-02 -7.68594940e-04 9.97053985e-01 -8.02828637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06864 meters 0.029977380854704937 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.47, Z:-0.81 [[ 9.91642819e-01 1.03021100e-01 7.76606200e-02 1.71315907e+01] [-1.02757437e-01 9.94678960e-01 -7.39430791e-03 -4.72377089e-01] [-7.80091544e-02 -6.47693906e-04 9.96952432e-01 -8.06026510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.128639999999997 meters 0.029938396391147107 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.48, Z:-0.81 [[ 9.91701284e-01 1.03325199e-01 7.65014203e-02 1.71939061e+01] [-1.03067319e-01 9.94647432e-01 -7.32211158e-03 -4.77529950e-01] [-7.68484999e-02 -6.23448797e-04 9.97042587e-01 -8.08812765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.188639999999996 meters 0.029940724441180233 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.48, Z:-0.81 [[ 9.91858808e-01 1.02114497e-01 7.60837344e-02 1.72557536e+01] [-1.01853184e-01 9.94772531e-01 -7.31719276e-03 -4.84365077e-01] [-7.64332005e-02 -4.91748513e-04 9.97074583e-01 -8.12543764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.248639999999998 meters 0.029884982816491112 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.49, Z:-0.82 [[ 9.91903208e-01 1.03255570e-01 7.39345253e-02 1.73174763e+01] [-1.03009480e-01 9.94654717e-01 -7.14423879e-03 -4.89961785e-01] [-7.42770068e-02 -5.29563617e-04 9.97237507e-01 -8.15665426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.308639999999997 meters 0.029969121835045524 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.50, Z:-0.82 [[ 9.91627773e-01 1.06611602e-01 7.28582672e-02 1.73799692e+01] [-1.06379092e-01 9.94300471e-01 -7.07543958e-03 -4.95894182e-01] [-7.31973334e-02 -7.34393912e-04 9.97317207e-01 -8.19357769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.368639999999996 meters 0.03003741113868637 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.50, Z:-0.82 [[ 9.91368730e-01 1.07407106e-01 7.51781590e-02 1.74418658e+01] [-1.07158892e-01 9.94214818e-01 -7.33939303e-03 -5.00730159e-01] [-7.55315426e-02 -7.79963470e-04 9.97143108e-01 -8.23849293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.428639999999998 meters 0.0301119621027261 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.51, Z:-0.83 [[ 9.91339207e-01 1.07939999e-01 7.48032936e-02 1.75044409e+01] [-1.07693046e-01 9.94157104e-01 -7.33895629e-03 -5.07927800e-01] [-7.51583927e-02 -7.80399447e-04 9.97171303e-01 -8.27449179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.488639999999997 meters 0.02996118022680907 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.51, Z:-0.83 [[ 9.91648652e-01 1.05490250e-01 7.41940546e-02 1.75663765e+01] [-1.05237680e-01 9.94420184e-01 -7.31635510e-03 -5.13944012e-01] [-7.45518695e-02 -5.52756519e-04 9.97216984e-01 -8.30200552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.548639999999995 meters 0.02987618890037634 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.52, Z:-0.83 [[ 9.91722030e-01 1.04390888e-01 7.47660143e-02 1.76289155e+01] [-1.04128529e-01 9.94536249e-01 -7.40933741e-03 -5.23494524e-01] [-7.51309788e-02 -4.37271922e-04 9.97173578e-01 -8.33313048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.608639999999998 meters 0.02985187755884261 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.53, Z:-0.84 [[ 9.91475184e-01 1.06228638e-01 7.54482283e-02 1.76907599e+01] [-1.05963864e-01 9.94341582e-01 -7.51523111e-03 -5.32193366e-01] [-7.58196434e-02 -5.43620646e-04 9.97121400e-01 -8.36167953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.668639999999996 meters 0.030205902109700162 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.54, Z:-0.84 [[ 9.90864947e-01 1.11594315e-01 7.57189852e-02 1.77523738e+01] [-1.11340606e-01 9.93753419e-01 -7.57708421e-03 -5.43125289e-01] [-7.60915599e-02 -9.22730513e-04 9.97100408e-01 -8.37457841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72864 meters 0.03026012737451384 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.55, Z:-0.84 [[ 9.90297897e-01 1.17854193e-01 7.36237969e-02 1.78139719e+01] [-1.17629151e-01 9.93030018e-01 -7.40045820e-03 -5.49217065e-01] [-7.39828153e-02 -1.33164656e-03 9.97258627e-01 -8.37754442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.788639999999997 meters 0.030539624380377738 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.55, Z:-0.84 [[ 9.89569271e-01 1.23233996e-01 7.46058949e-02 1.78759664e+01] [-1.23015555e-01 9.92376146e-01 -7.53379181e-03 -5.53343550e-01] [-7.49655297e-02 -1.72247665e-03 9.97184638e-01 -8.40542590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.848639999999996 meters 0.030750285369030867 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.56, Z:-0.84 [[ 9.89443867e-01 1.25144265e-01 7.30735705e-02 1.79389384e+01] [-1.24937310e-01 9.92136934e-01 -7.41435053e-03 -5.56837276e-01] [-7.34268517e-02 -1.79353164e-03 9.97298993e-01 -8.44163231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90864 meters 0.030550172641561076 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.55, Z:-0.85 [[ 9.89623259e-01 1.24101881e-01 7.24191200e-02 1.80017647e+01] [-1.23893147e-01 9.92268086e-01 -7.38473199e-03 -5.52984416e-01] [-7.27756407e-02 -1.66413013e-03 9.97346949e-01 -8.46291095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.968639999999997 meters 0.030000094255770063 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.55, Z:-0.85 [[ 9.90342646e-01 1.18888893e-01 7.13223301e-02 1.80653362e+01] [-1.18671080e-01 9.92906795e-01 -7.29866320e-03 -5.45681080e-01] [-7.16841562e-02 -1.23572055e-03 9.97426616e-01 -8.50997767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.028639999999996 meters 0.02983489746547614 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.54, Z:-0.86 [[ 9.91060945e-01 1.11270121e-01 7.36013830e-02 1.81283156e+01] [-1.11015624e-01 9.93789963e-01 -7.55258038e-03 -5.37701058e-01] [-7.39846922e-02 -6.85836026e-04 9.97259141e-01 -8.55190250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.088639999999998 meters 0.029806553175517413 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.53, Z:-0.86 [[ 9.91733273e-01 1.03971279e-01 7.52003228e-02 1.81920604e+01] [-1.03681760e-01 9.94580294e-01 -7.75441454e-03 -5.31310953e-01] [-7.55989956e-02 -1.06590883e-04 9.97138296e-01 -8.59558283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.148639999999997 meters 0.029628709184302347 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.53, Z:-0.86 [[ 9.92111523e-01 1.01265494e-01 7.38919895e-02 1.82553917e+01] [-1.00976148e-01 9.94859429e-01 -7.65077991e-03 -5.27969842e-01] [-7.42869024e-02 1.29098443e-04 9.97236902e-01 -8.62063028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.208639999999995 meters 0.029793456590205554 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.53, Z:-0.87 [[ 9.92223831e-01 9.94785261e-02 7.48056964e-02 1.83182457e+01] [-9.91750690e-02 9.95039667e-01 -7.76963084e-03 -5.25151316e-01] [-7.52075466e-02 2.90352780e-04 9.97167860e-01 -8.66684269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.268639999999998 meters 0.02985818243332089 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.53, Z:-0.87 [[ 9.92733157e-01 9.46370522e-02 7.43283806e-02 1.83804246e+01] [-9.43214074e-02 9.95511606e-01 -7.75336770e-03 -5.25159760e-01] [-7.47285214e-02 6.86267724e-04 9.97203679e-01 -8.69067865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.328639999999996 meters 0.030116571632521665 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.53, Z:-0.87 [[ 9.92974032e-01 9.14714445e-02 7.50702813e-02 1.84422832e+01] [-9.11379496e-02 9.95807231e-01 -7.86341210e-03 -5.27200743e-01] [-7.54748066e-02 9.66412505e-04 9.97147241e-01 -8.72525907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.388639999999995 meters 0.03017838985332527 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.53, Z:-0.87 [[ 9.93194352e-01 8.90410063e-02 7.50778212e-02 1.85043678e+01] [-8.86981150e-02 9.96027259e-01 -7.89584196e-03 -5.29377585e-01] [-7.54826101e-02 1.18284442e-03 9.97146417e-01 -8.73890426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.448639999999997 meters 0.030431807302413103 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.54, Z:-0.88 [[ 9.93179320e-01 8.86290901e-02 7.57609547e-02 1.85657775e+01] [-8.82761727e-02 9.96063904e-01 -8.00106411e-03 -5.36346220e-01] [-7.61718793e-02 1.25860430e-03 9.97093908e-01 -8.77506822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.508639999999996 meters 0.030371684377209288 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.54, Z:-0.88 [[ 9.93508516e-01 8.76541910e-02 7.25091167e-02 1.86276473e+01] [-8.73261296e-02 9.96150107e-01 -7.68838875e-03 -5.44749493e-01] [-7.29038838e-02 1.30653917e-03 9.97338116e-01 -8.78725368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56864 meters 0.030286600798700384 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.55, Z:-0.88 [[ 9.93431566e-01 8.88779105e-02 7.20724637e-02 1.86892765e+01] [-8.85547323e-02 9.96041755e-01 -7.67343841e-03 -5.53857277e-01] [-7.24691824e-02 1.24067821e-03 9.97369880e-01 -8.83079446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.628639999999997 meters 0.030224046902156396 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.56, Z:-0.89 [[ 9.93198784e-01 9.05280068e-02 7.32178601e-02 1.87512523e+01] [-9.01964160e-02 9.95893220e-01 -7.82947569e-03 -5.63082473e-01] [-7.36259573e-02 1.17223716e-03 9.97285237e-01 -8.85561585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.688639999999996 meters 0.029949427438076624 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.57, Z:-0.89 [[ 9.93206447e-01 9.20859664e-02 7.11416122e-02 1.88132995e+01] [-9.17748694e-02 9.95750501e-01 -7.63625298e-03 -5.72497221e-01] [-7.15424878e-02 1.05536352e-03 9.97436995e-01 -8.88618329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.748639999999998 meters 0.029871942650616733 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.58, Z:-0.89 [[ 9.92804610e-01 9.55486137e-02 7.21766534e-02 1.88757015e+01] [-9.52357742e-02 9.95424409e-01 -7.77130465e-03 -5.82057756e-01] [-7.25889399e-02 8.41587618e-04 9.97361588e-01 -8.91569525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.808639999999997 meters 0.0298480356963423 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.59, Z:-0.90 [[ 9.92464121e-01 9.86477214e-02 7.26883457e-02 1.89379357e+01] [-9.83360192e-02 9.95122202e-01 -7.86325253e-03 -5.92825275e-01] [-7.31094785e-02 6.56113451e-04 9.97323706e-01 -8.95686150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.868639999999996 meters 0.029710864803643884 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.61, Z:-0.90 [[ 9.92321017e-01 1.00064092e-01 7.27061029e-02 1.90004803e+01] [-9.97533228e-02 9.94980819e-01 -7.90213178e-03 -6.05518015e-01] [-7.31318975e-02 5.88776085e-04 9.97322104e-01 -8.97694382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.928639999999998 meters 0.02992808506625623 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.62, Z:-0.90 [[ 9.92315625e-01 9.96605303e-02 7.33312942e-02 1.90616505e+01] [-9.93406260e-02 9.95021278e-01 -8.00603315e-03 -6.17955162e-01] [-7.37640836e-02 6.59735117e-04 9.97275501e-01 -9.01494078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.988639999999997 meters 0.029841245641037382 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.63, Z:-0.90 [[ 9.92201058e-01 1.01528037e-01 7.23126417e-02 1.91229169e+01] [-1.01219586e-01 9.94832529e-01 -7.92688070e-03 -6.27321030e-01] [-7.27437688e-02 5.45603753e-04 9.97350513e-01 -9.03695665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.048639999999995 meters 0.029497287340840665 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.64, Z:-0.91 [[ 9.91838089e-01 1.05286488e-01 7.19163490e-02 1.91839391e+01] [-1.04988956e-01 9.94441886e-01 -7.91541634e-03 -6.39185667e-01] [-7.23500162e-02 3.00388991e-04 9.97379258e-01 -9.05949610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.108639999999998 meters 0.029678386385840742 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.65, Z:-0.91 [[ 9.91700106e-01 1.05396463e-01 7.36375274e-02 1.92455554e+01] [-1.05082290e-01 9.94430226e-01 -8.13865367e-03 -6.46164219e-01] [-7.40851683e-02 3.33103699e-04 9.97251862e-01 -9.09918322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.168639999999996 meters 0.029700178807837447 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.65, Z:-0.91 [[ 9.91687071e-01 1.05195226e-01 7.40993811e-02 1.93075863e+01] [-1.04873864e-01 9.94451515e-01 -8.22538711e-03 -6.54358629e-01] [-7.45535133e-02 3.85921596e-04 9.97216940e-01 -9.14496647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.228639999999995 meters 0.029760000423808067 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.67, Z:-0.92 [[ 9.92189479e-01 1.00088491e-01 7.44468362e-02 1.93687172e+01] [-9.97469731e-02 9.94978210e-01 -8.30083259e-03 -6.67221507e-01] [-7.49037976e-02 8.10152191e-04 9.97190436e-01 -9.16559788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.288639999999997 meters 0.029517190665342755 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.68, Z:-0.92 [[ 9.91977824e-01 1.02918055e-01 7.34021120e-02 1.94293685e+01] [-1.02591391e-01 9.94689645e-01 -8.21690040e-03 -6.82197291e-01] [-7.38579881e-02 6.20558176e-04 9.97268576e-01 -9.18940830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.348639999999996 meters 0.029226972854070672 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.70, Z:-0.92 [[ 9.91308452e-01 1.11059592e-01 7.05217697e-02 1.94902530e+01] [-1.10776462e-01 9.93813748e-01 -7.92530297e-03 -6.95574267e-01] [-7.09656851e-02 4.42677078e-05 9.97478756e-01 -9.19836258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40864 meters 0.029276439534061012 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.71, Z:-0.92 [[ 9.90263712e-01 1.19856047e-01 7.07976597e-02 1.95508432e+01] [-1.19591161e-01 9.92791123e-01 -7.98377091e-03 -7.08713575e-01] [-7.12441913e-02 -5.60735684e-04 9.97458746e-01 -9.21405057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.468639999999997 meters 0.029549834485652373 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.72, Z:-0.92 [[ 9.89966925e-01 1.23007313e-01 6.95319248e-02 1.96139164e+01] [-1.22757935e-01 9.92405481e-01 -7.86453032e-03 -7.16157597e-01] [-6.99712581e-02 -7.49970634e-04 9.97548726e-01 -9.24254514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.528639999999996 meters 0.02966459608196917 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.72, Z:-0.93 [[ 9.89678249e-01 1.24719342e-01 7.05836354e-02 1.96762180e+01] [-1.24464107e-01 9.92191698e-01 -8.01994173e-03 -7.20010804e-01] [-7.10327390e-02 -8.47967271e-04 9.97473624e-01 -9.28071656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.588639999999998 meters 0.029785001795873484 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.72, Z:-0.93 [[ 9.89486974e-01 1.25698346e-01 7.15224041e-02 1.97379586e+01] [-1.25436404e-01 9.92068103e-01 -8.16012656e-03 -7.24117290e-01] [-7.19808101e-02 -8.97174250e-04 9.97405614e-01 -9.29362906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.648639999999997 meters 0.030127159607116673 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.73, Z:-0.93 [[ 9.89070944e-01 1.27981952e-01 7.32071568e-02 1.98001419e+01] [-1.27711213e-01 9.91775937e-01 -8.38675288e-03 -7.26072578e-01] [-7.36784495e-02 -1.05428121e-03 9.97281492e-01 -9.33213932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.708639999999995 meters 0.030136768019125047 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.73, Z:-0.94 [[ 9.88815547e-01 1.31115424e-01 7.10813565e-02 1.98633042e+01] [-1.30865851e-01 9.91366363e-01 -8.17701060e-03 -7.29221540e-01] [-7.15397981e-02 -1.21656702e-03 9.97437004e-01 -9.35737595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.768639999999998 meters 0.030264611917873885 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.73, Z:-0.94 [[ 9.88604922e-01 1.32088786e-01 7.22001389e-02 1.99255437e+01] [-1.31831183e-01 9.91237075e-01 -8.34271248e-03 -7.33564291e-01] [-7.26694333e-02 -1.27058312e-03 9.97355272e-01 -9.39208748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.828639999999996 meters 0.03037602581603822 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.74, Z:-0.94 [[ 9.88533852e-01 1.32106963e-01 7.31339412e-02 1.99885608e+01] [-1.31840060e-01 9.91234675e-01 -8.48635466e-03 -7.36030575e-01] [-7.36140050e-02 -1.25293431e-03 9.97286021e-01 -9.41597172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.888639999999995 meters 0.030304695973284716 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.74, Z:-0.94 [[ 9.88565513e-01 1.31792993e-01 7.32723268e-02 2.00510435e+01] [-1.31521345e-01 9.91276542e-01 -8.54123945e-03 -7.41178326e-01] [-7.37588142e-02 -1.19330025e-03 9.97275395e-01 -9.44188532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.948639999999997 meters 0.030709665970757086 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.75, Z:-0.95 [[ 9.88158925e-01 1.35041300e-01 7.28408222e-02 2.01131922e+01] [-1.34778961e-01 9.90838994e-01 -8.52754261e-03 -7.47865215e-01] [-7.33250975e-02 -1.39084297e-03 9.97307122e-01 -9.46773272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.008639999999996 meters 0.03075972538174241 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.75, Z:-0.95 [[ 9.87718973e-01 1.39384187e-01 7.05923361e-02 2.01748450e+01] [-1.39146611e-01 9.90237040e-01 -8.29605027e-03 -7.54812875e-01] [-7.10594842e-02 -1.62851806e-03 9.97470750e-01 -9.48869287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.068639999999995 meters 0.031068404287980692 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.76, Z:-0.95 [[ 9.87269559e-01 1.43268313e-01 6.90869573e-02 2.02370070e+01] [-1.43048075e-01 9.89682181e-01 -8.15040823e-03 -7.62481865e-01] [-6.95418258e-02 -1.83610630e-03 9.97577347e-01 -9.49963238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.128639999999997 meters 0.03106722624622775 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.77, Z:-0.95 [[ 9.87508938e-01 1.41813620e-01 6.86658223e-02 2.02994337e+01] [-1.41590798e-01 9.89891920e-01 -8.12598876e-03 -7.67620939e-01] [-6.91241185e-02 -1.69796207e-03 9.97606622e-01 -9.52903855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.188639999999996 meters 0.03057763683231605 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.77, Z:-0.96 [[ 9.87878520e-01 1.38389512e-01 7.03162369e-02 2.03616020e+01] [-1.38145851e-01 9.90376781e-01 -8.34004642e-03 -7.74554404e-01] [-7.07937433e-02 -1.47494368e-03 9.97489885e-01 -9.57068074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.248639999999998 meters 0.030577162377539595 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.78, Z:-0.96 [[ 9.88107953e-01 1.37431132e-01 6.89591039e-02 2.04235723e+01] [-1.37192253e-01 9.90510408e-01 -8.21082314e-03 -7.81136653e-01] [-6.94331328e-02 -1.34747517e-03 9.97585698e-01 -9.58336806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.308639999999997 meters 0.03038930204187741 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.79, Z:-0.96 [[ 9.88193874e-01 1.37841653e-01 6.68771038e-02 2.04857451e+01] [-1.37615871e-01 9.90453420e-01 -7.99340021e-03 -7.87243252e-01] [-6.73404797e-02 -1.30432178e-03 9.97729201e-01 -9.61655713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.368639999999996 meters 0.030444935734899543 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.80, Z:-0.96 [[ 9.88078987e-01 1.39525302e-01 6.50584791e-02 2.05480296e+01] [-1.39313253e-01 9.90217587e-01 -7.80697028e-03 -7.95097802e-01] [-6.55113201e-02 -1.34960511e-03 9.97850913e-01 -9.63099874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.428639999999998 meters 0.030435537866536168 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.80, Z:-0.96 [[ 9.87922515e-01 1.39912376e-01 6.65855245e-02 2.06097100e+01] [-1.39688775e-01 9.90162937e-01 -8.02521666e-03 -8.01455423e-01] [-6.70533456e-02 -1.37295813e-03 9.97748447e-01 -9.64032178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.488639999999997 meters 0.03046593310126912 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.81, Z:-0.97 [[ 9.87887693e-01 1.39529979e-01 6.78917576e-02 2.06722993e+01] [-1.39294301e-01 9.90216940e-01 -8.21635971e-03 -8.10837068e-01] [-6.83739970e-02 -1.34009428e-03 9.97658860e-01 -9.67192566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.548639999999995 meters 0.030309052170414637 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.82, Z:-0.97 [[ 9.87765833e-01 1.41105954e-01 6.63910274e-02 2.07352671e+01] [-1.40881785e-01 9.89993535e-01 -8.06989338e-03 -8.18778678e-01] [-6.68653979e-02 -1.38212151e-03 9.97761048e-01 -9.68298139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.608639999999998 meters 0.03064844397752908 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.82, Z:-0.97 [[ 9.87248175e-01 1.46680302e-01 6.18540991e-02 2.07970769e+01] [-1.46494756e-01 9.89182643e-01 -7.54886474e-03 -8.24170586e-01] [-6.22922710e-02 -1.60869823e-03 9.98056654e-01 -9.68667200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.668639999999996 meters 0.03105359332379964 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.83, Z:-0.97 [[ 9.86575176e-01 1.50992874e-01 6.22139382e-02 2.08593751e+01] [-1.50811905e-01 9.88533095e-01 -7.62163337e-03 -8.25083545e-01] [-6.26513493e-02 -1.86328826e-03 9.98033735e-01 -9.71600686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.728639999999995 meters 0.031117984840511016 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.83, Z:-0.98 [[ 9.86434400e-01 1.51361802e-01 6.35356572e-02 2.09223111e+01] [-1.51171815e-01 9.88476611e-01 -7.81485998e-03 -8.28989516e-01] [-6.39863824e-02 -1.89595392e-03 9.97948971e-01 -9.75564549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.788639999999997 meters 0.030564262928794647 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.83, Z:-0.98 [[ 9.86952166e-01 1.48677411e-01 6.18097814e-02 2.09852025e+01] [-1.48490380e-01 9.88884385e-01 -7.63420413e-03 -8.30097794e-01] [-6.22577614e-02 -1.64356360e-03 9.98058751e-01 -9.77464508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.848639999999996 meters 0.03018919361650376 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.83, Z:-0.98 [[ 9.87191007e-01 1.46895455e-01 6.22546522e-02 2.10471097e+01] [-1.46700354e-01 9.89150866e-01 -7.71824560e-03 -8.33442643e-01] [-6.27130183e-02 -1.51339685e-03 9.98030454e-01 -9.80006874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.908639999999995 meters 0.02995427728660469 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.84, Z:-0.98 [[ 9.87174380e-01 1.46695757e-01 6.29849119e-02 2.11101310e+01] [-1.46493702e-01 9.89180540e-01 -7.83931349e-03 -8.37436539e-01] [-6.34534431e-02 -1.48812348e-03 9.97983690e-01 -9.82543455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.968639999999997 meters 0.029753857124310758 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.85, Z:-0.99 [[ 9.87570920e-01 1.44145047e-01 6.26568650e-02 2.11722289e+01] [-1.43938131e-01 9.89555731e-01 -7.82746733e-03 -8.45270118e-01] [-6.31307505e-02 -1.28853295e-03 9.98004433e-01 -9.85965993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.028639999999996 meters 0.028977644436894216 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.85, Z:-0.99 [[ 9.88110599e-01 1.40517929e-01 6.23871383e-02 2.12343807e+01] [-1.40304376e-01 9.90077595e-01 -7.81271256e-03 -8.48157818e-01] [-6.28659340e-02 -1.03336440e-03 9.98021446e-01 -9.87051537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.088639999999998 meters 0.02874354238531865 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.86, Z:-0.99 [[ 9.88346269e-01 1.38813806e-01 6.24690254e-02 2.12965056e+01] [-1.38594747e-01 9.90318087e-01 -7.84744795e-03 -8.55653538e-01] [-6.29535399e-02 -9.01882835e-04 9.98016051e-01 -9.90872259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.148639999999997 meters 0.028615907698656753 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.86, Z:-0.99 [[ 9.88626885e-01 1.36289381e-01 6.35774090e-02 2.13586468e+01] [-1.36056569e-01 9.90668790e-01 -7.99740887e-03 -8.63147228e-01] [-6.40741168e-02 -7.43670725e-04 9.97944865e-01 -9.94514146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.208639999999995 meters 0.02858906954520146 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.87, Z:-1.00 [[ 9.88596198e-01 1.34516190e-01 6.76975106e-02 2.14208004e+01] [-1.34246828e-01 9.90911181e-01 -8.53344968e-03 -8.66192934e-01] [-6.82301074e-02 -6.52040141e-04 9.97669398e-01 -9.99485498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.268639999999998 meters 0.028424363989829303 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.87, Z:-1.00 [[ 9.88784144e-01 1.32365814e-01 6.91752025e-02 2.14837465e+01] [-1.32076924e-01 9.91200817e-01 -8.75363665e-03 -8.72812192e-01] [-6.97251995e-02 -4.80990881e-04 9.97566121e-01 -1.00255364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.328639999999996 meters 0.028535763422497935 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.88, Z:-1.01 [[ 9.88738229e-01 1.31888004e-01 7.07267204e-02 2.15456503e+01] [-1.31582177e-01 9.91264534e-01 -8.98630748e-03 -8.76654443e-01] [-7.12940757e-02 -4.21270088e-04 9.97455251e-01 -1.00595970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.388639999999995 meters 0.028748167847592147 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.89, Z:-1.01 [[ 9.88464588e-01 1.33129571e-01 7.22099340e-02 2.16074902e+01] [-1.32811622e-01 9.91098521e-01 -9.20837485e-03 -8.85019841e-01] [-7.27930658e-02 -4.88165998e-04 9.97346946e-01 -1.00937701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.448639999999997 meters 0.029131489117184543 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.89, Z:-1.01 [[ 9.88202549e-01 1.34200368e-01 7.37969113e-02 2.16684641e+01] [-1.33869121e-01 9.90954064e-01 -9.43933998e-03 -8.93645467e-01] [-7.43961121e-02 -5.51147793e-04 9.97228617e-01 -1.01350927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.508639999999996 meters 0.029673197942866467 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.90, Z:-1.02 [[ 9.87318664e-01 1.38982625e-01 7.67182275e-02 2.17299620e+01] [-1.38637005e-01 9.90294390e-01 -9.83875552e-03 -9.03463852e-01] [-7.73410464e-02 -9.21998310e-04 9.97004269e-01 -1.01783114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.568639999999995 meters 0.029557699558420882 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.91, Z:-1.02 [[ 9.87216377e-01 1.41103790e-01 7.41184555e-02 2.17914210e+01] [-1.40784702e-01 9.89994285e-01 -9.53853840e-03 -9.11350029e-01] [-7.47227713e-02 -1.01814336e-03 9.97203826e-01 -1.01963436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.628639999999997 meters 0.029797578288643132 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.92, Z:-1.02 [[ 9.86990947e-01 1.41959729e-01 7.54738771e-02 2.18525206e+01] [-1.41628755e-01 9.89871857e-01 -9.74697865e-03 -9.19577592e-01] [-7.60931453e-02 -1.06909153e-03 9.97100141e-01 -1.02400547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.688639999999996 meters 0.030192558483520423 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.93, Z:-1.03 [[ 9.86705691e-01 1.42533660e-01 7.80771134e-02 2.19135478e+01] [-1.42178538e-01 9.89789324e-01 -1.01172080e-02 -9.27426663e-01] [-7.87219359e-02 -1.11818312e-03 9.96895986e-01 -1.02900312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.748639999999995 meters 0.030497929401500676 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.93, Z:-1.03 [[ 9.86102025e-01 1.46386092e-01 7.85742185e-02 2.19756697e+01] [-1.46035889e-01 9.89226542e-01 -1.02160886e-02 -9.33486490e-01] [-7.92231958e-02 -1.40055018e-03 9.96855919e-01 -1.03259473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.808639999999997 meters 0.030846507836687017 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.94, Z:-1.03 [[ 9.85414436e-01 1.51675952e-01 7.71543560e-02 2.20378031e+01] [-1.51351779e-01 9.88428710e-01 -1.00660268e-02 -9.37785690e-01] [-7.77883547e-02 -1.75824095e-03 9.96968345e-01 -1.03473565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.868639999999996 meters 0.03113215412654979 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.94, Z:-1.04 [[ 9.85534680e-01 1.49921116e-01 7.90256514e-02 2.21010542e+01] [-1.49572283e-01 9.88696633e-01 -1.03489256e-02 -9.41176897e-01] [-7.96839179e-02 -1.62082201e-03 9.96818863e-01 -1.03959437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.928639999999998 meters 0.030589844316026016 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.94, Z:-1.04 [[ 9.86286357e-01 1.44569187e-01 7.96176584e-02 2.21629703e+01] [-1.44194466e-01 9.89494017e-01 -1.04664037e-02 -9.44508901e-01] [-8.02943161e-02 -1.15755457e-03 9.96770527e-01 -1.04297632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.988639999999997 meters 0.03015909992088519 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.95, Z:-1.05 [[ 9.87141904e-01 1.39644824e-01 7.77829267e-02 2.22247514e+01] [-1.39269163e-01 9.90201407e-01 -1.02602743e-02 -9.51144956e-01] [-7.84535577e-02 -7.04416387e-04 9.96917521e-01 -1.04692769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.048639999999995 meters 0.030092143405609114 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.96, Z:-1.05 [[ 9.87937720e-01 1.34569448e-01 7.66167390e-02 2.22867133e+01] [-1.34187708e-01 9.90904128e-01 -1.01325549e-02 -9.59904449e-01] [-7.72833752e-02 -2.70691429e-04 9.97009131e-01 -1.05111018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.108639999999998 meters 0.030311927617451193 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.97, Z:-1.05 [[ 9.87972299e-01 1.35134052e-01 7.51633160e-02 2.23473639e+01] [-1.34766779e-01 9.90827283e-01 -9.96045161e-03 -9.73497238e-01] [-7.58198603e-02 -2.88867746e-04 9.97121490e-01 -1.05243458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.168639999999996 meters 0.030508766864294552 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.98, Z:-1.06 [[ 9.87331017e-01 1.39971238e-01 7.47363052e-02 2.24096698e+01] [-1.39619290e-01 9.90155375e-01 -9.93919021e-03 -9.82540416e-01] [-7.53917551e-02 -6.21359072e-04 9.97153798e-01 -1.05517028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.228639999999995 meters 0.030866779612926 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.99, Z:-1.06 [[ 9.86839854e-01 1.43995491e-01 7.35690235e-02 2.24723165e+01] [-1.43662824e-01 9.89577955e-01 -9.82156456e-03 -9.91716675e-01] [-7.42165448e-02 -8.76822350e-04 9.97241764e-01 -1.05825028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.288639999999997 meters 0.03132518720062697 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.00, Z:-1.06 [[ 9.85888882e-01 1.49879641e-01 7.45600753e-02 2.25338323e+01] [-1.49551917e-01 9.88703394e-01 -9.99110542e-03 -9.99812506e-01] [-7.52152628e-02 -1.30048240e-03 9.97166472e-01 -1.06126967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.348639999999996 meters 0.03175288442132178 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.01, Z:-1.06 [[ 9.85514315e-01 1.52478104e-01 7.42425969e-02 2.25949089e+01] [-1.52158000e-01 9.88305772e-01 -9.98219205e-03 -1.01037408e+00] [-7.48964528e-02 -1.45901187e-03 9.97190249e-01 -1.06480011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.408639999999995 meters 0.03220063536337749 Centerline is valid? [True, True] Translation: X:22.66, Y:-1.01, Z:-1.07 [[ 9.84596090e-01 1.58015854e-01 7.48433617e-02 2.26577690e+01] [-1.57703894e-01 9.87434821e-01 -1.00973323e-02 -1.01309106e+00] [-7.54984800e-02 -1.86129567e-03 9.97144180e-01 -1.06607680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.468639999999997 meters 0.03230134155187665 Centerline is valid? [True, True] Translation: X:22.72, Y:-1.02, Z:-1.07 [[ 9.84160217e-01 1.61102312e-01 7.39912987e-02 2.27195848e+01] [-1.60803610e-01 9.86935601e-01 -1.00159337e-02 -1.01863678e+00] [-7.46382369e-02 -2.04078445e-03 9.97208588e-01 -1.06833401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.528639999999996 meters 0.03222236641463215 Centerline is valid? [True, True] Translation: X:22.78, Y:-1.02, Z:-1.07 [[ 9.83782519e-01 1.63021512e-01 7.48060253e-02 2.27819219e+01] [-1.62719179e-01 9.86620112e-01 -1.01598546e-02 -1.01817540e+00] [-7.54614039e-02 -2.17728768e-03 9.97146346e-01 -1.07011619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.588639999999995 meters 0.031878461609444575 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.02, Z:-1.08 [[ 9.84616229e-01 1.58329389e-01 7.39099936e-02 2.28444216e+01] [-1.58019362e-01 9.87384758e-01 -1.00608466e-02 -1.01668087e+00] [-7.45705288e-02 -1.77313721e-03 9.97214166e-01 -1.07570416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.648639999999997 meters 0.03144931928109884 Centerline is valid? [True, True] Translation: X:22.91, Y:-1.02, Z:-1.08 [[ 9.85121488e-01 1.54538471e-01 7.51898632e-02 2.29069711e+01] [-1.54205242e-01 9.87985641e-01 -1.02526217e-02 -1.01719413e+00] [-7.58709296e-02 -1.49459313e-03 9.97116527e-01 -1.07860566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.708639999999995 meters 0.030846233264655066 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.02, Z:-1.08 [[ 9.86006133e-01 1.48669121e-01 7.54281034e-02 2.29692670e+01] [-1.48313982e-01 9.88886479e-01 -1.03195954e-02 -1.01855487e+00] [-7.61240368e-02 -1.01185807e-03 9.97097842e-01 -1.08289272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.768639999999998 meters 0.03053992391624053 Centerline is valid? [True, True] Translation: X:23.03, Y:-1.02, Z:-1.09 [[ 9.86706779e-01 1.44227664e-01 7.48873428e-02 2.30319548e+01] [-1.43862237e-01 9.89544331e-01 -1.02797378e-02 -1.02056890e+00] [-7.55869681e-02 -6.30373753e-04 9.97139014e-01 -1.08750895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.828639999999996 meters 0.030304492728332227 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.02, Z:-1.09 [[ 9.87234830e-01 1.40253991e-01 7.54732246e-02 2.30950144e+01] [-1.39868424e-01 9.90115515e-01 -1.03967004e-02 -1.02339472e+00] [-7.61853894e-02 -2.92336220e-04 9.97093627e-01 -1.09135966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.888639999999995 meters 0.030268896883434274 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.03, Z:-1.10 [[ 9.87776520e-01 1.35424981e-01 7.71856335e-02 2.31566250e+01] [-1.35003942e-01 9.90787596e-01 -1.06712514e-02 -1.02885472e+00] [-7.79197223e-02 1.20446756e-04 9.96959629e-01 -1.09595908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.948639999999997 meters 0.03049499709344555 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.04, Z:-1.10 [[ 9.87780574e-01 1.34722329e-01 7.83545276e-02 2.32181723e+01] [-1.34283402e-01 9.90883368e-01 -1.08682889e-02 -1.03722485e+00] [-7.91043994e-02 2.13772158e-04 9.96866314e-01 -1.10009440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.008639999999996 meters 0.03036854237378476 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.05, Z:-1.10 [[ 9.87885074e-01 1.33833579e-01 7.85598747e-02 2.32811543e+01] [-1.33386586e-01 9.91003768e-01 -1.09338796e-02 -1.04563166e+00] [-7.93164522e-02 3.22583020e-04 9.96849435e-01 -1.10225345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.068639999999995 meters 0.030188719944362178 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.05, Z:-1.10 [[ 9.87821696e-01 1.35353567e-01 7.67314048e-02 2.33434496e+01] [-1.34928898e-01 9.90797334e-01 -1.07160848e-02 -1.05075034e+00] [-7.74757316e-02 2.32297122e-04 9.96994211e-01 -1.10452888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.128639999999997 meters 0.03021825976811037 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.06, Z:-1.11 [[ 9.87379505e-01 1.39308277e-01 7.53320403e-02 2.34055181e+01] [-1.38908547e-01 9.90249060e-01 -1.05458126e-02 -1.05863451e+00] [-7.60666011e-02 -5.15450194e-05 9.97102738e-01 -1.10804649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.188639999999996 meters 0.03031663707541261 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.07, Z:-1.11 [[ 9.87073792e-01 1.39755905e-01 7.84449821e-02 2.34666562e+01] [-1.39322152e-01 9.90185984e-01 -1.10025277e-02 -1.06691752e+00] [-7.92127900e-02 -6.88170020e-05 9.96857728e-01 -1.11203440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.248639999999995 meters 0.030041510491271475 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.07, Z:-1.11 [[ 9.87383572e-01 1.39177097e-01 7.55209741e-02 2.35292600e+01] [-1.38771633e-01 9.90267507e-01 -1.06159402e-02 -1.07162528e+00] [-7.62634625e-02 1.83602879e-06 9.97087701e-01 -1.11320695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.308639999999997 meters 0.03035543298330101 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.08, Z:-1.12 [[ 9.86876737e-01 1.41780041e-01 7.72834157e-02 2.35908743e+01] [-1.41361706e-01 9.89898170e-01 -1.08849174e-02 -1.07742343e+00] [-7.80459758e-02 -1.82843763e-04 9.96949744e-01 -1.11823482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.368639999999996 meters 0.030395576903804504 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.08, Z:-1.12 [[ 9.86778457e-01 1.44304276e-01 7.37872137e-02 2.36531082e+01] [-1.43927631e-01 9.89533307e-01 -1.04245929e-02 -1.08392826e+00] [-7.45192189e-02 -3.33255124e-04 9.97219522e-01 -1.11985850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.428639999999994 meters 0.030114619768129312 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.09, Z:-1.12 [[ 9.86545059e-01 1.45855866e-01 7.38573766e-02 2.37153810e+01] [-1.45480240e-01 9.89305763e-01 -1.04693263e-02 -1.09065216e+00] [-7.45945410e-02 -4.16326723e-04 9.97213859e-01 -1.12372566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.488639999999997 meters 0.030205003457931045 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.10, Z:-1.13 [[ 9.86871736e-01 1.43272805e-01 7.45458297e-02 2.37779798e+01] [-1.42879853e-01 9.89683217e-01 -1.06055786e-02 -1.09525571e+00] [-7.52962476e-02 -1.84751500e-04 9.97161191e-01 -1.12662589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.548639999999995 meters 0.030183048944908003 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.10, Z:-1.13 [[ 9.87179974e-01 1.41231266e-01 7.43601240e-02 2.38410732e+01] [-1.40831603e-01 9.89976631e-01 -1.06174507e-02 -1.09743030e+00] [-7.51143010e-02 9.07931101e-06 9.97174930e-01 -1.12795914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.608639999999998 meters 0.03036216059076757 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.10, Z:-1.13 [[ 9.87225935e-01 1.40910457e-01 7.43585674e-02 2.39039174e+01] [-1.40507018e-01 9.90022342e-01 -1.06555047e-02 -1.10255041e+00] [-7.51181151e-02 7.14900382e-05 9.97174641e-01 -1.13192506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.668639999999996 meters 0.030240624140572946 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.11, Z:-1.13 [[ 9.87631359e-01 1.37972860e-01 7.44834834e-02 2.39665780e+01] [-1.37556829e-01 9.90435954e-01 -1.07116815e-02 -1.10694934e+00] [-7.52490413e-02 3.33480783e-04 9.97164716e-01 -1.13393007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.728639999999995 meters 0.03055127190778664 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.11, Z:-1.14 [[ 9.88071598e-01 1.33939418e-01 7.59917673e-02 2.40285637e+01] [-1.33491559e-01 9.90989281e-01 -1.09657817e-02 -1.11318434e+00] [-7.67757772e-02 6.90717953e-04 9.97048145e-01 -1.13867166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.788639999999997 meters 0.0309228908145694 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.12, Z:-1.14 [[ 9.88309244e-01 1.31884251e-01 7.64943287e-02 2.40898351e+01] [-1.31421674e-01 9.91264724e-01 -1.10720671e-02 -1.12152816e+00] [-7.72863609e-02 8.89613536e-04 9.97008539e-01 -1.14347062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.848639999999996 meters 0.03112336544597874 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.13, Z:-1.15 [[ 9.88739355e-01 1.28636365e-01 7.64668142e-02 2.41509261e+01] [-1.28161850e-01 9.91691132e-01 -1.11012626e-02 -1.13110955e+00] [-7.72594876e-02 1.17612689e-03 9.97010325e-01 -1.14629481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.908639999999995 meters 0.03158811240235081 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.14, Z:-1.15 [[ 9.89186198e-01 1.24149206e-01 7.80873851e-02 2.42114163e+01] [-1.23637744e-01 9.92262284e-01 -1.13696266e-02 -1.14491532e+00] [-7.88946971e-02 1.59212956e-03 9.96881684e-01 -1.14891464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.968639999999997 meters 0.03172255108996445 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.16, Z:-1.15 [[ 9.89314643e-01 1.22960273e-01 7.83409769e-02 2.42716585e+01] [-1.22439204e-01 9.92410095e-01 -1.14387085e-02 -1.16270110e+00] [-7.91528831e-02 1.72447494e-03 9.96860997e-01 -1.15393830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.028639999999996 meters 0.03073181102693073 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.18, Z:-1.16 [[ 9.88508260e-01 1.30607429e-01 7.61125411e-02 2.43313035e+01] [-1.30136522e-01 9.91433550e-01 -1.11356270e-02 -1.18156480e+00] [-7.69149224e-02 1.10263798e-03 9.97037050e-01 -1.15522511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.088639999999995 meters 0.030364118825493686 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.20, Z:-1.16 [[ 9.87016102e-01 1.41479058e-01 7.60453245e-02 2.43921676e+01] [-1.41040281e-01 9.89941213e-01 -1.11370632e-02 -1.19842275e+00] [-7.68560620e-02 2.67006726e-04 9.97042163e-01 -1.15807244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.148639999999997 meters 0.030335356134404693 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.21, Z:-1.16 [[ 9.86349374e-01 1.46204924e-01 7.57564039e-02 2.44534203e+01] [-1.45781398e-01 9.89254323e-01 -1.11206648e-02 -1.21230937e+00] [-7.65682460e-02 -7.50137387e-05 9.97064340e-01 -1.16160634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.208639999999995 meters 0.03013260191050691 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.22, Z:-1.16 [[ 9.86141841e-01 1.47975654e-01 7.50165025e-02 2.45150779e+01] [-1.47562712e-01 9.88990989e-01 -1.10485546e-02 -1.22348558e+00] [-7.58255620e-02 -1.74196603e-04 9.97121083e-01 -1.16402555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.268639999999994 meters 0.03022999533581856 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.23, Z:-1.17 [[ 9.86052465e-01 1.48079862e-01 7.59795462e-02 2.45760668e+01] [-1.47653867e-01 9.88975395e-01 -1.12251303e-02 -1.23403726e+00] [-7.68041175e-02 -1.50106428e-04 9.97046190e-01 -1.16748833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.328639999999996 meters 0.030122940332882285 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.25, Z:-1.17 [[ 9.86013937e-01 1.48193616e-01 7.62572444e-02 2.46380438e+01] [-1.47761997e-01 9.88958360e-01 -1.13028936e-02 -1.24530377e+00] [-7.70902560e-02 -1.23112028e-04 9.97024111e-01 -1.17069391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.388639999999995 meters 0.029950548489375003 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.26, Z:-1.17 [[ 9.86311194e-01 1.47402384e-01 7.39105225e-02 2.46991533e+01] [-1.46992054e-01 9.89076608e-01 -1.09908779e-02 -1.25707610e+00] [-7.47232505e-02 -2.38335892e-05 9.97204310e-01 -1.17369486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.448639999999997 meters 0.029694814178842954 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.27, Z:-1.18 [[ 9.86259493e-01 1.47900278e-01 7.36051676e-02 2.47606270e+01] [-1.47492113e-01 9.89002279e-01 -1.09804237e-02 -1.27007234e+00] [-7.44196862e-02 -2.66345408e-05 9.97227010e-01 -1.17526368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.508639999999996 meters 0.02988088332880017 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.28, Z:-1.18 [[ 9.85854492e-01 1.50237825e-01 7.42934517e-02 2.48234261e+01] [-1.49825687e-01 9.88649871e-01 -1.11218433e-02 -1.27742740e+00] [-7.51211330e-02 -1.66548231e-04 9.97174402e-01 -1.17887229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.568639999999995 meters 0.029951266542588974 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.29, Z:-1.18 [[ 9.85578899e-01 1.52578264e-01 7.31717648e-02 2.48847428e+01] [-1.52182267e-01 9.88291344e-01 -1.09898524e-02 -1.28640501e+00] [-7.39918344e-02 -3.04078370e-04 9.97258801e-01 -1.18096457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.628639999999997 meters 0.03012342455163947 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.29, Z:-1.18 [[ 9.85594573e-01 1.51055474e-01 7.60630063e-02 2.49469632e+01] [-1.50620257e-01 9.88525274e-01 -1.14595170e-02 -1.29001179e+00] [-7.69212270e-02 -1.62191813e-04 9.97037160e-01 -1.18433624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.688639999999996 meters 0.030094839690175713 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.30, Z:-1.19 [[ 9.86196222e-01 1.46822469e-01 7.65517724e-02 2.50096476e+01] [-1.46366029e-01 9.89162838e-01 -1.15700151e-02 -1.29741409e+00] [-7.74209066e-02 2.05726272e-04 9.96998476e-01 -1.18894213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.748639999999995 meters 0.03002711985013968 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.30, Z:-1.19 [[ 9.87547538e-01 1.38706692e-01 7.42314947e-02 2.50723470e+01] [-1.38251791e-01 9.90333138e-01 -1.12569115e-02 -1.30370789e+00] [-7.50753181e-02 8.54098141e-04 9.97177500e-01 -1.19155538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.808639999999997 meters 0.030774252249469083 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.32, Z:-1.20 [[ 9.88461205e-01 1.32370879e-01 7.36369312e-02 2.51332217e+01] [-1.31903009e-01 9.91199324e-01 -1.12025091e-02 -1.31768574e+00] [-7.44717624e-02 1.36031288e-03 9.97222195e-01 -1.19578866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.868639999999996 meters 0.03067507409719888 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.33, Z:-1.20 [[ 9.88548347e-01 1.31471911e-01 7.40763280e-02 2.51946191e+01] [-1.30993469e-01 9.91318808e-01 -1.13018578e-02 -1.32899869e+00] [-7.49191340e-02 1.46891765e-03 9.97188531e-01 -1.19786511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.928639999999994 meters 0.03117790911087257 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.34, Z:-1.20 [[ 9.88901752e-01 1.28764882e-01 7.41143069e-02 2.52555658e+01] [-1.28275951e-01 9.91673682e-01 -1.13396816e-02 -1.34372802e+00] [-7.49573604e-02 1.70674787e-03 9.97185279e-01 -1.20241481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.988639999999997 meters 0.03142257975356205 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.37, Z:-1.20 [[ 9.89078223e-01 1.27309111e-01 7.42742204e-02 2.53155061e+01] [-1.26811536e-01 9.91861359e-01 -1.13964112e-02 -1.36564080e+00] [-7.51205962e-02 1.85311418e-03 9.97172734e-01 -1.20487713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.048639999999995 meters 0.03148648477278847 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.38, Z:-1.21 [[ 9.88722305e-01 1.28795714e-01 7.64190288e-02 2.53759688e+01] [-1.28270762e-01 9.91669470e-01 -1.17590239e-02 -1.38178915e+00] [-7.72969296e-02 1.82408214e-03 9.97006448e-01 -1.20753022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.108639999999994 meters 0.03137350819222131 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.40, Z:-1.21 [[ 9.88557553e-01 1.30378843e-01 7.58638329e-02 2.54359959e+01] [-1.29863643e-01 9.91462757e-01 -1.17062563e-02 -1.40115006e+00] [-7.67424130e-02 1.72035435e-03 9.97049468e-01 -1.21093314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.168639999999996 meters 0.03138142011306512 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.42, Z:-1.21 [[ 9.88299791e-01 1.32302525e-01 7.58917943e-02 2.54959299e+01] [-1.31790065e-01 9.91208085e-01 -1.17435461e-02 -1.41988940e+00] [-7.67782610e-02 1.60435969e-03 9.97046902e-01 -1.21350374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.228639999999995 meters 0.03117234881848504 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.44, Z:-1.22 [[ 9.87607369e-01 1.36229591e-01 7.79306270e-02 2.55566684e+01] [-1.35698471e-01 9.90676345e-01 -1.20956694e-02 -1.43692340e+00] [-7.88518167e-02 1.37070526e-03 9.96885406e-01 -1.21639571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.288639999999997 meters 0.030595146189200288 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.45, Z:-1.22 [[ 9.86560860e-01 1.44871345e-01 7.55642917e-02 2.56165984e+01] [-1.44395415e-01 9.89450264e-01 -1.17532420e-02 -1.45259413e+00] [-7.64698163e-02 6.84151273e-04 9.97071662e-01 -1.21739988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.348639999999996 meters 0.03056223905477241 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.47, Z:-1.22 [[ 9.85434732e-01 1.52955834e-01 7.43162262e-02 2.56767231e+01] [-1.52517290e-01 9.88233023e-01 -1.15744794e-02 -1.46997658e+00] [-7.52121330e-02 7.13846059e-05 9.97167554e-01 -1.22130041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.408639999999995 meters 0.0306756398299326 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.48, Z:-1.22 [[ 9.84920711e-01 1.55815487e-01 7.51846154e-02 2.57377808e+01] [-1.55372296e-01 9.87786172e-01 -1.17443079e-02 -1.48053285e+00] [-7.60962684e-02 -1.14394145e-04 9.97100469e-01 -1.22315677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.468639999999997 meters 0.030543658441805656 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.49, Z:-1.23 [[ 9.84935175e-01 1.56838423e-01 7.28313845e-02 2.57992795e+01] [-1.56422944e-01 9.87624263e-01 -1.14095314e-02 -1.49199351e+00] [-7.37194954e-02 -1.54850843e-04 9.97279004e-01 -1.22566648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.528639999999996 meters 0.030722140236900987 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.50, Z:-1.23 [[ 9.84384167e-01 1.60614902e-01 7.20462653e-02 2.58614139e+01] [-1.60215893e-01 9.87017069e-01 -1.13213606e-02 -1.50351982e+00] [-7.29292729e-02 -3.98388625e-04 9.97337036e-01 -1.22862613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.588639999999995 meters 0.031115526423795177 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.52, Z:-1.23 [[ 9.83656887e-01 1.64375443e-01 7.34836156e-02 2.59223407e+01] [-1.63967975e-01 9.86397631e-01 -1.15851617e-02 -1.51612954e+00] [-7.43883804e-02 -6.53135544e-04 9.97229132e-01 -1.23289866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.648639999999997 meters 0.03159974813961724 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.53, Z:-1.23 [[ 9.82963632e-01 1.68878206e-01 7.25441226e-02 2.59845193e+01] [-1.68490752e-01 9.85636473e-01 -1.14721577e-02 -1.52764388e+00] [-7.34395305e-02 -9.46299938e-04 9.97299223e-01 -1.23412251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.708639999999995 meters 0.032207058953517276 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.54, Z:-1.24 [[ 9.82051946e-01 1.74667889e-01 7.11695372e-02 2.60463073e+01] [-1.74307571e-01 9.84626525e-01 -1.12906029e-02 -1.53730259e+00] [-7.20475198e-02 -1.31743060e-03 9.97400330e-01 -1.23687814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.768639999999994 meters 0.03249713613810453 Centerline is valid? [True, True] Translation: X:26.11, Y:-1.54, Z:-1.24 [[ 9.81151436e-01 1.79456306e-01 7.16749164e-02 2.61079282e+01] [-1.79101126e-01 9.83764565e-01 -1.14046681e-02 -1.54437969e+00] [-7.25578826e-02 -1.64735178e-03 9.97362843e-01 -1.23942832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.828639999999996 meters 0.032787063280583235 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.55, Z:-1.24 [[ 9.80782639e-01 1.81809485e-01 7.07864873e-02 2.61702857e+01] [-1.81466814e-01 9.83332188e-01 -1.12961880e-02 -1.54985438e+00] [-7.16603855e-02 -1.76629333e-03 9.97427526e-01 -1.24272945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.888639999999995 meters 0.032709927011612176 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.56, Z:-1.25 [[ 9.80948605e-01 1.80808567e-01 7.10499526e-02 2.62325411e+01] [-1.80458314e-01 9.83516896e-01 -1.13715645e-02 -1.55630693e+00] [-7.19349051e-02 -1.66663435e-03 9.97407936e-01 -1.24513317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.948639999999994 meters 0.03258544947507848 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.56, Z:-1.25 [[ 9.81237232e-01 1.78732832e-01 7.23053880e-02 2.62947709e+01] [-1.78361931e-01 9.83896490e-01 -1.16068547e-02 -1.56329450e+00] [-7.32155434e-02 -1.50745069e-03 9.97315001e-01 -1.24963656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.008639999999996 meters 0.0322323188161715 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.57, Z:-1.25 [[ 9.81774743e-01 1.75871512e-01 7.20247484e-02 2.63569481e+01] [-1.75493877e-01 9.84412320e-01 -1.15880683e-02 -1.57102820e+00] [-7.29400608e-02 -1.26302957e-03 9.97335526e-01 -1.25224385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.068639999999995 meters 0.0321612977627853 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.58, Z:-1.26 [[ 9.81737032e-01 1.74939190e-01 7.47574726e-02 2.64188141e+01] [-1.74528026e-01 9.84578486e-01 -1.20487834e-02 -1.57791557e+00] [-7.57124036e-02 -1.21853728e-03 9.97128952e-01 -1.25725755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.128639999999997 meters 0.03232700086551578 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.59, Z:-1.26 [[ 9.81540671e-01 1.76834853e-01 7.28515281e-02 2.64804354e+01] [-1.76447160e-01 9.84239682e-01 -1.17748561e-02 -1.58506422e+00] [-7.37855698e-02 -1.29694507e-03 9.97273286e-01 -1.25991430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.188639999999996 meters 0.032513225164295584 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.59, Z:-1.26 [[ 9.80960191e-01 1.78877967e-01 7.56291979e-02 2.65424303e+01] [-1.78463418e-01 9.83870169e-01 -1.22596436e-02 -1.59112507e+00] [-7.66022918e-02 -1.47082285e-03 9.97060643e-01 -1.26313326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.248639999999995 meters 0.032607644688304675 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.60, Z:-1.27 [[ 9.80752547e-01 1.79822407e-01 7.60811594e-02 2.66048414e+01] [-1.79402812e-01 9.83697922e-01 -1.23705188e-02 -1.59912832e+00] [-7.70653749e-02 -1.51675609e-03 9.97024888e-01 -1.26811952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.308639999999997 meters 0.03257164024770967 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.61, Z:-1.27 [[ 9.80805335e-01 1.78974933e-01 7.73877781e-02 2.66669876e+01] [-1.78534875e-01 9.83852589e-01 -1.26246497e-02 -1.60624286e+00] [-7.83976616e-02 -1.43409355e-03 9.96921135e-01 -1.27313321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.368639999999996 meters 0.032485380966821104 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.61, Z:-1.28 [[ 9.81148419e-01 1.75877947e-01 8.00919945e-02 2.67288491e+01] [-1.75392911e-01 9.84411264e-01 -1.31068619e-02 -1.61397587e+00] [-8.11486695e-02 -1.18779128e-03 9.96701301e-01 -1.27839895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.428639999999994 meters 0.0323453826408177 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.62, Z:-1.28 [[ 9.81414745e-01 1.74400234e-01 8.00603299e-02 2.67898271e+01] [-1.73907678e-01 9.84674312e-01 -1.31384797e-02 -1.62377813e+00] [-8.11247042e-02 -1.02880839e-03 9.96703428e-01 -1.28185020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.488639999999997 meters 0.032295813244078625 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.63, Z:-1.29 [[ 9.81581270e-01 1.72872764e-01 8.13216964e-02 2.68516756e+01] [-1.72356111e-01 9.84943773e-01 -1.33841474e-02 -1.63246796e+00] [-8.24110530e-02 -8.78662945e-04 9.96598036e-01 -1.28715230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.548639999999995 meters 0.03211346395064082 Centerline is valid? [True, True] Translation: X:26.91, Y:-1.64, Z:-1.29 [[ 9.81721718e-01 1.71497453e-01 8.25293411e-02 2.69131110e+01] [-1.70957126e-01 9.85184289e-01 -1.36227007e-02 -1.64201976e+00] [-8.36428686e-02 -7.35277845e-04 9.96495524e-01 -1.29027089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.608639999999994 meters 0.032156054587986385 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.65, Z:-1.30 [[ 9.82247240e-01 1.68353601e-01 8.27491727e-02 2.69746073e+01] [-1.67795847e-01 9.85726575e-01 -1.36993616e-02 -1.65305933e+00] [-8.38743955e-02 -4.28807376e-04 9.96476243e-01 -1.29559253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.668639999999996 meters 0.032018753668426034 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.67, Z:-1.30 [[ 9.82872468e-01 1.63861022e-01 8.43283888e-02 2.70353733e+01] [-1.63261589e-01 9.86483434e-01 -1.40031466e-02 -1.66501000e+00] [-8.54831285e-02 -4.27950631e-06 9.96339618e-01 -1.29967200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.728639999999995 meters 0.03197687997726586 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.68, Z:-1.30 [[ 9.83607201e-01 1.59400149e-01 8.43117245e-02 2.70971181e+01] [-1.58781057e-01 9.87213965e-01 -1.40414885e-02 -1.68051861e+00] [-8.54719272e-02 4.24204459e-04 9.96340489e-01 -1.30345595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.788639999999994 meters 0.03223647605481874 Centerline is valid? [True, True] Translation: X:27.16, Y:-1.69, Z:-1.31 [[ 9.83473900e-01 1.60041642e-01 8.46508137e-02 2.71592686e+01] [-1.59416097e-01 9.87110177e-01 -1.41423717e-02 -1.69347016e+00] [-8.58230480e-02 4.13951172e-04 9.96310310e-01 -1.30776956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.848639999999996 meters 0.032175631137668824 Centerline is valid? [True, True] Translation: X:27.22, Y:-1.71, Z:-1.31 [[ 9.83155527e-01 1.62769613e-01 8.31340057e-02 2.72199695e+01] [-1.62173538e-01 9.86664083e-01 -1.39187391e-02 -1.71093664e+00] [-8.42908852e-02 2.02149375e-04 9.96441170e-01 -1.30929656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.908639999999995 meters 0.03247146360072749 Centerline is valid? [True, True] Translation: X:27.28, Y:-1.72, Z:-1.31 [[ 9.82078080e-01 1.68757024e-01 8.39268190e-02 2.72808192e+01] [-1.68169214e-01 9.85657640e-01 -1.40759730e-02 -1.72377792e+00] [-8.50985296e-02 -2.90202638e-04 9.96372499e-01 -1.31272076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.968639999999997 meters 0.0326168998568956 Centerline is valid? [True, True] Translation: X:27.34, Y:-1.74, Z:-1.31 [[ 9.81100941e-01 1.74594399e-01 8.34130657e-02 2.73424299e+01] [-1.74031398e-01 9.84640153e-01 -1.40300220e-02 -1.73638904e+00] [-8.45814171e-02 -7.51624680e-04 9.96416288e-01 -1.31441707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.028639999999996 meters 0.03261019422887929 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.74, Z:-1.32 [[ 9.81175980e-01 1.74133565e-01 8.34936998e-02 2.74045430e+01] [-1.73564094e-01 9.84721815e-01 -1.40872863e-02 -1.74398519e+00] [-8.46711370e-02 -6.69401493e-04 9.96408727e-01 -1.31825146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.088639999999995 meters 0.032366690064739995 Centerline is valid? [True, True] Translation: X:27.47, Y:-1.75, Z:-1.32 [[ 9.81769052e-01 1.71226103e-01 8.25296875e-02 2.74657764e+01] [-1.70656036e-01 9.85231690e-01 -1.39654950e-02 -1.75290018e+00] [-8.37021207e-02 -3.73298527e-04 9.96490750e-01 -1.32182955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.148639999999997 meters 0.03230322051289184 Centerline is valid? [True, True] Translation: X:27.53, Y:-1.76, Z:-1.33 [[ 9.82416271e-01 1.66279522e-01 8.49081359e-02 2.75276009e+01] [-1.65654170e-01 9.86078654e-01 -1.44077431e-02 -1.75944038e+00] [-8.61218130e-02 8.90144928e-05 9.96284611e-01 -1.32612369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.208639999999995 meters 0.03213714068145376 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.77, Z:-1.33 [[ 9.82646444e-01 1.65498779e-01 8.37622898e-02 2.75894535e+01] [-1.64884137e-01 9.86209976e-01 -1.42514660e-02 -1.76757587e+00] [-8.49658061e-02 1.93079464e-04 9.96383849e-01 -1.33007323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.268639999999994 meters 0.03216288849413972 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.77, Z:-1.34 [[ 9.83117220e-01 1.62689571e-01 8.37414748e-02 2.76524209e+01] [-1.62061598e-01 9.86677190e-01 -1.42885102e-02 -1.77472912e+00] [-8.49503946e-02 4.76003153e-04 9.96385068e-01 -1.33515285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.328639999999996 meters 0.032090299876467956 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.79, Z:-1.34 [[ 9.84222769e-01 1.56822103e-01 8.19290462e-02 2.77144646e+01] [-1.56197256e-01 9.87626358e-01 -1.40212321e-02 -1.78674483e+00] [-8.31141246e-02 1.00292365e-03 9.96539531e-01 -1.33813562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.388639999999995 meters 0.03212465570383679 Centerline is valid? [True, True] Translation: X:27.78, Y:-1.80, Z:-1.34 [[ 9.84675988e-01 1.54097765e-01 8.16521767e-02 2.77758741e+01] [-1.53464513e-01 9.88054792e-01 -1.40132786e-02 -1.79664097e+00] [-8.28362394e-02 1.26782744e-03 9.96562366e-01 -1.34094350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.448639999999994 meters 0.0320246963747676 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.81, Z:-1.35 [[ 9.84910236e-01 1.53040739e-01 8.08106347e-02 2.78364828e+01] [-1.52413832e-01 9.88218917e-01 -1.39067180e-02 -1.81278761e+00] [-8.19868923e-02 1.38021042e-03 9.96632452e-01 -1.34587743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.508639999999996 meters 0.03161863056201065 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.83, Z:-1.35 [[ 9.84272208e-01 1.57241061e-01 8.05199946e-02 2.78970912e+01] [-1.56629498e-01 9.87559676e-01 -1.38955485e-02 -1.82848062e+00] [-8.17032506e-02 1.06519588e-03 9.96656131e-01 -1.34886250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.568639999999995 meters 0.031212974414554128 Centerline is valid? [True, True] Translation: X:27.96, Y:-1.85, Z:-1.35 [[ 9.83872304e-01 1.60832746e-01 7.82822913e-02 2.79570496e+01] [-1.60263358e-01 9.86981368e-01 -1.35438539e-02 -1.84541559e+00] [-7.94414581e-02 7.79639850e-04 9.96839228e-01 -1.35175830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.628639999999994 meters 0.030863550342817417 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.86, Z:-1.35 [[ 9.83219940e-01 1.65514254e-01 7.67045087e-02 2.80181763e+01] [-1.64979641e-01 9.86207308e-01 -1.32990114e-02 -1.86004228e+00] [-7.78477230e-02 4.21170876e-04 9.96965172e-01 -1.35416726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.688639999999996 meters 0.030980581070429416 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.87, Z:-1.36 [[ 9.82315155e-01 1.69579943e-01 7.93698882e-02 2.80791480e+01] [-1.69018512e-01 9.85516426e-01 -1.37882658e-02 -1.87030379e+00] [-8.05585419e-02 1.29442097e-04 9.96749871e-01 -1.35897821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.748639999999995 meters 0.030711240150312593 Centerline is valid? [True, True] Translation: X:28.14, Y:-1.88, Z:-1.36 [[ 9.82258440e-01 1.70217981e-01 7.87032111e-02 2.81402851e+01] [-1.69665086e-01 9.85406427e-01 -1.37088345e-02 -1.87981578e+00] [-7.98881402e-02 1.12431329e-04 9.96803828e-01 -1.36210900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.808639999999997 meters 0.030887039901434495 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.89, Z:-1.37 [[ 9.82786040e-01 1.65971053e-01 8.11493050e-02 2.82019958e+01] [-1.65365557e-01 9.86130493e-01 -1.41733258e-02 -1.88697049e+00] [-8.23761660e-02 5.10046652e-04 9.96601178e-01 -1.36628335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.868639999999996 meters 0.03091326385520378 Centerline is valid? [True, True] Translation: X:28.26, Y:-1.89, Z:-1.37 [[ 9.82547784e-01 1.66034542e-01 8.38593010e-02 2.82639140e+01] [-1.65384724e-01 9.86119778e-01 -1.46859323e-02 -1.89303592e+00] [-8.51336873e-02 5.60582899e-04 9.96369380e-01 -1.36921002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.928639999999994 meters 0.030726507108251144 Centerline is valid? [True, True] Translation: X:28.33, Y:-1.90, Z:-1.37 [[ 9.82437331e-01 1.67049148e-01 8.31352625e-02 2.83254098e+01] [-1.66411855e-01 9.85948445e-01 -1.45862161e-02 -1.90451860e+00] [-8.44036978e-02 4.95349938e-04 9.96431518e-01 -1.37300956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.988639999999997 meters 0.030533726580138882 Centerline is valid? [True, True] Translation: X:28.39, Y:-1.91, Z:-1.38 [[ 9.82606670e-01 1.67766856e-01 7.96141604e-02 2.83870294e+01] [-1.67183045e-01 9.85826603e-01 -1.39906672e-02 -1.91413362e+00] [-8.08329275e-02 4.37185125e-04 9.96727569e-01 -1.37652576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.048639999999995 meters 0.030654437072336945 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.93, Z:-1.38 [[ 9.82172050e-01 1.69948973e-01 8.03455734e-02 2.84494224e+01] [-1.69358445e-01 9.85452819e-01 -1.41583737e-02 -1.92510840e+00] [-8.15829728e-02 2.98757529e-04 9.96666509e-01 -1.38063911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.108639999999994 meters 0.030480703411957202 Centerline is valid? [True, True] Translation: X:28.51, Y:-1.93, Z:-1.38 [[ 9.81573361e-01 1.73723699e-01 7.95852620e-02 2.85109969e+01] [-1.73153508e-01 9.84794433e-01 -1.40636597e-02 -1.93470233e+00] [-8.08183140e-02 2.40463326e-05 9.96728850e-01 -1.38321600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.168639999999996 meters 0.030462092148025918 Centerline is valid? [True, True] Translation: X:28.57, Y:-1.94, Z:-1.39 [[ 9.81538500e-01 1.74708536e-01 7.78402234e-02 2.85727306e+01] [-1.74163409e-01 9.84620194e-01 -1.37905747e-02 -1.94358064e+00] [-7.90523870e-02 -2.09385811e-05 9.96870463e-01 -1.38718964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.228639999999995 meters 0.030307068038136372 Centerline is valid? [True, True] Translation: X:28.63, Y:-1.95, Z:-1.39 [[ 9.81932603e-01 1.72789426e-01 7.71503571e-02 2.86341446e+01] [-1.72245226e-01 9.84958774e-01 -1.37038598e-02 -1.95151409e+00] [-7.83578032e-02 1.67486017e-04 9.96925286e-01 -1.39036626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.288639999999994 meters 0.03040369984782475 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.96, Z:-1.40 [[ 9.82746677e-01 1.67988204e-01 7.73881847e-02 2.86957964e+01] [-1.67422946e-01 9.85788830e-01 -1.37818394e-02 -1.96107573e+00] [-7.86035945e-02 5.87498976e-04 9.96905778e-01 -1.39523536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.348639999999996 meters 0.030622074623173155 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.97, Z:-1.40 [[ 9.83248175e-01 1.64716053e-01 7.80490179e-02 2.87566217e+01] [-1.64128017e-01 9.86340625e-01 -1.39343405e-02 -1.97114613e+00] [-7.92781266e-02 8.90884318e-04 9.96852138e-01 -1.39880332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.408639999999995 meters 0.030604881203059008 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.98, Z:-1.40 [[ 9.83504561e-01 1.64312804e-01 7.56312204e-02 2.88179558e+01] [-1.63757047e-01 9.86407849e-01 -1.35345878e-02 -1.98323467e+00] [-7.68271355e-02 9.26183569e-04 9.97043998e-01 -1.40229058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.468639999999994 meters 0.03058380068192593 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.00, Z:-1.41 [[ 9.82878677e-01 1.67942460e-01 7.57947041e-02 2.88780140e+01] [-1.67392400e-01 9.85796566e-01 -1.35983140e-02 -1.99791142e+00] [-7.70018934e-02 6.78035425e-04 9.97030716e-01 -1.40655414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.528639999999996 meters 0.03056195555614179 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.01, Z:-1.41 [[ 9.82225533e-01 1.72709268e-01 7.35153786e-02 2.89391179e+01] [-1.72202695e-01 9.84972792e-01 -1.32223427e-02 -2.01152371e+00] [-7.46942689e-02 3.27776304e-04 9.97206427e-01 -1.40964746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.588639999999995 meters 0.030558564452906996 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.02, Z:-1.41 [[ 9.82003055e-01 1.75056599e-01 7.08885490e-02 2.90008675e+01] [-1.74589445e-01 9.84558356e-01 -1.27816008e-02 -2.02137589e+00] [-7.20314169e-02 1.75178656e-04 9.97402348e-01 -1.41238067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.648639999999997 meters 0.030645379697494615 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.03, Z:-1.42 [[ 9.81467628e-01 1.77800771e-01 7.14715415e-02 2.90630280e+01] [-1.77330621e-01 9.84066505e-01 -1.29215036e-02 -2.02930830e+00] [-7.26302033e-02 7.94466113e-06 9.97358939e-01 -1.41551353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.708639999999995 meters 0.030634633832595754 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.04, Z:-1.42 [[ 9.81133128e-01 1.79286389e-01 7.23475995e-02 2.91251537e+01] [-1.78805817e-01 9.83796923e-01 -1.31184371e-02 -2.03873847e+00] [-7.35273030e-02 -6.52384144e-05 9.97293202e-01 -1.41877609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.768639999999994 meters 0.030659853912757492 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.04, Z:-1.42 [[ 9.81420673e-01 1.78015779e-01 7.15810337e-02 2.91868788e+01] [-1.77539346e-01 9.84027631e-01 -1.30154785e-02 -2.04489111e+00] [-7.27546756e-02 6.52098315e-05 9.97349865e-01 -1.42337167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.828639999999996 meters 0.03076686704035153 Centerline is valid? [True, True] Translation: X:29.25, Y:-2.05, Z:-1.43 [[ 9.81882764e-01 1.74666295e-01 7.34705567e-02 2.92490316e+01] [-1.74152443e-01 9.84627625e-01 -1.33928066e-02 -2.04809659e+00] [-7.46804116e-02 3.55089051e-04 9.97207456e-01 -1.42675128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.888639999999995 meters 0.03076288231423696 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.05, Z:-1.43 [[ 9.81907084e-01 1.74426846e-01 7.37139976e-02 2.93116407e+01] [-1.73906329e-01 9.84670051e-01 -1.34714505e-02 -2.05454070e+00] [-7.49337483e-02 4.08381946e-04 9.97188431e-01 -1.42987468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.948639999999994 meters 0.03068563050010901 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.06, Z:-1.43 [[ 9.82259393e-01 1.72521908e-01 7.35029037e-02 2.93750240e+01] [-1.71996172e-01 9.85005504e-01 -1.34712183e-02 -2.05967824e+00] [-7.47248450e-02 5.90012686e-04 9.97204016e-01 -1.43259128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.008639999999996 meters 0.03072911198108641 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.07, Z:-1.44 [[ 9.83237667e-01 1.67555064e-01 7.18956876e-02 2.94367717e+01] [-1.67036151e-01 9.85862229e-01 -1.32132187e-02 -2.06960597e+00] [-7.30931846e-02 9.82555410e-04 9.97324632e-01 -1.43627381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.068639999999995 meters 0.03167663849938066 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.08, Z:-1.44 [[ 9.84403200e-01 1.59730540e-01 7.37325882e-02 2.94978127e+01] [-1.59160674e-01 9.87159304e-01 -1.35789636e-02 -2.08165992e+00] [-7.49547856e-02 1.63184680e-03 9.97185598e-01 -1.43910241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.128639999999994 meters 0.031947812456228325 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.09, Z:-1.44 [[ 9.85130605e-01 1.55596074e-01 7.28529506e-02 2.95588831e+01] [-1.55027174e-01 9.87818858e-01 -1.34342295e-02 -2.09468288e+00] [-7.40558319e-02 1.94028360e-03 9.97252209e-01 -1.44122792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.188639999999996 meters 0.03159854687617171 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.11, Z:-1.45 [[ 9.84838443e-01 1.58023567e-01 7.15667138e-02 2.96190334e+01] [-1.57478749e-01 9.87433777e-01 -1.32279588e-02 -2.11092963e+00] [-7.27577197e-02 1.75716581e-03 9.97348097e-01 -1.44576425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.248639999999995 meters 0.031611267469417996 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.13, Z:-1.45 [[ 9.84702624e-01 1.59461217e-01 7.02343385e-02 2.96797000e+01] [-1.58938004e-01 9.87202815e-01 -1.30120464e-02 -2.12631294e+00] [-7.14104534e-02 1.65009063e-03 9.97445650e-01 -1.44911500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.308639999999993 meters 0.03122703479122083 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.14, Z:-1.45 [[ 9.84964356e-01 1.59913770e-01 6.53666820e-02 2.97398992e+01] [-1.59459842e-01 9.87129799e-01 -1.21374806e-02 -2.14439171e+00] [-6.64663499e-02 1.53162498e-03 9.97787492e-01 -1.45008287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.368639999999996 meters 0.030918299870801746 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.16, Z:-1.45 [[ 9.84842364e-01 1.61279818e-01 6.38305418e-02 2.98000590e+01] [-1.60848069e-01 9.86907679e-01 -1.18798521e-02 -2.15899549e+00] [-6.49108323e-02 1.43276222e-03 9.97890040e-01 -1.45332933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.428639999999994 meters 0.030900355485723292 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.17, Z:-1.46 [[ 9.84579611e-01 1.62821275e-01 6.39704710e-02 2.98602386e+01] [-1.62389014e-01 9.86654639e-01 -1.19344829e-02 -2.17414151e+00] [-6.50599497e-02 1.36234687e-03 9.97880427e-01 -1.45728198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.488639999999997 meters 0.030691499417922194 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.19, Z:-1.46 [[ 9.84059360e-01 1.65174452e-01 6.59133952e-02 2.99209435e+01] [-1.64718646e-01 9.86263543e-01 -1.23285155e-02 -2.19230535e+00] [-6.70443344e-02 1.27482588e-03 9.97749183e-01 -1.46011071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.548639999999995 meters 0.030303476880563607 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.21, Z:-1.46 [[ 9.83623773e-01 1.68517258e-01 6.39234486e-02 2.99806375e+01] [-1.68093609e-01 9.85698148e-01 -1.19874615e-02 -2.21245065e+00] [-6.50293190e-02 1.04602897e-03 9.97882805e-01 -1.46428995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.608639999999994 meters 0.030101647376141554 Centerline is valid? [True, True] Translation: X:30.04, Y:-2.23, Z:-1.47 [[ 9.82710201e-01 1.73198395e-01 6.54444614e-02 3.00404532e+01] [-1.72762667e-01 9.84886644e-01 -1.23028016e-02 -2.23201397e+00] [-6.65862014e-02 7.83728891e-04 9.97780368e-01 -1.46661384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.668639999999996 meters 0.02982318690094023 Centerline is valid? [True, True] Translation: X:30.10, Y:-2.25, Z:-1.47 [[ 9.81402694e-01 1.81079475e-01 6.37100856e-02 3.01008159e+01] [-1.80681268e-01 9.83468429e-01 -1.20053847e-02 -2.24939752e+00] [-6.48307866e-02 2.70897863e-04 9.97896235e-01 -1.46846950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.728639999999995 meters 0.030176287363858387 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.27, Z:-1.47 [[ 9.79285140e-01 1.92617364e-01 6.24433022e-02 3.01615982e+01] [-1.92256348e-01 9.81273838e-01 -1.17962228e-02 -2.26558398e+00] [-6.35461361e-02 -4.53255491e-04 9.97978799e-01 -1.46973002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.788639999999994 meters 0.030437299032821077 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.28, Z:-1.47 [[ 9.78249791e-01 1.98198368e-01 6.11943859e-02 3.02226245e+01] [-1.97860599e-01 9.80161628e-01 -1.15916792e-02 -2.27885236e+00] [-6.22778408e-02 -7.68400079e-04 9.98058555e-01 -1.47302901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.848639999999996 meters 0.030407182877167472 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.29, Z:-1.48 [[ 9.78113300e-01 1.99694726e-01 5.84498862e-02 3.02844116e+01] [-1.99387677e-01 9.79857836e-01 -1.10984576e-02 -2.28798500e+00] [-5.94888824e-02 -7.98638065e-04 9.98228649e-01 -1.47527742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.908639999999995 meters 0.030117700138485515 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.30, Z:-1.48 [[ 9.78233732e-01 1.99127232e-01 5.83704659e-02 3.03476071e+01] [-1.98818301e-01 9.79973370e-01 -1.11120543e-02 -2.29524865e+00] [-5.94142148e-02 -7.34930526e-04 9.98233145e-01 -1.47723806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.968639999999994 meters 0.02996818698134146 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.30, Z:-1.48 [[ 9.78706250e-01 1.95772267e-01 6.17032910e-02 3.04106136e+01] [-1.95418134e-01 9.80649245e-01 -1.17818257e-02 -2.30267837e+00] [-6.28158404e-02 -5.26995468e-04 9.98024996e-01 -1.48177774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.028639999999996 meters 0.029592183048071347 Centerline is valid? [True, True] Translation: X:30.47, Y:-2.31, Z:-1.48 [[ 9.79470865e-01 1.91973050e-01 6.15075019e-02 3.04724915e+01] [-1.91611616e-01 9.81400166e-01 -1.17772220e-02 -2.30954972e+00] [-6.26243818e-02 -2.50106058e-04 9.98037136e-01 -1.48459019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.088639999999995 meters 0.02951457690944049 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.32, Z:-1.49 [[ 9.79578281e-01 1.91306945e-01 6.18711820e-02 3.05351343e+01] [-1.90937947e-01 9.81530245e-01 -1.18776903e-02 -2.31931566e+00] [-6.30007211e-02 -1.78428992e-04 9.98013465e-01 -1.48694073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.148639999999997 meters 0.029859439913030802 Centerline is valid? [True, True] Translation: X:30.60, Y:-2.33, Z:-1.49 [[ 9.79059585e-01 1.93476596e-01 6.33177357e-02 3.05966565e+01] [-1.93092450e-01 9.81104847e-01 -1.21894996e-02 -2.32983373e+00] [-6.44797203e-02 -2.91930349e-04 9.97918975e-01 -1.49112227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.208639999999995 meters 0.029649859841790447 Centerline is valid? [True, True] Translation: X:30.66, Y:-2.34, Z:-1.49 [[ 9.79005506e-01 1.94219455e-01 6.18629276e-02 3.06575263e+01] [-1.93852436e-01 9.80958058e-01 -1.19382717e-02 -2.34079190e+00] [-6.30035819e-02 -3.04645454e-04 9.98013254e-01 -1.49328446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.268639999999994 meters 0.029859232141262064 Centerline is valid? [True, True] Translation: X:30.72, Y:-2.35, Z:-1.50 [[ 9.78127148e-01 1.98111903e-01 6.33952463e-02 3.07182919e+01] [-1.97732649e-01 9.80179261e-01 -1.22644233e-02 -2.35280819e+00] [-6.45684339e-02 -5.39144596e-04 9.97913136e-01 -1.49649120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.328639999999996 meters 0.030200425384462458 Centerline is valid? [True, True] Translation: X:30.78, Y:-2.37, Z:-1.50 [[ 9.77129611e-01 2.02943308e-01 6.34959675e-02 3.07787424e+01] [-2.02571059e-01 9.79190137e-01 -1.23142558e-02 -2.36606789e+00] [-6.46737210e-02 -8.29821427e-04 9.97906118e-01 -1.49944311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.388639999999995 meters 0.03074074799255313 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.38, Z:-1.50 [[ 9.75673181e-01 2.10005165e-01 6.29259458e-02 3.08401344e+01] [-2.09652329e-01 9.77699468e-01 -1.22331676e-02 -2.37550088e+00] [-6.40916921e-02 -1.25699748e-03 9.97943222e-01 -1.50149800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.448639999999994 meters 0.03142707664516526 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.38, Z:-1.50 [[ 9.73816450e-01 2.17530086e-01 6.60468309e-02 3.09007450e+01] [-2.17156942e-01 9.76051929e-01 -1.28644704e-02 -2.38438935e+00] [-6.72635460e-02 -1.81489489e-03 9.97733592e-01 -1.50345652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.508639999999996 meters 0.031711137909559234 Centerline is valid? [True, True] Translation: X:30.96, Y:-2.39, Z:-1.50 [[ 9.72919694e-01 2.22322482e-01 6.32454237e-02 3.09635365e+01] [-2.21989738e-01 9.74971044e-01 -1.23296550e-02 -2.38921638e+00] [-6.44036163e-02 -2.04407088e-03 9.97921839e-01 -1.50490365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.568639999999995 meters 0.03186989059756854 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.40, Z:-1.51 [[ 9.72360483e-01 2.24601893e-01 6.37893526e-02 3.10256367e+01] [-2.24266293e-01 9.74448162e-01 -1.24663557e-02 -2.39761656e+00] [-6.49593845e-02 -2.18401001e-03 9.97885519e-01 -1.50720792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.628639999999994 meters 0.032204600668056506 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.40, Z:-1.51 [[ 9.71629612e-01 2.27504309e-01 6.46350231e-02 3.10886450e+01] [-2.27164082e-01 9.73774168e-01 -1.26629554e-02 -2.40014842e+00] [-6.58207927e-02 -2.37905325e-03 9.97828624e-01 -1.50990415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.688639999999996 meters 0.03220626867993906 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.40, Z:-1.51 [[ 9.71808324e-01 2.27396090e-01 6.22864382e-02 3.11518987e+01] [-2.27078083e-01 9.73799736e-01 -1.22318863e-02 -2.39830139e+00] [-6.34360002e-02 -2.25683604e-03 9.97983357e-01 -1.51346667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.748639999999995 meters 0.032153786995259295 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.40, Z:-1.52 [[ 9.71804256e-01 2.27361969e-01 6.24741802e-02 3.12148108e+01] [-2.27039993e-01 9.73807762e-01 -1.22997746e-02 -2.40390308e+00] [-6.36343426e-02 -2.23116417e-03 9.97970787e-01 -1.51619655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.808639999999993 meters 0.03212288557232781 Centerline is valid? [True, True] Translation: X:31.28, Y:-2.40, Z:-1.52 [[ 9.71522117e-01 2.28041046e-01 6.43588143e-02 3.12789541e+01] [-2.27698537e-01 9.73648778e-01 -1.27056446e-02 -2.40176537e+00] [-6.55602894e-02 -2.31059314e-03 9.97845935e-01 -1.51853858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.868639999999996 meters 0.032318048378534844 Centerline is valid? [True, True] Translation: X:31.34, Y:-2.40, Z:-1.52 [[ 9.72009532e-01 2.26367595e-01 6.28902371e-02 3.13425841e+01] [-2.26035159e-01 9.74039642e-01 -1.24452165e-02 -2.40069743e+00] [-6.40747777e-02 -2.11853562e-03 9.97942851e-01 -1.52250567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.928639999999994 meters 0.03170544182223852 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.40, Z:-1.52 [[ 9.72473113e-01 2.24411620e-01 6.27333143e-02 3.14068976e+01] [-2.24075182e-01 9.74492474e-01 -1.24390712e-02 -2.39870138e+00] [-6.39246147e-02 -1.96031656e-03 9.97952805e-01 -1.52490838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.988639999999997 meters 0.03131824884089337 Centerline is valid? [True, True] Translation: X:31.47, Y:-2.40, Z:-1.53 [[ 9.73058879e-01 2.21482561e-01 6.40460296e-02 3.14690706e+01] [-2.21124873e-01 9.75162681e-01 -1.27097289e-02 -2.40307830e+00] [-6.52702813e-02 -1.79485555e-03 9.97866007e-01 -1.52838046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04863999999999 meters 0.030860706423974267 Centerline is valid? [True, True] Translation: X:31.53, Y:-2.40, Z:-1.53 [[ 9.74042432e-01 2.17348272e-01 6.32540044e-02 3.15323751e+01] [-2.16990124e-01 9.76092981e-01 -1.25610185e-02 -2.40386371e+00] [-6.44719054e-02 -1.49052920e-03 9.97918409e-01 -1.53020571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.108639999999994 meters 0.030954078232911374 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.41, Z:-1.53 [[ 9.73942869e-01 2.18968053e-01 5.90616557e-02 3.15948118e+01] [-2.18658355e-01 9.75730900e-01 -1.17360431e-02 -2.40655024e+00] [-6.01981010e-02 -1.48408894e-03 9.98185347e-01 -1.53302286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.168639999999996 meters 0.031216518139048327 Centerline is valid? [True, True] Translation: X:31.66, Y:-2.41, Z:-1.53 [[ 9.73244047e-01 2.21978541e-01 5.93426765e-02 3.16582865e+01] [-2.21670988e-01 9.75050120e-01 -1.17998237e-02 -2.40689325e+00] [-6.04813915e-02 -1.67044158e-03 9.98167927e-01 -1.53434222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22863999999999 meters 0.03126014757639307 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.41, Z:-1.54 [[ 9.73308404e-01 2.22172482e-01 5.75338031e-02 3.17210224e+01] [-2.21883303e-01 9.75006027e-01 -1.14476134e-02 -2.41127894e+00] [-5.86391494e-02 -1.62373199e-03 9.98277924e-01 -1.53645834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.288639999999994 meters 0.030779272348221094 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.41, Z:-1.54 [[ 9.73835226e-01 2.18995666e-01 6.07112138e-02 3.17822243e+01] [-2.18667066e-01 9.75724670e-01 -1.20864347e-02 -2.41147708e+00] [-6.18843059e-02 -1.50534714e-03 9.98082194e-01 -1.53937894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.348639999999996 meters 0.030127520743955263 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.42, Z:-1.54 [[ 9.75251723e-01 2.12641194e-01 6.05623554e-02 3.18439302e+01] [-2.12301895e-01 9.77129734e-01 -1.20577252e-02 -2.41609226e+00] [-6.17412473e-02 -1.09818560e-03 9.98091585e-01 -1.54295003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40864 meters 0.029402994885088164 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.42, Z:-1.55 [[ 9.76497841e-01 2.06712244e-01 6.10083211e-02 3.19044222e+01] [-2.06356097e-01 9.78401514e-01 -1.21506360e-02 -2.42406767e+00] [-6.22023190e-02 -7.24369204e-04 9.98063298e-01 -1.54609500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46863999999999 meters 0.029249144328503663 Centerline is valid? [True, True] Translation: X:31.97, Y:-2.44, Z:-1.55 [[ 9.77687009e-01 2.01016083e-01 6.09971019e-02 3.19656933e+01] [-2.00648640e-01 9.79587876e-01 -1.21538424e-02 -2.43708058e+00] [-6.21951393e-02 -3.56331708e-04 9.98063945e-01 -1.54902879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.528639999999996 meters 0.029046896628821317 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.45, Z:-1.55 [[ 9.77574923e-01 2.02268445e-01 5.86067119e-02 3.20263445e+01] [-2.01930968e-01 9.79330030e-01 -1.16865800e-02 -2.45307376e+00] [-5.97591393e-02 -4.10002521e-04 9.98212741e-01 -1.55053421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58864 meters 0.029364268617996018 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.47, Z:-1.55 [[ 9.76422103e-01 2.07184957e-01 6.06157548e-02 3.20860577e+01] [-2.06832806e-01 9.78301521e-01 -1.20964430e-02 -2.46877712e+00] [-6.18066862e-02 -7.26092336e-04 9.98087875e-01 -1.55296852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64863999999999 meters 0.02942825219065147 Centerline is valid? [True, True] Translation: X:32.15, Y:-2.48, Z:-1.55 [[ 9.76194008e-01 2.08797009e-01 5.87287620e-02 3.21466736e+01] [-2.08468717e-01 9.77958681e-01 -1.17307977e-02 -2.48294085e+00] [-5.98836581e-02 -7.91575186e-04 9.98205050e-01 -1.55498022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.708639999999995 meters 0.02966408433343369 Centerline is valid? [True, True] Translation: X:32.21, Y:-2.50, Z:-1.56 [[ 9.75705316e-01 2.10813142e-01 5.96402142e-02 3.22068003e+01] [-2.10477845e-01 9.77525943e-01 -1.19208642e-02 -2.49755910e+00] [-6.08129314e-02 -9.21693221e-04 9.98148755e-01 -1.55852288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76864 meters 0.02991947023150105 Centerline is valid? [True, True] Translation: X:32.27, Y:-2.50, Z:-1.56 [[ 9.74524443e-01 2.15206274e-01 6.31535436e-02 3.22675097e+01] [-2.14839018e-01 9.76567803e-01 -1.26302224e-02 -2.50442409e+00] [-6.43918204e-02 -1.25938485e-03 9.97923899e-01 -1.56123767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82863999999999 meters 0.03000876655317885 Centerline is valid? [True, True] Translation: X:32.33, Y:-2.51, Z:-1.56 [[ 9.74502816e-01 2.15422678e-01 6.27481645e-02 3.23292541e+01] [-2.15060339e-01 9.76520085e-01 -1.25528115e-02 -2.51256476e+00] [-6.39790033e-02 -1.26189137e-03 9.97950447e-01 -1.56420106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.888639999999995 meters 0.029879496243004483 Centerline is valid? [True, True] Translation: X:32.39, Y:-2.52, Z:-1.57 [[ 9.75106753e-01 2.12609149e-01 6.29616550e-02 3.23908993e+01] [-2.12237933e-01 9.77136735e-01 -1.26039793e-02 -2.52286037e+00] [-6.42018673e-02 -1.07262625e-03 9.97936356e-01 -1.56606434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94864 meters 0.029396243699651603 Centerline is valid? [True, True] Translation: X:32.45, Y:-2.53, Z:-1.57 [[ 9.77131915e-01 2.02283694e-01 6.55326457e-02 3.24519095e+01] [-2.01857710e-01 9.79326884e-01 -1.31270234e-02 -2.53243707e+00] [-6.68332645e-02 -4.01436298e-04 9.97764077e-01 -1.57015692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00863999999999 meters 0.0293048899026656 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.55, Z:-1.57 [[ 9.78861412e-01 1.93199238e-01 6.71147646e-02 3.25123803e+01] [-1.92730535e-01 9.81159519e-01 -1.34513990e-02 -2.54559367e+00] [-6.84490901e-02 2.31990877e-04 9.97654584e-01 -1.57212748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.068639999999995 meters 0.029356229607985306 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.56, Z:-1.57 [[ 9.79674010e-01 1.89357450e-01 6.62011404e-02 3.25730646e+01] [-1.88891998e-01 9.81908093e-01 -1.32781965e-02 -2.56277403e+00] [-6.75177609e-02 5.03438295e-04 9.97717945e-01 -1.57440894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12864 meters 0.02932940406178907 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.58, Z:-1.58 [[ 9.79872102e-01 1.89243185e-01 6.35427491e-02 3.26327778e+01] [-1.88813448e-01 9.81930122e-01 -1.27560370e-02 -2.58124025e+00] [-6.48085325e-02 5.01559179e-04 9.97897591e-01 -1.57784284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18863999999999 meters 0.02913954716495117 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.60, Z:-1.58 [[ 9.79028530e-01 1.92567600e-01 6.64895184e-02 3.26921299e+01] [-1.92104077e-01 9.81283663e-01 -1.33565053e-02 -2.60265967e+00] [-6.78171084e-02 3.03492223e-04 9.97697724e-01 -1.57977796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.248639999999995 meters 0.029228980782426157 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.62, Z:-1.58 [[ 9.78995956e-01 1.92703044e-01 6.65766849e-02 3.27518063e+01] [-1.92237936e-01 9.81257074e-01 -1.33840091e-02 -2.62459719e+00] [-6.79079822e-02 3.04326339e-04 9.97691542e-01 -1.58451872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30864 meters 0.029334777637852354 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.65, Z:-1.59 [[ 9.78274883e-01 1.96192212e-01 6.69840912e-02 3.28108923e+01] [-1.95728196e-01 9.80565454e-01 -1.34856971e-02 -2.64966117e+00] [-6.83280746e-02 8.20434390e-05 9.97662903e-01 -1.58831415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36863999999999 meters 0.029567042468963745 Centerline is valid? [True, True] Translation: X:32.87, Y:-2.67, Z:-1.59 [[ 9.77546971e-01 1.99733785e-01 6.71441261e-02 3.28700551e+01] [-1.99273472e-01 9.79850192e-01 -1.35530571e-02 -2.67433728e+00] [-6.84981882e-02 -1.31293233e-04 9.97651232e-01 -1.59053463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.428639999999994 meters 0.029447480551434632 Centerline is valid? [True, True] Translation: X:32.93, Y:-2.69, Z:-1.59 [[ 9.77286938e-01 2.01191811e-01 6.65739853e-02 3.29310843e+01] [-2.00740295e-01 9.79551845e-01 -1.34728534e-02 -2.69076783e+00] [-6.79232979e-02 -1.97237845e-04 9.97690527e-01 -1.59379299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48864 meters 0.029415863346089848 Centerline is valid? [True, True] Translation: X:32.99, Y:-2.71, Z:-1.60 [[ 9.76877557e-01 2.03551864e-01 6.53978364e-02 3.29923666e+01] [-2.03119168e-01 9.79064112e-01 -1.32690693e-02 -2.70704677e+00] [-6.67296184e-02 -3.21298166e-04 9.97771043e-01 -1.59625867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54863999999999 meters 0.029808409086643412 Centerline is valid? [True, True] Translation: X:33.05, Y:-2.73, Z:-1.60 [[ 9.75638432e-01 2.09373480e-01 6.55163835e-02 3.30525392e+01] [-2.08950062e-01 9.77835504e-01 -1.33266160e-02 -2.72524295e+00] [-6.68544859e-02 -6.87693691e-04 9.97762499e-01 -1.59756909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.608639999999994 meters 0.030229095727122058 Centerline is valid? [True, True] Translation: X:33.11, Y:-2.74, Z:-1.60 [[ 9.74256059e-01 2.15994386e-01 6.45875868e-02 3.31128420e+01] [-2.15595445e-01 9.76393990e-01 -1.31674220e-02 -2.73995522e+00] [-6.59070208e-02 -1.09634881e-03 9.97825166e-01 -1.59954540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.668639999999996 meters 0.030721217730147424 Centerline is valid? [True, True] Translation: X:33.17, Y:-2.75, Z:-1.60 [[ 9.73100821e-01 2.21341426e-01 6.38965289e-02 3.31735799e+01] [-2.20960916e-01 9.75195344e-01 -1.30504537e-02 -2.75187955e+00] [-6.52002035e-02 -1.41922839e-03 9.97871194e-01 -1.60220734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72863999999999 meters 0.03106944648669335 Centerline is valid? [True, True] Translation: X:33.24, Y:-2.76, Z:-1.60 [[ 9.72576268e-01 2.24167654e-01 6.20021404e-02 3.32355905e+01] [-2.23814608e-01 9.74549358e-01 -1.26716058e-02 -2.76090306e+00] [-6.32647103e-02 -1.55288171e-03 9.97995574e-01 -1.60310459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.788639999999994 meters 0.030645503398698683 Centerline is valid? [True, True] Translation: X:33.30, Y:-2.77, Z:-1.61 [[ 9.72725556e-01 2.23347311e-01 6.26176690e-02 3.32977427e+01] [-2.22984976e-01 9.74737765e-01 -1.28058668e-02 -2.76886692e+00] [-6.38959626e-02 -1.50620554e-03 9.97955429e-01 -1.60567125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.848639999999996 meters 0.030428827783733937 Centerline is valid? [True, True] Translation: X:33.36, Y:-2.78, Z:-1.61 [[ 9.73802077e-01 2.18920209e-01 6.15098139e-02 3.33591563e+01] [-2.18561250e-01 9.75742044e-01 -1.25874632e-02 -2.77723623e+00] [-6.27733616e-02 -1.18596405e-03 9.98027103e-01 -1.60864385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90863999999999 meters 0.02974575624519659 Centerline is valid? [True, True] Translation: X:33.42, Y:-2.78, Z:-1.61 [[ 9.75576500e-01 2.10064497e-01 6.42137103e-02 3.34213985e+01] [-2.09653470e-01 9.77687325e-01 -1.31498048e-02 -2.78397207e+00] [-6.55432377e-02 -6.33986607e-04 9.97849529e-01 -1.61175725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96863999999999 meters 0.029513579236578585 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.80, Z:-1.62 [[ 9.77827881e-01 1.98685082e-01 6.61579449e-02 3.34830562e+01] [-1.98221971e-01 9.80063374e-01 -1.35584902e-02 -2.79730398e+00] [-6.75328485e-02 1.43911499e-04 9.97717041e-01 -1.61609593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.028639999999996 meters 0.029402529163111073 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.81, Z:-1.62 [[ 9.79061188e-01 1.92736180e-01 6.55130209e-02 3.35429122e+01] [-1.92267535e-01 9.81250449e-01 -1.34443775e-02 -2.81378636e+00] [-6.68758991e-02 5.66841179e-04 9.97761140e-01 -1.61834990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08864 meters 0.029816423438937183 Centerline is valid? [True, True] Translation: X:33.60, Y:-2.83, Z:-1.62 [[ 9.79173774e-01 1.91589688e-01 6.71722524e-02 3.36028345e+01] [-1.91092126e-01 9.81474866e-01 -1.38162013e-02 -2.83203615e+00] [-6.85749191e-02 6.92373427e-04 9.97645729e-01 -1.62091955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14863999999999 meters 0.029964005295513428 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.86, Z:-1.62 [[ 9.79701133e-01 1.88973669e-01 6.68927751e-02 3.36610620e+01] [-1.88472072e-01 9.81981741e-01 -1.37890773e-02 -2.85687004e+00] [-6.82932563e-02 9.01754689e-04 9.97664883e-01 -1.62464510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.208639999999995 meters 0.02998778295574119 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.89, Z:-1.63 [[ 9.80566279e-01 1.85650732e-01 6.34316765e-02 3.37198611e+01] [-1.85190951e-01 9.82615179e-01 -1.31042636e-02 -2.88521400e+00] [-6.47617443e-02 1.10262655e-03 9.97900146e-01 -1.62801275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26864 meters 0.029858013472039698 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.91, Z:-1.63 [[ 9.79980995e-01 1.88936990e-01 6.27699239e-02 3.37787694e+01] [-1.88491488e-01 9.81988794e-01 -1.29987596e-02 -2.90967518e+00] [-6.40953083e-02 9.06941009e-04 9.97943370e-01 -1.62999122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32863999999999 meters 0.029304571843909718 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.93, Z:-1.63 [[ 9.78819588e-01 1.94840917e-01 6.28429119e-02 3.38384319e+01] [-1.94404684e-01 9.80834703e-01 -1.30423674e-02 -2.92985933e+00] [-6.41796957e-02 5.49168258e-04 9.97938207e-01 -1.63247187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.388639999999995 meters 0.029291924501062168 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.96, Z:-1.64 [[ 9.77712345e-01 2.00630693e-01 6.18538210e-02 3.38964710e+01] [-2.00217882e-01 9.79666927e-01 -1.28651642e-02 -2.95566757e+00] [-6.31772895e-02 1.94188798e-04 9.98002301e-01 -1.63646221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44864 meters 0.02936980115532443 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.98, Z:-1.64 [[ 9.77361704e-01 2.01767669e-01 6.36703056e-02 3.39545938e+01] [-2.01330653e-01 9.79433399e-01 -1.32734380e-02 -2.98177740e+00] [-6.50389745e-02 1.54165732e-04 9.97882713e-01 -1.63803495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50863999999999 meters 0.029430464906777223 Centerline is valid? [True, True] Translation: X:34.02, Y:-3.00, Z:-1.64 [[ 9.76469526e-01 2.05794572e-01 6.44659473e-02 3.40150073e+01] [-2.05353198e-01 9.78595211e-01 -1.34713405e-02 -3.00190390e+00] [-6.58583961e-02 -8.39349117e-05 9.97828976e-01 -1.64117970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.568639999999995 meters 0.02955431353786412 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.02, Z:-1.64 [[ 9.74425463e-01 2.15163300e-01 6.48056518e-02 3.40745797e+01] [-2.14735636e-01 9.76577843e-01 -1.35765918e-02 -3.02011417e+00] [-6.62089479e-02 -6.86706063e-04 9.97805544e-01 -1.64406518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62864 meters 0.030485669942709556 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.04, Z:-1.65 [[ 9.71615791e-01 2.26715247e-01 6.75496159e-02 3.41330625e+01] [-2.26276669e-01 9.73959913e-01 -1.41759270e-02 -3.03773715e+00] [-6.90045169e-02 -1.51134756e-03 9.97615203e-01 -1.64578557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68863999999999 meters 0.03134186334409686 Centerline is valid? [True, True] Translation: X:34.19, Y:-3.05, Z:-1.65 [[ 9.69990681e-01 2.33966537e-01 6.61644850e-02 3.41937140e+01] [-2.33562192e-01 9.72242635e-01 -1.38910318e-02 -3.05074822e+00] [-6.75779699e-02 -1.97935071e-03 9.97712033e-01 -1.64887077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.748639999999995 meters 0.03153277930369834 Centerline is valid? [True, True] Translation: X:34.26, Y:-3.06, Z:-1.65 [[ 9.69048999e-01 2.38028431e-01 6.54713898e-02 3.42558016e+01] [-2.37640723e-01 9.71255642e-01 -1.37610023e-02 -3.05801432e+00] [-6.68649665e-02 -2.22358289e-03 9.97759556e-01 -1.65039852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80864 meters 0.03159388576612554 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.06, Z:-1.65 [[ 9.68788449e-01 2.39011504e-01 6.57452814e-02 3.43174431e+01] [-2.38620702e-01 9.71014081e-01 -1.38497623e-02 -3.06465273e+00] [-6.71498465e-02 -2.27069550e-03 9.97740318e-01 -1.65308341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86863999999999 meters 0.03143278940250433 Centerline is valid? [True, True] Translation: X:34.38, Y:-3.07, Z:-1.66 [[ 9.69471838e-01 2.35895113e-01 6.69167466e-02 3.43795852e+01] [-2.35481144e-01 9.71776323e-01 -1.41212479e-02 -3.07315881e+00] [-6.83592433e-02 -2.06747991e-03 9.97658629e-01 -1.65668426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.928639999999994 meters 0.030713314684692145 Centerline is valid? [True, True] Translation: X:34.44, Y:-3.08, Z:-1.66 [[ 9.71292200e-01 2.28759484e-01 6.52729637e-02 3.44403511e+01] [-2.28348896e-01 9.73481791e-01 -1.37835046e-02 -3.08155790e+00] [-6.66951490e-02 -1.51719872e-03 9.97772246e-01 -1.66057042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98864 meters 0.03030141501643871 Centerline is valid? [True, True] Translation: X:34.50, Y:-3.09, Z:-1.66 [[ 9.72274746e-01 2.24916333e-01 6.39879831e-02 3.45014655e+01] [-2.24512693e-01 9.74377320e-01 -1.35236687e-02 -3.09345597e+00] [-6.53901335e-02 -1.21739284e-03 9.97859032e-01 -1.66346354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04863999999999 meters 0.03014282156532302 Centerline is valid? [True, True] Translation: X:34.56, Y:-3.10, Z:-1.67 [[ 9.72547788e-01 2.24170780e-01 6.24360567e-02 3.45623596e+01] [-2.23783076e-01 9.74549244e-01 -1.32251911e-02 -3.10471027e+00] [-6.38117133e-02 -1.11000246e-03 9.97961339e-01 -1.66658587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.108639999999994 meters 0.030334422280733336 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.12, Z:-1.67 [[ 9.72114704e-01 2.26428956e-01 6.10158112e-02 3.46242719e+01] [-2.26061293e-01 9.74026943e-01 -1.29539729e-02 -3.11560924e+00] [-6.23641987e-02 -1.20056566e-03 9.98052737e-01 -1.66825525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.168639999999996 meters 0.030639862258862824 Centerline is valid? [True, True] Translation: X:34.69, Y:-3.12, Z:-1.67 [[ 9.71123774e-01 2.29767104e-01 6.42315524e-02 3.46861274e+01] [-2.29364588e-01 9.73244553e-01 -1.36720732e-02 -3.12268768e+00] [-6.56544011e-02 -1.45516820e-03 9.97841361e-01 -1.67134689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22863999999999 meters 0.030766401859443456 Centerline is valid? [True, True] Translation: X:34.75, Y:-3.13, Z:-1.67 [[ 9.71059976e-01 2.29702644e-01 6.54157307e-02 3.47493302e+01] [-2.29282773e-01 9.73259784e-01 -1.39572114e-02 -3.12723518e+00] [-6.68725082e-02 -1.44541075e-03 9.97760481e-01 -1.67476188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.288639999999994 meters 0.030303163621330776 Centerline is valid? [True, True] Translation: X:34.81, Y:-3.13, Z:-1.68 [[ 9.72533359e-01 2.23598154e-01 6.46740388e-02 3.48125540e+01] [-2.23172375e-01 9.74680919e-01 -1.38274115e-02 -3.13124534e+00] [-6.61283352e-02 -9.85839869e-04 9.97810639e-01 -1.67853874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.348639999999996 meters 0.030173146853480028 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.13, Z:-1.68 [[ 9.74030030e-01 2.16926983e-01 6.48705161e-02 3.48754670e+01] [-2.16482693e-01 9.76187695e-01 -1.38862489e-02 -3.13421475e+00] [-6.63381016e-02 -5.17720583e-04 9.97797068e-01 -1.68121248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40863999999999 meters 0.030117581403328195 Centerline is valid? [True, True] Translation: X:34.94, Y:-3.14, Z:-1.68 [[ 9.74100136e-01 2.16550024e-01 6.50769689e-02 3.49378239e+01] [-2.16099891e-01 9.76271414e-01 -1.39629316e-02 -3.14378427e+00] [-6.65564576e-02 -4.61832334e-04 9.97782554e-01 -1.68388033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46863999999999 meters 0.03009363422749365 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.15, Z:-1.69 [[ 9.74168029e-01 2.16429955e-01 6.44571578e-02 3.50007923e+01] [-2.15985816e-01 9.76298060e-01 -1.38645337e-02 -3.15294913e+00] [-6.59300985e-02 -4.15446342e-04 9.97824158e-01 -1.68649688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.528639999999996 meters 0.030086655114824622 Centerline is valid? [True, True] Translation: X:35.06, Y:-3.16, Z:-1.69 [[ 9.74427184e-01 2.14589786e-01 6.66549820e-02 3.50638182e+01] [-2.14108080e-01 9.76704230e-01 -1.43727875e-02 -3.15677768e+00] [-6.81864563e-02 -2.66135394e-04 9.97672560e-01 -1.68942095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58863999999999 meters 0.030235033682681337 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.17, Z:-1.69 [[ 9.75174093e-01 2.10647544e-01 6.82868967e-02 3.51254533e+01] [-2.10129983e-01 9.77562075e-01 -1.47573599e-02 -3.16749275e+00] [-6.98632821e-02 4.18706176e-05 9.97556575e-01 -1.69407783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64863999999999 meters 0.03045035050830196 Centerline is valid? [True, True] Translation: X:35.19, Y:-3.18, Z:-1.70 [[ 9.76731745e-01 2.03251804e-01 6.84383176e-02 3.51866556e+01] [-2.02711529e-01 9.79126314e-01 -1.48221800e-02 -3.18046840e+00] [-7.00223925e-02 6.04057759e-04 9.97545237e-01 -1.69755900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.708639999999995 meters 0.030857271148636574 Centerline is valid? [True, True] Translation: X:35.25, Y:-3.20, Z:-1.70 [[ 9.77363783e-01 1.99985187e-01 6.90359302e-02 3.52471014e+01] [-1.99425010e-01 9.79798528e-01 -1.49836489e-02 -3.19677862e+00] [-7.06378106e-02 8.76984755e-04 9.97501644e-01 -1.70038019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76864 meters 0.030530182024376004 Centerline is valid? [True, True] Translation: X:35.31, Y:-3.21, Z:-1.70 [[ 9.77194748e-01 2.01800077e-01 6.60844400e-02 3.53065078e+01] [-2.01289003e-01 9.79426453e-01 -1.43721886e-02 -3.21460005e+00] [-6.76251575e-02 7.42356206e-04 9.97710523e-01 -1.70301733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82863999999999 meters 0.030067686469341326 Centerline is valid? [True, True] Translation: X:35.37, Y:-3.24, Z:-1.71 [[ 9.76725023e-01 2.04940934e-01 6.33043638e-02 3.53655906e+01] [-2.04476774e-01 9.78774199e-01 -1.37955289e-02 -3.23677066e+00] [-6.47879465e-02 5.30166169e-04 9.97898913e-01 -1.70606010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.888639999999995 meters 0.0301612725078598 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.26, Z:-1.71 [[ 9.76442668e-01 2.06017950e-01 6.41585520e-02 3.54258463e+01] [-2.05541448e-01 9.78548087e-01 -1.40126338e-02 -3.25677437e+00] [-6.56690824e-02 4.95291860e-04 9.97841333e-01 -1.70896815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94864 meters 0.03010234847252317 Centerline is valid? [True, True] Translation: X:35.49, Y:-3.27, Z:-1.71 [[ 9.75777274e-01 2.09063950e-01 6.44280667e-02 3.54865563e+01] [-2.08587794e-01 9.77901917e-01 -1.41057830e-02 -3.27388381e+00] [-6.59533406e-02 3.25194247e-04 9.97822655e-01 -1.71163528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00863999999999 meters 0.02998113792165994 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.29, Z:-1.72 [[ 9.75767701e-01 2.09443253e-01 6.33317985e-02 3.55476779e+01] [-2.08981876e-01 9.77820749e-01 -1.38981297e-02 -3.28745783e+00] [-6.48380161e-02 3.26148042e-04 9.97895749e-01 -1.71501137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.068639999999995 meters 0.030446966680938752 Centerline is valid? [True, True] Translation: X:35.61, Y:-3.30, Z:-1.72 [[ 9.76218901e-01 2.06775527e-01 6.51194159e-02 3.56080066e+01] [-2.06279681e-01 9.78388257e-01 -1.43217426e-02 -3.30203546e+00] [-6.66734577e-02 5.48343426e-04 9.97774699e-01 -1.71804772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12864 meters 0.030413954189898625 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.31, Z:-1.72 [[ 9.76607539e-01 2.04833300e-01 6.54296057e-02 3.56692079e+01] [-2.04326307e-01 9.78796613e-01 -1.44205045e-02 -3.31497431e+00] [-6.69960759e-02 7.14183702e-04 9.97752983e-01 -1.72136219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18863999999999 meters 0.03074019078750222 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.33, Z:-1.72 [[ 9.76942401e-01 2.02595716e-01 6.73685395e-02 3.57293872e+01] [-2.02050688e-01 9.79262029e-01 -1.48794602e-02 -3.32978173e+00] [-6.89859675e-02 9.24515835e-04 9.97617202e-01 -1.72372749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.248639999999995 meters 0.030528002335948507 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.35, Z:-1.73 [[ 9.76962064e-01 2.02840375e-01 6.63393306e-02 3.57900666e+01] [-2.02310411e-01 9.79211382e-01 -1.46822008e-02 -3.34550235e+00] [-6.79383707e-02 9.22815939e-04 9.97689093e-01 -1.72514912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30864 meters 0.03069527764220186 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.36, Z:-1.73 [[ 9.76865003e-01 2.03108243e-01 6.69462991e-02 3.58511413e+01] [-2.02566933e-01 9.79155836e-01 -1.48488242e-02 -3.36124203e+00] [-6.85667780e-02 9.44190248e-04 9.97646082e-01 -1.72893514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36863999999999 meters 0.030384275653625167 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.38, Z:-1.73 [[ 9.76458605e-01 2.04350238e-01 6.90621008e-02 3.59100079e+01] [-2.03774700e-01 9.78897408e-01 -1.53537006e-02 -3.38152179e+00] [-7.07422438e-02 9.19144209e-04 9.97494206e-01 -1.73268934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.428639999999994 meters 0.03016259915584601 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.40, Z:-1.73 [[ 9.76116723e-01 2.05697720e-01 6.98898555e-02 3.59711661e+01] [-2.05109299e-01 9.78615195e-01 -1.55716078e-02 -3.39944632e+00] [-7.15983188e-02 8.64647488e-04 9.97433172e-01 -1.73407425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48864 meters 0.029919932201135094 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.42, Z:-1.74 [[ 9.75681537e-01 2.08272111e-01 6.83247120e-02 3.60301223e+01] [-2.07713687e-01 9.78070675e-01 -1.52570788e-02 -3.41907871e+00] [-7.00040212e-02 6.94072263e-04 9.97546468e-01 -1.73848633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54863999999999 meters 0.02983651497115803 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.44, Z:-1.74 [[ 9.75682263e-01 2.08476148e-01 6.76891263e-02 3.60904723e+01] [-2.07926296e-01 9.78027197e-01 -1.51478391e-02 -3.43682040e+00] [-6.93597696e-02 7.05128627e-04 9.97591462e-01 -1.74124202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.608639999999994 meters 0.029575779625598167 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.46, Z:-1.74 [[ 9.75915762e-01 2.07539351e-01 6.72000231e-02 3.61500318e+01] [-2.06992744e-01 9.78226342e-01 -1.50740678e-02 -3.45750569e+00] [-6.88652951e-02 8.01103121e-04 9.97625646e-01 -1.74330060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.668639999999996 meters 0.02964522556661193 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.48, Z:-1.75 [[ 9.76098139e-01 2.06694025e-01 6.71565530e-02 3.62102637e+01] [-2.06143662e-01 9.78405222e-01 -1.51000723e-02 -3.47671386e+00] [-6.88274169e-02 8.95254683e-04 9.97628180e-01 -1.74714918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72863999999999 meters 0.02940667492300265 Centerline is valid? [True, True] Translation: X:36.27, Y:-3.50, Z:-1.75 [[ 9.75644813e-01 2.08670347e-01 6.76305010e-02 3.62705068e+01] [-2.08114400e-01 9.77985711e-01 -1.52428739e-02 -3.49657551e+00] [-6.93223994e-02 7.96749690e-04 9.97593991e-01 -1.74991767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.788639999999994 meters 0.02934360477383449 Centerline is valid? [True, True] Translation: X:36.33, Y:-3.51, Z:-1.75 [[ 9.75035080e-01 2.10845802e-01 6.96465477e-02 3.63299216e+01] [-2.10259145e-01 9.77519086e-01 -1.57330574e-02 -3.51341378e+00] [-7.13980787e-02 6.96459276e-04 9.97447657e-01 -1.75313612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.848639999999996 meters 0.029028681305877282 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.53, Z:-1.76 [[ 9.73709282e-01 2.16193372e-01 7.17680965e-02 3.63901016e+01] [-2.15582325e-01 9.76350503e-01 -1.62467286e-02 -3.53309701e+00] [-7.35832522e-02 3.47657370e-04 9.97289017e-01 -1.75609595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90863999999999 meters 0.02918495975492012 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.55, Z:-1.76 [[ 9.71710077e-01 2.24190956e-01 7.42828435e-02 3.64493765e+01] [-2.23556567e-01 9.74545208e-01 -1.68552125e-02 -3.55259186e+00] [-7.61707754e-02 -2.28037580e-04 9.97094760e-01 -1.76036392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96863999999999 meters 0.029376291546091327 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.57, Z:-1.76 [[ 9.70353360e-01 2.29883101e-01 7.46198194e-02 3.65092158e+01] [-2.29256980e-01 9.73218037e-01 -1.69673333e-02 -3.56985918e+00] [-7.65218573e-02 -6.42805598e-04 9.97067697e-01 -1.76428112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.028639999999996 meters 0.0300694194521652 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.59, Z:-1.77 [[ 9.67884565e-01 2.39796444e-01 7.54793692e-02 3.65687482e+01] [-2.39183081e-01 9.70822169e-01 -1.71979661e-02 -3.58603634e+00] [-7.74010560e-02 -1.40774209e-03 9.96999045e-01 -1.76718693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08863999999999 meters 0.031035676998559362 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.60, Z:-1.77 [[ 9.65623299e-01 2.48627218e-01 7.58693045e-02 3.66294390e+01] [-2.48032507e-01 9.68596975e-01 -1.73140311e-02 -3.59621743e+00] [-7.77915182e-02 -2.09922201e-03 9.96967438e-01 -1.77105499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14863999999999 meters 0.0313871552683212 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.60, Z:-1.77 [[ 9.64271061e-01 2.54345319e-01 7.40930412e-02 3.66915576e+01] [-2.53793193e-01 9.67110295e-01 -1.69320296e-02 -3.60453477e+00] [-7.59627254e-02 -2.47724336e-03 9.97107581e-01 -1.77362404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.208639999999995 meters 0.03176834607674089 Centerline is valid? [True, True] Translation: X:36.75, Y:-3.61, Z:-1.78 [[ 9.63549870e-01 2.56793263e-01 7.50257871e-02 3.67540779e+01] [-2.56231724e-01 9.66462673e-01 -1.71815408e-02 -3.60936050e+00] [-7.69217266e-02 -2.66871537e-03 9.97033563e-01 -1.77630839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26863999999999 meters 0.032144695638394685 Centerline is valid? [True, True] Translation: X:36.82, Y:-3.61, Z:-1.78 [[ 9.63086663e-01 2.59118870e-01 7.29485466e-02 3.68181678e+01] [-2.58591938e-01 9.65841553e-01 -1.67422899e-02 -3.61102688e+00] [-7.47949808e-02 -2.73962990e-03 9.97195169e-01 -1.77989050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32863999999999 meters 0.032169535036973895 Centerline is valid? [True, True] Translation: X:36.88, Y:-3.62, Z:-1.78 [[ 9.63108674e-01 2.59505957e-01 7.12624709e-02 3.68807040e+01] [-2.59001455e-01 9.65737818e-01 -1.63924825e-02 -3.61718846e+00] [-7.30748100e-02 -2.66934151e-03 9.97322890e-01 -1.78361655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.388639999999995 meters 0.03191857494334698 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.62, Z:-1.79 [[ 9.63739511e-01 2.57550823e-01 6.98120886e-02 3.69435458e+01] [-2.57059160e-01 9.66261679e-01 -1.60920747e-02 -3.62293879e+00] [-7.16012731e-02 -2.43726864e-03 9.97430357e-01 -1.78523122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44864 meters 0.03153832635672851 Centerline is valid? [True, True] Translation: X:37.01, Y:-3.63, Z:-1.79 [[ 9.64463947e-01 2.54949018e-01 6.93562802e-02 3.70064582e+01] [-2.54454671e-01 9.66952000e-01 -1.60202745e-02 -3.62632149e+00] [-7.11485472e-02 -2.19705231e-03 9.97463311e-01 -1.78777558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50863999999999 meters 0.03145730247654633 Centerline is valid? [True, True] Translation: X:37.07, Y:-3.63, Z:-1.79 [[ 9.65111895e-01 2.52652825e-01 6.87428491e-02 3.70693648e+01] [-2.52159529e-01 9.67554966e-01 -1.59047098e-02 -3.63242917e+00] [-7.05308549e-02 -1.98433982e-03 9.97507624e-01 -1.79075891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.568639999999995 meters 0.0314031281465612 Centerline is valid? [True, True] Translation: X:37.13, Y:-3.64, Z:-1.79 [[ 9.65573657e-01 2.51018620e-01 6.82434226e-02 3.71324825e+01] [-2.50527109e-01 9.67980522e-01 -1.58075013e-02 -3.63662960e+00] [-7.00262810e-02 -1.83352047e-03 9.97543462e-01 -1.79170523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62864 meters 0.031244700388207598 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.64, Z:-1.79 [[ 9.66299226e-01 2.48694029e-01 6.64611642e-02 3.71950292e+01] [-2.48220669e-01 9.68580781e-01 -1.54197807e-02 -3.64387256e+00] [-6.82078137e-02 -1.59691247e-03 9.97669857e-01 -1.79484557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68863999999999 meters 0.031247299532059146 Centerline is valid? [True, True] Translation: X:37.26, Y:-3.65, Z:-1.80 [[ 9.67633747e-01 2.43178866e-01 6.74460565e-02 3.72578583e+01] [-2.42676700e-01 9.69980711e-01 -1.56665188e-02 -3.64919112e+00] [-6.92311401e-02 -1.20813412e-03 9.97599915e-01 -1.79851394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.748639999999995 meters 0.031024736982988722 Centerline is valid? [True, True] Translation: X:37.32, Y:-3.65, Z:-1.80 [[ 9.68501669e-01 2.39585194e-01 6.78487379e-02 3.73213622e+01] [-2.39065917e-01 9.70874904e-01 -1.57926605e-02 -3.65065760e+00] [-6.96563245e-02 -9.25102728e-04 9.97570619e-01 -1.80087702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80864 meters 0.030839013975077007 Centerline is valid? [True, True] Translation: X:37.38, Y:-3.65, Z:-1.80 [[ 9.69246910e-01 2.37024809e-01 6.61790569e-02 3.73849750e+01] [-2.36522735e-01 9.71503351e-01 -1.54348878e-02 -3.65294156e+00] [-6.79516269e-02 -6.92634259e-04 9.97688377e-01 -1.80285554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86863999999999 meters 0.03088974337018469 Centerline is valid? [True, True] Translation: X:37.45, Y:-3.66, Z:-1.81 [[ 9.70189925e-01 2.32737885e-01 6.75617165e-02 3.74476549e+01] [-2.32202320e-01 9.72539427e-01 -1.57843562e-02 -3.66242037e+00] [-6.93800507e-02 -3.74163887e-04 9.97590231e-01 -1.80590492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.928639999999994 meters 0.030953387295393875 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.67, Z:-1.81 [[ 9.71266080e-01 2.28671936e-01 6.59647511e-02 3.75098270e+01] [-2.28151225e-01 9.73503539e-01 -1.54232772e-02 -3.67017647e+00] [-6.77437894e-02 -6.98327771e-05 9.97702748e-01 -1.80969481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98864 meters 0.031077220065102412 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.68, Z:-1.81 [[ 9.72758277e-01 2.23070700e-01 6.30935620e-02 3.75708633e+01] [-2.22582052e-01 9.74802218e-01 -1.47603054e-02 -3.68216057e+00] [-6.47963358e-02 3.14714755e-04 9.97898460e-01 -1.81282288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04863999999999 meters 0.031134044441748023 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.70, Z:-1.81 [[ 9.73570463e-01 2.19117935e-01 6.44040632e-02 3.76312713e+01] [-2.18599524e-01 9.75698197e-01 -1.50756717e-02 -3.69782899e+00] [-6.61422785e-02 5.98531140e-04 9.97810022e-01 -1.81436460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.108639999999994 meters 0.031188813919984897 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.71, Z:-1.82 [[ 9.73469371e-01 2.19605431e-01 6.42715960e-02 3.76915768e+01] [-2.19089570e-01 9.75588605e-01 -1.50543971e-02 -3.71448305e+00] [-6.60086640e-02 5.73758188e-04 9.97818885e-01 -1.81878383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.168639999999996 meters 0.03114802316466509 Centerline is valid? [True, True] Translation: X:37.75, Y:-3.73, Z:-1.82 [[ 9.73425112e-01 2.19998561e-01 6.35938983e-02 3.77508444e+01] [-2.19493619e-01 9.75500040e-01 -1.49071521e-02 -3.73343586e+00] [-6.53154024e-02 5.52541275e-04 9.97864516e-01 -1.82284659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22863999999999 meters 0.031012682245577624 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.75, Z:-1.82 [[ 9.73317616e-01 2.20634718e-01 6.30328414e-02 3.78117905e+01] [-2.20139312e-01 9.75356374e-01 -1.47860654e-02 -3.74848376e+00] [-6.47418030e-02 5.15531581e-04 9.97901916e-01 -1.82357858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.288639999999994 meters 0.03060212920653095 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.77, Z:-1.83 [[ 9.72766186e-01 2.23238069e-01 6.23755740e-02 3.78720686e+01] [-2.22757404e-01 9.74763889e-01 -1.46457768e-02 -3.76564136e+00] [-6.40709520e-02 3.52295480e-04 9.97945284e-01 -1.82593590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.348639999999996 meters 0.03025795923713816 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.78, Z:-1.83 [[ 9.72133559e-01 2.25294664e-01 6.47970492e-02 3.79328099e+01] [-2.24779877e-01 9.74290644e-01 -1.52232461e-02 -3.77724390e+00] [-6.65608749e-02 2.33955720e-04 9.97782339e-01 -1.82871691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40863999999999 meters 0.03014391880495584 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.79, Z:-1.83 [[ 9.71590738e-01 2.27243630e-01 6.61193675e-02 3.79932332e+01] [-2.26711481e-01 9.73837933e-01 -1.55429781e-02 -3.78964652e+00] [-6.79215910e-02 1.11393797e-04 9.97690656e-01 -1.83218113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46863999999999 meters 0.030174223368739345 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.80, Z:-1.84 [[ 9.71776490e-01 2.26598409e-01 6.56019376e-02 3.80545037e+01] [-2.26072499e-01 9.73988262e-01 -1.54301907e-02 -3.80056534e+00] [-6.73919738e-02 1.63902562e-04 9.97726563e-01 -1.83542241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.528639999999996 meters 0.030604443769145593 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.81, Z:-1.84 [[ 9.73348079e-01 2.19987838e-01 6.47986788e-02 3.81160580e+01] [-2.19459511e-01 9.75502416e-01 -1.52499124e-02 -3.81210320e+00] [-6.65660630e-02 6.22786601e-04 9.97781826e-01 -1.83671637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58863999999999 meters 0.03150469648220875 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.83, Z:-1.84 [[ 9.74894260e-01 2.12308494e-01 6.71288710e-02 3.81765810e+01] [-2.11722585e-01 9.77201959e-01 -1.58075534e-02 -3.82620356e+00] [-6.89545421e-02 1.19799501e-03 9.97619084e-01 -1.84062783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64863999999999 meters 0.03188460527803629 Centerline is valid? [True, True] Translation: X:38.24, Y:-3.84, Z:-1.84 [[ 9.75760553e-01 2.08397175e-01 6.67979036e-02 3.82356793e+01] [-2.07806828e-01 9.78043159e-01 -1.57448893e-02 -3.84469331e+00] [-6.86124231e-02 1.48218138e-03 9.97642290e-01 -1.84455474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.708639999999995 meters 0.032274656841697245 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.86, Z:-1.85 [[ 9.76148844e-01 2.06782376e-01 6.61398800e-02 3.82952391e+01] [-2.06197911e-01 9.78385640e-01 -1.56192445e-02 -3.86423436e+00] [-6.79400934e-02 1.60880231e-03 9.97688105e-01 -1.84561235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76863999999999 meters 0.03205489969598012 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.89, Z:-1.85 [[ 9.75654312e-01 2.08642806e-01 6.75784259e-02 3.83535197e+01] [-2.08034810e-01 9.77990694e-01 -1.59912390e-02 -3.89328053e+00] [-6.94275286e-02 1.54325630e-03 9.97585804e-01 -1.84881306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82863999999999 meters 0.03097473866634741 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.92, Z:-1.85 [[ 9.74280785e-01 2.15619051e-01 6.54627864e-02 3.84100347e+01] [-2.15062635e-01 9.76477009e-01 -1.55149654e-02 -3.92038400e+00] [-6.72682280e-02 1.03733338e-03 9.97734388e-01 -1.85326419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.888639999999995 meters 0.03053828225679235 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.94, Z:-1.86 [[ 9.72989952e-01 2.21223481e-01 6.59600174e-02 3.84681376e+01] [-2.20670592e-01 9.75222911e-01 -1.56449033e-02 -3.94312919e+00] [-6.77867402e-02 6.66897590e-04 9.97699611e-01 -1.85670204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94863999999999 meters 0.030160295686622488 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.97, Z:-1.86 [[ 9.71586693e-01 2.27126011e-01 6.65813300e-02 3.85266301e+01] [-2.26574334e-01 9.73865336e-01 -1.58233676e-02 -3.96643670e+00] [-6.84351476e-02 2.88152891e-04 9.97655525e-01 -1.85851805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00863999999999 meters 0.0301198149652555 Centerline is valid? [True, True] Translation: X:38.59, Y:-3.99, Z:-1.86 [[ 9.70838385e-01 2.30409098e-01 6.62153808e-02 3.85856297e+01] [-2.29868896e-01 9.73093849e-01 -1.57686685e-02 -3.98945622e+00] [-6.80670245e-02 8.79722187e-05 9.97680747e-01 -1.86237031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.068639999999995 meters 0.03000180511978511 Centerline is valid? [True, True] Translation: X:38.65, Y:-4.01, Z:-1.86 [[ 9.69323398e-01 2.36253451e-01 6.77971813e-02 3.86454714e+01] [-2.35698836e-01 9.71691422e-01 -1.61814292e-02 -4.00786175e+00] [-6.97008580e-02 -2.94678794e-04 9.97567894e-01 -1.86401481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12864 meters 0.02987430353414032 Centerline is valid? [True, True] Translation: X:38.71, Y:-4.02, Z:-1.87 [[ 9.68387143e-01 2.40607989e-01 6.58341643e-02 3.87060856e+01] [-2.40093000e-01 9.70622214e-01 -1.57438749e-02 -4.02388937e+00] [-6.76882043e-02 -5.60156008e-04 9.97706366e-01 -1.86638022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18863999999999 meters 0.030025561008492026 Centerline is valid? [True, True] Translation: X:38.77, Y:-4.04, Z:-1.87 [[ 9.67570124e-01 2.43389251e-01 6.75997683e-02 3.87653293e+01] [-2.42851027e-01 9.69928407e-01 -1.61945791e-02 -4.04087907e+00] [-6.95085221e-02 -7.47282276e-04 9.97581078e-01 -1.86974819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.248639999999995 meters 0.030123543192803966 Centerline is valid? [True, True] Translation: X:38.83, Y:-4.06, Z:-1.87 [[ 9.68181607e-01 2.40459958e-01 6.93064583e-02 3.88255188e+01] [-2.39884864e-01 9.70658916e-01 -1.66288956e-02 -4.05796866e+00] [-7.12715153e-02 -5.25779413e-04 9.97456813e-01 -1.87418335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30864 meters 0.02992294818309075 Centerline is valid? [True, True] Translation: X:38.89, Y:-4.07, Z:-1.88 [[ 9.68865863e-01 2.37935679e-01 6.84510938e-02 3.88858176e+01] [-2.37365841e-01 9.71280867e-01 -1.64601092e-02 -4.07402195e+00] [-7.04016850e-02 -3.00313530e-04 9.97518678e-01 -1.87587089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36863999999999 meters 0.030225996450249225 Centerline is valid? [True, True] Translation: X:38.95, Y:-4.09, Z:-1.88 [[ 9.70074693e-01 2.32678197e-01 6.93970283e-02 3.89463426e+01] [-2.32076490e-01 9.72553774e-01 -1.67230405e-02 -4.09230733e+00] [-7.13834286e-02 1.17179704e-04 9.97448942e-01 -1.88025503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.428639999999994 meters 0.030219002063860727 Centerline is valid? [True, True] Translation: X:39.01, Y:-4.11, Z:-1.88 [[ 9.70058422e-01 2.32767476e-01 6.93250363e-02 3.90063530e+01] [-2.32164482e-01 9.72532406e-01 -1.67443384e-02 -4.11140149e+00] [-7.13183817e-02 1.48175355e-04 9.97453591e-01 -1.88200732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48864 meters 0.030036704010353858 Centerline is valid? [True, True] Translation: X:39.07, Y:-4.13, Z:-1.89 [[ 9.69901525e-01 2.33775331e-01 6.81184678e-02 3.90655563e+01] [-2.33193154e-01 9.72290637e-01 -1.64884718e-02 -4.13124452e+00] [-7.00855464e-02 1.07433627e-04 9.97540979e-01 -1.88634418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54863999999999 meters 0.029947190459666092 Centerline is valid? [True, True] Translation: X:39.13, Y:-4.15, Z:-1.89 [[ 9.69592029e-01 2.35218272e-01 6.75548859e-02 3.91254058e+01] [-2.34646838e-01 9.71942572e-01 -1.63859086e-02 -4.15026422e+00] [-6.95137346e-02 3.61059456e-05 9.97580994e-01 -1.88813471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.608639999999994 meters 0.02995798728564848 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.17, Z:-1.89 [[ 9.68961687e-01 2.37553649e-01 6.84215840e-02 3.91845664e+01] [-2.36970568e-01 9.71374415e-01 -1.66341568e-02 -4.17224675e+00] [-7.04144808e-02 -9.60410239e-05 9.97517815e-01 -1.89052981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.668639999999996 meters 0.029731371366000556 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.19, Z:-1.89 [[ 9.68690845e-01 2.39099199e-01 6.68552142e-02 3.92444148e+01] [-2.38543792e-01 9.70995131e-01 -1.62884868e-02 -4.18868281e+00] [-6.88106516e-02 -1.69388273e-04 9.97629724e-01 -1.89255749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72863999999999 meters 0.02989380851302727 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.21, Z:-1.90 [[ 9.68668373e-01 2.38805960e-01 6.82150782e-02 3.93037396e+01] [-2.38224613e-01 9.71067299e-01 -1.66533628e-02 -4.20665177e+00] [-7.02183540e-02 -1.18924787e-04 9.97531638e-01 -1.89635167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.788639999999994 meters 0.02998949618190484 Centerline is valid? [True, True] Translation: X:39.37, Y:-4.22, Z:-1.90 [[ 9.68915833e-01 2.37961377e-01 6.76497671e-02 3.93654719e+01] [-2.37385189e-01 9.71274617e-01 -1.65496123e-02 -4.22036050e+00] [-6.96446702e-02 -2.38714056e-05 9.97571862e-01 -1.89720153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.848639999999996 meters 0.029722455951706292 Centerline is valid? [True, True] Translation: X:39.43, Y:-4.23, Z:-1.90 [[ 9.68684425e-01 2.39141376e-01 6.67973576e-02 3.94260233e+01] [-2.38579988e-01 9.70984756e-01 -1.63765823e-02 -4.23488902e+00] [-6.87755344e-02 -7.27725219e-05 9.97632157e-01 -1.89999743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90863999999999 meters 0.029743579276116632 Centerline is valid? [True, True] Translation: X:39.49, Y:-4.25, Z:-1.90 [[ 9.67805030e-01 2.42483629e-01 6.74915865e-02 3.94875868e+01] [-2.41916211e-01 9.70155457e-01 -1.65811762e-02 -4.24815893e+00] [-6.94979948e-02 -2.79963159e-04 9.97582052e-01 -1.90132591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96863999999999 meters 0.02979054111516549 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.26, Z:-1.91 [[ 9.66727212e-01 2.46382038e-01 6.88068921e-02 3.95485536e+01] [-2.45799474e-01 9.69172639e-01 -1.69414732e-02 -4.25900425e+00] [-7.08598319e-02 -5.34914764e-04 9.97486139e-01 -1.90503369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.028639999999996 meters 0.02970063411358289 Centerline is valid? [True, True] Translation: X:39.61, Y:-4.27, Z:-1.91 [[ 9.66508702e-01 2.47288649e-01 6.86239898e-02 3.96104137e+01] [-2.46708979e-01 9.68941693e-01 -1.69315010e-02 -4.27215487e+00] [-7.06796129e-02 -5.65711437e-04 9.97498908e-01 -1.90796348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08863999999999 meters 0.02970651129275711 Centerline is valid? [True, True] Translation: X:39.67, Y:-4.29, Z:-1.91 [[ 9.66184012e-01 2.48584739e-01 6.85133724e-02 3.96719569e+01] [-2.48007492e-01 9.68609953e-01 -1.69423611e-02 -4.28512444e+00] [-7.05743468e-02 -6.22391272e-04 9.97506328e-01 -1.90950064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14863999999999 meters 0.029763425802331843 Centerline is valid? [True, True] Translation: X:39.73, Y:-4.30, Z:-1.91 [[ 9.65423231e-01 2.51492181e-01 6.86270228e-02 3.97326420e+01] [-2.50917749e-01 9.67858999e-01 -1.70070866e-02 -4.29815991e+00] [-7.06984309e-02 -8.00701581e-04 9.97497414e-01 -1.91302614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.208639999999995 meters 0.030135053548285315 Centerline is valid? [True, True] Translation: X:39.79, Y:-4.31, Z:-1.92 [[ 9.63945247e-01 2.56099057e-01 7.22691842e-02 3.97932321e+01] [-2.55472828e-01 9.66649832e-01 -1.79369963e-02 -4.31243142e+00] [-7.44526426e-02 -1.17253051e-03 9.97223861e-01 -1.91625555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26863999999999 meters 0.030239405836879785 Centerline is valid? [True, True] Translation: X:39.86, Y:-4.32, Z:-1.92 [[ 9.63164078e-01 2.59544461e-01 7.03678343e-02 3.98553140e+01] [-2.58958530e-01 9.65730171e-01 -1.74847324e-02 -4.32243766e+00] [-7.24944062e-02 -1.38168474e-03 9.97367862e-01 -1.91933829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32863999999999 meters 0.030122126438736564 Centerline is valid? [True, True] Translation: X:39.92, Y:-4.33, Z:-1.92 [[ 9.63103389e-01 2.60273610e-01 6.84799944e-02 3.99180276e+01] [-2.59718038e-01 9.65533940e-01 -1.70514304e-02 -4.32844487e+00] [-7.05577962e-02 -1.36319932e-03 9.97506761e-01 -1.92097740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.388639999999995 meters 0.029847865609875148 Centerline is valid? [True, True] Translation: X:39.98, Y:-4.33, Z:-1.92 [[ 9.63505851e-01 2.59179928e-01 6.69495402e-02 3.99806599e+01] [-2.58644065e-01 9.65828281e-01 -1.67026436e-02 -4.33499790e+00] [-6.89907493e-02 -1.22300645e-03 9.97616550e-01 -1.92343058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44863999999999 meters 0.029772244359104492 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.34, Z:-1.93 [[ 9.64254246e-01 2.56637602e-01 6.59612730e-02 4.00434319e+01] [-2.56109337e-01 9.66507192e-01 -1.64880446e-02 -4.34154949e+00] [-6.79834970e-02 -9.94630862e-04 9.97685950e-01 -1.92531959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50863999999999 meters 0.029535633560613915 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.34, Z:-1.93 [[ 9.64620363e-01 2.55345175e-01 6.56231468e-02 4.01067419e+01] [-2.54817169e-01 9.66849569e-01 -1.64353984e-02 -4.34498624e+00] [-6.76444108e-02 -8.67984480e-04 9.97709116e-01 -1.92925690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.568639999999995 meters 0.029391068865226085 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.35, Z:-1.93 [[ 9.65513741e-01 2.51894796e-01 6.58196645e-02 4.01699547e+01] [-2.51353883e-01 9.67754436e-01 -1.65099304e-02 -4.34747565e+00] [-6.78560378e-02 -6.03463560e-04 9.97694940e-01 -1.93238663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62863999999999 meters 0.029151783501982106 Centerline is valid? [True, True] Translation: X:40.23, Y:-4.35, Z:-1.93 [[ 9.67383834e-01 2.45296744e-01 6.32299444e-02 4.02325307e+01] [-2.44782558e-01 9.69448035e-01 -1.58747084e-02 -4.35291733e+00] [-6.51921596e-02 -1.20651246e-04 9.97872721e-01 -1.93463717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68863999999999 meters 0.029010050366694105 Centerline is valid? [True, True] Translation: X:40.29, Y:-4.36, Z:-1.94 [[ 9.67926023e-01 2.43160611e-01 6.31833084e-02 4.02947549e+01] [-2.42640947e-01 9.69986039e-01 -1.58888548e-02 -4.36239587e+00] [-6.51504706e-02 4.83782189e-05 9.97875450e-01 -1.93704565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.748639999999995 meters 0.0287419542873475 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.38, Z:-1.94 [[ 9.67896998e-01 2.43298396e-01 6.30974757e-02 4.03562556e+01] [-2.42779584e-01 9.69951487e-01 -1.58803614e-02 -4.37567928e+00] [-6.50651569e-02 5.17752349e-05 9.97881016e-01 -1.93976777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80864 meters 0.028898058845659456 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.39, Z:-1.94 [[ 9.67217962e-01 2.45111744e-01 6.64051717e-02 4.04169585e+01] [-2.44540428e-01 9.69494832e-01 -1.67257298e-02 -4.38862170e+00] [-6.84791435e-02 -6.13228084e-05 9.97652546e-01 -1.94395294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86863999999999 meters 0.02886668162689478 Centerline is valid? [True, True] Translation: X:40.48, Y:-4.40, Z:-1.95 [[ 9.67174197e-01 2.45315891e-01 6.62886560e-02 4.04785727e+01] [-2.44746343e-01 9.69443196e-01 -1.67068382e-02 -4.40348633e+00] [-6.83615394e-02 -6.54832877e-05 9.97660611e-01 -1.94791291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.928639999999994 meters 0.028928650052598617 Centerline is valid? [True, True] Translation: X:40.54, Y:-4.42, Z:-1.95 [[ 9.66085668e-01 2.49011091e-01 6.83517253e-02 4.05398833e+01] [-2.48413815e-01 9.68500579e-01 -1.72396420e-02 -4.41563057e+00] [-7.04915476e-02 -3.24541806e-04 9.97512324e-01 -1.95009007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98864 meters 0.02907396664831539 Centerline is valid? [True, True] Translation: X:40.60, Y:-4.43, Z:-1.95 [[ 9.65210344e-01 2.52451584e-01 6.80969164e-02 4.06011088e+01] [-2.51866071e-01 9.67609367e-01 -1.71928590e-02 -4.42853711e+00] [-7.02315787e-02 -5.56577444e-04 9.97530559e-01 -1.95359288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04863999999999 meters 0.02919089109013536 Centerline is valid? [True, True] Translation: X:40.66, Y:-4.44, Z:-1.96 [[ 9.64827756e-01 2.54551861e-01 6.56563102e-02 4.06620689e+01] [-2.54010737e-01 9.67058900e-01 -1.66021108e-02 -4.44220248e+00] [-6.77196173e-02 -6.59230499e-04 9.97704174e-01 -1.95642438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.108639999999994 meters 0.029279724907054022 Centerline is valid? [True, True] Translation: X:40.72, Y:-4.46, Z:-1.96 [[ 9.65009924e-01 2.54040418e-01 6.49562274e-02 4.07223180e+01] [-2.53509036e-01 9.67193412e-01 -1.64338895e-02 -4.45620058e+00] [-6.70001073e-02 -6.08124094e-04 9.97752783e-01 -1.95875608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.168639999999996 meters 0.029297666101790434 Centerline is valid? [True, True] Translation: X:40.78, Y:-4.47, Z:-1.96 [[ 9.64710660e-01 2.55370462e-01 6.41815331e-02 4.07826307e+01] [-2.54853966e-01 9.66843039e-01 -1.62479025e-02 -4.47390980e+00] [-6.62027028e-02 -6.82393480e-04 9.97805961e-01 -1.96186831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22863999999999 meters 0.029505487696521566 Centerline is valid? [True, True] Translation: X:40.84, Y:-4.49, Z:-1.96 [[ 9.63892539e-01 2.58202989e-01 6.51336254e-02 4.08433607e+01] [-2.57676661e-01 9.66090289e-01 -1.65012982e-02 -4.48866935e+00] [-6.71856475e-02 -8.77936887e-04 9.97740105e-01 -1.96471090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.288639999999994 meters 0.029876038462061914 Centerline is valid? [True, True] Translation: X:40.90, Y:-4.50, Z:-1.97 [[ 9.61782377e-01 2.65772705e-01 6.58750964e-02 4.09038104e+01] [-2.65251386e-01 9.64034684e-01 -1.66982250e-02 -4.50273691e+00] [-6.79438102e-02 -1.41340207e-03 9.97688148e-01 -1.96779479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.348639999999996 meters 0.03018942146319543 Centerline is valid? [True, True] Translation: X:40.96, Y:-4.52, Z:-1.97 [[ 9.61211805e-01 2.67726736e-01 6.62892245e-02 4.09647974e+01] [-2.67202846e-01 9.63493635e-01 -1.68123260e-02 -4.51646755e+00] [-6.83703550e-02 -1.55246325e-03 9.97658802e-01 -1.97148113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40863999999999 meters 0.02987967047372249 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.53, Z:-1.97 [[ 9.61776755e-01 2.65961568e-01 6.51913977e-02 4.10265852e+01] [-2.65450253e-01 9.63982624e-01 -1.65427809e-02 -4.52556658e+00] [-6.72431185e-02 -1.39461083e-03 9.97735645e-01 -1.97388259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46863999999999 meters 0.03005437495084751 Centerline is valid? [True, True] Translation: X:41.09, Y:-4.53, Z:-1.98 [[ 9.61929087e-01 2.65524158e-01 6.47252153e-02 4.10880107e+01] [-2.65018553e-01 9.64103268e-01 -1.64333737e-02 -4.53476805e+00] [-6.67652493e-02 -1.34564282e-03 9.97767804e-01 -1.97666639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.528639999999996 meters 0.029984319797891398 Centerline is valid? [True, True] Translation: X:41.15, Y:-4.55, Z:-1.98 [[ 9.62244520e-01 2.64108132e-01 6.58208103e-02 4.11487554e+01] [-2.63581309e-01 9.64492254e-01 -1.67208166e-02 -4.54640693e+00] [-6.78997653e-02 -1.25962122e-03 9.97691353e-01 -1.97992017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58863999999999 meters 0.03011471153237285 Centerline is valid? [True, True] Translation: X:41.21, Y:-4.56, Z:-1.98 [[ 9.62577859e-01 2.62480405e-01 6.74381391e-02 4.12109057e+01] [-2.61922589e-01 9.64936623e-01 -1.71426756e-02 -4.55874898e+00] [-6.95731466e-02 -1.16241203e-03 9.97576176e-01 -1.98482377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64863999999999 meters 0.02985964456779885 Centerline is valid? [True, True] Translation: X:41.27, Y:-4.57, Z:-1.99 [[ 9.64443955e-01 2.55531090e-01 6.74664278e-02 4.12722436e+01] [-2.54954920e-01 9.66800621e-01 -1.71623842e-02 -4.56821353e+00] [-6.96121071e-02 -6.48739989e-04 9.97573924e-01 -1.98843838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.708639999999995 meters 0.029563780313809677 Centerline is valid? [True, True] Translation: X:41.33, Y:-4.58, Z:-1.99 [[ 9.65814224e-01 2.51166846e-01 6.41724223e-02 4.13342766e+01] [-2.50635385e-01 9.67943759e-01 -1.63335142e-02 -4.57881903e+00] [-6.62177329e-02 -3.08739402e-04 9.97805150e-01 -1.98993835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76863999999999 meters 0.0295837347761894 Centerline is valid? [True, True] Translation: X:41.40, Y:-4.59, Z:-1.99 [[ 9.66852421e-01 2.47144552e-01 6.41557993e-02 4.13955050e+01] [-2.46603824e-01 9.68978622e-01 -1.63396500e-02 -4.59040230e+00] [-6.62038535e-02 -2.30352484e-05 9.97806118e-01 -1.99342280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82863999999999 meters 0.0296406350291812 Centerline is valid? [True, True] Translation: X:41.46, Y:-4.60, Z:-2.00 [[ 9.67608272e-01 2.44260360e-01 6.38052421e-02 4.14559103e+01] [-2.43718684e-01 9.69709670e-01 -1.62591278e-02 -4.60478575e+00] [-6.58440207e-02 1.81936865e-04 9.97829911e-01 -1.99510547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.888639999999995 meters 0.029755472727982905 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.62, Z:-2.00 [[ 9.68574239e-01 2.40432752e-01 6.36870151e-02 4.15163413e+01] [-2.39884237e-01 9.70665694e-01 -1.62377071e-02 -4.61883298e+00] [-6.57228773e-02 4.49913781e-04 9.97837813e-01 -1.99818611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94863999999999 meters 0.030167837390698518 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.64, Z:-2.00 [[ 9.69160469e-01 2.37746511e-01 6.48427469e-02 4.15761535e+01] [-2.37171283e-01 9.71327015e-01 -1.65412064e-02 -4.63619508e+00] [-6.69161259e-02 6.52245889e-04 9.97758391e-01 -2.00175691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00863999999999 meters 0.03042985943082491 Centerline is valid? [True, True] Translation: X:41.64, Y:-4.65, Z:-2.00 [[ 9.70172135e-01 2.33932674e-01 6.35730421e-02 4.16361908e+01] [-2.33371046e-01 9.72252377e-01 -1.62256227e-02 -4.65267099e+00] [-6.56047446e-02 9.05539631e-04 9.97845277e-01 -2.00489086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.068639999999995 meters 0.030204185295121526 Centerline is valid? [True, True] Translation: X:41.70, Y:-4.67, Z:-2.01 [[ 9.70035373e-01 2.34493361e-01 6.35943230e-02 4.16953707e+01] [-2.33931929e-01 9.72117325e-01 -1.62406469e-02 -4.67414135e+00] [-6.56294671e-02 8.77259303e-04 9.97843677e-01 -2.00845280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12863999999999 meters 0.029899015979392186 Centerline is valid? [True, True] Translation: X:41.75, Y:-4.70, Z:-2.01 [[ 9.68836973e-01 2.39560730e-01 6.29728171e-02 4.17538807e+01] [-2.39020169e-01 9.70881231e-01 -1.60932803e-02 -4.69594118e+00] [-6.49944442e-02 5.39991619e-04 9.97885480e-01 -2.01175710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18863999999999 meters 0.029763186299113134 Centerline is valid? [True, True] Translation: X:41.81, Y:-4.72, Z:-2.01 [[ 9.67560084e-01 2.44665580e-01 6.29780723e-02 4.18133468e+01] [-2.44135166e-01 9.69607504e-01 -1.61030833e-02 -4.71600669e+00] [-6.50038817e-02 2.05538511e-04 9.97884990e-01 -2.01457312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.248639999999995 meters 0.02961558976799286 Centerline is valid? [True, True] Translation: X:41.87, Y:-4.73, Z:-2.02 [[ 9.65895454e-01 2.50728685e-01 6.46614185e-02 4.18723819e+01] [-2.50182458e-01 9.68057378e-01 -1.65423988e-02 -4.73494860e+00] [-6.67436172e-02 -1.98924819e-04 9.97770139e-01 -2.01602245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30863999999999 meters 0.029463403259900336 Centerline is valid? [True, True] Translation: X:41.93, Y:-4.75, Z:-2.02 [[ 9.65373517e-01 2.52571398e-01 6.52813972e-02 4.19320184e+01] [-2.52018239e-01 9.67578207e-01 -1.67099098e-02 -4.75293506e+00] [-6.73853025e-02 -3.20798374e-04 9.97726976e-01 -2.01831838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36863999999999 meters 0.029427991591760554 Centerline is valid? [True, True] Translation: X:41.99, Y:-4.77, Z:-2.02 [[ 9.64876829e-01 2.54093723e-01 6.67014598e-02 4.19921842e+01] [-2.53519205e-01 9.67179506e-01 -1.70826034e-02 -4.76728369e+00] [-6.88528673e-02 -4.27492910e-04 9.97626734e-01 -2.02077889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.428639999999994 meters 0.029514596198091696 Centerline is valid? [True, True] Translation: X:42.05, Y:-4.78, Z:-2.02 [[ 9.63696026e-01 2.58466873e-01 6.69689878e-02 4.20525720e+01] [-2.57897679e-01 9.66019842e-01 -1.71595802e-02 -4.78030477e+00] [-6.91285540e-02 -7.34527225e-04 9.97607490e-01 -2.02182000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48864 meters 0.029978754835611892 Centerline is valid? [True, True] Translation: X:42.11, Y:-4.79, Z:-2.03 [[ 9.62339766e-01 2.63408629e-01 6.72165907e-02 4.21141520e+01] [-2.62846706e-01 9.64683738e-01 -1.72306141e-02 -4.79099642e+00] [-6.93814444e-02 -1.08595430e-03 9.97589613e-01 -2.02543598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54863999999999 meters 0.029907946572699604 Centerline is valid? [True, True] Translation: X:42.18, Y:-4.80, Z:-2.03 [[ 9.61937699e-01 2.65050913e-01 6.65122371e-02 4.21765053e+01] [-2.64503920e-01 9.64233694e-01 -1.70604521e-02 -4.80196286e+00] [-6.86552285e-02 -1.18165536e-03 9.97639746e-01 -2.02674700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.608639999999994 meters 0.029954512832833482 Centerline is valid? [True, True] Translation: X:42.24, Y:-4.80, Z:-2.03 [[ 9.61604736e-01 2.66946937e-01 6.36841011e-02 4.22401868e+01] [-2.66448908e-01 9.63710419e-01 -1.63465167e-02 -4.80455744e+00] [-6.57366843e-02 -1.24967133e-03 9.97836222e-01 -2.02891114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.668639999999996 meters 0.029654261773334585 Centerline is valid? [True, True] Translation: X:42.30, Y:-4.81, Z:-2.03 [[ 9.62174152e-01 2.65334179e-01 6.17954332e-02 4.23019463e+01] [-2.64861559e-01 9.64155882e-01 -1.58678902e-02 -4.80585156e+00] [-6.37907240e-02 -1.09956099e-03 9.97962692e-01 -2.03121315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72863999999999 meters 0.02926171985786477 Centerline is valid? [True, True] Translation: X:42.36, Y:-4.81, Z:-2.04 [[ 9.64062053e-01 2.57787371e-01 6.42652986e-02 4.23626728e+01] [-2.57259710e-01 9.66201468e-01 -1.64974254e-02 -4.80685850e+00] [-6.63460537e-02 -6.28330343e-04 9.97796475e-01 -2.03623100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.788639999999994 meters 0.028976182561849067 Centerline is valid? [True, True] Translation: X:42.42, Y:-4.81, Z:-2.04 [[ 9.65918260e-01 2.51224157e-01 6.23565324e-02 4.24219753e+01] [-2.50714970e-01 9.67928916e-01 -1.59880311e-02 -4.81161199e+00] [-6.43732704e-02 -1.90584991e-04 9.97925872e-01 -2.03658552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.848639999999996 meters 0.02903552766333046 Centerline is valid? [True, True] Translation: X:42.48, Y:-4.82, Z:-2.04 [[ 9.68758215e-01 2.40936262e-01 5.87982837e-02 4.24810572e+01] [-2.40466228e-01 9.70540841e-01 -1.50488779e-02 -4.81580736e+00] [-6.06919561e-02 4.39722566e-04 9.98156447e-01 -2.03899712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90863999999999 meters 0.030483866257935154 Centerline is valid? [True, True] Translation: X:42.54, Y:-4.83, Z:-2.04 [[ 9.71901192e-01 2.27518556e-01 6.03604126e-02 4.25391820e+01] [-2.26998774e-01 9.73772892e-01 -1.54244014e-02 -4.82634983e+00] [-6.22866711e-02 1.28925449e-03 9.98057467e-01 -2.04289972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96863999999999 meters 0.03217524889357888 Centerline is valid? [True, True] Translation: X:42.60, Y:-4.84, Z:-2.04 [[ 9.74063181e-01 2.17718683e-01 6.16400475e-02 4.25983272e+01] [-2.17157398e-01 9.76009616e-01 -1.57446704e-02 -4.83984824e+00] [-6.35891879e-02 1.95071140e-03 9.97974253e-01 -2.04492834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.028639999999996 meters 0.033238054430931134 Centerline is valid? [True, True] Translation: X:42.66, Y:-4.86, Z:-2.05 [[ 9.75359568e-01 2.12106669e-01 6.06998770e-02 4.26562640e+01] [-2.11551538e-01 9.77243857e-01 -1.55045233e-02 -4.85639209e+00] [-6.26071947e-02 2.28133287e-03 9.98035638e-01 -2.04728940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08863999999999 meters 0.03346139957087029 Centerline is valid? [True, True] Translation: X:42.71, Y:-4.88, Z:-2.05 [[ 9.75973094e-01 2.09711365e-01 5.91410488e-02 4.27141339e+01] [-2.09179976e-01 9.77760457e-01 -1.51071439e-02 -4.87680438e+00] [-6.09939187e-02 2.37304277e-03 9.98135317e-01 -2.04989961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14863999999999 meters 0.03240690288032435 Centerline is valid? [True, True] Translation: X:42.77, Y:-4.90, Z:-2.05 [[ 9.75229115e-01 2.12880075e-01 6.00853275e-02 4.27712433e+01] [-2.12337295e-01 9.77075827e-01 -1.53525436e-02 -4.90288684e+00] [-6.19761717e-02 2.21389157e-03 9.98075174e-01 -2.05296110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.208639999999995 meters 0.03135405043609373 Centerline is valid? [True, True] Translation: X:42.83, Y:-4.93, Z:-2.05 [[ 9.74328877e-01 2.17055225e-01 5.97517279e-02 4.28276840e+01] [-2.16525969e-01 9.76157393e-01 -1.52724976e-02 -4.92929633e+00] [-6.16420663e-02 1.94263460e-03 9.98096429e-01 -2.05439914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26863999999999 meters 0.0307494812443055 Centerline is valid? [True, True] Translation: X:42.89, Y:-4.95, Z:-2.06 [[ 9.73603569e-01 2.19932600e-01 6.10388550e-02 4.28862092e+01] [-2.19385570e-01 9.75513402e-01 -1.56068667e-02 -4.95292764e+00] [-6.29766798e-02 1.80385718e-03 9.98013369e-01 -2.05870220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32863999999999 meters 0.029576455934751576 Centerline is valid? [True, True] Translation: X:42.94, Y:-4.98, Z:-2.06 [[ 9.72247346e-01 2.25591071e-01 6.19981275e-02 4.29443372e+01] [-2.25037552e-01 9.74220976e-01 -1.58616234e-02 -4.97742297e+00] [-6.39781168e-02 1.46951442e-03 9.97950220e-01 -2.06107491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.388639999999995 meters 0.028397506599852896 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.99, Z:-2.06 [[ 9.70218633e-01 2.33535860e-01 6.43180072e-02 4.30039311e+01] [-2.32956917e-01 9.72347686e-01 -1.64636790e-02 -4.99348925e+00] [-6.63843249e-02 9.90043487e-04 9.97793637e-01 -2.06472064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44863999999999 meters 0.028020958242231577 Centerline is valid? [True, True] Translation: X:43.06, Y:-5.01, Z:-2.07 [[ 9.68679441e-01 2.39243158e-01 6.65045220e-02 4.30641198e+01] [-2.38636930e-01 9.70959482e-01 -1.70322991e-02 -5.00924689e+00] [-6.86480572e-02 6.28403020e-04 9.97640742e-01 -2.06893515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50863999999999 meters 0.027948942525730873 Centerline is valid? [True, True] Translation: X:43.13, Y:-5.02, Z:-2.07 [[ 9.67840560e-01 2.42652841e-01 6.63645231e-02 4.31252302e+01] [-2.42056559e-01 9.70113109e-01 -1.70052571e-02 -5.02213782e+00] [-6.85074678e-02 3.94409428e-04 9.97650526e-01 -2.07341434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.568639999999995 meters 0.027961093700160512 Centerline is valid? [True, True] Translation: X:43.19, Y:-5.03, Z:-2.08 [[ 9.68133349e-01 2.41668802e-01 6.56811117e-02 4.31861106e+01] [-2.41081901e-01 9.70358682e-01 -1.68388145e-02 -5.03406333e+00] [-6.78036531e-02 4.67690637e-04 9.97698575e-01 -2.07658536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62863999999999 meters 0.027846887937300443 Centerline is valid? [True, True] Translation: X:43.25, Y:-5.05, Z:-2.08 [[ 9.68137516e-01 2.41894913e-01 6.47811860e-02 4.32474533e+01] [-2.41323935e-01 9.70302347e-01 -1.66166572e-02 -5.04562632e+00] [-6.68768217e-02 4.53958533e-04 9.97761136e-01 -2.07929434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68863999999999 meters 0.027887928498041437 Centerline is valid? [True, True] Translation: X:43.31, Y:-5.06, Z:-2.08 [[ 9.67840400e-01 2.42918574e-01 6.53875173e-02 4.33068769e+01] [-2.42338582e-01 9.70046602e-01 -1.67809825e-02 -5.06262282e+00] [-6.75053513e-02 3.95394599e-04 9.97718834e-01 -2.08333704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.748639999999995 meters 0.027680532472887747 Centerline is valid? [True, True] Translation: X:43.37, Y:-5.08, Z:-2.09 [[ 9.67273978e-01 2.45299304e-01 6.48791430e-02 4.33672423e+01] [-2.44733071e-01 9.69447366e-01 -1.66591705e-02 -5.07669309e+00] [-6.69833972e-02 2.35910225e-04 9.97754062e-01 -2.08640596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80863999999999 meters 0.027663080998641405 Centerline is valid? [True, True] Translation: X:43.43, Y:-5.09, Z:-2.09 [[ 9.66453432e-01 2.47806701e-01 6.75248325e-02 4.34274630e+01] [-2.47198742e-01 9.68809493e-01 -1.73478772e-02 -5.09317971e+00] [-6.97176190e-02 7.38618620e-05 9.97566764e-01 -2.09086933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86863999999999 meters 0.027833012397305807 Centerline is valid? [True, True] Translation: X:43.49, Y:-5.11, Z:-2.10 [[ 9.65893187e-01 2.49765516e-01 6.83193840e-02 4.34885462e+01] [-2.49147379e-01 9.68306348e-01 -1.75613204e-02 -5.10512757e+00] [-7.05403055e-02 -5.92357232e-05 9.97508928e-01 -2.09514199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.928639999999994 meters 0.027764142399728485 Centerline is valid? [True, True] Translation: X:43.55, Y:-5.12, Z:-2.10 [[ 9.66361224e-01 2.48035388e-01 6.80031661e-02 4.35490743e+01] [-2.47418041e-01 9.68750969e-01 -1.74892084e-02 -5.11995454e+00] [-7.02160756e-02 7.56826685e-05 9.97531802e-01 -2.09954374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98863999999999 meters 0.027722732022036154 Centerline is valid? [True, True] Translation: X:43.61, Y:-5.13, Z:-2.10 [[ 9.66811629e-01 2.46014381e-01 6.89361865e-02 4.36104948e+01] [-2.45374154e-01 9.69266150e-01 -1.77385190e-02 -5.13189592e+00] [-7.11814429e-02 2.34648026e-04 9.97463356e-01 -2.10136099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04863999999999 meters 0.02783573590538262 Centerline is valid? [True, True] Translation: X:43.67, Y:-5.15, Z:-2.11 [[ 9.66846065e-01 2.45591995e-01 6.99518280e-02 4.36708251e+01] [-2.44930949e-01 9.69373248e-01 -1.80093289e-02 -5.14558768e+00] [-7.22323778e-02 2.78881130e-04 9.97387791e-01 -2.10530586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.108639999999994 meters 0.02774083007566714 Centerline is valid? [True, True] Translation: X:43.73, Y:-5.16, Z:-2.11 [[ 9.67146518e-01 2.44799735e-01 6.85616692e-02 4.37323959e+01] [-2.44162104e-01 9.69573604e-01 -1.76604867e-02 -5.15602228e+00] [-7.07988672e-02 3.40116828e-04 9.97490554e-01 -2.10859113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.168639999999996 meters 0.027946407835752796 Centerline is valid? [True, True] Translation: X:43.79, Y:-5.17, Z:-2.11 [[ 9.67729131e-01 2.42649491e-01 6.79820047e-02 4.37931052e+01] [-2.42016674e-01 9.70113897e-01 -1.75201906e-02 -5.16774979e+00] [-7.02015528e-02 5.02020188e-04 9.97532701e-01 -2.11173642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22863999999999 meters 0.027760263268301142 Centerline is valid? [True, True] Translation: X:43.85, Y:-5.18, Z:-2.11 [[ 9.67682977e-01 2.43195448e-01 6.66755598e-02 4.38544042e+01] [-2.42587439e-01 9.69977196e-01 -1.71922616e-02 -5.18064642e+00] [-6.88548523e-02 4.62005562e-04 9.97626581e-01 -2.11349066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.288639999999994 meters 0.027612717592266644 Centerline is valid? [True, True] Translation: X:43.92, Y:-5.19, Z:-2.12 [[ 9.67197713e-01 2.44759737e-01 6.79798155e-02 4.39153666e+01] [-2.44130890e-01 9.69583692e-01 -1.75377309e-02 -5.19411769e+00] [-7.02046509e-02 3.66480376e-04 9.97532542e-01 -2.11674661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.348639999999996 meters 0.02772215687456062 Centerline is valid? [True, True] Translation: X:43.98, Y:-5.21, Z:-2.12 [[ 9.67261360e-01 2.44731091e-01 6.71725721e-02 4.39751174e+01] [-2.44116520e-01 9.69590921e-01 -1.73369486e-02 -5.20864674e+00] [-6.93728064e-02 3.71425946e-04 9.97590736e-01 -2.11972826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40863999999999 meters 0.027850415089462097 Centerline is valid? [True, True] Translation: X:44.03, Y:-5.22, Z:-2.12 [[ 9.68176748e-01 2.41699350e-01 6.49246350e-02 4.40343228e+01] [-2.41118175e-01 9.70351017e-01 -1.67609533e-02 -5.22443061e+00] [-6.70507971e-02 5.73055692e-04 9.97749399e-01 -2.12172618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46863999999999 meters 0.027989606271048007 Centerline is valid? [True, True] Translation: X:44.09, Y:-5.24, Z:-2.12 [[ 9.68652249e-01 2.39450621e-01 6.61530109e-02 4.40929262e+01] [-2.38841766e-01 9.70908257e-01 -1.70811734e-02 -5.23943559e+00] [-6.83186021e-02 7.45615105e-04 9.97663276e-01 -2.12373010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.528639999999996 meters 0.027948577620867214 Centerline is valid? [True, True] Translation: X:44.15, Y:-5.25, Z:-2.13 [[ 9.68918914e-01 2.38828884e-01 6.44740476e-02 4.41528517e+01] [-2.38249125e-01 9.71061363e-01 -1.66488424e-02 -5.25275634e+00] [-6.65844810e-02 7.70492894e-04 9.97780494e-01 -2.12752964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58863999999999 meters 0.027787370525508427 Centerline is valid? [True, True] Translation: X:44.21, Y:-5.27, Z:-2.13 [[ 9.69002571e-01 2.38698237e-01 6.36959155e-02 4.42113801e+01] [-2.38131851e-01 9.71093483e-01 -1.64520322e-02 -5.27150508e+00] [-6.57817595e-02 7.74035289e-04 9.97833734e-01 -2.12949394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64863999999999 meters 0.02815895618335902 Centerline is valid? [True, True] Translation: X:44.27, Y:-5.29, Z:-2.13 [[ 9.69433176e-01 2.36426212e-01 6.55893598e-02 4.42696013e+01] [-2.35820115e-01 9.71648972e-01 -1.69454852e-02 -5.28955097e+00] [-6.77361909e-02 9.60225136e-04 9.97702805e-01 -2.13478880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.708639999999995 meters 0.027982484125463128 Centerline is valid? [True, True] Translation: X:44.33, Y:-5.31, Z:-2.14 [[ 9.69590030e-01 2.35708478e-01 6.58535301e-02 4.43287244e+01] [-2.35095444e-01 9.71823273e-01 -1.70193744e-02 -5.30791361e+00] [-6.80096039e-02 1.01995085e-03 9.97684145e-01 -2.13796639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76863999999999 meters 0.028052893220382152 Centerline is valid? [True, True] Translation: X:44.39, Y:-5.33, Z:-2.14 [[ 9.69118413e-01 2.37477953e-01 6.64358586e-02 4.43877626e+01] [-2.36857562e-01 9.71392500e-01 -1.71786455e-02 -5.32879191e+00] [-6.86148443e-02 9.12306207e-04 9.97642807e-01 -2.13941038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82863999999999 meters 0.027568073588449992 Centerline is valid? [True, True] Translation: X:44.45, Y:-5.35, Z:-2.14 [[ 9.68506824e-01 2.40000070e-01 6.62910056e-02 4.44468000e+01] [-2.39387684e-01 9.70772588e-01 -1.71498922e-02 -5.34894511e+00] [-6.84694664e-02 7.40537284e-04 9.97652938e-01 -2.14394402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.888639999999995 meters 0.02790640189968674 Centerline is valid? [True, True] Translation: X:44.51, Y:-5.37, Z:-2.15 [[ 9.68112633e-01 2.41314926e-01 6.72683980e-02 4.45065463e+01] [-2.40686870e-01 9.70446631e-01 -1.74116989e-02 -5.36594863e+00] [-6.94820931e-02 6.65865420e-04 9.97582977e-01 -2.14826860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94863999999999 meters 0.027843235215208723 Centerline is valid? [True, True] Translation: X:44.57, Y:-5.38, Z:-2.15 [[ 9.68091564e-01 2.41169341e-01 6.80887112e-02 4.45664435e+01] [-2.40524849e-01 9.70482802e-01 -1.76331750e-02 -5.38082616e+00] [-7.03315044e-02 6.93501017e-04 9.97523433e-01 -2.15017062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00863999999999 meters 0.02777934665522001 Centerline is valid? [True, True] Translation: X:44.63, Y:-5.39, Z:-2.15 [[ 9.67989081e-01 2.41609413e-01 6.79855169e-02 4.46271061e+01] [-2.40967330e-01 9.70373353e-01 -1.76153954e-02 -5.39374489e+00] [-7.02273793e-02 6.69221898e-04 9.97530785e-01 -2.15143014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.068639999999995 meters 0.027674481866852386 Centerline is valid? [True, True] Translation: X:44.69, Y:-5.41, Z:-2.16 [[ 9.67853762e-01 2.42217512e-01 6.77478643e-02 4.46877161e+01] [-2.41580778e-01 9.70221768e-01 -1.75627290e-02 -5.40860110e+00] [-6.99844532e-02 6.31571514e-04 9.97547882e-01 -2.15501777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12863999999999 meters 0.028111012386537886 Centerline is valid? [True, True] Translation: X:44.75, Y:-5.42, Z:-2.16 [[ 9.68587777e-01 2.39337020e-01 6.74945150e-02 4.47482838e+01] [-2.38697482e-01 9.70936186e-01 -1.75052813e-02 -5.42039318e+00] [-6.97225288e-02 8.44630780e-04 9.97566066e-01 -2.15890751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18863999999999 meters 0.028822023886622708 Centerline is valid? [True, True] Translation: X:44.81, Y:-5.43, Z:-2.16 [[ 9.70114471e-01 2.33334443e-01 6.65804111e-02 4.48086967e+01] [-2.32697494e-01 9.72395719e-01 -1.72754638e-02 -5.43387139e+00] [-6.87734674e-02 1.26608261e-03 9.97631499e-01 -2.16248499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.248639999999995 meters 0.029274125604986132 Centerline is valid? [True, True] Translation: X:44.87, Y:-5.45, Z:-2.17 [[ 9.70790027e-01 2.30391126e-01 6.69824859e-02 4.48687626e+01] [-2.29738839e-01 9.73096965e-01 -1.73886035e-02 -5.45109202e+00] [-6.91866337e-02 1.49220426e-03 9.97602618e-01 -2.16569941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30863999999999 meters 0.029505439474658893 Centerline is valid? [True, True] Translation: X:44.93, Y:-5.47, Z:-2.17 [[ 9.71318524e-01 2.28584398e-01 6.54942528e-02 4.49278730e+01] [-2.27956144e-01 9.73522797e-01 -1.70106088e-02 -5.47086496e+00] [-6.76485079e-02 1.59290206e-03 9.97707944e-01 -2.16888819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36863999999999 meters 0.028930268441218883 Centerline is valid? [True, True] Translation: X:44.99, Y:-5.49, Z:-2.17 [[ 9.70101411e-01 2.33391623e-01 6.65702805e-02 4.49861930e+01] [-2.32753214e-01 9.72381969e-01 -1.72987777e-02 -5.49474569e+00] [-6.87691302e-02 1.28712192e-03 9.97631771e-01 -2.17249260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.428639999999994 meters 0.02826945047379129 Centerline is valid? [True, True] Translation: X:45.04, Y:-5.52, Z:-2.18 [[ 9.68584732e-01 2.39566194e-01 6.67207311e-02 4.50449779e+01] [-2.38938896e-01 9.70879653e-01 -1.73465777e-02 -5.51638796e+00] [-6.89334539e-02 8.59452413e-04 9.97620890e-01 -2.17675894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48863999999999 meters 0.027816057564733668 Centerline is valid? [True, True] Translation: X:45.10, Y:-5.54, Z:-2.18 [[ 9.66271652e-01 2.48867136e-01 6.62136224e-02 4.51040614e+01] [-2.48270513e-01 9.68537613e-01 -1.72233999e-02 -5.53546438e+00] [-6.84167220e-02 2.03593121e-04 9.97656810e-01 -2.17953734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54863999999999 meters 0.027461344152956438 Centerline is valid? [True, True] Translation: X:45.16, Y:-5.55, Z:-2.18 [[ 9.64871569e-01 2.54492745e-01 6.52403173e-02 4.51641129e+01] [-2.53925793e-01 9.67074666e-01 -1.69788855e-02 -5.55189008e+00] [-6.74132613e-02 -1.83755486e-04 9.97725122e-01 -2.18088761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.608639999999994 meters 0.027632525774640263 Centerline is valid? [True, True] Translation: X:45.22, Y:-5.56, Z:-2.18 [[ 9.64394639e-01 2.55578776e-01 6.79887457e-02 4.52249321e+01] [-2.54965017e-01 9.66788199e-01 -1.77036578e-02 -5.56455334e+00] [-7.02553961e-02 -2.61438982e-04 9.97529003e-01 -2.18471709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66863999999999 meters 0.02749062980584947 Centerline is valid? [True, True] Translation: X:45.29, Y:-5.58, Z:-2.19 [[ 9.64465639e-01 2.55545870e-01 6.70994796e-02 4.52857785e+01] [-2.54947372e-01 9.66796901e-01 -1.74811430e-02 -5.57750442e+00] [-6.93388028e-02 -2.46874239e-04 9.97593138e-01 -2.18659548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72863999999999 meters 0.027691363650124142 Centerline is valid? [True, True] Translation: X:45.35, Y:-5.59, Z:-2.19 [[ 9.64038403e-01 2.56817048e-01 6.83736943e-02 4.53466907e+01] [-2.56198102e-01 9.66459979e-01 -1.78224949e-02 -5.59071266e+00] [-7.06575597e-02 -3.35641139e-04 9.97500575e-01 -2.19052516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.788639999999994 meters 0.027708212200980728 Centerline is valid? [True, True] Translation: X:45.41, Y:-5.60, Z:-2.19 [[ 9.63893033e-01 2.56973334e-01 6.98206795e-02 4.54082452e+01] [-2.56327594e-01 9.66418432e-01 -1.82092845e-02 -5.60150550e+00] [-7.21552922e-02 -3.45164348e-04 9.97393350e-01 -2.19376067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.848639999999996 meters 0.027551414087564608 Centerline is valid? [True, True] Translation: X:45.47, Y:-5.62, Z:-2.20 [[ 9.64141519e-01 2.56672834e-01 6.74550808e-02 4.54691082e+01] [-2.56068802e-01 9.66498300e-01 -1.76012597e-02 -5.61508662e+00] [-6.97129861e-02 -3.03036475e-04 9.97567044e-01 -2.19633401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90863999999999 meters 0.028016032464207183 Centerline is valid? [True, True] Translation: X:45.53, Y:-5.62, Z:-2.20 [[ 9.64929227e-01 2.53282803e-01 6.89884702e-02 4.55306358e+01] [-2.52641627e-01 9.67392278e-01 -1.80107972e-02 -5.62454470e+00] [-7.13007386e-02 -5.02147781e-05 9.97454862e-01 -2.20084480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96863999999999 meters 0.028215822374999023 Centerline is valid? [True, True] Translation: X:45.59, Y:-5.64, Z:-2.20 [[ 9.66322674e-01 2.47831726e-01 6.92814971e-02 4.55921056e+01] [-2.47170399e-01 9.68803026e-01 -1.80966877e-02 -5.63519469e+00] [-7.16050574e-02 3.62904417e-04 9.97432997e-01 -2.20382957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.028639999999996 meters 0.028217504253768715 Centerline is valid? [True, True] Translation: X:45.65, Y:-5.65, Z:-2.21 [[ 9.66357017e-01 2.47865815e-01 6.86778921e-02 4.56536250e+01] [-2.47215409e-01 9.68794304e-01 -1.79482006e-02 -5.64567239e+00] [-7.09834961e-02 3.66136435e-04 9.97477423e-01 -2.20728465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08863999999999 meters 0.028294761394877736 Centerline is valid? [True, True] Translation: X:45.71, Y:-5.66, Z:-2.21 [[ 9.65455909e-01 2.50865557e-01 7.04369299e-02 4.57140896e+01] [-2.50188749e-01 9.68021925e-01 -1.84158090e-02 -5.65707004e+00] [-7.28043847e-02 1.57124259e-04 9.97346227e-01 -2.21080541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14863999999999 meters 0.028192294267946127 Centerline is valid? [True, True] Translation: X:45.78, Y:-5.67, Z:-2.21 [[ 9.65665358e-01 2.50664341e-01 6.82481049e-02 4.57751510e+01] [-2.50028076e-01 9.68074046e-01 -1.78494549e-02 -5.66889948e+00] [-7.05434409e-02 1.72657898e-04 9.97508693e-01 -2.21412192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.208639999999995 meters 0.0285654107497239 Centerline is valid? [True, True] Translation: X:45.84, Y:-5.68, Z:-2.22 [[ 9.66352436e-01 2.47546532e-01 6.98833616e-02 4.58353509e+01] [-2.46870649e-01 9.68875916e-01 -1.82850461e-02 -5.68208975e+00] [-7.22347057e-02 4.17647998e-04 9.97387574e-01 -2.21778334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26863999999999 meters 0.029473659072076958 Centerline is valid? [True, True] Translation: X:45.90, Y:-5.70, Z:-2.22 [[ 9.68126265e-01 2.40001295e-01 7.16303910e-02 4.58953413e+01] [-2.39270127e-01 9.70772042e-01 -1.87469608e-02 -5.69536032e+00] [-7.40360758e-02 1.01041235e-03 9.97255052e-01 -2.22122154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32863999999999 meters 0.030068103423933255 Centerline is valid? [True, True] Translation: X:45.96, Y:-5.71, Z:-2.22 [[ 9.69492521e-01 2.34582513e-01 7.11006109e-02 4.59551215e+01] [-2.33847112e-01 9.72095175e-01 -1.86145025e-02 -5.71271430e+00] [-7.34831976e-02 1.41994836e-03 9.97295444e-01 -2.22467397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.388639999999995 meters 0.030419453253216926 Centerline is valid? [True, True] Translation: X:46.01, Y:-5.73, Z:-2.23 [[ 9.69952883e-01 2.32292412e-01 7.23300829e-02 4.60141955e+01] [-2.31524254e-01 9.72644631e-01 -1.89457731e-02 -5.73280286e+00] [-7.47524261e-02 1.63033879e-03 9.97200791e-01 -2.22656309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44863999999999 meters 0.03008991997876426 Centerline is valid? [True, True] Translation: X:46.07, Y:-5.75, Z:-2.23 [[ 9.70012870e-01 2.32800095e-01 6.98508922e-02 4.60741142e+01] [-2.32084396e-01 9.72523381e-01 -1.83059129e-02 -5.75153335e+00] [-7.21932442e-02 1.54566901e-03 9.97389466e-01 -2.22913725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50863999999999 meters 0.03036156555183499 Centerline is valid? [True, True] Translation: X:46.13, Y:-5.77, Z:-2.23 [[ 9.70282886e-01 2.31182226e-01 7.14555735e-02 4.61326403e+01] [-2.30428032e-01 9.72908956e-01 -1.87372620e-02 -5.77188581e+00] [-7.38514894e-02 1.71507742e-03 9.97267775e-01 -2.23244918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.568639999999995 meters 0.030706067068950432 Centerline is valid? [True, True] Translation: X:46.19, Y:-5.80, Z:-2.24 [[ 9.70550047e-01 2.29869717e-01 7.20591347e-02 4.61908579e+01] [-2.29098401e-01 9.73219672e-01 -1.89048497e-02 -5.79602329e+00] [-7.44750199e-02 1.83947029e-03 9.97221183e-01 -2.23629032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62863999999999 meters 0.030991379286490695 Centerline is valid? [True, True] Translation: X:46.25, Y:-5.82, Z:-2.24 [[ 9.70982645e-01 2.28314071e-01 7.11715349e-02 4.62499992e+01] [-2.27556826e-01 9.73585594e-01 -1.86810858e-02 -5.81592637e+00] [-7.35567358e-02 1.94344152e-03 9.97289140e-01 -2.23805649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68863999999999 meters 0.03088768779756476 Centerline is valid? [True, True] Translation: X:46.31, Y:-5.84, Z:-2.24 [[ 9.70665966e-01 2.29583648e-01 7.14068066e-02 4.63090248e+01] [-2.28824127e-01 9.73287152e-01 -1.87520348e-02 -5.83673688e+00] [-7.38044880e-02 1.86236181e-03 9.97270991e-01 -2.24181138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.748639999999995 meters 0.03007435594319507 Centerline is valid? [True, True] Translation: X:46.37, Y:-5.85, Z:-2.24 [[ 9.69612960e-01 2.34530089e-01 6.96156972e-02 4.63681544e+01] [-2.33820435e-01 9.72107771e-01 -1.82889466e-02 -5.85353160e+00] [-7.19632685e-02 1.45562704e-03 9.97406221e-01 -2.24197773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80863999999999 meters 0.02978500431857264 Centerline is valid? [True, True] Translation: X:46.43, Y:-5.87, Z:-2.25 [[ 9.69058074e-01 2.36686920e-01 7.00410625e-02 4.64283262e+01] [-2.35973732e-01 9.71585090e-01 -1.84068076e-02 -5.86964146e+00] [-7.24075026e-02 1.30941458e-03 9.97374272e-01 -2.24501025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86863999999999 meters 0.029882434937861174 Centerline is valid? [True, True] Translation: X:46.49, Y:-5.89, Z:-2.25 [[ 9.68718956e-01 2.38351319e-01 6.90813581e-02 4.64880239e+01] [-2.37661152e-01 9.71178286e-01 -1.81635404e-02 -5.88730339e+00] [-7.14196187e-02 1.17741075e-03 9.97445664e-01 -2.24745252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.928639999999994 meters 0.02974565201356835 Centerline is valid? [True, True] Translation: X:46.55, Y:-5.90, Z:-2.25 [[ 9.69070566e-01 2.36963134e-01 6.89254075e-02 4.65478667e+01] [-2.36271933e-01 9.71517792e-01 -1.81315497e-02 -5.90327647e+00] [-7.12587685e-02 1.28561188e-03 9.97457034e-01 -2.24925570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98863999999999 meters 0.029858016743689004 Centerline is valid? [True, True] Translation: X:46.61, Y:-5.92, Z:-2.25 [[ 9.69131487e-01 2.36843488e-01 6.84786261e-02 4.66085496e+01] [-2.36160199e-01 9.71546953e-01 -1.80243809e-02 -5.92081551e+00] [-7.07991578e-02 1.29606911e-03 9.97489749e-01 -2.25101226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04863999999999 meters 0.029911057381192274 Centerline is valid? [True, True] Translation: X:46.67, Y:-5.94, Z:-2.25 [[ 9.68901036e-01 2.36666249e-01 7.22486648e-02 4.66672272e+01] [-2.35904130e-01 9.71590009e-01 -1.90288226e-02 -5.94005326e+00] [-7.46995610e-02 1.39328748e-03 9.97205111e-01 -2.25332978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.108639999999994 meters 0.030003290508193278 Centerline is valid? [True, True] Translation: X:46.73, Y:-5.96, Z:-2.26 [[ 9.69076330e-01 2.36144440e-01 7.16021663e-02 4.67260828e+01] [-2.35393798e-01 9.71716913e-01 -1.88679923e-02 -5.96306751e+00] [-7.40326075e-02 1.42981889e-03 9.97254796e-01 -2.25691676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16863999999999 meters 0.029025620730753748 Centerline is valid? [True, True] Translation: X:46.78, Y:-5.99, Z:-2.26 [[ 9.67723873e-01 2.41982362e-01 7.03920665e-02 4.67831619e+01] [-2.41271432e-01 9.70280155e-01 -1.85611667e-02 -5.98941161e+00] [-7.27915002e-02 9.78489463e-04 9.97346700e-01 -2.25948115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22863999999999 meters 0.02872689159623524 Centerline is valid? [True, True] Translation: X:46.84, Y:-6.01, Z:-2.26 [[ 9.66591676e-01 2.46404308e-01 7.06077119e-02 4.68419530e+01] [-2.45700096e-01 9.69166903e-01 -1.86273154e-02 -6.01106851e+00] [-7.30205083e-02 6.56686405e-04 9.97330223e-01 -2.26193221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.288639999999994 meters 0.028430772720309593 Centerline is valid? [True, True] Translation: X:46.90, Y:-6.04, Z:-2.26 [[ 9.65112397e-01 2.52590571e-01 6.89642300e-02 4.69003326e+01] [-2.51933850e-01 9.67573235e-01 -1.82035554e-02 -6.03549304e+00] [-7.13259896e-02 1.94052953e-04 9.97453039e-01 -2.26457871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.348639999999996 meters 0.02875845923043716 Centerline is valid? [True, True] Translation: X:46.96, Y:-6.06, Z:-2.27 [[ 9.63995673e-01 2.56521847e-01 7.00634283e-02 4.69589884e+01] [-2.55853542e-01 9.66538429e-01 -1.85048730e-02 -6.05609855e+00] [-7.24659001e-02 -8.73588637e-05 9.97370887e-01 -2.26855754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40863999999999 meters 0.02862860757808569 Centerline is valid? [True, True] Translation: X:47.02, Y:-6.07, Z:-2.27 [[ 9.64191092e-01 2.56069077e-01 6.90229426e-02 4.70189324e+01] [-2.55418671e-01 9.66658485e-01 -1.82394190e-02 -6.07287665e+00] [-7.13921643e-02 -4.34629600e-05 9.97448323e-01 -2.27193324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46863999999999 meters 0.02849231775107304 Centerline is valid? [True, True] Translation: X:47.08, Y:-6.09, Z:-2.27 [[ 9.64125995e-01 2.56377101e-01 6.87884220e-02 4.70802014e+01] [-2.55731114e-01 9.66576835e-01 -1.81884148e-02 -6.08738953e+00] [-7.11523883e-02 -5.54162490e-05 9.97465455e-01 -2.27456173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.528639999999996 meters 0.02875617991740005 Centerline is valid? [True, True] Translation: X:47.14, Y:-6.10, Z:-2.28 [[ 9.63948508e-01 2.56361822e-01 7.12873825e-02 4.71402259e+01] [-2.55666953e-01 9.66580889e-01 -1.88625140e-02 -6.10182224e+00] [-7.37406500e-02 -4.33356791e-05 9.97277451e-01 -2.27835767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58863999999999 meters 0.028503450263664822 Centerline is valid? [True, True] Translation: X:47.20, Y:-6.12, Z:-2.28 [[ 9.65029585e-01 2.53096485e-01 6.82646946e-02 4.72007758e+01] [-2.52450558e-01 9.67441020e-01 -1.80717789e-02 -6.11627193e+00] [-7.06159695e-02 2.06341047e-04 9.97503555e-01 -2.28089752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64863999999999 meters 0.02857930507757379 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.13, Z:-2.28 [[ 9.64995904e-01 2.53127794e-01 6.86237884e-02 4.72612120e+01] [-2.52474348e-01 9.67432826e-01 -1.81777472e-02 -6.13336631e+00] [-7.09901986e-02 2.15705357e-04 9.97476990e-01 -2.28347691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.708639999999995 meters 0.028522400934005706 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.15, Z:-2.29 [[ 9.64252691e-01 2.55945366e-01 6.86201016e-02 4.73224128e+01] [-2.55298106e-01 9.66691248e-01 -1.81908745e-02 -6.14876225e+00] [-7.09903217e-02 2.20177066e-05 9.97477004e-01 -2.28622379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76863999999999 meters 0.028582588223463178 Centerline is valid? [True, True] Translation: X:47.38, Y:-6.17, Z:-2.29 [[ 9.63981818e-01 2.57000497e-01 6.84821099e-02 4.73825696e+01] [-2.56357497e-01 9.66411270e-01 -1.81684073e-02 -6.16638683e+00] [-7.08511725e-02 -4.18880110e-05 9.97486897e-01 -2.28923547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82863999999999 meters 0.02856710343538074 Centerline is valid? [True, True] Translation: X:47.44, Y:-6.18, Z:-2.29 [[ 9.64483617e-01 2.54961595e-01 6.90357732e-02 4.74430838e+01] [-2.54302011e-01 9.66951173e-01 -1.83280259e-02 -6.17926806e+00] [-7.14271646e-02 1.21144750e-04 9.97445811e-01 -2.29250476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.888639999999995 meters 0.02882687756167747 Centerline is valid? [True, True] Translation: X:47.50, Y:-6.19, Z:-2.29 [[ 9.66491976e-01 2.47059935e-01 6.96753126e-02 4.75035653e+01] [-2.46366818e-01 9.68999932e-01 -1.85073876e-02 -6.19312372e+00] [-7.20878071e-02 7.21556544e-04 9.97398029e-01 -2.29465611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94863999999999 meters 0.029622775859261263 Centerline is valid? [True, True] Translation: X:47.56, Y:-6.21, Z:-2.30 [[ 9.68082668e-01 2.40405830e-01 7.08589014e-02 4.75640216e+01] [-2.39670390e-01 9.70671665e-01 -1.88314593e-02 -6.20636113e+00] [-7.33079204e-02 1.24762880e-03 9.97308574e-01 -2.29862640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00863999999999 meters 0.03005526969814581 Centerline is valid? [True, True] Translation: X:47.62, Y:-6.22, Z:-2.30 [[ 9.69150374e-01 2.36440462e-01 6.95949822e-02 4.76237133e+01] [-2.35720189e-01 9.71644776e-01 -1.85046494e-02 -6.22465797e+00] [-7.19968487e-02 1.52884556e-03 9.97403688e-01 -2.30138452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.068639999999995 meters 0.030842142805370527 Centerline is valid? [True, True] Translation: X:47.68, Y:-6.24, Z:-2.30 [[ 9.70186226e-01 2.31527968e-01 7.16483610e-02 4.76827478e+01] [-2.30750241e-01 9.72826271e-01 -1.90623240e-02 -6.24338575e+00] [-7.41148690e-02 1.96112752e-03 9.97247783e-01 -2.30325027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12863999999999 meters 0.03187764545135012 Centerline is valid? [True, True] Translation: X:47.74, Y:-6.27, Z:-2.31 [[ 9.71500516e-01 2.26149141e-01 7.10162941e-02 4.77400318e+01] [-2.25369252e-01 9.74089805e-01 -1.89143564e-02 -6.26755643e+00] [-7.34537135e-02 2.37041785e-03 9.97295810e-01 -2.30646933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18863999999999 meters 0.03176849636112453 Centerline is valid? [True, True] Translation: X:47.80, Y:-6.29, Z:-2.31 [[ 9.71392201e-01 2.26770453e-01 7.05149204e-02 4.77977646e+01] [-2.26001005e-01 9.73945432e-01 -1.88106732e-02 -6.29066318e+00] [-7.29433895e-02 2.33609832e-03 9.97333347e-01 -2.31013037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.248639999999995 meters 0.030730364633334572 Centerline is valid? [True, True] Translation: X:47.85, Y:-6.32, Z:-2.31 [[ 9.70238130e-01 2.32258924e-01 6.85110426e-02 4.78538881e+01] [-2.31544658e-01 9.72652156e-01 -1.82990524e-02 -6.32043918e+00] [-7.08875315e-02 1.89107245e-03 9.97482522e-01 -2.31190578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30863999999999 meters 0.029798236645672122 Centerline is valid? [True, True] Translation: X:47.91, Y:-6.34, Z:-2.31 [[ 9.68524589e-01 2.39344926e-01 6.83675810e-02 4.79112795e+01] [-2.38650686e-01 9.70933627e-01 -1.82686027e-02 -6.34354720e+00] [-7.07528808e-02 1.37762086e-03 9.97492923e-01 -2.31331046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36863999999999 meters 0.029037230685291838 Centerline is valid? [True, True] Translation: X:47.97, Y:-6.37, Z:-2.32 [[ 9.65844244e-01 2.49786858e-01 6.89305610e-02 4.79688645e+01] [-2.49106620e-01 9.68300638e-01 -1.84327389e-02 -6.36870646e+00] [-7.13497622e-02 6.32095746e-04 9.97451158e-01 -2.31697431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.428639999999994 meters 0.02868212920638808 Centerline is valid? [True, True] Translation: X:48.03, Y:-6.39, Z:-2.32 [[ 9.64034339e-01 2.57438436e-01 6.60548634e-02 4.80278411e+01] [-2.56829683e-01 9.66294698e-01 -1.76938152e-02 -6.38922197e+00] [-6.83835324e-02 9.25958897e-05 9.97659102e-01 -2.31926331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48863999999999 meters 0.028719358408532486 Centerline is valid? [True, True] Translation: X:48.09, Y:-6.41, Z:-2.32 [[ 9.63146702e-01 2.60803985e-01 6.58005413e-02 4.80886116e+01] [-2.60205527e-01 9.65391769e-01 -1.76582984e-02 -6.40653065e+00] [-6.81286555e-02 -1.14132648e-04 9.97676537e-01 -2.32187943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54863999999999 meters 0.028575202653325724 Centerline is valid? [True, True] Translation: X:48.15, Y:-6.42, Z:-2.32 [[ 9.62301084e-01 2.63929145e-01 6.57117266e-02 4.81498874e+01] [-2.63337095e-01 9.64542024e-01 -1.76708050e-02 -6.42068025e+00] [-6.80455622e-02 -2.99700424e-04 9.97682170e-01 -2.32443077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.608639999999994 meters 0.02882696843046503 Centerline is valid? [True, True] Translation: X:48.21, Y:-6.44, Z:-2.33 [[ 9.60909054e-01 2.69185089e-01 6.47547446e-02 4.82115717e+01] [-2.68619676e-01 9.63088259e-01 -1.74492291e-02 -6.43562213e+00] [-6.70616065e-02 -6.27276294e-04 9.97748639e-01 -2.32679116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66863999999999 meters 0.028954904692869286 Centerline is valid? [True, True] Translation: X:48.27, Y:-6.45, Z:-2.33 [[ 9.59776933e-01 2.73207570e-01 6.46982415e-02 4.82724425e+01] [-2.72650352e-01 9.61954702e-01 -1.74624259e-02 -6.44760923e+00] [-6.70076446e-02 -8.79964769e-04 9.97752074e-01 -2.33029063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72863999999999 meters 0.029352849759928242 Centerline is valid? [True, True] Translation: X:48.33, Y:-6.46, Z:-2.33 [[ 9.58902693e-01 2.76433668e-01 6.39535248e-02 4.83332275e+01] [-2.75895785e-01 9.61032389e-01 -1.72703059e-02 -6.46046955e+00] [-6.62355027e-02 -1.08396513e-03 9.97803429e-01 -2.33333623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.788639999999994 meters 0.029062743352435878 Centerline is valid? [True, True] Translation: X:48.39, Y:-6.47, Z:-2.34 [[ 9.59060549e-01 2.76170535e-01 6.27112285e-02 4.83944031e+01] [-2.75652104e-01 9.61108092e-01 -1.69455737e-02 -6.47448589e+00] [-6.49521374e-02 -1.03465089e-03 9.97887844e-01 -2.33536603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84863999999999 meters 0.02875008787318902 Centerline is valid? [True, True] Translation: X:48.46, Y:-6.48, Z:-2.34 [[ 9.60599927e-01 2.70432293e-01 6.41416796e-02 4.84562817e+01] [-2.69876114e-01 9.62738779e-01 -1.73472196e-02 -6.48493249e+00] [-6.64429307e-02 -6.46569331e-04 9.97790017e-01 -2.33781262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90863999999999 meters 0.028465972680168847 Centerline is valid? [True, True] Translation: X:48.52, Y:-6.50, Z:-2.34 [[ 9.62783980e-01 2.62484339e-01 6.44125673e-02 4.85165522e+01] [-2.61905031e-01 9.64936249e-01 -1.74295893e-02 -6.49833589e+00] [-6.67290153e-02 -8.90460903e-05 9.97771131e-01 -2.34170228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96863999999999 meters 0.02843493938695044 Centerline is valid? [True, True] Translation: X:48.58, Y:-6.52, Z:-2.34 [[ 9.64053641e-01 2.58112934e-01 6.30736880e-02 4.85759672e+01] [-2.57547559e-01 9.66114727e-01 -1.70759797e-02 -6.51582985e+00] [-6.53439501e-02 2.17686010e-04 9.97862777e-01 -2.34421649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.028639999999996 meters 0.028268695872267754 Centerline is valid? [True, True] Translation: X:48.63, Y:-6.54, Z:-2.35 [[ 9.64411071e-01 2.56642782e-01 6.36063624e-02 4.86345896e+01] [-2.56064026e-01 9.66506272e-01 -1.72290401e-02 -6.53580545e+00] [-6.58976570e-02 3.28575718e-04 9.97826333e-01 -2.34639386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08863999999999 meters 0.02819633525290684 Centerline is valid? [True, True] Translation: X:48.69, Y:-6.56, Z:-2.35 [[ 9.64291297e-01 2.56501288e-01 6.59498561e-02 4.86930706e+01] [-2.55878080e-01 9.66543822e-01 -1.78731151e-02 -6.55827979e+00] [-6.83279030e-02 3.59766740e-04 9.97662853e-01 -2.34811240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14863999999999 meters 0.02844006632510128 Centerline is valid? [True, True] Translation: X:48.75, Y:-6.58, Z:-2.35 [[ 9.63823868e-01 2.57411715e-01 6.91575031e-02 4.87512170e+01] [-2.56727451e-01 9.66301766e-01 -1.87593561e-02 -6.57915571e+00] [-7.16558954e-02 3.26085692e-04 9.97429359e-01 -2.35225513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.208639999999995 meters 0.028416304977481262 Centerline is valid? [True, True] Translation: X:48.81, Y:-6.60, Z:-2.35 [[ 9.63295874e-01 2.59367566e-01 6.92063929e-02 4.88115591e+01] [-2.58684973e-01 9.65778660e-01 -1.88059576e-02 -6.59761023e+00] [-7.17157129e-02 2.13047437e-04 9.97425090e-01 -2.35400833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26863999999999 meters 0.028501991525759992 Centerline is valid? [True, True] Translation: X:48.87, Y:-6.62, Z:-2.36 [[ 9.62249796e-01 2.63512540e-01 6.80916441e-02 4.88700337e+01] [-2.62859622e-01 9.64655969e-01 -1.85386425e-02 -6.61899193e+00] [-7.05701757e-02 -5.97389349e-05 9.97506815e-01 -2.35735231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32863999999999 meters 0.028494655009786873 Centerline is valid? [True, True] Translation: X:48.93, Y:-6.64, Z:-2.36 [[ 9.61344303e-01 2.66925716e-01 6.75854527e-02 4.89301494e+01] [-2.66288514e-01 9.63717068e-01 -1.84347782e-02 -6.63665530e+00] [-7.00539707e-02 -2.75060753e-04 9.97543165e-01 -2.35846142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.388639999999995 meters 0.028765860876891484 Centerline is valid? [True, True] Translation: X:48.99, Y:-6.65, Z:-2.36 [[ 9.59715870e-01 2.72786902e-01 6.73257388e-02 4.89903375e+01] [-2.72166485e-01 9.62074250e-01 -1.83994886e-02 -6.65203424e+00] [-6.97914992e-02 -6.65528467e-04 9.97561378e-01 -2.36110473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44863999999999 meters 0.029249586428935426 Centerline is valid? [True, True] Translation: X:49.05, Y:-6.67, Z:-2.36 [[ 9.57200082e-01 2.81504618e-01 6.72543980e-02 4.90506239e+01] [-2.80904717e-01 9.59559035e-01 -1.84119021e-02 -6.66594078e+00] [-6.97176008e-02 -1.26820344e-03 9.97565962e-01 -2.36269830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50863999999999 meters 0.02956785445205532 Centerline is valid? [True, True] Translation: X:49.11, Y:-6.68, Z:-2.37 [[ 9.55534034e-01 2.87088649e-01 6.73410564e-02 4.91114270e+01] [-2.86498868e-01 9.57902600e-01 -1.84663652e-02 -6.67717154e+00] [-6.98076569e-02 -1.64789603e-03 9.97559109e-01 -2.36695880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.568639999999995 meters 0.029578495134918954 Centerline is valid? [True, True] Translation: X:49.17, Y:-6.68, Z:-2.37 [[ 9.56070300e-01 2.85756405e-01 6.53671097e-02 4.91734638e+01] [-2.85195574e-01 9.58301152e-01 -1.79551215e-02 -6.68475591e+00] [-6.77721675e-02 -1.47605205e-03 9.97699732e-01 -2.36895143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62863999999999 meters 0.02894931394129334 Centerline is valid? [True, True] Translation: X:49.24, Y:-6.70, Z:-2.37 [[ 9.57427728e-01 2.81312503e-01 6.47720779e-02 4.92350174e+01] [-2.80749979e-01 9.59615552e-01 -1.78169075e-02 -6.69547809e+00] [-6.71684121e-02 -1.12635832e-03 9.97741016e-01 -2.37309497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68863999999999 meters 0.028590682940897023 Centerline is valid? [True, True] Translation: X:49.30, Y:-6.71, Z:-2.38 [[ 9.59230725e-01 2.74659561e-01 6.66223753e-02 4.92961743e+01] [-2.74047687e-01 9.61541303e-01 -1.83354382e-02 -6.70768063e+00] [-6.90961689e-02 -6.69792146e-04 9.97609779e-01 -2.37630914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.748639999999995 meters 0.02843146524152798 Centerline is valid? [True, True] Translation: X:49.36, Y:-6.72, Z:-2.38 [[ 9.60306896e-01 2.70079213e-01 6.97702203e-02 4.93571972e+01] [-2.69395256e-01 9.62838044e-01 -1.92119102e-02 -6.72148668e+00] [-7.23661600e-02 -3.46436440e-04 9.97378072e-01 -2.37909265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80863999999999 meters 0.028404789993060297 Centerline is valid? [True, True] Translation: X:49.42, Y:-6.74, Z:-2.38 [[ 9.62340129e-01 2.62853317e-01 6.93513572e-02 4.94174307e+01] [-2.62158078e-01 9.64835785e-01 -1.91063024e-02 -6.73529184e+00] [-7.19348261e-02 2.05742975e-04 9.97409313e-01 -2.38412819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86863999999999 meters 0.0285014653010105 Centerline is valid? [True, True] Translation: X:49.48, Y:-6.75, Z:-2.39 [[ 9.63959836e-01 2.56997858e-01 6.88006873e-02 4.94769792e+01] [-2.56298031e-01 9.66411756e-01 -1.89641069e-02 -6.75281137e+00] [-7.13635278e-02 6.47156708e-04 9.97450163e-01 -2.38784064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.928639999999994 meters 0.029126316684063618 Centerline is valid? [True, True] Translation: X:49.54, Y:-6.77, Z:-2.39 [[ 9.65980474e-01 2.49406712e-01 6.83960138e-02 4.95360733e+01] [-2.48694874e-01 9.68398063e-01 -1.88692993e-02 -6.77218345e+00] [-7.09406973e-02 1.21763668e-03 9.97479792e-01 -2.39086173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98863999999999 meters 0.029684929043711127 Centerline is valid? [True, True] Translation: X:49.59, Y:-6.80, Z:-2.40 [[ 9.67083415e-01 2.44712515e-01 6.97528009e-02 4.95932073e+01] [-2.43957926e-01 9.69594328e-01 -1.92709459e-02 -6.79664760e+00] [-7.23477618e-02 1.61986356e-03 9.97378152e-01 -2.39550947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04863999999999 meters 0.030279047076022105 Centerline is valid? [True, True] Translation: X:49.65, Y:-6.82, Z:-2.40 [[ 9.67925216e-01 2.40890139e-01 7.13632744e-02 4.96504909e+01] [-2.40088280e-01 9.70550389e-01 -1.97372894e-02 -6.82131886e+00] [-7.40161721e-02 1.97073431e-03 9.97255094e-01 -2.39815259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.108639999999994 meters 0.030366034218147132 Centerline is valid? [True, True] Translation: X:49.71, Y:-6.85, Z:-2.40 [[ 9.68211775e-01 2.40120583e-01 7.00575777e-02 4.97084140e+01] [-2.39343509e-01 9.70740960e-01 -1.94080633e-02 -6.84676599e+00] [-7.26680357e-02 2.02328898e-03 9.97354131e-01 -2.40171649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16863999999999 meters 0.030389008697673248 Centerline is valid? [True, True] Translation: X:49.77, Y:-6.87, Z:-2.40 [[ 9.68542580e-01 2.39385313e-01 6.79701657e-02 4.97655787e+01] [-2.38649752e-01 9.70922486e-01 -1.88632344e-02 -6.87449873e+00] [-7.05093435e-02 2.04878255e-03 9.97509015e-01 -2.40316612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22863999999999 meters 0.030823217544144722 Centerline is valid? [True, True] Translation: X:49.82, Y:-6.90, Z:-2.41 [[ 9.68724492e-01 2.37742476e-01 7.10730151e-02 4.98226981e+01] [-2.36931831e-01 9.71325517e-01 -1.97496204e-02 -6.90042085e+00] [-7.37303568e-02 2.29248143e-03 9.97275578e-01 -2.40719382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.288639999999994 meters 0.030977742646824145 Centerline is valid? [True, True] Translation: X:49.88, Y:-6.93, Z:-2.41 [[ 9.68688713e-01 2.37799387e-01 7.13696677e-02 4.98797987e+01] [-2.36980673e-01 9.71311528e-01 -1.98513329e-02 -6.93069741e+00] [-7.40428158e-02 2.31653022e-03 9.97252373e-01 -2.40876225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34863999999999 meters 0.030434806114239387 Centerline is valid? [True, True] Translation: X:49.93, Y:-6.96, Z:-2.41 [[ 9.67830487e-01 2.40843538e-01 7.27910542e-02 4.99349919e+01] [-2.39997635e-01 9.70561548e-01 -2.02833933e-02 -6.96286434e+00] [-7.55333225e-02 2.16120557e-03 9.97140936e-01 -2.41287638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40863999999999 meters 0.029718452474885932 Centerline is valid? [True, True] Translation: X:49.99, Y:-6.99, Z:-2.41 [[ 9.66668183e-01 2.45723765e-01 7.19197911e-02 4.99919901e+01] [-2.44909744e-01 9.69338258e-01 -2.00638652e-02 -6.98803374e+00] [-7.46447735e-02 1.78124248e-03 9.97208597e-01 -2.41473238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46863999999999 meters 0.029001501382657432 Centerline is valid? [True, True] Translation: X:50.05, Y:-7.01, Z:-2.42 [[ 9.65115882e-01 2.52408478e-01 6.95794184e-02 5.00486351e+01] [-2.51663392e-01 9.67619990e-01 -1.94188429e-02 -7.01418001e+00] [-7.22279167e-02 1.23084119e-03 9.97387394e-01 -2.41749814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52863999999999 meters 0.028925827244767215 Centerline is valid? [True, True] Translation: X:50.11, Y:-7.04, Z:-2.42 [[ 9.63336808e-01 2.58913293e-01 7.03285215e-02 5.01072374e+01] [-2.58168529e-01 9.65900267e-01 -1.96388615e-02 -7.03706408e+00] [-7.30150999e-02 7.62227219e-04 9.97330544e-01 -2.42160815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58863999999999 meters 0.028804373705896752 Centerline is valid? [True, True] Translation: X:50.17, Y:-7.06, Z:-2.42 [[ 9.62475504e-01 2.62376594e-01 6.92778966e-02 5.01655781e+01] [-2.61661518e-01 9.64965420e-01 -1.93646012e-02 -7.05896224e+00] [-7.19315927e-02 5.10594773e-04 9.97409437e-01 -2.42396434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64863999999999 meters 0.028645225876012034 Centerline is valid? [True, True] Translation: X:50.22, Y:-7.08, Z:-2.43 [[ 9.61731139e-01 2.65175097e-01 6.89592907e-02 5.02242628e+01] [-2.64471365e-01 9.64200216e-01 -1.93090622e-02 -7.07864966e+00] [-7.16108454e-02 3.32368684e-04 9.97432592e-01 -2.42688519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.708639999999995 meters 0.02879784348414349 Centerline is valid? [True, True] Translation: X:50.28, Y:-7.10, Z:-2.43 [[ 9.60915153e-01 2.68404532e-01 6.78312323e-02 5.02831814e+01] [-2.67729366e-01 9.63306282e-01 -1.90261521e-02 -7.09919296e+00] [-7.04489576e-02 1.22105051e-04 9.97515378e-01 -2.43054350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76863999999999 meters 0.02887412419748901 Centerline is valid? [True, True] Translation: X:50.34, Y:-7.12, Z:-2.43 [[ 9.59845061e-01 2.72435245e-01 6.69066248e-02 5.03409445e+01] [-2.71785873e-01 9.62174110e-01 -1.87995027e-02 -7.12166015e+00] [-6.94974693e-02 -1.39665643e-04 9.97582118e-01 -2.43312448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82863999999999 meters 0.029115881370672815 Centerline is valid? [True, True] Translation: X:50.40, Y:-7.14, Z:-2.44 [[ 9.58585669e-01 2.77105794e-01 6.57715218e-02 5.04001058e+01] [-2.76486957e-01 9.60839314e-01 -1.85141967e-02 -7.14252606e+00] [-6.83262551e-02 -4.37524227e-04 9.97662935e-01 -2.43608091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.888639999999995 meters 0.02943702545294696 Centerline is valid? [True, True] Translation: X:50.46, Y:-7.16, Z:-2.44 [[ 9.56990484e-01 2.82637636e-01 6.54612917e-02 5.04598061e+01] [-2.82035084e-01 9.59226426e-01 -1.84627933e-02 -7.16033963e+00] [-6.80104811e-02 -7.93663443e-04 9.97684291e-01 -2.43845578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94863999999999 meters 0.02972804829854467 Centerline is valid? [True, True] Translation: X:50.52, Y:-7.17, Z:-2.44 [[ 9.55794338e-01 2.86799623e-01 6.48317743e-02 5.05199725e+01] [-2.86215976e-01 9.57990020e-01 -1.83176650e-02 -7.17498574e+00] [-6.73616922e-02 -1.04796912e-03 9.97728071e-01 -2.44105133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00863999999999 meters 0.030548453352849034 Centerline is valid? [True, True] Translation: X:50.58, Y:-7.19, Z:-2.44 [[ 9.53326793e-01 2.95327300e-01 6.28475319e-02 5.05816940e+01] [-2.94795286e-01 9.55394852e-01 -1.77880912e-02 -7.18658413e+00] [-6.52975174e-02 -1.56929219e-03 9.97864606e-01 -2.44245748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.068639999999995 meters 0.03073610102750246 Centerline is valid? [True, True] Translation: X:50.64, Y:-7.20, Z:-2.44 [[ 9.52239433e-01 2.98855963e-01 6.26512177e-02 5.06431159e+01] [-2.98332850e-01 9.54296579e-01 -1.77637334e-02 -7.19928639e+00] [-6.50966403e-02 -1.77558886e-03 9.97877385e-01 -2.44398380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12863999999999 meters 0.030713511608683183 Centerline is valid? [True, True] Translation: X:50.70, Y:-7.21, Z:-2.45 [[ 9.52581139e-01 2.97528626e-01 6.37643266e-02 5.07042434e+01] [-2.96981618e-01 9.54711412e-01 -1.81118119e-02 -7.21118742e+00] [-6.62653128e-02 -1.68386248e-03 9.97800618e-01 -2.44729442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18863999999999 meters 0.030736790806896605 Centerline is valid? [True, True] Translation: X:50.77, Y:-7.22, Z:-2.45 [[ 9.52330680e-01 2.98166070e-01 6.45234194e-02 5.07658932e+01] [-2.97605114e-01 9.54512467e-01 -1.83615466e-02 -7.22499839e+00] [-6.70631984e-02 -1.71623541e-03 9.97747254e-01 -2.45010331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.248639999999995 meters 0.030884653786131023 Centerline is valid? [True, True] Translation: X:50.83, Y:-7.23, Z:-2.45 [[ 9.51328188e-01 3.01396956e-01 6.43004856e-02 5.08279875e+01] [-3.00844850e-01 9.53496855e-01 -1.83336715e-02 -7.23333266e+00] [-6.68360236e-02 -1.90313145e-03 9.97762158e-01 -2.45291727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30863999999999 meters 0.03114806445171468 Centerline is valid? [True, True] Translation: X:50.89, Y:-7.25, Z:-2.46 [[ 9.50745934e-01 3.03049674e-01 6.51387973e-02 5.08886904e+01] [-3.02484702e-01 9.52972632e-01 -1.86055755e-02 -7.24633232e+00] [-6.77139047e-02 -2.01431444e-03 9.97702746e-01 -2.45538941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36863999999999 meters 0.030926366294502662 Centerline is valid? [True, True] Translation: X:50.95, Y:-7.26, Z:-2.46 [[ 9.51055781e-01 3.02033651e-01 6.53343381e-02 5.09504665e+01] [-3.01460649e-01 9.53295338e-01 -1.86942695e-02 -7.25556083e+00] [-6.79292184e-02 -1.91643888e-03 9.97688302e-01 -2.45838844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.428639999999994 meters 0.030693372042637165 Centerline is valid? [True, True] Translation: X:51.01, Y:-7.26, Z:-2.46 [[ 9.51787970e-01 2.99675241e-01 6.55317527e-02 5.10128450e+01] [-2.99090928e-01 9.54039719e-01 -1.87838109e-02 -7.26460661e+00] [-6.81489380e-02 -1.72174753e-03 9.97673673e-01 -2.46119750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48863999999999 meters 0.03073735397955682 Centerline is valid? [True, True] Translation: X:51.08, Y:-7.27, Z:-2.46 [[ 9.51531644e-01 3.00644935e-01 6.48085948e-02 5.10752726e+01] [-3.00073423e-01 9.53734553e-01 -1.86102761e-02 -7.27388788e+00] [-6.74052814e-02 -1.73907027e-03 9.97724162e-01 -2.46423921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54863999999999 meters 0.031052793979430695 Centerline is valid? [True, True] Translation: X:51.14, Y:-7.28, Z:-2.47 [[ 9.50391496e-01 3.04032932e-01 6.57265552e-02 5.11374180e+01] [-3.03450664e-01 9.52659481e-01 -1.89105421e-02 -7.28149675e+00] [-6.83644535e-02 -1.97234837e-03 9.97658464e-01 -2.46814303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.608639999999994 meters 0.03086242292803768 Centerline is valid? [True, True] Translation: X:51.20, Y:-7.29, Z:-2.47 [[ 9.50673866e-01 3.03420710e-01 6.44598497e-02 5.12011916e+01] [-3.02857547e-01 9.52854863e-01 -1.85719360e-02 -7.28661682e+00] [-6.70559912e-02 -1.86629778e-03 9.97747469e-01 -2.46990116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66863999999999 meters 0.030693408660298536 Centerline is valid? [True, True] Translation: X:51.26, Y:-7.30, Z:-2.47 [[ 9.51120268e-01 3.02196806e-01 6.36185978e-02 5.12629899e+01] [-3.01644770e-01 9.53243958e-01 -1.83409369e-02 -7.29823666e+00] [-6.61866165e-02 -1.74578045e-03 9.97805735e-01 -2.47352430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72863999999999 meters 0.03023378078756199 Centerline is valid? [True, True] Translation: X:51.33, Y:-7.30, Z:-2.48 [[ 9.52594456e-01 2.97477398e-01 6.38043829e-02 5.13257477e+01] [-2.96910400e-01 9.54727826e-01 -1.84117209e-02 -7.30492205e+00] [-6.63928907e-02 -1.40528158e-03 9.97792568e-01 -2.47652517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.788639999999994 meters 0.02938681290359548 Centerline is valid? [True, True] Translation: X:51.39, Y:-7.32, Z:-2.48 [[ 9.55213684e-01 2.88667333e-01 6.50998408e-02 5.13872252e+01] [-2.88054311e-01 9.57429145e-01 -1.88187645e-02 -7.31630295e+00] [-6.77608475e-02 -7.76348443e-04 9.97701290e-01 -2.47998988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84863999999999 meters 0.028805152697703743 Centerline is valid? [True, True] Translation: X:51.45, Y:-7.33, Z:-2.48 [[ 9.57362308e-01 2.81417487e-01 6.52810021e-02 5.14486222e+01] [-2.80782342e-01 9.59585401e-01 -1.88980148e-02 -7.32935885e+00] [-6.79609284e-02 -2.37505589e-04 9.97687955e-01 -2.48341430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90863999999999 meters 0.028623435419182337 Centerline is valid? [True, True] Translation: X:51.51, Y:-7.35, Z:-2.49 [[ 9.59996175e-01 2.71505201e-01 6.85001425e-02 5.15085203e+01] [-2.70779102e-01 9.62436839e-01 -1.98496590e-02 -7.34608835e+00] [-7.13163462e-02 5.07189639e-04 9.97453619e-01 -2.48644335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96863999999999 meters 0.029028722547235725 Centerline is valid? [True, True] Translation: X:51.57, Y:-7.37, Z:-2.49 [[ 9.62416087e-01 2.63194904e-01 6.69605742e-02 5.15667852e+01] [-2.62478740e-01 9.64742021e-01 -1.94356446e-02 -7.36795413e+00] [-6.97150423e-02 1.12944988e-03 9.97566307e-01 -2.49081104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02863999999999 meters 0.028814965763902297 Centerline is valid? [True, True] Translation: X:51.62, Y:-7.39, Z:-2.49 [[ 9.62407127e-01 2.63565043e-01 6.56200371e-02 5.16245084e+01] [-2.62876057e-01 9.64640988e-01 -1.90772855e-02 -7.39166135e+00] [-6.83278830e-02 1.11017888e-03 9.97662302e-01 -2.49354055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08863999999999 meters 0.028288723153810615 Centerline is valid? [True, True] Translation: X:51.68, Y:-7.42, Z:-2.50 [[ 9.60783128e-01 2.69612539e-01 6.48448894e-02 5.16806587e+01] [-2.68951423e-01 9.62968632e-01 -1.88824139e-02 -7.42025513e+00] [-6.75345300e-02 7.01779391e-04 9.97716691e-01 -2.49657640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14863999999999 meters 0.028042469946412515 Centerline is valid? [True, True] Translation: X:51.74, Y:-7.45, Z:-2.50 [[ 9.58358646e-01 2.78613039e-01 6.26376896e-02 5.17373981e+01] [-2.78013789e-01 9.60403439e-01 -1.82638148e-02 -7.44802889e+00] [-6.52459894e-02 8.91434027e-05 9.97869206e-01 -2.49913097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20863999999999 meters 0.028082340294200522 Centerline is valid? [True, True] Translation: X:51.80, Y:-7.47, Z:-2.50 [[ 9.57341871e-01 2.82276220e-01 6.17792664e-02 5.17968624e+01] [-2.81699811e-01 9.59333162e-01 -1.80305595e-02 -7.47061217e+00] [-6.43564971e-02 -1.41798104e-04 9.97926962e-01 -2.50275936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26863999999999 meters 0.028240644686293424 Centerline is valid? [True, True] Translation: X:51.86, Y:-7.49, Z:-2.50 [[ 9.55515869e-01 2.87982352e-01 6.36835029e-02 5.18557288e+01] [-2.87380065e-01 9.57635582e-01 -1.86223193e-02 -7.49140057e+00] [-6.63484876e-02 -5.07447621e-04 9.97796382e-01 -2.50441585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32863999999999 meters 0.028683623769624824 Centerline is valid? [True, True] Translation: X:51.92, Y:-7.51, Z:-2.51 [[ 9.53580490e-01 2.94251367e-01 6.40342241e-02 5.19161127e+01] [-2.93654385e-01 9.55727624e-01 -1.87566414e-02 -7.50710807e+00] [-6.67184442e-02 -9.17963460e-04 9.97771420e-01 -2.50777225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.388639999999995 meters 0.029081015173696337 Centerline is valid? [True, True] Translation: X:51.98, Y:-7.52, Z:-2.51 [[ 9.52514526e-01 2.97469738e-01 6.50217861e-02 5.19771814e+01] [-2.96859446e-01 9.54730579e-01 -1.90785518e-02 -7.51992296e+00] [-6.77535793e-02 -1.12973365e-03 9.97701446e-01 -2.51117027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44863999999999 meters 0.0292199763117502 Centerline is valid? [True, True] Translation: X:52.04, Y:-7.53, Z:-2.51 [[ 9.51843097e-01 2.99446659e-01 6.57755009e-02 5.20382468e+01] [-2.98824556e-01 9.54112219e-01 -1.93328206e-02 -7.53242656e+00] [-6.85463577e-02 -1.25352304e-03 9.97647145e-01 -2.51295541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50863999999999 meters 0.02937553847360734 Centerline is valid? [True, True] Translation: X:52.10, Y:-7.54, Z:-2.52 [[ 9.51428389e-01 3.00634251e-01 6.63556120e-02 5.21000385e+01] [-3.00001681e-01 9.53738595e-01 -1.95367384e-02 -7.54240213e+00] [-6.91593208e-02 -1.31898763e-03 9.97604756e-01 -2.51575561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.568639999999995 meters 0.02957030276275523 Centerline is valid? [True, True] Translation: X:52.16, Y:-7.56, Z:-2.52 [[ 9.51372899e-01 3.00722494e-01 6.67501995e-02 5.21608966e+01] [-3.00080145e-01 9.53710801e-01 -1.96879301e-02 -7.55765383e+00] [-6.95809896e-02 -1.29984643e-03 9.97575459e-01 -2.51967622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62863999999999 meters 0.02904294234910087 Centerline is valid? [True, True] Translation: X:52.22, Y:-7.57, Z:-2.52 [[ 9.52671851e-01 2.96411751e-01 6.75012478e-02 5.22219578e+01] [-2.95741392e-01 9.55059764e-01 -1.99468524e-02 -7.56965770e+00] [-7.03802072e-02 -9.60108199e-04 9.97519777e-01 -2.52260702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68863999999999 meters 0.028907462157474206 Centerline is valid? [True, True] Translation: X:52.28, Y:-7.58, Z:-2.53 [[ 9.54580951e-01 2.90276533e-01 6.71918292e-02 5.22826448e+01] [-2.89594757e-01 9.56942689e-01 -1.98888450e-02 -7.58292002e+00] [-7.00719947e-02 -4.72888897e-04 9.97541825e-01 -2.52685630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.748639999999995 meters 0.02879218678318948 Centerline is valid? [True, True] Translation: X:52.34, Y:-7.60, Z:-2.53 [[ 9.55248430e-01 2.87851814e-01 6.81305439e-02 5.23436761e+01] [-2.87142096e-01 9.57674926e-01 -2.02027963e-02 -7.59924361e+00] [-7.10623251e-02 -2.64457743e-04 9.97471842e-01 -2.53086233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80863999999999 meters 0.02896897274699059 Centerline is valid? [True, True] Translation: X:52.40, Y:-7.62, Z:-2.54 [[ 9.56263882e-01 2.84217559e-01 6.91358608e-02 5.24045612e+01] [-2.83474332e-01 9.58759812e-01 -2.05408278e-02 -7.61533562e+00] [-7.21227488e-02 4.42097322e-05 9.97395763e-01 -2.53603641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86863999999999 meters 0.029001120109835386 Centerline is valid? [True, True] Translation: X:52.46, Y:-7.63, Z:-2.54 [[ 9.57949031e-01 2.78281118e-01 6.99519350e-02 5.24644569e+01] [-2.77501600e-01 9.60499523e-01 -2.08213300e-02 -7.63108552e+00] [-7.29829832e-02 5.33998997e-04 9.97333043e-01 -2.53793836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.928639999999994 meters 0.02921067149741517 Centerline is valid? [True, True] Translation: X:52.52, Y:-7.65, Z:-2.54 [[ 9.59209843e-01 2.73753756e-01 7.05362259e-02 5.25233460e+01] [-2.72946371e-01 9.61799374e-01 -2.10295527e-02 -7.64959523e+00] [-7.35986169e-02 9.19147076e-04 9.97287521e-01 -2.54241466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98863999999999 meters 0.029894095493039598 Centerline is valid? [True, True] Translation: X:52.58, Y:-7.67, Z:-2.55 [[ 9.60880625e-01 2.67804668e-01 7.06334454e-02 5.25821891e+01] [-2.66976474e-01 9.63472196e-01 -2.10924183e-02 -7.66973966e+00] [-7.37020088e-02 1.40982796e-03 9.97279312e-01 -2.54613405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04863999999999 meters 0.03035456117102771 Centerline is valid? [True, True] Translation: X:52.64, Y:-7.69, Z:-2.55 [[ 9.61334578e-01 2.65745201e-01 7.22171492e-02 5.26408084e+01] [-2.64870972e-01 9.64041913e-01 -2.15999647e-02 -7.69087248e+00] [-7.53604456e-02 1.63656646e-03 9.97155015e-01 -2.54882024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.108639999999994 meters 0.030311577881652126 Centerline is valid? [True, True] Translation: X:52.70, Y:-7.71, Z:-2.55 [[ 9.60690713e-01 2.67511772e-01 7.42348037e-02 5.26997084e+01] [-2.66590427e-01 9.63553306e-01 -2.22389636e-02 -7.71187496e+00] [-7.74783750e-02 1.57447778e-03 9.96992790e-01 -2.55317344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16863999999999 meters 0.030620638826530728 Centerline is valid? [True, True] Translation: X:52.76, Y:-7.73, Z:-2.56 [[ 9.60928711e-01 2.66826917e-01 7.36166287e-02 5.27589424e+01] [-2.65916067e-01 9.63743052e-01 -2.20901706e-02 -7.73363758e+00] [-7.68417666e-02 1.65123486e-03 9.97041933e-01 -2.55636324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22863999999999 meters 0.03091354772423695 Centerline is valid? [True, True] Translation: X:52.82, Y:-7.75, Z:-2.56 [[ 9.61334053e-01 2.64980409e-01 7.49814762e-02 5.28179631e+01] [-2.64026765e-01 9.64251983e-01 -2.25384315e-02 -7.75320456e+00] [-7.82732799e-02 1.86984509e-03 9.96930187e-01 -2.55932489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.288639999999994 meters 0.03131662890773199 Centerline is valid? [True, True] Translation: X:52.88, Y:-7.78, Z:-2.56 [[ 9.61598184e-01 2.63782813e-01 7.58126673e-02 5.28760561e+01] [-2.62801325e-01 9.64579977e-01 -2.28239220e-02 -7.77612803e+00] [-7.91479392e-02 2.02377249e-03 9.96860827e-01 -2.56269999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34863999999999 meters 0.03106539533508817 Centerline is valid? [True, True] Translation: X:52.93, Y:-7.80, Z:-2.56 [[ 9.61530586e-01 2.64387156e-01 7.45544325e-02 5.29340830e+01] [-2.63437166e-01 9.64414607e-01 -2.24794382e-02 -7.79909811e+00] [-7.78446585e-02 1.97425895e-03 9.96963546e-01 -2.56480380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40863999999999 meters 0.031248630385924576 Centerline is valid? [True, True] Translation: X:52.99, Y:-7.83, Z:-2.57 [[ 9.61347979e-01 2.65200007e-01 7.40204056e-02 5.29911887e+01] [-2.64263332e-01 9.64191495e-01 -2.23528958e-02 -7.82578662e+00] [-7.72978337e-02 1.92803217e-03 9.97006182e-01 -2.56731080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46863999999999 meters 0.0313382574816578 Centerline is valid? [True, True] Translation: X:53.05, Y:-7.85, Z:-2.57 [[ 9.61809543e-01 2.63571268e-01 7.38416505e-02 5.30477569e+01] [-2.62631643e-01 9.64637667e-01 -2.23336264e-02 -7.85411402e+00] [-7.71169397e-02 2.08754098e-03 9.97019869e-01 -2.57173658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52863999999999 meters 0.031151102427743178 Centerline is valid? [True, True] Translation: X:53.10, Y:-7.88, Z:-2.57 [[ 9.61807900e-01 2.64164187e-01 7.17136371e-02 5.31039972e+01] [-2.63277182e-01 9.64475625e-01 -2.17231447e-02 -7.88311988e+00] [-7.49045318e-02 2.01292785e-03 9.97188678e-01 -2.57454654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58863999999999 meters 0.03106478016040146 Centerline is valid? [True, True] Translation: X:53.16, Y:-7.91, Z:-2.58 [[ 9.61353303e-01 2.65974761e-01 7.11143682e-02 5.31617695e+01] [-2.65104991e-01 9.63978143e-01 -2.15750627e-02 -7.90811187e+00] [-7.42911187e-02 1.88848386e-03 9.97234809e-01 -2.57774483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64863999999999 meters 0.03037845885024463 Centerline is valid? [True, True] Translation: X:53.22, Y:-7.94, Z:-2.58 [[ 9.60289463e-01 2.70192999e-01 6.95693273e-02 5.32182959e+01] [-2.69369334e-01 9.62804918e-01 -2.11388444e-02 -7.93587651e+00] [-7.26932583e-02 1.55956617e-03 9.97353126e-01 -2.57988664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70863999999999 meters 0.02993268262610536 Centerline is valid? [True, True] Translation: X:53.28, Y:-7.96, Z:-2.58 [[ 9.58738329e-01 2.76039739e-01 6.79917547e-02 5.32753017e+01] [-2.75265423e-01 9.61145568e-01 -2.06916365e-02 -7.96146269e+00] [-7.10616876e-02 1.12208592e-03 9.97471292e-01 -2.58255787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76863999999999 meters 0.029903128604650376 Centerline is valid? [True, True] Translation: X:53.33, Y:-7.99, Z:-2.59 [[ 9.57846269e-01 2.79058062e-01 6.82431105e-02 5.33328836e+01] [-2.78283264e-01 9.60273777e-01 -2.08014130e-02 -7.98593315e+00] [-7.13368714e-02 9.33640351e-04 9.97451843e-01 -2.58608143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82863999999999 meters 0.02965428867712864 Centerline is valid? [True, True] Translation: X:53.39, Y:-8.01, Z:-2.59 [[ 9.57690892e-01 2.79932018e-01 6.68297811e-02 5.33915069e+01] [-2.79188895e-01 9.60019421e-01 -2.04027574e-02 -8.00566539e+00] [-6.98692728e-02 8.81402154e-04 9.97555767e-01 -2.58868836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88863999999999 meters 0.02946816051515443 Centerline is valid? [True, True] Translation: X:53.45, Y:-8.03, Z:-2.59 [[ 9.57458693e-01 2.81036828e-01 6.55068832e-02 5.34499718e+01] [-2.80323281e-01 9.59696638e-01 -2.00305190e-02 -8.02673121e+00] [-6.84960491e-02 8.15290100e-04 9.97651055e-01 -2.59107428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94863999999999 meters 0.0297222810726947 Centerline is valid? [True, True] Translation: X:53.51, Y:-8.05, Z:-2.59 [[ 9.57823370e-01 2.79561075e-01 6.64830617e-02 5.35092831e+01] [-2.78820221e-01 9.60127425e-01 -2.03620452e-02 -8.04667583e+00] [-6.95246461e-02 9.66420814e-04 9.97579766e-01 -2.59455573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00863999999999 meters 0.029880034408425068 Centerline is valid? [True, True] Translation: X:53.57, Y:-8.07, Z:-2.60 [[ 9.57624583e-01 2.79969107e-01 6.76199400e-02 5.35685738e+01] [-2.79201280e-01 9.60008504e-01 -2.07440872e-02 -8.06633987e+00] [-7.07234210e-02 9.85474068e-04 9.97495477e-01 -2.59853261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.068639999999995 meters 0.029627777070672268 Centerline is valid? [True, True] Translation: X:53.63, Y:-8.09, Z:-2.60 [[ 9.57646629e-01 2.80203035e-01 6.63264089e-02 5.36278192e+01] [-2.79462649e-01 9.59940257e-01 -2.03796595e-02 -8.08531562e+00] [-6.93798325e-02 9.80758254e-04 9.97589834e-01 -2.59973176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12863999999999 meters 0.029600812526245482 Centerline is valid? [True, True] Translation: X:53.69, Y:-8.10, Z:-2.60 [[ 9.57119519e-01 2.81767839e-01 6.72986807e-02 5.36886189e+01] [-2.81006947e-01 9.59482178e-01 -2.07134198e-02 -8.10320516e+00] [-7.04082602e-02 9.13821569e-04 9.97517840e-01 -2.60327705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18863999999999 meters 0.029283466024524318 Centerline is valid? [True, True] Translation: X:53.75, Y:-8.12, Z:-2.60 [[ 9.56020325e-01 2.85862586e-01 6.56332297e-02 5.37480759e+01] [-2.85146135e-01 9.58270413e-01 -2.02360633e-02 -8.12142874e+00] [-6.86791155e-02 6.31026056e-04 9.97638602e-01 -2.60423677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.248639999999995 meters 0.029251507877220983 Centerline is valid? [True, True] Translation: X:53.81, Y:-8.14, Z:-2.61 [[ 9.55791941e-01 2.86913496e-01 6.43615648e-02 5.38077989e+01] [-2.86224834e-01 9.57956322e-01 -1.98753434e-02 -8.13924844e+00] [-6.73580722e-02 5.74814914e-04 9.97728700e-01 -2.60685768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30863999999999 meters 0.029009937246708542 Centerline is valid? [True, True] Translation: X:53.87, Y:-8.16, Z:-2.61 [[ 9.54944088e-01 2.89335044e-01 6.60834327e-02 5.38680802e+01] [-2.88612357e-01 9.57227784e-01 -2.04420216e-02 -8.15586530e+00] [-6.91714911e-02 4.48492387e-04 9.97604683e-01 -2.61063680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36863999999999 meters 0.02898292266397363 Centerline is valid? [True, True] Translation: X:53.93, Y:-8.17, Z:-2.61 [[ 9.54044619e-01 2.92840751e-01 6.35858476e-02 5.39282691e+01] [-2.92177200e-01 9.56161203e-01 -1.97037579e-02 -8.17164958e+00] [-6.65683838e-02 2.19929301e-04 9.97781841e-01 -2.61352590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.428639999999994 meters 0.02890758063623571 Centerline is valid? [True, True] Translation: X:53.99, Y:-8.19, Z:-2.62 [[ 9.53804997e-01 2.93975894e-01 6.19209290e-02 5.39882259e+01] [-2.93347073e-01 9.55812820e-01 -1.92184459e-02 -8.18888153e+00] [-6.48345775e-02 1.66326508e-04 9.97896012e-01 -2.61656477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48863999999999 meters 0.028886579898363712 Centerline is valid? [True, True] Translation: X:54.05, Y:-8.20, Z:-2.62 [[ 9.53602411e-01 2.94372922e-01 6.31428815e-02 5.40497665e+01] [-2.93717635e-01 9.55690615e-01 -1.96315679e-02 -8.20462116e+00] [-6.61240613e-02 1.74532590e-04 9.97811394e-01 -2.61965151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54863999999999 meters 0.029047552383097065 Centerline is valid? [True, True] Translation: X:54.11, Y:-8.22, Z:-2.62 [[ 9.53012010e-01 2.95847019e-01 6.51356309e-02 5.41096099e+01] [-2.95150561e-01 9.55235327e-01 -2.02883427e-02 -8.22031856e+00] [-6.82221014e-02 1.10216282e-04 9.97670152e-01 -2.62444844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.608639999999994 meters 0.02890656958820392 Centerline is valid? [True, True] Translation: X:54.17, Y:-8.24, Z:-2.63 [[ 9.52201985e-01 2.98848967e-01 6.32508789e-02 5.41700620e+01] [-2.98197064e-01 9.54300419e-01 -1.97287164e-02 -8.23701969e+00] [-6.62562467e-02 -7.55034317e-05 9.97802638e-01 -2.62662055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66863999999999 meters 0.02879383227023099 Centerline is valid? [True, True] Translation: X:54.23, Y:-8.25, Z:-2.63 [[ 9.50141165e-01 3.05522265e-01 6.23531223e-02 5.42322521e+01] [-3.04901628e-01 9.52184795e-01 -1.94708268e-02 -8.25041554e+00] [-6.53204661e-02 -5.11534455e-04 9.97864207e-01 -2.62814263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72863999999999 meters 0.0290065568720456 Centerline is valid? [True, True] Translation: X:54.29, Y:-8.26, Z:-2.63 [[ 9.48393338e-01 3.10785408e-01 6.29484368e-02 5.42930021e+01] [-3.10162115e-01 9.50479726e-01 -1.96914508e-02 -8.26275774e+00] [-6.59510286e-02 -8.48979466e-04 9.97822500e-01 -2.63134622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.788639999999994 meters 0.02899600564966419 Centerline is valid? [True, True] Translation: X:54.36, Y:-8.27, Z:-2.63 [[ 9.47896637e-01 3.12179110e-01 6.35308549e-02 5.43553636e+01] [-3.11545197e-01 9.50022815e-01 -1.99057964e-02 -8.27360853e+00] [-6.65699355e-02 -9.24095259e-04 9.97781334e-01 -2.63421949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84863999999999 meters 0.029091218938411254 Centerline is valid? [True, True] Translation: X:54.42, Y:-8.28, Z:-2.64 [[ 9.47278624e-01 3.13811878e-01 6.46940064e-02 5.44166862e+01] [-3.13155802e-01 9.49484628e-01 -2.03072471e-02 -8.28495054e+00] [-6.77986200e-02 -1.02268232e-03 9.97698502e-01 -2.63621824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90863999999999 meters 0.02903521678762433 Centerline is valid? [True, True] Translation: X:54.48, Y:-8.29, Z:-2.64 [[ 9.46270191e-01 3.16484846e-01 6.64083412e-02 5.44795321e+01] [-3.15797672e-01 9.48596789e-01 -2.08796868e-02 -8.29188852e+00] [-6.96028437e-02 -1.21377431e-03 9.97574043e-01 -2.63870299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96863999999999 meters 0.029309039725965307 Centerline is valid? [True, True] Translation: X:54.54, Y:-8.30, Z:-2.64 [[ 9.45571378e-01 3.19182503e-01 6.33821655e-02 5.45422640e+01] [-3.18560570e-01 9.47692351e-01 -1.99592244e-02 -8.29999639e+00] [-6.64374287e-02 -1.31818751e-03 9.97789723e-01 -2.64193224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02863999999999 meters 0.029151403805238372 Centerline is valid? [True, True] Translation: X:54.60, Y:-8.31, Z:-2.64 [[ 9.45090491e-01 3.20403955e-01 6.43837577e-02 5.46042270e+01] [-3.19762777e-01 9.47279980e-01 -2.03077918e-02 -8.31111069e+00] [-6.74961415e-02 -1.39482829e-03 9.97718560e-01 -2.64477752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08863999999999 meters 0.028839924227987413 Centerline is valid? [True, True] Translation: X:54.67, Y:-8.32, Z:-2.65 [[ 9.46387431e-01 3.15964195e-01 6.72120357e-02 5.46665607e+01] [-3.15251707e-01 9.48770486e-01 -2.12350337e-02 -8.32003704e+00] [-7.04783061e-02 -1.09213994e-03 9.97512715e-01 -2.64797972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14863999999999 meters 0.028356139006352334 Centerline is valid? [True, True] Translation: X:54.73, Y:-8.33, Z:-2.65 [[ 9.48461848e-01 3.09754049e-01 6.68771492e-02 5.47282402e+01] [-3.09030808e-01 9.50816531e-01 -2.11632678e-02 -8.33065053e+00] [-7.01433069e-02 -5.94547367e-04 9.97536748e-01 -2.65235819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20863999999999 meters 0.028210133777161913 Centerline is valid? [True, True] Translation: X:54.79, Y:-8.35, Z:-2.66 [[ 9.51034701e-01 3.01504488e-01 6.80297074e-02 5.47896829e+01] [-3.00732303e-01 9.53464756e-01 -2.15647893e-02 -8.34579696e+00] [-7.13658091e-02 5.01323791e-05 9.97450209e-01 -2.65800598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26863999999999 meters 0.02858096295720529 Centerline is valid? [True, True] Translation: X:54.85, Y:-8.36, Z:-2.66 [[ 9.52881186e-01 2.95570179e-01 6.82328005e-02 5.48487543e+01] [-2.94775425e-01 9.55320881e-01 -2.16671095e-02 -8.36402665e+00] [-7.15883705e-02 5.32828249e-04 9.97434119e-01 -2.66201712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32863999999999 meters 0.028398310694781437 Centerline is valid? [True, True] Translation: X:54.91, Y:-8.39, Z:-2.66 [[ 9.52975623e-01 2.95796508e-01 6.58930036e-02 5.49068316e+01] [-2.95053719e-01 9.55250829e-01 -2.09560736e-02 -8.38568787e+00] [-6.91430797e-02 5.28651534e-04 9.97606613e-01 -2.66361602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38863999999999 meters 0.02869010596437771 Centerline is valid? [True, True] Translation: X:54.96, Y:-8.41, Z:-2.67 [[ 9.52356127e-01 2.97321789e-01 6.79526314e-02 5.49640820e+01] [-2.96533272e-01 9.54777220e-01 -2.16443914e-02 -8.40895679e+00] [-7.13149737e-02 4.62952657e-04 9.97453738e-01 -2.66745341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44863999999999 meters 0.028922357905779208 Centerline is valid? [True, True] Translation: X:55.02, Y:-8.43, Z:-2.67 [[ 9.50225117e-01 3.03807826e-01 6.90871363e-02 5.50230434e+01] [-3.03007284e-01 9.52733333e-01 -2.20404450e-02 -8.43009087e+00] [-7.25176774e-02 9.47884162e-06 9.97367127e-01 -2.67084876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50863999999999 meters 0.029168014294213358 Centerline is valid? [True, True] Translation: X:55.08, Y:-8.45, Z:-2.67 [[ 9.48521190e-01 3.09787872e-01 6.58712839e-02 5.50816619e+01] [-3.09072157e-01 9.50805616e-01 -2.10495105e-02 -8.45065151e+00] [-6.91516697e-02 -3.93073006e-04 9.97606081e-01 -2.67245523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56863999999999 meters 0.02947582069256786 Centerline is valid? [True, True] Translation: X:55.14, Y:-8.47, Z:-2.68 [[ 9.47128044e-01 3.14078856e-01 6.55968021e-02 5.51430582e+01] [-3.13377002e-01 9.49396662e-01 -2.09959976e-02 -8.46521839e+00] [-6.88717838e-02 -6.70631094e-04 9.97625294e-01 -2.67541783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62863999999999 meters 0.029864315147847865 Centerline is valid? [True, True] Translation: X:55.20, Y:-8.48, Z:-2.68 [[ 9.45952479e-01 3.17674924e-01 6.52422500e-02 5.52032399e+01] [-3.16986698e-01 9.48199265e-01 -2.09185928e-02 -8.47997545e+00] [-6.85079659e-02 -8.92930727e-04 9.97650170e-01 -2.67882878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68863999999999 meters 0.030431865734534304 Centerline is valid? [True, True] Translation: X:55.27, Y:-8.49, Z:-2.68 [[ 9.44690336e-01 3.20690011e-01 6.86883276e-02 5.52651560e+01] [-3.19932424e-01 9.47183523e-01 -2.20594376e-02 -8.49090351e+00] [-7.21346934e-02 -1.13628568e-03 9.97394252e-01 -2.68191684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.748639999999995 meters 0.03062418071324654 Centerline is valid? [True, True] Translation: X:55.33, Y:-8.50, Z:-2.69 [[ 9.43858074e-01 3.23345324e-01 6.76737561e-02 5.53264782e+01] [-3.22614261e-01 9.46280164e-01 -2.17690120e-02 -8.50471816e+00] [-7.10772413e-02 -1.28566106e-03 9.97469986e-01 -2.68505144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80863999999999 meters 0.030780961868447948 Centerline is valid? [True, True] Translation: X:55.39, Y:-8.52, Z:-2.69 [[ 9.43200020e-01 3.25147379e-01 6.82122026e-02 5.53872791e+01] [-3.24406590e-01 9.45662324e-01 -2.19802856e-02 -8.51953795e+00] [-7.16525423e-02 -1.39668226e-03 9.97428675e-01 -2.68758667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86863999999999 meters 0.030872850128549515 Centerline is valid? [True, True] Translation: X:55.45, Y:-8.53, Z:-2.69 [[ 9.43259441e-01 3.24782285e-01 6.91237656e-02 5.54498987e+01] [-3.24017878e-01 9.45787840e-01 -2.23108956e-02 -8.53125709e+00] [-7.26226006e-02 -1.35237295e-03 9.97358576e-01 -2.69002646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.928639999999994 meters 0.030807058658232196 Centerline is valid? [True, True] Translation: X:55.51, Y:-8.54, Z:-2.69 [[ 9.43560613e-01 3.24528888e-01 6.61390294e-02 5.55110192e+01] [-3.23826056e-01 9.45874970e-01 -2.13828447e-02 -8.54359231e+00] [-6.94986033e-02 -1.24153097e-03 9.97581276e-01 -2.69291139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98863999999999 meters 0.03059702781510665 Centerline is valid? [True, True] Translation: X:55.57, Y:-8.55, Z:-2.70 [[ 9.44114745e-01 3.22593177e-01 6.76830184e-02 5.55737614e+01] [-3.21850140e-01 9.46537076e-01 -2.19100738e-02 -8.55308556e+00] [-7.11325266e-02 -1.09816521e-03 9.97466269e-01 -2.69525443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04863999999999 meters 0.030147037915987877 Centerline is valid? [True, True] Translation: X:55.64, Y:-8.57, Z:-2.70 [[ 9.47534986e-01 3.12335291e-01 6.80008566e-02 5.56353785e+01] [-3.11557773e-01 9.49971877e-01 -2.20269579e-02 -8.56599294e+00] [-7.14786977e-02 -3.14882214e-04 9.97442077e-01 -2.69965230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.108639999999994 meters 0.030217215100644627 Centerline is valid? [True, True] Translation: X:55.70, Y:-8.58, Z:-2.70 [[ 9.49617945e-01 3.05924112e-01 6.80896126e-02 5.56961845e+01] [-3.05127124e-01 9.52055883e-01 -2.20688403e-02 -8.58390978e+00] [-7.15765066e-02 1.80979135e-04 9.97435096e-01 -2.70319726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16863999999999 meters 0.029973102846723023 Centerline is valid? [True, True] Translation: X:55.76, Y:-8.60, Z:-2.70 [[ 9.50129254e-01 3.04906902e-01 6.54689339e-02 5.57552481e+01] [-3.04166892e-01 9.52382126e-01 -2.12317734e-02 -8.60278696e+00] [-6.88251567e-02 2.59446876e-04 9.97628704e-01 -2.70331929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22863999999999 meters 0.029910833261864132 Centerline is valid? [True, True] Translation: X:55.81, Y:-8.62, Z:-2.71 [[ 9.49128618e-01 3.08255552e-01 6.42913723e-02 5.58139856e+01] [-3.07548966e-01 9.51303587e-01 -2.08595240e-02 -8.62467106e+00] [-6.75906771e-02 2.56261068e-05 9.97713135e-01 -2.70663813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.288639999999994 meters 0.030016378323076458 Centerline is valid? [True, True] Translation: X:55.87, Y:-8.65, Z:-2.71 [[ 9.48613601e-01 3.09625778e-01 6.53001736e-02 5.58725385e+01] [-3.08899301e-01 9.50858493e-01 -2.11978393e-02 -8.64665634e+00] [-6.86546221e-02 -6.26193034e-05 9.97640486e-01 -2.70973041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34863999999999 meters 0.029868055286862514 Centerline is valid? [True, True] Translation: X:55.93, Y:-8.67, Z:-2.71 [[ 9.48907749e-01 3.08926925e-01 6.43291468e-02 5.59313993e+01] [-3.08219700e-01 9.51085777e-01 -2.08916716e-02 -8.66611628e+00] [-6.76365364e-02 -3.24120339e-06 9.97710027e-01 -2.71237470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40863999999999 meters 0.029772213003527996 Centerline is valid? [True, True] Translation: X:55.99, Y:-8.69, Z:-2.71 [[ 9.50666447e-01 3.04009939e-01 6.17354377e-02 5.59900482e+01] [-3.03347722e-01 9.52668799e-01 -2.00578880e-02 -8.68657701e+00] [-6.49112226e-02 3.41056751e-04 9.97890984e-01 -2.71420740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46863999999999 meters 0.029878401325648778 Centerline is valid? [True, True] Translation: X:56.05, Y:-8.71, Z:-2.72 [[ 9.50622859e-01 3.03572732e-01 6.44963248e-02 5.60487112e+01] [-3.02848242e-01 9.52808186e-01 -2.09643245e-02 -8.70758324e+00] [-6.78168235e-02 3.96567508e-04 9.97697710e-01 -2.71675266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52863999999999 meters 0.02989131197601176 Centerline is valid? [True, True] Translation: X:56.11, Y:-8.73, Z:-2.72 [[ 9.49434747e-01 3.07232490e-01 6.46672844e-02 5.61070461e+01] [-3.06511994e-01 9.51634476e-01 -2.10290600e-02 -8.72828535e+00] [-6.80004278e-02 1.44421926e-04 9.97685282e-01 -2.71966540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58863999999999 meters 0.029944440993487746 Centerline is valid? [True, True] Translation: X:56.17, Y:-8.74, Z:-2.72 [[ 9.46972183e-01 3.14739391e-01 6.46745667e-02 5.61673926e+01] [-3.14035551e-01 9.49178048e-01 -2.10405750e-02 -8.74483708e+00] [-6.80099768e-02 -3.85273959e-04 9.97684567e-01 -2.72392674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64863999999999 meters 0.029971069940726094 Centerline is valid? [True, True] Translation: X:56.23, Y:-8.76, Z:-2.73 [[ 9.46421529e-01 3.16221486e-01 6.55000884e-02 5.62275072e+01] [-3.15502441e-01 9.48685265e-01 -2.13184745e-02 -8.76161901e+00] [-6.88803284e-02 -4.89174539e-04 9.97624810e-01 -2.72524917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70863999999999 meters 0.029785182775029673 Centerline is valid? [True, True] Translation: X:56.29, Y:-8.77, Z:-2.73 [[ 9.48410251e-01 3.09950030e-01 6.67006414e-02 5.62903718e+01] [-3.09188037e-01 9.50752848e-01 -2.17204765e-02 -8.77117266e+00] [-7.01480871e-02 -2.31178354e-05 9.97536588e-01 -2.72755076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76863999999999 meters 0.02974718128526434 Centerline is valid? [True, True] Translation: X:56.35, Y:-8.79, Z:-2.73 [[ 9.49617313e-01 3.06150724e-01 6.70722938e-02 5.63504947e+01] [-3.05369802e-01 9.51983015e-01 -2.18546084e-02 -8.78706438e+00] [-7.05424887e-02 2.71661484e-04 9.97508739e-01 -2.73145557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82863999999999 meters 0.02933542450766262 Centerline is valid? [True, True] Translation: X:56.41, Y:-8.80, Z:-2.73 [[ 9.49245803e-01 3.07652459e-01 6.54398113e-02 5.64102512e+01] [-3.06912064e-01 9.51498785e-01 -2.13318505e-02 -8.80346848e+00] [-6.88286972e-02 1.64901981e-04 9.97628480e-01 -2.73274777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88863999999999 meters 0.029152645810374963 Centerline is valid? [True, True] Translation: X:56.47, Y:-8.82, Z:-2.73 [[ 9.48543226e-01 3.09819816e-01 6.54020678e-02 5.64695682e+01] [-3.09084678e-01 9.50795289e-01 -2.13302644e-02 -8.82349178e+00] [-6.87925165e-02 1.79007653e-05 9.97630989e-01 -2.73473256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94863999999999 meters 0.029130205783784963 Centerline is valid? [True, True] Translation: X:56.53, Y:-8.85, Z:-2.74 [[ 9.48454756e-01 3.10173646e-01 6.50068105e-02 5.65274933e+01] [-3.09447353e-01 9.50679919e-01 -2.12138223e-02 -8.84617332e+00] [-6.83806379e-02 4.16522406e-06 9.97659305e-01 -2.73957924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00863999999999 meters 0.02907277224987195 Centerline is valid? [True, True] Translation: X:56.59, Y:-8.87, Z:-2.74 [[ 9.48240200e-01 3.10593492e-01 6.61226580e-02 5.65861714e+01] [-3.09842375e-01 9.50542836e-01 -2.15875053e-02 -8.86689323e+00] [-6.95573575e-02 -1.74610551e-05 9.97577954e-01 -2.74301549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06863999999999 meters 0.02914096716196759 Centerline is valid? [True, True] Translation: X:56.64, Y:-8.89, Z:-2.74 [[ 9.47329070e-01 3.13210384e-01 6.68347886e-02 5.66443229e+01] [-3.12448805e-01 9.49683744e-01 -2.18295609e-02 -8.88819054e+00] [-7.03091574e-02 -2.02672215e-04 9.97525228e-01 -2.74437513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12863999999999 meters 0.029278372359227527 Centerline is valid? [True, True] Translation: X:56.70, Y:-8.91, Z:-2.75 [[ 9.45853988e-01 3.17477331e-01 6.75897726e-02 5.67030835e+01] [-3.16708605e-01 9.48265721e-01 -2.20857887e-02 -8.90765463e+00] [-7.11048017e-02 -5.16331244e-04 9.97468717e-01 -2.74822189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18863999999999 meters 0.02953735847173248 Centerline is valid? [True, True] Translation: X:56.76, Y:-8.93, Z:-2.75 [[ 9.45153818e-01 3.19424516e-01 6.82073185e-02 5.67623435e+01] [-3.18646022e-01 9.47611494e-01 -2.22972903e-02 -8.92578898e+00] [-7.17563401e-02 -6.59621619e-04 9.97421973e-01 -2.75180080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24863999999999 meters 0.02947404706478367 Centerline is valid? [True, True] Translation: X:56.82, Y:-8.94, Z:-2.75 [[ 9.44593517e-01 3.21281307e-01 6.72414305e-02 5.68230957e+01] [-3.20528642e-01 9.46983482e-01 -2.19925972e-02 -8.94174432e+00] [-7.07423344e-02 -7.78739638e-04 9.97494319e-01 -2.75230358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30863999999999 meters 0.029498878125393542 Centerline is valid? [True, True] Translation: X:56.88, Y:-8.96, Z:-2.76 [[ 9.45209702e-01 3.19098439e-01 6.89550965e-02 5.68838233e+01] [-3.18300095e-01 9.47721375e-01 -2.25664779e-02 -8.95631558e+00] [-7.25511467e-02 -6.18359895e-04 9.97364501e-01 -2.75544229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36863999999999 meters 0.029356827821435953 Centerline is valid? [True, True] Translation: X:56.94, Y:-8.97, Z:-2.76 [[ 9.45284273e-01 3.19168133e-01 6.75969375e-02 5.69441232e+01] [-3.18400461e-01 9.47697916e-01 -2.21315681e-02 -8.97237826e+00] [-7.11251681e-02 -6.02272870e-04 9.97467216e-01 -2.75782497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.428639999999994 meters 0.029354168083018044 Centerline is valid? [True, True] Translation: X:57.01, Y:-8.99, Z:-2.76 [[ 9.44964713e-01 3.20262201e-01 6.68865769e-02 5.70052409e+01] [-3.19512664e-01 9.47328705e-01 -2.19084752e-02 -8.98627478e+00] [-7.03800308e-02 -6.68372404e-04 9.97520027e-01 -2.76012797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48863999999999 meters 0.02961552177399447 Centerline is valid? [True, True] Translation: X:57.07, Y:-9.00, Z:-2.76 [[ 9.43602801e-01 3.24241771e-01 6.69404765e-02 5.70675549e+01] [-3.23500335e-01 9.45973762e-01 -2.19356903e-02 -8.99624858e+00] [-7.04364015e-02 -9.56687690e-04 9.97515813e-01 -2.76290646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54863999999999 meters 0.030145786010674636 Centerline is valid? [True, True] Translation: X:57.13, Y:-9.00, Z:-2.76 [[ 9.40982775e-01 3.32111432e-01 6.52181993e-02 5.71297676e+01] [-3.31425985e-01 9.43238969e-01 -2.13790347e-02 -9.00373002e+00] [-6.86165689e-02 -1.49770257e-03 9.97641982e-01 -2.76425691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.608639999999994 meters 0.03021261792649475 Centerline is valid? [True, True] Translation: X:57.19, Y:-9.01, Z:-2.77 [[ 9.40495333e-01 3.33523289e-01 6.50441745e-02 5.71887371e+01] [-3.32845315e-01 9.42740498e-01 -2.13154657e-02 -9.01229561e+00] [-6.84289817e-02 -1.60255269e-03 9.97654703e-01 -2.76597908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66863999999999 meters 0.03042919266726426 Centerline is valid? [True, True] Translation: X:57.25, Y:-9.02, Z:-2.77 [[ 9.41605648e-01 3.30104389e-01 6.64070403e-02 5.72484388e+01] [-3.29391511e-01 9.43943374e-01 -2.17287756e-02 -9.01913020e+00] [-6.98572499e-02 -1.41397756e-03 9.97555996e-01 -2.77074680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72863999999999 meters 0.030233351990268546 Centerline is valid? [True, True] Translation: X:57.31, Y:-9.03, Z:-2.77 [[ 9.42431126e-01 3.27818190e-01 6.60212632e-02 5.73077862e+01] [-3.27110238e-01 9.44739978e-01 -2.15700154e-02 -9.02774230e+00] [-6.94439702e-02 -1.26797717e-03 9.97585048e-01 -2.77292455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.788639999999994 meters 0.03066063213544902 Centerline is valid? [True, True] Translation: X:57.37, Y:-9.03, Z:-2.78 [[ 9.42888490e-01 3.26078984e-01 6.80719545e-02 5.73674911e+01] [-3.25324242e-01 9.45341757e-01 -2.22058608e-02 -9.03329373e+00] [-7.15921256e-02 -1.20780648e-03 9.97433260e-01 -2.77610458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84863999999999 meters 0.030739438021370632 Centerline is valid? [True, True] Translation: X:57.43, Y:-9.04, Z:-2.78 [[ 9.42599991e-01 3.26801538e-01 6.86003681e-02 5.74266381e+01] [-3.26039001e-01 9.45092094e-01 -2.23495977e-02 -9.03957234e+00] [-7.21375484e-02 -1.29966493e-03 9.97393846e-01 -2.77862204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90863999999999 meters 0.03052101470805801 Centerline is valid? [True, True] Translation: X:57.48, Y:-9.05, Z:-2.78 [[ 9.44736810e-01 3.20489730e-01 6.89832734e-02 5.74844647e+01] [-3.19703529e-01 9.47251614e-01 -2.24506896e-02 -9.05073613e+00] [-7.25397326e-02 -8.44203025e-04 9.97365166e-01 -2.78385156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96863999999999 meters 0.03038678525710142 Centerline is valid? [True, True] Translation: X:57.54, Y:-9.06, Z:-2.79 [[ 9.47042199e-01 3.13188113e-01 7.08821451e-02 5.75410803e+01] [-3.12340304e-01 9.49691054e-01 -2.30311982e-02 -9.06295276e+00] [-7.45292366e-02 -3.27834179e-04 9.97218775e-01 -2.78807771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02863999999999 meters 0.030135605474774934 Centerline is valid? [True, True] Translation: X:57.60, Y:-9.08, Z:-2.79 [[ 9.49666254e-01 3.05638277e-01 6.86967959e-02 5.75981540e+01] [-3.04824841e-01 9.52147674e-01 -2.22850275e-02 -9.07591333e+00] [-7.22206519e-02 2.22848684e-04 9.97388654e-01 -2.78949638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08863999999999 meters 0.030258576659005543 Centerline is valid? [True, True] Translation: X:57.65, Y:-9.09, Z:-2.79 [[ 9.51571547e-01 2.99927096e-01 6.74931750e-02 5.76538851e+01] [-2.99129990e-01 9.53961929e-01 -2.18606405e-02 -9.09043504e+00] [-7.09425178e-02 6.12730704e-04 9.97480217e-01 -2.79065627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14863999999999 meters 0.03021332695308544 Centerline is valid? [True, True] Translation: X:57.71, Y:-9.11, Z:-2.79 [[ 9.51941250e-01 2.98713548e-01 6.76614495e-02 5.77094414e+01] [-2.97912038e-01 9.54342584e-01 -2.18780708e-02 -9.10731597e+00] [-7.11074787e-02 6.69477744e-04 9.97468435e-01 -2.79224744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20863999999999 meters 0.029729484251806857 Centerline is valid? [True, True] Translation: X:57.77, Y:-9.13, Z:-2.79 [[ 9.52115785e-01 2.98669106e-01 6.53628081e-02 5.77657746e+01] [-2.97923373e-01 9.54356528e-01 -2.11016866e-02 -9.12517712e+00] [-6.86818445e-02 6.18140690e-04 9.97638423e-01 -2.79397743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26863999999999 meters 0.029923296550379883 Centerline is valid? [True, True] Translation: X:57.82, Y:-9.14, Z:-2.80 [[ 9.52508388e-01 2.97571770e-01 6.46437346e-02 5.78205496e+01] [-2.96842010e-01 9.54699224e-01 -2.08377910e-02 -9.14311082e+00] [-6.79160616e-02 6.59194608e-04 9.97690821e-01 -2.79794400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32863999999999 meters 0.029935097124149844 Centerline is valid? [True, True] Translation: X:57.88, Y:-9.16, Z:-2.80 [[ 9.53256522e-01 2.95321570e-01 6.39310109e-02 5.78760707e+01] [-2.94605121e-01 9.55397596e-01 -2.05731885e-02 -9.15917462e+00] [-6.71552405e-02 7.77122882e-04 9.97742236e-01 -2.79904830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38863999999999 meters 0.029601003160509762 Centerline is valid? [True, True] Translation: X:57.93, Y:-9.18, Z:-2.80 [[ 9.52564113e-01 2.97620227e-01 6.35909696e-02 5.79309158e+01] [-2.96918730e-01 9.54684170e-01 -2.04304651e-02 -9.17934796e+00] [-6.67898117e-02 5.79977933e-04 9.97766899e-01 -2.80046802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44863999999999 meters 0.029406565428873436 Centerline is valid? [True, True] Translation: X:57.99, Y:-9.20, Z:-2.80 [[ 9.50324798e-01 3.04432172e-01 6.48369607e-02 5.79861127e+01] [-3.03720905e-01 9.52534014e-01 -2.07981762e-02 -9.19630438e+00] [-6.80910444e-02 7.26821946e-05 9.97679109e-01 -2.80255975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50863999999999 meters 0.029380635766238485 Centerline is valid? [True, True] Translation: X:58.04, Y:-9.22, Z:-2.80 [[ 9.48484843e-01 3.10236230e-01 6.42649554e-02 5.80404019e+01] [-3.09553130e-01 9.50659425e-01 -2.05795420e-02 -9.21586003e+00] [-6.74786051e-02 -3.74034400e-04 9.97720651e-01 -2.80449016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56863999999999 meters 0.029801743091134755 Centerline is valid? [True, True] Translation: X:58.10, Y:-9.23, Z:-2.80 [[ 9.46091826e-01 3.17736168e-01 6.28807098e-02 5.80971906e+01] [-3.17100885e-01 9.48178718e-01 -2.01034125e-02 -9.23246638e+00] [-6.60097321e-02 -9.19854456e-04 9.97818555e-01 -2.80488249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62863999999999 meters 0.03005893955919734 Centerline is valid? [True, True] Translation: X:58.15, Y:-9.25, Z:-2.81 [[ 9.45474142e-01 3.19463917e-01 6.34149237e-02 5.81539712e+01] [-3.18823703e-01 9.47597827e-01 -2.02436163e-02 -9.24604665e+00] [-6.65589488e-02 -1.07836502e-03 9.97781912e-01 -2.80832190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68863999999999 meters 0.029970883650895792 Centerline is valid? [True, True] Translation: X:58.21, Y:-9.26, Z:-2.81 [[ 9.44770768e-01 3.21871142e-01 6.17022121e-02 5.82127672e+01] [-3.21272100e-01 9.46782671e-01 -1.96675391e-02 -9.25602570e+00] [-6.47489985e-02 -1.24188326e-03 9.97900809e-01 -2.81074372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74863999999999 meters 0.03002978750774271 Centerline is valid? [True, True] Translation: X:58.27, Y:-9.26, Z:-2.81 [[ 9.44840113e-01 3.21350763e-01 6.33312515e-02 5.82723613e+01] [-3.20720562e-01 9.46959386e-01 -2.01554378e-02 -9.26337497e+00] [-6.64490884e-02 -1.26796845e-03 9.97789011e-01 -2.81342930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80863999999999 meters 0.02980001624890502 Centerline is valid? [True, True] Translation: X:58.33, Y:-9.27, Z:-2.81 [[ 9.45230674e-01 3.20357913e-01 6.25282345e-02 5.83326530e+01] [-3.19743425e-01 9.47295804e-01 -1.98696355e-02 -9.26772863e+00] [-6.55981292e-02 -1.21160291e-03 9.97845388e-01 -2.81456658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86863999999999 meters 0.029835008475443646 Centerline is valid? [True, True] Translation: X:58.39, Y:-9.28, Z:-2.82 [[ 9.45490593e-01 3.19361169e-01 6.36865974e-02 5.83905081e+01] [-3.18723614e-01 9.47632321e-01 -2.02049925e-02 -9.27589923e+00] [-6.68041681e-02 -1.19479209e-03 9.97765391e-01 -2.81832498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92863999999999 meters 0.029521289771187433 Centerline is valid? [True, True] Translation: X:58.45, Y:-9.28, Z:-2.82 [[ 9.46743310e-01 3.14891615e-01 6.72337425e-02 5.84501957e+01] [-3.14172457e-01 9.49127146e-01 -2.12915118e-02 -9.27884901e+00] [-7.05178887e-02 -9.65393750e-04 9.97510048e-01 -2.82193798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98863999999999 meters 0.029054595406176265 Centerline is valid? [True, True] Translation: X:58.51, Y:-9.29, Z:-2.83 [[ 9.48854808e-01 3.08695250e-01 6.61951376e-02 5.85084483e+01] [-3.07985490e-01 9.51160850e-01 -2.09278832e-02 -9.28865095e+00] [-6.94225615e-02 -5.29619327e-04 9.97587203e-01 -2.82524552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04863999999999 meters 0.02834277489176283 Centerline is valid? [True, True] Translation: X:58.57, Y:-9.30, Z:-2.83 [[ 9.52055686e-01 2.98461766e-01 6.71605951e-02 5.85664344e+01] [-2.97708025e-01 9.54421573e-01 -2.11988935e-02 -9.29768777e+00] [-7.04265800e-02 1.88278954e-04 9.97516948e-01 -2.82925561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.108639999999994 meters 0.028528634184438646 Centerline is valid? [True, True] Translation: X:58.62, Y:-9.31, Z:-2.83 [[ 9.53314944e-01 2.93691784e-01 7.02549234e-02 5.86222383e+01] [-2.92856176e-01 9.55900020e-01 -2.21452481e-02 -9.31385758e+00] [-7.36605601e-02 5.36807722e-04 9.97283226e-01 -2.83346943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16863999999999 meters 0.02843817458410838 Centerline is valid? [True, True] Translation: X:58.68, Y:-9.34, Z:-2.84 [[ 9.52318655e-01 2.96780210e-01 7.07862046e-02 5.86761730e+01] [-2.95941918e-01 9.54945772e-01 -2.22924437e-02 -9.33643515e+00] [-7.42129430e-02 2.80904865e-04 9.97242378e-01 -2.83655929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22863999999999 meters 0.028078249567761244 Centerline is valid? [True, True] Translation: X:58.73, Y:-9.36, Z:-2.84 [[ 9.51314190e-01 3.00087197e-01 7.03490269e-02 5.87304964e+01] [-2.99270791e-01 9.53911775e-01 -2.21205745e-02 -9.35900720e+00] [-7.37448663e-02 -9.79253382e-06 9.97277140e-01 -2.84031088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.288639999999994 meters 0.027954682341371367 Centerline is valid? [True, True] Translation: X:58.79, Y:-9.38, Z:-2.84 [[ 9.50697359e-01 3.01972156e-01 7.06211607e-02 5.87853048e+01] [-3.01157188e-01 9.53316726e-01 -2.21713103e-02 -9.37678451e+00] [-7.40194521e-02 -1.89864009e-04 9.97256780e-01 -2.84344803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34863999999999 meters 0.027999187234160235 Centerline is valid? [True, True] Translation: X:58.84, Y:-9.39, Z:-2.84 [[ 9.51777346e-01 2.98553308e-01 7.06102384e-02 5.88409776e+01] [-2.97732019e-01 9.54392959e-01 -2.21297050e-02 -9.39168925e+00] [-7.39968111e-02 3.96230670e-05 9.97258477e-01 -2.84486194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40863999999999 meters 0.028194174888881002 Centerline is valid? [True, True] Translation: X:58.90, Y:-9.40, Z:-2.85 [[ 9.53653054e-01 2.92236003e-01 7.17214858e-02 5.88991167e+01] [-2.91373580e-01 9.56346102e-01 -2.24403868e-02 -9.40249219e+00] [-7.51484523e-02 5.02597292e-04 9.97172231e-01 -2.84846152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46863999999999 meters 0.02887607155892349 Centerline is valid? [True, True] Translation: X:58.96, Y:-9.42, Z:-2.85 [[ 9.55306342e-01 2.86461175e-01 7.30053948e-02 5.89557429e+01] [-2.85553307e-01 9.58091388e-01 -2.28079034e-02 -9.41736961e+00] [-7.64794189e-02 9.41602843e-04 9.97070716e-01 -2.85296017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52863999999999 meters 0.029906324759095642 Centerline is valid? [True, True] Translation: X:59.01, Y:-9.43, Z:-2.85 [[ 9.57837031e-01 2.77671742e-01 7.38012548e-02 5.90141148e+01] [-2.76719614e-01 9.60674614e-01 -2.30334877e-02 -9.43121114e+00] [-7.72947406e-02 1.64007276e-03 9.97006937e-01 -2.85484567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58863999999999 meters 0.03191179315162724 Centerline is valid? [True, True] Translation: X:59.07, Y:-9.45, Z:-2.86 [[ 9.60108543e-01 2.69848137e-01 7.33046298e-02 5.90697928e+01] [-2.68886356e-01 9.62900263e-01 -2.28737980e-02 -9.45200683e+00] [-7.67574991e-02 2.25071412e-03 9.97047251e-01 -2.86054195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64863999999999 meters 0.03331013837481256 Centerline is valid? [True, True] Translation: X:59.13, Y:-9.47, Z:-2.86 [[ 9.62259256e-01 2.62302474e-01 7.24881828e-02 5.91261207e+01] [-2.61340978e-01 9.64981594e-01 -2.26145060e-02 -9.47173946e+00] [-7.58816031e-02 2.81688517e-03 9.97112856e-01 -2.86269101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70863999999999 meters 0.034546630681541714 Centerline is valid? [True, True] Translation: X:59.18, Y:-9.49, Z:-2.87 [[ 9.63294557e-01 2.58473718e-01 7.24909206e-02 5.91817053e+01] [-2.57501670e-01 9.66013270e-01 -2.26108958e-02 -9.49382114e+00] [-7.58715136e-02 3.11441974e-03 9.97112739e-01 -2.86641194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76863999999999 meters 0.035712378318567876 Centerline is valid? [True, True] Translation: X:59.24, Y:-9.52, Z:-2.87 [[ 9.64346013e-01 2.54498902e-01 7.25746228e-02 5.92370884e+01] [-2.53513713e-01 9.67066991e-01 -2.26325492e-02 -9.51665173e+00] [-7.59444810e-02 3.42694654e-03 9.97106159e-01 -2.86820200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82863999999999 meters 0.03669524821603876 Centerline is valid? [True, True] Translation: X:59.29, Y:-9.54, Z:-2.87 [[ 9.65096423e-01 2.51455022e-01 7.32070135e-02 5.92918079e+01] [-2.50444170e-01 9.67861934e-01 -2.28252956e-02 -9.54108442e+00] [-7.65938169e-02 3.69434144e-03 9.97055535e-01 -2.87335171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88863999999999 meters 0.037637770722061786 Centerline is valid? [True, True] Translation: X:59.35, Y:-9.57, Z:-2.88 [[ 9.66096253e-01 2.47705815e-01 7.28001370e-02 5.93454195e+01] [-2.46696053e-01 9.68827188e-01 -2.26922136e-02 -9.56739098e+00] [-7.61517453e-02 3.96335603e-03 9.97088363e-01 -2.87508319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94863999999999 meters 0.038016154604918646 Centerline is valid? [True, True] Translation: X:59.40, Y:-9.60, Z:-2.88 [[ 9.66967521e-01 2.44882662e-01 7.07551747e-02 5.93963729e+01] [-2.43922607e-01 9.69544256e-01 -2.20385391e-02 -9.60125621e+00] [-7.39971293e-02 4.05176487e-03 9.97250223e-01 -2.87762713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00863999999999 meters 0.03701128799679561 Centerline is valid? [True, True] Translation: X:59.45, Y:-9.63, Z:-2.88 [[ 9.66965193e-01 2.44702634e-01 7.14068451e-02 5.94474578e+01] [-2.43726668e-01 9.69589623e-01 -2.22097700e-02 -9.63143676e+00] [-7.46701253e-02 4.07232204e-03 9.97199974e-01 -2.87922192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06863999999999 meters 0.03547097107015439 Centerline is valid? [True, True] Translation: X:59.50, Y:-9.67, Z:-2.88 [[ 9.65611717e-01 2.50446622e-01 6.97889726e-02 5.94982218e+01] [-2.49531050e-01 9.68123997e-01 -2.16836535e-02 -9.66871488e+00] [-7.29949769e-02 3.52347436e-03 9.97326084e-01 -2.88250716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12863999999999 meters 0.0323098406624474 Centerline is valid? [True, True] Translation: X:59.55, Y:-9.71, Z:-2.88 [[ 9.62731035e-01 2.61446591e-01 6.92432973e-02 5.95496543e+01] [-2.60573731e-01 9.65214259e-01 -2.15119662e-02 -9.70622469e+00] [-7.24588481e-02 2.66725310e-03 9.97367836e-01 -2.88435473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18863999999999 meters 0.0314795019826141 Centerline is valid? [True, True] Translation: X:59.60, Y:-9.73, Z:-2.89 [[ 9.61406519e-01 2.66104381e-01 6.98996729e-02 5.96045565e+01] [-2.65227157e-01 9.63941384e-01 -2.17155247e-02 -9.73040329e+00] [-7.31577837e-02 2.33815544e-03 9.97317638e-01 -2.88792445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24863999999999 meters 0.029257519144003517 Centerline is valid? [True, True] Translation: X:59.66, Y:-9.76, Z:-2.89 [[ 9.58647371e-01 2.76268383e-01 6.83446968e-02 5.96580196e+01] [-2.75455612e-01 9.61079314e-01 -2.12310602e-02 -9.76484952e+00] [-7.15501450e-02 1.52716977e-03 9.97435835e-01 -2.88947236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30863999999999 meters 0.028524623700549603 Centerline is valid? [True, True] Translation: X:59.71, Y:-9.79, Z:-2.89 [[ 9.56165707e-01 2.84450104e-01 6.95361679e-02 5.97123614e+01] [-2.83630031e-01 9.58690391e-01 -2.16041778e-02 -9.79370152e+00] [-7.28089666e-02 9.34628481e-04 9.97345467e-01 -2.89236521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36863999999999 meters 0.02825086380557854 Centerline is valid? [True, True] Translation: X:59.77, Y:-9.82, Z:-2.89 [[ 9.54873934e-01 2.88734401e-01 6.96291318e-02 5.97692173e+01] [-2.87923372e-01 9.57409042e-01 -2.16346743e-02 -9.81720149e+00] [-7.29102351e-02 6.10532182e-04 9.97338320e-01 -2.89475966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42863999999999 meters 0.02847370113504183 Centerline is valid? [True, True] Translation: X:59.83, Y:-9.84, Z:-2.90 [[ 9.52793415e-01 2.95449164e-01 6.99606975e-02 5.98263770e+01] [-2.94648069e-01 9.55358457e-01 -2.17424533e-02 -9.84111219e+00] [-7.32613336e-02 1.02281949e-04 9.97312773e-01 -2.89775200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48863999999999 meters 0.028731281896396923 Centerline is valid? [True, True] Translation: X:59.88, Y:-9.86, Z:-2.90 [[ 9.50374043e-01 3.03577345e-01 6.80439163e-02 5.98845282e+01] [-3.02840023e-01 9.52806665e-01 -2.11513402e-02 -9.86106675e+00] [-7.12537647e-02 -5.04736445e-04 9.97458092e-01 -2.89931927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54863999999999 meters 0.029124899196467186 Centerline is valid? [True, True] Translation: X:59.94, Y:-9.88, Z:-2.90 [[ 9.48754510e-01 3.08719898e-01 6.75048528e-02 5.99416296e+01] [-3.08007092e-01 9.51152588e-01 -2.09853502e-02 -9.87826021e+00] [-7.06860107e-02 -8.82027742e-04 9.97498226e-01 -2.90207557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60863999999999 meters 0.029325104331501393 Centerline is valid? [True, True] Translation: X:60.00, Y:-9.89, Z:-2.90 [[ 9.48314657e-01 3.10203693e-01 6.68803440e-02 5.99983654e+01] [-3.09508659e-01 9.50669594e-01 -2.07777144e-02 -9.89379064e+00] [-7.00264332e-02 -9.96234469e-04 9.97544639e-01 -2.90377093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66863999999999 meters 0.029458535525317762 Centerline is valid? [True, True] Translation: X:60.06, Y:-9.91, Z:-2.91 [[ 9.48060809e-01 3.10979288e-01 6.68773906e-02 6.00560349e+01] [-3.10288532e-01 9.50416070e-01 -2.07441759e-02 -9.90513914e+00] [-7.00123558e-02 -1.08454712e-03 9.97545535e-01 -2.90684552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72863999999999 meters 0.029633877264114997 Centerline is valid? [True, True] Translation: X:60.11, Y:-9.92, Z:-2.91 [[ 9.47584908e-01 3.11868411e-01 6.94329669e-02 6.01135132e+01] [-3.11128702e-01 9.50124512e-01 -2.15021792e-02 -9.91757334e+00] [-7.26758142e-02 -1.22744831e-03 9.97354861e-01 -2.91053480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.788639999999994 meters 0.029789790514919017 Centerline is valid? [True, True] Translation: X:60.17, Y:-9.93, Z:-2.91 [[ 9.47415940e-01 3.11972468e-01 7.12475756e-02 6.01725105e+01] [-3.11196475e-01 9.50090251e-01 -2.20288135e-02 -9.92665631e+00] [-7.45640104e-02 -1.30154534e-03 9.97215380e-01 -2.91393841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84863999999999 meters 0.029572937789235938 Centerline is valid? [True, True] Translation: X:60.23, Y:-9.94, Z:-2.92 [[ 9.49381681e-01 3.05382664e-01 7.35924742e-02 6.02313262e+01] [-3.04537704e-01 9.52229340e-01 -2.27172066e-02 -9.93523044e+00] [-7.70143542e-02 -8.44383282e-04 9.97029627e-01 -2.91890378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90863999999999 meters 0.029189773546309132 Centerline is valid? [True, True] Translation: X:60.29, Y:-9.95, Z:-2.92 [[ 9.51484441e-01 2.98695187e-01 7.38819547e-02 6.02898235e+01] [-2.97826104e-01 9.54348506e-01 -2.27714790e-02 -9.94623150e+00] [-7.73108642e-02 -3.37266740e-04 9.97006979e-01 -2.92178570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96863999999999 meters 0.029084598900225325 Centerline is valid? [True, True] Translation: X:60.35, Y:-9.96, Z:-2.92 [[ 9.52053150e-01 2.96938018e-01 7.36383924e-02 6.03455990e+01] [-2.96072172e-01 9.54896728e-01 -2.26607115e-02 -9.96030297e+00] [-7.70458867e-02 -2.28076999e-04 9.97027522e-01 -2.92347037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02863999999999 meters 0.029054596815287395 Centerline is valid? [True, True] Translation: X:60.40, Y:-9.97, Z:-2.93 [[ 9.51554569e-01 2.98768828e-01 7.26711113e-02 6.04035111e+01] [-2.97933807e-01 9.54325427e-01 -2.23254413e-02 -9.97190168e+00] [-7.60220353e-02 -4.07305119e-04 9.97106055e-01 -2.92605388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08863999999999 meters 0.02926536424691441 Centerline is valid? [True, True] Translation: X:60.46, Y:-9.99, Z:-2.93 [[ 9.52015503e-01 2.96954927e-01 7.40557430e-02 6.04599857e+01] [-2.96085043e-01 9.54891450e-01 -2.27149100e-02 -9.98844006e+00] [-7.74605002e-02 -3.01851353e-04 9.96995376e-01 -2.93095921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14863999999999 meters 0.0289347772553189 Centerline is valid? [True, True] Translation: X:60.52, Y:-10.00, Z:-2.93 [[ 9.53021116e-01 2.94494468e-01 7.08784989e-02 6.05165402e+01] [-2.93693365e-01 9.55653176e-01 -2.17075026e-02 -1.00038652e+01] [-7.41280020e-02 -1.28836478e-04 9.97248727e-01 -2.93302550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20863999999999 meters 0.029052165758129828 Centerline is valid? [True, True] Translation: X:60.57, Y:-10.02, Z:-2.94 [[ 9.53547388e-01 2.93079176e-01 6.96561186e-02 6.05730444e+01] [-2.92304136e-01 9.56088173e-01 -2.13001968e-02 -1.00202305e+01] [-7.28400353e-02 -5.00245563e-05 9.97343635e-01 -2.93582084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26863999999999 meters 0.029032642788481652 Centerline is valid? [True, True] Translation: X:60.63, Y:-10.03, Z:-2.94 [[ 9.53360760e-01 2.93677898e-01 6.96889709e-02 6.06291959e+01] [-2.92906279e-01 9.55904428e-01 -2.12752532e-02 -1.00343186e+01] [-7.28640675e-02 -1.29345584e-04 9.97341873e-01 -2.93807444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32863999999999 meters 0.029327234558528925 Centerline is valid? [True, True] Translation: X:60.69, Y:-10.05, Z:-2.94 [[ 9.52829691e-01 2.95118395e-01 7.08569921e-02 6.06857542e+01] [-2.94327397e-01 9.55460651e-01 -2.15946284e-02 -1.00482336e+01] [-7.40740398e-02 -2.79150970e-04 9.97252706e-01 -2.94332791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38863999999999 meters 0.029301079850339237 Centerline is valid? [True, True] Translation: X:60.74, Y:-10.06, Z:-2.95 [[ 9.52883790e-01 2.94810221e-01 7.14101940e-02 6.07434330e+01] [-2.94008500e-01 9.55555780e-01 -2.17290719e-02 -1.00605445e+01] [-7.46423761e-02 -2.89923605e-04 9.97210325e-01 -2.94560128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44863999999999 meters 0.029355278575077675 Centerline is valid? [True, True] Translation: X:60.80, Y:-10.07, Z:-2.95 [[ 9.54643580e-01 2.89050399e-01 7.14527902e-02 6.08007907e+01] [-2.88234270e-01 9.57313873e-01 -2.17061041e-02 -1.00706686e+01] [-7.46769053e-02 1.26450125e-04 9.97207774e-01 -2.94796968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50863999999999 meters 0.02970863908260825 Centerline is valid? [True, True] Translation: X:60.86, Y:-10.08, Z:-2.95 [[ 9.56795423e-01 2.81357713e-01 7.33509107e-02 6.08579693e+01] [-2.80477946e-01 9.59602696e-01 -2.22438259e-02 -1.00839308e+01] [-7.66462036e-02 7.09478053e-04 9.97058101e-01 -2.95228409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56863999999999 meters 0.030279466603669966 Centerline is valid? [True, True] Translation: X:60.91, Y:-10.10, Z:-2.95 [[ 9.59457201e-01 2.72605517e-01 7.16108362e-02 6.09140638e+01] [-2.71745126e-01 9.62124953e-01 -2.16831995e-02 -1.00996485e+01] [-7.48095322e-02 1.34420614e-03 9.97196935e-01 -2.95456334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62863999999999 meters 0.030686939577508444 Centerline is valid? [True, True] Translation: X:60.97, Y:-10.12, Z:-2.96 [[ 9.61010201e-01 2.67536947e-01 6.98811588e-02 6.09690415e+01] [-2.66706073e-01 9.63546150e-01 -2.11350068e-02 -1.01190881e+01] [-7.29881167e-02 1.67322771e-03 9.97331407e-01 -2.95695949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68863999999999 meters 0.030705378947407505 Centerline is valid? [True, True] Translation: X:61.02, Y:-10.14, Z:-2.96 [[ 9.62087497e-01 2.64521083e-01 6.64548315e-02 6.10222003e+01] [-2.63763746e-01 9.64378237e-01 -2.00824042e-02 -1.01447913e+01] [-6.93998125e-02 1.79265471e-03 9.97587316e-01 -2.95823566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74863999999999 meters 0.029757170111798716 Centerline is valid? [True, True] Translation: X:61.08, Y:-10.17, Z:-2.96 [[ 9.60680572e-01 2.69806043e-01 6.55556091e-02 6.10758504e+01] [-2.69082924e-01 9.62913715e-01 -1.97877997e-02 -1.01706602e+01] [-6.84632630e-02 1.36985970e-03 9.97652698e-01 -2.96056902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80863999999999 meters 0.028951088872161777 Centerline is valid? [True, True] Translation: X:61.13, Y:-10.20, Z:-2.96 [[ 9.59074709e-01 2.75431108e-01 6.56765319e-02 6.11283826e+01] [-2.74719505e-01 9.61320338e-01 -1.98091442e-02 -1.01994786e+01] [-6.85922404e-02 9.55824824e-04 9.97644321e-01 -2.96444837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86863999999999 meters 0.028703182109039504 Centerline is valid? [True, True] Translation: X:61.18, Y:-10.22, Z:-2.97 [[ 9.58438832e-01 2.77826514e-01 6.48647383e-02 6.11835137e+01] [-2.77139911e-01 9.60630976e-01 -1.95345306e-02 -1.02206062e+01] [-6.77382874e-02 7.46044893e-04 9.97702845e-01 -2.96585646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92863999999999 meters 0.028354849823275567 Centerline is valid? [True, True] Translation: X:61.24, Y:-10.24, Z:-2.97 [[ 9.58103472e-01 2.78808678e-01 6.56007463e-02 6.12376275e+01] [-2.78110887e-01 9.60346445e-01 -1.97241092e-02 -1.02429925e+01] [-6.84986963e-02 6.53455802e-04 9.97650992e-01 -2.96815556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98863999999999 meters 0.02834386663894761 Centerline is valid? [True, True] Translation: X:61.29, Y:-10.26, Z:-2.97 [[ 9.57116782e-01 2.81849884e-01 6.69933465e-02 6.12922500e+01] [-2.81132109e-01 9.59458428e-01 -2.01062855e-02 -1.02627207e+01] [-6.99442851e-02 4.10082504e-04 9.97550815e-01 -2.97052184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04863999999999 meters 0.02807278842444735 Centerline is valid? [True, True] Translation: X:61.35, Y:-10.28, Z:-2.97 [[ 9.56590748e-01 2.83969020e-01 6.55418674e-02 6.13479375e+01] [-2.83289320e-01 9.58833431e-01 -1.96370234e-02 -1.02806892e+01] [-6.84200399e-02 2.17283812e-04 9.97656580e-01 -2.97230494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10863999999999 meters 0.028246242411078138 Centerline is valid? [True, True] Translation: X:61.40, Y:-10.30, Z:-2.98 [[ 9.54785937e-01 2.89846340e-01 6.61280140e-02 6.14032128e+01] [-2.89170650e-01 9.57073165e-01 -1.97810881e-02 -1.02987796e+01] [-6.90228237e-02 -2.35576091e-04 9.97615053e-01 -2.97610816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16863999999999 meters 0.028112231597839512 Centerline is valid? [True, True] Translation: X:61.46, Y:-10.31, Z:-2.98 [[ 9.53698725e-01 2.93475487e-01 6.58094183e-02 6.14595194e+01] [-2.92817064e-01 9.55966455e-01 -1.96546464e-02 -1.03139111e+01] [-6.86797533e-02 -5.25509414e-04 9.97638620e-01 -2.97776920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22863999999999 meters 0.02827705564178469 Centerline is valid? [True, True] Translation: X:61.52, Y:-10.33, Z:-2.98 [[ 9.52922242e-01 2.95754444e-01 6.68469154e-02 6.15163518e+01] [-2.95082472e-01 9.55263724e-01 -1.99386969e-02 -1.03272593e+01] [-6.97533916e-02 -7.25325290e-04 9.97564002e-01 -2.98020966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.288639999999994 meters 0.02819639293956153 Centerline is valid? [True, True] Translation: X:61.57, Y:-10.34, Z:-2.98 [[ 9.53183080e-01 2.94397021e-01 6.90826366e-02 6.15748469e+01] [-2.93677133e-01 9.55682976e-01 -2.05861723e-02 -1.03367049e+01] [-7.20816075e-02 -6.65599532e-04 9.97398516e-01 -2.98417681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34863999999999 meters 0.02794962935458726 Centerline is valid? [True, True] Translation: X:61.63, Y:-10.35, Z:-2.99 [[ 9.56244847e-01 2.84606711e-01 6.77850460e-02 6.16319998e+01] [-2.83891288e-01 9.58644365e-01 -2.01672618e-02 -1.03494320e+01] [-7.07214904e-02 4.12561345e-05 9.97496100e-01 -2.98697886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40863999999999 meters 0.028428044299275257 Centerline is valid? [True, True] Translation: X:61.69, Y:-10.37, Z:-2.99 [[ 9.59944371e-01 2.71768726e-01 6.81803762e-02 6.16886904e+01] [-2.71014788e-01 9.62362111e-01 -2.02522350e-02 -1.03654139e+01] [-7.11181349e-02 9.63128797e-04 9.97467435e-01 -2.98885317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46863999999999 meters 0.029035095896092787 Centerline is valid? [True, True] Translation: X:61.74, Y:-10.39, Z:-2.99 [[ 9.61974505e-01 2.64694938e-01 6.73917013e-02 6.17442907e+01] [-2.63943205e-01 9.64331125e-01 -1.99866333e-02 -1.03851068e+01] [-7.02782758e-02 1.43905000e-03 9.97526387e-01 -2.99270918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52863999999999 meters 0.029465741894125964 Centerline is valid? [True, True] Translation: X:61.80, Y:-10.41, Z:-2.99 [[ 9.62931837e-01 2.60402431e-01 7.03764987e-02 6.17994380e+01] [-2.59572826e-01 9.65498476e-01 -2.08480496e-02 -1.04094050e+01] [-7.33772850e-02 1.80742410e-03 9.97302616e-01 -2.99435558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58863999999999 meters 0.029058015084693856 Centerline is valid? [True, True] Translation: X:61.85, Y:-10.44, Z:-3.00 [[ 9.61822509e-01 2.63850227e-01 7.26671809e-02 6.18539259e+01] [-2.62975557e-01 9.64562345e-01 -2.15253082e-02 -1.04391219e+01] [-7.57714839e-02 1.59383355e-03 9.97123935e-01 -2.99998570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64863999999999 meters 0.028351009404741365 Centerline is valid? [True, True] Translation: X:61.91, Y:-10.46, Z:-3.00 [[ 9.60617273e-01 2.68157944e-01 7.28407287e-02 6.19115084e+01] [-2.67290933e-01 9.63374133e-01 -2.15832510e-02 -1.04641711e+01] [-7.59605941e-02 1.26357740e-03 9.97110020e-01 -3.00318959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70863999999999 meters 0.028175809355070355 Centerline is valid? [True, True] Translation: X:61.97, Y:-10.49, Z:-3.01 [[ 9.60186053e-01 2.70097953e-01 7.13431073e-02 6.19700869e+01] [-2.69270934e-01 9.62832225e-01 -2.11487559e-02 -1.04866569e+01] [-7.44036784e-02 1.09611535e-03 9.97227602e-01 -3.00544128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76863999999999 meters 0.028141054274171694 Centerline is valid? [True, True] Translation: X:62.03, Y:-10.51, Z:-3.01 [[ 9.59315522e-01 2.72466755e-01 7.39972751e-02 6.20284228e+01] [-2.71583210e-01 9.62164722e-01 -2.19455496e-02 -1.05098138e+01] [-7.71770003e-02 9.56288864e-04 9.97016949e-01 -3.00998198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82863999999999 meters 0.027913713081044778 Centerline is valid? [True, True] Translation: X:62.09, Y:-10.53, Z:-3.01 [[ 9.57862243e-01 2.77047210e-01 7.57942397e-02 6.20869554e+01] [-2.76133640e-01 9.60856113e-01 -2.24887446e-02 -1.05321105e+01] [-7.90578024e-02 6.11780038e-04 9.96869846e-01 -3.01264446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88863999999999 meters 0.02764168049014694 Centerline is valid? [True, True] Translation: X:62.15, Y:-10.55, Z:-3.02 [[ 9.56080509e-01 2.83528989e-01 7.43059452e-02 6.21453171e+01] [-2.82669738e-01 9.58963662e-01 -2.20570617e-02 -1.05526824e+01] [-7.75105177e-02 8.42847171e-05 9.96991531e-01 -3.01600781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94863999999999 meters 0.02766938490223532 Centerline is valid? [True, True] Translation: X:62.20, Y:-10.57, Z:-3.02 [[ 9.55130082e-01 2.86527409e-01 7.50237970e-02 6.22044556e+01] [-2.85659865e-01 9.58072034e-01 -2.22804826e-02 -1.05727923e+01] [-7.82621707e-02 -1.50528541e-04 9.96932801e-01 -3.01962721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00863999999999 meters 0.027679829505872753 Centerline is valid? [True, True] Translation: X:62.26, Y:-10.59, Z:-3.02 [[ 9.55488265e-01 2.85826254e-01 7.31131230e-02 6.22643770e+01] [-2.84999583e-01 9.58281455e-01 -2.17230642e-02 -1.05899469e+01] [-7.62719719e-02 -8.10766293e-05 9.97087047e-01 -3.02317718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06863999999999 meters 0.027505865165404774 Centerline is valid? [True, True] Translation: X:62.32, Y:-10.61, Z:-3.03 [[ 9.56638142e-01 2.82357763e-01 7.15371203e-02 6.23222572e+01] [-2.81555971e-01 9.59309154e-01 -2.12645736e-02 -1.06131153e+01] [-7.46304318e-02 2.00798846e-04 9.97211241e-01 -3.02707423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12863999999999 meters 0.027819634935204767 Centerline is valid? [True, True] Translation: X:62.38, Y:-10.63, Z:-3.03 [[ 9.57299786e-01 2.80236313e-01 7.10262557e-02 6.23806855e+01] [-2.79439396e-01 9.59930971e-01 -2.11223637e-02 -1.06336591e+01] [-7.40995560e-02 3.72900276e-04 9.97250779e-01 -3.02914716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18863999999999 meters 0.028086826200324325 Centerline is valid? [True, True] Translation: X:62.44, Y:-10.66, Z:-3.03 [[ 9.57957974e-01 2.77612619e-01 7.24413758e-02 6.24380263e+01] [-2.76775327e-01 9.60692915e-01 -2.15532234e-02 -1.06592486e+01] [-7.55773633e-02 5.97096819e-04 9.97139762e-01 -3.03383042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24863999999999 meters 0.028397135221724108 Centerline is valid? [True, True] Translation: X:62.50, Y:-10.68, Z:-3.04 [[ 9.58700555e-01 2.75133297e-01 7.20757585e-02 6.24962682e+01] [-2.74296713e-01 9.61405758e-01 -2.14541724e-02 -1.06828200e+01] [-7.51968065e-02 7.97983345e-04 9.97168393e-01 -3.03715097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30863999999999 meters 0.02892190351757995 Centerline is valid? [True, True] Translation: X:62.55, Y:-10.71, Z:-3.04 [[ 9.59838068e-01 2.71052537e-01 7.23975530e-02 6.25524041e+01] [-2.70196109e-01 9.62563889e-01 -2.15597458e-02 -1.07108188e+01] [-7.55310940e-02 1.13232765e-03 9.97142804e-01 -3.04108551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36863999999999 meters 0.029480507642270965 Centerline is valid? [True, True] Translation: X:62.61, Y:-10.74, Z:-3.04 [[ 9.60266546e-01 2.69346157e-01 7.30808322e-02 6.26086650e+01] [-2.68467766e-01 9.63042568e-01 -2.17731447e-02 -1.07384937e+01] [-7.62444652e-02 1.28817467e-03 9.97088322e-01 -3.04371487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42863999999999 meters 0.029305851034119253 Centerline is valid? [True, True] Translation: X:62.66, Y:-10.77, Z:-3.05 [[ 9.58723273e-01 2.74494968e-01 7.41768076e-02 6.26635022e+01] [-2.73603834e-01 9.61588104e-01 -2.21192129e-02 -1.07708340e+01] [-7.73991485e-02 9.11145237e-04 9.96999770e-01 -3.04911285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48863999999999 meters 0.029029875821075194 Centerline is valid? [True, True] Translation: X:62.72, Y:-10.79, Z:-3.05 [[ 9.57461577e-01 2.79290465e-01 7.25545675e-02 6.27217614e+01] [-2.78449110e-01 9.60206509e-01 -2.16691805e-02 -1.07931986e+01] [-7.57193635e-02 5.44652912e-04 9.97129019e-01 -3.05020489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54863999999999 meters 0.029276275565924093 Centerline is valid? [True, True] Translation: X:62.78, Y:-10.82, Z:-3.05 [[ 9.56457318e-01 2.82580817e-01 7.30580623e-02 6.27809525e+01] [-2.81734461e-01 9.59243440e-01 -2.18567030e-02 -1.08156575e+01] [-7.62567520e-02 3.22029669e-04 9.97088163e-01 -3.05486932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60863999999999 meters 0.029141251906992436 Centerline is valid? [True, True] Translation: X:62.84, Y:-10.84, Z:-3.06 [[ 9.56162846e-01 2.83655577e-01 7.27469969e-02 6.28400777e+01] [-2.82816481e-01 9.58926191e-01 -2.18036475e-02 -1.08382621e+01] [-7.59437268e-02 2.73787993e-04 9.97112068e-01 -3.05792225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66863999999999 meters 0.029309044193830507 Centerline is valid? [True, True] Translation: X:62.90, Y:-10.86, Z:-3.06 [[ 9.56672255e-01 2.82133645e-01 7.19638995e-02 6.28990294e+01] [-2.81305278e-01 9.59375017e-01 -2.16082690e-02 -1.08613814e+01] [-7.51367870e-02 4.28206714e-04 9.97173144e-01 -3.06073329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72863999999999 meters 0.029148461765208116 Centerline is valid? [True, True] Translation: X:62.96, Y:-10.88, Z:-3.06 [[ 9.56849175e-01 2.82016750e-01 7.00443381e-02 6.29569206e+01] [-2.81229069e-01 9.59409371e-01 -2.10682234e-02 -1.08845139e+01] [-7.31427862e-02 4.60608135e-04 9.97321373e-01 -3.06307432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78863999999999 meters 0.028953998613500627 Centerline is valid? [True, True] Translation: X:63.02, Y:-10.91, Z:-3.07 [[ 9.56347379e-01 2.83794797e-01 6.97151665e-02 6.30157104e+01] [-2.83016662e-01 9.58884970e-01 -2.10043733e-02 -1.09081813e+01] [-7.28097572e-02 3.56923681e-04 9.97345784e-01 -3.06612906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84863999999999 meters 0.028863706418156953 Centerline is valid? [True, True] Translation: X:63.07, Y:-10.93, Z:-3.07 [[ 9.54951086e-01 2.88240895e-01 7.06088444e-02 6.30747104e+01] [-2.87451907e-01 9.57557927e-01 -2.13123809e-02 -1.09294365e+01] [-7.37551584e-02 5.56342865e-05 9.97276378e-01 -3.06689967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90863999999999 meters 0.028999846688623168 Centerline is valid? [True, True] Translation: X:63.13, Y:-10.95, Z:-3.07 [[ 9.55269132e-01 2.87206292e-01 7.05225599e-02 6.31333800e+01] [-2.86413615e-01 9.57868736e-01 -2.13242842e-02 -1.09519112e+01] [-7.36758239e-02 1.71809194e-04 9.97282229e-01 -3.07066024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96863999999999 meters 0.029164934478091577 Centerline is valid? [True, True] Translation: X:63.19, Y:-10.97, Z:-3.07 [[ 9.55355530e-01 2.86611026e-01 7.17630232e-02 6.31924146e+01] [-2.85785564e-01 9.58046999e-01 -2.17384174e-02 -1.09711256e+01] [-7.49828191e-02 2.59081302e-04 9.97184792e-01 -3.07426693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02864 meters 0.029248249939105447 Centerline is valid? [True, True] Translation: X:63.25, Y:-10.99, Z:-3.08 [[ 9.56502437e-01 2.82828523e-01 7.14920537e-02 6.32511880e+01] [-2.81995986e-01 9.59170308e-01 -2.16929474e-02 -1.09928316e+01] [-7.47084395e-02 5.88884889e-04 9.97205246e-01 -3.07807613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08863999999998 meters 0.029178296871438397 Centerline is valid? [True, True] Translation: X:63.31, Y:-11.02, Z:-3.08 [[ 9.57181406e-01 2.80763979e-01 7.05361144e-02 6.33102944e+01] [-2.79945105e-01 9.59776528e-01 -2.14418953e-02 -1.10161099e+01] [-7.37190188e-02 7.77543597e-04 9.97278748e-01 -3.07894972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14863999999999 meters 0.029466179307055293 Centerline is valid? [True, True] Translation: X:63.37, Y:-11.04, Z:-3.08 [[ 9.56555176e-01 2.82569520e-01 7.18098994e-02 6.33687087e+01] [-2.81723364e-01 9.59246580e-01 -2.18619391e-02 -1.10355494e+01] [-7.50609180e-02 6.81624555e-04 9.97178717e-01 -3.08377519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20863999999999 meters 0.029131695750250673 Centerline is valid? [True, True] Translation: X:63.43, Y:-11.06, Z:-3.09 [[ 9.55187051e-01 2.86622098e-01 7.39288220e-02 6.34273244e+01] [-2.85735254e-01 9.58043639e-01 -2.25333374e-02 -1.10557430e+01] [-7.72855901e-02 3.99481329e-04 9.97008916e-01 -3.08545933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26863999999999 meters 0.028972296628162458 Centerline is valid? [True, True] Translation: X:63.49, Y:-11.07, Z:-3.09 [[ 9.53954931e-01 2.91618536e-01 7.02041178e-02 6.34878769e+01] [-2.90829989e-01 9.56534698e-01 -2.14310302e-02 -1.10702126e+01] [-7.34023602e-02 2.67741694e-05 9.97302408e-01 -3.08673747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32864 meters 0.029029389542997757 Centerline is valid? [True, True] Translation: X:63.55, Y:-11.08, Z:-3.09 [[ 9.54241235e-01 2.90989998e-01 6.89092588e-02 6.35488844e+01] [-2.90226232e-01 9.56726089e-01 -2.10695149e-02 -1.10839728e+01] [-7.20583038e-02 1.06125349e-04 9.97400416e-01 -3.08997755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38864 meters 0.029030085221440998 Centerline is valid? [True, True] Translation: X:63.61, Y:-11.10, Z:-3.09 [[ 9.54871291e-01 2.89172044e-01 6.78258493e-02 6.36103278e+01] [-2.88425176e-01 9.57277105e-01 -2.07716822e-02 -1.10963063e+01] [-7.09347225e-02 2.71600441e-04 9.97480923e-01 -3.09176376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44863999999998 meters 0.028941693748096107 Centerline is valid? [True, True] Translation: X:63.67, Y:-11.11, Z:-3.09 [[ 9.56206289e-01 2.84429098e-01 6.90624502e-02 6.36702880e+01] [-2.83639848e-01 9.58696846e-01 -2.11847699e-02 -1.11134196e+01] [-7.22355181e-02 6.68147250e-04 9.97387379e-01 -3.09493373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50863999999999 meters 0.02941317236914142 Centerline is valid? [True, True] Translation: X:63.73, Y:-11.13, Z:-3.10 [[ 9.56990214e-01 2.81594794e-01 6.98147724e-02 6.37301198e+01] [-2.80778205e-01 9.59532968e-01 -2.14495294e-02 -1.11290048e+01] [-7.30296516e-02 9.24523284e-04 9.97329341e-01 -3.09856712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56863999999999 meters 0.029541569950751072 Centerline is valid? [True, True] Translation: X:63.79, Y:-11.15, Z:-3.10 [[ 9.57547063e-01 2.79282803e-01 7.14474542e-02 6.37891261e+01] [-2.78418475e-01 9.60208191e-01 -2.19859713e-02 -1.11495926e+01] [-7.47447345e-02 1.16031101e-03 9.97202025e-01 -3.10075423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62863999999999 meters 0.029861446298145446 Centerline is valid? [True, True] Translation: X:63.85, Y:-11.17, Z:-3.10 [[ 9.58465671e-01 2.76196476e-01 7.11271031e-02 6.38482630e+01] [-2.75328882e-01 9.61100135e-01 -2.19211647e-02 -1.11688176e+01] [-7.44148168e-02 1.42733812e-03 9.97226352e-01 -3.10314795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68863999999999 meters 0.030335365271639797 Centerline is valid? [True, True] Translation: X:63.91, Y:-11.19, Z:-3.11 [[ 9.59472591e-01 2.72752730e-01 7.08399327e-02 6.39064863e+01] [-2.71880278e-01 9.62082632e-01 -2.18660538e-02 -1.11908279e+01] [-7.41178948e-02 1.71989865e-03 9.97248003e-01 -3.10603196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74864 meters 0.030559007683501192 Centerline is valid? [True, True] Translation: X:63.96, Y:-11.22, Z:-3.11 [[ 9.60310261e-01 2.70195563e-01 6.92716468e-02 6.39643048e+01] [-2.69352390e-01 9.62803576e-01 -2.14141066e-02 -1.12150375e+01] [-7.24809859e-02 1.90570262e-03 9.97367974e-01 -3.10820975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80864 meters 0.030522409297372356 Centerline is valid? [True, True] Translation: X:64.02, Y:-11.24, Z:-3.11 [[ 9.60194646e-01 2.70911536e-01 6.80674786e-02 6.40202840e+01] [-2.70097008e-01 9.62602471e-01 -2.10734047e-02 -1.12436239e+01] [-7.12309516e-02 1.84974809e-03 9.97458134e-01 -3.11270053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86863999999998 meters 0.029838245799465233 Centerline is valid? [True, True] Translation: X:64.08, Y:-11.27, Z:-3.12 [[ 9.59014237e-01 2.74940735e-01 6.85513359e-02 6.40770032e+01] [-2.74122500e-01 9.61459856e-01 -2.12555906e-02 -1.12696796e+01] [-7.17533853e-02 1.59295046e-03 9.97421132e-01 -3.11610691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92863999999999 meters 0.029276795448252544 Centerline is valid? [True, True] Translation: X:64.13, Y:-11.30, Z:-3.12 [[ 9.56658470e-01 2.82356212e-01 7.12709013e-02 6.41316657e+01] [-2.81489571e-01 9.59308987e-01 -2.21334300e-02 -1.13026425e+01] [-7.46203276e-02 1.11211785e-03 9.97211397e-01 -3.11949812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98863999999999 meters 0.028728861398870546 Centerline is valid? [True, True] Translation: X:64.19, Y:-11.33, Z:-3.12 [[ 9.55435814e-01 2.87247810e-01 6.80521926e-02 6.41873933e+01] [-2.86467873e-01 9.57856026e-01 -2.11658213e-02 -1.13322198e+01] [-7.12640385e-02 7.27816887e-04 9.97457221e-01 -3.12240367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04863999999999 meters 0.02861059485165162 Centerline is valid? [True, True] Translation: X:64.25, Y:-11.36, Z:-3.12 [[ 9.54008787e-01 2.91508790e-01 6.99275341e-02 6.42458820e+01] [-2.90693927e-01 9.56568041e-01 -2.17858586e-02 -1.13577199e+01] [-7.32412135e-02 4.56391045e-04 9.97314151e-01 -3.12499634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10864 meters 0.028468205308818995 Centerline is valid? [True, True] Translation: X:64.30, Y:-11.38, Z:-3.13 [[ 9.51431986e-01 3.00242038e-01 6.80580199e-02 6.43040782e+01] [-2.99489851e-01 9.53863034e-01 -2.12400809e-02 -1.13796471e+01] [-7.12951946e-02 -1.74193885e-04 9.97455245e-01 -3.12834687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16864 meters 0.02890459156973302 Centerline is valid? [True, True] Translation: X:64.36, Y:-11.40, Z:-3.13 [[ 9.47489491e-01 3.12337614e-01 6.86212786e-02 6.43617567e+01] [-3.11601965e-01 9.49970576e-01 -2.14504357e-02 -1.14029387e+01] [-7.18879735e-02 -1.05846287e-03 9.97412151e-01 -3.13098149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22863999999998 meters 0.030129812975745122 Centerline is valid? [True, True] Translation: X:64.42, Y:-11.42, Z:-3.13 [[ 9.43632447e-01 3.23578658e-01 6.96753670e-02 6.44213335e+01] [-3.22848913e-01 9.46199327e-01 -2.18039554e-02 -1.14162892e+01] [-7.29820800e-02 -1.91969672e-03 9.97331405e-01 -3.13492965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28863999999999 meters 0.030736881451753403 Centerline is valid? [True, True] Translation: X:64.48, Y:-11.43, Z:-3.14 [[ 9.41752515e-01 3.29001257e-01 6.97163766e-02 6.44809435e+01] [-3.28284891e-01 9.44326600e-01 -2.18243871e-02 -1.14323815e+01] [-7.30152797e-02 -2.33366163e-03 9.97328092e-01 -3.13718994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34863999999999 meters 0.031667816634186406 Centerline is valid? [True, True] Translation: X:64.54, Y:-11.44, Z:-3.14 [[ 9.39759406e-01 3.34300178e-01 7.13838202e-02 6.45432115e+01] [-3.33563309e-01 9.42462498e-01 -2.23597472e-02 -1.14389481e+01] [-7.47514410e-02 -2.79824047e-03 9.97198271e-01 -3.14108372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40863999999999 meters 0.03177969286462348 Centerline is valid? [True, True] Translation: X:64.61, Y:-11.45, Z:-3.14 [[ 9.39402314e-01 3.35136338e-01 7.21590429e-02 6.46059883e+01] [-3.34384567e-01 9.42165239e-01 -2.26190898e-02 -1.14466246e+01] [-7.55662208e-02 -2.88044500e-03 9.97136625e-01 -3.14426352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46864 meters 0.031040966332587554 Centerline is valid? [True, True] Translation: X:64.67, Y:-11.45, Z:-3.15 [[ 9.40391197e-01 3.31931879e-01 7.40650035e-02 6.46700453e+01] [-3.31126990e-01 9.43299617e-01 -2.32540040e-02 -1.14512931e+01] [-7.75842347e-02 -2.65706104e-03 9.96982260e-01 -3.14703387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52864 meters 0.030778223984110505 Centerline is valid? [True, True] Translation: X:64.73, Y:-11.46, Z:-3.15 [[ 9.41671412e-01 3.28776820e-01 7.18383922e-02 6.47306407e+01] [-3.28008602e-01 9.44404844e-01 -2.25798126e-02 -1.14642196e+01] [-7.52682445e-02 -2.30084657e-03 9.97160668e-01 -3.15009675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58863999999998 meters 0.030366967702381866 Centerline is valid? [True, True] Translation: X:64.79, Y:-11.48, Z:-3.15 [[ 9.43380576e-01 3.23867761e-01 7.17130602e-02 6.47924107e+01] [-3.23086678e-01 9.46100475e-01 -2.25585924e-02 -1.14751128e+01] [-7.51537611e-02 -1.88819647e-03 9.97170169e-01 -3.15360203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64863999999999 meters 0.029754826882736587 Centerline is valid? [True, True] Translation: X:64.85, Y:-11.49, Z:-3.16 [[ 9.45234089e-01 3.18137967e-01 7.29434759e-02 6.48523840e+01] [-3.17309904e-01 9.48043360e-01 -2.29828563e-02 -1.14903654e+01] [-7.64652972e-02 -1.42150803e-03 9.97071230e-01 -3.15796456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70863999999999 meters 0.029359851465897785 Centerline is valid? [True, True] Translation: X:64.91, Y:-11.51, Z:-3.16 [[ 9.47591306e-01 3.11469266e-01 7.11169060e-02 6.49111419e+01] [-3.10661528e-01 9.50255859e-01 -2.24325265e-02 -1.15087851e+01] [-7.45662992e-02 -8.36419554e-04 9.97215708e-01 -3.16197975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76863999999999 meters 0.029217493404656278 Centerline is valid? [True, True] Translation: X:64.97, Y:-11.53, Z:-3.17 [[ 9.50410952e-01 3.02732270e-01 7.12193466e-02 6.49688223e+01] [-3.01896282e-01 9.53075629e-01 -2.24828845e-02 -1.15321139e+01] [-7.46837182e-02 -1.32876302e-04 9.97207263e-01 -3.16516509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82864 meters 0.029134948943287994 Centerline is valid? [True, True] Translation: X:65.03, Y:-11.55, Z:-3.17 [[ 9.50472035e-01 3.02839611e-01 6.99362692e-02 6.50274353e+01] [-3.02031238e-01 9.53041531e-01 -2.21127197e-02 -1.15542912e+01] [-7.33487764e-02 -1.05416271e-04 9.97306345e-01 -3.16856482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88864 meters 0.02894175987523059 Centerline is valid? [True, True] Translation: X:65.09, Y:-11.58, Z:-3.17 [[ 9.50401341e-01 3.03351180e-01 6.86684254e-02 6.50857794e+01] [-3.02570785e-01 9.52878822e-01 -2.17455849e-02 -1.15757509e+01] [-7.20292372e-02 -1.10026334e-04 9.97402515e-01 -3.17155105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94863999999998 meters 0.029086770737630434 Centerline is valid? [True, True] Translation: X:65.14, Y:-11.60, Z:-3.17 [[ 9.50735677e-01 3.02264057e-01 6.88339407e-02 6.51442259e+01] [-3.01474433e-01 9.53224234e-01 -2.18340728e-02 -1.15993931e+01] [-7.22138358e-02 6.75869413e-06 9.97389173e-01 -3.17434281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00863999999999 meters 0.029011793651671242 Centerline is valid? [True, True] Translation: X:65.20, Y:-11.62, Z:-3.18 [[ 9.51332168e-01 3.00181282e-01 6.97015318e-02 6.52023312e+01] [-2.99363190e-01 9.53882150e-01 -2.21477818e-02 -1.16220041e+01] [-7.31353966e-02 2.03824339e-04 9.97322000e-01 -3.17637070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06863999999999 meters 0.028935054342549504 Centerline is valid? [True, True] Translation: X:65.26, Y:-11.65, Z:-3.18 [[ 9.52053473e-01 2.98720551e-01 6.60319316e-02 6.52592363e+01] [-2.97980717e-01 9.54340570e-01 -2.10135422e-02 -1.16470569e+01] [-6.92941281e-02 3.29773521e-04 9.97596218e-01 -3.17897608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12863999999999 meters 0.02888402212435704 Centerline is valid? [True, True] Translation: X:65.32, Y:-11.67, Z:-3.18 [[ 9.51142860e-01 3.01484129e-01 6.65926468e-02 6.53174424e+01] [-3.00735951e-01 9.53471181e-01 -2.12272026e-02 -1.16707831e+01] [-6.98938343e-02 1.63299181e-04 9.97554422e-01 -3.18082551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18863999999999 meters 0.029128730157494405 Centerline is valid? [True, True] Translation: X:65.38, Y:-11.69, Z:-3.19 [[ 9.50315642e-01 3.03630940e-01 6.86180184e-02 6.53751544e+01] [-3.02839291e-01 9.52789720e-01 -2.19114814e-02 -1.16929498e+01] [-7.20315462e-02 4.25915151e-05 9.97402353e-01 -3.18564017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24864 meters 0.02904970701210174 Centerline is valid? [True, True] Translation: X:65.43, Y:-11.72, Z:-3.19 [[ 9.50073254e-01 3.04550017e-01 6.78977143e-02 6.54338012e+01] [-3.03774705e-01 9.52496345e-01 -2.17173074e-02 -1.17162610e+01] [-7.12863311e-02 7.42477396e-06 9.97455893e-01 -3.18800349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30863999999998 meters 0.028873046227695473 Centerline is valid? [True, True] Translation: X:65.49, Y:-11.74, Z:-3.19 [[ 9.50415861e-01 3.03861881e-01 6.61637920e-02 6.54926162e+01] [-3.03121989e-01 9.52716091e-01 -2.11922191e-02 -1.17381797e+01] [-6.94748168e-02 8.57209414e-05 9.97583702e-01 -3.18886712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36863999999998 meters 0.028822365157835438 Centerline is valid? [True, True] Translation: X:65.55, Y:-11.76, Z:-3.19 [[ 9.50863089e-01 3.02249439e-01 6.71167826e-02 6.55503983e+01] [-3.01482675e-01 9.53228842e-01 -2.15167596e-02 -1.17605588e+01] [-7.04810815e-02 2.24945354e-04 9.97513091e-01 -3.19334033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42863999999999 meters 0.02869265099697053 Centerline is valid? [True, True] Translation: X:65.61, Y:-11.79, Z:-3.20 [[ 9.50904585e-01 3.01875900e-01 6.82012530e-02 6.56060537e+01] [-3.01080657e-01 9.53347186e-01 -2.18993428e-02 -1.17891497e+01] [-7.16303564e-02 2.90107407e-04 9.97431205e-01 -3.19626837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48863999999999 meters 0.028638103367729494 Centerline is valid? [True, True] Translation: X:65.66, Y:-11.81, Z:-3.20 [[ 9.50762425e-01 3.01894663e-01 7.00744188e-02 6.56634932e+01] [-3.01052474e-01 9.53341231e-01 -2.25367391e-02 -1.18130655e+01] [-7.36085540e-02 3.31007523e-04 9.97287156e-01 -3.19911838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54863999999999 meters 0.028043721031287796 Centerline is valid? [True, True] Translation: X:65.72, Y:-11.84, Z:-3.20 [[ 9.49648456e-01 3.05607965e-01 6.90766418e-02 6.57208888e+01] [-3.04797469e-01 9.52157428e-01 -2.22426638e-02 -1.18391989e+01] [-7.25693728e-02 6.83257093e-05 9.97363365e-01 -3.20111440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60864 meters 0.028104680130555233 Centerline is valid? [True, True] Translation: X:65.78, Y:-11.86, Z:-3.20 [[ 9.47822567e-01 3.11292671e-01 6.87695787e-02 6.57791413e+01] [-3.10502705e-01 9.50314030e-01 -2.21656373e-02 -1.18645767e+01] [-7.22526959e-02 -3.44048996e-04 9.97386299e-01 -3.20293821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66864 meters 0.028152337896799204 Centerline is valid? [True, True] Translation: X:65.84, Y:-11.88, Z:-3.21 [[ 9.46887578e-01 3.14200602e-01 6.84243868e-02 6.58382106e+01] [-3.13423244e-01 9.49356469e-01 -2.20944314e-02 -1.18849298e+01] [-7.19012179e-02 -5.24850647e-04 9.97411620e-01 -3.20789711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72863999999998 meters 0.02802120726616586 Centerline is valid? [True, True] Translation: X:65.90, Y:-11.90, Z:-3.21 [[ 9.47105581e-01 3.13540416e-01 6.84355564e-02 6.58976890e+01] [-3.12758185e-01 9.49574756e-01 -2.21382158e-02 -1.19045749e+01] [-7.19259021e-02 -4.36552718e-04 9.97409883e-01 -3.21088495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78863999999999 meters 0.028026686964980736 Centerline is valid? [True, True] Translation: X:65.96, Y:-11.92, Z:-3.21 [[ 9.46536089e-01 3.15258504e-01 6.84215499e-02 6.59581364e+01] [-3.14478175e-01 9.49005688e-01 -2.21738927e-02 -1.19237619e+01] [-7.19229483e-02 -5.28694435e-04 9.97410051e-01 -3.21291330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84863999999999 meters 0.027957625805449554 Centerline is valid? [True, True] Translation: X:66.02, Y:-11.94, Z:-3.22 [[ 9.45509441e-01 3.18515458e-01 6.75262944e-02 6.60200989e+01] [-3.17760930e-01 9.47917387e-01 -2.19230325e-02 -1.19383623e+01] [-7.09921733e-02 -7.28783889e-04 9.97476606e-01 -3.21575151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90863999999999 meters 0.028171851055600678 Centerline is valid? [True, True] Translation: X:66.08, Y:-11.95, Z:-3.22 [[ 9.44632883e-01 3.21068818e-01 6.77017736e-02 6.60800116e+01] [-3.20314192e-01 9.47055451e-01 -2.20179672e-02 -1.19546614e+01] [-7.11866165e-02 -8.86943056e-04 9.97462620e-01 -3.21815810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96864 meters 0.028067838124369467 Centerline is valid? [True, True] Translation: X:66.14, Y:-11.97, Z:-3.22 [[ 9.45300990e-01 3.19379940e-01 6.63512754e-02 6.61405505e+01] [-3.18648640e-01 9.47626480e-01 -2.16124437e-02 -1.19687440e+01] [-6.97788065e-02 -7.12479188e-04 9.97562234e-01 -3.22145273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02864 meters 0.028112783203473192 Centerline is valid? [True, True] Translation: X:66.20, Y:-11.99, Z:-3.23 [[ 9.45930902e-01 3.17333071e-01 6.71896550e-02 6.62006201e+01] [-3.16575404e-01 9.48313997e-01 -2.19220575e-02 -1.19863665e+01] [-7.06734841e-02 -5.33840492e-04 9.97499360e-01 -3.22560666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08863999999998 meters 0.028015949122562576 Centerline is valid? [True, True] Translation: X:66.26, Y:-12.00, Z:-3.23 [[ 9.46369366e-01 3.15886574e-01 6.78284310e-02 6.62635807e+01] [-3.15107822e-01 9.48796880e-01 -2.21707349e-02 -1.19975696e+01] [-7.13588412e-02 -3.91564827e-04 9.97450632e-01 -3.22653460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14863999999999 meters 0.028062173137441037 Centerline is valid? [True, True] Translation: X:66.32, Y:-12.01, Z:-3.23 [[ 9.47210856e-01 3.13243311e-01 6.83390208e-02 6.63246128e+01] [-3.12442986e-01 9.49672893e-01 -2.23780376e-02 -1.20139719e+01] [-7.19094861e-02 -1.55327585e-04 9.97411150e-01 -3.23118642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20863999999999 meters 0.02822695684874235 Centerline is valid? [True, True] Translation: X:66.39, Y:-12.03, Z:-3.23 [[ 9.47791498e-01 3.11390503e-01 6.87548621e-02 6.63853133e+01] [-3.10572570e-01 9.50282039e-01 -2.25549237e-02 -1.20324344e+01] [-7.23598996e-02 2.39907497e-05 9.97378586e-01 -3.23456279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26863999999999 meters 0.028279607850660353 Centerline is valid? [True, True] Translation: X:66.44, Y:-12.05, Z:-3.24 [[ 9.48685650e-01 3.08369822e-01 7.00256371e-02 6.64442557e+01] [-3.07510168e-01 9.51266505e-01 -2.30115714e-02 -1.20515483e+01] [-7.37091173e-02 2.97152162e-04 9.97279739e-01 -3.23584364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32864 meters 0.02830006297665883 Centerline is valid? [True, True] Translation: X:66.50, Y:-12.07, Z:-3.24 [[ 9.48659901e-01 3.08776371e-01 6.85678191e-02 6.65027013e+01] [-3.07950758e-01 9.51134621e-01 -2.25668716e-02 -1.20715797e+01] [-7.21853433e-02 2.92774310e-04 9.97391192e-01 -3.23910691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38864 meters 0.02840636414368582 Centerline is valid? [True, True] Translation: X:66.56, Y:-12.10, Z:-3.24 [[ 9.48172203e-01 3.10137900e-01 6.91661466e-02 6.65593783e+01] [-3.09298703e-01 9.50691554e-01 -2.28008878e-02 -1.21007862e+01] [-7.28270909e-02 2.26168548e-04 9.97344556e-01 -3.24308688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44863999999998 meters 0.02831747830533583 Centerline is valid? [True, True] Translation: X:66.62, Y:-12.12, Z:-3.25 [[ 9.48227496e-01 3.09963909e-01 6.91880894e-02 6.66178887e+01] [-3.09120784e-01 9.50748283e-01 -2.28482661e-02 -1.21236602e+01] [-7.28625951e-02 2.77877712e-04 9.97341950e-01 -3.24652317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50863999999999 meters 0.027998280961311017 Centerline is valid? [True, True] Translation: X:66.67, Y:-12.15, Z:-3.25 [[ 9.48175238e-01 3.10526890e-01 6.73555378e-02 6.66740178e+01] [-3.09726686e-01 9.50564559e-01 -2.22800001e-02 -1.21514043e+01] [-7.09443263e-02 2.63536843e-04 9.97480242e-01 -3.24820478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56863999999999 meters 0.02813277400962271 Centerline is valid? [True, True] Translation: X:66.73, Y:-12.18, Z:-3.25 [[ 9.46926408e-01 3.14213117e-01 6.78269432e-02 6.67304787e+01] [-3.13408461e-01 9.49352472e-01 -2.24726568e-02 -1.21804051e+01] [-7.14528798e-02 2.24143267e-05 9.97443976e-01 -3.25209502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62863999999999 meters 0.028438742143801942 Centerline is valid? [True, True] Translation: X:66.79, Y:-12.21, Z:-3.25 [[ 9.44762612e-01 3.20216848e-01 6.98911776e-02 6.67853870e+01] [-3.19375868e-01 9.47344185e-01 -2.31959121e-02 -1.22106619e+01] [-7.36387226e-02 -4.06925039e-04 9.97284901e-01 -3.25460728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68863999999999 meters 0.028854591405724394 Centerline is valid? [True, True] Translation: X:66.84, Y:-12.23, Z:-3.26 [[ 9.43141754e-01 3.24878747e-01 7.02668600e-02 6.68423278e+01] [-3.24039109e-01 9.45755385e-01 -2.33539845e-02 -1.22349969e+01] [-7.40424744e-02 -7.43092755e-04 9.97254812e-01 -3.25639559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74864 meters 0.02925960325634849 Centerline is valid? [True, True] Translation: X:66.90, Y:-12.26, Z:-3.26 [[ 9.39857208e-01 3.34205246e-01 7.05356867e-02 6.69000057e+01] [-3.33383402e-01 9.42499192e-01 -2.34687020e-02 -1.22586965e+01] [-7.43231911e-02 -1.45819844e-03 9.97233141e-01 -3.25776884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80863999999998 meters 0.03004001686613002 Centerline is valid? [True, True] Translation: X:66.96, Y:-12.28, Z:-3.26 [[ 9.37208940e-01 3.41210224e-01 7.22148597e-02 6.69583273e+01] [-3.40368419e-01 9.39984780e-01 -2.40406499e-02 -1.22784758e+01] [-7.60837846e-02 -2.04854559e-03 9.97099324e-01 -3.26074941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86863999999998 meters 0.03109682414193527 Centerline is valid? [True, True] Translation: X:67.02, Y:-12.29, Z:-3.26 [[ 9.34298166e-01 3.48416410e-01 7.54515817e-02 6.70186019e+01] [-3.47519732e-01 9.37335847e-01 -2.51305884e-02 -1.22895701e+01] [-7.94793817e-02 -2.74145078e-03 9.96832740e-01 -3.26423122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92863999999999 meters 0.03106045974957358 Centerline is valid? [True, True] Translation: X:67.08, Y:-12.30, Z:-3.27 [[ 9.34017589e-01 3.49774239e-01 7.25887359e-02 6.70802669e+01] [-3.48947313e-01 9.36830032e-01 -2.41922262e-02 -1.23011619e+01] [-7.64651253e-02 -2.73367958e-03 9.97068509e-01 -3.26664280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98863999999999 meters 0.030494400379891647 Centerline is valid? [True, True] Translation: X:67.14, Y:-12.31, Z:-3.27 [[ 9.35816816e-01 3.45495292e-01 6.98562089e-02 6.71435575e+01] [-3.44715869e-01 9.38417734e-01 -2.33050571e-02 -1.23056269e+01] [-7.36060928e-02 -2.27127936e-03 9.97284806e-01 -3.26850094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04863999999999 meters 0.029771591355221328 Centerline is valid? [True, True] Translation: X:67.21, Y:-12.31, Z:-3.27 [[ 9.38528750e-01 3.38388576e-01 6.82419007e-02 6.72062297e+01] [-3.37625582e-01 9.41004990e-01 -2.27722616e-02 -1.23126901e+01] [-7.19218422e-02 -1.66778926e-03 9.97408877e-01 -3.27072978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10864 meters 0.029428989403165493 Centerline is valid? [True, True] Translation: X:67.27, Y:-12.32, Z:-3.27 [[ 9.39949805e-01 3.34212282e-01 6.92568681e-02 6.72678602e+01] [-3.33413782e-01 9.42496856e-01 -2.31284736e-02 -1.23233608e+01] [-7.30042004e-02 -1.35159007e-03 9.97330717e-01 -3.27334697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16864 meters 0.029287048218672035 Centerline is valid? [True, True] Translation: X:67.33, Y:-12.34, Z:-3.28 [[ 9.41495361e-01 3.29388123e-01 7.13438867e-02 6.73282170e+01] [-3.28524015e-01 9.44194112e-01 -2.38631537e-02 -1.23372300e+01] [-7.52227172e-02 -9.71131564e-04 9.97166285e-01 -3.27710659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22863999999998 meters 0.029100946790115986 Centerline is valid? [True, True] Translation: X:67.39, Y:-12.35, Z:-3.28 [[ 9.43486624e-01 3.24164685e-01 6.89220438e-02 6.73882566e+01] [-3.23341822e-01 9.46000531e-01 -2.30881206e-02 -1.23545338e+01] [-7.26846434e-02 -5.02046266e-04 9.97354847e-01 -3.28018116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28863999999999 meters 0.029209352222261568 Centerline is valid? [True, True] Translation: X:67.45, Y:-12.38, Z:-3.29 [[ 9.45399088e-01 3.18628715e-01 6.85295987e-02 6.74460581e+01] [-3.17798082e-01 9.47879602e-01 -2.29921546e-02 -1.23766625e+01] [-7.22837694e-02 -4.18129894e-05 9.97384106e-01 -3.28517616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34863999999999 meters 0.029508060018586916 Centerline is valid? [True, True] Translation: X:67.50, Y:-12.40, Z:-3.29 [[ 9.46639370e-01 3.14775981e-01 6.92097227e-02 6.75038095e+01] [-3.13915843e-01 9.49165949e-01 -2.32560807e-02 -1.23992908e+01] [-7.30119677e-02 2.89093064e-04 9.97331023e-01 -3.28800520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40863999999999 meters 0.02956827543964036 Centerline is valid? [True, True] Translation: X:67.56, Y:-12.42, Z:-3.29 [[ 9.47071015e-01 3.13726276e-01 6.80611220e-02 6.75615623e+01] [-3.12889322e-01 9.49513384e-01 -2.29042605e-02 -1.24238575e+01] [-7.18106147e-02 3.96362914e-04 9.97418206e-01 -3.29079988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46864 meters 0.029585193757742302 Centerline is valid? [True, True] Translation: X:67.62, Y:-12.45, Z:-3.29 [[ 9.46196363e-01 3.16075403e-01 6.93453863e-02 6.76189233e+01] [-3.15210213e-01 9.48734038e-01 -2.33719362e-02 -1.24468832e+01] [-7.31776225e-02 2.56066995e-04 9.97318891e-01 -3.29400290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52864 meters 0.029376628126111252 Centerline is valid? [True, True] Translation: X:67.68, Y:-12.47, Z:-3.30 [[ 9.44991032e-01 3.19891293e-01 6.82752570e-02 6.76767624e+01] [-3.19060088e-01 9.47454253e-01 -2.30455931e-02 -1.24699356e+01] [-7.20597672e-02 -6.03066726e-06 9.97400316e-01 -3.29599674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58863999999998 meters 0.029387967118684778 Centerline is valid? [True, True] Translation: X:67.74, Y:-12.49, Z:-3.30 [[ 9.43743736e-01 3.23885566e-01 6.66775906e-02 6.77351880e+01] [-3.23100428e-01 9.46096225e-01 -2.25399051e-02 -1.24901307e+01] [-7.03837666e-02 -2.71663760e-04 9.97519950e-01 -3.29924134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64863999999999 meters 0.029556928702621603 Centerline is valid? [True, True] Translation: X:67.79, Y:-12.51, Z:-3.30 [[ 9.43067880e-01 3.25513714e-01 6.82919939e-02 6.77947527e+01] [-3.24691731e-01 9.45537247e-01 -2.31212828e-02 -1.25088743e+01] [-7.20989186e-02 -3.68906631e-04 9.97397418e-01 -3.30254860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70863999999999 meters 0.029480686236867948 Centerline is valid? [True, True] Translation: X:67.86, Y:-12.53, Z:-3.31 [[ 9.44452701e-01 3.21430940e-01 6.84926717e-02 6.78553075e+01] [-3.20590681e-01 9.46933023e-01 -2.32263878e-02 -1.25253840e+01] [-7.23236523e-02 -2.18875219e-05 9.97381215e-01 -3.30612564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76863999999999 meters 0.029226942453678562 Centerline is valid? [True, True] Translation: X:67.91, Y:-12.55, Z:-3.31 [[ 9.45901318e-01 3.17455552e-01 6.70273771e-02 6.79145696e+01] [-3.16638766e-01 9.48273104e-01 -2.27598794e-02 -1.25457024e+01] [-7.07855090e-02 3.05133938e-04 9.97491513e-01 -3.30861422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82864 meters 0.02922328518976749 Centerline is valid? [True, True] Translation: X:67.97, Y:-12.56, Z:-3.31 [[ 9.46976962e-01 3.14104169e-01 6.76254704e-02 6.79740575e+01] [-3.13262824e-01 9.49388348e-01 -2.29818919e-02 -1.25621756e+01] [-7.14215418e-02 5.78776374e-04 9.97446053e-01 -3.31195162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88864 meters 0.029149176317928446 Centerline is valid? [True, True] Translation: X:68.03, Y:-12.58, Z:-3.32 [[ 9.46993823e-01 3.13923888e-01 6.82238385e-02 6.80334290e+01] [-3.13064591e-01 9.49447942e-01 -2.32199805e-02 -1.25831274e+01] [-7.20642896e-02 6.30710019e-04 9.97399790e-01 -3.31502033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94863999999998 meters 0.029087557417910952 Centerline is valid? [True, True] Translation: X:68.09, Y:-12.61, Z:-3.32 [[ 9.46876888e-01 3.14180219e-01 6.86654868e-02 6.80921897e+01] [-3.13307514e-01 9.49363136e-01 -2.34102197e-02 -1.26066503e+01] [-7.25435098e-02 6.53183028e-04 9.97365035e-01 -3.31770848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00863999999999 meters 0.02915651329194314 Centerline is valid? [True, True] Translation: X:68.15, Y:-12.63, Z:-3.32 [[ 9.46681991e-01 3.14778684e-01 6.86118666e-02 6.81512774e+01] [-3.13906029e-01 9.49164877e-01 -2.34316179e-02 -1.26279150e+01] [-7.24997478e-02 6.44612165e-04 9.97368222e-01 -3.32028506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06863999999999 meters 0.028848385783466837 Centerline is valid? [True, True] Translation: X:68.21, Y:-12.65, Z:-3.32 [[ 9.45437892e-01 3.18408572e-01 6.90157439e-02 6.82097741e+01] [-3.17532311e-01 9.47953488e-01 -2.36096570e-02 -1.26517126e+01] [-7.29412324e-02 4.06735673e-04 9.97336158e-01 -3.32221971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12863999999999 meters 0.028850434180284077 Centerline is valid? [True, True] Translation: X:68.27, Y:-12.67, Z:-3.33 [[ 9.44011738e-01 3.22696974e-01 6.86185190e-02 6.82678765e+01] [-3.21839292e-01 9.46502325e-01 -2.35121129e-02 -1.26728132e+01] [-7.25348754e-02 1.11575009e-04 9.97365870e-01 -3.32601581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18863999999999 meters 0.02903334236779634 Centerline is valid? [True, True] Translation: X:68.33, Y:-12.69, Z:-3.33 [[ 9.41643583e-01 3.29627366e-01 6.82140881e-02 6.83278627e+01] [-3.28795238e-01 9.44111038e-01 -2.34102539e-02 -1.26909903e+01] [-7.21183338e-02 -3.84351956e-04 9.97396009e-01 -3.32902737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24864 meters 0.029438324084285844 Centerline is valid? [True, True] Translation: X:68.39, Y:-12.71, Z:-3.33 [[ 9.39163612e-01 3.36049272e-01 7.10112424e-02 6.83877008e+01] [-3.35162607e-01 9.41844001e-01 -2.44111517e-02 -1.27092561e+01] [-7.50848624e-02 -8.74247757e-04 9.97176764e-01 -3.33186198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30863999999998 meters 0.029748234524656827 Centerline is valid? [True, True] Translation: X:68.45, Y:-12.73, Z:-3.34 [[ 9.37742247e-01 3.40058307e-01 7.07094398e-02 6.84476809e+01] [-3.39187816e-01 9.40403643e-01 -2.43436625e-02 -1.27256357e+01] [-7.47736794e-02 -1.15569961e-03 9.97199860e-01 -3.33582379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36863999999998 meters 0.029955166123723932 Centerline is valid? [True, True] Translation: X:68.51, Y:-12.74, Z:-3.34 [[ 9.35289623e-01 3.47309291e-01 6.78938701e-02 6.85100212e+01] [-3.46523399e-01 9.37749214e-01 -2.34082280e-02 -1.27365983e+01] [-7.17973185e-02 -1.63334190e-03 9.97417905e-01 -3.33674399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42863999999999 meters 0.031160281244444487 Centerline is valid? [True, True] Translation: X:68.57, Y:-12.75, Z:-3.34 [[ 9.31558491e-01 3.57056512e-01 6.86252541e-02 6.85712480e+01] [-3.56278106e-01 9.34079736e-01 -2.36845408e-02 -1.27453249e+01] [-7.25581788e-02 -2.38614044e-03 9.97361327e-01 -3.33877589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48863999999999 meters 0.03156420638032985 Centerline is valid? [True, True] Translation: X:68.63, Y:-12.75, Z:-3.34 [[ 9.29486910e-01 3.62802502e-01 6.65464334e-02 6.86347381e+01] [-3.62084903e-01 9.31862017e-01 -2.29718375e-02 -1.27524657e+01] [-7.03463338e-02 -2.74343662e-03 9.97518855e-01 -3.34266011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54863999999999 meters 0.03201776591811731 Centerline is valid? [True, True] Translation: X:68.70, Y:-12.76, Z:-3.35 [[ 9.28190508e-01 3.65917679e-01 6.75768621e-02 6.86966245e+01] [-3.65185000e-01 9.30642341e-01 -2.33398650e-02 -1.27619457e+01] [-7.14303584e-02 -3.01421525e-03 9.97441035e-01 -3.34531386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60864 meters 0.031156333820578093 Centerline is valid? [True, True] Translation: X:68.76, Y:-12.77, Z:-3.35 [[ 9.29958885e-01 3.61294230e-01 6.81392101e-02 6.87606777e+01] [-3.60535817e-01 9.32448051e-01 -2.35490543e-02 -1.27656583e+01] [-7.20444110e-02 -2.66697345e-03 9.97397859e-01 -3.34746559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66863999999998 meters 0.03041011317171794 Centerline is valid? [True, True] Translation: X:68.82, Y:-12.78, Z:-3.35 [[ 9.31778367e-01 3.56848272e-01 6.66962100e-02 6.88223758e+01] [-3.56109686e-01 9.34159611e-01 -2.30589013e-02 -1.27755364e+01] [-7.05334347e-02 -2.26538099e-03 9.97506843e-01 -3.34893846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72863999999998 meters 0.029848775317685424 Centerline is valid? [True, True] Translation: X:68.88, Y:-12.79, Z:-3.35 [[ 9.33039185e-01 3.53237836e-01 6.82708557e-02 6.88847154e+01] [-3.52453710e-01 9.35531347e-01 -2.36110351e-02 -1.27869720e+01] [-7.22098365e-02 -2.03229544e-03 9.97387392e-01 -3.35162385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78863999999999 meters 0.029844195087633994 Centerline is valid? [True, True] Translation: X:68.95, Y:-12.80, Z:-3.36 [[ 9.34388610e-01 3.49060925e-01 7.12347919e-02 6.89468708e+01] [-3.48194071e-01 9.37098357e-01 -2.46487028e-02 -1.27970333e+01] [-7.53579054e-02 -1.77206500e-03 9.97154976e-01 -3.35509077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84863999999999 meters 0.029458682711783472 Centerline is valid? [True, True] Translation: X:69.01, Y:-12.81, Z:-3.36 [[ 9.35517329e-01 3.46500857e-01 6.88802115e-02 6.90098426e+01] [-3.45682766e-01 9.38048449e-01 -2.38439119e-02 -1.28050205e+01] [-7.28749115e-02 -1.50430926e-03 9.97339954e-01 -3.35781440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90863999999999 meters 0.02885819512008892 Centerline is valid? [True, True] Translation: X:69.07, Y:-12.82, Z:-3.36 [[ 9.37849222e-01 3.40564518e-01 6.67431325e-02 6.90712474e+01] [-3.39780851e-01 9.40220615e-01 -2.31120879e-02 -1.28156815e+01] [-7.06244261e-02 -1.00238470e-03 9.97502474e-01 -3.36067713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96864 meters 0.028482347401826407 Centerline is valid? [True, True] Translation: X:69.13, Y:-12.83, Z:-3.36 [[ 9.39833537e-01 3.35338613e-01 6.52758552e-02 6.91333116e+01] [-3.34576019e-01 9.42097483e-01 -2.26101979e-02 -1.28270579e+01] [-6.90782912e-02 -5.89913495e-04 9.97611067e-01 -3.36248134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02864 meters 0.028768766168920608 Centerline is valid? [True, True] Translation: X:69.19, Y:-12.84, Z:-3.37 [[ 9.43155808e-01 3.25882737e-01 6.52500084e-02 6.91933545e+01] [-3.25097409e-01 9.45410191e-01 -2.26107377e-02 -1.28444922e+01] [-6.90564720e-02 1.12839903e-04 9.97612746e-01 -3.36646393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08863999999998 meters 0.02884870683211074 Centerline is valid? [True, True] Translation: X:69.25, Y:-12.86, Z:-3.37 [[ 9.45043178e-01 3.20955898e-01 6.22952947e-02 6.92526716e+01] [-3.20228874e-01 9.47094029e-01 -2.15955651e-02 -1.28641273e+01] [-6.59307256e-02 4.59989439e-04 9.97824097e-01 -3.36886020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14863999999999 meters 0.028708182268388806 Centerline is valid? [True, True] Translation: X:69.31, Y:-12.89, Z:-3.37 [[ 9.45383195e-01 3.20683391e-01 5.84189861e-02 6.93103256e+01] [-3.20043107e-01 9.47186336e-01 -2.02596954e-02 -1.28866298e+01] [-6.18306132e-02 4.56581762e-04 9.98086553e-01 -3.37123639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20863999999999 meters 0.028494277337935137 Centerline is valid? [True, True] Translation: X:69.37, Y:-12.91, Z:-3.37 [[ 9.43187982e-01 3.26338664e-01 6.24460253e-02 6.93662364e+01] [-3.25618700e-01 9.45252911e-01 -2.16655636e-02 -1.29145524e+01] [-6.60975983e-02 1.01105646e-04 9.97813157e-01 -3.37443873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26863999999999 meters 0.02854463446543249 Centerline is valid? [True, True] Translation: X:69.42, Y:-12.94, Z:-3.38 [[ 9.40631502e-01 3.33702587e-01 6.20883295e-02 6.94222533e+01] [-3.33006251e-01 9.42678322e-01 -2.15503462e-02 -1.29412169e+01] [-6.57207286e-02 -4.04867301e-04 9.97837974e-01 -3.37819281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32864 meters 0.028737362161526222 Centerline is valid? [True, True] Translation: X:69.48, Y:-12.96, Z:-3.38 [[ 9.38356491e-01 3.39754920e-01 6.36686030e-02 6.94804402e+01] [-3.39035895e-01 9.40513630e-01 -2.21082348e-02 -1.29634304e+01] [-6.73925705e-02 -8.40536219e-04 9.97726182e-01 -3.38095072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38864 meters 0.029046111461789904 Centerline is valid? [True, True] Translation: X:69.54, Y:-12.98, Z:-3.38 [[ 9.35444825e-01 3.47600614e-01 6.41622371e-02 6.95391951e+01] [-3.46888122e-01 9.37641634e-01 -2.22889604e-02 -1.29839523e+01] [-6.79088411e-02 -1.40702523e-03 9.97690538e-01 -3.38369349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44863999999998 meters 0.029459101135572496 Centerline is valid? [True, True] Translation: X:69.60, Y:-13.00, Z:-3.39 [[ 9.32990890e-01 3.53674984e-01 6.66483682e-02 6.95997766e+01] [-3.52920939e-01 9.35366426e-01 -2.31616161e-02 -1.29972695e+01] [-7.05323301e-02 -1.91202786e-03 9.97507661e-01 -3.38526584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50863999999999 meters 0.02986225723534103 Centerline is valid? [True, True] Translation: X:69.66, Y:-13.01, Z:-3.39 [[ 9.31894359e-01 3.56384787e-01 6.75484031e-02 6.96605555e+01] [-3.55616726e-01 9.34336830e-01 -2.34825911e-02 -1.30116191e+01] [-7.14817991e-02 -2.13804783e-03 9.97439613e-01 -3.38874565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56863999999999 meters 0.03002789289269889 Centerline is valid? [True, True] Translation: X:69.72, Y:-13.02, Z:-3.39 [[ 9.32546555e-01 3.54474138e-01 6.85930564e-02 6.97227669e+01] [-3.53676334e-01 9.35063649e-01 -2.38542213e-02 -1.30189540e+01] [-7.25945781e-02 -2.01456878e-03 9.97359498e-01 -3.39122783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62863999999999 meters 0.029877886222400323 Centerline is valid? [True, True] Translation: X:69.78, Y:-13.03, Z:-3.39 [[ 9.35842510e-01 3.45267201e-01 7.06353714e-02 6.97832756e+01] [-3.44394602e-01 9.38503478e-01 -2.45678552e-02 -1.30286525e+01] [-7.47740163e-02 -1.33479732e-03 9.97199611e-01 -3.39495704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68863999999999 meters 0.029177915536452468 Centerline is valid? [True, True] Translation: X:69.84, Y:-13.04, Z:-3.40 [[ 9.39477913e-01 3.35815490e-01 6.78911487e-02 6.98427554e+01] [-3.34984721e-01 9.41927622e-01 -2.36133807e-02 -1.30413316e+01] [-7.18782873e-02 -5.58247960e-04 9.97413254e-01 -3.39663110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74864 meters 0.02960844217707592 Centerline is valid? [True, True] Translation: X:69.90, Y:-13.05, Z:-3.40 [[ 9.44188427e-01 3.22427796e-01 6.74428015e-02 6.99017338e+01] [-3.21573814e-01 9.46593950e-01 -2.34558325e-02 -1.30544588e+01] [-7.14037602e-02 4.58886672e-04 9.97447388e-01 -3.39998225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80863999999998 meters 0.02979093135835602 Centerline is valid? [True, True] Translation: X:69.96, Y:-13.08, Z:-3.40 [[ 9.45514542e-01 3.18857721e-01 6.58179719e-02 6.99591696e+01] [-3.18035914e-01 9.47802327e-01 -2.28890149e-02 -1.30763185e+01] [-6.96807660e-02 7.09417581e-04 9.97569089e-01 -3.40106929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86863999999998 meters 0.029676516896393182 Centerline is valid? [True, True] Translation: X:70.02, Y:-13.10, Z:-3.40 [[ 9.45422988e-01 3.19307234e-01 6.49481616e-02 7.00160364e+01] [-3.18507780e-01 9.47651011e-01 -2.25910295e-02 -1.31003516e+01] [-6.87616701e-02 6.71583823e-04 9.97632889e-01 -3.40445405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92863999999999 meters 0.029537757631103143 Centerline is valid? [True, True] Translation: X:70.07, Y:-13.12, Z:-3.41 [[ 9.44549264e-01 3.21886213e-01 6.49303803e-02 7.00722142e+01] [-3.21092965e-01 9.46778236e-01 -2.25893804e-02 -1.31238460e+01] [-6.87458810e-02 4.88094354e-04 9.97634084e-01 -3.40794258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98863999999999 meters 0.029565068704878145 Centerline is valid? [True, True] Translation: X:70.13, Y:-13.15, Z:-3.41 [[ 9.42863218e-01 3.26033998e-01 6.86351477e-02 7.01284960e+01] [-3.25157992e-01 9.45358023e-01 -2.38849161e-02 -1.31516805e+01] [-7.26720822e-02 2.02942028e-04 9.97355868e-01 -3.41070482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04863999999999 meters 0.02939941149962113 Centerline is valid? [True, True] Translation: X:70.18, Y:-13.18, Z:-3.41 [[ 9.42770967e-01 3.26192923e-01 6.91453622e-02 7.01848874e+01] [-3.25303533e-01 9.45303198e-01 -2.40722858e-02 -1.31788049e+01] [-7.32155413e-02 2.01421561e-04 9.97316120e-01 -3.41252399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10864 meters 0.029366108696514955 Centerline is valid? [True, True] Translation: X:70.24, Y:-13.20, Z:-3.42 [[ 9.42153445e-01 3.28230946e-01 6.79067902e-02 7.02418523e+01] [-3.27377769e-01 9.44597503e-01 -2.36506410e-02 -1.32034174e+01] [-7.19074568e-02 5.13594083e-05 9.97411307e-01 -3.41630302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16863999999998 meters 0.02928781187431577 Centerline is valid? [True, True] Translation: X:70.30, Y:-13.23, Z:-3.42 [[ 9.40152313e-01 3.34144602e-01 6.67908127e-02 7.02982178e+01] [-3.33333477e-01 9.42521743e-01 -2.32713721e-02 -1.32300425e+01] [-7.07277966e-02 -3.84979498e-04 9.97495579e-01 -3.41834324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22863999999998 meters 0.029475605199461373 Centerline is valid? [True, True] Translation: X:70.36, Y:-13.25, Z:-3.42 [[ 9.38129176e-01 3.39672119e-01 6.73535552e-02 7.03562642e+01] [-3.38860757e-01 9.40543573e-01 -2.34770953e-02 -1.32531003e+01] [-7.13234682e-02 -7.98928650e-04 9.97452918e-01 -3.42050078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28863999999999 meters 0.029956108477975564 Centerline is valid? [True, True] Translation: X:70.41, Y:-13.27, Z:-3.42 [[ 9.36481629e-01 3.44043835e-01 6.80881594e-02 7.04149019e+01] [-3.43225463e-01 9.38952902e-01 -2.37429948e-02 -1.32747867e+01] [-7.21002058e-02 -1.13471157e-03 9.97396748e-01 -3.42341498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34863999999999 meters 0.03037714645087698 Centerline is valid? [True, True] Translation: X:70.47, Y:-13.30, Z:-3.43 [[ 9.36249290e-01 3.44662245e-01 6.81557349e-02 7.04735074e+01] [-3.43843167e-01 9.38726029e-01 -2.37764235e-02 -1.32965455e+01] [-7.21743979e-02 -1.17422410e-03 9.97391336e-01 -3.42713469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40863999999999 meters 0.030198397441545555 Centerline is valid? [True, True] Translation: X:70.53, Y:-13.32, Z:-3.43 [[ 9.37986534e-01 3.40036051e-01 6.75036785e-02 7.05321514e+01] [-3.39219909e-01 9.40412060e-01 -2.35586576e-02 -1.33172761e+01] [-7.14920663e-02 -8.00888073e-04 9.97440847e-01 -3.42978439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46864 meters 0.030449121272323805 Centerline is valid? [True, True] Translation: X:70.59, Y:-13.34, Z:-3.43 [[ 9.39596880e-01 3.35193140e-01 6.93055668e-02 7.05905923e+01] [-3.34318725e-01 9.42149337e-01 -2.41995474e-02 -1.33411722e+01] [-7.34077161e-02 -4.32329414e-04 9.97301920e-01 -3.43416268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52864 meters 0.03068571231389357 Centerline is valid? [True, True] Translation: X:70.65, Y:-13.37, Z:-3.44 [[ 9.40906655e-01 3.31385465e-01 6.98451215e-02 7.06485972e+01] [-3.30485727e-01 9.43495447e-01 -2.44033943e-02 -1.33650236e+01] [-7.39854843e-02 -1.21499608e-04 9.97259311e-01 -3.43845529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58863999999998 meters 0.030955399646901464 Centerline is valid? [True, True] Translation: X:70.71, Y:-13.39, Z:-3.44 [[ 9.41783548e-01 3.28998463e-01 6.93091643e-02 7.07055152e+01] [-3.28105056e-01 9.44330453e-01 -2.42294744e-02 -1.33894802e+01] [-7.34222144e-02 7.82331841e-05 9.97300944e-01 -3.44157761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64863999999999 meters 0.031240855657648187 Centerline is valid? [True, True] Translation: X:70.76, Y:-13.42, Z:-3.44 [[ 9.41947532e-01 3.28480658e-01 6.95363557e-02 7.07635213e+01] [-3.27579088e-01 9.44510688e-01 -2.43207914e-02 -1.34153583e+01] [-7.36667408e-02 1.30253428e-04 9.97282906e-01 -3.44479476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70863999999999 meters 0.03108965079006746 Centerline is valid? [True, True] Translation: X:70.82, Y:-13.44, Z:-3.45 [[ 9.41801787e-01 3.28647965e-01 7.07100341e-02 7.08189192e+01] [-3.27715100e-01 9.44452486e-01 -2.47450028e-02 -1.34443765e+01] [-7.49146623e-02 1.32141965e-04 9.97189940e-01 -3.44794821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76863999999999 meters 0.031103772350443183 Centerline is valid? [True, True] Translation: X:70.87, Y:-13.47, Z:-3.45 [[ 9.40258478e-01 3.32240226e-01 7.43668346e-02 7.08739198e+01] [-3.31217717e-01 9.43194790e-01 -2.60463369e-02 -1.34743560e+01] [-7.87960518e-02 -1.41324043e-04 9.96890747e-01 -3.45330993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82864 meters 0.031209912314117003 Centerline is valid? [True, True] Translation: X:70.93, Y:-13.50, Z:-3.46 [[ 9.38568773e-01 3.37012702e-01 7.42367699e-02 7.09316931e+01] [-3.36005529e-01 9.41499966e-01 -2.60403296e-02 -1.34988415e+01] [-7.86698381e-02 -5.03325016e-04 9.96900598e-01 -3.45557828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88864 meters 0.03133641754404481 Centerline is valid? [True, True] Translation: X:70.99, Y:-13.52, Z:-3.46 [[ 9.35440112e-01 3.45829395e-01 7.31698397e-02 7.09899062e+01] [-3.44874762e-01 9.38296657e-01 -2.57056586e-02 -1.35207536e+01] [-7.75447884e-02 -1.18832691e-03 9.96988161e-01 -3.45787382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94863999999998 meters 0.0318098892393474 Centerline is valid? [True, True] Translation: X:71.05, Y:-13.54, Z:-3.46 [[ 9.32317259e-01 3.54002833e-01 7.39359317e-02 7.10487309e+01] [-3.53051532e-01 9.35242498e-01 -2.60016595e-02 -1.35410256e+01] [-7.83526865e-02 -1.86139807e-03 9.96923965e-01 -3.46095053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00863999999999 meters 0.031918482375583306 Centerline is valid? [True, True] Translation: X:71.11, Y:-13.56, Z:-3.46 [[ 9.30920508e-01 3.57789243e-01 7.33066500e-02 7.11092935e+01] [-3.56864158e-01 9.33799909e-01 -2.58011991e-02 -1.35575796e+01] [-7.76851346e-02 -2.14165055e-03 9.96975643e-01 -3.46284787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06863999999999 meters 0.03217574507800789 Centerline is valid? [True, True] Translation: X:71.17, Y:-13.58, Z:-3.47 [[ 9.30503511e-01 3.58902865e-01 7.31570166e-02 7.11700171e+01] [-3.57981925e-01 9.33372339e-01 -2.57879447e-02 -1.35759371e+01] [-7.75381029e-02 -2.19311653e-03 9.96986977e-01 -3.46674911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12863999999999 meters 0.03223806111332349 Centerline is valid? [True, True] Translation: X:71.23, Y:-13.59, Z:-3.47 [[ 9.29843500e-01 3.60969942e-01 7.13566172e-02 7.12319105e+01] [-3.60097490e-01 9.32574670e-01 -2.51849761e-02 -1.35905583e+01] [-7.56363931e-02 -2.27725240e-03 9.97132865e-01 -3.46894506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18863999999999 meters 0.032172294631286916 Centerline is valid? [True, True] Translation: X:71.29, Y:-13.61, Z:-3.47 [[ 9.30105672e-01 3.60523455e-01 7.01874487e-02 7.12923534e+01] [-3.59677118e-01 9.32747574e-01 -2.47857823e-02 -1.36060099e+01] [-7.44030284e-02 -2.19142255e-03 9.97225846e-01 -3.47264928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24864 meters 0.03192473242045137 Centerline is valid? [True, True] Translation: X:71.35, Y:-13.62, Z:-3.47 [[ 9.32813175e-01 3.53376840e-01 7.06002094e-02 7.13523563e+01] [-3.52499309e-01 9.35479653e-01 -2.49410498e-02 -1.36218944e+01] [-7.48586487e-02 -1.62118517e-03 9.97192837e-01 -3.47437738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30863999999998 meters 0.031543501606565945 Centerline is valid? [True, True] Translation: X:71.41, Y:-13.64, Z:-3.48 [[ 9.36353907e-01 3.44183702e-01 6.91298794e-02 7.14120798e+01] [-3.43316721e-01 9.38901934e-01 -2.44292365e-02 -1.36386068e+01] [-7.33143225e-02 -8.59032511e-04 9.97308514e-01 -3.47781041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36863999999998 meters 0.031516887831192386 Centerline is valid? [True, True] Translation: X:71.47, Y:-13.66, Z:-3.48 [[ 9.38672291e-01 3.37919742e-01 6.85899308e-02 7.14706341e+01] [-3.37048909e-01 9.41174861e-01 -2.42469194e-02 -1.36596154e+01] [-7.27486313e-02 -3.58250008e-04 9.97350244e-01 -3.48162631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42863999999999 meters 0.03212962907224752 Centerline is valid? [True, True] Translation: X:71.53, Y:-13.68, Z:-3.48 [[ 9.42555856e-01 3.26900109e-01 6.87370169e-02 7.15283272e+01] [-3.25995409e-01 9.45058762e-01 -2.43090383e-02 -1.36825928e+01] [-7.29071474e-02 5.04674429e-04 9.97338605e-01 -3.48454838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48863999999999 meters 0.032648638752584745 Centerline is valid? [True, True] Translation: X:71.58, Y:-13.71, Z:-3.49 [[ 9.45588770e-01 3.18739682e-01 6.53214682e-02 7.15831847e+01] [-3.17902635e-01 9.47841671e-01 -2.31101907e-02 -1.37131253e+01] [-6.92805445e-02 1.08686998e-03 9.97596624e-01 -3.48631349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54863999999999 meters 0.03273253675567799 Centerline is valid? [True, True] Translation: X:71.64, Y:-13.74, Z:-3.49 [[ 9.45912972e-01 3.17671685e-01 6.58281890e-02 7.16396162e+01] [-3.16818346e-01 9.48200032e-01 -2.32988165e-02 -1.37405801e+01] [-6.98196652e-02 1.18307480e-03 9.97558928e-01 -3.49005746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60864 meters 0.03223968781492226 Centerline is valid? [True, True] Translation: X:71.69, Y:-13.78, Z:-3.49 [[ 9.44513759e-01 3.21490359e-01 6.73625128e-02 7.16933954e+01] [-3.20605042e-01 9.46912385e-01 -2.38608782e-02 -1.37776710e+01] [-7.14574400e-02 9.40166484e-04 9.97443207e-01 -3.49384384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66863999999998 meters 0.03172630054039666 Centerline is valid? [True, True] Translation: X:71.75, Y:-13.81, Z:-3.50 [[ 9.42780093e-01 3.26543175e-01 6.73442673e-02 7.17484462e+01] [-3.25668577e-01 9.45182101e-01 -2.38908749e-02 -1.38074130e+01] [-7.14539982e-02 5.91929603e-04 9.97443721e-01 -3.49647479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72863999999998 meters 0.031176993105872467 Centerline is valid? [True, True] Translation: X:71.80, Y:-13.84, Z:-3.50 [[ 9.40238159e-01 3.33649159e-01 6.80473634e-02 7.18038344e+01] [-3.32772089e-01 9.42697317e-01 -2.41765496e-02 -1.38401690e+01] [-7.22145523e-02 8.74512461e-05 9.97389117e-01 -3.50042241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78863999999999 meters 0.031178083195709298 Centerline is valid? [True, True] Translation: X:71.86, Y:-13.87, Z:-3.50 [[ 9.36602485e-01 3.42942169e-01 7.18780527e-02 7.18601310e+01] [-3.41987491e-01 9.39356311e-01 -2.55788420e-02 -1.38683632e+01] [-7.62911660e-02 -6.24187870e-04 9.97085387e-01 -3.50402641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84863999999999 meters 0.03148072596561065 Centerline is valid? [True, True] Translation: X:71.92, Y:-13.90, Z:-3.51 [[ 9.33735105e-01 3.50436214e-01 7.30288543e-02 7.19163997e+01] [-3.49470610e-01 9.36585805e-01 -2.60254161e-02 -1.38952462e+01] [-7.75180366e-02 -1.22059369e-03 9.96990203e-01 -3.50756683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90863999999999 meters 0.03162400212021328 Centerline is valid? [True, True] Translation: X:71.97, Y:-13.92, Z:-3.51 [[ 9.31316895e-01 3.56521051e-01 7.44417937e-02 7.19738032e+01] [-3.55534048e-01 9.34285698e-01 -2.65664386e-02 -1.39181327e+01] [-7.90213978e-02 -1.72481912e-03 9.96871428e-01 -3.50955007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96864 meters 0.032248183998870895 Centerline is valid? [True, True] Translation: X:72.03, Y:-13.94, Z:-3.51 [[ 9.28439883e-01 3.63808978e-01 7.51159826e-02 7.20302507e+01] [-3.62825808e-01 9.31470631e-01 -2.68308750e-02 -1.39419796e+01] [-7.97296450e-02 -2.34316262e-03 9.96813771e-01 -3.51182557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02863999999998 meters 0.03261319881576535 Centerline is valid? [True, True] Translation: X:72.09, Y:-13.96, Z:-3.51 [[ 9.26066660e-01 3.70160952e-01 7.33581064e-02 7.20888139e+01] [-3.69242555e-01 9.28963374e-01 -2.62104219e-02 -1.39623757e+01] [-7.78490687e-02 -2.81433682e-03 9.96961184e-01 -3.51425710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08863999999998 meters 0.03314779251685172 Centerline is valid? [True, True] Translation: X:72.15, Y:-13.98, Z:-3.52 [[ 9.24898487e-01 3.72446925e-01 7.64596446e-02 7.21481516e+01] [-3.71455964e-01 9.28048237e-01 -2.73301436e-02 -1.39812205e+01] [-8.11372663e-02 -3.12378259e-03 9.96698042e-01 -3.51905959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14863999999999 meters 0.03315391698995882 Centerline is valid? [True, True] Translation: X:72.21, Y:-14.00, Z:-3.52 [[ 9.24470732e-01 3.73625313e-01 7.58814322e-02 7.22104245e+01] [-3.72651286e-01 9.27574263e-01 -2.71478446e-02 -1.39954151e+01] [-8.05287854e-02 -3.17992557e-03 9.96747211e-01 -3.52078463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20863999999999 meters 0.03206040869530105 Centerline is valid? [True, True] Translation: X:72.27, Y:-14.01, Z:-3.52 [[ 9.26786701e-01 3.68266038e-01 7.38006535e-02 7.22704519e+01] [-3.67325629e-01 9.29716783e-01 -2.64307777e-02 -1.40093052e+01] [-7.83472639e-02 -2.61317811e-03 9.96922704e-01 -3.52297680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26863999999999 meters 0.031847177217611634 Centerline is valid? [True, True] Translation: X:72.33, Y:-14.03, Z:-3.53 [[ 9.28201262e-01 3.64579653e-01 7.43242556e-02 7.23302197e+01] [-3.63612553e-01 9.31169363e-01 -2.66369688e-02 -1.40265640e+01] [-7.89197666e-02 -2.30076424e-03 9.96878316e-01 -3.52593511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32864 meters 0.03140633967671141 Centerline is valid? [True, True] Translation: X:72.39, Y:-14.04, Z:-3.53 [[ 9.30109270e-01 3.59631573e-01 7.45780008e-02 7.23913857e+01] [-3.58639645e-01 9.33092532e-01 -2.67569098e-02 -1.40414968e+01] [-7.92108051e-02 -1.85977790e-03 9.96856153e-01 -3.52796318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38864 meters 0.031109956867186685 Centerline is valid? [True, True] Translation: X:72.45, Y:-14.06, Z:-3.53 [[ 9.31438024e-01 3.56520303e-01 7.29142024e-02 7.24510413e+01] [-3.55560919e-01 9.34286309e-01 -2.61825375e-02 -1.40602820e+01] [-7.74573472e-02 -1.53802978e-03 9.96994480e-01 -3.53114054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44863999999998 meters 0.03094735116408571 Centerline is valid? [True, True] Translation: X:72.51, Y:-14.08, Z:-3.54 [[ 9.33951940e-01 3.49744513e-01 7.35700339e-02 7.25099417e+01] [-3.48744473e-01 9.36844630e-01 -2.64467869e-02 -1.40811366e+01] [-7.81733098e-02 -9.57114777e-04 9.96939325e-01 -3.53565664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50863999999999 meters 0.030832875052899725 Centerline is valid? [True, True] Translation: X:72.57, Y:-14.10, Z:-3.54 [[ 9.34657061e-01 3.48078746e-01 7.25076878e-02 7.25688810e+01] [-3.47100673e-01 9.37464971e-01 -2.60873906e-02 -1.41011480e+01] [-7.70538836e-02 -7.84703419e-04 9.97026621e-01 -3.53818666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56863999999999 meters 0.030758193477808456 Centerline is valid? [True, True] Translation: X:72.63, Y:-14.12, Z:-3.54 [[ 9.36156570e-01 3.44276785e-01 7.13047828e-02 7.26272793e+01] [-3.43317604e-01 9.38868098e-01 -2.56849433e-02 -1.41238324e+01] [-7.57885155e-02 -4.35058746e-04 9.97123820e-01 -3.54234181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62863999999999 meters 0.030733875276463894 Centerline is valid? [True, True] Translation: X:72.68, Y:-14.15, Z:-3.55 [[ 9.38184482e-01 3.39040718e-01 6.97227979e-02 7.26849276e+01] [-3.38107323e-01 9.40771700e-01 -2.51405380e-02 -1.41463781e+01] [-7.41169011e-02 1.26740591e-05 9.97249560e-01 -3.54505670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68863999999999 meters 0.030842218806302727 Centerline is valid? [True, True] Translation: X:72.74, Y:-14.18, Z:-3.55 [[ 9.39804190e-01 3.34598674e-01 6.93672254e-02 7.27415596e+01] [-3.33659904e-01 9.42360637e-01 -2.50499161e-02 -1.41751706e+01] [-7.37506114e-02 3.96954318e-04 9.97276637e-01 -3.54847025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74864 meters 0.030796091894819612 Centerline is valid? [True, True] Translation: X:72.80, Y:-14.20, Z:-3.55 [[ 9.40204717e-01 3.33733684e-01 6.80949218e-02 7.27987756e+01] [-3.32824071e-01 9.42667272e-01 -2.46282672e-02 -1.41992367e+01] [-7.24101365e-02 4.91983867e-04 9.97374819e-01 -3.55038688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80863999999998 meters 0.03071895726686833 Centerline is valid? [True, True] Translation: X:72.85, Y:-14.23, Z:-3.55 [[ 9.39480319e-01 3.35755946e-01 6.81518548e-02 7.28540512e+01] [-3.34847457e-01 9.41948941e-01 -2.46854910e-02 -1.42307019e+01] [-7.24838679e-02 3.71057712e-04 9.97369516e-01 -3.55461228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86863999999998 meters 0.03049409549275788 Centerline is valid? [True, True] Translation: X:72.91, Y:-14.26, Z:-3.56 [[ 9.38169505e-01 3.39341016e-01 6.84518492e-02 7.29095217e+01] [-3.38431065e-01 9.40663413e-01 -2.48345941e-02 -1.42618794e+01] [-7.28175465e-02 1.32826613e-04 9.97345270e-01 -3.55807971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92863999999999 meters 0.03049339426213848 Centerline is valid? [True, True] Translation: X:72.97, Y:-14.29, Z:-3.56 [[ 9.36743975e-01 3.43093010e-01 6.92669537e-02 7.29654813e+01] [-3.42168401e-01 9.39301427e-01 -2.51716927e-02 -1.42925625e+01] [-7.36987803e-02 -1.21531297e-04 9.97280540e-01 -3.56073296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98863999999999 meters 0.03033981278940111 Centerline is valid? [True, True] Translation: X:73.02, Y:-14.32, Z:-3.56 [[ 9.35442993e-01 3.46588371e-01 6.94471639e-02 7.30236945e+01] [-3.45665476e-01 9.38017256e-01 -2.52785774e-02 -1.43178994e+01] [-7.39038991e-02 -3.58818825e-04 9.97265303e-01 -3.56317443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04863999999999 meters 0.030016419296826566 Centerline is valid? [True, True] Translation: X:73.08, Y:-14.34, Z:-3.56 [[ 9.34352771e-01 3.49908132e-01 6.74477426e-02 7.30805453e+01] [-3.49043589e-01 9.36783847e-01 -2.45885405e-02 -1.43441400e+01] [-7.17876861e-02 -5.67831161e-04 9.97419774e-01 -3.56447457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10864 meters 0.030107604558789944 Centerline is valid? [True, True] Translation: X:73.14, Y:-14.37, Z:-3.57 [[ 9.32530967e-01 3.54686972e-01 6.76989414e-02 7.31378588e+01] [-3.53825963e-01 9.34984669e-01 -2.47155128e-02 -1.43678559e+01] [-7.20637427e-02 -9.05662097e-04 9.97399617e-01 -3.56788293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16863999999998 meters 0.030295645830363375 Centerline is valid? [True, True] Translation: X:73.20, Y:-14.39, Z:-3.57 [[ 9.31139093e-01 3.57951519e-01 6.96469674e-02 7.31969082e+01] [-3.57046530e-01 9.33739456e-01 -2.54637691e-02 -1.43878467e+01] [-7.41469162e-02 -1.15689715e-03 9.97246658e-01 -3.56991857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22863999999998 meters 0.030496129954548718 Centerline is valid? [True, True] Translation: X:73.26, Y:-14.40, Z:-3.57 [[ 9.29239757e-01 3.62578138e-01 7.10673471e-02 7.32577941e+01] [-3.61646426e-01 9.31952133e-01 -2.60208487e-02 -1.44024644e+01] [-7.56659566e-02 -1.52164491e-03 9.97132061e-01 -3.57337926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28863999999999 meters 0.030721249093082312 Centerline is valid? [True, True] Translation: X:73.32, Y:-14.42, Z:-3.58 [[ 9.27573142e-01 3.66841912e-01 7.09582853e-02 7.33176373e+01] [-3.65922744e-01 9.30281492e-01 -2.60171439e-02 -1.44186611e+01] [-7.55553583e-02 -1.83244655e-03 9.97139925e-01 -3.57602168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34863999999999 meters 0.030847007484464145 Centerline is valid? [True, True] Translation: X:73.38, Y:-14.43, Z:-3.58 [[ 9.27230054e-01 3.67573825e-01 7.16513136e-02 7.33775194e+01] [-3.66636008e-01 9.29992452e-01 -2.63073646e-02 -1.44344640e+01] [-7.63050794e-02 -1.87697246e-03 9.97082751e-01 -3.57996265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40863999999999 meters 0.030707440087945695 Centerline is valid? [True, True] Translation: X:73.44, Y:-14.45, Z:-3.58 [[ 9.28642899e-01 3.63675997e-01 7.32265977e-02 7.34388486e+01] [-3.62681276e-01 9.31524209e-01 -2.69246924e-02 -1.44479442e+01] [-7.80042129e-02 -1.55449154e-03 9.96951817e-01 -3.58231505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46864 meters 0.030269878291184747 Centerline is valid? [True, True] Translation: X:73.50, Y:-14.46, Z:-3.58 [[ 9.30651635e-01 3.58972312e-01 7.08972071e-02 7.35004158e+01] [-3.58024358e-01 9.33347562e-01 -2.60938123e-02 -1.44597930e+01] [-7.55386916e-02 -1.09867797e-03 9.97142266e-01 -3.58434600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52863999999998 meters 0.030201778963605607 Centerline is valid? [True, True] Translation: X:73.56, Y:-14.48, Z:-3.59 [[ 9.32746856e-01 3.53778635e-01 6.94548814e-02 7.35613574e+01] [-3.52853597e-01 9.35328954e-01 -2.55751313e-02 -1.44754702e+01] [-7.40110966e-02 -6.52281418e-04 9.97257205e-01 -3.58754430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58863999999998 meters 0.030196583075394693 Centerline is valid? [True, True] Translation: X:73.62, Y:-14.49, Z:-3.59 [[ 9.33778518e-01 3.50832839e-01 7.05265828e-02 7.36221501e+01] [-3.49868427e-01 9.36438017e-01 -2.59985310e-02 -1.44935378e+01] [-7.51649118e-02 -3.98154807e-04 9.97171037e-01 -3.59057822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64863999999999 meters 0.030191779529877727 Centerline is valid? [True, True] Translation: X:73.68, Y:-14.51, Z:-3.59 [[ 9.34700317e-01 3.48466916e-01 7.00437413e-02 7.36806134e+01] [-3.47506062e-01 9.37321066e-01 -2.58603305e-02 -1.45144658e+01] [-7.46649439e-02 -1.68965618e-04 9.97208663e-01 -3.59392378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70863999999999 meters 0.030192445124222887 Centerline is valid? [True, True] Translation: X:73.74, Y:-14.54, Z:-3.60 [[ 9.35727977e-01 3.45992063e-01 6.85758313e-02 7.37394913e+01] [-3.45061894e-01 9.38237437e-01 -2.53535125e-02 -1.45350042e+01] [-7.31125263e-02 6.10847352e-05 9.97323696e-01 -3.59727102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76863999999999 meters 0.030058831204079622 Centerline is valid? [True, True] Translation: X:73.80, Y:-14.56, Z:-3.60 [[ 9.34669583e-01 3.48566996e-01 6.99558397e-02 7.37968195e+01] [-3.47603413e-01 9.37283862e-01 -2.59003815e-02 -1.45580921e+01] [-7.45964978e-02 -1.08589800e-04 9.97213794e-01 -3.60030325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82864 meters 0.029926056001011416 Centerline is valid? [True, True] Translation: X:73.86, Y:-14.58, Z:-3.60 [[ 9.33937525e-01 3.50531937e-01 6.99146622e-02 7.38556283e+01] [-3.49572139e-01 9.36550751e-01 -2.59231848e-02 -1.45816384e+01] [-7.45655336e-02 -2.29582986e-04 9.97216089e-01 -3.60258358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88864 meters 0.03001600168429155 Centerline is valid? [True, True] Translation: X:73.91, Y:-14.60, Z:-3.61 [[ 9.34105734e-01 3.49719267e-01 7.17140986e-02 7.39129639e+01] [-3.48703797e-01 9.36854534e-01 -2.66316403e-02 -1.46044887e+01] [-7.64992761e-02 -1.30210581e-04 9.97069628e-01 -3.60640063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94863999999998 meters 0.030105771350036656 Centerline is valid? [True, True] Translation: X:73.97, Y:-14.63, Z:-3.61 [[ 9.33756782e-01 3.50531591e-01 7.22902139e-02 7.39724359e+01] [-3.49499070e-01 9.36550894e-01 -2.68853507e-02 -1.46259613e+01] [-7.71276292e-02 -1.60983964e-04 9.97021215e-01 -3.60952323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00863999999999 meters 0.029850926593089307 Centerline is valid? [True, True] Translation: X:74.03, Y:-14.65, Z:-3.61 [[ 9.32111078e-01 3.55013619e-01 7.16538081e-02 7.40310038e+01] [-3.54009163e-01 9.34861002e-01 -2.66911823e-02 -1.46477557e+01] [-7.64620841e-02 -4.86957994e-04 9.97072371e-01 -3.61324176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06863999999999 meters 0.030213692978695417 Centerline is valid? [True, True] Translation: X:74.09, Y:-14.67, Z:-3.62 [[ 9.30657529e-01 3.58353125e-01 7.38891124e-02 7.40890161e+01] [-3.57292029e-01 9.33585820e-01 -2.75666987e-02 -1.46700655e+01] [-7.88604402e-02 -7.44835143e-04 9.96885388e-01 -3.61810837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12863999999999 meters 0.030020411606720827 Centerline is valid? [True, True] Translation: X:74.15, Y:-14.69, Z:-3.62 [[ 9.30677422e-01 3.58232195e-01 7.42241958e-02 7.41486869e+01] [-3.57157796e-01 9.33632265e-01 -2.77327128e-02 -1.46915547e+01] [-7.92328545e-02 -6.99540487e-04 9.96855890e-01 -3.62140171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18863999999999 meters 0.029942563313957168 Centerline is valid? [True, True] Translation: X:74.21, Y:-14.71, Z:-3.62 [[ 9.30800355e-01 3.58371991e-01 7.19737120e-02 7.42073946e+01] [-3.57359180e-01 9.33578647e-01 -2.69318734e-02 -1.47116831e+01] [-7.68447498e-02 -6.52269379e-04 9.97042857e-01 -3.62391360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24864 meters 0.030106584796050332 Centerline is valid? [True, True] Translation: X:74.27, Y:-14.73, Z:-3.63 [[ 9.30179550e-01 3.59759856e-01 7.30674439e-02 7.42655940e+01] [-3.58717236e-01 9.33044637e-01 -2.73797360e-02 -1.47331580e+01] [-7.80253165e-02 -7.42480995e-04 9.96951101e-01 -3.62697268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30863999999998 meters 0.029998408412412945 Centerline is valid? [True, True] Translation: X:74.33, Y:-14.75, Z:-3.63 [[ 9.28879066e-01 3.63288252e-01 7.21479450e-02 7.43260133e+01] [-3.62279289e-01 9.31676268e-01 -2.70748551e-02 -1.47505415e+01] [-7.70545050e-02 -9.88440126e-04 9.97026392e-01 -3.62949091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36863999999998 meters 0.030197035699511772 Centerline is valid? [True, True] Translation: X:74.39, Y:-14.77, Z:-3.63 [[ 9.27420906e-01 3.67101611e-01 7.16021655e-02 7.43862038e+01] [-3.66116096e-01 9.30179997e-01 -2.69105566e-02 -1.47675717e+01] [-7.64818108e-02 -1.25729246e-03 9.97070184e-01 -3.63389569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42863999999999 meters 0.030324974342317366 Centerline is valid? [True, True] Translation: X:74.45, Y:-14.79, Z:-3.64 [[ 9.26431923e-01 3.69531152e-01 7.19070278e-02 7.44459719e+01] [-3.68541602e-01 9.29217244e-01 -2.70629158e-02 -1.47865231e+01] [-7.68178407e-02 -1.42878208e-03 9.97044120e-01 -3.63614366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48863999999999 meters 0.03009541334891424 Centerline is valid? [True, True] Translation: X:74.51, Y:-14.80, Z:-3.64 [[ 9.26295672e-01 3.69697357e-01 7.28024207e-02 7.45069039e+01] [-3.68680331e-01 9.29151139e-01 -2.74403693e-02 -1.48031270e+01] [-7.77890841e-02 -1.42292526e-03 9.96968823e-01 -3.63958415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54863999999999 meters 0.02984156617977306 Centerline is valid? [True, True] Translation: X:74.57, Y:-14.82, Z:-3.64 [[ 9.27502300e-01 3.67064787e-01 7.07313605e-02 7.45671569e+01] [-3.66094897e-01 9.30194681e-01 -2.66904742e-02 -1.48205880e+01] [-7.55910685e-02 -1.13891392e-03 9.97138252e-01 -3.64175149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60864 meters 0.029722679523122998 Centerline is valid? [True, True] Translation: X:74.63, Y:-14.84, Z:-3.64 [[ 9.29027311e-01 3.63491910e-01 6.91511911e-02 7.46262385e+01] [-3.62553456e-01 9.31597004e-01 -2.61154051e-02 -1.48390629e+01] [-7.39137809e-02 -8.09078785e-04 9.97264307e-01 -3.64406762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66863999999998 meters 0.0296627720110193 Centerline is valid? [True, True] Translation: X:74.69, Y:-14.86, Z:-3.65 [[ 9.29929026e-01 3.61219225e-01 6.89396642e-02 7.46851055e+01] [-3.60277576e-01 9.32480735e-01 -2.60719736e-02 -1.48604357e+01] [-7.37026068e-02 -5.92330073e-04 9.97280088e-01 -3.64721664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72863999999998 meters 0.029412212932561844 Centerline is valid? [True, True] Translation: X:74.74, Y:-14.88, Z:-3.65 [[ 9.30744218e-01 3.59568833e-01 6.65240954e-02 7.47442551e+01] [-3.58685459e-01 9.33118472e-01 -2.51924178e-02 -1.48808889e+01] [-7.11332705e-02 -4.13528544e-04 9.97466735e-01 -3.64809533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78863999999999 meters 0.029584518998410178 Centerline is valid? [True, True] Translation: X:74.80, Y:-14.90, Z:-3.65 [[ 9.30363817e-01 3.60297140e-01 6.78906359e-02 7.48019525e+01] [-3.59376384e-01 9.32837484e-01 -2.57457286e-02 -1.49031500e+01] [-7.26070424e-02 -4.45396846e-04 9.97360526e-01 -3.65105454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84863999999999 meters 0.02956162487763279 Centerline is valid? [True, True] Translation: X:74.86, Y:-14.92, Z:-3.65 [[ 9.30072269e-01 3.61324931e-01 6.64068388e-02 7.48611129e+01] [-3.60444220e-01 9.32439844e-01 -2.52171024e-02 -1.49233514e+01] [-7.10319502e-02 -4.82233569e-04 9.97473924e-01 -3.65362379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90863999999999 meters 0.02949212778638566 Centerline is valid? [True, True] Translation: X:74.92, Y:-14.94, Z:-3.65 [[ 9.28929082e-01 3.64383524e-01 6.56917629e-02 7.49207147e+01] [-3.63526832e-01 9.31248727e-01 -2.49810058e-02 -1.49439002e+01] [-7.02780375e-02 -6.75135655e-04 9.97527213e-01 -3.65449757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96864 meters 0.029792104889151644 Centerline is valid? [True, True] Translation: X:74.98, Y:-14.96, Z:-3.66 [[ 9.27910443e-01 3.66996261e-01 6.55435243e-02 7.49811838e+01] [-3.66147855e-01 9.30222035e-01 -2.49542512e-02 -1.49605536e+01] [-7.01281474e-02 -8.43310486e-04 9.97537634e-01 -3.65780554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02863999999998 meters 0.0295726676789241 Centerline is valid? [True, True] Translation: X:75.04, Y:-14.98, Z:-3.66 [[ 9.27722672e-01 3.67411860e-01 6.58723700e-02 7.50412801e+01] [-3.66555246e-01 9.30057938e-01 -2.50895016e-02 -1.49784397e+01] [-7.04833011e-02 -8.69763277e-04 9.97512580e-01 -3.66033023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08863999999998 meters 0.02979763806826243 Centerline is valid? [True, True] Translation: X:75.10, Y:-14.99, Z:-3.66 [[ 9.28966417e-01 3.64284820e-01 6.57112293e-02 7.51015876e+01] [-3.63423872e-01 9.31287380e-01 -2.50380801e-02 -1.49937577e+01] [-7.03170310e-02 -6.21493813e-04 9.97524500e-01 -3.66379337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14863999999999 meters 0.029917168822820195 Centerline is valid? [True, True] Translation: X:75.16, Y:-15.01, Z:-3.67 [[ 9.31512877e-01 3.57721868e-01 6.57177710e-02 7.51602935e+01] [-3.56843691e-01 9.33828170e-01 -2.50505063e-02 -1.50135022e+01] [-7.03302198e-02 -1.16102779e-04 9.97523757e-01 -3.66754846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20863999999999 meters 0.02990030928643878 Centerline is valid? [True, True] Translation: X:75.22, Y:-15.03, Z:-3.67 [[ 9.32390536e-01 3.55464913e-01 6.55178165e-02 7.52196280e+01] [-3.54585713e-01 9.34689623e-01 -2.49856155e-02 -1.50345850e+01] [-7.01203328e-02 6.46697957e-05 9.97538538e-01 -3.67151210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26863999999999 meters 0.03037740082872966 Centerline is valid? [True, True] Translation: X:75.28, Y:-15.06, Z:-3.67 [[ 9.32370189e-01 3.55047117e-01 6.80248128e-02 7.52767767e+01] [-3.54097132e-01 9.34848401e-01 -2.59555251e-02 -1.50586912e+01] [-7.28083218e-02 1.12766721e-04 9.97345946e-01 -3.67438589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32864 meters 0.030491397290209676 Centerline is valid? [True, True] Translation: X:75.33, Y:-15.08, Z:-3.68 [[ 9.32000649e-01 3.55826139e-01 6.90112217e-02 7.53337244e+01] [-3.54849734e-01 9.34552168e-01 -2.63421977e-02 -1.50828903e+01] [-7.38678293e-02 6.23317071e-05 9.97268038e-01 -3.67877841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38863999999998 meters 0.03054309095835851 Centerline is valid? [True, True] Translation: X:75.39, Y:-15.11, Z:-3.68 [[ 9.33152203e-01 3.52862263e-01 6.86672302e-02 7.53904726e+01] [-3.51886041e-01 9.35675224e-01 -2.62314636e-02 -1.51111708e+01] [-7.35063196e-02 3.14908281e-04 9.97294702e-01 -3.68241229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44863999999998 meters 0.03059432253186517 Centerline is valid? [True, True] Translation: X:75.45, Y:-15.14, Z:-3.68 [[ 9.34319520e-01 3.50184439e-01 6.64672284e-02 7.54470569e+01] [-3.49260473e-01 9.36680609e-01 -2.54275082e-02 -1.51362417e+01] [-7.11628817e-02 5.43041609e-04 9.97464560e-01 -3.68424821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50863999999999 meters 0.030696685869590734 Centerline is valid? [True, True] Translation: X:75.50, Y:-15.17, Z:-3.69 [[ 9.34534842e-01 3.49599226e-01 6.65207474e-02 7.55020497e+01] [-3.48669727e-01 9.36899138e-01 -2.54838528e-02 -1.51698878e+01] [-7.12323661e-02 6.21777518e-04 9.97459555e-01 -3.68710925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56863999999999 meters 0.030369446807048193 Centerline is valid? [True, True] Translation: X:75.56, Y:-15.20, Z:-3.69 [[ 9.33087496e-01 3.53584357e-01 6.57710263e-02 7.55560550e+01] [-3.52683001e-01 9.35402577e-01 -2.52333065e-02 -1.52015721e+01] [-7.04444900e-02 3.48559864e-04 9.97515640e-01 -3.68948656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62863999999999 meters 0.030118290955127334 Centerline is valid? [True, True] Translation: X:75.61, Y:-15.23, Z:-3.69 [[ 9.31166150e-01 3.58577818e-01 6.59662718e-02 7.56126936e+01] [-3.57681059e-01 9.33499838e-01 -2.53438662e-02 -1.52291015e+01] [-7.06672523e-02 4.46433325e-06 9.97499945e-01 -3.69135139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68863999999999 meters 0.02997367482299883 Centerline is valid? [True, True] Translation: X:75.67, Y:-15.26, Z:-3.69 [[ 9.28855210e-01 3.64764920e-01 6.46107763e-02 7.56694270e+01] [-3.63916966e-01 9.31099552e-01 -2.48609322e-02 -1.52579581e+01] [-6.92274608e-02 -4.20751218e-04 9.97600813e-01 -3.69207649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74864 meters 0.029988407584488876 Centerline is valid? [True, True] Translation: X:75.73, Y:-15.28, Z:-3.69 [[ 9.26508296e-01 3.70727089e-01 6.43723786e-02 7.57269943e+01] [-3.69897199e-01 9.28741482e-01 -2.48056943e-02 -1.52805058e+01] [-6.89814411e-02 -8.28480987e-04 9.97617599e-01 -3.69350662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80863999999998 meters 0.029867182085371115 Centerline is valid? [True, True] Translation: X:75.79, Y:-15.30, Z:-3.70 [[ 9.25001047e-01 3.74532128e-01 6.40214669e-02 7.57853612e+01] [-3.73718075e-01 9.27213314e-01 -2.47036657e-02 -1.53009984e+01] [-6.86138729e-02 -1.07506278e-03 9.97642712e-01 -3.69554469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86863999999998 meters 0.02978825144194873 Centerline is valid? [True, True] Translation: X:75.84, Y:-15.32, Z:-3.70 [[ 9.24416495e-01 3.75902066e-01 6.44343149e-02 7.58443448e+01] [-3.75078450e-01 9.26658679e-01 -2.48967647e-02 -1.53203342e+01] [-6.90673624e-02 -1.15294304e-03 9.97611332e-01 -3.69828721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92863999999999 meters 0.02949185423554495 Centerline is valid? [True, True] Translation: X:75.90, Y:-15.34, Z:-3.70 [[ 9.24198425e-01 3.76934577e-01 6.14621477e-02 7.59041388e+01] [-3.76185466e-01 9.26239179e-01 -2.37798072e-02 -1.53377556e+01] [-6.58920808e-02 -1.14390627e-03 9.97826100e-01 -3.69943778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98863999999999 meters 0.029489746731737727 Centerline is valid? [True, True] Translation: X:75.96, Y:-15.35, Z:-3.70 [[ 9.24586554e-01 3.76130763e-01 6.05421515e-02 7.59648225e+01] [-3.75400537e-01 9.26566001e-01 -2.34495868e-02 -1.53536363e+01] [-6.49164102e-02 -1.04638352e-03 9.97890157e-01 -3.70262858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04863999999999 meters 0.02945144263041774 Centerline is valid? [True, True] Translation: X:76.03, Y:-15.37, Z:-3.70 [[ 9.24782124e-01 3.75537899e-01 6.12315979e-02 7.60263019e+01] [-3.74788929e-01 9.26806492e-01 -2.37273105e-02 -1.53703521e+01] [-6.56603468e-02 -1.00633240e-03 9.97841524e-01 -3.70493316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10864 meters 0.02920529667452542 Centerline is valid? [True, True] Translation: X:76.09, Y:-15.39, Z:-3.71 [[ 9.25156115e-01 3.74777974e-01 6.02298369e-02 7.60855338e+01] [-3.74050922e-01 9.27114132e-01 -2.33515268e-02 -1.53882385e+01] [-6.45915709e-02 -9.25218175e-04 9.97911355e-01 -3.70698975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16863999999998 meters 0.028818237020257622 Centerline is valid? [True, True] Translation: X:76.15, Y:-15.41, Z:-3.71 [[ 9.26653540e-01 3.71195026e-01 5.93924947e-02 7.61457037e+01] [-3.70480102e-01 9.28554695e-01 -2.30363535e-02 -1.54063029e+01] [-6.37001596e-02 -6.57018921e-04 9.97968866e-01 -3.71051715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22863999999998 meters 0.02840443142631437 Centerline is valid? [True, True] Translation: X:76.21, Y:-15.42, Z:-3.71 [[ 9.28728803e-01 3.66147481e-01 5.82995096e-02 7.62056575e+01] [-3.65448037e-01 9.30556788e-01 -2.26229307e-02 -1.54248907e+01] [-6.25343335e-02 -2.94873930e-04 9.98042770e-01 -3.71198660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28863999999999 meters 0.028347644700075048 Centerline is valid? [True, True] Translation: X:76.26, Y:-15.45, Z:-3.71 [[ 9.28912414e-01 3.65679174e-01 5.83135406e-02 7.62648933e+01] [-3.64977844e-01 9.30740929e-01 -2.26383771e-02 -1.54465173e+01] [-6.25531820e-02 -2.54080821e-04 9.98041600e-01 -3.71467997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34863999999999 meters 0.02763425708919358 Centerline is valid? [True, True] Translation: X:76.33, Y:-15.46, Z:-3.72 [[ 9.30222248e-01 3.62169660e-01 5.93271255e-02 7.63262122e+01] [-3.61435690e-01 9.32112192e-01 -2.30457044e-02 -1.54616718e+01] [-6.36459918e-02 -5.31362594e-06 9.97972539e-01 -3.71830510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40863999999999 meters 0.027373462254099017 Centerline is valid? [True, True] Translation: X:76.38, Y:-15.48, Z:-3.72 [[ 9.30538043e-01 3.61009426e-01 6.14096457e-02 7.63848365e+01] [-3.60219577e-01 9.32562162e-01 -2.38677596e-02 -1.54817147e+01] [-6.58847982e-02 8.89016543e-05 9.97827232e-01 -3.72133097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46864 meters 0.027128849262778296 Centerline is valid? [True, True] Translation: X:76.44, Y:-15.50, Z:-3.72 [[ 9.30704469e-01 3.60768352e-01 6.02941782e-02 7.64444206e+01] [-3.60005885e-01 9.32655448e-01 -2.34430933e-02 -1.54990195e+01] [-6.46912199e-02 1.12332678e-04 9.97905323e-01 -3.72430242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52863999999998 meters 0.0270513637413236 Centerline is valid? [True, True] Translation: X:76.50, Y:-15.52, Z:-3.73 [[ 9.31600792e-01 3.58556909e-01 5.96398044e-02 7.65034778e+01] [-3.57805828e-01 9.33507830e-01 -2.31974211e-02 -1.55183099e+01] [-6.39918200e-02 2.71266279e-04 9.97950386e-01 -3.72640103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58863999999998 meters 0.027169237866034573 Centerline is valid? [True, True] Translation: X:76.56, Y:-15.54, Z:-3.73 [[ 9.34096801e-01 3.51975829e-01 5.98011790e-02 7.65616630e+01] [-3.51206594e-01 9.36008802e-01 -2.32690877e-02 -1.55391291e+01] [-6.41645864e-02 7.33011974e-04 9.97939061e-01 -3.72858691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64863999999999 meters 0.027241913908348188 Centerline is valid? [True, True] Translation: X:76.62, Y:-15.56, Z:-3.73 [[ 9.35531731e-01 3.48004080e-01 6.06097463e-02 7.66185573e+01] [-3.47204952e-01 9.37492456e-01 -2.35927398e-02 -1.55636791e+01] [-6.50315496e-02 1.02775267e-03 9.97882679e-01 -3.73208692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70863999999999 meters 0.028209258655064455 Centerline is valid? [True, True] Translation: X:76.68, Y:-15.59, Z:-3.74 [[ 9.37517985e-01 3.42182271e-01 6.30184153e-02 7.66751281e+01] [-3.41304484e-01 9.39632401e-01 -2.45397647e-02 -1.55902812e+01] [-6.76112173e-02 1.49800303e-03 9.97710619e-01 -3.73716703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76863999999999 meters 0.02856872113318789 Centerline is valid? [True, True] Translation: X:76.73, Y:-15.62, Z:-3.74 [[ 9.38561235e-01 3.39435421e-01 6.23410169e-02 7.67288986e+01] [-3.38569772e-01 9.40627850e-01 -2.42849241e-02 -1.56235085e+01] [-6.68828601e-02 1.68610448e-03 9.97759410e-01 -3.74131546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82864 meters 0.028589717993332216 Centerline is valid? [True, True] Translation: X:76.78, Y:-15.66, Z:-3.74 [[ 9.39071776e-01 3.37895866e-01 6.30125665e-02 7.67820986e+01] [-3.37007375e-01 9.41181735e-01 -2.45554726e-02 -1.56578905e+01] [-6.76034693e-02 1.82365160e-03 9.97710602e-01 -3.74480360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88863999999998 meters 0.028200452975290682 Centerline is valid? [True, True] Translation: X:76.84, Y:-15.69, Z:-3.75 [[ 9.38050957e-01 3.40719195e-01 6.30145442e-02 7.68375723e+01] [-3.39835959e-01 9.40163687e-01 -2.45715898e-02 -1.56877451e+01] [-6.76159985e-02 1.63479524e-03 9.97710080e-01 -3.74896155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94863999999998 meters 0.027294450171303882 Centerline is valid? [True, True] Translation: X:76.89, Y:-15.72, Z:-3.75 [[ 9.35984971e-01 3.46070334e-01 6.45558531e-02 7.68922443e+01] [-3.45153734e-01 9.38207657e-01 -2.52049912e-02 -1.57193223e+01] [-6.92894954e-02 1.30979927e-03 9.97595735e-01 -3.75292749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00863999999999 meters 0.02676786821607897 Centerline is valid? [True, True] Translation: X:76.95, Y:-15.75, Z:-3.76 [[ 9.33965058e-01 3.50911544e-01 6.76044249e-02 7.69469428e+01] [-3.49916178e-01 9.36408045e-01 -2.64318304e-02 -1.57511101e+01] [-7.25805617e-02 1.03052400e-03 9.97362021e-01 -3.75640267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06863999999999 meters 0.026389711219275136 Centerline is valid? [True, True] Translation: X:77.00, Y:-15.78, Z:-3.76 [[ 9.30910057e-01 3.58583669e-01 6.94565968e-02 7.70017401e+01] [-3.57551245e-01 9.33497467e-01 -2.71953505e-02 -1.57816216e+01] [-7.45893657e-02 4.82132604e-04 9.97214217e-01 -3.76265898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12863999999999 meters 0.025942014113769788 Centerline is valid? [True, True] Translation: X:77.06, Y:-15.81, Z:-3.77 [[ 9.26101084e-01 3.70750896e-01 6.98609643e-02 7.70586027e+01] [-3.69737911e-01 9.28732232e-01 -2.73919341e-02 -1.58097334e+01] [-7.50377135e-02 -4.62547145e-04 9.97180589e-01 -3.76640237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18863999999999 meters 0.02605607863498714 Centerline is valid? [True, True] Translation: X:77.12, Y:-15.83, Z:-3.77 [[ 9.22806821e-01 3.78757356e-01 7.05013232e-02 7.71161828e+01] [-3.77745862e-01 9.25495374e-01 -2.76834872e-02 -1.58323507e+01] [-7.57339729e-02 -1.08507227e-03 9.97127468e-01 -3.76931607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24864 meters 0.026639544174255732 Centerline is valid? [True, True] Translation: X:77.17, Y:-15.85, Z:-3.77 [[ 9.19570061e-01 3.86009062e-01 7.34023602e-02 7.71734886e+01] [-3.84933292e-01 9.22493375e-01 -2.88501793e-02 -1.58527893e+01] [-7.88496217e-02 -1.72525103e-03 9.96885029e-01 -3.77160861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30863999999998 meters 0.027046877165812166 Centerline is valid? [True, True] Translation: X:77.23, Y:-15.87, Z:-3.78 [[ 9.17709013e-01 3.90397450e-01 7.34846877e-02 7.72340585e+01] [-3.89331676e-01 9.20644058e-01 -2.89026776e-02 -1.58695074e+01] [-7.89367727e-02 -2.08566889e-03 9.96877443e-01 -3.77617365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36863999999998 meters 0.027011241888880315 Centerline is valid? [True, True] Translation: X:77.29, Y:-15.88, Z:-3.78 [[ 9.17641152e-01 3.90157126e-01 7.55786520e-02 7.72948693e+01] [-3.89025524e-01 9.20745928e-01 -2.97670699e-02 -1.58849781e+01] [-8.12025705e-02 -2.08653630e-03 9.96695434e-01 -3.77845184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42863999999999 meters 0.026831803139937303 Centerline is valid? [True, True] Translation: X:77.35, Y:-15.91, Z:-3.78 [[ 9.18535529e-01 3.88655483e-01 7.23836853e-02 7.73540446e+01] [-3.87610826e-01 9.21381306e-01 -2.85365661e-02 -1.59053253e+01] [-7.77838674e-02 -1.84485024e-03 9.96968538e-01 -3.78185241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48863999999999 meters 0.026427342233044823 Centerline is valid? [True, True] Translation: X:77.41, Y:-15.92, Z:-3.79 [[ 9.20715628e-01 3.83978950e-01 6.95909396e-02 7.74127654e+01] [-3.82999254e-01 9.23340811e-01 -2.74466279e-02 -1.59242118e+01] [-7.47950821e-02 -1.38273870e-03 9.97197966e-01 -3.78523704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54863999999999 meters 0.026352643992002045 Centerline is valid? [True, True] Translation: X:77.47, Y:-15.94, Z:-3.79 [[ 9.21888141e-01 3.81097149e-01 6.99086422e-02 7.74721451e+01] [-3.80098786e-01 9.24534300e-01 -2.75906121e-02 -1.59432642e+01] [-7.51476411e-02 -1.13673193e-03 9.97171770e-01 -3.79052278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60864 meters 0.02603067143246172 Centerline is valid? [True, True] Translation: X:77.53, Y:-15.96, Z:-3.79 [[ 9.23514839e-01 3.77483556e-01 6.80184384e-02 7.75311189e+01] [-3.76526703e-01 9.26015947e-01 -2.68720583e-02 -1.59643728e+01] [-7.31299188e-02 -7.94013758e-04 9.97322107e-01 -3.79326822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66863999999998 meters 0.025759597971362423 Centerline is valid? [True, True] Translation: X:77.59, Y:-15.99, Z:-3.80 [[ 9.25423802e-01 3.73227603e-01 6.55129220e-02 7.75875369e+01] [-3.72327993e-01 9.27739715e-01 -2.59015013e-02 -1.59898106e+01] [-7.04460948e-02 -4.22428947e-04 9.97515498e-01 -3.79788140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72863999999998 meters 0.025859910428011997 Centerline is valid? [True, True] Translation: X:77.65, Y:-16.01, Z:-3.80 [[ 9.25864725e-01 3.72044942e-01 6.60081244e-02 7.76463702e+01] [-3.71126036e-01 9.28214668e-01 -2.61341647e-02 -1.60126240e+01] [-7.09927931e-02 -3.00632355e-04 9.97476783e-01 -3.79983235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78863999999999 meters 0.025735737831546025 Centerline is valid? [True, True] Translation: X:77.71, Y:-16.04, Z:-3.80 [[ 9.24716848e-01 3.75091212e-01 6.48485457e-02 7.77051704e+01] [-3.74209094e-01 9.26987780e-01 -2.57140025e-02 -1.60360008e+01] [-6.97589058e-02 -4.88744262e-04 9.97563760e-01 -3.80166513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84863999999999 meters 0.025906458619454856 Centerline is valid? [True, True] Translation: X:77.76, Y:-16.06, Z:-3.80 [[ 9.23340147e-01 3.78314956e-01 6.57325413e-02 7.77631486e+01] [-3.77414069e-01 9.25676668e-01 -2.61022328e-02 -1.60570407e+01] [-7.07219448e-02 -7.07146358e-04 9.97495818e-01 -3.80491132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90863999999999 meters 0.025817988938696013 Centerline is valid? [True, True] Translation: X:77.82, Y:-16.08, Z:-3.81 [[ 9.23603586e-01 3.77647742e-01 6.58680452e-02 7.78217144e+01] [-3.76738944e-01 9.25949131e-01 -2.61911269e-02 -1.60807527e+01] [-7.08814791e-02 -6.24839088e-04 9.97484549e-01 -3.80750518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96864 meters 0.025728819787030257 Centerline is valid? [True, True] Translation: X:77.88, Y:-16.10, Z:-3.81 [[ 9.24794075e-01 3.74831834e-01 6.52458061e-02 7.78822567e+01] [-3.73930469e-01 9.27092746e-01 -2.59816239e-02 -1.60980610e+01] [-7.02276533e-02 -3.69743072e-04 9.97530922e-01 -3.80937062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02863999999998 meters 0.02562138272005277 Centerline is valid? [True, True] Translation: X:77.94, Y:-16.12, Z:-3.81 [[ 9.24985033e-01 3.74201039e-01 6.61533915e-02 7.79417060e+01] [-3.73270124e-01 9.27347560e-01 -2.63802465e-02 -1.61202685e+01] [-7.12187019e-02 -2.91751431e-04 9.97460682e-01 -3.81297042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08863999999998 meters 0.025510412061509818 Centerline is valid? [True, True] Translation: X:78.00, Y:-16.14, Z:-3.81 [[ 9.25582149e-01 3.72730209e-01 6.61050442e-02 7.80013303e+01] [-3.71794031e-01 9.27939746e-01 -2.64012745e-02 -1.61399445e+01] [-7.11820505e-02 -1.40912446e-04 9.97463331e-01 -3.81460542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14863999999999 meters 0.02540151588442501 Centerline is valid? [True, True] Translation: X:78.06, Y:-16.16, Z:-3.82 [[ 9.26658067e-01 3.70444550e-01 6.38409087e-02 7.80589559e+01] [-3.69563557e-01 9.28854580e-01 -2.55332474e-02 -1.61627575e+01] [-6.87575727e-02 6.73164105e-05 9.97633395e-01 -3.81750826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20863999999999 meters 0.025112295721905924 Centerline is valid? [True, True] Translation: X:78.12, Y:-16.19, Z:-3.82 [[ 9.27030079e-01 3.69651709e-01 6.30305262e-02 7.81177208e+01] [-3.68788784e-01 9.29170377e-01 -2.52436770e-02 -1.61857121e+01] [-6.78974661e-02 1.56696730e-04 9.97692292e-01 -3.82032063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26863999999999 meters 0.02542523353988967 Centerline is valid? [True, True] Translation: X:78.18, Y:-16.21, Z:-3.82 [[ 9.27830731e-01 3.67477070e-01 6.39588721e-02 7.81758926e+01] [-3.66580745e-01 9.30032514e-01 -2.56530913e-02 -1.62084450e+01] [-6.89107535e-02 3.55635508e-04 9.97622765e-01 -3.82363412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32864 meters 0.025148009351673148 Centerline is valid? [True, True] Translation: X:78.23, Y:-16.24, Z:-3.83 [[ 9.27419924e-01 3.68790034e-01 6.23393620e-02 7.82322445e+01] [-3.67939363e-01 9.29512685e-01 -2.50358494e-02 -1.62351145e+01] [-6.71781995e-02 2.81640444e-04 9.97740953e-01 -3.82718406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38863999999998 meters 0.025066394545809292 Centerline is valid? [True, True] Translation: X:78.29, Y:-16.26, Z:-3.83 [[ 9.26999507e-01 3.69711257e-01 6.31308209e-02 7.82896450e+01] [-3.68838566e-01 9.29146664e-01 -2.53887411e-02 -1.62621808e+01] [-6.80442950e-02 2.50268990e-04 9.97682270e-01 -3.82976580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44863999999998 meters 0.025007118231561775 Centerline is valid? [True, True] Translation: X:78.35, Y:-16.29, Z:-3.83 [[ 9.26437035e-01 3.70966215e-01 6.40194322e-02 7.83476651e+01] [-3.70069028e-01 9.28646342e-01 -2.57853907e-02 -1.62876091e+01] [-6.90169203e-02 1.96931883e-04 9.97615470e-01 -3.83322307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50863999999999 meters 0.025037147428744914 Centerline is valid? [True, True] Translation: X:78.41, Y:-16.31, Z:-3.84 [[ 9.25958599e-01 3.72031751e-01 6.47537497e-02 7.84061514e+01] [-3.71113667e-01 9.28219991e-01 -2.61207697e-02 -1.63122562e+01] [-6.98234807e-02 1.55749851e-04 9.97559350e-01 -3.83594554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56863999999999 meters 0.024992618309667803 Centerline is valid? [True, True] Translation: X:78.46, Y:-16.34, Z:-3.84 [[ 9.24175397e-01 3.76317081e-01 6.54621297e-02 7.84637278e+01] [-3.75386668e-01 9.26490926e-01 -2.64464087e-02 -1.63371190e+01] [-7.06023045e-02 -1.32490521e-04 9.97504535e-01 -3.83967723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62863999999999 meters 0.024855449166548308 Centerline is valid? [True, True] Translation: X:78.52, Y:-16.36, Z:-3.84 [[ 9.23076923e-01 3.79153329e-01 6.45890728e-02 7.85233904e+01] [-3.78251818e-01 9.25333809e-01 -2.61324403e-02 -1.63590163e+01] [-6.96746545e-02 -3.08681617e-04 9.97569720e-01 -3.84199490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68863999999999 meters 0.024807885791842794 Centerline is valid? [True, True] Translation: X:78.58, Y:-16.38, Z:-3.85 [[ 9.22664286e-01 3.80259837e-01 6.39771222e-02 7.85830400e+01] [-3.79375329e-01 9.24879631e-01 -2.59234956e-02 -1.63801875e+01] [-6.90288014e-02 -3.52658240e-04 9.97614605e-01 -3.84594528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74864 meters 0.02483937708990165 Centerline is valid? [True, True] Translation: X:78.64, Y:-16.40, Z:-3.85 [[ 9.22242804e-01 3.81095694e-01 6.50713733e-02 7.86425129e+01] [-3.80179981e-01 9.24535517e-01 -2.64056624e-02 -1.63989303e+01] [-7.02238801e-02 -3.86401313e-04 9.97531181e-01 -3.84822340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80863999999998 meters 0.025031491507543538 Centerline is valid? [True, True] Translation: X:78.70, Y:-16.42, Z:-3.85 [[ 9.21710696e-01 3.82302991e-01 6.55272174e-02 7.87021359e+01] [-3.81374814e-01 9.24036916e-01 -2.66275920e-02 -1.64205877e+01] [-7.07293760e-02 -4.47494015e-04 9.97495441e-01 -3.85247172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86863999999998 meters 0.025257234023101083 Centerline is valid? [True, True] Translation: X:78.76, Y:-16.44, Z:-3.86 [[ 9.21447327e-01 3.82939909e-01 6.55122044e-02 7.87621848e+01] [-3.82010912e-01 9.23773141e-01 -2.66617260e-02 -1.64403649e+01] [-7.07282537e-02 -4.59000817e-04 9.97495516e-01 -3.85578491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92863999999999 meters 0.024992977208413793 Centerline is valid? [True, True] Translation: X:78.82, Y:-16.46, Z:-3.86 [[ 9.21973032e-01 3.81827345e-01 6.46034525e-02 7.88204066e+01] [-3.80918617e-01 9.24233611e-01 -2.63294482e-02 -1.64614401e+01] [-6.97619854e-02 -3.33616537e-04 9.97563609e-01 -3.85773776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98863999999999 meters 0.024936885329410585 Centerline is valid? [True, True] Translation: X:78.88, Y:-16.48, Z:-3.86 [[ 9.23184893e-01 3.78984782e-01 6.40327086e-02 7.88800485e+01] [-3.78083344e-01 9.25402900e-01 -2.61238998e-02 -1.64810289e+01] [-6.91566147e-02 -9.25110179e-05 9.97605811e-01 -3.86072768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04863999999999 meters 0.025109214547440934 Centerline is valid? [True, True] Translation: X:78.94, Y:-16.50, Z:-3.86 [[ 9.23790502e-01 3.77480515e-01 6.41838747e-02 7.89381949e+01] [-3.76570270e-01 9.26017527e-01 -2.61987138e-02 -1.65039717e+01] [-6.93248969e-02 3.23839473e-05 9.97594135e-01 -3.86405837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10864 meters 0.025110957146742722 Centerline is valid? [True, True] Translation: X:79.00, Y:-16.53, Z:-3.87 [[ 9.25225727e-01 3.74007640e-01 6.38407386e-02 7.89959348e+01] [-3.73097824e-01 9.27425572e-01 -2.60733892e-02 -1.65280189e+01] [-6.89591803e-02 3.04929869e-04 9.97619436e-01 -3.86692862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16863999999998 meters 0.02542120978656538 Centerline is valid? [True, True] Translation: X:79.05, Y:-16.55, Z:-3.87 [[ 9.26817927e-01 3.70127583e-01 6.33569437e-02 7.90529649e+01] [-3.69221566e-01 9.28980738e-01 -2.58886941e-02 -1.65536893e+01] [-6.84395001e-02 6.01355785e-04 9.97655087e-01 -3.86965536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22863999999998 meters 0.025804316757297687 Centerline is valid? [True, True] Translation: X:79.11, Y:-16.58, Z:-3.87 [[ 9.27890289e-01 3.67275513e-01 6.42519183e-02 7.91099446e+01] [-3.66335657e-01 9.30111818e-01 -2.62715219e-02 -1.65794198e+01] [-6.94103552e-02 8.39321357e-04 9.97587840e-01 -3.87228253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28863999999999 meters 0.02611329612159179 Centerline is valid? [True, True] Translation: X:79.17, Y:-16.61, Z:-3.88 [[ 9.29019736e-01 3.64531842e-01 6.35520736e-02 7.91658022e+01] [-3.63603711e-01 9.31190316e-01 -2.60179927e-02 -1.66067103e+01] [-6.86634623e-02 1.06345890e-03 9.97639313e-01 -3.87602682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34863999999999 meters 0.02635475161342366 Centerline is valid? [True, True] Translation: X:79.22, Y:-16.63, Z:-3.88 [[ 9.29131308e-01 3.63875125e-01 6.56498738e-02 7.92217151e+01] [-3.62880585e-01 9.31446992e-01 -2.69106149e-02 -1.66330595e+01] [-7.09414809e-02 1.18043021e-03 9.97479781e-01 -3.87838925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40863999999999 meters 0.026131898534272387 Centerline is valid? [True, True] Translation: X:79.28, Y:-16.66, Z:-3.88 [[ 9.28832662e-01 3.64750881e-01 6.50129258e-02 7.92773628e+01] [-3.63775495e-01 9.31104459e-01 -2.66810145e-02 -1.66610291e+01] [-7.02657486e-02 1.13208849e-03 9.97527665e-01 -3.88079513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46864 meters 0.025935708555102303 Centerline is valid? [True, True] Translation: X:79.33, Y:-16.69, Z:-3.88 [[ 9.27635888e-01 3.67772298e-01 6.50783764e-02 7.93332724e+01] [-3.66800492e-01 9.29915412e-01 -2.67343463e-02 -1.66897446e+01] [-7.03495372e-02 9.28958611e-04 9.97521970e-01 -3.88340430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52863999999998 meters 0.025474701364394173 Centerline is valid? [True, True] Translation: X:79.39, Y:-16.72, Z:-3.89 [[ 9.26603121e-01 3.70493635e-01 6.43515503e-02 7.93882124e+01] [-3.69549160e-01 9.28834722e-01 -2.64476472e-02 -1.67206241e+01] [-6.95706393e-02 7.25411144e-04 9.97576764e-01 -3.88741035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58863999999998 meters 0.02559092139036074 Centerline is valid? [True, True] Translation: X:79.44, Y:-16.75, Z:-3.89 [[ 9.26353513e-01 3.71102557e-01 6.44364904e-02 7.94436122e+01] [-3.70155630e-01 9.28591623e-01 -2.65029553e-02 -1.67503332e+01] [-6.96704997e-02 6.99576018e-04 9.97569813e-01 -3.88988822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64863999999999 meters 0.02580952427566834 Centerline is valid? [True, True] Translation: X:79.50, Y:-16.78, Z:-3.89 [[ 9.26670616e-01 3.70197358e-01 6.50806054e-02 7.94983491e+01] [-3.69226488e-01 9.28952776e-01 -2.68056188e-02 -1.67818924e+01] [-7.03801783e-02 8.10495945e-04 9.97519911e-01 -3.89276717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70863999999999 meters 0.025895932467501007 Centerline is valid? [True, True] Translation: X:79.55, Y:-16.81, Z:-3.90 [[ 9.26239017e-01 3.71175349e-01 6.56516869e-02 7.95549522e+01] [-3.70187202e-01 9.28562468e-01 -2.70772683e-02 -1.68085110e+01] [-7.10121069e-02 7.76608131e-04 9.97475151e-01 -3.89772048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76863999999999 meters 0.025541290927739303 Centerline is valid? [True, True] Translation: X:79.61, Y:-16.84, Z:-3.90 [[ 9.24712053e-01 3.74961316e-01 6.56630148e-02 7.96104855e+01] [-3.73979645e-01 9.27040312e-01 -2.71198300e-02 -1.68367595e+01] [-7.10411489e-02 5.21402747e-04 9.97473249e-01 -3.89974985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82864 meters 0.02523384439584988 Centerline is valid? [True, True] Translation: X:79.67, Y:-16.86, Z:-3.90 [[ 9.23549601e-01 3.77671033e-01 6.64885415e-02 7.96680362e+01] [-3.76668835e-01 9.25939775e-01 -2.74976539e-02 -1.68619562e+01] [-7.19494525e-02 3.51285772e-04 9.97408218e-01 -3.90220593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88863999999998 meters 0.02514073958866685 Centerline is valid? [True, True] Translation: X:79.72, Y:-16.89, Z:-3.91 [[ 9.22813639e-01 3.79202620e-01 6.79732325e-02 7.97247613e+01] [-3.78156289e-01 9.25313621e-01 -2.81517825e-02 -1.68868479e+01] [-7.35717876e-02 2.74343509e-04 9.97289886e-01 -3.90662272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94863999999998 meters 0.025161082032453742 Centerline is valid? [True, True] Translation: X:79.78, Y:-16.91, Z:-3.91 [[ 9.23586336e-01 3.77641121e-01 6.61472845e-02 7.97815003e+01] [-3.76643824e-01 9.25951946e-01 -2.74303272e-02 -1.69113725e+01] [-7.16080263e-02 4.20309189e-04 9.97432762e-01 -3.90976219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00863999999999 meters 0.025341588320128977 Centerline is valid? [True, True] Translation: X:79.84, Y:-16.94, Z:-3.91 [[ 9.24757937e-01 3.74821994e-01 6.58120912e-02 7.98372445e+01] [-3.73825039e-01 9.27096556e-01 -2.73279253e-02 -1.69408666e+01] [-7.12572706e-02 6.69508312e-04 9.97457745e-01 -3.91311001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06863999999999 meters 0.025439697822399916 Centerline is valid? [True, True] Translation: X:79.89, Y:-16.97, Z:-3.92 [[ 9.26002222e-01 3.71843456e-01 6.52098846e-02 7.98924926e+01] [-3.70854638e-01 9.28294990e-01 -2.71154844e-02 -1.69687666e+01] [-7.06167245e-02 9.25610634e-04 9.97503093e-01 -3.91615027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12863999999999 meters 0.025542180639983758 Centerline is valid? [True, True] Translation: X:79.95, Y:-17.00, Z:-3.92 [[ 9.25512388e-01 3.72927626e-01 6.59682162e-02 7.99486021e+01] [-3.71915755e-01 9.27860010e-01 -2.74676670e-02 -1.69969615e+01] [-7.14527217e-02 8.87047162e-04 9.97443593e-01 -3.91911145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18863999999999 meters 0.025503347159234923 Centerline is valid? [True, True] Translation: X:80.00, Y:-17.03, Z:-3.92 [[ 9.24412514e-01 3.75609385e-01 6.61747247e-02 8.00034559e+01] [-3.74595233e-01 9.26777791e-01 -2.75923345e-02 -1.70278338e+01] [-7.16932050e-02 7.17962863e-04 9.97426473e-01 -3.92322005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24863999999998 meters 0.02506012085632255 Centerline is valid? [True, True] Translation: X:80.06, Y:-17.06, Z:-3.93 [[ 9.21398872e-01 3.83029638e-01 6.56689764e-02 8.00568860e+01] [-3.82047218e-01 9.23736037e-01 -2.74163502e-02 -1.70599939e+01] [-7.11620748e-02 1.72744415e-04 9.97464751e-01 -3.92688091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30863999999998 meters 0.024745035961372407 Centerline is valid? [True, True] Translation: X:80.11, Y:-17.09, Z:-3.93 [[ 9.19793199e-01 3.87228890e-01 6.35158013e-02 8.01131270e+01] [-3.86317591e-01 9.21983608e-01 -2.65508119e-02 -1.70866689e+01] [-6.88417691e-02 -1.16015105e-04 9.97627585e-01 -3.92910386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36863999999998 meters 0.024831930214302966 Centerline is valid? [True, True] Translation: X:80.17, Y:-17.11, Z:-3.93 [[ 9.18140664e-01 3.91017576e-01 6.42104028e-02 8.01701462e+01] [-3.90092994e-01 9.20383136e-01 -2.68763673e-02 -1.71115242e+01] [-6.96073039e-02 -3.71742511e-04 9.97574401e-01 -3.93133248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42863999999999 meters 0.02492734435001081 Centerline is valid? [True, True] Translation: X:80.23, Y:-17.13, Z:-3.94 [[ 9.17533657e-01 3.92104113e-01 6.62295480e-02 8.02280292e+01] [-3.91120563e-01 9.19920745e-01 -2.77584073e-02 -1.71334477e+01] [-7.18101208e-02 -4.34465091e-04 9.97418226e-01 -3.93534428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48863999999999 meters 0.02497753379440508 Centerline is valid? [True, True] Translation: X:80.29, Y:-17.15, Z:-3.94 [[ 9.17361815e-01 3.92210776e-01 6.79559196e-02 8.02872326e+01] [-3.91172704e-01 9.19875280e-01 -2.85198937e-02 -1.71536695e+01] [-7.36967802e-02 -4.19439339e-04 9.97280607e-01 -3.93716430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54863999999999 meters 0.024862900949624216 Centerline is valid? [True, True] Translation: X:80.35, Y:-17.17, Z:-3.94 [[ 9.18310839e-01 3.90301106e-01 6.61078658e-02 8.03468732e+01] [-3.89311315e-01 9.20687241e-01 -2.77795645e-02 -1.71716970e+01] [-7.17070633e-02 -2.26264996e-04 9.97425709e-01 -3.93842925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60864 meters 0.02473186035477407 Centerline is valid? [True, True] Translation: X:80.41, Y:-17.19, Z:-3.94 [[ 9.19711525e-01 3.87174239e-01 6.50139919e-02 8.04062999e+01] [-3.86206671e-01 9.22006565e-01 -2.73550996e-02 -1.71908517e+01] [-7.05345173e-02 4.99630081e-05 9.97509338e-01 -3.94135046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66863999999998 meters 0.02493189170379553 Centerline is valid? [True, True] Translation: X:80.47, Y:-17.21, Z:-3.94 [[ 9.22890747e-01 3.79859390e-01 6.30833817e-02 8.04671853e+01] [-3.78928952e-01 9.25044028e-01 -2.65781010e-02 -1.72090646e+01] [-6.84508468e-02 6.24563733e-04 9.97654295e-01 -3.94355410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72863999999998 meters 0.02575920149731947 Centerline is valid? [True, True] Translation: X:80.53, Y:-17.23, Z:-3.95 [[ 9.25454886e-01 3.73686624e-01 6.23823726e-02 8.05262586e+01] [-3.72760245e-01 9.27554359e-01 -2.63194010e-02 -1.72293218e+01] [-6.76982498e-02 1.10374977e-03 9.97705231e-01 -3.94740479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78863999999999 meters 0.02654617491540404 Centerline is valid? [True, True] Translation: X:80.58, Y:-17.25, Z:-3.95 [[ 9.27683785e-01 3.67609313e-01 6.53160610e-02 8.05827258e+01] [-3.66576084e-01 9.29978849e-01 -2.75919329e-02 -1.72542145e+01] [-7.08856067e-02 1.65328283e-03 9.97483081e-01 -3.95088517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84863999999999 meters 0.02744093236180862 Centerline is valid? [True, True] Translation: X:80.64, Y:-17.28, Z:-3.95 [[ 9.29803191e-01 3.62782719e-01 6.20864319e-02 8.06380655e+01] [-3.61836509e-01 9.31871719e-01 -2.62571807e-02 -1.72823226e+01] [-6.73822414e-02 1.94887258e-03 9.97725331e-01 -3.95382229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90863999999999 meters 0.02745533358170055 Centerline is valid? [True, True] Translation: X:80.69, Y:-17.32, Z:-3.96 [[ 9.30080491e-01 3.62079425e-01 6.20384609e-02 8.06915529e+01] [-3.61130964e-01 9.32145041e-01 -2.62688034e-02 -1.73153562e+01] [-6.73402369e-02 2.02809239e-03 9.97728009e-01 -3.95568176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96864 meters 0.027091825400233624 Centerline is valid? [True, True] Translation: X:80.75, Y:-17.35, Z:-3.96 [[ 9.29125961e-01 3.64434921e-01 6.25470810e-02 8.07452321e+01] [-3.63474377e-01 9.31226927e-01 -2.65101407e-02 -1.73492746e+01] [-6.79067471e-02 1.89699865e-03 9.97689869e-01 -3.95853922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02863999999998 meters 0.026928089637145727 Centerline is valid? [True, True] Translation: X:80.80, Y:-17.38, Z:-3.96 [[ 9.27943400e-01 3.66823452e-01 6.60424141e-02 8.07993724e+01] [-3.65756994e-01 9.30288761e-01 -2.80114809e-02 -1.73815969e+01] [-7.17137837e-02 1.83759392e-03 9.97423559e-01 -3.96263830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08863999999998 meters 0.026712003353187356 Centerline is valid? [True, True] Translation: X:80.85, Y:-17.41, Z:-3.97 [[ 9.27147621e-01 3.68788577e-01 6.62742391e-02 8.08533261e+01] [-3.67717522e-01 9.29511717e-01 -2.81388036e-02 -1.74147294e+01] [-7.19799511e-02 1.71862589e-03 9.97404598e-01 -3.96558108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14863999999999 meters 0.025978696124679724 Centerline is valid? [True, True] Translation: X:80.91, Y:-17.45, Z:-3.97 [[ 9.26291547e-01 3.71019819e-01 6.57895414e-02 8.09066169e+01] [-3.69968313e-01 9.28623645e-01 -2.79566487e-02 -1.74486517e+01] [-7.14661945e-02 1.55596177e-03 9.97441809e-01 -3.96652888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20863999999999 meters 0.025716031213495263 Centerline is valid? [True, True] Translation: X:80.96, Y:-17.48, Z:-3.97 [[ 9.24361061e-01 3.75278921e-01 6.87194279e-02 8.09623427e+01] [-3.74140334e-01 9.26910996e-01 -2.92406705e-02 -1.74795009e+01] [-7.46702006e-02 1.31822751e-03 9.97207412e-01 -3.97132089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26863999999999 meters 0.024827282654881874 Centerline is valid? [True, True] Translation: X:81.02, Y:-17.51, Z:-3.97 [[ 9.21739186e-01 3.81924790e-01 6.73077068e-02 8.10175770e+01] [-3.80847363e-01 9.24193061e-01 -2.86787693e-02 -1.75086722e+01] [-7.31584485e-02 8.00382871e-04 9.97320009e-01 -3.97375588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32864 meters 0.02453051329064745 Centerline is valid? [True, True] Translation: X:81.07, Y:-17.53, Z:-3.98 [[ 9.19106066e-01 3.88068874e-01 6.81658931e-02 8.10746212e+01] [-3.86977822e-01 9.21630309e-01 -2.90815879e-02 -1.75329476e+01] [-7.41094122e-02 3.50375010e-04 9.97250055e-01 -3.97867243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38863999999998 meters 0.02435673313279614 Centerline is valid? [True, True] Translation: X:81.13, Y:-17.56, Z:-3.98 [[ 9.18150016e-01 3.90484954e-01 6.72461873e-02 8.11316272e+01] [-3.89426983e-01 9.20609291e-01 -2.87255821e-02 -1.75568271e+01] [-7.31243724e-02 1.86913802e-04 9.97322812e-01 -3.98182105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44863999999998 meters 0.02438795155588191 Centerline is valid? [True, True] Translation: X:81.19, Y:-17.58, Z:-3.98 [[ 9.17286926e-01 3.92840545e-01 6.52763426e-02 8.11909149e+01] [-3.91847179e-01 9.19606603e-01 -2.79192235e-02 -1.75772782e+01] [-7.09963587e-02 3.15879544e-05 9.97476574e-01 -3.98402954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50863999999999 meters 0.02447088784158311 Centerline is valid? [True, True] Translation: X:81.25, Y:-17.60, Z:-3.99 [[ 9.17880896e-01 3.91464471e-01 6.51937799e-02 8.12506694e+01] [-3.90467466e-01 9.20193207e-01 -2.79216722e-02 -1.75985502e+01] [-7.09212160e-02 1.72719471e-04 9.97481905e-01 -3.98702155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56863999999999 meters 0.02450620595632717 Centerline is valid? [True, True] Translation: X:81.31, Y:-17.62, Z:-3.99 [[ 9.19097836e-01 3.88684118e-01 6.46824809e-02 8.13093534e+01] [-3.87692964e-01 9.21370978e-01 -2.77432356e-02 -1.76218342e+01] [-7.03799157e-02 4.21805028e-04 9.97520170e-01 -3.99053644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62863999999999 meters 0.02458922511233268 Centerline is valid? [True, True] Translation: X:81.37, Y:-17.65, Z:-3.99 [[ 9.18927156e-01 3.88762096e-01 6.66101701e-02 8.13661066e+01] [-3.87708153e-01 9.21338057e-01 -2.86107162e-02 -1.76479924e+01] [-7.24932467e-02 4.65858051e-04 9.97368794e-01 -3.99371417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68863999999999 meters 0.024452522621226738 Centerline is valid? [True, True] Translation: X:81.42, Y:-17.67, Z:-4.00 [[ 9.17921968e-01 3.91455140e-01 6.46694218e-02 8.14234960e+01] [-3.90466008e-01 9.20197151e-01 -2.78118686e-02 -1.76724287e+01] [-7.03957166e-02 2.77914219e-04 9.97519106e-01 -3.99637493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74863999999998 meters 0.02432374930036234 Centerline is valid? [True, True] Translation: X:81.48, Y:-17.70, Z:-4.00 [[ 9.16494509e-01 3.94958478e-01 6.36051499e-02 8.14797327e+01] [-3.94007688e-01 9.18698971e-01 -2.73887447e-02 -1.76989525e+01] [-6.92514027e-02 4.07160623e-05 9.97599239e-01 -3.99964661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80863999999998 meters 0.024566515717654013 Centerline is valid? [True, True] Translation: X:81.54, Y:-17.72, Z:-4.00 [[ 9.16042679e-01 3.95739201e-01 6.52402825e-02 8.15368570e+01] [-3.94738193e-01 9.18362937e-01 -2.81296021e-02 -1.77235844e+01] [-7.10462437e-02 1.50848846e-05 9.97473023e-01 -4.00260086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86863999999998 meters 0.024724480451558024 Centerline is valid? [True, True] Translation: X:81.59, Y:-17.75, Z:-4.01 [[ 9.16478553e-01 3.94677216e-01 6.55511851e-02 8.15944873e+01] [-3.93661177e-01 9.18819829e-01 -2.83019473e-02 -1.77491095e+01] [-7.13998624e-02 1.33171004e-04 9.97447764e-01 -4.00754846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92863999999999 meters 0.024802612251671567 Centerline is valid? [True, True] Translation: X:81.65, Y:-17.77, Z:-4.01 [[ 9.17370210e-01 3.92485289e-01 6.62359153e-02 8.16514650e+01] [-3.91439236e-01 9.19758218e-01 -2.86381767e-02 -1.77748636e+01] [-7.21610904e-02 3.44474067e-04 9.97392931e-01 -4.01073099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98863999999999 meters 0.024723799155120057 Centerline is valid? [True, True] Translation: X:81.71, Y:-17.80, Z:-4.01 [[ 9.17076739e-01 3.93252531e-01 6.57472507e-02 8.17098020e+01] [-3.92221136e-01 9.19430447e-01 -2.84646110e-02 -1.77996054e+01] [-7.16438044e-02 3.16771288e-04 9.97430231e-01 -4.01309193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04863999999999 meters 0.024567865294031477 Centerline is valid? [True, True] Translation: X:81.77, Y:-17.83, Z:-4.02 [[ 9.16432161e-01 3.94790080e-01 6.55201325e-02 8.17666858e+01] [-3.93766773e-01 9.18771320e-01 -2.84075716e-02 -1.78266688e+01] [-7.14130461e-02 2.33961120e-04 9.97446802e-01 -4.01659211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10864 meters 0.024745716051155414 Centerline is valid? [True, True] Translation: X:81.82, Y:-17.85, Z:-4.02 [[ 9.15522085e-01 3.96506763e-01 6.78358174e-02 8.18237889e+01] [-3.95411329e-01 9.18031790e-01 -2.94536012e-02 -1.78519214e+01] [-7.39539889e-02 1.42371724e-04 9.97261644e-01 -4.02009539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16863999999998 meters 0.024890835746311818 Centerline is valid? [True, True] Translation: X:81.88, Y:-17.88, Z:-4.02 [[ 9.14013413e-01 3.99708616e-01 6.93722079e-02 8.18800823e+01] [-3.98569166e-01 9.16642250e-01 -3.01596493e-02 -1.78776050e+01] [-7.56445685e-02 -8.32990756e-05 9.97134842e-01 -4.02426918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22863999999998 meters 0.024719429006168574 Centerline is valid? [True, True] Translation: X:81.94, Y:-17.90, Z:-4.03 [[ 9.12789015e-01 4.02587056e-01 6.88467611e-02 8.19377239e+01] [-4.01469992e-01 9.15381659e-01 -2.99710471e-02 -1.79019747e+01] [-7.50870180e-02 -2.82666095e-04 9.97176945e-01 -4.02685493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28863999999999 meters 0.02480243610659671 Centerline is valid? [True, True] Translation: X:82.00, Y:-17.92, Z:-4.03 [[ 9.11209221e-01 4.06192813e-01 6.85941195e-02 8.19966524e+01] [-4.05090866e-01 9.13787234e-01 -2.99045315e-02 -1.79239423e+01] [-7.48274365e-02 -5.37566409e-04 9.97196353e-01 -4.02966494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34863999999999 meters 0.02494217903703414 Centerline is valid? [True, True] Translation: X:82.06, Y:-17.94, Z:-4.03 [[ 9.09294233e-01 4.10850048e-01 6.62286633e-02 8.20561581e+01] [-4.09832336e-01 9.11702535e-01 -2.89127014e-02 -1.79426139e+01] [-7.22596250e-02 -8.52495181e-04 9.97385492e-01 -4.03219134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40863999999999 meters 0.02486180783101804 Centerline is valid? [True, True] Translation: X:82.12, Y:-17.96, Z:-4.04 [[ 9.10125585e-01 4.08981347e-01 6.63752811e-02 8.21157668e+01] [-4.07951469e-01 9.12542496e-01 -2.90136574e-02 -1.79624234e+01] [-7.24363093e-02 -6.71821550e-04 9.97372814e-01 -4.03574876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46864 meters 0.024901294010476777 Centerline is valid? [True, True] Translation: X:82.17, Y:-17.98, Z:-4.04 [[ 9.11422027e-01 4.06067124e-01 6.64784133e-02 8.21749017e+01] [-4.05023573e-01 9.13843162e-01 -2.90960446e-02 -1.79823123e+01] [-7.25657906e-02 -4.06548498e-04 9.97363545e-01 -4.03897276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52863999999998 meters 0.024997818084858247 Centerline is valid? [True, True] Translation: X:82.24, Y:-18.00, Z:-4.04 [[ 9.12016109e-01 4.04837396e-01 6.58277998e-02 8.22354817e+01] [-4.03808343e-01 9.14388653e-01 -2.88481074e-02 -1.79990281e+01] [-7.18709859e-02 -2.71876066e-04 9.97413900e-01 -4.04298708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58863999999998 meters 0.02536271076775854 Centerline is valid? [True, True] Translation: X:82.30, Y:-18.02, Z:-4.05 [[ 9.11018087e-01 4.06844366e-01 6.72585004e-02 8.22951673e+01] [-4.05772685e-01 9.13497399e-01 -2.95132256e-02 -1.80184011e+01] [-7.34477547e-02 -4.04579936e-04 9.97298984e-01 -4.04654757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64863999999999 meters 0.025656629265853454 Centerline is valid? [True, True] Translation: X:82.35, Y:-18.04, Z:-4.05 [[ 9.09988883e-01 4.09063315e-01 6.77306265e-02 8.23527647e+01] [-4.07979846e-01 9.12505835e-01 -2.97581384e-02 -1.80412841e+01] [-7.39775546e-02 -5.53155465e-04 9.97259753e-01 -4.05014576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70863999999999 meters 0.025852216562406778 Centerline is valid? [True, True] Translation: X:82.41, Y:-18.06, Z:-4.05 [[ 9.08458566e-01 4.12221529e-01 6.91118358e-02 8.24111903e+01] [-4.11100024e-01 9.11083298e-01 -3.03972741e-02 -1.80617581e+01] [-7.54970501e-02 -7.97213370e-04 9.97145706e-01 -4.05226447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76863999999999 meters 0.02647717422173812 Centerline is valid? [True, True] Translation: X:82.47, Y:-18.08, Z:-4.05 [[ 9.06309074e-01 4.17028225e-01 6.84932270e-02 8.24711169e+01] [-4.15938409e-01 9.08892793e-01 -3.01517913e-02 -1.80795480e+01] [-7.48271484e-02 -1.16212181e-03 9.97195842e-01 -4.05494760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82864 meters 0.02736564885169502 Centerline is valid? [True, True] Translation: X:82.53, Y:-18.09, Z:-4.06 [[ 9.05108554e-01 4.18966640e-01 7.24255485e-02 8.25323466e+01] [-4.17750905e-01 9.08000606e-01 -3.19230609e-02 -1.80935057e+01] [-7.91371394e-02 -1.36200290e-03 9.96862808e-01 -4.05776034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88863999999998 meters 0.027501554220530758 Centerline is valid? [True, True] Translation: X:82.59, Y:-18.11, Z:-4.06 [[ 9.05087356e-01 4.19236110e-01 7.11193585e-02 8.25919776e+01] [-4.18061813e-01 9.07876272e-01 -3.13846347e-02 -1.81124348e+01] [-7.77251502e-02 -1.32645194e-03 9.96973942e-01 -4.06022845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94863999999998 meters 0.027807906215166354 Centerline is valid? [True, True] Translation: X:82.65, Y:-18.12, Z:-4.06 [[ 9.05416964e-01 4.18533262e-01 7.10635574e-02 8.26546366e+01] [-4.17355581e-01 9.08200637e-01 -3.13993966e-02 -1.81245080e+01] [-7.76816600e-02 -1.22922596e-03 9.96977456e-01 -4.06212253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00863999999999 meters 0.027594318570522348 Centerline is valid? [True, True] Translation: X:82.72, Y:-18.14, Z:-4.07 [[ 9.07145991e-01 4.14974068e-01 6.98761355e-02 8.27156937e+01] [-4.13821973e-01 9.09832820e-01 -3.09130228e-02 -1.81409262e+01] [-7.64037042e-02 -8.73655527e-04 9.97076582e-01 -4.06570567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06863999999999 meters 0.027381236460730544 Centerline is valid? [True, True] Translation: X:82.78, Y:-18.16, Z:-4.07 [[ 9.10834883e-01 4.07273885e-01 6.71401438e-02 8.27767199e+01] [-4.06186719e-01 9.13306054e-01 -2.97388742e-02 -1.81558810e+01] [-7.34313667e-02 -1.84230726e-04 9.97300256e-01 -4.06879478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12863999999999 meters 0.02737802117465405 Centerline is valid? [True, True] Translation: X:82.84, Y:-18.17, Z:-4.07 [[ 9.14132131e-01 4.00101327e-01 6.54322143e-02 8.28367495e+01] [-3.99047894e-01 9.16470815e-01 -2.90176373e-02 -1.81741002e+01] [-7.15767100e-02 4.15367318e-04 9.97435011e-01 -4.07061590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18863999999999 meters 0.02769173324724803 Centerline is valid? [True, True] Translation: X:82.90, Y:-18.19, Z:-4.07 [[ 9.16196567e-01 3.95679666e-01 6.34149173e-02 8.28973176e+01] [-3.94677216e-01 9.18388267e-01 -2.81582318e-02 -1.81932193e+01] [-6.93811557e-02 7.70052277e-04 9.97589927e-01 -4.07257251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24863999999998 meters 0.02815978662178452 Centerline is valid? [True, True] Translation: X:82.95, Y:-18.22, Z:-4.08 [[ 9.17497549e-01 3.92622638e-01 6.36059075e-02 8.29545625e+01] [-3.91604151e-01 9.19699073e-01 -2.82808125e-02 -1.82166006e+01] [-6.96019813e-02 1.03923877e-03 9.97574300e-01 -4.07630411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30863999999998 meters 0.02930346149001117 Centerline is valid? [True, True] Translation: X:83.01, Y:-18.24, Z:-4.08 [[ 9.20547997e-01 3.85276575e-01 6.44464509e-02 8.30120464e+01] [-3.84211027e-01 9.22799689e-01 -2.86813694e-02 -1.82404208e+01] [-7.05214246e-02 1.64154008e-03 9.97508914e-01 -4.07932776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36863999999998 meters 0.029366688471572564 Centerline is valid? [True, True] Translation: X:83.07, Y:-18.27, Z:-4.08 [[ 9.21103189e-01 3.84303585e-01 6.22869885e-02 8.30689394e+01] [-3.83304914e-01 9.23205259e-01 -2.77379301e-02 -1.82675692e+01] [-6.81634613e-02 1.67458709e-03 9.97672761e-01 -4.08180719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42863999999999 meters 0.028845397586972344 Centerline is valid? [True, True] Translation: X:83.12, Y:-18.30, Z:-4.09 [[ 9.19846003e-01 3.87243643e-01 6.26553421e-02 8.31238442e+01] [-3.86237418e-01 9.21976200e-01 -2.79381973e-02 -1.82960537e+01] [-6.85856235e-02 1.49900157e-03 9.97644108e-01 -4.08542462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48863999999999 meters 0.028293553075445354 Centerline is valid? [True, True] Translation: X:83.18, Y:-18.33, Z:-4.09 [[ 9.17674901e-01 3.92513733e-01 6.16907263e-02 8.31783439e+01] [-3.91547991e-01 9.19745465e-01 -2.75399819e-02 -1.83273144e+01] [-6.75495868e-02 1.11787025e-03 9.97715292e-01 -4.08799981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54863999999999 meters 0.027806085382020524 Centerline is valid? [True, True] Translation: X:83.23, Y:-18.35, Z:-4.09 [[ 9.15708277e-01 3.97131667e-01 6.13578859e-02 8.32346523e+01] [-3.96184481e-01 9.17761295e-01 -2.74237653e-02 -1.83546095e+01] [-6.72027384e-02 8.03126651e-04 9.97739017e-01 -4.09050899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60863999999998 meters 0.027602547581590822 Centerline is valid? [True, True] Translation: X:83.29, Y:-18.39, Z:-4.09 [[ 9.14945881e-01 3.99122796e-01 5.97915327e-02 8.32887960e+01] [-3.98225589e-01 9.16897238e-01 -2.67550883e-02 -1.83862627e+01] [-6.55012569e-02 6.68939580e-04 9.97852263e-01 -4.09270380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66863999999998 meters 0.027482379032488662 Centerline is valid? [True, True] Translation: X:83.34, Y:-18.42, Z:-4.10 [[ 9.14144837e-01 4.00961265e-01 5.97434669e-02 8.33447567e+01] [-4.00067214e-01 9.16094832e-01 -2.67671861e-02 -1.84162955e+01] [-6.54632861e-02 5.67682612e-04 9.97854817e-01 -4.09566196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72863999999998 meters 0.027481769918270647 Centerline is valid? [True, True] Translation: X:83.40, Y:-18.45, Z:-4.10 [[ 9.12914398e-01 4.03459808e-01 6.17048215e-02 8.34000694e+01] [-4.02509053e-01 9.14997263e-01 -2.76852029e-02 -1.84461863e+01] [-6.76296094e-02 4.37471043e-04 9.97710401e-01 -4.09773616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78863999999999 meters 0.027012045820688186 Centerline is valid? [True, True] Translation: X:83.45, Y:-18.48, Z:-4.10 [[ 9.10116332e-01 4.09970828e-01 6.01014301e-02 8.34540118e+01] [-4.09080688e-01 9.12098635e-01 -2.70013056e-02 -1.84778943e+01] [-6.58881800e-02 -1.20051217e-05 9.97827013e-01 -4.09959658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84863999999999 meters 0.026810676410217327 Centerline is valid? [True, True] Translation: X:83.51, Y:-18.51, Z:-4.10 [[ 9.06003700e-01 4.18596716e-01 6.27222888e-02 8.35080401e+01] [-4.17645254e-01 9.08172004e-01 -2.82144158e-02 -1.85086189e+01] [-6.87730885e-02 -6.33301178e-04 9.97632127e-01 -4.10070999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90863999999999 meters 0.026837429769113894 Centerline is valid? [True, True] Translation: X:83.57, Y:-18.53, Z:-4.10 [[ 9.04623925e-01 4.21558873e-01 6.27986589e-02 8.35653056e+01] [-4.20609800e-01 9.06800657e-01 -2.82836506e-02 -1.85335543e+01] [-6.88690890e-02 -8.27664311e-04 9.97625362e-01 -4.10328828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96864 meters 0.027361446794982744 Centerline is valid? [True, True] Translation: X:83.62, Y:-18.56, Z:-4.10 [[ 8.98469820e-01 4.34589665e-01 6.23201857e-02 8.36228135e+01] [-4.33684345e-01 9.00626800e-01 -2.80936820e-02 -1.85558769e+01] [-6.83364532e-02 -1.78596352e-03 9.97660734e-01 -4.10491862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02863999999998 meters 0.02788904986664186 Centerline is valid? [True, True] Translation: X:83.68, Y:-18.58, Z:-4.11 [[ 8.95274665e-01 4.41022300e-01 6.31078879e-02 8.36819720e+01] [-4.40108875e-01 8.97493217e-01 -2.84623190e-02 -1.85752929e+01] [-6.91914187e-02 -2.29274849e-03 9.97600767e-01 -4.10754330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08863999999998 meters 0.028323011240378327 Centerline is valid? [True, True] Translation: X:83.74, Y:-18.59, Z:-4.11 [[ 8.93117866e-01 4.45297559e-01 6.36440285e-02 8.37426991e+01] [-4.44377028e-01 8.95378824e-01 -2.87370552e-02 -1.85907823e+01] [-6.97820559e-02 -2.61636679e-03 9.97558830e-01 -4.11081130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14863999999999 meters 0.02836298010189764 Centerline is valid? [True, True] Translation: X:83.80, Y:-18.60, Z:-4.11 [[ 8.92131911e-01 4.46903364e-01 6.61667275e-02 8.38047954e+01] [-4.45910207e-01 8.94577794e-01 -2.99108114e-02 -1.86029460e+01] [-7.25585274e-02 -2.82002986e-03 9.97360169e-01 -4.11423490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20863999999999 meters 0.028529942032333954 Centerline is valid? [True, True] Translation: X:83.87, Y:-18.61, Z:-4.12 [[ 8.91085551e-01 4.49242922e-01 6.43998272e-02 8.38682625e+01] [-4.48305896e-01 8.93404940e-01 -2.91450990e-02 -1.86135307e+01] [-7.06283532e-02 -2.90004569e-03 9.97498484e-01 -4.11749945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26863999999999 meters 0.028128710562991103 Centerline is valid? [True, True] Translation: X:83.93, Y:-18.62, Z:-4.12 [[ 8.91076577e-01 4.48978033e-01 6.63419970e-02 8.39317080e+01] [-4.47980804e-01 8.93537954e-01 -3.00520187e-02 -1.86238002e+01] [-7.27717885e-02 -2.94129119e-03 9.97344281e-01 -4.11996448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32864 meters 0.027804197129537845 Centerline is valid? [True, True] Translation: X:83.99, Y:-18.64, Z:-4.12 [[ 8.92871540e-01 4.45309634e-01 6.69308869e-02 8.39934380e+01] [-4.44283460e-01 8.95372704e-01 -3.03303053e-02 -1.86394649e+01] [-7.34344664e-02 -2.65521956e-03 9.97296510e-01 -4.12238468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38863999999998 meters 0.027604415216242562 Centerline is valid? [True, True] Translation: X:84.05, Y:-18.66, Z:-4.13 [[ 8.94025921e-01 4.43097388e-01 6.61993797e-02 8.40539456e+01] [-4.42086436e-01 8.96470181e-01 -3.00133109e-02 -1.86574686e+01] [-7.26445895e-02 -2.43316991e-03 9.97354923e-01 -4.12579874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44863999999998 meters 0.02704978190813059 Centerline is valid? [True, True] Translation: X:84.11, Y:-18.67, Z:-4.13 [[ 8.96207237e-01 4.38788743e-01 6.53989818e-02 8.41148149e+01] [-4.37789646e-01 8.98587922e-01 -2.96643207e-02 -1.86725623e+01] [-7.17831052e-02 -2.04561817e-03 9.97418168e-01 -4.12923834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50863999999999 meters 0.026367918860716242 Centerline is valid? [True, True] Translation: X:84.18, Y:-18.69, Z:-4.13 [[ 8.99018168e-01 4.33327165e-01 6.31973202e-02 8.41755433e+01] [-4.32380257e-01 9.01235359e-01 -2.86730050e-02 -1.86879108e+01] [-6.93804515e-02 -1.54772112e-03 9.97589072e-01 -4.13039609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56863999999999 meters 0.026158673207012588 Centerline is valid? [True, True] Translation: X:84.23, Y:-18.71, Z:-4.13 [[ 9.00888861e-01 4.29730161e-01 6.10839481e-02 8.42323699e+01] [-4.28837073e-01 9.02956527e-01 -2.77177775e-02 -1.87074300e+01] [-6.70673146e-02 -1.22442448e-03 9.97747702e-01 -4.13479360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62863999999999 meters 0.025802410241131776 Centerline is valid? [True, True] Translation: X:84.29, Y:-18.72, Z:-4.14 [[ 9.03295380e-01 4.24820347e-01 5.98759423e-02 8.42894414e+01] [-4.23952281e-01 9.05277275e-01 -2.71573108e-02 -1.87236733e+01] [-6.57413080e-02 -8.53468878e-04 9.97836335e-01 -4.13658169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68863999999999 meters 0.02555664001154509 Centerline is valid? [True, True] Translation: X:84.34, Y:-18.75, Z:-4.14 [[ 9.05702292e-01 4.19835708e-01 5.86629111e-02 8.43436715e+01] [-4.18994068e-01 9.07599977e-01 -2.65754158e-02 -1.87452639e+01] [-6.43997653e-02 -5.09996725e-04 9.97924050e-01 -4.13864962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74863999999998 meters 0.02560449495353896 Centerline is valid? [True, True] Translation: X:84.40, Y:-18.77, Z:-4.14 [[ 9.09456634e-01 4.11572700e-01 5.91315780e-02 8.43980731e+01] [-4.10702148e-01 9.11376931e-01 -2.67550952e-02 -1.87663068e+01] [-6.49028228e-02 4.71327492e-05 9.97891588e-01 -4.14113523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80863999999998 meters 0.0257361217125053 Centerline is valid? [True, True] Translation: X:84.45, Y:-18.79, Z:-4.14 [[ 9.11213126e-01 4.07691387e-01 5.89777236e-02 8.44497875e+01] [-4.06819389e-01 9.13119733e-01 -2.66521600e-02 -1.87916761e+01] [-6.47195794e-02 2.92516554e-04 9.97903447e-01 -4.14293653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86863999999998 meters 0.025494079539331787 Centerline is valid? [True, True] Translation: X:84.50, Y:-18.82, Z:-4.15 [[ 9.11937298e-01 4.06091925e-01 5.88193275e-02 8.45008589e+01] [-4.05223619e-01 9.13832157e-01 -2.65444493e-02 -1.88200818e+01] [-6.45304794e-02 3.71892615e-04 9.97915667e-01 -4.14570220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92863999999999 meters 0.025413256173932922 Centerline is valid? [True, True] Translation: X:84.55, Y:-18.85, Z:-4.15 [[ 9.10144556e-01 4.10229554e-01 5.78670815e-02 8.45531156e+01] [-4.09399671e-01 9.11982297e-01 -2.60806198e-02 -1.88476099e+01] [-6.34727950e-02 4.63699643e-05 9.97983568e-01 -4.14788603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98863999999999 meters 0.025612594039793476 Centerline is valid? [True, True] Translation: X:84.60, Y:-18.88, Z:-4.15 [[ 9.06864206e-01 4.17350777e-01 5.84434845e-02 8.46049851e+01] [-4.16520564e-01 9.08745344e-01 -2.63157569e-02 -1.88773785e+01] [-6.40931460e-02 -4.78095164e-04 9.97943806e-01 -4.15230841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04863999999999 meters 0.02610816591759639 Centerline is valid? [True, True] Translation: X:84.66, Y:-18.90, Z:-4.15 [[ 9.05134474e-01 4.20808993e-01 6.04266132e-02 8.46578150e+01] [-4.19929422e-01 9.07148955e-01 -2.72039437e-02 -1.89044018e+01] [-6.62636031e-02 -7.51685465e-04 9.97801869e-01 -4.15476377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10863999999998 meters 0.026038728264626037 Centerline is valid? [True, True] Translation: X:84.71, Y:-18.93, Z:-4.16 [[ 9.04721830e-01 4.21946647e-01 5.86467239e-02 8.47122302e+01] [-4.21120776e-01 9.06620299e-01 -2.63993678e-02 -1.89298307e+01] [-6.43094350e-02 -8.13269527e-04 9.97929674e-01 -4.15667747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16863999999998 meters 0.026322097603420573 Centerline is valid? [True, True] Translation: X:84.77, Y:-18.95, Z:-4.16 [[ 9.04435175e-01 4.22249538e-01 6.08468728e-02 8.47669187e+01] [-4.21361247e-01 9.06479219e-01 -2.73884037e-02 -1.89540979e+01] [-6.67211665e-02 -8.67478535e-04 9.97771283e-01 -4.16021097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22863999999998 meters 0.026243936756706 Centerline is valid? [True, True] Translation: X:84.82, Y:-18.98, Z:-4.16 [[ 9.04781969e-01 4.21555076e-01 6.05054306e-02 8.48220667e+01] [-4.20675496e-01 9.06802433e-01 -2.72300385e-02 -1.89766128e+01] [-6.63454326e-02 -8.15904174e-04 9.97796381e-01 -4.16344816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28863999999999 meters 0.02627215930378723 Centerline is valid? [True, True] Translation: X:84.88, Y:-19.00, Z:-4.17 [[ 9.05186309e-01 4.20857631e-01 5.93009337e-02 8.48773295e+01] [-4.20012037e-01 9.07126384e-01 -2.66760668e-02 -1.89975699e+01] [-6.50202678e-02 -7.60295572e-04 9.97883654e-01 -4.16617396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34863999999999 meters 0.026197923442169407 Centerline is valid? [True, True] Translation: X:84.93, Y:-19.02, Z:-4.17 [[ 9.06411517e-01 4.17960409e-01 6.10512788e-02 8.49314174e+01] [-4.17059905e-01 9.08465044e-01 -2.74280934e-02 -1.90170955e+01] [-6.69268098e-02 -6.00900787e-04 9.97757707e-01 -4.16989929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40863999999999 meters 0.026238648331585696 Centerline is valid? [True, True] Translation: X:84.99, Y:-19.04, Z:-4.17 [[ 9.07925812e-01 4.14764327e-01 6.03429622e-02 8.49860872e+01] [-4.13879932e-01 9.09928787e-01 -2.70740483e-02 -1.90376399e+01] [-6.61371478e-02 -3.93513794e-04 9.97810464e-01 -4.17124676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46864 meters 0.026230330272287702 Centerline is valid? [True, True] Translation: X:85.04, Y:-19.05, Z:-4.17 [[ 9.08356950e-01 4.13696874e-01 6.11763671e-02 8.50428541e+01] [-4.12787781e-01 9.10414616e-01 -2.74130586e-02 -1.90530557e+01] [-6.70365554e-02 -3.52014485e-04 9.97750458e-01 -4.17488087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52863999999998 meters 0.026396752513906396 Centerline is valid? [True, True] Translation: X:85.10, Y:-19.07, Z:-4.18 [[ 9.07826238e-01 4.14349756e-01 6.45430264e-02 8.50997028e+01] [-4.13342198e-01 9.10117613e-01 -2.88817855e-02 -1.90702149e+01] [-7.07089059e-02 -4.58713803e-04 9.97496887e-01 -4.17823810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58863999999998 meters 0.026439483537590885 Centerline is valid? [True, True] Translation: X:85.16, Y:-19.08, Z:-4.18 [[ 9.09201653e-01 4.11566278e-01 6.29726414e-02 8.51581706e+01] [-4.10602816e-01 9.11379794e-01 -2.81460324e-02 -1.90843468e+01] [-6.89759507e-02 -2.66324706e-04 9.97618287e-01 -4.18008608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64863999999999 meters 0.02669718244898642 Centerline is valid? [True, True] Translation: X:85.22, Y:-19.10, Z:-4.18 [[ 9.14475363e-01 4.00172735e-01 5.99715944e-02 8.52153940e+01] [-3.99276359e-01 9.16439573e-01 -2.67749579e-02 -1.90992797e+01] [-6.56749505e-02 5.39799452e-04 9.97840924e-01 -4.18235565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70863999999999 meters 0.02801844415915229 Centerline is valid? [True, True] Translation: X:85.27, Y:-19.12, Z:-4.18 [[ 9.20088544e-01 3.87484150e-01 5.73855748e-02 8.52727731e+01] [-3.86640155e-01 9.21875356e-01 -2.55972212e-02 -1.91167242e+01] [-6.28208647e-02 1.36414248e-03 9.98023887e-01 -4.18393301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76863999999999 meters 0.030164004955814408 Centerline is valid? [True, True] Translation: X:85.33, Y:-19.14, Z:-4.19 [[ 9.24338705e-01 3.77295408e-01 5.69748529e-02 8.53287259e+01] [-3.76444290e-01 9.26090716e-01 -2.54102780e-02 -1.91386801e+01] [-6.23510636e-02 2.03984540e-03 9.98052195e-01 -4.18650812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82864 meters 0.030376197892635456 Centerline is valid? [True, True] Translation: X:85.38, Y:-19.16, Z:-4.19 [[ 9.25060741e-01 3.75435436e-01 5.75400677e-02 8.53812057e+01] [-3.74564279e-01 9.26845988e-01 -2.56537427e-02 -1.91641572e+01] [-6.29621049e-02 2.17881626e-03 9.98013540e-01 -4.18976198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88863999999998 meters 0.03170973835981975 Centerline is valid? [True, True] Translation: X:85.43, Y:-19.19, Z:-4.19 [[ 9.27101656e-01 3.70492141e-01 5.67282423e-02 8.54333287e+01] [-3.69637582e-01 9.28832348e-01 -2.52690950e-02 -1.91925887e+01] [-6.20530276e-02 2.45812951e-03 9.98069827e-01 -4.19253477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94863999999998 meters 0.03195362695502686 Centerline is valid? [True, True] Translation: X:85.48, Y:-19.23, Z:-4.19 [[ 9.27874489e-01 3.68497097e-01 5.70860968e-02 8.54818903e+01] [-3.67628645e-01 9.29625270e-01 -2.54172566e-02 -1.92280347e+01] [-6.24348634e-02 2.59753956e-03 9.98045661e-01 -4.19499979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00863999999999 meters 0.03158520503559689 Centerline is valid? [True, True] Translation: X:85.53, Y:-19.26, Z:-4.20 [[ 9.27068968e-01 3.70441441e-01 5.75870367e-02 8.55307497e+01] [-3.69563199e-01 9.28852560e-01 -2.56117919e-02 -1.92618536e+01] [-6.29775355e-02 2.46184800e-03 9.98011908e-01 -4.19765390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06863999999999 meters 0.030542288845688596 Centerline is valid? [True, True] Translation: X:85.58, Y:-19.30, Z:-4.20 [[ 9.25577200e-01 3.74170650e-01 5.74732256e-02 8.55799002e+01] [-3.73304522e-01 9.27357301e-01 -2.55376384e-02 -1.92951379e+01] [-6.28536501e-02 2.18204085e-03 9.98020369e-01 -4.20133918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12863999999999 meters 0.028866490438293715 Centerline is valid? [True, True] Translation: X:85.63, Y:-19.33, Z:-4.20 [[ 9.22613016e-01 3.81227044e-01 5.87466108e-02 8.56290904e+01] [-3.80336734e-01 9.24479819e-01 -2.60966186e-02 -1.93322827e+01] [-6.42587929e-02 1.73358587e-03 9.97931762e-01 -4.20409474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18863999999999 meters 0.02782689859071343 Centerline is valid? [True, True] Translation: X:85.68, Y:-19.37, Z:-4.21 [[ 9.18870161e-01 3.89861496e-01 6.07094774e-02 8.56809793e+01] [-3.88929385e-01 9.20872764e-01 -2.69682319e-02 -1.93658848e+01] [-6.64195795e-02 1.16860387e-03 9.97791097e-01 -4.20807998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24863999999998 meters 0.026780973189816377 Centerline is valid? [True, True] Translation: X:85.73, Y:-19.40, Z:-4.21 [[ 9.14926809e-01 3.99072683e-01 6.04146284e-02 8.57342436e+01] [-3.98169282e-01 9.16919157e-01 -2.68417976e-02 -1.93971645e+01] [-6.61071583e-02 5.03031071e-04 9.97812402e-01 -4.21080243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30863999999998 meters 0.026438541654553133 Centerline is valid? [True, True] Translation: X:85.79, Y:-19.43, Z:-4.21 [[ 9.11126340e-01 4.07490765e-01 6.16447035e-02 8.57899841e+01] [-4.06568908e-01 9.13209322e-01 -2.73944662e-02 -1.94251493e+01] [-6.74575099e-02 -1.03000068e-04 9.97722143e-01 -4.21353392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36863999999998 meters 0.026476377139018265 Centerline is valid? [True, True] Translation: X:85.85, Y:-19.45, Z:-4.22 [[ 9.09911035e-01 4.10302108e-01 6.09433262e-02 8.58474992e+01] [-4.09406798e-01 9.11949610e-01 -2.70921272e-02 -1.94492702e+01] [-6.66931995e-02 -2.99186543e-04 9.97773485e-01 -4.21748669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42863999999999 meters 0.02661336800011162 Centerline is valid? [True, True] Translation: X:85.90, Y:-19.47, Z:-4.22 [[ 9.10744470e-01 4.08470324e-01 6.07988837e-02 8.59046301e+01] [-4.07574547e-01 9.12771587e-01 -2.70373583e-02 -1.94737383e+01] [-6.65394520e-02 -1.55952931e-04 9.97783783e-01 -4.22045958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48863999999999 meters 0.02639287778269425 Centerline is valid? [True, True] Translation: X:85.96, Y:-19.50, Z:-4.22 [[ 9.11924777e-01 4.06066461e-01 5.91880904e-02 8.59613707e+01] [-4.05211918e-01 9.13843547e-01 -2.63300799e-02 -1.94991519e+01] [-6.47804168e-02 2.73325769e-05 9.97899542e-01 -4.22395449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54863999999999 meters 0.026546359739293483 Centerline is valid? [True, True] Translation: X:86.02, Y:-19.52, Z:-4.23 [[ 9.13265196e-01 4.02989334e-01 5.95506348e-02 8.60174372e+01] [-4.02117210e-01 9.15204639e-01 -2.64993809e-02 -1.95246221e+01] [-6.51799851e-02 2.54627133e-04 9.97873491e-01 -4.22735941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60863999999998 meters 0.02648471332036772 Centerline is valid? [True, True] Translation: X:86.07, Y:-19.55, Z:-4.23 [[ 9.12238263e-01 4.05318427e-01 5.94838164e-02 8.60747650e+01] [-4.04452825e-01 9.14175565e-01 -2.64754265e-02 -1.95493902e+01] [-6.51096297e-02 9.34994677e-05 9.97878112e-01 -4.23026968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66863999999998 meters 0.02623911811511703 Centerline is valid? [True, True] Translation: X:86.13, Y:-19.57, Z:-4.23 [[ 9.12421749e-01 4.04954121e-01 5.91499081e-02 8.61315605e+01] [-4.04096946e-01 9.14336997e-01 -2.63346533e-02 -1.95735811e+01] [-6.47472757e-02 1.26013161e-04 9.97901686e-01 -4.23316655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72863999999998 meters 0.026449465443799558 Centerline is valid? [True, True] Translation: X:86.19, Y:-19.60, Z:-4.24 [[ 9.14207302e-01 4.00825834e-01 5.96963919e-02 8.61872537e+01] [-3.99943618e-01 9.16154173e-01 -2.65825825e-02 -1.95985367e+01] [-6.53460844e-02 4.26800109e-04 9.97862569e-01 -4.23636671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78863999999999 meters 0.026671307581722866 Centerline is valid? [True, True] Translation: X:86.24, Y:-19.63, Z:-4.24 [[ 9.16438292e-01 3.95776320e-01 5.91773749e-02 8.62428132e+01] [-3.94898485e-01 9.18346605e-01 -2.63571445e-02 -1.96258629e+01] [-6.47768750e-02 7.85640802e-04 9.97899463e-01 -4.23889179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84863999999999 meters 0.027277955111494057 Centerline is valid? [True, True] Translation: X:86.30, Y:-19.65, Z:-4.24 [[ 9.18441119e-01 3.90989654e-01 5.99416518e-02 8.62986205e+01] [-3.90078165e-01 9.20394359e-01 -2.67067258e-02 -1.96539835e+01] [-6.56120116e-02 1.14662565e-03 9.97844552e-01 -4.24267679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90863999999999 meters 0.027398419576305365 Centerline is valid? [True, True] Translation: X:86.35, Y:-19.68, Z:-4.25 [[ 9.19720372e-01 3.88061303e-01 5.93537056e-02 8.63528277e+01] [-3.87160995e-01 9.21632575e-01 -2.64529958e-02 -1.96838509e+01] [-6.49676925e-02 1.34991938e-03 9.97886455e-01 -4.24535582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96863999999998 meters 0.02851920133253522 Centerline is valid? [True, True] Translation: X:86.41, Y:-19.71, Z:-4.25 [[ 9.22066264e-01 3.82453804e-01 5.93539586e-02 8.64075041e+01] [-3.81541306e-01 9.23972951e-01 -2.64616368e-02 -1.97127264e+01] [-6.49618059e-02 1.75339568e-03 9.97886211e-01 -4.24868749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02863999999998 meters 0.029280790446350954 Centerline is valid? [True, True] Translation: X:86.46, Y:-19.75, Z:-4.25 [[ 9.23718396e-01 3.78434000e-01 5.94309046e-02 8.64592282e+01] [-3.77510001e-01 9.25626006e-01 -2.65084228e-02 -1.97482472e+01] [-6.50424793e-02 2.05055696e-03 9.97880389e-01 -4.25353059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08863999999998 meters 0.0290219432602086 Centerline is valid? [True, True] Translation: X:86.51, Y:-19.78, Z:-4.26 [[ 9.23706141e-01 3.78709336e-01 5.78463878e-02 8.65106039e+01] [-3.77834023e-01 9.25513533e-01 -2.58098885e-02 -1.97845876e+01] [-6.33120606e-02 1.98441910e-03 9.97991806e-01 -4.25552179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14863999999999 meters 0.02839563360987814 Centerline is valid? [True, True] Translation: X:86.56, Y:-19.82, Z:-4.26 [[ 9.21859543e-01 3.82574966e-01 6.17363627e-02 8.65612060e+01] [-3.81585366e-01 9.23922601e-01 -2.75614954e-02 -1.98233316e+01] [-6.75839590e-02 1.85013502e-03 9.97711875e-01 -4.26046649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20863999999999 meters 0.02834583932279395 Centerline is valid? [True, True] Translation: X:86.62, Y:-19.86, Z:-4.26 [[ 9.21260471e-01 3.83883169e-01 6.25528316e-02 8.66151621e+01] [-3.82867884e-01 9.23379901e-01 -2.79596526e-02 -1.98560788e+01] [-6.84932675e-02 1.80865245e-03 9.97649939e-01 -4.26326639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26863999999999 meters 0.02805933392858449 Centerline is valid? [True, True] Translation: X:86.67, Y:-19.90, Z:-4.27 [[ 9.20777361e-01 3.84976392e-01 6.29462370e-02 8.66663214e+01] [-3.83948260e-01 9.22924718e-01 -2.81726539e-02 -1.98959036e+01] [-6.89404447e-02 1.77264381e-03 9.97619202e-01 -4.26564475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32864 meters 0.02794837242441667 Centerline is valid? [True, True] Translation: X:86.72, Y:-19.92, Z:-4.27 [[ 9.19893403e-01 3.86950096e-01 6.37632389e-02 8.67219510e+01] [-3.85897230e-01 9.22099128e-01 -2.85749309e-02 -1.99247213e+01] [-6.98530992e-02 1.67983318e-03 9.97555874e-01 -4.26859710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38863999999998 meters 0.027575586338227223 Centerline is valid? [True, True] Translation: X:86.78, Y:-19.95, Z:-4.27 [[ 9.17931014e-01 3.91112752e-01 6.65843024e-02 8.67772069e+01] [-3.89972672e-01 9.20341614e-01 -2.98768802e-02 -1.99547679e+01] [-7.29655332e-02 1.45885658e-03 9.97333396e-01 -4.27246102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44863999999998 meters 0.02715521145541823 Centerline is valid? [True, True] Translation: X:86.83, Y:-19.98, Z:-4.28 [[ 9.15796939e-01 3.95959749e-01 6.73189756e-02 8.68335016e+01] [-3.94804490e-01 9.18267184e-01 -3.02455702e-02 -1.99819491e+01] [-7.37928345e-02 1.12096675e-03 9.97272962e-01 -4.27699978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50863999999999 meters 0.026708459887791334 Centerline is valid? [True, True] Translation: X:86.89, Y:-20.01, Z:-4.28 [[ 9.14237838e-01 3.99782635e-01 6.59015926e-02 8.68902999e+01] [-3.98682970e-01 9.16609601e-01 -2.96433587e-02 -2.00079845e+01] [-7.22569326e-02 8.27237513e-04 9.97385708e-01 -4.27916942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56863999999999 meters 0.02636606459794717 Centerline is valid? [True, True] Translation: X:86.95, Y:-20.03, Z:-4.28 [[ 9.12928455e-01 4.02706367e-01 6.62511786e-02 8.69476924e+01] [-4.01600078e-01 9.15329003e-01 -2.98361211e-02 -2.00320952e+01] [-7.26568212e-02 6.31765448e-04 9.97356800e-01 -4.28291462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62863999999999 meters 0.026570517488402945 Centerline is valid? [True, True] Translation: X:87.00, Y:-20.06, Z:-4.29 [[ 9.12068697e-01 4.04442011e-01 6.75081618e-02 8.70044603e+01] [-4.03295288e-01 9.14563487e-01 -3.04391082e-02 -2.00576624e+01] [-7.40513539e-02 5.36834188e-04 9.97254285e-01 -4.28742312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68863999999999 meters 0.026651986385440626 Centerline is valid? [True, True] Translation: X:87.06, Y:-20.08, Z:-4.29 [[ 9.11707979e-01 4.05159183e-01 6.80778695e-02 8.70643542e+01] [-4.03992068e-01 9.14246010e-01 -3.07350300e-02 -2.00786347e+01] [-7.46925003e-02 5.18452816e-04 9.97206479e-01 -4.28965205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74863999999998 meters 0.02655476003026787 Centerline is valid? [True, True] Translation: X:87.12, Y:-20.10, Z:-4.29 [[ 9.11534163e-01 4.05695946e-01 6.72031927e-02 8.71217594e+01] [-4.04557816e-01 9.14007961e-01 -3.03713877e-02 -2.01036181e+01] [-7.37458019e-02 4.96980632e-04 9.97276947e-01 -4.29331809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80863999999998 meters 0.026366718921766633 Centerline is valid? [True, True] Translation: X:87.18, Y:-20.13, Z:-4.30 [[ 9.11447323e-01 4.06007478e-01 6.64959033e-02 8.71787732e+01] [-4.04892512e-01 9.13869625e-01 -3.00726067e-02 -2.01282861e+01] [-7.29782894e-02 4.85903513e-04 9.97333411e-01 -4.29594166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86863999999998 meters 0.026453558223967222 Centerline is valid? [True, True] Translation: X:87.23, Y:-20.16, Z:-4.30 [[ 9.11234628e-01 4.06280975e-01 6.77290330e-02 8.72346007e+01] [-4.05122194e-01 9.13748057e-01 -3.06675004e-02 -2.01553844e+01] [-7.43468944e-02 5.06753853e-04 9.97232311e-01 -4.30005271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92863999999999 meters 0.026396920352629256 Centerline is valid? [True, True] Translation: X:87.29, Y:-20.18, Z:-4.30 [[ 9.11189285e-01 4.06472288e-01 6.71890365e-02 8.72926251e+01] [-4.05329630e-01 9.13662961e-01 -3.04611962e-02 -2.01807481e+01] [-7.37697662e-02 5.22208249e-04 9.97275162e-01 -4.30234454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98863999999999 meters 0.026551937278456533 Centerline is valid? [True, True] Translation: X:87.35, Y:-20.21, Z:-4.31 [[ 9.09849683e-01 4.09141292e-01 6.91155330e-02 8.73481871e+01] [-4.07936561e-01 9.12470974e-01 -3.13764844e-02 -2.02096407e+01] [-7.59033331e-02 3.53131611e-04 9.97115118e-01 -4.30560716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04863999999999 meters 0.026426905324429 Centerline is valid? [True, True] Translation: X:87.40, Y:-20.24, Z:-4.31 [[ 9.09217357e-01 4.10649312e-01 6.84904366e-02 8.74039369e+01] [-4.09467778e-01 9.11793329e-01 -3.11297865e-02 -2.02363596e+01] [-7.52325486e-02 2.59115342e-04 9.97165982e-01 -4.30880935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10863999999998 meters 0.026378002812696134 Centerline is valid? [True, True] Translation: X:87.46, Y:-20.26, Z:-4.31 [[ 9.06919063e-01 4.15722608e-01 6.83558812e-02 8.74603532e+01] [-4.14557108e-01 9.09491450e-01 -3.11079893e-02 -2.02644832e+01] [-7.51013839e-02 -1.24987864e-04 9.97175895e-01 -4.31088337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16863999999998 meters 0.026843221874620276 Centerline is valid? [True, True] Translation: X:87.52, Y:-20.29, Z:-4.31 [[ 9.03467917e-01 4.23233332e-01 6.79652129e-02 8.75164155e+01] [-4.22099225e-01 9.06020445e-01 -3.09709114e-02 -2.02908210e+01] [-7.46857945e-02 -7.06838879e-04 9.97206865e-01 -4.31408747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22863999999998 meters 0.027085275102144243 Centerline is valid? [True, True] Translation: X:87.57, Y:-20.32, Z:-4.32 [[ 9.01750839e-01 4.27155326e-01 6.62099101e-02 8.75732611e+01] [-4.26086917e-01 9.04177740e-01 -3.02085187e-02 -2.03173672e+01] [-7.27692565e-02 -9.70619361e-04 9.97348331e-01 -4.31582773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28863999999999 meters 0.027498155953008627 Centerline is valid? [True, True] Translation: X:87.63, Y:-20.34, Z:-4.32 [[ 8.99771961e-01 4.31203080e-01 6.68903718e-02 8.76298565e+01] [-4.30120708e-01 9.02254000e-01 -3.05597130e-02 -2.03422803e+01] [-7.35295479e-02 -1.27416123e-03 9.97292225e-01 -4.31781861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34863999999999 meters 0.027839729086451485 Centerline is valid? [True, True] Translation: X:87.69, Y:-20.36, Z:-4.32 [[ 8.98882801e-01 4.32796999e-01 6.85307812e-02 8.76883057e+01] [-4.31662513e-01 9.01490314e-01 -3.13478610e-02 -2.03643101e+01] [-7.53470956e-02 -1.40411613e-03 9.97156379e-01 -4.32156717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40863999999999 meters 0.028069665586156117 Centerline is valid? [True, True] Translation: X:87.75, Y:-20.38, Z:-4.32 [[ 8.98644973e-01 4.33673222e-01 6.60662472e-02 8.77483113e+01] [-4.32619300e-01 9.01069131e-01 -3.02483348e-02 -2.03835935e+01] [-7.26481488e-02 -1.39901965e-03 9.97356651e-01 -4.32497014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46863999999998 meters 0.028101939365757226 Centerline is valid? [True, True] Translation: X:87.81, Y:-20.40, Z:-4.33 [[ 8.98866045e-01 4.32997927e-01 6.74731609e-02 8.78084825e+01] [-4.31894889e-01 9.01393903e-01 -3.09166058e-02 -2.04035741e+01] [-7.42067221e-02 -1.35142610e-03 9.97241965e-01 -4.32814035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52863999999998 meters 0.02803148998306742 Centerline is valid? [True, True] Translation: X:87.87, Y:-20.42, Z:-4.33 [[ 8.99521914e-01 4.31271173e-01 6.97531481e-02 8.78688215e+01] [-4.30083714e-01 9.02221541e-01 -3.20045241e-02 -2.04208781e+01] [-7.67354214e-02 -1.21092230e-03 9.97050755e-01 -4.33286742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58863999999998 meters 0.027987749023643604 Centerline is valid? [True, True] Translation: X:87.93, Y:-20.44, Z:-4.34 [[ 9.01301007e-01 4.27483704e-01 7.01011919e-02 8.79281245e+01] [-4.26269858e-01 9.04022648e-01 -3.22034203e-02 -2.04413321e+01] [-7.71395026e-02 -8.57049943e-04 9.97019941e-01 -4.33629375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64863999999999 meters 0.027606943985597876 Centerline is valid? [True, True] Translation: X:87.99, Y:-20.46, Z:-4.34 [[ 9.06427200e-01 4.16887382e-01 6.77837864e-02 8.79884669e+01] [-4.15720705e-01 9.08958143e-01 -3.11671230e-02 -2.04599020e+01] [-7.46058050e-02 7.16045733e-05 9.97213101e-01 -4.33887654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70863999999999 meters 0.02820265934721319 Centerline is valid? [True, True] Translation: X:88.05, Y:-20.48, Z:-4.34 [[ 9.10554216e-01 4.07670068e-01 6.85283560e-02 8.80471050e+01] [-4.06449701e-01 9.13128895e-01 -3.15319064e-02 -2.04811575e+01] [-7.54298364e-02 8.58180518e-04 9.97150743e-01 -4.34356357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76863999999999 meters 0.028771528431792887 Centerline is valid? [True, True] Translation: X:88.10, Y:-20.51, Z:-4.35 [[ 9.13315551e-01 4.01647156e-01 6.73369657e-02 8.81044224e+01] [-4.00449853e-01 9.15793479e-01 -3.10196437e-02 -2.05061677e+01] [-7.41257058e-02 1.36564496e-03 9.97247971e-01 -4.34560741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82864 meters 0.029405372573157746 Centerline is valid? [True, True] Translation: X:88.16, Y:-20.54, Z:-4.35 [[ 9.15321547e-01 3.97260853e-01 6.61080904e-02 8.81588468e+01] [-3.96092959e-01 9.17704120e-01 -3.04879670e-02 -2.05360677e+01] [-7.27793427e-02 1.72134395e-03 9.97346582e-01 -4.34898684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88863999999998 meters 0.029977826199322457 Centerline is valid? [True, True] Translation: X:88.21, Y:-20.57, Z:-4.35 [[ 9.17173116e-01 3.93239768e-01 6.44667340e-02 8.82118948e+01] [-3.92116947e-01 9.19433741e-01 -2.97640166e-02 -2.05690021e+01] [-7.09772854e-02 2.02025689e-03 9.97475886e-01 -4.35165116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94863999999998 meters 0.030109237806158533 Centerline is valid? [True, True] Translation: X:88.26, Y:-20.61, Z:-4.35 [[ 9.17704790e-01 3.91779261e-01 6.57794008e-02 8.82625026e+01] [-3.90603983e-01 9.20056593e-01 -3.04038481e-02 -2.06063156e+01] [-7.24323685e-02 2.20806112e-03 9.97370882e-01 -4.35450526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00863999999999 meters 0.029941378223158725 Centerline is valid? [True, True] Translation: X:88.31, Y:-20.64, Z:-4.36 [[ 9.17346141e-01 3.92763657e-01 6.49058313e-02 8.83136237e+01] [-3.91619611e-01 9.19636976e-01 -3.00318637e-02 -2.06437548e+01] [-7.14852270e-02 2.13121787e-03 9.97439382e-01 -4.35669116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06863999999999 meters 0.02995620061019355 Centerline is valid? [True, True] Translation: X:88.37, Y:-20.68, Z:-4.36 [[ 9.17013203e-01 3.93420403e-01 6.56290475e-02 8.83676159e+01] [-3.92249738e-01 9.19356199e-01 -3.04026665e-02 -2.06774137e+01] [-7.22975010e-02 2.13666987e-03 9.97380823e-01 -4.35982264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12863999999999 meters 0.029526125392860866 Centerline is valid? [True, True] Translation: X:88.42, Y:-20.71, Z:-4.36 [[ 9.16234788e-01 3.95298821e-01 6.52123907e-02 8.84190060e+01] [-3.94145064e-01 9.18550381e-01 -3.02467703e-02 -2.07136843e+01] [-7.18573789e-02 2.01000128e-03 9.97412892e-01 -4.36208945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18863999999999 meters 0.028455422346034064 Centerline is valid? [True, True] Translation: X:88.47, Y:-20.75, Z:-4.36 [[ 9.13789141e-01 4.01081087e-01 6.42134601e-02 8.84708198e+01] [-3.99974912e-01 9.16041236e-01 -2.98081319e-02 -2.07489806e+01] [-7.07776552e-02 1.55457418e-03 9.97490906e-01 -4.36475577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24863999999998 meters 0.02813169006983554 Centerline is valid? [True, True] Translation: X:88.52, Y:-20.78, Z:-4.37 [[ 9.12148969e-01 4.04734524e-01 6.46082318e-02 8.85247406e+01] [-4.03622642e-01 9.14433316e-01 -3.00078797e-02 -2.07807804e+01] [-7.12251446e-02 1.29431128e-03 9.97459425e-01 -4.36766561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30863999999998 meters 0.02721479788841679 Centerline is valid? [True, True] Translation: X:88.58, Y:-20.82, Z:-4.37 [[ 9.10259959e-01 4.09289326e-01 6.25224301e-02 8.85773719e+01] [-4.08257047e-01 9.12404175e-01 -2.90655242e-02 -2.08159778e+01] [-6.89419351e-02 9.31960228e-04 9.97620239e-01 -4.36918854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36863999999998 meters 0.026970823672276656 Centerline is valid? [True, True] Translation: X:88.63, Y:-20.85, Z:-4.37 [[ 9.08265577e-01 4.13645896e-01 6.28547044e-02 8.86281027e+01] [-4.12611654e-01 9.10437634e-01 -2.92393092e-02 -2.08536228e+01] [-6.93200087e-02 6.22474533e-04 9.97594281e-01 -4.37316197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42863999999999 meters 0.026523107616344695 Centerline is valid? [True, True] Translation: X:88.68, Y:-20.89, Z:-4.37 [[ 9.06517210e-01 4.17691336e-01 6.13228792e-02 8.86811251e+01] [-4.16713908e-01 9.08588925e-01 -2.85601828e-02 -2.08878169e+01] [-6.76466299e-02 3.36200610e-04 9.97709287e-01 -4.37480356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48863999999999 meters 0.026299098388982 Centerline is valid? [True, True] Translation: X:88.73, Y:-20.92, Z:-4.38 [[ 9.01939424e-01 4.27453390e-01 6.15538341e-02 8.87347116e+01] [-4.26488716e-01 9.04037315e-01 -2.87037923e-02 -2.09220168e+01] [-6.79164963e-02 -3.62933784e-04 9.97690943e-01 -4.37696216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54863999999999 meters 0.02684095926297161 Centerline is valid? [True, True] Translation: X:88.79, Y:-20.95, Z:-4.38 [[ 8.96293933e-01 4.39183905e-01 6.14384436e-02 8.87887517e+01] [-4.38247650e-01 8.98396364e-01 -2.86874656e-02 -2.09521373e+01] [-6.77951476e-02 -1.21285213e-03 9.97698525e-01 -4.37957268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60863999999998 meters 0.027326658694248444 Centerline is valid? [True, True] Translation: X:88.85, Y:-20.98, Z:-4.38 [[ 8.93000129e-01 4.45674471e-01 6.26501088e-02 8.88454195e+01] [-4.44714951e-01 8.95193457e-01 -2.92794665e-02 -2.09780632e+01] [-6.91330782e-02 -1.71487271e-03 9.97605973e-01 -4.38176906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66863999999998 meters 0.028050910293876682 Centerline is valid? [True, True] Translation: X:88.90, Y:-21.00, Z:-4.39 [[ 8.90658493e-01 4.50190218e-01 6.36884357e-02 8.89024024e+01] [-4.49209343e-01 8.92930232e-01 -2.97752614e-02 -2.10034719e+01] [-7.02738611e-02 -2.08985097e-03 9.97525547e-01 -4.38574298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72863999999998 meters 0.02831621460947953 Centerline is valid? [True, True] Translation: X:88.96, Y:-21.03, Z:-4.39 [[ 8.89205184e-01 4.52852469e-01 6.51059212e-02 8.89609427e+01] [-4.51833118e-01 8.91582409e-01 -3.04572045e-02 -2.10256858e+01] [-7.18399143e-02 -2.33430717e-03 9.97413444e-01 -4.38840666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78863999999999 meters 0.027482263072568146 Centerline is valid? [True, True] Translation: X:89.02, Y:-21.04, Z:-4.39 [[ 8.91717189e-01 4.47749443e-01 6.60370418e-02 8.90211139e+01] [-4.46683992e-01 8.94157011e-01 -3.09297627e-02 -2.10443885e+01] [-7.28962680e-02 -1.91708841e-03 9.97337685e-01 -4.39116691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84863999999999 meters 0.027127184197991084 Centerline is valid? [True, True] Translation: X:89.08, Y:-21.06, Z:-4.39 [[ 8.93701909e-01 4.43770403e-01 6.60660834e-02 8.90819913e+01] [-4.42690429e-01 8.96139162e-01 -3.09804279e-02 -2.10615964e+01] [-7.29526016e-02 -1.55955528e-03 9.97334190e-01 -4.39413113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90863999999999 meters 0.026895671423741174 Centerline is valid? [True, True] Translation: X:89.14, Y:-21.08, Z:-4.40 [[ 8.93821398e-01 4.43526697e-01 6.60861406e-02 8.91414388e+01] [-4.42442515e-01 8.96259898e-01 -3.10292684e-02 -2.10831315e+01] [-7.29926666e-02 -1.50469421e-03 9.97331342e-01 -4.39765218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96863999999998 meters 0.026772438267796277 Centerline is valid? [True, True] Translation: X:89.20, Y:-21.10, Z:-4.40 [[ 8.94362030e-01 4.42638937e-01 6.47095830e-02 8.92012046e+01] [-4.41594885e-01 8.96698882e-01 -3.04149918e-02 -2.11033179e+01] [-7.14878704e-02 -1.37340705e-03 9.97440524e-01 -4.40020439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02863999999998 meters 0.02654217555893163 Centerline is valid? [True, True] Translation: X:89.26, Y:-21.12, Z:-4.40 [[ 8.96019050e-01 4.39390794e-01 6.39186283e-02 8.92600872e+01] [-4.38362414e-01 8.98295363e-01 -3.00638398e-02 -2.11236573e+01] [-7.06275819e-02 -1.08175105e-03 9.97502168e-01 -4.40324385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08863999999998 meters 0.026380291821923526 Centerline is valid? [True, True] Translation: X:89.32, Y:-21.15, Z:-4.41 [[ 8.97502640e-01 4.36161792e-01 6.52066168e-02 8.93182155e+01] [-4.35080238e-01 8.99867898e-01 -3.07075174e-02 -2.11458618e+01] [-7.20707871e-02 -8.10032483e-04 9.97399191e-01 -4.40616852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14863999999999 meters 0.02611804261175974 Centerline is valid? [True, True] Translation: X:89.38, Y:-21.17, Z:-4.41 [[ 8.99608823e-01 4.32040515e-01 6.35999860e-02 8.93762542e+01] [-4.30998839e-01 9.01854092e-01 -2.99866111e-02 -2.11684778e+01] [-7.03133386e-02 -4.35300232e-04 9.97524859e-01 -4.41024707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20863999999999 meters 0.026279984792197484 Centerline is valid? [True, True] Translation: X:89.43, Y:-21.19, Z:-4.41 [[ 9.02115534e-01 4.26720000e-01 6.40125356e-02 8.94346581e+01] [-4.25648599e-01 9.04383791e-01 -3.02196732e-02 -2.11928204e+01] [-7.07872386e-02 1.47904617e-05 9.97491437e-01 -4.41313087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26863999999999 meters 0.02649106390649499 Centerline is valid? [True, True] Translation: X:89.49, Y:-21.22, Z:-4.42 [[ 9.06077369e-01 4.18266595e-01 6.38502738e-02 8.94903903e+01] [-4.17176736e-01 9.08324033e-01 -3.01831333e-02 -2.12196002e+01] [-7.06213347e-02 7.11405198e-04 9.97502943e-01 -4.41597922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32863999999998 meters 0.02676670568743646 Centerline is valid? [True, True] Translation: X:89.55, Y:-21.25, Z:-4.42 [[ 9.08093482e-01 4.14033534e-01 6.27890207e-02 8.95450654e+01] [-4.12967102e-01 9.10261017e-01 -2.97162217e-02 -2.12488626e+01] [-6.94579101e-02 1.05530730e-03 9.97584325e-01 -4.41980816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38863999999998 meters 0.02739958730944949 Centerline is valid? [True, True] Translation: X:89.60, Y:-21.28, Z:-4.42 [[ 9.09678471e-01 4.10138377e-01 6.53574139e-02 8.95993239e+01] [-4.08970689e-01 9.12022179e-01 -3.09600002e-02 -2.12790930e+01] [-7.23052952e-02 1.43437905e-03 9.97381515e-01 -4.42319629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44863999999998 meters 0.027145717664241693 Centerline is valid? [True, True] Translation: X:89.65, Y:-21.31, Z:-4.43 [[ 9.09120608e-01 4.11623804e-01 6.37617778e-02 8.96533357e+01] [-4.10515404e-01 9.11352934e-01 -3.02147672e-02 -2.13113154e+01] [-7.05466007e-02 1.29367549e-03 9.97507646e-01 -4.42633838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50863999999999 meters 0.026685659573057876 Centerline is valid? [True, True] Translation: X:89.71, Y:-21.34, Z:-4.43 [[ 9.07857024e-01 4.14304283e-01 6.44017429e-02 8.97068251e+01] [-4.13178788e-01 9.10137747e-01 -3.05380225e-02 -2.13429807e+01] [-7.12664906e-02 1.11472416e-03 9.97456688e-01 -4.42980738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56863999999999 meters 0.026733700637346453 Centerline is valid? [True, True] Translation: X:89.76, Y:-21.37, Z:-4.43 [[ 9.07801552e-01 4.14402759e-01 6.45499387e-02 8.97621185e+01] [-4.13269676e-01 9.10092878e-01 -3.06452132e-02 -2.13738758e+01] [-7.14459003e-02 1.14323985e-03 9.97443821e-01 -4.43276558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62863999999999 meters 0.02670325840788903 Centerline is valid? [True, True] Translation: X:89.82, Y:-21.40, Z:-4.43 [[ 9.07437359e-01 4.15437795e-01 6.29990307e-02 8.98172328e+01] [-4.14358454e-01 9.09620961e-01 -2.99462553e-02 -2.14031894e+01] [-6.97460452e-02 1.07016981e-03 9.97564205e-01 -4.43452767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68863999999999 meters 0.026105373588749765 Centerline is valid? [True, True] Translation: X:89.87, Y:-21.44, Z:-4.44 [[ 9.04608358e-01 4.21661941e-01 6.23291836e-02 8.98706735e+01] [-4.20617811e-01 9.06752904e-01 -2.96619034e-02 -2.14359359e+01] [-6.90244640e-02 6.15640985e-04 9.97614778e-01 -4.43779301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74863999999998 meters 0.025921851444779632 Centerline is valid? [True, True] Translation: X:89.93, Y:-21.46, Z:-4.44 [[ 9.01089089e-01 4.29061647e-01 6.28057114e-02 8.99263964e+01] [-4.28016900e-01 9.03275205e-01 -2.99238435e-02 -2.14642940e+01] [-6.95700154e-02 8.21429842e-05 9.97577068e-01 -4.43961020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80863999999998 meters 0.025774722115244092 Centerline is valid? [True, True] Translation: X:89.98, Y:-21.49, Z:-4.44 [[ 8.99713970e-01 4.32147475e-01 6.13460093e-02 8.99818526e+01] [-4.31155607e-01 9.01802941e-01 -2.92625618e-02 -2.14930960e+01] [-6.79677538e-02 -1.21740286e-04 9.97687511e-01 -4.44324367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86863999999998 meters 0.025738550338785842 Centerline is valid? [True, True] Translation: X:90.04, Y:-21.52, Z:-4.45 [[ 8.98712123e-01 4.34032629e-01 6.27072376e-02 9.00380445e+01] [-4.32998235e-01 9.00897120e-01 -2.99484103e-02 -2.15200613e+01] [-6.94913570e-02 -2.37123781e-04 9.97582525e-01 -4.44723438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92863999999999 meters 0.025888666421578485 Centerline is valid? [True, True] Translation: X:90.09, Y:-21.55, Z:-4.45 [[ 8.96713115e-01 4.37906303e-01 6.43712570e-02 9.00946251e+01] [-4.36823464e-01 8.99020468e-01 -3.07808204e-02 -2.15461258e+01] [-7.13501928e-02 -5.17310072e-04 9.97451193e-01 -4.45021731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98863999999999 meters 0.02583715331357677 Centerline is valid? [True, True] Translation: X:90.15, Y:-21.57, Z:-4.45 [[ 8.94853687e-01 4.41750297e-01 6.39808900e-02 9.01531791e+01] [-4.40687641e-01 8.97137704e-01 -3.06323861e-02 -2.15701683e+01] [-7.09315345e-02 -7.84083791e-04 9.97480878e-01 -4.45254637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04863999999999 meters 0.026213762118226992 Centerline is valid? [True, True] Translation: X:90.21, Y:-21.59, Z:-4.46 [[ 8.92989894e-01 4.45467846e-01 6.42452174e-02 9.02115086e+01] [-4.44403077e-01 8.95297326e-01 -3.07994156e-02 -2.15911551e+01] [-7.12387207e-02 -1.04720547e-03 9.97458745e-01 -4.45628934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10863999999998 meters 0.026338214349828214 Centerline is valid? [True, True] Translation: X:90.27, Y:-21.61, Z:-4.46 [[ 8.91805257e-01 4.47881692e-01 6.39169194e-02 9.02717326e+01] [-4.46831384e-01 8.94092024e-01 -3.06784491e-02 -2.16085742e+01] [-7.08879236e-02 -1.20088332e-03 9.97483564e-01 -4.46017837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16863999999998 meters 0.02607504220014509 Centerline is valid? [True, True] Translation: X:90.33, Y:-21.63, Z:-4.46 [[ 8.92569780e-01 4.46423898e-01 6.34420274e-02 9.03322684e+01] [-4.45382916e-01 8.94820995e-01 -3.04868072e-02 -2.16254723e+01] [-7.03792974e-02 -1.04439238e-03 9.97519756e-01 -4.46174180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22863999999998 meters 0.025774085612731874 Centerline is valid? [True, True] Translation: X:90.39, Y:-21.65, Z:-4.47 [[ 8.93638537e-01 4.44311194e-01 6.32275851e-02 9.03905431e+01] [-4.43269412e-01 8.95872119e-01 -3.04199752e-02 -2.16465156e+01] [-7.01597661e-02 -8.42392295e-04 9.97535412e-01 -4.46576204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28863999999999 meters 0.025712419524359275 Centerline is valid? [True, True] Translation: X:90.45, Y:-21.66, Z:-4.47 [[ 8.95348779e-01 4.40745234e-01 6.39859614e-02 9.04513761e+01] [-4.39666542e-01 8.97632080e-01 -3.08217522e-02 -2.16623024e+01] [-7.10203920e-02 -5.36268220e-04 9.97474720e-01 -4.46914935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34863999999999 meters 0.025832886646634783 Centerline is valid? [True, True] Translation: X:90.51, Y:-21.68, Z:-4.47 [[ 8.95899226e-01 4.39520012e-01 6.47049852e-02 9.05114921e+01] [-4.38410909e-01 8.98232705e-01 -3.12070981e-02 -2.16836928e+01] [-7.18362780e-02 -4.08956314e-04 9.97416353e-01 -4.47311936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40863999999999 meters 0.025884293780872904 Centerline is valid? [True, True] Translation: X:90.57, Y:-21.70, Z:-4.48 [[ 8.94549762e-01 4.42086224e-01 6.58824184e-02 9.05705074e+01] [-4.40940232e-01 8.96972365e-01 -3.18164823e-02 -2.17043054e+01] [-7.31603372e-02 -5.88782142e-04 9.97320018e-01 -4.47508801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46863999999998 meters 0.026165871321959296 Centerline is valid? [True, True] Translation: X:90.63, Y:-21.72, Z:-4.48 [[ 8.92741546e-01 4.45698277e-01 6.60725143e-02 9.06327384e+01] [-4.44552761e-01 8.95182840e-01 -3.19456643e-02 -2.17173865e+01] [-7.33851085e-02 -8.53496886e-04 9.97303313e-01 -4.47803467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52863999999998 meters 0.02605652589647369 Centerline is valid? [True, True] Translation: X:90.69, Y:-21.74, Z:-4.48 [[ 8.92887834e-01 4.45499828e-01 6.54310205e-02 9.06911017e+01] [-4.44373866e-01 8.95281664e-01 -3.16640100e-02 -2.17405917e+01] [-7.26855039e-02 -8.03426265e-04 9.97354587e-01 -4.48061663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58863999999998 meters 0.02624948892529609 Centerline is valid? [True, True] Translation: X:90.75, Y:-21.75, Z:-4.49 [[ 8.95712936e-01 4.39136770e-01 6.96938530e-02 9.07527198e+01] [-4.37838438e-01 8.98420176e-01 -3.37444629e-02 -2.17545084e+01] [-7.74327982e-02 -2.89295796e-04 9.96997532e-01 -4.48524109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64863999999999 meters 0.026739448266582488 Centerline is valid? [True, True] Translation: X:90.81, Y:-21.77, Z:-4.49 [[ 9.00646732e-01 4.29196918e-01 6.80108014e-02 9.08147871e+01] [-4.27930138e-01 9.03210757e-01 -3.29564194e-02 -2.17688660e+01] [-7.55728810e-02 5.78219820e-04 9.97140113e-01 -4.48874558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70863999999999 meters 0.027722028486566897 Centerline is valid? [True, True] Translation: X:90.88, Y:-21.79, Z:-4.49 [[ 9.03871391e-01 4.22409105e-01 6.77278112e-02 9.08753167e+01] [-4.21130957e-01 9.06404527e-01 -3.28565268e-02 -2.17860526e+01] [-7.52676907e-02 1.17579665e-03 9.97162671e-01 -4.49253829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76863999999999 meters 0.028317784678812397 Centerline is valid? [True, True] Translation: X:90.93, Y:-21.81, Z:-4.50 [[ 9.04972886e-01 4.20032172e-01 6.78015516e-02 9.09331345e+01] [-4.18742510e-01 9.07508135e-01 -3.29195353e-02 -2.18083239e+01] [-7.53577235e-02 1.39989493e-03 9.97155582e-01 -4.49639606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82863999999998 meters 0.029390978875620366 Centerline is valid? [True, True] Translation: X:90.99, Y:-21.83, Z:-4.50 [[ 9.07243709e-01 4.15106152e-01 6.77918423e-02 9.09900182e+01] [-4.13801675e-01 9.09771150e-01 -3.29336859e-02 -2.18323987e+01] [-7.53460380e-02 1.82650147e-03 9.97155774e-01 -4.50047224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88863999999998 meters 0.03132480923337336 Centerline is valid? [True, True] Translation: X:91.05, Y:-21.86, Z:-4.50 [[ 9.11212019e-01 4.06536433e-01 6.64889914e-02 9.10457651e+01] [-4.05257163e-01 9.13631128e-01 -3.23232736e-02 -2.18575149e+01] [-7.38870006e-02 2.50821535e-03 9.97263466e-01 -4.50296907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94863999999998 meters 0.0335154307263933 Centerline is valid? [True, True] Translation: X:91.10, Y:-21.89, Z:-4.51 [[ 9.15102059e-01 3.97917576e-01 6.51906837e-02 9.10997856e+01] [-3.96665614e-01 9.17415772e-01 -3.16968687e-02 -2.18866200e+01] [-7.24197026e-02 3.14696728e-03 9.97369281e-01 -4.50522845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00863999999999 meters 0.0337467379351443 Centerline is valid? [True, True] Translation: X:91.15, Y:-21.92, Z:-4.51 [[ 9.15615461e-01 3.96922388e-01 6.40386250e-02 9.11531379e+01] [-3.95710945e-01 9.17846664e-01 -3.11504261e-02 -2.19196778e+01] [-7.11419399e-02 3.18102694e-03 9.97461130e-01 -4.50831957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06863999999999 meters 0.032898071835349985 Centerline is valid? [True, True] Translation: X:91.20, Y:-21.96, Z:-4.51 [[ 9.14379027e-01 3.99476134e-01 6.58013211e-02 9.12038437e+01] [-3.98201076e-01 9.16738367e-01 -3.20416952e-02 -2.19581053e+01] [-7.31224882e-02 3.09609725e-03 9.97318162e-01 -4.51169121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12863999999999 meters 0.03101869811039198 Centerline is valid? [True, True] Translation: X:91.25, Y:-22.00, Z:-4.52 [[ 9.10611573e-01 4.07814222e-01 6.68888857e-02 9.12510069e+01] [-4.06517219e-01 9.13061533e-01 -3.25942778e-02 -2.20003012e+01] [-7.43660786e-02 2.48924274e-03 9.97227903e-01 -4.51579286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18863999999999 meters 0.029580849095254876 Centerline is valid? [True, True] Translation: X:91.30, Y:-22.04, Z:-4.52 [[ 9.06820548e-01 4.15831812e-01 6.89956330e-02 9.13019916e+01] [-4.14474461e-01 9.09439561e-01 -3.36244778e-02 -2.20352415e+01] [-7.67294858e-02 1.89443958e-03 9.97050148e-01 -4.51934643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24863999999998 meters 0.028165567820224797 Centerline is valid? [True, True] Translation: X:91.35, Y:-22.07, Z:-4.52 [[ 9.00434812e-01 4.29497711e-01 6.89120184e-02 9.13535795e+01] [-4.28182834e-01 9.03067644e-01 -3.35900340e-02 -2.20706236e+01] [-7.66590569e-02 7.38692582e-04 9.97057091e-01 -4.52203586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30863999999998 meters 0.02797098859719927 Centerline is valid? [True, True] Translation: X:91.41, Y:-22.10, Z:-4.52 [[ 8.95014744e-01 4.40804493e-01 6.81176039e-02 9.14078914e+01] [-4.39550858e-01 8.97603117e-01 -3.32217815e-02 -2.21012321e+01] [-7.57868841e-02 -2.07167012e-04 9.97124017e-01 -4.52419924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36863999999998 meters 0.0280080842670404 Centerline is valid? [True, True] Translation: X:91.46, Y:-22.13, Z:-4.53 [[ 8.91933444e-01 4.47095520e-01 6.75302048e-02 9.14638651e+01] [-4.45878478e-01 8.94485946e-01 -3.29738723e-02 -2.21292309e+01] [-7.51472897e-02 -6.99765423e-04 9.97172199e-01 -4.52513664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42863999999999 meters 0.028236717166934867 Centerline is valid? [True, True] Translation: X:91.52, Y:-22.15, Z:-4.53 [[ 8.90184271e-01 4.50715582e-01 6.65389191e-02 9.15221404e+01] [-4.49541084e-01 8.92667102e-01 -3.25308876e-02 -2.21539596e+01] [-7.40592821e-02 -9.53493332e-04 9.97253385e-01 -4.52657378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48863999999999 meters 0.028331621144127433 Centerline is valid? [True, True] Translation: X:91.58, Y:-22.18, Z:-4.53 [[ 8.89421815e-01 4.52255609e-01 6.62849768e-02 9.15796196e+01] [-4.51091154e-01 8.91887764e-01 -3.24497601e-02 -2.21789649e+01] [-7.37943458e-02 -1.03904211e-03 9.97272939e-01 -4.52920525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54863999999999 meters 0.028697373117725404 Centerline is valid? [True, True] Translation: X:91.64, Y:-22.20, Z:-4.53 [[ 8.87039332e-01 4.57094233e-01 6.50083498e-02 9.16384256e+01] [-4.55984299e-01 8.89417205e-01 -3.18646349e-02 -2.21998144e+01] [-7.23846856e-02 -1.37760234e-03 9.97375837e-01 -4.52964924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60863999999998 meters 0.028883843008291252 Centerline is valid? [True, True] Translation: X:91.70, Y:-22.22, Z:-4.53 [[ 8.85933128e-01 4.59210447e-01 6.51786634e-02 9.16990553e+01] [-4.58097695e-01 8.88326207e-01 -3.19851679e-02 -2.22172089e+01] [-7.25878381e-02 -1.52147566e-03 9.97360863e-01 -4.53293844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66863999999998 meters 0.028792737817011187 Centerline is valid? [True, True] Translation: X:91.76, Y:-22.24, Z:-4.54 [[ 8.87605150e-01 4.56082414e-01 6.43888856e-02 9.17579594e+01] [-4.54985651e-01 8.89936711e-01 -3.16339710e-02 -2.22374451e+01] [-7.17297309e-02 -1.21754342e-03 9.97423362e-01 -4.53584408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72863999999998 meters 0.028347823687157256 Centerline is valid? [True, True] Translation: X:91.82, Y:-22.25, Z:-4.54 [[ 8.91415688e-01 4.48597596e-01 6.43293699e-02 9.18193758e+01] [-4.47481244e-01 8.93733658e-01 -3.16336061e-02 -2.22546733e+01] [-7.16840827e-02 -5.87493703e-04 9.97427214e-01 -4.53862988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78863999999999 meters 0.028290414162403917 Centerline is valid? [True, True] Translation: X:91.88, Y:-22.27, Z:-4.54 [[ 8.94727678e-01 4.42150238e-01 6.29726073e-02 9.18788433e+01] [-4.41063690e-01 8.96941004e-01 -3.09783420e-02 -2.22738339e+01] [-7.01797949e-02 -5.77505282e-05 9.97534357e-01 -4.54059248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84863999999999 meters 0.02800205960380954 Centerline is valid? [True, True] Translation: X:91.94, Y:-22.30, Z:-4.54 [[ 8.96553576e-01 4.38615139e-01 6.17125996e-02 9.19370964e+01] [-4.37562622e-01 8.98674975e-01 -3.03684309e-02 -2.22960817e+01] [-6.87796224e-02 2.23798448e-04 9.97631853e-01 -4.54197174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90863999999999 meters 0.027946092343324146 Centerline is valid? [True, True] Translation: X:91.99, Y:-22.32, Z:-4.55 [[ 8.96879783e-01 4.37623894e-01 6.39686129e-02 9.19928722e+01] [-4.36489640e-01 8.99158065e-01 -3.14891940e-02 -2.23239284e+01] [-7.12983179e-02 3.20384683e-04 9.97454985e-01 -4.54591189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96863999999998 meters 0.027678206260877494 Centerline is valid? [True, True] Translation: X:92.05, Y:-22.35, Z:-4.55 [[ 8.97429424e-01 4.36721907e-01 6.24051635e-02 9.20479901e+01] [-4.35639622e-01 8.99596478e-01 -3.07294206e-02 -2.23520156e+01] [-6.95596764e-02 3.91324458e-04 9.97577715e-01 -4.54650301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02863999999998 meters 0.027422360063165938 Centerline is valid? [True, True] Translation: X:92.10, Y:-22.38, Z:-4.55 [[ 8.97018010e-01 4.37568211e-01 6.23919054e-02 9.21041103e+01] [-4.36487626e-01 8.99185158e-01 -3.07344265e-02 -2.23815976e+01] [-6.95502833e-02 3.36039464e-04 9.97578390e-01 -4.54954169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08863999999998 meters 0.02742529357773032 Centerline is valid? [True, True] Translation: X:92.16, Y:-22.41, Z:-4.55 [[ 8.96677576e-01 4.38374421e-01 6.16213566e-02 9.21592957e+01] [-4.37321383e-01 8.98792405e-01 -3.03680803e-02 -2.24095917e+01] [-6.86973969e-02 2.82039695e-04 9.97637503e-01 -4.55210221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14863999999999 meters 0.027351237686154446 Centerline is valid? [True, True] Translation: X:92.21, Y:-22.44, Z:-4.56 [[ 8.96710009e-01 4.38113854e-01 6.29873817e-02 9.22147729e+01] [-4.37012184e-01 8.98919435e-01 -3.10515840e-02 -2.24384285e+01] [-7.02247107e-02 3.18012899e-04 9.97531147e-01 -4.55530629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20863999999999 meters 0.027327059783786144 Centerline is valid? [True, True] Translation: X:92.27, Y:-22.46, Z:-4.56 [[ 8.94992621e-01 4.41665457e-01 6.26085573e-02 9.22715559e+01] [-4.40584980e-01 8.97179816e-01 -3.08748071e-02 -2.24647743e+01] [-6.98074697e-02 4.83345708e-05 9.97560482e-01 -4.55730473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26863999999999 meters 0.027121580078253715 Centerline is valid? [True, True] Translation: X:92.33, Y:-22.49, Z:-4.56 [[ 8.90681294e-01 4.50570316e-01 6.06071207e-02 9.23294079e+01] [-4.49577640e-01 8.92740729e-01 -2.98987701e-02 -2.24893405e+01] [-6.75779434e-02 -6.17331113e-04 9.97713807e-01 -4.55961901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32863999999998 meters 0.02751279266451662 Centerline is valid? [True, True] Translation: X:92.39, Y:-22.51, Z:-4.56 [[ 8.87806752e-01 4.56021816e-01 6.19941462e-02 9.23863621e+01] [-4.54995468e-01 8.89967985e-01 -3.05959183e-02 -2.25129047e+01] [-6.91252115e-02 -1.04379266e-03 9.97607446e-01 -4.56335111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38863999999998 meters 0.027821322569946638 Centerline is valid? [True, True] Translation: X:92.45, Y:-22.53, Z:-4.57 [[ 8.86449141e-01 4.58595332e-01 6.24358953e-02 9.24454704e+01] [-4.57560065e-01 8.88644344e-01 -3.08223575e-02 -2.25327970e+01] [-6.96182945e-02 -1.24571992e-03 9.97572925e-01 -4.56589740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44863999999998 meters 0.027357838243514367 Centerline is valid? [True, True] Translation: X:92.50, Y:-22.55, Z:-4.57 [[ 8.88405327e-01 4.54762408e-01 6.26667983e-02 9.25046058e+01] [-4.53709207e-01 8.90612300e-01 -3.09465085e-02 -2.25535359e+01] [-6.98851301e-02 -9.39460334e-04 9.97554603e-01 -4.56718472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50863999999999 meters 0.027110236946154328 Centerline is valid? [True, True] Translation: X:92.56, Y:-22.58, Z:-4.57 [[ 8.90933083e-01 4.49539557e-01 6.44393349e-02 9.25623758e+01] [-4.48411534e-01 8.93260264e-01 -3.18307574e-02 -2.25757725e+01] [-7.18702819e-02 -5.36266189e-04 9.97413843e-01 -4.57065696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56863999999999 meters 0.027039852847945564 Centerline is valid? [True, True] Translation: X:92.62, Y:-22.60, Z:-4.57 [[ 8.95705856e-01 4.40302686e-01 6.20045569e-02 9.26199411e+01] [-4.39235835e-01 8.97849377e-01 -3.06329569e-02 -2.25984651e+01] [-6.91585260e-02 2.03495559e-04 9.97605662e-01 -4.57390333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62863999999999 meters 0.027240018757021357 Centerline is valid? [True, True] Translation: X:92.68, Y:-22.62, Z:-4.58 [[ 8.98857108e-01 4.33824584e-01 6.20655347e-02 9.26753841e+01] [-4.32739913e-01 9.00997076e-01 -3.06665392e-02 -2.26231253e+01] [-6.92247639e-02 7.06602695e-04 9.97600838e-01 -4.57615342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68863999999999 meters 0.02726618300168151 Centerline is valid? [True, True] Translation: X:92.73, Y:-22.65, Z:-4.58 [[ 9.00218185e-01 4.31153220e-01 6.09435927e-02 9.27299763e+01] [-4.30101237e-01 9.02278281e-01 -3.01135984e-02 -2.26512558e+01] [-6.79716549e-02 8.96894220e-04 9.97686850e-01 -4.57835049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74863999999998 meters 0.02772508457372553 Centerline is valid? [True, True] Translation: X:92.78, Y:-22.68, Z:-4.58 [[ 9.01491500e-01 4.28589136e-01 6.02032137e-02 9.27836602e+01] [-4.27556466e-01 9.03498855e-01 -2.97537798e-02 -2.26824678e+01] [-6.71456814e-02 1.08250625e-03 9.97742595e-01 -4.58194119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80863999999998 meters 0.02774931207426175 Centerline is valid? [True, True] Translation: X:92.84, Y:-22.72, Z:-4.59 [[ 9.01742168e-01 4.28090119e-01 5.99992775e-02 9.28356301e+01] [-4.27062709e-01 9.03735352e-01 -2.96623734e-02 -2.27165321e+01] [-6.69216371e-02 1.12435892e-03 9.97757601e-01 -4.58704798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86863999999998 meters 0.027406025560443643 Centerline is valid? [True, True] Translation: X:92.89, Y:-22.75, Z:-4.59 [[ 9.00514732e-01 4.30551322e-01 6.08175621e-02 9.28890918e+01] [-4.29500609e-01 9.02565583e-01 -3.00764989e-02 -2.27478264e+01] [-6.78413148e-02 9.63150367e-04 9.97695659e-01 -4.58950843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92863999999999 meters 0.027163240292955165 Centerline is valid? [True, True] Translation: X:92.94, Y:-22.78, Z:-4.59 [[ 8.97449039e-01 4.36893868e-01 6.09013119e-02 9.29416203e+01] [-4.35854143e-01 8.99512926e-01 -3.01274266e-02 -2.27825890e+01] [-6.79440052e-02 4.93740985e-04 9.97689014e-01 -4.59218029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98863999999999 meters 0.026979771511546714 Centerline is valid? [True, True] Translation: X:93.00, Y:-22.81, Z:-4.59 [[ 8.94112393e-01 4.43551455e-01 6.18476759e-02 9.29962633e+01] [-4.42494183e-01 8.96248909e-01 -3.06070405e-02 -2.28139668e+01] [-6.90067094e-02 -1.10261878e-06 9.97616196e-01 -4.59482195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04863999999999 meters 0.027014918995772796 Centerline is valid? [True, True] Translation: X:93.05, Y:-22.84, Z:-4.60 [[ 8.90936688e-01 4.50097150e-01 6.03686407e-02 9.30519455e+01] [-4.49103978e-01 8.92979463e-01 -2.98880437e-02 -2.28426929e+01] [-6.73604797e-02 -4.83442017e-04 9.97728586e-01 -4.59619396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10863999999998 meters 0.027512926693820307 Centerline is valid? [True, True] Translation: X:93.11, Y:-22.87, Z:-4.60 [[ 8.86884780e-01 4.58017956e-01 6.04560930e-02 9.31084707e+01] [-4.57039537e-01 8.88942289e-01 -2.99410832e-02 -2.28685670e+01] [-6.74555314e-02 -1.07653370e-03 9.97721701e-01 -4.59829084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16863999999998 meters 0.02812527655787882 Centerline is valid? [True, True] Translation: X:93.17, Y:-22.89, Z:-4.60 [[ 8.83336241e-01 4.64752086e-01 6.10129755e-02 9.31652118e+01] [-4.63770748e-01 8.85439414e-01 -3.02280840e-02 -2.28931333e+01] [-6.80718584e-02 -1.59447117e-03 9.97679147e-01 -4.60018210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22863999999998 meters 0.028276816061021323 Centerline is valid? [True, True] Translation: X:93.22, Y:-22.92, Z:-4.60 [[ 8.82135689e-01 4.67104681e-01 6.04139318e-02 9.32231515e+01] [-4.66147169e-01 8.84200297e-01 -2.99441466e-02 -2.29160579e+01] [-6.74050674e-02 -1.74698286e-03 9.97724163e-01 -4.60259549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28863999999999 meters 0.028221653799422777 Centerline is valid? [True, True] Translation: X:93.28, Y:-22.93, Z:-4.60 [[ 8.81821298e-01 4.67924034e-01 5.86369893e-02 9.32809179e+01] [-4.67023439e-01 8.83766957e-01 -2.90701313e-02 -2.29346652e+01] [-6.54240468e-02 -1.75018749e-03 9.97856017e-01 -4.60453105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34863999999999 meters 0.027772806809769887 Centerline is valid? [True, True] Translation: X:93.34, Y:-22.95, Z:-4.61 [[ 8.84290929e-01 4.63179076e-01 5.91159628e-02 9.33375291e+01] [-4.62253706e-01 8.86263579e-01 -2.92981149e-02 -2.29522973e+01] [-6.59625986e-02 -1.41851570e-03 9.97821088e-01 -4.60654602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40863999999999 meters 0.02695907975356358 Centerline is valid? [True, True] Translation: X:93.39, Y:-22.97, Z:-4.61 [[ 8.88129545e-01 4.55714685e-01 5.95821825e-02 9.33926370e+01] [-4.54760109e-01 8.90125449e-01 -2.94945495e-02 -2.29737658e+01] [-6.64767162e-02 -9.00618989e-04 9.97787570e-01 -4.60889884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46863999999998 meters 0.026569996445787124 Centerline is valid? [True, True] Translation: X:93.45, Y:-23.00, Z:-4.61 [[ 8.90597118e-01 4.50960522e-01 5.89184234e-02 9.34462884e+01] [-4.50018890e-01 8.92543715e-01 -2.91327104e-02 -2.29968530e+01] [-6.57249708e-02 -5.68895545e-04 9.97837614e-01 -4.60997671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52863999999998 meters 0.026257436285099283 Centerline is valid? [True, True] Translation: X:93.50, Y:-23.02, Z:-4.61 [[ 8.94942873e-01 4.42243605e-01 5.91426075e-02 9.34987533e+01] [-4.41277894e-01 8.96894973e-01 -2.92100802e-02 -2.30220099e+01] [-6.59626785e-02 4.30278369e-05 9.97822090e-01 -4.61325568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58863999999998 meters 0.026320062949864224 Centerline is valid? [True, True] Translation: X:93.55, Y:-23.05, Z:-4.62 [[ 8.97961210e-01 4.36087524e-01 5.91044558e-02 9.35508857e+01] [-4.35111894e-01 8.99904137e-01 -2.91579284e-02 -2.30499540e+01] [-6.59037530e-02 4.65636935e-04 9.97825876e-01 -4.61542861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64863999999999 meters 0.0266728393434579 Centerline is valid? [True, True] Translation: X:93.60, Y:-23.08, Z:-4.62 [[ 9.00880771e-01 4.29903836e-01 5.99710571e-02 9.36011050e+01] [-4.28887434e-01 9.02874226e-01 -2.95584362e-02 -2.30814505e+01] [-6.68536069e-02 9.07794019e-04 9.97762382e-01 -4.61940204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70863999999999 meters 0.026822152670333856 Centerline is valid? [True, True] Translation: X:93.65, Y:-23.11, Z:-4.62 [[ 9.02061220e-01 4.27324009e-01 6.06609167e-02 9.36531772e+01] [-4.26278593e-01 9.04097874e-01 -2.98930604e-02 -2.31149803e+01] [-6.76174282e-02 1.10692026e-03 9.97710709e-01 -4.62146102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76863999999999 meters 0.02681731016339926 Centerline is valid? [True, True] Translation: X:93.70, Y:-23.15, Z:-4.63 [[ 9.02605167e-01 4.26093961e-01 6.12196856e-02 9.37034525e+01] [-4.25025921e-01 9.04678097e-01 -3.01746238e-02 -2.31540576e+01] [-6.82413336e-02 1.21581811e-03 9.97668102e-01 -4.62518693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82863999999998 meters 0.026921372185521618 Centerline is valid? [True, True] Translation: X:93.76, Y:-23.19, Z:-4.63 [[ 9.02289654e-01 4.26663756e-01 6.18984566e-02 9.37559864e+01] [-4.25572433e-01 9.04409536e-01 -3.05204032e-02 -2.31906940e+01] [-6.90035043e-02 1.19596727e-03 9.97615701e-01 -4.62951749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88863999999998 meters 0.02638901362786395 Centerline is valid? [True, True] Translation: X:93.81, Y:-23.23, Z:-4.63 [[ 8.99771986e-01 4.31802584e-01 6.29039166e-02 9.38067869e+01] [-4.30687035e-01 9.01967762e-01 -3.10295666e-02 -2.32279247e+01] [-7.01359519e-02 8.27633457e-04 9.97537099e-01 -4.63113493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94863999999998 meters 0.026116705231137006 Centerline is valid? [True, True] Translation: X:93.86, Y:-23.27, Z:-4.63 [[ 8.94783122e-01 4.41884692e-01 6.40396992e-02 9.38578063e+01] [-4.40752748e-01 8.97071856e-01 -3.16085334e-02 -2.32652374e+01] [-7.14155389e-02 5.71087962e-05 9.97446649e-01 -4.63476653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00863999999999 meters 0.026598810090965756 Centerline is valid? [True, True] Translation: X:93.91, Y:-23.30, Z:-4.64 [[ 8.90093929e-01 4.50882902e-01 6.66138628e-02 9.39111142e+01] [-4.49680183e-01 8.92582870e-01 -3.29173737e-02 -2.32981599e+01] [-7.43002738e-02 -6.55379520e-04 9.97235699e-01 -4.63860346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06863999999999 meters 0.026926589924225173 Centerline is valid? [True, True] Translation: X:93.97, Y:-23.32, Z:-4.64 [[ 8.86429205e-01 4.58024894e-01 6.67567225e-02 9.39673751e+01] [-4.56834399e-01 8.88938525e-01 -3.30247053e-02 -2.33237761e+01] [-7.44687596e-02 -1.22270393e-03 9.97222597e-01 -4.64081618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12863999999999 meters 0.027426428161874246 Centerline is valid? [True, True] Translation: X:94.02, Y:-23.35, Z:-4.65 [[ 8.83993869e-01 4.62679907e-01 6.69488194e-02 9.40245320e+01] [-4.61493118e-01 8.86523991e-01 -3.31559350e-02 -2.33480986e+01] [-7.46923194e-02 -1.58677617e-03 9.97205365e-01 -4.64517306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18863999999998 meters 0.028035705237249235 Centerline is valid? [True, True] Translation: X:94.08, Y:-23.37, Z:-4.65 [[ 8.82124082e-01 4.66400378e-01 6.57859515e-02 9.40846340e+01] [-4.65262775e-01 8.84571810e-01 -3.26077011e-02 -2.33674599e+01] [-7.34006423e-02 -1.84371601e-03 9.97300830e-01 -4.64859559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24863999999998 meters 0.027894402158517694 Centerline is valid? [True, True] Translation: X:94.14, Y:-23.39, Z:-4.65 [[ 8.82919436e-01 4.64793803e-01 6.64830048e-02 9.41438776e+01] [-4.63626566e-01 8.85417284e-01 -3.29642249e-02 -2.33879075e+01] [-7.41867690e-02 -1.71853239e-03 9.97242884e-01 -4.65262560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30863999999998 meters 0.027775750320722586 Centerline is valid? [True, True] Translation: X:94.20, Y:-23.41, Z:-4.66 [[ 8.85003100e-01 4.60773263e-01 6.67646102e-02 9.42035884e+01] [-4.59583838e-01 8.87516819e-01 -3.31148290e-02 -2.34073019e+01] [-7.45131423e-02 -1.37720948e-03 9.97219081e-01 -4.65697773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36863999999998 meters 0.027800582530421017 Centerline is valid? [True, True] Translation: X:94.26, Y:-23.43, Z:-4.66 [[ 8.85543355e-01 4.59666842e-01 6.72261908e-02 9.42595738e+01] [-4.58456874e-01 8.88090507e-01 -3.33548587e-02 -2.34339212e+01] [-7.50350644e-02 -1.28313576e-03 9.97180070e-01 -4.66069338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42863999999999 meters 0.027898088045952604 Centerline is valid? [True, True] Translation: X:94.32, Y:-23.46, Z:-4.67 [[ 8.86872008e-01 4.57007877e-01 6.78368804e-02 9.43162877e+01] [-4.55767179e-01 8.89462018e-01 -3.36689297e-02 -2.34591989e+01] [-7.57252946e-02 -1.05779240e-03 9.97128157e-01 -4.66532192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48863999999999 meters 0.027855284976987263 Centerline is valid? [True, True] Translation: X:94.37, Y:-23.49, Z:-4.67 [[ 8.88231549e-01 4.54466490e-01 6.71187310e-02 9.43716439e+01] [-4.53243893e-01 8.90763455e-01 -3.33232750e-02 -2.34867730e+01] [-7.49312246e-02 -8.22370780e-04 9.97188365e-01 -4.66860247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54863999999999 meters 0.02806856889845201 Centerline is valid? [True, True] Translation: X:94.43, Y:-23.52, Z:-4.67 [[ 8.90789334e-01 4.49287275e-01 6.80830927e-02 9.44269347e+01] [-4.48013247e-01 8.93387262e-01 -3.38131771e-02 -2.35159198e+01] [-7.60163980e-02 -3.81709990e-04 9.97106495e-01 -4.67194665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60863999999998 meters 0.02843625059899986 Centerline is valid? [True, True] Translation: X:94.48, Y:-23.55, Z:-4.68 [[ 8.92570542e-01 4.45405639e-01 7.02256668e-02 9.44809948e+01] [-4.44037110e-01 8.95328887e-01 -3.48888241e-02 -2.35468912e+01] [-7.84147471e-02 -4.20655080e-05 9.96920822e-01 -4.67515361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66863999999998 meters 0.028600575806645986 Centerline is valid? [True, True] Translation: X:94.54, Y:-23.58, Z:-4.68 [[ 8.92836346e-01 4.44951440e-01 6.97242846e-02 9.45351000e+01] [-4.43600159e-01 8.95554697e-01 -3.46508683e-02 -2.35766591e+01] [-7.78598644e-02 7.85082539e-06 9.96964313e-01 -4.67823706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72863999999998 meters 0.02880187316656968 Centerline is valid? [True, True] Translation: X:94.59, Y:-23.61, Z:-4.68 [[ 8.93075379e-01 4.44645925e-01 6.86029761e-02 9.45895521e+01] [-4.43335292e-01 8.95706424e-01 -3.41148124e-02 -2.36075588e+01] [-7.66171388e-02 5.29785670e-05 9.97060586e-01 -4.68083814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78863999999999 meters 0.02893666927138165 Centerline is valid? [True, True] Translation: X:94.64, Y:-23.64, Z:-4.68 [[ 8.92221218e-01 4.46505143e-01 6.76347156e-02 9.46447707e+01] [-4.45234454e-01 8.94781063e-01 -3.36619998e-02 -2.36372331e+01] [-7.55485187e-02 -7.93551544e-05 9.97142124e-01 -4.68360458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84863999999999 meters 0.029217288835736977 Centerline is valid? [True, True] Translation: X:94.70, Y:-23.67, Z:-4.69 [[ 8.89832823e-01 4.51255361e-01 6.75732643e-02 9.46997309e+01] [-4.49998760e-01 8.92394749e-01 -3.36560273e-02 -2.36681831e+01] [-7.54894890e-02 -4.59647370e-04 9.97146492e-01 -4.68787415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90863999999999 meters 0.029511450389943128 Centerline is valid? [True, True] Translation: X:94.76, Y:-23.70, Z:-4.69 [[ 8.87506270e-01 4.55902806e-01 6.69720247e-02 9.47559730e+01] [-4.54678460e-01 8.90029200e-01 -3.33994168e-02 -2.36964160e+01] [-7.48339454e-02 -8.08545203e-04 9.97195681e-01 -4.69031622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96863999999998 meters 0.029915818430525033 Centerline is valid? [True, True] Translation: X:94.81, Y:-23.72, Z:-4.69 [[ 8.86482191e-01 4.58156157e-01 6.51326371e-02 9.48114690e+01] [-4.57002052e-01 8.88871220e-01 -3.25127540e-02 -2.37238087e+01] [-7.27904450e-02 -9.43771348e-04 9.97346811e-01 -4.69202488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02863999999998 meters 0.02989334636164467 Centerline is valid? [True, True] Translation: X:94.87, Y:-23.75, Z:-4.69 [[ 8.86610354e-01 4.58156339e-01 6.33628325e-02 9.48674175e+01] [-4.57063450e-01 8.88871162e-01 -3.16395363e-02 -2.37515666e+01] [-7.08172487e-02 -9.08894318e-04 9.97488893e-01 -4.69488473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08863999999998 meters 0.029931652992961872 Centerline is valid? [True, True] Translation: X:94.92, Y:-23.78, Z:-4.70 [[ 8.88222491e-01 4.54966104e-01 6.37702925e-02 9.49224957e+01] [-4.53850116e-01 8.90508519e-01 -3.18535646e-02 -2.37807028e+01] [-7.12802809e-02 -6.49102098e-04 9.97456114e-01 -4.69752300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14863999999999 meters 0.029952618088184717 Centerline is valid? [True, True] Translation: X:94.98, Y:-23.81, Z:-4.70 [[ 8.90131296e-01 4.51070133e-01 6.48229261e-02 9.49784478e+01] [-4.49905691e-01 8.92488446e-01 -3.23920234e-02 -2.38086066e+01] [-7.24647868e-02 -3.31049591e-04 9.97370916e-01 -4.70107168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20863999999999 meters 0.029984245547591288 Centerline is valid? [True, True] Translation: X:95.03, Y:-23.84, Z:-4.70 [[ 8.90935856e-01 4.49491588e-01 6.47349359e-02 9.50324911e+01] [-4.48325112e-01 8.93284544e-01 -3.23622938e-02 -2.38395104e+01] [-7.23732965e-02 -1.89569458e-04 9.97377597e-01 -4.70469186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26863999999999 meters 0.030004025865308565 Centerline is valid? [True, True] Translation: X:95.09, Y:-23.87, Z:-4.71 [[ 8.91877465e-01 4.47656810e-01 6.44823087e-02 9.50880302e+01] [-4.46493110e-01 8.94205446e-01 -3.22571417e-02 -2.38698325e+01] [-7.21005608e-02 -2.14888343e-05 9.97397367e-01 -4.70852511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32863999999998 meters 0.030342322047856026 Centerline is valid? [True, True] Translation: X:95.14, Y:-23.90, Z:-4.71 [[ 8.93612715e-01 4.44208716e-01 6.43034359e-02 9.51430457e+01] [-4.43039527e-01 8.95923284e-01 -3.22094306e-02 -2.38996431e+01] [-7.19186553e-02 2.93792906e-04 9.97410457e-01 -4.71204733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38863999999998 meters 0.030367176052953946 Centerline is valid? [True, True] Translation: X:95.20, Y:-23.93, Z:-4.72 [[ 8.94729540e-01 4.41907907e-01 6.46254697e-02 9.51960102e+01] [-4.40718047e-01 8.97060273e-01 -3.24109408e-02 -2.39316378e+01] [-7.22955925e-02 5.17415377e-04 9.97383116e-01 -4.71648461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44863999999998 meters 0.030640876045049205 Centerline is valid? [True, True] Translation: X:95.25, Y:-23.96, Z:-4.72 [[ 8.96063795e-01 4.39208595e-01 6.45405680e-02 9.52507754e+01] [-4.38012241e-01 8.98384785e-01 -3.24045437e-02 -2.39621336e+01] [-7.22146185e-02 7.66979602e-04 9.97388821e-01 -4.71892429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50863999999999 meters 0.03093773844004129 Centerline is valid? [True, True] Translation: X:95.30, Y:-24.00, Z:-4.72 [[ 8.98901635e-01 4.33147168e-01 6.60256138e-02 9.53040464e+01] [-4.31876588e-01 9.01322261e-01 -3.31782308e-02 -2.39952746e+01] [-7.38814122e-02 1.30904914e-03 9.97266175e-01 -4.72201577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56863999999999 meters 0.03137643262255293 Centerline is valid? [True, True] Translation: X:95.36, Y:-24.03, Z:-4.73 [[ 9.00674922e-01 4.29343597e-01 6.66990322e-02 9.53562499e+01] [-4.28035001e-01 9.03139708e-01 -3.35366278e-02 -2.40303796e+01] [-7.46372809e-02 1.65607929e-03 9.97209373e-01 -4.72507174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62863999999999 meters 0.03145963305173535 Centerline is valid? [True, True] Translation: X:95.41, Y:-24.07, Z:-4.73 [[ 9.01035995e-01 4.28968570e-01 6.41880142e-02 9.54079425e+01] [-4.27753366e-01 9.03317900e-01 -3.23083324e-02 -2.40657723e+01] [-7.18414414e-02 1.65433132e-03 9.97414693e-01 -4.72625383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68863999999998 meters 0.03104699906329091 Centerline is valid? [True, True] Translation: X:95.46, Y:-24.10, Z:-4.73 [[ 8.99528513e-01 4.32026531e-01 6.48192186e-02 9.54602810e+01] [-4.30792587e-01 9.01859720e-01 -3.26617813e-02 -2.40993236e+01] [-7.25685984e-02 1.45656465e-03 9.97362360e-01 -4.73008915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74863999999998 meters 0.030343509548358197 Centerline is valid? [True, True] Translation: X:95.51, Y:-24.14, Z:-4.73 [[ 8.96807850e-01 4.37742032e-01 6.41684773e-02 9.55119126e+01] [-4.36544815e-01 8.99100040e-01 -3.23688687e-02 -2.41354683e+01] [-7.18630949e-02 1.01623954e-03 9.97413988e-01 -4.73178380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80863999999998 meters 0.02988538254804935 Centerline is valid? [True, True] Translation: X:95.57, Y:-24.17, Z:-4.73 [[ 8.94433316e-01 4.42311322e-01 6.59525439e-02 9.55651085e+01] [-4.41055992e-01 8.96861305e-01 -3.33078235e-02 -2.41693534e+01] [-7.38827120e-02 7.02862302e-04 9.97266690e-01 -4.73485941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86863999999998 meters 0.02972974764137795 Centerline is valid? [True, True] Translation: X:95.62, Y:-24.20, Z:-4.74 [[ 8.91808410e-01 4.47743595e-01 6.48338898e-02 9.56191209e+01] [-4.46541982e-01 8.94161950e-01 -3.27821063e-02 -2.42008304e+01] [-7.26499754e-02 2.84304439e-04 9.97357459e-01 -4.73569102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92863999999999 meters 0.02949228960986243 Centerline is valid? [True, True] Translation: X:95.67, Y:-24.23, Z:-4.74 [[ 8.89261370e-01 4.52642746e-01 6.57933121e-02 9.56741143e+01] [-4.51415668e-01 8.91691952e-01 -3.33070197e-02 -2.42325168e+01] [-7.37435478e-02 -8.14859463e-05 9.97277235e-01 -4.73973254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98863999999999 meters 0.029386210558071384 Centerline is valid? [True, True] Translation: X:95.73, Y:-24.26, Z:-4.74 [[ 8.88593454e-01 4.54132232e-01 6.45413719e-02 9.57297497e+01] [-4.52952459e-01 8.90934279e-01 -3.27136209e-02 -2.42597458e+01] [-7.23584303e-02 -1.65063753e-04 9.97378679e-01 -4.74147441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04863999999999 meters 0.029673128968894475 Centerline is valid? [True, True] Translation: X:95.79, Y:-24.29, Z:-4.75 [[ 8.88074306e-01 4.55396622e-01 6.27530427e-02 9.57853293e+01] [-4.54282026e-01 8.90288641e-01 -3.18429882e-02 -2.42872919e+01] [-7.03695104e-02 -2.28639738e-04 9.97520967e-01 -4.74504415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10863999999998 meters 0.029686074076435514 Centerline is valid? [True, True] Translation: X:95.84, Y:-24.31, Z:-4.75 [[ 8.88873407e-01 4.53705613e-01 6.36811017e-02 9.58416356e+01] [-4.52550606e-01 8.91151622e-01 -3.23533008e-02 -2.43144832e+01] [-7.14283912e-02 -6.09324351e-05 9.97445728e-01 -4.74973620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16863999999998 meters 0.029507117014384417 Centerline is valid? [True, True] Translation: X:95.90, Y:-24.34, Z:-4.75 [[ 8.90574629e-01 4.50737927e-01 6.09274186e-02 9.58976405e+01] [-4.49671230e-01 8.92656305e-01 -3.09920235e-02 -2.43416707e+01] [-6.83565248e-02 2.03402555e-04 9.97660936e-01 -4.75015429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22863999999998 meters 0.029439307722042427 Centerline is valid? [True, True] Translation: X:95.95, Y:-24.37, Z:-4.75 [[ 8.91008539e-01 4.50120328e-01 5.91225248e-02 9.59532814e+01] [-4.49112390e-01 8.92967869e-01 -3.01072365e-02 -2.43690189e+01] [-6.63463941e-02 2.73146349e-04 9.97796613e-01 -4.75277879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28863999999999 meters 0.029610743327083123 Centerline is valid? [True, True] Translation: X:96.01, Y:-24.40, Z:-4.76 [[ 8.90829951e-01 4.50445935e-01 5.93334512e-02 9.60093205e+01] [-4.49429119e-01 8.92803663e-01 -3.02504003e-02 -2.43973180e+01] [-6.65992924e-02 2.81781850e-04 9.97779763e-01 -4.75577104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34863999999999 meters 0.02937593071376051 Centerline is valid? [True, True] Translation: X:96.07, Y:-24.43, Z:-4.76 [[ 8.90554735e-01 4.51064631e-01 5.87619207e-02 9.60650927e+01] [-4.50066130e-01 8.92491248e-01 -2.99975233e-02 -2.44265388e+01] [-6.59753217e-02 2.67686132e-04 9.97821219e-01 -4.75904462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40863999999999 meters 0.029431671212913433 Centerline is valid? [True, True] Translation: X:96.12, Y:-24.46, Z:-4.76 [[ 8.89516249e-01 4.53121047e-01 5.86699109e-02 9.61206468e+01] [-4.52127573e-01 8.91448986e-01 -2.99893950e-02 -2.44555429e+01] [-6.58900586e-02 1.49769749e-04 9.97826878e-01 -4.76107961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46863999999998 meters 0.02934338326306177 Centerline is valid? [True, True] Translation: X:96.18, Y:-24.49, Z:-4.76 [[ 8.89177278e-01 4.53698943e-01 5.93383285e-02 9.61764292e+01] [-4.52681303e-01 8.91155008e-01 -3.03708633e-02 -2.44859092e+01] [-6.66588772e-02 1.43729759e-04 9.97775813e-01 -4.76323719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52863999999998 meters 0.029075346212692508 Centerline is valid? [True, True] Translation: X:96.23, Y:-24.51, Z:-4.77 [[ 8.87249093e-01 4.57672869e-01 5.76592728e-02 9.62316936e+01] [-4.56718056e-01 8.89120651e-01 -2.95480263e-02 -2.45140172e+01] [-6.47893801e-02 -1.17571463e-04 9.97898954e-01 -4.76505033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58863999999998 meters 0.029094968227550703 Centerline is valid? [True, True] Translation: X:96.29, Y:-24.54, Z:-4.77 [[ 8.85571664e-01 4.60947298e-01 5.73621510e-02 9.62873672e+01] [-4.60006918e-01 8.87427453e-01 -2.94304550e-02 -2.45446146e+01] [-6.44706362e-02 -3.24209294e-04 9.97919552e-01 -4.76766777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64863999999999 meters 0.029314715654449805 Centerline is valid? [True, True] Translation: X:96.34, Y:-24.57, Z:-4.77 [[ 8.84929404e-01 4.61956611e-01 5.91273136e-02 9.63442718e+01] [-4.60957029e-01 8.86902446e-01 -3.03754493e-02 -2.45698819e+01] [-6.64722987e-02 -3.75022572e-04 9.97788200e-01 -4.77178287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70863999999999 meters 0.029133324633476492 Centerline is valid? [True, True] Translation: X:96.40, Y:-24.60, Z:-4.77 [[ 8.84932369e-01 4.61941389e-01 5.92018128e-02 9.64015002e+01] [-4.60936821e-01 8.86910388e-01 -3.04501342e-02 -2.45962299e+01] [-6.65728801e-02 -3.41986008e-04 9.97781506e-01 -4.77430392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76863999999999 meters 0.029061760147880953 Centerline is valid? [True, True] Translation: X:96.46, Y:-24.62, Z:-4.78 [[ 8.84502101e-01 4.62733176e-01 5.94478049e-02 9.64589980e+01] [-4.61719328e-01 8.86497531e-01 -3.06168068e-02 -2.46212344e+01] [-6.68677445e-02 -3.67570622e-04 9.97761780e-01 -4.77849729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82863999999998 meters 0.029148869599748214 Centerline is valid? [True, True] Translation: X:96.52, Y:-24.65, Z:-4.78 [[ 8.84627688e-01 4.62300521e-01 6.09268545e-02 9.65157954e+01] [-4.61231741e-01 8.86723256e-01 -3.14189033e-02 -2.46472170e+01] [-6.85502342e-02 -3.07367363e-04 9.97647619e-01 -4.78008744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88863999999998 meters 0.02915673059552595 Centerline is valid? [True, True] Translation: X:96.57, Y:-24.67, Z:-4.78 [[ 8.85028544e-01 4.61541636e-01 6.08588080e-02 9.65736690e+01] [-4.60470868e-01 8.87118522e-01 -3.14214510e-02 -2.46727693e+01] [-6.84912837e-02 -2.14827111e-04 9.97651692e-01 -4.78420537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94863999999998 meters 0.029046796149563833 Centerline is valid? [True, True] Translation: X:96.63, Y:-24.70, Z:-4.79 [[ 8.85347065e-01 4.61111332e-01 5.94719590e-02 9.66319464e+01] [-4.60085333e-01 8.87342278e-01 -3.07435850e-02 -2.46962788e+01] [-6.69481990e-02 -1.43433326e-04 9.97756442e-01 -4.78634293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00863999999999 meters 0.029221923370334107 Centerline is valid? [True, True] Translation: X:96.69, Y:-24.72, Z:-4.79 [[ 8.85554655e-01 4.60654118e-01 5.99227450e-02 9.66932089e+01] [-4.59608952e-01 8.87579730e-01 -3.10134440e-02 -2.47154315e+01] [-6.74726845e-02 -7.69303175e-05 9.97721119e-01 -4.79069334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06863999999999 meters 0.0289763178442355 Centerline is valid? [True, True] Translation: X:96.75, Y:-24.74, Z:-4.79 [[ 8.86645198e-01 4.58764218e-01 5.82725076e-02 9.67502618e+01] [-4.57769375e-01 8.88558035e-01 -3.01963020e-02 -2.47398104e+01] [-6.56314877e-02 9.80367629e-05 9.97843925e-01 -4.79277252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12863999999999 meters 0.029234181510621692 Centerline is valid? [True, True] Translation: X:96.81, Y:-24.76, Z:-4.80 [[ 8.88928310e-01 4.53995067e-01 6.07860051e-02 9.68097170e+01] [-4.52898788e-01 8.91004055e-01 -3.15350863e-02 -2.47598529e+01] [-6.84773506e-02 5.02522910e-04 9.97652545e-01 -4.79746161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18863999999998 meters 0.02993513664488747 Centerline is valid? [True, True] Translation: X:96.87, Y:-24.79, Z:-4.80 [[ 8.92530629e-01 4.46534182e-01 6.32163079e-02 9.68655691e+01] [-4.45327391e-01 8.94765840e-01 -3.28269057e-02 -2.47858798e+01] [-7.12221283e-02 1.14706529e-03 9.97459820e-01 -4.80180869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24863999999998 meters 0.029920840039617858 Centerline is valid? [True, True] Translation: X:96.92, Y:-24.81, Z:-4.80 [[ 8.93423432e-01 4.44995750e-01 6.14276368e-02 9.69224842e+01] [-4.43851106e-01 8.95531802e-01 -3.19215841e-02 -2.48126085e+01] [-6.92153715e-02 1.25476672e-03 9.97600951e-01 -4.80353885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30863999999998 meters 0.02962466235310117 Centerline is valid? [True, True] Translation: X:96.98, Y:-24.84, Z:-4.81 [[ 8.91272396e-01 4.49056574e-01 6.31007893e-02 9.69783061e+01] [-4.47855965e-01 8.93502765e-01 -3.28305330e-02 -2.48402625e+01] [-7.11234964e-02 1.00088296e-03 9.97467015e-01 -4.80676296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36863999999998 meters 0.02906836319847027 Centerline is valid? [True, True] Translation: X:97.03, Y:-24.87, Z:-4.81 [[ 8.88281440e-01 4.54894052e-01 6.34624601e-02 9.70343037e+01] [-4.53691875e-01 8.90545382e-01 -3.30545885e-02 -2.48678098e+01] [-7.15525364e-02 5.69374982e-04 9.97436670e-01 -4.80898995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42863999999999 meters 0.028962998642363288 Centerline is valid? [True, True] Translation: X:97.09, Y:-24.89, Z:-4.81 [[ 8.87099061e-01 4.57175953e-01 6.36034909e-02 9.70913747e+01] [-4.55971557e-01 8.89376170e-01 -3.31657612e-02 -2.48943491e+01] [-7.17300176e-02 4.19932786e-04 9.97423996e-01 -4.81191985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48863999999999 meters 0.028767136014353236 Centerline is valid? [True, True] Translation: X:97.15, Y:-24.92, Z:-4.81 [[ 8.85101834e-01 4.60996302e-01 6.38525871e-02 9.71504294e+01] [-4.59789310e-01 8.87402044e-01 -3.33377161e-02 -2.49176541e+01] [-7.20314802e-02 1.48536690e-04 9.97402348e-01 -4.81261312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54863999999998 meters 0.029026857542823963 Centerline is valid? [True, True] Translation: X:97.21, Y:-24.94, Z:-4.82 [[ 8.83615513e-01 4.63645536e-01 6.52414165e-02 9.72099925e+01] [-4.62390214e-01 8.86020776e-01 -3.40950717e-02 -2.49383587e+01] [-7.36132782e-02 -4.00582736e-05 9.97286861e-01 -4.81750229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60863999999998 meters 0.028860726759310312 Centerline is valid? [True, True] Translation: X:97.27, Y:-24.96, Z:-4.82 [[ 8.83372081e-01 4.64094989e-01 6.53422318e-02 9.72686038e+01] [-4.62836059e-01 8.85785435e-01 -3.41605859e-02 -2.49616723e+01] [-7.37329539e-02 -6.62331463e-05 9.97278019e-01 -4.82109583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66863999999998 meters 0.029161874950157395 Centerline is valid? [True, True] Translation: X:97.33, Y:-24.98, Z:-4.82 [[ 8.84418530e-01 4.62119450e-01 6.51880124e-02 9.73286380e+01] [-4.60859904e-01 8.86817682e-01 -3.40961633e-02 -2.49820146e+01] [-7.35663823e-02 1.12737515e-04 9.97290316e-01 -4.82470087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72863999999998 meters 0.029289174485220712 Centerline is valid? [True, True] Translation: X:97.39, Y:-25.00, Z:-4.83 [[ 8.86793250e-01 4.57718533e-01 6.39646535e-02 9.73877711e+01] [-4.56493411e-01 8.89097021e-01 -3.34701892e-02 -2.50032069e+01] [-7.21907088e-02 4.81694989e-04 9.97390731e-01 -4.82791307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78863999999999 meters 0.029804753124748833 Centerline is valid? [True, True] Translation: X:97.45, Y:-25.03, Z:-4.83 [[ 8.90480803e-01 4.50643207e-01 6.29653910e-02 9.74462692e+01] [-4.49437654e-01 8.92703534e-01 -3.29574755e-02 -2.50262114e+01] [-7.10614895e-02 1.04898160e-03 9.97471385e-01 -4.83148754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84863999999999 meters 0.03031263027054686 Centerline is valid? [True, True] Translation: X:97.50, Y:-25.05, Z:-4.83 [[ 8.92657956e-01 4.46417854e-01 6.22324134e-02 9.75014301e+01] [-4.45229269e-01 8.94823558e-01 -3.25837185e-02 -2.50543742e+01] [-7.02329832e-02 1.37842360e-03 9.97529663e-01 -4.83387324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90863999999999 meters 0.030794249130096478 Centerline is valid? [True, True] Translation: X:97.55, Y:-25.09, Z:-4.84 [[ 8.95121778e-01 4.41639901e-01 6.09196183e-02 9.75547602e+01] [-4.40489320e-01 8.97190740e-01 -3.19050990e-02 -2.50852583e+01] [-6.87470822e-02 1.72450770e-03 9.97632630e-01 -4.83628706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96863999999998 meters 0.030790321555934676 Centerline is valid? [True, True] Translation: X:97.61, Y:-25.12, Z:-4.84 [[ 8.95478158e-01 4.40962644e-01 6.05872490e-02 9.76067110e+01] [-4.39822514e-01 8.97523704e-01 -3.17388764e-02 -2.51199777e+01] [-6.83741510e-02 1.77383443e-03 9.97658172e-01 -4.83951178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02863999999998 meters 0.03061821343440312 Centerline is valid? [True, True] Translation: X:97.66, Y:-25.16, Z:-4.84 [[ 8.94768226e-01 4.42465080e-01 6.01205022e-02 9.76586902e+01] [-4.41345214e-01 8.96784208e-01 -3.15037639e-02 -2.51551372e+01] [-6.78544323e-02 1.65467108e-03 9.97693860e-01 -4.84243720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08863999999998 meters 0.0300643743998676 Centerline is valid? [True, True] Translation: X:97.71, Y:-25.19, Z:-4.85 [[ 8.93367022e-01 4.45285436e-01 6.01352221e-02 9.77102170e+01] [-4.44170583e-01 8.95387499e-01 -3.15233285e-02 -2.51917440e+01] [-6.78812052e-02 1.45160544e-03 9.97692355e-01 -4.84547980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14863999999999 meters 0.029972764436855422 Centerline is valid? [True, True] Translation: X:97.76, Y:-25.22, Z:-4.85 [[ 8.92405415e-01 4.47012774e-01 6.15804781e-02 9.77648615e+01] [-4.45846525e-01 8.94526528e-01 -3.22980850e-02 -2.52228368e+01] [-6.95230279e-02 1.36754377e-03 9.97579410e-01 -4.84935363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20863999999999 meters 0.02926072187792645 Centerline is valid? [True, True] Translation: X:97.82, Y:-25.25, Z:-4.85 [[ 8.89685054e-01 4.52313424e-01 6.22340043e-02 9.78182205e+01] [-4.51134220e-01 8.91858516e-01 -3.26542855e-02 -2.52548609e+01] [-7.02738984e-02 9.76140758e-04 9.97527256e-01 -4.85101500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26863999999999 meters 0.02919122164811295 Centerline is valid? [True, True] Translation: X:97.87, Y:-25.28, Z:-4.85 [[ 8.88431874e-01 4.54772704e-01 6.22140920e-02 9.78731430e+01] [-4.53599568e-01 8.90607188e-01 -3.26537711e-02 -2.52845076e+01] [-7.02583612e-02 7.90365737e-04 9.97528515e-01 -4.85387837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32863999999998 meters 0.029021195604909605 Centerline is valid? [True, True] Translation: X:97.93, Y:-25.31, Z:-4.86 [[ 8.86031151e-01 4.59233909e-01 6.36633112e-02 9.79280199e+01] [-4.58016001e-01 8.88315263e-01 -3.34265773e-02 -2.53144901e+01] [-7.19037088e-02 4.58173634e-04 9.97411473e-01 -4.85633007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38863999999998 meters 0.028810777139002264 Centerline is valid? [True, True] Translation: X:97.98, Y:-25.34, Z:-4.86 [[ 8.83844234e-01 4.63376875e-01 6.40409401e-02 9.79831975e+01] [-4.62154277e-01 8.86161302e-01 -3.36388347e-02 -2.53429814e+01] [-7.23380610e-02 1.34695746e-04 9.97380162e-01 -4.85853229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44863999999998 meters 0.028807875842618843 Centerline is valid? [True, True] Translation: X:98.04, Y:-25.37, Z:-4.86 [[ 8.81188475e-01 4.68502997e-01 6.33388806e-02 9.80394988e+01] [-4.67319532e-01 8.83461865e-01 -3.32804387e-02 -2.53691642e+01] [-7.15494709e-02 -2.73156982e-04 9.97437015e-01 -4.86106980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50863999999999 meters 0.028867274313315584 Centerline is valid? [True, True] Translation: X:98.10, Y:-25.39, Z:-4.86 [[ 8.79241392e-01 4.71897621e-01 6.51706233e-02 9.80960385e+01] [-4.70653095e-01 8.81653178e-01 -3.42540075e-02 -2.53947581e+01] [-7.36222718e-02 -5.55214365e-04 9.97286044e-01 -4.86419868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56863999999999 meters 0.02881107013970398 Centerline is valid? [True, True] Translation: X:98.15, Y:-25.42, Z:-4.87 [[ 8.78660841e-01 4.73229922e-01 6.33132555e-02 9.81540387e+01] [-4.72058050e-01 8.80938723e-01 -3.32890815e-02 -2.54189438e+01] [-7.15284879e-02 -6.37719553e-04 9.97438353e-01 -4.86777513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62863999999999 meters 0.02897974790729658 Centerline is valid? [True, True] Translation: X:98.21, Y:-25.44, Z:-4.87 [[ 8.78225658e-01 4.73966846e-01 6.38366862e-02 9.82124733e+01] [-4.72776529e-01 8.80542418e-01 -3.35768350e-02 -2.54404630e+01] [-7.21252166e-02 -6.92448951e-04 9.97395345e-01 -4.87140618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68863999999998 meters 0.02921252083448895 Centerline is valid? [True, True] Translation: X:98.27, Y:-25.46, Z:-4.87 [[ 8.77567739e-01 4.75090011e-01 6.45317379e-02 9.82713821e+01] [-4.73875839e-01 8.79936854e-01 -3.39532332e-02 -2.54611041e+01] [-7.29146964e-02 -7.83769342e-04 9.97337873e-01 -4.87451071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74863999999998 meters 0.02907706322880109 Centerline is valid? [True, True] Translation: X:98.33, Y:-25.48, Z:-4.88 [[ 8.77494225e-01 4.75225704e-01 6.45322839e-02 9.83305499e+01] [-4.74011098e-01 8.79863576e-01 -3.39641831e-02 -2.54814666e+01] [-7.29202589e-02 -7.85644203e-04 9.97337465e-01 -4.87871041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80863999999998 meters 0.028776082945466092 Centerline is valid? [True, True] Translation: X:98.39, Y:-25.50, Z:-4.88 [[ 8.78337899e-01 4.73784214e-01 6.36478896e-02 9.83872521e+01] [-4.72598304e-01 8.80640731e-01 -3.35073899e-02 -2.55047337e+01] [-7.19261964e-02 -6.49074283e-04 9.97409746e-01 -4.88166889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86863999999998 meters 0.029339838325884583 Centerline is valid? [True, True] Translation: X:98.44, Y:-25.52, Z:-4.89 [[ 8.81713053e-01 4.67298162e-01 6.49193353e-02 9.84425426e+01] [-4.66047416e-01 8.84099774e-01 -3.41671713e-02 -2.55246803e+01] [-7.33614260e-02 -1.29847580e-04 9.97305412e-01 -4.88648818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92863999999999 meters 0.02961343308738683 Centerline is valid? [True, True] Translation: X:98.50, Y:-25.55, Z:-4.89 [[ 8.85356422e-01 4.60463241e-01 6.41685974e-02 9.84975035e+01] [-4.59225179e-01 8.87678678e-01 -3.37461002e-02 -2.55487030e+01] [-7.24999344e-02 4.09490890e-04 9.97368333e-01 -4.88984046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98863999999999 meters 0.030194009811024332 Centerline is valid? [True, True] Translation: X:98.55, Y:-25.57, Z:-4.89 [[ 8.88833813e-01 4.53782469e-01 6.36861324e-02 9.85513058e+01] [-4.52546896e-01 8.91112001e-01 -3.34769894e-02 -2.55727725e+01] [-7.19427477e-02 9.34518633e-04 9.97408325e-01 -4.89217016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04863999999998 meters 0.031180131541901693 Centerline is valid? [True, True] Translation: X:98.60, Y:-25.60, Z:-4.90 [[ 8.92594383e-01 4.46427857e-01 6.30669164e-02 9.86025842e+01] [-4.45199792e-01 8.94818390e-01 -3.31239168e-02 -2.56001717e+01] [-7.12208758e-02 1.48884400e-03 9.97459458e-01 -4.89517880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10863999999998 meters 0.032447635262241384 Centerline is valid? [True, True] Translation: X:98.65, Y:-25.63, Z:-4.90 [[ 8.95794786e-01 4.39953222e-01 6.31891170e-02 9.86547732e+01] [-4.38704970e-01 8.98018466e-01 -3.31780672e-02 -2.56294660e+01] [-7.13417915e-02 1.99935993e-03 9.97449924e-01 -4.89944773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16863999999998 meters 0.0340167408575194 Centerline is valid? [True, True] Translation: X:98.71, Y:-25.66, Z:-4.90 [[ 8.99210900e-01 4.33023053e-01 6.25363427e-02 9.87057215e+01] [-4.31783835e-01 9.01379318e-01 -3.28336009e-02 -2.56645920e+01] [-7.05866720e-02 2.52214993e-03 9.97502461e-01 -4.90163573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22863999999998 meters 0.0335794580540132 Centerline is valid? [True, True] Translation: X:98.76, Y:-25.70, Z:-4.90 [[ 8.98693666e-01 4.34346528e-01 6.07683149e-02 9.87556387e+01] [-4.33179043e-01 9.00742774e-01 -3.19119335e-02 -2.57045888e+01] [-6.85974580e-02 2.35549208e-03 9.97641639e-01 -4.90294172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28863999999999 meters 0.033045145129090535 Centerline is valid? [True, True] Translation: X:98.80, Y:-25.75, Z:-4.91 [[ 8.96615814e-01 4.38521240e-01 6.14752376e-02 9.88042293e+01] [-4.37335396e-01 8.98718441e-01 -3.22942038e-02 -2.57460766e+01] [-6.94106240e-02 2.07019649e-03 9.97586026e-01 -4.90687462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34863999999999 meters 0.03204936226120987 Centerline is valid? [True, True] Translation: X:98.85, Y:-25.79, Z:-4.91 [[ 8.93800689e-01 4.44114718e-01 6.23092719e-02 9.88524348e+01] [-4.42909377e-01 8.95968382e-01 -3.27405342e-02 -2.57856160e+01] [-7.03676906e-02 1.66615123e-03 9.97519730e-01 -4.90921013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40863999999999 meters 0.03159124504024004 Centerline is valid? [True, True] Translation: X:98.90, Y:-25.82, Z:-4.91 [[ 8.91883552e-01 4.48026628e-01 6.17727341e-02 9.89045155e+01] [-4.46850885e-01 8.94019191e-01 -3.24649578e-02 -2.58193694e+01] [-6.97711753e-02 1.35176095e-03 9.97562106e-01 -4.91213943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46863999999998 meters 0.03093627851820463 Centerline is valid? [True, True] Translation: X:98.96, Y:-25.85, Z:-4.91 [[ 8.89354285e-01 4.53017588e-01 6.18386692e-02 9.89572740e+01] [-4.51850653e-01 8.91501050e-01 -3.25094573e-02 -2.58525870e+01] [-6.98565945e-02 9.70582134e-04 9.97556572e-01 -4.91465806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52863999999998 meters 0.030941142683321547 Centerline is valid? [True, True] Translation: X:99.01, Y:-25.88, Z:-4.92 [[ 8.88007977e-01 4.55524935e-01 6.27603907e-02 9.90114936e+01] [-4.54328419e-01 8.90222670e-01 -3.30043198e-02 -2.58824022e+01] [-7.09050132e-02 7.94270160e-04 9.97482756e-01 -4.91617644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58863999999998 meters 0.030998222895844037 Centerline is valid? [True, True] Translation: X:99.07, Y:-25.91, Z:-4.92 [[ 8.88865855e-01 4.54046182e-01 6.13152166e-02 9.90678869e+01] [-4.52900001e-01 8.90977696e-01 -3.22542100e-02 -2.59095460e+01] [-6.92753913e-02 9.00004229e-04 9.97597168e-01 -4.91947114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64863999999999 meters 0.031334305885038286 Centerline is valid? [True, True] Translation: X:99.12, Y:-25.94, Z:-4.92 [[ 8.91032137e-01 4.49786760e-01 6.12666334e-02 9.91242378e+01] [-4.48631628e-01 8.93135115e-01 -3.22386267e-02 -2.59358116e+01] [-6.92198891e-02 1.23950296e-03 9.97600657e-01 -4.92011677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70863999999999 meters 0.03222569639863034 Centerline is valid? [True, True] Translation: X:99.18, Y:-25.97, Z:-4.92 [[ 8.94345248e-01 4.43226004e-01 6.08053171e-02 9.91778587e+01] [-4.42072364e-01 8.96408205e-01 -3.20055527e-02 -2.59667373e+01] [-6.86920783e-02 1.74366370e-03 9.97636386e-01 -4.92307390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76863999999999 meters 0.0331052479594639 Centerline is valid? [True, True] Translation: X:99.23, Y:-26.00, Z:-4.93 [[ 8.96313237e-01 4.39418465e-01 5.94474026e-02 9.92320318e+01] [-4.38306440e-01 8.98280244e-01 -3.13060336e-02 -2.59963640e+01] [-6.71568766e-02 2.00383296e-03 9.97740416e-01 -4.92615261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82863999999998 meters 0.033442241482866196 Centerline is valid? [True, True] Translation: X:99.28, Y:-26.03, Z:-4.93 [[ 8.98048645e-01 4.35883752e-01 5.92788755e-02 9.92836987e+01] [-4.34768731e-01 9.00000078e-01 -3.12411584e-02 -2.60318746e+01] [-6.69685060e-02 2.28347850e-03 9.97752477e-01 -4.92954190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88863999999998 meters 0.03428891267148552 Centerline is valid? [True, True] Translation: X:99.33, Y:-26.07, Z:-4.93 [[ 9.00085455e-01 4.31650610e-01 5.93626538e-02 9.93335559e+01] [-4.30522498e-01 9.02037099e-01 -3.12961905e-02 -2.60692490e+01] [-6.70563357e-02 2.61228783e-03 9.97745771e-01 -4.93118579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94863999999998 meters 0.03510861298003165 Centerline is valid? [True, True] Translation: X:99.38, Y:-26.10, Z:-4.94 [[ 9.01763652e-01 4.28041937e-01 6.00201280e-02 9.93847155e+01] [-4.26879642e-01 9.03754134e-01 -3.16581333e-02 -2.61040227e+01] [-6.77944475e-02 2.92678314e-03 9.97695017e-01 -4.93513764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00863999999999 meters 0.035648074151387675 Centerline is valid? [True, True] Translation: X:99.43, Y:-26.15, Z:-4.94 [[ 9.03869734e-01 4.24022665e-01 5.67827758e-02 9.94320417e+01] [-4.22973815e-01 9.05646392e-01 -2.99627211e-02 -2.61481497e+01] [-6.41299888e-02 3.06476943e-03 9.97936848e-01 -4.93733344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06863999999999 meters 0.035335427760175106 Centerline is valid? [True, True] Translation: X:99.49, Y:-26.18, Z:-4.94 [[ 9.03774807e-01 4.24403157e-01 5.54351813e-02 9.94850657e+01] [-4.23403439e-01 9.05468440e-01 -2.92648546e-02 -2.61812481e+01] [-6.26149039e-02 2.97739190e-03 9.98033321e-01 -4.93951347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12863999999999 meters 0.03372743306292484 Centerline is valid? [True, True] Translation: X:99.53, Y:-26.23, Z:-4.94 [[ 9.01039077e-01 4.30017395e-01 5.66888199e-02 9.95307612e+01] [-4.28981317e-01 9.02816656e-01 -2.99518867e-02 -2.62272823e+01] [-6.40594431e-02 2.66937571e-03 9.97942514e-01 -4.94430300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18863999999998 meters 0.031383502116162636 Centerline is valid? [True, True] Translation: X:99.58, Y:-26.27, Z:-4.95 [[ 8.95748429e-01 4.40652247e-01 5.88247350e-02 9.95756505e+01] [-4.39558728e-01 8.97675685e-01 -3.10884110e-02 -2.62732216e+01] [-6.65047124e-02 1.99046959e-03 9.97784126e-01 -4.94637121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24863999999998 meters 0.03005066423133906 Centerline is valid? [True, True] Translation: X:99.63, Y:-26.31, Z:-4.95 [[ 8.91668754e-01 4.48851642e-01 5.88135853e-02 9.96251544e+01] [-4.47776059e-01 8.93605222e-01 -3.10855170e-02 -2.63111374e+01] [-6.65089123e-02 1.38266883e-03 9.97784873e-01 -4.94859393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30863999999998 meters 0.02876810367575566 Centerline is valid? [True, True] Translation: X:99.67, Y:-26.35, Z:-4.95 [[ 8.85327699e-01 4.60980639e-01 6.07594935e-02 9.96739475e+01] [-4.59860428e-01 8.87410053e-01 -3.21213895e-02 -2.63524672e+01] [-6.87259240e-02 4.97069213e-04 9.97635455e-01 -4.95262478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36863999999998 meters 0.028552256654682712 Centerline is valid? [True, True] Translation: X:99.73, Y:-26.38, Z:-4.95 [[ 8.79691124e-01 4.71280936e-01 6.35437357e-02 9.97271496e+01] [-4.70080683e-01 8.81983101e-01 -3.36148952e-02 -2.63847482e+01] [-7.18865603e-02 -2.99957781e-04 9.97412769e-01 -4.95452531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42863999999999 meters 0.028786055524344316 Centerline is valid? [True, True] Translation: X:99.78, Y:-26.41, Z:-4.96 [[ 8.75754042e-01 4.78790041e-01 6.17653254e-02 9.97830701e+01] [-4.77672060e-01 8.77929020e-01 -3.27114591e-02 -2.64141250e+01] [-6.98874924e-02 -8.56377704e-04 9.97554512e-01 -4.95787504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48863999999999 meters 0.029210004425494398 Centerline is valid? [True, True] Translation: X:99.84, Y:-26.44, Z:-4.96 [[ 8.73692867e-01 4.82099649e-01 6.51206766e-02 9.98385909e+01] [-4.80862723e-01 8.76115642e-01 -3.45314777e-02 -2.64407057e+01] [-7.37008567e-02 -1.14420010e-03 9.97279737e-01 -4.96167894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54863999999998 meters 0.0289615425960258 Centerline is valid? [True, True] Translation: X:99.90, Y:-26.47, Z:-4.97 [[ 8.73731417e-01 4.82058940e-01 6.49044589e-02 9.98950731e+01] [-4.80827245e-01 8.76138096e-01 -3.44557366e-02 -2.64689307e+01] [-7.34749648e-02 -1.10277261e-03 9.97296452e-01 -4.96511356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60863999999998 meters 0.028831233050017026 Centerline is valid? [True, True] Translation: X:99.95, Y:-26.49, Z:-4.97 [[ 8.74638633e-01 4.80388353e-01 6.50714429e-02 9.99529971e+01] [-4.79142509e-01 8.77055398e-01 -3.45873619e-02 -2.64920437e+01] [-7.36866260e-02 -9.27051455e-04 9.97281014e-01 -4.96797784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66863999999998 meters 0.028956520584401912 Centerline is valid? [True, True] Translation: X:100.01, Y:-26.52, Z:-4.97 [[ 8.74175593e-01 4.81095525e-01 6.60615577e-02 1.00008356e+02] [-4.79810423e-01 8.76667646e-01 -3.51538928e-02 -2.65204142e+01] [-7.48264108e-02 -9.66348877e-04 9.97196106e-01 -4.97049204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72863999999998 meters 0.029063672008278234 Centerline is valid? [True, True] Translation: X:100.07, Y:-26.55, Z:-4.97 [[ 8.73023916e-01 4.83058151e-01 6.69631613e-02 1.00065005e+02] [-4.81740365e-01 8.75587563e-01 -3.56740769e-02 -2.65463865e+01] [-7.58647648e-02 -1.11453544e-03 9.97117493e-01 -4.97302551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78863999999999 meters 0.029324039648304885 Centerline is valid? [True, True] Translation: X:100.12, Y:-26.57, Z:-4.98 [[ 8.72427623e-01 4.84306791e-01 6.57036904e-02 1.00121056e+02] [-4.83038815e-01 8.74897464e-01 -3.50418388e-02 -2.65742549e+01] [-7.44549926e-02 -1.16596467e-03 9.97223693e-01 -4.97530396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84863999999999 meters 0.029091355344113574 Centerline is valid? [True, True] Translation: X:100.18, Y:-26.60, Z:-4.98 [[ 8.73091576e-01 4.83375662e-01 6.37108287e-02 1.00175999e+02] [-4.82178344e-01 8.75412433e-01 -3.40164178e-02 -2.66030519e+01] [-7.22159600e-02 -1.02053405e-03 9.97388497e-01 -4.97793259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90863999999998 meters 0.028846847498318128 Centerline is valid? [True, True] Translation: X:100.23, Y:-26.63, Z:-4.98 [[ 8.75683530e-01 4.78745642e-01 6.30948974e-02 1.00229231e+02] [-4.77556646e-01 8.77953445e-01 -3.37253256e-02 -2.66344858e+01] [-7.15402352e-02 -5.98675436e-04 9.97437535e-01 -4.98063347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96863999999998 meters 0.028820227268423784 Centerline is valid? [True, True] Translation: X:100.28, Y:-26.67, Z:-4.98 [[ 8.74798459e-01 4.80352964e-01 6.31560409e-02 1.00284314e+02] [-4.79162980e-01 8.77074995e-01 -3.37978175e-02 -2.66656698e+01] [-7.16274661e-02 -6.95758073e-04 9.97431212e-01 -4.98194785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02863999999998 meters 0.02900139912727886 Centerline is valid? [True, True] Translation: X:100.34, Y:-26.70, Z:-4.98 [[ 8.72798868e-01 4.84075499e-01 6.23942980e-02 1.00339189e+02] [-4.82920558e-01 8.75025717e-01 -3.34324431e-02 -2.66963349e+01] [-7.07804419e-02 -9.51690763e-04 9.97491465e-01 -4.98469477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08863999999998 meters 0.029021450950822487 Centerline is valid? [True, True] Translation: X:100.39, Y:-26.73, Z:-4.99 [[ 8.71903164e-01 4.85845595e-01 6.11467920e-02 1.00393057e+02] [-4.84737888e-01 8.74044039e-01 -3.28054447e-02 -2.67287238e+01] [-6.93833699e-02 -1.03699585e-03 9.97589531e-01 -4.98731350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14863999999999 meters 0.028827010143712552 Centerline is valid? [True, True] Translation: X:100.45, Y:-26.76, Z:-4.99 [[ 8.71252608e-01 4.87044992e-01 6.08774897e-02 1.00448828e+02] [-4.85947056e-01 8.73376199e-01 -3.27028084e-02 -2.67582097e+01] [-6.90966896e-02 -1.09082978e-03 9.97609371e-01 -4.98938096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20863999999999 meters 0.029018986052453608 Centerline is valid? [True, True] Translation: X:100.50, Y:-26.79, Z:-4.99 [[ 8.69643667e-01 4.89662076e-01 6.28565341e-02 1.00503937e+02] [-4.88495299e-01 8.71911320e-01 -3.38081727e-02 -2.67871681e+01] [-7.13599036e-02 -1.30405815e-03 9.97449780e-01 -4.99356840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26863999999999 meters 0.02915362921934008 Centerline is valid? [True, True] Translation: X:100.56, Y:-26.82, Z:-5.00 [[ 8.69075687e-01 4.90550208e-01 6.37804430e-02 1.00558229e+02] [-4.89348481e-01 8.71411862e-01 -3.43428557e-02 -2.68163590e+01] [-7.24259295e-02 -1.36432199e-03 9.97372861e-01 -4.99614752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32863999999998 meters 0.02901437498115383 Centerline is valid? [True, True] Translation: X:100.61, Y:-26.85, Z:-5.00 [[ 8.69125323e-01 4.90470507e-01 6.37169875e-02 1.00614167e+02] [-4.89268173e-01 8.71456787e-01 -3.43470994e-02 -2.68455250e+01] [-7.23728405e-02 -1.32276021e-03 9.97376770e-01 -4.99843689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38863999999998 meters 0.028898454591221312 Centerline is valid? [True, True] Translation: X:100.67, Y:-26.87, Z:-5.00 [[ 8.70054236e-01 4.89136309e-01 6.12478389e-02 1.00671099e+02] [-4.88019919e-01 8.72206615e-01 -3.30481312e-02 -2.68717981e+01] [-6.95858112e-02 -1.13649891e-03 9.97575322e-01 -5.00104211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44863999999998 meters 0.028924893958412055 Centerline is valid? [True, True] Translation: X:100.73, Y:-26.90, Z:-5.00 [[ 8.71000069e-01 4.87509730e-01 6.07712246e-02 1.00727156e+02] [-4.86405303e-01 8.73117003e-01 -3.28112824e-02 -2.68988126e+01] [-6.90562089e-02 -9.80816686e-04 9.97612288e-01 -5.00495222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50863999999999 meters 0.028911694028233743 Centerline is valid? [True, True] Translation: X:100.78, Y:-26.93, Z:-5.01 [[ 8.71610162e-01 4.86253147e-01 6.20773901e-02 1.00784027e+02] [-4.85094668e-01 8.73817560e-01 -3.35564354e-02 -2.69262792e+01] [-7.05612359e-02 -8.65280837e-04 9.97507074e-01 -5.00801332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56863999999999 meters 0.0289233685154093 Centerline is valid? [True, True] Translation: X:100.84, Y:-26.95, Z:-5.01 [[ 8.71388341e-01 4.86530293e-01 6.30129621e-02 1.00840885e+02] [-4.85334136e-01 8.73663282e-01 -3.41063930e-02 -2.69543621e+01] [-7.16459046e-02 -8.62428303e-04 9.97429757e-01 -5.01129324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62863999999999 meters 0.028835294950114217 Centerline is valid? [True, True] Translation: X:100.90, Y:-26.98, Z:-5.02 [[ 8.70232534e-01 4.88822431e-01 6.12206547e-02 1.00897810e+02] [-4.87696310e-01 8.72382748e-01 -3.31760486e-02 -2.69796056e+01] [-6.96250397e-02 -9.86210577e-04 9.97572745e-01 -5.01532520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68863999999998 meters 0.029019730447930468 Centerline is valid? [True, True] Translation: X:100.95, Y:-27.01, Z:-5.02 [[ 8.69837192e-01 4.89153952e-01 6.41223198e-02 1.00953203e+02] [-4.87916401e-01 8.72196858e-01 -3.47883201e-02 -2.70079170e+01] [-7.29441301e-02 -1.02615684e-03 9.97335501e-01 -5.02006604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74863999999998 meters 0.02917158652803664 Centerline is valid? [True, True] Translation: X:101.01, Y:-27.03, Z:-5.02 [[ 8.71080312e-01 4.86684590e-01 6.60090864e-02 1.01010595e+02] [-4.85362726e-01 8.73577392e-01 -3.58547565e-02 -2.70343527e+01] [-7.51140030e-02 -8.05977685e-04 9.97174627e-01 -5.02292958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80863999999998 meters 0.029131876997883065 Centerline is valid? [True, True] Translation: X:101.07, Y:-27.06, Z:-5.03 [[ 8.71908122e-01 4.85466258e-01 6.40213980e-02 1.01066435e+02] [-4.84216579e-01 8.74255168e-01 -3.48167435e-02 -2.70617984e+01] [-7.28733922e-02 -6.43220900e-04 9.97340992e-01 -5.02581421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86863999999998 meters 0.02944803297292425 Centerline is valid? [True, True] Translation: X:101.12, Y:-27.09, Z:-5.03 [[ 8.72787566e-01 4.83765000e-01 6.49098473e-02 1.01123389e+02] [-4.82472589e-01 8.75197807e-01 -3.53411817e-02 -2.70894042e+01] [-7.39057828e-02 -4.71878102e-04 9.97265117e-01 -5.03005995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92863999999999 meters 0.02936471980126245 Centerline is valid? [True, True] Translation: X:101.18, Y:-27.12, Z:-5.03 [[ 8.74561998e-01 4.80715696e-01 6.36689175e-02 1.01177744e+02] [-4.79461203e-01 8.76876496e-01 -3.47068455e-02 -2.71188924e+01] [-7.25139027e-02 -1.73487592e-04 9.97367387e-01 -5.03165510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98863999999999 meters 0.029660112382971105 Centerline is valid? [True, True] Translation: X:101.23, Y:-27.15, Z:-5.04 [[ 8.74514795e-01 4.80663418e-01 6.47035765e-02 1.01231944e+02] [-4.79364721e-01 8.76905160e-01 -3.53101109e-02 -2.71483245e+01] [-7.37111787e-02 -1.37397502e-04 9.97279621e-01 -5.03560753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04863999999998 meters 0.02995890031002965 Centerline is valid? [True, True] Translation: X:101.29, Y:-27.18, Z:-5.04 [[ 8.74553899e-01 4.80392168e-01 6.61728218e-02 1.01286180e+02] [-4.79029916e-01 8.77053794e-01 -3.61522015e-02 -2.71789331e+01] [-7.54043589e-02 -8.17124172e-05 9.97153035e-01 -5.03954002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10863999999998 meters 0.029792991926244645 Centerline is valid? [True, True] Translation: X:101.34, Y:-27.21, Z:-5.04 [[ 8.75272601e-01 4.79370226e-01 6.40473254e-02 1.01340632e+02] [-4.78088698e-01 8.77612776e-01 -3.50287303e-02 -2.72097002e+01] [-7.30004815e-02 3.93854777e-05 9.97331905e-01 -5.04258138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16863999999998 meters 0.029899440834196846 Centerline is valid? [True, True] Translation: X:101.39, Y:-27.24, Z:-5.05 [[ 8.75550747e-01 4.78764206e-01 6.47744090e-02 1.01393856e+02] [-4.77448667e-01 8.77943517e-01 -3.54676017e-02 -2.72434234e+01] [-7.38488906e-02 1.27229903e-04 9.97269435e-01 -5.04626204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22863999999998 meters 0.03008180738704582 Centerline is valid? [True, True] Translation: X:101.45, Y:-27.28, Z:-5.05 [[ 8.75052789e-01 4.79643694e-01 6.49964903e-02 1.01447830e+02] [-4.78318200e-01 8.77463343e-01 -3.56339979e-02 -2.72752258e+01] [-7.41236600e-02 9.26250404e-05 9.97249053e-01 -5.05055870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28863999999999 meters 0.03005317244550002 Centerline is valid? [True, True] Translation: X:101.50, Y:-27.31, Z:-5.05 [[ 8.72033337e-01 4.85027298e-01 6.56230091e-02 1.01500036e+02] [-4.83688024e-01 8.74498949e-01 -3.60206006e-02 -2.73087135e+01] [-7.48582271e-02 -3.29899031e-04 9.97194132e-01 -5.05199059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34863999999999 meters 0.030143843956922784 Centerline is valid? [True, True] Translation: X:101.55, Y:-27.34, Z:-5.06 [[ 8.69624626e-01 4.89451118e-01 6.47349392e-02 1.01554463e+02] [-4.88157119e-01 8.72030481e-01 -3.55734033e-02 -2.73394341e+01] [-7.38622822e-02 -6.65313823e-04 9.97268229e-01 -5.05651974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40863999999998 meters 0.029952674395970998 Centerline is valid? [True, True] Translation: X:101.61, Y:-27.37, Z:-5.06 [[ 8.68447090e-01 4.91790502e-01 6.27833889e-02 1.01608865e+02] [-4.90576612e-01 8.70713189e-01 -3.45417059e-02 -2.73698608e+01] [-7.16536077e-02 -8.02418261e-04 9.97429254e-01 -5.05795668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46863999999998 meters 0.03018170679034175 Centerline is valid? [True, True] Translation: X:101.66, Y:-27.40, Z:-5.06 [[ 8.66543719e-01 4.94749712e-01 6.57625008e-02 1.01664065e+02] [-4.93423136e-01 8.69034865e-01 -3.62217097e-02 -2.73987675e+01] [-7.50705865e-02 -1.06104429e-03 9.97177658e-01 -5.06017868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52863999999998 meters 0.030570578903926577 Centerline is valid? [True, True] Translation: X:101.72, Y:-27.42, Z:-5.06 [[ 8.63913327e-01 4.99416409e-01 6.50923453e-02 1.01721185e+02] [-4.98127039e-01 8.66360919e-01 -3.58916485e-02 -2.74243282e+01] [-7.43183423e-02 -1.41698377e-03 9.97233561e-01 -5.06160866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58863999999998 meters 0.03098830958190274 Centerline is valid? [True, True] Translation: X:101.78, Y:-27.45, Z:-5.07 [[ 8.60404146e-01 5.05463949e-01 6.48914545e-02 1.01779283e+02] [-5.04196768e-01 8.62845635e-01 -3.58193897e-02 -2.74476358e+01] [-7.40967184e-02 -1.89891021e-03 9.97249252e-01 -5.06606060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64863999999999 meters 0.03126683480584615 Centerline is valid? [True, True] Translation: X:101.84, Y:-27.47, Z:-5.07 [[ 8.58393180e-01 5.08871429e-01 6.48923492e-02 1.01837588e+02] [-5.07611060e-01 8.60839825e-01 -3.58581529e-02 -2.74710019e+01] [-7.41091080e-02 -2.15968025e-03 9.97247801e-01 -5.06876899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70863999999999 meters 0.03127167835360428 Centerline is valid? [True, True] Translation: X:101.90, Y:-27.49, Z:-5.07 [[ 8.56960298e-01 5.11332984e-01 6.44796652e-02 1.01898830e+02] [-5.10092715e-01 8.59379531e-01 -3.56685202e-02 -2.74883388e+01] [-7.36509953e-02 -2.32410178e-03 9.97281369e-01 -5.07064202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76863999999999 meters 0.03141202084267037 Centerline is valid? [True, True] Translation: X:101.96, Y:-27.51, Z:-5.07 [[ 8.58643133e-01 5.08189694e-01 6.68969814e-02 1.01959200e+02] [-5.06841872e-01 8.61242615e-01 -3.70469323e-02 -2.75080727e+01] [-7.64414004e-02 -2.09609725e-03 9.97071872e-01 -5.07493853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82863999999998 meters 0.030924851190448573 Centerline is valid? [True, True] Translation: X:102.02, Y:-27.53, Z:-5.08 [[ 8.61900356e-01 5.02822024e-01 6.55575238e-02 1.02019168e+02] [-5.01510131e-01 8.64388552e-01 -3.63320849e-02 -2.75261334e+01] [-7.49357456e-02 -1.56312544e-03 9.97187139e-01 -5.07827283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88863999999998 meters 0.03070073926566077 Centerline is valid? [True, True] Translation: X:102.08, Y:-27.55, Z:-5.08 [[ 8.64795906e-01 4.97782036e-01 6.58869221e-02 1.02079431e+02] [-4.96440881e-01 8.67301447e-01 -3.65328785e-02 -2.75462153e+01] [-7.53292336e-02 -1.11547791e-03 9.97158093e-01 -5.08220821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94863999999998 meters 0.030449498968798772 Centerline is valid? [True, True] Translation: X:102.14, Y:-27.57, Z:-5.08 [[ 8.67070204e-01 4.94071801e-01 6.38930174e-02 1.02137905e+02] [-4.92797843e-01 8.69420793e-01 -3.54650767e-02 -2.75690335e+01] [-7.30722121e-02 -7.35629880e-04 9.97326381e-01 -5.08442273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00863999999999 meters 0.030527666167478058 Centerline is valid? [True, True] Translation: X:102.20, Y:-27.59, Z:-5.09 [[ 8.67774906e-01 4.92595143e-01 6.57018853e-02 1.02196737e+02] [-4.91240679e-01 8.70258394e-01 -3.65092125e-02 -2.75910734e+01] [-7.51618779e-02 -5.93660349e-04 9.97171169e-01 -5.08724708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06863999999999 meters 0.03021331156740058 Centerline is valid? [True, True] Translation: X:102.26, Y:-27.61, Z:-5.09 [[ 8.68832233e-01 4.90775421e-01 6.53455134e-02 1.02255309e+02] [-4.89428253e-01 8.71286015e-01 -3.63409576e-02 -2.76146535e+01] [-7.47698807e-02 -4.07745144e-04 9.97200731e-01 -5.09007883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12863999999999 meters 0.030332150996241824 Centerline is valid? [True, True] Translation: X:102.31, Y:-27.64, Z:-5.09 [[ 8.70766321e-01 4.87302784e-01 6.55897161e-02 1.02313086e+02] [-4.85934516e-01 8.73233066e-01 -3.64919087e-02 -2.76406468e+01] [-7.50577176e-02 -9.63818909e-05 9.97179186e-01 -5.09367824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18863999999998 meters 0.030172872220701 Centerline is valid? [True, True] Translation: X:102.37, Y:-27.67, Z:-5.10 [[ 8.74095091e-01 4.81408252e-01 6.48372329e-02 1.02370869e+02] [-4.80053745e-01 8.76496388e-01 -3.60899433e-02 -2.76670994e+01] [-7.42035970e-02 4.20685822e-04 9.97243024e-01 -5.09573366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24863999999998 meters 0.030320720863761107 Centerline is valid? [True, True] Translation: X:102.43, Y:-27.69, Z:-5.10 [[ 8.75025864e-01 4.79879050e-01 6.36068861e-02 1.02426461e+02] [-4.78570464e-01 8.77334482e-01 -3.54191782e-02 -2.76945952e+01] [-7.28014361e-02 5.52320021e-04 9.97346302e-01 -5.09941321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30863999999998 meters 0.03027735218711964 Centerline is valid? [True, True] Translation: X:102.48, Y:-27.73, Z:-5.10 [[ 8.74917502e-01 4.79983263e-01 6.43073312e-02 1.02479361e+02] [-4.78645140e-01 8.77277467e-01 -3.58200417e-02 -2.77265225e+01] [-7.36083931e-02 5.59189875e-04 9.97287066e-01 -5.10377916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36863999999998 meters 0.030196510298115084 Centerline is valid? [True, True] Translation: X:102.53, Y:-27.76, Z:-5.11 [[ 8.74615305e-01 4.80838683e-01 6.19857156e-02 1.02531826e+02] [-4.79596984e-01 8.76808948e-01 -3.45369494e-02 -2.77598624e+01] [-7.09563314e-02 4.78382266e-04 9.97479308e-01 -5.10578998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42863999999999 meters 0.029942764837918297 Centerline is valid? [True, True] Translation: X:102.58, Y:-27.79, Z:-5.11 [[ 8.72597066e-01 4.84226986e-01 6.40202112e-02 1.02583799e+02] [-4.82910607e-01 8.74942386e-01 -3.56814799e-02 -2.77941745e+01] [-7.32919317e-02 2.19515628e-04 9.97310506e-01 -5.10931192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48863999999999 meters 0.029880970186352763 Centerline is valid? [True, True] Translation: X:102.64, Y:-27.82, Z:-5.11 [[ 8.68274115e-01 4.91699282e-01 6.58169972e-02 1.02638344e+02] [-4.90328339e-01 8.70764978e-01 -3.66943216e-02 -2.78248393e+01] [-7.53537077e-02 -4.11209287e-04 9.97156783e-01 -5.11171914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54863999999998 meters 0.030367013186326553 Centerline is valid? [True, True] Translation: X:102.69, Y:-27.86, Z:-5.11 [[ 8.65435708e-01 4.96462407e-01 6.74248731e-02 1.02691854e+02] [-4.95037131e-01 8.68057820e-01 -3.76013364e-02 -2.78555222e+01] [-7.71963383e-02 -8.36276569e-04 9.97015560e-01 -5.11471426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60863999999998 meters 0.030273833707468757 Centerline is valid? [True, True] Translation: X:102.75, Y:-27.88, Z:-5.12 [[ 8.64469622e-01 4.98103511e-01 6.77138454e-02 1.02746826e+02] [-4.96669374e-01 8.67117035e-01 -3.77833315e-02 -2.78844865e+01] [-7.75358390e-02 -9.68850888e-04 9.96989095e-01 -5.11721147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66863999999998 meters 0.030282751935180763 Centerline is valid? [True, True] Translation: X:102.80, Y:-27.91, Z:-5.12 [[ 8.64299456e-01 4.98751068e-01 6.50678299e-02 1.02802341e+02] [-4.97426723e-01 8.66744741e-01 -3.63346791e-02 -2.79127677e+01] [-7.45191594e-02 -9.62434033e-04 9.97219118e-01 -5.12000970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72863999999998 meters 0.030379344576751934 Centerline is valid? [True, True] Translation: X:102.86, Y:-27.94, Z:-5.12 [[ 8.62834401e-01 5.01296073e-01 6.49541651e-02 1.02857597e+02] [-4.99982719e-01 8.65275030e-01 -3.62822700e-02 -2.79411707e+01] [-7.43913766e-02 -1.17036929e-03 9.97228436e-01 -5.12230446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78863999999999 meters 0.030650743837428756 Centerline is valid? [True, True] Translation: X:102.91, Y:-27.97, Z:-5.13 [[ 8.60528242e-01 5.05293511e-01 6.45725389e-02 1.02912653e+02] [-5.04005952e-01 8.62946248e-01 -3.60801008e-02 -2.79708047e+01] [-7.39536710e-02 -1.49699819e-03 9.97260554e-01 -5.12526879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84863999999999 meters 0.030875586421540882 Centerline is valid? [True, True] Translation: X:102.97, Y:-28.00, Z:-5.13 [[ 8.59151766e-01 5.07747386e-01 6.36461732e-02 1.02968876e+02] [-5.06502471e-01 8.61504376e-01 -3.55732667e-02 -2.79976314e+01] [-7.28936899e-02 -1.67410915e-03 9.97338311e-01 -5.12850702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90863999999998 meters 0.03090267389873028 Centerline is valid? [True, True] Translation: X:103.02, Y:-28.03, Z:-5.13 [[ 8.59282768e-01 5.07357995e-01 6.49691452e-02 1.03024289e+02] [-5.06058768e-01 8.61733770e-01 -3.63239983e-02 -2.80266280e+01] [-7.44153773e-02 -1.66561980e-03 9.97225941e-01 -5.13130849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96863999999998 meters 0.030625028864838557 Centerline is valid? [True, True] Translation: X:103.08, Y:-28.05, Z:-5.13 [[ 8.61355158e-01 5.03866349e-01 6.46992600e-02 1.03080888e+02] [-5.02567160e-01 8.63780578e-01 -3.61851329e-02 -2.80535923e+01] [-7.41184350e-02 -1.34747245e-03 9.97248536e-01 -5.13404247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02863999999998 meters 0.03048948089992616 Centerline is valid? [True, True] Translation: X:103.14, Y:-28.08, Z:-5.14 [[ 8.62206950e-01 5.02480804e-01 6.41265744e-02 1.03138045e+02] [-5.01199780e-01 8.64587524e-01 -3.58774833e-02 -2.80794062e+01] [-7.34707828e-02 -1.20640951e-03 9.97296640e-01 -5.13518095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08863999999998 meters 0.030276867631037624 Centerline is valid? [True, True] Translation: X:103.20, Y:-28.10, Z:-5.14 [[ 8.63006111e-01 5.01237536e-01 6.30982122e-02 1.03195128e+02] [-4.99993223e-01 8.65309066e-01 -3.53128385e-02 -2.81039416e+01] [-7.22995752e-02 -1.07348305e-03 9.97382384e-01 -5.13705739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14863999999999 meters 0.030291994169639007 Centerline is valid? [True, True] Translation: X:103.25, Y:-28.13, Z:-5.14 [[ 8.64538544e-01 4.98389040e-01 6.46643022e-02 1.03249859e+02] [-4.97073299e-01 8.66953084e-01 -3.62006350e-02 -2.81324144e+01] [-7.41029159e-02 -8.46053768e-04 9.97250240e-01 -5.14164494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20863999999999 meters 0.029965160547850485 Centerline is valid? [True, True] Translation: X:103.31, Y:-28.16, Z:-5.14 [[ 8.64809653e-01 4.98038890e-01 6.37301163e-02 1.03305457e+02] [-4.96759201e-01 8.67154330e-01 -3.56884327e-02 -2.81597598e+01] [-7.30380737e-02 -7.94820474e-04 9.97328836e-01 -5.14189444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26863999999998 meters 0.030125774886859493 Centerline is valid? [True, True] Translation: X:103.36, Y:-28.19, Z:-5.14 [[ 8.63466831e-01 5.00307193e-01 6.41696466e-02 1.03360221e+02] [-4.99015352e-01 8.65847412e-01 -3.59435250e-02 -2.81874218e+01] [-7.35439265e-02 -9.85597168e-04 9.97291492e-01 -5.14495743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32863999999998 meters 0.03017216622851811 Centerline is valid? [True, True] Translation: X:103.41, Y:-28.21, Z:-5.15 [[ 8.62641961e-01 5.01699116e-01 6.43959957e-02 1.03413810e+02] [-5.00401742e-01 8.65041488e-01 -3.60738305e-02 -2.82144889e+01] [-7.38034168e-02 -1.10506857e-03 9.97272197e-01 -5.14810653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38863999999998 meters 0.029968246592477953 Centerline is valid? [True, True] Translation: X:103.47, Y:-28.24, Z:-5.15 [[ 8.61246471e-01 5.04177559e-01 6.37142531e-02 1.03469532e+02] [-5.02914438e-01 8.63599031e-01 -3.56900817e-02 -2.82373673e+01] [-7.30177054e-02 -1.30486088e-03 9.97329791e-01 -5.14974526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44863999999998 meters 0.029978367092168317 Centerline is valid? [True, True] Translation: X:103.52, Y:-28.26, Z:-5.15 [[ 8.61476693e-01 5.03876517e-01 6.29790703e-02 1.03524679e+02] [-5.02642901e-01 8.63774749e-01 -3.52604037e-02 -2.82567717e+01] [-7.21666200e-02 -1.27996664e-03 9.97391769e-01 -5.15275619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50863999999999 meters 0.02979215138996949 Centerline is valid? [True, True] Translation: X:103.58, Y:-28.28, Z:-5.15 [[ 8.62567452e-01 5.01966064e-01 6.33045188e-02 1.03581130e+02] [-5.00717502e-01 8.64886537e-01 -3.54014295e-02 -2.82766250e+01] [-7.25215423e-02 -1.16155970e-03 9.97366170e-01 -5.15482589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56863999999999 meters 0.029635726472478707 Centerline is valid? [True, True] Translation: X:103.64, Y:-28.30, Z:-5.16 [[ 8.63863561e-01 4.99966030e-01 6.14305810e-02 1.03636241e+02] [-4.98787844e-01 8.66044444e-01 -3.43177503e-02 -2.82989665e+01] [-7.03593228e-02 -9.94973058e-04 9.97521216e-01 -5.15694729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62863999999999 meters 0.029340038056746284 Centerline is valid? [True, True] Translation: X:103.69, Y:-28.32, Z:-5.16 [[ 8.64446254e-01 4.99166783e-01 5.97092702e-02 1.03690563e+02] [-4.98054180e-01 8.66505425e-01 -3.33223796e-02 -2.83229840e+01] [-6.83718316e-02 -9.33045393e-04 9.97659472e-01 -5.16011951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68863999999998 meters 0.02930224751885341 Centerline is valid? [True, True] Translation: X:103.74, Y:-28.35, Z:-5.16 [[ 8.63829438e-01 5.00340729e-01 5.88035459e-02 1.03743644e+02] [-4.99266658e-01 8.65827970e-01 -3.27830859e-02 -2.83474487e+01] [-6.73164679e-02 -1.03965518e-03 9.97731132e-01 -5.16148240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74863999999998 meters 0.029502804780698697 Centerline is valid? [True, True] Translation: X:103.80, Y:-28.37, Z:-5.16 [[ 8.63455515e-01 5.00770245e-01 6.06113542e-02 1.03796184e+02] [-4.99632881e-01 8.65579494e-01 -3.37509123e-02 -2.83740229e+01] [-6.93653979e-02 -1.14101412e-03 9.97590667e-01 -5.16398355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80863999999998 meters 0.029393915536622777 Centerline is valid? [True, True] Translation: X:103.85, Y:-28.40, Z:-5.17 [[ 8.64234167e-01 4.99514099e-01 5.98746079e-02 1.03851061e+02] [-4.98403633e-01 8.66305111e-01 -3.33057395e-02 -2.83969242e+01] [-6.85063653e-02 -1.05776412e-03 9.97650119e-01 -5.16695404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86863999999998 meters 0.0295497486064801 Centerline is valid? [True, True] Translation: X:103.91, Y:-28.42, Z:-5.17 [[ 8.64553830e-01 4.98787775e-01 6.12978797e-02 1.03907368e+02] [-4.97624578e-01 8.66723509e-01 -3.40608201e-02 -2.84172495e+01] [-7.01174341e-02 -1.05591906e-03 9.97538185e-01 -5.16904952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92863999999999 meters 0.02936673145750794 Centerline is valid? [True, True] Translation: X:103.96, Y:-28.44, Z:-5.17 [[ 8.67434516e-01 4.93953759e-01 5.97247426e-02 1.03962079e+02] [-4.92840394e-01 8.69487910e-01 -3.31529713e-02 -2.84404106e+01] [-6.83059764e-02 -6.76734101e-04 9.97664190e-01 -5.17208685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98863999999999 meters 0.029263346168733995 Centerline is valid? [True, True] Translation: X:104.02, Y:-28.47, Z:-5.18 [[ 8.70965281e-01 4.87788186e-01 5.90098690e-02 1.04015721e+02] [-4.86689374e-01 8.72961991e-01 -3.27233023e-02 -2.84650902e+01] [-6.74754130e-02 -2.18616049e-04 9.97720913e-01 -5.17592856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04863999999998 meters 0.02966719833007379 Centerline is valid? [True, True] Translation: X:104.07, Y:-28.49, Z:-5.18 [[ 8.73883221e-01 4.82379885e-01 6.03138725e-02 1.04069111e+02] [-4.81221484e-01 8.75962109e-01 -3.34105788e-02 -2.84893072e+01] [-6.89492582e-02 1.72612984e-04 9.97620153e-01 -5.17886696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10863999999998 meters 0.029587962533102873 Centerline is valid? [True, True] Translation: X:104.12, Y:-28.52, Z:-5.18 [[ 8.75509424e-01 4.79723721e-01 5.78653609e-02 1.04121181e+02] [-4.78653912e-01 8.77419533e-01 -3.20217943e-02 -2.85160512e+01] [-6.61338123e-02 3.37901340e-04 9.97810706e-01 -5.18095610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16863999999998 meters 0.030033811696596947 Centerline is valid? [True, True] Translation: X:104.18, Y:-28.54, Z:-5.19 [[ 8.78532151e-01 4.74300778e-01 5.67453213e-02 1.04175833e+02] [-4.73262763e-01 8.80362582e-01 -3.13700682e-02 -2.85385757e+01] [-6.48353054e-02 7.04165992e-04 9.97895730e-01 -5.18518647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22863999999998 meters 0.030467806033623902 Centerline is valid? [True, True] Translation: X:104.23, Y:-28.57, Z:-5.19 [[ 8.80810643e-01 4.70266655e-01 5.49716653e-02 1.04227998e+02] [-4.69286643e-01 8.82523872e-01 -3.03588858e-02 -2.85655556e+01] [-6.27905785e-02 9.42961424e-04 9.98026279e-01 -5.18755836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28863999999999 meters 0.03184342771122438 Centerline is valid? [True, True] Translation: X:104.28, Y:-28.59, Z:-5.19 [[ 8.85287130e-01 4.61907543e-01 5.39269799e-02 1.04280814e+02] [-4.60950384e-01 8.86926836e-01 -2.97578865e-02 -2.85938095e+01] [-6.15746779e-02 1.48661182e-03 9.98101372e-01 -5.19013057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34863999999999 meters 0.03345190151887971 Centerline is valid? [True, True] Translation: X:104.33, Y:-28.63, Z:-5.19 [[ 8.89098801e-01 4.54378319e-01 5.51694197e-02 1.04330952e+02] [-4.53362281e-01 8.90806452e-01 -3.04385646e-02 -2.86258446e+01] [-6.29758989e-02 2.05115731e-03 9.98012940e-01 -5.19348385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40863999999998 meters 0.0346997085833725 Centerline is valid? [True, True] Translation: X:104.38, Y:-28.66, Z:-5.20 [[ 8.92465505e-01 4.47716932e-01 5.52708946e-02 1.04379143e+02] [-4.46684808e-01 8.94171794e-01 -3.04874582e-02 -2.86615323e+01] [-6.30714262e-02 2.52033577e-03 9.98005833e-01 -5.19582229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46863999999998 meters 0.036037870419828505 Centerline is valid? [True, True] Translation: X:104.43, Y:-28.70, Z:-5.20 [[ 8.94340011e-01 4.44029841e-01 5.47123811e-02 1.04425018e+02] [-4.43012125e-01 8.96007793e-01 -3.01710309e-02 -2.87008522e+01] [-6.24195580e-02 2.74491188e-03 9.98046224e-01 -5.19896622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52863999999998 meters 0.03568206719456632 Centerline is valid? [True, True] Translation: X:104.47, Y:-28.74, Z:-5.20 [[ 8.94691209e-01 4.43286660e-01 5.49961627e-02 1.04470669e+02] [-4.42257687e-01 8.96375531e-01 -3.03157750e-02 -2.87398417e+01] [-6.27357932e-02 2.80078166e-03 9.98026240e-01 -5.20048405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58863999999998 meters 0.03483014417455975 Centerline is valid? [True, True] Translation: X:104.51, Y:-28.78, Z:-5.20 [[ 8.93552009e-01 4.45600487e-01 5.48180073e-02 1.04514050e+02] [-4.44584287e-01 8.95228140e-01 -3.01892170e-02 -2.87838604e+01] [-6.25269525e-02 2.60441077e-03 9.98039878e-01 -5.20408651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64863999999999 meters 0.0336391800868389 Centerline is valid? [True, True] Translation: X:104.56, Y:-28.83, Z:-5.21 [[ 8.90634007e-01 4.51122830e-01 5.70899035e-02 1.04556139e+02] [-4.50033306e-01 8.92458935e-01 -3.14177077e-02 -2.88302030e+01] [-6.51236397e-02 2.28932091e-03 9.97874577e-01 -5.20870850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70863999999999 meters 0.03169913392144498 Centerline is valid? [True, True] Translation: X:104.60, Y:-28.88, Z:-5.21 [[ 8.87100534e-01 4.57881825e-01 5.82827290e-02 1.04598636e+02] [-4.56760952e-01 8.89011187e-01 -3.20709054e-02 -2.88782369e+01] [-6.64986827e-02 1.82884250e-03 9.97784837e-01 -5.21185153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76863999999998 meters 0.03149232950203382 Centerline is valid? [True, True] Translation: X:104.65, Y:-28.91, Z:-5.21 [[ 8.85387857e-01 4.61173810e-01 5.83700268e-02 1.04649143e+02] [-4.60056601e-01 8.87308404e-01 -3.21204132e-02 -2.89129576e+01] [-6.66053086e-02 1.58550766e-03 9.97778141e-01 -5.21494787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82863999999998 meters 0.030092728243827194 Centerline is valid? [True, True] Translation: X:104.70, Y:-28.96, Z:-5.22 [[ 8.80174022e-01 4.70838475e-01 6.00401619e-02 1.04695686e+02] [-4.69678315e-01 8.82218990e-01 -3.30444124e-02 -2.89557240e+01] [-6.85271518e-02 8.85271294e-04 9.97648859e-01 -5.21771769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88863999999998 meters 0.029411495135563816 Centerline is valid? [True, True] Translation: X:104.74, Y:-29.00, Z:-5.22 [[ 8.75742728e-01 4.78981571e-01 6.04262292e-02 1.04744715e+02] [-4.77825239e-01 8.77824919e-01 -3.32633892e-02 -2.89955918e+01] [-6.89762002e-02 2.56993802e-04 9.97618273e-01 -5.22347658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94863999999998 meters 0.029568855256909735 Centerline is valid? [True, True] Translation: X:104.80, Y:-29.03, Z:-5.23 [[ 8.72802430e-01 4.84088117e-01 6.22463843e-02 1.04797892e+02] [-4.82873152e-01 8.75019243e-01 -3.42760079e-02 -2.90285453e+01] [-7.10593921e-02 -1.40924767e-04 9.97472076e-01 -5.22591363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00863999999999 meters 0.029615514539427117 Centerline is valid? [True, True] Translation: X:104.85, Y:-29.06, Z:-5.23 [[ 8.70902942e-01 4.87256510e-01 6.41027304e-02 1.04851173e+02] [-4.85975636e-01 8.73258800e-01 -3.53093221e-02 -2.90599110e+01] [-7.31829705e-02 -4.01372692e-04 9.97318451e-01 -5.22908904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06863999999999 meters 0.029635509634787276 Centerline is valid? [True, True] Translation: X:104.91, Y:-29.09, Z:-5.23 [[ 8.70747318e-01 4.87658148e-01 6.31556735e-02 1.04906277e+02] [-4.86415180e-01 8.73034567e-01 -3.47982488e-02 -2.90878900e+01] [-7.21067356e-02 -4.19396460e-04 9.97396833e-01 -5.23179227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12863999999999 meters 0.029807838091544737 Centerline is valid? [True, True] Translation: X:104.96, Y:-29.12, Z:-5.24 [[ 8.74073726e-01 4.81658933e-01 6.32439158e-02 1.04961196e+02] [-4.80395958e-01 8.76358753e-01 -3.48576862e-02 -2.91160110e+01] [-7.22138752e-02 8.60661130e-05 9.97389166e-01 -5.23546429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18863999999998 meters 0.030592797828761446 Centerline is valid? [True, True] Translation: X:105.02, Y:-29.14, Z:-5.24 [[ 8.79269322e-01 4.72509820e-01 6.01658518e-02 1.05017425e+02] [-4.71344736e-01 8.81325035e-01 -3.31710992e-02 -2.91436472e+01] [-6.86993416e-02 8.07472389e-04 9.97637083e-01 -5.23807973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24863999999998 meters 0.03134621393807207 Centerline is valid? [True, True] Translation: X:105.07, Y:-29.18, Z:-5.24 [[ 8.83372907e-01 4.64806444e-01 6.00605996e-02 1.05069722e+02] [-4.63626888e-01 8.85411186e-01 -3.31231050e-02 -2.91769773e+01] [-6.85741594e-02 1.41434465e-03 9.97645019e-01 -5.24028319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30863999999998 meters 0.032488688435676545 Centerline is valid? [True, True] Translation: X:105.12, Y:-29.21, Z:-5.24 [[ 8.86344228e-01 4.59224837e-01 5.92153519e-02 1.05121449e+02] [-4.58065027e-01 8.88318184e-01 -3.26685554e-02 -2.92107034e+01] [-6.76042859e-02 1.83110375e-03 9.97710533e-01 -5.24214341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36863999999998 meters 0.03285551689948972 Centerline is valid? [True, True] Translation: X:105.17, Y:-29.25, Z:-5.25 [[ 8.87256304e-01 4.57663070e-01 5.76260833e-02 1.05172949e+02] [-4.56560552e-01 8.89123651e-01 -3.18055913e-02 -2.92457518e+01] [-6.57929581e-02 1.90991494e-03 9.97831468e-01 -5.24629206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42863999999999 meters 0.03302961724054268 Centerline is valid? [True, True] Translation: X:105.22, Y:-29.29, Z:-5.25 [[ 8.87624713e-01 4.56625752e-01 6.01273018e-02 1.05220944e+02] [-4.55421772e-01 8.89656428e-01 -3.32031491e-02 -2.92870618e+01] [-6.86540535e-02 2.08865338e-03 9.97638341e-01 -5.25079298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48863999999999 meters 0.03356055047122856 Centerline is valid? [True, True] Translation: X:105.27, Y:-29.33, Z:-5.25 [[ 8.87979202e-01 4.56049244e-01 5.92623363e-02 1.05270535e+02] [-4.54876116e-01 8.89951987e-01 -3.27594301e-02 -2.93268213e+01] [-6.76805473e-02 2.13267126e-03 9.97704764e-01 -5.25318455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54863999999998 meters 0.03318715476422614 Centerline is valid? [True, True] Translation: X:105.32, Y:-29.36, Z:-5.26 [[ 8.86382761e-01 4.59289658e-01 5.81258304e-02 1.05320756e+02] [-4.58165742e-01 8.88284568e-01 -3.21664291e-02 -2.93637422e+01] [-6.64059864e-02 1.88050404e-03 9.97790914e-01 -5.25651593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60863999999998 meters 0.03275549198649631 Centerline is valid? [True, True] Translation: X:105.37, Y:-29.40, Z:-5.26 [[ 8.84541442e-01 4.62643067e-01 5.95636595e-02 1.05371055e+02] [-4.61468482e-01 8.86543018e-01 -3.29896614e-02 -2.94020016e+01] [-6.80681846e-02 1.69397112e-03 9.97679233e-01 -5.26063107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66863999999998 meters 0.0328644760920932 Centerline is valid? [True, True] Translation: X:105.42, Y:-29.44, Z:-5.27 [[ 8.83529965e-01 4.64340034e-01 6.13443854e-02 1.05423371e+02] [-4.63096641e-01 8.85655507e-01 -3.39974002e-02 -2.94370010e+01] [-7.01163468e-02 1.62934298e-03 9.97537490e-01 -5.26509810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72863999999998 meters 0.032853873982257704 Centerline is valid? [True, True] Translation: X:105.47, Y:-29.48, Z:-5.27 [[ 8.83318788e-01 4.64759338e-01 6.12101032e-02 1.05473903e+02] [-4.63519598e-01 8.85435547e-01 -3.39628492e-02 -2.94767729e+01] [-6.99821526e-02 1.62794037e-03 9.97546915e-01 -5.26816347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78863999999999 meters 0.03284302035798495 Centerline is valid? [True, True] Translation: X:105.52, Y:-29.52, Z:-5.27 [[ 8.82205651e-01 4.66768357e-01 6.19716902e-02 1.05522448e+02] [-4.65499682e-01 8.84378304e-01 -3.44247173e-02 -2.95165189e+01] [-7.08747870e-02 1.52187804e-03 9.97484059e-01 -5.27014093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84863999999999 meters 0.03227916287872564 Centerline is valid? [True, True] Translation: X:105.57, Y:-29.56, Z:-5.27 [[ 8.79640455e-01 4.71454659e-01 6.29537474e-02 1.05570254e+02] [-4.70154695e-01 8.81889492e-01 -3.50069642e-02 -2.95575723e+01] [-7.20224446e-02 1.19554206e-03 9.97402295e-01 -5.27381710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90863999999998 meters 0.03177941458783429 Centerline is valid? [True, True] Translation: X:105.62, Y:-29.59, Z:-5.28 [[ 8.77020006e-01 4.76244928e-01 6.34561110e-02 1.05620358e+02] [-4.74933878e-01 8.79312265e-01 -3.53235298e-02 -2.95949527e+01] [-7.26203886e-02 8.41985462e-04 9.97359298e-01 -5.27767588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96863999999998 meters 0.031210364135061685 Centerline is valid? [True, True] Translation: X:105.67, Y:-29.64, Z:-5.28 [[ 8.72025532e-01 4.85408039e-01 6.28530694e-02 1.05668827e+02] [-4.84143198e-01 8.74287724e-01 -3.50191264e-02 -2.96367364e+01] [-7.19502325e-02 1.07686282e-04 9.97408218e-01 -5.27967332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02863999999998 meters 0.031247895302864884 Centerline is valid? [True, True] Translation: X:105.72, Y:-29.67, Z:-5.28 [[ 8.69252895e-01 4.90274696e-01 6.34832743e-02 1.05721063e+02] [-4.88995136e-01 8.71567925e-01 -3.53992770e-02 -2.96718782e+01] [-7.26853554e-02 -2.72088357e-04 9.97354884e-01 -5.28335799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08863999999998 meters 0.031194910072852425 Centerline is valid? [True, True] Translation: X:105.77, Y:-29.71, Z:-5.29 [[ 8.65765952e-01 4.96273555e-01 6.45125912e-02 1.05772410e+02] [-4.94965530e-01 8.68165880e-01 -3.60156717e-02 -2.97064684e+01] [-7.38812559e-02 -7.50366594e-04 9.97266763e-01 -5.28587099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14863999999999 meters 0.03137381275482258 Centerline is valid? [True, True] Translation: X:105.82, Y:-29.74, Z:-5.29 [[ 8.63015620e-01 5.00696202e-01 6.71368230e-02 1.05824385e+02] [-4.99290533e-01 8.65622315e-01 -3.75096096e-02 -2.97406699e+01] [-7.68960512e-02 -1.14940119e-03 9.97038453e-01 -5.28983513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20863999999999 meters 0.03155209430845555 Centerline is valid? [True, True] Translation: X:105.88, Y:-29.77, Z:-5.29 [[ 8.60676943e-01 5.04737154e-01 6.68999621e-02 1.05877069e+02] [-5.03351811e-01 8.63271799e-01 -3.73999290e-02 -2.97738824e+01] [-7.66299844e-02 -1.48496048e-03 9.97058494e-01 -5.29287379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26863999999998 meters 0.03186692565268832 Centerline is valid? [True, True] Translation: X:105.93, Y:-29.80, Z:-5.30 [[ 8.58943581e-01 5.07530177e-01 6.80370707e-02 1.05930962e+02] [-5.06102725e-01 8.61632251e-01 -3.80775084e-02 -2.98047842e+01] [-7.79484190e-02 -1.72731541e-03 9.96955897e-01 -5.29587863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32863999999998 meters 0.03235326807837065 Centerline is valid? [True, True] Translation: X:105.99, Y:-29.83, Z:-5.30 [[ 8.57145147e-01 5.10483105e-01 6.86235851e-02 1.05985286e+02] [-5.09037000e-01 8.59885512e-01 -3.84478868e-02 -2.98341520e+01] [-7.86354232e-02 -1.97652423e-03 9.96901481e-01 -5.30046917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38863999999998 meters 0.032593978901199916 Centerline is valid? [True, True] Translation: X:106.04, Y:-29.86, Z:-5.30 [[ 8.56459493e-01 5.11794503e-01 6.74056662e-02 1.06042283e+02] [-5.10400077e-01 8.59105521e-01 -3.78082772e-02 -2.98615935e+01] [-7.72586484e-02 -2.02259930e-03 9.97009032e-01 -5.30381270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44863999999998 meters 0.03273596839631483 Centerline is valid? [True, True] Translation: X:106.10, Y:-29.89, Z:-5.31 [[ 8.56459678e-01 5.11706166e-01 6.80706967e-02 1.06099835e+02] [-5.10280056e-01 8.59158207e-01 -3.82287797e-02 -2.98875863e+01] [-7.80454000e-02 -1.99371061e-03 9.96947812e-01 -5.30710038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50863999999999 meters 0.0324315310966987 Centerline is valid? [True, True] Translation: X:106.16, Y:-29.91, Z:-5.31 [[ 8.60483337e-01 5.04982860e-01 6.75332300e-02 1.06156405e+02] [-5.03556038e-01 8.63128324e-01 -3.79580461e-02 -2.99116783e+01] [-7.74580063e-02 -1.34449951e-03 9.96994709e-01 -5.30919440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56863999999999 meters 0.03222544703186105 Centerline is valid? [True, True] Translation: X:106.21, Y:-29.94, Z:-5.31 [[ 8.63778460e-01 4.99436709e-01 6.67064220e-02 1.06212183e+02] [-4.98027382e-01 8.66349981e-01 -3.75025052e-02 -2.99401690e+01] [-7.65212351e-02 -8.27768560e-04 9.97067608e-01 -5.31357962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62863999999999 meters 0.032013247334399864 Centerline is valid? [True, True] Translation: X:106.27, Y:-29.97, Z:-5.32 [[ 8.65745149e-01 4.95944498e-01 6.72636034e-02 1.06266251e+02] [-4.94499007e-01 8.68354077e-01 -3.78408315e-02 -2.99705299e+01] [-7.71755765e-02 -5.01268776e-04 9.97017392e-01 -5.31655625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68863999999998 meters 0.03173750112049009 Centerline is valid? [True, True] Translation: X:106.32, Y:-30.00, Z:-5.32 [[ 8.64633059e-01 4.98003498e-01 6.63490038e-02 1.06321883e+02] [-4.96599884e-01 8.67174786e-01 -3.73690583e-02 -3.00005416e+01] [-7.61461049e-02 -6.38384419e-04 9.97096466e-01 -5.31880367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74863999999998 meters 0.031520197158019805 Centerline is valid? [True, True] Translation: X:106.37, Y:-30.03, Z:-5.32 [[ 8.62363867e-01 5.01861997e-01 6.68064148e-02 1.06374935e+02] [-5.00447004e-01 8.64947189e-01 -3.76716804e-02 -3.00328098e+01] [-7.66900055e-02 -9.46374152e-04 9.97054536e-01 -5.32199282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80863999999998 meters 0.03139996507418344 Centerline is valid? [True, True] Translation: X:106.43, Y:-30.06, Z:-5.32 [[ 8.60920013e-01 5.04500616e-01 6.55428143e-02 1.06430388e+02] [-5.03143189e-01 8.63410603e-01 -3.70008549e-02 -3.00635964e+01] [-7.52573149e-02 -1.12264407e-03 9.97163515e-01 -5.32490844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86863999999998 meters 0.03149319923221179 Centerline is valid? [True, True] Translation: X:106.48, Y:-30.10, Z:-5.33 [[ 8.58828999e-01 5.07699424e-01 6.82205569e-02 1.06483731e+02] [-5.06235945e-01 8.61533081e-01 -3.85476087e-02 -3.00952737e+01] [-7.83448654e-02 -1.42989391e-03 9.96925292e-01 -5.32700242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92863999999999 meters 0.031711334710004854 Centerline is valid? [True, True] Translation: X:106.54, Y:-30.12, Z:-5.33 [[ 8.55306698e-01 5.13631617e-01 6.80662498e-02 1.06541939e+02] [-5.12191592e-01 8.58008607e-01 -3.84838168e-02 -3.01184551e+01] [-7.81679332e-02 -1.94749462e-03 9.96938304e-01 -5.33017726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98863999999999 meters 0.03223752227360689 Centerline is valid? [True, True] Translation: X:106.60, Y:-30.14, Z:-5.33 [[ 8.52242864e-01 5.18544361e-01 6.92376098e-02 1.06598592e+02] [-5.17067956e-01 8.55047323e-01 -3.91765731e-02 -3.01445470e+01] [-7.95162240e-02 -2.41259452e-03 9.96830652e-01 -5.33366159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04863999999998 meters 0.032638801454199555 Centerline is valid? [True, True] Translation: X:106.66, Y:-30.16, Z:-5.34 [[ 8.49188001e-01 5.23647874e-01 6.83567421e-02 1.06659615e+02] [-5.22224349e-01 8.51930058e-01 -3.86898535e-02 -3.01623054e+01] [-7.84950228e-02 -2.84259579e-03 9.96910453e-01 -5.33582439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10863999999998 meters 0.03242584988647266 Centerline is valid? [True, True] Translation: X:106.72, Y:-30.18, Z:-5.34 [[ 8.50727771e-01 5.21566375e-01 6.50444192e-02 1.06719978e+02] [-5.20270893e-01 8.53207008e-01 -3.68238909e-02 -3.01801723e+01] [-7.47024576e-02 -2.51361149e-03 9.97202700e-01 -5.33905632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16863999999998 meters 0.0317551356479248 Centerline is valid? [True, True] Translation: X:106.78, Y:-30.20, Z:-5.34 [[ 8.54460330e-01 5.15409784e-01 6.51943151e-02 1.06781819e+02] [-5.14089939e-01 8.56941572e-01 -3.69144426e-02 -3.01952990e+01] [-7.48937838e-02 -1.97381462e-03 9.97189563e-01 -5.34305869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22863999999998 meters 0.031213807641761793 Centerline is valid? [True, True] Translation: X:106.84, Y:-30.21, Z:-5.35 [[ 8.59983901e-01 5.06206590e-01 6.46728604e-02 1.06841349e+02] [-5.04881240e-01 8.62411476e-01 -3.66248599e-02 -3.02148395e+01] [-7.43143625e-02 -1.15532407e-03 9.97234196e-01 -5.34630796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28863999999999 meters 0.030868406392194177 Centerline is valid? [True, True] Translation: X:106.90, Y:-30.23, Z:-5.35 [[ 8.64670415e-01 4.98525187e-01 6.17876278e-02 1.06900593e+02] [-4.97295528e-01 8.66875089e-01 -3.49962508e-02 -3.02348526e+01] [-7.10086678e-02 -4.66488299e-04 9.97475589e-01 -5.34964133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34863999999999 meters 0.030740645712587764 Centerline is valid? [True, True] Translation: X:106.96, Y:-30.26, Z:-5.35 [[ 8.65379632e-01 4.97439644e-01 6.05961422e-02 1.06957912e+02] [-4.96253287e-01 8.67498515e-01 -3.43366031e-02 -3.02605078e+01] [-6.96474510e-02 -3.56837783e-04 9.97571604e-01 -5.35184602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40863999999998 meters 0.0307932294321814 Centerline is valid? [True, True] Translation: X:107.02, Y:-30.28, Z:-5.35 [[ 8.65294471e-01 4.97482710e-01 6.14526738e-02 1.07016876e+02] [-4.96259850e-01 8.67473829e-01 -3.48614112e-02 -3.02842129e+01] [-7.06515356e-02 -3.31108304e-04 9.97501003e-01 -5.35373656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46863999999998 meters 0.03066654126345335 Centerline is valid? [True, True] Translation: X:107.07, Y:-30.31, Z:-5.36 [[ 8.66478423e-01 4.95500339e-01 6.07828584e-02 1.07074699e+02] [-4.94296334e-01 8.68607734e-01 -3.45215661e-02 -3.03079879e+01] [-6.99019086e-02 -1.32551949e-04 9.97553861e-01 -5.35770207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52863999999998 meters 0.03047580483475578 Centerline is valid? [True, True] Translation: X:107.13, Y:-30.33, Z:-5.36 [[ 8.67664612e-01 4.93496642e-01 6.01596613e-02 1.07132122e+02] [-4.92310450e-01 8.69747700e-01 -3.41959067e-02 -3.03326036e+01] [-6.91992921e-02 5.33482168e-05 9.97602854e-01 -5.36046570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58863999999998 meters 0.030346203166682587 Centerline is valid? [True, True] Translation: X:107.19, Y:-30.36, Z:-5.36 [[ 8.68689363e-01 4.91839109e-01 5.89328522e-02 1.07188410e+02] [-4.90696357e-01 8.70686083e-01 -3.35086609e-02 -3.03586104e+01] [-6.77928842e-02 1.90481422e-04 9.97699398e-01 -5.36255278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64863999999999 meters 0.030535323972949776 Centerline is valid? [True, True] Translation: X:107.24, Y:-30.39, Z:-5.37 [[ 8.69932426e-01 4.89591847e-01 5.93076504e-02 1.07243042e+02] [-4.88428577e-01 8.71951651e-01 -3.37319516e-02 -3.03883370e+01] [-6.82282922e-02 3.76967238e-04 9.97669664e-01 -5.36670156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70863999999999 meters 0.030544152191152037 Centerline is valid? [True, True] Translation: X:107.30, Y:-30.42, Z:-5.37 [[ 8.71060505e-01 4.87636653e-01 5.88565256e-02 1.07298202e+02] [-4.86485793e-01 8.73046509e-01 -3.34868022e-02 -3.04183836e+01] [-6.77138763e-02 5.36167327e-04 9.97704637e-01 -5.36873499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76863999999998 meters 0.03076947491416494 Centerline is valid? [True, True] Translation: X:107.35, Y:-30.45, Z:-5.37 [[ 8.70840664e-01 4.87925018e-01 5.97136106e-02 1.07349685e+02] [-4.86740077e-01 8.72885383e-01 -3.39883011e-02 -3.04524959e+01] [-6.87068803e-02 5.33387209e-04 9.97636748e-01 -5.37400858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82863999999998 meters 0.030699769307333123 Centerline is valid? [True, True] Translation: X:107.40, Y:-30.49, Z:-5.38 [[ 8.70925768e-01 4.88057155e-01 5.73456217e-02 1.07402310e+02] [-4.86964048e-01 8.72811522e-01 -3.26506261e-02 -3.04866574e+01] [-6.59872910e-02 5.11015503e-04 9.97820333e-01 -5.37688599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88863999999998 meters 0.030517074328525223 Centerline is valid? [True, True] Translation: X:107.46, Y:-30.52, Z:-5.38 [[ 8.68642350e-01 4.92242164e-01 5.61971512e-02 1.07455015e+02] [-4.91200452e-01 8.70458277e-01 -3.20078662e-02 -3.05204098e+01] [-6.46728967e-02 1.99322066e-04 9.97906497e-01 -5.37888807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94863999999998 meters 0.03049153750903901 Centerline is valid? [True, True] Translation: X:107.51, Y:-30.55, Z:-5.38 [[ 8.66069238e-01 4.96608256e-01 5.74831682e-02 1.07507176e+02] [-4.95527182e-01 8.67974784e-01 -3.27503706e-02 -3.05539484e+01] [-6.61580449e-02 -1.20383833e-04 9.97809149e-01 -5.38341669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00863999999999 meters 0.030534449973929186 Centerline is valid? [True, True] Translation: X:107.56, Y:-30.59, Z:-5.39 [[ 8.61930453e-01 5.03736498e-01 5.76665880e-02 1.07560651e+02] [-5.02663696e-01 8.63857110e-01 -3.28649109e-02 -3.05862435e+01] [-6.63709471e-02 -6.59632710e-04 9.97794800e-01 -5.38646378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06863999999999 meters 0.0309611260710573 Centerline is valid? [True, True] Translation: X:107.62, Y:-30.61, Z:-5.39 [[ 8.58153467e-01 5.09877409e-01 5.99804481e-02 1.07615707e+02] [-5.08730865e-01 8.60246278e-01 -3.41942771e-02 -3.06146392e+01] [-6.90328467e-02 -1.16996776e-03 9.97613701e-01 -5.38987385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12863999999998 meters 0.031076846560327526 Centerline is valid? [True, True] Translation: X:107.67, Y:-30.64, Z:-5.39 [[ 8.56883232e-01 5.12021016e-01 5.98799267e-02 1.07670567e+02] [-5.10882817e-01 8.58971889e-01 -3.41473398e-02 -3.06439673e+01] [-6.89193294e-02 -1.33134279e-03 9.97621348e-01 -5.39228341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18863999999998 meters 0.031182710782886185 Centerline is valid? [True, True] Translation: X:107.73, Y:-30.67, Z:-5.40 [[ 8.57142514e-01 5.11545385e-01 6.02331315e-02 1.07727574e+02] [-5.10391685e-01 8.59255291e-01 -3.43609235e-02 -3.06715380e+01] [-6.93328088e-02 -1.29028117e-03 9.97592751e-01 -5.39530001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24863999999998 meters 0.031074520483749167 Centerline is valid? [True, True] Translation: X:107.78, Y:-30.70, Z:-5.40 [[ 8.56953588e-01 5.11941421e-01 5.95527496e-02 1.07784496e+02] [-5.10813659e-01 8.59019385e-01 -3.39867969e-02 -3.06982202e+01] [-6.85562154e-02 -1.29525037e-03 9.97646414e-01 -5.39658633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30863999999998 meters 0.031211245590794724 Centerline is valid? [True, True] Translation: X:107.84, Y:-30.73, Z:-5.40 [[ 8.56506749e-01 5.12719565e-01 5.92860532e-02 1.07841083e+02] [-5.11602936e-01 8.58555094e-01 -3.38465145e-02 -3.07256701e+01] [-6.82541131e-02 -1.34115082e-03 9.97667067e-01 -5.39978145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36863999999998 meters 0.031149652471120164 Centerline is valid? [True, True] Translation: X:107.90, Y:-30.75, Z:-5.40 [[ 8.55992866e-01 5.13490183e-01 6.00336946e-02 1.07897008e+02] [-5.12346137e-01 8.58094311e-01 -3.42868670e-02 -3.07521210e+01] [-6.91205414e-02 -1.40871790e-03 9.97607321e-01 -5.40140292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42863999999999 meters 0.031355187556693635 Centerline is valid? [True, True] Translation: X:107.95, Y:-30.78, Z:-5.40 [[ 8.54254212e-01 5.16431069e-01 5.95708960e-02 1.07953785e+02] [-5.15311147e-01 8.56327219e-01 -3.40311060e-02 -3.07784971e+01] [-6.85869001e-02 -1.62633103e-03 9.97643820e-01 -5.40273231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48863999999999 meters 0.03162898138218753 Centerline is valid? [True, True] Translation: X:108.01, Y:-30.81, Z:-5.41 [[ 8.51850622e-01 5.20256537e-01 6.06931117e-02 1.08009270e+02] [-5.19102896e-01 8.54007780e-01 -3.46827810e-02 -3.08067123e+01] [-6.98763331e-02 -1.96142150e-03 9.97553733e-01 -5.40608526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54863999999998 meters 0.032098555640834484 Centerline is valid? [True, True] Translation: X:108.06, Y:-30.84, Z:-5.41 [[ 8.49263551e-01 5.24427576e-01 6.10502973e-02 1.08064039e+02] [-5.23270333e-01 8.51451927e-01 -3.48966235e-02 -3.08350664e+01] [-7.02821450e-02 -2.30937899e-03 9.97524479e-01 -5.40949781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60863999999998 meters 0.03211595627914892 Centerline is valid? [True, True] Translation: X:108.12, Y:-30.86, Z:-5.41 [[ 8.48406723e-01 5.25700595e-01 6.20073899e-02 1.08118245e+02] [-5.24509610e-01 8.50666150e-01 -3.54509613e-02 -3.08638135e+01] [-7.13841790e-02 -2.44663799e-03 9.97445895e-01 -5.41248875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66863999999998 meters 0.03208092715898058 Centerline is valid? [True, True] Translation: X:108.17, Y:-30.89, Z:-5.42 [[ 8.49191679e-01 5.24534386e-01 6.11323933e-02 1.08172510e+02] [-5.23373307e-01 8.51386132e-01 -3.49576411e-02 -3.08944089e+01] [-7.03837566e-02 -2.30932492e-03 9.97517315e-01 -5.41588344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72863999999998 meters 0.03174468477312671 Centerline is valid? [True, True] Translation: X:108.23, Y:-30.93, Z:-5.42 [[ 8.51334777e-01 5.21152173e-01 6.02454106e-02 1.08225447e+02] [-5.20015444e-01 8.53461450e-01 -3.44600069e-02 -3.09263990e+01] [-6.93760430e-02 -1.99154162e-03 9.97588592e-01 -5.41886068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78863999999999 meters 0.03194792936799223 Centerline is valid? [True, True] Translation: X:108.28, Y:-30.96, Z:-5.42 [[ 8.50685857e-01 5.22354227e-01 5.89884290e-02 1.08279715e+02] [-5.21266794e-01 8.52726161e-01 -3.37494337e-02 -3.09572563e+01] [-6.79301360e-02 -2.03854334e-03 9.97687998e-01 -5.42021484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84863999999999 meters 0.03195546127088231 Centerline is valid? [True, True] Translation: X:108.33, Y:-30.99, Z:-5.42 [[ 8.49600013e-01 5.24263453e-01 5.76857897e-02 1.08334406e+02] [-5.23227380e-01 8.51553447e-01 -3.30126632e-02 -3.09857619e+01] [-6.64298659e-02 -2.13522559e-03 9.97788812e-01 -5.42306419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90863999999998 meters 0.03208861447009353 Centerline is valid? [True, True] Translation: X:108.39, Y:-31.01, Z:-5.42 [[ 8.49035464e-01 5.25022662e-01 5.90761020e-02 1.08387366e+02] [-5.23937684e-01 8.51085283e-01 -3.38104021e-02 -3.10139725e+01] [-6.80300283e-02 -2.24596565e-03 9.97680746e-01 -5.42491290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96863999999998 meters 0.03182921037720607 Centerline is valid? [True, True] Translation: X:108.44, Y:-31.04, Z:-5.43 [[ 8.51649181e-01 5.20771208e-01 5.90848625e-02 1.08441407e+02] [-5.19676597e-01 8.53694132e-01 -3.38018212e-02 -3.10384139e+01] [-6.80434157e-02 -1.91772687e-03 9.97680518e-01 -5.42854715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02863999999998 meters 0.03142495089977537 Centerline is valid? [True, True] Translation: X:108.49, Y:-31.07, Z:-5.43 [[ 8.55764485e-01 5.13873909e-01 6.00062629e-02 1.08493894e+02] [-5.12729723e-01 8.57864564e-01 -3.43019178e-02 -3.10652280e+01] [-6.91041071e-02 -1.41263156e-03 9.97608454e-01 -5.43229698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08863999999998 meters 0.031105228915830035 Centerline is valid? [True, True] Translation: X:108.55, Y:-31.09, Z:-5.43 [[ 8.60230623e-01 5.06481643e-01 5.89883139e-02 1.08547304e+02] [-5.05359233e-01 8.62250361e-01 -3.37099279e-02 -3.10904298e+01] [-6.79361547e-02 -8.11976808e-04 9.97689340e-01 -5.43445689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14863999999999 meters 0.031062588502156603 Centerline is valid? [True, True] Translation: X:108.60, Y:-31.12, Z:-5.44 [[ 8.62211057e-01 5.03442299e-01 5.60173620e-02 1.08601048e+02] [-5.02424755e-01 8.64028670e-01 -3.19972334e-02 -3.11156825e+01] [-6.45093675e-02 -5.56140974e-04 9.97916947e-01 -5.43735324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20863999999999 meters 0.030893304775146613 Centerline is valid? [True, True] Translation: X:108.65, Y:-31.14, Z:-5.44 [[ 8.63903473e-01 5.00419626e-01 5.70174396e-02 1.08652232e+02] [-4.99361051e-01 8.65782920e-01 -3.25342358e-02 -3.11429373e+01] [-6.56454954e-02 -3.65849266e-04 9.97842941e-01 -5.44009527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26863999999998 meters 0.030987365723326325 Centerline is valid? [True, True] Translation: X:108.70, Y:-31.17, Z:-5.44 [[ 8.67650859e-01 4.93977474e-01 5.62871356e-02 1.08704326e+02] [-4.92934683e-01 8.69474696e-01 -3.20803805e-02 -3.11706584e+01] [-6.47872255e-02 8.86883284e-05 9.97899097e-01 -5.44150015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32863999999998 meters 0.03132333521347586 Centerline is valid? [True, True] Translation: X:108.75, Y:-31.20, Z:-5.44 [[ 8.71223866e-01 4.87807579e-01 5.48884353e-02 1.08753441e+02] [-4.86805860e-01 8.72951035e-01 -3.12497098e-02 -3.12005074e+01] [-6.31587617e-02 5.05481050e-04 9.98003364e-01 -5.44384079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38863999999998 meters 0.031757151035509426 Centerline is valid? [True, True] Translation: X:108.80, Y:-31.23, Z:-5.45 [[ 8.72919705e-01 4.84684620e-01 5.56058353e-02 1.08802486e+02] [-4.83652533e-01 8.74688697e-01 -3.16213683e-02 -3.12334518e+01] [-6.39641865e-02 7.09012363e-04 9.97951943e-01 -5.44805279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44863999999998 meters 0.03174486851459613 Centerline is valid? [True, True] Translation: X:108.85, Y:-31.27, Z:-5.45 [[ 8.73333687e-01 4.84164421e-01 5.36011623e-02 1.08851060e+02] [-4.83205953e-01 8.74976756e-01 -3.04578945e-02 -3.12711806e+01] [-6.16464000e-02 6.99504582e-04 9.98097807e-01 -5.45020695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50863999999999 meters 0.031402942387890063 Centerline is valid? [True, True] Translation: X:108.90, Y:-31.31, Z:-5.45 [[ 8.72243478e-01 4.86181443e-01 5.30935081e-02 1.08899025e+02] [-4.85244789e-01 8.73857712e-01 -3.01694291e-02 -3.13090078e+01] [-6.10639881e-02 5.51739666e-04 9.98133701e-01 -5.45378760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56863999999999 meters 0.03107312580896848 Centerline is valid? [True, True] Translation: X:108.95, Y:-31.34, Z:-5.46 [[ 8.69659073e-01 4.90724874e-01 5.36860678e-02 1.08949706e+02] [-4.89775735e-01 8.71314548e-01 -3.05071790e-02 -3.13441143e+01] [-6.17480835e-02 2.36711704e-04 9.98091738e-01 -5.45647458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62863999999998 meters 0.03102353386722181 Centerline is valid? [True, True] Translation: X:109.00, Y:-31.38, Z:-5.46 [[ 8.67184195e-01 4.94861435e-01 5.57111449e-02 1.08999630e+02] [-4.93847375e-01 8.68971897e-01 -3.16640613e-02 -3.13812632e+01] [-6.40807421e-02 -5.42291756e-05 9.97944716e-01 -5.45993546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68863999999998 meters 0.031206151693092994 Centerline is valid? [True, True] Translation: X:109.05, Y:-31.41, Z:-5.46 [[ 8.69754390e-01 4.90390826e-01 5.51737062e-02 1.09052051e+02] [-4.89386644e-01 8.71502587e-01 -3.13680487e-02 -3.14143164e+01] [-6.34666310e-02 2.81223159e-04 9.97983922e-01 -5.46222246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74863999999998 meters 0.031578961824940646 Centerline is valid? [True, True] Translation: X:109.10, Y:-31.45, Z:-5.47 [[ 8.71577184e-01 4.87059891e-01 5.59095233e-02 1.09104813e+02] [-4.86021230e-01 8.73368406e-01 -3.17960989e-02 -3.14480091e+01] [-6.43162157e-02 5.39539050e-04 9.97929423e-01 -5.46577587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80863999999998 meters 0.03179013001352384 Centerline is valid? [True, True] Translation: X:109.16, Y:-31.48, Z:-5.47 [[ 8.73684513e-01 4.83390594e-01 5.48534954e-02 1.09156090e+02] [-4.82383015e-01 8.75404415e-01 -3.12047698e-02 -3.14840346e+01] [-6.31030843e-02 8.02729611e-04 9.98006692e-01 -5.46681974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86863999999998 meters 0.031914560109365435 Centerline is valid? [True, True] Translation: X:109.21, Y:-31.52, Z:-5.47 [[ 8.74893904e-01 4.81135713e-01 5.53993101e-02 1.09206565e+02] [-4.80102836e-01 8.76645572e-01 -3.15247144e-02 -3.15214483e+01] [-6.37332258e-02 9.83414538e-04 9.97966487e-01 -5.46988342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92863999999999 meters 0.03242333257768157 Centerline is valid? [True, True] Translation: X:109.26, Y:-31.56, Z:-5.47 [[ 8.76727814e-01 4.77931085e-01 5.41314934e-02 1.09256059e+02] [-4.76938321e-01 8.78396520e-01 -3.08121962e-02 -3.15595350e+01] [-6.22750218e-02 1.19652583e-03 9.98058310e-01 -5.47348844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98863999999999 meters 0.03245906678738351 Centerline is valid? [True, True] Translation: X:109.31, Y:-31.60, Z:-5.48 [[ 8.76858072e-01 4.77269542e-01 5.77382573e-02 1.09306186e+02] [-4.76137360e-01 8.78755930e-01 -3.28820579e-02 -3.15968205e+01] [-6.64314407e-02 1.34155646e-03 9.97790090e-01 -5.47829698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04863999999998 meters 0.0326741196093673 Centerline is valid? [True, True] Translation: X:109.36, Y:-31.63, Z:-5.48 [[ 8.77936938e-01 4.75505650e-01 5.58668980e-02 1.09357872e+02] [-4.74440053e-01 8.79711462e-01 -3.18493345e-02 -3.16341558e+01] [-6.42912890e-02 1.45621315e-03 9.97930113e-01 -5.48003572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10863999999998 meters 0.03232603547345667 Centerline is valid? [True, True] Translation: X:109.41, Y:-31.68, Z:-5.48 [[ 8.76169759e-01 4.78692218e-01 5.63942794e-02 1.09405977e+02] [-4.77610548e-01 8.77981865e-01 -3.21870838e-02 -3.16752853e+01] [-6.49208611e-02 1.26684675e-03 9.97889612e-01 -5.48221182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16863999999998 meters 0.0318216227801876 Centerline is valid? [True, True] Translation: X:109.46, Y:-31.71, Z:-5.48 [[ 8.75570015e-01 4.79913972e-01 5.53148151e-02 1.09456366e+02] [-4.78873754e-01 8.77314757e-01 -3.16029206e-02 -3.17119082e+01] [-6.36951867e-02 1.18175646e-03 9.97968700e-01 -5.48414707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22863999999998 meters 0.03145240477728777 Centerline is valid? [True, True] Translation: X:109.51, Y:-31.75, Z:-5.49 [[ 8.74664586e-01 4.81518514e-01 5.56936494e-02 1.09507907e+02] [-4.80465040e-01 8.76435226e-01 -3.18534122e-02 -3.17483172e+01] [-6.41498839e-02 1.10220014e-03 9.97939666e-01 -5.48770717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28863999999999 meters 0.030906058990846568 Centerline is valid? [True, True] Translation: X:109.56, Y:-31.79, Z:-5.49 [[ 8.72905723e-01 4.84626131e-01 5.63303745e-02 1.09557369e+02] [-4.83552437e-01 8.74720911e-01 -3.22547297e-02 -3.17868437e+01] [-6.49048414e-02 9.16648311e-04 9.97891037e-01 -5.49021274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34863999999999 meters 0.030557880606595256 Centerline is valid? [True, True] Translation: X:109.61, Y:-31.83, Z:-5.49 [[ 8.71295833e-01 4.87534381e-01 5.61586894e-02 1.09607046e+02] [-4.86471096e-01 8.73103487e-01 -3.21896702e-02 -3.18257353e+01] [-6.47259185e-02 7.27146354e-04 9.97902814e-01 -5.49294862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40863999999998 meters 0.0300539832558018 Centerline is valid? [True, True] Translation: X:109.66, Y:-31.86, Z:-5.49 [[ 8.69678480e-01 4.90485985e-01 5.55233190e-02 1.09659660e+02] [-4.89450525e-01 8.71448918e-01 -3.18585503e-02 -3.18596483e+01] [-6.40119087e-02 5.30777999e-04 9.97948994e-01 -5.49434876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46863999999998 meters 0.029792770550290695 Centerline is valid? [True, True] Translation: X:109.71, Y:-31.90, Z:-5.50 [[ 8.67615125e-01 4.93912182e-01 5.73999153e-02 1.09711711e+02] [-4.92810479e-01 8.69511733e-01 -3.29723825e-02 -3.18952857e+01] [-6.61953612e-02 3.20057998e-04 9.97806630e-01 -5.49776073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52863999999998 meters 0.02973013624584124 Centerline is valid? [True, True] Translation: X:109.77, Y:-31.93, Z:-5.50 [[ 8.67166841e-01 4.94658121e-01 5.77495710e-02 1.09765890e+02] [-4.93541882e-01 8.69087598e-01 -3.32138038e-02 -3.19276616e+01] [-6.66189137e-02 3.00077411e-04 9.97778447e-01 -5.50094914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58863999999998 meters 0.029604935920942783 Centerline is valid? [True, True] Translation: X:109.82, Y:-31.96, Z:-5.50 [[ 8.65773808e-01 4.97182366e-01 5.69684782e-02 1.09818046e+02] [-4.96099485e-01 8.67646055e-01 -3.27966967e-02 -3.19627056e+01] [-6.57344146e-02 1.32488314e-04 9.97837146e-01 -5.50238130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64863999999999 meters 0.029407402321558505 Centerline is valid? [True, True] Translation: X:109.87, Y:-32.00, Z:-5.50 [[ 8.64639846e-01 4.99268985e-01 5.59322574e-02 1.09870482e+02] [-4.98228379e-01 8.66447044e-01 -3.22180337e-02 -3.19969589e+01] [-6.45478041e-02 -1.00422284e-05 9.97914616e-01 -5.50487770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70863999999999 meters 0.029145583207614973 Centerline is valid? [True, True] Translation: X:109.92, Y:-32.03, Z:-5.51 [[ 8.63190569e-01 5.01966801e-01 5.41421504e-02 1.09920964e+02] [-5.00995048e-01 8.64886871e-01 -3.12195759e-02 -3.20331083e+01] [-6.24980256e-02 -1.76505738e-04 9.98045072e-01 -5.50913988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76863999999998 meters 0.029088873910322683 Centerline is valid? [True, True] Translation: X:109.97, Y:-32.07, Z:-5.51 [[ 8.59929317e-01 5.07461386e-01 5.48134264e-02 1.09974181e+02] [-5.06474291e-01 8.61674321e-01 -3.16410621e-02 -3.20660957e+01] [-6.32879393e-02 -5.52514343e-04 9.97995156e-01 -5.51057158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82863999999998 meters 0.029132941749176043 Centerline is valid? [True, True] Translation: X:110.03, Y:-32.10, Z:-5.51 [[ 8.56903849e-01 5.12577082e-01 5.45942167e-02 1.10028894e+02] [-5.11606068e-01 8.58640746e-01 -3.15483714e-02 -3.20962186e+01] [-6.30477912e-02 -8.96811653e-04 9.98010106e-01 -5.51255065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88863999999998 meters 0.029431822055751327 Centerline is valid? [True, True] Translation: X:110.08, Y:-32.12, Z:-5.51 [[ 8.53393533e-01 5.17959554e-01 5.86291691e-02 1.10084666e+02] [-5.16849630e-01 8.55404032e-01 -3.39175720e-02 -3.21230852e+01] [-6.77195582e-02 -1.35742776e-03 9.97703472e-01 -5.51483784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94863999999998 meters 0.02934547943842543 Centerline is valid? [True, True] Translation: X:110.14, Y:-32.15, Z:-5.52 [[ 8.53910756e-01 5.16825317e-01 6.10574428e-02 1.10140970e+02] [-5.15615891e-01 8.56089909e-01 -3.53598705e-02 -3.21493474e+01] [-7.05455369e-02 -1.28801398e-03 9.97507728e-01 -5.51889138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00863999999999 meters 0.029043778390561516 Centerline is valid? [True, True] Translation: X:110.20, Y:-32.18, Z:-5.52 [[ 8.57019675e-01 5.12078663e-01 5.73822156e-02 1.10197024e+02] [-5.10998185e-01 8.58938165e-01 -3.32578453e-02 -3.21755427e+01] [-6.63184079e-02 -8.19580207e-04 9.97798175e-01 -5.52188732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06863999999999 meters 0.028888756953341404 Centerline is valid? [True, True] Translation: X:110.25, Y:-32.20, Z:-5.52 [[ 8.57235786e-01 5.11606771e-01 5.83551047e-02 1.10253815e+02] [-5.10486999e-01 8.59219356e-01 -3.38396480e-02 -3.22040360e+01] [-6.74524285e-02 -7.80964991e-04 9.97722186e-01 -5.52440982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12863999999998 meters 0.02916319609896399 Centerline is valid? [True, True] Translation: X:110.31, Y:-32.23, Z:-5.53 [[ 8.55575011e-01 5.14218437e-01 5.97561721e-02 1.10308480e+02] [-5.13047634e-01 8.57658703e-01 -3.46940192e-02 -3.22332893e+01] [-6.90907053e-02 -9.74426862e-04 9.97609906e-01 -5.52911183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18863999999998 meters 0.029161599744870932 Centerline is valid? [True, True] Translation: X:110.36, Y:-32.26, Z:-5.53 [[ 8.54698052e-01 5.15562882e-01 6.07137116e-02 1.10363543e+02] [-5.14354914e-01 8.56851081e-01 -3.52880602e-02 -3.22629415e+01] [-7.02158234e-02 -1.06775963e-03 9.97531252e-01 -5.53123805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24863999999998 meters 0.02915986528345725 Centerline is valid? [True, True] Translation: X:110.42, Y:-32.29, Z:-5.54 [[ 8.53963420e-01 5.16565815e-01 6.24998901e-02 1.10418805e+02] [-5.15285443e-01 8.56246714e-01 -3.63658716e-02 -3.22918566e+01] [-7.23006917e-02 -1.15015954e-03 9.97382217e-01 -5.53574828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30863999999998 meters 0.029173048688471197 Centerline is valid? [True, True] Translation: X:110.47, Y:-32.32, Z:-5.54 [[ 8.54324101e-01 5.16024783e-01 6.20383187e-02 1.10473809e+02] [-5.14759083e-01 8.56572993e-01 -3.61357699e-02 -3.23206021e+01] [-7.17873012e-02 -1.06312888e-03 9.97419397e-01 -5.53826427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36863999999998 meters 0.028981913417498482 Centerline is valid? [True, True] Translation: X:110.53, Y:-32.35, Z:-5.54 [[ 8.55743217e-01 5.13867190e-01 6.03660287e-02 1.10529339e+02] [-5.12660931e-01 8.57869354e-01 -3.51985992e-02 -3.23491041e+01] [-6.98735713e-02 -8.26342021e-04 9.97555513e-01 -5.54125180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42863999999999 meters 0.028939895973733056 Centerline is valid? [True, True] Translation: X:110.58, Y:-32.38, Z:-5.54 [[ 8.56475071e-01 5.12523055e-01 6.14049647e-02 1.10583743e+02] [-5.11268513e-01 8.58673183e-01 -3.58451111e-02 -3.23805432e+01] [-7.10982424e-02 -6.93980905e-04 9.97469076e-01 -5.54480457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48863999999998 meters 0.028806146680875378 Centerline is valid? [True, True] Translation: X:110.64, Y:-32.41, Z:-5.55 [[ 8.56659395e-01 5.12135622e-01 6.20627568e-02 1.10637239e+02] [-5.10849784e-01 8.58904365e-01 -3.62738269e-02 -3.24140661e+01] [-7.18830916e-02 -6.30431307e-04 9.97412865e-01 -5.54761201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54863999999998 meters 0.028964873579516198 Centerline is valid? [True, True] Translation: X:110.69, Y:-32.45, Z:-5.55 [[ 8.55787156e-01 5.13430790e-01 6.33811277e-02 1.10690980e+02] [-5.12089992e-01 8.58130707e-01 -3.70881520e-02 -3.24453564e+01] [-7.34314911e-02 -7.17277034e-04 9.97300006e-01 -5.55138208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60863999999998 meters 0.02896230056876883 Centerline is valid? [True, True] Translation: X:110.74, Y:-32.48, Z:-5.55 [[ 8.53337330e-01 5.17492056e-01 6.33827453e-02 1.10744184e+02] [-5.16159443e-01 8.55687388e-01 -3.71284734e-02 -3.24774162e+01] [-7.34495058e-02 -1.03249011e-03 9.97298403e-01 -5.55291503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66863999999998 meters 0.029032809057339203 Centerline is valid? [True, True] Translation: X:110.80, Y:-32.51, Z:-5.56 [[ 8.52359736e-01 5.18888873e-01 6.50939150e-02 1.10797328e+02] [-5.17484191e-01 8.54840931e-01 -3.81718974e-02 -3.25096390e+01] [-7.54519157e-02 -1.14888354e-03 9.97148780e-01 -5.55681868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72863999999998 meters 0.02911116622524696 Centerline is valid? [True, True] Translation: X:110.85, Y:-32.54, Z:-5.56 [[ 8.52484784e-01 5.18544555e-01 6.61909173e-02 1.10851612e+02] [-5.17087891e-01 8.55049899e-01 -3.88559423e-02 -3.25388456e+01] [-7.67450744e-02 -1.10242224e-03 9.97050138e-01 -5.56042395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78863999999999 meters 0.029017677556005757 Centerline is valid? [True, True] Translation: X:110.91, Y:-32.57, Z:-5.56 [[ 8.51853727e-01 5.19928032e-01 6.34040175e-02 1.10905979e+02] [-5.18593371e-01 8.54209293e-01 -3.72478017e-02 -3.25699209e+01] [-7.35264772e-02 -1.15122456e-03 9.97292601e-01 -5.56174794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84863999999999 meters 0.029205861820306576 Centerline is valid? [True, True] Translation: X:110.96, Y:-32.60, Z:-5.56 [[ 8.50228760e-01 5.22422336e-01 6.46989898e-02 1.10960925e+02] [-5.21037915e-01 8.52685765e-01 -3.80325745e-02 -3.25987905e+01] [-7.50369740e-02 -1.37423813e-03 9.97179805e-01 -5.56482227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90863999999998 meters 0.029487255065914358 Centerline is valid? [True, True] Translation: X:111.02, Y:-32.63, Z:-5.57 [[ 8.48516859e-01 5.24895809e-01 6.71083420e-02 1.11015948e+02] [-5.23410582e-01 8.51164954e-01 -3.94915702e-02 -3.26275835e+01] [-7.78492285e-02 -1.61595322e-03 9.96963834e-01 -5.56982732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96863999999998 meters 0.029669637998477248 Centerline is valid? [True, True] Translation: X:111.07, Y:-32.66, Z:-5.57 [[ 8.46470518e-01 5.28380594e-01 6.55866564e-02 1.11070659e+02] [-5.26969406e-01 8.49005593e-01 -3.86361089e-02 -3.26571141e+01] [-7.60980083e-02 -1.85783420e-03 9.97098612e-01 -5.57231903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02863999999998 meters 0.029913455537453674 Centerline is valid? [True, True] Translation: X:111.13, Y:-32.69, Z:-5.58 [[ 8.44164175e-01 5.32015455e-01 6.59272469e-02 1.11125734e+02] [-5.30597513e-01 8.46731882e-01 -3.88767282e-02 -3.26852747e+01] [-7.65057221e-02 -2.16249204e-03 9.97066797e-01 -5.57501236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08863999999998 meters 0.030079750560114745 Centerline is valid? [True, True] Translation: X:111.18, Y:-32.71, Z:-5.58 [[ 8.44439841e-01 5.31430523e-01 6.71040505e-02 1.11183026e+02] [-5.29956249e-01 8.47099252e-01 -3.96135281e-02 -3.27131075e+01] [-7.78956289e-02 -2.11096950e-03 9.96959284e-01 -5.57775714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14863999999999 meters 0.029652626177017128 Centerline is valid? [True, True] Translation: X:111.24, Y:-32.74, Z:-5.58 [[ 8.47146715e-01 5.27331957e-01 6.52951008e-02 1.11237580e+02] [-5.25921590e-01 8.49657727e-01 -3.85775567e-02 -3.27421807e+01] [-7.58216655e-02 -1.65925280e-03 9.97120014e-01 -5.58098268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20863999999999 meters 0.02966850611017063 Centerline is valid? [True, True] Translation: X:111.29, Y:-32.77, Z:-5.58 [[ 8.48170830e-01 5.25600327e-01 6.59586255e-02 1.11291630e+02] [-5.24154258e-01 8.50730299e-01 -3.89906683e-02 -3.27721480e+01] [-7.66065091e-02 -1.50174696e-03 9.97060273e-01 -5.58434635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26863999999998 meters 0.029301234229835278 Centerline is valid? [True, True] Translation: X:111.35, Y:-32.80, Z:-5.59 [[ 8.48749697e-01 5.24902731e-01 6.40396286e-02 1.11348118e+02] [-5.23534790e-01 8.51161127e-01 -3.78953799e-02 -3.27986829e+01] [-7.43994308e-02 -1.36328122e-03 9.97227590e-01 -5.58626437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32863999999998 meters 0.029057448985170955 Centerline is valid? [True, True] Translation: X:111.40, Y:-32.83, Z:-5.59 [[ 8.48207462e-01 5.26005611e-01 6.21465882e-02 1.11404767e+02] [-5.24717661e-01 8.50479971e-01 -3.68129864e-02 -3.28256720e+01] [-7.22182659e-02 -1.38436261e-03 9.97387891e-01 -5.58849764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38863999999998 meters 0.02907101535707705 Centerline is valid? [True, True] Translation: X:111.46, Y:-32.86, Z:-5.59 [[ 8.48247384e-01 5.25730588e-01 6.39040201e-02 1.11459764e+02] [-5.24364878e-01 8.50650037e-01 -3.78944590e-02 -3.28553442e+01] [-7.42822333e-02 -1.36514801e-03 9.97236324e-01 -5.59237218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44863999999998 meters 0.02900375001883973 Centerline is valid? [True, True] Translation: X:111.52, Y:-32.88, Z:-5.59 [[ 8.50807855e-01 5.21365373e-01 6.56059632e-02 1.11516795e+02] [-5.19909666e-01 8.53332994e-01 -3.89453492e-02 -3.28810631e+01] [-7.62884895e-02 -9.74165406e-04 9.97085311e-01 -5.59439369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50863999999999 meters 0.02871375121398203 Centerline is valid? [True, True] Translation: X:111.57, Y:-32.91, Z:-5.60 [[ 8.54384031e-01 5.15626134e-01 6.44795936e-02 1.11574061e+02] [-5.14201360e-01 8.56813578e-01 -3.83073514e-02 -3.29074374e+01] [-7.49992628e-02 -4.26305424e-04 9.97183498e-01 -5.59703302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56863999999999 meters 0.02833332511989984 Centerline is valid? [True, True] Translation: X:111.63, Y:-32.94, Z:-5.60 [[ 8.56908256e-01 5.11692683e-01 6.22803183e-02 1.11627676e+02] [-5.10352179e-01 8.59168548e-01 -3.70143276e-02 -3.29398830e+01] [-7.24492512e-02 -6.70132089e-05 9.97372098e-01 -5.59964965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62863999999998 meters 0.028386394437028832 Centerline is valid? [True, True] Translation: X:111.68, Y:-32.98, Z:-5.60 [[ 8.58507790e-01 5.08982514e-01 6.24593855e-02 1.11679718e+02] [-5.07625338e-01 8.60776839e-01 -3.71449766e-02 -3.29750930e+01] [-7.26697359e-02 1.83285062e-04 9.97356043e-01 -5.60321598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68863999999998 meters 0.02831266512715351 Centerline is valid? [True, True] Translation: X:111.73, Y:-33.01, Z:-5.61 [[ 8.58895110e-01 5.08379782e-01 6.20418187e-02 1.11730572e+02] [-5.07035984e-01 8.61132931e-01 -3.69403129e-02 -3.30125236e+01] [-7.22059614e-02 2.70419510e-04 9.97389706e-01 -5.60537435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74863999999998 meters 0.028339572321260928 Centerline is valid? [True, True] Translation: X:111.78, Y:-33.05, Z:-5.61 [[ 8.57848989e-01 5.10061426e-01 6.27092858e-02 1.11781889e+02] [-5.08689717e-01 8.60137962e-01 -3.73825918e-02 -3.30485740e+01] [-7.30060553e-02 1.69049723e-04 9.97331483e-01 -5.60952133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80863999999998 meters 0.02806800729914906 Centerline is valid? [True, True] Translation: X:111.83, Y:-33.09, Z:-5.61 [[ 8.54761783e-01 5.15334727e-01 6.17447414e-02 1.11832204e+02] [-5.14015646e-01 8.56988950e-01 -3.68490796e-02 -3.30857319e+01] [-7.19041715e-02 -2.40578149e-04 9.97411516e-01 -5.61104745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86863999999998 meters 0.028260274644928567 Centerline is valid? [True, True] Translation: X:111.88, Y:-33.12, Z:-5.61 [[ 8.51454860e-01 5.20846123e-01 6.11877207e-02 1.11884531e+02] [-5.19562095e-01 8.53650323e-01 -3.65561883e-02 -3.31200827e+01] [-7.12730665e-02 -6.64876174e-04 9.97456620e-01 -5.61403769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92863999999999 meters 0.028307976730346376 Centerline is valid? [True, True] Translation: X:111.94, Y:-33.15, Z:-5.62 [[ 8.50505537e-01 5.22220188e-01 6.26610483e-02 1.11939438e+02] [-5.20874039e-01 8.52810351e-01 -3.74798717e-02 -3.31500374e+01] [-7.30107363e-02 -7.61674907e-04 9.97330864e-01 -5.61775890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98863999999998 meters 0.028221926678699653 Centerline is valid? [True, True] Translation: X:111.99, Y:-33.18, Z:-5.62 [[ 8.50754485e-01 5.21672701e-01 6.38310161e-02 1.11993824e+02] [-5.20271222e-01 8.53145422e-01 -3.82196836e-02 -3.31805376e+01] [-7.43953047e-02 -6.93873538e-04 9.97228588e-01 -5.62125236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04863999999998 meters 0.02819131725470858 Centerline is valid? [True, True] Translation: X:112.05, Y:-33.21, Z:-5.62 [[ 8.50286454e-01 5.22503860e-01 6.32666007e-02 1.12050569e+02] [-5.21126343e-01 8.52636611e-01 -3.79228598e-02 -3.32086296e+01] [-7.37582607e-02 -7.24598375e-04 9.97275887e-01 -5.62389335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10863999999998 meters 0.028072659422150762 Centerline is valid? [True, True] Translation: X:112.11, Y:-33.24, Z:-5.63 [[ 8.49721421e-01 5.23442366e-01 6.30998955e-02 1.12106033e+02] [-5.22071377e-01 8.52060740e-01 -3.78678402e-02 -3.32383427e+01] [-7.35865754e-02 -7.65534363e-04 9.97288539e-01 -5.62619526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16863999999998 meters 0.02824814362161865 Centerline is valid? [True, True] Translation: X:112.16, Y:-33.26, Z:-5.63 [[ 8.48063466e-01 5.25948765e-01 6.45465235e-02 1.12163760e+02] [-5.24518050e-01 8.50515702e-01 -3.87795793e-02 -3.32620844e+01] [-7.52939036e-02 -9.68272275e-04 9.97160915e-01 -5.62891082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22863999999998 meters 0.02793257411244414 Centerline is valid? [True, True] Translation: X:112.22, Y:-33.29, Z:-5.63 [[ 8.48880342e-01 5.24725456e-01 6.37601855e-02 1.12220697e+02] [-5.23323177e-01 8.51271125e-01 -3.83448082e-02 -3.32884303e+01] [-7.43977018e-02 -8.17028872e-04 9.97228316e-01 -5.63159696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28863999999999 meters 0.02787779880473349 Centerline is valid? [True, True] Translation: X:112.28, Y:-33.31, Z:-5.63 [[ 8.51107697e-01 5.21268642e-01 6.24074582e-02 1.12279395e+02] [-5.19913199e-01 8.53392513e-01 -3.75697130e-02 -3.33112547e+01] [-7.28419709e-02 -4.70589286e-04 9.97343384e-01 -5.63356777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34863999999999 meters 0.02771073006653207 Centerline is valid? [True, True] Translation: X:112.34, Y:-33.33, Z:-5.64 [[ 8.53373828e-01 5.17900890e-01 5.94287543e-02 1.12337802e+02] [-5.16661798e-01 8.55440615e-01 -3.58042092e-02 -3.33349256e+01] [-6.93808019e-02 -1.50191955e-04 9.97590237e-01 -5.63665268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40863999999998 meters 0.027695020348775103 Centerline is valid? [True, True] Translation: X:112.40, Y:-33.36, Z:-5.64 [[ 8.54712869e-01 5.15791976e-01 5.85196471e-02 1.12395656e+02] [-5.14584889e-01 8.56713859e-01 -3.52669167e-02 -3.33602531e+01] [-6.83249853e-02 2.97614606e-05 9.97663117e-01 -5.63803801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46863999999998 meters 0.027810585504755538 Centerline is valid? [True, True] Translation: X:112.45, Y:-33.39, Z:-5.64 [[ 8.54919038e-01 5.15411397e-01 5.88602607e-02 1.12451746e+02] [-5.14188456e-01 8.56942872e-01 -3.54844380e-02 -3.33895647e+01] [-6.87289646e-02 7.10550292e-05 9.97635366e-01 -5.64165746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52863999999998 meters 0.02787889649941718 Centerline is valid? [True, True] Translation: X:112.51, Y:-33.42, Z:-5.65 [[ 8.55829776e-01 5.13923469e-01 5.86349903e-02 1.12506963e+02] [-5.12705302e-01 8.57836014e-01 -3.53644863e-02 -3.34192836e+01] [-6.84738458e-02 2.03510054e-04 9.97652891e-01 -5.64611134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58863999999998 meters 0.027889820301647335 Centerline is valid? [True, True] Translation: X:112.56, Y:-33.45, Z:-5.65 [[ 8.55915276e-01 5.13647813e-01 5.97910108e-02 1.12559435e+02] [-5.12379447e-01 8.58001088e-01 -3.60754169e-02 -3.34516337e+01] [-6.98308113e-02 2.41815345e-04 9.97558820e-01 -5.64841340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64863999999999 meters 0.02780095726906065 Centerline is valid? [True, True] Translation: X:112.61, Y:-33.49, Z:-5.65 [[ 8.56088310e-01 5.13379272e-01 5.96198581e-02 1.12613148e+02] [-5.12116790e-01 8.58161785e-01 -3.59825654e-02 -3.34852000e+01] [-6.96361871e-02 2.71923307e-04 9.97572417e-01 -5.65259003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70863999999999 meters 0.02795060140155617 Centerline is valid? [True, True] Translation: X:112.67, Y:-33.52, Z:-5.66 [[ 8.56396946e-01 5.13082562e-01 5.77109633e-02 1.12666624e+02] [-5.11898128e-01 8.58339208e-01 -3.48440961e-02 -3.35170021e+01] [-6.74134806e-02 2.98243366e-04 9.97725079e-01 -5.65559741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76863999999998 meters 0.027849699142297776 Centerline is valid? [True, True] Translation: X:112.72, Y:-33.55, Z:-5.66 [[ 8.55279306e-01 5.14919084e-01 5.79279305e-02 1.12720044e+02] [-5.13729118e-01 8.57238771e-01 -3.49868966e-02 -3.35500067e+01] [-6.76734887e-02 1.64304033e-04 9.97707508e-01 -5.65863722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82863999999998 meters 0.027849231821060822 Centerline is valid? [True, True] Translation: X:112.77, Y:-33.58, Z:-5.66 [[ 8.54113861e-01 5.16920748e-01 5.72926933e-02 1.12774901e+02] [-5.15760346e-01 8.56033259e-01 -3.46168363e-02 -3.35786997e+01] [-6.69386118e-02 1.74203534e-05 9.97757096e-01 -5.66200540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88863999999998 meters 0.02774782514715173 Centerline is valid? [True, True] Translation: X:112.83, Y:-33.61, Z:-5.66 [[ 8.53588271e-01 5.17690503e-01 5.81687796e-02 1.12830037e+02] [-5.16495376e-01 8.55567964e-01 -3.51565764e-02 -3.36078625e+01] [-6.79675701e-02 -3.46644626e-05 9.97687530e-01 -5.66465207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94863999999998 meters 0.027793455419514272 Centerline is valid? [True, True] Translation: X:112.89, Y:-33.64, Z:-5.67 [[ 8.54268270e-01 5.16447529e-01 5.92256024e-02 1.12885466e+02] [-5.15204797e-01 8.56318833e-01 -3.58060416e-02 -3.36370028e+01] [-6.92079404e-02 7.46507160e-05 9.97602253e-01 -5.66903485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00863999999999 meters 0.028003129936292743 Centerline is valid? [True, True] Translation: X:112.94, Y:-33.67, Z:-5.67 [[ 8.56261654e-01 5.13309319e-01 5.77020107e-02 1.12940701e+02] [-5.12121964e-01 8.58203609e-01 -3.48949733e-02 -3.36654257e+01] [-6.74319888e-02 3.28760473e-04 9.97723819e-01 -5.67174406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06863999999999 meters 0.028298821461805755 Centerline is valid? [True, True] Translation: X:112.99, Y:-33.70, Z:-5.67 [[ 8.59126262e-01 5.08674461e-01 5.61458647e-02 1.12994671e+02] [-5.07539801e-01 8.60958667e-01 -3.39635704e-02 -3.36964415e+01] [-6.56156697e-02 6.82734355e-04 9.97844736e-01 -5.67393804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12863999999998 meters 0.02888346014301006 Centerline is valid? [True, True] Translation: X:113.05, Y:-33.73, Z:-5.68 [[ 8.61464648e-01 5.04698817e-01 5.61939808e-02 1.13046106e+02] [-5.03553226e-01 8.63294919e-01 -3.40004757e-02 -3.37288199e+01] [-6.56719780e-02 9.93547485e-04 9.97840771e-01 -5.67664694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18863999999998 meters 0.03005555152084963 Centerline is valid? [True, True] Translation: X:113.10, Y:-33.77, Z:-5.68 [[ 8.64850069e-01 4.98747442e-01 5.73179514e-02 1.13095754e+02] [-4.97542144e-01 8.66746100e-01 -3.46844638e-02 -3.37657316e+01] [-6.69788985e-02 1.47876449e-03 9.97753296e-01 -5.68109217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24863999999998 meters 0.029465253131009575 Centerline is valid? [True, True] Translation: X:113.14, Y:-33.81, Z:-5.68 [[ 8.64361175e-01 4.99728852e-01 5.61322901e-02 1.13143337e+02] [-4.98574515e-01 8.66180795e-01 -3.39747538e-02 -3.38077180e+01] [-6.55988763e-02 1.38032881e-03 9.97845119e-01 -5.68497883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30863999999998 meters 0.029397377375669134 Centerline is valid? [True, True] Translation: X:113.19, Y:-33.84, Z:-5.69 [[ 8.63457550e-01 5.01206114e-01 5.68637909e-02 1.13194333e+02] [-5.00024005e-01 8.65326967e-01 -3.44272439e-02 -3.38443565e+01] [-6.64609168e-02 1.29320322e-03 9.97788191e-01 -5.68734808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36863999999998 meters 0.028534405513165034 Centerline is valid? [True, True] Translation: X:113.24, Y:-33.89, Z:-5.69 [[ 8.60601913e-01 5.06030420e-01 5.74244015e-02 1.13240852e+02] [-5.04834835e-01 8.62515119e-01 -3.47772608e-02 -3.38882671e+01] [-6.71277664e-02 9.39538839e-04 9.97743945e-01 -5.69138128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42863999999999 meters 0.0283719744112823 Centerline is valid? [True, True] Translation: X:113.29, Y:-33.93, Z:-5.69 [[ 8.59554242e-01 5.07895432e-01 5.66457004e-02 1.13290081e+02] [-5.06735369e-01 8.61418366e-01 -3.43171112e-02 -3.39271990e+01] [-6.62251507e-02 7.93038586e-04 9.97804390e-01 -5.69489236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48863999999998 meters 0.028328770525496677 Centerline is valid? [True, True] Translation: X:113.34, Y:-33.97, Z:-5.70 [[ 8.58018736e-01 5.10306767e-01 5.82310262e-02 1.13338594e+02] [-5.09084979e-01 8.59992205e-01 -3.52971957e-02 -3.39693263e+01] [-6.80906264e-02 6.41114501e-04 9.97678934e-01 -5.69933272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54863999999998 meters 0.02805833545011297 Centerline is valid? [True, True] Translation: X:113.39, Y:-34.01, Z:-5.70 [[ 8.55988438e-01 5.13614350e-01 5.90262106e-02 1.13388722e+02] [-5.12363840e-01 8.58021050e-01 -3.58213975e-02 -3.40089467e+01] [-6.90441150e-02 4.19806155e-04 9.97613519e-01 -5.70300312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60863999999998 meters 0.027669308660387495 Centerline is valid? [True, True] Translation: X:113.44, Y:-34.05, Z:-5.70 [[ 8.53283231e-01 5.18174436e-01 5.83350738e-02 1.13438216e+02] [-5.16960979e-01 8.55274954e-01 -3.54414945e-02 -3.40469847e+01] [-6.82574040e-02 8.46760474e-05 9.97667740e-01 -5.70389243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66863999999998 meters 0.027581105550028493 Centerline is valid? [True, True] Translation: X:113.49, Y:-34.08, Z:-5.71 [[ 8.51177673e-01 5.21678401e-01 5.78637604e-02 1.13492148e+02] [-5.20490009e-01 8.53142204e-01 -3.51927620e-02 -3.40796207e+01] [-6.77253198e-02 -1.62215893e-04 9.97703992e-01 -5.70742093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72863999999998 meters 0.027629731940154945 Centerline is valid? [True, True] Translation: X:113.54, Y:-34.11, Z:-5.71 [[ 8.46860605e-01 5.28575396e-01 5.86102923e-02 1.13544676e+02] [-5.27369738e-01 8.48886081e-01 -3.56872771e-02 -3.41118484e+01] [-6.86168779e-02 -6.87145414e-04 9.97642848e-01 -5.70999053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78863999999999 meters 0.02794446414231665 Centerline is valid? [True, True] Translation: X:113.60, Y:-34.14, Z:-5.71 [[ 8.43949033e-01 5.33049618e-01 6.00677565e-02 1.13601940e+02] [-5.31791861e-01 8.46083337e-01 -3.66115360e-02 -3.41374930e+01] [-7.03380931e-02 -1.04527361e-03 9.97522661e-01 -5.71328794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84863999999997 meters 0.027722953910592263 Centerline is valid? [True, True] Translation: X:113.66, Y:-34.16, Z:-5.72 [[ 8.45606013e-01 5.30463170e-01 5.96598436e-02 1.13659814e+02] [-5.29213373e-01 8.47707613e-01 -3.64006523e-02 -3.41623011e+01] [-6.98833090e-02 -7.92176679e-04 9.97554858e-01 -5.71736972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90863999999998 meters 0.027862679342748352 Centerline is valid? [True, True] Translation: X:113.72, Y:-34.19, Z:-5.72 [[ 8.48670253e-01 5.25515061e-01 5.99393286e-02 1.13718453e+02] [-5.24238452e-01 8.50784224e-01 -3.66094063e-02 -3.41854058e+01] [-7.02342295e-02 -3.53186802e-04 9.97530465e-01 -5.72157520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96863999999998 meters 0.02788126805134892 Centerline is valid? [True, True] Translation: X:113.77, Y:-34.21, Z:-5.73 [[ 8.51086221e-01 5.21440640e-01 6.12527807e-02 1.13773872e+02] [-5.20094640e-01 8.53287559e-01 -3.74420496e-02 -3.42144223e+01] [-7.17900420e-02 9.16957943e-06 9.97419766e-01 -5.72554143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02863999999998 meters 0.02829744390521356 Centerline is valid? [True, True] Translation: X:113.83, Y:-34.24, Z:-5.73 [[ 8.55114815e-01 5.15044530e-01 5.92265584e-02 1.13831391e+02] [-5.13770086e-01 8.57163253e-01 -3.62140316e-02 -3.42390201e+01] [-6.94186683e-02 5.38320940e-04 9.97587469e-01 -5.72949165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08863999999998 meters 0.02905226895607085 Centerline is valid? [True, True] Translation: X:113.89, Y:-34.27, Z:-5.73 [[ 8.59038045e-01 5.08479228e-01 5.91820229e-02 1.13886669e+02] [-5.07190334e-01 8.61073581e-01 -3.61974266e-02 -3.42679444e+01] [-6.93657159e-02 1.07841660e-03 9.97590715e-01 -5.73332590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14863999999999 meters 0.03025922423438115 Centerline is valid? [True, True] Translation: X:113.94, Y:-34.30, Z:-5.74 [[ 8.63720412e-01 5.00630276e-01 5.79342405e-02 1.13941478e+02] [-4.99376824e-01 8.65659572e-01 -3.54442121e-02 -3.42971400e+01] [-6.78957755e-02 1.68287241e-03 9.97691000e-01 -5.73540171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20863999999999 meters 0.03087190145002714 Centerline is valid? [True, True] Translation: X:113.99, Y:-34.33, Z:-5.74 [[ 8.65645473e-01 4.97101315e-01 5.95667605e-02 1.13994079e+02] [-4.95767048e-01 8.67690143e-01 -3.64533933e-02 -3.43304092e+01] [-6.98065207e-02 2.02447787e-03 9.97558495e-01 -5.73881737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26863999999998 meters 0.031283011578190044 Centerline is valid? [True, True] Translation: X:114.05, Y:-34.37, Z:-5.74 [[ 8.66762960e-01 4.95328187e-01 5.80685598e-02 1.14045577e+02] [-4.94055645e-01 8.68703337e-01 -3.55461818e-02 -3.43657757e+01] [-6.80513775e-02 2.12101398e-03 9.97679563e-01 -5.74296419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32863999999998 meters 0.03185217906657056 Centerline is valid? [True, True] Translation: X:114.09, Y:-34.41, Z:-5.75 [[ 8.68364462e-01 4.92573290e-01 5.75735562e-02 1.14094753e+02] [-4.91315681e-01 8.70267859e-01 -3.52527431e-02 -3.44050029e+01] [-6.74689751e-02 2.32543840e-03 9.97718663e-01 -5.74584592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38863999999998 meters 0.031994059110905464 Centerline is valid? [True, True] Translation: X:114.14, Y:-34.44, Z:-5.75 [[ 8.68766175e-01 4.91848134e-01 5.77126239e-02 1.14142566e+02] [-4.90581757e-01 8.70677694e-01 -3.53538332e-02 -3.44448541e+01] [-6.76378112e-02 2.40145400e-03 9.97707051e-01 -5.74998449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44863999999998 meters 0.032281658774171156 Centerline is valid? [True, True] Translation: X:114.19, Y:-34.49, Z:-5.75 [[ 8.69421547e-01 4.90547482e-01 5.89011202e-02 1.14189351e+02] [-4.89223090e-01 8.71410636e-01 -3.61147144e-02 -3.44877971e+01] [-6.90430448e-02 2.58312277e-03 9.97610337e-01 -5.75415384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50863999999999 meters 0.03170259174768329 Centerline is valid? [True, True] Translation: X:114.24, Y:-34.53, Z:-5.76 [[ 8.67983325e-01 4.93158039e-01 5.83103415e-02 1.14238797e+02] [-4.91863681e-01 8.69936480e-01 -3.57860333e-02 -3.45254330e+01] [-6.83744633e-02 2.38094099e-03 9.97656887e-01 -5.75566439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56863999999999 meters 0.030106170278003545 Centerline is valid? [True, True] Translation: X:114.28, Y:-34.57, Z:-5.76 [[ 8.62776940e-01 5.01770026e-01 6.19902638e-02 1.14284680e+02] [-5.00326973e-01 8.64999125e-01 -3.80714401e-02 -3.45672673e+01] [-7.27246314e-02 1.83175959e-03 9.97350376e-01 -5.75912590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62863999999998 meters 0.028706482302318644 Centerline is valid? [True, True] Translation: X:114.33, Y:-34.61, Z:-5.76 [[ 8.57026030e-01 5.11644498e-01 6.10433538e-02 1.14334071e+02] [-5.10269567e-01 8.59196678e-01 -3.74971510e-02 -3.46050105e+01] [-7.16334578e-02 9.87468689e-04 9.97430535e-01 -5.76267232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68863999999998 meters 0.02833662009301075 Centerline is valid? [True, True] Translation: X:114.39, Y:-34.64, Z:-5.77 [[ 8.52952090e-01 5.18105641e-01 6.35553044e-02 1.14385307e+02] [-5.16631080e-01 8.55316497e-01 -3.90642769e-02 -3.46414406e+01] [-7.45993225e-02 4.85311096e-04 9.97213470e-01 -5.76659733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74863999999998 meters 0.0284272971531925 Centerline is valid? [True, True] Translation: X:114.44, Y:-34.67, Z:-5.77 [[ 8.50630473e-01 5.21882325e-01 6.37701933e-02 1.14438942e+02] [-5.20404933e-01 8.53017469e-01 -3.92416135e-02 -3.46744436e+01] [-7.48765933e-02 1.93789088e-04 9.97192789e-01 -5.76915411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80863999999998 meters 0.028299038858653754 Centerline is valid? [True, True] Translation: X:114.49, Y:-34.71, Z:-5.77 [[ 8.48645914e-01 5.25143026e-01 6.34422149e-02 1.14493878e+02] [-5.23686504e-01 8.51013983e-01 -3.90851179e-02 -3.47055373e+01] [-7.45154891e-02 -5.44061740e-05 9.97219855e-01 -5.77273835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86863999999998 meters 0.02817621360469989 Centerline is valid? [True, True] Translation: X:114.55, Y:-34.73, Z:-5.77 [[ 8.47252615e-01 5.27419476e-01 6.31799273e-02 1.14551930e+02] [-5.25977915e-01 8.49604997e-01 -3.89689975e-02 -3.47324167e+01] [-7.42309901e-02 -2.14661362e-04 9.97241051e-01 -5.77464391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92863999999999 meters 0.028555789960645447 Centerline is valid? [True, True] Translation: X:114.61, Y:-34.76, Z:-5.78 [[ 8.45451135e-01 5.30146859e-01 6.44723657e-02 1.14608161e+02] [-5.28650100e-01 8.47905731e-01 -3.98113576e-02 -3.47588747e+01] [-7.57723545e-02 -4.24765018e-04 9.97125052e-01 -5.77897070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98863999999998 meters 0.02859772973827327 Centerline is valid? [True, True] Translation: X:114.67, Y:-34.78, Z:-5.78 [[ 8.45261655e-01 5.30595013e-01 6.32587267e-02 1.14666342e+02] [-5.29152442e-01 8.47625362e-01 -3.91016486e-02 -3.47827296e+01] [-7.43668409e-02 -4.22385491e-04 9.97230863e-01 -5.78221001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04863999999998 meters 0.02870094331908098 Centerline is valid? [True, True] Translation: X:114.72, Y:-34.81, Z:-5.79 [[ 8.47240007e-01 5.27633759e-01 6.15385001e-02 1.14722066e+02] [-5.26258069e-01 8.49471954e-01 -3.80768222e-02 -3.48111638e+01] [-7.23658467e-02 -1.24925148e-04 9.97378147e-01 -5.78546911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10863999999998 meters 0.02886039697237166 Centerline is valid? [True, True] Translation: X:114.78, Y:-34.84, Z:-5.79 [[ 8.51030503e-01 5.21495112e-01 6.15624210e-02 1.14778983e+02] [-5.20099243e-01 8.53254159e-01 -3.81328830e-02 -3.48388776e+01] [-7.24145038e-02 4.33678000e-04 9.97374529e-01 -5.78881265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16863999999998 meters 0.02887480383195076 Centerline is valid? [True, True] Translation: X:114.83, Y:-34.87, Z:-5.79 [[ 8.53147777e-01 5.18107331e-01 6.08577345e-02 1.14834258e+02] [-5.16731533e-01 8.55315281e-01 -3.77398096e-02 -3.48696799e+01] [-7.16058224e-02 7.50524252e-04 9.97432726e-01 -5.79111058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22863999999998 meters 0.028718260229688278 Centerline is valid? [True, True] Translation: X:114.89, Y:-34.90, Z:-5.79 [[ 8.53212149e-01 5.18013287e-01 6.07557605e-02 1.14888276e+02] [-5.16638766e-01 8.55372202e-01 -3.77197807e-02 -3.49022456e+01] [-7.15081362e-02 7.94194012e-04 9.97439700e-01 -5.79358952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28863999999999 meters 0.028864619613726872 Centerline is valid? [True, True] Translation: X:114.94, Y:-34.93, Z:-5.80 [[ 8.53391946e-01 5.17616387e-01 6.16073250e-02 1.14942634e+02] [-5.16198913e-01 8.55612360e-01 -3.82906261e-02 -3.49332781e+01] [-7.25318443e-02 8.75277711e-04 9.97365713e-01 -5.79746242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34863999999997 meters 0.02906045862556784 Centerline is valid? [True, True] Translation: X:115.00, Y:-34.96, Z:-5.80 [[ 8.55367953e-01 5.14437936e-01 6.08216626e-02 1.14996798e+02] [-5.13045696e-01 8.57526827e-01 -3.78398721e-02 -3.49635471e+01] [-7.16224730e-02 1.16272180e-03 9.97431135e-01 -5.79783467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40863999999998 meters 0.030087928341788077 Centerline is valid? [True, True] Translation: X:115.05, Y:-35.00, Z:-5.80 [[ 8.59994683e-01 5.06808401e-01 5.96187118e-02 1.15049836e+02] [-5.05450402e-01 8.62056870e-01 -3.71193148e-02 -3.49956721e+01] [-7.02071007e-02 1.78811147e-03 9.97530834e-01 -5.79989321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46863999999998 meters 0.03094601290854076 Centerline is valid? [True, True] Translation: X:115.10, Y:-35.03, Z:-5.80 [[ 8.62868521e-01 5.01885419e-01 5.97406189e-02 1.15102582e+02] [-5.00509311e-01 8.64931312e-01 -3.72055949e-02 -3.50281945e+01] [-7.03444774e-02 2.20280066e-03 9.97520327e-01 -5.80331397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52863999999998 meters 0.03177317080786381 Centerline is valid? [True, True] Translation: X:115.15, Y:-35.07, Z:-5.81 [[ 8.65544455e-01 4.97398007e-01 5.85492870e-02 1.15150501e+02] [-4.96065354e-01 8.67518787e-01 -3.64735316e-02 -3.50683490e+01] [-6.89344684e-02 2.52519023e-03 9.97617994e-01 -5.80545148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58863999999998 meters 0.03139546825391721 Centerline is valid? [True, True] Translation: X:115.20, Y:-35.11, Z:-5.81 [[ 8.65511217e-01 4.97545208e-01 5.77849327e-02 1.15201314e+02] [-4.96246246e-01 8.67434455e-01 -3.60156879e-02 -3.51061993e+01] [-6.80440745e-02 2.49642593e-03 9.97679193e-01 -5.80781073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64863999999999 meters 0.031547294621158455 Centerline is valid? [True, True] Translation: X:115.25, Y:-35.15, Z:-5.81 [[ 8.65839840e-01 4.97061377e-01 5.70206834e-02 1.15249438e+02] [-4.95792990e-01 8.67711685e-01 -3.55772843e-02 -3.51486227e+01] [-6.71616071e-02 2.53377508e-03 9.97738893e-01 -5.81200395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70863999999999 meters 0.030810278980824616 Centerline is valid? [True, True] Translation: X:115.30, Y:-35.19, Z:-5.81 [[ 8.64639549e-01 4.99341505e-01 5.52857345e-02 1.15298399e+02] [-4.98151922e-01 8.66402172e-01 -3.45244753e-02 -3.51887333e+01] [-6.51391839e-02 2.31053179e-03 9.97873513e-01 -5.81386129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76863999999998 meters 0.03033816842247286 Centerline is valid? [True, True] Translation: X:115.35, Y:-35.23, Z:-5.82 [[ 8.62493808e-01 5.02928263e-01 5.62813677e-02 1.15347474e+02] [-5.01701785e-01 8.64325623e-01 -3.51644199e-02 -3.52268390e+01] [-6.63306088e-02 2.09263182e-03 9.97795506e-01 -5.81717185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82863999999998 meters 0.02969840413139451 Centerline is valid? [True, True] Translation: X:115.40, Y:-35.27, Z:-5.82 [[ 8.60198348e-01 5.06707737e-01 5.74984399e-02 1.15395496e+02] [-5.05433597e-01 8.62115867e-01 -3.59598505e-02 -3.52672034e+01] [-6.77914519e-02 1.87096077e-03 9.97697759e-01 -5.82031824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88863999999998 meters 0.029408524944628162 Centerline is valid? [True, True] Translation: X:115.44, Y:-35.31, Z:-5.82 [[ 8.59251263e-01 5.08332746e-01 5.73156769e-02 1.15444964e+02] [-5.07067975e-01 8.61158927e-01 -3.58799626e-02 -3.53059961e+01] [-6.75968667e-02 1.76695893e-03 9.97711151e-01 -5.82320496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94863999999998 meters 0.028762879237683742 Centerline is valid? [True, True] Translation: X:115.50, Y:-35.34, Z:-5.83 [[ 8.57401199e-01 5.11615004e-01 5.57966986e-02 1.15495098e+02] [-5.10421192e-01 8.59213505e-01 -3.49622581e-02 -3.53430512e+01] [-6.58284928e-02 1.49686453e-03 9.97829830e-01 -5.82615701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00863999999999 meters 0.02870667639987491 Centerline is valid? [True, True] Translation: X:115.55, Y:-35.38, Z:-5.83 [[ 8.57382793e-01 5.11751056e-01 5.48233888e-02 1.15546040e+02] [-5.10596617e-01 8.59132491e-01 -3.43868910e-02 -3.53804057e+01] [-6.46980823e-02 1.49009177e-03 9.97903772e-01 -5.83016843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06863999999999 meters 0.02873046599426977 Centerline is valid? [True, True] Translation: X:115.60, Y:-35.42, Z:-5.83 [[ 8.57162043e-01 5.12138769e-01 5.46545009e-02 1.15597019e+02] [-5.10989729e-01 8.58901428e-01 -3.43195880e-02 -3.54180084e+01] [-6.45192204e-02 1.48955959e-03 9.97915353e-01 -5.83377236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12863999999998 meters 0.02845676960107305 Centerline is valid? [True, True] Translation: X:115.65, Y:-35.46, Z:-5.84 [[ 8.55290469e-01 5.15151080e-01 5.56558979e-02 1.15645950e+02] [-5.13963310e-01 8.57098376e-01 -3.49870093e-02 -3.54569909e+01] [-6.57261753e-02 1.31896606e-03 9.97836825e-01 -5.83593460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18863999999998 meters 0.027828139557509794 Centerline is valid? [True, True] Translation: X:115.70, Y:-35.50, Z:-5.84 [[ 8.51590673e-01 5.21212750e-01 5.59517165e-02 1.15695403e+02] [-5.20023005e-01 8.53426320e-01 -3.52078187e-02 -3.54952981e+01] [-6.61014315e-02 8.86470239e-04 9.97812515e-01 -5.83842605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24863999999998 meters 0.027475435153240364 Centerline is valid? [True, True] Translation: X:115.74, Y:-35.53, Z:-5.84 [[ 8.47782923e-01 5.27167128e-01 5.79563251e-02 1.15744100e+02] [-5.25901770e-01 8.49761495e-01 -3.65065658e-02 -3.55339297e+01] [-6.84941149e-02 4.70309080e-04 9.97651410e-01 -5.84246992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30863999999998 meters 0.027491251778482217 Centerline is valid? [True, True] Translation: X:115.80, Y:-35.57, Z:-5.84 [[ 8.45668001e-01 5.30345203e-01 5.98297398e-02 1.15795294e+02] [-5.29001762e-01 8.47781753e-01 -3.77257859e-02 -3.55694798e+01] [-7.07302513e-02 2.53452228e-04 9.97495447e-01 -5.84431676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36863999999998 meters 0.02749718955101677 Centerline is valid? [True, True] Translation: X:115.85, Y:-35.60, Z:-5.85 [[ 8.42157993e-01 5.35884865e-01 5.99777082e-02 1.15848615e+02] [-5.34545845e-01 8.44291052e-01 -3.78597448e-02 -3.56021086e+01] [-7.09271066e-02 -1.76948024e-04 9.97481486e-01 -5.84709567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42863999999999 meters 0.027500657091793168 Centerline is valid? [True, True] Translation: X:115.90, Y:-35.63, Z:-5.85 [[ 8.39660969e-01 5.39765745e-01 6.01863481e-02 1.15902339e+02] [-5.38424159e-01 8.41815134e-01 -3.80355664e-02 -3.56340308e+01] [-7.11960746e-02 -4.68803322e-04 9.97462229e-01 -5.85020280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48863999999998 meters 0.02734287683889507 Centerline is valid? [True, True] Translation: X:115.96, Y:-35.66, Z:-5.85 [[ 8.38584584e-01 5.41390558e-01 6.05983510e-02 1.15958097e+02] [-5.40031612e-01 8.40771036e-01 -3.83395899e-02 -3.56645357e+01] [-7.17060303e-02 -5.74036151e-04 9.97425644e-01 -5.85282596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54863999999998 meters 0.02738417425700371 Centerline is valid? [True, True] Translation: X:116.01, Y:-35.69, Z:-5.85 [[ 8.37874069e-01 5.42564706e-01 5.99214898e-02 1.16014741e+02] [-5.41235821e-01 8.40013776e-01 -3.79557879e-02 -3.56938563e+01] [-7.09283478e-02 -6.29486277e-04 9.97481214e-01 -5.85337528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60863999999998 meters 0.027579473710078694 Centerline is valid? [True, True] Translation: X:116.07, Y:-35.72, Z:-5.86 [[ 8.36776457e-01 5.44142974e-01 6.09391935e-02 1.16068325e+02] [-5.42769471e-01 8.38992180e-01 -3.86448367e-02 -3.57247088e+01] [-7.21558232e-02 -7.38844335e-04 9.97393098e-01 -5.85709768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66863999999998 meters 0.02769019775432319 Centerline is valid? [True, True] Translation: X:116.12, Y:-35.76, Z:-5.86 [[ 8.37064226e-01 5.43591653e-01 6.18998937e-02 1.16121481e+02] [-5.42169770e-01 8.39349552e-01 -3.92971972e-02 -3.57578373e+01] [-7.33172765e-02 -6.65973162e-04 9.97308444e-01 -5.86009393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72863999999998 meters 0.027570831990799426 Centerline is valid? [True, True] Translation: X:116.17, Y:-35.79, Z:-5.86 [[ 8.38501108e-01 5.41328199e-01 6.22870244e-02 1.16173816e+02] [-5.39878732e-01 8.40811272e-01 -3.95898830e-02 -3.57929731e+01] [-7.38027523e-02 -4.31279031e-04 9.97272765e-01 -5.86266648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78863999999999 meters 0.027531702959955193 Centerline is valid? [True, True] Translation: X:116.23, Y:-35.83, Z:-5.87 [[ 8.37682603e-01 5.42640326e-01 6.18816118e-02 1.16227283e+02] [-5.41209863e-01 8.39965013e-01 -3.93784450e-02 -3.58257379e+01] [-7.33467211e-02 -5.04300365e-04 9.97306374e-01 -5.86680049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84863999999997 meters 0.027928050153252604 Centerline is valid? [True, True] Translation: X:116.28, Y:-35.86, Z:-5.87 [[ 8.35123941e-01 5.46497149e-01 6.25209524e-02 1.16280404e+02] [-5.45044356e-01 8.37460568e-01 -3.98302166e-02 -3.58577099e+01] [-7.41259322e-02 -8.13524813e-04 9.97248557e-01 -5.87017474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90863999999998 meters 0.028169078829008105 Centerline is valid? [True, True] Translation: X:116.33, Y:-35.89, Z:-5.87 [[ 8.32753473e-01 5.50139516e-01 6.21945834e-02 1.16334342e+02] [-5.48709001e-01 8.35072038e-01 -3.96626315e-02 -3.58889175e+01] [-7.37569384e-02 -1.09753362e-03 9.97275644e-01 -5.87310984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96863999999998 meters 0.028146228436381704 Centerline is valid? [True, True] Translation: X:116.39, Y:-35.92, Z:-5.87 [[ 8.31870380e-01 5.51789534e-01 5.93294346e-02 1.16388608e+02] [-5.50489477e-01 8.33982600e-01 -3.78729237e-02 -3.59198895e+01] [-7.03775990e-02 -1.15486604e-03 9.97519754e-01 -5.87494173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02863999999998 meters 0.028609877986783994 Centerline is valid? [True, True] Translation: X:116.44, Y:-35.95, Z:-5.88 [[ 8.31768219e-01 5.51915842e-01 5.95863481e-02 1.16443989e+02] [-5.50601910e-01 8.33899042e-01 -3.80778755e-02 -3.59499377e+01] [-7.07047813e-02 -1.13639033e-03 9.97496638e-01 -5.87909765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08863999999998 meters 0.028668635641166264 Centerline is valid? [True, True] Translation: X:116.50, Y:-35.98, Z:-5.88 [[ 8.31166970e-01 5.52761535e-01 6.01344690e-02 1.16499379e+02] [-5.51422226e-01 8.33338641e-01 -3.84738677e-02 -3.59798027e+01] [-7.13792508e-02 -1.18127475e-03 9.97448549e-01 -5.88143695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14863999999999 meters 0.028688316118690722 Centerline is valid? [True, True] Translation: X:116.55, Y:-36.01, Z:-5.88 [[ 8.30574077e-01 5.53629943e-01 6.03372926e-02 1.16553312e+02] [-5.52280573e-01 8.32761906e-01 -3.86493981e-02 -3.60116117e+01] [-7.16440629e-02 -1.22192639e-03 9.97429514e-01 -5.88424759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20863999999997 meters 0.029067287971314682 Centerline is valid? [True, True] Translation: X:116.61, Y:-36.04, Z:-5.89 [[ 8.29309192e-01 5.55449922e-01 6.10053195e-02 1.16608227e+02] [-5.54072131e-01 8.31548882e-01 -3.91220026e-02 -3.60409555e+01] [-7.24592185e-02 -1.35711102e-03 9.97370453e-01 -5.88838036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26863999999998 meters 0.02894593683613402 Centerline is valid? [True, True] Translation: X:116.66, Y:-36.07, Z:-5.89 [[ 8.30049829e-01 5.54424714e-01 6.02537766e-02 1.16664588e+02] [-5.53075155e-01 8.32232991e-01 -3.86797259e-02 -3.60685883e+01] [-7.15901767e-02 -1.21876696e-03 9.97433387e-01 -5.89129235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32863999999998 meters 0.029006491100255195 Centerline is valid? [True, True] Translation: X:116.72, Y:-36.10, Z:-5.89 [[ 8.31150197e-01 5.52765227e-01 6.03320261e-02 1.16718462e+02] [-5.51404915e-01 8.33336375e-01 -3.87699071e-02 -3.60991416e+01] [-7.17075284e-02 -1.04375983e-03 9.97425156e-01 -5.89411054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38863999999998 meters 0.029163377149697915 Centerline is valid? [True, True] Translation: X:116.77, Y:-36.13, Z:-5.90 [[ 8.30938410e-01 5.52966839e-01 6.13924551e-02 1.16772379e+02] [-5.51555787e-01 8.33202605e-01 -3.94921772e-02 -3.61297362e+01] [-7.29902179e-02 -1.04579691e-03 9.97332108e-01 -5.89744150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44863999999998 meters 0.029059365969686283 Centerline is valid? [True, True] Translation: X:116.83, Y:-36.16, Z:-5.90 [[ 8.29823575e-01 5.54545206e-01 6.22290031e-02 1.16825584e+02] [-5.53096760e-01 8.32152783e-01 -4.00714379e-02 -3.61616008e+01] [-7.40054619e-02 -1.16643610e-03 9.97257154e-01 -5.90000559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50863999999999 meters 0.029272318494821207 Centerline is valid? [True, True] Translation: X:116.88, Y:-36.19, Z:-5.90 [[ 8.29435159e-01 5.55108221e-01 6.23873451e-02 1.16880605e+02] [-5.53650761e-01 8.31777291e-01 -4.02165684e-02 -3.61933853e+01] [-7.42169247e-02 -1.18376528e-03 9.97241419e-01 -5.90276782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56863999999999 meters 0.029217187159513807 Centerline is valid? [True, True] Translation: X:116.94, Y:-36.22, Z:-5.90 [[ 8.29147568e-01 5.55649684e-01 6.13819052e-02 1.16935098e+02] [-5.54237164e-01 8.31415688e-01 -3.96121155e-02 -3.62242629e+01] [-7.30443384e-02 -1.17584383e-03 9.97328001e-01 -5.90418609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62863999999998 meters 0.029425732873618275 Centerline is valid? [True, True] Translation: X:116.99, Y:-36.25, Z:-5.91 [[ 8.27502029e-01 5.58127967e-01 6.11028982e-02 1.16991583e+02] [-5.56732113e-01 8.29753780e-01 -3.94717434e-02 -3.62514767e+01] [-7.27306447e-02 -1.35499783e-03 9.97350699e-01 -5.90709340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68863999999998 meters 0.02927087418898691 Centerline is valid? [True, True] Translation: X:117.05, Y:-36.28, Z:-5.91 [[ 8.27618392e-01 5.57987323e-01 6.08107209e-02 1.17046480e+02] [-5.56601547e-01 8.29848449e-01 -3.93226269e-02 -3.62815002e+01] [-7.24052097e-02 -1.30321206e-03 9.97374447e-01 -5.90952467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74863999999998 meters 0.029035847575628375 Centerline is valid? [True, True] Translation: X:117.10, Y:-36.31, Z:-5.91 [[ 8.28647889e-01 5.56770103e-01 5.78768471e-02 1.17103222e+02] [-5.55509465e-01 8.30665892e-01 -3.74621188e-02 -3.63080349e+01] [-6.89341105e-02 -1.10823068e-03 9.97620599e-01 -5.91175201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80863999999998 meters 0.02910107600249705 Centerline is valid? [True, True] Translation: X:117.16, Y:-36.34, Z:-5.92 [[ 8.29931807e-01 5.54704198e-01 5.92996544e-02 1.17158391e+02] [-5.53372521e-01 8.32047112e-01 -3.84246702e-02 -3.63387027e+01] [-7.06544321e-02 -9.24943307e-04 9.97500424e-01 -5.91542375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86863999999998 meters 0.0288745757187895 Centerline is valid? [True, True] Translation: X:117.21, Y:-36.37, Z:-5.92 [[ 8.33019257e-01 5.50216139e-01 5.78024011e-02 1.17213808e+02] [-5.48937784e-01 8.35022125e-01 -3.74881322e-02 -3.63683060e+01] [-6.88928592e-02 -5.01585939e-04 9.97623938e-01 -5.91894668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92863999999999 meters 0.028644325157245826 Centerline is valid? [True, True] Translation: X:117.27, Y:-36.40, Z:-5.92 [[ 8.35001931e-01 5.47329176e-01 5.65910661e-02 1.17266922e+02] [-5.46095906e-01 8.36917389e-01 -3.67225598e-02 -3.64003609e+01] [-6.74613756e-02 -2.40741184e-04 9.97721857e-01 -5.92018502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98863999999998 meters 0.028574046617522674 Centerline is valid? [True, True] Translation: X:117.32, Y:-36.43, Z:-5.92 [[ 8.35938754e-01 5.46061407e-01 5.49848953e-02 1.17319768e+02] [-5.44892578e-01 8.37745145e-01 -3.57092577e-02 -3.64338642e+01] [-6.55627766e-02 -1.10108958e-04 9.97848440e-01 -5.92349022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04863999999998 meters 0.02844864871961838 Centerline is valid? [True, True] Translation: X:117.37, Y:-36.47, Z:-5.93 [[ 8.36935020e-01 5.44652729e-01 5.37882645e-02 1.17372028e+02] [-5.43530192e-01 8.38661675e-01 -3.49503241e-02 -3.64682244e+01] [-6.41459454e-02 1.56044598e-05 9.97940528e-01 -5.92539986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10863999999998 meters 0.028923072044431418 Centerline is valid? [True, True] Translation: X:117.43, Y:-36.50, Z:-5.93 [[ 8.36079110e-01 5.45895720e-01 5.44938932e-02 1.17425274e+02] [-5.44743700e-01 8.37853126e-01 -3.54463093e-02 -3.65025631e+01] [-6.50078672e-02 -4.92862276e-05 9.97884750e-01 -5.92624459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16863999999998 meters 0.028871819617502452 Centerline is valid? [True, True] Translation: X:117.48, Y:-36.54, Z:-5.93 [[ 8.36225397e-01 5.45851419e-01 5.26622578e-02 1.17477327e+02] [-5.44773175e-01 8.37881989e-01 -3.42922683e-02 -3.65365424e+01] [-6.28432407e-02 -1.29197405e-05 9.98023410e-01 -5.92847799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22863999999998 meters 0.029145157547062674 Centerline is valid? [True, True] Translation: X:117.53, Y:-36.57, Z:-5.93 [[ 8.37966830e-01 5.43254529e-01 5.18276833e-02 1.17529766e+02] [-5.42203095e-01 8.39568028e-01 -3.37835827e-02 -3.65709588e+01] [-6.18659501e-02 2.08391458e-04 9.98084446e-01 -5.93045045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28863999999999 meters 0.028825037265236005 Centerline is valid? [True, True] Translation: X:117.58, Y:-36.61, Z:-5.93 [[ 8.38849381e-01 5.41963159e-01 5.10651519e-02 1.17581445e+02] [-5.40937745e-01 8.40402180e-01 -3.33246372e-02 -3.66074406e+01] [-6.09759907e-02 3.31283136e-04 9.98139178e-01 -5.93401275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34863999999997 meters 0.02914435005544785 Centerline is valid? [True, True] Translation: X:117.63, Y:-36.64, Z:-5.94 [[ 8.40738215e-01 5.38995009e-01 5.14162749e-02 1.17631132e+02] [-5.37947564e-01 8.42308756e-01 -3.35913398e-02 -3.66447264e+01] [-6.14139431e-02 5.82263242e-04 9.98112212e-01 -5.93594556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40863999999998 meters 0.02878052615978679 Centerline is valid? [True, True] Translation: X:117.68, Y:-36.68, Z:-5.94 [[ 8.38803588e-01 5.41949551e-01 5.19540625e-02 1.17680753e+02] [-5.40883526e-01 8.40410926e-01 -3.39777380e-02 -3.66841683e+01] [-6.20769816e-02 3.99552030e-04 9.98071284e-01 -5.93822103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46863999999998 meters 0.02865839821246754 Centerline is valid? [True, True] Translation: X:117.73, Y:-36.72, Z:-5.94 [[ 8.35744227e-01 5.46580114e-01 5.27424581e-02 1.17728993e+02] [-5.45488137e-01 8.37406813e-01 -3.45328952e-02 -3.67249005e+01] [-6.30418875e-02 9.02825365e-05 9.98010878e-01 -5.94039934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52863999999998 meters 0.02842422461518723 Centerline is valid? [True, True] Translation: X:117.78, Y:-36.76, Z:-5.94 [[ 8.33251544e-01 5.50381300e-01 5.26525386e-02 1.17780641e+02] [-5.49298107e-01 8.34913408e-01 -3.45136360e-02 -3.67611853e+01] [-6.29559703e-02 -1.63399344e-04 9.98016292e-01 -5.94231870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58863999999998 meters 0.028825123397190133 Centerline is valid? [True, True] Translation: X:117.83, Y:-36.80, Z:-5.94 [[ 8.29406023e-01 5.56019829e-01 5.41072850e-02 1.17832109e+02] [-5.54885191e-01 8.31168829e-01 -3.55077900e-02 -3.67966198e+01] [-6.47153241e-02 -5.72956282e-04 9.97903602e-01 -5.94491327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64863999999999 meters 0.029231744886849646 Centerline is valid? [True, True] Translation: X:117.89, Y:-36.83, Z:-5.95 [[ 8.25951842e-01 5.61028262e-01 5.52344457e-02 1.17886105e+02] [-5.59854491e-01 8.27796098e-01 -3.62845608e-02 -3.68272084e+01] [-6.60795227e-02 -9.53952635e-04 9.97813904e-01 -5.94924557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70863999999997 meters 0.02945389710031533 Centerline is valid? [True, True] Translation: X:117.94, Y:-36.86, Z:-5.95 [[ 8.24589355e-01 5.63038173e-01 5.51399207e-02 1.17940515e+02] [-5.61870481e-01 8.26430181e-01 -3.62590467e-02 -3.68569776e+01] [-6.59845221e-02 -1.08266984e-03 9.97820059e-01 -5.95229566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76863999999998 meters 0.029411616420768744 Centerline is valid? [True, True] Translation: X:118.00, Y:-36.88, Z:-5.96 [[ 8.23703459e-01 5.64155161e-01 5.69347472e-02 1.17997226e+02] [-5.62910149e-01 8.25667951e-01 -3.74779787e-02 -3.68838197e+01] [-6.81525912e-02 -1.17840638e-03 9.97674213e-01 -5.95508095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82863999999998 meters 0.029764903359845517 Centerline is valid? [True, True] Translation: X:118.05, Y:-36.91, Z:-5.96 [[ 8.24016514e-01 5.63617736e-01 5.77220339e-02 1.18053437e+02] [-5.62333897e-01 8.26034988e-01 -3.80366381e-02 -3.69124703e+01] [-6.91185434e-02 -1.11623837e-03 9.97607829e-01 -5.95886235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88863999999998 meters 0.029612661571737774 Centerline is valid? [True, True] Translation: X:118.11, Y:-36.94, Z:-5.96 [[ 8.25291991e-01 5.61590331e-01 5.92404401e-02 1.18108070e+02] [-5.60229504e-01 8.27414907e-01 -3.90829186e-02 -3.69436205e+01] [-7.09650124e-02 -9.33422702e-04 9.97478369e-01 -5.96098704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94863999999998 meters 0.02931193785723264 Centerline is valid? [True, True] Translation: X:118.16, Y:-36.98, Z:-5.97 [[ 8.28614428e-01 5.56688630e-01 5.91261304e-02 1.18160434e+02] [-5.55317486e-01 8.30721098e-01 -3.90505768e-02 -3.69773624e+01] [-7.08563360e-02 -4.75902772e-04 9.97486418e-01 -5.96522180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00863999999999 meters 0.029201607347653147 Centerline is valid? [True, True] Translation: X:118.21, Y:-37.01, Z:-5.97 [[ 8.29426376e-01 5.55459194e-01 5.93040580e-02 1.18213307e+02] [-5.54073669e-01 8.31543727e-01 -3.92096879e-02 -3.70113433e+01] [-7.10932991e-02 -3.37267709e-04 9.97469613e-01 -5.96935137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06863999999999 meters 0.029245332343788382 Centerline is valid? [True, True] Translation: X:118.26, Y:-37.05, Z:-5.97 [[ 8.28897795e-01 5.56229201e-01 5.94770727e-02 1.18263433e+02] [-5.54834311e-01 8.31028845e-01 -3.93693484e-02 -3.70490316e+01] [-7.13255442e-02 -3.66754588e-04 9.97453023e-01 -5.97277526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12863999999998 meters 0.02926441792884795 Centerline is valid? [True, True] Translation: X:118.31, Y:-37.09, Z:-5.98 [[ 8.28108693e-01 5.57228887e-01 6.10897719e-02 1.18313909e+02] [-5.55756638e-01 8.30358829e-01 -4.04817820e-02 -3.70858168e+01] [-7.32840498e-02 -4.27730649e-04 9.97311017e-01 -5.97515331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18863999999998 meters 0.029434580985249103 Centerline is valid? [True, True] Translation: X:118.36, Y:-37.13, Z:-5.98 [[ 8.27996336e-01 5.57308035e-01 6.18855522e-02 1.18363229e+02] [-5.55794119e-01 8.30305722e-01 -4.10524747e-02 -3.71254168e+01] [-7.42628021e-02 -4.04327391e-04 9.97238624e-01 -5.97841403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24863999999998 meters 0.029334432070454948 Centerline is valid? [True, True] Translation: X:118.41, Y:-37.16, Z:-5.98 [[ 8.26581227e-01 5.59260943e-01 6.31717775e-02 1.18413683e+02] [-5.57685534e-01 8.28991491e-01 -4.19518055e-02 -3.71619711e+01] [-7.58308723e-02 -5.53411648e-04 9.97120541e-01 -5.98168063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30863999999998 meters 0.02966348648554772 Centerline is valid? [True, True] Translation: X:118.47, Y:-37.20, Z:-5.98 [[ 8.23290481e-01 5.63866056e-01 6.51755711e-02 1.18465997e+02] [-5.62199895e-01 8.25865683e-01 -4.33260990e-02 -3.71961839e+01] [-7.82563841e-02 -9.71734349e-04 9.96932793e-01 -5.98461912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36863999999998 meters 0.029926686473980744 Centerline is valid? [True, True] Translation: X:118.52, Y:-37.23, Z:-5.99 [[ 8.20490943e-01 5.67874144e-01 6.56777676e-02 1.18519302e+02] [-5.66191527e-01 8.23114325e-01 -4.37031242e-02 -3.72279224e+01] [-7.88781856e-02 -1.32817790e-03 9.96883377e-01 -5.98743616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42863999999999 meters 0.029986576243552724 Centerline is valid? [True, True] Translation: X:118.57, Y:-37.26, Z:-5.99 [[ 8.19108975e-01 5.69766885e-01 6.65295725e-02 1.18572368e+02] [-5.68042970e-01 8.21805005e-01 -4.43138662e-02 -3.72606665e+01] [-7.99229091e-02 -1.49377041e-03 9.96799928e-01 -5.99039871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48863999999998 meters 0.02977714894440821 Centerline is valid? [True, True] Translation: X:118.63, Y:-37.29, Z:-5.99 [[ 8.18711205e-01 5.70415734e-01 6.58623774e-02 1.18628884e+02] [-5.68724961e-01 8.21354748e-01 -4.39123690e-02 -3.72873238e+01] [-7.91446826e-02 -1.50602943e-03 9.96862002e-01 -5.99442158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54863999999998 meters 0.0297880697545505 Centerline is valid? [True, True] Translation: X:118.68, Y:-37.32, Z:-6.00 [[ 8.18561706e-01 5.70664537e-01 6.55646165e-02 1.18682595e+02] [-5.68986243e-01 8.21181940e-01 -4.37592972e-02 -3.73205055e+01] [-7.88123581e-02 -1.48567981e-03 9.96888361e-01 -5.99783262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60863999999998 meters 0.02981040214638721 Centerline is valid? [True, True] Translation: X:118.74, Y:-37.35, Z:-6.00 [[ 8.18297711e-01 5.70739941e-01 6.81525969e-02 1.18735650e+02] [-5.68922486e-01 8.21129488e-01 -4.55364609e-02 -3.73524049e+01] [-8.19515840e-02 -1.51116311e-03 9.96635166e-01 -6.00169764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66863999999998 meters 0.029833275449206297 Centerline is valid? [True, True] Translation: X:118.79, Y:-37.38, Z:-6.01 [[ 8.18729870e-01 5.70002171e-01 6.91297675e-02 1.18790310e+02] [-5.68125437e-01 8.21641963e-01 -4.62382163e-02 -3.73836141e+01] [-8.31558015e-02 -1.41777052e-03 9.96535550e-01 -6.00517872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72863999999998 meters 0.029649613745927148 Centerline is valid? [True, True] Translation: X:118.84, Y:-37.42, Z:-6.01 [[ 8.18641766e-01 5.70265559e-01 6.79915602e-02 1.18844083e+02] [-5.68447165e-01 8.21459242e-01 -4.55250971e-02 -3.74153318e+01] [-8.18136904e-02 -1.38086378e-03 9.96646684e-01 -6.00786762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78863999999999 meters 0.02899593072512704 Centerline is valid? [True, True] Translation: X:118.90, Y:-37.45, Z:-6.01 [[ 8.19911293e-01 5.68724322e-01 6.55600247e-02 1.18898299e+02] [-5.67025594e-01 8.22527402e-01 -4.39391359e-02 -3.74455505e+01] [-7.89141721e-02 -1.14801820e-03 9.96880753e-01 -6.01101389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84863999999997 meters 0.028787827579367042 Centerline is valid? [True, True] Translation: X:118.95, Y:-37.47, Z:-6.02 [[ 8.20481403e-01 5.68069771e-01 6.40859022e-02 1.18953710e+02] [-5.66441461e-01 8.22979758e-01 -4.29929008e-02 -3.74740546e+01] [-7.71643676e-02 -1.02603649e-03 9.97017857e-01 -6.01557273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90863999999998 meters 0.028857473696042607 Centerline is valid? [True, True] Translation: X:119.01, Y:-37.50, Z:-6.02 [[ 8.22537010e-01 5.64965118e-01 6.51711810e-02 1.19011144e+02] [-5.63268663e-01 8.25114476e-01 -4.37551609e-02 -3.75019565e+01] [-7.84938245e-02 -7.18644752e-04 9.96914341e-01 -6.01864349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96863999999998 meters 0.02858670949162719 Centerline is valid? [True, True] Translation: X:119.07, Y:-37.53, Z:-6.02 [[ 8.26752691e-01 5.58961341e-01 6.35783463e-02 1.19067543e+02] [-5.57327902e-01 8.29193706e-01 -4.27013852e-02 -3.75292060e+01] [-7.65871882e-02 -1.30501160e-04 9.97062879e-01 -6.02326919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02863999999998 meters 0.028966355627183984 Centerline is valid? [True, True] Translation: X:119.12, Y:-37.56, Z:-6.03 [[ 8.32432606e-01 5.50382503e-01 6.43044098e-02 1.19124065e+02] [-5.48684802e-01 8.34912354e-01 -4.32012588e-02 -3.75571656e+01] [-7.74657631e-02 6.79284060e-04 9.96994781e-01 -6.02665008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08863999999998 meters 0.02934953953438094 Centerline is valid? [True, True] Translation: X:119.18, Y:-37.59, Z:-6.03 [[ 8.35267559e-01 5.45993500e-01 6.49553937e-02 1.19176260e+02] [-5.44246954e-01 8.37788678e-01 -4.36507051e-02 -3.75905487e+01] [-7.82518947e-02 1.10824274e-03 9.96933003e-01 -6.02904781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14863999999999 meters 0.0294485641614265 Centerline is valid? [True, True] Translation: X:119.23, Y:-37.62, Z:-6.03 [[ 8.35812379e-01 5.45294498e-01 6.38089196e-02 1.19227621e+02] [-5.43606239e-01 8.38243735e-01 -4.28916984e-02 -3.76249152e+01] [-7.68760342e-02 1.16248569e-03 9.97039981e-01 -6.03172192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20863999999997 meters 0.02919426104824464 Centerline is valid? [True, True] Translation: X:119.28, Y:-37.66, Z:-6.03 [[ 8.34934794e-01 5.46661739e-01 6.35989949e-02 1.19276189e+02] [-5.44987663e-01 8.37352886e-01 -4.27620331e-02 -3.76644994e+01] [-7.66311693e-02 1.04284172e-03 9.97058963e-01 -6.03389374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26863999999998 meters 0.02871917327242326 Centerline is valid? [True, True] Translation: X:119.33, Y:-37.70, Z:-6.04 [[ 8.34216196e-01 5.47839758e-01 6.28882939e-02 1.19326739e+02] [-5.46205428e-01 8.36582768e-01 -4.22954245e-02 -3.77014954e+01] [-7.57823781e-02 9.33600619e-04 9.97123944e-01 -6.03593333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32863999999998 meters 0.029053953787816444 Centerline is valid? [True, True] Translation: X:119.38, Y:-37.74, Z:-6.04 [[ 8.34597586e-01 5.47151743e-01 6.38109703e-02 1.19375573e+02] [-5.45466118e-01 8.37032812e-01 -4.29276750e-02 -3.77405837e+01] [-7.68998281e-02 1.02061165e-03 9.97038302e-01 -6.04072844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38863999999998 meters 0.028767605781844847 Centerline is valid? [True, True] Translation: X:119.42, Y:-37.78, Z:-6.04 [[ 8.33873951e-01 5.48511433e-01 6.15584394e-02 1.19424475e+02] [-5.46945024e-01 8.36142591e-01 -4.14331932e-02 -3.77795975e+01] [-7.41982132e-02 8.80978419e-04 9.97243124e-01 -6.04253928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44863999999998 meters 0.028415912281527882 Centerline is valid? [True, True] Translation: X:119.47, Y:-37.82, Z:-6.04 [[ 8.31116115e-01 5.52654925e-01 6.17943102e-02 1.19474285e+02] [-5.51085683e-01 8.33410010e-01 -4.16212083e-02 -3.78164325e+01] [-7.45021624e-02 5.38097239e-04 9.97220707e-01 -6.04477562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50863999999999 meters 0.0283211402512054 Centerline is valid? [True, True] Translation: X:119.52, Y:-37.85, Z:-6.05 [[ 8.26783718e-01 5.58986832e-01 6.29476331e-02 1.19523553e+02] [-5.57375710e-01 8.29176532e-01 -4.24098740e-02 -3.78541256e+01] [-7.59012613e-02 -2.16883969e-05 9.97115338e-01 -6.04804897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56863999999999 meters 0.028193122688594346 Centerline is valid? [True, True] Translation: X:119.58, Y:-37.89, Z:-6.05 [[ 8.23512781e-01 5.63729732e-01 6.35254938e-02 1.19576015e+02] [-5.62101965e-01 8.25959191e-01 -4.28111679e-02 -3.78882470e+01] [-7.66033936e-02 -4.52261021e-04 9.97061540e-01 -6.04963972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62863999999998 meters 0.028468497364652335 Centerline is valid? [True, True] Translation: X:119.63, Y:-37.92, Z:-6.05 [[ 8.21417447e-01 5.66783470e-01 6.34813066e-02 1.19630008e+02] [-5.65166136e-01 8.23866476e-01 -4.27933240e-02 -3.79196959e+01] [-7.65546690e-02 -7.26301808e-04 9.97065121e-01 -6.05353637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68863999999998 meters 0.02863862587403372 Centerline is valid? [True, True] Translation: X:119.69, Y:-37.95, Z:-6.06 [[ 8.21297727e-01 5.66966858e-01 6.33926276e-02 1.19686829e+02] [-5.65353493e-01 8.23740279e-01 -4.27478667e-02 -3.79486669e+01] [-7.64556844e-02 -7.30517660e-04 9.97072713e-01 -6.05663160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74863999999998 meters 0.028407464528560168 Centerline is valid? [True, True] Translation: X:119.74, Y:-37.97, Z:-6.06 [[ 8.23154335e-01 5.64248947e-01 6.35615102e-02 1.19744340e+02] [-5.62617635e-01 8.25604571e-01 -4.28776011e-02 -3.79744930e+01] [-7.66703147e-02 -4.65943284e-04 9.97056390e-01 -6.05967915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80863999999998 meters 0.0282126445583203 Centerline is valid? [True, True] Translation: X:119.80, Y:-38.00, Z:-6.06 [[ 8.25921528e-01 5.60461215e-01 6.11298282e-02 1.19798732e+02] [-5.58941274e-01 8.28180666e-01 -4.12484677e-02 -3.80045586e+01] [-7.37447082e-02 -9.99865635e-05 9.97277147e-01 -6.06252972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86863999999998 meters 0.02830354712954049 Centerline is valid? [True, True] Translation: X:119.85, Y:-38.03, Z:-6.07 [[ 8.30131107e-01 5.54094756e-01 6.21397267e-02 1.19854536e+02] [-5.52505474e-01 8.32453463e-01 -4.19396393e-02 -3.80320343e+01] [-7.49669648e-02 4.82860095e-04 9.97185901e-01 -6.06521372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92863999999999 meters 0.028463773800108123 Centerline is valid? [True, True] Translation: X:119.91, Y:-38.06, Z:-6.07 [[ 8.32236892e-01 5.50995037e-01 6.15323125e-02 1.19907938e+02] [-5.49427812e-01 8.34508174e-01 -4.15353748e-02 -3.80629286e+01] [-7.42350031e-02 7.59707371e-04 9.97240486e-01 -6.06905470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98863999999998 meters 0.02898424203144484 Centerline is valid? [True, True] Translation: X:119.96, Y:-38.10, Z:-6.07 [[ 8.34625100e-01 5.47421647e-01 6.10776716e-02 1.19959115e+02] [-5.45867536e-01 8.36856251e-01 -4.12340573e-02 -3.80967897e+01] [-7.36856468e-02 1.07466107e-03 9.97280939e-01 -6.07296310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04863999999998 meters 0.029574057224477805 Centerline is valid? [True, True] Translation: X:120.01, Y:-38.13, Z:-6.07 [[ 8.37863214e-01 5.42546317e-01 6.02389293e-02 1.20010664e+02] [-5.41021839e-01 8.40024575e-01 -4.06704233e-02 -3.81277699e+01] [-7.26677694e-02 1.48567523e-03 9.97355096e-01 -6.07367941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10863999999998 meters 0.029866458054078445 Centerline is valid? [True, True] Translation: X:120.06, Y:-38.16, Z:-6.08 [[ 8.39472170e-01 5.40006808e-01 6.06557676e-02 1.20060818e+02] [-5.38454632e-01 8.41658899e-01 -4.09500537e-02 -3.81617393e+01] [-7.31647744e-02 1.71605139e-03 9.97318390e-01 -6.07662642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16863999999998 meters 0.03005261091207694 Centerline is valid? [True, True] Translation: X:120.11, Y:-38.20, Z:-6.08 [[ 8.40881307e-01 5.37813827e-01 6.06210754e-02 1.20111368e+02] [-5.36257596e-01 8.43061474e-01 -4.09284928e-02 -3.81961787e+01] [-7.31192025e-02 1.90749233e-03 9.97321384e-01 -6.08140002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22863999999998 meters 0.030601486052439324 Centerline is valid? [True, True] Translation: X:120.16, Y:-38.23, Z:-6.08 [[ 8.42635801e-01 5.34859749e-01 6.23695049e-02 1.20160762e+02] [-5.33203654e-01 8.44937904e-01 -4.21165327e-02 -3.82337883e+01] [-7.52247968e-02 2.23325046e-03 9.97164100e-01 -6.08413553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28863999999999 meters 0.030888493358699254 Centerline is valid? [True, True] Translation: X:120.21, Y:-38.27, Z:-6.09 [[ 8.43984497e-01 5.32714133e-01 6.24965604e-02 1.20208732e+02] [-5.31044572e-01 8.46291737e-01 -4.22132507e-02 -3.82739139e+01] [-7.53779179e-02 2.43887001e-03 9.97152055e-01 -6.08668167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34863999999997 meters 0.030503479947140758 Centerline is valid? [True, True] Translation: X:120.26, Y:-38.31, Z:-6.09 [[ 8.42642632e-01 5.34946405e-01 6.15283614e-02 1.20258156e+02] [-5.33333315e-01 8.44883093e-01 -4.15708312e-02 -3.83126569e+01] [-7.42224390e-02 2.21422965e-03 9.97239253e-01 -6.09065364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40863999999998 meters 0.029432884251626594 Centerline is valid? [True, True] Translation: X:120.31, Y:-38.35, Z:-6.09 [[ 8.38988360e-01 5.40461373e-01 6.32458355e-02 1.20307009e+02] [-5.38771320e-01 8.41366929e-01 -4.27452487e-02 -3.83519741e+01] [-7.63151102e-02 1.78772382e-03 9.97082147e-01 -6.09462956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46863999999998 meters 0.028517066923601477 Centerline is valid? [True, True] Translation: X:120.36, Y:-38.39, Z:-6.10 [[ 8.36255039e-01 5.44767793e-01 6.24944947e-02 1.20357416e+02] [-5.43128718e-01 8.38585786e-01 -4.22501438e-02 -3.83880571e+01] [-7.54235126e-02 1.38934082e-03 9.97150622e-01 -6.09582534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52863999999998 meters 0.028644197078460637 Centerline is valid? [True, True] Translation: X:120.41, Y:-38.42, Z:-6.10 [[ 8.35107962e-01 5.46452421e-01 6.31224544e-02 1.20410229e+02] [-5.44784112e-01 8.37489203e-01 -4.26861295e-02 -3.84204761e+01] [-7.61903128e-02 1.25941634e-03 9.97092498e-01 -6.10057487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58863999999998 meters 0.02885763475995874 Centerline is valid? [True, True] Translation: X:120.46, Y:-38.45, Z:-6.10 [[ 8.35653606e-01 5.45490992e-01 6.42076954e-02 1.20463320e+02] [-5.43760982e-01 8.38115548e-01 -4.34318049e-02 -3.84536230e+01] [-7.75051262e-02 1.38030482e-03 9.96990998e-01 -6.10331306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64863999999999 meters 0.02961771046561612 Centerline is valid? [True, True] Translation: X:120.52, Y:-38.49, Z:-6.11 [[ 8.39419139e-01 5.39671266e-01 6.42684499e-02 1.20515866e+02] [-5.37920061e-01 8.41873625e-01 -4.34834111e-02 -3.84860862e+01] [-7.75726604e-02 1.92951905e-03 9.96984834e-01 -6.10575403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70863999999997 meters 0.030658455521921004 Centerline is valid? [True, True] Translation: X:120.57, Y:-38.52, Z:-6.11 [[ 8.43000523e-01 5.34367362e-01 6.16574430e-02 1.20567399e+02] [-5.32740879e-01 8.45249138e-01 -4.17259056e-02 -3.85210661e+01] [-7.44128627e-02 2.32751984e-03 9.97224803e-01 -6.10911199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76863999999998 meters 0.03197216876091844 Centerline is valid? [True, True] Translation: X:120.62, Y:-38.56, Z:-6.11 [[ 8.46205607e-01 5.29371562e-01 6.08425884e-02 1.20618241e+02] [-5.27774144e-01 8.48385668e-01 -4.11850847e-02 -3.85569248e+01] [-7.34201927e-02 2.73990462e-03 9.97297332e-01 -6.11236668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82863999999998 meters 0.03319782507075804 Centerline is valid? [True, True] Translation: X:120.66, Y:-38.60, Z:-6.12 [[ 8.48598511e-01 5.25369621e-01 6.21878514e-02 1.20663807e+02] [-5.23689257e-01 8.50868237e-01 -4.21046906e-02 -3.85987494e+01] [-7.50341929e-02 3.16286806e-03 9.97175945e-01 -6.11523507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88863999999998 meters 0.03299689401284622 Centerline is valid? [True, True] Translation: X:120.71, Y:-38.64, Z:-6.12 [[ 8.49137439e-01 5.24739486e-01 6.01172341e-02 1.20707536e+02] [-5.23167253e-01 8.51257163e-01 -4.07095425e-02 -3.86445676e+01] [-7.25371306e-02 3.11662838e-03 9.97360843e-01 -6.11852543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94863999999998 meters 0.03239485511753781 Centerline is valid? [True, True] Translation: X:120.75, Y:-38.69, Z:-6.12 [[ 8.48280808e-01 5.26104750e-01 6.02782175e-02 1.20753778e+02] [-5.24526105e-01 8.50414396e-01 -4.08377226e-02 -3.86869390e+01] [-7.27463838e-02 3.02435765e-03 9.97345886e-01 -6.12162784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00863999999999 meters 0.03165736475414085 Centerline is valid? [True, True] Translation: X:120.80, Y:-38.73, Z:-6.12 [[ 8.46078506e-01 5.29657113e-01 6.01207505e-02 1.20797504e+02] [-5.28093717e-01 8.48207442e-01 -4.07573425e-02 -3.87327315e+01] [-7.25822843e-02 2.73452088e-03 9.97358679e-01 -6.12473875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06863999999997 meters 0.030427860571849666 Centerline is valid? [True, True] Translation: X:120.84, Y:-38.78, Z:-6.13 [[ 8.44247369e-01 5.32463863e-01 6.10623872e-02 1.20839086e+02] [-5.30857599e-01 8.46448922e-01 -4.14057036e-02 -3.87822886e+01] [-7.37332327e-02 2.54122399e-03 9.97274763e-01 -6.12717149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12863999999998 meters 0.030415584080868027 Centerline is valid? [True, True] Translation: X:120.89, Y:-38.82, Z:-6.13 [[ 8.43188082e-01 5.34132695e-01 6.11238229e-02 1.20885254e+02] [-5.32525909e-01 8.45397199e-01 -4.14696664e-02 -3.88241954e+01] [-7.38242133e-02 2.41670909e-03 9.97268342e-01 -6.13170157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18863999999998 meters 0.02993628366866171 Centerline is valid? [True, True] Translation: X:120.93, Y:-38.87, Z:-6.13 [[ 8.41683309e-01 5.36470080e-01 6.13926675e-02 1.20927000e+02] [-5.34852426e-01 8.43916329e-01 -4.16906579e-02 -3.88729254e+01] [-7.41760652e-02 2.25431374e-03 9.97242613e-01 -6.13446217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24863999999998 meters 0.028838154289588542 Centerline is valid? [True, True] Translation: X:120.97, Y:-38.92, Z:-6.14 [[ 8.38691858e-01 5.41200072e-01 6.08148701e-02 1.20970609e+02] [-5.39623199e-01 8.40891843e-01 -4.13244783e-02 -3.89174790e+01] [-7.35035388e-02 1.84138872e-03 9.97293256e-01 -6.13666906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30863999999998 meters 0.028168645999736532 Centerline is valid? [True, True] Translation: X:121.01, Y:-38.96, Z:-6.14 [[ 8.36225047e-01 5.45089112e-01 6.00460713e-02 1.21014869e+02] [-5.43561284e-01 8.38376792e-01 -4.08103507e-02 -3.89636242e+01] [-7.25865105e-02 1.48791777e-03 9.97361010e-01 -6.13837764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36863999999998 meters 0.02768368434950427 Centerline is valid? [True, True] Translation: X:121.06, Y:-39.01, Z:-6.14 [[ 8.33880057e-01 5.48610773e-01 6.05827570e-02 1.21061631e+02] [-5.47063050e-01 8.36077001e-01 -4.11979104e-02 -3.90053928e+01] [-7.32534673e-02 1.21152807e-03 9.97312620e-01 -6.14186449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42863999999999 meters 0.02704401661253487 Centerline is valid? [True, True] Translation: X:121.11, Y:-39.05, Z:-6.14 [[ 8.29685507e-01 5.54877230e-01 6.11000821e-02 1.21107497e+02] [-5.53316842e-01 8.31931951e-01 -4.15896701e-02 -3.90487372e+01] [-7.39082714e-02 6.98641995e-04 9.97264799e-01 -6.14441370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48863999999998 meters 0.02672414399523444 Centerline is valid? [True, True] Translation: X:121.16, Y:-39.09, Z:-6.15 [[ 8.22798762e-01 5.64929420e-01 6.21043343e-02 1.21156675e+02] [-5.63342300e-01 8.25139214e-01 -4.23170161e-02 -3.90891928e+01] [-7.51508489e-02 -1.67610119e-04 9.97172163e-01 -6.14605692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54863999999998 meters 0.026785244437031053 Centerline is valid? [True, True] Translation: X:121.21, Y:-39.13, Z:-6.15 [[ 8.16786195e-01 5.73715819e-01 6.09136359e-02 1.21206735e+02] [-5.72209991e-01 8.19053915e-01 -4.15500956e-02 -3.91255760e+01] [-7.37294992e-02 -9.17846531e-04 9.97277854e-01 -6.14752355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60863999999998 meters 0.02726739811774037 Centerline is valid? [True, True] Translation: X:121.26, Y:-39.16, Z:-6.15 [[ 8.12660747e-01 5.79736275e-01 5.90623481e-02 1.21260873e+02] [-5.78333661e-01 8.14803001e-01 -4.03267375e-02 -3.91568156e+01] [-7.15030511e-02 -1.38578739e-03 9.97439418e-01 -6.15012785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66863999999998 meters 0.027558403171878784 Centerline is valid? [True, True] Translation: X:121.31, Y:-39.19, Z:-6.15 [[ 8.11105249e-01 5.81899952e-01 5.91668881e-02 1.21314940e+02] [-5.80495184e-01 8.13258910e-01 -4.04386755e-02 -3.91875146e+01] [-7.16492623e-02 -1.54607155e-03 9.97428691e-01 -6.15393124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72863999999998 meters 0.027432086716995718 Centerline is valid? [True, True] Translation: X:121.37, Y:-39.22, Z:-6.16 [[ 8.11994274e-01 5.80567832e-01 6.00524088e-02 1.21371425e+02] [-5.79113826e-01 8.14210656e-01 -4.10875292e-02 -3.92159471e+01] [-7.27494089e-02 -1.41434176e-03 9.97349248e-01 -6.15640593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78863999999999 meters 0.0270464161607704 Centerline is valid? [True, True] Translation: X:121.43, Y:-39.24, Z:-6.16 [[ 8.16118354e-01 5.74809087e-01 5.95428084e-02 1.21427593e+02] [-5.73361074e-01 8.18287102e-01 -4.07835458e-02 -3.92437190e+01] [-7.21658649e-02 -8.55328234e-04 9.97392278e-01 -6.16118682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84863999999997 meters 0.026790263465510607 Centerline is valid? [True, True] Translation: X:121.48, Y:-39.28, Z:-6.16 [[ 8.18015531e-01 5.72042995e-01 6.01448440e-02 1.21480677e+02] [-5.70554980e-01 8.20223428e-01 -4.12376478e-02 -3.92767099e+01] [-7.29219177e-02 -5.82903868e-04 9.97337483e-01 -6.16437013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90863999999998 meters 0.026599743174449717 Centerline is valid? [True, True] Translation: X:121.54, Y:-39.31, Z:-6.17 [[ 8.23403076e-01 5.64220079e-01 6.05233637e-02 1.21536289e+02] [-5.62688790e-01 8.25624419e-01 -4.15408845e-02 -3.93065810e+01] [-7.34077681e-02 1.49073794e-04 9.97301999e-01 -6.16736181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96863999999998 meters 0.0268712518720367 Centerline is valid? [True, True] Translation: X:121.59, Y:-39.34, Z:-6.17 [[ 8.27618084e-01 5.58063582e-01 6.01111147e-02 1.21588337e+02] [-5.56533520e-01 8.29797871e-01 -4.13029480e-02 -3.93410144e+01] [-7.29297461e-02 7.29216423e-04 9.97336814e-01 -6.17117279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02863999999998 meters 0.027099140489285044 Centerline is valid? [True, True] Translation: X:121.64, Y:-39.38, Z:-6.17 [[ 8.29726660e-01 5.54907639e-01 6.02592876e-02 1.21638862e+02] [-5.53358707e-01 8.31911308e-01 -4.14453553e-02 -3.93778261e+01] [-7.31287270e-02 1.04331480e-03 9.97321964e-01 -6.17336525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08863999999998 meters 0.027371528338704477 Centerline is valid? [True, True] Translation: X:121.69, Y:-39.42, Z:-6.18 [[ 8.32032874e-01 5.51455855e-01 6.01476233e-02 1.21686873e+02] [-5.49900735e-01 8.34202938e-01 -4.14082139e-02 -3.94180243e+01] [-7.30101260e-02 1.37777297e-03 9.97330248e-01 -6.17598068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14863999999999 meters 0.027354054840510206 Centerline is valid? [True, True] Translation: X:121.73, Y:-39.46, Z:-6.18 [[ 8.32031111e-01 5.51458626e-01 6.01466044e-02 1.21732247e+02] [-5.49900545e-01 8.34201049e-01 -4.14487684e-02 -3.94628413e+01] [-7.30316414e-02 1.41201428e-03 9.97328625e-01 -6.17791326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20863999999997 meters 0.027063410240155128 Centerline is valid? [True, True] Translation: X:121.78, Y:-39.50, Z:-6.18 [[ 8.30180446e-01 5.54147248e-01 6.10020769e-02 1.21779153e+02] [-5.52548412e-01 8.32417753e-01 -4.20825075e-02 -3.95041611e+01] [-7.40991176e-02 1.22947418e-03 9.97250124e-01 -6.18095688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26863999999998 meters 0.0264905821813207 Centerline is valid? [True, True] Translation: X:121.82, Y:-39.55, Z:-6.18 [[ 8.25938109e-01 5.60579115e-01 5.98104996e-02 1.21823516e+02] [-5.59056107e-01 8.28100599e-01 -4.12997294e-02 -3.95485613e+01] [-7.26808763e-02 6.73595312e-04 9.97355020e-01 -6.18496029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32863999999998 meters 0.026290188407910083 Centerline is valid? [True, True] Translation: X:121.87, Y:-39.59, Z:-6.19 [[ 8.21905808e-01 5.66493070e-01 5.96359406e-02 1.21869115e+02] [-5.64991538e-01 8.24066483e-01 -4.12188524e-02 -3.95916263e+01] [-7.24941741e-02 1.84212322e-04 9.97368819e-01 -6.18726057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38863999999998 meters 0.026252910884511545 Centerline is valid? [True, True] Translation: X:121.92, Y:-39.63, Z:-6.19 [[ 8.18649768e-01 5.71369563e-01 5.78738225e-02 1.21917324e+02] [-5.69964975e-01 8.20692866e-01 -4.00393330e-02 -3.96314450e+01] [-7.03738894e-02 -2.07861047e-04 9.97520663e-01 -6.19030621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44863999999998 meters 0.02665355745799719 Centerline is valid? [True, True] Translation: X:121.97, Y:-39.67, Z:-6.19 [[ 8.14550071e-01 5.77111217e-01 5.87437229e-02 1.21969114e+02] [-5.75675972e-01 8.16665280e-01 -4.06816378e-02 -3.96663189e+01] [-7.14517884e-02 -6.80118817e-04 9.97443823e-01 -6.19212822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50863999999999 meters 0.026908405407871774 Centerline is valid? [True, True] Translation: X:122.02, Y:-39.70, Z:-6.20 [[ 8.12694817e-01 5.79617616e-01 5.97541161e-02 1.22020314e+02] [-5.78136236e-01 8.14888116e-01 -4.14228356e-02 -3.97018605e+01] [-7.27023243e-02 -8.81896015e-04 9.97353295e-01 -6.19644253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56863999999997 meters 0.026813406986806843 Centerline is valid? [True, True] Translation: X:122.07, Y:-39.73, Z:-6.20 [[ 8.13005380e-01 5.79373530e-01 5.78667914e-02 1.22074055e+02] [-5.77980976e-01 8.15061759e-01 -4.01537083e-02 -3.97330617e+01] [-7.04290045e-02 -8.00723675e-04 9.97516473e-01 -6.19992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62863999999998 meters 0.02680242409954907 Centerline is valid? [True, True] Translation: X:122.13, Y:-39.77, Z:-6.20 [[ 8.14218000e-01 5.77462813e-01 5.98811215e-02 1.22127580e+02] [-5.75963219e-01 8.16416752e-01 -4.15939657e-02 -3.97656554e+01] [-7.29069191e-02 -6.22767910e-04 9.97338555e-01 -6.20262732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68863999999998 meters 0.026928099959262937 Centerline is valid? [True, True] Translation: X:122.18, Y:-39.80, Z:-6.21 [[ 8.15829896e-01 5.75196294e-01 5.97562116e-02 1.22180628e+02] [-5.73693836e-01 8.18015327e-01 -4.15488523e-02 -3.97985050e+01] [-7.27802428e-02 -3.84974412e-04 9.97347927e-01 -6.20707664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74863999999998 meters 0.026957184683860266 Centerline is valid? [True, True] Translation: X:122.23, Y:-39.83, Z:-6.21 [[ 8.17637637e-01 5.72712006e-01 5.89037612e-02 1.22232686e+02] [-5.71243415e-01 8.19756635e-01 -4.09880561e-02 -3.98332005e+01] [-7.17611008e-02 -1.35008344e-04 9.97421840e-01 -6.21079519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80863999999998 meters 0.027032060288708182 Centerline is valid? [True, True] Translation: X:122.28, Y:-39.87, Z:-6.22 [[ 8.19105884e-01 5.70544914e-01 5.95319446e-02 1.22283771e+02] [-5.69037167e-01 8.21266397e-01 -4.14512727e-02 -3.98705040e+01] [-7.25413985e-02 7.70922314e-05 9.97365399e-01 -6.21531895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86863999999998 meters 0.027351770420455015 Centerline is valid? [True, True] Translation: X:122.33, Y:-39.91, Z:-6.22 [[ 8.21444474e-01 5.66976644e-01 6.13715021e-02 1.22333089e+02] [-5.65360611e-01 8.23733748e-01 -4.27795703e-02 -3.99075337e+01] [-7.48087946e-02 4.44011713e-04 9.97197797e-01 -6.22008971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92863999999999 meters 0.027390177140656356 Centerline is valid? [True, True] Translation: X:122.38, Y:-39.94, Z:-6.22 [[ 8.22240526e-01 5.65786311e-01 6.16957748e-02 1.22383222e+02] [-5.64146594e-01 8.24551698e-01 -4.30478578e-02 -3.99436696e+01] [-7.52272445e-02 5.90231999e-04 9.97166242e-01 -6.22308119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98863999999998 meters 0.027343271665700497 Centerline is valid? [True, True] Translation: X:122.43, Y:-39.98, Z:-6.23 [[ 8.21864566e-01 5.66406723e-01 6.10086853e-02 1.22432986e+02] [-5.64802009e-01 8.24125663e-01 -4.26096432e-02 -3.99812128e+01] [-7.44132116e-02 5.61527887e-04 9.97227335e-01 -6.22558437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04864 meters 0.02774974962176062 Centerline is valid? [True, True] Translation: X:122.48, Y:-40.02, Z:-6.23 [[ 8.21018054e-01 5.67537868e-01 6.18879881e-02 1.22484609e+02] [-5.65886307e-01 8.23347141e-01 -4.32686120e-02 -4.00168043e+01] [-7.55118739e-02 5.02746590e-04 9.97144776e-01 -6.23085984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10864 meters 0.027986662408544145 Centerline is valid? [True, True] Translation: X:122.54, Y:-40.05, Z:-6.23 [[ 8.20668849e-01 5.67995623e-01 6.23186325e-02 1.22535334e+02] [-5.66318541e-01 8.23031419e-01 -4.36187217e-02 -4.00541051e+01] [-7.60654356e-02 5.04329094e-04 9.97102700e-01 -6.23417501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16863999999998 meters 0.028546909540158507 Centerline is valid? [True, True] Translation: X:122.59, Y:-40.09, Z:-6.24 [[ 8.21216864e-01 5.67115959e-01 6.31058748e-02 1.22587299e+02] [-5.65389937e-01 8.23637717e-01 -4.42168582e-02 -4.00877258e+01] [-7.70524646e-02 6.32203060e-04 9.97026839e-01 -6.23745830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22863999999998 meters 0.028740918456578165 Centerline is valid? [True, True] Translation: X:122.64, Y:-40.12, Z:-6.24 [[ 8.20375594e-01 5.68157479e-01 6.46603767e-02 1.22638663e+02] [-5.66344926e-01 8.22919642e-01 -4.53507138e-02 -4.01230037e+01] [-7.89766412e-02 5.84542530e-04 9.96876295e-01 -6.24134045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28864 meters 0.028942600392323863 Centerline is valid? [True, True] Translation: X:122.69, Y:-40.16, Z:-6.24 [[ 8.19418628e-01 5.69547086e-01 6.45695706e-02 1.22690731e+02] [-5.67740249e-01 8.21958562e-01 -4.53335653e-02 -4.01583013e+01] [-7.88931115e-02 4.88423839e-04 9.96882961e-01 -6.24476376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34864 meters 0.028959797451479218 Centerline is valid? [True, True] Translation: X:122.74, Y:-40.20, Z:-6.25 [[ 8.20006899e-01 5.68713197e-01 6.44514130e-02 1.22741350e+02] [-5.66906426e-01 8.22535670e-01 -4.53009467e-02 -4.01958112e+01] [-7.87768323e-02 6.09168662e-04 9.96892090e-01 -6.24780460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40864 meters 0.028942997015792706 Centerline is valid? [True, True] Translation: X:122.79, Y:-40.23, Z:-6.25 [[ 8.20913840e-01 5.67700744e-01 6.17764776e-02 1.22791152e+02] [-5.66034799e-01 8.23234691e-01 -4.34655098e-02 -4.02324208e+01] [-7.55319417e-02 7.13802404e-04 9.97143127e-01 -6.24917372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46864 meters 0.029080728374531687 Centerline is valid? [True, True] Translation: X:122.84, Y:-40.27, Z:-6.25 [[ 8.21377944e-01 5.66943189e-01 6.25595232e-02 1.22842052e+02] [-5.65229202e-01 8.23756477e-01 -4.40592293e-02 -4.02676854e+01] [-7.65128924e-02 8.28809767e-04 9.97068248e-01 -6.25314540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52864 meters 0.029518813804157537 Centerline is valid? [True, True] Translation: X:122.89, Y:-40.30, Z:-6.26 [[ 8.23481378e-01 5.63820209e-01 6.31283712e-02 1.22893228e+02] [-5.62062351e-01 8.25896733e-01 -4.45028014e-02 -4.03031607e+01] [-7.72290943e-02 1.16514752e-03 9.97012693e-01 -6.25575123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58864 meters 0.029967870475194853 Centerline is valid? [True, True] Translation: X:122.94, Y:-40.34, Z:-6.26 [[ 8.26725091e-01 5.59121492e-01 6.25202516e-02 1.22944080e+02] [-5.57380715e-01 8.29084145e-01 -4.41159748e-02 -4.03393592e+01] [-7.65007390e-02 1.62420070e-03 9.97068202e-01 -6.25914234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64864 meters 0.03062185902501697 Centerline is valid? [True, True] Translation: X:122.99, Y:-40.38, Z:-6.26 [[ 8.28168990e-01 5.56836410e-01 6.37913483e-02 1.22993777e+02] [-5.55013869e-01 8.30619991e-01 -4.50559209e-02 -4.03763019e+01] [-7.80751464e-02 1.90883343e-03 9.96945649e-01 -6.26345592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70864 meters 0.030650315022842968 Centerline is valid? [True, True] Translation: X:123.04, Y:-40.41, Z:-6.27 [[ 8.28914782e-01 5.56011663e-01 6.12479832e-02 1.23042705e+02] [-5.54326559e-01 8.31172225e-01 -4.32989305e-02 -4.04147067e+01] [-7.49823329e-02 1.93973972e-03 9.97182976e-01 -6.26525084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76864 meters 0.030677040906861346 Centerline is valid? [True, True] Translation: X:123.09, Y:-40.45, Z:-6.27 [[ 8.28713433e-01 5.56268575e-01 6.16386175e-02 1.23093680e+02] [-5.54559338e-01 8.31000249e-01 -4.36179725e-02 -4.04524848e+01] [-7.54850139e-02 1.96452886e-03 9.97145001e-01 -6.26731907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82864 meters 0.030648263265831692 Centerline is valid? [True, True] Translation: X:123.14, Y:-40.49, Z:-6.27 [[ 8.28104836e-01 5.57259270e-01 6.08644861e-02 1.23141556e+02] [-5.55592163e-01 8.30336405e-01 -4.31138333e-02 -4.04928384e+01] [-7.45635819e-02 1.88694239e-03 9.97214476e-01 -6.27020611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88863999999998 meters 0.030847104440285423 Centerline is valid? [True, True] Translation: X:123.19, Y:-40.53, Z:-6.27 [[ 8.27919355e-01 5.57443361e-01 6.16963594e-02 1.23187922e+02] [-5.55727693e-01 8.30212728e-01 -4.37442292e-02 -4.05347336e+01] [-7.56060330e-02 1.93031857e-03 9.97135899e-01 -6.27274329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94863999999998 meters 0.030296683836737993 Centerline is valid? [True, True] Translation: X:123.24, Y:-40.58, Z:-6.27 [[ 8.25733060e-01 5.60831414e-01 6.02746906e-02 1.23235505e+02] [-5.59200080e-01 8.27928448e-01 -4.27756490e-02 -4.05757631e+01] [-7.38930588e-02 1.61565580e-03 9.97264862e-01 -6.27310784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00863999999999 meters 0.02987440876108613 Centerline is valid? [True, True] Translation: X:123.28, Y:-40.61, Z:-6.27 [[ 8.23938964e-01 5.63556593e-01 5.94016063e-02 1.23284217e+02] [-5.61976425e-01 8.26076299e-01 -4.21953352e-02 -4.06149655e+01] [-7.28497184e-02 1.38407839e-03 9.97341969e-01 -6.27325944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06864 meters 0.029569533913790694 Centerline is valid? [True, True] Translation: X:123.33, Y:-40.65, Z:-6.28 [[ 8.20635232e-01 5.68299805e-01 5.99428745e-02 1.23331778e+02] [-5.66700241e-01 8.22820952e-01 -4.26206236e-02 -4.06545319e+01] [-7.35435452e-02 1.00634384e-03 9.97291499e-01 -6.27753947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12864 meters 0.029270623524683275 Centerline is valid? [True, True] Translation: X:123.38, Y:-40.69, Z:-6.28 [[ 8.18891048e-01 5.70857632e-01 5.94896235e-02 1.23381490e+02] [-5.69286622e-01 8.21048676e-01 -4.23298113e-02 -4.06927104e+01] [-7.30081724e-02 7.96856698e-04 9.97331024e-01 -6.27913872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18864 meters 0.028930047292049756 Centerline is valid? [True, True] Translation: X:123.43, Y:-40.73, Z:-6.28 [[ 8.15218680e-01 5.76294168e-01 5.74763838e-02 1.23434114e+02] [-5.74839681e-01 8.17242271e-01 -4.09195732e-02 -4.07256463e+01] [-7.05538418e-02 3.18694330e-04 9.97507922e-01 -6.28083395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24864 meters 0.028810500186757848 Centerline is valid? [True, True] Translation: X:123.49, Y:-40.76, Z:-6.28 [[ 8.13470845e-01 5.78852206e-01 5.65270593e-02 1.23485961e+02] [-5.77449403e-01 8.15432467e-01 -4.02750376e-02 -4.07607132e+01] [-6.94072938e-02 1.21052224e-04 9.97588399e-01 -6.28448029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30864 meters 0.028901337012106693 Centerline is valid? [True, True] Translation: X:123.54, Y:-40.79, Z:-6.29 [[ 8.12875552e-01 5.79470872e-01 5.87098429e-02 1.23541246e+02] [-5.77957343e-01 8.14992945e-01 -4.18546279e-02 -4.07898780e+01] [-7.21016455e-02 9.08189499e-05 9.97397285e-01 -6.28807387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36864 meters 0.02833945398632597 Centerline is valid? [True, True] Translation: X:123.60, Y:-40.82, Z:-6.29 [[ 8.15678294e-01 5.75613772e-01 5.77728911e-02 1.23596745e+02] [-5.74135516e-01 8.17721575e-01 -4.12290639e-02 -4.08208325e+01] [-7.09741565e-02 4.60183878e-04 9.97478049e-01 -6.29079905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42864 meters 0.028137436063102178 Centerline is valid? [True, True] Translation: X:123.65, Y:-40.85, Z:-6.29 [[ 8.17529177e-01 5.73033273e-01 5.72617872e-02 1.23650585e+02] [-5.71571913e-01 8.19531794e-01 -4.09045975e-02 -4.08529130e+01] [-7.03675506e-02 7.11472706e-04 9.97520878e-01 -6.29376051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48864 meters 0.02810274767593727 Centerline is valid? [True, True] Translation: X:123.70, Y:-40.89, Z:-6.30 [[ 8.17127359e-01 5.73364891e-01 5.96286992e-02 1.23702002e+02] [-5.71778375e-01 8.19299795e-01 -4.26302131e-02 -4.08883703e+01] [-7.32964485e-02 7.39912633e-04 9.97309923e-01 -6.29722515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54864 meters 0.02774392839556497 Centerline is valid? [True, True] Translation: X:123.75, Y:-40.92, Z:-6.30 [[ 8.15322270e-01 5.75903441e-01 5.98733876e-02 1.23754967e+02] [-5.74307427e-01 8.17517538e-01 -4.28492079e-02 -4.09230551e+01] [-7.36245507e-02 5.50182279e-04 9.97285878e-01 -6.29809489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60864 meters 0.02756344776007806 Centerline is valid? [True, True] Translation: X:123.81, Y:-40.96, Z:-6.30 [[ 8.14477585e-01 5.77153910e-01 5.93264578e-02 1.23805981e+02] [-5.75586992e-01 8.16635257e-01 -4.25026068e-02 -4.09581278e+01] [-7.29786228e-02 4.69883200e-04 9.97333395e-01 -6.30151035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66863999999998 meters 0.027516330864618195 Centerline is valid? [True, True] Translation: X:123.86, Y:-40.99, Z:-6.31 [[ 8.15140674e-01 5.76096417e-01 6.04863676e-02 1.23857505e+02] [-5.74461444e-01 8.17381518e-01 -4.33763070e-02 -4.09929424e+01] [-7.44293740e-02 6.10706010e-04 9.97226100e-01 -6.30547546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72863999999998 meters 0.02767089466546587 Centerline is valid? [True, True] Translation: X:123.91, Y:-41.03, Z:-6.31 [[ 8.15980316e-01 5.74916934e-01 6.03874430e-02 1.23908806e+02] [-5.73280796e-01 8.18211435e-01 -4.33494761e-02 -4.10301327e+01] [-7.43320442e-02 7.53357838e-04 9.97233262e-01 -6.30880093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78864 meters 0.027525454294526804 Centerline is valid? [True, True] Translation: X:123.96, Y:-41.06, Z:-6.31 [[ 8.16398309e-01 5.74282463e-01 6.07737881e-02 1.23960998e+02] [-5.72620066e-01 8.18656779e-01 -4.36730782e-02 -4.10645960e+01] [-7.48335565e-02 8.54336626e-04 9.97195672e-01 -6.31141426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84864 meters 0.027499079148618353 Centerline is valid? [True, True] Translation: X:124.01, Y:-41.10, Z:-6.31 [[ 8.15116499e-01 5.76047522e-01 6.12727056e-02 1.24012446e+02] [-5.74359240e-01 8.17415874e-01 -4.40766534e-02 -4.11008259e+01] [-7.54755292e-02 7.35062785e-04 9.97147383e-01 -6.31470014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90864 meters 0.02734789354786227 Centerline is valid? [True, True] Translation: X:124.06, Y:-41.14, Z:-6.32 [[ 8.13469331e-01 5.78205186e-01 6.28204604e-02 1.24064283e+02] [-5.76433067e-01 8.15891179e-01 -4.52382952e-02 -4.11353586e+01] [-7.74116764e-02 5.88175080e-04 9.96999040e-01 -6.31930745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96864 meters 0.0271854446310594 Centerline is valid? [True, True] Translation: X:124.12, Y:-41.17, Z:-6.32 [[ 8.12611914e-01 5.79441235e-01 6.25278496e-02 1.24117414e+02] [-5.77685729e-01 8.15013865e-01 -4.50732556e-02 -4.11693074e+01] [-7.70783672e-02 5.05618151e-04 9.97024909e-01 -6.32146069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02864 meters 0.02746004244351991 Centerline is valid? [True, True] Translation: X:124.17, Y:-41.20, Z:-6.32 [[ 8.13529255e-01 5.78234944e-01 6.17616407e-02 1.24170532e+02] [-5.76515052e-01 8.15870041e-01 -4.45698400e-02 -4.12028788e+01] [-7.61613113e-02 6.52353233e-04 9.97095296e-01 -6.32283531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08864 meters 0.027810906014740323 Centerline is valid? [True, True] Translation: X:124.22, Y:-41.24, Z:-6.33 [[ 8.16203182e-01 5.74465141e-01 6.16617180e-02 1.24221709e+02] [-5.72736494e-01 8.18528386e-01 -4.45442588e-02 -4.12382103e+01] [-7.60609904e-02 1.04124964e-03 9.97102623e-01 -6.32703673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14864 meters 0.027761423348579364 Centerline is valid? [True, True] Translation: X:124.27, Y:-41.27, Z:-6.33 [[ 8.17120734e-01 5.73138989e-01 6.18498660e-02 1.24272422e+02] [-5.71392712e-01 8.19457291e-01 -4.47226602e-02 -4.12747034e+01] [-7.63156239e-02 1.20325027e-03 9.97082984e-01 -6.32981035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20864 meters 0.027878173792300034 Centerline is valid? [True, True] Translation: X:124.32, Y:-41.31, Z:-6.33 [[ 8.16439422e-01 5.74114887e-01 6.17961645e-02 1.24322208e+02] [-5.72371021e-01 8.18773948e-01 -4.47284639e-02 -4.13137694e+01] [-7.62763666e-02 1.14774750e-03 9.97086054e-01 -6.33236391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26864 meters 0.028066138570969054 Centerline is valid? [True, True] Translation: X:124.37, Y:-41.35, Z:-6.34 [[ 8.15759872e-01 5.75117107e-01 6.14503457e-02 1.24369124e+02] [-5.73392061e-01 8.18070372e-01 -4.45242654e-02 -4.13542174e+01] [-7.58773739e-02 1.08596869e-03 9.97116565e-01 -6.33656032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32864 meters 0.02808779061933253 Centerline is valid? [True, True] Translation: X:124.42, Y:-41.39, Z:-6.34 [[ 8.15162404e-01 5.75947345e-01 6.16028477e-02 1.24419388e+02] [-5.74212646e-01 8.17486120e-01 -4.46797518e-02 -4.13927863e+01] [-7.60926573e-02 1.04811970e-03 9.97100200e-01 -6.33974497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38863999999998 meters 0.02815928548971511 Centerline is valid? [True, True] Translation: X:124.47, Y:-41.43, Z:-6.34 [[ 8.14213560e-01 5.77340037e-01 6.11126913e-02 1.24466565e+02] [-5.75633321e-01 8.16503266e-01 -4.43699935e-02 -4.14334164e+01] [-7.55152857e-02 9.48148905e-04 9.97144194e-01 -6.34240124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44863999999998 meters 0.027839530823595242 Centerline is valid? [True, True] Translation: X:124.51, Y:-41.47, Z:-6.34 [[ 8.12553565e-01 5.79831076e-01 5.96039178e-02 1.24513261e+02] [-5.78211377e-01 8.14736391e-01 -4.33153204e-02 -4.14745012e+01] [-7.36770497e-02 7.32354635e-04 9.97281884e-01 -6.34414934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50863999999999 meters 0.027914390529968375 Centerline is valid? [True, True] Translation: X:124.56, Y:-41.51, Z:-6.35 [[ 8.10900913e-01 5.81894727e-01 6.19534952e-02 1.24561302e+02] [-5.80147204e-01 8.13263895e-01 -4.50672623e-02 -4.15137822e+01] [-7.66089432e-02 6.02937158e-04 9.97061034e-01 -6.34725052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56864 meters 0.027821127387780278 Centerline is valid? [True, True] Translation: X:124.61, Y:-41.55, Z:-6.35 [[ 8.08522367e-01 5.85538953e-01 5.86149808e-02 1.24608780e+02] [-5.83982245e-01 8.10644227e-01 -4.26693706e-02 -4.15547778e+01] [-7.25004743e-02 2.69032423e-04 9.97368342e-01 -6.34905918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62864 meters 0.027663259037892456 Centerline is valid? [True, True] Translation: X:124.66, Y:-41.59, Z:-6.35 [[ 8.06871265e-01 5.87674031e-01 5.99832885e-02 1.24658915e+02] [-5.86047686e-01 8.09097783e-01 -4.36908006e-02 -4.15918951e+01] [-7.42082946e-02 9.97841032e-05 9.97242758e-01 -6.35280383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68864 meters 0.027507586484799885 Centerline is valid? [True, True] Translation: X:124.71, Y:-41.63, Z:-6.35 [[ 8.05534710e-01 5.89690935e-01 5.81242796e-02 1.24708544e+02] [-5.88166260e-01 8.07628998e-01 -4.23774983e-02 -4.16294781e+01] [-7.19324803e-02 -5.01943684e-05 9.97409503e-01 -6.35322878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74864 meters 0.027795201506389595 Centerline is valid? [True, True] Translation: X:124.76, Y:-41.66, Z:-6.36 [[ 8.02633734e-01 5.93612596e-01 5.83367272e-02 1.24761235e+02] [-5.92083863e-01 8.04750863e-01 -4.25763813e-02 -4.16637927e+01] [-7.22204078e-02 -3.66994844e-04 9.97388629e-01 -6.35618534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80864 meters 0.028090146408636853 Centerline is valid? [True, True] Translation: X:124.81, Y:-41.70, Z:-6.36 [[ 8.00937795e-01 5.95657049e-01 6.07562981e-02 1.24813946e+02] [-5.94000929e-01 8.03238690e-01 -4.43903547e-02 -4.16961912e+01] [-7.52432370e-02 -5.35384697e-04 9.97165066e-01 -6.35975433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86864 meters 0.02818128579720999 Centerline is valid? [True, True] Translation: X:124.87, Y:-41.73, Z:-6.36 [[ 7.99899874e-01 5.97258960e-01 5.86679286e-02 1.24867137e+02] [-5.95716790e-01 8.02048209e-01 -4.28972707e-02 -4.17295529e+01] [-7.26752864e-02 -6.35948687e-04 9.97355452e-01 -6.36268148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92864 meters 0.028055680737543644 Centerline is valid? [True, True] Translation: X:124.92, Y:-41.76, Z:-6.36 [[ 7.99787412e-01 5.97440985e-01 5.83469430e-02 1.24920656e+02] [-5.95913870e-01 8.01912639e-01 -4.26940163e-02 -4.17633572e+01] [-7.22963062e-02 -6.23615802e-04 9.97383003e-01 -6.36490213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98864 meters 0.02843201437370431 Centerline is valid? [True, True] Translation: X:124.98, Y:-41.79, Z:-6.37 [[ 7.97252337e-01 6.00665909e-01 5.99097352e-02 1.24975538e+02] [-5.99061225e-01 7.99499627e-01 -4.38861686e-02 -4.17933087e+01] [-7.42587363e-02 -9.01248820e-04 9.97238601e-01 -6.36823075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04864 meters 0.02866490545921554 Centerline is valid? [True, True] Translation: X:125.03, Y:-41.83, Z:-6.37 [[ 7.95641615e-01 6.02931713e-01 5.85471584e-02 1.25030711e+02] [-6.01402198e-01 7.97792105e-01 -4.29319690e-02 -4.18252392e+01] [-7.25935064e-02 -1.05192854e-03 9.97361056e-01 -6.37097787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10863999999998 meters 0.028636899267083942 Centerline is valid? [True, True] Translation: X:125.09, Y:-41.86, Z:-6.37 [[ 7.95540596e-01 6.03105728e-01 5.81260719e-02 1.25085137e+02] [-6.01595179e-01 7.97660602e-01 -4.26708800e-02 -4.18576358e+01] [-7.20999297e-02 -1.02194733e-03 9.97396890e-01 -6.37358613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16863999999998 meters 0.028447671780956727 Centerline is valid? [True, True] Translation: X:125.14, Y:-41.89, Z:-6.38 [[ 7.99136592e-01 5.98335233e-01 5.81004097e-02 1.25140470e+02] [-5.96810056e-01 8.01245682e-01 -4.26979351e-02 -4.18876920e+01] [-7.21003813e-02 -5.53426503e-04 9.97397227e-01 -6.37526746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22863999999998 meters 0.02829404094413133 Centerline is valid? [True, True] Translation: X:125.20, Y:-41.92, Z:-6.38 [[ 8.01633441e-01 5.95039582e-01 5.75475585e-02 1.25195999e+02] [-5.93531863e-01 8.03696365e-01 -4.23329770e-02 -4.19171288e+01] [-7.14405605e-02 -2.20779570e-04 9.97444834e-01 -6.37860407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28864 meters 0.028255078429541218 Centerline is valid? [True, True] Translation: X:125.25, Y:-41.95, Z:-6.38 [[ 8.02052502e-01 5.94511856e-01 5.71614969e-02 1.25249116e+02] [-5.93019932e-01 8.04086833e-01 -4.20918830e-02 -4.19508967e+01] [-7.09869304e-02 -1.38006922e-04 9.97477236e-01 -6.38126729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34864 meters 0.027949708466174762 Centerline is valid? [True, True] Translation: X:125.30, Y:-41.98, Z:-6.38 [[ 8.02959518e-01 5.93378242e-01 5.61985288e-02 1.25301145e+02] [-5.91930369e-01 8.04923762e-01 -4.14267602e-02 -4.19848583e+01] [-6.98172693e-02 -1.60447760e-06 9.97559797e-01 -6.38324596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40864 meters 0.028197453130989664 Centerline is valid? [True, True] Translation: X:125.35, Y:-42.02, Z:-6.39 [[ 8.03563407e-01 5.92445396e-01 5.73960160e-02 1.25352101e+02] [-5.90929716e-01 8.05610600e-01 -4.23512814e-02 -4.20200131e+01] [-7.13296606e-02 1.14928481e-04 9.97452789e-01 -6.38592645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46864 meters 0.02820280592347839 Centerline is valid? [True, True] Translation: X:125.41, Y:-42.05, Z:-6.39 [[ 8.03078936e-01 5.93141470e-01 5.69861330e-02 1.25405372e+02] [-5.91646118e-01 8.05098248e-01 -4.20913597e-02 -4.20537478e+01] [-7.08455668e-02 8.70599473e-05 9.97487292e-01 -6.38804536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52864 meters 0.028328440710304225 Centerline is valid? [True, True] Translation: X:125.46, Y:-42.09, Z:-6.39 [[ 8.01936468e-01 5.94646597e-01 5.73875070e-02 1.25459253e+02] [-5.93130521e-01 8.03987204e-01 -4.24353678e-02 -4.20868856e+01] [-7.13728684e-02 -7.81290469e-06 9.97449705e-01 -6.39235567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58864 meters 0.028381341714257925 Centerline is valid? [True, True] Translation: X:125.51, Y:-42.12, Z:-6.39 [[ 8.01185296e-01 5.95731349e-01 5.66240286e-02 1.25511452e+02] [-5.94254948e-01 8.03183762e-01 -4.19154135e-02 -4.21210832e+01] [-7.04498261e-02 -6.70962202e-05 9.97515322e-01 -6.39468260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64864 meters 0.0284808705089819 Centerline is valid? [True, True] Translation: X:125.57, Y:-42.15, Z:-6.40 [[ 8.00343777e-01 5.97003416e-01 5.51068100e-02 1.25565886e+02] [-5.95605501e-01 8.02238681e-01 -4.08311999e-02 -4.21514735e+01] [-6.85851804e-02 -1.42922437e-04 9.97645254e-01 -6.39668147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70864 meters 0.028683146237637864 Centerline is valid? [True, True] Translation: X:125.62, Y:-42.18, Z:-6.40 [[ 7.99109739e-01 5.98769843e-01 5.38358560e-02 1.25618475e+02] [-5.97437176e-01 8.00921100e-01 -3.99275753e-02 -4.21845502e+01] [-6.70257011e-02 -2.57027528e-04 9.97751216e-01 -6.39798491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76864 meters 0.02875705267562768 Centerline is valid? [True, True] Translation: X:125.67, Y:-42.22, Z:-6.40 [[ 7.99642090e-01 5.97943559e-01 5.51001721e-02 1.25671326e+02] [-5.96542742e-01 8.01538193e-01 -4.09057712e-02 -4.22167958e+01] [-6.86242347e-02 -1.59631374e-04 9.97642566e-01 -6.40248710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82864 meters 0.028628044245370892 Centerline is valid? [True, True] Translation: X:125.72, Y:-42.25, Z:-6.41 [[ 8.01160486e-01 5.96041560e-01 5.36314622e-02 1.25721357e+02] [-5.94707697e-01 8.02953584e-01 -3.98534562e-02 -4.22531510e+01] [-6.68178910e-02 3.39710255e-05 9.97765187e-01 -6.40531949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88863999999998 meters 0.02837090257457578 Centerline is valid? [True, True] Translation: X:125.77, Y:-42.29, Z:-6.41 [[ 8.03595294e-01 5.92861812e-01 5.24354278e-02 1.25774657e+02] [-5.91577539e-01 8.05304146e-01 -3.90031854e-02 -4.22870183e+01] [-6.53499666e-02 3.23154899e-04 9.97862354e-01 -6.40672478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94863999999998 meters 0.02860528264591534 Centerline is valid? [True, True] Translation: X:125.82, Y:-42.32, Z:-6.41 [[ 8.05313870e-01 5.90405951e-01 5.37622901e-02 1.25824331e+02] [-5.89047411e-01 8.07106243e-01 -4.00332401e-02 -4.23238476e+01] [-6.70277432e-02 5.70785689e-04 9.97750949e-01 -6.41038611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00863999999999 meters 0.028312863849110147 Centerline is valid? [True, True] Translation: X:125.88, Y:-42.36, Z:-6.41 [[ 8.05249814e-01 5.90529135e-01 5.33673860e-02 1.25876572e+02] [-5.89188394e-01 8.07016108e-01 -3.97748506e-02 -4.23601325e+01] [-6.65565482e-02 5.85246638e-04 9.97782483e-01 -6.41125059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06864 meters 0.02831439546044097 Centerline is valid? [True, True] Translation: X:125.93, Y:-42.40, Z:-6.41 [[ 8.03911953e-01 5.92191594e-01 5.50879991e-02 1.25926428e+02] [-5.90764440e-01 8.05797044e-01 -4.10913624e-02 -4.23975099e+01] [-6.87237062e-02 4.89806453e-04 9.97635611e-01 -6.41456875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12864 meters 0.02796812020775243 Centerline is valid? [True, True] Translation: X:125.98, Y:-42.43, Z:-6.42 [[ 8.02467137e-01 5.94312039e-01 5.32887796e-02 1.25978450e+02] [-5.92978895e-01 8.04234476e-01 -3.97861453e-02 -4.24318817e+01] [-6.65020589e-02 3.27952417e-04 9.97786234e-01 -6.41597863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18864 meters 0.027714784741597238 Centerline is valid? [True, True] Translation: X:126.03, Y:-42.47, Z:-6.42 [[ 8.01550655e-01 5.95652673e-01 5.21002985e-02 1.26029126e+02] [-5.94378844e-01 8.03242078e-01 -3.89352632e-02 -4.24675302e+01] [-6.50410457e-02 2.41270540e-04 9.97882560e-01 -6.41729356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24864 meters 0.027911416831992216 Centerline is valid? [True, True] Translation: X:126.08, Y:-42.50, Z:-6.42 [[ 8.02266420e-01 5.94531841e-01 5.38561171e-02 1.26080075e+02] [-5.93165417e-01 8.04071980e-01 -4.02869517e-02 -4.25028057e+01] [-6.72560703e-02 3.75282380e-04 9.97735677e-01 -6.41989885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30864 meters 0.02752117209143836 Centerline is valid? [True, True] Translation: X:126.13, Y:-42.54, Z:-6.42 [[ 8.03085454e-01 5.93679222e-01 5.09777760e-02 1.26131415e+02] [-5.92451139e-01 8.04701670e-01 -3.81689790e-02 -4.25381792e+01] [-6.36820312e-02 4.51110368e-04 9.97970138e-01 -6.42175231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36864 meters 0.027406571726318094 Centerline is valid? [True, True] Translation: X:126.18, Y:-42.58, Z:-6.42 [[ 8.02869282e-01 5.93957371e-01 5.11425265e-02 1.26181923e+02] [-5.92719471e-01 8.04496382e-01 -3.83301377e-02 -4.25759160e+01] [-6.39104454e-02 4.60918854e-04 9.97955531e-01 -6.42456195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42864 meters 0.027140216234112915 Centerline is valid? [True, True] Translation: X:126.23, Y:-42.61, Z:-6.43 [[ 8.01697418e-01 5.95522939e-01 5.13193819e-02 1.26233139e+02] [-5.94276947e-01 8.03338217e-01 -3.85047893e-02 -4.26124128e+01] [-6.41573061e-02 3.71264552e-04 9.97939729e-01 -6.42687541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48864 meters 0.027281382890480523 Centerline is valid? [True, True] Translation: X:126.28, Y:-42.65, Z:-6.43 [[ 8.02212962e-01 5.94714335e-01 5.26234130e-02 1.26282502e+02] [-5.93399621e-01 8.03936955e-01 -3.95254558e-02 -4.26494036e+01] [-6.58122616e-02 4.81119621e-04 9.97831907e-01 -6.43052238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54864 meters 0.02735718897560332 Centerline is valid? [True, True] Translation: X:126.33, Y:-42.69, Z:-6.43 [[ 8.04886660e-01 5.91088708e-01 5.26460166e-02 1.26332106e+02] [-5.89762615e-01 8.06606152e-01 -3.95799574e-02 -4.26873773e+01] [-6.58598668e-02 8.08727309e-04 9.97828554e-01 -6.43414813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60863999999998 meters 0.027218463689401444 Centerline is valid? [True, True] Translation: X:126.38, Y:-42.73, Z:-6.44 [[ 8.04820189e-01 5.91190380e-01 5.25204635e-02 1.26382489e+02] [-5.89868277e-01 8.06531615e-01 -3.95242828e-02 -4.27257082e+01] [-6.57257900e-02 8.29785454e-04 9.97837378e-01 -6.43714814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66863999999998 meters 0.027018300443254456 Centerline is valid? [True, True] Translation: X:126.43, Y:-42.76, Z:-6.44 [[ 8.04200924e-01 5.92018738e-01 5.26753072e-02 1.26433656e+02] [-5.90687771e-01 8.05923803e-01 -3.96835041e-02 -4.27633756e+01] [-6.59456619e-02 7.98850826e-04 9.97822896e-01 -6.43849885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72863999999998 meters 0.02677966888078183 Centerline is valid? [True, True] Translation: X:126.48, Y:-42.80, Z:-6.44 [[ 8.01168767e-01 5.96047778e-01 5.34383166e-02 1.26482974e+02] [-5.94684021e-01 8.02948808e-01 -4.03004642e-02 -4.28007310e+01] [-6.69292347e-02 5.08560237e-04 9.97757595e-01 -6.44152843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78864 meters 0.026606504376008477 Centerline is valid? [True, True] Translation: X:126.53, Y:-42.84, Z:-6.44 [[ 7.98235741e-01 5.99935588e-01 5.38237213e-02 1.26533950e+02] [-5.98558749e-01 8.00048278e-01 -4.06223720e-02 -4.28371089e+01] [-6.74323821e-02 2.09569938e-04 9.97723824e-01 -6.44458739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84864 meters 0.026487577458270805 Centerline is valid? [True, True] Translation: X:126.59, Y:-42.87, Z:-6.45 [[ 7.96293832e-01 6.02438148e-01 5.46297721e-02 1.26587040e+02] [-6.01023957e-01 7.98165571e-01 -4.12543998e-02 -4.28708165e+01] [-6.84568275e-02 1.68223058e-05 9.97654080e-01 -6.44796996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90864 meters 0.026463755065292124 Centerline is valid? [True, True] Translation: X:126.64, Y:-42.90, Z:-6.45 [[ 7.94527158e-01 6.04673168e-01 5.56502913e-02 1.26639083e+02] [-6.03207903e-01 7.96473691e-01 -4.20700124e-02 -4.29045665e+01] [-6.97626005e-02 -1.42928114e-04 9.97563612e-01 -6.45098929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96864 meters 0.026522370204465528 Centerline is valid? [True, True] Translation: X:126.69, Y:-42.93, Z:-6.45 [[ 7.92714338e-01 6.06947108e-01 5.67378807e-02 1.26694665e+02] [-6.05426766e-01 7.94742165e-01 -4.29339342e-02 -4.29336901e+01] [-7.11506133e-02 -3.16286389e-04 9.97465533e-01 -6.45373556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02864 meters 0.026210878313096916 Centerline is valid? [True, True] Translation: X:126.75, Y:-42.96, Z:-6.46 [[ 7.93635749e-01 6.05664375e-01 5.75583504e-02 1.26750555e+02] [-6.04093121e-01 7.95720200e-01 -4.35989086e-02 -4.29639134e+01] [-7.22066478e-02 -1.68950995e-04 9.97389679e-01 -6.45891640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08864 meters 0.02620108924604572 Centerline is valid? [True, True] Translation: X:126.81, Y:-42.99, Z:-6.46 [[ 7.97186087e-01 6.00970051e-01 5.77004310e-02 1.26805609e+02] [-5.99375213e-01 7.99271487e-01 -4.37543641e-02 -4.29947486e+01] [-7.24133717e-02 2.96162190e-04 9.97374662e-01 -6.46282828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14864 meters 0.026299763452008223 Centerline is valid? [True, True] Translation: X:126.86, Y:-43.03, Z:-6.46 [[ 7.99129658e-01 5.98289945e-01 5.86594570e-02 1.26856612e+02] [-5.96630912e-01 8.01279476e-01 -4.45281457e-02 -4.30299488e+01] [-7.36433609e-02 5.85716512e-04 9.97284469e-01 -6.46462244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20864 meters 0.026147110341215894 Centerline is valid? [True, True] Translation: X:126.91, Y:-43.07, Z:-6.47 [[ 7.99686381e-01 5.97655339e-01 5.75307575e-02 1.26906665e+02] [-5.96055073e-01 8.01752864e-01 -4.37114960e-02 -4.30667067e+01] [-7.22498586e-02 6.63988190e-04 9.97386343e-01 -6.46901802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26864 meters 0.026103308043422754 Centerline is valid? [True, True] Translation: X:126.96, Y:-43.10, Z:-6.47 [[ 7.98258831e-01 5.99327155e-01 5.99149441e-02 1.26956665e+02] [-5.97592700e-01 8.00503990e-01 -4.55667331e-02 -4.31038009e+01] [-7.52715323e-02 5.69313905e-04 9.97162912e-01 -6.47374086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32864 meters 0.026167139757926602 Centerline is valid? [True, True] Translation: X:127.01, Y:-43.14, Z:-6.48 [[ 7.95928110e-01 6.02401404e-01 6.00915257e-02 1.27007864e+02] [-6.00661991e-01 7.98193240e-01 -4.57463014e-02 -4.31410417e+01] [-7.55222858e-02 3.16071781e-04 9.97144064e-01 -6.47707670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38863999999998 meters 0.026134744077441284 Centerline is valid? [True, True] Translation: X:127.06, Y:-43.18, Z:-6.48 [[ 7.94880944e-01 6.03678335e-01 6.11289913e-02 1.27058601e+02] [-6.01878383e-01 7.97227955e-01 -4.65832520e-02 -4.31761655e+01] [-7.68550408e-02 2.35920826e-04 9.97042249e-01 -6.48112502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44863999999998 meters 0.02632768041650383 Centerline is valid? [True, True] Translation: X:127.11, Y:-43.21, Z:-6.49 [[ 7.96226326e-01 6.01708128e-01 6.30156063e-02 1.27110870e+02] [-5.99785534e-01 7.98715909e-01 -4.80646473e-02 -4.32103986e+01] [-7.92524562e-02 4.74488438e-04 9.96854464e-01 -6.48550500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50863999999999 meters 0.0265401909336404 Centerline is valid? [True, True] Translation: X:127.16, Y:-43.25, Z:-6.49 [[ 7.97269904e-01 6.00344190e-01 6.28295567e-02 1.27162581e+02] [-5.98424960e-01 7.99741480e-01 -4.79701151e-02 -4.32462688e+01] [-7.90459826e-02 6.46354099e-04 9.96870761e-01 -6.48822074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56864 meters 0.026731019139518697 Centerline is valid? [True, True] Translation: X:127.21, Y:-43.28, Z:-6.49 [[ 7.98174351e-01 5.99061879e-01 6.35812185e-02 1.27212270e+02] [-5.97088327e-01 8.00702310e-01 -4.85936322e-02 -4.32842789e+01] [-8.00202211e-02 8.22587441e-04 9.96792901e-01 -6.49108429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62864 meters 0.026878971104013414 Centerline is valid? [True, True] Translation: X:127.26, Y:-43.32, Z:-6.50 [[ 8.00020532e-01 5.96760105e-01 6.20042404e-02 1.27260278e+02] [-5.94873109e-01 8.02419000e-01 -4.74313567e-02 -4.33236091e+01] [-7.80585220e-02 1.06140395e-03 9.96948214e-01 -6.49550353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68864 meters 0.026958319142162818 Centerline is valid? [True, True] Translation: X:127.31, Y:-43.36, Z:-6.50 [[ 8.00572641e-01 5.96159726e-01 6.06385042e-02 1.27307717e+02] [-5.94350148e-01 8.02865061e-01 -4.64283821e-02 -4.33639845e+01] [-7.63632680e-02 1.12878848e-03 9.97079424e-01 -6.49798862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74864 meters 0.026867753173458787 Centerline is valid? [True, True] Translation: X:127.35, Y:-43.41, Z:-6.50 [[ 7.98765367e-01 5.98528376e-01 6.11365072e-02 1.27354402e+02] [-5.96692312e-01 8.01101047e-01 -4.68550605e-02 -4.34068451e+01] [-7.70206032e-02 9.46515698e-04 9.97029052e-01 -6.50164565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80864 meters 0.026705426836583206 Centerline is valid? [True, True] Translation: X:127.40, Y:-43.45, Z:-6.51 [[ 7.95029230e-01 6.03518077e-01 6.07820260e-02 1.27400153e+02] [-6.01714171e-01 7.97349159e-01 -4.66301923e-02 -4.34491522e+01] [-7.66066613e-02 4.98959549e-04 9.97061267e-01 -6.50627769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86864 meters 0.026769935920199363 Centerline is valid? [True, True] Translation: X:127.45, Y:-43.49, Z:-6.51 [[ 7.93395580e-01 6.05679526e-01 6.06280918e-02 1.27446905e+02] [-6.03887732e-01 7.95708619e-01 -4.65553507e-02 -4.34906035e+01] [-7.64399180e-02 3.24248682e-04 9.97074137e-01 -6.50916670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92864 meters 0.026876893127974824 Centerline is valid? [True, True] Translation: X:127.50, Y:-43.53, Z:-6.51 [[ 7.93281931e-01 6.05852124e-01 6.03902400e-02 1.27495360e+02] [-6.04071404e-01 7.95577203e-01 -4.64182445e-02 -4.35304234e+01] [-7.61676902e-02 3.42737582e-04 9.97094963e-01 -6.51144026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98864 meters 0.027100883830870025 Centerline is valid? [True, True] Translation: X:127.54, Y:-43.57, Z:-6.51 [[ 7.92372148e-01 6.06944689e-01 6.13557127e-02 1.27544434e+02] [-6.05105974e-01 7.94744025e-01 -4.72090499e-02 -4.35686527e+01] [-7.74153682e-02 2.80427988e-04 9.96998888e-01 -6.51463525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04864 meters 0.027074890646763355 Centerline is valid? [True, True] Translation: X:127.59, Y:-43.61, Z:-6.52 [[ 7.92319447e-01 6.06952262e-01 6.19584143e-02 1.27593399e+02] [-6.05073697e-01 7.94738228e-01 -4.77176176e-02 -4.36072871e+01] [-7.82030363e-02 3.18189619e-04 9.96937402e-01 -6.51754613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10863999999998 meters 0.027284639091587383 Centerline is valid? [True, True] Translation: X:127.64, Y:-43.65, Z:-6.52 [[ 7.93458116e-01 6.05604539e-01 6.05587388e-02 1.27641421e+02] [-6.03802805e-01 7.95765617e-01 -4.66824998e-02 -4.36468777e+01] [-7.64616959e-02 4.75072016e-04 9.97072406e-01 -6.52132110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16863999999998 meters 0.02737442101123312 Centerline is valid? [True, True] Translation: X:127.69, Y:-43.69, Z:-6.52 [[ 7.94605888e-01 6.04164392e-01 5.98904837e-02 1.27691787e+02] [-6.02394758e-01 7.96859445e-01 -4.62123470e-02 -4.36855469e+01] [-7.56441521e-02 6.42889660e-04 9.97134669e-01 -6.52236777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22863999999998 meters 0.027339649688219943 Centerline is valid? [True, True] Translation: X:127.74, Y:-43.72, Z:-6.53 [[ 7.94726331e-01 6.04130391e-01 5.86219209e-02 1.27740410e+02] [-6.02431568e-01 7.96885201e-01 -4.52789380e-02 -4.37243732e+01] [-7.40693237e-02 6.68668522e-04 9.97252871e-01 -6.52533228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28864 meters 0.027832715129907117 Centerline is valid? [True, True] Translation: X:127.79, Y:-43.77, Z:-6.53 [[ 7.93860237e-01 6.05044541e-01 6.08853586e-02 1.27787499e+02] [-6.03211004e-01 7.96191366e-01 -4.70722126e-02 -4.37654958e+01] [-7.69571821e-02 6.42039542e-04 9.97034192e-01 -6.52966247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34864 meters 0.02757150610481995 Centerline is valid? [True, True] Translation: X:127.83, Y:-43.81, Z:-6.53 [[ 7.92697367e-01 6.06833201e-01 5.81751799e-02 1.27833762e+02] [-6.05161280e-01 7.94829061e-01 -4.50176470e-02 -4.38072744e+01] [-7.35575264e-02 4.80003850e-04 9.97290860e-01 -6.53366292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40864 meters 0.027557989883973982 Centerline is valid? [True, True] Translation: X:127.88, Y:-43.85, Z:-6.54 [[ 7.92069967e-01 6.07526887e-01 5.94663651e-02 1.27881309e+02] [-6.05778478e-01 7.94298981e-01 -4.60604528e-02 -4.38467804e+01] [-7.52170367e-02 4.59657209e-04 9.97167080e-01 -6.53597295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46864 meters 0.02757103244308891 Centerline is valid? [True, True] Translation: X:127.93, Y:-43.89, Z:-6.54 [[ 7.92324878e-01 6.07072395e-01 6.06992124e-02 1.27929558e+02] [-6.05245864e-01 7.94646340e-01 -4.70599412e-02 -4.38861435e+01] [-7.68031982e-02 5.48814915e-04 9.97046121e-01 -6.53887325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52864 meters 0.02781841403731929 Centerline is valid? [True, True] Translation: X:127.98, Y:-43.93, Z:-6.54 [[ 7.93096228e-01 6.06058570e-01 6.07567528e-02 1.27975994e+02] [-6.04222030e-01 7.95419726e-01 -4.71507974e-02 -4.39284406e+01] [-7.69032646e-02 6.84551061e-04 9.97038324e-01 -6.54149701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58864 meters 0.027721842095714155 Centerline is valid? [True, True] Translation: X:128.02, Y:-43.97, Z:-6.54 [[ 7.93027347e-01 6.06146654e-01 6.07771325e-02 1.28024213e+02] [-6.04305274e-01 7.95352576e-01 -4.72166903e-02 -4.39697835e+01] [-7.69594877e-02 7.16184961e-04 9.97033963e-01 -6.54405781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64864 meters 0.0275413248148738 Centerline is valid? [True, True] Translation: X:128.07, Y:-44.01, Z:-6.55 [[ 7.91945733e-01 6.07677579e-01 5.95811655e-02 1.28070451e+02] [-6.05908889e-01 7.94183611e-01 -4.63336841e-02 -4.40122876e+01] [-7.54743261e-02 5.93005645e-04 9.97147569e-01 -6.54523632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70864 meters 0.027683438870022767 Centerline is valid? [True, True] Translation: X:128.12, Y:-44.05, Z:-6.55 [[ 7.92541042e-01 6.06961722e-01 5.89590004e-02 1.28117520e+02] [-6.05224522e-01 7.94730767e-01 -4.58942887e-02 -4.40540460e+01] [-7.47126082e-02 6.89674572e-04 9.97204869e-01 -6.54904815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76864 meters 0.02782028453147288 Centerline is valid? [True, True] Translation: X:128.16, Y:-44.10, Z:-6.55 [[ 7.92458462e-01 6.06905884e-01 6.06204074e-02 1.28163653e+02] [-6.05065342e-01 7.94773352e-01 -4.72361269e-02 -4.40963619e+01] [-7.68473677e-02 7.53360952e-04 9.97042584e-01 -6.55302812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82864 meters 0.027702786686088124 Centerline is valid? [True, True] Translation: X:128.21, Y:-44.14, Z:-6.55 [[ 7.93713584e-01 6.05443547e-01 5.87950553e-02 1.28207518e+02] [-6.03705198e-01 7.95887743e-01 -4.58555891e-02 -4.41419919e+01] [-7.45572344e-02 9.01323480e-04 9.97216329e-01 -6.55461061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88863999999998 meters 0.027446361085831646 Centerline is valid? [True, True] Translation: X:128.25, Y:-44.18, Z:-6.56 [[ 7.92720570e-01 6.07040147e-01 5.56449240e-02 1.28253698e+02] [-6.05485086e-01 7.94670825e-01 -4.34291545e-02 -4.41846361e+01] [-7.05826380e-02 7.35012523e-04 9.97505665e-01 -6.55702236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94863999999998 meters 0.02728757029346182 Centerline is valid? [True, True] Translation: X:128.30, Y:-44.23, Z:-6.56 [[ 7.90639270e-01 6.09698651e-01 5.61880762e-02 1.28300764e+02] [-6.08117921e-01 7.92633132e-01 -4.38783850e-02 -4.42265886e+01] [-7.12891229e-02 5.22998174e-04 9.97455557e-01 -6.55997612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00863999999999 meters 0.02732780099284807 Centerline is valid? [True, True] Translation: X:128.35, Y:-44.27, Z:-6.56 [[ 7.89762906e-01 6.10783944e-01 5.67232394e-02 1.28346401e+02] [-6.09172270e-01 7.91797169e-01 -4.43439882e-02 -4.42706046e+01] [-7.19978963e-02 4.67012502e-04 9.97404675e-01 -6.56354030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06864 meters 0.027343979755385415 Centerline is valid? [True, True] Translation: X:128.39, Y:-44.31, Z:-6.57 [[ 7.90468010e-01 6.09774980e-01 5.77477127e-02 1.28392721e+02] [-6.08098336e-01 7.92574354e-01 -4.51918970e-02 -4.43127534e+01] [-7.33262442e-02 6.06460916e-04 9.97307823e-01 -6.56572041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12864 meters 0.02761280347219655 Centerline is valid? [True, True] Translation: X:128.44, Y:-44.35, Z:-6.57 [[ 7.89884968e-01 6.10436294e-01 5.87304711e-02 1.28439285e+02] [-6.08700571e-01 7.92065139e-01 -4.60046863e-02 -4.43539975e+01] [-7.46012889e-02 5.89138941e-04 9.97213267e-01 -6.56964223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18864 meters 0.02759555267696681 Centerline is valid? [True, True] Translation: X:128.49, Y:-44.40, Z:-6.57 [[ 7.90557780e-01 6.09546105e-01 5.89232002e-02 1.28485987e+02] [-6.07793055e-01 7.92750301e-01 -4.62013293e-02 -4.43967453e+01] [-7.48732250e-02 7.11708495e-04 9.97192807e-01 -6.57242397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24864 meters 0.027543383977642936 Centerline is valid? [True, True] Translation: X:128.53, Y:-44.44, Z:-6.58 [[ 7.91696011e-01 6.08157316e-01 5.79836590e-02 1.28532477e+02] [-6.06452502e-01 7.93816053e-01 -4.55130463e-02 -4.44389135e+01] [-7.37074514e-02 8.68162154e-04 9.97279528e-01 -6.57533706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30864 meters 0.02777865750794727 Centerline is valid? [True, True] Translation: X:128.58, Y:-44.48, Z:-6.58 [[ 7.93629232e-01 6.05693581e-01 5.73404586e-02 1.28578153e+02] [-6.04016656e-01 7.95697196e-01 -4.50538656e-02 -4.44811204e+01] [-7.29144793e-02 1.12147271e-03 9.97337566e-01 -6.57711181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36864 meters 0.027930372633516182 Centerline is valid? [True, True] Translation: X:128.62, Y:-44.52, Z:-6.58 [[ 7.94324763e-01 6.04737352e-01 5.78005657e-02 1.28623206e+02] [-6.03027706e-01 7.96423986e-01 -4.54578982e-02 -4.45238515e+01] [-7.35238459e-02 1.25299174e-03 9.97292672e-01 -6.58136524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42864 meters 0.027779460156027613 Centerline is valid? [True, True] Translation: X:128.67, Y:-44.56, Z:-6.58 [[ 7.92686206e-01 6.06899106e-01 5.76372635e-02 1.28670673e+02] [-6.05201726e-01 7.94778146e-01 -4.53714641e-02 -4.45643201e+01] [-7.33447385e-02 1.08316240e-03 9.97306059e-01 -6.58411894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48864 meters 0.027479377084771835 Centerline is valid? [True, True] Translation: X:128.72, Y:-44.60, Z:-6.59 [[ 7.90640934e-01 6.09776317e-01 5.53150748e-02 1.28717493e+02] [-6.08217364e-01 7.92573138e-01 -4.35827731e-02 -4.46048365e+01] [-7.04169853e-02 8.14735372e-04 9.97517310e-01 -6.58595309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54864 meters 0.02756033742631866 Centerline is valid? [True, True] Translation: X:128.76, Y:-44.65, Z:-6.59 [[ 7.91196712e-01 6.09004495e-01 5.58684776e-02 1.28764553e+02] [-6.07409285e-01 7.93166230e-01 -4.40600990e-02 -4.46451025e+01] [-7.11457881e-02 9.25173479e-04 9.97465499e-01 -6.58818422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60863999999998 meters 0.02781116623345488 Centerline is valid? [True, True] Translation: X:128.81, Y:-44.68, Z:-6.59 [[ 7.91542820e-01 6.08568637e-01 5.57151448e-02 1.28812800e+02] [-6.06978028e-01 7.93500612e-01 -4.39824054e-02 -4.46849897e+01] [-7.09763141e-02 9.96088479e-04 9.97477504e-01 -6.59141860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66863999999998 meters 0.027610911208488645 Centerline is valid? [True, True] Translation: X:128.86, Y:-44.72, Z:-6.59 [[ 7.90537447e-01 6.09920478e-01 5.52046733e-02 1.28861152e+02] [-6.08359034e-01 7.92462110e-01 -4.36244122e-02 -4.47241122e+01] [-7.03550342e-02 9.02469669e-04 9.97521606e-01 -6.59486151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72863999999998 meters 0.027563864938135653 Centerline is valid? [True, True] Translation: X:128.91, Y:-44.76, Z:-6.60 [[ 7.89652408e-01 6.10995814e-01 5.59749018e-02 1.28909912e+02] [-6.09389986e-01 7.91633367e-01 -4.42770634e-02 -4.47634952e+01] [-7.13647004e-02 8.52945126e-04 9.97449925e-01 -6.59748473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78864 meters 0.027318922260602688 Centerline is valid? [True, True] Translation: X:128.96, Y:-44.80, Z:-6.60 [[ 7.87978410e-01 6.13118463e-01 5.63540251e-02 1.28957671e+02] [-6.11492731e-01 7.89990668e-01 -4.46249251e-02 -4.48039718e+01] [-7.18795194e-02 7.03400814e-04 9.97413074e-01 -6.59985808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84864 meters 0.027107258859262608 Centerline is valid? [True, True] Translation: X:129.01, Y:-44.84, Z:-6.60 [[ 7.85448560e-01 6.16492492e-01 5.48412848e-02 1.29009313e+02] [-6.14958081e-01 7.87360675e-01 -4.34709850e-02 -4.48381373e+01] [-6.99794069e-02 4.19131316e-04 9.97548348e-01 -6.60295551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90864 meters 0.02731340577142007 Centerline is valid? [True, True] Translation: X:129.06, Y:-44.88, Z:-6.61 [[ 7.83266835e-01 6.19057260e-01 5.71066887e-02 1.29059220e+02] [-6.17396860e-01 7.85345819e-01 -4.53107288e-02 -4.48754842e+01] [-7.28984348e-02 2.32900861e-04 9.97339342e-01 -6.60657890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96864 meters 0.027319362698990414 Centerline is valid? [True, True] Translation: X:129.11, Y:-44.91, Z:-6.61 [[ 7.81673971e-01 6.20959658e-01 5.82658347e-02 1.29112452e+02] [-6.19233016e-01 7.83842519e-01 -4.62750048e-02 -4.49086870e+01] [-7.44061498e-02 9.18381432e-05 9.97228016e-01 -6.61010498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02864 meters 0.027330517235595375 Centerline is valid? [True, True] Translation: X:129.16, Y:-44.94, Z:-6.61 [[ 7.82901537e-01 6.19508546e-01 5.72218926e-02 1.29164135e+02] [-6.17836288e-01 7.84989869e-01 -4.54887629e-02 -4.49432069e+01] [-7.30992833e-02 2.59460628e-04 9.97324635e-01 -6.61308279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08864 meters 0.02749516675224284 Centerline is valid? [True, True] Translation: X:129.22, Y:-44.98, Z:-6.62 [[ 7.84119939e-01 6.17998894e-01 5.68620005e-02 1.29217296e+02] [-6.16340381e-01 7.86178847e-01 -4.52477235e-02 -4.49768063e+01] [-7.26667450e-02 4.33295232e-04 9.97356183e-01 -6.61602623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14864 meters 0.027211791983326024 Centerline is valid? [True, True] Translation: X:129.27, Y:-45.01, Z:-6.62 [[ 7.82534107e-01 6.20026311e-01 5.66369522e-02 1.29268813e+02] [-6.18382654e-01 7.84580967e-01 -4.51176296e-02 -4.50126497e+01] [-7.24103922e-02 2.82775183e-04 9.97374882e-01 -6.61979905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20864 meters 0.027293078618157558 Centerline is valid? [True, True] Translation: X:129.32, Y:-45.05, Z:-6.62 [[ 7.83243415e-01 6.19149585e-01 5.64229108e-02 1.29321690e+02] [-6.17512554e-01 7.85272966e-01 -4.49957207e-02 -4.50479816e+01] [-7.21664683e-02 4.00746242e-04 9.97392521e-01 -6.62368996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26864 meters 0.027750016697724138 Centerline is valid? [True, True] Translation: X:129.37, Y:-45.08, Z:-6.63 [[ 7.86508093e-01 6.14971456e-01 5.67020981e-02 1.29372032e+02] [-6.13303864e-01 7.88548937e-01 -4.52652585e-02 -4.50845600e+01] [-7.25492211e-02 8.25876290e-04 9.97364491e-01 -6.62638370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32864 meters 0.02831069120008549 Centerline is valid? [True, True] Translation: X:129.42, Y:-45.12, Z:-6.63 [[ 7.89185846e-01 6.11489786e-01 5.71484222e-02 1.29421902e+02] [-6.09783527e-01 7.91251431e-01 -4.56642471e-02 -4.51214194e+01] [-7.31419915e-02 1.18941103e-03 9.97320828e-01 -6.62817486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38863999999998 meters 0.028210057118203947 Centerline is valid? [True, True] Translation: X:129.47, Y:-45.16, Z:-6.63 [[ 7.89394980e-01 6.11311461e-01 5.61592656e-02 1.29470430e+02] [-6.09660443e-01 7.91389168e-01 -4.49146801e-02 -4.51609550e+01] [-7.19006932e-02 1.21734027e-03 9.97411053e-01 -6.63119232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44863999999998 meters 0.028207164617697626 Centerline is valid? [True, True] Translation: X:129.52, Y:-45.20, Z:-6.64 [[ 7.88473080e-01 6.12510303e-01 5.60475796e-02 1.29517104e+02] [-6.10865927e-01 7.90461785e-01 -4.48663144e-02 -4.52014971e+01] [-7.17845496e-02 1.13832441e-03 9.97419512e-01 -6.63505687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50863999999999 meters 0.02783693350950811 Centerline is valid? [True, True] Translation: X:129.56, Y:-45.24, Z:-6.64 [[ 7.83868452e-01 6.18206558e-01 5.80594666e-02 1.29562388e+02] [-6.16454085e-01 7.86015391e-01 -4.65205951e-02 -4.52444654e+01] [-7.43949714e-02 6.75031491e-04 9.97228626e-01 -6.63834280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56864 meters 0.02762399147166914 Centerline is valid? [True, True] Translation: X:129.61, Y:-45.29, Z:-6.64 [[ 7.80267125e-01 6.22880254e-01 5.65986185e-02 1.29609118e+02] [-6.21224174e-01 7.82317150e-01 -4.53916576e-02 -4.52855314e+01] [-7.25516371e-02 2.57188160e-04 9.97364624e-01 -6.64064936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62864 meters 0.027570131236664363 Centerline is valid? [True, True] Translation: X:129.66, Y:-45.32, Z:-6.65 [[ 7.76963422e-01 6.26898429e-01 5.76732198e-02 1.29659119e+02] [-6.25186504e-01 7.79100990e-01 -4.62977580e-02 -4.53227797e+01] [-7.39572543e-02 -8.48541665e-05 9.97261409e-01 -6.64508198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68864 meters 0.02759070582441334 Centerline is valid? [True, True] Translation: X:129.71, Y:-45.36, Z:-6.65 [[ 7.75361810e-01 6.28963879e-01 5.67318566e-02 1.29708720e+02] [-6.27309851e-01 7.77434486e-01 -4.55847587e-02 -4.53608740e+01] [-7.27764684e-02 -2.43771552e-04 9.97348247e-01 -6.64732550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74864 meters 0.027674071111948244 Centerline is valid? [True, True] Translation: X:129.76, Y:-45.40, Z:-6.65 [[ 7.72737035e-01 6.32059960e-01 5.81178231e-02 1.29760293e+02] [-6.30329358e-01 7.74919315e-01 -4.67435209e-02 -4.53955077e+01] [-7.45813316e-02 -5.12920351e-04 9.97214802e-01 -6.65064357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80864 meters 0.027750416684782626 Centerline is valid? [True, True] Translation: X:129.81, Y:-45.43, Z:-6.65 [[ 7.70217383e-01 6.35150064e-01 5.78755518e-02 1.29810793e+02] [-6.33439097e-01 7.72388374e-01 -4.65951731e-02 -4.54326813e+01] [-7.42973305e-02 -7.72224983e-04 9.97235835e-01 -6.65343446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86864 meters 0.02827300061698192 Centerline is valid? [True, True] Translation: X:129.86, Y:-45.46, Z:-6.66 [[ 7.66671995e-01 6.39288592e-01 5.93645432e-02 1.29864986e+02] [-6.37496806e-01 7.68966021e-01 -4.78443410e-02 -4.54640966e+01] [-7.62356580e-02 -1.16379024e-03 9.97089148e-01 -6.65604281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92864 meters 0.028595465923715136 Centerline is valid? [True, True] Translation: X:129.92, Y:-45.50, Z:-6.66 [[ 7.65190384e-01 6.41184770e-01 5.80152200e-02 1.29917588e+02] [-6.39475600e-01 7.67385455e-01 -4.68030004e-02 -4.54995354e+01] [-7.45294071e-02 -1.28611178e-03 9.97217987e-01 -6.65883232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98864 meters 0.028536506584229657 Centerline is valid? [True, True] Translation: X:129.97, Y:-45.53, Z:-6.66 [[ 7.64734622e-01 6.41859025e-01 5.65504259e-02 1.29973853e+02] [-6.40233594e-01 7.66821590e-01 -4.56683077e-02 -4.55287555e+01] [-7.26767029e-02 -1.28134633e-03 9.97354729e-01 -6.66128795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04864 meters 0.028773210195825488 Centerline is valid? [True, True] Translation: X:130.03, Y:-45.56, Z:-6.66 [[ 7.64636889e-01 6.41796829e-01 5.85427898e-02 1.30026113e+02] [-6.40051025e-01 7.66873639e-01 -4.73234347e-02 -4.55624621e+01] [-7.52669526e-02 -1.28512870e-03 9.97162592e-01 -6.66499299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10863999999998 meters 0.028752678325261273 Centerline is valid? [True, True] Translation: X:130.08, Y:-45.59, Z:-6.67 [[ 7.65163861e-01 6.41266876e-01 5.74548503e-02 1.30082447e+02] [-6.39580709e-01 7.67317020e-01 -4.64877106e-02 -4.55913021e+01] [-7.38971135e-02 -1.17629779e-03 9.97265177e-01 -6.66707185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16863999999998 meters 0.028597640334975787 Centerline is valid? [True, True] Translation: X:130.14, Y:-45.62, Z:-6.67 [[ 7.67204507e-01 6.38828807e-01 5.74020902e-02 1.30137669e+02] [-6.37135638e-01 7.69348383e-01 -4.64891892e-02 -4.56222813e+01] [-7.38608386e-02 -9.06201853e-04 9.97268146e-01 -6.67214533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22863999999998 meters 0.028420198291256277 Centerline is valid? [True, True] Translation: X:130.19, Y:-45.65, Z:-6.67 [[ 7.68991189e-01 6.36774837e-01 5.63059349e-02 1.30191803e+02] [-6.35137176e-01 7.71049524e-01 -4.56442642e-02 -4.56536205e+01] [-7.24797832e-02 -6.61955457e-04 9.97369662e-01 -6.67409319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28864 meters 0.027999929620745736 Centerline is valid? [True, True] Translation: X:130.25, Y:-45.68, Z:-6.67 [[ 7.74009554e-01 6.30919086e-01 5.33883711e-02 1.30249276e+02] [-6.29430208e-01 7.75848633e-01 -4.33187195e-02 -4.56811082e+01] [-6.87519016e-02 -7.51507993e-05 9.97633786e-01 -6.67461264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34864 meters 0.028215561887786296 Centerline is valid? [True, True] Translation: X:130.30, Y:-45.72, Z:-6.68 [[ 7.74786031e-01 6.29843750e-01 5.48038074e-02 1.30301852e+02] [-6.28269061e-01 7.76721860e-01 -4.45099816e-02 -4.57152196e+01] [-7.06016490e-02 5.41753154e-05 9.97504589e-01 -6.67814367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40864 meters 0.0279462544345383 Centerline is valid? [True, True] Translation: X:130.36, Y:-45.75, Z:-6.68 [[ 7.74990582e-01 6.29682532e-01 5.37541356e-02 1.30355311e+02] [-6.28165038e-01 7.76852560e-01 -4.36896320e-02 -4.57487967e+01] [-6.92696360e-02 9.25846474e-05 9.97597970e-01 -6.67992620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46864 meters 0.028048512629271508 Centerline is valid? [True, True] Translation: X:130.41, Y:-45.78, Z:-6.69 [[ 7.74408464e-01 6.30299019e-01 5.49060857e-02 1.30406374e+02] [-6.28715557e-01 7.76352461e-01 -4.46498000e-02 -4.57844288e+01] [-7.07691999e-02 5.68727750e-05 9.97492715e-01 -6.68507503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52864 meters 0.0280366970668337 Centerline is valid? [True, True] Translation: X:130.46, Y:-45.82, Z:-6.69 [[ 7.75160146e-01 6.29388352e-01 5.47453225e-02 1.30457911e+02] [-6.27809493e-01 7.77090905e-01 -4.45529617e-02 -4.58208489e+01] [-7.05832074e-02 1.66047133e-04 9.97505881e-01 -6.68704220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58864 meters 0.028041117211096787 Centerline is valid? [True, True] Translation: X:130.51, Y:-45.86, Z:-6.69 [[ 7.75602580e-01 6.28843922e-01 5.47353657e-02 1.30508611e+02] [-6.27263017e-01 7.77531523e-01 -4.45627399e-02 -4.58589949e+01] [-7.05814804e-02 2.29505346e-04 9.97505991e-01 -6.69037243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64864 meters 0.028034128894034314 Centerline is valid? [True, True] Translation: X:130.56, Y:-45.90, Z:-6.69 [[ 7.78318842e-01 6.25564404e-01 5.37490231e-02 1.30559205e+02] [-6.24030995e-01 7.80172349e-01 -4.37769716e-02 -4.58967430e+01] [-6.93188167e-02 5.31385458e-04 9.97594416e-01 -6.69209767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70864 meters 0.028899584063135957 Centerline is valid? [True, True] Translation: X:130.61, Y:-45.94, Z:-6.70 [[ 7.83116126e-01 6.19463320e-01 5.47204665e-02 1.30606702e+02] [-6.17857812e-01 7.85024824e-01 -4.45841851e-02 -4.59363030e+01] [-7.05751919e-02 1.10512659e-03 9.97505850e-01 -6.69741489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76864 meters 0.029470290048983633 Centerline is valid? [True, True] Translation: X:130.65, Y:-45.98, Z:-6.70 [[ 7.86639842e-01 6.14968540e-01 5.48767109e-02 1.30653421e+02] [-6.13342044e-01 7.88550173e-01 -4.47231528e-02 -4.59769147e+01] [-7.07763719e-02 1.52281987e-03 9.97491046e-01 -6.69907387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82863999999998 meters 0.030289507637738407 Centerline is valid? [True, True] Translation: X:130.70, Y:-46.02, Z:-6.70 [[ 7.89934673e-01 6.10783013e-01 5.42892476e-02 1.30698343e+02] [-6.09179892e-01 7.91795759e-01 -4.42643788e-02 -4.60205700e+01] [-7.00219267e-02 1.89404957e-03 9.97543654e-01 -6.70179641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88863999999998 meters 0.029654053327897133 Centerline is valid? [True, True] Translation: X:130.74, Y:-46.07, Z:-6.70 [[ 7.88753554e-01 6.12409718e-01 5.31240854e-02 1.30741600e+02] [-6.10875866e-01 7.90538617e-01 -4.33517232e-02 -4.60666080e+01] [-6.85456576e-02 1.74160403e-03 9.97646460e-01 -6.70346333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94863999999998 meters 0.028586097521305368 Centerline is valid? [True, True] Translation: X:130.78, Y:-46.11, Z:-6.71 [[ 7.82935323e-01 6.19695923e-01 5.46739603e-02 1.30784418e+02] [-6.18085929e-01 7.84841127e-01 -4.46563523e-02 -4.61129218e+01] [-7.05837321e-02 1.16983012e-03 9.97505172e-01 -6.70545718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00863999999999 meters 0.028162773482280874 Centerline is valid? [True, True] Translation: X:130.83, Y:-46.15, Z:-6.71 [[ 7.79491291e-01 6.24082435e-01 5.39855736e-02 1.30830201e+02] [-6.22520503e-01 7.81358102e-01 -4.41331956e-02 -4.61548702e+01] [-6.97248175e-02 7.94315144e-04 9.97565947e-01 -6.70914313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06864 meters 0.028045665446025717 Centerline is valid? [True, True] Translation: X:130.88, Y:-46.19, Z:-6.71 [[ 7.75429051e-01 6.29008877e-01 5.52957431e-02 1.30879385e+02] [-6.27379410e-01 7.77398017e-01 -4.52482001e-02 -4.61949118e+01] [-7.14483206e-02 3.95358163e-04 9.97444225e-01 -6.71296195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12864 meters 0.027908889451548135 Centerline is valid? [True, True] Translation: X:130.93, Y:-46.23, Z:-6.71 [[ 7.74023764e-01 6.30805101e-01 5.45173060e-02 1.30928050e+02] [-6.29222532e-01 7.75941271e-01 -4.46558987e-02 -4.62336829e+01] [-7.04713964e-02 2.61209502e-04 9.97513766e-01 -6.71462468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18864 meters 0.02775322663521029 Centerline is valid? [True, True] Translation: X:130.98, Y:-46.27, Z:-6.72 [[ 7.72582791e-01 6.32484623e-01 5.54890309e-02 1.30978390e+02] [-6.30846320e-01 7.74572903e-01 -4.54943781e-02 -4.62709550e+01] [-7.17547943e-02 1.43122658e-04 9.97422292e-01 -6.71801987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24864 meters 0.02801045530005944 Centerline is valid? [True, True] Translation: X:131.03, Y:-46.31, Z:-6.72 [[ 7.70438000e-01 6.34999605e-01 5.65755196e-02 1.31027243e+02] [-6.33299972e-01 7.72512458e-01 -4.64289517e-02 -4.63095400e+01] [-7.31876598e-02 -5.86462611e-05 9.97318185e-01 -6.72116185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30864 meters 0.0277623913436849 Centerline is valid? [True, True] Translation: X:131.08, Y:-46.35, Z:-6.72 [[ 7.68627924e-01 6.37302059e-01 5.52919604e-02 1.31076441e+02] [-6.35681705e-01 7.70614060e-01 -4.54174013e-02 -4.63478744e+01] [-7.15533654e-02 -2.39004804e-04 9.97436744e-01 -6.72322500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36864 meters 0.028018058845395766 Centerline is valid? [True, True] Translation: X:131.13, Y:-46.39, Z:-6.73 [[ 7.66713804e-01 6.39614074e-01 5.51704554e-02 1.31126964e+02] [-6.38003637e-01 7.68696078e-01 -4.53618708e-02 -4.63851329e+01] [-7.14234036e-02 -4.19378713e-04 9.97445999e-01 -6.72706354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42864 meters 0.028004436326870958 Centerline is valid? [True, True] Translation: X:131.18, Y:-46.42, Z:-6.73 [[ 7.65533652e-01 6.40935876e-01 5.62088142e-02 1.31178142e+02] [-6.39264233e-01 7.67594253e-01 -4.62634151e-02 -4.64212337e+01] [-7.27974452e-02 -5.16083375e-04 9.97346613e-01 -6.73089955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48864 meters 0.02755891835326154 Centerline is valid? [True, True] Translation: X:131.23, Y:-46.46, Z:-6.73 [[ 7.65669278e-01 6.40968024e-01 5.39495061e-02 1.31230543e+02] [-6.39425483e-01 7.67567440e-01 -4.44440874e-02 -4.64556010e+01] [-6.98971231e-02 -4.67216653e-04 9.97554096e-01 -6.73316667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54864 meters 0.027637301129984956 Centerline is valid? [True, True] Translation: X:131.28, Y:-46.49, Z:-6.74 [[ 7.67923910e-01 6.38274864e-01 5.38336964e-02 1.31280862e+02] [-6.36730077e-01 7.69808521e-01 -4.43807288e-02 -4.64916487e+01] [-6.97687419e-02 -1.96510939e-04 9.97563173e-01 -6.73563075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60863999999998 meters 0.02747195512299227 Centerline is valid? [True, True] Translation: X:131.33, Y:-46.53, Z:-6.74 [[ 7.73832940e-01 6.31204677e-01 5.25664961e-02 1.31331863e+02] [-6.29714643e-01 7.75616181e-01 -4.33475317e-02 -4.65282772e+01] [-6.81325897e-02 4.41855585e-04 9.97676177e-01 -6.73728202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66863999999998 meters 0.027842361188046373 Centerline is valid? [True, True] Translation: X:131.38, Y:-46.57, Z:-6.74 [[ 7.77734908e-01 6.26416707e-01 5.22544029e-02 1.31380090e+02] [-6.24932709e-01 7.79487882e-01 -4.31016327e-02 -4.65669946e+01] [-6.77312567e-02 8.66158829e-04 9.97703226e-01 -6.74040942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72863999999998 meters 0.028017406512779033 Centerline is valid? [True, True] Translation: X:131.43, Y:-46.61, Z:-6.74 [[ 7.78325670e-01 6.25712530e-01 5.18939445e-02 1.31429592e+02] [-6.24246522e-01 7.80053180e-01 -4.28172416e-02 -4.66061412e+01] [-6.72713209e-02 9.31143897e-04 9.97734284e-01 -6.74358626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78864 meters 0.027425343113977648 Centerline is valid? [True, True] Translation: X:131.48, Y:-46.65, Z:-6.75 [[ 7.75988480e-01 6.28580098e-01 5.22392509e-02 1.31475914e+02] [-6.27099918e-01 7.77744541e-01 -4.31175399e-02 -4.66468673e+01] [-6.77316197e-02 6.99484308e-04 9.97703332e-01 -6.74710519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84864 meters 0.02727842447708706 Centerline is valid? [True, True] Translation: X:131.52, Y:-46.69, Z:-6.75 [[ 7.75069634e-01 6.29827385e-01 5.08382565e-02 1.31524287e+02] [-6.28427587e-01 7.76734913e-01 -4.19719159e-02 -4.66855969e+01] [-6.59229108e-02 5.82994561e-04 9.97824549e-01 -6.75000868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90864 meters 0.02740667853486918 Centerline is valid? [True, True] Translation: X:131.57, Y:-46.72, Z:-6.75 [[ 7.75635211e-01 6.28967791e-01 5.28160703e-02 1.31572354e+02] [-6.27454023e-01 7.77431052e-01 -4.36166122e-02 -4.67244022e+01] [-6.84942973e-02 6.90924461e-04 9.97651269e-01 -6.75390382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96864 meters 0.027320206549093253 Centerline is valid? [True, True] Translation: X:131.62, Y:-46.76, Z:-6.76 [[ 7.76850560e-01 6.27560321e-01 5.16841528e-02 1.31621520e+02] [-6.26106850e-01 7.78567526e-01 -4.26945046e-02 -4.67632200e+01] [-6.70329800e-02 8.07447725e-04 9.97750434e-01 -6.75516038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02864 meters 0.027611188557024775 Centerline is valid? [True, True] Translation: X:131.67, Y:-46.80, Z:-6.76 [[ 7.77921382e-01 6.26231560e-01 5.16948391e-02 1.31667670e+02] [-6.24773539e-01 7.79636557e-01 -4.27184223e-02 -4.68048504e+01] [-6.70548105e-02 9.34006553e-04 9.97748856e-01 -6.75720026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08864 meters 0.027719033006934034 Centerline is valid? [True, True] Translation: X:131.71, Y:-46.85, Z:-6.76 [[ 7.78424552e-01 6.25548600e-01 5.23847774e-02 1.31712644e+02] [-6.24049033e-01 7.80184541e-01 -4.32999612e-02 -4.68472052e+01] [-6.79560236e-02 1.01508322e-03 9.97687801e-01 -6.76065570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14864 meters 0.02769955142378717 Centerline is valid? [True, True] Translation: X:131.76, Y:-46.89, Z:-6.76 [[ 7.77440976e-01 6.26643972e-01 5.38782028e-02 1.31756388e+02] [-6.25058742e-01 7.79305079e-01 -4.45551670e-02 -4.68922738e+01] [-6.99077840e-02 9.61970824e-04 9.97552994e-01 -6.76373436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20864 meters 0.02733060208937752 Centerline is valid? [True, True] Translation: X:131.80, Y:-46.94, Z:-6.77 [[ 7.74198515e-01 6.30655361e-01 5.37631463e-02 1.31798290e+02] [-6.29083713e-01 7.76062767e-01 -4.45001506e-02 -4.69384385e+01] [-6.97878346e-02 6.30430820e-04 9.97561658e-01 -6.76771194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26864 meters 0.027271792587664496 Centerline is valid? [True, True] Translation: X:131.84, Y:-46.98, Z:-6.77 [[ 7.73209148e-01 6.31809261e-01 5.44487903e-02 1.31843750e+02] [-6.30196994e-01 7.75123691e-01 -4.51111073e-02 -4.69828940e+01] [-7.07061627e-02 5.66856842e-04 9.97497026e-01 -6.77050553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32863999999998 meters 0.027405706876928573 Centerline is valid? [True, True] Translation: X:131.89, Y:-47.03, Z:-6.77 [[ 7.75717512e-01 6.28825506e-01 5.32993891e-02 1.31888169e+02] [-6.27270430e-01 7.77545978e-01 -4.42047434e-02 -4.70278998e+01] [-6.92397957e-02 8.57262803e-04 9.97599677e-01 -6.77275475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38863999999998 meters 0.027747139200481278 Centerline is valid? [True, True] Translation: X:131.93, Y:-47.07, Z:-6.78 [[ 7.77751561e-01 6.26334123e-01 5.29912809e-02 1.31933346e+02] [-6.24788144e-01 7.79553936e-01 -4.39935903e-02 -4.70714785e+01] [-6.88642484e-02 1.10775946e-03 9.97625425e-01 -6.77551088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44863999999998 meters 0.027875847633595144 Centerline is valid? [True, True] Translation: X:131.98, Y:-47.12, Z:-6.78 [[ 7.78186433e-01 6.25761509e-01 5.33704828e-02 1.31976630e+02] [-6.24189146e-01 7.80013524e-01 -4.43487539e-02 -4.71168141e+01] [-6.93814415e-02 1.19832252e-03 9.97589485e-01 -6.77869775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50863999999999 meters 0.02724827024153131 Centerline is valid? [True, True] Translation: X:132.02, Y:-47.16, Z:-6.78 [[ 7.74906871e-01 6.29842223e-01 5.30859249e-02 1.32019624e+02] [-6.28293372e-01 7.76722624e-01 -4.41520554e-02 -4.71618804e+01] [-6.90418676e-02 8.60196319e-04 9.97613392e-01 -6.78081432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56864 meters 0.026692178027161808 Centerline is valid? [True, True] Translation: X:132.06, Y:-47.21, Z:-6.78 [[ 7.70375942e-01 6.35432091e-01 5.24115116e-02 1.32064487e+02] [-6.33932547e-01 7.72156661e-01 -4.36304629e-02 -4.72052115e+01] [-6.81940940e-02 3.86495973e-04 9.97671998e-01 -6.78333574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62864 meters 0.02655997073272022 Centerline is valid? [True, True] Translation: X:132.11, Y:-47.25, Z:-6.79 [[ 7.65187553e-01 6.41683005e-01 5.22583015e-02 1.32112105e+02] [-6.40203941e-01 7.66969949e-01 -4.35432155e-02 -4.72453952e+01] [-6.80214882e-02 -1.37244100e-04 9.97683847e-01 -6.78637709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68864 meters 0.026921110376521538 Centerline is valid? [True, True] Translation: X:132.16, Y:-47.28, Z:-6.79 [[ 7.61731286e-01 6.45692471e-01 5.33542970e-02 1.32160545e+02] [-6.44157475e-01 7.63597413e-01 -4.44987417e-02 -4.72847856e+01] [-6.94737057e-02 -4.72485459e-04 9.97583671e-01 -6.78955181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74864 meters 0.02714533437235298 Centerline is valid? [True, True] Translation: X:132.21, Y:-47.32, Z:-6.79 [[ 7.58745243e-01 6.49123347e-01 5.42635819e-02 1.32212140e+02] [-6.47541204e-01 7.60682781e-01 -4.53000710e-02 -4.73204828e+01] [-7.06827061e-02 -7.66691771e-04 9.97498555e-01 -6.79186903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80864 meters 0.027475042634162502 Centerline is valid? [True, True] Translation: X:132.26, Y:-47.36, Z:-6.80 [[ 7.58167784e-01 6.49853464e-01 5.35918534e-02 1.32264565e+02] [-6.48309062e-01 7.60059109e-01 -4.47829311e-02 -4.73553704e+01] [-6.98353192e-02 -7.91108607e-04 9.97558220e-01 -6.79551090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86864 meters 0.02745644481141677 Centerline is valid? [True, True] Translation: X:132.32, Y:-47.39, Z:-6.80 [[ 7.60491305e-01 6.47184637e-01 5.29624548e-02 1.32316926e+02] [-6.45666708e-01 7.62333124e-01 -4.43024811e-02 -4.73900924e+01] [-6.90469187e-02 -5.04442210e-04 9.97613286e-01 -6.79780135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92864 meters 0.02774241026941579 Centerline is valid? [True, True] Translation: X:132.37, Y:-47.43, Z:-6.80 [[ 7.64775949e-01 6.42047254e-01 5.37872760e-02 1.32368530e+02] [-6.40465695e-01 7.66665066e-01 -4.50374310e-02 -4.74262506e+01] [-7.01529844e-02 -5.36112308e-06 9.97536244e-01 -6.79998249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98864 meters 0.028050797489992552 Centerline is valid? [True, True] Translation: X:132.42, Y:-47.46, Z:-6.80 [[ 7.66135135e-01 6.40400628e-01 5.40739312e-02 1.32418277e+02] [-6.38794547e-01 7.68041015e-01 -4.53268709e-02 -4.74643505e+01] [-7.05583536e-02 1.84375925e-04 9.97507636e-01 -6.80432403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04864 meters 0.027883206993153005 Centerline is valid? [True, True] Translation: X:132.47, Y:-47.50, Z:-6.81 [[ 7.66262015e-01 6.40189861e-01 5.47673805e-02 1.32466646e+02] [-6.38538321e-01 7.68216690e-01 -4.59557465e-02 -4.75039690e+01] [-7.14936187e-02 2.43071790e-04 9.97441028e-01 -6.80583258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10863999999998 meters 0.02809147982794209 Centerline is valid? [True, True] Translation: X:132.51, Y:-47.55, Z:-6.81 [[ 7.64709096e-01 6.42032388e-01 5.49036616e-02 1.32513474e+02] [-6.40374113e-01 7.66677509e-01 -4.61149954e-02 -4.75459035e+01] [-7.17007231e-02 1.05672863e-04 9.97426185e-01 -6.80820201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16863999999998 meters 0.028124609551752874 Centerline is valid? [True, True] Translation: X:132.56, Y:-47.59, Z:-6.81 [[ 7.63780332e-01 6.43177334e-01 5.44290592e-02 1.32561268e+02] [-6.41547092e-01 7.65717256e-01 -4.57647437e-02 -4.75869952e+01] [-7.11121157e-02 3.54064042e-05 9.97468328e-01 -6.81147937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22863999999998 meters 0.0280573056595486 Centerline is valid? [True, True] Translation: X:132.61, Y:-47.63, Z:-6.81 [[ 7.63178339e-01 6.43905370e-01 5.42650654e-02 1.32609150e+02] [-6.42283338e-01 7.65105139e-01 -4.56753710e-02 -4.76279510e+01] [-7.09290971e-02 4.90642075e-06 9.97481360e-01 -6.81388864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28864 meters 0.02796331854441954 Centerline is valid? [True, True] Translation: X:132.66, Y:-47.67, Z:-6.82 [[ 7.62409422e-01 6.44945282e-01 5.27015766e-02 1.32658552e+02] [-6.43414886e-01 7.64228749e-01 -4.44038707e-02 -4.76664716e+01] [-6.89141268e-02 -5.50494945e-05 9.97622594e-01 -6.81681273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34864 meters 0.02819527878012959 Centerline is valid? [True, True] Translation: X:132.71, Y:-47.71, Z:-6.82 [[ 7.62589127e-01 6.44747567e-01 5.25204548e-02 1.32707061e+02] [-6.43224242e-01 7.64395562e-01 -4.42944540e-02 -4.77065572e+01] [-6.87051440e-02 -3.96071420e-06 9.97637010e-01 -6.81925828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40864 meters 0.028343347152753013 Centerline is valid? [True, True] Translation: X:132.76, Y:-47.75, Z:-6.82 [[ 7.62447304e-01 6.44785990e-01 5.40845179e-02 1.32755716e+02] [-6.43167171e-01 7.64363151e-01 -4.56614025e-02 -4.77456603e+01] [-7.07820452e-02 2.90268360e-05 9.97491805e-01 -6.82180468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46864 meters 0.02828799403690316 Centerline is valid? [True, True] Translation: X:132.81, Y:-47.78, Z:-6.83 [[ 7.61268010e-01 6.46144329e-01 5.44841497e-02 1.32806729e+02] [-6.44501712e-01 7.63215240e-01 -4.60439106e-02 -4.77822006e+01] [-7.13341451e-02 -6.33715643e-05 9.97452473e-01 -6.82532940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52864 meters 0.02822540453551366 Centerline is valid? [True, True] Translation: X:132.86, Y:-47.82, Z:-6.83 [[ 7.57420866e-01 6.50620747e-01 5.48295082e-02 1.32856365e+02] [-6.48965452e-01 7.59402686e-01 -4.63832050e-02 -4.78192254e+01] [-7.18155513e-02 -4.50849250e-04 9.97417828e-01 -6.82678211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58864 meters 0.028188755842685546 Centerline is valid? [True, True] Translation: X:132.91, Y:-47.85, Z:-6.83 [[ 7.57031421e-01 6.50996664e-01 5.57384142e-02 1.32908510e+02] [-6.49283753e-01 7.59080451e-01 -4.71961553e-02 -4.78537660e+01] [-7.30344802e-02 -4.61074196e-04 9.97329310e-01 -6.82794344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64864 meters 0.02800254942607297 Centerline is valid? [True, True] Translation: X:132.96, Y:-47.89, Z:-6.83 [[ 7.60444504e-01 6.47003031e-01 5.57784410e-02 1.32959675e+02] [-6.45273500e-01 7.62487427e-01 -4.72761445e-02 -4.78906844e+01] [-7.31181688e-02 -4.14656737e-05 9.97323283e-01 -6.83102956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70864 meters 0.027937594016850035 Centerline is valid? [True, True] Translation: X:133.01, Y:-47.93, Z:-6.83 [[ 7.63051052e-01 6.43983933e-01 5.51161147e-02 1.33010848e+02] [-6.42283808e-01 7.65038962e-01 -4.67642538e-02 -4.79276737e+01] [-7.22814033e-02 2.83325017e-04 9.97384238e-01 -6.83354722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76864 meters 0.02784127647049667 Centerline is valid? [True, True] Translation: X:133.06, Y:-47.97, Z:-6.84 [[ 7.63817626e-01 6.43186313e-01 5.37959208e-02 1.33058703e+02] [-6.41561567e-01 7.65709617e-01 -4.56895721e-02 -4.79679015e+01] [-7.05789613e-02 3.85105197e-04 9.97506121e-01 -6.83712614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82863999999998 meters 0.028153354527039407 Centerline is valid? [True, True] Translation: X:133.11, Y:-48.01, Z:-6.84 [[ 7.64290979e-01 6.42585273e-01 5.42537243e-02 1.33108342e+02] [-6.40928048e-01 7.66214029e-01 -4.61226530e-02 -4.80073737e+01] [-7.12077022e-02 4.78394070e-04 9.97461395e-01 -6.83937361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88863999999998 meters 0.028202986296811873 Centerline is valid? [True, True] Translation: X:133.15, Y:-48.05, Z:-6.84 [[ 7.65500199e-01 6.41053095e-01 5.53206517e-02 1.33154706e+02] [-6.39322501e-01 7.67496241e-01 -4.70771637e-02 -4.80484701e+01] [-7.26373537e-02 6.69840783e-04 9.97358194e-01 -6.84214151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94863999999998 meters 0.028210065357480284 Centerline is valid? [True, True] Translation: X:133.20, Y:-48.09, Z:-6.85 [[ 7.65414395e-01 6.41208066e-01 5.47085010e-02 1.33202872e+02] [-6.39512825e-01 7.67366764e-01 -4.66003791e-02 -4.80896798e+01] [-7.18620244e-02 6.81812928e-04 9.97414350e-01 -6.84601243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00863999999999 meters 0.028129011783382642 Centerline is valid? [True, True] Translation: X:133.25, Y:-48.13, Z:-6.85 [[ 7.63136194e-01 6.43796663e-01 5.61160132e-02 1.33250994e+02] [-6.42016153e-01 7.65196457e-01 -4.78501893e-02 -4.81307137e+01] [-7.37455667e-02 4.88824413e-04 9.97276969e-01 -6.85001418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06864 meters 0.028006677056744145 Centerline is valid? [True, True] Translation: X:133.30, Y:-48.17, Z:-6.85 [[ 7.61243619e-01 6.46110402e-01 5.52222839e-02 1.33297668e+02] [-6.44388912e-01 7.63243906e-01 -4.71345881e-02 -4.81713657e+01] [-7.26022194e-02 2.96277027e-04 9.97360933e-01 -6.85149271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12864 meters 0.02781359509500074 Centerline is valid? [True, True] Translation: X:133.34, Y:-48.21, Z:-6.85 [[ 7.59129620e-01 6.48451212e-01 5.68616474e-02 1.33343438e+02] [-6.46628999e-01 7.61256208e-01 -4.85790490e-02 -4.82130226e+01] [-7.47874252e-02 1.09404831e-04 9.97199493e-01 -6.85459913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18864 meters 0.02778600195666135 Centerline is valid? [True, True] Translation: X:133.39, Y:-48.25, Z:-6.86 [[ 7.56684894e-01 6.51344759e-01 5.63735367e-02 1.33392044e+02] [-6.49558260e-01 7.58781909e-01 -4.82087248e-02 -4.82535917e+01] [-7.41757201e-02 -1.39082566e-04 9.97245177e-01 -6.85751219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24864 meters 0.02756983848843347 Centerline is valid? [True, True] Translation: X:133.44, Y:-48.29, Z:-6.86 [[ 7.53327506e-01 6.55362740e-01 5.47480411e-02 1.33440324e+02] [-6.53685106e-01 7.55314137e-01 -4.68650962e-02 -4.82932749e+01] [-7.20656073e-02 -4.83212991e-04 9.97399777e-01 -6.86103132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30864 meters 0.027603347009687165 Centerline is valid? [True, True] Translation: X:133.49, Y:-48.33, Z:-6.86 [[ 7.51791246e-01 6.57057249e-01 5.55490213e-02 1.33488587e+02] [-6.55331459e-01 7.53840424e-01 -4.75951031e-02 -4.83329882e+01] [-7.31478053e-02 -6.21439236e-04 9.97320917e-01 -6.86355108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36864 meters 0.02760559363064932 Centerline is valid? [True, True] Translation: X:133.54, Y:-48.37, Z:-6.87 [[ 7.51463898e-01 6.57503821e-01 5.46876217e-02 1.33537608e+02] [-6.55829290e-01 7.53450953e-01 -4.68999322e-02 -4.83717936e+01] [-7.20413253e-02 -6.22138205e-04 9.97401454e-01 -6.86616557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42864 meters 0.02753083283127431 Centerline is valid? [True, True] Translation: X:133.59, Y:-48.41, Z:-6.87 [[ 7.50535336e-01 6.58470507e-01 5.57969640e-02 1.33586097e+02] [-6.56726616e-01 7.52606210e-01 -4.78961752e-02 -4.84101964e+01] [-7.35313604e-02 -6.95579425e-04 9.97292663e-01 -6.86994074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48864 meters 0.0276230271854663 Centerline is valid? [True, True] Translation: X:133.64, Y:-48.45, Z:-6.87 [[ 7.51610684e-01 6.57235573e-01 5.58818418e-02 1.33635340e+02] [-6.55479504e-01 7.53685020e-01 -4.80157266e-02 -4.84501789e+01] [-7.36749506e-02 -5.40268869e-04 9.97282162e-01 -6.87255158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54864 meters 0.027344428064366714 Centerline is valid? [True, True] Translation: X:133.68, Y:-48.49, Z:-6.88 [[ 7.53339037e-01 6.55415233e-01 5.39552344e-02 1.33681961e+02] [-6.53770344e-01 7.55268676e-01 -4.64065028e-02 -4.84911657e+01] [-7.11662273e-02 -3.14502035e-04 9.97464420e-01 -6.87660231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60863999999998 meters 0.027372143032820297 Centerline is valid? [True, True] Translation: X:133.73, Y:-48.53, Z:-6.88 [[ 7.52599424e-01 6.56114558e-01 5.57475977e-02 1.33727377e+02] [-6.54357086e-01 7.54661220e-01 -4.79921506e-02 -4.85329624e+01] [-7.35588988e-02 -3.59970748e-04 9.97290810e-01 -6.87885128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66863999999998 meters 0.027545050730564152 Centerline is valid? [True, True] Translation: X:133.78, Y:-48.57, Z:-6.88 [[ 7.51283956e-01 6.57737438e-01 5.43496032e-02 1.33775504e+02] [-6.56068438e-01 7.53247129e-01 -4.68291369e-02 -4.85721750e+01] [-7.17399591e-02 -4.75080035e-04 9.97423256e-01 -6.88161603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72863999999998 meters 0.027510524892978047 Centerline is valid? [True, True] Translation: X:133.82, Y:-48.61, Z:-6.88 [[ 7.48931028e-01 6.60493744e-01 5.33884813e-02 1.33824614e+02] [-6.58887172e-01 7.50831230e-01 -4.60451813e-02 -4.86121872e+01] [-7.04982933e-02 -6.92320505e-04 9.97511660e-01 -6.88491903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78864 meters 0.027636128732436604 Centerline is valid? [True, True] Translation: X:133.87, Y:-48.65, Z:-6.89 [[ 7.48559589e-01 6.60849629e-01 5.41877173e-02 1.33873015e+02] [-6.59192770e-01 7.50517998e-01 -4.67720761e-02 -4.86513831e+01] [-7.15781662e-02 -7.08465330e-04 9.97434742e-01 -6.88604600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84864 meters 0.027518270062236148 Centerline is valid? [True, True] Translation: X:133.92, Y:-48.69, Z:-6.89 [[ 7.49521655e-01 6.59706510e-01 5.48143217e-02 1.33923012e+02] [-6.58006927e-01 7.51523098e-01 -4.73277698e-02 -4.86895116e+01] [-7.24166667e-02 -5.95015020e-04 9.97374289e-01 -6.88919255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90864 meters 0.027571379787589917 Centerline is valid? [True, True] Translation: X:133.97, Y:-48.73, Z:-6.89 [[ 7.49765966e-01 6.59411392e-01 5.50237358e-02 1.33973975e+02] [-6.57696594e-01 7.51782089e-01 -4.75276911e-02 -4.87271934e+01] [-7.27061600e-02 -5.54278371e-04 9.97353251e-01 -6.89152240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96864 meters 0.027418134797174584 Centerline is valid? [True, True] Translation: X:134.02, Y:-48.77, Z:-6.89 [[ 7.49923960e-01 6.59247853e-01 5.48299409e-02 1.34022129e+02] [-6.57543474e-01 7.51925524e-01 -4.73770602e-02 -4.87657541e+01] [-7.24612573e-02 -5.23877199e-04 9.97371090e-01 -6.89409364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02864 meters 0.02740558989174113 Centerline is valid? [True, True] Translation: X:134.07, Y:-48.80, Z:-6.90 [[ 7.50140248e-01 6.59202775e-01 5.23575290e-02 1.34072628e+02] [-6.57647902e-01 7.51965069e-01 -4.52523176e-02 -4.88018374e+01] [-6.92014862e-02 -4.87234330e-04 9.97602585e-01 -6.89732336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08864 meters 0.027249409477137766 Centerline is valid? [True, True] Translation: X:134.12, Y:-48.84, Z:-6.90 [[ 7.50916823e-01 6.58332807e-01 5.21712616e-02 1.34120401e+02] [-6.56786066e-01 7.52726882e-01 -4.51032749e-02 -4.88418321e+01] [-6.89636766e-02 -3.96549781e-04 9.97619093e-01 -6.90001099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14864 meters 0.027340958452176062 Centerline is valid? [True, True] Translation: X:134.17, Y:-48.88, Z:-6.90 [[ 7.52866030e-01 6.55944405e-01 5.41265034e-02 1.34168432e+02] [-6.54272382e-01 7.54809186e-01 -4.68053792e-02 -4.88804570e+01] [-7.15569086e-02 -1.75296246e-04 9.97436503e-01 -6.90326552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20864 meters 0.027430362412389515 Centerline is valid? [True, True] Translation: X:134.22, Y:-48.92, Z:-6.91 [[ 7.56299506e-01 6.51898087e-01 5.51356589e-02 1.34216521e+02] [-6.50151485e-01 7.58306557e-01 -4.76886965e-02 -4.89194148e+01] [-7.28979018e-02 2.20407113e-04 9.97339384e-01 -6.90767420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26864 meters 0.027398189881891227 Centerline is valid? [True, True] Translation: X:134.27, Y:-48.96, Z:-6.91 [[ 7.57376206e-01 6.50667443e-01 5.48922771e-02 1.34265564e+02] [-6.48931957e-01 7.59362731e-01 -4.74927037e-02 -4.89591742e+01] [-7.25851055e-02 3.48490934e-04 9.97362161e-01 -6.90966903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32863999999998 meters 0.027614341996249465 Centerline is valid? [True, True] Translation: X:134.31, Y:-49.00, Z:-6.91 [[ 7.59999111e-01 6.47734706e-01 5.33019790e-02 1.34310805e+02] [-6.46090110e-01 7.61865712e-01 -4.61324911e-02 -4.90021554e+01] [-7.04905657e-02 6.22770784e-04 9.97512252e-01 -6.91433240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38863999999998 meters 0.027798156978785012 Centerline is valid? [True, True] Translation: X:134.36, Y:-49.05, Z:-6.92 [[ 7.62195432e-01 6.45194995e-01 5.27403250e-02 1.34355296e+02] [-6.43578012e-01 7.64017462e-01 -4.56580801e-02 -4.90452119e+01] [-6.97528940e-02 8.57866535e-04 9.97563932e-01 -6.91683332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44863999999998 meters 0.027840328530511108 Centerline is valid? [True, True] Translation: X:134.40, Y:-49.09, Z:-6.92 [[ 7.63127889e-01 6.44108920e-01 5.25311748e-02 1.34400307e+02] [-6.42501372e-01 7.64933182e-01 -4.54886164e-02 -4.90885720e+01] [-6.94824623e-02 9.62279938e-04 9.97582709e-01 -6.92078675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50863999999999 meters 0.028224816891876083 Centerline is valid? [True, True] Translation: X:134.44, Y:-49.13, Z:-6.92 [[ 7.65004139e-01 6.41784568e-01 5.36771317e-02 1.34444051e+02] [-6.40099442e-01 7.66884025e-01 -4.64929873e-02 -4.91329905e+01] [-7.10026166e-02 1.20862572e-03 9.97475397e-01 -6.92489669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56864 meters 0.028348459394177357 Centerline is valid? [True, True] Translation: X:134.49, Y:-49.18, Z:-6.93 [[ 7.65517570e-01 6.41163844e-01 5.37752353e-02 1.34487999e+02] [-6.39470169e-01 7.67402954e-01 -4.65898054e-02 -4.91764455e+01] [-7.11389732e-02 1.27765581e-03 9.97465595e-01 -6.92805322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62864 meters 0.028346902237092304 Centerline is valid? [True, True] Translation: X:134.53, Y:-49.22, Z:-6.93 [[ 7.64935147e-01 6.41923504e-01 5.29946740e-02 1.34531525e+02] [-6.40279060e-01 7.66767736e-01 -4.59343392e-02 -4.92208343e+01] [-7.01209382e-02 1.20541050e-03 9.97537769e-01 -6.93140467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68864 meters 0.027859234078784555 Centerline is valid? [True, True] Translation: X:134.57, Y:-49.27, Z:-6.93 [[ 7.61945921e-01 6.45422625e-01 5.35541606e-02 1.34573535e+02] [-6.43748886e-01 7.63825097e-01 -4.64606640e-02 -4.92670142e+01] [-7.08927757e-02 9.25082239e-04 9.97483513e-01 -6.93403105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74864 meters 0.027537610300860903 Centerline is valid? [True, True] Translation: X:134.62, Y:-49.31, Z:-6.94 [[ 7.58260604e-01 6.49718338e-01 5.39160270e-02 1.34618445e+02] [-6.48029660e-01 7.60174827e-01 -4.68165663e-02 -4.93105047e+01] [-7.14031882e-02 5.59973165e-04 9.97447378e-01 -6.93554420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80864 meters 0.02750757700934875 Centerline is valid? [True, True] Translation: X:134.66, Y:-49.35, Z:-6.94 [[ 7.55608483e-01 6.52880721e-01 5.29394399e-02 1.34664322e+02] [-6.51257575e-01 7.57460680e-01 -4.60096764e-02 -4.93522902e+01] [-7.01383748e-02 2.88090582e-04 9.97537230e-01 -6.93923945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86864 meters 0.027445155401592463 Centerline is valid? [True, True] Translation: X:134.71, Y:-49.39, Z:-6.94 [[ 7.54630500e-01 6.53940770e-01 5.37984955e-02 1.34713186e+02] [-6.52263894e-01 7.56545714e-01 -4.68016559e-02 -4.93919112e+01] [-7.13065321e-02 2.27140861e-04 9.97454423e-01 -6.94253451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92864 meters 0.027730133047329124 Centerline is valid? [True, True] Translation: X:134.76, Y:-49.43, Z:-6.95 [[ 7.53947417e-01 6.54764017e-01 5.33608043e-02 1.34762793e+02] [-6.53112927e-01 7.55833347e-01 -4.64699524e-02 -4.94302842e+01] [-7.07587280e-02 1.85269467e-04 9.97493443e-01 -6.94615759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98864 meters 0.02783890261272073 Centerline is valid? [True, True] Translation: X:134.82, Y:-49.46, Z:-6.95 [[ 7.53851398e-01 6.54865586e-01 5.34708735e-02 1.34816526e+02] [-6.53205125e-01 7.55745342e-01 -4.66051774e-02 -4.94641299e+01] [-7.09304904e-02 2.05929584e-04 9.97481239e-01 -6.94927899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04864 meters 0.027912640507102054 Centerline is valid? [True, True] Translation: X:134.87, Y:-49.50, Z:-6.95 [[ 7.56585474e-01 6.51696704e-01 5.35707691e-02 1.34868821e+02] [-6.50020882e-01 7.58479491e-01 -4.67088163e-02 -4.94980363e+01] [-7.10723113e-02 5.17093344e-04 9.97471032e-01 -6.95133198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10863999999998 meters 0.028109401877585503 Centerline is valid? [True, True] Translation: X:134.92, Y:-49.54, Z:-6.95 [[ 7.59759892e-01 6.48093225e-01 5.23457562e-02 1.34918729e+02] [-6.46483877e-01 7.61560542e-01 -4.56523561e-02 -4.95351945e+01] [-6.94514452e-02 8.44141747e-04 9.97584976e-01 -6.95323289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16863999999998 meters 0.02889086935414774 Centerline is valid? [True, True] Translation: X:134.97, Y:-49.57, Z:-6.96 [[ 7.63489588e-01 6.43744429e-01 5.17374091e-02 1.34969426e+02] [-6.42161506e-01 7.65239561e-01 -4.51333035e-02 -4.95721357e+01] [-6.86458249e-02 1.23503479e-03 9.97640329e-01 -6.95704855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22863999999998 meters 0.028971660640780772 Centerline is valid? [True, True] Translation: X:135.02, Y:-49.61, Z:-6.96 [[ 7.65673125e-01 6.41192794e-01 5.11514077e-02 1.35017418e+02] [-6.39639102e-01 7.67378447e-01 -4.46333798e-02 -4.96113610e+01] [-6.78710893e-02 1.45613888e-03 9.97693036e-01 -6.95732730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28864 meters 0.028768065715642218 Centerline is valid? [True, True] Translation: X:135.07, Y:-49.65, Z:-6.96 [[ 7.64257241e-01 6.42922544e-01 5.06109771e-02 1.35065262e+02] [-6.41404533e-01 7.65930100e-01 -4.41736042e-02 -4.96517496e+01] [-6.71646767e-02 1.29788668e-03 9.97741059e-01 -6.96151664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34864 meters 0.028818935075785042 Centerline is valid? [True, True] Translation: X:135.11, Y:-49.69, Z:-6.97 [[ 7.63513447e-01 6.43700563e-01 5.19307481e-02 1.35111229e+02] [-6.42103106e-01 7.65276399e-01 -4.53391012e-02 -4.96927714e+01] [-6.89261809e-02 1.27211878e-03 9.97620952e-01 -6.96557896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40864 meters 0.029004075700741906 Centerline is valid? [True, True] Translation: X:135.16, Y:-49.73, Z:-6.97 [[ 7.64449835e-01 6.42509019e-01 5.29018968e-02 1.35158920e+02] [-6.40847502e-01 7.66276817e-01 -4.61986932e-02 -4.97320634e+01] [-7.02205741e-02 1.41453499e-03 9.97530486e-01 -6.96763382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46864 meters 0.028974415811633483 Centerline is valid? [True, True] Translation: X:135.21, Y:-49.77, Z:-6.97 [[ 7.65205439e-01 6.41691330e-01 5.18928955e-02 1.35206199e+02] [-6.40089893e-01 7.66961585e-01 -4.53305145e-02 -4.97741777e+01] [-6.88880555e-02 1.47103829e-03 9.97623312e-01 -6.97063529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52864 meters 0.028927823665749017 Centerline is valid? [True, True] Translation: X:135.25, Y:-49.82, Z:-6.97 [[ 7.64722736e-01 6.42293185e-01 5.15616207e-02 1.35252840e+02] [-6.40712479e-01 7.66457728e-01 -4.50562975e-02 -4.98157083e+01] [-6.84591555e-02 1.41940131e-03 9.97652910e-01 -6.97249542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58864 meters 0.028878815744575195 Centerline is valid? [True, True] Translation: X:135.30, Y:-49.86, Z:-6.98 [[ 7.65369673e-01 6.41590753e-01 5.07007810e-02 1.35300912e+02] [-6.40060057e-01 7.67045731e-01 -4.43167073e-02 -4.98559710e+01] [-6.73230072e-02 1.46711908e-03 9.97730154e-01 -6.97642213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64864 meters 0.02907082655548169 Centerline is valid? [True, True] Translation: X:135.35, Y:-49.90, Z:-6.98 [[ 7.66212781e-01 6.40599539e-01 5.04995427e-02 1.35347653e+02] [-6.39077820e-01 7.67873556e-01 -4.41558916e-02 -4.98962177e+01] [-6.70635072e-02 1.55967087e-03 9.97747490e-01 -6.97915457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70864 meters 0.029702811136155055 Centerline is valid? [True, True] Translation: X:135.40, Y:-49.94, Z:-6.98 [[ 7.68063319e-01 6.38443392e-01 4.96867605e-02 1.35395131e+02] [-6.36965093e-01 7.69666843e-01 -4.34559609e-02 -4.99364309e+01] [-6.59864231e-02 1.72819754e-03 9.97819024e-01 -6.98265534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76864 meters 0.030209794286835005 Centerline is valid? [True, True] Translation: X:135.44, Y:-49.98, Z:-6.98 [[ 7.70675098e-01 6.35375890e-01 4.85527682e-02 1.35440108e+02] [-6.33957613e-01 7.72200532e-01 -4.24745053e-02 -4.99791990e+01] [-6.44797500e-02 1.95364648e-03 9.97917103e-01 -6.98473233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82863999999998 meters 0.03039902346189959 Centerline is valid? [True, True] Translation: X:135.49, Y:-50.02, Z:-6.99 [[ 7.71493456e-01 6.34384849e-01 4.85150617e-02 1.35485383e+02] [-6.32966148e-01 7.73014676e-01 -4.24519202e-02 -5.00221760e+01] [-6.44337097e-02 2.04298689e-03 9.97919898e-01 -6.98726823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88863999999998 meters 0.0301832972807809 Centerline is valid? [True, True] Translation: X:135.53, Y:-50.07, Z:-6.99 [[ 7.71118883e-01 6.34808837e-01 4.89224878e-02 1.35529966e+02] [-6.33366252e-01 7.72666555e-01 -4.28203999e-02 -5.00660940e+01] [-6.49835383e-02 2.03376621e-03 9.97884264e-01 -6.99051236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94863999999998 meters 0.030384876984673584 Centerline is valid? [True, True] Translation: X:135.57, Y:-50.11, Z:-6.99 [[ 7.71838023e-01 6.33960935e-01 4.85756924e-02 1.35572839e+02] [-6.32536156e-01 7.73362216e-01 -4.25310910e-02 -5.01117367e+01] [-6.45296554e-02 2.10123146e-03 9.97913578e-01 -6.99353779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00863999999999 meters 0.030202447454498543 Centerline is valid? [True, True] Translation: X:135.62, Y:-50.15, Z:-7.00 [[ 7.71762187e-01 6.33983110e-01 4.94827479e-02 1.35617740e+02] [-6.32503897e-01 7.73343912e-01 -4.33360680e-02 -5.01543542e+01] [-6.57415170e-02 2.14710770e-03 9.97834376e-01 -6.99592180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06864 meters 0.03011023253601673 Centerline is valid? [True, True] Translation: X:135.66, Y:-50.20, Z:-7.00 [[ 7.71143431e-01 6.34751408e-01 4.92793919e-02 1.35660070e+02] [-6.33285209e-01 7.72713607e-01 -4.31685663e-02 -5.01998791e+01] [-6.54801649e-02 2.08124635e-03 9.97851701e-01 -7.00021587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12864 meters 0.02982828978265965 Centerline is valid? [True, True] Translation: X:135.70, Y:-50.25, Z:-7.00 [[ 7.70092886e-01 6.35942546e-01 5.03391016e-02 1.35703246e+02] [-6.34413700e-01 7.71733712e-01 -4.41172926e-02 -5.02460194e+01] [-6.69044451e-02 2.03859747e-03 9.97757305e-01 -7.00346129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18864 meters 0.02979826693182763 Centerline is valid? [True, True] Translation: X:135.75, Y:-50.29, Z:-7.01 [[ 7.69567674e-01 6.36458878e-01 5.18236626e-02 1.35749133e+02] [-6.34836528e-01 7.71307812e-01 -4.54625351e-02 -5.02884439e+01] [-6.89070299e-02 2.08694337e-03 9.97620903e-01 -7.00561333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24864 meters 0.029746133969895446 Centerline is valid? [True, True] Translation: X:135.79, Y:-50.33, Z:-7.01 [[ 7.69954422e-01 6.36038412e-01 5.12379453e-02 1.35793197e+02] [-6.34448889e-01 7.71654453e-01 -4.49890239e-02 -5.03334088e+01] [-6.81527360e-02 2.13164048e-03 9.97672622e-01 -7.00830664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30864 meters 0.029706634859003066 Centerline is valid? [True, True] Translation: X:135.84, Y:-50.38, Z:-7.01 [[ 7.69556279e-01 6.36661311e-01 4.94520792e-02 1.35837657e+02] [-6.35179411e-01 7.71140865e-01 -4.34612653e-02 -5.03774587e+01] [-6.58046252e-02 2.03494706e-03 9.97830452e-01 -7.01080590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36864 meters 0.02927413504520594 Centerline is valid? [True, True] Translation: X:135.88, Y:-50.42, Z:-7.01 [[ 7.68224296e-01 6.38249277e-01 4.96919543e-02 1.35879870e+02] [-6.36753759e-01 7.69827322e-01 -4.37097694e-02 -5.04237661e+01] [-6.61519529e-02 1.93736820e-03 9.97807680e-01 -7.01341829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42864 meters 0.02900630418090462 Centerline is valid? [True, True] Translation: X:135.92, Y:-50.47, Z:-7.02 [[ 7.67853788e-01 6.38823793e-01 4.80075106e-02 1.35924580e+02] [-6.37426892e-01 7.69350853e-01 -4.22637254e-02 -5.04676744e+01] [-6.39336926e-02 1.85108338e-03 9.97952432e-01 -7.01565380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48864 meters 0.028713592672797175 Centerline is valid? [True, True] Translation: X:135.97, Y:-50.51, Z:-7.02 [[ 7.66132364e-01 6.40918061e-01 4.75945277e-02 1.35967536e+02] [-6.39546819e-01 7.67607440e-01 -4.19366641e-02 -5.05134724e+01] [-6.34118790e-02 1.69010686e-03 9.97986010e-01 -7.01939623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54864 meters 0.028665375540479477 Centerline is valid? [True, True] Translation: X:136.01, Y:-50.56, Z:-7.02 [[ 7.64753308e-01 6.42386820e-01 4.99154480e-02 1.36012458e+02] [-6.40878761e-01 7.66378732e-01 -4.40233279e-02 -5.05576279e+01] [-6.65341434e-02 1.67723525e-03 9.97782739e-01 -7.02262942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60863999999998 meters 0.02897326785053447 Centerline is valid? [True, True] Translation: X:136.06, Y:-50.60, Z:-7.03 [[ 7.65501240e-01 6.41541071e-01 4.93244868e-02 1.36057408e+02] [-6.40064018e-01 7.67086663e-01 -4.35442913e-02 -5.06011553e+01] [-6.57716073e-02 1.76237978e-03 9.97833147e-01 -7.02553485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66863999999998 meters 0.029045853391779237 Centerline is valid? [True, True] Translation: X:136.10, Y:-50.65, Z:-7.03 [[ 7.65730916e-01 6.41316571e-01 4.86746282e-02 1.36101610e+02] [-6.39875240e-01 7.67274305e-01 -4.30095215e-02 -5.06461667e+01] [-6.49295104e-02 1.78803095e-03 9.97888251e-01 -7.02751335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72863999999998 meters 0.028936384737548688 Centerline is valid? [True, True] Translation: X:136.15, Y:-50.69, Z:-7.03 [[ 7.64756851e-01 6.42397529e-01 4.97229677e-02 1.36147599e+02] [-6.40892657e-01 7.66369552e-01 -4.39808105e-02 -5.06893789e+01] [-6.63593325e-02 1.76754121e-03 9.97794225e-01 -7.03030389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78864 meters 0.028579269079604015 Centerline is valid? [True, True] Translation: X:136.19, Y:-50.73, Z:-7.03 [[ 7.61940421e-01 6.45702657e-01 5.01485213e-02 1.36192672e+02] [-6.44176081e-01 7.63587421e-01 -4.44007469e-02 -5.07316872e+01] [-6.69624603e-02 1.52624583e-03 9.97754328e-01 -7.03288237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84864 meters 0.02840681939476206 Centerline is valid? [True, True] Translation: X:136.24, Y:-50.77, Z:-7.04 [[ 7.59855142e-01 6.48288369e-01 4.83978755e-02 1.36239636e+02] [-6.46869463e-01 7.61393820e-01 -4.28876327e-02 -5.07727992e+01] [-6.46533967e-02 1.28128048e-03 9.97906958e-01 -7.03500803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90864 meters 0.028242290498258014 Centerline is valid? [True, True] Translation: X:136.29, Y:-50.81, Z:-7.04 [[ 7.59287687e-01 6.48998443e-01 4.77831558e-02 1.36286692e+02] [-6.47614400e-01 7.60788735e-01 -4.23803114e-02 -5.08130443e+01] [-6.38576427e-02 1.23378885e-03 9.97958255e-01 -7.03791193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96864 meters 0.02848830146217238 Centerline is valid? [True, True] Translation: X:136.33, Y:-50.85, Z:-7.04 [[ 7.59620523e-01 6.48535370e-01 4.87702276e-02 1.36333983e+02] [-6.47089966e-01 7.61183360e-01 -4.32951361e-02 -5.08537713e+01] [-6.52015128e-02 1.32914905e-03 9.97871232e-01 -7.04012613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02864 meters 0.028832655892299046 Centerline is valid? [True, True] Translation: X:136.38, Y:-50.90, Z:-7.04 [[ 7.60145750e-01 6.47927318e-01 4.86685682e-02 1.36379648e+02] [-6.46484190e-01 7.61700866e-01 -4.32433020e-02 -5.08953119e+01] [-6.50894072e-02 1.40775240e-03 9.97878443e-01 -7.04359747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08864 meters 0.028883634246412777 Centerline is valid? [True, True] Translation: X:136.42, Y:-50.94, Z:-7.05 [[ 7.60480687e-01 6.47599294e-01 4.77941267e-02 1.36424901e+02] [-6.46204497e-01 7.61979713e-01 -4.25048915e-02 -5.09396515e+01] [-6.39442926e-02 1.43936950e-03 9.97952432e-01 -7.04578000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14864 meters 0.02844497754681707 Centerline is valid? [True, True] Translation: X:136.47, Y:-50.99, Z:-7.05 [[ 7.58348526e-01 6.50019396e-01 4.88087891e-02 1.36467340e+02] [-6.48566838e-01 7.59916514e-01 -4.34505238e-02 -5.09853617e+01] [-6.53342881e-02 1.29487864e-03 9.97862593e-01 -7.05026915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20864 meters 0.028130789013743218 Centerline is valid? [True, True] Translation: X:136.51, Y:-51.03, Z:-7.05 [[ 7.56062325e-01 6.52650000e-01 4.91704977e-02 1.36510647e+02] [-6.51178759e-01 7.57658733e-01 -4.38117384e-02 -5.10307772e+01] [-6.58481881e-02 1.10562112e-03 9.97829040e-01 -7.05229776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26864 meters 0.02782656005877487 Centerline is valid? [True, True] Translation: X:136.55, Y:-51.08, Z:-7.06 [[ 7.52417874e-01 6.56804224e-01 4.97549530e-02 1.36553113e+02] [-6.55304087e-01 7.54060740e-01 -4.43728982e-02 -5.10758659e+01] [-6.66625636e-02 7.82337698e-04 9.97775271e-01 -7.05590901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32863999999998 meters 0.027507288203555125 Centerline is valid? [True, True] Translation: X:136.60, Y:-51.12, Z:-7.06 [[ 7.48261696e-01 6.61513660e-01 5.00411037e-02 1.36596059e+02] [-6.60003906e-01 7.49933010e-01 -4.46690494e-02 -5.11213139e+01] [-6.70766619e-02 3.96814735e-04 9.97747746e-01 -7.05852805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38863999999998 meters 0.027379868380020485 Centerline is valid? [True, True] Translation: X:136.64, Y:-51.16, Z:-7.06 [[ 7.45609840e-01 6.64493111e-01 5.01484991e-02 1.36641388e+02] [-6.62980669e-01 7.47294373e-01 -4.48079599e-02 -5.11645543e+01] [-6.72502718e-02 1.61770324e-04 9.97736125e-01 -7.06079565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44863999999998 meters 0.027364491171284287 Centerline is valid? [True, True] Translation: X:136.69, Y:-51.21, Z:-7.06 [[ 7.44837351e-01 6.65315246e-01 5.07241965e-02 1.36686829e+02] [-6.63766418e-01 7.46562528e-01 -4.53710812e-02 -5.12079684e+01] [-6.80548564e-02 1.25057731e-04 9.97681573e-01 -7.06407230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50863999999999 meters 0.027669770100974808 Centerline is valid? [True, True] Translation: X:136.73, Y:-51.25, Z:-7.07 [[ 7.44615837e-01 6.65478149e-01 5.18274844e-02 1.36732542e+02] [-6.63858136e-01 7.46417317e-01 -4.64065070e-02 -5.12495215e+01] [-6.95674482e-02 1.48922854e-04 9.97577239e-01 -7.06746453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56864 meters 0.027749445352694954 Centerline is valid? [True, True] Translation: X:136.78, Y:-51.29, Z:-7.07 [[ 7.44101856e-01 6.66026250e-01 5.21676375e-02 1.36778617e+02] [-6.64382988e-01 7.45928292e-01 -4.67571191e-02 -5.12924627e+01] [-7.00547854e-02 1.32768219e-04 9.97543137e-01 -7.07181000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62864 meters 0.02758345068271503 Centerline is valid? [True, True] Translation: X:136.82, Y:-51.34, Z:-7.07 [[ 7.41678243e-01 6.68847365e-01 5.05626890e-02 1.36823501e+02] [-6.67307202e-01 7.43399753e-01 -4.53641485e-02 -5.13356157e+01] [-6.79299817e-02 -9.52445106e-05 9.97690086e-01 -7.07307344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68864 meters 0.02782354847218103 Centerline is valid? [True, True] Translation: X:136.87, Y:-51.38, Z:-7.08 [[ 7.38086365e-01 6.72835415e-01 5.02097790e-02 1.36870201e+02] [-6.71322925e-01 7.39792080e-01 -4.50911149e-02 -5.13784536e+01] [-6.74836959e-02 -4.25838595e-04 9.97720286e-01 -7.07607562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74864 meters 0.027897573957883504 Centerline is valid? [True, True] Translation: X:136.92, Y:-51.42, Z:-7.08 [[ 7.35918664e-01 6.75163930e-01 5.07679735e-02 1.36916053e+02] [-6.73619909e-01 7.37667468e-01 -4.56390810e-02 -5.14195418e+01] [-6.82637438e-02 -6.11666139e-04 9.97667122e-01 -7.08010055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80864 meters 0.027802765825158112 Centerline is valid? [True, True] Translation: X:136.97, Y:-51.46, Z:-7.08 [[ 7.36470745e-01 6.74570553e-01 5.06498863e-02 1.36965190e+02] [-6.73029397e-01 7.38210197e-01 -4.55756078e-02 -5.14591331e+01] [-6.81342255e-02 -5.23760638e-04 9.97676026e-01 -7.08289812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86864 meters 0.027597827075373164 Centerline is valid? [True, True] Translation: X:137.01, Y:-51.50, Z:-7.09 [[ 7.37811491e-01 6.73047061e-01 5.13989967e-02 1.37013218e+02] [-6.71452725e-01 7.39599574e-01 -4.63001936e-02 -5.14995543e+01] [-6.91768853e-02 -3.51181480e-04 9.97604348e-01 -7.08659513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92864 meters 0.02738324060852664 Centerline is valid? [True, True] Translation: X:137.06, Y:-51.54, Z:-7.09 [[ 7.39235645e-01 6.71434708e-01 5.20201418e-02 1.37059072e+02] [-6.69793980e-01 7.41063699e-01 -4.69107407e-02 -5.15423470e+01] [-7.00477382e-02 -1.64686177e-04 9.97543627e-01 -7.09061082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98864 meters 0.02720573425364352 Centerline is valid? [True, True] Translation: X:137.10, Y:-51.59, Z:-7.09 [[ 7.40671336e-01 6.69872807e-01 5.17338845e-02 1.37104259e+02] [-6.68242791e-01 7.42475873e-01 -4.67027896e-02 -5.15863974e+01] [-6.96960898e-02 2.06222212e-05 9.97568271e-01 -7.09294901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04863999999998 meters 0.02726194342862558 Centerline is valid? [True, True] Translation: X:137.15, Y:-51.63, Z:-7.10 [[ 7.39249746e-01 6.71378542e-01 5.25420505e-02 1.37148553e+02] [-6.69697426e-01 7.41114597e-01 -4.74817017e-02 -5.16304626e+01] [-7.08178762e-02 -8.64400945e-05 9.97489259e-01 -7.09686519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10863999999998 meters 0.02713647007635337 Centerline is valid? [True, True] Translation: X:137.19, Y:-51.67, Z:-7.10 [[ 7.39260602e-01 6.71445119e-01 5.15287744e-02 1.37193181e+02] [-6.69825460e-01 7.41054282e-01 -4.66090646e-02 -5.16743368e+01] [-6.94810478e-02 -5.90398705e-05 9.97583270e-01 -7.10090778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16863999999998 meters 0.02711448913719116 Centerline is valid? [True, True] Translation: X:137.24, Y:-51.72, Z:-7.10 [[ 7.39025748e-01 6.71853294e-01 4.95388163e-02 1.37238436e+02] [-6.70354623e-01 7.40684242e-01 -4.48501075e-02 -5.17172638e+01] [-6.68253131e-02 -6.31902437e-05 9.97764688e-01 -7.10208659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22863999999998 meters 0.02730338708971997 Centerline is valid? [True, True] Translation: X:137.29, Y:-51.76, Z:-7.11 [[ 7.39046537e-01 6.71718876e-01 5.10290887e-02 1.37286140e+02] [-6.70125232e-01 7.40806149e-01 -4.62430886e-02 -5.17563364e+01] [-6.88650183e-02 -2.00854291e-05 9.97625986e-01 -7.10652127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28864 meters 0.027462139352924023 Centerline is valid? [True, True] Translation: X:137.33, Y:-51.80, Z:-7.11 [[ 7.40525103e-01 6.70052121e-01 5.15046239e-02 1.37332275e+02] [-6.68421487e-01 7.42314035e-01 -4.67181995e-02 -5.17992384e+01] [-6.95362338e-02 1.69202195e-04 9.97579412e-01 -7.10951787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34864 meters 0.027479948302396928 Centerline is valid? [True, True] Translation: X:137.38, Y:-51.84, Z:-7.11 [[ 7.43679086e-01 6.66547503e-01 5.15348696e-02 1.37377378e+02] [-6.64903144e-01 7.45462368e-01 -4.67938913e-02 -5.18423274e+01] [-6.96076573e-02 5.33941511e-04 9.97574302e-01 -7.11106966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40864 meters 0.027725947526340423 Centerline is valid? [True, True] Translation: X:137.42, Y:-51.89, Z:-7.11 [[ 7.45135877e-01 6.65007567e-01 5.03732123e-02 1.37418897e+02] [-6.63430102e-01 7.46836296e-01 -4.57826132e-02 -5.18904924e+01] [-6.80663275e-02 6.95162284e-04 9.97680556e-01 -7.11472211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46864 meters 0.0273549311079281 Centerline is valid? [True, True] Translation: X:137.46, Y:-51.94, Z:-7.12 [[ 7.43972799e-01 6.66434407e-01 4.86791158e-02 1.37460586e+02] [-6.64961534e-01 7.45563443e-01 -4.42866992e-02 -5.19374680e+01] [-6.58075493e-02 5.78360033e-04 9.97832166e-01 -7.11635501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52864 meters 0.02735054436006975 Centerline is valid? [True, True] Translation: X:137.50, Y:-51.99, Z:-7.12 [[ 7.41469330e-01 6.69135526e-01 4.98084491e-02 1.37499601e+02] [-6.67596532e-01 7.43140299e-01 -4.53581956e-02 -5.19878674e+01] [-6.73654458e-02 3.79762993e-04 9.97728296e-01 -7.12052300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58864 meters 0.027279509786193055 Centerline is valid? [True, True] Translation: X:137.54, Y:-52.03, Z:-7.12 [[ 7.38808170e-01 6.72135008e-01 4.89593521e-02 1.37543092e+02] [-6.70651659e-01 7.40428600e-01 -4.46300386e-02 -5.20325107e+01] [-6.62483159e-02 1.38366397e-04 9.97803158e-01 -7.12392321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64864 meters 0.027578108034376887 Centerline is valid? [True, True] Translation: X:137.59, Y:-52.08, Z:-7.13 [[ 7.32017133e-01 6.79394966e-01 5.07286736e-02 1.37585968e+02] [-6.77816539e-01 7.33772600e-01 -4.62872612e-02 -5.20776631e+01] [-6.86706430e-02 -5.01665792e-04 9.97639259e-01 -7.12735245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70864 meters 0.02776568840441813 Centerline is valid? [True, True] Translation: X:137.63, Y:-52.12, Z:-7.13 [[ 7.30406868e-01 6.81167979e-01 5.01596623e-02 1.37632735e+02] [-6.79625944e-01 7.32126895e-01 -4.58125081e-02 -5.21197782e+01] [-6.79292513e-02 -6.28037288e-04 9.97689943e-01 -7.13141310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76864 meters 0.028025128711958038 Centerline is valid? [True, True] Translation: X:137.68, Y:-52.16, Z:-7.14 [[ 7.29835498e-01 6.81692346e-01 5.13389801e-02 1.37680386e+02] [-6.80074695e-01 7.31638650e-01 -4.69392747e-02 -5.21596481e+01] [-6.95597264e-02 -6.56392303e-04 9.97577573e-01 -7.13659612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82863999999998 meters 0.028149017576134423 Centerline is valid? [True, True] Translation: X:137.73, Y:-52.20, Z:-7.14 [[ 7.29468729e-01 6.81945940e-01 5.31517502e-02 1.37728979e+02] [-6.80209158e-01 7.31402274e-01 -4.86437546e-02 -5.21987016e+01] [-7.20477218e-02 -6.70209434e-04 9.97400961e-01 -7.14035198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88863999999998 meters 0.02833600472081852 Centerline is valid? [True, True] Translation: X:137.78, Y:-52.24, Z:-7.14 [[ 7.29233860e-01 6.82308429e-01 5.17028480e-02 1.37777118e+02] [-6.80663633e-01 7.31064136e-01 -4.73523905e-02 -5.22387523e+01] [-7.01070330e-02 -6.61281793e-04 9.97539256e-01 -7.14391288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94863999999998 meters 0.02842965152602996 Centerline is valid? [True, True] Translation: X:137.83, Y:-52.28, Z:-7.15 [[ 7.30008620e-01 6.81427141e-01 5.23876562e-02 1.37828471e+02] [-6.79734165e-01 7.31885738e-01 -4.80076192e-02 -5.22761346e+01] [-7.10554731e-02 -5.63703868e-04 9.97472206e-01 -7.14687877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00863999999999 meters 0.02846280451907301 Centerline is valid? [True, True] Translation: X:137.88, Y:-52.32, Z:-7.15 [[ 7.32191540e-01 6.79104239e-01 5.20862983e-02 1.37876455e+02] [-6.77421320e-01 7.34041786e-01 -4.77808678e-02 -5.23160893e+01] [-7.06817092e-02 -2.99621826e-04 9.97498875e-01 -7.14980962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06864 meters 0.02860481557293335 Centerline is valid? [True, True] Translation: X:137.92, Y:-52.36, Z:-7.15 [[ 7.35199735e-01 6.75896354e-01 5.14341230e-02 1.37923795e+02] [-6.74244403e-01 7.36996687e-01 -4.72267653e-02 -5.23557300e+01] [-6.98271767e-02 4.19357602e-05 9.97559103e-01 -7.15356461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12864 meters 0.02857673101021914 Centerline is valid? [True, True] Translation: X:137.97, Y:-52.40, Z:-7.16 [[ 7.37908033e-01 6.72999114e-01 5.06352377e-02 1.37972176e+02] [-6.71388186e-01 7.39643207e-01 -4.65384869e-02 -5.23963633e+01] [-6.87723701e-02 3.45222940e-04 9.97632318e-01 -7.15601254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18864 meters 0.029005324148696235 Centerline is valid? [True, True] Translation: X:138.02, Y:-52.44, Z:-7.16 [[ 7.42340761e-01 6.68163349e-01 4.98791960e-02 1.38018541e+02] [-6.66586099e-01 7.44014161e-01 -4.58900968e-02 -5.24370970e+01] [-6.77729089e-02 8.17310709e-04 9.97700438e-01 -7.15910984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24864 meters 0.02950113634225479 Centerline is valid? [True, True] Translation: X:138.06, Y:-52.48, Z:-7.16 [[ 7.45540797e-01 6.64608371e-01 4.96450738e-02 1.38063288e+02] [-6.63035166e-01 7.47190974e-01 -4.57167100e-02 -5.24797711e+01] [-6.74780592e-02 1.16724263e-03 9.97720076e-01 -7.16209313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30864 meters 0.02972245095259961 Centerline is valid? [True, True] Translation: X:138.11, Y:-52.52, Z:-7.17 [[ 7.47201778e-01 6.62900378e-01 4.74614766e-02 1.38107220e+02] [-6.61456634e-01 7.48706496e-01 -4.37459118e-02 -5.25244611e+01] [-6.45338972e-02 1.29331452e-03 9.97914677e-01 -7.16557273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36864 meters 0.029938884875970122 Centerline is valid? [True, True] Translation: X:138.15, Y:-52.57, Z:-7.17 [[ 7.47460702e-01 6.62627767e-01 4.71904878e-02 1.38152869e+02] [-6.61197065e-01 7.48947688e-01 -4.35408123e-02 -5.25679153e+01] [-6.41945579e-02 1.34283409e-03 9.97936499e-01 -7.16721501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42864 meters 0.029791718779994605 Centerline is valid? [True, True] Translation: X:138.20, Y:-52.61, Z:-7.17 [[ 7.46445381e-01 6.63776957e-01 4.71109909e-02 1.38196024e+02] [-6.62350558e-01 7.47929493e-01 -4.35110439e-02 -5.26124991e+01] [-6.41173279e-02 1.27462662e-03 9.97941553e-01 -7.17102136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48864 meters 0.02974734115258865 Centerline is valid? [True, True] Translation: X:138.24, Y:-52.66, Z:-7.17 [[ 7.45724974e-01 6.64640699e-01 4.63357783e-02 1.38239932e+02] [-6.63260132e-01 7.47162150e-01 -4.28336197e-02 -5.26561894e+01] [-6.30893067e-02 1.20942549e-03 9.98007153e-01 -7.17227233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54863999999998 meters 0.029615231578076637 Centerline is valid? [True, True] Translation: X:138.28, Y:-52.70, Z:-7.18 [[ 7.43902898e-01 6.66682735e-01 4.62883370e-02 1.38282354e+02] [-6.65306492e-01 7.45340861e-01 -4.28284240e-02 -5.27018865e+01] [-6.30535598e-02 1.06425766e-03 9.98009577e-01 -7.17507187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60863999999998 meters 0.02935422257815561 Centerline is valid? [True, True] Translation: X:138.33, Y:-52.75, Z:-7.18 [[ 7.41513940e-01 6.69307786e-01 4.67350492e-02 1.38325854e+02] [-6.67907495e-01 7.42984734e-01 -4.32812104e-02 -5.27460196e+01] [-6.36918792e-02 8.78931238e-04 9.97969224e-01 -7.17661443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66863999999998 meters 0.02931070116805242 Centerline is valid? [True, True] Translation: X:138.37, Y:-52.79, Z:-7.18 [[ 7.40149165e-01 6.70794825e-01 4.70480271e-02 1.38370516e+02] [-6.69376002e-01 7.41642558e-01 -4.36128940e-02 -5.27898040e+01] [-6.41481228e-02 7.87226779e-04 9.97940078e-01 -7.17966929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72863999999998 meters 0.029164783693458797 Centerline is valid? [True, True] Translation: X:138.42, Y:-52.83, Z:-7.18 [[ 7.39194676e-01 6.71994575e-01 4.48834291e-02 1.38415260e+02] [-6.70703105e-01 7.40555755e-01 -4.16475542e-02 -5.28326572e+01] [-6.12256122e-02 6.82195079e-04 9.98123719e-01 -7.18219658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78864 meters 0.029216247146126847 Centerline is valid? [True, True] Translation: X:138.46, Y:-52.88, Z:-7.19 [[ 7.38577637e-01 6.72558085e-01 4.65692732e-02 1.38460796e+02] [-6.71166175e-01 7.40044017e-01 -4.32529619e-02 -5.28752422e+01] [-6.35534412e-02 6.89949415e-04 9.97978198e-01 -7.18630195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84864 meters 0.029004849835371698 Centerline is valid? [True, True] Translation: X:138.51, Y:-52.92, Z:-7.19 [[ 7.38067064e-01 6.73146089e-01 4.61665554e-02 1.38507275e+02] [-6.71776742e-01 7.39509230e-01 -4.29197723e-02 -5.29175619e+01] [-6.30318708e-02 6.64052154e-04 9.98011294e-01 -7.18906399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90864 meters 0.029016032759947692 Centerline is valid? [True, True] Translation: X:138.55, Y:-52.96, Z:-7.19 [[ 7.35921572e-01 6.75527006e-01 4.56366591e-02 1.38554164e+02] [-6.74191181e-01 7.37335088e-01 -4.24643364e-02 -5.29591512e+01] [-6.23353160e-02 4.82588110e-04 9.98055147e-01 -7.19135119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96864 meters 0.028772703183339247 Centerline is valid? [True, True] Translation: X:138.60, Y:-53.00, Z:-7.20 [[ 7.34427542e-01 6.77060504e-01 4.69601856e-02 1.38603706e+02] [-6.75647637e-01 7.35927258e-01 -4.37188941e-02 -5.29988918e+01] [-6.41596171e-02 3.79821500e-04 9.97939577e-01 -7.19535523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02864 meters 0.02872895479405697 Centerline is valid? [True, True] Translation: X:138.65, Y:-53.04, Z:-7.20 [[ 7.35244078e-01 6.76117283e-01 4.77657333e-02 1.38650527e+02] [-6.74650444e-01 7.36793842e-01 -4.45153161e-02 -5.30397675e+01] [-6.52910727e-02 5.04449407e-04 9.97866134e-01 -7.19879225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08864 meters 0.02864809926997257 Centerline is valid? [True, True] Translation: X:138.70, Y:-53.08, Z:-7.20 [[ 7.36482262e-01 6.74855055e-01 4.65245320e-02 1.38699284e+02] [-6.73458409e-01 7.37950037e-01 -4.33994699e-02 -5.30802777e+01] [-6.36211318e-02 6.30602505e-04 9.97973924e-01 -7.20103324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14864 meters 0.028760893196520386 Centerline is valid? [True, True] Translation: X:138.75, Y:-53.12, Z:-7.20 [[ 7.37442271e-01 6.73688343e-01 4.81966086e-02 1.38746710e+02] [-6.72183767e-01 7.39015148e-01 -4.50066158e-02 -5.31204386e+01] [-6.59384562e-02 7.92803031e-04 9.97823377e-01 -7.20341476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20864 meters 0.02884789194552549 Centerline is valid? [True, True] Translation: X:138.79, Y:-53.16, Z:-7.21 [[ 7.36889665e-01 6.74193936e-01 4.95596473e-02 1.38794252e+02] [-6.72601125e-01 7.38553921e-01 -4.63231283e-02 -5.31598790e+01] [-6.78332440e-02 8.01159927e-04 9.97696351e-01 -7.20822148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26864 meters 0.028655314180448945 Centerline is valid? [True, True] Translation: X:138.84, Y:-53.20, Z:-7.21 [[ 7.35550499e-01 6.75677173e-01 4.92526210e-02 1.38841611e+02] [-6.74104532e-01 7.37197314e-01 -4.60782013e-02 -5.32002379e+01] [-6.74428888e-02 6.91428933e-04 9.97722897e-01 -7.20940249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32863999999998 meters 0.028725284020667992 Centerline is valid? [True, True] Translation: X:138.89, Y:-53.24, Z:-7.21 [[ 7.34643835e-01 6.76662701e-01 4.92546836e-02 1.38891022e+02] [-6.75089159e-01 7.36292868e-01 -4.61241748e-02 -5.32400050e+01] [-6.74763810e-02 6.33537771e-04 9.97720671e-01 -7.21426590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38863999999998 meters 0.028810858197246204 Centerline is valid? [True, True] Translation: X:138.94, Y:-53.28, Z:-7.22 [[ 7.35867968e-01 6.75266354e-01 5.01366532e-02 1.38939488e+02] [-6.73629326e-01 7.37573517e-01 -4.69982755e-02 -5.32792922e+01] [-6.87158218e-02 8.11005629e-04 9.97635945e-01 -7.21538788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44863999999998 meters 0.028878679919658277 Centerline is valid? [True, True] Translation: X:138.99, Y:-53.32, Z:-7.22 [[ 7.36894375e-01 6.74100933e-01 5.07406372e-02 1.38988101e+02] [-6.72418361e-01 7.38638615e-01 -4.76082312e-02 -5.33177594e+01] [-6.95717471e-02 9.63301667e-04 9.97576485e-01 -7.21807735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50863999999999 meters 0.028887277513475168 Centerline is valid? [True, True] Translation: X:139.04, Y:-53.36, Z:-7.22 [[ 7.36571297e-01 6.74541215e-01 4.95668539e-02 1.39038180e+02] [-6.72933842e-01 7.38236603e-01 -4.65484972e-02 -5.33552320e+01] [-6.79909458e-02 9.31073503e-04 9.97685504e-01 -7.22156624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56864 meters 0.028827183604397646 Centerline is valid? [True, True] Translation: X:139.08, Y:-53.40, Z:-7.22 [[ 7.36283060e-01 6.74887304e-01 4.91363667e-02 1.39084852e+02] [-6.73305589e-01 7.37920236e-01 -4.61877594e-02 -5.33972188e+01] [-6.74302517e-02 9.23474521e-04 9.97723563e-01 -7.22430579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62864 meters 0.029085265135058016 Centerline is valid? [True, True] Translation: X:139.13, Y:-53.44, Z:-7.23 [[ 7.36654393e-01 6.74394319e-01 5.03250154e-02 1.39134656e+02] [-6.72730592e-01 7.38370670e-01 -4.73529690e-02 -5.34352711e+01] [-6.90930886e-02 1.02759524e-03 9.97609688e-01 -7.22807332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68864 meters 0.029356359109919232 Centerline is valid? [True, True] Translation: X:139.18, Y:-53.47, Z:-7.23 [[ 7.37754296e-01 6.73318768e-01 4.85843139e-02 1.39183988e+02] [-6.71763257e-01 7.39351462e-01 -4.57552392e-02 -5.34737411e+01] [-6.67287448e-02 1.11896736e-03 9.97770526e-01 -7.23135211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74864 meters 0.02956978714207565 Centerline is valid? [True, True] Translation: X:139.23, Y:-53.51, Z:-7.23 [[ 7.37863184e-01 6.73132494e-01 4.95032020e-02 1.39232776e+02] [-6.71514217e-01 7.39520948e-01 -4.66628697e-02 -5.35120028e+01] [-6.80189488e-02 1.18870966e-03 9.97683321e-01 -7.23486149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80864 meters 0.030163580305336897 Centerline is valid? [True, True] Translation: X:139.28, Y:-53.55, Z:-7.24 [[ 7.40586231e-01 6.70131500e-01 4.95561037e-02 1.39280916e+02] [-6.68500177e-01 7.42240885e-01 -4.67544926e-02 -5.35514957e+01] [-6.81142245e-02 1.49746937e-03 9.97676405e-01 -7.23693601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86864 meters 0.031086448914839596 Centerline is valid? [True, True] Translation: X:139.33, Y:-53.59, Z:-7.24 [[ 7.45053170e-01 6.65166887e-01 4.94852090e-02 1.39330229e+02] [-6.63526491e-01 7.46692100e-01 -4.67279756e-02 -5.35894524e+01] [-6.80321167e-02 1.98007927e-03 9.97681167e-01 -7.23839589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92864 meters 0.031673155156090815 Centerline is valid? [True, True] Translation: X:139.38, Y:-53.63, Z:-7.24 [[ 7.47313041e-01 6.62692052e-01 4.86051760e-02 1.39375654e+02] [-6.61101855e-01 7.48888798e-01 -4.59337065e-02 -5.36312745e+01] [-6.68397740e-02 2.19388581e-03 9.97761310e-01 -7.24150790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98864 meters 0.03181984666972842 Centerline is valid? [True, True] Translation: X:139.42, Y:-53.67, Z:-7.24 [[ 7.47911819e-01 6.62061332e-01 4.79865027e-02 1.39422226e+02] [-6.60507662e-01 7.49446285e-01 -4.53860615e-02 -5.36721555e+01] [-6.60116625e-02 2.24931908e-03 9.97816316e-01 -7.24282444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04863999999998 meters 0.03198336641602971 Centerline is valid? [True, True] Translation: X:139.47, Y:-53.72, Z:-7.25 [[ 7.46865860e-01 6.63060884e-01 5.04147871e-02 1.39466108e+02] [-6.61345103e-01 7.48561929e-01 -4.77251934e-02 -5.37162515e+01] [-6.93832992e-02 2.30274512e-03 9.97587417e-01 -7.24782127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10863999999998 meters 0.03126031324390868 Centerline is valid? [True, True] Translation: X:139.51, Y:-53.76, Z:-7.25 [[ 7.46241504e-01 6.63910966e-01 4.84339500e-02 1.39510218e+02] [-6.62326744e-01 7.47808494e-01 -4.58883507e-02 -5.37603119e+01] [-6.66850985e-02 2.16469141e-03 9.97771723e-01 -7.24889306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16863999999998 meters 0.030968831651433427 Centerline is valid? [True, True] Translation: X:139.55, Y:-53.80, Z:-7.25 [[ 7.44884378e-01 6.65395555e-01 4.89491405e-02 1.39553871e+02] [-6.63777883e-01 7.46488053e-01 -4.64166909e-02 -5.38042685e+01] [-6.74254084e-02 2.08371112e-03 9.97722142e-01 -7.25246377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22863999999998 meters 0.03034515222109116 Centerline is valid? [True, True] Translation: X:139.60, Y:-53.85, Z:-7.26 [[ 7.41836500e-01 6.68774843e-01 4.91814760e-02 1.39597028e+02] [-6.67146362e-01 7.43462784e-01 -4.66778401e-02 -5.38485252e+01] [-6.77815622e-02 1.81608277e-03 9.97698532e-01 -7.25635615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28864 meters 0.029474515106039163 Centerline is valid? [True, True] Translation: X:139.64, Y:-53.89, Z:-7.26 [[ 7.38563095e-01 6.72343802e-01 4.97832061e-02 1.39640775e+02] [-6.70680927e-01 7.40237438e-01 -4.72824534e-02 -5.38933285e+01] [-6.86414574e-02 1.53242825e-03 9.97640217e-01 -7.25817113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34864 meters 0.029487465872753377 Centerline is valid? [True, True] Translation: X:139.69, Y:-53.94, Z:-7.26 [[ 7.37006084e-01 6.73958631e-01 5.10078073e-02 1.39685879e+02] [-6.72214814e-01 7.38767691e-01 -4.84720708e-02 -5.39371317e+01] [-7.03510905e-02 1.43600738e-03 9.97521259e-01 -7.26184917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40864 meters 0.029251048006105194 Centerline is valid? [True, True] Translation: X:139.73, Y:-53.98, Z:-7.27 [[ 7.35053163e-01 6.76143614e-01 5.02659085e-02 1.39731874e+02] [-6.74452075e-01 7.36768802e-01 -4.78135060e-02 -5.39786454e+01] [-6.93631499e-02 1.24352257e-03 9.97590701e-01 -7.26513777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46864 meters 0.02874133315737392 Centerline is valid? [True, True] Translation: X:139.78, Y:-54.02, Z:-7.27 [[ 7.31363208e-01 6.80087090e-01 5.08862149e-02 1.39780322e+02] [-6.78359907e-01 7.33130763e-01 -4.84471003e-02 -5.40183715e+01] [-7.02544971e-02 9.13258744e-04 9.97528682e-01 -7.26771430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52864 meters 0.028717471246016216 Centerline is valid? [True, True] Translation: X:139.83, Y:-54.06, Z:-7.27 [[ 7.28769981e-01 6.82829867e-01 5.13584229e-02 1.39827704e+02] [-6.81074080e-01 7.30577101e-01 -4.89407541e-02 -5.40586143e+01] [-7.09394963e-02 6.87661808e-04 9.97480383e-01 -7.27115301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58864 meters 0.02875707548796913 Centerline is valid? [True, True] Translation: X:139.88, Y:-54.09, Z:-7.27 [[ 7.28693450e-01 6.82999130e-01 5.01801166e-02 1.39879831e+02] [-6.81320541e-01 7.30418864e-01 -4.78602607e-02 -5.40934822e+01] [-6.93410202e-02 6.86714310e-04 9.97592778e-01 -7.27312316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64864 meters 0.029353807121521053 Centerline is valid? [True, True] Translation: X:139.93, Y:-54.13, Z:-7.28 [[ 7.32615245e-01 6.78737025e-01 5.09014123e-02 1.39931553e+02] [-6.76996308e-01 7.34380523e-01 -4.85926575e-02 -5.41287425e+01] [-7.03626415e-02 1.13965350e-03 9.97520827e-01 -7.27671189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70864 meters 0.02970079408592996 Centerline is valid? [True, True] Translation: X:139.98, Y:-54.17, Z:-7.28 [[ 7.34535472e-01 6.76614333e-01 5.14848008e-02 1.39979326e+02] [-6.74825024e-01 7.36336273e-01 -4.91943161e-02 -5.41685458e+01] [-7.11957057e-02 1.39173831e-03 9.97461395e-01 -7.27969127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76864 meters 0.031086510419206712 Centerline is valid? [True, True] Translation: X:140.03, Y:-54.20, Z:-7.28 [[ 7.41656901e-01 6.68813553e-01 5.13173688e-02 1.40028728e+02] [-6.67014929e-01 7.43427043e-01 -4.90644094e-02 -5.42047450e+01] [-7.09656617e-02 2.15950669e-03 9.97476421e-01 -7.28163569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82863999999998 meters 0.032703134311581616 Centerline is valid? [True, True] Translation: X:140.07, Y:-54.24, Z:-7.28 [[ 7.47771371e-01 6.62080033e-01 4.98799294e-02 1.40074756e+02] [-6.60365635e-01 7.49428187e-01 -4.76929788e-02 -5.42442383e+01] [-6.89579941e-02 2.72445290e-03 9.97615844e-01 -7.28482908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88863999999998 meters 0.034483675344766825 Centerline is valid? [True, True] Translation: X:140.11, Y:-54.29, Z:-7.29 [[ 7.54254617e-01 6.54799780e-01 4.83448152e-02 1.40114402e+02] [-6.53174223e-01 7.55795226e-01 -4.62278028e-02 -5.42912149e+01] [-6.68087356e-02 3.28994651e-03 9.97760377e-01 -7.28737285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94863999999998 meters 0.03568954234549678 Centerline is valid? [True, True] Translation: X:140.16, Y:-54.34, Z:-7.29 [[ 7.56949902e-01 6.51699341e-01 4.81125143e-02 1.40155704e+02] [-6.50082925e-01 7.58469097e-01 -4.60089153e-02 -5.43364031e+01] [-6.64758351e-02 3.54931994e-03 9.97781722e-01 -7.29068294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00863999999999 meters 0.03482641685523387 Centerline is valid? [True, True] Translation: X:140.19, Y:-54.39, Z:-7.29 [[ 7.57074532e-01 6.51643638e-01 4.68905312e-02 1.40189898e+02] [-6.50107309e-01 7.58517300e-01 -4.48552471e-02 -5.43922125e+01] [-6.47969155e-02 3.47488815e-03 9.97892422e-01 -7.29309520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06864 meters 0.034563416137133464 Centerline is valid? [True, True] Translation: X:140.22, Y:-54.45, Z:-7.30 [[ 7.55754242e-01 6.53170942e-01 4.69387524e-02 1.40223731e+02] [-6.51631716e-01 7.57202950e-01 -4.49421811e-02 -5.44461864e+01] [-6.48970885e-02 3.37846425e-03 9.97886243e-01 -7.29576095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12864 meters 0.03390817267817081 Centerline is valid? [True, True] Translation: X:140.26, Y:-54.50, Z:-7.30 [[ 7.53830755e-01 6.55238637e-01 4.90053178e-02 1.40260815e+02] [-6.53562816e-01 7.55414450e-01 -4.69537561e-02 -5.44979849e+01] [-6.77852404e-02 3.36713196e-03 9.97694254e-01 -7.29942216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18864 meters 0.03198612791851392 Centerline is valid? [True, True] Translation: X:140.29, Y:-54.55, Z:-7.30 [[ 7.48994796e-01 6.60923325e-01 4.67670235e-02 1.40294669e+02] [-6.59407499e-01 7.50448464e-01 -4.48202280e-02 -5.45504547e+01] [-6.47189751e-02 2.73159147e-03 9.97899791e-01 -7.30071143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24864 meters 0.029752686637477654 Centerline is valid? [True, True] Translation: X:140.33, Y:-54.60, Z:-7.30 [[ 7.41279950e-01 6.69521700e-01 4.73785717e-02 1.40327642e+02] [-6.67982896e-01 7.42789765e-01 -4.54116249e-02 -5.46037638e+01] [-6.55963864e-02 2.01465153e-03 9.97844204e-01 -7.30194272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30864 meters 0.027828433256797007 Centerline is valid? [True, True] Translation: X:140.37, Y:-54.65, Z:-7.30 [[ 7.32938253e-01 6.78749020e-01 4.58397684e-02 1.40367100e+02] [-6.77326261e-01 7.34369410e-01 -4.39398013e-02 -5.46514070e+01] [-6.34874208e-02 1.15668227e-03 9.97981969e-01 -7.30353437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36864 meters 0.027300990092562788 Centerline is valid? [True, True] Translation: X:140.41, Y:-54.70, Z:-7.31 [[ 7.27935131e-01 6.84044487e-01 4.68357118e-02 1.40408893e+02] [-6.82569011e-01 7.29439933e-01 -4.49102340e-02 -5.46976420e+01] [-6.48844365e-02 7.23131550e-04 9.97892523e-01 -7.30672385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42864 meters 0.026878744065172176 Centerline is valid? [True, True] Translation: X:140.45, Y:-54.74, Z:-7.31 [[ 7.21560992e-01 6.90764633e-01 4.68396833e-02 1.40452495e+02] [-6.89300243e-01 7.23079663e-01 -4.49552691e-02 -5.47414871e+01] [-6.49223324e-02 1.51363516e-04 9.97890309e-01 -7.31009521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48864 meters 0.02661261902406687 Centerline is valid? [True, True] Translation: X:140.50, Y:-54.78, Z:-7.31 [[ 7.20288286e-01 6.92192652e-01 4.53223804e-02 1.40497349e+02] [-6.90822028e-01 7.21712776e-01 -4.35384379e-02 -5.47843049e+01] [-6.28467278e-02 5.05280709e-05 9.98023189e-01 -7.31181696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54863999999998 meters 0.02676533941718223 Centerline is valid? [True, True] Translation: X:140.54, Y:-54.83, Z:-7.31 [[ 7.17527514e-01 6.94951210e-01 4.68730508e-02 1.40543099e+02] [-6.93488110e-01 7.19056874e-01 -4.50716376e-02 -5.48258063e+01] [-6.50269785e-02 -1.65763406e-04 9.97883492e-01 -7.31309731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60863999999998 meters 0.026502828762182854 Centerline is valid? [True, True] Translation: X:140.59, Y:-54.87, Z:-7.32 [[ 7.13476164e-01 6.99172239e-01 4.59341244e-02 1.40589382e+02] [-6.97773179e-01 7.14953091e-01 -4.42116345e-02 -5.48688341e+01] [-6.37522917e-02 -5.07652554e-04 9.97965624e-01 -7.31500838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66863999999998 meters 0.026469871995600355 Centerline is valid? [True, True] Translation: X:140.64, Y:-54.91, Z:-7.32 [[ 7.09966361e-01 7.02757012e-01 4.56108289e-02 1.40636622e+02] [-7.01382044e-01 7.11429516e-01 -4.39462279e-02 -5.49093579e+01] [-6.33324098e-02 -7.90272869e-04 9.97992175e-01 -7.31745172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72863999999998 meters 0.026595856702049978 Centerline is valid? [True, True] Translation: X:140.68, Y:-54.95, Z:-7.32 [[ 7.09139467e-01 7.03560061e-01 4.60918351e-02 1.40684212e+02] [-7.02154803e-01 7.10635304e-01 -4.44533265e-02 -5.49512077e+01] [-6.40300704e-02 -8.39995113e-04 9.97947616e-01 -7.32140950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78864 meters 0.02628206881384999 Centerline is valid? [True, True] Translation: X:140.73, Y:-54.99, Z:-7.32 [[ 7.09355418e-01 7.03202204e-01 4.81824778e-02 1.40732518e+02] [-7.01662249e-01 7.10989456e-01 -4.65196912e-02 -5.49902106e+01] [-6.69699831e-02 -8.08830721e-04 9.97754663e-01 -7.32318992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84864 meters 0.0260856374639289 Centerline is valid? [True, True] Translation: X:140.78, Y:-55.03, Z:-7.33 [[ 7.09272584e-01 7.03158328e-01 5.00076659e-02 1.40780225e+02] [-7.01495977e-01 7.11032856e-01 -4.83287850e-02 -5.50308892e+01] [-6.95398812e-02 -8.01894232e-04 9.97578850e-01 -7.32623762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90864 meters 0.025902383729381896 Centerline is valid? [True, True] Translation: X:140.83, Y:-55.07, Z:-7.33 [[ 7.09262208e-01 7.03241003e-01 4.89817503e-02 1.40828289e+02] [-7.01643431e-01 7.10951132e-01 -4.73812707e-02 -5.50701444e+01] [-6.81440831e-02 -7.61978560e-04 9.97675199e-01 -7.32903985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96864 meters 0.02567821738385081 Centerline is valid? [True, True] Translation: X:140.87, Y:-55.11, Z:-7.33 [[ 7.11212935e-01 7.01244832e-01 4.93137486e-02 1.40873799e+02] [-6.99617591e-01 7.12920326e-01 -4.77476203e-02 -5.51121302e+01] [-6.86395457e-02 -5.42040786e-04 9.97641378e-01 -7.33314099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02864 meters 0.025558691892217534 Centerline is valid? [True, True] Translation: X:140.92, Y:-55.15, Z:-7.34 [[ 7.13375863e-01 6.99026128e-01 4.95716626e-02 1.40919930e+02] [-6.97373133e-01 7.15096067e-01 -4.80450787e-02 -5.51546690e+01] [-6.90332663e-02 -2.95746138e-04 9.97614315e-01 -7.33616666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08864 meters 0.02541024267137701 Centerline is valid? [True, True] Translation: X:140.96, Y:-55.20, Z:-7.34 [[ 7.15927815e-01 6.96397957e-01 4.97719688e-02 1.40964709e+02] [-6.94721570e-01 7.17655826e-01 -4.82913555e-02 -5.51991423e+01] [-6.93491447e-02 -4.53566846e-06 9.97592450e-01 -7.33853390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14864 meters 0.025442440076114962 Centerline is valid? [True, True] Translation: X:141.01, Y:-55.24, Z:-7.34 [[ 7.15657437e-01 6.96607082e-01 5.07248135e-02 1.41007814e+02] [-6.94862698e-01 7.17452837e-01 -4.92671977e-02 -5.52444810e+01] [-7.07125402e-02 1.16556483e-05 9.97496735e-01 -7.34306624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20864 meters 0.02511041660894413 Centerline is valid? [True, True] Translation: X:141.05, Y:-55.29, Z:-7.35 [[ 7.13811722e-01 6.98571590e-01 4.97047216e-02 1.41049415e+02] [-6.96898388e-01 7.15540154e-01 -4.83210459e-02 -5.52904310e+01] [-6.93214340e-02 -1.47011363e-04 9.97594365e-01 -7.34513320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26864 meters 0.025076489032851035 Centerline is valid? [True, True] Translation: X:141.09, Y:-55.34, Z:-7.35 [[ 7.10787419e-01 7.01683417e-01 4.92100310e-02 1.41091952e+02] [-7.00047616e-01 7.12488745e-01 -4.78865689e-02 -5.53377663e+01] [-6.86628045e-02 -4.12194208e-04 9.97639840e-01 -7.34731575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32863999999998 meters 0.025249234227832568 Centerline is valid? [True, True] Translation: X:141.13, Y:-55.38, Z:-7.35 [[ 7.07198682e-01 7.05104988e-01 5.19324572e-02 1.41134460e+02] [-7.03288193e-01 7.09102530e-01 -5.05897155e-02 -5.53832142e+01] [-7.24964976e-02 -7.46503836e-04 9.97368388e-01 -7.35014649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38863999999998 meters 0.02594326995730819 Centerline is valid? [True, True] Translation: X:141.18, Y:-55.43, Z:-7.35 [[ 7.02027630e-01 7.10216849e-01 5.24331324e-02 1.41180238e+02] [-7.08375395e-01 7.03981862e-01 -5.11256976e-02 -5.54254501e+01] [-7.32223060e-02 -1.25068855e-03 9.97314860e-01 -7.35155916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44863999999998 meters 0.026559387091075505 Centerline is valid? [True, True] Translation: X:141.23, Y:-55.47, Z:-7.36 [[ 6.97009243e-01 7.15172437e-01 5.20240327e-02 1.41228023e+02] [-7.13369901e-01 6.98945933e-01 -5.07736825e-02 -5.54659596e+01] [-7.26739243e-02 -1.72265308e-03 9.97354267e-01 -7.35506504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50863999999999 meters 0.026896985918473233 Centerline is valid? [True, True] Translation: X:141.28, Y:-55.51, Z:-7.36 [[ 6.94974474e-01 7.17148765e-01 5.20396959e-02 1.41276748e+02] [-7.15347212e-01 6.96917536e-01 -5.08361570e-02 -5.55051753e+01] [-7.27244638e-02 -1.89661994e-03 9.97350267e-01 -7.35723264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56864 meters 0.026742870851830344 Centerline is valid? [True, True] Translation: X:141.33, Y:-55.54, Z:-7.36 [[ 6.96563555e-01 7.15615595e-01 5.18992723e-02 1.41328406e+02] [-7.13816849e-01 6.98492240e-01 -5.07355512e-02 -5.55420144e+01] [-7.25583906e-02 -1.70603916e-03 9.97362707e-01 -7.35943913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62864 meters 0.026911191337693256 Centerline is valid? [True, True] Translation: X:141.38, Y:-55.58, Z:-7.36 [[ 6.96638530e-01 7.15484599e-01 5.26929563e-02 1.41375685e+02] [-7.13627695e-01 6.98626445e-01 -5.15422474e-02 -5.55832073e+01] [-7.36903769e-02 -1.69683750e-03 9.97279725e-01 -7.36319140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68864 meters 0.026776498543994064 Centerline is valid? [True, True] Translation: X:141.43, Y:-55.62, Z:-7.37 [[ 6.97708734e-01 7.14561560e-01 5.10323275e-02 1.41426271e+02] [-7.12813936e-01 6.99570930e-01 -4.99680472e-02 -5.56208422e+01] [-7.14059786e-02 -1.51341131e-03 9.97446187e-01 -7.36710351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74864 meters 0.02700019576224397 Centerline is valid? [True, True] Translation: X:141.47, Y:-55.66, Z:-7.37 [[ 6.99209301e-01 7.13101676e-01 5.09151557e-02 1.41472846e+02] [-7.11354885e-01 7.01059367e-01 -4.98998242e-02 -5.56619902e+01] [-7.12781950e-02 -1.32832352e-03 9.97455590e-01 -7.37130311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80864 meters 0.0271541291112363 Centerline is valid? [True, True] Translation: X:141.52, Y:-55.70, Z:-7.37 [[ 7.00769835e-01 7.11531261e-01 5.14286182e-02 1.41518850e+02] [-7.09742081e-01 7.02653494e-01 -5.04405217e-02 -5.57044330e+01] [-7.20265063e-02 -1.15385839e-03 9.97402051e-01 -7.37476202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86864 meters 0.02740738063654127 Centerline is valid? [True, True] Translation: X:141.56, Y:-55.75, Z:-7.38 [[ 7.00002591e-01 7.12216918e-01 5.23777966e-02 1.41564305e+02] [-7.10360842e-01 7.01958371e-01 -5.13996028e-02 -5.57473149e+01] [-7.33746995e-02 -1.22728055e-03 9.97303689e-01 -7.37803966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92864 meters 0.02779437342660044 Centerline is valid? [True, True] Translation: X:141.61, Y:-55.79, Z:-7.38 [[ 6.98649105e-01 7.13583970e-01 5.18396183e-02 1.41609795e+02] [-7.11766027e-01 7.00568462e-01 -5.09210428e-02 -5.57906626e+01] [-7.26536416e-02 -1.32173821e-03 9.97356356e-01 -7.38065888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98864 meters 0.028303095409408154 Centerline is valid? [True, True] Translation: X:141.66, Y:-55.83, Z:-7.38 [[ 6.95902690e-01 7.16215952e-01 5.24800598e-02 1.41655575e+02] [-7.14356275e-01 6.97876936e-01 -5.16032375e-02 -5.58328335e+01] [-7.35836852e-02 -1.57862821e-03 9.97287797e-01 -7.38448111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04863999999998 meters 0.028386714421967735 Centerline is valid? [True, True] Translation: X:141.70, Y:-55.87, Z:-7.39 [[ 6.96453551e-01 7.15704586e-01 5.21478370e-02 1.41701279e+02] [-7.13863496e-01 6.98401568e-01 -5.13240548e-02 -5.58749661e+01] [-7.31529925e-02 -1.48161704e-03 9.97319630e-01 -7.38691370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10863999999998 meters 0.028489311567315708 Centerline is valid? [True, True] Translation: X:141.75, Y:-55.92, Z:-7.39 [[ 6.96851097e-01 7.15281682e-01 5.26370975e-02 1.41747583e+02] [-7.13400829e-01 6.98834826e-01 -5.18569403e-02 -5.59176684e+01] [-7.38769563e-02 -1.41478329e-03 9.97266360e-01 -7.38955212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16863999999998 meters 0.028718816130835018 Centerline is valid? [True, True] Translation: X:141.80, Y:-55.96, Z:-7.39 [[ 6.96479775e-01 7.15604542e-01 5.31607267e-02 1.41795052e+02] [-7.13682758e-01 6.98504196e-01 -5.24290909e-02 -5.59585049e+01] [-7.46514862e-02 -1.42409255e-03 9.97208668e-01 -7.39499210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22863999999998 meters 0.02883632268007905 Centerline is valid? [True, True] Translation: X:141.84, Y:-56.00, Z:-7.40 [[ 6.96187458e-01 7.15970365e-01 5.20524683e-02 1.41841366e+02] [-7.14125220e-01 6.98129276e-01 -5.13875883e-02 -5.60004471e+01] [-7.31313423e-02 -1.39658590e-03 9.97321341e-01 -7.39690032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28864 meters 0.02869495607714989 Centerline is valid? [True, True] Translation: X:141.89, Y:-56.04, Z:-7.40 [[ 6.99005363e-01 7.13113202e-01 5.34889067e-02 1.41887123e+02] [-7.11152501e-01 7.01048050e-01 -5.28559540e-02 -5.60431552e+01] [-7.51905723e-02 -1.09217454e-03 9.97168584e-01 -7.40024023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34864 meters 0.02863928259810157 Centerline is valid? [True, True] Translation: X:141.93, Y:-56.09, Z:-7.40 [[ 7.03117754e-01 7.09094515e-01 5.30131388e-02 1.41932374e+02] [-7.07153470e-01 7.05113171e-01 -5.24345979e-02 -5.60856452e+01] [-7.45613481e-02 -6.20728304e-04 9.97216235e-01 -7.40374304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40864 meters 0.028452771336543312 Centerline is valid? [True, True] Translation: X:141.98, Y:-56.13, Z:-7.41 [[ 7.05771384e-01 7.06514857e-01 5.21872588e-02 1.41975558e+02] [-7.04623321e-01 7.07698143e-01 -5.16654116e-02 -5.61305018e+01] [-7.34352070e-02 -3.08390568e-04 9.97299942e-01 -7.40767640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46864 meters 0.028699833037481734 Centerline is valid? [True, True] Translation: X:142.02, Y:-56.17, Z:-7.41 [[ 7.04531475e-01 7.07736848e-01 5.23827759e-02 1.42020263e+02] [-7.05830687e-01 7.06476039e-01 -5.19099967e-02 -5.61743520e+01] [-7.37457935e-02 -4.01144141e-04 9.97276991e-01 -7.41198496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52864 meters 0.02866535694377296 Centerline is valid? [True, True] Translation: X:142.07, Y:-56.22, Z:-7.41 [[ 7.02219467e-01 7.10034945e-01 5.23277778e-02 1.42065626e+02] [-7.08135080e-01 7.04166183e-01 -5.19104530e-02 -5.62186427e+01] [-7.37056872e-02 -6.02604478e-04 9.97279855e-01 -7.41411860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58864 meters 0.02865628581943813 Centerline is valid? [True, True] Translation: X:142.11, Y:-56.26, Z:-7.42 [[ 6.99550127e-01 7.12745412e-01 5.12210649e-02 1.42112728e+02] [-7.10928570e-01 7.01422330e-01 -5.08653427e-02 -5.62605062e+01] [-7.21816383e-02 -8.31661472e-04 9.97391157e-01 -7.41652411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64864 meters 0.028728024803134203 Centerline is valid? [True, True] Translation: X:142.16, Y:-56.30, Z:-7.42 [[ 6.98174841e-01 7.14123615e-01 5.07873396e-02 1.42159137e+02] [-7.12337287e-01 7.00019000e-01 -5.04875182e-02 -5.63037442e+01] [-7.16064317e-02 -9.28600741e-04 9.97432532e-01 -7.41951409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70864 meters 0.02878310285595586 Centerline is valid? [True, True] Translation: X:142.21, Y:-56.34, Z:-7.42 [[ 6.96803628e-01 7.15489307e-01 5.03959955e-02 1.42209690e+02] [-7.13730213e-01 6.98622935e-01 -5.01515512e-02 -5.63420540e+01] [-7.10906969e-02 -1.02336182e-03 9.97469331e-01 -7.42255909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76863999999998 meters 0.028922164805400816 Centerline is valid? [True, True] Translation: X:142.26, Y:-56.38, Z:-7.43 [[ 6.96354452e-01 7.15909126e-01 5.06418858e-02 1.42259052e+02] [-7.14130064e-01 6.98192706e-01 -5.04499383e-02 -5.63811660e+01] [-7.14753665e-02 -1.03385404e-03 9.97441829e-01 -7.42633739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82863999999998 meters 0.028720681412625584 Centerline is valid? [True, True] Translation: X:142.31, Y:-56.42, Z:-7.43 [[ 6.99121176e-01 7.13142817e-01 5.15451513e-02 1.42308208e+02] [-7.11288243e-01 7.01018398e-01 -5.14027424e-02 -5.64194042e+01] [-7.27915960e-02 -7.26714321e-04 9.97346908e-01 -7.42982370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88863999999998 meters 0.02854217258505868 Centerline is valid? [True, True] Translation: X:142.36, Y:-56.46, Z:-7.43 [[ 7.03536114e-01 7.08858750e-01 5.05589749e-02 1.42355678e+02] [-7.07060825e-01 7.05350417e-01 -5.04557190e-02 -5.64603189e+01] [-7.14277719e-02 -2.50850000e-04 9.97445743e-01 -7.43402816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94863999999998 meters 0.02850431408218986 Centerline is valid? [True, True] Translation: X:142.40, Y:-56.50, Z:-7.44 [[ 7.09782545e-01 7.02655535e-01 4.98391232e-02 1.42404712e+02] [-7.00891126e-01 7.11530075e-01 -4.97652676e-02 -5.65007385e+01] [-7.04298757e-02 3.90719103e-04 9.97516656e-01 -7.43784065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00863999999999 meters 0.028987256409674873 Centerline is valid? [True, True] Translation: X:142.45, Y:-56.54, Z:-7.44 [[ 7.14981197e-01 6.97347863e-01 5.00783971e-02 1.42450071e+02] [-6.95549787e-01 7.16732198e-01 -5.00544680e-02 -5.65438444e+01] [-7.07981760e-02 9.55985004e-04 9.97490203e-01 -7.44137234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06864 meters 0.029391283117220064 Centerline is valid? [True, True] Translation: X:142.37, Y:-56.79, Z:-5.69 [[ 7.42255886e-01 -6.69894134e-01 -1.72640958e-02 1.42365658e+02] [-6.69617465e-01 -7.42451011e-01 1.94665459e-02 -5.67946469e+01] [-2.58582703e-02 -2.88881825e-03 -9.99661445e-01 -5.68978298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12864 meters 0.029591947598668143 Centerline is valid? [True, True] Translation: X:142.50, Y:-56.61, Z:-7.45 [[ 7.67441470e-01 6.38974708e-01 5.23919139e-02 1.42496908e+02] [-6.37359536e-01 7.69226338e-01 -4.54275468e-02 -5.66099423e+01] [-6.93282935e-02 1.47049735e-03 9.97592815e-01 -7.44595804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18864 meters 0.0290374375253233 Centerline is valid? [True, True] Translation: X:142.54, Y:-56.65, Z:-7.45 [[ 7.64081486e-01 6.43100125e-01 5.10069845e-02 1.42543222e+02] [-6.41575852e-01 7.65781317e-01 -4.42651268e-02 -5.66517860e+01] [-6.75271043e-02 1.09731433e-03 9.97716837e-01 -7.44827928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24864 meters 0.02822391190449676 Centerline is valid? [True, True] Translation: X:142.59, Y:-56.69, Z:-7.45 [[ 7.56875697e-01 6.51521318e-01 5.15669515e-02 1.42589281e+02] [-6.49979935e-01 7.58630229e-01 -4.47912965e-02 -5.66930797e+01] [-6.83027328e-02 3.83959978e-04 9.97664568e-01 -7.45315941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30864 meters 0.02808228506520138 Centerline is valid? [True, True] Translation: X:142.64, Y:-56.73, Z:-7.46 [[ 7.51285844e-01 6.57961510e-01 5.15386386e-02 1.42637898e+02] [-6.56434610e-01 7.53051539e-01 -4.47993530e-02 -5.67326571e+01] [-6.82875010e-02 -1.74626442e-04 9.97665669e-01 -7.45519125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36864 meters 0.028085148818354794 Centerline is valid? [True, True] Translation: X:142.69, Y:-56.77, Z:-7.46 [[ 7.49499647e-01 6.59919355e-01 5.25045087e-02 1.42689153e+02] [-6.58337737e-01 7.51336362e-01 -4.56628495e-02 -5.67685316e+01] [-6.95823447e-02 -3.41409858e-04 9.97576153e-01 -7.45767535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42864 meters 0.028353823567825787 Centerline is valid? [True, True] Translation: X:142.74, Y:-56.80, Z:-7.46 [[ 7.45766741e-01 6.64053216e-01 5.35284534e-02 1.42742687e+02] [-6.62416691e-01 7.47684978e-01 -4.65972232e-02 -5.68021879e+01] [-7.09654564e-02 -7.07481740e-04 9.97478523e-01 -7.46070642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48864 meters 0.02856949860264218 Centerline is valid? [True, True] Translation: X:142.79, Y:-56.84, Z:-7.46 [[ 7.43747914e-01 6.66355813e-01 5.29997192e-02 1.42792198e+02] [-6.64754198e-01 7.45633387e-01 -4.61812633e-02 -5.68410908e+01] [-7.02915133e-02 -8.84567568e-04 9.97526100e-01 -7.46387825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54863999999998 meters 0.028843500301008546 Centerline is valid? [True, True] Translation: X:142.84, Y:-56.88, Z:-7.47 [[ 7.39321731e-01 6.71393936e-01 5.13182389e-02 1.42843850e+02] [-6.69901458e-01 7.41099541e-01 -4.47605550e-02 -5.68759682e+01] [-6.80838884e-02 -1.28571204e-03 9.97678771e-01 -7.46630763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60863999999998 meters 0.028984248845247248 Centerline is valid? [True, True] Translation: X:142.90, Y:-56.91, Z:-7.47 [[ 7.38174455e-01 6.72517149e-01 5.30957450e-02 1.42896672e+02] [-6.70919881e-01 7.40080191e-01 -4.63446270e-02 -5.69099797e+01] [-7.04626656e-02 -1.41257110e-03 9.97513417e-01 -7.47060835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66863999999998 meters 0.02859713739744953 Centerline is valid? [True, True] Translation: X:142.95, Y:-56.94, Z:-7.47 [[ 7.41637072e-01 6.68769447e-01 5.21716472e-02 1.42949394e+02] [-6.67217226e-01 7.43469145e-01 -4.55500164e-02 -5.69441681e+01] [-6.92504692e-02 -1.02824092e-03 9.97598775e-01 -7.47298096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72863999999998 meters 0.02845517279986023 Centerline is valid? [True, True] Translation: X:143.00, Y:-56.98, Z:-7.48 [[ 7.45977980e-01 6.63985214e-01 5.13856919e-02 1.42999657e+02] [-6.62467248e-01 7.47745489e-01 -4.48756972e-02 -5.69813271e+01] [-6.82202187e-02 -5.65055939e-04 9.97670127e-01 -7.47719886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78864 meters 0.028283619301376583 Centerline is valid? [True, True] Translation: X:143.05, Y:-57.02, Z:-7.48 [[ 7.51913422e-01 6.57293532e-01 5.09059850e-02 1.43049783e+02] [-6.55787570e-01 7.53634666e-01 -4.44685509e-02 -5.70177569e+01] [-6.75934059e-02 5.29880798e-05 9.97712949e-01 -7.48127439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84864 meters 0.02841733670373014 Centerline is valid? [True, True] Translation: X:143.10, Y:-57.06, Z:-7.48 [[ 7.54639874e-01 6.54122242e-01 5.14077135e-02 1.43099021e+02] [-6.52578220e-01 7.56388769e-01 -4.49187746e-02 -5.70564114e+01] [-6.82665867e-02 3.49944221e-04 9.97667054e-01 -7.48374576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90864 meters 0.028221949452748942 Centerline is valid? [True, True] Translation: X:143.15, Y:-57.10, Z:-7.49 [[ 7.53789075e-01 6.55184307e-01 5.03542906e-02 1.43145221e+02] [-6.53704597e-01 7.55469032e-01 -4.40095740e-02 -5.70978733e+01] [-6.68754894e-02 2.57104820e-04 9.97761296e-01 -7.48671822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96864 meters 0.028037352091612087 Centerline is valid? [True, True] Translation: X:143.19, Y:-57.14, Z:-7.49 [[ 7.50841181e-01 6.58518702e-01 5.08983246e-02 1.43191937e+02] [-6.57013632e-01 7.52564361e-01 -4.44968466e-02 -5.71382016e+01] [-6.76062708e-02 -3.08282936e-05 9.97712078e-01 -7.48826311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02864 meters 0.028325193975596782 Centerline is valid? [True, True] Translation: X:143.24, Y:-57.18, Z:-7.49 [[ 7.48782923e-01 6.60751933e-01 5.22591292e-02 1.43240573e+02] [-6.59169773e-01 7.50604310e-01 -4.56987958e-02 -5.71775591e+01] [-6.94214953e-02 -2.29160450e-04 9.97587391e-01 -7.49189513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08864 meters 0.02814074885359444 Centerline is valid? [True, True] Translation: X:143.29, Y:-57.22, Z:-7.49 [[ 7.49524134e-01 6.60030217e-01 5.07315106e-02 1.43287487e+02] [-6.58536878e-01 7.51239037e-01 -4.43744167e-02 -5.72180068e+01] [-6.73999471e-02 -1.48874370e-04 9.97726027e-01 -7.49402064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14864 meters 0.02797750539101793 Centerline is valid? [True, True] Translation: X:143.34, Y:-57.25, Z:-7.50 [[ 7.50789380e-01 6.58554521e-01 5.11981354e-02 1.43338919e+02] [-6.57029313e-01 7.52533018e-01 -4.47944103e-02 -5.72542800e+01] [-6.80278488e-02 -7.50817399e-06 9.97683423e-01 -7.49583412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20864 meters 0.028164720821297517 Centerline is valid? [True, True] Translation: X:143.39, Y:-57.29, Z:-7.50 [[ 7.49723976e-01 6.59640642e-01 5.28032422e-02 1.43385193e+02] [-6.58020127e-01 7.51581142e-01 -4.62093034e-02 -5.72942474e+01] [-7.01674557e-02 -1.01373427e-04 9.97535221e-01 -7.49837362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26863999999998 meters 0.02806896910609489 Centerline is valid? [True, True] Translation: X:143.43, Y:-57.33, Z:-7.50 [[ 7.46461288e-01 6.63350666e-01 5.25494010e-02 1.43434178e+02] [-6.61754564e-01 7.48308557e-01 -4.59913097e-02 -5.73299659e+01] [-6.98315324e-02 -4.44073754e-04 9.97558700e-01 -7.50249084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32863999999998 meters 0.0281470145094369 Centerline is valid? [True, True] Translation: X:143.48, Y:-57.37, Z:-7.51 [[ 7.42176605e-01 6.68146167e-01 5.24841426e-02 1.43482000e+02] [-6.66565937e-01 7.44029503e-01 -4.59341954e-02 -5.73667979e+01] [-6.97405072e-02 -8.92856459e-04 9.97564767e-01 -7.50507016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38863999999998 meters 0.028449649590371714 Centerline is valid? [True, True] Translation: X:143.53, Y:-57.40, Z:-7.51 [[ 7.38827252e-01 6.71817545e-01 5.28722849e-02 1.43531512e+02] [-6.70224123e-01 7.40715603e-01 -4.62603538e-02 -5.73991988e+01] [-7.02418437e-02 -1.25787071e-03 9.97529198e-01 -7.50723739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44863999999998 meters 0.02817133812552691 Centerline is valid? [True, True] Translation: X:143.58, Y:-57.43, Z:-7.51 [[ 7.39828568e-01 6.70897965e-01 5.04936599e-02 1.43580590e+02] [-6.69445320e-01 7.41548788e-01 -4.41402130e-02 -5.74322793e+01] [-6.70570914e-02 -1.14655365e-03 9.97748481e-01 -7.50961657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50863999999999 meters 0.02794780125926916 Centerline is valid? [True, True] Translation: X:143.63, Y:-57.47, Z:-7.51 [[ 7.41809401e-01 6.68684187e-01 5.07963699e-02 1.43628953e+02] [-6.67211625e-01 7.43545892e-01 -4.43638881e-02 -5.74653470e+01] [-6.74348626e-02 -9.82379224e-04 9.97723195e-01 -7.51299814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56864 meters 0.027872673044944344 Centerline is valid? [True, True] Translation: X:143.68, Y:-57.50, Z:-7.52 [[ 7.44195676e-01 6.65938499e-01 5.19491253e-02 1.43679811e+02] [-6.64394617e-01 7.46006235e-01 -4.53264816e-02 -5.74955881e+01] [-6.89390205e-02 -7.82947584e-04 9.97620568e-01 -7.51523279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62864 meters 0.0276406427167338 Centerline is valid? [True, True] Translation: X:143.73, Y:-57.53, Z:-7.52 [[ 7.46749596e-01 6.63158328e-01 5.08534484e-02 1.43730196e+02] [-6.61675469e-01 7.48478946e-01 -4.43265300e-02 -5.75276068e+01] [-6.74582430e-02 -5.47661016e-04 9.97721948e-01 -7.51901230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68864 meters 0.027707918004098404 Centerline is valid? [True, True] Translation: X:143.78, Y:-57.56, Z:-7.52 [[ 7.48447296e-01 6.61180990e-01 5.16366555e-02 1.43778593e+02] [-6.59650308e-01 7.50226321e-01 -4.49659777e-02 -5.75606682e+01] [-6.84698277e-02 -4.07471316e-04 9.97653104e-01 -7.52309000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74864 meters 0.02743534054509627 Centerline is valid? [True, True] Translation: X:143.83, Y:-57.59, Z:-7.53 [[ 7.50038221e-01 6.59328289e-01 5.22386328e-02 1.43826635e+02] [-6.57760473e-01 7.51855126e-01 -4.54425886e-02 -5.75938230e+01] [-6.92374681e-02 -2.76829524e-04 9.97600169e-01 -7.52641924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80864 meters 0.027398153874540514 Centerline is valid? [True, True] Translation: X:143.87, Y:-57.63, Z:-7.53 [[ 7.51117438e-01 6.58138422e-01 5.17340503e-02 1.43873783e+02] [-6.56600997e-01 7.52896924e-01 -4.49594538e-02 -5.76295422e+01] [-6.85399513e-02 -1.98799238e-04 9.97648353e-01 -7.52889555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86864 meters 0.027216456689645778 Centerline is valid? [True, True] Translation: X:143.92, Y:-57.67, Z:-7.53 [[ 7.50254866e-01 6.59202913e-01 5.06868480e-02 1.43920680e+02] [-6.57732220e-01 7.51965038e-01 -4.40103287e-02 -5.76655745e+01] [-6.71264745e-02 -3.19409842e-04 9.97744423e-01 -7.53170171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92864 meters 0.027471624066121306 Centerline is valid? [True, True] Translation: X:143.97, Y:-57.70, Z:-7.53 [[ 7.47477731e-01 6.62235859e-01 5.21604164e-02 1.43967609e+02] [-6.60688535e-01 7.49295174e-01 -4.52482168e-02 -5.77007388e+01] [-6.90485400e-02 -6.39754672e-04 9.97613096e-01 -7.53354227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98864 meters 0.02742880012732079 Centerline is valid? [True, True] Translation: X:144.02, Y:-57.73, Z:-7.54 [[ 7.45329408e-01 6.64623080e-01 5.25379381e-02 1.44016302e+02] [-6.63062030e-01 7.47178262e-01 -4.55344824e-02 -5.77347006e+01] [-6.95184732e-02 -8.97723066e-04 9.97580260e-01 -7.53567489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04863999999998 meters 0.027332674163806792 Centerline is valid? [True, True] Translation: X:144.06, Y:-57.77, Z:-7.54 [[ 7.46067635e-01 6.63804634e-01 5.24069804e-02 1.44064352e+02] [-6.62252311e-01 7.47905531e-01 -4.53783324e-02 -5.77681039e+01] [-6.93178178e-02 -8.51338676e-04 9.97594264e-01 -7.53784132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10863999999998 meters 0.027300605169862532 Centerline is valid? [True, True] Translation: X:144.11, Y:-57.80, Z:-7.54 [[ 7.48874281e-01 6.60561331e-01 5.33482862e-02 1.44110650e+02] [-6.58947860e-01 7.50771851e-01 -4.61448355e-02 -5.78026117e+01] [-7.05338855e-02 -5.97058469e-04 9.97509205e-01 -7.54135419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16863999999998 meters 0.0271359088278713 Centerline is valid? [True, True] Translation: X:144.16, Y:-57.83, Z:-7.54 [[ 7.51668745e-01 6.57445262e-01 5.25340389e-02 1.44160850e+02] [-6.55876210e-01 7.53502234e-01 -4.53958253e-02 -5.78346401e+01] [-6.94297859e-02 -3.33203285e-04 9.97586785e-01 -7.54324595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22863999999998 meters 0.027218488340133747 Centerline is valid? [True, True] Translation: X:144.21, Y:-57.87, Z:-7.55 [[ 7.53314499e-01 6.55543984e-01 5.27195493e-02 1.44207969e+02] [-6.53962157e-01 7.55156970e-01 -4.55131703e-02 -5.78676639e+01] [-6.96474201e-02 -1.90859055e-04 9.97571652e-01 -7.54712332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28864 meters 0.027434139415823025 Centerline is valid? [True, True] Translation: X:144.26, Y:-57.90, Z:-7.55 [[ 7.56590060e-01 6.51709100e-01 5.33547502e-02 1.44256989e+02] [-6.50082547e-01 7.58469005e-01 -4.60157666e-02 -5.78998784e+01] [-7.04568181e-02 1.30079748e-04 9.97514822e-01 -7.54983782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34864 meters 0.027284517365919858 Centerline is valid? [True, True] Translation: X:144.31, Y:-57.93, Z:-7.55 [[ 7.58456514e-01 6.49560622e-01 5.30538822e-02 1.44305128e+02] [-6.47950119e-01 7.60309747e-01 -4.57135866e-02 -5.79326377e+01] [-7.00311295e-02 2.95498260e-04 9.97544763e-01 -7.55205784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40864 meters 0.027409927096420837 Centerline is valid? [True, True] Translation: X:144.35, Y:-57.97, Z:-7.55 [[ 7.59291781e-01 6.48567263e-01 5.32587699e-02 1.44349941e+02] [-6.46945137e-01 7.61157264e-01 -4.58433001e-02 -5.79686599e+01] [-7.02707633e-02 3.52938774e-04 9.97527892e-01 -7.55491690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46864 meters 0.027830502891546267 Centerline is valid? [True, True] Translation: X:144.40, Y:-58.00, Z:-7.56 [[ 7.61830038e-01 6.45506392e-01 5.41894017e-02 1.44398374e+02] [-6.43822512e-01 7.63754623e-01 -4.65988158e-02 -5.80018057e+01] [-7.14672395e-02 6.12020894e-04 9.97442760e-01 -7.55646891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52864 meters 0.02817873014898611 Centerline is valid? [True, True] Translation: X:144.45, Y:-58.04, Z:-7.56 [[ 7.66524471e-01 6.39954911e-01 5.38325884e-02 1.44445928e+02] [-6.38282275e-01 7.68411685e-01 -4.62517048e-02 -5.80364493e+01] [-7.09645956e-02 1.09267652e-03 9.97478236e-01 -7.56039412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58864 meters 0.029176283410271953 Centerline is valid? [True, True] Translation: X:144.49, Y:-58.07, Z:-7.56 [[ 7.71401783e-01 6.34045633e-01 5.40871923e-02 1.44493477e+02] [-6.32344596e-01 7.73293929e-01 -4.64414785e-02 -5.80723900e+01] [-7.12713141e-02 1.62329560e-03 9.97455645e-01 -7.56434444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64864 meters 0.029617048766140238 Centerline is valid? [True, True] Translation: X:144.54, Y:-58.11, Z:-7.57 [[ 7.72497364e-01 6.32629258e-01 5.50276737e-02 1.44538039e+02] [-6.30865512e-01 7.74452749e-01 -4.72402848e-02 -5.81098100e+01] [-7.25019195e-02 1.77793392e-03 9.97366688e-01 -7.56767731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70864 meters 0.030063625626430963 Centerline is valid? [True, True] Translation: X:144.58, Y:-58.15, Z:-7.57 [[ 7.74093488e-01 6.30740134e-01 5.42785029e-02 1.44581973e+02] [-6.29021109e-01 7.75991773e-01 -4.65748086e-02 -5.81485795e+01] [-7.14962727e-02 1.91093200e-03 9.97439036e-01 -7.57206473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76863999999998 meters 0.03051281994578588 Centerline is valid? [True, True] Translation: X:144.62, Y:-58.19, Z:-7.58 [[ 7.75620789e-01 6.28779768e-01 5.52122760e-02 1.44623960e+02] [-6.26998969e-01 7.77580611e-01 -4.73358892e-02 -5.81892341e+01] [-7.26958448e-02 2.09665961e-03 9.97351953e-01 -7.57512219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82863999999998 meters 0.03072377151238544 Centerline is valid? [True, True] Translation: X:144.67, Y:-58.23, Z:-7.58 [[ 7.77195753e-01 6.26728832e-01 5.63713836e-02 1.44665452e+02] [-6.24870007e-01 7.79234020e-01 -4.82888880e-02 -5.82313207e+01] [-7.41905382e-02 2.30513187e-03 9.97241420e-01 -7.57924177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88863999999998 meters 0.031108291614833312 Centerline is valid? [True, True] Translation: X:144.71, Y:-58.27, Z:-7.58 [[ 7.78102494e-01 6.25629924e-01 5.60687692e-02 1.44706999e+02] [-6.23791135e-01 7.80116403e-01 -4.79897674e-02 -5.82732106e+01] [-7.37640010e-02 2.36575651e-03 9.97272919e-01 -7.58236910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94863999999998 meters 0.03126435936044015 Centerline is valid? [True, True] Translation: X:144.75, Y:-58.32, Z:-7.58 [[ 7.79479594e-01 6.23838324e-01 5.68973498e-02 1.44748209e+02] [-6.21943016e-01 7.81549288e-01 -4.86579397e-02 -5.83158471e+01] [-7.48227708e-02 2.54096173e-03 9.97193610e-01 -7.58483320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00863999999999 meters 0.03142949180658267 Centerline is valid? [True, True] Translation: X:144.79, Y:-58.36, Z:-7.59 [[ 7.80351270e-01 6.22745657e-01 5.69187268e-02 1.44785274e+02] [-6.20849043e-01 7.82419969e-01 -4.86359802e-02 -5.83632055e+01] [-7.48221939e-02 2.61521191e-03 9.97193462e-01 -7.58693027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06864 meters 0.03132101008286514 Centerline is valid? [True, True] Translation: X:144.82, Y:-58.41, Z:-7.59 [[ 7.81655492e-01 6.21338911e-01 5.43382790e-02 1.44822531e+02] [-6.19609869e-01 7.83537632e-01 -4.63938575e-02 -5.84092418e+01] [-7.14023954e-02 2.59547960e-03 9.97444215e-01 -7.58930404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12864 meters 0.03033687302766027 Centerline is valid? [True, True] Translation: X:144.86, Y:-58.46, Z:-7.59 [[ 7.79420030e-01 6.24178158e-01 5.39077323e-02 1.44859115e+02] [-6.22485249e-01 7.81278671e-01 -4.59973170e-02 -5.84569347e+01] [-7.08274821e-02 2.29446205e-03 9.97485941e-01 -7.59191331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18864 meters 0.02919757894252408 Centerline is valid? [True, True] Translation: X:144.90, Y:-58.51, Z:-7.60 [[ 7.74580815e-01 6.30102267e-01 5.47329358e-02 1.44895488e+02] [-6.28373154e-01 7.76510151e-01 -4.66815297e-02 -5.85051118e+01] [-7.19148180e-02 1.76590982e-03 9.97409214e-01 -7.59611721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24864 meters 0.028491856566482555 Centerline is valid? [True, True] Translation: X:144.94, Y:-58.55, Z:-7.60 [[ 7.71784496e-01 6.33400138e-01 5.61511988e-02 1.44935791e+02] [-6.31591718e-01 7.73823051e-01 -4.78517195e-02 -5.85486816e+01] [-7.37603777e-02 1.46658306e-03 9.97274915e-01 -7.59894162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30864 meters 0.02807416596399153 Centerline is valid? [True, True] Translation: X:144.97, Y:-58.59, Z:-7.60 [[ 7.68736753e-01 6.37010250e-01 5.71116966e-02 1.44974719e+02] [-6.35152426e-01 7.70854535e-01 -4.86279881e-02 -5.85940498e+01] [-7.50013372e-02 1.10748904e-03 9.97182818e-01 -7.60124547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36864 meters 0.027564066860182708 Centerline is valid? [True, True] Translation: X:145.01, Y:-58.64, Z:-7.60 [[ 7.66687917e-01 6.39524373e-01 5.65527656e-02 1.45014959e+02] [-6.37712698e-01 7.68770383e-01 -4.81104234e-02 -5.86375534e+01] [-7.42438796e-02 8.21263567e-04 9.97239777e-01 -7.60384890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42864 meters 0.027533356854146755 Centerline is valid? [True, True] Translation: X:145.06, Y:-58.68, Z:-7.61 [[ 7.64199988e-01 6.42356458e-01 5.81081653e-02 1.45055801e+02] [-6.40455129e-01 7.66405834e-01 -4.93895299e-02 -5.86796894e+01] [-7.62601204e-02 5.27805650e-04 9.97087817e-01 -7.60778413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48864 meters 0.02738484145226961 Centerline is valid? [True, True] Translation: X:145.10, Y:-58.72, Z:-7.61 [[ 7.63016003e-01 6.43824060e-01 5.74208909e-02 1.45097539e+02] [-6.41974878e-01 7.65173484e-01 -4.87626343e-02 -5.87213140e+01] [-7.53315003e-02 3.43900878e-04 9.97158486e-01 -7.60970186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54863999999998 meters 0.027497558296437616 Centerline is valid? [True, True] Translation: X:145.14, Y:-58.76, Z:-7.61 [[ 7.63176997e-01 6.43687234e-01 5.68121159e-02 1.45140249e+02] [-6.41879924e-01 7.65288601e-01 -4.82029188e-02 -5.87607456e+01] [-7.45052682e-02 3.20802178e-04 9.97220568e-01 -7.61472961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60863999999998 meters 0.02706757692218013 Centerline is valid? [True, True] Translation: X:145.18, Y:-58.80, Z:-7.62 [[ 7.63652024e-01 6.43239968e-01 5.54790866e-02 1.45182686e+02] [-6.41518454e-01 7.65664573e-01 -4.70301483e-02 -5.88013948e+01] [-7.27300423e-02 3.23810071e-04 9.97351611e-01 -7.61772813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66863999999998 meters 0.027113397651494283 Centerline is valid? [True, True] Translation: X:145.23, Y:-58.84, Z:-7.62 [[ 7.61932766e-01 6.45353579e-01 5.45638967e-02 1.45225179e+02] [-6.43696799e-01 7.63883990e-01 -4.62134190e-02 -5.88424610e+01] [-7.15044824e-02 8.89125268e-05 9.97440274e-01 -7.61936330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72863999999998 meters 0.027178305266930165 Centerline is valid? [True, True] Translation: X:145.27, Y:-58.88, Z:-7.62 [[ 7.60246935e-01 6.47247894e-01 5.56305884e-02 1.45269351e+02] [-6.45533809e-01 7.62279574e-01 -4.70739067e-02 -5.88814722e+01] [-7.28745482e-02 -1.23632381e-04 9.97341108e-01 -7.62302576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78864 meters 0.027026997184050987 Centerline is valid? [True, True] Translation: X:145.31, Y:-58.92, Z:-7.62 [[ 7.60494195e-01 6.47075043e-01 5.42445261e-02 1.45314755e+02] [-6.45447898e-01 7.62426305e-01 -4.58600022e-02 -5.89187339e+01] [-7.10323165e-02 -1.35749955e-04 9.97474005e-01 -7.62473458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84864 meters 0.027146432243822575 Centerline is valid? [True, True] Translation: X:145.36, Y:-58.96, Z:-7.63 [[ 7.61532050e-01 6.45837933e-01 5.44270199e-02 1.45358551e+02] [-6.44199804e-01 7.63474532e-01 -4.59701133e-02 -5.89561578e+01] [-7.12428865e-02 -5.41609019e-05 9.97458996e-01 -7.62852236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90864 meters 0.027196558685802973 Centerline is valid? [True, True] Translation: X:145.40, Y:-58.99, Z:-7.63 [[ 7.62680657e-01 6.44347985e-01 5.59811456e-02 1.45402953e+02] [-6.42614386e-01 7.64732418e-01 -4.72343068e-02 -5.89941192e+01] [-7.32459272e-02 5.04026389e-05 9.97313908e-01 -7.63049320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96864 meters 0.027012717307688384 Centerline is valid? [True, True] Translation: X:145.45, Y:-59.03, Z:-7.63 [[ 7.65494694e-01 6.41255715e-01 5.29998256e-02 1.45445808e+02] [-6.39697369e-01 7.67327192e-01 -4.46794857e-02 -5.90348724e+01] [-6.93191829e-02 2.98060213e-04 9.97594488e-01 -7.63345054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02864 meters 0.027497549623996243 Centerline is valid? [True, True] Translation: X:145.49, Y:-59.08, Z:-7.64 [[ 7.68717094e-01 6.37296136e-01 5.41078994e-02 1.45487115e+02] [-6.35665014e-01 7.70618731e-01 -4.55714909e-02 -5.90764494e+01] [-7.07390959e-02 6.37085390e-04 9.97494649e-01 -7.63691387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08864 meters 0.027539131656031657 Centerline is valid? [True, True] Translation: X:145.53, Y:-59.12, Z:-7.64 [[ 7.69490482e-01 6.36361858e-01 5.41108442e-02 1.45529943e+02] [-6.34731302e-01 7.71390375e-01 -4.55309076e-02 -5.91160819e+01] [-7.07147174e-02 6.89753431e-04 9.97496342e-01 -7.63882299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14864 meters 0.02737145699108949 Centerline is valid? [True, True] Translation: X:145.57, Y:-59.16, Z:-7.64 [[ 7.69158060e-01 6.36885422e-01 5.26577492e-02 1.45571555e+02] [-6.35345562e-01 7.70958241e-01 -4.42651869e-02 -5.91579695e+01] [-6.87887779e-02 5.91058030e-04 9.97631071e-01 -7.64236993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20864 meters 0.02757820254814582 Centerline is valid? [True, True] Translation: X:145.62, Y:-59.20, Z:-7.65 [[ 7.69393114e-01 6.36466325e-01 5.42665126e-02 1.45615383e+02] [-6.34832747e-01 7.71304245e-01 -4.55757040e-02 -5.91964275e+01] [-7.08633924e-02 6.15473539e-04 9.97485840e-01 -7.64616937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26863999999998 meters 0.027661300695131445 Centerline is valid? [True, True] Translation: X:145.66, Y:-59.24, Z:-7.65 [[ 7.70856060e-01 6.34618481e-01 5.51390739e-02 1.45659174e+02] [-6.32930194e-01 7.72825205e-01 -4.62663165e-02 -5.92360338e+01] [-7.19743256e-02 7.65485761e-04 9.97406191e-01 -7.64773933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32863999999998 meters 0.027896808922642787 Centerline is valid? [True, True] Translation: X:145.70, Y:-59.27, Z:-7.65 [[ 7.72049895e-01 6.33225695e-01 5.44442764e-02 1.45704333e+02] [-6.31579161e-01 7.73966726e-01 -4.56428597e-02 -5.92733285e+01] [-7.10402898e-02 8.52694589e-04 9.97473082e-01 -7.65021416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38863999999998 meters 0.027915609808296143 Centerline is valid? [True, True] Translation: X:145.75, Y:-59.31, Z:-7.65 [[ 7.73180351e-01 6.31883170e-01 5.39981821e-02 1.45747229e+02] [-6.30263104e-01 7.75063082e-01 -4.52287395e-02 -5.93132602e+01] [-7.04312767e-02 9.36910858e-04 9.97516194e-01 -7.65179281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44863999999998 meters 0.028017382010494692 Centerline is valid? [True, True] Translation: X:145.79, Y:-59.36, Z:-7.66 [[ 7.73807149e-01 6.31105182e-01 5.41178964e-02 1.45790394e+02] [-6.29477995e-01 7.75696637e-01 -4.53009962e-02 -5.93550089e+01] [-7.05687637e-02 9.88209737e-04 9.97506428e-01 -7.65501981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50863999999999 meters 0.028183670470773747 Centerline is valid? [True, True] Translation: X:145.83, Y:-59.40, Z:-7.66 [[ 7.74340379e-01 6.30434435e-01 5.43083803e-02 1.45832922e+02] [-6.28794115e-01 7.76241788e-01 -4.54603947e-02 -5.94003733e+01] [-7.08162325e-02 1.05302933e-03 9.97488823e-01 -7.65845918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56864 meters 0.02780251176743147 Centerline is valid? [True, True] Translation: X:145.88, Y:-59.45, Z:-7.66 [[ 7.73301713e-01 6.31749542e-01 5.38235715e-02 1.45875465e+02] [-6.30141062e-01 7.75172014e-01 -4.50620705e-02 -5.94466140e+01] [-7.01904687e-02 9.30133785e-04 9.97533174e-01 -7.66072794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62864 meters 0.02758375232594615 Centerline is valid? [True, True] Translation: X:145.92, Y:-59.49, Z:-7.66 [[ 7.71241811e-01 6.34256178e-01 5.38996280e-02 1.45919870e+02] [-6.32648432e-01 7.73122625e-01 -4.51372192e-02 -5.94901598e+01] [-7.02995820e-02 7.12195591e-04 9.97525670e-01 -7.66355926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68864 meters 0.02708415393031272 Centerline is valid? [True, True] Translation: X:145.96, Y:-59.54, Z:-7.67 [[ 7.65837444e-01 6.40813416e-01 5.33964090e-02 1.45962016e+02] [-6.39250532e-01 7.67696654e-01 -4.47281336e-02 -5.95362801e+01] [-6.96546326e-02 1.20796638e-04 9.97571159e-01 -7.66587943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74864 meters 0.027130032549453335 Centerline is valid? [True, True] Translation: X:146.01, Y:-59.58, Z:-7.67 [[ 7.61782559e-01 6.45607049e-01 5.36551054e-02 1.46008420e+02] [-6.44039814e-01 7.63669721e-01 -4.49585856e-02 -5.95783449e+01] [-7.00003592e-02 -3.07357720e-04 9.97546919e-01 -7.66797142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80864 meters 0.027622423139079783 Centerline is valid? [True, True] Translation: X:146.05, Y:-59.62, Z:-7.67 [[ 7.61036144e-01 6.46372829e-01 5.50104812e-02 1.46054099e+02] [-6.44726404e-01 7.63021640e-01 -4.61068469e-02 -5.96200291e+01] [-7.17764006e-02 -3.77732799e-04 9.97420676e-01 -7.67124706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86864 meters 0.0275166375297244 Centerline is valid? [True, True] Translation: X:146.10, Y:-59.66, Z:-7.67 [[ 7.61142574e-01 6.46318539e-01 5.41694461e-02 1.46103053e+02] [-6.44721134e-01 7.63067637e-01 -4.54141035e-02 -5.96580217e+01] [-7.06869282e-02 -3.57579124e-04 9.97498486e-01 -7.67432697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92864 meters 0.02720723292194441 Centerline is valid? [True, True] Translation: X:146.15, Y:-59.70, Z:-7.68 [[ 7.62338141e-01 6.44967096e-01 5.34602913e-02 1.46151711e+02] [-6.43407139e-01 7.64210309e-01 -4.48314319e-02 -5.96963760e+01] [-6.97697042e-02 -2.20022565e-04 9.97563101e-01 -7.67736518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98864 meters 0.02752964124474768 Centerline is valid? [True, True] Translation: X:146.20, Y:-59.73, Z:-7.68 [[ 7.64498398e-01 6.42318094e-01 5.44946413e-02 1.46200826e+02] [-6.40689492e-01 7.66438168e-01 -4.57111505e-02 -5.97348089e+01] [-7.11278721e-02 3.19572037e-05 9.97467205e-01 -7.68014086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04863999999998 meters 0.027605684989981068 Centerline is valid? [True, True] Translation: X:146.25, Y:-59.78, Z:-7.68 [[ 7.66638367e-01 6.39689911e-01 5.53392474e-02 1.46246985e+02] [-6.38002610e-01 7.68633030e-01 -4.64320594e-02 -5.97759044e+01] [-7.22376933e-02 2.90013923e-04 9.97387403e-01 -7.68280992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10863999999998 meters 0.027670448463119952 Centerline is valid? [True, True] Translation: X:146.29, Y:-59.82, Z:-7.69 [[ 7.69283455e-01 6.36541361e-01 5.49368817e-02 1.46292934e+02] [-6.34869626e-01 7.71242340e-01 -4.61065311e-02 -5.98174507e+01] [-7.17183632e-02 5.91234038e-04 9.97424747e-01 -7.68599572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16863999999998 meters 0.02782040340633627 Centerline is valid? [True, True] Translation: X:146.34, Y:-59.86, Z:-7.69 [[ 7.71740938e-01 6.33590084e-01 5.45850725e-02 1.46337673e+02] [-6.31931473e-01 7.73668436e-01 -4.58231897e-02 -5.98611400e+01] [-7.12638663e-02 8.69606111e-04 9.97457119e-01 -7.68876758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22863999999998 meters 0.02804903267307229 Centerline is valid? [True, True] Translation: X:146.38, Y:-59.91, Z:-7.69 [[ 7.74199689e-01 6.30659159e-01 5.37016483e-02 1.46381036e+02] [-6.29046000e-01 7.76059114e-01 -4.50930289e-02 -5.99064118e+01] [-7.01139853e-02 1.13020192e-03 9.97538346e-01 -7.69175923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28864 meters 0.028211417715621454 Centerline is valid? [True, True] Translation: X:146.42, Y:-59.95, Z:-7.70 [[ 7.75170487e-01 6.29429260e-01 5.41250689e-02 1.46422804e+02] [-6.27786032e-01 7.77056754e-01 -4.54697645e-02 -5.99539134e+01] [-7.06782506e-02 1.26785728e-03 9.97498360e-01 -7.69519848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34864 meters 0.027897474933643487 Centerline is valid? [True, True] Translation: X:146.47, Y:-60.00, Z:-7.70 [[ 7.74049180e-01 6.30788244e-01 5.43512468e-02 1.46466603e+02] [-6.29131521e-01 7.75954119e-01 -4.57026790e-02 -6.00002278e+01] [-7.10027864e-02 1.18203862e-03 9.97475417e-01 -7.69676699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40864 meters 0.027175526458351085 Centerline is valid? [True, True] Translation: X:146.51, Y:-60.05, Z:-7.70 [[ 7.70774824e-01 6.34961854e-01 5.22457205e-02 1.46506133e+02] [-6.33437799e-01 7.72543076e-01 -4.39744323e-02 -6.00503457e+01] [-6.82841567e-02 7.99971139e-04 9.97665592e-01 -7.69878014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46864 meters 0.02705019611233688 Centerline is valid? [True, True] Translation: X:146.55, Y:-60.09, Z:-7.70 [[ 7.68197326e-01 6.38151867e-01 5.13328549e-02 1.46550819e+02] [-6.36685119e-01 7.69910323e-01 -4.32452756e-02 -6.00930944e+01] [-6.71187483e-02 5.38040206e-04 9.97744849e-01 -7.70189029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52864 meters 0.02694936897907123 Centerline is valid? [True, True] Translation: X:146.60, Y:-60.14, Z:-7.70 [[ 7.64015456e-01 6.42954996e-01 5.37517961e-02 1.46596072e+02] [-6.41355344e-01 7.65903942e-01 -4.53263155e-02 -6.01362823e+01] [-7.03114935e-02 1.56003886e-04 9.97525072e-01 -7.70463067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58864 meters 0.02676932895636206 Centerline is valid? [True, True] Translation: X:146.64, Y:-60.18, Z:-7.71 [[ 7.59148745e-01 6.48761693e-01 5.29287082e-02 1.46642920e+02] [-6.47221771e-01 7.60991556e-01 -4.46747213e-02 -6.01790446e+01] [-6.92615478e-02 -3.41853668e-04 9.97598477e-01 -7.70653970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64864 meters 0.026876471993484065 Centerline is valid? [True, True] Translation: X:146.69, Y:-60.22, Z:-7.71 [[ 7.55420471e-01 6.53063349e-01 5.33682832e-02 1.46691203e+02] [-6.51505156e-01 7.57302953e-01 -4.50917784e-02 -6.02185073e+01] [-6.98637463e-02 -7.06459195e-04 9.97556293e-01 -7.70875297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70864 meters 0.02689075711852874 Centerline is valid? [True, True] Translation: X:146.74, Y:-60.26, Z:-7.71 [[ 7.52866613e-01 6.55967220e-01 5.38411495e-02 1.46739050e+02] [-6.54385652e-01 7.54788778e-01 -4.55337141e-02 -6.02577759e+01] [-7.05073193e-02 -9.52062562e-04 9.97510808e-01 -7.71024064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76863999999998 meters 0.02739137294794706 Centerline is valid? [True, True] Translation: X:146.79, Y:-60.30, Z:-7.71 [[ 7.49237475e-01 6.60089135e-01 5.40882647e-02 1.46788648e+02] [-6.58500636e-01 7.51186136e-01 -4.57853839e-02 -6.02953093e+01] [-7.08527890e-02 -1.31303131e-03 9.97485919e-01 -7.71209242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82863999999998 meters 0.027423863257984467 Centerline is valid? [True, True] Translation: X:146.84, Y:-60.33, Z:-7.72 [[ 7.48301635e-01 6.61175193e-01 5.37775719e-02 1.46839031e+02] [-6.59604557e-01 7.50230282e-01 -4.55670086e-02 -6.03332880e+01] [-7.04733386e-02 -1.37406443e-03 9.97512717e-01 -7.71553222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88863999999998 meters 0.02755916316196396 Centerline is valid? [True, True] Translation: X:146.89, Y:-60.37, Z:-7.72 [[ 7.47465452e-01 6.62027448e-01 5.49095250e-02 1.46889305e+02] [-6.60388682e-01 7.49478192e-01 -4.65749737e-02 -6.03694434e+01] [-7.19874025e-02 -1.44844501e-03 9.97404490e-01 -7.71929034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94863999999998 meters 0.02810451422973634 Centerline is valid? [True, True] Translation: X:146.94, Y:-60.40, Z:-7.72 [[ 7.44451475e-01 6.65413750e-01 5.49230706e-02 1.46941751e+02] [-6.63780186e-01 7.46472708e-01 -4.66300470e-02 -6.04043929e+01] [-7.20268477e-02 -1.74303880e-03 9.97401171e-01 -7.72154787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00863999999999 meters 0.02813282326193788 Centerline is valid? [True, True] Translation: X:146.99, Y:-60.44, Z:-7.73 [[ 7.43932930e-01 6.66095051e-01 5.36766095e-02 1.46993085e+02] [-6.64533694e-01 7.45864845e-01 -4.56136130e-02 -6.04404054e+01] [-7.04184979e-02 -1.73644682e-03 9.97516025e-01 -7.72523322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06864 meters 0.027555698692923226 Centerline is valid? [True, True] Translation: X:147.05, Y:-60.47, Z:-7.73 [[ 7.45871987e-01 6.63933873e-01 5.35424141e-02 1.47046296e+02] [-6.62371756e-01 7.47789792e-01 -4.55421137e-02 -6.04739880e+01] [-7.02754226e-02 -1.49639598e-03 9.97526504e-01 -7.72808899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12864 meters 0.027017582078285054 Centerline is valid? [True, True] Translation: X:147.10, Y:-60.51, Z:-7.73 [[ 7.50751086e-01 6.58371387e-01 5.40363240e-02 1.47100676e+02] [-6.56763429e-01 7.52692633e-01 -4.59956378e-02 -6.05054601e+01] [-7.09549548e-02 -9.57806391e-04 9.97479061e-01 -7.73106463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18864 meters 0.02667654251919523 Centerline is valid? [True, True] Translation: X:147.15, Y:-60.54, Z:-7.74 [[ 7.55330549e-01 6.53103299e-01 5.41464969e-02 1.47152032e+02] [-6.51474284e-01 7.57268694e-01 -4.61018698e-02 -6.05409644e+01] [-7.11127303e-02 -4.52899728e-04 9.97468182e-01 -7.73515717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24864 meters 0.026628613084895884 Centerline is valid? [True, True] Translation: X:147.20, Y:-60.58, Z:-7.74 [[ 7.57168930e-01 6.51024409e-01 5.35016837e-02 1.47200759e+02] [-6.49427957e-01 7.59056756e-01 -4.55650105e-02 -6.05791150e+01] [-7.02747485e-02 -2.45078891e-04 9.97527644e-01 -7.73791998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30864 meters 0.02669723489849373 Centerline is valid? [True, True] Translation: X:147.25, Y:-60.62, Z:-7.74 [[ 7.59467084e-01 6.48345282e-01 5.34616042e-02 1.47251302e+02] [-6.46743580e-01 7.61346436e-01 -4.55449934e-02 -6.06165606e+01] [-7.02316834e-02 1.39740665e-05 9.97530707e-01 -7.74169197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36864 meters 0.026672152280977225 Centerline is valid? [True, True] Translation: X:147.30, Y:-60.65, Z:-7.74 [[ 7.59485398e-01 6.48345651e-01 5.31963169e-02 1.47300706e+02] [-6.46758693e-01 7.61346121e-01 -4.53351527e-02 -6.06546427e+01] [-6.98936586e-02 2.62060627e-05 9.97554448e-01 -7.74419245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42864 meters 0.026604609928274264 Centerline is valid? [True, True] Translation: X:147.35, Y:-60.69, Z:-7.75 [[ 7.61799129e-01 6.45581401e-01 5.37284143e-02 1.47348791e+02] [-6.43954755e-01 7.63691410e-01 -4.58006886e-02 -6.06932759e+01] [-7.06000011e-02 2.92256776e-04 9.97504664e-01 -7.74757225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48864 meters 0.02688678222261596 Centerline is valid? [True, True] Translation: X:147.40, Y:-60.73, Z:-7.75 [[ 7.63856162e-01 6.43036359e-01 5.50273051e-02 1.47396624e+02] [-6.41322493e-01 7.65835451e-01 -4.69203769e-02 -6.07324516e+01] [-7.23133694e-02 5.50170502e-04 9.97381810e-01 -7.75065588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54863999999998 meters 0.02714734817302839 Centerline is valid? [True, True] Translation: X:147.44, Y:-60.77, Z:-7.75 [[ 7.66500974e-01 6.39934593e-01 5.44056389e-02 1.47443603e+02] [-6.38250594e-01 7.68428921e-01 -4.64022900e-02 -6.07729584e+01] [-7.15012970e-02 8.42969181e-04 9.97440151e-01 -7.75416529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60863999999998 meters 0.027037069387314573 Centerline is valid? [True, True] Translation: X:147.49, Y:-60.81, Z:-7.76 [[ 7.66968939e-01 6.39526967e-01 5.25728659e-02 1.47490568e+02] [-6.37952913e-01 7.68768183e-01 -4.48504361e-02 -6.08133952e+01] [-6.90994099e-02 8.59878443e-04 9.97609409e-01 -7.75625704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66863999999998 meters 0.027295137398201268 Centerline is valid? [True, True] Translation: X:147.53, Y:-60.86, Z:-7.76 [[ 7.67474715e-01 6.38814428e-01 5.38394607e-02 1.47534538e+02] [-6.37160920e-01 7.69360262e-01 -4.59428967e-02 -6.08578320e+01] [-7.07709268e-02 9.55611295e-04 9.97492137e-01 -7.75970668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72863999999998 meters 0.02701175958487252 Centerline is valid? [True, True] Translation: X:147.58, Y:-60.90, Z:-7.76 [[ 7.67959081e-01 6.38434000e-01 5.13894626e-02 1.47578260e+02] [-6.36926143e-01 7.69675983e-01 -4.38630881e-02 -6.09027631e+01] [-6.75569219e-02 9.53764597e-04 9.97714966e-01 -7.76178223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78864 meters 0.02730951241628843 Centerline is valid? [True, True] Translation: X:147.62, Y:-60.95, Z:-7.76 [[ 7.67422021e-01 6.39049013e-01 5.17667889e-02 1.47623266e+02] [-6.37519403e-01 7.69165469e-01 -4.41983187e-02 -6.09465443e+01] [-6.80621184e-02 9.16430731e-04 9.97680664e-01 -7.76471909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84864 meters 0.026918261883396834 Centerline is valid? [True, True] Translation: X:147.67, Y:-60.99, Z:-7.77 [[ 7.65090524e-01 6.41694345e-01 5.35243707e-02 1.47668533e+02] [-6.40064270e-01 7.66960138e-01 -4.57151699e-02 -6.09885305e+01] [-7.03862247e-02 7.17205996e-04 9.97519556e-01 -7.76694306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90864 meters 0.027014597070461666 Centerline is valid? [True, True] Translation: X:147.72, Y:-61.03, Z:-7.77 [[ 7.62451505e-01 6.44845947e-01 5.33048524e-02 1.47715956e+02] [-6.43236002e-01 7.64312446e-01 -4.55404205e-02 -6.10294283e+01] [-7.01081177e-02 4.34761950e-04 9.97539304e-01 -7.77030909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96864 meters 0.02724941002307027 Centerline is valid? [True, True] Translation: X:147.76, Y:-61.07, Z:-7.77 [[ 7.62204222e-01 6.44958828e-01 5.54331528e-02 1.47763968e+02] [-6.43216794e-01 7.64217185e-01 -4.73735124e-02 -6.10687123e+01] [-7.29169330e-02 4.52756342e-04 9.97337915e-01 -7.77248968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02864 meters 0.02719237177289714 Centerline is valid? [True, True] Translation: X:147.81, Y:-61.11, Z:-7.77 [[ 7.61676852e-01 6.45586061e-01 5.53806015e-02 1.47814468e+02] [-6.43847924e-01 7.63687420e-01 -4.73431692e-02 -6.11071832e+01] [-7.28575588e-02 4.03510805e-04 9.97342275e-01 -7.77494894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08864 meters 0.027106007248794917 Centerline is valid? [True, True] Translation: X:147.86, Y:-61.15, Z:-7.78 [[ 7.61329902e-01 6.46004205e-01 5.52751994e-02 1.47862739e+02] [-6.44272429e-01 7.63333757e-01 -4.72716866e-02 -6.11468118e+01] [-7.27311339e-02 3.77061551e-04 9.97351513e-01 -7.77955162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14864 meters 0.027341511101214633 Centerline is valid? [True, True] Translation: X:147.91, Y:-61.19, Z:-7.78 [[ 7.63822570e-01 6.43167978e-01 5.39447225e-02 1.47911983e+02] [-6.41510455e-01 7.65724844e-01 -4.61497529e-02 -6.11855217e+01] [-7.09888575e-02 6.44119375e-04 9.97476901e-01 -7.78182256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20864 meters 0.027851822927994978 Centerline is valid? [True, True] Translation: X:147.96, Y:-61.23, Z:-7.79 [[ 7.67247169e-01 6.39031209e-01 5.45059216e-02 1.47957676e+02] [-6.37327691e-01 7.69180094e-01 -4.66411407e-02 -6.12267278e+01] [-7.17300144e-02 1.04714998e-03 9.97423535e-01 -7.78590007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26863999999998 meters 0.028694737926852922 Centerline is valid? [True, True] Translation: X:148.00, Y:-61.27, Z:-7.79 [[ 7.70782336e-01 6.34795864e-01 5.41184034e-02 1.48003111e+02] [-6.33105340e-01 7.72678548e-01 -4.63194349e-02 -6.12686329e+01] [-7.12195151e-02 1.43955210e-03 9.97459627e-01 -7.78947971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32863999999998 meters 0.02892606928192723 Centerline is valid? [True, True] Translation: X:148.05, Y:-61.31, Z:-7.79 [[ 7.70981117e-01 6.34621783e-01 5.33226986e-02 1.48048150e+02] [-6.32979374e-01 7.72821524e-01 -4.56508866e-02 -6.13122348e+01] [-7.01799763e-02 1.44380319e-03 9.97533301e-01 -7.79385371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38863999999998 meters 0.02861678476628536 Centerline is valid? [True, True] Translation: X:148.09, Y:-61.36, Z:-7.80 [[ 7.69656081e-01 6.36234215e-01 5.32498013e-02 1.48092478e+02] [-6.34599193e-01 7.71494860e-01 -4.56020348e-02 -6.13558538e+01] [-7.00955228e-02 1.30560248e-03 9.97539429e-01 -7.79564685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44863999999998 meters 0.028761052018408003 Centerline is valid? [True, True] Translation: X:148.14, Y:-61.40, Z:-7.80 [[ 7.67224644e-01 6.38921756e-01 5.60832921e-02 1.48137330e+02] [-6.37113251e-01 7.69270889e-01 -4.80520996e-02 -6.13993915e+01] [-7.38447758e-02 1.13534648e-03 9.97269101e-01 -7.79876764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50863999999999 meters 0.02890782487379006 Centerline is valid? [True, True] Translation: X:148.18, Y:-61.44, Z:-7.80 [[ 7.64632010e-01 6.41745839e-01 5.91622108e-02 1.48180632e+02] [-6.39737731e-01 7.66916802e-01 -5.07371080e-02 -6.14444352e+01] [-7.79328215e-02 9.46918365e-04 9.96958163e-01 -7.80372488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56864 meters 0.02874093772002179 Centerline is valid? [True, True] Translation: X:148.23, Y:-61.49, Z:-7.81 [[ 7.62597420e-01 6.44105558e-01 5.97762973e-02 1.48226622e+02] [-6.42058823e-01 7.64936250e-01 -5.13127866e-02 -6.14872080e+01] [-7.87759077e-02 7.51099613e-04 9.96892066e-01 -7.80800838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62864 meters 0.028494223625577374 Centerline is valid? [True, True] Translation: X:148.27, Y:-61.53, Z:-7.81 [[ 7.60924131e-01 6.46181416e-01 5.86859884e-02 1.48269346e+02] [-6.44211140e-01 7.63183634e-01 -5.04256591e-02 -6.15334296e+01] [-7.73723097e-02 5.63933373e-04 9.97002110e-01 -7.81174205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68864 meters 0.02865407767942016 Centerline is valid? [True, True] Translation: X:148.31, Y:-61.58, Z:-7.81 [[ 7.59779473e-01 6.47416502e-01 5.98917796e-02 1.48313021e+02] [-6.45364509e-01 7.62136235e-01 -5.15073791e-02 -6.15773450e+01] [-7.89924226e-02 4.82220400e-04 9.96875100e-01 -7.81348051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74864 meters 0.028739072670260872 Centerline is valid? [True, True] Translation: X:148.36, Y:-61.62, Z:-7.82 [[ 7.55221579e-01 6.52584182e-01 6.14349503e-02 1.48356436e+02] [-6.50438051e-01 7.57716230e-01 -5.28815331e-02 -6.16215929e+01] [-8.10599109e-02 -2.23544320e-05 9.96709231e-01 -7.81830212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80864 meters 0.028576301359834196 Centerline is valid? [True, True] Translation: X:148.40, Y:-61.66, Z:-7.82 [[ 7.52189908e-01 6.56318158e-01 5.87947067e-02 1.48402119e+02] [-6.54360584e-01 7.54484153e-01 -5.06545949e-02 -6.16634159e+01] [-7.76052049e-02 -3.71063567e-04 9.96984099e-01 -7.82009475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86864 meters 0.028436559093144458 Centerline is valid? [True, True] Translation: X:148.45, Y:-61.71, Z:-7.82 [[ 7.51112976e-01 6.57594249e-01 5.83018157e-02 1.48447517e+02] [-6.55669454e-01 7.53372146e-01 -5.02789870e-02 -6.17068105e+01] [-7.69861368e-02 -4.61520120e-04 9.97032057e-01 -7.82309645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92864 meters 0.028524768773746004 Centerline is valid? [True, True] Translation: X:148.49, Y:-61.75, Z:-7.83 [[ 7.51597800e-01 6.57107168e-01 5.75405681e-02 1.48494901e+02] [-6.55227146e-01 7.53797078e-01 -4.96724581e-02 -6.17470568e+01] [-7.60140403e-02 -3.68431941e-04 9.97106679e-01 -7.82523283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98863999999998 meters 0.028409137040544593 Centerline is valid? [True, True] Translation: X:148.54, Y:-61.79, Z:-7.83 [[ 7.52094418e-01 6.56512440e-01 5.78394585e-02 1.48541446e+02] [-6.54607277e-01 7.54315148e-01 -4.99797053e-02 -6.17900389e+01] [-7.64414780e-02 -2.72673028e-04 9.97074032e-01 -7.82820873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04863999999998 meters 0.028321662304547662 Centerline is valid? [True, True] Translation: X:148.59, Y:-61.83, Z:-7.83 [[ 7.50547510e-01 6.58381909e-01 5.66718365e-02 1.48588132e+02] [-6.56554616e-01 7.52683924e-01 -4.90198702e-02 -6.18310434e+01] [-7.49297760e-02 -4.16414274e-04 9.97188726e-01 -7.83000281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10863999999998 meters 0.02837560598846875 Centerline is valid? [True, True] Translation: X:148.64, Y:-61.87, Z:-7.83 [[ 7.49576501e-01 6.59417629e-01 5.74757286e-02 1.48635365e+02] [-6.57537547e-01 7.51776661e-01 -4.97616976e-02 -6.18720517e+01] [-7.60226520e-02 -4.92250415e-04 9.97105969e-01 -7.83348010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16863999999998 meters 0.028473850093150604 Centerline is valid? [True, True] Translation: X:148.68, Y:-61.91, Z:-7.83 [[ 7.49195545e-01 6.59836079e-01 5.76401309e-02 1.48682925e+02] [-6.57942705e-01 7.51409409e-01 -4.99529530e-02 -6.19132202e+01] [-7.62720974e-02 -4.99373813e-04 9.97086916e-01 -7.83497414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22863999999998 meters 0.028565798700244827 Centerline is valid? [True, True] Translation: X:148.73, Y:-61.95, Z:-7.84 [[ 7.49031359e-01 6.59933658e-01 5.86480254e-02 1.48729180e+02] [-6.57969644e-01 7.51323723e-01 -5.08783836e-02 -6.19540978e+01] [-7.76400106e-02 -4.79115609e-04 9.96981343e-01 -7.83925675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28864 meters 0.028581872087774407 Centerline is valid? [True, True] Translation: X:148.78, Y:-61.99, Z:-7.84 [[ 7.46784537e-01 6.62670876e-01 5.63929649e-02 1.48777457e+02] [-6.60859636e-01 7.48910422e-01 -4.89665325e-02 -6.19936991e+01] [-7.46819741e-02 -7.00384933e-04 9.97207156e-01 -7.84019950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34864 meters 0.028660237914802166 Centerline is valid? [True, True] Translation: X:148.83, Y:-62.03, Z:-7.84 [[ 7.43209158e-01 6.66816455e-01 5.47353985e-02 1.48826054e+02] [-6.65118143e-01 7.45221252e-01 -4.75724873e-02 -6.20333145e+01] [-7.25120996e-02 -1.04919836e-03 9.97366981e-01 -7.84276444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40864 meters 0.028907688246542763 Centerline is valid? [True, True] Translation: X:148.88, Y:-62.07, Z:-7.85 [[ 7.39526202e-01 6.70782983e-01 5.61354315e-02 1.48875955e+02] [-6.69004179e-01 7.41652294e-01 -4.88393664e-02 -6.20702986e+01] [-7.43935875e-02 -1.43684708e-03 9.97227923e-01 -7.84615938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46864 meters 0.028828694918573913 Centerline is valid? [True, True] Translation: X:148.93, Y:-62.11, Z:-7.85 [[ 7.37282190e-01 6.73266393e-01 5.59225903e-02 1.48926527e+02] [-6.71504843e-01 7.39398168e-01 -4.86990308e-02 -6.21070362e+01] [-7.41364816e-02 -1.64736205e-03 9.97246744e-01 -7.84712441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52864 meters 0.028745224489491163 Centerline is valid? [True, True] Translation: X:148.98, Y:-62.14, Z:-7.85 [[ 7.36114110e-01 6.74619033e-01 5.50016159e-02 1.48977619e+02] [-6.72915502e-01 7.38164075e-01 -4.79429329e-02 -6.21442560e+01] [-7.29434319e-02 -1.71997065e-03 9.97334597e-01 -7.84792611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58864 meters 0.0285028375948625 Centerline is valid? [True, True] Translation: X:149.03, Y:-62.18, Z:-7.85 [[ 7.36242271e-01 6.74461024e-01 5.52235897e-02 1.49030460e+02] [-6.72739484e-01 7.38308558e-01 -4.81877505e-02 -6.21789157e+01] [-7.32728084e-02 -1.67323035e-03 9.97310531e-01 -7.85156156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64864 meters 0.028525380452473218 Centerline is valid? [True, True] Translation: X:149.08, Y:-62.22, Z:-7.85 [[ 7.37178999e-01 6.73346453e-01 5.63176458e-02 1.49081332e+02] [-6.71548700e-01 7.39325462e-01 -4.91955680e-02 -6.22161122e+01] [-7.47627308e-02 -1.55410224e-03 9.97200140e-01 -7.85491214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70864 meters 0.02850945973717626 Centerline is valid? [True, True] Translation: X:149.13, Y:-62.25, Z:-7.86 [[ 7.37190237e-01 6.73337144e-01 5.62818374e-02 1.49133397e+02] [-6.71537721e-01 7.39334025e-01 -4.92167465e-02 -6.22523168e+01] [-7.47505409e-02 -1.51327183e-03 9.97201116e-01 -7.85844816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76863999999998 meters 0.028465990811218853 Centerline is valid? [True, True] Translation: X:149.18, Y:-62.29, Z:-7.86 [[ 7.36367312e-01 6.74190835e-01 5.68322077e-02 1.49183111e+02] [-6.72354722e-01 7.38555500e-01 -4.97483696e-02 -6.22903619e+01] [-7.55136345e-02 -1.57833002e-03 9.97143520e-01 -7.86266968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82863999999998 meters 0.028619757277602555 Centerline is valid? [True, True] Translation: X:149.24, Y:-62.32, Z:-7.87 [[ 7.36071863e-01 6.74374863e-01 5.84530277e-02 1.49235286e+02] [-6.72430233e-01 7.38387384e-01 -5.12020719e-02 -6.23246264e+01] [-7.76903684e-02 -1.61717857e-03 9.96976224e-01 -7.86613527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88863999999998 meters 0.028610741398269406 Centerline is valid? [True, True] Translation: X:149.28, Y:-62.36, Z:-7.87 [[ 7.36845344e-01 6.73602514e-01 5.76072282e-02 1.49284724e+02] [-6.71710458e-01 7.39092276e-01 -5.04744237e-02 -6.23618749e+01] [-7.65767561e-02 -1.50353357e-03 9.97062556e-01 -7.86861450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94863999999998 meters 0.028387405005103637 Centerline is valid? [True, True] Translation: X:149.34, Y:-62.40, Z:-7.87 [[ 7.38552384e-01 6.71791091e-01 5.68955736e-02 1.49337485e+02] [-6.69939190e-01 7.40739541e-01 -4.98639692e-02 -6.23958338e+01] [-7.56429714e-02 -1.28942116e-03 9.97134133e-01 -7.87249978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00863999999999 meters 0.02810654068268981 Centerline is valid? [True, True] Translation: X:149.39, Y:-62.44, Z:-7.88 [[ 7.39779061e-01 6.70379399e-01 5.76055769e-02 1.49386803e+02] [-6.68475406e-01 7.42017617e-01 -5.05023490e-02 -6.24357400e+01] [-7.66000873e-02 -1.14733109e-03 9.97061237e-01 -7.87591773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06864 meters 0.028265469233603006 Centerline is valid? [True, True] Translation: X:149.44, Y:-62.47, Z:-7.88 [[ 7.42777198e-01 6.67148205e-01 5.65270499e-02 1.49435984e+02] [-6.65304265e-01 7.44924597e-01 -4.95739736e-02 -6.24735259e+01] [-7.51815774e-02 -7.85270149e-04 9.97169551e-01 -7.87828634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12864 meters 0.027956557369698588 Centerline is valid? [True, True] Translation: X:149.48, Y:-62.51, Z:-7.88 [[ 7.46443778e-01 6.63224476e-01 5.43597323e-02 1.49484708e+02] [-6.61508074e-01 7.48420444e-01 -4.76855013e-02 -6.25125030e+01] [-7.23101266e-02 -3.64856035e-04 9.97382130e-01 -7.87945982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18864 meters 0.028001164071282274 Centerline is valid? [True, True] Translation: X:149.53, Y:-62.55, Z:-7.89 [[ 7.48376088e-01 6.60998438e-01 5.49026040e-02 1.49533206e+02] [-6.59240769e-01 7.50387263e-01 -4.81722305e-02 -6.25504542e+01] [-7.30399838e-02 -1.43089454e-04 9.97329003e-01 -7.88599609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24864 meters 0.027887802604097775 Centerline is valid? [True, True] Translation: X:149.58, Y:-62.59, Z:-7.89 [[ 7.48387025e-01 6.60994322e-01 5.48029902e-02 1.49580857e+02] [-6.59242404e-01 7.50390890e-01 -4.80932981e-02 -6.25904118e+01] [-7.29130615e-02 -1.36054748e-04 9.97338291e-01 -7.88759280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30864 meters 0.02790206552113641 Centerline is valid? [True, True] Translation: X:149.63, Y:-62.63, Z:-7.89 [[ 7.50022062e-01 6.59222765e-01 5.37796605e-02 1.49627825e+02] [-6.57530317e-01 7.51947700e-01 -4.72074009e-02 -6.26309371e+01] [-7.15596854e-02 4.48349912e-05 9.97436318e-01 -7.88939168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36864 meters 0.027910917699679412 Centerline is valid? [True, True] Translation: X:149.67, Y:-62.67, Z:-7.89 [[ 7.50967649e-01 6.58133635e-01 5.39231679e-02 1.49674600e+02] [-6.56428431e-01 7.52901118e-01 -4.73457635e-02 -6.26725261e+01] [-7.17586528e-02 1.58436284e-04 9.97422012e-01 -7.89295770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42864 meters 0.028282651105077307 Centerline is valid? [True, True] Translation: X:149.72, Y:-62.71, Z:-7.90 [[ 7.51022445e-01 6.57849081e-01 5.65674230e-02 1.49721216e+02] [-6.55970488e-01 7.53149749e-01 -4.96807317e-02 -6.27137186e+01] [-7.52861642e-02 2.04784526e-04 9.97161949e-01 -7.89675050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48863999999998 meters 0.027868755389079656 Centerline is valid? [True, True] Translation: X:149.77, Y:-62.76, Z:-7.90 [[ 7.49961216e-01 6.59292220e-01 5.37767943e-02 1.49767694e+02] [-6.57597494e-01 7.51886803e-01 -4.72416307e-02 -6.27555708e+01] [-7.15801015e-02 6.59056509e-05 9.97434852e-01 -7.89734229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54863999999998 meters 0.028063244647067154 Centerline is valid? [True, True] Translation: X:149.81, Y:-62.80, Z:-7.90 [[ 7.50228679e-01 6.58900208e-01 5.48401667e-02 1.49812996e+02] [-6.57135889e-01 7.52230352e-01 -4.81863149e-02 -6.27960815e+01] [-7.30024109e-02 1.13313731e-04 9.97331758e-01 -7.90228329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60863999999998 meters 0.02841159418664414 Centerline is valid? [True, True] Translation: X:149.86, Y:-62.84, Z:-7.90 [[ 7.52468878e-01 6.56181774e-01 5.67103799e-02 1.49860043e+02] [-6.54286472e-01 7.54602758e-01 -4.98386446e-02 -6.28369263e+01] [-7.54970193e-02 3.97194579e-04 9.97145948e-01 -7.90469490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66863999999998 meters 0.028257663705009404 Centerline is valid? [True, True] Translation: X:149.91, Y:-62.88, Z:-7.91 [[ 7.55291886e-01 6.53160496e-01 5.39956789e-02 1.49905191e+02] [-6.51433949e-01 7.57219196e-01 -4.74647170e-02 -6.28798302e+01] [-7.18886427e-02 6.75097276e-04 9.97412436e-01 -7.90713088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72863999999998 meters 0.028714386560192377 Centerline is valid? [True, True] Translation: X:149.95, Y:-62.92, Z:-7.91 [[ 7.57831728e-01 6.50304743e-01 5.28659945e-02 1.49949561e+02] [-6.48642054e-01 7.59672869e-01 -4.64824569e-02 -6.29227470e+01] [-7.03886239e-02 9.34773442e-04 9.97519207e-01 -7.90937844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78864 meters 0.028810495067914103 Centerline is valid? [True, True] Translation: X:149.99, Y:-62.97, Z:-7.91 [[ 7.58252330e-01 6.49662246e-01 5.47025654e-02 1.49991413e+02] [-6.47879428e-01 7.60222264e-01 -4.81077486e-02 -6.29695706e+01] [-7.28398961e-02 1.03714565e-03 9.97343107e-01 -7.91458906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84864 meters 0.02869129692613649 Centerline is valid? [True, True] Translation: X:150.04, Y:-63.01, Z:-7.92 [[ 7.56718752e-01 6.51421521e-01 5.50157387e-02 1.50035860e+02] [-6.49621932e-01 7.58715509e-01 -4.83954820e-02 -6.30132512e+01] [-7.32671526e-02 8.82338323e-04 9.97311960e-01 -7.91743717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90864 meters 0.028323486104450454 Centerline is valid? [True, True] Translation: X:150.08, Y:-63.06, Z:-7.92 [[ 7.53774914e-01 6.54915799e-01 5.39321301e-02 1.50079933e+02] [-6.53194528e-01 7.55701662e-01 -4.74542543e-02 -6.30573646e+01] [-7.18351413e-02 5.41654197e-04 9.97416372e-01 -7.92019005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96864 meters 0.02825958195197329 Centerline is valid? [True, True] Translation: X:150.13, Y:-63.10, Z:-7.92 [[ 7.50655778e-01 6.58431908e-01 5.46198305e-02 1.50126530e+02] [-6.56674585e-01 7.52640269e-01 -4.80740556e-02 -6.30993411e+01] [-7.27625760e-02 2.19613072e-04 9.97349266e-01 -7.92266083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02864 meters 0.028026840801179332 Centerline is valid? [True, True] Translation: X:150.17, Y:-63.14, Z:-7.93 [[ 7.49713299e-01 6.59487533e-01 5.48284953e-02 1.50173520e+02] [-6.57718157e-01 7.51715489e-01 -4.82768049e-02 -6.31411902e+01] [-7.30533801e-02 1.32065800e-04 9.97328023e-01 -7.92516800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08864 meters 0.02785117262705004 Centerline is valid? [True, True] Translation: X:150.22, Y:-63.18, Z:-7.93 [[ 7.46045112e-01 6.63579562e-01 5.54874399e-02 1.50220411e+02] [-6.61777318e-01 7.48105673e-01 -4.88741634e-02 -6.31820919e+01] [-7.39423645e-02 -2.57998422e-04 9.97262483e-01 -7.92874928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14864 meters 0.027847395288458636 Centerline is valid? [True, True] Translation: X:150.27, Y:-63.22, Z:-7.93 [[ 7.42544150e-01 6.67497040e-01 5.54606873e-02 1.50270224e+02] [-6.65706442e-01 7.44612178e-01 -4.88634504e-02 -6.32192741e+01] [-7.39129117e-02 -6.37267625e-04 9.97264496e-01 -7.93087450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20864 meters 0.027828210132814345 Centerline is valid? [True, True] Translation: X:150.32, Y:-63.26, Z:-7.93 [[ 7.42820765e-01 6.67160926e-01 5.57997312e-02 1.50319777e+02] [-6.65346412e-01 7.44913379e-01 -4.91753021e-02 -6.32574997e+01] [-7.43738064e-02 -5.97715458e-04 9.97230254e-01 -7.93420781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26863999999998 meters 0.027851905504296517 Centerline is valid? [True, True] Translation: X:150.37, Y:-63.29, Z:-7.94 [[ 7.43396652e-01 6.66537965e-01 5.55748103e-02 1.50371394e+02] [-6.64735358e-01 7.45470903e-01 -4.89901667e-02 -6.32930223e+01] [-7.40832101e-02 -5.23415536e-04 9.97251926e-01 -7.93759075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32863999999998 meters 0.02782951031289283 Centerline is valid? [True, True] Translation: X:150.42, Y:-63.33, Z:-7.94 [[ 7.44778815e-01 6.65041887e-01 5.49891372e-02 1.50421734e+02] [-6.63272275e-01 7.46805970e-01 -4.84843559e-02 -6.33283115e+01] [-7.33103435e-02 -3.62648952e-04 9.97309111e-01 -7.94063911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38863999999998 meters 0.02765185742760655 Centerline is valid? [True, True] Translation: X:150.47, Y:-63.36, Z:-7.94 [[ 7.46425855e-01 6.63241989e-01 5.43921707e-02 1.50470706e+02] [-6.61505716e-01 7.48404992e-01 -4.79599400e-02 -6.33623808e+01] [-7.25164181e-02 -1.82192654e-04 9.97367202e-01 -7.94160470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44863999999998 meters 0.027920288011478344 Centerline is valid? [True, True] Translation: X:150.52, Y:-63.40, Z:-7.95 [[ 7.49515843e-01 6.59658868e-01 5.54633181e-02 1.50517084e+02] [-6.57845100e-01 7.51565137e-01 -4.88842531e-02 -6.33985563e+01] [-7.39312272e-02 1.53250137e-04 9.97263330e-01 -7.94630657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50863999999999 meters 0.028182678985265205 Centerline is valid? [True, True] Translation: X:150.56, Y:-63.43, Z:-7.95 [[ 7.53397900e-01 6.55303826e-01 5.44839387e-02 1.50562915e+02] [-6.53545351e-01 7.55365213e-01 -4.79777990e-02 -6.34348085e+01] [-7.25953072e-02 5.38648158e-04 9.97361334e-01 -7.94912935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56864 meters 0.02817698095548381 Centerline is valid? [True, True] Translation: X:150.61, Y:-63.47, Z:-7.95 [[ 7.54995297e-01 6.53547420e-01 5.34590615e-02 1.50606930e+02] [-6.51853133e-01 7.56885282e-01 -4.70336295e-02 -6.34729342e+01] [-7.12010841e-02 6.62712343e-04 9.97461762e-01 -7.95108728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62864 meters 0.028335551886552807 Centerline is valid? [True, True] Translation: X:150.65, Y:-63.51, Z:-7.95 [[ 7.55997034e-01 6.52396701e-01 5.33575582e-02 1.50650664e+02] [-6.50709101e-01 7.57877300e-01 -4.69005776e-02 -6.35101063e+01] [-7.10362643e-02 7.36448786e-04 9.97473462e-01 -7.95387321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68864 meters 0.02879954130090812 Centerline is valid? [True, True] Translation: X:150.69, Y:-63.55, Z:-7.96 [[ 7.56111659e-01 6.52117352e-01 5.51191268e-02 1.50694642e+02] [-6.50319145e-01 7.58117666e-01 -4.84005608e-02 -6.35494487e+01] [-7.33496293e-02 7.51204919e-04 9.97306005e-01 -7.95818427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74864 meters 0.028541904455542996 Centerline is valid? [True, True] Translation: X:150.74, Y:-63.59, Z:-7.96 [[ 7.56088773e-01 6.52224324e-01 5.41590099e-02 1.50739096e+02] [-6.50491603e-01 7.58025690e-01 -4.75155440e-02 -6.35873785e+01] [-7.20447144e-02 6.95988152e-04 9.97401160e-01 -7.96030197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80864 meters 0.0291314712807155 Centerline is valid? [True, True] Translation: X:150.78, Y:-63.63, Z:-7.96 [[ 7.60384330e-01 6.47250373e-01 5.36900867e-02 1.50783136e+02] [-6.45538086e-01 7.62276646e-01 -4.70626570e-02 -6.36256844e+01] [-7.13880215e-02 1.12671114e-03 9.97447984e-01 -7.96208598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86864 meters 0.029406466256222844 Centerline is valid? [True, True] Translation: X:150.83, Y:-63.67, Z:-7.96 [[ 7.62457931e-01 6.44801174e-01 5.37526742e-02 1.50825810e+02] [-6.43081769e-01 7.64349192e-01 -4.70760138e-02 -6.36653932e+01] [-7.14404820e-02 1.32611527e-03 9.97443983e-01 -7.96426568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92864 meters 0.029640676503541415 Centerline is valid? [True, True] Translation: X:150.87, Y:-63.71, Z:-7.97 [[ 7.63061659e-01 6.44008825e-01 5.46766691e-02 1.50867757e+02] [-6.42230777e-01 7.65016794e-01 -4.78428064e-02 -6.37068307e+01] [-7.26397597e-02 1.39197151e-03 9.97357272e-01 -7.96636638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98863999999998 meters 0.029397836180914773 Centerline is valid? [True, True] Translation: X:150.91, Y:-63.75, Z:-7.97 [[ 7.61959128e-01 6.45424101e-01 5.33480757e-02 1.50910807e+02] [-6.43736886e-01 7.63823458e-01 -4.66534724e-02 -6.37489825e+01] [-7.08597871e-02 1.20591503e-03 9.97485557e-01 -7.96914485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04863999999998 meters 0.02883919475581592 Centerline is valid? [True, True] Translation: X:150.96, Y:-63.79, Z:-7.97 [[ 7.58471957e-01 6.49525041e-01 5.32683003e-02 1.50955208e+02] [-6.47852791e-01 7.60339755e-01 -4.65856081e-02 -6.37916591e+01] [-7.07605254e-02 8.23860374e-04 9.97492992e-01 -7.97182314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10863999999998 meters 0.0284615770146791 Centerline is valid? [True, True] Translation: X:151.00, Y:-63.83, Z:-7.97 [[ 7.56687817e-01 6.51688927e-01 5.22023918e-02 1.51000192e+02] [-6.50087876e-01 7.58486103e-01 -4.56572577e-02 -6.38315817e+01] [-6.93491180e-02 6.12148611e-04 9.97592264e-01 -7.97423603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16863999999998 meters 0.02859669514066431 Centerline is valid? [True, True] Translation: X:151.04, Y:-63.87, Z:-7.98 [[ 7.57376034e-01 6.50876343e-01 5.23596194e-02 1.51044927e+02] [-6.49264585e-01 7.59183459e-01 -4.57818107e-02 -6.38700168e+01] [-6.95488545e-02 6.78799696e-04 9.97578316e-01 -7.97836351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22863999999998 meters 0.02886085611744944 Centerline is valid? [True, True] Translation: X:151.09, Y:-63.91, Z:-7.98 [[ 7.60312337e-01 6.47413325e-01 5.27364821e-02 1.51090596e+02] [-6.45772023e-01 7.62138456e-01 -4.60811102e-02 -6.39086907e+01] [-7.00260258e-02 9.80291859e-04 9.97544683e-01 -7.98129045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28864 meters 0.02945927265206762 Centerline is valid? [True, True] Translation: X:151.13, Y:-63.95, Z:-7.98 [[ 7.64229254e-01 6.42858423e-01 5.18333466e-02 1.51134489e+02] [-6.41262678e-01 7.65983790e-01 -4.52880873e-02 -6.39505535e+01] [-6.88173316e-02 1.37169051e-03 9.97628334e-01 -7.98243138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34864 meters 0.030015953258875405 Centerline is valid? [True, True] Translation: X:151.18, Y:-63.99, Z:-7.99 [[ 7.66577749e-01 6.40007696e-01 5.24280829e-02 1.51178186e+02] [-6.38368276e-01 7.68366731e-01 -4.58095163e-02 -6.39940543e+01] [-6.96024377e-02 1.64813099e-03 9.97573448e-01 -7.98603928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40864 meters 0.030427946226563234 Centerline is valid? [True, True] Translation: X:151.22, Y:-64.04, Z:-7.99 [[ 7.67765053e-01 6.38530646e-01 5.30606976e-02 1.51221937e+02] [-6.36847307e-01 7.69594269e-01 -4.63699045e-02 -6.40387646e+01] [-7.04438139e-02 1.80962980e-03 9.97514107e-01 -7.98934708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46864 meters 0.03117551694037198 Centerline is valid? [True, True] Translation: X:151.27, Y:-64.08, Z:-7.99 [[ 7.69968658e-01 6.35853548e-01 5.32778621e-02 1.51265063e+02] [-6.34149157e-01 7.71806952e-01 -4.65711884e-02 -6.40839477e+01] [-7.07326798e-02 2.07224416e-03 9.97493155e-01 -7.99174044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52864 meters 0.03129139674730679 Centerline is valid? [True, True] Translation: X:151.31, Y:-64.13, Z:-7.99 [[ 7.71427516e-01 6.34123762e-01 5.27886616e-02 1.51305845e+02] [-6.32445732e-01 7.73228382e-01 -4.61548041e-02 -6.41313864e+01] [-7.00855494e-02 2.21912220e-03 9.97538516e-01 -7.99487728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58864 meters 0.03093591606443072 Centerline is valid? [True, True] Translation: X:151.35, Y:-64.18, Z:-8.00 [[ 7.69706778e-01 6.36099404e-01 5.41204680e-02 1.51347748e+02] [-6.34339529e-01 7.71604262e-01 -4.73310038e-02 -6.41773740e+01] [-7.18668071e-02 2.10024220e-03 9.97412027e-01 -7.99897973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64864 meters 0.03063316122435699 Centerline is valid? [True, True] Translation: X:151.39, Y:-64.22, Z:-8.00 [[ 7.67237532e-01 6.38974110e-01 5.53051150e-02 1.51391762e+02] [-6.37142768e-01 7.69225941e-01 -4.83791895e-02 -6.42218063e+01] [-7.34551787e-02 1.88107587e-03 9.97296745e-01 -8.00250163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70864 meters 0.029416700312451916 Centerline is valid? [True, True] Translation: X:151.43, Y:-64.27, Z:-8.00 [[ 7.63206243e-01 6.43839023e-01 5.46584121e-02 1.51434141e+02] [-6.42061993e-01 7.65159682e-01 -4.78231988e-02 -6.42663384e+01] [-7.26128548e-02 1.40487490e-03 9.97359213e-01 -8.00495978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76863999999998 meters 0.028924014742939277 Centerline is valid? [True, True] Translation: X:151.48, Y:-64.31, Z:-8.01 [[ 7.57718759e-01 6.50107360e-01 5.67688573e-02 1.51478055e+02] [-6.48206142e-01 7.59841887e-01 -4.96900905e-02 -6.43099351e+01] [-7.54392492e-02 8.53191744e-04 9.97150035e-01 -8.00912059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82863999999998 meters 0.028579542146178954 Centerline is valid? [True, True] Translation: X:151.52, Y:-64.35, Z:-8.01 [[ 7.53821652e-01 6.54638429e-01 5.65813095e-02 1.51524866e+02] [-6.52759672e-01 7.55942025e-01 -4.95627453e-02 -6.43515458e+01] [-7.52178674e-02 4.27473556e-04 9.97167032e-01 -8.01163970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88863999999998 meters 0.02856585563319313 Centerline is valid? [True, True] Translation: X:151.57, Y:-64.39, Z:-8.01 [[ 7.51010847e-01 6.57846965e-01 5.67457427e-02 1.51573607e+02] [-6.55963748e-01 7.53151614e-01 -4.97414134e-02 -6.43917370e+01] [-7.54603855e-02 1.33190907e-04 9.97148792e-01 -8.01491753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94863999999998 meters 0.028525692248489734 Centerline is valid? [True, True] Translation: X:151.62, Y:-64.43, Z:-8.02 [[ 7.49689687e-01 6.59328255e-01 5.70230193e-02 1.51622511e+02] [-6.57426860e-01 7.51855206e-01 -5.00367149e-02 -6.44319474e+01] [-7.58636739e-02 2.35446652e-05 9.97118199e-01 -8.01860408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00863999999999 meters 0.028701589263844154 Centerline is valid? [True, True] Translation: X:151.67, Y:-64.47, Z:-8.02 [[ 7.51309782e-01 6.57513966e-01 5.66480093e-02 1.51671581e+02] [-6.55629463e-01 7.53442320e-01 -4.97461301e-02 -6.44709260e+01] [-7.53897828e-02 2.34650289e-04 9.97154113e-01 -8.02207363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06864 meters 0.028849528436013447 Centerline is valid? [True, True] Translation: X:151.72, Y:-64.51, Z:-8.02 [[ 7.52590800e-01 6.56071394e-01 5.63685553e-02 1.51719473e+02] [-6.54199249e-01 7.54698726e-01 -4.95295360e-02 -6.45123405e+01] [-7.50361886e-02 3.99206627e-04 9.97180731e-01 -8.02481837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12864 meters 0.028855775889667323 Centerline is valid? [True, True] Translation: X:151.77, Y:-64.55, Z:-8.03 [[ 7.54069423e-01 6.54480083e-01 5.50919806e-02 1.51767653e+02] [-6.52684193e-01 7.56079019e-01 -4.84547324e-02 -6.45522064e+01] [-7.33665479e-02 5.80567229e-04 9.97304874e-01 -8.02670504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18864 meters 0.029315369082322185 Centerline is valid? [True, True] Translation: X:151.81, Y:-64.59, Z:-8.03 [[ 7.54960356e-01 6.53348860e-01 5.63038884e-02 1.51812715e+02] [-6.51466529e-01 7.57056617e-01 -4.95645051e-02 -6.45943836e+01] [-7.50081441e-02 7.39137645e-04 9.97182647e-01 -8.03018887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24864 meters 0.02929578169796371 Centerline is valid? [True, True] Translation: X:151.86, Y:-64.63, Z:-8.03 [[ 7.56509458e-01 6.51555845e-01 5.62887351e-02 1.51859463e+02] [-6.49666377e-01 7.58600079e-01 -4.95935230e-02 -6.46346995e+01] [-7.50135887e-02 9.49070585e-04 9.97182060e-01 -8.03341990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30864 meters 0.029990234917052012 Centerline is valid? [True, True] Translation: X:151.90, Y:-64.68, Z:-8.04 [[ 7.58894704e-01 6.48860379e-01 5.53085582e-02 1.51904571e+02] [-6.47025881e-01 7.60906500e-01 -4.87730130e-02 -6.46770653e+01] [-7.37315172e-02 1.22751271e-03 9.97277372e-01 -8.03614774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36864 meters 0.030159071014622715 Centerline is valid? [True, True] Translation: X:151.95, Y:-64.72, Z:-8.04 [[ 7.58880253e-01 6.48836762e-01 5.57818737e-02 1.51950975e+02] [-6.46967343e-01 7.60926562e-01 -4.92343845e-02 -6.47188587e+01] [-7.43909880e-02 1.27395159e-03 9.97228338e-01 -8.03746823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42864 meters 0.030163595303355085 Centerline is valid? [True, True] Translation: X:152.00, Y:-64.76, Z:-8.04 [[ 7.58606650e-01 6.49136255e-01 5.60185053e-02 1.51996635e+02] [-6.47248286e-01 7.60671066e-01 -4.94892446e-02 -6.47623759e+01] [-7.47369191e-02 1.28498855e-03 9.97202458e-01 -8.04191477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48863999999998 meters 0.030243736090981795 Centerline is valid? [True, True] Translation: X:152.04, Y:-64.81, Z:-8.05 [[ 7.58979588e-01 6.48622784e-01 5.69075483e-02 1.52040129e+02] [-6.46669150e-01 7.61108757e-01 -5.03236571e-02 -6.48071159e+01] [-7.59539039e-02 1.39427266e-03 9.97110355e-01 -8.04553691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54863999999998 meters 0.0299327193393444 Centerline is valid? [True, True] Translation: X:152.08, Y:-64.85, Z:-8.05 [[ 7.57013354e-01 6.51050224e-01 5.53569119e-02 1.52084088e+02] [-6.49205600e-01 7.59033788e-01 -4.89877309e-02 -6.48521141e+01] [-7.39112397e-02 1.14634932e-03 9.97264165e-01 -8.04718190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60863999999998 meters 0.02982768463784315 Centerline is valid? [True, True] Translation: X:152.13, Y:-64.90, Z:-8.05 [[ 7.55253530e-01 6.53132459e-01 5.48643519e-02 1.52128841e+02] [-6.51323797e-01 7.57243075e-01 -4.85822790e-02 -6.48952468e+01] [-7.32763138e-02 9.57479720e-04 9.97311218e-01 -8.04944864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66863999999998 meters 0.029846141628848976 Centerline is valid? [True, True] Translation: X:152.17, Y:-64.94, Z:-8.05 [[ 7.52917149e-01 6.55622183e-01 5.72304050e-02 1.52171617e+02] [-6.53657501e-01 7.55088698e-01 -5.07240638e-02 -6.49400286e+01] [-7.64698534e-02 7.81933976e-04 9.97071587e-01 -8.05487314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72863999999998 meters 0.029740048669469672 Centerline is valid? [True, True] Translation: X:152.22, Y:-64.98, Z:-8.06 [[ 7.51504818e-01 6.57134389e-01 5.84371682e-02 1.52215744e+02] [-6.55086702e-01 7.53773133e-01 -5.18408833e-02 -6.49842912e+01] [-7.81147945e-02 6.77261762e-04 9.96944141e-01 -8.05804352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78864 meters 0.029558345862300814 Centerline is valid? [True, True] Translation: X:152.26, Y:-65.03, Z:-8.06 [[ 7.50127113e-01 6.58959052e-01 5.55183070e-02 1.52260859e+02] [-6.57112873e-01 7.52178651e-01 -4.92945254e-02 -6.50271597e+01] [-7.42427590e-02 4.95365849e-04 9.97240075e-01 -8.05982628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84864 meters 0.02951077870433233 Centerline is valid? [True, True] Translation: X:152.31, Y:-65.07, Z:-8.07 [[ 7.46554626e-01 6.62816532e-01 5.77099206e-02 1.52306781e+02] [-6.60829271e-01 7.48781825e-01 -5.12879347e-02 -6.50684952e+01] [-7.72066307e-02 1.52840117e-04 9.97015102e-01 -8.06550717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90864 meters 0.029755212186253585 Centerline is valid? [True, True] Translation: X:152.36, Y:-65.11, Z:-8.07 [[ 7.45379896e-01 6.64048779e-01 5.87199242e-02 1.52355185e+02] [-6.61991274e-01 7.47689251e-01 -5.22334906e-02 -6.51070873e+01] [-7.85898418e-02 6.17164310e-05 9.96907033e-01 -8.06905573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96864 meters 0.029502195901411513 Centerline is valid? [True, True] Translation: X:152.40, Y:-65.15, Z:-8.07 [[ 7.46175018e-01 6.63272586e-01 5.73787279e-02 1.52403844e+02] [-6.61302291e-01 7.48377876e-01 -5.10865389e-02 -6.51457272e+01] [-7.68252713e-02 1.74814855e-04 9.97044556e-01 -8.07009047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02864 meters 0.02989689308032061 Centerline is valid? [True, True] Translation: X:152.45, Y:-65.18, Z:-8.07 [[ 7.46664938e-01 6.62805935e-01 5.63893837e-02 1.52454295e+02] [-6.60898325e-01 7.48791178e-01 -5.02511213e-02 -6.51823011e+01] [-7.55306145e-02 2.53101100e-04 9.97143451e-01 -8.07254709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08864 meters 0.029968186876144772 Centerline is valid? [True, True] Translation: X:152.51, Y:-65.22, Z:-8.08 [[ 7.45683659e-01 6.63766726e-01 5.80483796e-02 1.52506416e+02] [-6.61744203e-01 7.47939633e-01 -5.17775480e-02 -6.52170207e+01] [-7.77848973e-02 1.96492745e-04 9.96970146e-01 -8.07673897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14864 meters 0.030621387839671655 Centerline is valid? [True, True] Translation: X:152.56, Y:-65.26, Z:-8.08 [[ 7.47457676e-01 6.61782277e-01 5.78899047e-02 1.52557093e+02] [-6.59760992e-01 7.49695955e-01 -5.16856739e-02 -6.52557164e+01] [-7.76044904e-02 4.39352706e-04 9.96984127e-01 -8.07766245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20864 meters 0.03070935855104585 Centerline is valid? [True, True] Translation: X:152.61, Y:-65.29, Z:-8.08 [[ 7.51253112e-01 6.57664958e-01 5.56378021e-02 1.52608179e+02] [-6.55783222e-01 7.53310063e-01 -4.97223840e-02 -6.52923336e+01] [-7.46131858e-02 8.67758602e-04 9.97212174e-01 -8.07950931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26863999999998 meters 0.03134969168512331 Centerline is valid? [True, True] Translation: X:152.65, Y:-65.33, Z:-8.08 [[ 7.54660075e-01 6.53635214e-01 5.70015706e-02 1.52654689e+02] [-6.51645009e-01 7.56808584e-01 -5.09857688e-02 -6.53325508e+01] [-7.64653719e-02 1.33213512e-03 9.97071348e-01 -8.08472403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32863999999998 meters 0.03221501774705996 Centerline is valid? [True, True] Translation: X:152.70, Y:-65.37, Z:-8.08 [[ 7.57841853e-01 6.49862877e-01 5.79134342e-02 1.52701705e+02] [-6.47794622e-01 7.60049417e-01 -5.18363909e-02 -6.53728124e+01] [-7.77036180e-02 1.76777530e-03 9.96974936e-01 -8.08491371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38863999999998 meters 0.03269269783572022 Centerline is valid? [True, True] Translation: X:152.74, Y:-65.42, Z:-8.09 [[ 7.59440111e-01 6.48077580e-01 5.69751500e-02 1.52743322e+02] [-6.46068590e-01 7.61571848e-01 -5.10264364e-02 -6.54193207e+01] [-7.64597598e-02 1.94166771e-03 9.97070777e-01 -8.08749882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44863999999998 meters 0.032551358561111556 Centerline is valid? [True, True] Translation: X:152.78, Y:-65.47, Z:-8.09 [[ 7.58023195e-01 6.49511201e-01 5.94645757e-02 1.52783894e+02] [-6.47323824e-01 7.60349635e-01 -5.32944537e-02 -6.54662448e+01] [-7.98292131e-02 1.90559549e-03 9.96806734e-01 -8.09169752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50863999999999 meters 0.0320638710067445 Centerline is valid? [True, True] Translation: X:152.83, Y:-65.51, Z:-8.09 [[ 7.54882455e-01 6.53102355e-01 6.00815471e-02 1.52826361e+02] [-6.50877829e-01 7.57268020e-01 -5.38813286e-02 -6.55115685e+01] [-8.06878568e-02 1.56832271e-03 9.96738185e-01 -8.09403159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56864 meters 0.031428042751499075 Centerline is valid? [True, True] Translation: X:152.87, Y:-65.56, Z:-8.10 [[ 7.48847030e-01 6.60027707e-01 5.99295453e-02 1.52867559e+02] [-6.57832635e-01 7.51240766e-01 -5.37915909e-02 -6.55591220e+01] [-8.05254580e-02 8.58062434e-04 9.96752183e-01 -8.09634497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62864 meters 0.031005263243355077 Centerline is valid? [True, True] Translation: X:152.91, Y:-65.60, Z:-8.10 [[ 7.43453864e-01 6.65896162e-01 6.21180624e-02 1.52909176e+02] [-6.63554438e-01 7.46044390e-01 -5.57967324e-02 -6.56047753e+01] [-8.34976619e-02 2.63580266e-04 9.96507938e-01 -8.10233690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68864 meters 0.030927764796265918 Centerline is valid? [True, True] Translation: X:152.95, Y:-65.65, Z:-8.10 [[ 7.39680887e-01 6.69870454e-01 6.43875724e-02 1.52953573e+02] [-6.67365640e-01 7.42477979e-01 -5.78753256e-02 -6.56486208e+01] [-8.65753252e-02 -1.60781299e-04 9.96245295e-01 -8.10494108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74864 meters 0.030904694223275284 Centerline is valid? [True, True] Translation: X:153.00, Y:-65.69, Z:-8.11 [[ 7.31177571e-01 6.79242719e-01 6.33142032e-02 1.53001258e+02] [-6.76851139e-01 7.33912717e-01 -5.69619091e-02 -6.56893376e+01] [-8.51580609e-02 -1.20502021e-03 9.96366726e-01 -8.10551733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80864 meters 0.03162917882957132 Centerline is valid? [True, True] Translation: X:153.05, Y:-65.73, Z:-8.11 [[ 7.23055744e-01 6.87727950e-01 6.49665826e-02 1.53050124e+02] [-6.85240490e-01 7.25965072e-01 -5.84823456e-02 -6.57256412e+01] [-8.73834135e-02 -2.23173694e-03 9.96172253e-01 -8.10739496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86864 meters 0.031818546586224516 Centerline is valid? [True, True] Translation: X:153.10, Y:-65.76, Z:-8.11 [[ 7.20519229e-01 6.90264856e-01 6.62304283e-02 1.53098422e+02] [-6.87689022e-01 7.23552192e-01 -5.96324916e-02 -6.57648806e+01] [-8.90833848e-02 -2.57958160e-03 9.96020831e-01 -8.11044506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92864 meters 0.03234502048996131 Centerline is valid? [True, True] Translation: X:153.15, Y:-65.80, Z:-8.11 [[ 7.17370583e-01 6.93324814e-01 6.84116118e-02 1.53147997e+02] [-6.90589007e-01 7.20618765e-01 -6.16069725e-02 -6.58006976e+01] [-9.20123339e-02 -3.04927736e-03 9.95753198e-01 -8.11403601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98863999999998 meters 0.03182756700656169 Centerline is valid? [True, True] Translation: X:153.20, Y:-65.84, Z:-8.12 [[ 7.18042813e-01 6.92728435e-01 6.73931307e-02 1.53199344e+02] [-6.90068425e-01 7.21192666e-01 -6.07182612e-02 -6.58370324e+01] [-9.06646977e-02 -2.90756049e-03 9.95877231e-01 -8.11694219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04863999999998 meters 0.03151899382162953 Centerline is valid? [True, True] Translation: X:153.25, Y:-65.87, Z:-8.12 [[ 7.20168112e-01 6.90770063e-01 6.47658184e-02 1.53251127e+02] [-6.88303096e-01 7.23070054e-01 -5.83827438e-02 -6.58712052e+01] [-8.71592754e-02 -2.53312295e-03 9.96191168e-01 -8.11975409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10863999999998 meters 0.03131092053112706 Centerline is valid? [True, True] Translation: X:153.30, Y:-65.91, Z:-8.12 [[ 7.22646230e-01 6.88093102e-01 6.56529458e-02 1.53303671e+02] [-6.85544306e-01 7.25619018e-01 -5.92118674e-02 -6.59060015e+01] [-8.83823036e-02 -2.21877038e-03 9.96084156e-01 -8.12314334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16863999999998 meters 0.03075679493876066 Centerline is valid? [True, True] Translation: X:153.35, Y:-65.94, Z:-8.13 [[ 7.25371014e-01 6.85301931e-01 6.47931753e-02 1.53353347e+02] [-6.82803779e-01 7.28256804e-01 -5.84895465e-02 -6.59435722e+01] [-8.72690699e-02 -1.81440326e-03 9.96183124e-01 -8.12578477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22863999999998 meters 0.030774662701670015 Centerline is valid? [True, True] Translation: X:153.40, Y:-65.98, Z:-8.13 [[ 7.31141360e-01 6.79431973e-01 6.16806691e-02 1.53403402e+02] [-6.77144764e-01 7.33737777e-01 -5.57121407e-02 -6.59805422e+01] [-8.31100467e-02 -1.03329184e-03 9.96539840e-01 -8.12749563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28864 meters 0.03090307335436069 Centerline is valid? [True, True] Translation: X:153.45, Y:-66.02, Z:-8.13 [[ 7.37902123e-01 6.72012694e-01 6.24451397e-02 1.53453365e+02] [-6.69640493e-01 7.40539603e-01 -5.64154732e-02 -6.60184205e+01] [-8.41550131e-02 -1.86696709e-04 9.96452658e-01 -8.13038543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34864 meters 0.031357067256356966 Centerline is valid? [True, True] Translation: X:153.50, Y:-66.06, Z:-8.13 [[ 7.43323580e-01 6.66129886e-01 6.11639601e-02 1.53501584e+02] [-6.63832983e-01 7.45835600e-01 -5.52723071e-02 -6.60582373e+01] [-8.24367945e-02 4.82555136e-04 9.96596178e-01 -8.13344449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40864 meters 0.031817326005496124 Centerline is valid? [True, True] Translation: X:153.55, Y:-66.10, Z:-8.14 [[ 7.46006697e-01 6.63209239e-01 6.02288357e-02 1.53548492e+02] [-6.60971484e-01 7.48433603e-01 -5.44411516e-02 -6.60997210e+01] [-8.11831593e-02 8.03920800e-04 9.96698875e-01 -8.13572434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46864 meters 0.03253637874793956 Centerline is valid? [True, True] Translation: X:153.59, Y:-66.14, Z:-8.14 [[ 7.48782627e-01 6.60087166e-01 6.00792030e-02 1.53593470e+02] [-6.57849349e-01 7.51188132e-01 -5.43196469e-02 -6.61428076e+01] [-8.09864861e-02 1.15054329e-03 9.96714536e-01 -8.13774539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52864 meters 0.032638561472912726 Centerline is valid? [True, True] Translation: X:153.64, Y:-66.19, Z:-8.14 [[ 7.48872163e-01 6.59792094e-01 6.21681261e-02 1.53638108e+02] [-6.57392308e-01 7.51447166e-01 -5.62361953e-02 -6.61854519e+01] [-8.38202592e-02 1.24487327e-03 9.96480112e-01 -8.14157780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58864 meters 0.032603575656007557 Centerline is valid? [True, True] Translation: X:153.68, Y:-66.23, Z:-8.15 [[ 7.46429970e-01 6.62395889e-01 6.38277755e-02 1.53680657e+02] [-6.59872138e-01 7.49153302e-01 -5.77762206e-02 -6.62302786e+01] [-8.60875198e-02 1.00773195e-03 9.96287069e-01 -8.14561500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64864 meters 0.03212804453464478 Centerline is valid? [True, True] Translation: X:153.72, Y:-66.27, Z:-8.15 [[ 7.43037070e-01 6.66232586e-01 6.34826991e-02 1.53724886e+02] [-6.63748006e-01 7.45743794e-01 -5.74871976e-02 -6.62746112e+01] [-8.56416733e-02 5.78603957e-04 9.96325835e-01 -8.15034138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70863999999997 meters 0.03214397816240125 Centerline is valid? [True, True] Translation: X:153.77, Y:-66.32, Z:-8.16 [[ 7.38874086e-01 6.70600305e-01 6.60326863e-02 1.53769935e+02] [-6.67925843e-01 7.41818860e-01 -5.98318313e-02 -6.63170141e+01] [-8.91075363e-02 1.03252095e-04 9.96022006e-01 -8.15563439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76863999999998 meters 0.03218035644988976 Centerline is valid? [True, True] Translation: X:153.82, Y:-66.36, Z:-8.16 [[ 7.36132977e-01 6.73561297e-01 6.65087956e-02 1.53815420e+02] [-6.70855188e-01 7.39131336e-01 -6.03173581e-02 -6.63591449e+01] [-8.97861729e-02 -2.16174248e-04 9.95961042e-01 -8.15851866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82863999999998 meters 0.03205732131633415 Centerline is valid? [True, True] Translation: X:153.87, Y:-66.40, Z:-8.16 [[ 7.34817587e-01 6.75252591e-01 6.38518004e-02 1.53865709e+02] [-6.72760749e-01 7.37586472e-01 -5.79583553e-02 -6.63962971e+01] [-8.62327538e-02 -3.68166270e-04 9.96274950e-01 -8.16037233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88863999999998 meters 0.03184284420581837 Centerline is valid? [True, True] Translation: X:153.92, Y:-66.43, Z:-8.16 [[ 7.32338916e-01 6.77989608e-01 6.33230036e-02 1.53916545e+02] [-6.75545850e-01 7.35071194e-01 -5.75164649e-02 -6.64340316e+01] [-8.55424814e-02 -6.56046749e-04 9.96334308e-01 -8.16225278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94863999999998 meters 0.03213035918839621 Centerline is valid? [True, True] Translation: X:153.97, Y:-66.47, Z:-8.17 [[ 7.32808640e-01 6.77442090e-01 6.37472444e-02 1.53968970e+02] [-6.74961697e-01 7.35575880e-01 -5.79209181e-02 -6.64685307e+01] [-8.61290032e-02 -5.81999004e-04 9.96283823e-01 -8.16721798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00863999999999 meters 0.03180625258807379 Centerline is valid? [True, True] Translation: X:154.02, Y:-66.51, Z:-8.17 [[ 7.35615525e-01 6.74655402e-01 6.09088416e-02 1.54018055e+02] [-6.72380863e-01 7.38132802e-01 -5.53528883e-02 -6.65058019e+01] [-8.23029390e-02 -2.35495521e-04 9.96607330e-01 -8.16842312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06864 meters 0.03167218233384111 Centerline is valid? [True, True] Translation: X:154.07, Y:-66.54, Z:-8.17 [[ 7.40354210e-01 6.69641846e-01 5.87830034e-02 1.54068513e+02] [-6.67507140e-01 7.42684117e-01 -5.34277138e-02 -6.65411499e+01] [-7.94346358e-02 3.17358428e-04 9.96840026e-01 -8.17019725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12864 meters 0.03194404088951439 Centerline is valid? [True, True] Translation: X:154.12, Y:-66.58, Z:-8.17 [[ 7.42605600e-01 6.67117794e-01 5.90827448e-02 1.54117862e+02] [-6.64953116e-01 7.44952011e-01 -5.37015427e-02 -6.65758950e+01] [-7.98390642e-02 5.91811093e-04 9.96807591e-01 -8.17336416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18864 meters 0.03202239464602399 Centerline is valid? [True, True] Translation: X:154.17, Y:-66.61, Z:-8.18 [[ 7.44312944e-01 6.65079870e-01 6.05558338e-02 1.54165001e+02] [-6.62799904e-01 7.46771779e-01 -5.50290549e-02 -6.66107635e+01] [-8.18201044e-02 8.22436968e-04 9.96646775e-01 -8.17616609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24864 meters 0.03253775195014718 Centerline is valid? [True, True] Translation: X:154.21, Y:-66.65, Z:-8.18 [[ 7.46515028e-01 6.62505427e-01 6.16593257e-02 1.54210364e+02] [-6.60135293e-01 7.49056303e-01 -5.60004390e-02 -6.66483790e+01] [-8.32869013e-02 1.10167218e-03 9.96525001e-01 -8.17906747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30864 meters 0.03246272206656583 Centerline is valid? [True, True] Translation: X:154.26, Y:-66.68, Z:-8.18 [[ 7.48335168e-01 6.60470632e-01 6.14249191e-02 1.54257945e+02] [-6.58115710e-01 7.50850777e-01 -5.57388759e-02 -6.66828997e+01] [-8.29348388e-02 1.28665683e-03 9.96554142e-01 -8.18153843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36864 meters 0.03198956255264537 Centerline is valid? [True, True] Translation: X:154.30, Y:-66.72, Z:-8.18 [[ 7.48185451e-01 6.60707795e-01 6.06938321e-02 1.54302938e+02] [-6.58413365e-01 7.50642223e-01 -5.50281263e-02 -6.67208980e+01] [-8.19168650e-02 1.20961324e-03 9.96638432e-01 -8.18486367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42864 meters 0.03178177319903184 Centerline is valid? [True, True] Translation: X:154.35, Y:-66.76, Z:-8.19 [[ 7.48188248e-01 6.60768024e-01 5.99996913e-02 1.54348191e+02] [-6.58529865e-01 7.50589293e-01 -5.43519099e-02 -6.67582718e+01] [-8.09491300e-02 1.15387167e-03 9.96717566e-01 -8.18702413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48863999999998 meters 0.031011492575312192 Centerline is valid? [True, True] Translation: X:154.39, Y:-66.80, Z:-8.19 [[ 7.46785753e-01 6.62417858e-01 5.92758082e-02 1.54390433e+02] [-6.60242362e-01 7.49133980e-01 -5.36498257e-02 -6.67988657e+01] [-7.99441247e-02 9.28525810e-04 9.96798914e-01 -8.18848851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54863999999998 meters 0.03096537567590158 Centerline is valid? [True, True] Translation: X:154.43, Y:-66.84, Z:-8.19 [[ 7.45555913e-01 6.63805215e-01 5.92369579e-02 1.54434069e+02] [-6.61640686e-01 7.47905130e-01 -5.35678901e-02 -6.68376409e+01] [-7.98622695e-02 7.44275682e-04 9.96805630e-01 -8.19190182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60863999999998 meters 0.03018258837584838 Centerline is valid? [True, True] Translation: X:154.48, Y:-66.88, Z:-8.19 [[ 7.42878735e-01 6.67046578e-01 5.63919107e-02 1.54477706e+02] [-6.65096973e-01 7.45015931e-01 -5.09635081e-02 -6.68770302e+01] [-7.60079056e-02 3.53617345e-04 9.97107152e-01 -8.19161856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66863999999998 meters 0.02981228620124712 Centerline is valid? [True, True] Translation: X:154.52, Y:-66.92, Z:-8.19 [[ 7.39863326e-01 6.70492372e-01 5.51564980e-02 1.54521595e+02] [-6.68638113e-01 7.41916424e-01 -4.98306565e-02 -6.69169316e+01] [-7.43325868e-02 -1.18615165e-05 9.97233506e-01 -8.19165913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72863999999998 meters 0.029845481605084184 Centerline is valid? [True, True] Translation: X:154.56, Y:-66.96, Z:-8.19 [[ 7.40008166e-01 6.70313631e-01 5.53854810e-02 1.54564150e+02] [-6.68445965e-01 7.42077918e-01 -5.00035575e-02 -6.69562524e+01] [-7.46184086e-02 -1.91604205e-05 9.97212160e-01 -8.19494524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78864 meters 0.029704615515427038 Centerline is valid? [True, True] Translation: X:154.61, Y:-66.99, Z:-8.20 [[ 7.41757224e-01 6.68406418e-01 5.50370967e-02 1.54608059e+02] [-6.66560656e-01 7.43796237e-01 -4.96391840e-02 -6.69946692e+01] [-7.41155346e-02 1.34659963e-04 9.97249652e-01 -8.19707021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84864 meters 0.02951625844858339 Centerline is valid? [True, True] Translation: X:154.65, Y:-67.03, Z:-8.20 [[ 7.45339052e-01 6.64735343e-01 5.09570609e-02 1.54650964e+02] [-6.63147622e-01 7.47078802e-01 -4.59183408e-02 -6.70348471e+01] [-6.85924841e-02 4.32678828e-04 9.97644668e-01 -8.19891795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90864 meters 0.02960628267130707 Centerline is valid? [True, True] Translation: X:154.69, Y:-67.07, Z:-8.20 [[ 7.48525724e-01 6.61253893e-01 4.95230289e-02 1.54692953e+02] [-6.59749444e-01 7.50161848e-01 -4.45855695e-02 -6.70742662e+01] [-6.66326683e-02 7.00654887e-04 9.97777328e-01 -8.20092004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96864 meters 0.029333211656759416 Centerline is valid? [True, True] Translation: X:154.73, Y:-67.12, Z:-8.20 [[ 7.48667566e-01 6.61018259e-01 5.05147226e-02 1.54734670e+02] [-6.59455399e-01 7.50369487e-01 -4.54335757e-02 -6.71161794e+01] [-6.79371296e-02 7.02437976e-04 9.97689357e-01 -8.20334597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02864 meters 0.029035641290170642 Centerline is valid? [True, True] Translation: X:154.78, Y:-67.16, Z:-8.21 [[ 7.47869447e-01 6.62022099e-01 4.91734719e-02 1.54777328e+02] [-6.60545926e-01 7.49484102e-01 -4.41889138e-02 -6.71566168e+01] [-6.61087729e-02 5.66202040e-04 9.97812262e-01 -8.20530642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08864 meters 0.02842150064870974 Centerline is valid? [True, True] Translation: X:154.82, Y:-67.20, Z:-8.21 [[ 7.47550314e-01 6.62454066e-01 4.81989432e-02 1.54820576e+02] [-6.61039245e-01 7.49102377e-01 -4.32752250e-02 -6.71956947e+01] [-6.47737917e-02 4.89015022e-04 9.97899853e-01 -8.20609148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14864 meters 0.028386655663763707 Centerline is valid? [True, True] Translation: X:154.86, Y:-67.23, Z:-8.21 [[ 7.48427410e-01 6.61395847e-01 4.91115567e-02 1.54864540e+02] [-6.59927232e-01 7.50036811e-01 -4.40548597e-02 -6.72343284e+01] [-6.59731766e-02 5.61810859e-04 9.97821239e-01 -8.20921759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20863999999997 meters 0.02797211300564124 Centerline is valid? [True, True] Translation: X:154.91, Y:-67.27, Z:-8.21 [[ 7.49276133e-01 6.60532866e-01 4.77661976e-02 1.54909969e+02] [-6.59144341e-01 7.50796898e-01 -4.28106941e-02 -6.72708888e+01] [-6.41405835e-02 5.92212384e-04 9.97940697e-01 -8.21180248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26863999999998 meters 0.02776365758730142 Centerline is valid? [True, True] Translation: X:154.96, Y:-67.31, Z:-8.21 [[ 7.52762599e-01 6.56669297e-01 4.61941941e-02 1.54956430e+02] [-6.55365682e-01 7.54178153e-01 -4.13658846e-02 -6.73073670e+01] [-6.20023583e-02 8.64601296e-04 9.98075628e-01 -8.21249787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32863999999998 meters 0.028484091473466745 Centerline is valid? [True, True] Translation: X:155.00, Y:-67.35, Z:-8.22 [[ 7.58768534e-01 6.49818851e-01 4.47858556e-02 1.54999173e+02] [-6.48583657e-01 7.60087903e-01 -4.00701859e-02 -6.73472095e+01] [-6.00795492e-02 1.35662215e-03 9.98192670e-01 -8.21602398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38863999999998 meters 0.02937898229653469 Centerline is valid? [True, True] Translation: X:155.04, Y:-67.39, Z:-8.22 [[ 7.62825148e-01 6.45120114e-01 4.37930528e-02 1.55042073e+02] [-6.43933101e-01 7.64079355e-01 -3.91522789e-02 -6.73866142e+01] [-5.87192902e-02 1.66654663e-03 9.98273143e-01 -8.21850554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44863999999998 meters 0.02986139957196086 Centerline is valid? [True, True] Translation: X:155.08, Y:-67.43, Z:-8.22 [[ 7.65670452e-01 6.41755355e-01 4.35754898e-02 1.55082101e+02] [-6.40575356e-01 7.66907055e-01 -3.89459046e-02 -6.74292069e+01] [-5.84120933e-02 1.90634349e-03 9.98290736e-01 -8.22057228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50863999999999 meters 0.029194336077203526 Centerline is valid? [True, True] Translation: X:155.12, Y:-67.47, Z:-8.22 [[ 7.64156489e-01 6.43543371e-01 4.37811712e-02 1.55120787e+02] [-6.42356054e-01 7.65407611e-01 -3.91137908e-02 -6.74740127e+01] [-5.86818625e-02 1.76595664e-03 9.98275173e-01 -8.22453711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56864 meters 0.02855509019685059 Centerline is valid? [True, True] Translation: X:155.16, Y:-67.52, Z:-8.23 [[ 7.62284293e-01 6.45758178e-01 4.38067566e-02 1.55160943e+02] [-6.44575077e-01 7.63540377e-01 -3.91032346e-02 -6.75176413e+01] [-5.86994609e-02 1.57103803e-03 9.98274464e-01 -8.22760509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62864 meters 0.027353223204671904 Centerline is valid? [True, True] Translation: X:155.20, Y:-67.56, Z:-8.23 [[ 7.58117122e-01 6.50698610e-01 4.30086950e-02 1.55200826e+02] [-6.49567787e-01 7.59335239e-01 -3.83625373e-02 -6.75616361e+01] [-5.76204674e-02 1.14623352e-03 9.98337903e-01 -8.23008312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68864 meters 0.02642325179874034 Centerline is valid? [True, True] Translation: X:155.24, Y:-67.60, Z:-8.23 [[ 7.53907103e-01 6.55513840e-01 4.38826244e-02 1.55241493e+02] [-6.54345514e-01 7.55182753e-01 -3.91274663e-02 -6.76038763e+01] [-5.87879968e-02 7.84076385e-04 9.98270182e-01 -8.23365577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74864 meters 0.02623923356724037 Centerline is valid? [True, True] Translation: X:155.28, Y:-67.65, Z:-8.24 [[ 7.51275790e-01 6.58435425e-01 4.52490687e-02 1.55283766e+02] [-6.57200646e-01 7.52637027e-01 -4.03090271e-02 -6.76451141e+01] [-6.05970159e-02 5.45479002e-04 9.98162163e-01 -8.23633784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80864 meters 0.02588159836285159 Centerline is valid? [True, True] Translation: X:155.33, Y:-67.69, Z:-8.24 [[ 7.49326238e-01 6.60642020e-01 4.54126689e-02 1.55325319e+02] [-6.59404553e-01 7.50701009e-01 -4.04182008e-02 -6.76866318e+01] [-6.07932982e-02 3.41097730e-04 9.98150319e-01 -8.23955826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86864 meters 0.025663005369382094 Centerline is valid? [True, True] Translation: X:155.37, Y:-67.73, Z:-8.24 [[ 7.45806578e-01 6.64573169e-01 4.59896809e-02 1.55367460e+02] [-6.63313833e-01 7.47223195e-01 -4.08932187e-02 -6.77254656e+01] [-6.15410922e-02 -7.16004494e-06 9.98104551e-01 -8.24335700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92864 meters 0.025754666619920458 Centerline is valid? [True, True] Translation: X:155.41, Y:-67.76, Z:-8.24 [[ 7.40350252e-01 6.70638253e-01 4.61068175e-02 1.55411352e+02] [-6.69386725e-01 7.41784363e-01 -4.09557390e-02 -6.77639625e+01] [-6.16678015e-02 -5.41699902e-04 9.98096583e-01 -8.24474557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98863999999998 meters 0.026245319555938316 Centerline is valid? [True, True] Translation: X:155.46, Y:-67.80, Z:-8.25 [[ 7.36432034e-01 6.74858896e-01 4.72581231e-02 1.55455013e+02] [-6.73555128e-01 7.37946188e-01 -4.19393971e-02 -6.78032935e+01] [-6.31771271e-02 -9.45435642e-04 9.98001882e-01 -8.24923097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04863999999998 meters 0.026176329821113897 Centerline is valid? [True, True] Translation: X:155.50, Y:-67.84, Z:-8.25 [[ 7.35695115e-01 6.75679028e-01 4.70164805e-02 1.55500613e+02] [-6.74392634e-01 7.37195207e-01 -4.16869566e-02 -6.78398793e+01] [-6.28273264e-02 -1.03867781e-03 9.98023872e-01 -8.25224428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10863999999998 meters 0.02638410617598626 Centerline is valid? [True, True] Translation: X:155.55, Y:-67.88, Z:-8.26 [[ 7.33018017e-01 6.78587165e-01 4.69472670e-02 1.55547501e+02] [-6.77312888e-01 7.34518709e-01 -4.15874842e-02 -6.78755815e+01] [-6.27043789e-02 -1.31361380e-03 9.98031280e-01 -8.25530859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16863999999998 meters 0.026903367202880873 Centerline is valid? [True, True] Translation: X:155.60, Y:-67.91, Z:-8.26 [[ 7.29958795e-01 6.81873445e-01 4.69974763e-02 1.55595842e+02] [-6.80605618e-01 7.31468361e-01 -4.15936251e-02 -6.79098558e+01] [-6.27387554e-02 -1.62511393e-03 9.98028661e-01 -8.25913610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22863999999998 meters 0.02703980205098049 Centerline is valid? [True, True] Translation: X:155.64, Y:-67.94, Z:-8.26 [[ 7.29778633e-01 6.81940435e-01 4.87892290e-02 1.55643295e+02] [-6.80576796e-01 7.31405683e-01 -4.31387475e-02 -6.79440430e+01] [-6.51027756e-02 -1.72308094e-03 9.97877076e-01 -8.26282290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28864 meters 0.02639992726476389 Centerline is valid? [True, True] Translation: X:155.69, Y:-67.97, Z:-8.27 [[ 7.32608206e-01 6.78881338e-01 4.90443141e-02 1.55694261e+02] [-6.77499135e-01 7.34246495e-01 -4.33244336e-02 -6.79746015e+01] [-6.54227651e-02 -1.48764481e-03 9.97856527e-01 -8.26612120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34864 meters 0.025840723231131638 Centerline is valid? [True, True] Translation: X:155.75, Y:-68.00, Z:-8.27 [[ 7.37609290e-01 6.73336521e-01 5.05021197e-02 1.55745220e+02] [-6.71860601e-01 7.39335388e-01 -4.45703550e-02 -6.80047261e+01] [-6.73488521e-02 -1.05487659e-03 9.97728931e-01 -8.27087366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40864 meters 0.025319286169849648 Centerline is valid? [True, True] Translation: X:155.79, Y:-68.04, Z:-8.27 [[ 7.41460818e-01 6.69085215e-01 5.06046516e-02 1.55794239e+02] [-6.67596073e-01 7.43185365e-01 -4.46205941e-02 -6.80385223e+01] [-6.74636163e-02 -6.99044490e-04 9.97721490e-01 -8.27357779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46864 meters 0.025140190239957803 Centerline is valid? [True, True] Translation: X:155.84, Y:-68.07, Z:-8.28 [[ 7.48594865e-01 6.61135112e-01 5.00608802e-02 1.55844952e+02] [-6.59662435e-01 7.50266862e-01 -4.41033811e-02 -6.80694038e+01] [-6.67173133e-02 -7.71743140e-06 9.97771918e-01 -8.27676266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52864 meters 0.025388733020740555 Centerline is valid? [True, True] Translation: X:155.89, Y:-68.10, Z:-8.28 [[ 7.53097156e-01 6.56006383e-01 5.00029962e-02 1.55892438e+02] [-6.54528416e-01 7.54755227e-01 -4.40125007e-02 -6.81037507e+01] [-6.66125041e-02 4.17307221e-04 9.97778833e-01 -8.28019342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58864 meters 0.02585143261578409 Centerline is valid? [True, True] Translation: X:155.94, Y:-68.14, Z:-8.28 [[ 7.56819552e-01 6.51736232e-01 4.96391808e-02 1.55939860e+02] [-6.50273064e-01 7.58445323e-01 -4.36535726e-02 -6.81391200e+01] [-6.60992194e-02 7.58855095e-04 9.97812767e-01 -8.28258338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64864 meters 0.026074599146779332 Centerline is valid? [True, True] Translation: X:155.98, Y:-68.18, Z:-8.29 [[ 7.57825833e-01 6.50498376e-01 5.05160338e-02 1.55982852e+02] [-6.48982918e-01 7.59507167e-01 -4.43850788e-02 -6.81789211e+01] [-6.72397114e-02 8.52116336e-04 9.97736486e-01 -8.28646556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70863999999997 meters 0.026401145926186892 Centerline is valid? [True, True] Translation: X:156.03, Y:-68.22, Z:-8.29 [[ 7.60311100e-01 6.47697864e-01 4.91376561e-02 1.56025592e+02] [-6.46260756e-01 7.61896578e-01 -4.31351338e-02 -6.82172810e+01] [-6.53763460e-02 1.04038222e-03 9.97860136e-01 -8.28765297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76863999999998 meters 0.02671655540740517 Centerline is valid? [True, True] Translation: X:156.07, Y:-68.26, Z:-8.29 [[ 7.61963044e-01 6.45711346e-01 4.96908137e-02 1.56066476e+02] [-6.44240253e-01 7.63580668e-01 -4.35782131e-02 -6.82598733e+01] [-6.60818914e-02 1.19216551e-03 9.97813491e-01 -8.29190184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82863999999998 meters 0.02717616987530163 Centerline is valid? [True, True] Translation: X:156.11, Y:-68.30, Z:-8.29 [[ 7.63921908e-01 6.43415152e-01 4.93990010e-02 1.56108684e+02] [-6.41958969e-01 7.65516237e-01 -4.32847999e-02 -6.83003795e+01] [-6.56658335e-02 1.35407518e-03 9.97840751e-01 -8.29421958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88863999999998 meters 0.028151879791869235 Centerline is valid? [True, True] Translation: X:156.15, Y:-68.34, Z:-8.30 [[ 7.67499884e-01 6.39072370e-01 5.03034272e-02 1.56150318e+02] [-6.37554927e-01 7.69144651e-01 -4.40479437e-02 -6.83436224e+01] [-6.68404357e-02 1.73559383e-03 9.97762168e-01 -8.29758880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94863999999998 meters 0.02784537515178997 Centerline is valid? [True, True] Translation: X:156.19, Y:-68.39, Z:-8.30 [[ 7.67047637e-01 6.39655156e-01 4.97916032e-02 1.56190189e+02] [-6.38170639e-01 7.68660222e-01 -4.35855275e-02 -6.83868165e+01] [-6.61525322e-02 1.65663670e-03 9.97808147e-01 -8.29932788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00863999999999 meters 0.027564287887747438 Centerline is valid? [True, True] Translation: X:156.23, Y:-68.43, Z:-8.30 [[ 7.65108289e-01 6.42016180e-01 4.92395247e-02 1.56231688e+02] [-6.40571709e-01 7.66689794e-01 -4.30655948e-02 -6.84284059e+01] [-6.54002497e-02 1.40839706e-03 9.97858118e-01 -8.30313676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06864 meters 0.027080655023084203 Centerline is valid? [True, True] Translation: X:156.27, Y:-68.47, Z:-8.31 [[ 7.61666652e-01 6.45831228e-01 5.25921658e-02 1.56270265e+02] [-6.44195180e-01 7.63479381e-01 -4.59543642e-02 -6.84721770e+01] [-6.98317977e-02 1.12228696e-03 9.97558149e-01 -8.30700105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12864 meters 0.02683641449334854 Centerline is valid? [True, True] Translation: X:156.31, Y:-68.52, Z:-8.31 [[ 7.60722353e-01 6.47049407e-01 5.12695430e-02 1.56310717e+02] [-6.45500291e-01 7.62447477e-01 -4.47573359e-02 -6.85157087e+01] [-6.80505414e-02 9.53400951e-04 9.97681420e-01 -8.31017684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18864 meters 0.02692356835595488 Centerline is valid? [True, True] Translation: X:156.35, Y:-68.56, Z:-8.31 [[ 7.60078998e-01 6.47783652e-01 5.15388983e-02 1.56351915e+02] [-6.46222598e-01 7.61823863e-01 -4.49528259e-02 -6.85562991e+01] [-6.83832683e-02 8.62098089e-04 9.97658752e-01 -8.31279074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24864 meters 0.02693882014168834 Centerline is valid? [True, True] Translation: X:156.39, Y:-68.60, Z:-8.32 [[ 7.58863356e-01 6.49122368e-01 5.25980866e-02 1.56393825e+02] [-6.47502896e-01 7.60683661e-01 -4.58297680e-02 -6.85963070e+01] [-6.97596326e-02 7.21118139e-04 9.97563569e-01 -8.31665683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30864 meters 0.026672894678361796 Centerline is valid? [True, True] Translation: X:156.44, Y:-68.64, Z:-8.32 [[ 7.58006376e-01 6.50217807e-01 5.14114437e-02 1.56436987e+02] [-6.48676107e-01 7.59747638e-01 -4.47530352e-02 -6.86356799e+01] [-6.81589434e-02 5.73710889e-04 9.97674310e-01 -8.31854510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36864 meters 0.02695127942267896 Centerline is valid? [True, True] Translation: X:156.48, Y:-68.67, Z:-8.32 [[ 7.58738561e-01 6.49244702e-01 5.28877359e-02 1.56480940e+02] [-6.47613633e-01 7.60579316e-01 -4.59965791e-02 -6.86737379e+01] [-7.00883533e-02 6.48559504e-04 9.97540577e-01 -8.32386904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42864 meters 0.027421912607598325 Centerline is valid? [True, True] Translation: X:156.53, Y:-68.71, Z:-8.33 [[ 7.61929944e-01 6.45487460e-01 5.29971632e-02 1.56525879e+02] [-6.43843410e-01 7.63770258e-01 -4.60505975e-02 -6.87119445e+01] [-7.02027402e-02 9.65454874e-04 9.97532277e-01 -8.32621847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48863999999998 meters 0.027784813060669454 Centerline is valid? [True, True] Translation: X:156.57, Y:-68.75, Z:-8.33 [[ 7.65476141e-01 6.41299583e-01 5.27363611e-02 1.56570245e+02] [-6.39663970e-01 7.67289454e-01 -4.57919272e-02 -6.87498729e+01] [-6.98303975e-02 1.31907759e-03 9.97558006e-01 -8.32754457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54863999999998 meters 0.02853471454555242 Centerline is valid? [True, True] Translation: X:156.61, Y:-68.79, Z:-8.33 [[ 7.67514985e-01 6.38898190e-01 5.22479771e-02 1.56612440e+02] [-6.37288735e-01 7.69289824e-01 -4.53457207e-02 -6.87911912e+01] [-6.91651360e-02 1.50647290e-03 9.97604087e-01 -8.33132369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60863999999998 meters 0.02849217925971995 Centerline is valid? [True, True] Translation: X:156.65, Y:-68.83, Z:-8.33 [[ 7.68487724e-01 6.37798731e-01 5.13750577e-02 1.56654764e+02] [-6.36242960e-01 7.70201521e-01 -4.45478600e-02 -6.88309557e+01] [-6.79817162e-02 1.54746473e-03 9.97685367e-01 -8.33441515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66863999999998 meters 0.028851864614861784 Centerline is valid? [True, True] Translation: X:156.70, Y:-68.87, Z:-8.34 [[ 7.69910025e-01 6.36205492e-01 4.98109008e-02 1.56695352e+02] [-6.34742552e-01 7.71517983e-01 -4.31496818e-02 -6.88720138e+01] [-6.58820703e-02 1.60427425e-03 9.97826127e-01 -8.33518908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72863999999998 meters 0.02875738543997905 Centerline is valid? [True, True] Translation: X:156.74, Y:-68.91, Z:-8.34 [[ 7.70599426e-01 6.35440690e-01 4.89045431e-02 1.56736722e+02] [-6.34031707e-01 7.72148008e-01 -4.23231488e-02 -6.89130190e+01] [-6.46553964e-02 1.60716328e-03 9.97906357e-01 -8.33853148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78864 meters 0.029122290591731045 Centerline is valid? [True, True] Translation: X:156.78, Y:-68.96, Z:-8.34 [[ 7.71193953e-01 6.34789927e-01 4.79753539e-02 1.56775723e+02] [-6.33435348e-01 7.72683112e-01 -4.14785212e-02 -6.89557896e+01] [-6.33998932e-02 1.59869980e-03 9.97986923e-01 -8.34029062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84864 meters 0.028775771255933436 Centerline is valid? [True, True] Translation: X:156.82, Y:-69.00, Z:-8.34 [[ 7.70656210e-01 6.35469845e-01 4.76138738e-02 1.56817653e+02] [-6.34139396e-01 7.72124228e-01 -4.11266663e-02 -6.89966287e+01] [-6.28985818e-02 1.50068765e-03 9.98018796e-01 -8.34204419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90864 meters 0.02824862832411765 Centerline is valid? [True, True] Translation: X:156.86, Y:-69.04, Z:-8.35 [[ 7.68072102e-01 6.38509956e-01 4.86855427e-02 1.56856171e+02] [-6.37127344e-01 7.69612545e-01 -4.20152143e-02 -6.90415769e+01] [-6.42961370e-02 1.25182348e-03 9.97930078e-01 -8.34582482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96864 meters 0.027553506762685993 Centerline is valid? [True, True] Translation: X:156.90, Y:-69.09, Z:-8.35 [[ 7.65119089e-01 6.42191416e-01 4.67222162e-02 1.56896674e+02] [-6.40926582e-01 7.66543803e-01 -4.02953527e-02 -6.90880107e+01] [-6.16919549e-02 8.85233205e-04 9.98094845e-01 -8.34809559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02864 meters 0.027417936604653227 Centerline is valid? [True, True] Translation: X:156.94, Y:-69.13, Z:-8.35 [[ 7.62358499e-01 6.45315413e-01 4.87599828e-02 1.56937289e+02] [-6.43943950e-01 7.63915950e-01 -4.20548451e-02 -6.91328894e+01] [-6.43871683e-02 6.62172686e-04 9.97924774e-01 -8.34996046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08864 meters 0.027030735838267424 Centerline is valid? [True, True] Translation: X:156.98, Y:-69.18, Z:-8.35 [[ 7.60285197e-01 6.47853266e-01 4.74611900e-02 1.56982753e+02] [-6.46558729e-01 7.61765026e-01 -4.09372061e-02 -6.91755683e+01] [-6.26755773e-02 4.37505117e-04 9.98033857e-01 -8.35196076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14864 meters 0.0271242185291758 Centerline is valid? [True, True] Translation: X:157.03, Y:-69.22, Z:-8.36 [[ 7.58825480e-01 6.49517052e-01 4.80779647e-02 1.57027601e+02] [-6.48191252e-01 7.60346961e-01 -4.14801092e-02 -6.92184474e+01] [-6.34979726e-02 3.12447685e-04 9.97981919e-01 -8.35540425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20863999999997 meters 0.027027922388157766 Centerline is valid? [True, True] Translation: X:157.07, Y:-69.26, Z:-8.36 [[ 7.59929055e-01 6.48149279e-01 4.90952518e-02 1.57073923e+02] [-6.46763132e-01 7.61513174e-01 -4.23690569e-02 -6.92604188e+01] [-6.48481547e-02 4.44478562e-04 9.97895044e-01 -8.35764131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26863999999998 meters 0.027230913380740088 Centerline is valid? [True, True] Translation: X:157.12, Y:-69.30, Z:-8.36 [[ 7.60448147e-01 6.47504714e-01 4.95606813e-02 1.57119968e+02] [-6.46090024e-01 7.62061272e-01 -4.27819880e-02 -6.93015169e+01] [-6.54698147e-02 5.12821712e-04 9.97854418e-01 -8.36121191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32863999999998 meters 0.026952177518897117 Centerline is valid? [True, True] Translation: X:157.17, Y:-69.34, Z:-8.36 [[ 7.59589040e-01 6.48488256e-01 4.98745564e-02 1.57166580e+02] [-6.47056940e-01 7.61224532e-01 -4.30642363e-02 -6.93425213e+01] [-6.58923874e-02 4.39444147e-04 9.97826638e-01 -8.36384287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38863999999998 meters 0.026811392509965917 Centerline is valid? [True, True] Translation: X:157.21, Y:-69.38, Z:-8.37 [[ 7.58228101e-01 6.50043214e-01 5.03385212e-02 1.57214928e+02] [-6.48587770e-01 7.59897177e-01 -4.34762447e-02 -6.93817578e+01] [-6.65135380e-02 3.15961229e-04 9.97785473e-01 -8.36607612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44863999999998 meters 0.026748919211720873 Centerline is valid? [True, True] Translation: X:157.26, Y:-69.42, Z:-8.37 [[ 7.58711009e-01 6.49523652e-01 4.97657630e-02 1.57263650e+02] [-6.48099325e-01 7.60341300e-01 -4.29927055e-02 -6.94203411e+01] [-6.57637439e-02 3.65881530e-04 9.97835155e-01 -8.36919744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50863999999999 meters 0.026832796689069877 Centerline is valid? [True, True] Translation: X:157.31, Y:-69.46, Z:-8.37 [[ 7.60558701e-01 6.47393588e-01 4.93153479e-02 1.57311932e+02] [-6.45989747e-01 7.62155650e-01 -4.26146914e-02 -6.94594647e+01] [-6.51744490e-02 5.53765243e-04 9.97873732e-01 -8.37185585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56864 meters 0.0269652722424559 Centerline is valid? [True, True] Translation: X:157.36, Y:-69.50, Z:-8.38 [[ 7.61683036e-01 6.46075136e-01 4.92531380e-02 1.57358340e+02] [-6.44671456e-01 7.63273519e-01 -4.25705169e-02 -6.94987787e+01] [-6.50973685e-02 6.73148384e-04 9.97878690e-01 -8.37608241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62864 meters 0.027060755309878524 Centerline is valid? [True, True] Translation: X:157.41, Y:-69.54, Z:-8.38 [[ 7.65059687e-01 6.42221324e-01 4.72805087e-02 1.57406417e+02] [-6.40920237e-01 7.66518649e-01 -4.08706660e-02 -6.95374580e+01] [-6.24894049e-02 9.65464117e-04 9.98045160e-01 -8.37727156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68864 meters 0.027348229626221365 Centerline is valid? [True, True] Translation: X:157.45, Y:-69.58, Z:-8.38 [[ 7.66221295e-01 6.40882608e-01 4.66305576e-02 1.57452252e+02] [-6.39614289e-01 7.67638164e-01 -4.03139065e-02 -6.95785169e+01] [-6.16318771e-02 1.06380272e-03 9.98098382e-01 -8.38085127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74864 meters 0.027926715989736534 Centerline is valid? [True, True] Translation: X:157.50, Y:-69.62, Z:-8.39 [[ 7.68931713e-01 6.37492646e-01 4.84473554e-02 1.57498133e+02] [-6.36116370e-01 7.70455182e-01 -4.18900561e-02 -6.96190989e+01] [-6.40311187e-02 1.39243681e-03 9.97946931e-01 -8.38526867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80864 meters 0.028503630755410545 Centerline is valid? [True, True] Translation: X:157.54, Y:-69.66, Z:-8.39 [[ 7.71095146e-01 6.34905004e-01 4.80407373e-02 1.57542321e+02] [-6.33546318e-01 7.72588557e-01 -4.15449611e-02 -6.96625234e+01] [-6.34928276e-02 1.59908556e-03 9.97981014e-01 -8.38774991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86864 meters 0.02887884689510901 Centerline is valid? [True, True] Translation: X:157.59, Y:-69.70, Z:-8.39 [[ 7.72697472e-01 6.33066476e-01 4.65344360e-02 1.57588264e+02] [-6.31787803e-01 7.74095560e-01 -4.02521458e-02 -6.97046485e+01] [-6.15043844e-02 1.70284226e-03 9.98105361e-01 -8.39026270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92864 meters 0.029295087369740024 Centerline is valid? [True, True] Translation: X:157.63, Y:-69.75, Z:-8.39 [[ 7.73351445e-01 6.32121536e-01 4.84758204e-02 1.57633311e+02] [-6.30731282e-01 7.74867021e-01 -4.19422125e-02 -6.97470290e+01] [-6.40748903e-02 1.86085432e-03 9.97943358e-01 -8.39374467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98863999999998 meters 0.02933023676371425 Centerline is valid? [True, True] Translation: X:157.68, Y:-69.79, Z:-8.40 [[ 7.74566493e-01 6.30655228e-01 4.81739607e-02 1.57677524e+02] [-6.29278766e-01 7.76060611e-01 -4.16912840e-02 -6.97908885e+01] [-6.36787396e-02 1.97782105e-03 9.97968490e-01 -8.39665937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04863999999998 meters 0.029109977599883863 Centerline is valid? [True, True] Translation: X:157.72, Y:-69.84, Z:-8.40 [[ 7.74245606e-01 6.30977979e-01 4.90971646e-02 1.57718638e+02] [-6.29548147e-01 7.75798171e-01 -4.25009192e-02 -6.98385321e+01] [-6.49066345e-02 1.99712092e-03 9.97889343e-01 -8.39870897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10863999999998 meters 0.028379194008886367 Centerline is valid? [True, True] Translation: X:157.76, Y:-69.88, Z:-8.40 [[ 7.72199794e-01 6.33564752e-01 4.79914863e-02 1.57761415e+02] [-6.32202835e-01 7.73687691e-01 -4.15563684e-02 -6.98848193e+01] [-6.34590725e-02 1.74946545e-03 9.97982908e-01 -8.40154502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16863999999998 meters 0.02786847315448977 Centerline is valid? [True, True] Translation: X:157.81, Y:-69.93, Z:-8.41 [[ 7.69437510e-01 6.36867780e-01 4.86348544e-02 1.57805226e+02] [-6.35474023e-01 7.70971550e-01 -4.21382870e-02 -6.99290339e+01] [-6.43326064e-02 1.51659200e-03 9.97927360e-01 -8.40589969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22863999999998 meters 0.026781514909986304 Centerline is valid? [True, True] Translation: X:157.85, Y:-69.97, Z:-8.41 [[ 7.64311004e-01 6.43096883e-01 4.74877665e-02 1.57847778e+02] [-6.41778312e-01 7.65784183e-01 -4.11726033e-02 -6.99736105e+01] [-6.28433533e-02 9.92055133e-04 9.98022910e-01 -8.40782629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28864 meters 0.026250514655492177 Centerline is valid? [True, True] Translation: X:157.89, Y:-70.02, Z:-8.41 [[ 7.59198523e-01 6.49085695e-01 4.80141935e-02 1.57892786e+02] [-6.47748720e-01 7.60715122e-01 -4.16425160e-02 -7.00167857e+01] [-6.35546845e-02 5.13804214e-04 9.97978225e-01 -8.41105377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34864 meters 0.02602301177059075 Centerline is valid? [True, True] Translation: X:157.94, Y:-70.06, Z:-8.42 [[ 7.55168719e-01 6.53581091e-01 5.05169571e-02 1.57938828e+02] [-6.52108223e-01 7.56856477e-01 -4.38536038e-02 -7.00577053e+01] [-6.68959724e-02 1.74346700e-04 9.97759940e-01 -8.41540500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40864 meters 0.02599163562489869 Centerline is valid? [True, True] Translation: X:157.99, Y:-70.10, Z:-8.42 [[ 7.51302820e-01 6.57968991e-01 5.11945227e-02 1.57985895e+02] [-6.56463624e-01 7.53045000e-01 -4.44830179e-02 -7.00993315e+01] [-6.78202258e-02 -1.87125129e-04 9.97697540e-01 -8.41813849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46864 meters 0.0262386608805878 Centerline is valid? [True, True] Translation: X:158.03, Y:-70.14, Z:-8.42 [[ 7.46844707e-01 6.62977220e-01 5.18091623e-02 1.58034246e+02] [-6.61444218e-01 7.48639319e-01 -4.50634690e-02 -7.01386720e+01] [-6.86624294e-02 -6.13457533e-04 9.97639762e-01 -8.42095144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52864 meters 0.026034031478724257 Centerline is valid? [True, True] Translation: X:158.08, Y:-70.18, Z:-8.42 [[ 7.45838092e-01 6.64077964e-01 5.22110921e-02 1.58084218e+02] [-6.62520683e-01 7.47663016e-01 -4.54572181e-02 -7.01776837e+01] [-6.92234394e-02 -6.87203537e-04 9.97600944e-01 -8.42485556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58864 meters 0.025893097516788616 Centerline is valid? [True, True] Translation: X:158.13, Y:-70.22, Z:-8.43 [[ 7.47302842e-01 6.62301978e-01 5.38010517e-02 1.58133555e+02] [-6.60640180e-01 7.49236837e-01 -4.68904439e-02 -7.02153642e+01] [-7.13653636e-02 -5.01774493e-04 9.97450116e-01 -8.42726321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64864 meters 0.025802568275282406 Centerline is valid? [True, True] Translation: X:158.18, Y:-70.25, Z:-8.43 [[ 7.48715958e-01 6.60769700e-01 5.29888464e-02 1.58181655e+02] [-6.59150908e-01 7.50588637e-01 -4.62253026e-02 -7.02542460e+01] [-7.03171053e-02 -3.18024484e-04 9.97524638e-01 -8.42988134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70863999999997 meters 0.02570765009143367 Centerline is valid? [True, True] Translation: X:158.23, Y:-70.30, Z:-8.43 [[ 7.49928000e-01 6.59379701e-01 5.31639499e-02 1.58229510e+02] [-6.57743502e-01 7.51810073e-01 -4.64230440e-02 -7.02951400e+01] [-7.05796059e-02 -1.54302053e-04 9.97506138e-01 -8.43312599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76863999999998 meters 0.025713258271706785 Centerline is valid? [True, True] Translation: X:158.28, Y:-70.34, Z:-8.43 [[ 7.48438519e-01 6.61061466e-01 5.32683826e-02 1.58278273e+02] [-6.59419565e-01 7.50331701e-01 -4.65636818e-02 -7.03352631e+01] [-7.07504119e-02 -2.76160581e-04 9.97494011e-01 -8.43426614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82863999999998 meters 0.025790966061205775 Centerline is valid? [True, True] Translation: X:158.33, Y:-70.38, Z:-8.44 [[ 7.46827444e-01 6.62867852e-01 5.34320022e-02 1.58325986e+02] [-6.61216909e-01 7.48736296e-01 -4.67563694e-02 -7.03762324e+01] [-7.09997736e-02 -4.11203406e-04 9.97476247e-01 -8.43825676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88863999999998 meters 0.025941760311045323 Centerline is valid? [True, True] Translation: X:158.38, Y:-70.41, Z:-8.44 [[ 7.46644900e-01 6.63014303e-01 5.41611287e-02 1.58375212e+02] [-6.61315566e-01 7.48606620e-01 -4.74325871e-02 -7.04136404e+01] [-7.19938632e-02 -4.02298270e-04 9.97404994e-01 -8.44176371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94863999999998 meters 0.025802271800414216 Centerline is valid? [True, True] Translation: X:158.42, Y:-70.45, Z:-8.44 [[ 7.47708686e-01 6.61913135e-01 5.29407362e-02 1.58422350e+02] [-6.60286568e-01 7.49580498e-01 -4.63759190e-02 -7.04537490e+01] [-7.03801733e-02 -2.80379573e-04 9.97520202e-01 -8.44271142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00863999999999 meters 0.02604496262507279 Centerline is valid? [True, True] Translation: X:158.47, Y:-70.49, Z:-8.45 [[ 7.49399511e-01 6.59926377e-01 5.38288993e-02 1.58469750e+02] [-6.58238663e-01 7.51330267e-01 -4.71666433e-02 -7.04940764e+01] [-7.15697933e-02 -8.56032541e-05 9.97435591e-01 -8.44745970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06864 meters 0.026097758856147433 Centerline is valid? [True, True] Translation: X:158.52, Y:-70.54, Z:-8.45 [[ 7.49587311e-01 6.59673775e-01 5.43081389e-02 1.58516210e+02] [-6.57953329e-01 7.51552066e-01 -4.76120702e-02 -7.05360029e+01] [-7.22238281e-02 -4.28171013e-05 9.97388448e-01 -8.44984161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12864 meters 0.026291301234870865 Centerline is valid? [True, True] Translation: X:158.56, Y:-70.58, Z:-8.45 [[ 7.49479703e-01 6.59712974e-01 5.53079338e-02 1.58561751e+02] [-6.57924972e-01 7.51517659e-01 -4.85380211e-02 -7.05784013e+01] [-7.35860512e-02 -1.02092033e-05 9.97288871e-01 -8.45402916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18864 meters 0.02606157290575497 Centerline is valid? [True, True] Translation: X:158.60, Y:-70.62, Z:-8.46 [[ 7.50840034e-01 6.58314322e-01 5.34929634e-02 1.58604748e+02] [-6.56635317e-01 7.52743136e-01 -4.69875589e-02 -7.06240741e+01] [-7.11990440e-02 1.54771307e-04 9.97462116e-01 -8.45634668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24864 meters 0.026003308044381657 Centerline is valid? [True, True] Translation: X:158.65, Y:-70.67, Z:-8.46 [[ 7.48777991e-01 6.60554142e-01 5.47699391e-02 1.58649040e+02] [-6.58796611e-01 7.50778413e-01 -4.81539246e-02 -7.06682571e+01] [-7.29283623e-02 -2.56513313e-05 9.97337181e-01 -8.45991957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30864 meters 0.026082625681227534 Centerline is valid? [True, True] Translation: X:158.69, Y:-70.71, Z:-8.46 [[ 7.46056551e-01 6.63628967e-01 5.47377148e-02 1.58694302e+02] [-6.61878346e-01 7.48061836e-01 -4.81720277e-02 -7.07123959e+01] [-7.29155484e-02 -2.90651372e-04 9.97338076e-01 -8.46176045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36864 meters 0.026299978984519398 Centerline is valid? [True, True] Translation: X:158.74, Y:-70.75, Z:-8.47 [[ 7.40908883e-01 6.69436510e-01 5.39331640e-02 1.58741575e+02] [-6.67748901e-01 7.42868830e-01 -4.75111151e-02 -7.07532961e+01] [-7.18709416e-02 -8.12403789e-04 9.97413609e-01 -8.46530850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42864 meters 0.026276127847655983 Centerline is valid? [True, True] Translation: X:158.79, Y:-70.79, Z:-8.47 [[ 7.40437424e-01 6.69986409e-01 5.35782851e-02 1.58789785e+02] [-6.68319161e-01 7.42372904e-01 -4.72437389e-02 -7.07940002e+01] [-7.14277301e-02 -8.26362202e-04 9.97445435e-01 -8.46732886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48863999999998 meters 0.026232713861815755 Centerline is valid? [True, True] Translation: X:158.84, Y:-70.83, Z:-8.47 [[ 7.40717380e-01 6.69653773e-01 5.38663794e-02 1.58838380e+02] [-6.67964009e-01 7.42673040e-01 -4.75482748e-02 -7.08336061e+01] [-7.18459894e-02 -7.60969207e-04 9.97415447e-01 -8.47027298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54863999999998 meters 0.02615113051565264 Centerline is valid? [True, True] Translation: X:158.89, Y:-70.87, Z:-8.47 [[ 7.42131411e-01 6.68065750e-01 5.41213663e-02 1.58888258e+02] [-6.66352011e-01 7.44102027e-01 -4.78243850e-02 -7.08723535e+01] [-7.22216520e-02 -5.71902942e-04 9.97388443e-01 -8.47379189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60863999999998 meters 0.025982048062323126 Centerline is valid? [True, True] Translation: X:158.94, Y:-70.91, Z:-8.47 [[ 7.41430327e-01 6.68900432e-01 5.34161170e-02 1.58939585e+02] [-6.67229728e-01 7.43351762e-01 -4.72508917e-02 -7.09090935e+01] [-7.13131066e-02 -6.07577157e-04 9.97453794e-01 -8.47497381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66863999999998 meters 0.026230366584507645 Centerline is valid? [True, True] Translation: X:158.99, Y:-70.95, Z:-8.48 [[ 7.39293653e-01 6.71325578e-01 5.26009842e-02 1.58988788e+02] [-6.69708905e-01 7.41162148e-01 -4.65688042e-02 -7.09487882e+01] [-7.02486878e-02 -7.99326098e-04 9.97529189e-01 -8.47896263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72863999999998 meters 0.026344334060332836 Centerline is valid? [True, True] Translation: X:159.04, Y:-70.99, Z:-8.48 [[ 7.38834731e-01 6.71838205e-01 5.25039706e-02 1.59038466e+02] [-6.70227482e-01 7.40697464e-01 -4.65015020e-02 -7.09870290e+01] [-7.01310435e-02 -8.32679288e-04 9.97537440e-01 -8.48171470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78864 meters 0.02639402338085535 Centerline is valid? [True, True] Translation: X:159.09, Y:-71.03, Z:-8.49 [[ 7.41381809e-01 6.68980034e-01 5.30916833e-02 1.59087384e+02] [-6.67324466e-01 7.43280166e-01 -4.70388418e-02 -7.10251391e+01] [-7.09300412e-02 -5.55637595e-04 9.97481138e-01 -8.48517289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84864 meters 0.026293590819836527 Centerline is valid? [True, True] Translation: X:159.13, Y:-71.06, Z:-8.49 [[ 7.44650400e-01 6.65333234e-01 5.31739450e-02 1.59134953e+02] [-6.63662302e-01 7.46546481e-01 -4.71243185e-02 -7.10649888e+01] [-7.10501968e-02 -1.98400067e-04 9.97472722e-01 -8.48966417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90864 meters 0.026347155961113755 Centerline is valid? [True, True] Translation: X:159.18, Y:-71.11, Z:-8.49 [[ 7.49308615e-01 6.60168549e-01 5.20969049e-02 1.59180189e+02] [-6.58551304e-01 7.51117434e-01 -4.61820312e-02 -7.11070234e+01] [-6.96188181e-02 2.96109182e-04 9.97573623e-01 -8.49314449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96864 meters 0.026468849096320017 Centerline is valid? [True, True] Translation: X:159.23, Y:-71.15, Z:-8.50 [[ 7.52069250e-01 6.57094839e-01 5.11685042e-02 1.59225343e+02] [-6.55526729e-01 7.53807691e-01 -4.53725974e-02 -7.11510636e+01] [-6.83853116e-02 5.81013062e-04 9.97658815e-01 -8.49524626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02864 meters 0.02647896023370727 Centerline is valid? [True, True] Translation: X:159.27, Y:-71.20, Z:-8.50 [[ 7.51945287e-01 6.57221267e-01 5.13662500e-02 1.59270998e+02] [-6.55640062e-01 7.53697462e-01 -4.55658411e-02 -7.11950549e+01] [-6.86614520e-02 5.85248147e-04 9.97639846e-01 -8.49877569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08864 meters 0.026258518776361536 Centerline is valid? [True, True] Translation: X:159.31, Y:-71.24, Z:-8.50 [[ 7.49461788e-01 6.60060671e-01 5.12536671e-02 1.59314399e+02] [-6.58491301e-01 7.51212215e-01 -4.54908068e-02 -7.12394201e+01] [-6.85290733e-02 3.43527447e-04 9.97649061e-01 -8.50156332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14864 meters 0.026106944349172833 Centerline is valid? [True, True] Translation: X:159.36, Y:-71.28, Z:-8.50 [[ 7.45611380e-01 6.64409214e-01 5.12256441e-02 1.59359099e+02] [-6.62848804e-01 7.47368982e-01 -4.55089874e-02 -7.12833179e+01] [-6.85210481e-02 -2.28380501e-05 9.97649671e-01 -8.50496436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20863999999997 meters 0.026295585940565247 Centerline is valid? [True, True] Translation: X:159.40, Y:-71.33, Z:-8.51 [[ 7.40482668e-01 6.69956671e-01 5.33242652e-02 1.59404746e+02] [-6.68276360e-01 7.42400020e-01 -4.74227448e-02 -7.13252085e+01] [-7.13591198e-02 -5.19625296e-04 9.97450553e-01 -8.50646529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26863999999998 meters 0.02643575335992719 Centerline is valid? [True, True] Translation: X:159.45, Y:-71.36, Z:-8.51 [[ 7.38133811e-01 6.72500858e-01 5.38616103e-02 1.59453801e+02] [-6.70790007e-01 7.40095972e-01 -4.79449544e-02 -7.13642130e+01] [-7.21057838e-02 -7.40038022e-04 9.97396716e-01 -8.50998427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32863999999998 meters 0.026574727880465214 Centerline is valid? [True, True] Translation: X:159.50, Y:-71.40, Z:-8.51 [[ 7.36315533e-01 6.74628780e-01 5.21099389e-02 1.59501638e+02] [-6.73029915e-01 7.38156639e-01 -4.64274676e-02 -7.14035098e+01] [-6.97866032e-02 -8.86282164e-04 9.97561549e-01 -8.51238524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38863999999998 meters 0.026843637577514234 Centerline is valid? [True, True] Translation: X:159.55, Y:-71.44, Z:-8.51 [[ 7.34816475e-01 6.76142325e-01 5.36311976e-02 1.59553152e+02] [-6.74450184e-01 7.36770307e-01 -4.78169744e-02 -7.14393660e+01] [-7.18449542e-02 -1.03487052e-03 9.97415275e-01 -8.51420836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44863999999998 meters 0.026776249673067926 Centerline is valid? [True, True] Translation: X:159.60, Y:-71.47, Z:-8.52 [[ 7.35314986e-01 6.75628121e-01 5.32777010e-02 1.59604685e+02] [-6.73955997e-01 7.37241957e-01 -4.75143225e-02 -7.14747974e+01] [-7.13805690e-02 -9.68832731e-04 9.97448683e-01 -8.51732332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50863999999999 meters 0.02684467199010409 Centerline is valid? [True, True] Translation: X:159.66, Y:-71.51, Z:-8.52 [[ 7.36665456e-01 6.74102370e-01 5.39444135e-02 1.59656396e+02] [-6.72383056e-01 7.38637475e-01 -4.81217932e-02 -7.15101928e+01] [-7.22843803e-02 -8.21646884e-04 9.97383724e-01 -8.52194887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56864 meters 0.026813023830601572 Centerline is valid? [True, True] Translation: X:159.71, Y:-71.55, Z:-8.52 [[ 7.38011009e-01 6.72622633e-01 5.40235457e-02 1.59706933e+02] [-6.70893365e-01 7.39985370e-01 -4.82052500e-02 -7.15476543e+01] [-7.24005756e-02 -6.68033158e-04 9.97375411e-01 -8.52361506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62864 meters 0.026944995042957297 Centerline is valid? [True, True] Translation: X:159.76, Y:-71.59, Z:-8.53 [[ 7.39015388e-01 6.71552086e-01 5.36101865e-02 1.59756171e+02] [-6.69845372e-01 7.40957149e-01 -4.78506169e-02 -7.15864207e+01] [-7.18570325e-02 -5.48193065e-04 9.97414792e-01 -8.52807062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68864 meters 0.027269087891364 Centerline is valid? [True, True] Translation: X:159.80, Y:-71.63, Z:-8.53 [[ 7.38723963e-01 6.71801154e-01 5.44987693e-02 1.59804268e+02] [-6.70036807e-01 7.40731317e-01 -4.86599732e-02 -7.16260599e+01] [-7.30587714e-02 -5.69893160e-04 9.97327474e-01 -8.53387990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74864 meters 0.027380028615975577 Centerline is valid? [True, True] Translation: X:159.85, Y:-71.67, Z:-8.54 [[ 7.36667951e-01 6.74019402e-01 5.49379216e-02 1.59851629e+02] [-6.72231651e-01 7.38713224e-01 -4.90650718e-02 -7.16669778e+01] [-7.36541795e-02 -7.86343860e-04 9.97283532e-01 -8.53602769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80864 meters 0.02761920373412671 Centerline is valid? [True, True] Translation: X:159.90, Y:-71.71, Z:-8.54 [[ 7.34679836e-01 6.76146743e-01 5.54176936e-02 1.59899047e+02] [-6.74332811e-01 7.36766301e-01 -4.95043256e-02 -7.17052589e+01] [-7.43020776e-02 -1.00013920e-03 9.97235279e-01 -8.53978876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86864 meters 0.027629515166086138 Centerline is valid? [True, True] Translation: X:159.95, Y:-71.74, Z:-8.54 [[ 7.33899702e-01 6.77033767e-01 5.49227321e-02 1.59947562e+02] [-6.75254140e-01 7.35951168e-01 -4.90685675e-02 -7.17428063e+01] [-7.36415260e-02 -1.07539517e-03 9.97284197e-01 -8.54276030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92863999999997 meters 0.027959191279315437 Centerline is valid? [True, True] Translation: X:159.99, Y:-71.78, Z:-8.55 [[ 7.34040051e-01 6.76796632e-01 5.59600127e-02 1.59994600e+02] [-6.74949329e-01 7.36169241e-01 -4.99825241e-02 -7.17779661e+01] [-7.50240440e-02 -1.08099846e-03 9.97181139e-01 -8.54646583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98863999999998 meters 0.02772182265277309 Centerline is valid? [True, True] Translation: X:160.04, Y:-71.81, Z:-8.55 [[ 7.37616347e-01 6.73058728e-01 5.39821586e-02 1.60044197e+02] [-6.71332979e-01 7.39588702e-01 -4.81724230e-02 -7.18105565e+01] [-7.23474644e-02 -7.07236720e-04 9.97379238e-01 -8.54764379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04863999999998 meters 0.027588833014281174 Centerline is valid? [True, True] Translation: X:160.09, Y:-71.85, Z:-8.55 [[ 7.41625718e-01 6.68547464e-01 5.50961178e-02 1.60090540e+02] [-6.66740705e-01 7.43669412e-01 -4.91186111e-02 -7.18451260e+01] [-7.38114204e-02 -3.07199189e-04 9.97272169e-01 -8.55339194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10863999999998 meters 0.02772542064125057 Centerline is valid? [True, True] Translation: X:160.14, Y:-71.88, Z:-8.55 [[ 7.46172199e-01 6.63519156e-01 5.44920074e-02 1.60136779e+02] [-6.61741893e-01 7.48159279e-01 -4.85320615e-02 -7.18813494e+01] [-7.29706534e-02 1.53630963e-04 9.97334076e-01 -8.55494536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16863999999998 meters 0.027873237923300924 Centerline is valid? [True, True] Translation: X:160.18, Y:-71.92, Z:-8.56 [[ 7.48246778e-01 6.61206443e-01 5.41553239e-02 1.60178917e+02] [-6.59448355e-01 7.50203921e-01 -4.81865609e-02 -7.19204419e+01] [-7.24888009e-02 3.42799686e-04 9.97369167e-01 -8.55825025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22863999999998 meters 0.02796326895742283 Centerline is valid? [True, True] Translation: X:160.22, Y:-71.96, Z:-8.56 [[ 7.51039905e-01 6.58127228e-01 5.29869099e-02 1.60220059e+02] [-6.56440007e-01 7.52906504e-01 -4.70989873e-02 -7.19614343e+01] [-7.08913151e-02 5.90491470e-04 9.97483871e-01 -8.55957157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28864 meters 0.0280364157115909 Centerline is valid? [True, True] Translation: X:160.26, Y:-72.01, Z:-8.56 [[ 7.49620515e-01 6.59659379e-01 5.40239534e-02 1.60259268e+02] [-6.57912786e-01 7.51564587e-01 -4.79733041e-02 -7.20051764e+01] [-7.22485302e-02 4.18723204e-04 9.97386572e-01 -8.56494985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34864 meters 0.02786332470432203 Centerline is valid? [True, True] Translation: X:160.30, Y:-72.05, Z:-8.57 [[ 7.48610952e-01 6.60770132e-01 5.44470015e-02 1.60301357e+02] [-6.59002155e-01 7.50588272e-01 -4.83053438e-02 -7.20468625e+01] [-7.27860091e-02 2.81218140e-04 9.97347541e-01 -8.56776424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40864 meters 0.027939764155237 Centerline is valid? [True, True] Translation: X:160.34, Y:-72.09, Z:-8.57 [[ 7.48170209e-01 6.61350504e-01 5.34495113e-02 1.60343526e+02] [-6.59651224e-01 7.50076980e-01 -4.73791921e-02 -7.20885795e+01] [-7.14255005e-02 1.89664470e-04 9.97445919e-01 -8.56953946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46864 meters 0.027839930272186102 Centerline is valid? [True, True] Translation: X:160.39, Y:-72.13, Z:-8.57 [[ 7.50429599e-01 6.58900900e-01 5.20098085e-02 1.60387421e+02] [-6.57288868e-01 7.52229657e-01 -4.60639475e-02 -7.21274080e+01] [-6.94748969e-02 3.82281526e-04 9.97583627e-01 -8.57092194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52864 meters 0.02852597722526518 Centerline is valid? [True, True] Translation: X:160.43, Y:-72.17, Z:-8.57 [[ 7.55720705e-01 6.52625464e-01 5.44630149e-02 1.60431898e+02] [-6.50844430e-01 7.57680049e-01 -4.81920225e-02 -7.21661451e+01] [-7.27168809e-02 9.72759306e-04 9.97352149e-01 -8.57445636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58864 meters 0.02904468231586365 Centerline is valid? [True, True] Translation: X:160.48, Y:-72.21, Z:-8.58 [[ 7.59862690e-01 6.47901048e-01 5.32252180e-02 1.60475824e+02] [-6.46190621e-01 7.61723278e-01 -4.70672826e-02 -7.22066736e+01] [-7.10378292e-02 1.37103527e-03 9.97472680e-01 -8.57622941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64864 meters 0.029049518183952065 Centerline is valid? [True, True] Translation: X:160.52, Y:-72.25, Z:-8.58 [[ 7.60685967e-01 6.47077038e-01 5.14603321e-02 1.60519700e+02] [-6.45476796e-01 7.62423346e-01 -4.55010662e-02 -7.22470747e+01] [-6.86772537e-02 1.39557232e-03 9.97637954e-01 -8.57853543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70863999999997 meters 0.028442824094069667 Centerline is valid? [True, True] Translation: X:160.56, Y:-72.29, Z:-8.58 [[ 7.58177866e-01 6.49954368e-01 5.22076933e-02 1.60562422e+02] [-6.48314311e-01 7.59972368e-01 -4.61579218e-02 -7.22901420e+01] [-6.96769472e-02 1.14891999e-03 9.97568946e-01 -8.57988644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76863999999998 meters 0.027558839140307875 Centerline is valid? [True, True] Translation: X:160.61, Y:-72.33, Z:-8.58 [[ 7.53718302e-01 6.55093239e-01 5.25506395e-02 1.60607368e+02] [-6.53443936e-01 7.55547739e-01 -4.64611278e-02 -7.23310873e+01] [-7.01408876e-02 6.79705665e-04 9.97536863e-01 -8.58240672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82863999999998 meters 0.02734979722730304 Centerline is valid? [True, True] Translation: X:160.65, Y:-72.37, Z:-8.59 [[ 7.51985618e-01 6.57087892e-01 5.24703073e-02 1.60652895e+02] [-6.55448472e-01 7.53813809e-01 -4.63901044e-02 -7.23712396e+01] [-7.00352181e-02 4.93108609e-04 9.97544398e-01 -8.58591911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88863999999998 meters 0.02734058380298582 Centerline is valid? [True, True] Translation: X:160.70, Y:-72.41, Z:-8.59 [[ 7.52671551e-01 6.56239115e-01 5.32518647e-02 1.60696823e+02] [-6.54548164e-01 7.54552772e-01 -4.70830736e-02 -7.24134718e+01] [-7.10790966e-02 5.82179806e-04 9.97470512e-01 -8.58807787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94863999999998 meters 0.02717608081457437 Centerline is valid? [True, True] Translation: X:160.74, Y:-72.45, Z:-8.59 [[ 7.53409898e-01 6.55448166e-01 5.25473937e-02 1.60742157e+02] [-6.53799512e-01 7.55239881e-01 -4.64641758e-02 -7.24534137e+01] [-7.01407462e-02 6.51109552e-04 9.97536892e-01 -8.58900951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00863999999999 meters 0.0273177246677458 Centerline is valid? [True, True] Translation: X:160.79, Y:-72.49, Z:-8.59 [[ 7.54897912e-01 6.53770185e-01 5.20930633e-02 1.60787225e+02] [-6.52145955e-01 7.56692742e-01 -4.60624416e-02 -7.24941009e+01] [-6.95326938e-02 8.00160458e-04 9.97579352e-01 -8.59299596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06864 meters 0.0273873700026703 Centerline is valid? [True, True] Translation: X:160.83, Y:-72.54, Z:-8.60 [[ 7.55677585e-01 6.52821590e-01 5.26816799e-02 1.60832189e+02] [-6.51157962e-01 7.57511164e-01 -4.65848119e-02 -7.25360298e+01] [-7.03185316e-02 8.99002786e-04 9.97524183e-01 -8.59527483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12864 meters 0.0271014218469211 Centerline is valid? [True, True] Translation: X:160.88, Y:-72.58, Z:-8.60 [[ 7.55610850e-01 6.52976785e-01 5.17065023e-02 1.60876026e+02] [-6.51374220e-01 7.57377421e-01 -4.57281977e-02 -7.25786480e+01] [-6.90207889e-02 8.72439720e-04 9.97614840e-01 -8.59713386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18864 meters 0.02642564411900595 Centerline is valid? [True, True] Translation: X:160.92, Y:-72.62, Z:-8.60 [[ 7.52185735e-01 6.56977148e-01 5.09671178e-02 1.60919645e+02] [-6.55428765e-01 7.53910321e-01 -4.50817239e-02 -7.26230650e+01] [-6.80422985e-02 5.04514536e-04 9.97682310e-01 -8.60043303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24864 meters 0.02606835127478745 Centerline is valid? [True, True] Translation: X:160.96, Y:-72.67, Z:-8.60 [[ 7.46774001e-01 6.63137544e-01 5.07660255e-02 1.60964375e+02] [-6.61614699e-01 7.48497559e-01 -4.49154120e-02 -7.26658007e+01] [-6.77833422e-02 -4.58868405e-05 9.97700063e-01 -8.60260085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30864 meters 0.026095736943527202 Centerline is valid? [True, True] Translation: X:161.01, Y:-72.71, Z:-8.61 [[ 7.43306076e-01 6.66883518e-01 5.25590292e-02 1.61010085e+02] [-6.65259503e-01 7.45161876e-01 -4.65142146e-02 -7.27082345e+01] [-7.01845478e-02 -3.91095303e-04 9.97533947e-01 -8.60619628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36864 meters 0.025828926829313738 Centerline is valid? [True, True] Translation: X:161.06, Y:-72.75, Z:-8.61 [[ 7.42107024e-01 6.68293281e-01 5.15873622e-02 1.61056259e+02] [-6.66731409e-01 7.43897732e-01 -4.56661039e-02 -7.27497068e+01] [-6.88940721e-02 -5.05778173e-04 9.97623852e-01 -8.60776716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42863999999997 meters 0.025663383658808683 Centerline is valid? [True, True] Translation: X:161.10, Y:-72.79, Z:-8.61 [[ 7.41581825e-01 6.68882984e-01 5.14970889e-02 1.61102597e+02] [-6.67327177e-01 7.43367507e-01 -4.55981205e-02 -7.27903736e+01] [-6.87810696e-02 -5.50669499e-04 9.97631626e-01 -8.61064547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48863999999998 meters 0.025732366612045025 Centerline is valid? [True, True] Translation: X:161.15, Y:-72.83, Z:-8.61 [[ 7.41810059e-01 6.68519682e-01 5.29081336e-02 1.61149412e+02] [-6.66875596e-01 7.43694266e-01 -4.68591201e-02 -7.28304445e+01] [-7.06737197e-02 -5.22576476e-04 9.97499350e-01 -8.61309837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54863999999998 meters 0.025536710616279677 Centerline is valid? [True, True] Translation: X:161.20, Y:-72.87, Z:-8.62 [[ 7.43542213e-01 6.66575108e-01 5.31281796e-02 1.61197435e+02] [-6.64911592e-01 7.45437802e-01 -4.70644038e-02 -7.28699185e+01] [-7.09757134e-02 -3.31171565e-04 9.97477989e-01 -8.61591364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60863999999998 meters 0.025730797688376442 Centerline is valid? [True, True] Translation: X:161.25, Y:-72.91, Z:-8.62 [[ 7.45551343e-01 6.64260295e-01 5.39579105e-02 1.61245355e+02] [-6.62537356e-01 7.47501338e-01 -4.78121456e-02 -7.29097086e+01] [-7.20933202e-02 -1.02721999e-04 9.97397886e-01 -8.61886535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66863999999998 meters 0.025726490346853412 Centerline is valid? [True, True] Translation: X:161.29, Y:-72.95, Z:-8.62 [[ 7.47651402e-01 6.61896978e-01 5.39422950e-02 1.61293389e+02] [-6.60167971e-01 7.49594805e-01 -4.78108619e-02 -7.29491953e+01] [-7.20807291e-02 1.34882532e-04 9.97398792e-01 -8.62163960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72863999999998 meters 0.02567003142798346 Centerline is valid? [True, True] Translation: X:161.34, Y:-72.99, Z:-8.62 [[ 7.48255948e-01 6.61270196e-01 5.32425138e-02 1.61341120e+02] [-6.59583355e-01 7.50147777e-01 -4.72028576e-02 -7.29886116e+01] [-7.11535963e-02 2.01943031e-04 9.97465350e-01 -8.62353753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78864 meters 0.02565399478791305 Centerline is valid? [True, True] Translation: X:161.39, Y:-73.03, Z:-8.63 [[ 7.48638350e-01 6.60873547e-01 5.27899246e-02 1.61388081e+02] [-6.59213599e-01 7.50497232e-01 -4.68117015e-02 -7.30274351e+01] [-7.05553074e-02 2.45198781e-04 9.97507839e-01 -8.62617715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84864 meters 0.025818716410342363 Centerline is valid? [True, True] Translation: X:161.44, Y:-73.06, Z:-8.63 [[ 7.49584838e-01 6.59912493e-01 5.13621760e-02 1.61435104e+02] [-6.58338823e-01 7.51342395e-01 -4.55477796e-02 -7.30646603e+01] [-6.86481291e-02 3.28210509e-04 9.97640881e-01 -8.62973356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90864 meters 0.025587316751362443 Centerline is valid? [True, True] Translation: X:161.48, Y:-73.10, Z:-8.63 [[ 7.50272511e-01 6.59257208e-01 4.97100884e-02 1.61480445e+02] [-6.57782836e-01 7.51917417e-01 -4.40674411e-02 -7.31016095e+01] [-6.64296594e-02 3.64146788e-04 9.97791044e-01 -8.63344041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96864 meters 0.02572152839856776 Centerline is valid? [True, True] Translation: X:161.53, Y:-73.14, Z:-8.64 [[ 7.49304385e-01 6.60317052e-01 5.02427030e-02 1.61525264e+02] [-6.58816093e-01 7.50986905e-01 -4.44974548e-02 -7.31385872e+01] [-6.71140402e-02 2.41436657e-04 9.97745282e-01 -8.63589305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02864 meters 0.025813206138788933 Centerline is valid? [True, True] Translation: X:161.57, Y:-73.18, Z:-8.64 [[ 7.47845946e-01 6.61816854e-01 5.22005071e-02 1.61570315e+02] [-6.60203418e-01 7.49665556e-01 -4.61844232e-02 -7.31765885e+01] [-6.96985518e-02 7.58804227e-05 9.97568096e-01 -8.63962674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08864 meters 0.025811856162461795 Centerline is valid? [True, True] Translation: X:161.62, Y:-73.21, Z:-8.64 [[ 7.47750440e-01 6.61936721e-01 5.20485944e-02 1.61615103e+02] [-6.60335996e-01 7.49559721e-01 -4.60064855e-02 -7.32134725e+01] [-6.94669121e-02 3.18093935e-05 9.97584256e-01 -8.64235486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14864 meters 0.025974164009588914 Centerline is valid? [True, True] Translation: X:161.66, Y:-73.25, Z:-8.64 [[ 7.50302431e-01 6.59095771e-01 5.13714581e-02 1.61659178e+02] [-6.57533016e-01 7.52058973e-01 -4.53611480e-02 -7.32514493e+01] [-6.85317069e-02 2.56149834e-04 9.97648906e-01 -8.64468326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20863999999997 meters 0.026297276018019015 Centerline is valid? [True, True] Translation: X:161.70, Y:-73.29, Z:-8.65 [[ 7.52766495e-01 6.56184398e-01 5.25798342e-02 1.61704039e+02] [-6.54543348e-01 7.54600416e-01 -4.63812326e-02 -7.32892120e+01] [-7.01114059e-02 4.98457247e-04 9.97539043e-01 -8.64690628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26863999999998 meters 0.026256385406012567 Centerline is valid? [True, True] Translation: X:161.75, Y:-73.33, Z:-8.65 [[ 7.53725674e-01 6.55122373e-01 5.20796051e-02 1.61747541e+02] [-6.53512885e-01 7.55522577e-01 -4.58971119e-02 -7.33267260e+01] [-6.94155423e-02 5.59138614e-04 9.97587675e-01 -8.64894846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32863999999998 meters 0.02655747165662089 Centerline is valid? [True, True] Translation: X:161.79, Y:-73.37, Z:-8.65 [[ 7.54291651e-01 6.54337671e-01 5.37244670e-02 1.61790130e+02] [-6.52626184e-01 7.56202244e-01 -4.72993627e-02 -7.33675472e+01] [-7.15763174e-02 6.15520477e-04 9.97434936e-01 -8.65241046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38863999999998 meters 0.026388649637924276 Centerline is valid? [True, True] Translation: X:161.83, Y:-73.40, Z:-8.66 [[ 7.53599982e-01 6.55200401e-01 5.29103099e-02 1.61834935e+02] [-6.53545497e-01 7.55454955e-01 -4.65413085e-02 -7.34047991e+01] [-7.04652398e-02 4.94234491e-04 9.97514113e-01 -8.65500723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44863999999998 meters 0.026585530125809952 Centerline is valid? [True, True] Translation: X:161.88, Y:-73.44, Z:-8.66 [[ 7.54721924e-01 6.53859805e-01 5.34992763e-02 1.61879648e+02] [-6.52167451e-01 7.56615492e-01 -4.70171667e-02 -7.34431300e+01] [-7.12210167e-02 5.94399851e-04 9.97460382e-01 -8.65878602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50863999999999 meters 0.026980374650943217 Centerline is valid? [True, True] Translation: X:161.93, Y:-73.48, Z:-8.66 [[ 7.59028325e-01 6.48988946e-01 5.18589350e-02 1.61925701e+02] [-6.47390246e-01 7.60797192e-01 -4.55357195e-02 -7.34797541e+01] [-6.90063108e-02 9.89932275e-04 9.97615732e-01 -8.65969378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56864 meters 0.027936194144456084 Centerline is valid? [True, True] Translation: X:161.97, Y:-73.52, Z:-8.66 [[ 7.63049183e-01 6.44357128e-01 5.05948313e-02 1.61968794e+02] [-6.42827909e-01 7.64723533e-01 -4.43869164e-02 -7.35190928e+01] [-6.72920840e-02 1.34563065e-03 9.97732411e-01 -8.66379817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62864 meters 0.02907601778767339 Centerline is valid? [True, True] Translation: X:162.01, Y:-73.56, Z:-8.67 [[ 7.67174338e-01 6.39267342e-01 5.27332934e-02 1.62010647e+02] [-6.37596115e-01 7.68982355e-01 -4.62312936e-02 -7.35611360e+01] [-7.01051283e-02 1.84491905e-03 9.97537903e-01 -8.66700024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68864 meters 0.02949162687649285 Centerline is valid? [True, True] Translation: X:162.05, Y:-73.61, Z:-8.67 [[ 7.67758393e-01 6.38484536e-01 5.37079798e-02 1.62050975e+02] [-6.36749524e-01 7.69632191e-01 -4.70779518e-02 -7.36055557e+01] [-7.13939344e-02 1.94596198e-03 9.97446299e-01 -8.67155473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74864 meters 0.02917465242424792 Centerline is valid? [True, True] Translation: X:162.09, Y:-73.65, Z:-8.67 [[ 7.67137496e-01 6.39312555e-01 5.27211435e-02 1.62092409e+02] [-6.37642884e-01 7.68944795e-01 -4.62109822e-02 -7.36512502e+01] [-7.00829100e-02 1.83291518e-03 9.97539486e-01 -8.67438850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80864 meters 0.028847098816488524 Centerline is valid? [True, True] Translation: X:162.13, Y:-73.70, Z:-8.68 [[ 7.65665675e-01 6.40985995e-01 5.37868776e-02 1.62131752e+02] [-6.39251600e-01 7.67550647e-01 -4.71528955e-02 -7.36999985e+01] [-7.15084984e-02 1.72000597e-03 9.97438507e-01 -8.67670212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86864 meters 0.028530829005463616 Centerline is valid? [True, True] Translation: X:162.17, Y:-73.75, Z:-8.68 [[ 7.64113535e-01 6.42882904e-01 5.32172623e-02 1.62172616e+02] [-6.41188868e-01 7.65962933e-01 -4.66649771e-02 -7.37480071e+01] [-7.07625663e-02 1.53502443e-03 9.97492006e-01 -8.68023300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92863999999997 meters 0.028231280427349553 Centerline is valid? [True, True] Translation: X:162.21, Y:-73.79, Z:-8.68 [[ 7.62644670e-01 6.44566409e-01 5.39189350e-02 1.62214419e+02] [-6.42830682e-01 7.64547034e-01 -4.72921536e-02 -7.37939160e+01] [-7.17064954e-02 1.40636311e-03 9.97424784e-01 -8.68342474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98863999999998 meters 0.02809226549802814 Centerline is valid? [True, True] Translation: X:162.26, Y:-73.84, Z:-8.69 [[ 7.61760353e-01 6.45619542e-01 5.38198034e-02 1.62258210e+02] [-6.43891964e-01 7.63658092e-01 -4.72171303e-02 -7.38377542e+01] [-7.15842304e-02 1.31399887e-03 9.97433693e-01 -8.68623588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04863999999998 meters 0.027901704231428317 Centerline is valid? [True, True] Translation: X:162.30, Y:-73.88, Z:-8.69 [[ 7.60172677e-01 6.47532918e-01 5.32787093e-02 1.62300568e+02] [-6.45843788e-01 7.62036639e-01 -4.67542791e-02 -7.38836136e+01] [-7.08752633e-02 1.13160211e-03 9.97484545e-01 -8.68904030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10863999999998 meters 0.02751621865861638 Centerline is valid? [True, True] Translation: X:162.34, Y:-73.93, Z:-8.69 [[ 7.57583321e-01 6.50511610e-01 5.38716782e-02 1.62342867e+02] [-6.48790513e-01 7.59495801e-01 -4.72969312e-02 -7.39293947e+01] [-7.16825162e-02 8.79932513e-04 9.97427111e-01 -8.69190078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16863999999998 meters 0.02718180595645542 Centerline is valid? [True, True] Translation: X:162.39, Y:-73.98, Z:-8.69 [[ 7.55680129e-01 6.52764072e-01 5.33536274e-02 1.62385371e+02] [-6.51078573e-01 7.57560947e-01 -4.68839431e-02 -7.39755175e+01] [-7.10227781e-02 6.91860635e-04 9.97474454e-01 -8.69345803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22863999999998 meters 0.027038965968258173 Centerline is valid? [True, True] Translation: X:162.43, Y:-74.02, Z:-8.70 [[ 7.54659259e-01 6.53953074e-01 5.32426549e-02 1.62430366e+02] [-6.52274380e-01 7.56534865e-01 -4.68308827e-02 -7.40200611e+01] [-7.09051245e-02 6.12539536e-04 9.97482876e-01 -8.69606089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28864 meters 0.026661120364683592 Centerline is valid? [True, True] Translation: X:162.47, Y:-74.06, Z:-8.70 [[ 7.53335238e-01 6.55549437e-01 5.23541287e-02 1.62474737e+02] [-6.53927041e-01 7.55152102e-01 -4.60947660e-02 -7.40636024e+01] [-6.97527283e-02 4.89031036e-04 9.97564192e-01 -8.69807418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34864 meters 0.026398161792985857 Centerline is valid? [True, True] Translation: X:162.52, Y:-74.11, Z:-8.70 [[ 7.50707569e-01 6.58675359e-01 5.08420823e-02 1.62519638e+02] [-6.57149862e-01 7.52427220e-01 -4.48033212e-02 -7.41063609e+01] [-6.77658103e-02 2.23325021e-04 9.97701230e-01 -8.69955165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40864 meters 0.02626097294442476 Centerline is valid? [True, True] Translation: X:162.57, Y:-74.15, Z:-8.70 [[ 7.47457677e-01 6.62428374e-01 4.99566908e-02 1.62566751e+02] [-6.60961284e-01 7.49125252e-01 -4.40628978e-02 -7.41474310e+01] [-6.66123323e-02 -8.42872094e-05 9.97778928e-01 -8.70159544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46864 meters 0.02642529632718866 Centerline is valid? [True, True] Translation: X:162.61, Y:-74.19, Z:-8.71 [[ 7.41978937e-01 6.68427521e-01 5.16904851e-02 1.62613628e+02] [-6.66868156e-01 7.43777034e-01 -4.56353611e-02 -7.41886869e+01] [-6.89501270e-02 -6.10261717e-04 9.97619921e-01 -8.70550313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52864 meters 0.026592091403209454 Centerline is valid? [True, True] Translation: X:162.66, Y:-74.23, Z:-8.71 [[ 7.38898255e-01 6.71837202e-01 5.16153339e-02 1.62662399e+02] [-6.70287720e-01 7.40698301e-01 -4.56113896e-02 -7.42271088e+01] [-6.88748185e-02 -8.94948372e-04 9.97624909e-01 -8.70770421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58864 meters 0.026623569424783958 Centerline is valid? [True, True] Translation: X:162.71, Y:-74.27, Z:-8.71 [[ 7.36961819e-01 6.74088165e-01 4.99241831e-02 1.62713385e+02] [-6.72641021e-01 7.38650167e-01 -4.41586691e-02 -7.42652959e+01] [-6.66433424e-02 -1.03780037e-03 9.97776322e-01 -8.71010503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64864 meters 0.026513390376768538 Centerline is valid? [True, True] Translation: X:162.76, Y:-74.31, Z:-8.71 [[ 7.36710536e-01 6.74356362e-01 5.00108422e-02 1.62762326e+02] [-6.72901652e-01 7.38405335e-01 -4.42823628e-02 -7.43052969e+01] [-6.67903658e-02 -1.02909514e-03 9.97766500e-01 -8.71312409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70863999999997 meters 0.026571883268449892 Centerline is valid? [True, True] Translation: X:162.81, Y:-74.34, Z:-8.72 [[ 7.36248073e-01 6.74770554e-01 5.12198653e-02 1.62810910e+02] [-6.73242958e-01 7.38026806e-01 -4.53911162e-02 -7.43441335e+01] [-6.84302222e-02 -1.06429177e-03 9.97655337e-01 -8.71688210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76863999999998 meters 0.02653550077460137 Centerline is valid? [True, True] Translation: X:162.86, Y:-74.38, Z:-8.72 [[ 7.37161566e-01 6.73781207e-01 5.11048993e-02 1.62859802e+02] [-6.72257265e-01 7.38930281e-01 -4.53013188e-02 -7.43826675e+01] [-6.82861349e-02 -9.61248701e-04 9.97665315e-01 -8.72014483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82863999999998 meters 0.026367345391607233 Centerline is valid? [True, True] Translation: X:162.91, Y:-74.42, Z:-8.72 [[ 7.40102997e-01 6.70386621e-01 5.31914756e-02 1.62908553e+02] [-6.68725672e-01 7.42011684e-01 -4.71660510e-02 -7.44218396e+01] [-7.10881859e-02 -6.62769493e-04 9.97469814e-01 -8.72419685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88863999999998 meters 0.026426872586911742 Centerline is valid? [True, True] Translation: X:162.95, Y:-74.46, Z:-8.73 [[ 7.46398216e-01 6.63413391e-01 5.26533518e-02 1.62954397e+02] [-6.61767264e-01 7.48253080e-01 -4.67056316e-02 -7.44639461e+01] [-7.03831741e-02 1.67355797e-05 9.97520029e-01 -8.72822318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94863999999998 meters 0.026081125593802684 Centerline is valid? [True, True] Translation: X:163.00, Y:-74.51, Z:-8.73 [[ 7.50103657e-01 6.59398771e-01 5.03762293e-02 1.63000867e+02] [-6.57881661e-01 7.51793261e-01 -4.47058529e-02 -7.45057450e+01] [-6.73514941e-02 3.92426371e-04 9.97729233e-01 -8.72964608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00863999999999 meters 0.026464115801228642 Centerline is valid? [True, True] Translation: X:163.04, Y:-74.55, Z:-8.73 [[ 7.52997187e-01 6.56073282e-01 5.06269310e-02 1.63042233e+02] [-6.54530672e-01 7.54696842e-01 -4.49697273e-02 -7.45525817e+01] [-6.77114215e-02 7.25198974e-04 9.97704685e-01 -8.73277533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06864 meters 0.026526976612508545 Centerline is valid? [True, True] Translation: X:163.09, Y:-74.60, Z:-8.74 [[ 7.53974986e-01 6.55026955e-01 4.96125897e-02 1.63085082e+02] [-6.53540596e-01 7.55605051e-01 -4.41100473e-02 -7.45984713e+01] [-6.63807933e-02 8.34030840e-04 9.97794014e-01 -8.73595723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12864 meters 0.026408264997939458 Centerline is valid? [True, True] Translation: X:163.12, Y:-74.65, Z:-8.74 [[ 7.53036516e-01 6.56077946e-01 4.99773396e-02 1.63123816e+02] [-6.54568831e-01 7.54692730e-01 -4.44806466e-02 -7.46500693e+01] [-6.69003061e-02 7.81942390e-04 9.97759359e-01 -8.74021337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18864 meters 0.02617710945324237 Centerline is valid? [True, True] Translation: X:163.17, Y:-74.70, Z:-8.74 [[ 7.50497294e-01 6.58891958e-01 5.11390236e-02 1.63165652e+02] [-6.57314998e-01 7.52237363e-01 -4.55625175e-02 -7.46973273e+01] [-6.84894606e-02 5.80098863e-04 9.97651671e-01 -8.74232952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24864 meters 0.025968088311551826 Centerline is valid? [True, True] Translation: X:163.21, Y:-74.74, Z:-8.75 [[ 7.47199429e-01 6.62556728e-01 5.20729824e-02 1.63208517e+02] [-6.60926963e-01 7.49011683e-01 -4.64440341e-02 -7.47441868e+01] [-6.97750794e-02 2.86517648e-04 9.97562708e-01 -8.74574943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30864 meters 0.025727011431035007 Centerline is valid? [True, True] Translation: X:163.25, Y:-74.79, Z:-8.75 [[ 7.41464502e-01 6.69051490e-01 5.09950541e-02 1.63250936e+02] [-6.67500682e-01 7.43216001e-01 -4.55281739e-02 -7.47900041e+01] [-6.83610327e-02 -2.81708604e-04 9.97660609e-01 -8.74820985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36864 meters 0.025960337707658494 Centerline is valid? [True, True] Translation: X:163.30, Y:-74.83, Z:-8.75 [[ 7.37343702e-01 6.73550973e-01 5.15107004e-02 1.63295880e+02] [-6.71976540e-01 7.39140470e-01 -4.60314681e-02 -7.48327750e+01] [-6.90781834e-02 -6.72969100e-04 9.97611022e-01 -8.75163166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42863999999997 meters 0.025930209147584468 Centerline is valid? [True, True] Translation: X:163.34, Y:-74.87, Z:-8.76 [[ 7.36396543e-01 6.74475270e-01 5.29456556e-02 1.63344023e+02] [-6.72810953e-01 7.38297062e-01 -4.73589395e-02 -7.48725771e+01] [-7.10320554e-02 -7.47457689e-04 9.97473753e-01 -8.75504242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48863999999998 meters 0.02595160866418374 Centerline is valid? [True, True] Translation: X:163.39, Y:-74.91, Z:-8.76 [[ 7.35380919e-01 6.75693132e-01 5.15140395e-02 1.63392853e+02] [-6.74117732e-01 7.37182566e-01 -4.61210101e-02 -7.49111387e+01] [-6.91389016e-02 -8.10016727e-04 9.97606714e-01 -8.75773505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54863999999998 meters 0.02604035548483837 Centerline is valid? [True, True] Translation: X:163.44, Y:-74.95, Z:-8.76 [[ 7.34820861e-01 6.76339014e-01 5.10278472e-02 1.63444302e+02] [-6.74791746e-01 7.36590015e-01 -4.57301794e-02 -7.49485141e+01] [-6.85157071e-02 -8.29680346e-04 9.97649693e-01 -8.75978638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60863999999998 meters 0.02623094730537119 Centerline is valid? [True, True] Translation: X:163.49, Y:-74.99, Z:-8.76 [[ 7.33914743e-01 6.77302147e-01 5.12927971e-02 1.63494445e+02] [-6.75737691e-01 7.35704433e-01 -4.60169526e-02 -7.49864937e+01] [-6.89037190e-02 -8.87956320e-04 9.97622919e-01 -8.76274320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66863999999998 meters 0.02624231772224215 Centerline is valid? [True, True] Translation: X:163.55, Y:-75.02, Z:-8.76 [[ 7.33844002e-01 6.77384392e-01 5.12187994e-02 1.63546746e+02] [-6.75821252e-01 7.35628744e-01 -4.59998564e-02 -7.50233392e+01] [-6.88376059e-02 -8.58034351e-04 9.97627510e-01 -8.76375028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72863999999998 meters 0.026235898532208757 Centerline is valid? [True, True] Translation: X:163.60, Y:-75.06, Z:-8.77 [[ 7.35842620e-01 6.75297883e-01 5.00840040e-02 1.63598641e+02] [-6.73795925e-01 7.37544836e-01 -4.50185221e-02 -7.50591589e+01] [-6.73401112e-02 -6.19850538e-04 9.97729886e-01 -8.76751622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78864 meters 0.026216209257866392 Centerline is valid? [True, True] Translation: X:163.65, Y:-75.10, Z:-8.77 [[ 7.38700913e-01 6.72237866e-01 4.91651610e-02 1.63649617e+02] [-6.70782800e-01 7.40335159e-01 -4.42073224e-02 -7.50960906e+01] [-6.61165333e-02 -3.23155003e-04 9.97811856e-01 -8.77069017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84864 meters 0.02616040715874878 Centerline is valid? [True, True] Translation: X:163.70, Y:-75.13, Z:-8.77 [[ 7.41615749e-01 6.69019287e-01 4.91861135e-02 1.63701587e+02] [-6.67554954e-01 7.43245042e-01 -4.42401511e-02 -7.51318766e+01] [-6.61548493e-02 -2.52409392e-05 9.97809368e-01 -8.77209482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90864 meters 0.026273400625750103 Centerline is valid? [True, True] Translation: X:163.75, Y:-75.17, Z:-8.78 [[ 7.42440597e-01 6.68208010e-01 4.77494962e-02 1.63749523e+02] [-6.66825654e-01 7.43974497e-01 -4.29592218e-02 -7.51707461e+01] [-6.42301035e-02 5.40812746e-05 9.97935114e-01 -8.77582203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96864 meters 0.026022801200485883 Centerline is valid? [True, True] Translation: X:163.80, Y:-75.21, Z:-8.78 [[ 7.44235630e-01 6.66224933e-01 4.75148958e-02 1.63798618e+02] [-6.64851275e-01 7.45750819e-01 -4.27609338e-02 -7.52097730e+01] [-6.39226727e-02 2.33871469e-04 9.97954827e-01 -8.77775472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02864 meters 0.026407277742283193 Centerline is valid? [True, True] Translation: X:163.85, Y:-75.25, Z:-8.78 [[ 7.46089615e-01 6.64077476e-01 4.84911561e-02 1.63847199e+02] [-6.62641128e-01 7.47663636e-01 -4.36557253e-02 -7.52483461e+01] [-6.52458580e-02 4.38848896e-04 9.97869122e-01 -8.78119779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08864 meters 0.026476498866243807 Centerline is valid? [True, True] Translation: X:163.90, Y:-75.29, Z:-8.78 [[ 7.46872680e-01 6.63154728e-01 4.90612483e-02 1.63895189e+02] [-6.61681603e-01 7.48482145e-01 -4.41807023e-02 -7.52874390e+01] [-6.60201100e-02 5.34434130e-04 9.97818149e-01 -8.78260549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14864 meters 0.02629613954284975 Centerline is valid? [True, True] Translation: X:163.94, Y:-75.33, Z:-8.79 [[ 7.46182470e-01 6.63937440e-01 4.89775179e-02 1.63940846e+02] [-6.62470269e-01 7.47787973e-01 -4.41167817e-02 -7.53299196e+01] [-6.59155820e-02 4.73019706e-04 9.97825091e-01 -8.78682032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20863999999997 meters 0.02628359379284148 Centerline is valid? [True, True] Translation: X:163.99, Y:-75.37, Z:-8.79 [[ 7.44937055e-01 6.65497485e-01 4.67106256e-02 1.63986599e+02] [-6.64165510e-01 7.46400021e-01 -4.20854431e-02 -7.53724496e+01] [-6.28725684e-02 3.27419596e-04 9.98021509e-01 -8.78904154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26863999999998 meters 0.026112639664881265 Centerline is valid? [True, True] Translation: X:164.03, Y:-75.41, Z:-8.79 [[ 7.41886667e-01 6.68741918e-01 4.88714651e-02 1.64033122e+02] [-6.67289933e-01 7.43494615e-01 -4.40443223e-02 -7.54132890e+01] [-6.57899558e-02 6.44587738e-05 9.97833492e-01 -8.79143872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32863999999998 meters 0.026137747528650456 Centerline is valid? [True, True] Translation: X:164.08, Y:-75.46, Z:-8.80 [[ 7.40181942e-01 6.70578532e-01 4.95492072e-02 1.64079021e+02] [-6.69089256e-01 7.41838543e-01 -4.46670394e-02 -7.54555238e+01] [-6.67102694e-02 -9.11061814e-05 9.97772385e-01 -8.79556412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38863999999998 meters 0.025926538586089117 Centerline is valid? [True, True] Translation: X:164.13, Y:-75.50, Z:-8.80 [[ 7.40217215e-01 6.70688345e-01 4.74933532e-02 1.64125661e+02] [-6.69319733e-01 7.41739264e-01 -4.28247501e-02 -7.54966976e+01] [-6.39497456e-02 -8.86212403e-05 9.97953116e-01 -8.79721518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44863999999998 meters 0.025679919316444432 Centerline is valid? [True, True] Translation: X:164.17, Y:-75.54, Z:-8.80 [[ 7.39057850e-01 6.72006053e-01 4.69186452e-02 1.64173498e+02] [-6.70672338e-01 7.40545629e-01 -4.23176941e-02 -7.55370505e+01] [-6.31831442e-02 -1.91813480e-04 9.98001931e-01 -8.79950001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50863999999999 meters 0.025523763557380078 Centerline is valid? [True, True] Translation: X:164.22, Y:-75.58, Z:-8.80 [[ 7.36282077e-01 6.75000441e-01 4.75721307e-02 1.64221570e+02] [-6.73634758e-01 7.37817190e-01 -4.29186042e-02 -7.55761342e+01] [-6.40696126e-02 -4.46041662e-04 9.97945332e-01 -8.80213465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56864 meters 0.025657416300533708 Centerline is valid? [True, True] Translation: X:164.27, Y:-75.62, Z:-8.80 [[ 7.35842336e-01 6.75554488e-01 4.64993534e-02 1.64270145e+02] [-6.74250184e-01 7.37309913e-01 -4.19616674e-02 -7.56152371e+01] [-6.26318269e-02 -4.75026214e-04 9.98036587e-01 -8.80479058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62864 meters 0.025758394546138028 Centerline is valid? [True, True] Translation: X:164.32, Y:-75.66, Z:-8.81 [[ 7.37111396e-01 6.74142675e-01 4.68875653e-02 1.64317740e+02] [-6.72812903e-01 7.38601064e-01 -4.23233489e-02 -7.56554004e+01] [-6.31631812e-02 -3.49536207e-04 9.98003151e-01 -8.80815745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68864 meters 0.025621923974827966 Centerline is valid? [True, True] Translation: X:164.37, Y:-75.70, Z:-8.81 [[ 7.37940961e-01 6.73254008e-01 4.66066416e-02 1.64365483e+02] [-6.71937665e-01 7.39411233e-01 -4.20809148e-02 -7.56953853e+01] [-6.27926189e-02 -2.63527219e-04 9.98026562e-01 -8.81119821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74864 meters 0.02558075828546554 Centerline is valid? [True, True] Translation: X:164.41, Y:-75.73, Z:-8.81 [[ 7.37111463e-01 6.74152540e-01 4.67444553e-02 1.64413985e+02] [-6.72829484e-01 7.38592067e-01 -4.22166255e-02 -7.57342082e+01] [-6.29855292e-02 -3.32689160e-04 9.98014385e-01 -8.81374123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80864 meters 0.025410824064770552 Centerline is valid? [True, True] Translation: X:164.46, Y:-75.77, Z:-8.82 [[ 7.38483828e-01 6.72645675e-01 4.67913705e-02 1.64461671e+02] [-6.71316306e-01 7.39964700e-01 -4.22689019e-02 -7.57723267e+01] [-6.30559565e-02 -1.96909535e-04 9.98009974e-01 -8.81735623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86864 meters 0.02540484749354249 Centerline is valid? [True, True] Translation: X:164.51, Y:-75.81, Z:-8.82 [[ 7.41268105e-01 6.69548164e-01 4.71895437e-02 1.64507820e+02] [-6.68189487e-01 7.42768639e-01 -4.26328366e-02 -7.58118758e+01] [-6.35956506e-02 7.08049828e-05 9.97975745e-01 -8.82041224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92863999999997 meters 0.025676151806758994 Centerline is valid? [True, True] Translation: X:164.55, Y:-75.85, Z:-8.82 [[ 7.45109896e-01 6.65375226e-01 4.56842559e-02 1.64554491e+02] [-6.64094052e-01 7.46508967e-01 -4.12729021e-02 -7.58501209e+01] [-6.15656732e-02 4.14205165e-04 9.98102949e-01 -8.82364270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98863999999998 meters 0.02566723530275297 Centerline is valid? [True, True] Translation: X:164.60, Y:-75.89, Z:-8.83 [[ 7.46330167e-01 6.64070259e-01 4.47434030e-02 1.64599430e+02] [-6.62839081e-01 7.47670001e-01 -4.04217994e-02 -7.58890000e+01] [-6.02962150e-02 5.10332189e-04 9.98180398e-01 -8.82604238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04863999999998 meters 0.025575299630900168 Centerline is valid? [True, True] Translation: X:164.64, Y:-75.93, Z:-8.83 [[ 7.44664021e-01 6.65793911e-01 4.68397823e-02 1.64643510e+02] [-6.64448299e-01 7.46135592e-01 -4.23100130e-02 -7.59292552e+01] [-6.31185777e-02 3.84130678e-04 9.98005961e-01 -8.83000550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10863999999998 meters 0.025524796288369633 Centerline is valid? [True, True] Translation: X:164.69, Y:-75.97, Z:-8.83 [[ 7.45106541e-01 6.65390235e-01 4.55200917e-02 1.64688569e+02] [-6.64118981e-01 7.46495595e-01 -4.11133223e-02 -7.59690416e+01] [-6.13369511e-02 4.03048448e-04 9.98117035e-01 -8.83251018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16863999999998 meters 0.025827837671369275 Centerline is valid? [True, True] Translation: X:164.73, Y:-76.01, Z:-8.84 [[ 7.47646424e-01 6.62518163e-01 4.57657972e-02 1.64732848e+02] [-6.61228393e-01 7.49045580e-01 -4.13247009e-02 -7.60075903e+01] [-6.16590331e-02 6.34620317e-04 9.98097070e-01 -8.83546502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22863999999998 meters 0.026811797007221423 Centerline is valid? [True, True] Translation: X:164.78, Y:-76.05, Z:-8.84 [[ 7.52781134e-01 6.56617886e-01 4.66209862e-02 1.64776692e+02] [-6.55269960e-01 7.54222582e-01 -4.20663276e-02 -7.60477732e+01] [-6.27841036e-02 1.11740604e-03 9.98026507e-01 -8.83982077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28864 meters 0.02724563671913915 Centerline is valid? [True, True] Translation: X:164.82, Y:-76.09, Z:-8.84 [[ 7.55130489e-01 6.53939496e-01 4.62718083e-02 1.64821037e+02] [-6.52606922e-01 7.56545686e-01 -4.17472349e-02 -7.60884233e+01] [-6.23069027e-02 1.32730749e-03 9.98056155e-01 -8.84241548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34864 meters 0.02794738446363233 Centerline is valid? [True, True] Translation: X:164.86, Y:-76.13, Z:-8.85 [[ 7.57142302e-01 6.51719922e-01 4.46842026e-02 1.64863483e+02] [-6.50473375e-01 7.58458315e-01 -4.03159212e-02 -7.61325831e+01] [-6.01657940e-02 1.45900530e-03 9.98187331e-01 -8.84570947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40864 meters 0.02779666277565812 Centerline is valid? [True, True] Translation: X:164.91, Y:-76.18, Z:-8.85 [[ 7.56487346e-01 6.52339609e-01 4.66897235e-02 1.64905036e+02] [-6.50979290e-01 7.57925359e-01 -4.21321053e-02 -7.61786508e+01] [-6.28717665e-02 1.47836147e-03 9.98020519e-01 -8.84993022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46864 meters 0.027837719606220127 Centerline is valid? [True, True] Translation: X:164.95, Y:-76.22, Z:-8.85 [[ 7.56120695e-01 6.52782307e-01 4.64408734e-02 1.64948099e+02] [-6.51436646e-01 7.57544177e-01 -4.19179557e-02 -7.62240932e+01] [-6.25443130e-02 1.44174699e-03 9.98041147e-01 -8.85251134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52864 meters 0.027818931551950456 Centerline is valid? [True, True] Translation: X:164.99, Y:-76.27, Z:-8.86 [[ 7.57045641e-01 6.51833140e-01 4.46705144e-02 1.64989148e+02] [-6.50585907e-01 7.58360993e-01 -4.03308963e-02 -7.62724937e+01] [-6.01653904e-02 1.47032208e-03 9.98187339e-01 -8.85536963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58864 meters 0.027886718142857626 Centerline is valid? [True, True] Translation: X:165.03, Y:-76.32, Z:-8.86 [[ 7.57040416e-01 6.51898158e-01 4.38018179e-02 1.65028638e+02] [-6.50698299e-01 7.58305148e-01 -3.95604208e-02 -7.63211771e+01] [-5.90045094e-02 1.44706903e-03 9.98256667e-01 -8.85910121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64863999999997 meters 0.027125029871429354 Centerline is valid? [True, True] Translation: X:165.07, Y:-76.37, Z:-8.86 [[ 7.52852128e-01 6.56669546e-01 4.47077176e-02 1.65067983e+02] [-6.55426898e-01 7.54177617e-01 -4.03943504e-02 -7.63703120e+01] [-6.02432996e-02 1.10833204e-03 9.98183108e-01 -8.86184189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70863999999997 meters 0.0261876041820679 Centerline is valid? [True, True] Translation: X:165.11, Y:-76.42, Z:-8.87 [[ 7.46757498e-01 6.63510313e-01 4.59053835e-02 1.65107880e+02] [-6.62210588e-01 7.48166894e-01 -4.15142845e-02 -7.64193541e+01] [-6.18900441e-02 6.02072281e-04 9.98082792e-01 -8.86573980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76863999999998 meters 0.02604808231289304 Centerline is valid? [True, True] Translation: X:165.15, Y:-76.47, Z:-8.87 [[ 7.42876550e-01 6.67778292e-01 4.69742818e-02 1.65149476e+02] [-6.66423171e-01 7.44360176e-01 -4.25215789e-02 -7.64677108e+01] [-6.33607720e-02 2.83533986e-04 9.97990647e-01 -8.86948428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82863999999998 meters 0.026078947153709342 Centerline is valid? [True, True] Translation: X:165.19, Y:-76.51, Z:-8.87 [[ 7.40755898e-01 6.70128713e-01 4.69915754e-02 1.65194966e+02] [-6.68774451e-01 7.42244902e-01 -4.25821404e-02 -7.65111052e+01] [-6.34147722e-02 1.16206588e-04 9.97987251e-01 -8.87234233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88863999999998 meters 0.026038010641629587 Centerline is valid? [True, True] Translation: X:165.24, Y:-76.55, Z:-8.88 [[ 7.37987361e-01 6.73228951e-01 4.62324069e-02 1.65242273e+02] [-6.71921428e-01 7.39434086e-01 -4.19383866e-02 -7.65529889e+01] [-6.24199535e-02 -1.14545639e-04 9.98049967e-01 -8.87572772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94863999999998 meters 0.026129218242854853 Centerline is valid? [True, True] Translation: X:165.29, Y:-76.59, Z:-8.88 [[ 7.34355108e-01 6.77102625e-01 4.74827369e-02 1.65291520e+02] [-6.75728477e-01 7.35888482e-01 -4.31180763e-02 -7.65915261e+01] [-6.41373618e-02 -4.21457872e-04 9.97940991e-01 -8.87927206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00863999999999 meters 0.02637255424551605 Centerline is valid? [True, True] Translation: X:165.34, Y:-76.63, Z:-8.88 [[ 7.33420708e-01 6.78133881e-01 4.72070367e-02 1.65341489e+02] [-6.76775162e-01 7.34938236e-01 -4.29088530e-02 -7.66298598e+01] [-6.37922033e-02 -4.78308586e-04 9.97963089e-01 -8.88162015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06864 meters 0.026241122270738305 Centerline is valid? [True, True] Translation: X:165.39, Y:-76.67, Z:-8.88 [[ 7.34657776e-01 6.76793325e-01 4.72096140e-02 1.65391023e+02] [-6.75428751e-01 7.36173002e-01 -4.29571186e-02 -7.66684146e+01] [-6.38275344e-02 -3.27949439e-04 9.97960890e-01 -8.88441089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12864 meters 0.026317922995047264 Centerline is valid? [True, True] Translation: X:165.44, Y:-76.71, Z:-8.89 [[ 7.37521113e-01 6.73642958e-01 4.76211468e-02 1.65441395e+02] [-6.72244876e-01 7.39056943e-01 -4.33781264e-02 -7.67064224e+01] [-6.44161086e-02 -2.07878643e-05 9.97923126e-01 -8.88771203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18864 meters 0.026282164263936668 Centerline is valid? [True, True] Translation: X:165.49, Y:-76.75, Z:-8.89 [[ 7.37849062e-01 6.73391825e-01 4.60674782e-02 1.65489167e+02] [-6.72080427e-01 7.39285770e-01 -4.20053650e-02 -7.67457158e+01] [-6.23431005e-02 3.25687778e-05 9.98054776e-01 -8.88922831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24864 meters 0.02610779779178983 Centerline is valid? [True, True] Translation: X:165.54, Y:-76.79, Z:-8.89 [[ 7.36124461e-01 6.75246780e-01 4.65033752e-02 1.65536231e+02] [-6.73911938e-01 7.37591876e-01 -4.24372936e-02 -7.67869434e+01] [-6.29561576e-02 -1.00049812e-04 9.98016289e-01 -8.89262815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30864 meters 0.026250801597088497 Centerline is valid? [True, True] Translation: X:165.58, Y:-76.83, Z:-8.90 [[ 7.35153746e-01 6.76202704e-01 4.79465722e-02 1.65580719e+02] [-6.74784592e-01 7.36715598e-01 -4.37707795e-02 -7.68303578e+01] [-6.49209071e-02 -1.75355709e-04 9.97890397e-01 -8.89509327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36864 meters 0.02615401557080678 Centerline is valid? [True, True] Translation: X:165.63, Y:-76.87, Z:-8.90 [[ 7.36023522e-01 6.75354646e-01 4.65346955e-02 1.65626178e+02] [-6.74016503e-01 7.37493115e-01 -4.24930567e-02 -7.68724947e+01] [-6.30169008e-02 -8.92634845e-05 9.98012456e-01 -8.89851224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42863999999997 meters 0.025979065287028175 Centerline is valid? [True, True] Translation: X:165.67, Y:-76.91, Z:-8.90 [[ 7.36088358e-01 6.75386278e-01 4.50255972e-02 1.65674276e+02] [-6.74132636e-01 7.37464148e-01 -4.11317323e-02 -7.69126137e+01] [-6.09845712e-02 -7.66352787e-05 9.98138706e-01 -8.90059672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48863999999998 meters 0.02590399074921315 Centerline is valid? [True, True] Translation: X:165.72, Y:-76.95, Z:-8.90 [[ 7.34820106e-01 6.76718521e-01 4.57324279e-02 1.65721227e+02] [-6.75425723e-01 7.36241819e-01 -4.18100083e-02 -7.69529358e+01] [-6.19637329e-02 -1.66023502e-04 9.98078388e-01 -8.90405333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54863999999998 meters 0.02597009485732517 Centerline is valid? [True, True] Translation: X:165.77, Y:-76.99, Z:-8.91 [[ 7.35486543e-01 6.76005872e-01 4.55588240e-02 1.65769732e+02] [-6.74720743e-01 7.36896229e-01 -4.16637299e-02 -7.69935169e+01] [-6.17370516e-02 -9.63709003e-05 9.98092444e-01 -8.90690619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60863999999998 meters 0.02599920307742949 Centerline is valid? [True, True] Translation: X:165.82, Y:-77.03, Z:-8.91 [[ 7.39365497e-01 6.71857215e-01 4.41196625e-02 1.65819185e+02] [-6.70643759e-01 7.40680645e-01 -4.03624829e-02 -7.70316394e+01] [-5.97964055e-02 2.54050941e-04 9.98210562e-01 -8.90873739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66863999999998 meters 0.02625370549191809 Centerline is valid? [True, True] Translation: X:165.87, Y:-77.07, Z:-8.91 [[ 7.41794957e-01 6.69093541e-01 4.53219143e-02 1.65867265e+02] [-6.67807122e-01 7.43178031e-01 -4.14736405e-02 -7.70705081e+01] [-6.14319960e-02 4.98640255e-04 9.98111147e-01 -8.91206559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72863999999998 meters 0.026376038858507807 Centerline is valid? [True, True] Translation: X:165.92, Y:-77.11, Z:-8.91 [[ 7.43590111e-01 6.67140206e-01 4.46955477e-02 1.65915001e+02] [-6.65884956e-01 7.44931884e-01 -4.09110550e-02 -7.71106546e+01] [-6.05885482e-02 6.58963171e-04 9.98162609e-01 -8.91495821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78864 meters 0.026253482083706262 Centerline is valid? [True, True] Translation: X:165.96, Y:-77.15, Z:-8.92 [[ 7.43120748e-01 6.67566284e-01 4.61173680e-02 1.65960969e+02] [-6.66229932e-01 7.44550086e-01 -4.22237735e-02 -7.71522439e+01] [-6.25238579e-02 6.52591221e-04 9.98043256e-01 -8.91685020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84864 meters 0.026314691771160595 Centerline is valid? [True, True] Translation: X:166.01, Y:-77.19, Z:-8.92 [[ 7.44384805e-01 6.66299249e-01 4.40065014e-02 1.66008366e+02] [-6.65079722e-01 7.45684099e-01 -4.03012237e-02 -7.71924896e+01] [-5.96676235e-02 7.31786841e-04 9.98218032e-01 -8.91975349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90864 meters 0.02646323755842088 Centerline is valid? [True, True] Translation: X:166.05, Y:-77.23, Z:-8.92 [[ 7.45436505e-01 6.65076465e-01 4.46957818e-02 1.66053730e+02] [-6.63815549e-01 7.46774780e-01 -4.09431929e-02 -7.72345196e+01] [-6.06080366e-02 8.50795643e-04 9.98161281e-01 -8.92286114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96864 meters 0.026929547860062436 Centerline is valid? [True, True] Translation: X:166.10, Y:-77.28, Z:-8.93 [[ 7.46112141e-01 6.64299539e-01 4.49754961e-02 1.66099873e+02] [-6.63020709e-01 7.47465894e-01 -4.12101652e-02 -7.72756064e+01] [-6.09935431e-02 9.27719300e-04 9.98137729e-01 -8.92660559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02864 meters 0.027420129515332143 Centerline is valid? [True, True] Translation: X:166.14, Y:-77.32, Z:-8.93 [[ 7.49280729e-01 6.60844432e-01 4.31627900e-02 1.66143574e+02] [-6.59660365e-01 7.50522000e-01 -3.95591967e-02 -7.73196379e+01] [-5.85370983e-02 1.16816189e-03 9.98284550e-01 -8.92922262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08864 meters 0.02857409762858707 Centerline is valid? [True, True] Translation: X:166.19, Y:-77.36, Z:-8.93 [[ 7.52124863e-01 6.57474360e-01 4.51182638e-02 1.66187502e+02] [-6.56173725e-01 7.53475417e-01 -4.13622784e-02 -7.73634574e+01] [-6.11901402e-02 1.50417874e-03 9.98124994e-01 -8.93374134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14863999999997 meters 0.029066083494517177 Centerline is valid? [True, True] Translation: X:166.23, Y:-77.41, Z:-8.94 [[ 7.54374080e-01 6.54848224e-01 4.57553345e-02 1.66228801e+02] [-6.53505063e-01 7.55758388e-01 -4.19570093e-02 -7.74098646e+01] [-6.20554509e-02 1.74993753e-03 9.98071169e-01 -8.93580678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20863999999997 meters 0.02939448241662123 Centerline is valid? [True, True] Translation: X:166.27, Y:-77.46, Z:-8.94 [[ 7.55942673e-01 6.53060387e-01 4.54181251e-02 1.66270647e+02] [-6.51733108e-01 7.57303477e-01 -4.16581215e-02 -7.74565009e+01] [-6.16005730e-02 1.89065593e-03 9.98099091e-01 -8.93764545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26863999999998 meters 0.02973352537187531 Centerline is valid? [True, True] Translation: X:166.31, Y:-77.50, Z:-8.94 [[ 7.56194443e-01 6.52711813e-01 4.62304508e-02 1.66311976e+02] [-6.51334864e-01 7.57603737e-01 -4.24201889e-02 -7.75032086e+01] [-6.27125207e-02 1.96640677e-03 9.98029695e-01 -8.94059859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32863999999998 meters 0.02952010937971624 Centerline is valid? [True, True] Translation: X:166.35, Y:-77.55, Z:-8.94 [[ 7.55178594e-01 6.53905184e-01 4.59706597e-02 1.66354945e+02] [-6.52543618e-01 7.56574160e-01 -4.22180957e-02 -7.75487139e+01] [-6.23868449e-02 1.88434156e-03 9.98050265e-01 -8.94364525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38863999999998 meters 0.029173910754031 Centerline is valid? [True, True] Translation: X:166.40, Y:-77.60, Z:-8.95 [[ 7.53497399e-01 6.55840886e-01 4.59826308e-02 1.66397022e+02] [-6.54479910e-01 7.54897120e-01 -4.22656547e-02 -7.75952956e+01] [-6.24316999e-02 1.75235279e-03 9.98047700e-01 -8.94678919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44863999999998 meters 0.02869169052830957 Centerline is valid? [True, True] Translation: X:166.44, Y:-77.64, Z:-8.95 [[ 7.51755319e-01 6.57861921e-01 4.56249193e-02 1.66436372e+02] [-6.56523503e-01 7.53136863e-01 -4.19732842e-02 -7.76445186e+01] [-6.19744340e-02 1.59980782e-03 9.98076455e-01 -8.95075895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50863999999999 meters 0.028591016095420464 Centerline is valid? [True, True] Translation: X:166.48, Y:-77.69, Z:-8.95 [[ 7.49970050e-01 6.59838892e-01 4.64495447e-02 1.66479155e+02] [-6.58452978e-01 7.51405625e-01 -4.27698773e-02 -7.76898043e+01] [-6.31236776e-02 1.49128597e-03 9.98004598e-01 -8.95288403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56864 meters 0.02830833637553425 Centerline is valid? [True, True] Translation: X:166.52, Y:-77.73, Z:-8.96 [[ 7.48712456e-01 6.61192116e-01 4.74830984e-02 1.66522623e+02] [-6.59743839e-01 7.50215246e-01 -4.37624405e-02 -7.77348824e+01] [-6.45579250e-02 1.43880263e-03 9.97912924e-01 -8.95612804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62864 meters 0.02832179836431365 Centerline is valid? [True, True] Translation: X:166.57, Y:-77.78, Z:-8.96 [[ 7.48025466e-01 6.62009178e-01 4.69228243e-02 1.66565314e+02] [-6.60593820e-01 7.49494452e-01 -4.32882279e-02 -7.77804031e+01] [-6.38256007e-02 1.38376907e-03 9.97960108e-01 -8.96029940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68864 meters 0.028464219671912074 Centerline is valid? [True, True] Translation: X:166.61, Y:-77.83, Z:-8.96 [[ 7.48698253e-01 6.61225467e-01 4.72420087e-02 1.66608657e+02] [-6.59786701e-01 7.50185752e-01 -4.36216236e-02 -7.78250698e+01] [-6.42840102e-02 1.48978429e-03 9.97930532e-01 -8.96326968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74864 meters 0.02837442753429791 Centerline is valid? [True, True] Translation: X:166.65, Y:-77.87, Z:-8.97 [[ 7.48254090e-01 6.61796825e-01 4.62685457e-02 1.66653480e+02] [-6.60415921e-01 7.49681869e-01 -4.27540300e-02 -7.78688255e+01] [-6.29811711e-02 1.43439361e-03 9.98013685e-01 -8.96572587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80864 meters 0.0279567991898733 Centerline is valid? [True, True] Translation: X:166.70, Y:-77.91, Z:-8.97 [[ 7.46793239e-01 6.63500726e-01 4.54603559e-02 1.66696352e+02] [-6.62169677e-01 7.48174540e-01 -4.20259083e-02 -7.79135815e+01] [-6.18965015e-02 1.28219498e-03 9.98081750e-01 -8.96944427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86864 meters 0.02805004687739072 Centerline is valid? [True, True] Translation: X:166.74, Y:-77.96, Z:-8.97 [[ 7.46035585e-01 6.64238217e-01 4.71009230e-02 1.66741963e+02] [-6.62808164e-01 7.47519842e-01 -4.35823888e-02 -7.79558463e+01] [-6.41579627e-02 1.29513666e-03 9.97938915e-01 -8.97263038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92863999999997 meters 0.0280724348622351 Centerline is valid? [True, True] Translation: X:166.79, Y:-78.00, Z:-8.98 [[ 7.45505929e-01 6.64836517e-01 4.70458879e-02 1.66787785e+02] [-6.63408401e-01 7.46987809e-01 -4.35718644e-02 -7.79994043e+01] [-6.41108713e-02 1.27244607e-03 9.97941971e-01 -8.97518869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98863999999998 meters 0.02817873702279911 Centerline is valid? [True, True] Translation: X:166.83, Y:-78.04, Z:-8.98 [[ 7.45930543e-01 6.64399852e-01 4.64807621e-02 1.66834824e+02] [-6.63002268e-01 7.47376127e-01 -4.30919617e-02 -7.80408156e+01] [-6.33689050e-02 1.32675973e-03 9.97989289e-01 -8.97731085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04863999999998 meters 0.028763163665576883 Centerline is valid? [True, True] Translation: X:166.88, Y:-78.08, Z:-8.98 [[ 7.47559823e-01 6.62568989e-01 4.64396931e-02 1.66879144e+02] [-6.61167646e-01 7.48999363e-01 -4.30963833e-02 -7.80840390e+01] [-6.33376277e-02 1.51270216e-03 9.97991010e-01 -8.98099394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10863999999998 meters 0.02907811482200244 Centerline is valid? [True, True] Translation: X:166.92, Y:-78.13, Z:-8.98 [[ 7.49867856e-01 6.60166089e-01 4.33466603e-02 1.66923564e+02] [-6.58939333e-01 7.51117892e-01 -4.02599985e-02 -7.81270516e+01] [-5.91367379e-02 1.62685937e-03 9.98248566e-01 -8.98172155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16863999999998 meters 0.029571222973626948 Centerline is valid? [True, True] Translation: X:166.97, Y:-78.17, Z:-8.99 [[ 7.50762861e-01 6.59153831e-01 4.32591452e-02 1.66968580e+02] [-6.57928264e-01 7.52006140e-01 -4.02139821e-02 -7.81702436e+01] [-5.90383431e-02 1.72974995e-03 9.98254217e-01 -8.98526353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22863999999998 meters 0.029409706315654618 Centerline is valid? [True, True] Translation: X:167.01, Y:-78.22, Z:-8.99 [[ 7.50949397e-01 6.58872479e-01 4.42951448e-02 1.67009713e+02] [-6.57584727e-01 7.52252443e-01 -4.12139418e-02 -7.82171523e+01] [-6.04758629e-02 1.82177410e-03 9.98167997e-01 -8.98768938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28864 meters 0.029332442103096563 Centerline is valid? [True, True] Translation: X:167.05, Y:-78.26, Z:-8.99 [[ 7.49776311e-01 6.60194414e-01 4.44839252e-02 1.67054579e+02] [-6.58895757e-01 7.51092719e-01 -4.14259318e-02 -7.82603553e+01] [-6.07607212e-02 1.74991272e-03 9.98150827e-01 -8.99126036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34864 meters 0.02919808481481667 Centerline is valid? [True, True] Translation: X:167.10, Y:-78.30, Z:-8.99 [[ 7.49237569e-01 6.60862948e-01 4.36260067e-02 1.67098059e+02] [-6.59612980e-01 7.50504704e-01 -4.06621001e-02 -7.83042983e+01] [-5.96135985e-02 1.68929275e-03 9.98220099e-01 -8.99432588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40864 meters 0.028621017603949448 Centerline is valid? [True, True] Translation: X:167.14, Y:-78.35, Z:-9.00 [[ 7.48065971e-01 6.62212388e-01 4.32672655e-02 1.67141480e+02] [-6.60983081e-01 7.49314492e-01 -4.03628335e-02 -7.83491810e+01] [-5.91495574e-02 1.59513175e-03 9.98247858e-01 -8.99757923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46864 meters 0.028113273156865005 Centerline is valid? [True, True] Translation: X:167.19, Y:-78.39, Z:-9.00 [[ 7.45085066e-01 6.65436849e-01 4.51889809e-02 1.67185806e+02] [-6.64099314e-01 7.46452785e-01 -4.21940964e-02 -7.83922026e+01] [-6.18089472e-02 1.42821989e-03 9.98086977e-01 -9.00065397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52864 meters 0.02769122962841321 Centerline is valid? [True, True] Translation: X:167.23, Y:-78.43, Z:-9.01 [[ 7.42298921e-01 6.68601471e-01 4.43213768e-02 1.67230727e+02] [-6.67318232e-01 7.43620000e-01 -4.14206879e-02 -7.84349474e+01] [-6.06521951e-02 1.17006921e-03 9.98158275e-01 -9.00525161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58864 meters 0.02782703403690186 Centerline is valid? [True, True] Translation: X:167.28, Y:-78.48, Z:-9.01 [[ 7.41927890e-01 6.68890406e-01 4.61370870e-02 1.67277095e+02] [-6.67497788e-01 7.43360026e-01 -4.31575579e-02 -7.84768855e+01] [-6.31641426e-02 1.22339234e-03 9.98002402e-01 -9.00927281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64863999999997 meters 0.02796972522258539 Centerline is valid? [True, True] Translation: X:167.32, Y:-78.52, Z:-9.01 [[ 7.43424258e-01 6.67198207e-01 4.65502410e-02 1.67324615e+02] [-6.65774662e-01 7.44878894e-01 -4.35836201e-02 -7.85175920e+01] [-6.37532052e-02 1.40914953e-03 9.97964700e-01 -9.00968574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70863999999997 meters 0.028125896513859727 Centerline is valid? [True, True] Translation: X:167.37, Y:-78.56, Z:-9.01 [[ 7.43833068e-01 6.66671007e-01 4.75619158e-02 1.67372249e+02] [-6.65181136e-01 7.45350569e-01 -4.45711326e-02 -7.85580395e+01] [-6.51645828e-02 1.51619306e-03 9.97873378e-01 -9.01363394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76863999999998 meters 0.027849002380493263 Centerline is valid? [True, True] Translation: X:167.42, Y:-78.60, Z:-9.02 [[ 7.42143970e-01 6.68487149e-01 4.84485189e-02 1.67416592e+02] [-6.66942285e-01 7.43722351e-01 -4.54428639e-02 -7.86012549e+01] [-6.64102169e-02 1.41278160e-03 9.97791405e-01 -9.01701870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82863999999998 meters 0.02790649339181764 Centerline is valid? [True, True] Translation: X:167.46, Y:-78.64, Z:-9.02 [[ 7.42225794e-01 6.68442620e-01 4.78051718e-02 1.67462229e+02] [-6.66935770e-01 7.43762344e-01 -4.48804438e-02 -7.86444348e+01] [-6.55556880e-02 1.42844399e-03 9.97847890e-01 -9.01932298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88863999999998 meters 0.028116580286222707 Centerline is valid? [True, True] Translation: X:167.51, Y:-78.69, Z:-9.02 [[ 7.41335188e-01 6.69366557e-01 4.86883118e-02 1.67508254e+02] [-6.67802274e-01 7.42930975e-01 -4.57568442e-02 -7.86878565e+01] [-6.68001562e-02 1.40699332e-03 9.97765383e-01 -9.02359300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94863999999998 meters 0.027146999862167957 Centerline is valid? [True, True] Translation: X:167.55, Y:-78.73, Z:-9.03 [[ 7.36389742e-01 6.74726266e-01 4.97454947e-02 1.67553094e+02] [-6.73102147e-01 7.38067416e-01 -4.67973127e-02 -7.87306665e+01] [-6.82909048e-02 9.77261682e-04 9.97664972e-01 -9.02588678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00863999999999 meters 0.026809319851717486 Centerline is valid? [True, True] Translation: X:167.60, Y:-78.77, Z:-9.03 [[ 7.31630609e-01 6.79848359e-01 5.02280916e-02 1.67599508e+02] [-6.78201541e-01 7.33352522e-01 -4.72942742e-02 -7.87718919e+01] [-6.89878323e-02 5.37169453e-04 9.97617357e-01 -9.03025993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06864 meters 0.026625843970905172 Centerline is valid? [True, True] Translation: X:167.65, Y:-78.81, Z:-9.03 [[ 7.26234921e-01 6.85488225e-01 5.18529876e-02 1.67648219e+02] [-6.83743830e-01 7.28083712e-01 -4.88721136e-02 -7.88116361e+01] [-7.12545740e-02 3.84752496e-05 9.97458162e-01 -9.03426082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12864 meters 0.026903770303277407 Centerline is valid? [True, True] Translation: X:167.70, Y:-78.85, Z:-9.04 [[ 7.27153979e-01 6.84591565e-01 5.08082641e-02 1.67698259e+02] [-6.82911303e-01 7.28926858e-01 -4.79352407e-02 -7.88493483e+01] [-6.98515697e-02 1.58763183e-04 9.97557383e-01 -9.03685584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18864 meters 0.027183101171972243 Centerline is valid? [True, True] Translation: X:167.75, Y:-78.89, Z:-9.04 [[ 7.30430881e-01 6.81159321e-01 4.99270239e-02 1.67749775e+02] [-6.79525778e-01 7.32135040e-01 -4.71486977e-02 -7.88859434e+01] [-6.86690986e-02 5.12165008e-04 9.97639360e-01 -9.03930201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24864 meters 0.027264233296551088 Centerline is valid? [True, True] Translation: X:167.80, Y:-78.92, Z:-9.04 [[ 7.31965699e-01 6.79492769e-01 5.01576759e-02 1.67799447e+02] [-6.77836856e-01 7.33681864e-01 -4.74143340e-02 -7.89245143e+01] [-6.90174742e-02 7.06944752e-04 9.97615201e-01 -9.04225377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30864 meters 0.02730187075307172 Centerline is valid? [True, True] Translation: X:167.85, Y:-78.96, Z:-9.05 [[ 7.32619029e-01 6.78775172e-01 5.03351090e-02 1.67848136e+02] [-6.77102683e-01 7.34345701e-01 -4.76271776e-02 -7.89643683e+01] [-6.92915165e-02 8.10539256e-04 9.97596125e-01 -9.04595845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36864 meters 0.027398839378711813 Centerline is valid? [True, True] Translation: X:167.90, Y:-79.01, Z:-9.05 [[ 7.33313203e-01 6.78115378e-01 4.91047888e-02 1.67895307e+02] [-6.76519044e-01 7.34954929e-01 -4.65105918e-02 -7.90055721e+01] [-6.76293541e-02 8.86506272e-04 9.97710121e-01 -9.04753912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42863999999997 meters 0.02766047075134548 Centerline is valid? [True, True] Translation: X:167.94, Y:-79.05, Z:-9.05 [[ 7.34793689e-01 6.76582995e-01 4.81007793e-02 1.67943091e+02] [-6.75044968e-01 7.36365648e-01 -4.56061874e-02 -7.90466467e+01] [-6.62761324e-02 1.04094970e-03 9.97800777e-01 -9.05084180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48863999999998 meters 0.02772829979227163 Centerline is valid? [True, True] Translation: X:167.99, Y:-79.09, Z:-9.05 [[ 7.35445334e-01 6.75811818e-01 4.89749552e-02 1.67989034e+02] [-6.74212442e-01 7.37073286e-01 -4.64817629e-02 -7.90883122e+01] [-6.75110559e-02 1.16527149e-03 9.97717846e-01 -9.05359237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54863999999998 meters 0.027517703769063824 Centerline is valid? [True, True] Translation: X:168.03, Y:-79.13, Z:-9.06 [[ 7.33670930e-01 6.77823317e-01 4.77757008e-02 1.68034580e+02] [-6.76303001e-01 7.35224169e-01 -4.53836070e-02 -7.91306017e+01] [-6.58879170e-02 9.85783348e-04 9.97826543e-01 -9.05585491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60863999999998 meters 0.027437690531650127 Centerline is valid? [True, True] Translation: X:168.08, Y:-79.17, Z:-9.06 [[ 7.30692679e-01 6.80903265e-01 4.95878289e-02 1.68082965e+02] [-6.79269224e-01 7.32372960e-01 -4.71504832e-02 -7.91713309e+01] [-6.84217030e-02 7.69026888e-04 9.97656193e-01 -9.05991048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66863999999998 meters 0.027278144354118343 Centerline is valid? [True, True] Translation: X:168.13, Y:-79.21, Z:-9.06 [[ 7.28771257e-01 6.82943119e-01 4.98111581e-02 1.68130776e+02] [-6.81295791e-01 7.30471298e-01 -4.74102049e-02 -7.92109478e+01] [-6.87640945e-02 6.15062225e-04 9.97632759e-01 -9.06319211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72863999999998 meters 0.02753686016193791 Centerline is valid? [True, True] Translation: X:168.18, Y:-79.25, Z:-9.07 [[ 7.28256261e-01 6.83409954e-01 5.09279174e-02 1.68180534e+02] [-6.81685832e-01 7.30034557e-01 -4.85177557e-02 -7.92490512e+01] [-7.03366568e-02 6.16519630e-04 9.97523120e-01 -9.06813911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78864 meters 0.027785868035405923 Centerline is valid? [True, True] Translation: X:168.23, Y:-79.29, Z:-9.07 [[ 7.31232729e-01 6.80293919e-01 4.99887868e-02 1.68230111e+02] [-6.78622631e-01 7.32938822e-01 -4.76655889e-02 -7.92871042e+01] [-6.90653328e-02 9.31116643e-04 9.97611704e-01 -9.07014673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84864 meters 0.02806434932150749 Centerline is valid? [True, True] Translation: X:168.28, Y:-79.33, Z:-9.07 [[ 7.33210826e-01 6.78224899e-01 4.91209717e-02 1.68278131e+02] [-6.76603731e-01 7.34853518e-01 -4.68796137e-02 -7.93271025e+01] [-6.78916401e-02 1.13720756e-03 9.97692053e-01 -9.07322919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90864 meters 0.028293038817217706 Centerline is valid? [True, True] Translation: X:168.32, Y:-79.37, Z:-9.08 [[ 7.33820731e-01 6.77535087e-01 4.95312205e-02 1.68323640e+02] [-6.75882220e-01 7.35489404e-01 -4.73134403e-02 -7.93699340e+01] [-6.84862037e-02 1.24231205e-03 9.97651290e-01 -9.07611924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96864 meters 0.028278220263594212 Centerline is valid? [True, True] Translation: X:168.37, Y:-79.41, Z:-9.08 [[ 7.33967449e-01 6.77399783e-01 4.92068959e-02 1.68367756e+02] [-6.75765276e-01 7.35613961e-01 -4.70467019e-02 -7.94144376e+01] [-6.80667052e-02 1.27843620e-03 9.97679953e-01 -9.07910579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02864 meters 0.02821679773646546 Centerline is valid? [True, True] Translation: X:168.41, Y:-79.46, Z:-9.08 [[ 7.33881787e-01 6.77553429e-01 4.83619069e-02 1.68413623e+02] [-6.75971893e-01 7.35472448e-01 -4.62847430e-02 -7.94578072e+01] [-6.69292363e-02 1.27624013e-03 9.97756909e-01 -9.08112935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08864 meters 0.02824221558297726 Centerline is valid? [True, True] Translation: X:168.46, Y:-79.50, Z:-9.08 [[ 7.34256699e-01 6.77189133e-01 4.77700430e-02 1.68459212e+02] [-6.75642322e-01 7.35807799e-01 -4.57639169e-02 -7.95017394e+01] [-6.61403974e-02 1.32699980e-03 9.97809444e-01 -9.08416073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14863999999997 meters 0.028361797950550806 Centerline is valid? [True, True] Translation: X:168.50, Y:-79.55, Z:-9.09 [[ 7.35706664e-01 6.75621320e-01 4.76606463e-02 1.68503525e+02] [-6.74075363e-01 7.37247306e-01 -4.57035526e-02 -7.95455902e+01] [-6.60159776e-02 1.49754073e-03 9.97817442e-01 -9.08615396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20863999999997 meters 0.027989470162189417 Centerline is valid? [True, True] Translation: X:168.55, Y:-79.59, Z:-9.09 [[ 7.33925452e-01 6.77556819e-01 4.76464876e-02 1.68547725e+02] [-6.76013193e-01 7.35469188e-01 -4.57300286e-02 -7.95892956e+01] [-6.60272163e-02 1.35277770e-03 9.97816905e-01 -9.08858987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26863999999998 meters 0.027700936323045582 Centerline is valid? [True, True] Translation: X:168.59, Y:-79.63, Z:-9.09 [[ 7.32093193e-01 6.79474292e-01 4.85205476e-02 1.68591435e+02] [-6.77874843e-01 7.33698282e-01 -4.66103854e-02 -7.96331403e+01] [-6.72700010e-02 1.23228730e-03 9.97734047e-01 -9.09095081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32863999999998 meters 0.02768264175622956 Centerline is valid? [True, True] Translation: X:168.64, Y:-79.68, Z:-9.09 [[ 7.32651114e-01 6.78853130e-01 4.87931698e-02 1.68635053e+02] [-6.77231427e-01 7.34272883e-01 -4.69140462e-02 -7.96774893e+01] [-6.76752485e-02 1.32736012e-03 9.97706519e-01 -9.09198292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38863999999998 meters 0.027704129244936454 Centerline is valid? [True, True] Translation: X:168.68, Y:-79.72, Z:-9.09 [[ 7.33376137e-01 6.78066483e-01 4.88393925e-02 1.68678335e+02] [-6.76437122e-01 7.34999180e-01 -4.70002782e-02 -7.97217673e+01] [-6.77662267e-02 1.43210439e-03 9.97700199e-01 -9.09345216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44863999999998 meters 0.027308720134466686 Centerline is valid? [True, True] Translation: X:168.72, Y:-79.77, Z:-9.10 [[ 7.31346062e-01 6.80264529e-01 4.87145461e-02 1.68722234e+02] [-6.78645547e-01 7.32965615e-01 -4.69215139e-02 -7.97654457e+01] [-6.76251288e-02 1.25595467e-03 9.97710010e-01 -9.09605289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50863999999999 meters 0.026288342750559617 Centerline is valid? [True, True] Translation: X:168.77, Y:-79.81, Z:-9.10 [[ 7.26282443e-01 6.85797908e-01 4.68512764e-02 1.68765891e+02] [-6.84310018e-01 7.27791652e-01 -4.51565188e-02 -7.98086103e+01] [-6.50662140e-02 7.35588997e-04 9.97880678e-01 -9.09790791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56864 meters 0.025937513132630777 Centerline is valid? [True, True] Translation: X:168.81, Y:-79.85, Z:-9.10 [[ 7.24858172e-01 6.87403589e-01 4.53534565e-02 1.68811503e+02] [-6.86011671e-01 7.26275406e-01 -4.37266677e-02 -7.98511393e+01] [-6.29969684e-02 5.82631901e-04 9.98013548e-01 -9.09910898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62864 meters 0.026009181599301948 Centerline is valid? [True, True] Translation: X:168.86, Y:-79.89, Z:-9.10 [[ 7.26172541e-01 6.86063067e-01 4.46196004e-02 1.68858021e+02] [-6.84710865e-01 7.27541720e-01 -4.30590042e-02 -7.98938321e+01] [-6.20038133e-02 7.16741316e-04 9.98075655e-01 -9.10167464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68864 meters 0.02577680144601142 Centerline is valid? [True, True] Translation: X:168.90, Y:-79.94, Z:-9.10 [[ 7.24613479e-01 6.87727530e-01 4.43412937e-02 1.68904075e+02] [-6.86392612e-01 7.25968651e-01 -4.28334071e-02 -7.99358590e+01] [-6.16481025e-02 6.02127743e-04 9.98097765e-01 -9.10332725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74864 meters 0.025399637189249306 Centerline is valid? [True, True] Translation: X:168.95, Y:-79.98, Z:-9.10 [[ 7.20999679e-01 6.91576821e-01 4.33700664e-02 1.68950925e+02] [-6.90304461e-01 7.22302854e-01 -4.19325461e-02 -7.99775059e+01] [-6.03258997e-02 2.94802024e-04 9.98178691e-01 -9.10498318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80864 meters 0.025179094948454366 Centerline is valid? [True, True] Translation: X:169.00, Y:-80.02, Z:-9.11 [[ 7.19045528e-01 6.93518135e-01 4.47897919e-02 1.68997499e+02] [-6.92162152e-01 7.20439150e-01 -4.33472808e-02 -8.00198502e+01] [-6.23304450e-02 1.66869638e-04 9.98055553e-01 -9.10778226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86864 meters 0.025086051754145924 Centerline is valid? [True, True] Translation: X:169.04, Y:-80.06, Z:-9.11 [[ 7.20862683e-01 6.91654623e-01 4.43945229e-02 1.69043856e+02] [-6.90316155e-01 7.22228325e-01 -4.30099035e-02 -8.00630267e+01] [-6.18109805e-02 3.57978097e-04 9.98087809e-01 -9.11070913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92863999999997 meters 0.025003538306288944 Centerline is valid? [True, True] Translation: X:169.09, Y:-80.10, Z:-9.11 [[ 7.22949874e-01 6.89434920e-01 4.49774470e-02 1.69090033e+02] [-6.88053922e-01 7.24347393e-01 -4.36194269e-02 -8.01048050e+01] [-6.26520526e-02 5.87750354e-04 9.98035257e-01 -9.11371769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98863999999998 meters 0.02526531087116001 Centerline is valid? [True, True] Translation: X:169.14, Y:-80.15, Z:-9.12 [[ 7.25118048e-01 6.87071390e-01 4.62246873e-02 1.69136261e+02] [-6.85605147e-01 7.26589425e-01 -4.48708182e-02 -8.01470030e+01] [-6.44158244e-02 8.44756592e-04 9.97922787e-01 -9.11575101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04863999999998 meters 0.025249567865100523 Centerline is valid? [True, True] Translation: X:169.18, Y:-80.19, Z:-9.12 [[ 7.26625472e-01 6.85545059e-01 4.52039432e-02 1.69180814e+02] [-6.84137434e-01 7.28029530e-01 -4.39200990e-02 -8.01921184e+01] [-6.30190124e-02 9.87752979e-04 9.98011838e-01 -9.11811236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10863999999998 meters 0.02552829542852873 Centerline is valid? [True, True] Translation: X:169.22, Y:-80.24, Z:-9.12 [[ 7.25909655e-01 6.86152502e-01 4.74332851e-02 1.69222789e+02] [-6.84600609e-01 7.27457018e-01 -4.61334423e-02 -8.02379414e+01] [-6.61602530e-02 1.01585540e-03 9.97808493e-01 -9.12269323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16863999999998 meters 0.025179876362410744 Centerline is valid? [True, True] Translation: X:169.27, Y:-80.29, Z:-9.13 [[ 7.23465874e-01 6.88638776e-01 4.87213011e-02 1.69265164e+02] [-6.87003886e-01 7.25104079e-01 -4.74313819e-02 -8.02850570e+01] [-6.79911030e-02 8.43262988e-04 9.97685571e-01 -9.12596080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22863999999998 meters 0.024981572235356006 Centerline is valid? [True, True] Translation: X:169.31, Y:-80.33, Z:-9.13 [[ 7.19750238e-01 6.92415566e-01 5.02023773e-02 1.69309168e+02] [-6.90685190e-01 7.21498713e-01 -4.89241892e-02 -8.03302419e+01] [-7.00968208e-02 5.39158333e-04 9.97540047e-01 -9.12975375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28864 meters 0.02470782568655264 Centerline is valid? [True, True] Translation: X:169.36, Y:-80.37, Z:-9.13 [[ 7.16048732e-01 6.96140456e-01 5.16011525e-02 1.69355726e+02] [-6.94317964e-01 7.17905577e-01 -5.03403130e-02 -8.03730864e+01] [-7.20886836e-02 2.18510103e-04 9.97398202e-01 -9.13452606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34864 meters 0.02470989981333081 Centerline is valid? [True, True] Translation: X:169.40, Y:-80.41, Z:-9.14 [[ 7.15570568e-01 6.96747227e-01 5.00206294e-02 1.69402099e+02] [-6.95032952e-01 7.17316713e-01 -4.88459721e-02 -8.04140701e+01] [-6.99139291e-02 1.86754256e-04 9.97553010e-01 -9.13758542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40864 meters 0.024830898461200804 Centerline is valid? [True, True] Translation: X:169.45, Y:-80.45, Z:-9.14 [[ 7.15690356e-01 6.96516677e-01 5.14959634e-02 1.69449652e+02] [-6.94695691e-01 7.17540561e-01 -5.03332907e-02 -8.04545421e+01] [-7.20084189e-02 2.49026910e-04 9.97403993e-01 -9.14111581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46864 meters 0.02500195273381856 Centerline is valid? [True, True] Translation: X:169.50, Y:-80.49, Z:-9.14 [[ 7.14922648e-01 6.97212153e-01 5.27334926e-02 1.69499015e+02] [-6.95300842e-01 7.16864817e-01 -5.15904282e-02 -8.04929535e+01] [-7.37722591e-02 2.17523712e-04 9.97275091e-01 -9.14381981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52864 meters 0.025064168202929702 Centerline is valid? [True, True] Translation: X:169.55, Y:-80.53, Z:-9.15 [[ 7.12837470e-01 6.99413119e-01 5.18076268e-02 1.69548562e+02] [-6.97570889e-01 7.14717628e-01 -5.07303258e-02 -8.05315068e+01] [-7.25092795e-02 2.29847549e-05 9.97367738e-01 -9.14743266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58864 meters 0.0251378672739692 Centerline is valid? [True, True] Translation: X:169.60, Y:-80.57, Z:-9.15 [[ 7.11501057e-01 7.00741976e-01 5.22200090e-02 1.69597566e+02] [-6.98870200e-01 7.13414801e-01 -5.11836522e-02 -8.05719243e+01] [-7.31210609e-02 -7.77854533e-05 9.97323069e-01 -9.14968837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64863999999997 meters 0.024995396055788273 Centerline is valid? [True, True] Translation: X:169.65, Y:-80.61, Z:-9.15 [[ 7.11559872e-01 7.00694381e-01 5.20570111e-02 1.69645012e+02] [-6.98830240e-01 7.13461550e-01 -5.10775161e-02 -8.06139298e+01] [-7.29304044e-02 -3.43027415e-05 9.97337032e-01 -9.15325020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70863999999997 meters 0.025163293337240034 Centerline is valid? [True, True] Translation: X:169.69, Y:-80.66, Z:-9.16 [[ 7.11598481e-01 7.00570502e-01 5.31843366e-02 1.69691626e+02] [-6.98620307e-01 7.13583192e-01 -5.22369194e-02 -8.06557180e+01] [-7.45470935e-02 1.60549149e-05 9.97217494e-01 -9.15765758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76863999999998 meters 0.025415389472198076 Centerline is valid? [True, True] Translation: X:169.74, Y:-80.70, Z:-9.16 [[ 7.11012070e-01 7.01169761e-01 5.31300580e-02 1.69736245e+02] [-6.99221457e-01 7.12994366e-01 -5.22339658e-02 -8.06996381e+01] [-7.45063093e-02 -1.06964493e-05 9.97220542e-01 -9.16152765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82863999999998 meters 0.02542339137709401 Centerline is valid? [True, True] Translation: X:169.78, Y:-80.74, Z:-9.16 [[ 7.11694805e-01 7.00495328e-01 5.28847786e-02 1.69780020e+02] [-6.98559099e-01 7.13656981e-01 -5.20470842e-02 -8.07446997e+01] [-7.42003307e-02 9.84961354e-05 9.97243351e-01 -9.16465826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88863999999998 meters 0.02568583968791618 Centerline is valid? [True, True] Translation: X:169.82, Y:-80.79, Z:-9.17 [[ 7.11986755e-01 7.00247768e-01 5.22295418e-02 1.69822128e+02] [-6.98354894e-01 7.13899880e-01 -5.14529218e-02 -8.07905286e+01] [-7.33164572e-02 1.59042643e-04 9.97308714e-01 -9.16855728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94863999999998 meters 0.025478546010234332 Centerline is valid? [True, True] Translation: X:169.87, Y:-80.84, Z:-9.17 [[ 7.10328600e-01 7.01989282e-01 5.14230336e-02 1.69865466e+02] [-7.00155732e-01 7.12187509e-01 -5.07040723e-02 -8.08356992e+01] [-7.22165575e-02 1.24209394e-05 9.97388976e-01 -9.17086820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00863999999999 meters 0.025521764606474293 Centerline is valid? [True, True] Translation: X:169.91, Y:-80.88, Z:-9.17 [[ 7.08751358e-01 7.03528454e-01 5.21462067e-02 1.69906141e+02] [-7.01643567e-01 7.10667082e-01 -5.14645774e-02 -8.08826723e+01] [-7.32653872e-02 -1.12461385e-04 9.97312474e-01 -9.17425715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06864 meters 0.025651273503120534 Centerline is valid? [True, True] Translation: X:169.95, Y:-80.93, Z:-9.18 [[ 7.09307794e-01 7.02947360e-01 5.24162426e-02 1.69950473e+02] [-7.01037591e-01 7.11241878e-01 -5.17811516e-02 -8.09270029e+01] [-7.36800507e-02 -1.69820136e-05 9.97281931e-01 -9.17747116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12864 meters 0.02579285803148906 Centerline is valid? [True, True] Translation: X:169.99, Y:-80.97, Z:-9.18 [[ 7.11073209e-01 7.01253106e-01 5.11758984e-02 1.69992372e+02] [-6.99424775e-01 7.12912369e-01 -5.06057138e-02 -8.09733132e+01] [-7.19713449e-02 1.90676058e-04 9.97406682e-01 -9.17979819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18864 meters 0.025668080070984804 Centerline is valid? [True, True] Translation: X:170.04, Y:-81.02, Z:-9.18 [[ 7.11193726e-01 7.01145088e-01 5.09808753e-02 1.70035907e+02] [-6.99326957e-01 7.13018591e-01 -5.04608418e-02 -8.10194490e+01] [-7.17306832e-02 2.35133757e-04 9.97424009e-01 -9.18309441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24864 meters 0.025824159378042295 Centerline is valid? [True, True] Translation: X:170.08, Y:-81.07, Z:-9.19 [[ 7.10003475e-01 7.02288909e-01 5.18203998e-02 1.70075402e+02] [-7.00409584e-01 7.11892031e-01 -5.13434603e-02 -8.10673648e+01] [-7.29484724e-02 1.58530601e-04 9.97335698e-01 -9.18701208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30864 meters 0.025923807372265996 Centerline is valid? [True, True] Translation: X:170.11, Y:-81.12, Z:-9.19 [[ 7.09855235e-01 7.02504383e-01 5.09228545e-02 1.70114956e+02] [-7.00686965e-01 7.11679397e-01 -5.04996447e-02 -8.11163325e+01] [-7.17169681e-02 1.66456820e-04 9.97425009e-01 -9.18965374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36864 meters 0.02584156545858685 Centerline is valid? [True, True] Translation: X:170.16, Y:-81.16, Z:-9.19 [[ 7.09269758e-01 7.03130078e-01 5.04430713e-02 1.70155282e+02] [-7.01344968e-01 7.11061231e-01 -5.00715665e-02 -8.11646889e+01] [-7.10749368e-02 1.36253671e-04 9.97470969e-01 -9.19284060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42863999999997 meters 0.02562813875373365 Centerline is valid? [True, True] Translation: X:170.20, Y:-81.21, Z:-9.20 [[ 7.09145629e-01 7.03346610e-01 4.91530625e-02 1.70195855e+02] [-7.01649343e-01 7.10847049e-01 -4.88331092e-02 -8.12126869e+01] [-6.92869113e-02 1.41571907e-04 9.97596764e-01 -9.19545924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48863999999998 meters 0.025570819311139758 Centerline is valid? [True, True] Translation: X:170.24, Y:-81.26, Z:-9.20 [[ 7.07431022e-01 7.05061033e-01 4.92979548e-02 1.70239457e+02] [-7.03355563e-01 7.09146627e-01 -4.90103325e-02 -8.12585931e+01] [-6.95147541e-02 -2.56116874e-06 9.97580924e-01 -9.19819609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54863999999998 meters 0.02564495662202281 Centerline is valid? [True, True] Translation: X:170.28, Y:-81.30, Z:-9.20 [[ 7.03644321e-01 7.08828261e-01 4.94688427e-02 1.70282686e+02] [-7.07116531e-01 7.05381019e-01 -4.92323959e-02 -8.13047579e+01] [-6.97916962e-02 -3.38140655e-04 9.97561529e-01 -9.20177688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60863999999998 meters 0.025589118882499352 Centerline is valid? [True, True] Translation: X:170.33, Y:-81.35, Z:-9.20 [[ 7.02204337e-01 7.10244080e-01 4.96227298e-02 1.70327665e+02] [-7.08521501e-01 7.03955361e-01 -4.94381603e-02 -8.13492275e+01] [-7.00453474e-02 -4.43080362e-04 9.97543710e-01 -9.20422745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66863999999998 meters 0.025707266319305255 Centerline is valid? [True, True] Translation: X:170.37, Y:-81.39, Z:-9.21 [[ 7.01060198e-01 7.11327308e-01 5.02798147e-02 1.70372225e+02] [-7.09557855e-01 7.02860717e-01 -5.01444184e-02 -8.13929571e+01] [-7.10088008e-02 -5.22181567e-04 9.97475552e-01 -9.20766033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72863999999998 meters 0.025821965001828463 Centerline is valid? [True, True] Translation: X:170.42, Y:-81.44, Z:-9.21 [[ 7.00434580e-01 7.11997630e-01 4.95052844e-02 1.70417372e+02] [-7.10280839e-01 7.02181652e-01 -4.94171659e-02 -8.14360093e+01] [-6.99466074e-02 -5.49163130e-04 9.97550585e-01 -9.21082688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78864 meters 0.025800022452011448 Centerline is valid? [True, True] Translation: X:170.46, Y:-81.48, Z:-9.21 [[ 7.00782939e-01 7.11694943e-01 4.89242383e-02 1.70464766e+02] [-7.10014417e-01 7.02488489e-01 -4.88820130e-02 -8.14770542e+01] [-6.91577957e-02 -4.81233795e-04 9.97605617e-01 -9.21378016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84864 meters 0.025794885467341197 Centerline is valid? [True, True] Translation: X:170.51, Y:-81.52, Z:-9.22 [[ 7.01661127e-01 7.10804247e-01 4.92847337e-02 1.70511344e+02] [-7.09093266e-01 7.03389786e-01 -4.92904551e-02 -8.15191066e+01] [-6.97022432e-02 -3.62276526e-04 9.97567775e-01 -9.21777310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90864 meters 0.025733927861226087 Centerline is valid? [True, True] Translation: X:170.42, Y:-81.74, Z:-7.50 [[ 7.53208262e-01 -6.57548817e-01 -1.75176463e-02 1.70418565e+02] [-6.57262434e-01 -7.53404655e-01 1.96855186e-02 -8.17439948e+01] [-2.61420657e-02 -3.31360440e-03 -9.99652746e-01 -7.49621905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96864 meters 0.025988940060647593 Centerline is valid? [True, True] Translation: X:170.45, Y:-81.85, Z:-7.50 [[ 8.00643251e-01 -5.98855820e-01 -1.84957254e-02 1.70448517e+02] [-5.98588104e-01 -8.00849027e-01 1.82514961e-02 -8.18475276e+01] [-2.57422984e-02 -3.54161594e-03 -9.99662339e-01 -7.50051633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02864 meters 0.025771980672642504 Centerline is valid? [True, True] Translation: X:170.47, Y:-81.94, Z:-7.50 [[ 8.44919609e-01 -5.34523044e-01 -1.98989939e-02 1.70474104e+02] [-5.34270193e-01 -8.45146298e-01 1.68254247e-02 -8.19425269e+01] [-2.58111383e-02 -3.58469192e-03 -9.99660410e-01 -7.50460692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08864 meters 0.02557590804451218 Centerline is valid? [True, True] Translation: X:170.59, Y:-81.73, Z:-9.23 [[ 8.46121845e-01 5.29870426e-01 5.75773796e-02 1.70585456e+02] [-5.28641790e-01 8.48078608e-01 -3.60628941e-02 -8.17281834e+01] [-6.79388050e-02 7.57935353e-05 9.97689487e-01 -9.22769461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14863999999997 meters 0.025672958039751694 Centerline is valid? [True, True] Translation: X:170.64, Y:-81.76, Z:-9.23 [[ 8.44828386e-01 5.31893354e-01 5.79176808e-02 1.70640368e+02] [-5.30652206e-01 8.46811347e-01 -3.63150104e-02 -8.17600957e+01] [-6.83610619e-02 -5.41934166e-05 9.97660645e-01 -9.23028642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20863999999997 meters 0.02558813509661357 Centerline is valid? [True, True] Translation: X:170.70, Y:-81.79, Z:-9.23 [[ 8.44855284e-01 5.31823621e-01 5.81651623e-02 1.70695314e+02] [-5.30568692e-01 8.46855145e-01 -3.65133774e-02 -8.17916183e+01] [-6.86761435e-02 -1.20942591e-05 9.97639006e-01 -9.23289654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26863999999998 meters 0.025636104681574845 Centerline is valid? [True, True] Translation: X:170.75, Y:-81.82, Z:-9.24 [[ 8.44173506e-01 5.32782748e-01 5.92759181e-02 1.70748659e+02] [-5.31478747e-01 8.46252055e-01 -3.72532072e-02 -8.18230819e+01] [-7.00102336e-02 -5.57201084e-05 9.97546272e-01 -9.23695881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32863999999998 meters 0.025610976132008245 Centerline is valid? [True, True] Translation: X:170.80, Y:-81.85, Z:-9.24 [[ 8.43721328e-01 5.33438818e-01 5.98109307e-02 1.70802846e+02] [-5.32110700e-01 8.45838649e-01 -3.76189243e-02 -8.18534600e+01] [-7.06577913e-02 -8.61474553e-05 9.97500611e-01 -9.23960971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38863999999998 meters 0.0253942344524822 Centerline is valid? [True, True] Translation: X:170.86, Y:-81.89, Z:-9.24 [[ 8.43104259e-01 5.34479790e-01 5.92162348e-02 1.70855588e+02] [-5.33179781e-01 8.45181239e-01 -3.72557888e-02 -8.18865823e+01] [-6.99609169e-02 -1.62384940e-04 9.97549720e-01 -9.24194549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44863999999998 meters 0.02523212812874142 Centerline is valid? [True, True] Translation: X:170.91, Y:-81.92, Z:-9.24 [[ 8.44105207e-01 5.33013443e-01 5.81641571e-02 1.70909101e+02] [-5.31755055e-01 8.46106771e-01 -3.66045517e-02 -8.19188218e+01] [-6.87238053e-02 -3.09918396e-05 9.97635724e-01 -9.24342009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50863999999999 meters 0.025264588987933087 Centerline is valid? [True, True] Translation: X:170.96, Y:-81.95, Z:-9.25 [[ 8.46454162e-01 5.29224960e-01 5.86199052e-02 1.70960968e+02] [-5.27936900e-01 8.48481501e-01 -3.69021832e-02 -8.19529849e+01] [-6.92674616e-02 2.88395456e-04 9.97598083e-01 -9.24692583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56864 meters 0.025115733415750883 Centerline is valid? [True, True] Translation: X:171.01, Y:-81.99, Z:-9.25 [[ 8.48253837e-01 5.26554740e-01 5.66174431e-02 1.71013045e+02] [-5.25346645e-01 8.50141081e-01 -3.56517063e-02 -8.19872841e+01] [-6.69053892e-02 4.97912814e-04 9.97759200e-01 -9.24895503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62864 meters 0.025124281766291442 Centerline is valid? [True, True] Translation: X:171.06, Y:-82.03, Z:-9.25 [[ 8.49910523e-01 5.23985548e-01 5.55989958e-02 1.71063082e+02] [-5.22813860e-01 8.51726864e-01 -3.50288067e-02 -8.20258962e+01] [-6.57097468e-02 7.03425806e-04 9.97838531e-01 -9.25111219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68864 meters 0.025214600138927932 Centerline is valid? [True, True] Translation: X:171.11, Y:-82.06, Z:-9.25 [[ 8.49539261e-01 5.24404303e-01 5.72989593e-02 1.71113674e+02] [-5.23157960e-01 8.51469083e-01 -3.61406857e-02 -8.20622430e+01] [-6.77406234e-02 7.26524775e-04 9.97702701e-01 -9.25491875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74864 meters 0.025226935501802775 Centerline is valid? [True, True] Translation: X:171.16, Y:-82.10, Z:-9.26 [[ 8.48498061e-01 5.26085528e-01 5.73154293e-02 1.71164468e+02] [-5.24839690e-01 8.50431435e-01 -3.61894051e-02 -8.20991530e+01] [-6.77815652e-02 6.25227868e-04 9.97699989e-01 -9.25904475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80864 meters 0.024967872208941085 Centerline is valid? [True, True] Translation: X:171.21, Y:-82.14, Z:-9.26 [[ 8.47503074e-01 5.27918670e-01 5.51399786e-02 1.71214253e+02] [-5.26767131e-01 8.49294787e-01 -3.48533370e-02 -8.21367761e+01] [-6.52298237e-02 4.92381911e-04 9.97870146e-01 -9.26080343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86863999999997 meters 0.025021811913661752 Centerline is valid? [True, True] Translation: X:171.26, Y:-82.17, Z:-9.26 [[ 8.46620380e-01 5.28942165e-01 5.87717474e-02 1.71264369e+02] [-5.27633493e-01 8.48657741e-01 -3.71878511e-02 -8.21733896e+01] [-6.95473209e-02 4.74050304e-04 9.97578541e-01 -9.26426778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92863999999997 meters 0.024955423298349804 Centerline is valid? [True, True] Translation: X:171.32, Y:-82.21, Z:-9.27 [[ 8.46698132e-01 5.28886502e-01 5.81493068e-02 1.71317627e+02] [-5.27602654e-01 8.48692413e-01 -3.68324222e-02 -8.22071201e+01] [-6.88310464e-02 5.06214480e-04 9.97628203e-01 -9.26803566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98863999999998 meters 0.0248129740663774 Centerline is valid? [True, True] Translation: X:171.37, Y:-82.24, Z:-9.27 [[ 8.45806667e-01 5.30190802e-01 5.92350883e-02 1.71369835e+02] [-5.28858608e-01 8.47878243e-01 -3.75640407e-02 -8.22426033e+01] [-7.01402515e-02 4.44929711e-04 9.97537040e-01 -9.27007892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04863999999998 meters 0.024590664153754476 Centerline is valid? [True, True] Translation: X:171.42, Y:-82.28, Z:-9.27 [[ 8.43624200e-01 5.33630061e-01 5.94740832e-02 1.71423517e+02] [-5.32292499e-01 8.45717990e-01 -3.77594592e-02 -8.22757685e+01] [-7.04478847e-02 1.97185177e-04 9.97515442e-01 -9.27412419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10863999999998 meters 0.024711935359047643 Centerline is valid? [True, True] Translation: X:171.48, Y:-82.31, Z:-9.28 [[ 8.42187775e-01 5.35653384e-01 6.16052234e-02 1.71477400e+02] [-5.34220265e-01 8.44437948e-01 -3.91568673e-02 -8.23062979e+01] [-7.29962969e-02 6.66761969e-05 9.97332210e-01 -9.27860277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16863999999998 meters 0.024809017556212298 Centerline is valid? [True, True] Translation: X:171.53, Y:-82.34, Z:-9.28 [[ 8.39965491e-01 5.39059759e-01 6.22298153e-02 1.71532360e+02] [-5.37603559e-01 8.42267498e-01 -3.95964061e-02 -8.23364567e+01] [-7.37589800e-02 -1.95355428e-04 9.97276077e-01 -9.28158809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22863999999998 meters 0.02454874348998934 Centerline is valid? [True, True] Translation: X:171.59, Y:-82.36, Z:-9.29 [[ 8.39361568e-01 5.40288669e-01 5.96683568e-02 1.71589506e+02] [-5.38950219e-01 8.41479702e-01 -3.80075406e-02 -8.23625842e+01] [-7.07447546e-02 -2.56205137e-04 9.97494418e-01 -9.28501886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28864 meters 0.024597622796970628 Centerline is valid? [True, True] Translation: X:171.64, Y:-82.39, Z:-9.29 [[ 8.39140991e-01 5.40503569e-01 6.08135670e-02 1.71644914e+02] [-5.39110871e-01 8.41341685e-01 -3.87767672e-02 -8.23915960e+01] [-7.21239700e-02 -2.46080200e-04 9.97395645e-01 -9.28819389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34864 meters 0.024700920443664 Centerline is valid? [True, True] Translation: X:171.70, Y:-82.42, Z:-9.29 [[ 8.40909187e-01 5.37681853e-01 6.14000329e-02 1.71702702e+02] [-5.36251517e-01 8.43147807e-01 -3.91929435e-02 -8.24176802e+01] [-7.28426376e-02 3.18454693e-05 9.97343446e-01 -9.29102245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40864 meters 0.02497924144169906 Centerline is valid? [True, True] Translation: X:171.76, Y:-82.45, Z:-9.30 [[ 8.44817595e-01 5.31407487e-01 6.23643650e-02 1.71758863e+02] [-5.29912101e-01 8.47116112e-01 -3.98429132e-02 -8.24455665e+01] [-7.40026808e-02 6.12362371e-04 9.97257854e-01 -9.29567208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46864 meters 0.025403123994879224 Centerline is valid? [True, True] Translation: X:171.81, Y:-82.48, Z:-9.30 [[ 8.48733197e-01 5.25128313e-01 6.23876148e-02 1.71812760e+02] [-5.23613949e-01 8.51022258e-01 -3.98691572e-02 -8.24772871e+01] [-7.40296721e-02 1.17125195e-03 9.97255351e-01 -9.29700993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52864 meters 0.025631870422368454 Centerline is valid? [True, True] Translation: X:171.86, Y:-82.51, Z:-9.30 [[ 8.49990498e-01 5.23176016e-01 6.16685485e-02 1.71864175e+02] [-5.21689761e-01 8.52223592e-01 -3.94302176e-02 -8.25117755e+01] [-7.31843361e-02 1.34345997e-03 9.97317526e-01 -9.30006612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58864 meters 0.025471656382450976 Centerline is valid? [True, True] Translation: X:171.92, Y:-82.55, Z:-9.30 [[ 8.49926250e-01 5.23376921e-01 6.08438069e-02 1.71915844e+02] [-5.21928025e-01 8.52100230e-01 -3.89401314e-02 -8.25460083e+01] [-7.22253879e-02 1.34015181e-03 9.97387436e-01 -9.30298858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64863999999997 meters 0.025332306125250073 Centerline is valid? [True, True] Translation: X:171.97, Y:-82.58, Z:-9.31 [[ 8.49021429e-01 5.24919387e-01 6.01851397e-02 1.71965689e+02] [-5.23502959e-01 8.51151062e-01 -3.85554271e-02 -8.25830741e+01] [-7.14651368e-02 1.22728511e-03 9.97442343e-01 -9.30536800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70863999999997 meters 0.025443996225770257 Centerline is valid? [True, True] Translation: X:172.01, Y:-82.62, Z:-9.31 [[ 8.48834392e-01 5.25131923e-01 6.09642394e-02 1.72014128e+02] [-5.23676313e-01 8.51019907e-01 -3.90926658e-02 -8.26217498e+01] [-7.24105881e-02 1.25767103e-03 9.97374115e-01 -9.31020945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76863999999998 meters 0.025158244744485737 Centerline is valid? [True, True] Translation: X:172.07, Y:-82.66, Z:-9.31 [[ 8.48821318e-01 5.25474245e-01 5.81307834e-02 1.72066068e+02] [-5.24149850e-01 8.50808669e-01 -3.73034094e-02 -8.26568050e+01] [-6.90601553e-02 1.19468772e-03 9.97611782e-01 -9.31244936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82863999999998 meters 0.024862377929930558 Centerline is valid? [True, True] Translation: X:172.12, Y:-82.69, Z:-9.31 [[ 8.47422851e-01 5.27722818e-01 5.81647497e-02 1.72117667e+02] [-5.26401255e-01 8.49416023e-01 -3.73381662e-02 -8.26924152e+01] [-6.91102727e-02 1.02321802e-03 9.97608502e-01 -9.31398446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88863999999998 meters 0.024581214510588145 Centerline is valid? [True, True] Translation: X:172.17, Y:-82.73, Z:-9.32 [[ 8.46070693e-01 5.29938853e-01 5.76991710e-02 1.72169330e+02] [-5.28642134e-01 8.48035427e-01 -3.70595373e-02 -8.27272622e+01] [-6.85702298e-02 8.52775510e-04 9.97645927e-01 -9.31782739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94863999999998 meters 0.024861679869858586 Centerline is valid? [True, True] Translation: X:172.22, Y:-82.76, Z:-9.32 [[ 8.46598937e-01 5.29172704e-01 5.69779784e-02 1.72220950e+02] [-5.27903967e-01 8.48513627e-01 -3.66336808e-02 -8.27634797e+01] [-6.77321350e-02 9.35134386e-04 9.97703104e-01 -9.32312151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00863999999999 meters 0.025097390879807023 Centerline is valid? [True, True] Translation: X:172.27, Y:-82.80, Z:-9.33 [[ 8.48250445e-01 5.26405376e-01 5.80393179e-02 1.72272314e+02] [-5.25079578e-01 8.50232856e-01 -3.73567615e-02 -8.27983283e+01] [-6.90117351e-02 1.21262909e-03 9.97615111e-01 -9.32545145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06864 meters 0.025792423825807896 Centerline is valid? [True, True] Translation: X:172.32, Y:-82.84, Z:-9.33 [[ 8.49588542e-01 5.24175533e-01 5.86457127e-02 1.72322058e+02] [-5.22813951e-01 8.51609028e-01 -3.77840779e-02 -8.28358467e+01] [-6.97487075e-02 1.44012288e-03 9.97563554e-01 -9.32959138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12864 meters 0.02614815413899965 Centerline is valid? [True, True] Translation: X:172.37, Y:-82.87, Z:-9.33 [[ 8.50733880e-01 5.22224357e-01 5.94439818e-02 1.72371156e+02] [-5.20817987e-01 8.52806535e-01 -3.83358772e-02 -8.28736484e+01] [-7.07141449e-02 1.65413463e-03 9.97495250e-01 -9.33347377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18864 meters 0.02591553224970382 Centerline is valid? [True, True] Translation: X:172.42, Y:-82.91, Z:-9.34 [[ 8.50633590e-01 5.22593879e-01 5.76032461e-02 1.72420861e+02] [-5.21271831e-01 8.52580242e-01 -3.71834509e-02 -8.29115374e+01] [-6.85432333e-02 1.60254281e-03 9.97646860e-01 -9.33546387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24864 meters 0.025690905578390714 Centerline is valid? [True, True] Translation: X:172.47, Y:-82.95, Z:-9.34 [[ 8.49467912e-01 5.24463182e-01 5.78155422e-02 1.72468693e+02] [-5.23133193e-01 8.51431828e-01 -3.73564655e-02 -8.29514054e+01] [-6.88180836e-02 1.48788956e-03 9.97628116e-01 -9.33755076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30864 meters 0.02512764057220328 Centerline is valid? [True, True] Translation: X:172.52, Y:-82.99, Z:-9.34 [[ 8.47145129e-01 5.28259886e-01 5.73290869e-02 1.72516361e+02] [-5.26958435e-01 8.49081888e-01 -3.70776900e-02 -8.29928175e+01] [-6.82637456e-02 1.20013853e-03 9.97666588e-01 -9.33910055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36863999999997 meters 0.024677937115713897 Centerline is valid? [True, True] Translation: X:172.57, Y:-83.03, Z:-9.34 [[ 8.44544530e-01 5.32364001e-01 5.77330757e-02 1.72565437e+02] [-5.31051664e-01 8.46515069e-01 -3.73680199e-02 -8.30322623e+01] [-6.87653072e-02 8.99710870e-04 9.97632459e-01 -9.34155500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42863999999997 meters 0.024319193060434792 Centerline is valid? [True, True] Translation: X:172.61, Y:-83.07, Z:-9.34 [[ 8.41342665e-01 5.37412194e-01 5.77118121e-02 1.72614070e+02] [-5.36111220e-01 8.43319559e-01 -3.73748836e-02 -8.30717288e+01] [-6.87552181e-02 5.05134207e-04 9.97633432e-01 -9.34459476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48863999999998 meters 0.024256395023154464 Centerline is valid? [True, True] Translation: X:172.66, Y:-83.11, Z:-9.35 [[ 8.40062761e-01 5.39477846e-01 5.70807425e-02 1.72664571e+02] [-5.38207466e-01 8.41999716e-01 -3.70027322e-02 -8.31073190e+01] [-6.80241232e-02 3.63335565e-04 9.97683610e-01 -9.34639635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54863999999998 meters 0.024090064339698975 Centerline is valid? [True, True] Translation: X:172.72, Y:-83.14, Z:-9.35 [[ 8.38527478e-01 5.41557859e-01 5.98895120e-02 1.72716367e+02] [-5.40161617e-01 8.40663445e-01 -3.88638586e-02 -8.31411563e+01] [-7.13939515e-02 2.38397715e-04 9.97448168e-01 -9.34998076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60863999999998 meters 0.024131380247600528 Centerline is valid? [True, True] Translation: X:172.77, Y:-83.18, Z:-9.35 [[ 8.38503639e-01 5.41764305e-01 5.83359762e-02 1.72767374e+02] [-5.40437517e-01 8.40530414e-01 -3.78934449e-02 -8.31759818e+01] [-6.95624781e-02 2.46841261e-04 9.97577566e-01 -9.35229994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66863999999998 meters 0.02437510773876823 Centerline is valid? [True, True] Translation: X:172.82, Y:-83.21, Z:-9.36 [[ 8.37407282e-01 5.43226740e-01 6.04462724e-02 1.72820014e+02] [-5.41803023e-01 8.39586018e-01 -3.93039808e-02 -8.32080889e+01] [-7.21008185e-02 1.63466702e-04 9.97397336e-01 -9.35546892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72863999999998 meters 0.02424278747677637 Centerline is valid? [True, True] Translation: X:172.87, Y:-83.24, Z:-9.36 [[ 8.34994161e-01 5.47025820e-01 5.95609272e-02 1.72872047e+02] [-5.45650533e-01 8.37115724e-01 -3.87654562e-02 -8.32414043e+01] [-7.10650941e-02 -1.30522112e-04 9.97471671e-01 -9.35889904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78864 meters 0.024052088077854618 Centerline is valid? [True, True] Translation: X:172.92, Y:-83.27, Z:-9.36 [[ 8.34634491e-01 5.47675830e-01 5.86212634e-02 1.72924957e+02] [-5.46342560e-01 8.36690602e-01 -3.81922047e-02 -8.32746275e+01] [-6.99648075e-02 -1.50759753e-04 9.97549449e-01 -9.36191132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84864 meters 0.024090092047776707 Centerline is valid? [True, True] Translation: X:172.98, Y:-83.31, Z:-9.36 [[ 8.35343400e-01 5.46563713e-01 5.89025637e-02 1.72978960e+02] [-5.45211945e-01 8.37417523e-01 -3.84164983e-02 -8.33078854e+01] [-7.03231029e-02 -2.34130296e-05 9.97524266e-01 -9.36428985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90864 meters 0.02408381476456709 Centerline is valid? [True, True] Translation: X:173.03, Y:-83.34, Z:-9.37 [[ 8.36116111e-01 5.45447428e-01 5.82833762e-02 1.73033504e+02] [-5.44118171e-01 8.38145030e-01 -3.80568637e-02 -8.33401333e+01] [-6.96079405e-02 1.06912827e-04 9.97574420e-01 -9.36774458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96864 meters 0.024127554018253124 Centerline is valid? [True, True] Translation: X:173.09, Y:-83.37, Z:-9.37 [[ 8.34945830e-01 5.47245823e-01 5.82019726e-02 1.73088336e+02] [-5.45921528e-01 8.36971928e-01 -3.80483472e-02 -8.33716634e+01] [-6.95352163e-02 -5.40098921e-06 9.97579497e-01 -9.37168668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02864 meters 0.024236995244252955 Centerline is valid? [True, True] Translation: X:173.14, Y:-83.40, Z:-9.37 [[ 8.33609620e-01 5.49235460e-01 5.86123776e-02 1.73144061e+02] [-5.47894152e-01 8.35667632e-01 -3.83615343e-02 -8.34024579e+01] [-7.00499817e-02 -1.34834893e-04 9.97543474e-01 -9.37380285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08864 meters 0.02432484466210114 Centerline is valid? [True, True] Translation: X:173.20, Y:-83.43, Z:-9.38 [[ 8.35386171e-01 5.46651700e-01 5.74618469e-02 1.73197832e+02] [-5.45353639e-01 8.37360081e-01 -3.76497441e-02 -8.34332373e+01] [-6.86975534e-02 1.15048253e-04 9.97637526e-01 -9.37757134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14863999999997 meters 0.02437602588484533 Centerline is valid? [True, True] Translation: X:173.25, Y:-83.47, Z:-9.38 [[ 8.37359894e-01 5.43652259e-01 5.71894180e-02 1.73251927e+02] [-5.42356781e-01 8.39310471e-01 -3.75107377e-02 -8.34663917e+01] [-6.83924747e-02 3.92918697e-04 9.97658416e-01 -9.38082326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20863999999997 meters 0.024735308915606526 Centerline is valid? [True, True] Translation: X:173.30, Y:-83.50, Z:-9.38 [[ 8.39785224e-01 5.39755834e-01 5.85185203e-02 1.73304197e+02] [-5.38387269e-01 8.41821278e-01 -3.84198375e-02 -8.34990494e+01] [-6.99994669e-02 7.58785503e-04 9.97546740e-01 -9.38424261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26863999999998 meters 0.024820385226392655 Centerline is valid? [True, True] Translation: X:173.36, Y:-83.53, Z:-9.39 [[ 8.40530162e-01 5.38731851e-01 5.72454229e-02 1.73356753e+02] [-5.37418057e-01 8.42476868e-01 -3.76106236e-02 -8.35336396e+01] [-6.84899855e-02 8.48139601e-04 9.97651443e-01 -9.38595856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32863999999998 meters 0.024894485536680243 Centerline is valid? [True, True] Translation: X:173.41, Y:-83.57, Z:-9.39 [[ 8.41302775e-01 5.37796235e-01 5.46337863e-02 1.73407741e+02] [-5.36595272e-01 8.43074359e-01 -3.59324297e-02 -8.35690572e+01] [-6.53846697e-02 9.13821342e-04 9.97859715e-01 -9.38878039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38863999999998 meters 0.024858695899199944 Centerline is valid? [True, True] Translation: X:173.46, Y:-83.60, Z:-9.39 [[ 8.41564162e-01 5.37300580e-01 5.54783559e-02 1.73458868e+02] [-5.36058681e-01 8.43390237e-01 -3.65239493e-02 -8.36040245e+01] [-6.64142429e-02 9.97592547e-04 9.97791638e-01 -9.39162000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44863999999998 meters 0.024919557043369296 Centerline is valid? [True, True] Translation: X:173.51, Y:-83.64, Z:-9.40 [[ 8.41392261e-01 5.37483278e-01 5.63097588e-02 1.73509009e+02] [-5.36201770e-01 8.43273779e-01 -3.71078825e-02 -8.36404458e+01] [-6.74294095e-02 1.02889284e-03 9.97723517e-01 -9.39553804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50863999999999 meters 0.024787927247422993 Centerline is valid? [True, True] Translation: X:173.56, Y:-83.68, Z:-9.40 [[ 8.40184584e-01 5.39483904e-01 5.51994783e-02 1.73559080e+02] [-5.38254457e-01 8.41995452e-01 -3.64115041e-02 -8.36775183e+01] [-6.61211301e-02 8.81019221e-04 9.97811215e-01 -9.39869102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56864 meters 0.0245066072877809 Centerline is valid? [True, True] Translation: X:173.61, Y:-83.71, Z:-9.40 [[ 8.37525958e-01 5.43457157e-01 5.66090855e-02 1.73610677e+02] [-5.42170423e-01 8.39436680e-01 -3.73803741e-02 -8.37137396e+01] [-6.78343746e-02 6.15261773e-04 9.97696406e-01 -9.40131891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62864 meters 0.0245674285046601 Centerline is valid? [True, True] Translation: X:173.66, Y:-83.75, Z:-9.40 [[ 8.36046673e-01 5.45739976e-01 5.65140587e-02 1.73662016e+02] [-5.44459996e-01 8.37954452e-01 -3.73583846e-02 -8.37487634e+01] [-6.77441710e-02 4.63708968e-04 9.97702617e-01 -9.40348028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68864 meters 0.024445974254902775 Centerline is valid? [True, True] Translation: X:173.72, Y:-83.78, Z:-9.41 [[ 8.36312764e-01 5.45370688e-01 5.61406603e-02 1.73716585e+02] [-5.44104153e-01 8.38194810e-01 -3.71501201e-02 -8.37811462e+01] [-6.73173966e-02 5.22753222e-04 9.97731474e-01 -9.40660114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74864 meters 0.024895964218850753 Centerline is valid? [True, True] Translation: X:173.77, Y:-83.81, Z:-9.41 [[ 8.38128316e-01 5.42472935e-01 5.71317848e-02 1.73769416e+02] [-5.41151600e-01 8.40072894e-01 -3.78481041e-02 -8.38144818e+01] [-6.85264359e-02 8.04611018e-04 9.97648976e-01 -9.41127329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80864 meters 0.025271558262484388 Centerline is valid? [True, True] Translation: X:173.82, Y:-83.85, Z:-9.41 [[ 8.40052928e-01 5.39379138e-01 5.81482931e-02 1.73821624e+02] [-5.38000245e-01 8.42062300e-01 -3.85592819e-02 -8.38471942e+01] [-6.97625577e-02 1.10804171e-03 9.97563009e-01 -9.41453338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86863999999997 meters 0.025277717508260245 Centerline is valid? [True, True] Translation: X:173.87, Y:-83.88, Z:-9.42 [[ 8.39945563e-01 5.39502075e-01 5.85573503e-02 1.73873633e+02] [-5.38101297e-01 8.41983502e-01 -3.88687130e-02 -8.38834607e+01] [-7.02740741e-02 1.13781685e-03 9.97527072e-01 -9.41808554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92863999999997 meters 0.02515602374389832 Centerline is valid? [True, True] Translation: X:173.92, Y:-83.92, Z:-9.42 [[ 8.39259019e-01 5.40602252e-01 5.82537908e-02 1.73924514e+02] [-5.39215742e-01 8.41277629e-01 -3.87083194e-02 -8.39191609e+01] [-6.99334157e-02 1.07494517e-03 9.97551082e-01 -9.42021554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98863999999998 meters 0.025008272767904675 Centerline is valid? [True, True] Translation: X:173.98, Y:-83.95, Z:-9.42 [[ 8.38047249e-01 5.42667445e-01 5.64699215e-02 1.73976018e+02] [-5.41366901e-01 8.39947156e-01 -3.75586693e-02 -8.39545091e+01] [-6.78136171e-02 9.04993048e-04 9.97697597e-01 -9.42406050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04863999999998 meters 0.025319695328461886 Centerline is valid? [True, True] Translation: X:174.03, Y:-83.99, Z:-9.43 [[ 8.38416059e-01 5.41982937e-01 5.75587296e-02 1.74026654e+02] [-5.40627445e-01 8.40388882e-01 -3.83209131e-02 -8.39897849e+01] [-6.91409975e-02 1.01104001e-03 9.97606385e-01 -9.42748696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10863999999998 meters 0.02542812284064909 Centerline is valid? [True, True] Translation: X:174.08, Y:-84.02, Z:-9.43 [[ 8.39833129e-01 5.39844118e-01 5.69968720e-02 1.74078641e+02] [-5.38507536e-01 8.41764143e-01 -3.79836942e-02 -8.40242653e+01] [-6.84831970e-02 1.20671960e-03 9.97651540e-01 -9.42946981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16863999999998 meters 0.02549490037199604 Centerline is valid? [True, True] Translation: X:174.13, Y:-84.06, Z:-9.43 [[ 8.40414757e-01 5.39025041e-01 5.61697480e-02 1.74128064e+02] [-5.37722639e-01 8.42288757e-01 -3.74701766e-02 -8.40633550e+01] [-6.75085107e-02 1.28674424e-03 9.97717869e-01 -9.43336704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22863999999998 meters 0.025186472932869183 Centerline is valid? [True, True] Translation: X:174.18, Y:-84.10, Z:-9.44 [[ 8.39395288e-01 5.40634002e-01 5.59502063e-02 1.74178190e+02] [-5.39343118e-01 8.41257084e-01 -3.73566470e-02 -8.41010366e+01] [-6.72647810e-02 1.18063468e-03 9.97734461e-01 -9.43600423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28864 meters 0.02465466591189445 Centerline is valid? [True, True] Translation: X:174.23, Y:-84.14, Z:-9.44 [[ 8.35720179e-01 5.46295747e-01 5.59708761e-02 1.74225479e+02] [-5.45015172e-01 8.37592027e-01 -3.73906135e-02 -8.41427492e+01] [-6.73070927e-02 7.43113582e-04 9.97732030e-01 -9.43969065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34864 meters 0.024498236282995335 Centerline is valid? [True, True] Translation: X:174.28, Y:-84.18, Z:-9.44 [[ 8.33570084e-01 5.49458036e-01 5.70682131e-02 1.74276183e+02] [-5.48131327e-01 8.35521145e-01 -3.81636593e-02 -8.41803651e+01] [-6.86510281e-02 5.31209363e-04 9.97640594e-01 -9.44381224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40864 meters 0.024340125246120364 Centerline is valid? [True, True] Translation: X:174.33, Y:-84.22, Z:-9.45 [[ 8.30788923e-01 5.53595436e-01 5.76355638e-02 1.74326607e+02] [-5.52249020e-01 8.32785711e-01 -3.85872905e-02 -8.42190865e+01] [-6.93598219e-02 2.28709967e-04 9.97591681e-01 -9.44648771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46864 meters 0.024258829668419263 Centerline is valid? [True, True] Translation: X:174.38, Y:-84.26, Z:-9.45 [[ 8.27657252e-01 5.58355729e-01 5.67657840e-02 1.74376419e+02] [-5.57057981e-01 8.29601629e-01 -3.80465853e-02 -8.42571256e+01] [-6.83365157e-02 -1.32300831e-04 9.97662319e-01 -9.44933201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52864 meters 0.024368479759806515 Centerline is valid? [True, True] Translation: X:174.43, Y:-84.29, Z:-9.45 [[ 8.25389393e-01 5.61776316e-01 5.60332075e-02 1.74427114e+02] [-5.60517063e-01 8.27289084e-01 -3.75951283e-02 -8.42940863e+01] [-6.74757136e-02 -3.76948834e-04 9.97720846e-01 -9.45099085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58864 meters 0.02435262513422266 Centerline is valid? [True, True] Translation: X:174.48, Y:-84.33, Z:-9.45 [[ 8.25402044e-01 5.61863414e-01 5.49633543e-02 1.74478332e+02] [-5.60649316e-01 8.27229948e-01 -3.69182641e-02 -8.43293869e+01] [-6.62103546e-02 -3.42756349e-04 9.97805628e-01 -9.45349172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64863999999997 meters 0.024371646276083448 Centerline is valid? [True, True] Translation: X:174.53, Y:-84.36, Z:-9.46 [[ 8.24991410e-01 5.62458410e-01 5.50428050e-02 1.74530840e+02] [-5.61239514e-01 8.26825501e-01 -3.70107894e-02 -8.43644230e+01] [-6.63278246e-02 -3.58613861e-04 9.97797821e-01 -9.45616195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70863999999997 meters 0.024181270788907104 Centerline is valid? [True, True] Translation: X:174.58, Y:-84.40, Z:-9.46 [[ 8.24047549e-01 5.63714470e-01 5.63172504e-02 1.74583149e+02] [-5.62438384e-01 8.25969617e-01 -3.79111744e-02 -8.43984252e+01] [-6.78874153e-02 -4.34372905e-04 9.97692894e-01 -9.45851515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76863999999998 meters 0.024284458827531503 Centerline is valid? [True, True] Translation: X:174.64, Y:-84.43, Z:-9.46 [[ 8.22768062e-01 5.65641654e-01 5.56977109e-02 1.74636698e+02] [-5.64395242e-01 8.24650964e-01 -3.75339511e-02 -8.44324561e+01] [-6.71619372e-02 -5.53786803e-04 9.97741934e-01 -9.46124392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82863999999998 meters 0.024414570711076406 Centerline is valid? [True, True] Translation: X:174.69, Y:-84.46, Z:-9.46 [[ 8.21379155e-01 5.67634540e-01 5.59223776e-02 1.74692202e+02] [-5.66379655e-01 8.23280367e-01 -3.77296127e-02 -8.44624379e+01] [-6.74564269e-02 -6.82979522e-04 9.97721987e-01 -9.46316556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88863999999998 meters 0.024373879735069787 Centerline is valid? [True, True] Translation: X:174.75, Y:-84.50, Z:-9.47 [[ 8.21631636e-01 5.67168616e-01 5.69316770e-02 1.74745937e+02] [-5.65863730e-01 8.23601468e-01 -3.84559661e-02 -8.44954725e+01] [-6.87000298e-02 -6.18932744e-04 9.97637170e-01 -9.46632381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94863999999998 meters 0.02435762311147991 Centerline is valid? [True, True] Translation: X:174.80, Y:-84.53, Z:-9.47 [[ 8.23536476e-01 5.64267045e-01 5.82269319e-02 1.74800804e+02] [-5.62891504e-01 8.25592261e-01 -3.93773103e-02 -8.45265786e+01] [-7.02910228e-02 -3.46793963e-04 9.97526467e-01 -9.47093822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00863999999999 meters 0.02448436076965014 Centerline is valid? [True, True] Translation: X:174.85, Y:-84.56, Z:-9.48 [[ 8.25704537e-01 5.60928018e-01 5.97643335e-02 1.74852769e+02] [-5.59466707e-01 8.27864577e-01 -4.04628995e-02 -8.45607970e+01] [-7.21735487e-02 -2.57550844e-05 9.97392089e-01 -9.47518394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06864 meters 0.024280032304461466 Centerline is valid? [True, True] Translation: X:174.90, Y:-84.59, Z:-9.48 [[ 8.26950836e-01 5.59344691e-01 5.73221682e-02 1.74904966e+02] [-5.57994051e-01 8.28935159e-01 -3.88476772e-02 -8.45946522e+01] [-6.92456026e-02 1.39690326e-04 9.97599633e-01 -9.47835836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12864 meters 0.02415487927195643 Centerline is valid? [True, True] Translation: X:174.96, Y:-84.63, Z:-9.48 [[ 8.27748220e-01 5.58409221e-01 5.48819403e-02 1.74955076e+02] [-5.57166795e-01 8.29565600e-01 -3.72300575e-02 -8.46318897e+01] [-6.63177771e-02 2.38719017e-04 9.97798524e-01 -9.47933285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18864 meters 0.02406502692915613 Centerline is valid? [True, True] Translation: X:175.01, Y:-84.67, Z:-9.48 [[ 8.26080573e-01 5.60822397e-01 5.53996900e-02 1.75006262e+02] [-5.59559156e-01 8.27936129e-01 -3.76207127e-02 -8.46679158e+01] [-6.69659431e-02 7.83361068e-05 9.97755259e-01 -9.48216803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24864 meters 0.024140128949585733 Centerline is valid? [True, True] Translation: X:175.06, Y:-84.70, Z:-9.48 [[ 8.23921825e-01 5.63915137e-01 5.61475253e-02 1.75057289e+02] [-5.62621666e-01 8.25832731e-01 -3.81727857e-02 -8.47045448e+01] [-6.78946758e-02 -1.38422923e-04 9.97692485e-01 -9.48472818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30864 meters 0.024466270965157313 Centerline is valid? [True, True] Translation: X:175.11, Y:-84.74, Z:-9.49 [[ 8.21291052e-01 5.67568459e-01 5.78537144e-02 1.75107138e+02] [-5.66200988e-01 8.23326102e-01 -3.93772804e-02 -8.47418879e+01] [-6.99817755e-02 -4.16622211e-04 9.97548183e-01 -9.48739763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36863999999997 meters 0.02455785460771373 Centerline is valid? [True, True] Translation: X:175.16, Y:-84.78, Z:-9.49 [[ 8.17150698e-01 5.73493693e-01 5.80492910e-02 1.75158507e+02] [-5.72129002e-01 8.19209489e-01 -3.95502063e-02 -8.47767933e+01] [-7.02363239e-02 -8.93204242e-04 9.97529980e-01 -9.49004748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42863999999997 meters 0.024865580447396392 Centerline is valid? [True, True] Translation: X:175.21, Y:-84.81, Z:-9.49 [[ 8.16136605e-01 5.74940461e-01 5.80043825e-02 1.75210408e+02] [-5.73578607e-01 8.18194659e-01 -3.95611091e-02 -8.48122470e+01] [-7.02041583e-02 -9.82803664e-04 9.97532160e-01 -9.49291973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48863999999998 meters 0.025419168310320074 Centerline is valid? [True, True] Translation: X:175.26, Y:-84.84, Z:-9.49 [[ 8.14966083e-01 5.76554112e-01 5.84434663e-02 1.75264484e+02] [-5.75172531e-01 8.17058235e-01 -3.99048967e-02 -8.48433875e+01] [-7.07590477e-02 -1.09393904e-03 9.97492837e-01 -9.49493226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54863999999998 meters 0.025569546933995317 Centerline is valid? [True, True] Translation: X:175.32, Y:-84.88, Z:-9.50 [[ 8.14833311e-01 5.76676100e-01 5.90876530e-02 1.75318492e+02] [-5.75261091e-01 8.16972157e-01 -4.03877650e-02 -8.48752659e+01] [-7.15636261e-02 -1.08153145e-03 9.97435450e-01 -9.49787578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60863999999998 meters 0.025912362861609157 Centerline is valid? [True, True] Translation: X:175.37, Y:-84.91, Z:-9.50 [[ 8.14414343e-01 5.77202634e-01 5.97193152e-02 1.75374028e+02] [-5.75755136e-01 8.16600212e-01 -4.08670565e-02 -8.49058115e+01] [-7.23553781e-02 -1.10098550e-03 9.97378307e-01 -9.50179557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66863999999998 meters 0.02611635278737363 Centerline is valid? [True, True] Translation: X:175.43, Y:-84.93, Z:-9.50 [[ 8.14877611e-01 5.76563850e-01 5.95701818e-02 1.75430165e+02] [-5.75118619e-01 8.17051478e-01 -4.08100044e-02 -8.49334975e+01] [-7.22014784e-02 -1.00476183e-03 9.97389561e-01 -9.50454216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72863999999998 meters 0.02645161139387633 Centerline is valid? [True, True] Translation: X:175.49, Y:-84.96, Z:-9.51 [[ 8.15689622e-01 5.75205651e-01 6.15540406e-02 1.75486376e+02] [-5.73655307e-01 8.18008366e-01 -4.22125789e-02 -8.49612807e+01] [-7.46326341e-02 -8.78439568e-04 9.97210709e-01 -9.50807896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78864 meters 0.02638948418744217 Centerline is valid? [True, True] Translation: X:175.54, Y:-84.99, Z:-9.51 [[ 8.16846795e-01 5.73686770e-01 6.03722043e-02 1.75541386e+02] [-5.72188292e-01 8.19074485e-01 -4.14432864e-02 -8.49915262e+01] [-7.32247972e-02 -6.91452801e-04 9.97315221e-01 -9.51159779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84864 meters 0.026439694300721156 Centerline is valid? [True, True] Translation: X:175.60, Y:-85.02, Z:-9.52 [[ 8.19688591e-01 5.69542071e-01 6.10937216e-02 1.75597313e+02] [-5.67992659e-01 8.21962132e-01 -4.19832367e-02 -8.50213464e+01] [-7.41279452e-02 -2.87605260e-04 9.97248698e-01 -9.51594394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90864 meters 0.02672509544276212 Centerline is valid? [True, True] Translation: X:175.65, Y:-85.05, Z:-9.52 [[ 8.24497582e-01 5.62645988e-01 6.02762870e-02 1.75651961e+02] [-5.61115859e-01 8.26697863e-01 -4.14684890e-02 -8.50524433e+01] [-7.31623566e-02 3.68688340e-04 9.97319976e-01 -9.51824022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96864 meters 0.02713291638454787 Centerline is valid? [True, True] Translation: X:175.70, Y:-85.09, Z:-9.52 [[ 8.28847084e-01 5.56240628e-01 6.00739183e-02 1.75704559e+02] [-5.54700641e-01 8.31020712e-01 -4.13735976e-02 -8.50856150e+01] [-7.29363463e-02 9.69344682e-04 9.97336127e-01 -9.52106003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02864 meters 0.02769103095208707 Centerline is valid? [True, True] Translation: X:175.75, Y:-85.12, Z:-9.52 [[ 8.31011281e-01 5.53072010e-01 5.94272874e-02 1.75754140e+02] [-5.51554099e-01 8.33132490e-01 -4.09674283e-02 -8.51226016e+01] [-7.21687419e-02 1.26703116e-03 9.97391632e-01 -9.52181384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08864 meters 0.027687871687879586 Centerline is valid? [True, True] Translation: X:175.80, Y:-85.16, Z:-9.52 [[ 8.32153332e-01 5.51462776e-01 5.83921155e-02 1.75804621e+02] [-5.49990572e-01 8.34198300e-01 -4.02935012e-02 -8.51601763e+01] [-7.09309696e-02 1.41525828e-03 9.97480223e-01 -9.52325753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14863999999997 meters 0.02764008657942644 Centerline is valid? [True, True] Translation: X:175.85, Y:-85.20, Z:-9.53 [[ 8.31855735e-01 5.52050461e-01 5.70642189e-02 1.75852605e+02] [-5.50643119e-01 8.33809582e-01 -3.94174707e-02 -8.52003254e+01] [-6.93411254e-02 1.36762956e-03 9.97592070e-01 -9.52582842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20863999999997 meters 0.027248502990539714 Centerline is valid? [True, True] Translation: X:175.90, Y:-85.24, Z:-9.53 [[ 8.30300729e-01 5.54563374e-01 5.53187472e-02 1.75903330e+02] [-5.53244078e-01 8.32140695e-01 -3.82472664e-02 -8.52369351e+01] [-6.72435139e-02 1.15196389e-03 9.97735928e-01 -9.52804664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26863999999998 meters 0.02664247616175795 Centerline is valid? [True, True] Translation: X:175.95, Y:-85.27, Z:-9.53 [[ 8.23738238e-01 5.64254855e-01 5.54235885e-02 1.75952902e+02] [-5.62949798e-01 8.25600571e-01 -3.83565173e-02 -8.52745405e+01] [-6.74005974e-02 3.95032017e-04 9.97725916e-01 -9.53094732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32863999999998 meters 0.02669978083961263 Centerline is valid? [True, True] Translation: X:176.00, Y:-85.31, Z:-9.53 [[ 8.21625175e-01 5.67358295e-01 5.51056905e-02 1.76003638e+02] [-5.66072650e-01 8.23471029e-01 -3.81735398e-02 -8.53110437e+01] [-6.70360141e-02 1.70517020e-04 9.97750542e-01 -9.53425236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38863999999998 meters 0.026705534994651527 Centerline is valid? [True, True] Translation: X:176.06, Y:-85.35, Z:-9.54 [[ 8.21139020e-01 5.68281918e-01 5.27860923e-02 1.76055847e+02] [-5.67102006e-01 8.22833912e-01 -3.66014725e-02 -8.53454218e+01] [-6.42341419e-02 1.19798415e-04 9.97934848e-01 -9.53553725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44863999999998 meters 0.02652834300145145 Centerline is valid? [True, True] Translation: X:176.11, Y:-85.38, Z:-9.54 [[ 8.20964027e-01 5.68576414e-01 5.23347600e-02 1.76107571e+02] [-5.67414862e-01 8.22630443e-01 -3.63253257e-02 -8.53818087e+01] [-6.37058902e-02 1.26265086e-04 9.97968709e-01 -9.53675292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50863999999999 meters 0.026467959480975817 Centerline is valid? [True, True] Translation: X:176.16, Y:-85.42, Z:-9.54 [[ 8.20306545e-01 5.69432060e-01 5.33319876e-02 1.76160231e+02] [-5.68224816e-01 8.22038393e-01 -3.70599248e-02 -8.54170741e+01] [-6.49440507e-02 9.59400180e-05 9.97888902e-01 -9.53853156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56864 meters 0.026522379937550033 Centerline is valid? [True, True] Translation: X:176.21, Y:-85.46, Z:-9.54 [[ 8.19402362e-01 5.70813591e-01 5.24558299e-02 1.76209351e+02] [-5.69646018e-01 8.21079682e-01 -3.64906815e-02 -8.54553297e+01] [-6.38997931e-02 1.92960200e-05 9.97956320e-01 -9.54290878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62864 meters 0.026354803478248482 Centerline is valid? [True, True] Translation: X:176.26, Y:-85.49, Z:-9.54 [[ 8.19230920e-01 5.71053658e-01 5.25206612e-02 1.76261528e+02] [-5.69881253e-01 8.20912735e-01 -3.65737562e-02 -8.54903750e+01] [-6.40004569e-02 3.18117412e-05 9.97949869e-01 -9.54482131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68864 meters 0.026071775372533537 Centerline is valid? [True, True] Translation: X:176.31, Y:-85.53, Z:-9.55 [[ 8.18388211e-01 5.72258009e-01 5.25500538e-02 1.76314443e+02] [-5.71084076e-01 8.20073637e-01 -3.66361540e-02 -8.55250157e+01] [-6.40602463e-02 -2.79023966e-05 9.97946033e-01 -9.54626635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74864 meters 0.025767171647871633 Centerline is valid? [True, True] Translation: X:176.37, Y:-85.56, Z:-9.55 [[ 8.17795120e-01 5.73015791e-01 5.35167773e-02 1.76367484e+02] [-5.71797012e-01 8.19544325e-01 -3.73533920e-02 -8.55584526e+01] [-6.52634545e-02 -5.33116683e-05 9.97868067e-01 -9.54911361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80864 meters 0.025357497935915567 Centerline is valid? [True, True] Translation: X:176.42, Y:-85.59, Z:-9.55 [[ 8.19038769e-01 5.71254854e-01 5.33234124e-02 1.76420278e+02] [-5.70038373e-01 8.20772731e-01 -3.72609309e-02 -8.55936544e+01] [-6.50518905e-02 1.21755758e-04 9.97881875e-01 -9.55206613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86863999999997 meters 0.025092039694875553 Centerline is valid? [True, True] Translation: X:176.47, Y:-85.63, Z:-9.56 [[ 8.20207505e-01 5.69629142e-01 5.27474106e-02 1.76472234e+02] [-5.68432776e-01 8.21901795e-01 -3.69001182e-02 -8.56299412e+01] [-6.43725741e-02 2.82396850e-04 9.97925895e-01 -9.55624112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92863999999997 meters 0.02484458629915328 Centerline is valid? [True, True] Translation: X:176.52, Y:-85.67, Z:-9.56 [[ 8.19382920e-01 5.70955501e-01 5.12000527e-02 1.76522064e+02] [-5.69828545e-01 8.20980982e-01 -3.58560446e-02 -8.56665782e+01] [-6.25064755e-02 2.04579023e-04 9.98044537e-01 -9.55800431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98863999999998 meters 0.024540368348870894 Centerline is valid? [True, True] Translation: X:176.57, Y:-85.70, Z:-9.56 [[ 8.18999288e-01 5.71523757e-01 5.09976550e-02 1.76572827e+02] [-5.70404545e-01 8.20585497e-01 -3.57504688e-02 -8.57043653e+01] [-6.22801784e-02 1.90314284e-04 9.98058687e-01 -9.56136329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04863999999998 meters 0.024816440727750105 Centerline is valid? [True, True] Translation: X:176.62, Y:-85.74, Z:-9.57 [[ 8.19335912e-01 5.70853250e-01 5.30587463e-02 1.76621515e+02] [-5.69637526e-01 8.21052060e-01 -3.72371286e-02 -8.57434221e+01] [-6.48209289e-02 2.85463746e-04 9.97896871e-01 -9.56562522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10863999999998 meters 0.025152491647326504 Centerline is valid? [True, True] Translation: X:176.67, Y:-85.78, Z:-9.57 [[ 8.21218476e-01 5.67962815e-01 5.49404744e-02 1.76671443e+02] [-5.66650130e-01 8.23054022e-01 -3.85967334e-02 -8.57810816e+01] [-6.71404878e-02 5.64323645e-04 9.97743372e-01 -9.56886061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16863999999998 meters 0.02539573517660783 Centerline is valid? [True, True] Translation: X:176.72, Y:-85.82, Z:-9.57 [[ 8.24201641e-01 5.63679673e-01 5.43772164e-02 1.76721532e+02] [-5.62381987e-01 8.25992949e-01 -3.82380586e-02 -8.58180130e+01] [-6.64692137e-02 9.35103566e-04 9.97788038e-01 -9.57223991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22863999999998 meters 0.025890870197738357 Centerline is valid? [True, True] Translation: X:176.77, Y:-85.86, Z:-9.58 [[ 8.25772833e-01 5.61164705e-01 5.65101862e-02 1.76769981e+02] [-5.59754482e-01 8.27703266e-01 -3.97771595e-02 -8.58573764e+01] [-6.90952037e-02 1.21506770e-03 9.97609331e-01 -9.57626862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28864 meters 0.02632106870693852 Centerline is valid? [True, True] Translation: X:176.82, Y:-85.90, Z:-9.58 [[ 8.26941004e-01 5.59359007e-01 5.73243191e-02 1.76818784e+02] [-5.57900728e-01 8.28924297e-01 -4.03892017e-02 -8.58955470e+01] [-7.01095847e-02 1.41820760e-03 9.97538287e-01 -9.57852715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34864 meters 0.026289658182462275 Centerline is valid? [True, True] Translation: X:176.87, Y:-85.93, Z:-9.58 [[ 8.26858718e-01 5.59293080e-01 5.91262224e-02 1.76868341e+02] [-5.57738465e-01 8.28968632e-01 -4.16990620e-02 -8.59323879e+01] [-7.23357806e-02 1.50226449e-03 9.97379205e-01 -9.58191088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40864 meters 0.026547558657811783 Centerline is valid? [True, True] Translation: X:176.91, Y:-85.97, Z:-9.59 [[ 8.26942210e-01 5.59113321e-01 5.96563104e-02 1.76914635e+02] [-5.57527270e-01 8.29089769e-01 -4.21129288e-02 -8.59742324e+01] [-7.30063361e-02 1.56493853e-03 9.97330249e-01 -9.58589863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46864 meters 0.02624693985244725 Centerline is valid? [True, True] Translation: X:176.96, Y:-86.02, Z:-9.59 [[ 8.26044337e-01 5.60645484e-01 5.76835659e-02 1.76961222e+02] [-5.59163790e-01 8.28054735e-01 -4.07579732e-02 -8.60154010e+01] [-7.06159235e-02 1.41333163e-03 9.97502578e-01 -9.58819166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52864 meters 0.025460381187978876 Centerline is valid? [True, True] Translation: X:177.01, Y:-86.05, Z:-9.59 [[ 8.22549141e-01 5.65948829e-01 5.58106949e-02 1.77009851e+02] [-5.64571544e-01 8.24439813e-01 -3.94710681e-02 -8.60537745e+01] [-6.83511637e-02 9.57762954e-04 9.97660865e-01 -9.59067769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58863999999997 meters 0.025443377770319946 Centerline is valid? [True, True] Translation: X:177.06, Y:-86.09, Z:-9.60 [[ 8.19013179e-01 5.70843415e-01 5.79241558e-02 1.77058915e+02] [-5.69368880e-01 8.21058724e-01 -4.10079274e-02 -8.60927857e+01] [-7.09682387e-02 6.05821261e-04 9.97478392e-01 -9.59685638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64863999999997 meters 0.02540285420035277 Centerline is valid? [True, True] Translation: X:177.11, Y:-86.13, Z:-9.60 [[ 8.17844808e-01 5.72580518e-01 5.72836837e-02 1.77109809e+02] [-5.71139682e-01 8.19848348e-01 -4.05974056e-02 -8.61292015e+01] [-7.02092171e-02 4.85392491e-04 9.97532170e-01 -9.59958140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70863999999997 meters 0.02578203514609921 Centerline is valid? [True, True] Translation: X:177.16, Y:-86.17, Z:-9.60 [[ 8.15319716e-01 5.76133974e-01 5.76489782e-02 1.77159342e+02] [-5.74680550e-01 8.17355245e-01 -4.08982621e-02 -8.61673489e+01] [-7.06825730e-02 2.15412860e-04 9.97498836e-01 -9.60310710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76863999999998 meters 0.025865882216707495 Centerline is valid? [True, True] Translation: X:177.21, Y:-86.20, Z:-9.61 [[ 8.13386833e-01 5.78728124e-01 5.89543758e-02 1.77211851e+02] [-5.77211521e-01 8.15520544e-01 -4.18700532e-02 -8.62005517e+01] [-7.23098820e-02 2.74050725e-05 9.97382214e-01 -9.60619219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82863999999998 meters 0.026388189044879603 Centerline is valid? [True, True] Translation: X:177.26, Y:-86.23, Z:-9.61 [[ 8.10926254e-01 5.82088815e-01 5.97597018e-02 1.77264687e+02] [-5.80536403e-01 8.13125177e-01 -4.24844795e-02 -8.62340739e+01] [-7.33218584e-02 -2.40902510e-04 9.97308301e-01 -9.60965772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88863999999998 meters 0.026887374212827896 Centerline is valid? [True, True] Translation: X:177.32, Y:-86.27, Z:-9.61 [[ 8.12508538e-01 5.79720061e-01 6.12741965e-02 1.77318071e+02] [-5.78078362e-01 8.14815716e-01 -4.35976616e-02 -8.62653334e+01] [-7.52016174e-02 2.18514265e-06 9.97168349e-01 -9.61361370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94863999999998 meters 0.026953031179900427 Centerline is valid? [True, True] Translation: X:177.37, Y:-86.30, Z:-9.62 [[ 8.14571946e-01 5.76933844e-01 6.01654795e-02 1.77372659e+02] [-5.75341289e-01 8.16790831e-01 -4.28385195e-02 -8.62965264e+01] [-7.38576038e-02 2.79371612e-04 9.97268758e-01 -9.61668776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00863999999999 meters 0.027113288376998123 Centerline is valid? [True, True] Translation: X:177.43, Y:-86.33, Z:-9.62 [[ 8.16500325e-01 5.74190873e-01 6.02665754e-02 1.77425253e+02] [-5.72582347e-01 8.18721274e-01 -4.29526721e-02 -8.63302872e+01] [-7.40045596e-02 5.63293551e-04 9.97257744e-01 -9.62066461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06864 meters 0.027027883268247725 Centerline is valid? [True, True] Translation: X:177.48, Y:-86.37, Z:-9.62 [[ 8.16282986e-01 5.74562945e-01 5.96616228e-02 1.77476693e+02] [-5.72984545e-01 8.18460207e-01 -4.25629050e-02 -8.63659040e+01] [-7.32857322e-02 5.58187408e-04 9.97310829e-01 -9.62341636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12864 meters 0.027070519940350892 Centerline is valid? [True, True] Translation: X:177.53, Y:-86.40, Z:-9.63 [[ 8.15087003e-01 5.76400292e-01 5.82741886e-02 1.77527517e+02] [-5.74896369e-01 8.17167382e-01 -4.16129246e-02 -8.64010092e+01] [-7.16054680e-02 4.16534590e-04 9.97432947e-01 -9.62645170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18864 meters 0.02711998633388831 Centerline is valid? [True, True] Translation: X:177.58, Y:-86.44, Z:-9.63 [[ 8.14344301e-01 5.77376519e-01 5.89891073e-02 1.77580365e+02] [-5.75834809e-01 8.16477935e-01 -4.21669870e-02 -8.64357922e+01] [-7.25095327e-02 3.70464238e-04 9.97367651e-01 -9.63002587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24864 meters 0.02718920202552429 Centerline is valid? [True, True] Translation: X:177.63, Y:-86.47, Z:-9.63 [[ 8.13382414e-01 5.78694313e-01 5.93459452e-02 1.77633310e+02] [-5.77133894e-01 8.15544484e-01 -4.24695454e-02 -8.64698219e+01] [-7.29761427e-02 2.93424929e-04 9.97333644e-01 -9.63480624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30864 meters 0.027023085742272634 Centerline is valid? [True, True] Translation: X:177.69, Y:-86.50, Z:-9.64 [[ 8.12283868e-01 5.80194800e-01 5.97403751e-02 1.77686342e+02] [-5.78614080e-01 8.14477719e-01 -4.27994354e-02 -8.65036814e+01] [-7.34892143e-02 1.98668716e-04 9.97295992e-01 -9.63560082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36863999999997 meters 0.02702809002591483 Centerline is valid? [True, True] Translation: X:177.74, Y:-86.54, Z:-9.64 [[ 8.10974600e-01 5.82335088e-01 5.66219360e-02 1.77740382e+02] [-5.80917564e-01 8.12948857e-01 -4.06071317e-02 -8.65350959e+01] [-6.96776957e-02 3.86752535e-05 9.97569555e-01 -9.63757855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42863999999997 meters 0.02681661087751045 Centerline is valid? [True, True] Translation: X:177.79, Y:-86.57, Z:-9.64 [[ 8.10241623e-01 5.83451519e-01 5.56132883e-02 1.77792730e+02] [-5.82084070e-01 8.12147970e-01 -3.99225521e-02 -8.65692065e+01] [-6.84590928e-02 -2.46958300e-05 9.97653924e-01 -9.63967158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48863999999998 meters 0.026985002536865248 Centerline is valid? [True, True] Translation: X:177.84, Y:-86.60, Z:-9.64 [[ 8.08528335e-01 5.85617845e-01 5.77379545e-02 1.77844661e+02] [-5.84146316e-01 8.10587260e-01 -4.14894666e-02 -8.66027842e+01] [-7.10986224e-02 -1.82004085e-04 9.97469274e-01 -9.64204511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54863999999998 meters 0.027022534177674255 Centerline is valid? [True, True] Translation: X:177.90, Y:-86.64, Z:-9.65 [[ 8.06187711e-01 5.89022559e-01 5.58014199e-02 1.77897446e+02] [-5.87653667e-01 8.08116474e-01 -4.01364195e-02 -8.66356319e+01] [-6.87353032e-02 -4.34420893e-04 9.97634838e-01 -9.64559083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60863999999998 meters 0.02698566741523435 Centerline is valid? [True, True] Translation: X:177.95, Y:-86.67, Z:-9.65 [[ 8.06288759e-01 5.88858121e-01 5.60762893e-02 1.77950411e+02] [-5.87472424e-01 8.08236328e-01 -4.03755993e-02 -8.66692066e+01] [-6.90983937e-02 -3.88881800e-04 9.97609774e-01 -9.64698621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66863999999998 meters 0.02679602162361607 Centerline is valid? [True, True] Translation: X:178.00, Y:-86.70, Z:-9.65 [[ 8.08127534e-01 5.86451616e-01 5.48123148e-02 1.78001888e+02] [-5.85119380e-01 8.09984247e-01 -3.95073504e-02 -8.67046682e+01] [-6.75662611e-02 -1.44769959e-04 9.97714779e-01 -9.65065446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72863999999998 meters 0.026951331158169292 Centerline is valid? [True, True] Translation: X:178.05, Y:-86.74, Z:-9.65 [[ 8.09987183e-01 5.83721478e-01 5.64800883e-02 1.78052548e+02] [-5.82297764e-01 8.11953954e-01 -4.07442124e-02 -8.67398180e+01] [-6.96425029e-02 1.14060749e-04 9.97572007e-01 -9.65363460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78864 meters 0.027159168652694868 Centerline is valid? [True, True] Translation: X:178.10, Y:-86.77, Z:-9.66 [[ 8.10606959e-01 5.82767140e-01 5.74353437e-02 1.78103486e+02] [-5.81290384e-01 8.12639164e-01 -4.14617758e-02 -8.67749260e+01] [-7.08367702e-02 2.22590981e-04 9.97487896e-01 -9.65734792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84864 meters 0.027132525926984886 Centerline is valid? [True, True] Translation: X:178.15, Y:-86.81, Z:-9.66 [[ 8.12744744e-01 5.79980386e-01 5.53961458e-02 1.78152712e+02] [-5.78597690e-01 8.14630297e-01 -4.00273964e-02 -8.68135196e+01] [-6.83424835e-02 4.79974063e-04 9.97661804e-01 -9.65965143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90864 meters 0.027147545010305637 Centerline is valid? [True, True] Translation: X:178.20, Y:-86.85, Z:-9.66 [[ 8.14034092e-01 5.78161240e-01 5.54804197e-02 1.78201469e+02] [-5.76767452e-01 8.15922262e-01 -4.01269108e-02 -8.68523525e+01] [-6.84675341e-02 6.65373076e-04 9.97653123e-01 -9.66264150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96864 meters 0.0264236964199887 Centerline is valid? [True, True] Translation: X:178.25, Y:-86.89, Z:-9.66 [[ 8.13125820e-01 5.79457652e-01 5.52741419e-02 1.78251523e+02] [-5.78074470e-01 8.15002138e-01 -4.00177651e-02 -8.68902805e+01] [-6.82371441e-02 5.86907794e-04 9.97668957e-01 -9.66415391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02864 meters 0.02595061171381083 Centerline is valid? [True, True] Translation: X:178.30, Y:-86.93, Z:-9.67 [[ 8.11462884e-01 5.81707246e-01 5.60773450e-02 1.78301456e+02] [-5.80285740e-01 8.13398111e-01 -4.06444834e-02 -8.69281480e+01] [-6.92563969e-02 4.40606111e-04 9.97598796e-01 -9.66562648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08863999999997 meters 0.02570061147259645 Centerline is valid? [True, True] Translation: X:178.35, Y:-86.96, Z:-9.67 [[ 8.09598634e-01 5.84044768e-01 5.86665293e-02 1.78351986e+02] [-5.82491509e-01 8.11721396e-01 -4.25677928e-02 -8.69637321e+01] [-7.24823737e-02 2.90071719e-04 9.97369651e-01 -9.67103929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14863999999997 meters 0.025609193044575183 Centerline is valid? [True, True] Translation: X:178.40, Y:-87.00, Z:-9.67 [[ 8.10222898e-01 5.83390957e-01 5.65141327e-02 1.78403511e+02] [-5.81945406e-01 8.12191391e-01 -4.10449561e-02 -8.69984227e+01] [-6.98455483e-02 3.67423370e-04 9.97557750e-01 -9.67182943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20863999999997 meters 0.025661090440502646 Centerline is valid? [True, True] Translation: X:178.45, Y:-87.03, Z:-9.67 [[ 8.10188047e-01 5.83491942e-01 5.59685869e-02 1.78454864e+02] [-5.82071605e-01 8.12118836e-01 -4.06896030e-02 -8.70347000e+01] [-6.91951991e-02 3.88504826e-04 9.97603064e-01 -9.67482343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26863999999998 meters 0.02567811916577648 Centerline is valid? [True, True] Translation: X:178.51, Y:-87.07, Z:-9.68 [[ 8.10622562e-01 5.82734893e-01 5.75422162e-02 1.78505252e+02] [-5.81228764e-01 8.12662166e-01 -4.18727522e-02 -8.70700684e+01] [-7.11630959e-02 4.97806481e-04 9.97464569e-01 -9.67895099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32863999999998 meters 0.025983994821968944 Centerline is valid? [True, True] Translation: X:178.55, Y:-87.11, Z:-9.68 [[ 8.11349443e-01 5.81563809e-01 5.91237390e-02 1.78554788e+02] [-5.79968430e-01 8.13500538e-01 -4.30522346e-02 -8.71066355e+01] [-7.31348150e-02 6.40504525e-04 9.97321858e-01 -9.68285071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38863999999998 meters 0.026299042602779262 Centerline is valid? [True, True] Translation: X:178.60, Y:-87.14, Z:-9.69 [[ 8.13032394e-01 5.79054787e-01 6.06125460e-02 1.78604143e+02] [-5.77368412e-01 8.15288118e-01 -4.41701507e-02 -8.71434660e+01] [-7.49936257e-02 9.15993898e-04 9.97183592e-01 -9.68670405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44863999999998 meters 0.026111827522195832 Centerline is valid? [True, True] Translation: X:178.66, Y:-87.18, Z:-9.69 [[ 8.12267656e-01 5.80430506e-01 5.76340483e-02 1.78655332e+02] [-5.78907554e-01 8.14309421e-01 -4.20263208e-02 -8.71794327e+01] [-7.13253071e-02 7.71835156e-04 9.97452808e-01 -9.68870892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50863999999999 meters 0.025729623810502634 Centerline is valid? [True, True] Translation: X:178.71, Y:-87.21, Z:-9.69 [[ 8.11353380e-01 5.81793639e-01 5.67613836e-02 1.78706584e+02] [-5.80317112e-01 8.13336159e-01 -4.14287695e-02 -8.72145198e+01] [-7.02690803e-02 6.73769908e-04 9.97527845e-01 -9.69008701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56864 meters 0.025737021658856604 Centerline is valid? [True, True] Translation: X:178.76, Y:-87.25, Z:-9.69 [[ 8.10375566e-01 5.83069944e-01 5.76270895e-02 1.78758296e+02] [-5.81548158e-01 8.12421733e-01 -4.21030524e-02 -8.72507014e+01] [-7.13665244e-02 6.06357157e-04 9.97449974e-01 -9.69319873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62864 meters 0.02580183100691639 Centerline is valid? [True, True] Translation: X:178.81, Y:-87.29, Z:-9.70 [[ 8.10132435e-01 5.83471568e-01 5.69768995e-02 1.78810096e+02] [-5.81981898e-01 8.12133345e-01 -4.16713470e-02 -8.72854419e+01] [-7.05868861e-02 5.99785673e-04 9.97505455e-01 -9.69659119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68864 meters 0.025580298429129626 Centerline is valid? [True, True] Translation: X:178.86, Y:-87.32, Z:-9.70 [[ 8.07073818e-01 5.87678879e-01 5.71435662e-02 1.78861161e+02] [-5.86188110e-01 8.09094224e-01 -4.18334250e-02 -8.73208700e+01] [-7.08191497e-02 2.65782911e-04 9.97489136e-01 -9.69915602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74864 meters 0.025732603863709996 Centerline is valid? [True, True] Translation: X:178.91, Y:-87.36, Z:-9.70 [[ 8.04927218e-01 5.90542398e-01 5.78951632e-02 1.78912752e+02] [-5.89016373e-01 8.07006614e-01 -4.24268495e-02 -8.73566634e+01] [-7.17766331e-02 4.93269167e-05 9.97420730e-01 -9.70160067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80864 meters 0.025643990837064208 Centerline is valid? [True, True] Translation: X:178.97, Y:-87.39, Z:-9.70 [[ 8.04048780e-01 5.91758480e-01 5.76841400e-02 1.78967009e+02] [-5.90243334e-01 8.06115315e-01 -4.23190998e-02 -8.73884957e+01] [-7.15427548e-02 -2.10585294e-05 9.97437534e-01 -9.70479860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86863999999997 meters 0.02565262595912771 Centerline is valid? [True, True] Translation: X:179.02, Y:-87.42, Z:-9.71 [[ 8.04383469e-01 5.91281201e-01 5.79117963e-02 1.79020449e+02] [-5.89749403e-01 8.06465460e-01 -4.25335506e-02 -8.74228834e+01] [-7.18531523e-02 5.98377079e-05 9.97415220e-01 -9.70849496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92863999999997 meters 0.025743339892039308 Centerline is valid? [True, True] Translation: X:179.08, Y:-87.45, Z:-9.71 [[ 8.05365080e-01 5.89922685e-01 5.81232634e-02 1.79076453e+02] [-5.88372696e-01 8.07459706e-01 -4.27363329e-02 -8.74533308e+01] [-7.21433254e-02 2.20208975e-04 9.97394251e-01 -9.71117353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98863999999998 meters 0.02565135145339933 Centerline is valid? [True, True] Translation: X:179.13, Y:-87.49, Z:-9.71 [[ 8.08669205e-01 5.85530615e-01 5.66393417e-02 1.79129642e+02] [-5.84044870e-01 8.10650046e-01 -4.16904355e-02 -8.74869083e+01] [-7.03257113e-02 6.33854396e-04 9.97523881e-01 -9.71324556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04863999999998 meters 0.025871040619889096 Centerline is valid? [True, True] Translation: X:179.18, Y:-87.52, Z:-9.72 [[ 8.11080945e-01 5.82107620e-01 5.74318686e-02 1.79181040e+02] [-5.80568178e-01 8.13111159e-01 -4.23182391e-02 -8.75216503e+01] [-7.13322628e-02 9.80402020e-04 9.97452128e-01 -9.71649126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10863999999998 meters 0.02609598623868343 Centerline is valid? [True, True] Translation: X:179.23, Y:-87.56, Z:-9.72 [[ 8.11181726e-01 5.81865001e-01 5.84579127e-02 1.79231189e+02] [-5.80266376e-01 8.13284705e-01 -4.31152172e-02 -8.75586864e+01] [-7.26301622e-02 1.05311515e-03 9.97358386e-01 -9.72013006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16863999999998 meters 0.02565658770827107 Centerline is valid? [True, True] Translation: X:179.28, Y:-87.60, Z:-9.72 [[ 8.07271624e-01 5.87348821e-01 5.77398253e-02 1.79279742e+02] [-5.85800366e-01 8.09333688e-01 -4.26252535e-02 -8.75971466e+01] [-7.17666782e-02 5.86146880e-04 9.97421275e-01 -9.72164705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22863999999998 meters 0.025567709361613383 Centerline is valid? [True, True] Translation: X:179.33, Y:-87.63, Z:-9.73 [[ 8.02156645e-01 5.94257766e-01 5.83303024e-02 1.79330362e+02] [-5.92692445e-01 8.04274647e-01 -4.31040446e-02 -8.76339441e+01] [-7.25284966e-02 4.26624041e-06 9.97366341e-01 -9.72523926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28864 meters 0.02589350021656634 Centerline is valid? [True, True] Translation: X:179.38, Y:-87.67, Z:-9.73 [[ 7.99579149e-01 5.97573178e-01 5.98287717e-02 1.79382469e+02] [-5.95932036e-01 8.01814334e-01 -4.42581234e-02 -8.76675476e+01] [-7.44190342e-02 -2.66009072e-04 9.97227024e-01 -9.72968258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34864 meters 0.02562288309610119 Centerline is valid? [True, True] Translation: X:179.44, Y:-87.70, Z:-9.73 [[ 8.00684273e-01 5.96109711e-01 5.96481974e-02 1.79437128e+02] [-5.94471099e-01 8.02902985e-01 -4.41690973e-02 -8.77001834e+01] [-7.42213436e-02 -9.36279278e-05 9.97241788e-01 -9.73178638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40864 meters 0.025809212115759733 Centerline is valid? [True, True] Translation: X:179.49, Y:-87.73, Z:-9.74 [[ 8.03708466e-01 5.92158421e-01 5.83190067e-02 1.79491441e+02] [-5.90578423e-01 8.05821514e-01 -4.32297803e-02 -8.77314521e+01] [-7.25935888e-02 3.02193401e-04 9.97361559e-01 -9.73587578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46864 meters 0.02584665478901675 Centerline is valid? [True, True] Translation: X:179.55, Y:-87.76, Z:-9.74 [[ 8.05365016e-01 5.89941838e-01 5.79294336e-02 1.79546605e+02] [-5.88374062e-01 8.07445566e-01 -4.29839613e-02 -8.77630159e+01] [-7.21329014e-02 5.33602530e-04 9.97394887e-01 -9.73827623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52864 meters 0.026047530170122703 Centerline is valid? [True, True] Translation: X:179.60, Y:-87.80, Z:-9.74 [[ 8.06512693e-01 5.88296710e-01 5.86877954e-02 1.79599670e+02] [-5.86679883e-01 8.08644825e-01 -4.35919952e-02 -8.77959644e+01] [-7.31026094e-02 7.26548524e-04 9.97324160e-01 -9.74337026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58863999999997 meters 0.026410398660058634 Centerline is valid? [True, True] Translation: X:179.65, Y:-87.83, Z:-9.74 [[ 8.10386135e-01 5.83028364e-01 5.78985229e-02 1.79650924e+02] [-5.81438405e-01 8.12450884e-01 -4.30458146e-02 -8.78310394e+01] [-7.21366370e-02 1.21930653e-03 9.97394014e-01 -9.74464456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64863999999997 meters 0.026901792227973006 Centerline is valid? [True, True] Translation: X:179.70, Y:-87.87, Z:-9.75 [[ 8.11996817e-01 5.80736054e-01 5.83678407e-02 1.79699847e+02] [-5.79111283e-01 8.14090585e-01 -4.34354850e-02 -8.78689444e+01] [-7.27412618e-02 1.46800048e-03 9.97349765e-01 -9.74752741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70863999999997 meters 0.026577281237077102 Centerline is valid? [True, True] Translation: X:179.75, Y:-87.91, Z:-9.75 [[ 8.09424866e-01 5.84142192e-01 6.00773215e-02 1.79747663e+02] [-5.82426731e-01 8.11650405e-01 -4.47517946e-02 -8.79106333e+01] [-7.49031937e-02 1.23257742e-03 9.97190048e-01 -9.75082153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76863999999998 meters 0.02570714784190785 Centerline is valid? [True, True] Translation: X:179.79, Y:-87.95, Z:-9.75 [[ 8.04419089e-01 5.91267775e-01 5.75529964e-02 1.79793496e+02] [-5.89709540e-01 8.06475103e-01 -4.29018299e-02 -8.79518869e+01] [-7.17815282e-02 5.71499860e-04 9.97420215e-01 -9.75173842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82863999999998 meters 0.0256879808057456 Centerline is valid? [True, True] Translation: X:179.84, Y:-87.99, Z:-9.76 [[ 7.98874794e-01 5.98827873e-01 5.66060239e-02 1.79840118e+02] [-5.97338176e-01 8.00877750e-01 -4.22129457e-02 -8.79933796e+01] [-7.06127936e-02 -9.00807229e-05 9.97503797e-01 -9.75595034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88863999999998 meters 0.025643949987789745 Centerline is valid? [True, True] Translation: X:179.89, Y:-88.03, Z:-9.76 [[ 7.95681345e-01 6.02980658e-01 5.74936820e-02 1.79890298e+02] [-6.01451627e-01 7.97755689e-01 -4.29162104e-02 -8.80295153e+01] [-7.17435566e-02 -4.32040523e-04 9.97423017e-01 -9.75681794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94863999999998 meters 0.025842282848578813 Centerline is valid? [True, True] Translation: X:179.94, Y:-88.06, Z:-9.76 [[ 7.90379092e-01 6.09951404e-01 5.70979462e-02 1.79943410e+02] [-6.08458520e-01 7.92438160e-01 -4.26613547e-02 -8.80621984e+01] [-7.12679446e-02 -1.02308908e-03 9.97456682e-01 -9.75907254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00863999999999 meters 0.02647953843359941 Centerline is valid? [True, True] Translation: X:180.00, Y:-88.09, Z:-9.76 [[ 7.86721675e-01 6.14765545e-01 5.59672254e-02 1.79998670e+02] [-6.13340604e-01 7.88708673e-01 -4.18561006e-02 -8.80927603e+01] [-6.98735245e-02 -1.39787019e-03 9.97554879e-01 -9.76167740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06864 meters 0.026334158910987306 Centerline is valid? [True, True] Translation: X:180.05, Y:-88.12, Z:-9.76 [[ 7.88158124e-01 6.12765801e-01 5.76614658e-02 1.80054928e+02] [-6.11245341e-01 7.90263601e-01 -4.31575442e-02 -8.81231496e+01] [-7.20132248e-02 -1.23033324e-03 9.97402918e-01 -9.76459574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12864 meters 0.026035369675704346 Centerline is valid? [True, True] Translation: X:180.11, Y:-88.15, Z:-9.77 [[ 7.89746651e-01 6.10668074e-01 5.81784387e-02 1.80108390e+02] [-6.09113324e-01 7.91885996e-01 -4.35606169e-02 -8.81547651e+01] [-7.26717689e-02 -1.03541085e-03 9.97355374e-01 -9.76809859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18864 meters 0.026168159450816166 Centerline is valid? [True, True] Translation: X:180.16, Y:-88.19, Z:-9.77 [[ 7.91858309e-01 6.07965955e-01 5.77738380e-02 1.80161562e+02] [-6.06424723e-01 7.93962720e-01 -4.32695439e-02 -8.81871943e+01] [-7.21766832e-02 -7.72135862e-04 9.97391563e-01 -9.77176593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24864 meters 0.025824294661907686 Centerline is valid? [True, True] Translation: X:180.22, Y:-88.22, Z:-9.77 [[ 7.93057760e-01 6.06496603e-01 5.67561398e-02 1.80215517e+02] [-6.05004670e-01 7.95085837e-01 -4.25189466e-02 -8.82188645e+01] [-7.09135996e-02 -6.17749033e-04 9.97482270e-01 -9.77388315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30864 meters 0.02584077324159044 Centerline is valid? [True, True] Translation: X:180.27, Y:-88.25, Z:-9.78 [[ 7.94247567e-01 6.04980247e-01 5.63001219e-02 1.80267897e+02] [-6.03507598e-01 7.96240341e-01 -4.21888477e-02 -8.82520717e+01] [-7.03518478e-02 -4.69161663e-04 9.97522129e-01 -9.77569333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36863999999997 meters 0.02571016568690051 Centerline is valid? [True, True] Translation: X:180.32, Y:-88.28, Z:-9.78 [[ 7.95790923e-01 6.02808776e-01 5.77787727e-02 1.80321573e+02] [-6.01251053e-01 7.97885646e-01 -4.33089742e-02 -8.82838892e+01] [-7.22078831e-02 -2.74659390e-04 9.97389566e-01 -9.78025883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42863999999997 meters 0.02619156235825334 Centerline is valid? [True, True] Translation: X:180.37, Y:-88.32, Z:-9.78 [[ 7.98044832e-01 5.99746246e-01 5.85566970e-02 1.80373286e+02] [-5.98137089e-01 8.00190252e-01 -4.39042505e-02 -8.83177808e+01] [-7.31879075e-02 1.26279149e-05 9.97318169e-01 -9.78476253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48863999999998 meters 0.026147506921448512 Centerline is valid? [True, True] Translation: X:180.43, Y:-88.35, Z:-9.79 [[ 8.00910417e-01 5.96069138e-01 5.69568848e-02 1.80425770e+02] [-5.94536676e-01 8.02933037e-01 -4.27162692e-02 -8.83518109e+01] [-7.11944142e-02 3.48948011e-04 9.97462397e-01 -9.78808724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54863999999998 meters 0.02650786140142722 Centerline is valid? [True, True] Translation: X:180.48, Y:-88.39, Z:-9.79 [[ 8.03622332e-01 5.92344282e-01 5.76142171e-02 1.80476185e+02] [-5.90765908e-01 8.05684658e-01 -4.32189042e-02 -8.83871977e+01] [-7.20193616e-02 6.95161263e-04 9.97402992e-01 -9.79069059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60863999999998 meters 0.026745633460091178 Centerline is valid? [True, True] Translation: X:180.53, Y:-88.43, Z:-9.79 [[ 8.05772176e-01 5.89400699e-01 5.77755698e-02 1.80525892e+02] [-5.87805326e-01 8.07840257e-01 -4.33476461e-02 -8.84251431e+01] [-7.22225640e-02 9.67539470e-04 9.97388071e-01 -9.79366311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66863999999998 meters 0.026775195645192647 Centerline is valid? [True, True] Translation: X:180.57, Y:-88.46, Z:-9.80 [[ 8.06245727e-01 5.88737861e-01 5.79271737e-02 1.80573913e+02] [-5.87131559e-01 8.08323358e-01 -4.34727582e-02 -8.84646358e+01] [-7.24179462e-02 1.03885375e-03 9.97373833e-01 -9.79639760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72863999999998 meters 0.026920880734838407 Centerline is valid? [True, True] Translation: X:180.62, Y:-88.51, Z:-9.80 [[ 8.06567899e-01 5.88270903e-01 5.81856493e-02 1.80620585e+02] [-5.86648169e-01 8.08663185e-01 -4.36781327e-02 -8.85052555e+01] [-7.27471670e-02 1.09487509e-03 9.97349814e-01 -9.79889389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78864 meters 0.02717239447332864 Centerline is valid? [True, True] Translation: X:180.67, Y:-88.54, Z:-9.80 [[ 8.07603012e-01 5.86909314e-01 5.75745766e-02 1.80669280e+02] [-5.85316266e-01 8.09651767e-01 -4.32305998e-02 -8.85445670e+01] [-7.19877994e-02 1.21382640e-03 9.97404774e-01 -9.80120556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84864 meters 0.026989009725752536 Centerline is valid? [True, True] Translation: X:180.71, Y:-88.59, Z:-9.81 [[ 8.08084481e-01 5.86249172e-01 5.75445921e-02 1.80714881e+02] [-5.84655302e-01 8.10129784e-01 -4.32193366e-02 -8.85864953e+01] [-7.19558883e-02 1.28112429e-03 9.97406993e-01 -9.80535098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90864 meters 0.02689522724182852 Centerline is valid? [True, True] Translation: X:180.76, Y:-88.63, Z:-9.81 [[ 8.06943913e-01 5.87802307e-01 5.77058764e-02 1.80761043e+02] [-5.86202613e-01 8.09003778e-01 -4.33518611e-02 -8.86290438e+01] [-7.21665960e-02 1.15518493e-03 9.97391923e-01 -9.80856149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96864 meters 0.026449092886133813 Centerline is valid? [True, True] Translation: X:180.81, Y:-88.67, Z:-9.81 [[ 8.03478216e-01 5.92531636e-01 5.76976386e-02 1.80807960e+02] [-5.90943692e-01 8.05546841e-01 -4.33571266e-02 -8.86702482e+01] [-7.21686196e-02 7.40451160e-04 9.97392171e-01 -9.81215022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02864 meters 0.026159048911595466 Centerline is valid? [True, True] Translation: X:180.85, Y:-88.71, Z:-9.81 [[ 8.00328262e-01 5.96759392e-01 5.79042426e-02 1.80854370e+02] [-5.95170202e-01 8.02420146e-01 -4.35240185e-02 -8.87121303e+01] [-7.24368976e-02 3.70622386e-04 9.97372928e-01 -9.81412305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08863999999997 meters 0.02619105525793993 Centerline is valid? [True, True] Translation: X:180.90, Y:-88.75, Z:-9.82 [[ 7.97586799e-01 6.00328128e-01 5.88339788e-02 1.80901604e+02] [-5.98696199e-01 7.99753797e-01 -4.42348900e-02 -8.87532790e+01] [-7.36081466e-02 5.74847787e-05 9.97287239e-01 -9.81840176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14863999999997 meters 0.026215306895666233 Centerline is valid? [True, True] Translation: X:180.95, Y:-88.79, Z:-9.82 [[ 7.96806883e-01 6.01393900e-01 5.85163983e-02 1.80951050e+02] [-5.99781559e-01 7.98952675e-01 -4.40080131e-02 -8.87916146e+01] [-7.32179836e-02 -3.11688372e-05 9.97315961e-01 -9.82077237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20863999999997 meters 0.02655773056869837 Centerline is valid? [True, True] Translation: X:181.00, Y:-88.83, Z:-9.83 [[ 7.98671276e-01 5.98795007e-01 5.97388645e-02 1.80999462e+02] [-5.97105462e-01 8.00902295e-01 -4.49508685e-02 -8.88311638e+01] [-7.47613493e-02 2.30565234e-04 9.97201428e-01 -9.82587838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26863999999998 meters 0.026670280868885194 Centerline is valid? [True, True] Translation: X:181.05, Y:-88.87, Z:-9.83 [[ 7.98431179e-01 5.99088498e-01 6.00051938e-02 1.81049238e+02] [-5.97381275e-01 8.00682780e-01 -4.51962238e-02 -8.88696172e+01] [-7.51216632e-02 2.40095097e-04 9.97174347e-01 -9.82854419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32863999999998 meters 0.02676328628509114 Centerline is valid? [True, True] Translation: X:181.10, Y:-88.91, Z:-9.83 [[ 7.98551304e-01 5.98960974e-01 5.96788602e-02 1.81099295e+02] [-5.97268322e-01 8.00778164e-01 -4.49987081e-02 -8.89087227e+01] [-7.47419981e-02 2.89484354e-04 9.97202863e-01 -9.83112184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38863999999998 meters 0.026608144159657232 Centerline is valid? [True, True] Translation: X:181.15, Y:-88.95, Z:-9.83 [[ 7.98244523e-01 5.99454345e-01 5.88232135e-02 1.81148968e+02] [-5.97807940e-01 8.00408903e-01 -4.43988126e-02 -8.89466875e+01] [-7.36976849e-02 2.76124848e-04 9.97280590e-01 -9.83427047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44863999999998 meters 0.026845648761693004 Centerline is valid? [True, True] Translation: X:181.20, Y:-88.98, Z:-9.84 [[ 7.97702980e-01 6.00282684e-01 5.77118237e-02 1.81198153e+02] [-5.98697212e-01 7.99787877e-01 -4.36004638e-02 -8.89849817e+01] [-7.23298203e-02 2.28311970e-04 9.97380742e-01 -9.83837024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50863999999999 meters 0.026768253077701885 Centerline is valid? [True, True] Translation: X:181.25, Y:-89.02, Z:-9.84 [[ 7.98171161e-01 5.99697511e-01 5.73209629e-02 1.81248328e+02] [-5.98128907e-01 8.00226716e-01 -4.33475953e-02 -8.90236050e+01] [-7.18652110e-02 3.13475601e-04 9.97414304e-01 -9.84089702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56864 meters 0.026682921867537717 Centerline is valid? [True, True] Translation: X:181.30, Y:-89.06, Z:-9.84 [[ 7.98358243e-01 5.99433479e-01 5.74771327e-02 1.81298316e+02] [-5.97852237e-01 8.00424489e-01 -4.35125214e-02 -8.90626569e+01] [-7.20889667e-02 3.75747759e-04 9.97398135e-01 -9.84305752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62864 meters 0.026816935579952628 Centerline is valid? [True, True] Translation: X:181.35, Y:-89.10, Z:-9.85 [[ 7.99901267e-01 5.97277835e-01 5.84563992e-02 1.81346342e+02] [-5.95633049e-01 8.02034169e-01 -4.42997032e-02 -8.91022870e+01] [-7.33432603e-02 6.16825436e-04 9.97306566e-01 -9.84652320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68864 meters 0.02695526602000929 Centerline is valid? [True, True] Translation: X:181.39, Y:-89.14, Z:-9.85 [[ 8.00541637e-01 5.96433295e-01 5.83130499e-02 1.81394313e+02] [-5.94791158e-01 8.02662317e-01 -4.42344087e-02 -8.91433509e+01] [-7.31885618e-02 7.27399476e-04 9.97317856e-01 -9.84877804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74864 meters 0.026727260003781013 Centerline is valid? [True, True] Translation: X:181.44, Y:-89.18, Z:-9.85 [[ 7.97683814e-01 6.00242504e-01 5.83906632e-02 1.81443702e+02] [-5.98602809e-01 7.99817957e-01 -4.43386212e-02 -8.91816210e+01] [-7.33158259e-02 4.15385465e-04 9.97308687e-01 -9.85077353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80864 meters 0.0265630755681641 Centerline is valid? [True, True] Translation: X:181.49, Y:-89.22, Z:-9.85 [[ 7.95142178e-01 6.03681205e-01 5.76013837e-02 1.81490169e+02] [-6.02091611e-01 7.97225806e-01 -4.37802005e-02 -8.92224831e+01] [-7.23505937e-02 1.30174027e-04 9.97379253e-01 -9.85491551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86863999999997 meters 0.026308375708716712 Centerline is valid? [True, True] Translation: X:181.54, Y:-89.26, Z:-9.86 [[ 7.94572855e-01 6.04556987e-01 5.62568010e-02 1.81540254e+02] [-6.03040629e-01 7.96561890e-01 -4.27920004e-02 -8.92601904e+01] [-7.06822265e-02 7.62252610e-05 9.97498881e-01 -9.85573946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92863999999997 meters 0.026401434221981972 Centerline is valid? [True, True] Translation: X:181.59, Y:-89.30, Z:-9.86 [[ 7.96161218e-01 6.02471967e-01 5.61679922e-02 1.81588905e+02] [-6.00953055e-01 7.98139992e-01 -4.27548638e-02 -8.92994784e+01] [-7.05885277e-02 2.85437932e-04 9.97505478e-01 -9.85917595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98863999999998 meters 0.026398460973710906 Centerline is valid? [True, True] Translation: X:181.64, Y:-89.34, Z:-9.86 [[ 7.96337144e-01 6.02295649e-01 5.55617203e-02 1.81637317e+02] [-6.00805754e-01 7.98273036e-01 -4.23391907e-02 -8.93393959e+01] [-6.98541334e-02 3.34468953e-04 9.97557160e-01 -9.86174546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04863999999998 meters 0.026306346243242604 Centerline is valid? [True, True] Translation: X:181.69, Y:-89.38, Z:-9.86 [[ 7.95025943e-01 6.03995083e-01 5.58899792e-02 1.81687296e+02] [-6.02488429e-01 7.96988011e-01 -4.26356978e-02 -8.93782941e+01] [-7.02953952e-02 2.23420095e-04 9.97526194e-01 -9.86461636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10863999999998 meters 0.026150874699038203 Centerline is valid? [True, True] Translation: X:181.74, Y:-89.41, Z:-9.87 [[ 7.92283522e-01 6.07674275e-01 5.49435776e-02 1.81738025e+02] [-6.06224075e-01 7.94186358e-01 -4.19571234e-02 -8.94138418e+01] [-6.91317043e-02 -6.61820319e-05 9.97607540e-01 -9.86665890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16863999999998 meters 0.026318442210680443 Centerline is valid? [True, True] Translation: X:181.79, Y:-89.45, Z:-9.87 [[ 7.92194012e-01 6.07679665e-01 5.61611359e-02 1.81788712e+02] [-6.06161461e-01 7.94182236e-01 -4.29285364e-02 -8.94500518e+01] [-7.06889750e-02 -3.49867456e-05 9.97498405e-01 -9.87123337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22863999999998 meters 0.026156765194809445 Centerline is valid? [True, True] Translation: X:181.84, Y:-89.48, Z:-9.87 [[ 7.94299580e-01 6.05097147e-01 5.42735680e-02 1.81840809e+02] [-6.03670693e-01 7.96151615e-01 -4.15246953e-02 -8.94845417e+01] [-6.83364635e-02 2.19685687e-04 9.97662307e-01 -9.87331950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28864 meters 0.02622581806591707 Centerline is valid? [True, True] Translation: X:181.89, Y:-89.52, Z:-9.88 [[ 7.97584528e-01 6.00801732e-01 5.38163449e-02 1.81893366e+02] [-5.99386793e-01 7.99397836e-01 -4.12137241e-02 -8.95175170e+01] [-6.77819465e-02 6.14622241e-04 9.97699970e-01 -9.87535337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34864 meters 0.026341735590898255 Centerline is valid? [True, True] Translation: X:181.94, Y:-89.55, Z:-9.88 [[ 7.98220382e-01 5.99817839e-01 5.53424120e-02 1.81944412e+02] [-5.98316205e-01 8.00136236e-01 -4.24231296e-02 -8.95524311e+01] [-6.97276192e-02 7.50744757e-04 9.97565785e-01 -9.87967137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40864 meters 0.02642275458691317 Centerline is valid? [True, True] Translation: X:181.99, Y:-89.59, Z:-9.88 [[ 7.99033962e-01 5.98693889e-01 5.57705506e-02 1.81993781e+02] [-5.97163331e-01 8.00977427e-01 -4.27915526e-02 -8.95898218e+01] [-7.02899932e-02 8.87776032e-04 9.97526205e-01 -9.88415923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46864 meters 0.02617873402883415 Centerline is valid? [True, True] Translation: X:182.04, Y:-89.63, Z:-9.89 [[ 7.99264487e-01 5.98483566e-01 5.47147275e-02 1.82043657e+02] [-5.97007323e-01 8.01134554e-01 -4.20200145e-02 -8.96267518e+01] [-6.89821469e-02 9.20012351e-04 9.97617470e-01 -9.88667655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52864 meters 0.02552836444598159 Centerline is valid? [True, True] Translation: X:182.09, Y:-89.66, Z:-9.89 [[ 7.95618459e-01 6.03465421e-01 5.31107602e-02 1.82093674e+02] [-6.02083111e-01 7.97389009e-01 -4.08251945e-02 -8.96631172e+01] [-6.69865296e-02 5.04186563e-04 9.97753753e-01 -9.88944643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58863999999997 meters 0.02542755808309492 Centerline is valid? [True, True] Translation: X:182.14, Y:-89.70, Z:-9.89 [[ 7.90465459e-01 6.10060158e-01 5.46896818e-02 1.82144279e+02] [-6.08607114e-01 7.92355099e-01 -4.20806168e-02 -8.97009276e+01] [-6.90053560e-02 -2.12553211e-05 9.97616289e-01 -9.89406977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64863999999997 meters 0.025422915069498557 Centerline is valid? [True, True] Translation: X:182.20, Y:-89.74, Z:-9.90 [[ 7.89954174e-01 6.10856205e-01 5.31704816e-02 1.82195857e+02] [-6.09482402e-01 7.91741557e-01 -4.09451939e-02 -8.97356564e+01] [-6.71089057e-02 -6.16460267e-05 9.97745654e-01 -9.89672060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70863999999997 meters 0.025399524609174454 Centerline is valid? [True, True] Translation: X:182.25, Y:-89.77, Z:-9.90 [[ 7.92516334e-01 6.07572707e-01 5.26618154e-02 1.82248338e+02] [-6.06216984e-01 7.94264034e-01 -4.05661550e-02 -8.97712137e+01] [-6.64742745e-02 2.24853507e-04 9.97788114e-01 -9.89947222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76863999999998 meters 0.02545425949800361 Centerline is valid? [True, True] Translation: X:182.30, Y:-89.81, Z:-9.90 [[ 7.92480468e-01 6.07447728e-01 5.46073791e-02 1.82299119e+02] [-6.05988462e-01 7.94359611e-01 -4.20807851e-02 -8.98063562e+01] [-6.89397737e-02 2.56758621e-04 9.97620791e-01 -9.90376915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82863999999998 meters 0.025422467588498334 Centerline is valid? [True, True] Translation: X:182.35, Y:-89.84, Z:-9.91 [[ 7.91076334e-01 6.09331992e-01 5.39699621e-02 1.82350732e+02] [-6.07910242e-01 7.92915199e-01 -4.16007694e-02 -8.98419584e+01] [-6.81422830e-02 1.00491416e-04 9.97675608e-01 -9.90580057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88863999999998 meters 0.025501319267343663 Centerline is valid? [True, True] Translation: X:182.40, Y:-89.88, Z:-9.91 [[ 7.89641259e-01 6.11213084e-01 5.37145060e-02 1.82403471e+02] [-6.09808231e-01 7.91466085e-01 -4.14168781e-02 -8.98766276e+01] [-6.78277476e-02 -5.10721196e-05 9.97697045e-01 -9.90882465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94863999999998 meters 0.025692003679916062 Centerline is valid? [True, True] Translation: X:182.46, Y:-89.91, Z:-9.91 [[ 7.90964251e-01 6.09422833e-01 5.45835602e-02 1.82456391e+02] [-6.07966741e-01 7.92845380e-01 -4.21027888e-02 -8.99096818e+01] [-6.89347244e-02 1.16811597e-04 9.97621166e-01 -9.91210699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00863999999999 meters 0.02582277774329428 Centerline is valid? [True, True] Translation: X:182.51, Y:-89.95, Z:-9.92 [[ 7.93940765e-01 6.05551921e-01 5.44511903e-02 1.82507974e+02] [-6.04092982e-01 7.95805666e-01 -4.20120375e-02 -8.99451609e+01] [-6.87730358e-02 4.61487335e-04 9.97632225e-01 -9.91583263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06864 meters 0.02598050514011641 Centerline is valid? [True, True] Translation: X:182.56, Y:-89.98, Z:-9.92 [[ 7.95963208e-01 6.02887522e-01 5.44904264e-02 1.82561199e+02] [-6.01419447e-01 7.97825885e-01 -4.20536045e-02 -8.99784612e+01] [-6.88274661e-02 7.01519863e-04 9.97628331e-01 -9.91768271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12864 meters 0.025801122930301446 Centerline is valid? [True, True] Translation: X:182.61, Y:-90.02, Z:-9.92 [[ 7.94713606e-01 6.04553131e-01 5.42751881e-02 1.82611015e+02] [-6.03099756e-01 7.96564620e-01 -4.18985754e-02 -9.00152483e+01] [-6.85636095e-02 5.64015273e-04 9.97646587e-01 -9.92039530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18864 meters 0.025748442924517178 Centerline is valid? [True, True] Translation: X:182.66, Y:-90.05, Z:-9.92 [[ 7.94705347e-01 6.04558383e-01 5.43375838e-02 1.82662164e+02] [-6.03100911e-01 7.96560627e-01 -4.19578111e-02 -9.00511693e+01] [-6.86491263e-02 5.73050557e-04 9.97640701e-01 -9.92252497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24864 meters 0.02607370965671858 Centerline is valid? [True, True] Translation: X:182.71, Y:-90.09, Z:-9.93 [[ 7.96445844e-01 6.02311344e-01 5.38057943e-02 1.82711622e+02] [-6.00876418e-01 7.98260894e-01 -4.15580933e-02 -9.00895078e+01] [-6.79819724e-02 7.68137726e-04 9.97686254e-01 -9.92547920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30864 meters 0.026202970629230417 Centerline is valid? [True, True] Translation: X:182.76, Y:-90.13, Z:-9.93 [[ 7.99278370e-01 5.98489952e-01 5.44413774e-02 1.82761180e+02] [-5.97011233e-01 8.01129535e-01 -4.20601468e-02 -9.01268975e+01] [-6.87871706e-02 1.11565177e-03 9.97630734e-01 -9.92743479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36863999999997 meters 0.026610505755357464 Centerline is valid? [True, True] Translation: X:182.81, Y:-90.17, Z:-9.93 [[ 7.99889059e-01 5.97653252e-01 5.46633658e-02 1.82808749e+02] [-5.96159714e-01 8.01753794e-01 -4.22427437e-02 -9.01673284e+01] [-6.90730741e-02 1.20141201e-03 9.97610880e-01 -9.93182352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42863999999997 meters 0.02686033496369809 Centerline is valid? [True, True] Translation: X:182.86, Y:-90.21, Z:-9.93 [[ 8.01633018e-01 5.95335932e-01 5.44024988e-02 1.82855004e+02] [-5.93850537e-01 8.03475674e-01 -4.20521269e-02 -9.02093297e+01] [-6.87462265e-02 1.40342029e-03 9.97633192e-01 -9.93427393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48863999999998 meters 0.02712724846757121 Centerline is valid? [True, True] Translation: X:182.90, Y:-90.25, Z:-9.94 [[ 8.02724814e-01 5.93736260e-01 5.57685173e-02 1.82899445e+02] [-5.92170577e-01 8.04658145e-01 -4.31193432e-02 -9.02528044e+01] [-7.04761092e-02 1.58849162e-03 9.97512203e-01 -9.93693124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54863999999998 meters 0.02651157247757383 Centerline is valid? [True, True] Translation: X:182.94, Y:-90.30, Z:-9.94 [[ 7.99688162e-01 5.97879844e-01 5.51229168e-02 1.82944893e+02] [-5.96359053e-01 8.01584806e-01 -4.26342393e-02 -9.02963912e+01] [-6.96758449e-02 1.22104593e-03 9.97568938e-01 -9.93894250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60863999999998 meters 0.02595388130010612 Centerline is valid? [True, True] Translation: X:182.99, Y:-90.34, Z:-9.94 [[ 7.96134629e-01 6.02616772e-01 5.49789002e-02 1.82988073e+02] [-6.01113695e-01 7.98030294e-01 -4.25438076e-02 -9.03423082e+01] [-6.95124399e-02 8.22028620e-04 9.97580746e-01 -9.94141233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66863999999998 meters 0.025745585865568993 Centerline is valid? [True, True] Translation: X:183.03, Y:-90.39, Z:-9.94 [[ 7.94230619e-01 6.05038444e-01 5.59124684e-02 1.83034037e+02] [-6.03487674e-01 7.96195997e-01 -4.32962151e-02 -9.03860976e+01] [-7.07131582e-02 6.44694187e-04 9.97496483e-01 -9.94387430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72863999999998 meters 0.02581052572798254 Centerline is valid? [True, True] Translation: X:183.08, Y:-90.43, Z:-9.95 [[ 7.93620521e-01 6.05878426e-01 5.54779379e-02 1.83080259e+02] [-6.04350671e-01 7.95557020e-01 -4.30034271e-02 -9.04285010e+01] [-7.01907117e-02 6.00273273e-04 9.97533410e-01 -9.94747431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78864 meters 0.025811349117493047 Centerline is valid? [True, True] Translation: X:183.13, Y:-90.47, Z:-9.95 [[ 7.92852689e-01 6.06905043e-01 5.52347834e-02 1.83127705e+02] [-6.05390258e-01 7.94774167e-01 -4.28562627e-02 -9.04702513e+01] [-6.99088610e-02 5.40103395e-04 9.97553236e-01 -9.95028889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84864 meters 0.025920240093615567 Centerline is valid? [True, True] Translation: X:183.18, Y:-90.51, Z:-9.95 [[ 7.93788283e-01 6.05768785e-01 5.42617779e-02 1.83175582e+02] [-6.04301254e-01 7.95640457e-01 -4.21456630e-02 -9.05106298e+01] [-6.87033928e-02 6.64273010e-04 9.97636909e-01 -9.95312928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90864 meters 0.02610963075532179 Centerline is valid? [True, True] Translation: X:183.22, Y:-90.55, Z:-9.96 [[ 7.94997991e-01 6.03930503e-01 5.69749307e-02 1.83223912e+02] [-6.02304232e-01 7.97036470e-01 -4.42998656e-02 -9.05495629e+01] [-7.21651377e-02 9.02062217e-04 9.97392290e-01 -9.95705756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96864 meters 0.02645920744255828 Centerline is valid? [True, True] Translation: X:183.27, Y:-90.59, Z:-9.96 [[ 7.96787183e-01 6.01504276e-01 5.76436532e-02 1.83272244e+02] [-5.99830119e-01 7.98868724e-01 -4.48618978e-02 -9.05885753e+01] [-7.30343351e-02 1.16898589e-03 9.97328742e-01 -9.96077120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02864 meters 0.02702990678403595 Centerline is valid? [True, True] Translation: X:183.32, Y:-90.63, Z:-9.96 [[ 7.99443036e-01 5.97942321e-01 5.79293752e-02 1.83320302e+02] [-5.96239092e-01 8.01537662e-01 -4.51256253e-02 -9.06274790e+01] [-7.34150970e-02 1.53560879e-03 9.97300288e-01 -9.96427554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08863999999997 meters 0.027327492592557585 Centerline is valid? [True, True] Translation: X:183.37, Y:-90.67, Z:-9.97 [[ 7.99162222e-01 5.98267897e-01 5.84402749e-02 1.83368545e+02] [-5.96532078e-01 8.01294645e-01 -4.55672215e-02 -9.06674161e+01] [-7.40892851e-02 1.55410339e-03 9.97250401e-01 -9.96815342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14863999999997 meters 0.02718634393265117 Centerline is valid? [True, True] Translation: X:183.41, Y:-90.71, Z:-9.97 [[ 7.97608345e-01 6.00315987e-01 5.86655208e-02 1.83414579e+02] [-5.98568882e-01 7.99761677e-01 -4.57881329e-02 -9.07094825e+01] [-7.44057834e-02 1.40564173e-03 9.97227057e-01 -9.97025049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20863999999997 meters 0.027137377323484885 Centerline is valid? [True, True] Translation: X:183.46, Y:-90.75, Z:-9.97 [[ 7.97265872e-01 6.00834943e-01 5.80043160e-02 1.83461517e+02] [-5.99125434e-01 7.99371930e-01 -4.53126074e-02 -9.07507662e+01] [-7.35924199e-02 1.37433445e-03 9.97287455e-01 -9.97386409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26863999999998 meters 0.027067664183441024 Centerline is valid? [True, True] Translation: X:183.51, Y:-90.79, Z:-9.98 [[ 7.96225394e-01 6.02287870e-01 5.72227561e-02 1.83507703e+02] [-6.00624996e-01 7.98277988e-01 -4.47422447e-02 -9.07928236e+01] [-7.26273779e-02 1.25549379e-03 9.97358355e-01 -9.97653828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32863999999998 meters 0.026704563057627494 Centerline is valid? [True, True] Translation: X:183.56, Y:-90.83, Z:-9.98 [[ 7.93782163e-01 6.05525010e-01 5.70029781e-02 1.83555690e+02] [-6.03880268e-01 7.95825662e-01 -4.46109471e-02 -9.08326074e+01] [-7.23774771e-02 9.88400400e-04 9.97376821e-01 -9.97851257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38863999999998 meters 0.026578021136335773 Centerline is valid? [True, True] Translation: X:183.60, Y:-90.87, Z:-9.98 [[ 7.91495964e-01 6.08642586e-01 5.55728374e-02 1.83604073e+02] [-6.07084311e-01 7.93444193e-01 -4.35310491e-02 -9.08719853e+01] [-7.05887954e-02 7.17252050e-04 9.97505242e-01 -9.98053095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44863999999998 meters 0.026494896719900195 Centerline is valid? [True, True] Translation: X:183.65, Y:-90.91, Z:-9.98 [[ 7.91226649e-01 6.09098091e-01 5.44050168e-02 1.83653203e+02] [-6.07603072e-01 7.93094594e-01 -4.26552736e-02 -9.09097448e+01] [-6.91295705e-02 6.93333802e-04 9.97607449e-01 -9.98189266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50863999999999 meters 0.026435418691031446 Centerline is valid? [True, True] Translation: X:183.71, Y:-90.95, Z:-9.98 [[ 7.90566685e-01 6.09940969e-01 5.45557690e-02 1.83705043e+02] [-6.08436739e-01 7.92446583e-01 -4.28152816e-02 -9.09450894e+01] [-6.93473271e-02 6.54601079e-04 9.97592362e-01 -9.98460711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56864 meters 0.02631396395296174 Centerline is valid? [True, True] Translation: X:183.76, Y:-90.98, Z:-9.99 [[ 7.88212922e-01 6.13149298e-01 5.26149001e-02 1.83757165e+02] [-6.11754641e-01 7.89966952e-01 -4.13336874e-02 -9.09792112e+01] [-6.69077536e-02 3.92337209e-04 9.97759088e-01 -9.98670457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62864 meters 0.0265283049152148 Centerline is valid? [True, True] Translation: X:183.81, Y:-91.01, Z:-9.99 [[ 7.87924965e-01 6.13596350e-01 5.17084968e-02 1.83808322e+02] [-6.12247868e-01 7.89619767e-01 -4.06592093e-02 -9.10140269e+01] [-6.57783936e-02 3.77989085e-04 9.97834185e-01 -9.98927888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68864 meters 0.02636237323197163 Centerline is valid? [True, True] Translation: X:183.86, Y:-91.05, Z:-9.99 [[ 7.89913588e-01 6.11193732e-01 4.97870090e-02 1.83860748e+02] [-6.09936571e-01 7.91480814e-01 -3.91854609e-02 -9.10489986e+01] [-6.33553704e-02 5.86210419e-04 9.97990858e-01 -9.99017577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74864 meters 0.027065400835853588 Centerline is valid? [True, True] Translation: X:183.91, Y:-91.09, Z:-9.99 [[ 7.94076002e-01 6.05749769e-01 5.01050970e-02 1.83910436e+02] [-6.04462964e-01 7.95654505e-01 -3.94770062e-02 -9.10858575e+01] [-6.37795335e-02 1.06106784e-03 9.97963449e-01 -9.99433688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80863999999997 meters 0.027814999466762556 Centerline is valid? [True, True] Translation: X:183.96, Y:-91.12, Z:-10.00 [[ 7.97114752e-01 6.01615848e-01 5.16376264e-02 1.83959228e+02] [-6.00238155e-01 7.98784223e-01 -4.07175866e-02 -9.11235485e+01] [-6.57436667e-02 1.46171536e-03 9.97835474e-01 -9.99635886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86863999999997 meters 0.027755872796107965 Centerline is valid? [True, True] Translation: X:184.00, Y:-91.17, Z:-10.00 [[ 7.98130012e-01 6.00528555e-01 4.85173964e-02 1.84004295e+02] [-5.99309224e-01 7.99601953e-01 -3.82775504e-02 -9.11663294e+01] [-6.17813669e-02 1.47353853e-03 9.98088619e-01 -9.99769097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92863999999997 meters 0.028070663534757474 Centerline is valid? [True, True] Translation: X:184.05, Y:-91.21, Z:-10.00 [[ 7.99723365e-01 5.98380093e-01 4.88242142e-02 1.84050968e+02] [-5.97139101e-01 8.01210615e-01 -3.85544449e-02 -9.12075579e+01] [-6.21886910e-02 1.67804307e-03 9.98062999e-01 -9.99680868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98863999999998 meters 0.028722306419643292 Centerline is valid? [True, True] Translation: X:184.10, Y:-91.25, Z:-10.00 [[ 8.01755325e-01 5.95533652e-01 5.02799016e-02 1.84098067e+02] [-5.94209958e-01 8.03327921e-01 -3.97338250e-02 -9.12480633e+01] [-6.40540787e-02 1.97998763e-03 9.97944465e-01 -9.99983705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04863999999998 meters 0.029339312433653123 Centerline is valid? [True, True] Translation: X:184.14, Y:-91.29, Z:-10.00 [[ 8.04518488e-01 5.91859667e-01 4.95190537e-02 1.84144558e+02] [-5.90568186e-01 8.06037895e-01 -3.91424325e-02 -9.12894301e+01] [-6.30810608e-02 2.24643288e-03 9.98005878e-01 -1.00033435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10863999999998 meters 0.029013718478844472 Centerline is valid? [True, True] Translation: X:184.19, Y:-91.34, Z:-10.01 [[ 8.05307121e-01 5.90864238e-01 4.85787408e-02 1.84187709e+02] [-5.89618635e-01 8.06767747e-01 -3.84144292e-02 -9.13352555e+01] [-6.18894737e-02 2.29248257e-03 9.98080376e-01 -1.00053148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16863999999998 meters 0.028671336136886567 Centerline is valid? [True, True] Translation: X:184.23, Y:-91.38, Z:-10.01 [[ 8.04636843e-01 5.91915343e-01 4.68591185e-02 1.84231592e+02] [-5.90756331e-01 8.05997250e-01 -3.70862639e-02 -9.13796417e+01] [-5.97202493e-02 2.15865346e-03 9.98212819e-01 -1.00073702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22863999999998 meters 0.02823662379463604 Centerline is valid? [True, True] Translation: X:184.27, Y:-91.43, Z:-10.01 [[ 8.03593530e-01 5.93287638e-01 4.74048251e-02 1.84274528e+02] [-5.92101789e-01 8.04987786e-01 -3.75517795e-02 -9.14250590e+01] [-6.04393117e-02 2.10788533e-03 9.98169648e-01 -1.00107453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28864 meters 0.02783455983460343 Centerline is valid? [True, True] Translation: X:184.32, Y:-91.47, Z:-10.01 [[ 8.03677507e-01 5.93240913e-01 4.65584033e-02 1.84318171e+02] [-5.92095012e-01 8.05022241e-01 -3.69146189e-02 -9.14711603e+01] [-5.93798123e-02 2.10045049e-03 9.98233252e-01 -1.00133873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34864 meters 0.027225934970807792 Centerline is valid? [True, True] Translation: X:184.36, Y:-91.52, Z:-10.01 [[ 8.02526776e-01 5.94724501e-01 4.74714827e-02 1.84360606e+02] [-5.93533457e-01 8.03926939e-01 -3.76764202e-02 -9.15182829e+01] [-6.05706940e-02 2.06042272e-03 9.98161783e-01 -1.00147727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40864 meters 0.025697948424193436 Centerline is valid? [True, True] Translation: X:184.40, Y:-91.56, Z:-10.02 [[ 7.98748778e-01 5.99758299e-01 4.78578369e-02 1.84403471e+02] [-5.98555024e-01 8.00179379e-01 -3.80111165e-02 -9.15634474e+01] [-6.10923368e-02 1.71578418e-03 9.98130644e-01 -1.00165316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46864 meters 0.024726927756971488 Centerline is valid? [True, True] Translation: X:184.45, Y:-91.61, Z:-10.02 [[ 7.94436061e-01 6.05434844e-01 4.81663312e-02 1.84447002e+02] [-6.04225889e-01 7.95893821e-01 -3.82635699e-02 -9.16079492e+01] [-6.15013839e-02 1.29461544e-03 9.98106159e-01 -1.00193426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52864 meters 0.023510471495603338 Centerline is valid? [True, True] Translation: X:184.49, Y:-91.65, Z:-10.02 [[ 7.83996993e-01 6.18904394e-01 4.80215208e-02 1.84490090e+02] [-6.17727182e-01 7.85466288e-01 -3.81554606e-02 -9.16520205e+01] [-6.13338679e-02 2.49567654e-04 9.98117275e-01 -1.00199720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58863999999997 meters 0.023391571361276686 Centerline is valid? [True, True] Translation: X:184.54, Y:-91.69, Z:-10.02 [[ 7.78758055e-01 6.25483403e-01 4.80250312e-02 1.84539055e+02] [-6.24317598e-01 7.80237430e-01 -3.81718453e-02 -9.16923361e+01] [-6.13467826e-02 -2.56240179e-04 9.98116479e-01 -1.00229201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64863999999997 meters 0.02386038425017953 Centerline is valid? [True, True] Translation: X:184.59, Y:-91.73, Z:-10.03 [[ 7.73088030e-01 6.32326936e-01 4.99754303e-02 1.84590215e+02] [-6.31075819e-01 7.74701240e-01 -3.97655438e-02 -9.17277171e+01] [-6.38608524e-02 -7.96019727e-04 9.97958495e-01 -1.00259289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70863999999997 meters 0.024232372350467456 Centerline is valid? [True, True] Translation: X:184.64, Y:-91.76, Z:-10.03 [[ 7.70919855e-01 6.34935353e-01 5.03951899e-02 1.84640906e+02] [-6.33666157e-01 7.72564636e-01 -4.01383223e-02 -9.17634152e+01] [-6.44187814e-02 -9.90296733e-04 9.97922462e-01 -1.00306229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76863999999998 meters 0.024006933407674732 Centerline is valid? [True, True] Translation: X:184.70, Y:-91.80, Z:-10.03 [[ 7.71088511e-01 6.34748584e-01 5.01671536e-02 1.84695633e+02] [-6.33487901e-01 7.72718159e-01 -3.99965841e-02 -9.17956449e+01] [-6.41528457e-02 -9.39378318e-04 9.97939642e-01 -1.00328991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82863999999998 meters 0.02415341580189479 Centerline is valid? [True, True] Translation: X:184.75, Y:-91.83, Z:-10.04 [[ 7.70966398e-01 6.34866475e-01 5.05506875e-02 1.84746433e+02] [-6.33583767e-01 7.72621323e-01 -4.03472603e-02 -9.18335985e+01] [-6.46716620e-02 -9.21713062e-04 9.97906171e-01 -1.00367026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88863999999998 meters 0.02384078991414607 Centerline is valid? [True, True] Translation: X:184.80, Y:-91.87, Z:-10.04 [[ 7.71770591e-01 6.33916364e-01 5.02015812e-02 1.84799893e+02] [-6.32646568e-01 7.73401189e-01 -4.01113613e-02 -9.18661012e+01] [-6.42532109e-02 -8.03088990e-04 9.97933304e-01 -1.00401340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94863999999998 meters 0.024063285499939382 Centerline is valid? [True, True] Translation: X:184.85, Y:-91.90, Z:-10.04 [[ 7.72944691e-01 6.32457200e-01 5.05410280e-02 1.84852787e+02] [-6.31164382e-01 7.74595031e-01 -4.04235113e-02 -9.19011959e+01] [-6.47149699e-02 -6.54558271e-04 9.97903575e-01 -1.00443429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00863999999999 meters 0.023832537767586693 Centerline is valid? [True, True] Translation: X:184.91, Y:-91.94, Z:-10.05 [[ 7.74830342e-01 6.30098653e-01 5.11236560e-02 1.84905858e+02] [-6.28767675e-01 7.76514974e-01 -4.09353843e-02 -9.19362313e+01] [-6.54916149e-02 -4.26924478e-04 9.97853028e-01 -1.00492298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06864 meters 0.02401702006567305 Centerline is valid? [True, True] Translation: X:184.96, Y:-91.97, Z:-10.05 [[ 7.74577459e-01 6.30293820e-01 5.25305648e-02 1.84956351e+02] [-6.28885880e-01 7.76356570e-01 -4.21073156e-02 -9.19722972e+01] [-6.73224299e-02 -4.20352915e-04 9.97731183e-01 -1.00528445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12864 meters 0.024074866595509465 Centerline is valid? [True, True] Translation: X:185.01, Y:-92.01, Z:-10.06 [[ 7.73898006e-01 6.31082214e-01 5.30765083e-02 1.85008225e+02] [-6.29643754e-01 7.75715816e-01 -4.25877513e-02 -9.20084209e+01] [-6.80486593e-02 -4.60716123e-04 9.97681897e-01 -1.00563588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18864 meters 0.024040209578154347 Centerline is valid? [True, True] Translation: X:185.06, Y:-92.05, Z:-10.06 [[ 7.74011581e-01 6.30790379e-01 5.48595551e-02 1.85057999e+02] [-6.29249444e-01 7.75953174e-01 -4.40659626e-02 -9.20461795e+01] [-7.03648311e-02 -4.12779125e-04 9.97521238e-01 -1.00596051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24864 meters 0.024107220077469904 Centerline is valid? [True, True] Translation: X:185.11, Y:-92.08, Z:-10.06 [[ 7.74914812e-01 6.29576106e-01 5.60442734e-02 1.85108211e+02] [-6.27961459e-01 7.76938769e-01 -4.50616864e-02 -9.20826815e+01] [-7.19127298e-02 -2.74675430e-04 9.97410890e-01 -1.00631158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30863999999997 meters 0.024288388192534954 Centerline is valid? [True, True] Translation: X:185.16, Y:-92.12, Z:-10.07 [[ 7.77356587e-01 6.26509232e-01 5.65943407e-02 1.85156429e+02] [-6.24851182e-01 7.79413998e-01 -4.55501966e-02 -9.21235393e+01] [-7.26480400e-02 4.57046170e-05 9.97357639e-01 -1.00669066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36863999999997 meters 0.02425433932148571 Centerline is valid? [True, True] Translation: X:185.20, Y:-92.16, Z:-10.07 [[ 7.79551701e-01 6.23811706e-01 5.61969894e-02 1.85204620e+02] [-6.22166317e-01 7.81574593e-01 -4.52794606e-02 -9.21644028e+01] [-7.21679966e-02 3.33806630e-04 9.97392435e-01 -1.00708623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42863999999997 meters 0.0243400638730419 Centerline is valid? [True, True] Translation: X:185.25, Y:-92.21, Z:-10.07 [[ 7.78548776e-01 6.25119556e-01 5.55638683e-02 1.85251192e+02] [-6.23511766e-01 7.80528977e-01 -4.48061801e-02 -9.22063461e+01] [-7.13784287e-02 2.39071009e-04 9.97449278e-01 -1.00742676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48863999999998 meters 0.02426661673706811 Centerline is valid? [True, True] Translation: X:185.30, Y:-92.25, Z:-10.08 [[ 7.74870486e-01 6.29874290e-01 5.32363451e-02 1.85296899e+02] [-6.28408166e-01 7.76697077e-01 -4.29514591e-02 -9.22489136e+01] [-6.84025334e-02 -1.72335934e-04 9.97657789e-01 -1.00781064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54863999999998 meters 0.024636752132236466 Centerline is valid? [True, True] Translation: X:185.34, Y:-92.29, Z:-10.08 [[ 7.70800227e-01 6.35045176e-01 5.08392967e-02 1.85342243e+02] [-6.33716961e-01 7.72474787e-01 -4.10550374e-02 -9.22911536e+01] [-6.53438783e-02 -5.72492442e-04 9.97862641e-01 -1.00806486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60863999999998 meters 0.025086240157274797 Centerline is valid? [True, True] Translation: X:185.39, Y:-92.33, Z:-10.08 [[ 7.68169787e-01 6.38173284e-01 5.14785164e-02 1.85389866e+02] [-6.36815775e-01 7.69892324e-01 -4.16110281e-02 -9.23316964e+01] [-6.61879611e-02 -8.17996698e-04 9.97806837e-01 -1.00829132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66863999999998 meters 0.02538937865822624 Centerline is valid? [True, True] Translation: X:185.44, Y:-92.37, Z:-10.09 [[ 7.65221790e-01 6.41764121e-01 5.07387949e-02 1.85438161e+02] [-6.40450689e-01 7.66901325e-01 -4.10520679e-02 -9.23713934e+01] [-6.52573934e-02 -1.08175922e-03 9.97867878e-01 -1.00859033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72863999999998 meters 0.025986117275160685 Centerline is valid? [True, True] Translation: X:185.49, Y:-92.41, Z:-10.09 [[ 7.62767779e-01 6.44605370e-01 5.16646082e-02 1.85488642e+02] [-6.43247295e-01 7.64514343e-01 -4.18418059e-02 -9.24072252e+01] [-6.64697868e-02 -1.31753815e-03 9.97787568e-01 -1.00886038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78864 meters 0.02628446566963065 Centerline is valid? [True, True] Translation: X:185.54, Y:-92.44, Z:-10.09 [[ 7.61858729e-01 6.45648257e-01 5.20538686e-02 1.85537762e+02] [-6.44269299e-01 7.63633683e-01 -4.21979730e-02 -9.24448287e+01] [-6.69951352e-02 -1.38781535e-03 9.97752337e-01 -1.00921747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84864 meters 0.026455268259349504 Centerline is valid? [True, True] Translation: X:185.59, Y:-92.48, Z:-10.09 [[ 7.61429775e-01 6.46189426e-01 5.16132026e-02 1.85588418e+02] [-6.44832198e-01 7.63175792e-01 -4.18825342e-02 -9.24816370e+01] [-6.64539976e-02 -1.39124627e-03 9.97788520e-01 -1.00948818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90864 meters 0.02654672630418971 Centerline is valid? [True, True] Translation: X:185.64, Y:-92.52, Z:-10.10 [[ 7.61299496e-01 6.46333009e-01 5.17370057e-02 1.85638400e+02] [-6.44966480e-01 7.63054231e-01 -4.20295064e-02 -9.25203105e+01] [-6.66431985e-02 -1.37159246e-03 9.97775928e-01 -1.00984249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96864 meters 0.026531609678986177 Centerline is valid? [True, True] Translation: X:185.69, Y:-92.56, Z:-10.10 [[ 7.61419205e-01 6.46250368e-01 5.10025061e-02 1.85689121e+02] [-6.44919345e-01 7.63124329e-01 -4.14764681e-02 -9.25565151e+01] [-6.57254360e-02 -1.31152343e-03 9.97836884e-01 -1.01005875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02864 meters 0.026498345660825318 Centerline is valid? [True, True] Translation: X:185.74, Y:-92.60, Z:-10.10 [[ 7.62761991e-01 6.44604132e-01 5.17654106e-02 1.85737592e+02] [-6.43226416e-01 7.64515649e-01 -4.21378670e-02 -9.25950313e+01] [-6.67377097e-02 -1.15571618e-03 9.97769885e-01 -1.01030340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08863999999997 meters 0.026331335432038406 Centerline is valid? [True, True] Translation: X:185.79, Y:-92.63, Z:-10.11 [[ 7.64621863e-01 6.42399760e-01 5.17296355e-02 1.85785516e+02] [-6.41016176e-01 7.66369155e-01 -4.21495049e-02 -9.26340601e+01] [-6.67208289e-02 -9.31100180e-04 9.97771248e-01 -1.01069584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14863999999997 meters 0.026128135602229957 Centerline is valid? [True, True] Translation: X:185.83, Y:-92.67, Z:-10.11 [[ 7.66263531e-01 6.40440631e-01 5.17300710e-02 1.85831775e+02] [-6.39049828e-01 7.68007335e-01 -4.21906457e-02 -9.26749354e+01] [-6.67496777e-02 -7.28939844e-04 9.97769487e-01 -1.01097863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20863999999997 meters 0.02606045394841832 Centerline is valid? [True, True] Translation: X:185.88, Y:-92.72, Z:-10.11 [[ 7.66314130e-01 6.40487706e-01 5.03800804e-02 1.85877593e+02] [-6.39166206e-01 7.67968118e-01 -4.11282267e-02 -9.27171133e+01] [-6.50324191e-02 -6.84103593e-04 9.97882917e-01 -1.01119831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26863999999998 meters 0.026175682083022404 Centerline is valid? [True, True] Translation: X:185.92, Y:-92.76, Z:-10.11 [[ 7.65838695e-01 6.41057859e-01 5.03578641e-02 1.85924110e+02] [-6.39736095e-01 7.67492235e-01 -4.11509177e-02 -9.27598654e+01] [-6.50293889e-02 -7.00778201e-04 9.97883103e-01 -1.01144728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32863999999998 meters 0.026480514514250247 Centerline is valid? [True, True] Translation: X:185.97, Y:-92.80, Z:-10.12 [[ 7.61881465e-01 6.45712191e-01 5.09156242e-02 1.85971342e+02] [-6.44368363e-01 7.63580127e-01 -4.16509597e-02 -9.28010052e+01] [-6.57726912e-02 -1.07532318e-03 9.97834053e-01 -1.01162687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38863999999998 meters 0.027106898243917738 Centerline is valid? [True, True] Translation: X:186.02, Y:-92.84, Z:-10.12 [[ 7.57377413e-01 6.51122108e-01 4.91879570e-02 1.86019997e+02] [-6.49876964e-01 7.58971581e-01 -4.02749433e-02 -9.28400419e+01] [-6.35561674e-02 -1.46278781e-03 9.97977191e-01 -1.01192670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44863999999998 meters 0.02758090669647106 Centerline is valid? [True, True] Translation: X:186.07, Y:-92.88, Z:-10.12 [[ 7.54149505e-01 6.54727026e-01 5.09023152e-02 1.86069845e+02] [-6.53399007e-01 7.55863275e-01 -4.17186644e-02 -9.28764327e+01] [-6.57895277e-02 -1.79741214e-03 9.97831903e-01 -1.01215830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50863999999999 meters 0.027709821144909465 Centerline is valid? [True, True] Translation: X:186.12, Y:-92.91, Z:-10.12 [[ 7.52510450e-01 6.56589218e-01 5.11724656e-02 1.86121238e+02] [-6.55249165e-01 7.54245857e-01 -4.19728376e-02 -9.29108573e+01] [-6.61555327e-02 -1.94571648e-03 9.97807426e-01 -1.01246902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56864 meters 0.028042008866096042 Centerline is valid? [True, True] Translation: X:186.17, Y:-92.95, Z:-10.13 [[ 7.51975678e-01 6.57213733e-01 5.10165612e-02 1.86171727e+02] [-6.55881404e-01 7.53701676e-01 -4.18732331e-02 -9.29480967e+01] [-6.59709315e-02 -1.97316093e-03 9.97819594e-01 -1.01283454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62864 meters 0.027665408878976658 Centerline is valid? [True, True] Translation: X:186.23, Y:-92.98, Z:-10.13 [[ 7.53863403e-01 6.55043694e-01 5.10659123e-02 1.86225060e+02] [-6.53700895e-01 7.55588969e-01 -4.19577039e-02 -9.29804706e+01] [-6.60689694e-02 -1.75145515e-03 9.97813522e-01 -1.01313160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68864 meters 0.027166659815707542 Centerline is valid? [True, True] Translation: X:186.28, Y:-93.01, Z:-10.14 [[ 7.57842384e-01 6.50543204e-01 4.96836055e-02 1.86276749e+02] [-6.49260566e-01 7.59468139e-01 -4.08517231e-02 -9.30148876e+01] [-6.43089262e-02 -1.29843857e-03 9.97929194e-01 -1.01355381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74864 meters 0.02680862668403772 Centerline is valid? [True, True] Translation: X:186.33, Y:-93.05, Z:-10.14 [[ 7.60237543e-01 6.47731117e-01 4.98325055e-02 1.86327558e+02] [-6.46433636e-01 7.61868294e-01 -4.09909414e-02 -9.30515396e+01] [-6.45169142e-02 -1.05055516e-03 9.97916061e-01 -1.01384465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80863999999997 meters 0.026670313788122492 Centerline is valid? [True, True] Translation: X:186.38, Y:-93.09, Z:-10.14 [[ 7.62222677e-01 6.45329300e-01 5.06624670e-02 1.86378766e+02] [-6.43980220e-01 7.63904055e-01 -4.17141507e-02 -9.30867510e+01] [-6.56206277e-02 -8.30155079e-04 9.97844299e-01 -1.01426937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86863999999997 meters 0.026472060766169304 Centerline is valid? [True, True] Translation: X:186.43, Y:-93.12, Z:-10.15 [[ 7.64603906e-01 6.42349500e-01 5.26116606e-02 1.86429674e+02] [-6.40884406e-01 7.66411641e-01 -4.33632759e-02 -9.31244439e+01] [-6.81765677e-02 -5.62262724e-04 9.97673113e-01 -1.01457885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92863999999997 meters 0.02614774670888497 Centerline is valid? [True, True] Translation: X:186.48, Y:-93.16, Z:-10.15 [[ 7.68229295e-01 6.37911536e-01 5.37831117e-02 1.86478876e+02] [-6.36366058e-01 7.70109638e-01 -4.43777607e-02 -9.31635823e+01] [-6.97279782e-02 -1.33450936e-04 9.97566034e-01 -1.01499875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98863999999998 meters 0.026258296188757888 Centerline is valid? [True, True] Translation: X:186.53, Y:-93.20, Z:-10.15 [[ 7.69876443e-01 6.35934924e-01 5.36379981e-02 1.86528347e+02] [-6.34389622e-01 7.71742681e-01 -4.43062239e-02 -9.32031436e+01] [-6.95706076e-02 8.29286528e-05 9.97577026e-01 -1.01535378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04863999999998 meters 0.025970233654275823 Centerline is valid? [True, True] Translation: X:186.58, Y:-93.24, Z:-10.16 [[ 7.69815683e-01 6.36145959e-01 5.19820541e-02 1.86575724e+02] [-6.34692757e-01 7.71568734e-01 -4.29743322e-02 -9.32441861e+01] [-6.74456754e-02 8.96816924e-05 9.97722944e-01 -1.01552157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10863999999998 meters 0.026084516329388734 Centerline is valid? [True, True] Translation: X:186.62, Y:-93.29, Z:-10.16 [[ 7.67866182e-01 6.38592738e-01 5.08019892e-02 1.86621388e+02] [-6.37208782e-01 7.69544868e-01 -4.20198026e-02 -9.32862844e+01] [-6.59279508e-02 -1.05888248e-04 9.97824380e-01 -1.01585440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16863999999998 meters 0.026121702877214863 Centerline is valid? [True, True] Translation: X:186.67, Y:-93.33, Z:-10.16 [[ 7.65181711e-01 6.41844393e-01 5.03261920e-02 1.86668897e+02] [-6.40490609e-01 7.66834828e-01 -4.16668661e-02 -9.33277719e+01] [-6.53355211e-02 -3.50729493e-04 9.97863291e-01 -1.01600788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22863999999998 meters 0.026438713214831624 Centerline is valid? [True, True] Translation: X:186.72, Y:-93.37, Z:-10.16 [[ 7.62296178e-01 6.45178091e-01 5.14758974e-02 1.86716841e+02] [-6.43766221e-01 7.64031970e-01 -4.26638160e-02 -9.33676344e+01] [-6.68549907e-02 -6.15980158e-04 9.97762512e-01 -1.01632686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28864 meters 0.026636044964338593 Centerline is valid? [True, True] Translation: X:186.77, Y:-93.41, Z:-10.17 [[ 7.61407336e-01 6.46222211e-01 5.15337044e-02 1.86767340e+02] [-6.44806733e-01 7.63149000e-01 -4.27537198e-02 -9.34057314e+01] [-6.69562983e-02 -6.76283735e-04 9.97755680e-01 -1.01671347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34864 meters 0.026507249448259138 Centerline is valid? [True, True] Translation: X:186.82, Y:-93.44, Z:-10.17 [[ 7.60681282e-01 6.47061500e-01 5.17242882e-02 1.86819133e+02] [-6.45634303e-01 7.62437473e-01 -4.29586531e-02 -9.34423968e+01] [-6.72334261e-02 -7.17131451e-04 9.97737016e-01 -1.01686829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40864 meters 0.026358554403010964 Centerline is valid? [True, True] Translation: X:186.87, Y:-93.48, Z:-10.17 [[ 7.60964579e-01 6.46819674e-01 5.05689499e-02 1.86870502e+02] [-6.45452190e-01 7.62642702e-01 -4.20425977e-02 -9.34784656e+01] [-6.57600200e-02 -6.46911798e-04 9.97835258e-01 -1.01705946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46864 meters 0.0265989275410367 Centerline is valid? [True, True] Translation: X:186.92, Y:-93.51, Z:-10.17 [[ 7.61501516e-01 6.46041718e-01 5.23979033e-02 1.86922586e+02] [-6.44568668e-01 7.63301891e-01 -4.36056836e-02 -9.35128394e+01] [-6.81665094e-02 -5.68252603e-04 9.97673796e-01 -1.01741918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52864 meters 0.02638913634099522 Centerline is valid? [True, True] Translation: X:186.97, Y:-93.55, Z:-10.18 [[ 7.62843747e-01 6.44448883e-01 5.24886100e-02 1.86972465e+02] [-6.42963986e-01 7.64647293e-01 -4.37244792e-02 -9.35512978e+01] [-6.83134653e-02 -3.93340399e-04 9.97663829e-01 -1.01786124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58863999999997 meters 0.02624112347727743 Centerline is valid? [True, True] Translation: X:187.03, Y:-93.59, Z:-10.18 [[ 7.61613234e-01 6.45857639e-01 5.30395326e-02 1.87025063e+02] [-6.44341454e-01 7.63457708e-01 -4.42314203e-02 -9.35872295e+01] [-6.90606407e-02 -4.88334472e-04 9.97612344e-01 -1.01798666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64863999999997 meters 0.02640934934992954 Centerline is valid? [True, True] Translation: X:187.08, Y:-93.62, Z:-10.18 [[ 7.58365611e-01 6.49736812e-01 5.21888414e-02 1.87075337e+02] [-6.48274974e-01 7.60158830e-01 -4.35673198e-02 -9.36245644e+01] [-6.79791001e-02 -7.92762704e-04 9.97686430e-01 -1.01824252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70863999999997 meters 0.026714733845137627 Centerline is valid? [True, True] Translation: X:187.13, Y:-93.66, Z:-10.19 [[ 7.55278667e-01 6.53377737e-01 5.14943423e-02 1.87126843e+02] [-6.51960234e-01 7.57031294e-01 -4.30287493e-02 -9.36591245e+01] [-6.70968554e-02 -1.07356702e-03 9.97745889e-01 -1.01858149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76863999999998 meters 0.02696359926945356 Centerline is valid? [True, True] Translation: X:187.18, Y:-93.69, Z:-10.19 [[ 7.54438811e-01 6.54122954e-01 5.42700769e-02 1.87179828e+02] [-6.52547261e-01 7.56387330e-01 -4.53902877e-02 -9.36926652e+01] [-7.07400277e-02 -1.16959534e-03 9.97494100e-01 -1.01909521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82863999999998 meters 0.026528952266353295 Centerline is valid? [True, True] Translation: X:187.23, Y:-93.72, Z:-10.19 [[ 7.57308877e-01 6.50873953e-01 5.33513075e-02 1.87234941e+02] [-6.49340912e-01 7.59185362e-01 -4.46538467e-02 -9.37234349e+01] [-6.95675575e-02 -8.26432173e-04 9.97576900e-01 -1.01936771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88863999999998 meters 0.026308962639567914 Centerline is valid? [True, True] Translation: X:187.29, Y:-93.76, Z:-10.20 [[ 7.61453517e-01 6.46071933e-01 5.27218993e-02 1.87288417e+02] [-6.44562515e-01 7.63276437e-01 -4.41389292e-02 -9.37562028e+01] [-6.87583067e-02 -3.72817151e-04 9.97633277e-01 -1.01972222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94863999999998 meters 0.02635012243227577 Centerline is valid? [True, True] Translation: X:187.34, Y:-93.79, Z:-10.20 [[ 7.66262383e-01 6.40219559e-01 5.44139448e-02 1.87342041e+02] [-6.38595846e-01 7.68191960e-01 -4.55681675e-02 -9.37887124e+01] [-7.09739870e-02 1.68653551e-04 9.97478153e-01 -1.02008974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00863999999999 meters 0.02695411902389066 Centerline is valid? [True, True] Translation: X:187.39, Y:-93.83, Z:-10.20 [[ 7.73049724e-01 6.31984474e-01 5.46785947e-02 1.87392295e+02] [-6.30323271e-01 7.74980475e-01 -4.58021553e-02 -9.38253258e+01] [-7.13210943e-02 9.42152840e-04 9.97452963e-01 -1.02046108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06864 meters 0.028050976887418096 Centerline is valid? [True, True] Translation: X:187.44, Y:-93.86, Z:-10.21 [[ 7.79039855e-01 6.24490927e-01 5.57493247e-02 1.87441710e+02] [-6.22743883e-01 7.81030275e-01 -4.67093719e-02 -9.38617171e+01] [-7.27114894e-02 1.67091133e-03 9.97351617e-01 -1.02085640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12864 meters 0.02975501645471286 Centerline is valid? [True, True] Translation: X:187.49, Y:-93.90, Z:-10.21 [[ 7.84785225e-01 6.17269334e-01 5.55942402e-02 1.87486977e+02] [-6.15513331e-01 7.86748428e-01 -4.65859499e-02 -9.39027310e+01] [-7.24947594e-02 2.34096922e-03 9.97366046e-01 -1.02124675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18864 meters 0.03056942272312528 Centerline is valid? [True, True] Translation: X:187.53, Y:-93.95, Z:-10.21 [[ 7.88040533e-01 6.13119786e-01 5.54639253e-02 1.87532759e+02] [-6.11361086e-01 7.89985258e-01 -4.64856435e-02 -9.39452969e+01] [-7.23169511e-02 2.72408566e-03 9.97377981e-01 -1.02149485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24864 meters 0.031374975704967945 Centerline is valid? [True, True] Translation: X:187.57, Y:-93.99, Z:-10.22 [[ 7.89966176e-01 6.10661239e-01 5.51932184e-02 1.87574662e+02] [-6.08912882e-01 7.91886472e-01 -4.62700449e-02 -9.39924612e+01] [-7.19620860e-02 2.94390875e-03 9.97403024e-01 -1.02180483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30863999999997 meters 0.030477203597016285 Centerline is valid? [True, True] Translation: X:187.62, Y:-94.04, Z:-10.22 [[ 7.88215813e-01 6.12936394e-01 5.49982672e-02 1.87615243e+02] [-6.11204400e-01 7.90127491e-01 -4.61273140e-02 -9.40407807e+01] [-7.17287524e-02 2.74309537e-03 9.97420404e-01 -1.02207839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36863999999997 meters 0.03009461100828013 Centerline is valid? [True, True] Translation: X:187.65, Y:-94.09, Z:-10.22 [[ 7.86247875e-01 6.15361286e-01 5.60782181e-02 1.87654863e+02] [-6.13563664e-01 7.88240894e-01 -4.70735988e-02 -9.40898707e+01] [-7.31704151e-02 2.60396007e-03 9.97316053e-01 -1.02240915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42863999999997 meters 0.028916083188355927 Centerline is valid? [True, True] Translation: X:187.69, Y:-94.14, Z:-10.23 [[ 7.83415105e-01 6.19138855e-01 5.41096239e-02 1.87694897e+02] [-6.17472427e-01 7.85278465e-01 -4.54481609e-02 -9.41377049e+01] [-7.06298447e-02 2.19357493e-03 9.97500182e-01 -1.02259500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48863999999998 meters 0.02749601049900599 Centerline is valid? [True, True] Translation: X:187.74, Y:-94.19, Z:-10.23 [[ 7.78469461e-01 6.25380500e-01 5.37078061e-02 1.87735255e+02] [-6.23753092e-01 7.80318270e-01 -4.51162706e-02 -9.41851088e+01] [-7.01240182e-02 1.62122876e-03 9.97536964e-01 -1.02282387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54863999999998 meters 0.026852166619587323 Centerline is valid? [True, True] Translation: X:187.78, Y:-94.23, Z:-10.23 [[ 7.74003687e-01 6.30769230e-01 5.52129572e-02 1.87779865e+02] [-6.29061483e-01 7.75969577e-01 -4.63989919e-02 -9.42285848e+01] [-7.21106315e-02 1.18064607e-03 9.97395941e-01 -1.02307636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60863999999998 meters 0.026575725304426367 Centerline is valid? [True, True] Translation: X:187.82, Y:-94.27, Z:-10.23 [[ 7.67568199e-01 6.38468943e-01 5.65373242e-02 1.87824271e+02] [-6.36696149e-01 7.69647426e-01 -4.75484330e-02 -9.42729804e+01] [-7.38720037e-02 4.99568476e-04 9.97267606e-01 -1.02344216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66863999999998 meters 0.026621593145454134 Centerline is valid? [True, True] Translation: X:187.87, Y:-94.31, Z:-10.24 [[ 7.65719397e-01 6.40690366e-01 5.64770665e-02 1.87873566e+02] [-6.38924915e-01 7.67799295e-01 -4.75309869e-02 -9.43128590e+01] [-7.38156973e-02 3.10793657e-04 9.97271852e-01 -1.02384818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72863999999998 meters 0.026525693283781775 Centerline is valid? [True, True] Translation: X:187.92, Y:-94.35, Z:-10.24 [[ 7.61367912e-01 6.45997332e-01 5.48301786e-02 1.87921351e+02] [-6.44343844e-01 7.63339649e-01 -4.61908003e-02 -9.43519394e+01] [-7.16931830e-02 -1.61294860e-04 9.97426720e-01 -1.02416822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78864 meters 0.026579560818988827 Centerline is valid? [True, True] Translation: X:187.97, Y:-94.39, Z:-10.24 [[ 7.59277213e-01 6.48530046e-01 5.39156131e-02 1.87972917e+02] [-6.46934733e-01 7.61188971e-01 -4.54620947e-02 -9.43868841e+01] [-7.05235044e-02 -3.61550199e-04 9.97510052e-01 -1.02434118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84864 meters 0.02669496261119919 Centerline is valid? [True, True] Translation: X:188.02, Y:-94.43, Z:-10.25 [[ 7.59160143e-01 6.48700051e-01 5.35174818e-02 1.88022635e+02] [-6.47125575e-01 7.61044104e-01 -4.51703614e-02 -9.44252104e+01] [-7.00311797e-02 -3.40993150e-04 9.97544745e-01 -1.02470498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90864 meters 0.02700783309116396 Centerline is valid? [True, True] Translation: X:188.08, Y:-94.46, Z:-10.25 [[ 7.61939504e-01 6.45379479e-01 5.41619868e-02 1.88076594e+02] [-6.43754881e-01 7.63862113e-01 -4.57637948e-02 -9.44589996e+01] [-7.09073037e-02 2.19972660e-06 9.97482909e-01 -1.02506505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96864 meters 0.0271148992279363 Centerline is valid? [True, True] Translation: X:188.13, Y:-94.50, Z:-10.26 [[ 7.62678993e-01 6.44484820e-01 5.44065185e-02 1.88125117e+02] [-6.42839684e-01 7.64617094e-01 -4.60199911e-02 -9.44991994e+01] [-7.12593398e-02 1.23811304e-04 9.97457814e-01 -1.02554612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02864 meters 0.02756041168018459 Centerline is valid? [True, True] Translation: X:188.18, Y:-94.54, Z:-10.26 [[ 7.61441709e-01 6.45901376e-01 5.49357537e-02 1.88175130e+02] [-6.44224101e-01 7.63420861e-01 -4.65176884e-02 -9.45372746e+01] [-7.19849394e-02 2.95715504e-05 9.97405719e-01 -1.02592108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08863999999997 meters 0.027646702885782647 Centerline is valid? [True, True] Translation: X:188.22, Y:-94.58, Z:-10.26 [[ 7.59164503e-01 6.48670068e-01 5.38182114e-02 1.88223728e+02] [-6.47064118e-01 7.61069711e-01 -4.56171238e-02 -9.45767590e+01] [-7.05498734e-02 -1.92932339e-04 9.97508235e-01 -1.02620303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14863999999997 meters 0.027957209847049108 Centerline is valid? [True, True] Translation: X:188.27, Y:-94.61, Z:-10.27 [[ 7.57566464e-01 6.50398086e-01 5.54561380e-02 1.88273564e+02] [-6.48694139e-01 7.59593458e-01 -4.70499053e-02 -9.46146177e+01] [-7.27252879e-02 -3.30641280e-04 9.97351956e-01 -1.02663730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20863999999997 meters 0.027956458045107078 Centerline is valid? [True, True] Translation: X:188.32, Y:-94.65, Z:-10.27 [[ 7.58521488e-01 6.49255404e-01 5.57904330e-02 1.88323976e+02] [-6.47524329e-01 7.60570434e-01 -4.73799401e-02 -9.46530595e+01] [-7.31942360e-02 -1.86960016e-04 9.97317687e-01 -1.02697896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26863999999998 meters 0.028112133639916267 Centerline is valid? [True, True] Translation: X:188.37, Y:-94.69, Z:-10.27 [[ 7.60156204e-01 6.47557796e-01 5.32113469e-02 1.88373864e+02] [-6.45976411e-01 7.62016339e-01 -4.52280303e-02 -9.46910858e+01] [-6.98356794e-02 7.09293610e-06 9.97558508e-01 -1.02728013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32863999999998 meters 0.028017451705160255 Centerline is valid? [True, True] Translation: X:188.42, Y:-94.73, Z:-10.28 [[ 7.60762332e-01 6.46784907e-01 5.39440224e-02 1.88423335e+02] [-6.45155551e-01 7.62672455e-01 -4.58807310e-02 -9.47283151e+01] [-7.08165843e-02 1.02046408e-04 9.97489349e-01 -1.02754088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38863999999998 meters 0.02814027558449531 Centerline is valid? [True, True] Translation: X:188.47, Y:-94.77, Z:-10.28 [[ 7.61123088e-01 6.46184943e-01 5.60059231e-02 1.88471481e+02] [-6.44423520e-01 7.63180830e-01 -4.76796267e-02 -9.47682494e+01] [-7.35525037e-02 1.98530587e-04 9.97291326e-01 -1.02774437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44863999999998 meters 0.02832324760546461 Centerline is valid? [True, True] Translation: X:188.52, Y:-94.81, Z:-10.28 [[ 7.62590443e-01 6.44417974e-01 5.64029328e-02 1.88519829e+02] [-6.42623404e-01 7.64673336e-01 -4.80608973e-02 -9.48064943e+01] [-7.41011248e-02 4.04936315e-04 9.97250650e-01 -1.02815479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50863999999999 meters 0.028271163665585887 Centerline is valid? [True, True] Translation: X:188.57, Y:-94.85, Z:-10.28 [[ 7.63110053e-01 6.43888455e-01 5.54139409e-02 1.88567674e+02] [-6.42151954e-01 7.65119225e-01 -4.72592872e-02 -9.48467239e+01] [-7.28279809e-02 4.79866780e-04 9.97344401e-01 -1.02845494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56864 meters 0.0281728596534713 Centerline is valid? [True, True] Translation: X:188.62, Y:-94.89, Z:-10.29 [[ 7.61344096e-01 6.46127233e-01 5.36168402e-02 1.88615458e+02] [-6.44504282e-01 7.63229661e-01 -4.57680631e-02 -9.48861666e+01] [-7.04939548e-02 2.88961537e-04 9.97512165e-01 -1.02867264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62864 meters 0.02825367207423089 Centerline is valid? [True, True] Translation: X:188.67, Y:-94.92, Z:-10.29 [[ 7.60054294e-01 6.47435805e-01 5.60744909e-02 1.88665540e+02] [-6.45660641e-01 7.62119960e-01 -4.79114053e-02 -9.49234911e+01] [-7.37550481e-02 2.10177627e-04 9.97276365e-01 -1.02900532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68864 meters 0.028160511189661643 Centerline is valid? [True, True] Translation: X:188.71, Y:-94.96, Z:-10.29 [[ 7.61923270e-01 6.45268402e-01 5.56921950e-02 1.88714723e+02] [-6.43508241e-01 7.63955814e-01 -4.76304368e-02 -9.49626902e+01] [-7.32807920e-02 4.52351755e-04 9.97311246e-01 -1.02919819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74864 meters 0.02839590076603987 Centerline is valid? [True, True] Translation: X:188.76, Y:-95.00, Z:-10.30 [[ 7.64930340e-01 6.41654490e-01 5.62235736e-02 1.88764946e+02] [-6.39847984e-01 7.66993362e-01 -4.81221362e-02 -9.49990714e+01] [-7.40008925e-02 8.35541756e-04 9.97257825e-01 -1.02958433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80863999999997 meters 0.028566686244944958 Centerline is valid? [True, True] Translation: X:188.81, Y:-95.04, Z:-10.30 [[ 7.66895815e-01 6.39336948e-01 5.58486932e-02 1.88813588e+02] [-6.37547409e-01 7.68925965e-01 -4.78138181e-02 -9.50384134e+01] [-7.35126508e-02 1.06202733e-03 9.97293719e-01 -1.02990148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86863999999997 meters 0.028648697796699457 Centerline is valid? [True, True] Translation: X:188.86, Y:-95.08, Z:-10.30 [[ 7.68063422e-01 6.38001284e-01 5.50721498e-02 1.88860742e+02] [-6.36256762e-01 7.70034388e-01 -4.71632610e-02 -9.50808543e+01] [-7.24976702e-02 1.18434788e-03 9.97367879e-01 -1.03004745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92863999999997 meters 0.028169899004912236 Centerline is valid? [True, True] Translation: X:188.91, Y:-95.12, Z:-10.30 [[ 7.66456034e-01 6.39901492e-01 5.54186627e-02 1.88907753e+02] [-6.38137906e-01 7.68456255e-01 -4.74868113e-02 -9.51215485e+01] [-7.29736994e-02 1.03180369e-03 9.97333332e-01 -1.03032265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98863999999998 meters 0.028014123857786417 Centerline is valid? [True, True] Translation: X:188.96, Y:-95.16, Z:-10.31 [[ 7.64999420e-01 6.41657033e-01 5.52461711e-02 1.88955302e+02] [-6.39906691e-01 7.66991178e-01 -4.73704585e-02 -9.51617002e+01] [-7.27689138e-02 8.85978728e-04 9.97348435e-01 -1.03067280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04863999999998 meters 0.027889558362473404 Centerline is valid? [True, True] Translation: X:189.00, Y:-95.20, Z:-10.31 [[ 7.65397320e-01 6.41236251e-01 5.46169653e-02 1.89003211e+02] [-6.39523664e-01 7.67342959e-01 -4.68430101e-02 -9.52016887e+01] [-7.19473799e-02 9.24672691e-04 9.97408001e-01 -1.03083967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10863999999998 meters 0.027774377403298595 Centerline is valid? [True, True] Translation: X:189.05, Y:-95.24, Z:-10.31 [[ 7.66662949e-01 6.39805160e-01 5.36402850e-02 1.89051066e+02] [-6.38148879e-01 7.68536436e-01 -4.60190658e-02 -9.52419139e+01] [-7.06677492e-02 1.05062496e-03 9.97499356e-01 -1.03109503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16863999999998 meters 0.027602111439679645 Centerline is valid? [True, True] Translation: X:189.10, Y:-95.28, Z:-10.31 [[ 7.65684263e-01 6.40781056e-01 5.59217886e-02 1.89099568e+02] [-6.38982021e-01 7.67723002e-01 -4.79934312e-02 -9.52811296e+01] [-7.36857250e-02 1.01479757e-03 9.97280996e-01 -1.03133988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22863999999998 meters 0.027024716532817055 Centerline is valid? [True, True] Translation: X:189.15, Y:-95.32, Z:-10.32 [[ 7.63286828e-01 6.43580121e-01 5.65494952e-02 1.89146734e+02] [-6.41746806e-01 7.65378364e-01 -4.85489150e-02 -9.53216442e+01] [-7.45268767e-02 7.66289453e-04 9.97218711e-01 -1.03153096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28864 meters 0.026445634290813258 Centerline is valid? [True, True] Translation: X:189.20, Y:-95.36, Z:-10.32 [[ 7.61261386e-01 6.46097477e-01 5.51285190e-02 1.89195952e+02] [-6.44360449e-01 7.63254727e-01 -4.73480045e-02 -9.53600903e+01] [-7.26685289e-02 5.21570279e-04 9.97356011e-01 -1.03196040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34864 meters 0.02641421872149345 Centerline is valid? [True, True] Translation: X:189.24, Y:-95.40, Z:-10.32 [[ 7.61449246e-01 6.45874576e-01 5.51459763e-02 1.89244056e+02] [-6.44134792e-01 7.63443335e-01 -4.73776769e-02 -9.54003929e+01] [-7.27008651e-02 5.54254348e-04 9.97353637e-01 -1.03207319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40864 meters 0.026717444029130892 Centerline is valid? [True, True] Translation: X:189.29, Y:-95.44, Z:-10.32 [[ 7.64302105e-01 6.42392454e-01 5.63402831e-02 1.89294866e+02] [-6.40565640e-01 7.66375294e-01 -4.84207442e-02 -9.54369378e+01] [-7.42829217e-02 9.18427235e-04 9.97236784e-01 -1.03238623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46864 meters 0.02661153804880198 Centerline is valid? [True, True] Translation: X:189.34, Y:-95.48, Z:-10.33 [[ 7.65203528e-01 6.41338942e-01 5.61063501e-02 1.89341780e+02] [-6.39523532e-01 7.67257003e-01 -4.82321782e-02 -9.54780727e+01] [-7.39811641e-02 1.02610172e-03 9.97259111e-01 -1.03274549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52863999999997 meters 0.026747291210365603 Centerline is valid? [True, True] Translation: X:189.39, Y:-95.52, Z:-10.33 [[ 7.65272123e-01 6.41336818e-01 5.51875417e-02 1.89388355e+02] [-6.39579575e-01 7.67258789e-01 -4.74543800e-02 -9.55187186e+01] [-7.27773675e-02 1.01868958e-03 9.97347691e-01 -1.03289820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58863999999997 meters 0.026774691400858277 Centerline is valid? [True, True] Translation: X:189.44, Y:-95.56, Z:-10.33 [[ 7.65350388e-01 6.41266537e-01 5.49182212e-02 1.89437268e+02] [-6.39525215e-01 7.67317512e-01 -4.72370142e-02 -9.55589993e+01] [-7.24312294e-02 1.03127994e-03 9.97372876e-01 -1.03313614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64863999999997 meters 0.026634851177423157 Centerline is valid? [True, True] Translation: X:189.48, Y:-95.60, Z:-10.33 [[ 7.66926899e-01 6.39413198e-01 5.45334170e-02 1.89482150e+02] [-6.37690391e-01 7.68862340e-01 -4.69219284e-02 -9.56018491e+01] [-7.19311909e-02 1.21025303e-03 9.97408863e-01 -1.03339251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70863999999997 meters 0.026968051580988143 Centerline is valid? [True, True] Translation: X:189.53, Y:-95.64, Z:-10.34 [[ 7.68006849e-01 6.38283002e-01 5.25384483e-02 1.89527870e+02] [-6.36680672e-01 7.69800740e-01 -4.52166219e-02 -9.56434530e+01] [-6.93051376e-02 1.27646073e-03 9.97594692e-01 -1.03371976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76863999999998 meters 0.02688193302555888 Centerline is valid? [True, True] Translation: X:189.57, Y:-95.69, Z:-10.34 [[ 7.66747809e-01 6.39774451e-01 5.27868326e-02 1.89573230e+02] [-6.38159625e-01 7.68561849e-01 -4.54420331e-02 -9.56862313e+01] [-6.96425974e-02 1.15615404e-03 9.97571337e-01 -1.03384361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82863999999998 meters 0.026264467245763486 Centerline is valid? [True, True] Translation: X:189.62, Y:-95.73, Z:-10.34 [[ 7.62125897e-01 6.45316352e-01 5.22582346e-02 1.89620624e+02] [-6.43745887e-01 7.63915164e-01 -4.49983807e-02 -9.57264666e+01] [-6.89590487e-02 6.53407663e-04 9.97619277e-01 -1.03401334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88863999999998 meters 0.026159025397841294 Centerline is valid? [True, True] Translation: X:189.67, Y:-95.77, Z:-10.34 [[ 7.57498471e-01 6.50740758e-01 5.22736384e-02 1.89669933e+02] [-6.49181317e-01 7.59299965e-01 -4.50242214e-02 -9.57652364e+01] [-6.89904677e-02 1.70709420e-04 9.97617304e-01 -1.03425315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94863999999998 meters 0.02624914665549126 Centerline is valid? [True, True] Translation: X:189.72, Y:-95.80, Z:-10.35 [[ 7.55344569e-01 6.53352653e-01 5.08418487e-02 1.89721195e+02] [-6.51882563e-01 7.57053702e-01 -4.38042942e-02 -9.58012903e+01] [-6.71096617e-02 -5.55789371e-05 9.97745604e-01 -1.03463133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00863999999999 meters 0.026086244857079843 Centerline is valid? [True, True] Translation: X:189.77, Y:-95.84, Z:-10.35 [[ 7.56143619e-01 6.52396854e-01 5.12364328e-02 1.89773180e+02] [-6.50900836e-01 7.57877525e-01 -4.41560730e-02 -9.58358423e+01] [-6.76382240e-02 3.84959182e-05 9.97709912e-01 -1.03481833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06864 meters 0.026086277894731575 Centerline is valid? [True, True] Translation: X:189.82, Y:-95.88, Z:-10.35 [[ 7.57102316e-01 6.51243610e-01 5.17478864e-02 1.89821417e+02] [-6.49714032e-01 7.58868722e-01 -4.46087440e-02 -9.58752340e+01] [-6.83210119e-02 1.52055474e-04 9.97663378e-01 -1.03523545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12864 meters 0.026069733714276257 Centerline is valid? [True, True] Translation: X:189.87, Y:-95.91, Z:-10.36 [[ 7.56870106e-01 6.51443267e-01 5.26242544e-02 1.89868962e+02] [-6.49861014e-01 7.58697336e-01 -4.53763579e-02 -9.59149863e+01] [-6.94860045e-02 1.45557479e-04 9.97582916e-01 -1.03565400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18864 meters 0.02612693384347271 Centerline is valid? [True, True] Translation: X:189.92, Y:-95.96, Z:-10.36 [[ 7.55883235e-01 6.52693590e-01 5.12992496e-02 1.89915117e+02] [-6.51192190e-01 7.57621987e-01 -4.42454076e-02 -9.59569863e+01] [-6.77441334e-02 3.86911095e-05 9.97702727e-01 -1.03602617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24864 meters 0.026032972665397794 Centerline is valid? [True, True] Translation: X:189.96, Y:-96.00, Z:-10.36 [[ 7.55807446e-01 6.52872341e-01 5.01279416e-02 1.89962209e+02] [-6.51438443e-01 7.57467956e-01 -4.32463914e-02 -9.59973836e+01] [-6.62046823e-02 3.06763966e-05 9.97806063e-01 -1.03630190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30863999999997 meters 0.026172717557129663 Centerline is valid? [True, True] Translation: X:190.01, Y:-96.04, Z:-10.37 [[ 7.55675383e-01 6.52939600e-01 5.12307864e-02 1.90007175e+02] [-6.51441185e-01 7.57409980e-01 -4.42097846e-02 -9.60407876e+01] [-6.76690280e-02 3.44017260e-05 9.97707824e-01 -1.03666874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36863999999997 meters 0.026263867725353267 Centerline is valid? [True, True] Translation: X:190.05, Y:-96.08, Z:-10.37 [[ 7.54722581e-01 6.54034611e-01 5.13084032e-02 1.90054187e+02] [-6.52533376e-01 7.56464622e-01 -4.42884827e-02 -9.60809263e+01] [-6.77791924e-02 -5.49275906e-05 9.97700345e-01 -1.03700908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42863999999997 meters 0.025995800762211207 Centerline is valid? [True, True] Translation: X:190.10, Y:-96.12, Z:-10.37 [[ 7.53951443e-01 6.55039047e-01 4.98103211e-02 1.90101655e+02] [-6.53625741e-01 7.55595017e-01 -4.30065290e-02 -9.61209062e+01] [-6.58073862e-02 -1.32473371e-04 9.97832336e-01 -1.03721271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48863999999998 meters 0.026089695868152834 Centerline is valid? [True, True] Translation: X:190.15, Y:-96.16, Z:-10.38 [[ 7.54957588e-01 6.53775275e-01 5.11559368e-02 1.90150871e+02] [-6.52280776e-01 7.56688767e-01 -4.41803072e-02 -9.61586541e+01] [-6.75931152e-02 -1.37760057e-05 9.97712970e-01 -1.03754325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54863999999998 meters 0.026314429203286707 Centerline is valid? [True, True] Translation: X:190.20, Y:-96.20, Z:-10.38 [[ 7.56310172e-01 6.52219572e-01 5.10348264e-02 1.90198615e+02] [-6.50727934e-01 7.58030087e-01 -4.40856356e-02 -9.61964382e+01] [-6.74394483e-02 1.32627517e-04 9.97723360e-01 -1.03781821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60863999999998 meters 0.02613402935871379 Centerline is valid? [True, True] Translation: X:190.25, Y:-96.23, Z:-10.38 [[ 7.56111862e-01 6.52403147e-01 5.16235106e-02 1.90247896e+02] [-6.50877001e-01 7.57872100e-01 -4.45983151e-02 -9.62313101e+01] [-6.82200995e-02 1.20759309e-04 9.97670288e-01 -1.03810796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66863999999998 meters 0.026071096264936457 Centerline is valid? [True, True] Translation: X:190.30, Y:-96.27, Z:-10.38 [[ 7.57651543e-01 6.50636626e-01 5.13431672e-02 1.90295604e+02] [-6.49123815e-01 7.59389168e-01 -4.43437106e-02 -9.62655722e+01] [-6.78410872e-02 2.69008182e-04 9.97696103e-01 -1.03842463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72863999999998 meters 0.02637584626738569 Centerline is valid? [True, True] Translation: X:190.34, Y:-96.30, Z:-10.39 [[ 7.59682105e-01 6.48157152e-01 5.26821199e-02 1.90341597e+02] [-6.46561301e-01 7.61506457e-01 -4.54576660e-02 -9.63013874e+01] [-6.95814858e-02 4.71155387e-04 9.97576160e-01 -1.03875025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78864 meters 0.026305487173597954 Centerline is valid? [True, True] Translation: X:190.39, Y:-96.34, Z:-10.39 [[ 7.61176805e-01 6.46401964e-01 5.26723139e-02 1.90388104e+02] [-6.44805370e-01 7.62996816e-01 -4.54080829e-02 -9.63377293e+01] [-6.95406817e-02 6.00188579e-04 9.97578936e-01 -1.03889962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84864 meters 0.026231236846219957 Centerline is valid? [True, True] Translation: X:190.43, Y:-96.37, Z:-10.39 [[ 7.62182777e-01 6.45277226e-01 5.19106619e-02 1.90432953e+02] [-6.43726773e-01 7.63948209e-01 -4.47099174e-02 -9.63737476e+01] [-6.85073486e-02 6.60846186e-04 9.97650393e-01 -1.03922730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90864 meters 0.026237720736120237 Centerline is valid? [True, True] Translation: X:190.48, Y:-96.41, Z:-10.40 [[ 7.61580994e-01 6.45967958e-01 5.21515775e-02 1.90477501e+02] [-6.44407887e-01 7.63364315e-01 -4.48708992e-02 -9.64111964e+01] [-6.87958164e-02 5.65936132e-04 9.97630601e-01 -1.03961298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96864 meters 0.02582790045159376 Centerline is valid? [True, True] Translation: X:190.52, Y:-96.45, Z:-10.40 [[ 7.60519734e-01 6.47293025e-01 5.12003260e-02 1.90522169e+02] [-6.45795337e-01 7.62241153e-01 -4.40091678e-02 -9.64493353e+01] [-6.75138229e-02 4.04908802e-04 9.97718257e-01 -1.03974799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02863999999997 meters 0.02584488095095136 Centerline is valid? [True, True] Translation: X:190.57, Y:-96.49, Z:-10.40 [[ 7.60415627e-01 6.47336640e-01 5.21857180e-02 1.90567733e+02] [-6.45783602e-01 7.62204127e-01 -4.48152561e-02 -9.64865130e+01] [-6.87867270e-02 3.77540048e-04 9.97631316e-01 -1.04005926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08863999999997 meters 0.02604041098353877 Centerline is valid? [True, True] Translation: X:190.61, Y:-96.52, Z:-10.40 [[ 7.62514693e-01 6.44805643e-01 5.28869121e-02 1.90614208e+02] [-6.43207347e-01 7.64346350e-01 -4.53758338e-02 -9.65221842e+01] [-6.96825119e-02 5.82489546e-04 9.97569049e-01 -1.04026405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14863999999997 meters 0.026641227102923725 Centerline is valid? [True, True] Translation: X:190.66, Y:-96.56, Z:-10.41 [[ 7.67395212e-01 6.39003786e-01 5.27138526e-02 1.90658368e+02] [-6.37405034e-01 7.69202836e-01 -4.51864979e-02 -9.65603002e+01] [-6.94219882e-02 1.07582715e-03 9.97586803e-01 -1.04062498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20863999999997 meters 0.027108755776573772 Centerline is valid? [True, True] Translation: X:190.70, Y:-96.60, Z:-10.41 [[ 7.70251755e-01 6.35599066e-01 5.22116977e-02 1.90701532e+02] [-6.34025567e-01 7.72018156e-01 -4.47162957e-02 -9.65994539e+01] [-6.87300144e-02 1.33925399e-03 9.97634398e-01 -1.04090802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26863999999998 meters 0.02740221544626363 Centerline is valid? [True, True] Translation: X:190.74, Y:-96.64, Z:-10.41 [[ 7.70747560e-01 6.34901111e-01 5.33739418e-02 1.90743742e+02] [-6.33257293e-01 7.72592129e-01 -4.56793613e-02 -9.66398122e+01] [-7.02381646e-02 1.40781832e-03 9.97529257e-01 -1.04109226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32863999999998 meters 0.02722316141527313 Centerline is valid? [True, True] Translation: X:190.79, Y:-96.68, Z:-10.41 [[ 7.68258478e-01 6.37828386e-01 5.43494260e-02 1.90785014e+02] [-6.36131982e-01 7.70177656e-01 -4.65024713e-02 -9.66825924e+01] [-7.15193097e-02 1.15250976e-03 9.97438550e-01 -1.04147150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38863999999998 meters 0.027344003186532326 Centerline is valid? [True, True] Translation: X:190.83, Y:-96.73, Z:-10.42 [[ 7.68352362e-01 6.37646051e-01 5.51557965e-02 1.90825238e+02] [-6.35898382e-01 7.70328569e-01 -4.71926203e-02 -9.67317238e+01] [-7.25802737e-02 1.18707950e-03 9.97361867e-01 -1.04185090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44863999999998 meters 0.027379966009249437 Centerline is valid? [True, True] Translation: X:190.87, Y:-96.77, Z:-10.42 [[ 7.68250241e-01 6.37797600e-01 5.48250743e-02 1.90870687e+02] [-6.36070388e-01 7.70203117e-01 -4.69214261e-02 -9.67748316e+01] [-7.21528161e-02 1.17479061e-03 9.97392897e-01 -1.04213626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50863999999999 meters 0.02696735357603246 Centerline is valid? [True, True] Translation: X:190.91, Y:-96.82, Z:-10.42 [[ 7.65226244e-01 6.41473640e-01 5.42251263e-02 1.90914918e+02] [-6.39792408e-01 7.67144629e-01 -4.64197497e-02 -9.68182814e+01] [-7.13755603e-02 8.28786620e-04 9.97449168e-01 -1.04239832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56864 meters 0.026822459434996015 Centerline is valid? [True, True] Translation: X:190.96, Y:-96.86, Z:-10.43 [[ 7.60711533e-01 6.46757223e-01 5.49823376e-02 1.90960309e+02] [-6.45041463e-01 7.62695859e-01 -4.70801297e-02 -9.68608599e+01] [-7.23842151e-02 3.48510219e-04 9.97376761e-01 -1.04274667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62864 meters 0.02678523521623512 Centerline is valid? [True, True] Translation: X:191.01, Y:-96.90, Z:-10.43 [[ 7.53415413e-01 6.55239887e-01 5.50082256e-02 1.91007508e+02] [-6.53543835e-01 7.55420734e-01 -4.71165620e-02 -9.69029908e+01] [-7.24270050e-02 -4.51942650e-04 9.97373613e-01 -1.04292197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68864 meters 0.02720820001820907 Centerline is valid? [True, True] Translation: X:191.06, Y:-96.94, Z:-10.43 [[ 7.47811224e-01 6.61697964e-01 5.41680392e-02 1.91056964e+02] [-6.60069046e-01 7.49769770e-01 -4.64127774e-02 -9.69408511e+01] [-7.13247986e-02 -1.04665010e-03 9.97452594e-01 -1.04316237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74864 meters 0.0272012124606945 Centerline is valid? [True, True] Translation: X:191.11, Y:-96.97, Z:-10.43 [[ 7.46957331e-01 6.62591666e-01 5.50184486e-02 1.91109575e+02] [-6.60912960e-01 7.48979957e-01 -4.71495913e-02 -9.69720216e+01] [-7.24486415e-02 -1.14367282e-03 9.97371489e-01 -1.04344580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80863999999997 meters 0.02700324673169463 Centerline is valid? [True, True] Translation: X:191.16, Y:-97.01, Z:-10.44 [[ 7.49296085e-01 6.59994968e-01 5.44244401e-02 1.91158503e+02] [-6.58346556e-01 7.51269488e-01 -4.66258297e-02 -9.70053634e+01] [-7.16602343e-02 -8.93591084e-04 9.97428700e-01 -1.04374261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86863999999997 meters 0.02699740841571042 Centerline is valid? [True, True] Translation: X:191.21, Y:-97.04, Z:-10.44 [[ 7.51675708e-01 6.57247438e-01 5.48583143e-02 1.91208357e+02] [-6.55568429e-01 7.53674570e-01 -4.69539944e-02 -9.70375024e+01] [-7.22057089e-02 -6.69201957e-04 9.97389537e-01 -1.04399459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92863999999997 meters 0.026662894002901855 Centerline is valid? [True, True] Translation: X:191.26, Y:-97.07, Z:-10.44 [[ 7.54570471e-01 6.53953814e-01 5.44776468e-02 1.91257200e+02] [-6.52292503e-01 7.56534376e-01 -4.65857022e-02 -9.70700334e+01] [-7.16791102e-02 -3.83165298e-04 9.97427671e-01 -1.04420800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98863999999998 meters 0.026514513240238735 Centerline is valid? [True, True] Translation: X:191.31, Y:-97.10, Z:-10.44 [[ 7.55897975e-01 6.52455368e-01 5.40392819e-02 1.91305404e+02] [-6.50819874e-01 7.57827104e-01 -4.61689524e-02 -9.71046527e+01] [-7.10756133e-02 -2.70821071e-04 9.97470894e-01 -1.04447043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04863999999998 meters 0.026421922481726416 Centerline is valid? [True, True] Translation: X:191.35, Y:-97.14, Z:-10.45 [[ 7.58392598e-01 6.49476819e-01 5.49593317e-02 1.91353712e+02] [-6.47780382e-01 7.60381392e-01 -4.69117846e-02 -9.71384934e+01] [-7.22581698e-02 -2.40266448e-05 9.97385962e-01 -1.04457962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10863999999998 meters 0.026370050421410444 Centerline is valid? [True, True] Translation: X:191.40, Y:-97.17, Z:-10.45 [[ 7.60992868e-01 6.46477754e-01 5.43725023e-02 1.91400203e+02] [-6.44812880e-01 7.62932804e-01 -4.63668693e-02 -9.71726535e+01] [-7.14577152e-02 2.24767034e-04 9.97443605e-01 -1.04483937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16863999999998 meters 0.026453093556641626 Centerline is valid? [True, True] Translation: X:191.45, Y:-97.21, Z:-10.45 [[ 7.62894215e-01 6.44115033e-01 5.57515981e-02 1.91446319e+02] [-6.42361713e-01 7.64928524e-01 -4.74950864e-02 -9.72086027e+01] [-7.32382868e-02 4.21034694e-04 9.97314382e-01 -1.04514016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22863999999998 meters 0.026802099694171144 Centerline is valid? [True, True] Translation: X:191.49, Y:-97.25, Z:-10.46 [[ 7.65154159e-01 6.41345150e-01 5.67054761e-02 1.91490495e+02] [-6.39526911e-01 7.67252212e-01 -4.82635874e-02 -9.72465800e+01] [-7.44610196e-02 6.64406662e-04 9.97223704e-01 -1.04554348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28864 meters 0.0267914737018025 Centerline is valid? [True, True] Translation: X:191.53, Y:-97.29, Z:-10.46 [[ 7.67165755e-01 6.38944235e-01 5.66301035e-02 1.91534547e+02] [-6.37127484e-01 7.69252572e-01 -4.81565108e-02 -9.72854423e+01] [-7.43321777e-02 8.63430610e-04 9.97233163e-01 -1.04584787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34864 meters 0.02714789319156384 Centerline is valid? [True, True] Translation: X:191.58, Y:-97.33, Z:-10.46 [[ 7.69611702e-01 6.36013933e-01 5.64278772e-02 1.91576531e+02] [-6.34205410e-01 7.71676775e-01 -4.79421879e-02 -9.73259082e+01] [-7.40359818e-02 1.11000384e-03 9.97254953e-01 -1.04616351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40864 meters 0.027071162086968602 Centerline is valid? [True, True] Translation: X:191.62, Y:-97.37, Z:-10.47 [[ 7.70052373e-01 6.35585030e-01 5.52359763e-02 1.91616072e+02] [-6.33854068e-01 7.72030097e-01 -4.68887011e-02 -9.73691481e+01] [-7.24455926e-02 1.09520724e-03 9.97371765e-01 -1.04672771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46864 meters 0.02676134364801881 Centerline is valid? [True, True] Translation: X:191.66, Y:-97.41, Z:-10.47 [[ 7.69654155e-01 6.36261519e-01 5.29505569e-02 1.91656605e+02] [-6.34675277e-01 7.71472851e-01 -4.49102787e-02 -9.74116507e+01] [-6.94245993e-02 9.58973205e-04 9.97586741e-01 -1.04677900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52863999999997 meters 0.02697535530041436 Centerline is valid? [True, True] Translation: X:191.70, Y:-97.45, Z:-10.47 [[ 7.68860929e-01 6.37041809e-01 5.50509387e-02 1.91699505e+02] [-6.35332115e-01 7.70828735e-01 -4.66493732e-02 -9.74518459e+01] [-7.21524466e-02 8.91251132e-04 9.97393217e-01 -1.04703026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58863999999997 meters 0.027144655909807885 Centerline is valid? [True, True] Translation: X:191.74, Y:-97.49, Z:-10.47 [[ 7.69311454e-01 6.36488472e-01 5.51571551e-02 1.91744085e+02] [-6.34773913e-01 7.71285677e-01 -4.66956563e-02 -9.74883496e+01] [-7.22631706e-02 9.11180125e-04 9.97385183e-01 -1.04744570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64863999999997 meters 0.02711233299764521 Centerline is valid? [True, True] Translation: X:191.79, Y:-97.52, Z:-10.48 [[ 7.71264285e-01 6.34122832e-01 5.51328901e-02 1.91790171e+02] [-6.32407031e-01 7.73231550e-01 -4.66295741e-02 -9.75242589e+01] [-7.21993676e-02 1.09729778e-03 9.97389617e-01 -1.04763680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70863999999997 meters 0.027434556110553947 Centerline is valid? [True, True] Translation: X:191.83, Y:-97.56, Z:-10.48 [[ 7.72904614e-01 6.32071749e-01 5.57114066e-02 1.91834608e+02] [-6.30317431e-01 7.74908827e-01 -4.70770156e-02 -9.75621350e+01] [-7.29273124e-02 1.27017190e-03 9.97336450e-01 -1.04798074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76863999999998 meters 0.027977872975788267 Centerline is valid? [True, True] Translation: X:191.88, Y:-97.60, Z:-10.48 [[ 7.75504713e-01 6.28749236e-01 5.71562603e-02 1.91879362e+02] [-6.26896053e-01 7.77606483e-01 -4.82648554e-02 -9.75994918e+01] [-7.47915695e-02 1.59858888e-03 9.97197907e-01 -1.04838393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82863999999998 meters 0.028253004188422262 Centerline is valid? [True, True] Translation: X:191.92, Y:-97.64, Z:-10.49 [[ 7.77655095e-01 6.26084665e-01 5.71886759e-02 1.91920732e+02] [-6.24224040e-01 7.79752921e-01 -4.82672709e-02 -9.76415969e+01] [-7.48124352e-02 1.83674287e-03 9.97195932e-01 -1.04859201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88863999999998 meters 0.02815326557069516 Centerline is valid? [True, True] Translation: X:191.96, Y:-97.68, Z:-10.49 [[ 7.77587867e-01 6.26242962e-01 5.63636550e-02 1.91962271e+02] [-6.24438204e-01 7.79625941e-01 -4.75428337e-02 -9.76849418e+01] [-7.37159326e-02 1.77311115e-03 9.97277703e-01 -1.04898372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94863999999998 meters 0.02754462083475347 Centerline is valid? [True, True] Translation: X:192.00, Y:-97.73, Z:-10.49 [[ 7.75514495e-01 6.28880752e-01 5.55541813e-02 1.92004090e+02] [-6.27134315e-01 7.77500321e-01 -4.68593881e-02 -9.77313460e+01] [-7.26623610e-02 1.50020125e-03 9.97355469e-01 -1.04914198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00863999999999 meters 0.02736148769046491 Centerline is valid? [True, True] Translation: X:192.05, Y:-97.78, Z:-10.49 [[ 7.74683030e-01 6.29933890e-01 5.52222436e-02 1.92047383e+02] [-6.28210254e-01 7.76647495e-01 -4.65891058e-02 -9.77762743e+01] [-7.22362738e-02 1.40060999e-03 9.97386564e-01 -1.04939757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06864 meters 0.027295305734283775 Centerline is valid? [True, True] Translation: X:192.09, Y:-97.82, Z:-10.50 [[ 7.74633805e-01 6.29939990e-01 5.58397463e-02 1.92092417e+02] [-6.28176676e-01 7.76642504e-01 -4.71220291e-02 -9.78195372e+01] [-7.30515709e-02 1.42509052e-03 9.97327146e-01 -1.04964902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12864 meters 0.0274512640488677 Centerline is valid? [True, True] Translation: X:192.14, Y:-97.86, Z:-10.50 [[ 7.75341056e-01 6.29183143e-01 5.45419067e-02 1.92137788e+02] [-6.27498263e-01 7.77255692e-01 -4.60382427e-02 -9.78617742e+01] [-7.13594937e-02 1.47038796e-03 9.97449578e-01 -1.04996405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18864 meters 0.028094600846222666 Centerline is valid? [True, True] Translation: X:192.18, Y:-97.90, Z:-10.50 [[ 7.78233387e-01 6.25601265e-01 5.45513786e-02 1.92183452e+02] [-6.23906155e-01 7.80140876e-01 -4.60578340e-02 -9.79037371e+01] [-7.13715995e-02 1.80880330e-03 9.97448156e-01 -1.05038219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24864 meters 0.028738581361073136 Centerline is valid? [True, True] Translation: X:192.23, Y:-97.95, Z:-10.51 [[ 7.81261643e-01 6.21881970e-01 5.37871812e-02 1.92229007e+02] [-6.20224464e-01 7.83108095e-01 -4.54238535e-02 -9.79457836e+01] [-7.03694525e-02 2.12778877e-03 9.97518728e-01 -1.05060517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30863999999997 meters 0.029775752535080417 Centerline is valid? [True, True] Translation: X:192.27, Y:-97.99, Z:-10.51 [[ 7.84866387e-01 6.17360246e-01 5.33955198e-02 1.92273648e+02] [-6.15715564e-01 7.86676525e-01 -4.51042186e-02 -9.79888972e+01] [-6.98505534e-02 2.52433254e-03 9.97554273e-01 -1.05089685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36863999999997 meters 0.029940021793314443 Centerline is valid? [True, True] Translation: X:192.32, Y:-98.03, Z:-10.51 [[ 7.85213063e-01 6.16915332e-01 5.34408016e-02 1.92317185e+02] [-6.15266050e-01 7.87025313e-01 -4.51535590e-02 -9.80335450e+01] [-6.99151864e-02 2.57485339e-03 9.97549616e-01 -1.05118993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42863999999997 meters 0.029192219320463578 Centerline is valid? [True, True] Translation: X:192.36, Y:-98.08, Z:-10.51 [[ 7.83186488e-01 6.19497454e-01 5.33088187e-02 1.92358695e+02] [-6.17860880e-01 7.84995135e-01 -4.50618662e-02 -9.80803640e+01] [-6.97628747e-02 2.35441108e-03 9.97560824e-01 -1.05136758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48863999999998 meters 0.028523101794580955 Centerline is valid? [True, True] Translation: X:192.40, Y:-98.13, Z:-10.52 [[ 7.80910131e-01 6.22304529e-01 5.40040789e-02 1.92402250e+02] [-6.20628813e-01 7.82772251e-01 -4.56889461e-02 -9.81257251e+01] [-7.07053325e-02 2.16247343e-03 9.97494902e-01 -1.05166672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54863999999998 meters 0.027888073073098277 Centerline is valid? [True, True] Translation: X:192.44, Y:-98.17, Z:-10.52 [[ 7.77513304e-01 6.26566676e-01 5.37332514e-02 1.92441898e+02] [-6.24915873e-01 7.79365769e-01 -4.54879170e-02 -9.81731595e+01] [-7.03790698e-02 1.78869898e-03 9.97518715e-01 -1.05201711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60863999999998 meters 0.027188935444777854 Centerline is valid? [True, True] Translation: X:192.48, Y:-98.22, Z:-10.52 [[ 7.74601380e-01 6.30219174e-01 5.30706575e-02 1.92484727e+02] [-6.28616264e-01 7.76415922e-01 -4.49433918e-02 -9.82187853e+01] [-6.95290907e-02 1.45213484e-03 9.97578867e-01 -1.05227289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66863999999998 meters 0.026683479039817114 Centerline is valid? [True, True] Translation: X:192.53, Y:-98.26, Z:-10.53 [[ 7.70800340e-01 6.34845549e-01 5.32725495e-02 1.92527703e+02] [-6.33238593e-01 7.72638326e-01 -4.51542032e-02 -9.82637948e+01] [-6.98263584e-02 1.07064096e-03 9.97558586e-01 -1.05262920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72863999999998 meters 0.026467320628663072 Centerline is valid? [True, True] Translation: X:192.57, Y:-98.31, Z:-10.53 [[ 7.68662670e-01 6.37455938e-01 5.29870346e-02 1.92570550e+02] [-6.35869555e-01 7.70486331e-01 -4.49524525e-02 -9.83086492e+01] [-6.94809937e-02 8.60430041e-04 9.97582904e-01 -1.05299527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78864 meters 0.02639195893210376 Centerline is valid? [True, True] Translation: X:192.62, Y:-98.35, Z:-10.53 [[ 7.66328797e-01 6.40178389e-01 5.39611428e-02 1.92616523e+02] [-6.38536653e-01 7.68226005e-01 -4.58230051e-02 -9.83511428e+01] [-7.07892508e-02 6.59320835e-04 9.97491076e-01 -1.05322079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84864 meters 0.026214431454703858 Centerline is valid? [True, True] Translation: X:192.67, Y:-98.39, Z:-10.53 [[ 7.62553870e-01 6.44745958e-01 5.30494588e-02 1.92665130e+02] [-6.43167760e-01 7.64396875e-01 -4.50849204e-02 -9.83907942e+01] [-6.96191608e-02 2.59978961e-04 9.97573609e-01 -1.05338890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90864 meters 0.02612818245624161 Centerline is valid? [True, True] Translation: X:192.72, Y:-98.43, Z:-10.54 [[ 7.58605054e-01 6.49408160e-01 5.27959680e-02 1.92715739e+02] [-6.47854491e-01 7.60440017e-01 -4.48947499e-02 -9.84281014e+01] [-6.93031837e-02 -1.46720834e-04 9.97595633e-01 -1.05367391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96864 meters 0.026273244723910284 Centerline is valid? [True, True] Translation: X:192.77, Y:-98.47, Z:-10.54 [[ 7.56604060e-01 6.51706355e-01 5.31895030e-02 1.92767210e+02] [-6.50131677e-01 7.58471306e-01 -4.52778148e-02 -9.84650317e+01] [-6.98505515e-02 -3.22802256e-04 9.97557415e-01 -1.05406467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02863999999997 meters 0.026574424438471068 Centerline is valid? [True, True] Translation: X:192.82, Y:-98.50, Z:-10.54 [[ 7.56322419e-01 6.52018634e-01 5.33675930e-02 1.92821590e+02] [-6.50430735e-01 7.58202876e-01 -4.54780996e-02 -9.84989895e+01] [-7.01160309e-02 -3.15816381e-04 9.97538792e-01 -1.05444185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08863999999997 meters 0.02657890382912525 Centerline is valid? [True, True] Translation: X:192.88, Y:-98.53, Z:-10.55 [[ 7.55611457e-01 6.52854979e-01 5.32137500e-02 1.92875772e+02] [-6.51274910e-01 7.57482838e-01 -4.53953848e-02 -9.85330997e+01] [-6.99451054e-02 -3.55507419e-04 9.97550779e-01 -1.05465785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14863999999997 meters 0.026751238103459068 Centerline is valid? [True, True] Translation: X:192.92, Y:-98.57, Z:-10.55 [[ 7.56336985e-01 6.51843317e-01 5.52689414e-02 1.92924890e+02] [-6.50132389e-01 7.58353635e-01 -4.71978936e-02 -9.85707936e+01] [-7.26790342e-02 -2.34616401e-04 9.97355354e-01 -1.05507036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20863999999997 meters 0.026934959393605195 Centerline is valid? [True, True] Translation: X:192.98, Y:-98.61, Z:-10.55 [[ 7.59618948e-01 6.48022871e-01 5.51852634e-02 1.92975351e+02] [-6.46304450e-01 7.61620860e-01 -4.71616723e-02 -9.86079759e+01] [-7.25920901e-02 1.58418559e-04 9.97361701e-01 -1.05538601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26863999999998 meters 0.026958090556825406 Centerline is valid? [True, True] Translation: X:193.02, Y:-98.65, Z:-10.56 [[ 7.61467914e-01 6.45892002e-01 5.46821600e-02 1.93023449e+02] [-6.44197212e-01 7.63428698e-01 -4.67608325e-02 -9.86489994e+01] [-7.19483779e-02 3.80778548e-04 9.97408284e-01 -1.05574019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32863999999998 meters 0.027175983731720012 Centerline is valid? [True, True] Translation: X:193.07, Y:-98.69, Z:-10.56 [[ 7.63262225e-01 6.43765223e-01 5.47459025e-02 1.93072284e+02] [-6.42058365e-01 7.65222821e-01 -4.68517944e-02 -9.86873110e+01] [-7.20543698e-02 6.10140250e-04 9.97400519e-01 -1.05594648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38863999999998 meters 0.02737949736239912 Centerline is valid? [True, True] Translation: X:193.12, Y:-98.73, Z:-10.56 [[ 7.63405076e-01 6.43574631e-01 5.49943966e-02 1.93118665e+02] [-6.41849908e-01 7.65383088e-01 -4.70895289e-02 -9.87301057e+01] [-7.23974073e-02 6.50237011e-04 9.97375653e-01 -1.05625296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44863999999998 meters 0.02736863361338743 Centerline is valid? [True, True] Translation: X:193.17, Y:-98.77, Z:-10.57 [[ 7.64716297e-01 6.42170790e-01 5.31569559e-02 1.93165692e+02] [-6.40553045e-01 7.66561186e-01 -4.55603502e-02 -9.87702785e+01] [-7.00055852e-02 7.90892362e-04 9.97546286e-01 -1.05659321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50863999999999 meters 0.02753964813601827 Centerline is valid? [True, True] Translation: X:193.21, Y:-98.81, Z:-10.57 [[ 7.65343373e-01 6.41522304e-01 5.19485798e-02 1.93210464e+02] [-6.39973157e-01 7.67103899e-01 -4.45641799e-02 -9.88134863e+01] [-6.84388734e-02 8.61203125e-04 9.97654940e-01 -1.05687336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56864 meters 0.02751301079985792 Centerline is valid? [True, True] Translation: X:193.26, Y:-98.86, Z:-10.57 [[ 7.64630004e-01 6.42345578e-01 5.22792077e-02 1.93256580e+02] [-6.40775613e-01 7.66414690e-01 -4.48902676e-02 -9.88563319e+01] [-6.89026177e-02 8.25204120e-04 9.97623049e-01 -1.05702530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62864 meters 0.0273131581608962 Centerline is valid? [True, True] Translation: X:193.30, Y:-98.90, Z:-10.57 [[ 7.62697702e-01 6.44490701e-01 5.40735780e-02 1.93301790e+02] [-6.42812981e-01 7.64611837e-01 -4.64780562e-02 -9.88993304e+01] [-7.12999728e-02 6.89508817e-04 9.97454680e-01 -1.05728058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68864 meters 0.02731946133298858 Centerline is valid? [True, True] Translation: X:193.35, Y:-98.94, Z:-10.58 [[ 7.60487266e-01 6.47087691e-01 5.41907571e-02 1.93347105e+02] [-6.45406208e-01 7.62415431e-01 -4.66212114e-02 -9.89415762e+01] [-7.14838815e-02 4.79786534e-04 9.97441640e-01 -1.05757828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74864 meters 0.02711583606790557 Centerline is valid? [True, True] Translation: X:193.39, Y:-98.98, Z:-10.58 [[ 7.58942046e-01 6.48927968e-01 5.38466580e-02 1.93393162e+02] [-6.47269408e-01 7.60849774e-01 -4.63673878e-02 -9.89838586e+01] [-7.10583123e-02 3.36865665e-04 9.97472106e-01 -1.05777991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80863999999997 meters 0.027140157205164703 Centerline is valid? [True, True] Translation: X:193.44, Y:-99.03, Z:-10.58 [[ 7.58708144e-01 6.49279784e-01 5.28934302e-02 1.93438448e+02] [-6.47677468e-01 7.60549573e-01 -4.55877624e-02 -9.90261807e+01] [-6.98272883e-02 3.29923665e-04 9.97559041e-01 -1.05804267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86863999999997 meters 0.027337847147336496 Centerline is valid? [True, True] Translation: X:193.49, Y:-99.07, Z:-10.58 [[ 7.58436290e-01 6.49449315e-01 5.46807241e-02 1.93485618e+02] [-6.47734471e-01 7.60404802e-01 -4.71655941e-02 -9.90659981e+01] [-7.22111479e-02 3.53508273e-04 9.97389305e-01 -1.05815385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92863999999997 meters 0.027349541257082995 Centerline is valid? [True, True] Translation: X:193.53, Y:-99.11, Z:-10.59 [[ 7.57907824e-01 6.50057090e-01 5.47860441e-02 1.93532915e+02] [-6.48334825e-01 7.59885305e-01 -4.72892983e-02 -9.91078709e+01] [-7.23718534e-02 3.21228868e-04 9.97377668e-01 -1.05856507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98863999999998 meters 0.02727219929972163 Centerline is valid? [True, True] Translation: X:193.58, Y:-99.15, Z:-10.59 [[ 7.57083172e-01 6.51127892e-01 5.34559516e-02 1.93581094e+02] [-6.49487763e-01 7.58967988e-01 -4.61870117e-02 -9.91477368e+01] [-7.06450076e-02 2.48422896e-04 9.97501489e-01 -1.05879517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04863999999998 meters 0.02733042700008694 Centerline is valid? [True, True] Translation: X:193.63, Y:-99.19, Z:-10.59 [[ 7.55631521e-01 6.52692786e-01 5.48920026e-02 1.93629606e+02] [-6.50964122e-01 7.57622668e-01 -4.74721454e-02 -9.91871934e+01] [-7.25721523e-02 1.38725152e-04 9.97363155e-01 -1.05913946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10863999999998 meters 0.027381849189246278 Centerline is valid? [True, True] Translation: X:193.68, Y:-99.23, Z:-10.59 [[ 7.56782629e-01 6.51384565e-01 5.45728868e-02 1.93679654e+02] [-6.49669264e-01 7.58747692e-01 -4.72418009e-02 -9.92251859e+01] [-7.21796319e-02 2.97447133e-04 9.97391604e-01 -1.05938663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16863999999998 meters 0.027669767600826 Centerline is valid? [True, True] Translation: X:193.73, Y:-99.26, Z:-10.60 [[ 7.57837716e-01 6.50076276e-01 5.55232601e-02 1.93727933e+02] [-6.48293517e-01 7.59868816e-01 -4.81133913e-02 -9.92645666e+01] [-7.34677682e-02 4.66772999e-04 9.97297483e-01 -1.05961070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22863999999998 meters 0.027780507418465644 Centerline is valid? [True, True] Translation: X:193.78, Y:-99.30, Z:-10.60 [[ 7.59724453e-01 6.47985768e-01 5.41590193e-02 1.93776623e+02] [-6.46281303e-01 7.61652135e-01 -4.69734307e-02 -9.93036937e+01] [-7.16884472e-02 6.84902408e-04 9.97426838e-01 -1.05993103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28864 meters 0.027654977960816514 Centerline is valid? [True, True] Translation: X:193.82, Y:-99.35, Z:-10.60 [[ 7.61620881e-01 6.45885176e-01 5.25925217e-02 1.93823444e+02] [-6.44270036e-01 7.63434050e-01 -4.56571137e-02 -9.93456244e+01] [-6.96401748e-02 8.89625302e-04 9.97571779e-01 -1.06028570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34864 meters 0.027914826851482822 Centerline is valid? [True, True] Translation: X:193.87, Y:-99.39, Z:-10.61 [[ 7.62668992e-01 6.44439445e-01 5.50800308e-02 1.93867746e+02] [-6.42660447e-01 7.64654547e-01 -4.78641211e-02 -9.93885211e+01] [-7.29627237e-02 1.10672375e-03 9.97334054e-01 -1.06067012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40864 meters 0.027594911665176476 Centerline is valid? [True, True] Translation: X:193.91, Y:-99.43, Z:-10.61 [[ 7.61061402e-01 6.46402246e-01 5.43109437e-02 1.93912419e+02] [-6.44674727e-01 7.62996238e-01 -4.72359747e-02 -9.94326064e+01] [-7.19724859e-02 9.36584360e-04 9.97406178e-01 -1.06087793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46864 meters 0.02752398019179391 Centerline is valid? [True, True] Translation: X:193.96, Y:-99.47, Z:-10.61 [[ 7.59768613e-01 6.47930725e-01 5.41980756e-02 1.93958162e+02] [-6.46211217e-01 7.61698825e-01 -4.71801172e-02 -9.94741255e+01] [-7.18520580e-02 8.22567782e-04 9.97414961e-01 -1.06114247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52863999999997 meters 0.027265588112312528 Centerline is valid? [True, True] Translation: X:194.01, Y:-99.52, Z:-10.62 [[ 7.57740507e-01 6.50201040e-01 5.53889125e-02 1.94005580e+02] [-6.48407642e-01 7.59761921e-01 -4.82633715e-02 -9.95160343e+01] [-7.34632809e-02 6.56517452e-04 9.97297706e-01 -1.06151025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58863999999997 meters 0.027010324056100675 Centerline is valid? [True, True] Translation: X:194.05, Y:-99.55, Z:-10.62 [[ 7.54419481e-01 6.54179304e-01 5.38580067e-02 1.94053793e+02] [-6.52490596e-01 7.56339441e-01 -4.69752340e-02 -9.95547302e+01] [-7.14651605e-02 2.97188791e-04 9.97443052e-01 -1.06176702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64863999999997 meters 0.02697668604276201 Centerline is valid? [True, True] Translation: X:194.10, Y:-99.59, Z:-10.62 [[ 7.50230006e-01 6.58844456e-01 5.54880219e-02 1.94103772e+02] [-6.57061175e-01 7.52279183e-01 -4.84421537e-02 -9.95913076e+01] [-7.36583282e-02 -1.16267574e-04 9.97283529e-01 -1.06212596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70863999999997 meters 0.02687273233591031 Centerline is valid? [True, True] Translation: X:194.16, Y:-99.63, Z:-10.62 [[ 7.49182221e-01 6.60057815e-01 5.52239050e-02 1.94157396e+02] [-6.58291344e-01 7.51214777e-01 -4.82583251e-02 -9.96264756e+01] [-7.33382981e-02 -1.99139400e-04 9.97307101e-01 -1.06236111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76863999999998 meters 0.026999659733239277 Centerline is valid? [True, True] Translation: X:194.21, Y:-99.66, Z:-10.63 [[ 7.49624163e-01 6.59571455e-01 5.50373431e-02 1.94209716e+02] [-6.57812874e-01 7.51641856e-01 -4.81325563e-02 -9.96607932e+01] [-7.31152309e-02 -1.22945611e-04 9.97323492e-01 -1.06285603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82863999999998 meters 0.027119636671921108 Centerline is valid? [True, True] Translation: X:194.26, Y:-99.70, Z:-10.63 [[ 7.51418878e-01 6.57502790e-01 5.53150106e-02 1.94262179e+02] [-6.55719656e-01 7.53452104e-01 -4.83906993e-02 -9.96958858e+01] [-7.34942309e-02 9.05453062e-05 9.97295638e-01 -1.06324846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88863999999998 meters 0.027054225375704097 Centerline is valid? [True, True] Translation: X:194.32, Y:-99.73, Z:-10.64 [[ 7.50930346e-01 6.58061398e-01 5.53065201e-02 1.94315109e+02] [-6.56278900e-01 7.52964271e-01 -4.84025956e-02 -9.97316619e+01] [-7.34957133e-02 5.04757267e-05 9.97295532e-01 -1.06355943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94863999999998 meters 0.026957907127431277 Centerline is valid? [True, True] Translation: X:194.37, Y:-99.77, Z:-10.64 [[ 7.52192866e-01 6.56597935e-01 5.55431730e-02 1.94365501e+02] [-6.54794888e-01 7.54240750e-01 -4.86265993e-02 -9.97690614e+01] [-7.38210491e-02 2.07195332e-04 9.97271482e-01 -1.06394938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00863999999999 meters 0.02735762526070626 Centerline is valid? [True, True] Translation: X:194.42, Y:-99.81, Z:-10.64 [[ 7.55125966e-01 6.53100528e-01 5.69602967e-02 1.94415510e+02] [-6.51193184e-01 7.57271002e-01 -4.98805190e-02 -9.98059298e+01] [-7.57113742e-02 5.73918168e-04 9.97129610e-01 -1.06424823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06864 meters 0.027663769521656206 Centerline is valid? [True, True] Translation: X:194.47, Y:-99.84, Z:-10.65 [[ 7.60185400e-01 6.47313152e-01 5.57121266e-02 1.94466627e+02] [-6.45472053e-01 7.62223322e-01 -4.87999702e-02 -9.98424741e+01] [-7.40539447e-02 1.13640416e-03 9.97253590e-01 -1.06452731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12864 meters 0.02863996740131929 Centerline is valid? [True, True] Translation: X:194.52, Y:-99.88, Z:-10.65 [[ 7.64659760e-01 6.41919563e-01 5.68746520e-02 1.94516187e+02] [-6.39984944e-01 7.66770093e-01 -4.98286761e-02 -9.98792261e+01] [-7.55957842e-02 1.70306256e-03 9.97137090e-01 -1.06492033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18864 meters 0.029064818991176165 Centerline is valid? [True, True] Translation: X:194.57, Y:-99.92, Z:-10.65 [[ 7.66849625e-01 6.39354111e-01 5.62847568e-02 1.94565441e+02] [-6.37451934e-01 7.68909974e-01 -4.93202139e-02 -9.99170489e+01] [-7.48109924e-02 1.94236045e-03 9.97195840e-01 -1.06520841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24864 meters 0.03002149473388624 Centerline is valid? [True, True] Translation: X:194.61, Y:-99.96, Z:-10.66 [[ 7.70782962e-01 6.34593027e-01 5.64386035e-02 1.94612042e+02] [-6.32666881e-01 7.72842697e-01 -4.94649702e-02 -9.99565963e+01] [-7.50082877e-02 2.41992107e-03 9.97179974e-01 -1.06557849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30863999999997 meters 0.031023860184978182 Centerline is valid? [True, True] Translation: X:194.66, Y:-100.00, Z:-10.66 [[ 7.74008109e-01 6.30720083e-01 5.57101723e-02 1.94656238e+02] [-6.28832777e-01 7.76005493e-01 -4.88345417e-02 -1.00000807e+02] [-7.40323260e-02 2.76594890e-03 9.97252006e-01 -1.06586954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36863999999997 meters 0.03163698283565196 Centerline is valid? [True, True] Translation: X:194.70, Y:-100.04, Z:-10.66 [[ 7.75488754e-01 6.28830561e-01 5.64740441e-02 1.94700765e+02] [-6.26885240e-01 7.77536592e-01 -4.95150827e-02 -1.00043469e+02] [-7.50472331e-02 2.99564511e-03 9.97175481e-01 -1.06626057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42863999999997 meters 0.03087034574352815 Centerline is valid? [True, True] Translation: X:194.74, Y:-100.09, Z:-10.66 [[ 7.74178695e-01 6.30536077e-01 5.54220601e-02 1.94743009e+02] [-6.28666292e-01 7.76154946e-01 -4.86023941e-02 -1.00089083e+02] [-7.36616690e-02 2.78495700e-03 9.97279400e-01 -1.06640646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48863999999998 meters 0.02995629121744892 Centerline is valid? [True, True] Translation: X:194.78, Y:-100.14, Z:-10.67 [[ 7.71467806e-01 6.33931363e-01 5.44835025e-02 1.94782494e+02] [-6.32132119e-01 7.73385502e-01 -4.77896375e-02 -1.00137834e+02] [-7.24321009e-02 2.42739492e-03 9.97370392e-01 -1.06659543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54863999999998 meters 0.02923794965939777 Centerline is valid? [True, True] Translation: X:194.82, Y:-100.19, Z:-10.67 [[ 7.69202728e-01 6.36642590e-01 5.48942345e-02 1.94823922e+02] [-6.34822147e-01 7.71155876e-01 -4.81607424e-02 -1.00185401e+02] [-7.29931912e-02 2.19729861e-03 9.97330019e-01 -1.06700620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60863999999998 meters 0.028348476753786014 Centerline is valid? [True, True] Translation: X:194.87, Y:-100.23, Z:-10.67 [[ 7.66605925e-01 6.39864388e-01 5.37486824e-02 1.94865466e+02] [-6.38125453e-01 7.68485570e-01 -4.71787485e-02 -1.00232500e+02] [-7.14930879e-02 1.86910588e-03 9.97439344e-01 -1.06713787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66863999999998 meters 0.02784421536143283 Centerline is valid? [True, True] Translation: X:194.91, Y:-100.28, Z:-10.68 [[ 7.63499095e-01 6.43463039e-01 5.49949905e-02 1.94907159e+02] [-6.41648569e-01 7.65475508e-01 -4.83152246e-02 -1.00279034e+02] [-7.31863796e-02 1.60117334e-03 9.97316996e-01 -1.06752297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72863999999998 meters 0.027749793898565054 Centerline is valid? [True, True] Translation: X:194.95, Y:-100.33, Z:-10.68 [[ 7.61702647e-01 6.45507230e-01 5.59418890e-02 1.94949726e+02] [-6.43631691e-01 7.63752755e-01 -4.91932398e-02 -1.00326664e+02] [-7.44803638e-02 1.46464833e-03 9.97221405e-01 -1.06788181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78864 meters 0.027896726965778374 Centerline is valid? [True, True] Translation: X:194.99, Y:-100.37, Z:-10.68 [[ 7.63299361e-01 6.43677009e-01 5.52629461e-02 1.94991997e+02] [-6.41838651e-01 7.65295472e-01 -4.86414114e-02 -1.00372072e+02] [-7.36018406e-02 1.65806349e-03 9.97286328e-01 -1.06809746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84864 meters 0.02819673254747234 Centerline is valid? [True, True] Translation: X:195.03, Y:-100.42, Z:-10.68 [[ 7.65564937e-01 6.41058674e-01 5.43516587e-02 1.95034523e+02] [-6.39271061e-01 7.67489500e-01 -4.78787801e-02 -1.00417323e+02] [-7.24074347e-02 1.90887275e-03 9.97373310e-01 -1.06845021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90864 meters 0.02888932198418563 Centerline is valid? [True, True] Translation: X:195.08, Y:-100.46, Z:-10.69 [[ 7.67175976e-01 6.39064291e-01 5.51167259e-02 1.95076703e+02] [-6.37217622e-01 7.69150288e-01 -4.85956402e-02 -1.00463581e+02] [-7.34487840e-02 2.16005862e-03 9.97296651e-01 -1.06865007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96864 meters 0.0285683568980718 Centerline is valid? [True, True] Translation: X:195.12, Y:-100.51, Z:-10.69 [[ 7.66831836e-01 6.39389533e-01 5.61245079e-02 1.95120777e+02] [-6.37472229e-01 7.68879820e-01 -4.95275641e-02 -1.00507536e+02] [-7.48204077e-02 2.20149779e-03 9.97194595e-01 -1.06890432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02863999999997 meters 0.02721979191491847 Centerline is valid? [True, True] Translation: X:195.16, Y:-100.56, Z:-10.69 [[ 7.61144701e-01 6.46320567e-01 5.41153222e-02 1.95157874e+02] [-6.44553633e-01 7.63064550e-01 -4.77818560e-02 -1.00557386e+02] [-7.21758802e-02 1.48867896e-03 9.97390809e-01 -1.06924579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08863999999997 meters 0.026623148455082762 Centerline is valid? [True, True] Translation: X:195.20, Y:-100.60, Z:-10.70 [[ 7.56840760e-01 6.51224737e-01 5.56633300e-02 1.95200075e+02] [-6.49367668e-01 7.58884196e-01 -4.91569821e-02 -1.00604097e+02] [-7.42542641e-02 1.05804087e-03 9.97238780e-01 -1.06954607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14863999999997 meters 0.026334730982614414 Centerline is valid? [True, True] Translation: X:195.24, Y:-100.65, Z:-10.70 [[ 7.54568344e-01 6.53883184e-01 5.53479585e-02 1.95243354e+02] [-6.52052328e-01 7.56595085e-01 -4.89043835e-02 -1.00648935e+02] [-7.38537474e-02 8.11934453e-04 9.97268753e-01 -1.06989822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20863999999997 meters 0.02628858475252178 Centerline is valid? [True, True] Translation: X:195.29, Y:-100.69, Z:-10.70 [[ 7.53310124e-01 6.55393420e-01 5.46197998e-02 1.95287630e+02] [-6.53611269e-01 7.55287357e-01 -4.83044329e-02 -1.00692175e+02] [-7.29120517e-02 6.88101655e-04 9.97338137e-01 -1.07021155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26863999999998 meters 0.025919121978810217 Centerline is valid? [True, True] Translation: X:195.33, Y:-100.74, Z:-10.70 [[ 7.50142581e-01 6.58957640e-01 5.53257349e-02 1.95333236e+02] [-6.57135209e-01 7.52179954e-01 -4.89758562e-02 -1.00735140e+02] [-7.38879233e-02 3.82386854e-04 9.97266478e-01 -1.07033782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32863999999998 meters 0.025807687507204007 Centerline is valid? [True, True] Translation: X:195.38, Y:-100.78, Z:-10.71 [[ 7.47686793e-01 6.61844427e-01 5.40963413e-02 1.95379921e+02] [-6.60106275e-01 7.49641206e-01 -4.79350464e-02 -1.00776256e+02] [-7.22783898e-02 1.31066724e-04 9.97384488e-01 -1.07064252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38863999999998 meters 0.025965978349539016 Centerline is valid? [True, True] Translation: X:195.43, Y:-100.81, Z:-10.71 [[ 7.43627433e-01 6.66240548e-01 5.60515188e-02 1.95428265e+02] [-6.64383151e-01 7.45736856e-01 -4.97148844e-02 -1.00814752e+02] [-7.49217553e-02 -2.70332853e-04 9.97189379e-01 -1.07099548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44863999999998 meters 0.02579411550832726 Centerline is valid? [True, True] Translation: X:195.48, Y:-100.85, Z:-10.71 [[ 7.44085184e-01 6.65852310e-01 5.45705050e-02 1.95477812e+02] [-6.64088150e-01 7.46083549e-01 -4.84382798e-02 -1.00853311e+02] [-7.29668965e-02 -1.97419340e-04 9.97334344e-01 -1.07123423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50863999999999 meters 0.025542186142804263 Centerline is valid? [True, True] Translation: X:195.53, Y:-100.89, Z:-10.71 [[ 7.44967928e-01 6.64972958e-01 5.32329894e-02 1.95525989e+02] [-6.63289905e-01 7.46867430e-01 -4.72815457e-02 -1.00893100e+02] [-7.11989352e-02 -8.56693445e-05 9.97462132e-01 -1.07146473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56864 meters 0.025752331284479346 Centerline is valid? [True, True] Translation: X:195.57, Y:-100.93, Z:-10.72 [[ 7.47352087e-01 6.62327193e-01 5.27972342e-02 1.95573201e+02] [-6.60661748e-01 7.49214689e-01 -4.69404304e-02 -1.00934590e+02] [-7.06463868e-02 1.99915565e-04 9.97501403e-01 -1.07200438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62864 meters 0.025749997319626527 Centerline is valid? [True, True] Translation: X:195.62, Y:-100.98, Z:-10.72 [[ 7.49360994e-01 6.60035996e-01 5.30149534e-02 1.95619723e+02] [-6.58347586e-01 7.51233837e-01 -4.71823903e-02 -1.00975184e+02] [-7.09687028e-02 4.54376283e-04 9.97478439e-01 -1.07228868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68864 meters 0.025892900498190208 Centerline is valid? [True, True] Translation: X:195.66, Y:-101.02, Z:-10.73 [[ 7.50286296e-01 6.58972799e-01 5.31537743e-02 1.95664691e+02] [-6.57269580e-01 7.52166538e-01 -4.73518548e-02 -1.01019028e+02] [-7.11840747e-02 5.91088886e-04 9.97463021e-01 -1.07256980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74863999999997 meters 0.025862860193280154 Centerline is valid? [True, True] Translation: X:195.71, Y:-101.07, Z:-10.73 [[ 7.48967141e-01 6.60633515e-01 5.11036148e-02 1.95706711e+02] [-6.59060072e-01 7.50708436e-01 -4.55704502e-02 -1.01065163e+02] [-6.84692815e-02 4.50417726e-04 9.97653123e-01 -1.07296175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80863999999997 meters 0.025821258569782776 Centerline is valid? [True, True] Translation: X:195.75, Y:-101.11, Z:-10.73 [[ 7.44971844e-01 6.65162641e-01 5.07504879e-02 1.95748028e+02] [-6.63618505e-01 7.46698504e-01 -4.52970646e-02 -1.01112197e+02] [-6.80252285e-02 6.60748825e-05 9.97683599e-01 -1.07314820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86863999999997 meters 0.025800417631138724 Centerline is valid? [True, True] Translation: X:195.79, Y:-101.16, Z:-10.73 [[ 7.37502278e-01 6.73464724e-01 5.03552994e-02 1.95790938e+02] [-6.71960893e-01 7.39219068e-01 -4.49858597e-02 -1.01157374e+02] [-6.75199871e-02 -6.59617955e-04 9.97717704e-01 -1.07324260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92863999999997 meters 0.026859271199877785 Centerline is valid? [True, True] Translation: X:195.83, Y:-101.20, Z:-10.74 [[ 7.30513201e-01 6.81079153e-01 4.98161772e-02 1.95832854e+02] [-6.79622144e-01 7.32208616e-01 -4.45453024e-02 -1.01203283e+02] [-6.68147110e-02 -1.31524572e-03 9.97764534e-01 -1.07350333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98863999999998 meters 0.027258860913839552 Centerline is valid? [True, True] Translation: X:195.88, Y:-101.25, Z:-10.74 [[ 7.26926273e-01 6.84951843e-01 4.91850265e-02 1.95879012e+02] [-6.83537653e-01 7.28586543e-01 -4.40218773e-02 -1.01245018e+02] [-6.59884144e-02 -1.61915840e-03 9.97819076e-01 -1.07373376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04863999999998 meters 0.027448996030974886 Centerline is valid? [True, True] Translation: X:195.93, Y:-101.29, Z:-10.74 [[ 7.26121484e-01 6.85736831e-01 5.01257292e-02 1.95926479e+02] [-6.84266945e-01 7.27847605e-01 -4.49066915e-02 -1.01285811e+02] [-6.72780643e-02 -1.69166611e-03 9.97732830e-01 -1.07405622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10863999999998 meters 0.027596413395103513 Centerline is valid? [True, True] Translation: X:195.98, Y:-101.32, Z:-10.75 [[ 7.26685540e-01 6.85021038e-01 5.17136676e-02 1.95975824e+02] [-6.83451379e-01 7.28521433e-01 -4.63760133e-02 -1.01324709e+02] [-6.94430600e-02 -1.64299916e-03 9.97584564e-01 -1.07458696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16863999999998 meters 0.027551138421794814 Centerline is valid? [True, True] Translation: X:196.02, Y:-101.36, Z:-10.75 [[ 7.25759884e-01 6.85990755e-01 5.18582196e-02 1.96024601e+02] [-6.84411391e-01 7.27608257e-01 -4.65539690e-02 -1.01363605e+02] [-6.96680612e-02 -1.70535306e-03 9.97568771e-01 -1.07493266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22863999999998 meters 0.0279476058827725 Centerline is valid? [True, True] Translation: X:196.07, Y:-101.40, Z:-10.75 [[ 7.24030196e-01 6.87787586e-01 5.22351712e-02 1.96073314e+02] [-6.86186761e-01 7.25909620e-01 -4.69356174e-02 -1.01401574e+02] [-7.01997483e-02 -1.86027867e-03 9.97531220e-01 -1.07521585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28864 meters 0.0281265438841208 Centerline is valid? [True, True] Translation: X:196.12, Y:-101.44, Z:-10.76 [[ 7.23389430e-01 6.88397389e-01 5.30732220e-02 1.96124689e+02] [-6.86743268e-01 7.25331202e-01 -4.77318743e-02 -1.01437460e+02] [-7.13541615e-02 -1.91894452e-03 9.97449197e-01 -1.07555332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34864 meters 0.02837222082823385 Centerline is valid? [True, True] Translation: X:196.18, Y:-101.47, Z:-10.76 [[ 7.22992169e-01 6.88722901e-01 5.42502458e-02 1.96177099e+02] [-6.86992018e-01 7.25022015e-01 -4.88369338e-02 -1.01472264e+02] [-7.29677372e-02 -1.96076513e-03 9.97332374e-01 -1.07593300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40864 meters 0.028423905520794462 Centerline is valid? [True, True] Translation: X:196.23, Y:-101.51, Z:-10.76 [[ 7.23899586e-01 6.87813465e-01 5.36845039e-02 1.96229533e+02] [-6.86112776e-01 7.25885209e-01 -4.83727401e-02 -1.01506893e+02] [-7.22402094e-02 -1.81661742e-03 9.97385609e-01 -1.07632475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46864 meters 0.028189744595935408 Centerline is valid? [True, True] Translation: X:196.28, Y:-101.54, Z:-10.77 [[ 7.27579863e-01 6.83844766e-01 5.46248881e-02 1.96281902e+02] [-6.82069228e-01 7.29626165e-01 -4.92668970e-02 -1.01541360e+02] [-7.35466573e-02 -1.41235312e-03 9.97290777e-01 -1.07662705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52863999999997 meters 0.028028732026047054 Centerline is valid? [True, True] Translation: X:196.33, Y:-101.58, Z:-10.77 [[ 7.32380233e-01 6.78593144e-01 5.59512185e-02 1.96334503e+02] [-6.76711174e-01 7.34513845e-01 -5.05113689e-02 -1.01575948e+02] [-7.53736133e-02 -8.69286608e-04 9.97154984e-01 -1.07710562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58863999999997 meters 0.02795026193489688 Centerline is valid? [True, True] Translation: X:196.38, Y:-101.61, Z:-10.78 [[ 7.36854111e-01 6.73566031e-01 5.79208202e-02 1.96384978e+02] [-6.71529278e-01 7.39126982e-01 -5.23424607e-02 -1.01613541e+02] [-7.80669446e-02 -3.26769211e-04 9.96948066e-01 -1.07757373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64863999999997 meters 0.028065775490296103 Centerline is valid? [True, True] Translation: X:196.43, Y:-101.65, Z:-10.78 [[ 7.40286046e-01 6.69882487e-01 5.68684661e-02 1.96433052e+02] [-6.67904306e-01 7.42467133e-01 -5.14431211e-02 -1.01652744e+02] [-7.66838129e-02 9.99313105e-05 9.97055456e-01 -1.07791978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70863999999997 meters 0.028125926556124153 Centerline is valid? [True, True] Translation: X:196.48, Y:-101.69, Z:-10.78 [[ 7.42444248e-01 6.67491136e-01 5.68517566e-02 1.96479693e+02] [-6.65503361e-01 7.44617645e-01 -5.14765976e-02 -1.01694363e+02] [-7.66929937e-02 3.83468737e-04 9.97054681e-01 -1.07822491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76863999999998 meters 0.028273992615363435 Centerline is valid? [True, True] Translation: X:196.53, Y:-101.74, Z:-10.79 [[ 7.43789204e-01 6.65928842e-01 5.75881643e-02 1.96525249e+02] [-6.63880579e-01 7.46015033e-01 -5.21933566e-02 -1.01736023e+02] [-7.77186978e-02 5.89191310e-04 9.96975154e-01 -1.07854642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82863999999998 meters 0.028585812497639914 Centerline is valid? [True, True] Translation: X:196.57, Y:-101.78, Z:-10.79 [[ 7.45164458e-01 6.64238305e-01 5.93077050e-02 1.96569305e+02] [-6.62057117e-01 7.47520437e-01 -5.37919174e-02 -1.01779215e+02] [-8.00643736e-02 8.18736848e-04 9.96789359e-01 -1.07891287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88863999999998 meters 0.02871491248138657 Centerline is valid? [True, True] Translation: X:196.61, Y:-101.82, Z:-10.79 [[ 7.46278789e-01 6.63118353e-01 5.78101917e-02 1.96613298e+02] [-6.61040129e-01 7.48513972e-01 -5.24669665e-02 -1.01823323e+02] [-7.80635446e-02 9.40127640e-04 9.96947942e-01 -1.07919724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94863999999998 meters 0.028439929730756954 Centerline is valid? [True, True] Translation: X:196.66, Y:-101.87, Z:-10.79 [[ 7.45494473e-01 6.63995877e-01 5.78572994e-02 1.96655614e+02] [-6.61912990e-01 7.47735709e-01 -5.25595188e-02 -1.01869821e+02] [-7.81612725e-02 8.86332707e-04 9.96940334e-01 -1.07934633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00863999999999 meters 0.028311423593196255 Centerline is valid? [True, True] Translation: X:196.70, Y:-101.92, Z:-10.80 [[ 7.43971460e-01 6.65712190e-01 5.77386063e-02 1.96697795e+02] [-6.63639025e-01 7.46208234e-01 -5.25025346e-02 -1.01915313e+02] [-7.80366007e-02 7.42794949e-04 9.96950218e-01 -1.07958635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06864 meters 0.028196846898958506 Centerline is valid? [True, True] Translation: X:196.74, Y:-101.96, Z:-10.80 [[ 7.43257166e-01 6.66587483e-01 5.68323197e-02 1.96742460e+02] [-6.64578003e-01 7.45426503e-01 -5.17243344e-02 -1.01958422e+02] [-7.68431112e-02 6.74972687e-04 9.97042968e-01 -1.07978779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12864 meters 0.028186790015323752 Centerline is valid? [True, True] Translation: X:196.78, Y:-102.01, Z:-10.80 [[ 7.43151833e-01 6.66730585e-01 5.65303431e-02 1.96782578e+02] [-6.64739104e-01 7.45298495e-01 -5.14983216e-02 -1.02007238e+02] [-7.64674857e-02 6.93142491e-04 9.97071835e-01 -1.08012497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18864 meters 0.02814005349365908 Centerline is valid? [True, True] Translation: X:196.82, Y:-102.05, Z:-10.80 [[ 7.44899204e-01 6.64715139e-01 5.72622056e-02 1.96824459e+02] [-6.62661696e-01 7.47096299e-01 -5.22168239e-02 -1.02053276e+02] [-7.74896953e-02 9.50800308e-04 9.96992700e-01 -1.08030585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24863999999997 meters 0.027909466575532067 Centerline is valid? [True, True] Translation: X:196.87, Y:-102.10, Z:-10.81 [[ 7.42817669e-01 6.67123676e-01 5.62842090e-02 1.96867879e+02] [-6.65143254e-01 7.44946629e-01 -5.13709257e-02 -1.02097793e+02] [-7.61994926e-02 7.22169380e-04 9.97092331e-01 -1.08056103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30863999999997 meters 0.027494135774051007 Centerline is valid? [True, True] Translation: X:196.91, Y:-102.14, Z:-10.81 [[ 7.38978707e-01 6.71507965e-01 5.46582418e-02 1.96910047e+02] [-6.69649081e-01 7.40997277e-01 -4.99313930e-02 -1.02144116e+02] [-7.40309365e-02 2.96394874e-04 9.97255901e-01 -1.08071143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36863999999997 meters 0.02742689219391954 Centerline is valid? [True, True] Translation: X:196.95, Y:-102.19, Z:-10.81 [[ 7.37182353e-01 6.73506558e-01 5.43239820e-02 1.96954730e+02] [-6.71672430e-01 7.39181236e-01 -4.96713966e-02 -1.02187576e+02] [-7.36092795e-02 1.28956047e-04 9.97287149e-01 -1.08107063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42863999999997 meters 0.02751249087843761 Centerline is valid? [True, True] Translation: X:197.00, Y:-102.23, Z:-10.81 [[ 7.35076466e-01 6.75833146e-01 5.39643209e-02 1.96997458e+02] [-6.74025983e-01 7.37054648e-01 -4.93904889e-02 -1.02234025e+02] [-7.31543830e-02 -6.75683456e-05 9.97320626e-01 -1.08135979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48863999999998 meters 0.02720299309729528 Centerline is valid? [True, True] Translation: X:197.04, Y:-102.28, Z:-10.81 [[ 7.32327255e-01 6.78794658e-01 5.41719838e-02 1.97043326e+02] [-6.76977710e-01 7.34328064e-01 -4.96334011e-02 -1.02276692e+02] [-7.34708955e-02 -3.25333210e-04 9.97297309e-01 -1.08145825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54863999999998 meters 0.027594720239620132 Centerline is valid? [True, True] Translation: X:197.09, Y:-102.32, Z:-10.82 [[ 7.27881103e-01 6.83497665e-01 5.49549053e-02 1.97088776e+02] [-6.81637183e-01 7.29952290e-01 -5.04024415e-02 -1.02319430e+02] [-7.45644100e-02 -7.72322134e-04 9.97215901e-01 -1.08181389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60863999999998 meters 0.0273148334595704 Centerline is valid? [True, True] Translation: X:197.14, Y:-102.36, Z:-10.82 [[ 7.25489309e-01 6.86125199e-01 5.38281918e-02 1.97136303e+02] [-6.84344010e-01 7.27482811e-01 -4.94169568e-02 -1.02361003e+02] [-7.30653036e-02 -9.85526821e-04 9.97326672e-01 -1.08209021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66863999999998 meters 0.027135504834143297 Centerline is valid? [True, True] Translation: X:197.18, Y:-102.40, Z:-10.82 [[ 7.26178419e-01 6.85300494e-01 5.50285152e-02 1.97183400e+02] [-6.83432573e-01 7.28259879e-01 -5.05714020e-02 -1.02402058e+02] [-7.47316665e-02 -8.84419005e-04 9.97203287e-01 -1.08249804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72863999999998 meters 0.02699263341351349 Centerline is valid? [True, True] Translation: X:197.23, Y:-102.44, Z:-10.83 [[ 7.27554000e-01 6.83792158e-01 5.56188947e-02 1.97230441e+02] [-6.81875618e-01 7.29676500e-01 -5.11648911e-02 -1.02443172e+02] [-7.55699517e-02 -6.99947034e-04 9.97140257e-01 -1.08293931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78864 meters 0.02671623045224996 Centerline is valid? [True, True] Translation: X:197.28, Y:-102.48, Z:-10.83 [[ 7.29827162e-01 6.81430514e-01 5.48157733e-02 1.97277262e+02] [-6.79559357e-01 7.31882695e-01 -5.04658330e-02 -1.02484888e+02] [-7.45076744e-02 -4.19236042e-04 9.97220352e-01 -1.08314019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84864 meters 0.026495869979938455 Centerline is valid? [True, True] Translation: X:197.32, Y:-102.53, Z:-10.84 [[ 7.31684800e-01 6.79404482e-01 5.51987629e-02 1.97323760e+02] [-6.77498959e-01 7.33763936e-01 -5.08492513e-02 -1.02527713e+02] [-7.50500707e-02 -1.91480098e-04 9.97179748e-01 -1.08355348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90864 meters 0.02636997958923704 Centerline is valid? [True, True] Translation: X:197.37, Y:-102.57, Z:-10.84 [[ 7.30196112e-01 6.80995925e-01 5.53008925e-02 1.97369789e+02] [-6.79083793e-01 7.32287137e-01 -5.09975709e-02 -1.02570544e+02] [-7.52252702e-02 -3.15711794e-04 9.97166515e-01 -1.08374828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96864 meters 0.026498726993946602 Centerline is valid? [True, True] Translation: X:197.42, Y:-102.61, Z:-10.84 [[ 7.26096226e-01 6.85302720e-01 5.60754186e-02 1.97417016e+02] [-6.83345310e-01 7.28257952e-01 -5.17642986e-02 -1.02610523e+02] [-7.63115842e-02 -7.33012397e-04 9.97083750e-01 -1.08400273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02863999999997 meters 0.026852235363720264 Centerline is valid? [True, True] Translation: X:197.47, Y:-102.65, Z:-10.84 [[ 7.22813494e-01 6.88790419e-01 5.57531299e-02 1.97465425e+02] [-6.86862173e-01 7.24959748e-01 -5.15142655e-02 -1.02650392e+02] [-7.59013075e-02 -1.05950976e-03 9.97114772e-01 -1.08427181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08863999999997 meters 0.026855547761325076 Centerline is valid? [True, True] Translation: X:197.52, Y:-102.69, Z:-10.85 [[ 7.21140939e-01 6.90517334e-01 5.60495941e-02 1.97516047e+02] [-6.88570003e-01 7.23314828e-01 -5.18363794e-02 -1.02687432e+02] [-7.63354210e-02 -1.21273384e-03 9.97081457e-01 -1.08456345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14863999999997 meters 0.026793002528681085 Centerline is valid? [True, True] Translation: X:197.57, Y:-102.72, Z:-10.85 [[ 7.22535728e-01 6.89067551e-01 5.59288051e-02 1.97566891e+02] [-6.87120618e-01 7.24696395e-01 -5.17724979e-02 -1.02723953e+02] [-7.62061517e-02 -1.02235560e-03 9.97091559e-01 -1.08499719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20863999999997 meters 0.026559778790875316 Centerline is valid? [True, True] Translation: X:197.62, Y:-102.76, Z:-10.85 [[ 7.24675793e-01 6.86754250e-01 5.66885811e-02 1.97615806e+02] [-6.84742869e-01 7.26889287e-01 -5.25277856e-02 -1.02763336e+02] [-7.72800023e-02 -7.51486986e-04 9.97009146e-01 -1.08537363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26863999999998 meters 0.02654865484110156 Centerline is valid? [True, True] Translation: X:197.67, Y:-102.80, Z:-10.86 [[ 7.24437101e-01 6.87034226e-01 5.63458922e-02 1.97665257e+02] [-6.85043703e-01 7.26624684e-01 -5.22656147e-02 -1.02803116e+02] [-7.68505823e-02 -7.36248239e-04 9.97042349e-01 -1.08568551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32863999999998 meters 0.026613080205465652 Centerline is valid? [True, True] Translation: X:197.71, Y:-102.85, Z:-10.86 [[ 7.22537159e-01 6.89089504e-01 5.56391085e-02 1.97712019e+02] [-6.87150617e-01 7.24675679e-01 -5.16641922e-02 -1.02845050e+02] [-7.59215613e-02 -9.03149129e-04 9.97113384e-01 -1.08595890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38863999999998 meters 0.02747063553604823 Centerline is valid? [True, True] Translation: X:197.76, Y:-102.88, Z:-10.86 [[ 7.17072250e-01 6.94751485e-01 5.59264100e-02 1.97759418e+02] [-6.92805626e-01 7.19248365e-01 -5.19822549e-02 -1.02884759e+02] [-7.63397277e-02 -1.47109904e-03 9.97080780e-01 -1.08618627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44863999999998 meters 0.027779710588086117 Centerline is valid? [True, True] Translation: X:197.81, Y:-102.92, Z:-10.87 [[ 7.14547512e-01 6.97418305e-01 5.50414417e-02 1.97807463e+02] [-6.95538215e-01 7.16662284e-01 -5.12031379e-02 -1.02923567e+02] [-7.51561310e-02 -1.69635135e-03 9.97170336e-01 -1.08652328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50863999999999 meters 0.027894285238066356 Centerline is valid? [True, True] Translation: X:197.86, Y:-102.96, Z:-10.87 [[ 7.13079897e-01 6.99078457e-01 5.29751887e-02 1.97855535e+02] [-6.97338514e-01 7.15042780e-01 -4.93236175e-02 -1.02963597e+02] [-7.23606046e-02 -1.76995928e-03 9.97376965e-01 -1.08679946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56864 meters 0.02808644971140607 Centerline is valid? [True, True] Translation: X:197.91, Y:-103.00, Z:-10.87 [[ 7.13713157e-01 6.98273180e-01 5.50281348e-02 1.97905525e+02] [-6.96389513e-01 7.15829317e-01 -5.12838767e-02 -1.03001622e+02] [-7.52009078e-02 -1.71903845e-03 9.97166921e-01 -1.08702422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62864 meters 0.027484348026638888 Centerline is valid? [True, True] Translation: X:197.96, Y:-103.04, Z:-10.87 [[ 7.19095568e-01 6.92715474e-01 5.51981557e-02 1.97955945e+02] [-6.90800038e-01 7.21210130e-01 -5.14903499e-02 -1.03038954e+02] [-7.54776312e-02 -1.10440568e-03 9.97146884e-01 -1.08748041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68864 meters 0.027307239992867143 Centerline is valid? [True, True] Translation: X:198.00, Y:-103.08, Z:-10.88 [[ 7.27578637e-01 6.83724674e-01 5.61239524e-02 1.98004812e+02] [-6.81713539e-01 7.29740059e-01 -5.24032260e-02 -1.03078275e+02] [-7.67852749e-02 -1.32990452e-04 9.97047644e-01 -1.08784505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74863999999997 meters 0.027333159926466084 Centerline is valid? [True, True] Translation: X:198.05, Y:-103.12, Z:-10.88 [[ 7.32266133e-01 6.78754772e-01 5.54821656e-02 1.98048094e+02] [-6.76771271e-01 7.34364883e-01 -5.18542772e-02 -1.03123695e+02] [-7.59404921e-02 4.22395263e-04 9.97112262e-01 -1.08808066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80863999999997 meters 0.02721329458082237 Centerline is valid? [True, True] Translation: X:198.09, Y:-103.17, Z:-10.88 [[ 7.32746517e-01 6.78245644e-01 5.53659558e-02 1.98093386e+02] [-6.76264900e-01 7.34835072e-01 -5.17996335e-02 -1.03167874e+02] [-7.58177219e-02 5.13948422e-04 9.97121562e-01 -1.08834617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86863999999997 meters 0.02742637587996286 Centerline is valid? [True, True] Translation: X:198.13, Y:-103.21, Z:-10.89 [[ 7.31637827e-01 6.79368408e-01 5.62552869e-02 1.98134680e+02] [-6.77322670e-01 7.33797227e-01 -5.26842532e-02 -1.03214856e+02] [-7.70719908e-02 4.42811387e-04 9.97025432e-01 -1.08870915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92863999999997 meters 0.02726881022298388 Centerline is valid? [True, True] Translation: X:198.18, Y:-103.26, Z:-10.89 [[ 7.31017888e-01 6.80073085e-01 5.57982665e-02 1.98175613e+02] [-6.78058933e-01 7.33144214e-01 -5.23033935e-02 -1.03261902e+02] [-7.64783064e-02 4.00203181e-04 9.97071165e-01 -1.08903459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98863999999998 meters 0.027259823094707755 Centerline is valid? [True, True] Translation: X:198.22, Y:-103.31, Z:-10.89 [[ 7.30259799e-01 6.81010213e-01 5.42744470e-02 1.98219105e+02] [-6.79103932e-01 7.32273844e-01 -5.09201989e-02 -1.03306462e+02] [-7.44209334e-02 3.26983899e-04 9.97226864e-01 -1.08923782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04863999999998 meters 0.027191479084161495 Centerline is valid? [True, True] Translation: X:198.26, Y:-103.35, Z:-10.90 [[ 7.28723465e-01 6.82710404e-01 5.35594555e-02 1.98263453e+02] [-6.80855342e-01 7.30689038e-01 -5.02944649e-02 -1.03350557e+02] [-7.34718615e-02 1.84515406e-04 9.97297273e-01 -1.08952482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10863999999998 meters 0.027105391703672 Centerline is valid? [True, True] Translation: X:198.31, Y:-103.40, Z:-10.90 [[ 7.26067387e-01 6.85567112e-01 5.31402316e-02 1.98305648e+02] [-6.83745134e-01 7.28009430e-01 -4.99485881e-02 -1.03397789e+02] [-7.29296990e-02 -6.83338950e-05 9.97337082e-01 -1.08962339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16863999999998 meters 0.02722718671380859 Centerline is valid? [True, True] Translation: X:198.35, Y:-103.44, Z:-10.90 [[ 7.22146906e-01 6.89805150e-01 5.16981718e-02 1.98349474e+02] [-6.88088180e-01 7.23994928e-01 -4.86415479e-02 -1.03441501e+02] [-7.09824044e-02 -4.46557613e-04 9.97477468e-01 -1.08976212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22863999999998 meters 0.02731519500475645 Centerline is valid? [True, True] Translation: X:198.40, Y:-103.48, Z:-10.90 [[ 7.20041939e-01 6.92009955e-01 5.15929220e-02 1.98395061e+02] [-6.90302279e-01 7.21887684e-01 -4.85894617e-02 -1.03484540e+02] [-7.08686862e-02 -6.28261430e-04 9.97485456e-01 -1.08995419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28864 meters 0.027376069844834337 Centerline is valid? [True, True] Translation: X:198.44, Y:-103.53, Z:-10.90 [[ 7.21019736e-01 6.90976107e-01 5.17934326e-02 1.98441310e+02] [-6.89248737e-01 7.22877430e-01 -4.88303186e-02 -1.03526612e+02] [-7.11808869e-02 -4.90934581e-04 9.97463303e-01 -1.09037149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34864 meters 0.02720882010624307 Centerline is valid? [True, True] Translation: X:198.49, Y:-103.57, Z:-10.90 [[ 7.22053054e-01 6.90030221e-01 4.99768028e-02 1.98486768e+02] [-6.88416522e-01 7.23780472e-01 -4.71648250e-02 -1.03569704e+02] [-6.87173885e-02 -3.49350871e-04 9.97636105e-01 -1.09038213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40864 meters 0.02717619945152782 Centerline is valid? [True, True] Translation: X:198.53, Y:-103.61, Z:-10.91 [[ 7.23360317e-01 6.88564707e-01 5.12688661e-02 1.98534159e+02] [-6.86859466e-01 7.25174884e-01 -4.84299696e-02 -1.03610741e+02] [-7.05260618e-02 -1.82187817e-04 9.97509920e-01 -1.09061459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46864 meters 0.027200216952222172 Centerline is valid? [True, True] Translation: X:198.58, Y:-103.65, Z:-10.91 [[ 7.23762958e-01 6.88274035e-01 4.94573839e-02 1.98579695e+02] [-6.86683736e-01 7.25450783e-01 -4.67611858e-02 -1.03653042e+02] [-6.80634079e-02 -1.17567042e-04 9.97680990e-01 -1.09057835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52863999999997 meters 0.027263249107621373 Centerline is valid? [True, True] Translation: X:198.63, Y:-103.69, Z:-10.91 [[ 7.24819793e-01 6.87132740e-01 4.98484181e-02 1.98627987e+02] [-6.85511309e-01 7.26531896e-01 -4.71767791e-02 -1.03694035e+02] [-6.86331753e-02 2.30088996e-05 9.97641963e-01 -1.09066438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58863999999997 meters 0.02709172602893145 Centerline is valid? [True, True] Translation: X:198.67, Y:-103.74, Z:-10.91 [[ 7.24324196e-01 6.87808702e-01 4.76827999e-02 1.98673696e+02] [-6.86323752e-01 7.25891996e-01 -4.51720878e-02 -1.03735570e+02] [-6.56823178e-02 -6.60192773e-06 9.97840585e-01 -1.09088322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64863999999997 meters 0.026798378562762584 Centerline is valid? [True, True] Translation: X:198.72, Y:-103.78, Z:-10.91 [[ 7.23954840e-01 6.88219225e-01 4.73675977e-02 1.98721734e+02] [-6.86751915e-01 7.25502790e-01 -4.49166857e-02 -1.03776534e+02] [-6.52778509e-02 -1.21364498e-05 9.97867126e-01 -1.09106945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70863999999997 meters 0.02665092552372949 Centerline is valid? [True, True] Translation: X:198.77, Y:-103.82, Z:-10.91 [[ 7.25531151e-01 6.86414994e-01 4.93862959e-02 1.98767924e+02] [-6.84812238e-01 7.27210024e-01 -4.68804809e-02 -1.03817621e+02] [-6.80936744e-02 1.92909476e-04 9.97678913e-01 -1.09130558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76863999999998 meters 0.026535327096172918 Centerline is valid? [True, True] Translation: X:198.81, Y:-103.86, Z:-10.92 [[ 7.27771440e-01 6.84093424e-01 4.86304252e-02 1.98813795e+02] [-6.82531260e-01 7.29394267e-01 -4.62069479e-02 -1.03860973e+02] [-6.70806226e-02 4.36311707e-04 9.97747463e-01 -1.09164459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82863999999998 meters 0.026654951346703884 Centerline is valid? [True, True] Translation: X:198.86, Y:-103.91, Z:-10.92 [[ 7.30843651e-01 6.80830237e-01 4.83502431e-02 1.98856303e+02] [-6.79275763e-01 7.32440851e-01 -4.59873669e-02 -1.03907048e+02] [-6.67232831e-02 7.66426895e-04 9.97771224e-01 -1.09195652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88863999999998 meters 0.02645151667166789 Centerline is valid? [True, True] Translation: X:198.90, Y:-103.95, Z:-10.92 [[ 7.30502554e-01 6.81165399e-01 4.87823422e-02 1.98898623e+02] [-6.79580747e-01 7.32129154e-01 -4.64425459e-02 -1.03953851e+02] [-6.73500303e-02 7.74857798e-04 9.97729108e-01 -1.09228700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94863999999998 meters 0.026045773649361344 Centerline is valid? [True, True] Translation: X:198.94, Y:-104.00, Z:-10.93 [[ 7.25089157e-01 6.86890853e-01 4.92612480e-02 1.98938264e+02] [-6.85284794e-01 7.26760536e-01 -4.69454473e-02 -1.04002543e+02] [-6.80475294e-02 2.81650555e-04 9.97682041e-01 -1.09261726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00863999999999 meters 0.02604303135830346 Centerline is valid? [True, True] Translation: X:198.98, Y:-104.05, Z:-10.93 [[ 7.17952980e-01 6.94315014e-01 4.97009057e-02 1.98981239e+02] [-6.92694579e-01 7.19671112e-01 -4.74100223e-02 -1.04048299e+02] [-6.86857964e-02 -3.89381093e-04 9.97638266e-01 -1.09277227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06864 meters 0.026109005392414585 Centerline is valid? [True, True] Translation: X:199.03, Y:-104.09, Z:-10.93 [[ 7.14390611e-01 6.97878598e-01 5.11029997e-02 1.99025615e+02] [-6.96170818e-01 7.16215715e-01 -4.87979659e-02 -1.04091373e+02] [-7.06558275e-02 -7.15608421e-04 9.97500497e-01 -1.09302258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12864 meters 0.026396608655221563 Centerline is valid? [True, True] Translation: X:199.07, Y:-104.13, Z:-10.93 [[ 7.12190880e-01 7.00103095e-01 5.13790446e-02 1.99072106e+02] [-6.98379292e-01 7.14041197e-01 -4.91073657e-02 -1.04133330e+02] [-7.10669732e-02 -9.08242772e-04 9.97471133e-01 -1.09332667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18864 meters 0.02608940807148821 Centerline is valid? [True, True] Translation: X:199.12, Y:-104.17, Z:-10.94 [[ 7.13397376e-01 6.98891394e-01 5.11371065e-02 1.99118441e+02] [-6.97177466e-01 7.15227415e-01 -4.89216283e-02 -1.04174160e+02] [-7.07655655e-02 -7.51077070e-04 9.97492692e-01 -1.09367208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24863999999997 meters 0.02614113843212846 Centerline is valid? [True, True] Translation: X:199.17, Y:-104.22, Z:-10.94 [[ 7.13752754e-01 6.98478445e-01 5.18157191e-02 1.99165851e+02] [-6.96714054e-01 7.15630767e-01 -4.96198840e-02 -1.04216280e+02] [-7.17393422e-02 -6.84410832e-04 9.97423179e-01 -1.09389072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30863999999997 meters 0.026096464431951405 Centerline is valid? [True, True] Translation: X:199.21, Y:-104.26, Z:-10.94 [[ 7.14780371e-01 6.97496987e-01 5.08623115e-02 1.99210493e+02] [-6.95791047e-01 7.16587512e-01 -4.87560979e-02 -1.04258987e+02] [-7.04545287e-02 -5.39639229e-04 9.97514846e-01 -1.09416221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36863999999997 meters 0.026230496415672846 Centerline is valid? [True, True] Translation: X:199.25, Y:-104.30, Z:-10.95 [[ 7.14774703e-01 6.97419438e-01 5.19927951e-02 1.99254619e+02] [-6.95633106e-01 7.16663008e-01 -4.98870149e-02 -1.04303287e+02] [-7.20534868e-02 -5.09933293e-04 9.97400639e-01 -1.09453254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42863999999997 meters 0.026226332490958223 Centerline is valid? [True, True] Translation: X:199.30, Y:-104.35, Z:-10.95 [[ 7.11682655e-01 7.00632021e-01 5.12110283e-02 1.99301426e+02] [-6.98903971e-01 7.13522354e-01 -4.91842472e-02 -1.04345587e+02] [-7.10002720e-02 -7.88015382e-04 9.97475985e-01 -1.09470469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48863999999998 meters 0.026494452895634613 Centerline is valid? [True, True] Translation: X:199.35, Y:-104.39, Z:-10.95 [[ 7.08796553e-01 7.03583916e-01 5.07653355e-02 1.99347499e+02] [-7.01889916e-01 7.10611423e-01 -4.88052362e-02 -1.04387019e+02] [-7.04130065e-02 -1.03869385e-03 9.97517383e-01 -1.09504029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54863999999998 meters 0.02658160167487258 Centerline is valid? [True, True] Translation: X:199.40, Y:-104.43, Z:-10.95 [[ 7.08063288e-01 7.04317134e-01 5.08306596e-02 1.99396750e+02] [-7.02617278e-01 7.09884646e-01 -4.89157389e-02 -1.04426136e+02] [-7.05360978e-02 -1.07906074e-03 9.97508644e-01 -1.09517057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60863999999998 meters 0.026551129417886808 Centerline is valid? [True, True] Translation: X:199.44, Y:-104.47, Z:-10.96 [[ 7.09248793e-01 7.03143373e-01 5.05524155e-02 1.99444755e+02] [-7.01455621e-01 7.11047500e-01 -4.86976803e-02 -1.04465586e+02] [-7.01866199e-02 -9.21505055e-04 9.97533453e-01 -1.09563743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66863999999998 meters 0.026459308947237175 Centerline is valid? [True, True] Translation: X:199.49, Y:-104.51, Z:-10.96 [[ 7.10222150e-01 7.02148133e-01 5.07197854e-02 1.99492537e+02] [-7.00443250e-01 7.12030458e-01 -4.89068588e-02 -1.04507320e+02] [-7.04538916e-02 -7.91596878e-04 9.97514723e-01 -1.09574915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72863999999998 meters 0.026378868743340823 Centerline is valid? [True, True] Translation: X:199.54, Y:-104.55, Z:-10.96 [[ 7.09955218e-01 7.02447062e-01 5.03161366e-02 1.99538799e+02] [-7.00766385e-01 7.11735568e-01 -4.85690647e-02 -1.04549531e+02] [-6.99289809e-02 -7.77996262e-04 9.97551669e-01 -1.09610045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78864 meters 0.026570321782472355 Centerline is valid? [True, True] Translation: X:199.59, Y:-104.59, Z:-10.96 [[ 7.08010842e-01 7.04444619e-01 4.97837959e-02 1.99585311e+02] [-7.02800752e-01 7.09758351e-01 -4.81059874e-02 -1.04591743e+02] [-6.92224689e-02 -9.28528488e-04 9.97600816e-01 -1.09637390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84864 meters 0.027149713425634908 Centerline is valid? [True, True] Translation: X:199.63, Y:-104.63, Z:-10.97 [[ 7.04635981e-01 7.07768403e-01 5.05175459e-02 1.99632867e+02] [-7.06080618e-01 7.06443457e-01 -4.88651563e-02 -1.04632246e+02] [-7.02730034e-02 -1.23731273e-03 9.97527029e-01 -1.09663748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90864 meters 0.027120679304160088 Centerline is valid? [True, True] Translation: X:199.68, Y:-104.67, Z:-10.97 [[ 7.03923893e-01 7.08472739e-01 5.05720383e-02 1.99681360e+02] [-7.06779839e-01 7.05737026e-01 -4.89643641e-02 -1.04672011e+02] [-7.03804771e-02 -1.27611124e-03 9.97519403e-01 -1.09694566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96864 meters 0.027169966059625544 Centerline is valid? [True, True] Translation: X:199.73, Y:-104.71, Z:-10.97 [[ 7.03703532e-01 7.08722812e-01 5.01329720e-02 1.99730454e+02] [-7.07056418e-01 7.05485933e-01 -4.85882798e-02 -1.04711371e+02] [-6.98037288e-02 -1.25509550e-03 9.97559955e-01 -1.09728981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02863999999997 meters 0.02696034290972159 Centerline is valid? [True, True] Translation: X:199.79, Y:-104.74, Z:-10.98 [[ 7.05813677e-01 7.06610096e-01 5.02914079e-02 1.99785138e+02] [-7.04924261e-01 7.07602392e-01 -4.87918191e-02 -1.04744438e+02] [-7.00631125e-02 -1.01370030e-03 9.97542046e-01 -1.09753401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08863999999997 meters 0.02688750404471806 Centerline is valid? [True, True] Translation: X:199.84, Y:-104.78, Z:-10.98 [[ 7.06901179e-01 7.05510788e-01 5.04504767e-02 1.99835048e+02] [-7.03808240e-01 7.08698640e-01 -4.89918379e-02 -1.04781868e+02] [-7.03184544e-02 -8.75073176e-04 9.97524210e-01 -1.09787978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14863999999997 meters 0.026866692659951442 Centerline is valid? [True, True] Translation: X:199.89, Y:-104.82, Z:-10.98 [[ 7.09673825e-01 7.02635408e-01 5.16386054e-02 1.99887007e+02] [-7.00841214e-01 7.11549823e-01 -5.01840721e-02 -1.04818009e+02] [-7.20045466e-02 -5.76140532e-04 9.97404137e-01 -1.09833336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20863999999997 meters 0.02655063052432275 Centerline is valid? [True, True] Translation: X:199.94, Y:-104.85, Z:-10.99 [[ 7.15146908e-01 6.97187877e-01 4.99396075e-02 1.99939183e+02] [-6.95495320e-01 7.16888460e-01 -4.85509632e-02 -1.04854315e+02] [-6.96502713e-02 -1.16921327e-05 9.97571471e-01 -1.09855982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26863999999998 meters 0.027152190079435996 Centerline is valid? [True, True] Translation: X:199.99, Y:-104.89, Z:-10.99 [[ 7.22223215e-01 6.89894026e-01 4.93949445e-02 1.99988684e+02] [-6.88220009e-01 7.23910040e-01 -4.80361736e-02 -1.04892017e+02] [-6.88973654e-02 6.98250595e-04 9.97623509e-01 -1.09893599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32863999999998 meters 0.02791975531449542 Centerline is valid? [True, True] Translation: X:200.04, Y:-104.93, Z:-10.99 [[ 7.29308414e-01 6.82439722e-01 4.88391479e-02 2.00036297e+02] [-6.80785528e-01 7.30940537e-01 -4.75078525e-02 -1.04932024e+02] [-6.81197587e-02 1.39889147e-03 9.97676171e-01 -1.09932227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38863999999998 meters 0.028499275517783383 Centerline is valid? [True, True] Translation: X:200.08, Y:-104.98, Z:-11.00 [[ 7.32566500e-01 6.78954365e-01 4.86548466e-02 2.00079852e+02] [-6.77304194e-01 7.34178448e-01 -4.73395684e-02 -1.04975508e+02] [-6.78627464e-02 1.72525025e-03 9.97693175e-01 -1.09961027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44863999999998 meters 0.028935047000024607 Centerline is valid? [True, True] Translation: X:200.12, Y:-105.02, Z:-11.00 [[ 7.35149028e-01 6.76229335e-01 4.76423540e-02 2.00119929e+02] [-6.74640856e-01 7.36688613e-01 -4.63638157e-02 -1.05023876e+02] [-6.64501519e-02 1.94283556e-03 9.97787855e-01 -1.09995798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50863999999999 meters 0.029107762727488773 Centerline is valid? [True, True] Translation: X:200.16, Y:-105.07, Z:-11.00 [[ 7.35055030e-01 6.76323700e-01 4.77530604e-02 2.00160910e+02] [-6.74727139e-01 7.36601965e-01 -4.64847547e-02 -1.05071622e+02] [-6.66137394e-02 1.94856700e-03 9.97776935e-01 -1.10030411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56864 meters 0.028390338030096284 Centerline is valid? [True, True] Translation: X:200.20, Y:-105.12, Z:-11.01 [[ 7.32450695e-01 6.79010804e-01 4.96014904e-02 2.00198121e+02] [-6.77292423e-01 7.34126096e-01 -4.83099221e-02 -1.05123158e+02] [-6.92167076e-02 1.78992236e-03 9.97600042e-01 -1.10054043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62864 meters 0.02777816011781433 Centerline is valid? [True, True] Translation: X:200.24, Y:-105.17, Z:-11.01 [[ 7.29319032e-01 6.82495298e-01 4.78948556e-02 2.00235242e+02] [-6.80898794e-01 7.30888583e-01 -4.66766626e-02 -1.05172793e+02] [-6.68624059e-02 1.43062893e-03 9.97761180e-01 -1.10096148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68864 meters 0.02694935374994592 Centerline is valid? [True, True] Translation: X:200.27, Y:-105.22, Z:-11.01 [[ 7.23231462e-01 6.88731774e-01 5.08408903e-02 2.00272790e+02] [-6.86946463e-01 7.25015649e-01 -4.95667903e-02 -1.05223646e+02] [-7.09986645e-02 9.23292434e-04 9.97475983e-01 -1.10113889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74863999999997 meters 0.026751723047999214 Centerline is valid? [True, True] Translation: X:200.31, Y:-105.27, Z:-11.01 [[ 7.17847261e-01 6.94319525e-01 5.11439758e-02 2.00314464e+02] [-6.92523717e-01 7.19666750e-01 -4.99066176e-02 -1.05269788e+02] [-7.14577579e-02 4.06912566e-04 9.97443544e-01 -1.10141217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80863999999997 meters 0.026965068587324312 Centerline is valid? [True, True] Translation: X:200.36, Y:-105.31, Z:-11.02 [[ 7.16030744e-01 6.96180430e-01 5.13106536e-02 2.00360063e+02] [-6.94374231e-01 7.17866800e-01 -5.01167104e-02 -1.05313559e+02] [-7.17244877e-02 2.56309793e-04 9.97424449e-01 -1.10171330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86863999999997 meters 0.026761323863426396 Centerline is valid? [True, True] Translation: X:200.41, Y:-105.36, Z:-11.02 [[ 7.15371890e-01 6.96998213e-01 4.93614232e-02 2.00406107e+02] [-6.95325509e-01 7.17072835e-01 -4.82595678e-02 -1.05355232e+02] [-6.90325682e-02 2.01281530e-04 9.97614386e-01 -1.10194331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92863999999997 meters 0.02669709544853363 Centerline is valid? [True, True] Translation: X:200.45, Y:-105.40, Z:-11.02 [[ 7.15862981e-01 6.96647377e-01 4.71447141e-02 2.00452467e+02] [-6.95118247e-01 7.17413665e-01 -4.61330242e-02 -1.05396383e+02] [-6.59607124e-02 2.53773197e-04 9.97822189e-01 -1.10224504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98863999999998 meters 0.026849913680340672 Centerline is valid? [True, True] Translation: X:200.50, Y:-105.44, Z:-11.03 [[ 7.17183685e-01 6.95169218e-01 4.88602107e-02 2.00499106e+02] [-6.93520136e-01 7.18845998e-01 -4.78565783e-02 -1.05437073e+02] [-6.83913870e-02 4.36417205e-04 9.97658472e-01 -1.10257713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04863999999998 meters 0.027305437629292297 Centerline is valid? [True, True] Translation: X:200.54, Y:-105.48, Z:-11.03 [[ 7.17973571e-01 6.94317333e-01 4.93699566e-02 2.00544350e+02] [-6.92628521e-01 7.19668766e-01 -4.84004030e-02 -1.05479811e+02] [-6.91352545e-02 5.55170184e-04 9.97607141e-01 -1.10274196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10863999999998 meters 0.027174527546369696 Centerline is valid? [True, True] Translation: X:200.59, Y:-105.52, Z:-11.03 [[ 7.17422305e-01 6.94918380e-01 4.89252720e-02 2.00590340e+02] [-6.93258196e-01 7.19088430e-01 -4.80094226e-02 -1.05523067e+02] [-6.85442271e-02 5.25184792e-04 9.97647940e-01 -1.10318160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16863999999998 meters 0.026995055476580144 Centerline is valid? [True, True] Translation: X:200.64, Y:-105.57, Z:-11.03 [[ 7.16253231e-01 6.96144836e-01 4.86176651e-02 2.00635734e+02] [-6.94504960e-01 7.17901228e-01 -4.77565322e-02 -1.05566333e+02] [-6.81481447e-02 4.40560894e-04 9.97675116e-01 -1.10338372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22863999999998 meters 0.02737111209504602 Centerline is valid? [True, True] Translation: X:200.68, Y:-105.61, Z:-11.04 [[ 7.14700268e-01 6.97677338e-01 4.94960500e-02 2.00683302e+02] [-6.95977725e-01 7.16412045e-01 -4.86701940e-02 -1.05608061e+02] [-6.94156578e-02 3.36452419e-04 9.97587767e-01 -1.10370607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28864 meters 0.027673883895396094 Centerline is valid? [True, True] Translation: X:200.73, Y:-105.65, Z:-11.04 [[ 7.13964411e-01 6.98347383e-01 5.06532580e-02 2.00729035e+02] [-6.96565414e-01 7.15758922e-01 -4.98576857e-02 -1.05649509e+02] [-7.10735057e-02 3.13305593e-04 9.97471031e-01 -1.10402373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34864 meters 0.027850110481979096 Centerline is valid? [True, True] Translation: X:200.77, Y:-105.69, Z:-11.04 [[ 7.13262282e-01 6.98959042e-01 5.20881545e-02 2.00773971e+02] [-6.97072860e-01 7.15161641e-01 -5.13152497e-02 -1.05692278e+02] [-7.31187078e-02 2.91993226e-04 9.97323202e-01 -1.10448038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40864 meters 0.027820991019430842 Centerline is valid? [True, True] Translation: X:200.82, Y:-105.73, Z:-11.05 [[ 7.13204829e-01 6.99012461e-01 5.21579491e-02 2.00820061e+02] [-6.97117771e-01 7.15109416e-01 -5.14328417e-02 -1.05734758e+02] [-7.32508377e-02 3.21917826e-04 9.97313497e-01 -1.10476899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46863999999997 meters 0.027831288129419148 Centerline is valid? [True, True] Translation: X:200.87, Y:-105.78, Z:-11.05 [[ 7.14005834e-01 6.98226546e-01 5.17238717e-02 2.00866064e+02] [-6.96357425e-01 7.15876735e-01 -5.10571961e-02 -1.05777639e+02] [-7.26774061e-02 4.36833786e-04 9.97355405e-01 -1.10499921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52863999999997 meters 0.028064752195787173 Centerline is valid? [True, True] Translation: X:200.91, Y:-105.82, Z:-11.05 [[ 7.14634289e-01 6.97385745e-01 5.43226980e-02 2.00909444e+02] [-6.95317191e-01 7.16695735e-01 -5.36770725e-02 -1.05822636e+02] [-7.63664712e-02 5.87970758e-04 9.97079644e-01 -1.10538650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58863999999997 meters 0.02800662969428156 Centerline is valid? [True, True] Translation: X:200.95, Y:-105.87, Z:-11.06 [[ 7.14755286e-01 6.97342845e-01 5.32713623e-02 2.00954195e+02] [-6.95350069e-01 7.16737455e-01 -5.26849405e-02 -1.05865531e+02] [-7.49210469e-02 6.14594246e-04 9.97189279e-01 -1.10577217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64863999999997 meters 0.027912464698196752 Centerline is valid? [True, True] Translation: X:201.00, Y:-105.91, Z:-11.06 [[ 7.13700856e-01 6.98528314e-01 5.18582904e-02 2.00996707e+02] [-6.96639816e-01 7.15582234e-01 -5.13325674e-02 -1.05911019e+02] [-7.29661231e-02 5.09547362e-04 9.97334290e-01 -1.10609395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70863999999997 meters 0.027942862437144715 Centerline is valid? [True, True] Translation: X:201.04, Y:-105.96, Z:-11.06 [[ 7.12099699e-01 7.00191830e-01 5.14336568e-02 2.01039161e+02] [-6.98335205e-01 7.13954666e-01 -5.09575835e-02 -1.05956650e+02] [-7.24013829e-02 3.68946555e-04 9.97375508e-01 -1.10624343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76863999999998 meters 0.028020428520847972 Centerline is valid? [True, True] Translation: X:201.08, Y:-106.00, Z:-11.06 [[ 7.11801650e-01 7.00544220e-01 5.07563425e-02 2.01083188e+02] [-6.98733915e-01 7.13608902e-01 -5.03314056e-02 -1.06001026e+02] [-7.14795531e-02 3.60799710e-04 9.97442000e-01 -1.10638440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82863999999998 meters 0.028149149406967073 Centerline is valid? [True, True] Translation: X:201.13, Y:-106.04, Z:-11.07 [[ 7.10640819e-01 7.01595138e-01 5.24775018e-02 2.01127893e+02] [-6.99659057e-01 7.12575731e-01 -5.20867708e-02 -1.06044790e+02] [-7.39380194e-02 2.98626092e-04 9.97262794e-01 -1.10681131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88863999999998 meters 0.028030245259358936 Centerline is valid? [True, True] Translation: X:201.17, Y:-106.09, Z:-11.07 [[ 7.11747895e-01 7.00452251e-01 5.27406605e-02 2.01171598e+02] [-6.98489767e-01 7.13699122e-01 -5.23985675e-02 -1.06089984e+02] [-7.43436576e-02 4.55758501e-04 9.97232577e-01 -1.10716941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94863999999998 meters 0.02838646564166795 Centerline is valid? [True, True] Translation: X:201.22, Y:-106.13, Z:-11.08 [[ 7.13728390e-01 6.98424440e-01 5.28685720e-02 2.01215784e+02] [-6.96442954e-01 7.15683451e-01 -5.25776515e-02 -1.06134003e+02] [-7.45586789e-02 7.06218154e-04 9.97216378e-01 -1.10751225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00863999999999 meters 0.028950721692508338 Centerline is valid? [True, True] Translation: X:201.26, Y:-106.18, Z:-11.08 [[ 7.16685900e-01 6.95359666e-01 5.32565094e-02 2.01258296e+02] [-6.93336870e-01 7.18661112e-01 -5.30112236e-02 -1.06179483e+02] [-7.51352490e-02 1.06769486e-03 9.97172781e-01 -1.10780781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06864 meters 0.028679878651390392 Centerline is valid? [True, True] Translation: X:201.30, Y:-106.23, Z:-11.08 [[ 7.16450105e-01 6.95584121e-01 5.34974535e-02 2.01299871e+02] [-6.93539785e-01 7.18443842e-01 -5.33011506e-02 -1.06226753e+02] [-7.55103500e-02 1.08500255e-03 9.97144428e-01 -1.10817848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12864 meters 0.02872895478464126 Centerline is valid? [True, True] Translation: X:201.34, Y:-106.27, Z:-11.09 [[ 7.15412605e-01 6.96731536e-01 5.24401759e-02 2.01340588e+02] [-6.94766701e-01 7.17331308e-01 -5.22974700e-02 -1.06273654e+02] [-7.40542766e-02 9.80581211e-04 9.97253730e-01 -1.10854712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18864 meters 0.02859070554225874 Centerline is valid? [True, True] Translation: X:201.38, Y:-106.32, Z:-11.09 [[ 7.13838247e-01 6.98317364e-01 5.27997805e-02 2.01382485e+02] [-6.96326086e-01 7.15787765e-01 -5.27053873e-02 -1.06320824e+02] [-7.45985240e-02 8.57256778e-04 9.97213280e-01 -1.10900099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24863999999997 meters 0.028786949520242865 Centerline is valid? [True, True] Translation: X:201.43, Y:-106.37, Z:-11.09 [[ 7.13703290e-01 6.98477850e-01 5.25005460e-02 2.01427056e+02] [-6.96505567e-01 7.15631141e-01 -5.24601311e-02 -1.06365731e+02] [-7.42132652e-02 8.74045589e-04 9.97242010e-01 -1.10921574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30863999999997 meters 0.02892507263859925 Centerline is valid? [True, True] Translation: X:201.47, Y:-106.41, Z:-11.10 [[ 7.11839663e-01 7.00365864e-01 5.26493175e-02 2.01470770e+02] [-6.98383470e-01 7.13783679e-01 -5.26629631e-02 -1.06411318e+02] [-7.44635652e-02 7.18172856e-04 9.97223476e-01 -1.10964890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36863999999997 meters 0.028829493647361516 Centerline is valid? [True, True] Translation: X:201.38, Y:-106.65, Z:-9.38 [[ 7.47575033e-01 -6.64041210e-01 -1.34477712e-02 2.01378862e+02] [-6.63852882e-01 -7.47689453e-01 1.61193321e-02 -1.06652102e+02] [-2.07586575e-02 -3.12306857e-03 -9.99779638e-01 -9.38358940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42863999999997 meters 0.028760322964888944 Centerline is valid? [True, True] Translation: X:201.52, Y:-106.47, Z:-11.10 [[ 7.61666889e-01 6.45586759e-01 5.55093489e-02 2.01515864e+02] [-6.43787776e-01 7.63686340e-01 -4.81712943e-02 -1.06466368e+02] [-7.34904813e-02 9.54239539e-04 9.97295462e-01 -1.10997847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48863999999998 meters 0.028689277652727836 Centerline is valid? [True, True] Translation: X:201.56, Y:-106.51, Z:-11.10 [[ 7.62003934e-01 6.45271703e-01 5.45383740e-02 2.01562811e+02] [-6.43531044e-01 7.63952501e-01 -4.73747865e-02 -1.06507429e+02] [-7.22343364e-02 1.00263685e-03 9.97387184e-01 -1.11016933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54863999999998 meters 0.028615426850924254 Centerline is valid? [True, True] Translation: X:201.61, Y:-106.55, Z:-11.10 [[ 7.61478203e-01 6.45796720e-01 5.56555832e-02 2.01608963e+02] [-6.43982059e-01 7.63508732e-01 -4.83892905e-02 -1.06549679e+02] [-7.37431688e-02 1.00619292e-03 9.97276758e-01 -1.11042797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60863999999998 meters 0.02829915956956105 Centerline is valid? [True, True] Translation: X:201.65, Y:-106.59, Z:-11.11 [[ 7.60583561e-01 6.46942201e-01 5.45750432e-02 2.01654072e+02] [-6.45197287e-01 7.62538498e-01 -4.74921036e-02 -1.06591922e+02] [-7.23402175e-02 9.10043491e-04 9.97379599e-01 -1.11074267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66863999999998 meters 0.028256906625261747 Centerline is valid? [True, True] Translation: X:201.70, Y:-106.63, Z:-11.11 [[ 7.60856774e-01 6.46614570e-01 5.46495020e-02 2.01701252e+02] [-6.44860765e-01 7.62816258e-01 -4.76019946e-02 -1.06634192e+02] [-7.24676719e-02 9.76980327e-04 9.97370283e-01 -1.11096904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72863999999998 meters 0.02804081468807193 Centerline is valid? [True, True] Translation: X:201.75, Y:-106.68, Z:-11.11 [[ 7.60317789e-01 6.47292710e-01 5.41203088e-02 2.01745706e+02] [-6.45571812e-01 7.62240959e-01 -4.71779174e-02 -1.06678421e+02] [-7.17906381e-02 9.31664091e-04 9.97419288e-01 -1.11133146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78864 meters 0.027916428903548222 Centerline is valid? [True, True] Translation: X:201.79, Y:-106.72, Z:-11.12 [[ 7.59892821e-01 6.47856575e-01 5.33362782e-02 2.01790412e+02] [-6.46184933e-01 7.61761824e-01 -4.65183309e-02 -1.06722406e+02] [-7.07667472e-02 8.83846316e-04 9.97492499e-01 -1.11158019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84864 meters 0.027646970249394675 Centerline is valid? [True, True] Translation: X:201.84, Y:-106.77, Z:-11.12 [[ 7.57530783e-01 6.50754556e-01 5.16296462e-02 2.01835302e+02] [-6.49192261e-01 7.59287902e-01 -4.50698347e-02 -1.06765545e+02] [-6.85311661e-02 6.24220435e-04 9.97648781e-01 -1.11168626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90864 meters 0.027513510823791172 Centerline is valid? [True, True] Translation: X:201.88, Y:-106.81, Z:-11.12 [[ 7.56742686e-01 6.51617975e-01 5.22926545e-02 2.01881337e+02] [-6.50014237e-01 7.58547079e-01 -4.56926758e-02 -1.06809106e+02] [-6.94406091e-02 5.86628303e-04 9.97585915e-01 -1.11213597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96863999999997 meters 0.027563668080770553 Centerline is valid? [True, True] Translation: X:201.93, Y:-106.85, Z:-11.12 [[ 7.57546475e-01 6.50691759e-01 5.21878555e-02 2.01927452e+02] [-6.49088937e-01 7.59341646e-01 -4.56488464e-02 -1.06851763e+02] [-6.93317403e-02 7.06563098e-04 9.97593409e-01 -1.11240051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02863999999997 meters 0.02758392548106347 Centerline is valid? [True, True] Translation: X:201.97, Y:-106.90, Z:-11.12 [[ 7.58656433e-01 6.49496873e-01 5.09335712e-02 2.01971830e+02] [-6.47964462e-01 7.60363809e-01 -4.45974662e-02 -1.06896321e+02] [-6.76939590e-02 8.31010588e-04 9.97705787e-01 -1.11242881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08863999999997 meters 0.02725619246729178 Centerline is valid? [True, True] Translation: X:202.01, Y:-106.94, Z:-11.13 [[ 7.56944979e-01 6.51474598e-01 5.11385066e-02 2.02013981e+02] [-6.49931247e-01 7.58670133e-01 -4.48219043e-02 -1.06941839e+02] [-6.79975897e-02 6.91202047e-04 9.97685246e-01 -1.11270740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14863999999997 meters 0.026866150901139845 Centerline is valid? [True, True] Translation: X:202.06, Y:-106.98, Z:-11.13 [[ 7.53025934e-01 6.55985699e-01 5.13293814e-02 2.02058411e+02] [-6.54438389e-01 7.54773252e-01 -4.50303687e-02 -1.06984760e+02] [-6.82813220e-02 3.17117825e-04 9.97666057e-01 -1.11299060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20863999999997 meters 0.026908807248403083 Centerline is valid? [True, True] Translation: X:202.10, Y:-107.03, Z:-11.13 [[ 7.51350933e-01 6.57737682e-01 5.34127021e-02 2.02103782e+02] [-6.56063300e-01 7.53247039e-01 -4.69025029e-02 -1.07026906e+02] [-7.10825033e-02 1.98125772e-04 9.97470420e-01 -1.11323208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26863999999998 meters 0.02703551497637621 Centerline is valid? [True, True] Translation: X:202.15, Y:-107.07, Z:-11.14 [[ 7.50404885e-01 6.58713138e-01 5.46764174e-02 2.02151400e+02] [-6.56957752e-01 7.52394166e-01 -4.80575798e-02 -1.07066859e+02] [-7.27943767e-02 1.42546433e-04 9.97346960e-01 -1.11367745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32863999999998 meters 0.026934259909115753 Centerline is valid? [True, True] Translation: X:202.20, Y:-107.11, Z:-11.14 [[ 7.48942411e-01 6.60455568e-01 5.37001672e-02 2.02200032e+02] [-6.58763731e-01 7.50865130e-01 -4.72430195e-02 -1.07106161e+02] [-7.15234983e-02 6.57840013e-06 9.97438915e-01 -1.11382035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38863999999998 meters 0.02680379921531006 Centerline is valid? [True, True] Translation: X:202.25, Y:-107.14, Z:-11.14 [[ 7.47941968e-01 6.61614301e-01 5.33791184e-02 2.02250765e+02] [-6.59942322e-01 7.49844325e-01 -4.70065859e-02 -1.07144129e+02] [-7.11262584e-02 -6.89410053e-05 9.97467318e-01 -1.11415696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44863999999998 meters 0.02647256175168875 Centerline is valid? [True, True] Translation: X:202.30, Y:-107.18, Z:-11.14 [[ 7.45960921e-01 6.63901916e-01 5.26929805e-02 2.02300765e+02] [-6.62274900e-01 7.47819621e-01 -4.64518146e-02 -1.07182096e+02] [-7.02442934e-02 -2.46000017e-04 9.97529788e-01 -1.11449792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50863999999999 meters 0.026737834457647745 Centerline is valid? [True, True] Translation: X:202.35, Y:-107.22, Z:-11.15 [[ 7.43829472e-01 6.66286011e-01 5.27320387e-02 2.02353667e+02] [-6.64659034e-01 7.45696160e-01 -4.65360613e-02 -1.07216790e+02] [-7.03284055e-02 -4.33931970e-04 9.97523798e-01 -1.11479453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56864 meters 0.026911507965312352 Centerline is valid? [True, True] Translation: X:202.40, Y:-107.26, Z:-11.15 [[ 7.43051628e-01 6.67141979e-01 5.28758739e-02 2.02404194e+02] [-6.65504712e-01 7.44930433e-01 -4.67132535e-02 -1.07255449e+02] [-7.05532200e-02 -4.78784196e-04 9.97507902e-01 -1.11512995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62864 meters 0.026998683877005755 Centerline is valid? [True, True] Translation: X:202.46, Y:-107.29, Z:-11.15 [[ 7.43847715e-01 6.66329023e-01 5.19250347e-02 2.02456532e+02] [-6.64744955e-01 7.45657766e-01 -4.59199496e-02 -1.07290534e+02] [-6.93161005e-02 -3.59455220e-04 9.97594682e-01 -1.11538706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68864 meters 0.0269063386627263 Centerline is valid? [True, True] Translation: X:202.51, Y:-107.33, Z:-11.16 [[ 7.44987373e-01 6.65011937e-01 5.24684434e-02 2.02507179e+02] [-6.63388007e-01 7.46832700e-01 -4.64464267e-02 -1.07327723e+02] [-7.00725774e-02 -2.04934676e-04 9.97541875e-01 -1.11584218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74863999999997 meters 0.027076437450447577 Centerline is valid? [True, True] Translation: X:202.56, Y:-107.37, Z:-11.16 [[ 7.48285291e-01 6.61097922e-01 5.49423520e-02 2.02555936e+02] [-6.59302750e-01 7.50299603e-01 -4.86866458e-02 -1.07365606e+02] [-7.34098652e-02 2.07857134e-04 9.97301834e-01 -1.11642946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80863999999997 meters 0.027443484311008567 Centerline is valid? [True, True] Translation: X:202.61, Y:-107.40, Z:-11.17 [[ 7.51330777e-01 6.57651867e-01 5.47365080e-02 2.02605541e+02] [-6.55857658e-01 7.53321770e-01 -4.85493938e-02 -1.07404847e+02] [-7.31628025e-02 5.77295900e-04 9.97319844e-01 -1.11665047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86863999999997 meters 0.02785383941013927 Centerline is valid? [True, True] Translation: X:202.65, Y:-107.45, Z:-11.17 [[ 7.53222932e-01 6.55398143e-01 5.57538278e-02 2.02651625e+02] [-6.53527193e-01 7.55283101e-01 -4.94938865e-02 -1.07445809e+02] [-7.45481252e-02 8.43287692e-04 9.97217061e-01 -1.11679761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92863999999997 meters 0.027832656951481773 Centerline is valid? [True, True] Translation: X:202.70, Y:-107.48, Z:-11.17 [[ 7.54119814e-01 6.54309241e-01 5.64156350e-02 2.02700051e+02] [-6.52388056e-01 7.56226450e-01 -5.01136836e-02 -1.07484866e+02] [-7.54528417e-02 9.86835321e-04 9.97148883e-01 -1.11707064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98863999999998 meters 0.027758287219783406 Centerline is valid? [True, True] Translation: X:202.75, Y:-107.52, Z:-11.17 [[ 7.52876478e-01 6.55823258e-01 5.54334040e-02 2.02747956e+02] [-6.53969299e-01 7.54913985e-01 -4.92852033e-02 -1.07524221e+02] [-7.41698345e-02 8.53925909e-04 9.97245259e-01 -1.11725811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04863999999998 meters 0.02803778742244512 Centerline is valid? [True, True] Translation: X:202.80, Y:-107.56, Z:-11.18 [[ 7.52619345e-01 6.56124665e-01 5.53583457e-02 2.02797371e+02] [-6.54273054e-01 7.54652030e-01 -4.92654456e-02 -1.07563544e+02] [-7.41005620e-02 8.58653487e-04 9.97250405e-01 -1.11764846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10863999999998 meters 0.028257056864008843 Centerline is valid? [True, True] Translation: X:202.85, Y:-107.60, Z:-11.18 [[ 7.51602323e-01 6.57198706e-01 5.64252467e-02 2.02845137e+02] [-6.55274172e-01 7.53716931e-01 -5.02647634e-02 -1.07603299e+02] [-7.55626013e-02 8.05106096e-04 9.97140735e-01 -1.11789728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16863999999998 meters 0.028385594297244014 Centerline is valid? [True, True] Translation: X:202.89, Y:-107.64, Z:-11.18 [[ 7.49941697e-01 6.59038506e-01 5.70587280e-02 2.02893075e+02] [-6.57072032e-01 7.52108907e-01 -5.08776711e-02 -1.07643811e+02] [-7.64447219e-02 6.63592708e-04 9.97073600e-01 -1.11839778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22863999999998 meters 0.028483544392056057 Centerline is valid? [True, True] Translation: X:202.94, Y:-107.69, Z:-11.19 [[ 7.51295047e-01 6.57587744e-01 5.59831384e-02 2.02940791e+02] [-6.55686954e-01 7.53377504e-01 -4.99695372e-02 -1.07685344e+02] [-7.50357923e-02 8.34452222e-04 9.97180492e-01 -1.11866215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28864 meters 0.028444862800539872 Centerline is valid? [True, True] Translation: X:202.99, Y:-107.72, Z:-11.19 [[ 7.53154630e-01 6.55557011e-01 5.48006276e-02 2.02989646e+02] [-6.53726753e-01 7.55144952e-01 -4.89636104e-02 -1.07724780e+02] [-7.34808554e-02 1.05253356e-03 9.97296072e-01 -1.11896187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34864 meters 0.02869140025513279 Centerline is valid? [True, True] Translation: X:203.03, Y:-107.77, Z:-11.19 [[ 7.53440858e-01 6.55108897e-01 5.62068136e-02 2.03032795e+02] [-6.53178342e-01 7.55533574e-01 -5.02699843e-02 -1.07769589e+02] [-7.53984488e-02 1.16238683e-03 9.97152808e-01 -1.11937147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40864 meters 0.02856153856380033 Centerline is valid? [True, True] Translation: X:203.08, Y:-107.81, Z:-11.20 [[ 7.53677929e-01 6.54901309e-01 5.54423561e-02 2.03076746e+02] [-6.53018975e-01 7.55713458e-01 -4.96325280e-02 -1.07814631e+02] [-7.44029422e-02 1.20203034e-03 9.97227535e-01 -1.11962118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46863999999997 meters 0.028098415068944782 Centerline is valid? [True, True] Translation: X:203.12, Y:-107.86, Z:-11.20 [[ 7.52081952e-01 6.56911363e-01 5.32935133e-02 2.03118585e+02] [-6.55174090e-01 7.53967151e-01 -4.77540345e-02 -1.07861572e+02] [-7.15517262e-02 9.98418404e-04 9.97436391e-01 -1.11978603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52863999999997 meters 0.027975279255844195 Centerline is valid? [True, True] Translation: X:203.16, Y:-107.91, Z:-11.20 [[ 7.50903423e-01 6.58273030e-01 5.31099642e-02 2.03161104e+02] [-6.56548065e-01 7.52778727e-01 -4.76321919e-02 -1.07907918e+02] [-7.13350385e-02 8.97931684e-04 9.97452007e-01 -1.12003417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58863999999997 meters 0.02806553232464938 Centerline is valid? [True, True] Translation: X:203.20, Y:-107.95, Z:-11.20 [[ 7.51474493e-01 6.57557333e-01 5.38928653e-02 2.03204954e+02] [-6.55776029e-01 7.53403827e-01 -4.83784354e-02 -1.07951928e+02] [-7.24146859e-02 1.01351102e-03 9.97374095e-01 -1.12028638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64863999999997 meters 0.02808684635945991 Centerline is valid? [True, True] Translation: X:203.25, Y:-108.00, Z:-11.21 [[ 7.51529703e-01 6.57484948e-01 5.40059980e-02 2.03247842e+02] [-6.55692598e-01 7.53466937e-01 -4.85262019e-02 -1.07999069e+02] [-7.25969811e-02 1.05754897e-03 9.97360797e-01 -1.12066387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70863999999997 meters 0.02776081658263018 Centerline is valid? [True, True] Translation: X:203.29, Y:-108.04, Z:-11.21 [[ 7.51244338e-01 6.57934676e-01 5.24776818e-02 2.03293393e+02] [-6.56240313e-01 7.53074314e-01 -4.71988323e-02 -1.08041491e+02] [-7.05733426e-02 1.01988518e-03 9.97506072e-01 -1.12095288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76863999999998 meters 0.028108085547283723 Centerline is valid? [True, True] Translation: X:203.34, Y:-108.08, Z:-11.21 [[ 7.53372930e-01 6.55510530e-01 5.22988864e-02 2.03338348e+02] [-6.53818891e-01 7.55184957e-01 -4.70801259e-02 -1.08084438e+02] [-7.03568506e-02 1.27489246e-03 9.97521072e-01 -1.12116111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82863999999998 meters 0.028560590679304717 Centerline is valid? [True, True] Translation: X:203.38, Y:-108.13, Z:-11.21 [[ 7.55913698e-01 6.52545342e-01 5.27167735e-02 2.03383146e+02] [-6.50816342e-01 7.57748000e-01 -4.74979664e-02 -1.08126835e+02] [-7.09406065e-02 1.59542573e-03 9.97479265e-01 -1.12134213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88863999999998 meters 0.02864094057998169 Centerline is valid? [True, True] Translation: X:203.43, Y:-108.17, Z:-11.22 [[ 7.56215993e-01 6.52290395e-01 5.15229304e-02 2.03426188e+02] [-6.50635622e-01 7.57967441e-01 -4.64612220e-02 -1.08171310e+02] [-6.93589125e-02 1.61206527e-03 9.97590468e-01 -1.12174729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94863999999998 meters 0.02819997821572824 Centerline is valid? [True, True] Translation: X:203.47, Y:-108.21, Z:-11.22 [[ 7.55260242e-01 6.53406625e-01 5.13979529e-02 2.03470818e+02] [-6.51759622e-01 7.57005561e-01 -4.63893926e-02 -1.08214054e+02] [-6.92196726e-02 1.53695352e-03 9.97600258e-01 -1.12189460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00863999999999 meters 0.028283884316865328 Centerline is valid? [True, True] Translation: X:203.51, Y:-108.26, Z:-11.22 [[ 7.55818745e-01 6.52745591e-01 5.15869960e-02 2.03514180e+02] [-6.51082033e-01 7.57575423e-01 -4.66011317e-02 -1.08258520e+02] [-6.94997236e-02 1.63464269e-03 9.97580632e-01 -1.12228401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06864 meters 0.028567753218376294 Centerline is valid? [True, True] Translation: X:203.56, Y:-108.30, Z:-11.22 [[ 7.56914446e-01 6.51520717e-01 5.10027245e-02 2.03557606e+02] [-6.49889114e-01 7.58628806e-01 -4.61137068e-02 -1.08303222e+02] [-6.87361712e-02 1.75801536e-03 9.97633323e-01 -1.12236318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12864 meters 0.028779302882589973 Centerline is valid? [True, True] Translation: X:203.60, Y:-108.35, Z:-11.23 [[ 7.58186243e-01 6.49990902e-01 5.16279826e-02 2.03598957e+02] [-6.48312566e-01 7.59939484e-01 -4.67204306e-02 -1.08349681e+02] [-6.96019972e-02 1.95171786e-03 9.97572931e-01 -1.12266965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18864 meters 0.02917320383339222 Centerline is valid? [True, True] Translation: X:203.64, Y:-108.40, Z:-11.23 [[ 7.59186484e-01 6.48774909e-01 5.22206732e-02 2.03639740e+02] [-6.47051940e-01 7.60977415e-01 -4.72986308e-02 -1.08396786e+02] [-7.04249179e-02 2.11899332e-03 9.97514832e-01 -1.12292495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24863999999997 meters 0.029372789334966416 Centerline is valid? [True, True] Translation: X:203.68, Y:-108.45, Z:-11.23 [[ 7.59878659e-01 6.47859682e-01 5.35000599e-02 2.03679014e+02] [-6.46045764e-01 7.61756250e-01 -4.85003861e-02 -1.08446582e+02] [-7.21754497e-02 2.29092126e-03 9.97389320e-01 -1.12322470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30863999999997 meters 0.029115638542853546 Centerline is valid? [True, True] Translation: X:203.72, Y:-108.50, Z:-11.23 [[ 7.58596330e-01 6.49383509e-01 5.32228030e-02 2.03718801e+02] [-6.47589760e-01 7.60458016e-01 -4.82815587e-02 -1.08495995e+02] [-7.18269552e-02 2.15967103e-03 9.97414770e-01 -1.12343981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36863999999997 meters 0.028591044455010074 Centerline is valid? [True, True] Translation: X:203.76, Y:-108.54, Z:-11.24 [[ 7.56076900e-01 6.52253534e-01 5.39726709e-02 2.03759778e+02] [-6.50414232e-01 7.57998410e-01 -4.89871132e-02 -1.08543488e+02] [-7.28632165e-02 1.93343140e-03 9.97340069e-01 -1.12366105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42863999999997 meters 0.02792657160722717 Centerline is valid? [True, True] Translation: X:203.80, Y:-108.59, Z:-11.24 [[ 7.51256742e-01 6.57892096e-01 5.28327351e-02 2.03800761e+02] [-6.56141490e-01 7.53110937e-01 -4.79818952e-02 -1.08589362e+02] [-7.13558202e-02 1.38097271e-03 9.97449969e-01 -1.12393803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48863999999998 meters 0.0274463687393667 Centerline is valid? [True, True] Translation: X:203.84, Y:-108.64, Z:-11.24 [[ 7.46091618e-01 6.63660988e-01 5.38645580e-02 2.03843378e+02] [-6.61855433e-01 7.48032996e-01 -4.89287521e-02 -1.08635459e+02] [-7.27645706e-02 8.54781464e-04 9.97348779e-01 -1.12423504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54863999999998 meters 0.027497189765088133 Centerline is valid? [True, True] Translation: X:203.89, Y:-108.68, Z:-11.24 [[ 7.43273110e-01 6.66853099e-01 5.34043827e-02 2.03888133e+02] [-6.65084647e-01 7.45188992e-01 -4.85363706e-02 -1.08678605e+02] [-7.21629873e-02 5.57344075e-04 9.97392697e-01 -1.12433921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60863999999998 meters 0.02742802802257136 Centerline is valid? [True, True] Translation: X:203.94, Y:-108.72, Z:-11.25 [[ 7.42334474e-01 6.67921766e-01 5.31040773e-02 2.03935119e+02] [-6.66172551e-01 7.44231334e-01 -4.83099719e-02 -1.08721091e+02] [-7.17890001e-02 4.85678950e-04 9.97419723e-01 -1.12464384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66863999999998 meters 0.027208718667157895 Centerline is valid? [True, True] Translation: X:203.98, Y:-108.76, Z:-11.25 [[ 7.39261247e-01 6.71471872e-01 5.11696451e-02 2.03982411e+02] [-6.69853181e-01 7.41030023e-01 -4.65963508e-02 -1.08760935e+02] [-6.92063822e-02 1.70726851e-04 9.97602349e-01 -1.12499106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72863999999998 meters 0.027070293086871533 Centerline is valid? [True, True] Translation: X:204.03, Y:-108.80, Z:-11.25 [[ 7.36513504e-01 6.74471593e-01 5.13412904e-02 2.04031529e+02] [-6.72846060e-01 7.38300795e-01 -4.67986750e-02 -1.08800094e+02] [-6.94696924e-02 -7.69288417e-05 9.97584060e-01 -1.12526789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78864 meters 0.02739962456265912 Centerline is valid? [True, True] Translation: X:204.08, Y:-108.84, Z:-11.26 [[ 7.36485833e-01 6.74387431e-01 5.28224549e-02 2.04082008e+02] [-6.72662750e-01 7.38377676e-01 -4.81999262e-02 -1.08837085e+02] [-7.15083459e-02 -3.31350316e-05 9.97440001e-01 -1.12567786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84864 meters 0.027539329626508288 Centerline is valid? [True, True] Translation: X:204.13, Y:-108.88, Z:-11.26 [[ 7.38455538e-01 6.72270571e-01 5.23038984e-02 2.04131305e+02] [-6.70570962e-01 7.40305502e-01 -4.77739309e-02 -1.08876014e+02] [-7.08378716e-02 2.05448427e-04 9.97487821e-01 -1.12590923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90864 meters 0.02771161837887559 Centerline is valid? [True, True] Translation: X:204.18, Y:-108.92, Z:-11.26 [[ 7.41836768e-01 6.68453220e-01 5.33713622e-02 2.04179541e+02] [-6.66669830e-01 7.43753930e-01 -4.87998923e-02 -1.08915404e+02] [-7.23156055e-02 6.20477396e-04 9.97381606e-01 -1.12617188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96863999999997 meters 0.02770689769812369 Centerline is valid? [True, True] Translation: X:204.22, Y:-108.96, Z:-11.27 [[ 7.44548486e-01 6.65414443e-01 5.35833064e-02 2.04223501e+02] [-6.63605611e-01 7.46473515e-01 -4.90396263e-02 -1.08959837e+02] [-7.26301947e-02 9.54196763e-04 9.97358483e-01 -1.12655576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02863999999997 meters 0.027759745511175552 Centerline is valid? [True, True] Translation: X:204.27, Y:-109.00, Z:-11.27 [[ 7.45192808e-01 6.64767629e-01 5.26467440e-02 2.04268366e+02] [-6.63016671e-01 7.47049484e-01 -4.82282279e-02 -1.09004272e+02] [-7.13902876e-02 1.03365958e-03 9.97447923e-01 -1.12689238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08863999999997 meters 0.027933597279141627 Centerline is valid? [True, True] Translation: X:204.31, Y:-109.05, Z:-11.27 [[ 7.44643963e-01 6.65382931e-01 5.26395530e-02 2.04311572e+02] [-6.63630390e-01 7.46501527e-01 -4.82718932e-02 -1.09049882e+02] [-7.14148005e-02 1.01216683e-03 9.97446190e-01 -1.12717898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14863999999997 meters 0.0275926426485788 Centerline is valid? [True, True] Translation: X:204.35, Y:-109.10, Z:-11.27 [[ 7.43361992e-01 6.66812660e-01 5.26671114e-02 2.04353065e+02] [-6.65058412e-01 7.45224829e-01 -4.83452524e-02 -1.09096743e+02] [-7.14860655e-02 9.11317714e-04 9.97441182e-01 -1.12738976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20863999999997 meters 0.027664054250598195 Centerline is valid? [True, True] Translation: X:204.40, Y:-109.14, Z:-11.28 [[ 7.42859904e-01 6.67443643e-01 5.17508208e-02 2.04395192e+02] [-6.65748488e-01 7.44659809e-01 -4.75470241e-02 -1.09142625e+02] [-7.02717153e-02 8.67747051e-04 9.97527510e-01 -1.12773277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26863999999998 meters 0.027702867680536522 Centerline is valid? [True, True] Translation: X:204.44, Y:-109.19, Z:-11.28 [[ 7.43256352e-01 6.66926715e-01 5.27138647e-02 2.04437755e+02] [-6.65163281e-01 7.45122689e-01 -4.84766766e-02 -1.09188255e+02] [-7.16086873e-02 9.67270612e-04 9.97432334e-01 -1.12794848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32863999999998 meters 0.027511907869192272 Centerline is valid? [True, True] Translation: X:204.48, Y:-109.23, Z:-11.28 [[ 7.39635900e-01 6.71014551e-01 5.17514032e-02 2.04479491e+02] [-6.69321913e-01 7.41443942e-01 -4.76346235e-02 -1.09234751e+02] [-7.03342899e-02 5.93929407e-04 9.97523300e-01 -1.12812907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38863999999998 meters 0.02745265574597565 Centerline is valid? [True, True] Translation: X:204.52, Y:-109.28, Z:-11.28 [[ 7.36965919e-01 6.73927071e-01 5.19955468e-02 2.04524443e+02] [-6.72222321e-01 7.38797793e-01 -4.79058744e-02 -1.09279378e+02] [-7.06992608e-02 3.52429574e-04 9.97497614e-01 -1.12825546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44863999999998 meters 0.02734224522059965 Centerline is valid? [True, True] Translation: X:204.57, Y:-109.33, Z:-11.29 [[ 7.35396844e-01 6.75661807e-01 5.16972457e-02 2.04567636e+02] [-6.73977290e-01 7.37211688e-01 -4.76816374e-02 -1.09325457e+02] [-7.03284751e-02 2.22156044e-04 9.97523862e-01 -1.12868311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50863999999999 meters 0.027275593629331005 Centerline is valid? [True, True] Translation: X:204.61, Y:-109.37, Z:-11.29 [[ 7.34923393e-01 6.76248596e-01 5.07488159e-02 2.04611650e+02] [-6.74623488e-01 7.36673467e-01 -4.68545916e-02 -1.09370019e+02] [-6.90706579e-02 1.98192252e-04 9.97611751e-01 -1.12882038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56864 meters 0.027537704299646366 Centerline is valid? [True, True] Translation: X:204.66, Y:-109.41, Z:-11.29 [[ 7.33441623e-01 6.77792430e-01 5.15830056e-02 2.04656373e+02] [-6.76113817e-01 7.35253299e-01 -4.76727764e-02 -1.09414985e+02] [-7.02388220e-02 8.92157585e-05 9.97530200e-01 -1.12913599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62864 meters 0.027655769061633414 Centerline is valid? [True, True] Translation: X:204.70, Y:-109.46, Z:-11.29 [[ 7.31225534e-01 6.80286316e-01 5.01970830e-02 2.04701294e+02] [-6.78699377e-01 7.32946462e-01 -4.64396367e-02 -1.09458182e+02] [-6.83840238e-02 -1.10880827e-04 9.97659067e-01 -1.12917856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68864 meters 0.027680334493284293 Centerline is valid? [True, True] Translation: X:204.75, Y:-109.50, Z:-11.30 [[ 7.30075223e-01 6.81475100e-01 5.08119706e-02 2.04746672e+02] [-6.79848609e-01 7.31841275e-01 -4.70554682e-02 -1.09501918e+02] [-6.92534273e-02 -1.90416114e-04 9.97599081e-01 -1.12951542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74863999999997 meters 0.02782798164093915 Centerline is valid? [True, True] Translation: X:204.79, Y:-109.54, Z:-11.30 [[ 7.28773508e-01 6.82805607e-01 5.16302040e-02 2.04792432e+02] [-6.81126018e-01 7.30600043e-01 -4.78636167e-02 -1.09544184e+02] [-7.04025751e-02 -2.84939459e-04 9.97518619e-01 -1.12982988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80863999999997 meters 0.02800206167224016 Centerline is valid? [True, True] Translation: X:204.84, Y:-109.59, Z:-11.30 [[ 7.25677135e-01 6.86090165e-01 5.17008796e-02 2.04838693e+02] [-6.84411055e-01 7.27516296e-01 -4.79744502e-02 -1.09585800e+02] [-7.05280308e-02 -5.70691922e-04 9.97509635e-01 -1.12999982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86863999999997 meters 0.028451732753281184 Centerline is valid? [True, True] Translation: X:204.89, Y:-109.63, Z:-11.30 [[ 7.23076097e-01 6.88706837e-01 5.33277604e-02 2.04886685e+02] [-6.86923844e-01 7.25039465e-01 -4.95318821e-02 -1.09625359e+02] [-7.27776767e-02 -8.16790148e-04 9.97347854e-01 -1.13035224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92863999999997 meters 0.028523318277899865 Centerline is valid? [True, True] Translation: X:204.94, Y:-109.66, Z:-11.31 [[ 7.20712796e-01 6.91353595e-01 5.10222772e-02 2.04935762e+02] [-6.89725168e-01 7.22515880e-01 -4.74341176e-02 -1.09664260e+02] [-6.96581533e-02 -1.00497317e-03 9.97570414e-01 -1.13061418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98863999999998 meters 0.028673952197234644 Centerline is valid? [True, True] Translation: X:204.99, Y:-109.70, Z:-11.31 [[ 7.19423810e-01 6.92735238e-01 5.04705002e-02 2.04987643e+02] [-6.91142092e-01 7.21191164e-01 -4.69671538e-02 -1.09700336e+02] [-6.89346812e-02 -1.09299836e-03 9.97620577e-01 -1.13095826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04863999999998 meters 0.028669981946520696 Centerline is valid? [True, True] Translation: X:205.04, Y:-109.74, Z:-11.31 [[ 7.18576733e-01 6.93557275e-01 5.12424244e-02 2.05038924e+02] [-6.91913542e-01 7.20400566e-01 -4.77354689e-02 -1.09736743e+02] [-7.00223533e-02 -1.15373012e-03 9.97544755e-01 -1.13127013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10863999999998 meters 0.029002993046937604 Centerline is valid? [True, True] Translation: X:205.09, Y:-109.77, Z:-11.32 [[ 7.17720708e-01 6.94365519e-01 5.22829853e-02 2.05088192e+02] [-6.92653061e-01 7.19621448e-01 -4.87515097e-02 -1.09774803e+02] [-7.14753249e-02 -1.22400172e-03 9.97441617e-01 -1.13158983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16863999999998 meters 0.029047562147608154 Centerline is valid? [True, True] Translation: X:205.14, Y:-109.81, Z:-11.32 [[ 7.19292496e-01 6.92679034e-01 5.30477293e-02 2.05140715e+02] [-6.90907842e-01 7.21245231e-01 -4.95143535e-02 -1.09810269e+02] [-7.25579763e-02 -1.03578927e-03 9.97363658e-01 -1.13186238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22863999999998 meters 0.02876356072021347 Centerline is valid? [True, True] Translation: X:205.19, Y:-109.85, Z:-11.32 [[ 7.22126419e-01 6.89785230e-01 5.22472203e-02 2.05192394e+02] [-6.88055977e-01 7.24013709e-01 -4.88172179e-02 -1.09846484e+02] [-7.15010996e-02 -6.96809554e-04 9.97440278e-01 -1.13225104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28864 meters 0.028678941927371266 Centerline is valid? [True, True] Translation: X:205.24, Y:-109.88, Z:-11.33 [[ 7.25268870e-01 6.86285436e-01 5.47482041e-02 2.05244013e+02] [-6.84372676e-01 7.27332242e-01 -5.12040028e-02 -1.09882777e+02] [-7.49606954e-02 -3.31505686e-04 9.97186434e-01 -1.13267786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34864 meters 0.02867908447324894 Centerline is valid? [True, True] Translation: X:205.29, Y:-109.92, Z:-11.33 [[ 7.30359860e-01 6.80827664e-01 5.52102093e-02 2.05293575e+02] [-6.78862845e-01 7.32443594e-01 -5.16877040e-02 -1.09922255e+02] [-7.56287829e-02 2.70464416e-04 9.97136006e-01 -1.13292840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40864 meters 0.028900888432971148 Centerline is valid? [True, True] Translation: X:205.34, Y:-109.96, Z:-11.33 [[ 7.33428286e-01 6.77612740e-01 5.40733122e-02 2.05340639e+02] [-6.75715395e-01 7.35418641e-01 -5.06766973e-02 -1.09964151e+02] [-7.41056975e-02 6.29553776e-04 9.97250194e-01 -1.13320517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46863999999997 meters 0.028868560598739414 Centerline is valid? [True, True] Translation: X:205.39, Y:-110.01, Z:-11.34 [[ 7.33748162e-01 6.77286220e-01 5.38238860e-02 2.05386928e+02] [-6.75401569e-01 7.35719299e-01 -5.04958686e-02 -1.10006968e+02] [-7.37994277e-02 6.98513698e-04 9.97272860e-01 -1.13356017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52863999999997 meters 0.028691768112889714 Centerline is valid? [True, True] Translation: X:205.43, Y:-110.05, Z:-11.34 [[ 7.32683302e-01 6.78480878e-01 5.32811164e-02 2.05431562e+02] [-6.76633601e-01 7.34617810e-01 -5.00364110e-02 -1.10050038e+02] [-7.30900051e-02 6.09049185e-04 9.97325163e-01 -1.13382885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58863999999997 meters 0.028808807336622475 Centerline is valid? [True, True] Translation: X:205.48, Y:-110.09, Z:-11.34 [[ 7.30394436e-01 6.80839711e-01 5.46008690e-02 2.05475778e+02] [-6.78902628e-01 7.32432327e-01 -5.13235696e-02 -1.10093040e+02] [-7.49345658e-02 4.17776235e-04 9.97188366e-01 -1.13415531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64863999999997 meters 0.02912848605971491 Centerline is valid? [True, True] Translation: X:205.52, Y:-110.14, Z:-11.34 [[ 7.30418998e-01 6.80660407e-01 5.64756330e-02 2.05519707e+02] [-6.78583396e-01 7.32598916e-01 -5.31357022e-02 -1.10137563e+02] [-7.75413562e-02 4.87899529e-04 9.96989017e-01 -1.13430575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70863999999997 meters 0.028861508591929798 Centerline is valid? [True, True] Translation: X:205.56, Y:-110.18, Z:-11.34 [[ 7.30659899e-01 6.80485278e-01 5.54607802e-02 2.05564185e+02] [-6.78478221e-01 7.32761559e-01 -5.22283599e-02 -1.10180867e+02] [-7.61801578e-02 5.32236671e-04 9.97093928e-01 -1.13438112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76863999999998 meters 0.02868026841005826 Centerline is valid? [True, True] Translation: X:205.61, Y:-110.23, Z:-11.35 [[ 7.29221621e-01 6.82179325e-01 5.35462042e-02 2.05607849e+02] [-6.80309850e-01 7.31184810e-01 -5.04705971e-02 -1.10225705e+02] [-7.35821690e-02 3.76240486e-04 9.97289087e-01 -1.13467627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82863999999998 meters 0.028338081986118313 Centerline is valid? [True, True] Translation: X:205.65, Y:-110.27, Z:-11.35 [[ 7.27305791e-01 6.84357444e-01 5.17800732e-02 2.05650851e+02] [-6.82611780e-01 7.29146663e-01 -4.88497873e-02 -1.10270244e+02] [-7.11859831e-02 1.83045189e-04 9.97463043e-01 -1.13485883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88863999999998 meters 0.028449835677640128 Centerline is valid? [True, True] Translation: X:205.70, Y:-110.31, Z:-11.35 [[ 7.27226128e-01 6.84299853e-01 5.36271426e-02 2.05696459e+02] [-6.82423544e-01 7.29200698e-01 -5.06403913e-02 -1.10312349e+02] [-7.37581621e-02 2.30590927e-04 9.97276130e-01 -1.13504429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94863999999998 meters 0.02826090561477449 Centerline is valid? [True, True] Translation: X:205.74, Y:-110.35, Z:-11.35 [[ 7.25733100e-01 6.85871448e-01 5.37756878e-02 2.05742755e+02] [-6.83985302e-01 7.27722712e-01 -5.08307032e-02 -1.10354869e+02] [-7.39971174e-02 1.07743785e-04 9.97258449e-01 -1.13519687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00863999999999 meters 0.0282408229863437 Centerline is valid? [True, True] Translation: X:205.79, Y:-110.40, Z:-11.36 [[ 7.23971637e-01 6.87632904e-01 5.50096171e-02 2.05787763e+02] [-6.85660066e-01 7.26058529e-01 -5.20508039e-02 -1.10398145e+02] [-7.57320472e-02 -3.45920238e-05 9.97128204e-01 -1.13553158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06864 meters 0.02803107527268423 Centerline is valid? [True, True] Translation: X:205.83, Y:-110.44, Z:-11.36 [[ 7.22780361e-01 6.89002858e-01 5.35127231e-02 2.05831707e+02] [-6.87136360e-01 7.24758610e-01 -5.06811580e-02 -1.10441976e+02] [-7.37032696e-02 -1.39192084e-04 9.97280206e-01 -1.13567175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12864 meters 0.02839195422287296 Centerline is valid? [True, True] Translation: X:205.88, Y:-110.49, Z:-11.36 [[ 7.21535468e-01 6.90241841e-01 5.43394028e-02 2.05875815e+02] [-6.88316983e-01 7.23578708e-01 -5.15129496e-02 -1.10485862e+02] [-7.48752280e-02 -2.34313602e-04 9.97192883e-01 -1.13595204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18864 meters 0.02830425563278928 Centerline is valid? [True, True] Translation: X:205.92, Y:-110.53, Z:-11.36 [[ 7.20400764e-01 6.91335055e-01 5.54849628e-02 2.05919538e+02] [-6.89327463e-01 7.22534249e-01 -5.26489175e-02 -1.10530502e+02] [-7.64878282e-02 -3.18988191e-04 9.97070464e-01 -1.13629622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24863999999997 meters 0.028261508848453073 Centerline is valid? [True, True] Translation: X:205.96, Y:-110.57, Z:-11.36 [[ 7.16692663e-01 6.95326495e-01 5.35975003e-02 2.05963823e+02] [-6.93460987e-01 7.18693674e-01 -5.09044571e-02 -1.10574437e+02] [-7.39154021e-02 -6.84924543e-04 9.97264280e-01 -1.13643432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30863999999997 meters 0.02837399632439437 Centerline is valid? [True, True] Translation: X:206.01, Y:-110.62, Z:-11.37 [[ 7.13395784e-01 6.98818464e-01 5.21460435e-02 2.06010012e+02] [-6.97058569e-01 7.15298391e-01 -4.95738084e-02 -1.10617117e+02] [-7.19430736e-02 -9.83100606e-04 9.97408255e-01 -1.13671523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36863999999997 meters 0.02870218858202584 Centerline is valid? [True, True] Translation: X:206.06, Y:-110.66, Z:-11.37 [[ 7.10629833e-01 7.01698768e-01 5.12257646e-02 2.06058617e+02] [-7.00004279e-01 7.12472711e-01 -4.87508578e-02 -1.10657520e+02] [-7.07053762e-02 -1.21444046e-03 9.97496504e-01 -1.13701764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42863999999997 meters 0.029129337910867286 Centerline is valid? [True, True] Translation: X:206.11, Y:-110.70, Z:-11.37 [[ 7.10150505e-01 7.02056051e-01 5.29486787e-02 2.06107708e+02] [-7.00242594e-01 7.12120586e-01 -5.04438379e-02 -1.10695513e+02] [-7.31202458e-02 -1.25420318e-03 9.97322343e-01 -1.13729411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48863999999998 meters 0.02931275164399343 Centerline is valid? [True, True] Translation: X:206.16, Y:-110.73, Z:-11.38 [[ 7.08604616e-01 7.03588332e-01 5.33193962e-02 2.06156809e+02] [-7.01750106e-01 7.10606455e-01 -5.08454017e-02 -1.10733595e+02] [-7.36633385e-02 -1.38760562e-03 9.97282200e-01 -1.13769646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54863999999998 meters 0.02920541131153637 Centerline is valid? [True, True] Translation: X:206.21, Y:-110.77, Z:-11.38 [[ 7.06869322e-01 7.05415993e-01 5.21923250e-02 2.06209036e+02] [-7.03656221e-01 7.08791927e-01 -4.98189406e-02 -1.10769828e+02] [-7.21365761e-02 -1.50997339e-03 9.97393621e-01 -1.13808740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60863999999998 meters 0.029430271321549135 Centerline is valid? [True, True] Translation: X:206.26, Y:-110.81, Z:-11.38 [[ 7.06646496e-01 7.05636925e-01 5.22231741e-02 2.06259622e+02] [-7.03871808e-01 7.08572010e-01 -4.99017499e-02 -1.10808020e+02] [-7.22163968e-02 -1.49552323e-03 9.97387866e-01 -1.13839623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66863999999998 meters 0.029194021107441098 Centerline is valid? [True, True] Translation: X:206.31, Y:-110.85, Z:-11.39 [[ 7.10316979e-01 7.01731866e-01 5.49743336e-02 2.06308831e+02] [-6.99759402e-01 7.12440277e-01 -5.25892738e-02 -1.10847779e+02] [-7.60694987e-02 -1.11375270e-03 9.97101896e-01 -1.13896662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72863999999998 meters 0.028551559142608512 Centerline is valid? [True, True] Translation: X:206.36, Y:-110.89, Z:-11.39 [[ 7.16128442e-01 6.95766428e-01 5.53997503e-02 2.06356328e+02] [-6.93741084e-01 7.18267974e-01 -5.30511618e-02 -1.10888479e+02] [-7.67030837e-02 -4.41636981e-04 9.97053881e-01 -1.13946910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78864 meters 0.02833074639320213 Centerline is valid? [True, True] Translation: X:206.40, Y:-110.93, Z:-11.40 [[ 7.20387649e-01 6.91397513e-01 5.48736247e-02 2.06399617e+02] [-6.89394056e-01 7.22474550e-01 -5.25961993e-02 -1.10932437e+02] [-7.60096788e-02 6.01016821e-05 9.97107078e-01 -1.13997139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84864 meters 0.028640995589494213 Centerline is valid? [True, True] Translation: X:206.44, Y:-110.98, Z:-11.40 [[ 7.22173213e-01 6.89472659e-01 5.56174591e-02 2.06443684e+02] [-6.87404891e-01 7.24311646e-01 -5.33587419e-02 -1.10975842e+02] [-7.70737670e-02 3.02540753e-04 9.97025347e-01 -1.14032915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90864 meters 0.02962607035556572 Centerline is valid? [True, True] Translation: X:206.48, Y:-111.02, Z:-11.41 [[ 7.22182576e-01 6.89268514e-01 5.79762314e-02 2.06482682e+02] [-6.87016601e-01 7.24505884e-01 -5.56723879e-02 -1.11024413e+02] [-8.03773448e-02 3.74995068e-04 9.96764436e-01 -1.14058404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96863999999997 meters 0.029954362461829663 Centerline is valid? [True, True] Translation: X:206.53, Y:-111.07, Z:-11.41 [[ 7.20956072e-01 6.90572764e-01 5.77200210e-02 2.06526359e+02] [-6.88340770e-01 7.23262876e-01 -5.54778949e-02 -1.11069781e+02] [-8.00582716e-02 2.66081423e-04 9.96790150e-01 -1.14095979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02863999999997 meters 0.030248539967761764 Centerline is valid? [True, True] Translation: X:206.57, Y:-111.12, Z:-11.41 [[ 7.17447238e-01 6.94405481e-01 5.54119985e-02 2.06566066e+02] [-6.92356980e-01 7.19583916e-01 -5.32991591e-02 -1.11118801e+02] [-7.68848111e-02 -1.25549424e-04 9.97039974e-01 -1.14128339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08863999999997 meters 0.030547606328313607 Centerline is valid? [True, True] Translation: X:206.61, Y:-111.16, Z:-11.41 [[ 7.14548946e-01 6.97423044e-01 5.49627239e-02 2.06611160e+02] [-6.95414101e-01 7.16659555e-01 -5.28990494e-02 -1.11162848e+02] [-7.62825773e-02 -4.22893193e-04 9.97086150e-01 -1.14145367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14863999999997 meters 0.031157177859944207 Centerline is valid? [True, True] Translation: X:206.66, Y:-111.21, Z:-11.42 [[ 7.09686193e-01 7.02475572e-01 5.36057682e-02 2.06657289e+02] [-7.00575008e-01 7.11707284e-01 -5.16468751e-02 -1.11205351e+02] [-7.44322838e-02 -9.01787320e-04 9.97225662e-01 -1.14151045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20863999999997 meters 0.031680184850572245 Centerline is valid? [True, True] Translation: X:206.70, Y:-111.25, Z:-11.42 [[ 7.05036139e-01 7.07231998e-01 5.24113010e-02 2.06703979e+02] [-7.05424644e-01 7.06980282e-01 -5.05465391e-02 -1.11247019e+02] [-7.28018862e-02 -1.33508653e-03 9.97345528e-01 -1.14164002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26863999999998 meters 0.03215267874267112 Centerline is valid? [True, True] Translation: X:206.75, Y:-111.29, Z:-11.42 [[ 7.02077183e-01 7.10143819e-01 5.27577992e-02 2.06752692e+02] [-7.08317120e-01 7.04054794e-01 -5.09284232e-02 -1.11285912e+02] [-7.33108864e-02 -1.61356845e-03 9.97307831e-01 -1.14191826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32863999999998 meters 0.032357584263104276 Centerline is valid? [True, True] Translation: X:206.80, Y:-111.32, Z:-11.42 [[ 7.01574430e-01 7.10600196e-01 5.32980385e-02 2.06804775e+02] [-7.08733539e-01 7.03594101e-01 -5.14986546e-02 -1.11321366e+02] [-7.40951396e-02 -1.64396825e-03 9.97249822e-01 -1.14223050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38863999999998 meters 0.03218837660906391 Centerline is valid? [True, True] Translation: X:206.86, Y:-111.35, Z:-11.43 [[ 7.03738852e-01 7.08449219e-01 5.33978767e-02 2.06858516e+02] [-7.06565744e-01 7.05760430e-01 -5.16436273e-02 -1.11354713e+02] [-7.42729958e-02 -1.38548349e-03 9.97236984e-01 -1.14250562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44863999999998 meters 0.03197296372022097 Centerline is valid? [True, True] Translation: X:206.91, Y:-111.39, Z:-11.43 [[ 7.04912240e-01 7.07271899e-01 5.35275139e-02 2.06906539e+02] [-7.05372221e-01 7.06940555e-01 -5.18177678e-02 -1.11394703e+02] [-7.44900214e-02 -1.22984267e-03 9.97221001e-01 -1.14278438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50863999999999 meters 0.03174889889828797 Centerline is valid? [True, True] Translation: X:206.96, Y:-111.43, Z:-11.43 [[ 7.09449115e-01 7.02750313e-01 5.31408591e-02 2.06958005e+02] [-7.00861702e-01 7.11436215e-01 -5.14916173e-02 -1.11430330e+02] [-7.39920819e-02 -7.13710656e-04 9.97258574e-01 -1.14320724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56864 meters 0.03144190142245841 Centerline is valid? [True, True] Translation: X:207.01, Y:-111.47, Z:-11.44 [[ 7.12579616e-01 6.99614851e-01 5.26246367e-02 2.07010224e+02] [-6.97750747e-01 7.14520076e-01 -5.10387773e-02 -1.11466394e+02] [-7.33088460e-02 -3.49687255e-04 9.97309225e-01 -1.14350201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62864 meters 0.031244427867767564 Centerline is valid? [True, True] Translation: X:207.06, Y:-111.51, Z:-11.44 [[ 7.15532995e-01 6.96628343e-01 5.21678538e-02 2.07057892e+02] [-6.94785136e-01 7.17432193e-01 -5.06425107e-02 -1.11506870e+02] [-7.27059061e-02 -9.06198015e-06 9.97353423e-01 -1.14388819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68863999999996 meters 0.03147301439649937 Centerline is valid? [True, True] Translation: X:207.11, Y:-111.55, Z:-11.44 [[ 7.17652341e-01 6.94352913e-01 5.33774300e-02 2.07105109e+02] [-6.92413176e-01 7.19634604e-01 -5.18654963e-02 -1.11547690e+02] [-7.44252042e-02 2.62159013e-04 9.97226564e-01 -1.14407600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74863999999997 meters 0.03150203695078179 Centerline is valid? [True, True] Translation: X:207.15, Y:-111.59, Z:-11.44 [[ 7.19120007e-01 6.92823543e-01 5.34972317e-02 2.07150301e+02] [-6.90867066e-01 7.21107016e-01 -5.20323765e-02 -1.11591493e+02] [-7.46264845e-02 4.58047466e-04 9.97211451e-01 -1.14448267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80863999999997 meters 0.031229215971750518 Centerline is valid? [True, True] Translation: X:207.20, Y:-111.63, Z:-11.45 [[ 7.23241841e-01 6.88552700e-01 5.30699385e-02 2.07197810e+02] [-6.86612051e-01 7.25185710e-01 -5.16679510e-02 -1.11632473e+02] [-7.40616682e-02 9.29964707e-04 9.97253230e-01 -1.14474978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86863999999997 meters 0.031173696619909083 Centerline is valid? [True, True] Translation: X:207.24, Y:-111.68, Z:-11.45 [[ 7.23041595e-01 6.88763689e-01 5.30606474e-02 2.07244255e+02] [-6.86820640e-01 7.24985303e-01 -5.17080226e-02 -1.11675346e+02] [-7.40827980e-02 9.43903333e-04 9.97251647e-01 -1.14494287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92863999999997 meters 0.03129008691548915 Centerline is valid? [True, True] Translation: X:207.29, Y:-111.72, Z:-11.45 [[ 7.22504281e-01 6.89226484e-01 5.43545645e-02 2.07290357e+02] [-6.87184651e-01 7.24545332e-01 -5.30218454e-02 -1.11716997e+02] [-7.59264060e-02 9.56887771e-04 9.97112965e-01 -1.14524027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98863999999998 meters 0.03167191908242507 Centerline is valid? [True, True] Translation: X:207.34, Y:-111.76, Z:-11.46 [[ 7.22725421e-01 6.88945114e-01 5.49781371e-02 2.07337063e+02] [-6.86851550e-01 7.24812778e-01 -5.36785347e-02 -1.11758368e+02] [-7.68304204e-02 1.03302292e-03 9.97043640e-01 -1.14556569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04863999999998 meters 0.031943691821594206 Centerline is valid? [True, True] Translation: X:207.38, Y:-111.80, Z:-11.46 [[ 7.25260730e-01 6.86286275e-01 5.48454382e-02 2.07382158e+02] [-6.84191562e-01 7.27330279e-01 -5.35963714e-02 -1.11801020e+02] [-7.66732020e-02 1.34655738e-03 9.97055368e-01 -1.14591830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10863999999998 meters 0.03210955282118123 Centerline is valid? [True, True] Translation: X:207.43, Y:-111.84, Z:-11.46 [[ 7.28560380e-01 6.82831935e-01 5.42247375e-02 2.07426585e+02] [-6.80771348e-01 7.30573455e-01 -5.30358218e-02 -1.11844484e+02] [-7.58297066e-02 1.72515084e-03 9.97119290e-01 -1.14625222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16863999999998 meters 0.03193559810219824 Centerline is valid? [True, True] Translation: X:207.47, Y:-111.89, Z:-11.47 [[ 7.29776436e-01 6.81439560e-01 5.53758059e-02 2.07467735e+02] [-6.79282718e-01 7.31871808e-01 -5.42092680e-02 -1.11890885e+02] [-7.74683310e-02 1.94481843e-03 9.96992916e-01 -1.14661785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22863999999998 meters 0.03147307545711126 Centerline is valid? [True, True] Translation: X:207.51, Y:-111.94, Z:-11.47 [[ 7.28174263e-01 6.83088775e-01 5.61423895e-02 2.07510610e+02] [-6.80872588e-01 7.30333055e-01 -5.50104326e-02 -1.11937715e+02] [-7.85796519e-02 1.83136718e-03 9.96906156e-01 -1.14683426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28864 meters 0.030791506476970387 Centerline is valid? [True, True] Translation: X:207.55, Y:-111.99, Z:-11.47 [[ 7.25551346e-01 6.86025180e-01 5.42650562e-02 2.07548982e+02] [-6.83960517e-01 7.27576277e-01 -5.32049990e-02 -1.11985770e+02] [-7.59819366e-02 1.48780273e-03 9.97108084e-01 -1.14722691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34864 meters 0.030281842551402545 Centerline is valid? [True, True] Translation: X:207.59, Y:-112.03, Z:-11.47 [[ 7.23583514e-01 6.88299638e-01 5.16769459e-02 2.07592547e+02] [-6.86432720e-01 7.25425517e-01 -5.06748459e-02 -1.12029494e+02] [-7.23672533e-02 1.19473647e-03 9.97377337e-01 -1.14736178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40864 meters 0.030072654406756133 Centerline is valid? [True, True] Translation: X:207.63, Y:-112.08, Z:-11.48 [[ 7.22183402e-01 6.89626860e-01 5.35343539e-02 2.07634551e+02] [-6.87624962e-01 7.24164031e-01 -5.25201623e-02 -1.12075336e+02] [-7.49869682e-02 1.11763143e-03 9.97183888e-01 -1.14773449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46863999999997 meters 0.030333160839154976 Centerline is valid? [True, True] Translation: X:207.68, Y:-112.12, Z:-11.48 [[ 7.23751066e-01 6.87955607e-01 5.38653569e-02 2.07677882e+02] [-6.85921501e-01 7.25751560e-01 -5.28806969e-02 -1.12120170e+02] [-7.54724387e-02 1.32505435e-03 9.97147008e-01 -1.14782682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52863999999997 meters 0.030290871477044158 Centerline is valid? [True, True] Translation: X:207.72, Y:-112.17, Z:-11.48 [[ 7.25055784e-01 6.86727501e-01 5.19562214e-02 2.07717770e+02] [-6.84830134e-01 7.26913558e-01 -5.10329894e-02 -1.12167654e+02] [-7.28134391e-02 1.42057809e-03 9.97344567e-01 -1.14831813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58863999999997 meters 0.030180643965449252 Centerline is valid? [True, True] Translation: X:207.76, Y:-112.21, Z:-11.49 [[ 7.24861857e-01 6.86932086e-01 5.19576481e-02 2.07761722e+02] [-6.85031607e-01 7.26720200e-01 -5.10827557e-02 -1.12213323e+02] [-7.28490563e-02 1.43530995e-03 9.97341945e-01 -1.14858475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64863999999997 meters 0.029961431765567863 Centerline is valid? [True, True] Translation: X:207.80, Y:-112.26, Z:-11.49 [[ 7.22492513e-01 6.89485031e-01 5.11366902e-02 2.07802455e+02] [-6.87647114e-01 7.24298948e-01 -5.03237650e-02 -1.12260940e+02] [-7.17357335e-02 1.19454602e-03 9.97422958e-01 -1.14887956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70863999999997 meters 0.030089360187335837 Centerline is valid? [True, True] Translation: X:207.84, Y:-112.31, Z:-11.49 [[ 7.23213198e-01 6.88760168e-01 5.07158994e-02 2.07844662e+02] [-6.86947347e-01 7.24988116e-01 -4.99557184e-02 -1.12307577e+02] [-7.11759333e-02 1.28948232e-03 9.97462944e-01 -1.14895120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76863999999998 meters 0.03047356351613491 Centerline is valid? [True, True] Translation: X:207.88, Y:-112.36, Z:-11.49 [[ 7.24998760e-01 6.86807500e-01 5.16938634e-02 2.07884437e+02] [-6.84915382e-01 7.26837716e-01 -5.09691437e-02 -1.12355245e+02] [-7.25790398e-02 1.54664384e-03 9.97361465e-01 -1.14931025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82863999999998 meters 0.030518978800390544 Centerline is valid? [True, True] Translation: X:207.93, Y:-112.40, Z:-11.50 [[ 7.26028395e-01 6.85723107e-01 5.16390351e-02 2.07926583e+02] [-6.83828981e-01 7.27860547e-01 -5.09602673e-02 -1.12400691e+02] [-7.25306492e-02 1.68633232e-03 9.97364758e-01 -1.14958351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88863999999998 meters 0.030495611462714546 Centerline is valid? [True, True] Translation: X:207.97, Y:-112.45, Z:-11.50 [[ 7.25456284e-01 6.86411597e-01 5.05202894e-02 2.07969085e+02] [-6.84597340e-01 7.27211465e-01 -4.98995714e-02 -1.12446512e+02] [-7.09905781e-02 1.61390197e-03 9.97475680e-01 -1.15000783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94863999999998 meters 0.030500417522474517 Centerline is valid? [True, True] Translation: X:208.01, Y:-112.49, Z:-11.50 [[ 7.24884064e-01 6.86923741e-01 5.17577747e-02 2.08009689e+02] [-6.85017359e-01 7.26727665e-01 -5.11675570e-02 -1.12493183e+02] [-7.27620164e-02 1.63557250e-03 9.97347990e-01 -1.15031920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00863999999999 meters 0.030374857309289 Centerline is valid? [True, True] Translation: X:208.05, Y:-112.54, Z:-11.51 [[ 7.23166403e-01 6.88782672e-01 5.10762624e-02 2.08049721e+02] [-6.86927679e-01 7.24966409e-01 -5.05378028e-02 -1.12541088e+02] [-7.18381373e-02 1.46154269e-03 9.97415232e-01 -1.15054407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06864 meters 0.030005288418201173 Centerline is valid? [True, True] Translation: X:208.09, Y:-112.59, Z:-11.51 [[ 7.20539602e-01 6.91479174e-01 5.17613141e-02 2.08089500e+02] [-6.89577604e-01 7.22395327e-01 -5.12612884e-02 -1.12589654e+02] [-7.28382448e-02 1.24234543e-03 9.97342993e-01 -1.15079648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12864 meters 0.02929114467440276 Centerline is valid? [True, True] Translation: X:208.13, Y:-112.64, Z:-11.51 [[ 7.15962483e-01 6.96268202e-01 5.10716423e-02 2.08129162e+02] [-6.94425898e-01 7.17781292e-01 -5.06229997e-02 -1.12638359e+02] [-7.19054544e-02 7.78697509e-04 9.97411149e-01 -1.15101036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18863999999996 meters 0.028954815756018677 Centerline is valid? [True, True] Translation: X:208.17, Y:-112.69, Z:-11.51 [[ 7.12087538e-01 7.00313716e-01 4.99203085e-02 2.08170029e+02] [-6.98560415e-01 7.13835096e-01 -4.95257738e-02 -1.12685517e+02] [-7.03184469e-02 3.94334925e-04 9.97524516e-01 -1.15120816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24863999999997 meters 0.028543176165091243 Centerline is valid? [True, True] Translation: X:208.21, Y:-112.73, Z:-11.52 [[ 7.10422487e-01 7.02005349e-01 4.98836565e-02 2.08214116e+02] [-7.00255441e-01 7.12171624e-01 -4.95368078e-02 -1.12730094e+02] [-7.03008287e-02 2.60760298e-04 9.97525802e-01 -1.15150194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30863999999997 meters 0.02851667007698717 Centerline is valid? [True, True] Translation: X:208.26, Y:-112.77, Z:-11.52 [[ 7.10242259e-01 7.02185051e-01 4.99208133e-02 2.08258850e+02] [-7.00429291e-01 7.11994435e-01 -4.96259396e-02 -1.12774169e+02] [-7.03899341e-02 2.80439608e-04 9.97519513e-01 -1.15188814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36863999999997 meters 0.028385163701589496 Centerline is valid? [True, True] Translation: X:208.30, Y:-112.82, Z:-11.52 [[ 7.12235224e-01 7.00162880e-01 4.99292268e-02 2.08303509e+02] [-6.98397844e-01 7.13982964e-01 -4.96867950e-02 -1.12818307e+02] [-7.04374668e-02 5.18221198e-04 9.97516062e-01 -1.15231059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42863999999997 meters 0.028388977294837654 Centerline is valid? [True, True] Translation: X:208.35, Y:-112.86, Z:-11.53 [[ 7.13026859e-01 6.99258480e-01 5.12862231e-02 2.08349019e+02] [-6.97389928e-01 7.14868618e-01 -5.10896041e-02 -1.12861031e+02] [-7.23877503e-02 6.61764508e-04 9.97376346e-01 -1.15269490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48863999999998 meters 0.028241959407773513 Centerline is valid? [True, True] Translation: X:208.39, Y:-112.91, Z:-11.53 [[ 7.11016305e-01 7.01277553e-01 5.16295258e-02 2.08393242e+02] [-6.99385536e-01 7.12888174e-01 -5.14812933e-02 -1.12905460e+02] [-7.29087537e-02 4.95095371e-04 9.97338492e-01 -1.15295449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54863999999998 meters 0.02818124285398525 Centerline is valid? [True, True] Translation: X:208.44, Y:-112.95, Z:-11.53 [[ 7.08816726e-01 7.03595044e-01 5.03275690e-02 2.08436569e+02] [-7.01799643e-01 7.10601107e-01 -5.02327377e-02 -1.12949503e+02] [-7.11063315e-02 2.85934653e-04 9.97468700e-01 -1.15311478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60863999999998 meters 0.028274684507300096 Centerline is valid? [True, True] Translation: X:208.48, Y:-112.99, Z:-11.53 [[ 7.05479553e-01 7.06908472e-01 5.07839746e-02 2.08480528e+02] [-7.05085267e-01 7.07305034e-01 -5.07381008e-02 -1.12993937e+02] [-7.17869542e-02 -1.23395581e-05 9.97419988e-01 -1.15347426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66863999999998 meters 0.028286334978855212 Centerline is valid? [True, True] Translation: X:208.53, Y:-113.04, Z:-11.54 [[ 7.03482268e-01 7.08962317e-01 4.98510960e-02 2.08525159e+02] [-7.07207109e-01 7.05246340e-01 -4.98568547e-02 -1.13037691e+02] [-7.05039342e-02 -1.81636281e-04 9.97511485e-01 -1.15362255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72863999999998 meters 0.028542991105909542 Centerline is valid? [True, True] Translation: X:208.54, Y:-113.18, Z:-9.86 [[ 7.59446791e-01 -6.50366973e-01 -1.62287301e-02 2.08539305e+02] [-6.50112382e-01 -7.59611988e-01 1.85342355e-02 -1.13176607e+02] [-2.43815926e-02 -3.52526732e-03 -9.99696509e-01 -9.85712682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78864 meters 0.028717128511259165 Centerline is valid? [True, True] Translation: X:208.59, Y:-113.10, Z:-11.54 [[ 7.48705861e-01 6.60850160e-01 5.21210122e-02 2.08585489e+02] [-6.59304678e-01 7.50517669e-01 -4.51726680e-02 -1.13098399e+02] [-6.89701055e-02 -5.42585853e-04 9.97618579e-01 -1.15402356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84864 meters 0.028541179337129012 Centerline is valid? [True, True] Translation: X:208.63, Y:-113.14, Z:-11.54 [[ 7.50084251e-01 6.59425657e-01 5.03132053e-02 2.08634992e+02] [-6.57979462e-01 7.51769693e-01 -4.36503886e-02 -1.13136529e+02] [-6.66081291e-02 -3.63586719e-04 9.97779146e-01 -1.15437825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90864 meters 0.028427428483285055 Centerline is valid? [True, True] Translation: X:208.68, Y:-113.18, Z:-11.55 [[ 7.51899387e-01 6.57261482e-01 5.15233550e-02 2.08684445e+02] [-6.55736621e-01 7.53662607e-01 -4.47454965e-02 -1.13175758e+02] [-6.82407174e-02 -1.41639256e-04 9.97668875e-01 -1.15476873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96863999999997 meters 0.028384611059764128 Centerline is valid? [True, True] Translation: X:208.73, Y:-113.22, Z:-11.55 [[ 7.54707675e-01 6.53921646e-01 5.29415395e-02 2.08732024e+02] [-6.52299902e-01 7.56562252e-01 -4.60260567e-02 -1.13215803e+02] [-7.01510051e-02 2.02457205e-04 9.97536363e-01 -1.15513880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02863999999997 meters 0.028136457860401577 Centerline is valid? [True, True] Translation: X:208.78, Y:-113.26, Z:-11.55 [[ 7.53716738e-01 6.55230368e-01 5.08354565e-02 2.08779205e+02] [-6.53736003e-01 7.55429119e-01 -4.42276443e-02 -1.13256968e+02] [-6.73818798e-02 1.02147659e-04 9.97727253e-01 -1.15537831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08863999999997 meters 0.02808779477263441 Centerline is valid? [True, True] Translation: X:208.82, Y:-113.30, Z:-11.56 [[ 7.51436736e-01 6.57969946e-01 4.91770406e-02 2.08824253e+02] [-6.56576042e-01 7.53044179e-01 -4.28061418e-02 -1.13299346e+02] [-6.51976390e-02 -1.22359173e-04 9.97872363e-01 -1.15554035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14863999999997 meters 0.028186196062702226 Centerline is valid? [True, True] Translation: X:208.87, Y:-113.34, Z:-11.56 [[ 7.47298713e-01 6.62779722e-01 4.76200968e-02 2.08870490e+02] [-6.61479961e-01 7.48814260e-01 -4.14905387e-02 -1.13342574e+02] [-6.31576953e-02 -4.93913563e-04 9.98003438e-01 -1.15567727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20863999999997 meters 0.028540833142579023 Centerline is valid? [True, True] Translation: X:208.92, Y:-113.38, Z:-11.56 [[ 7.42913754e-01 6.67738172e-01 4.69562313e-02 2.08917099e+02] [-6.66481670e-01 7.44395712e-01 -4.09537234e-02 -1.13382962e+02] [-6.23003816e-02 -8.70383070e-04 9.98057065e-01 -1.15597770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26863999999998 meters 0.029102923090566914 Centerline is valid? [True, True] Translation: X:208.97, Y:-113.42, Z:-11.56 [[ 7.39805352e-01 6.71165246e-01 4.71725982e-02 2.08965867e+02] [-6.69901734e-01 7.41306901e-01 -4.11794262e-02 -1.13421417e+02] [-6.26075724e-02 -1.13624543e-03 9.98037575e-01 -1.15618920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32863999999998 meters 0.02898463355743187 Centerline is valid? [True, True] Translation: X:209.02, Y:-113.46, Z:-11.56 [[ 7.39445601e-01 6.71612895e-01 4.64362272e-02 2.09016964e+02] [-6.70386998e-01 7.40901377e-01 -4.05761187e-02 -1.13458336e+02] [-6.16561093e-02 -1.12641053e-03 9.98096817e-01 -1.15649169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38863999999998 meters 0.02870511137806733 Centerline is valid? [True, True] Translation: X:209.07, Y:-113.50, Z:-11.57 [[ 7.40671817e-01 6.70177909e-01 4.76112437e-02 2.09067782e+02] [-6.68883221e-01 7.42199821e-01 -4.16492682e-02 -1.13495967e+02] [-6.32494760e-02 -9.97922938e-04 9.97997248e-01 -1.15684752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44863999999998 meters 0.028539719531660932 Centerline is valid? [True, True] Translation: X:209.12, Y:-113.53, Z:-11.57 [[ 7.41893045e-01 6.68635411e-01 5.02135258e-02 2.09119192e+02] [-6.67188400e-01 7.43589885e-01 -4.39741062e-02 -1.13531653e+02] [-6.67409144e-02 -8.77798399e-04 9.97769953e-01 -1.15708922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50863999999999 meters 0.028508460463868627 Centerline is valid? [True, True] Translation: X:209.17, Y:-113.57, Z:-11.57 [[ 7.43418332e-01 6.67034517e-01 4.89299129e-02 2.09169838e+02] [-6.65654526e-01 7.45026499e-01 -4.28901906e-02 -1.13568704e+02] [-6.50633193e-02 -6.85064006e-04 9.97880902e-01 -1.15745603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56864 meters 0.028192920653783038 Centerline is valid? [True, True] Translation: X:209.22, Y:-113.60, Z:-11.58 [[ 7.44910355e-01 6.65357868e-01 4.90659891e-02 2.09220478e+02] [-6.63963866e-01 7.46524379e-01 -4.30503945e-02 -1.13604659e+02] [-6.52728757e-02 -5.09359169e-04 9.97867322e-01 -1.15766854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62864 meters 0.02816183980149056 Centerline is valid? [True, True] Translation: X:209.27, Y:-113.65, Z:-11.58 [[ 7.46262938e-01 6.63917711e-01 4.80093892e-02 2.09267044e+02] [-6.62578099e-01 7.47805557e-01 -4.21558026e-02 -1.13646367e+02] [-6.38896720e-02 -3.50656809e-04 9.97956906e-01 -1.15810462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68863999999996 meters 0.02792736404035175 Centerline is valid? [True, True] Translation: X:209.32, Y:-113.68, Z:-11.58 [[ 7.46424818e-01 6.63751086e-01 4.77963060e-02 2.09317455e+02] [-6.62421589e-01 7.47953471e-01 -4.19909962e-02 -1.13684157e+02] [-6.36209823e-02 -3.18183259e-04 9.97974083e-01 -1.15834873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74863999999997 meters 0.028071589442363837 Centerline is valid? [True, True] Translation: X:209.37, Y:-113.73, Z:-11.59 [[ 7.46339367e-01 6.63804001e-01 4.83921231e-02 2.09365326e+02] [-6.62438246e-01 7.47906520e-01 -4.25606353e-02 -1.13725312e+02] [-6.44447044e-02 -2.92115557e-04 9.97921237e-01 -1.15859711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80863999999997 meters 0.028093321271074043 Centerline is valid? [True, True] Translation: X:209.41, Y:-113.77, Z:-11.59 [[ 7.44534713e-01 6.65882915e-01 4.76235775e-02 2.09413591e+02] [-6.64561642e-01 7.46056136e-01 -4.19292985e-02 -1.13766308e+02] [-6.34498657e-02 -4.30984609e-04 9.97984934e-01 -1.15882616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86863999999997 meters 0.02805523884886952 Centerline is valid? [True, True] Translation: X:209.46, Y:-113.81, Z:-11.59 [[ 7.44302466e-01 6.66123224e-01 4.78924785e-02 2.09462389e+02] [-6.64784553e-01 7.45841587e-01 -4.22116558e-02 -1.13805492e+02] [-6.38383665e-02 -4.19940433e-04 9.97960163e-01 -1.15910599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92863999999997 meters 0.02799779433551969 Centerline is valid? [True, True] Translation: X:209.51, Y:-113.85, Z:-11.59 [[ 7.44100358e-01 6.66289932e-01 4.87071197e-02 2.09510945e+02] [-6.64902584e-01 7.45692672e-01 -4.29766576e-02 -1.13845636e+02] [-6.49554565e-02 -4.06543449e-04 9.97888082e-01 -1.15939735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98863999999998 meters 0.028089991231314723 Centerline is valid? [True, True] Translation: X:209.56, Y:-113.88, Z:-11.60 [[ 7.45930545e-01 6.64238431e-01 4.87332462e-02 2.09560448e+02] [-6.62842186e-01 7.47520749e-01 -4.30461050e-02 -1.13884982e+02] [-6.50219899e-02 -1.93046927e-04 9.97883813e-01 -1.15975840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04863999999998 meters 0.027973086806924622 Centerline is valid? [True, True] Translation: X:209.61, Y:-113.92, Z:-11.60 [[ 7.47625057e-01 6.62303024e-01 4.91067980e-02 2.09609287e+02] [-6.60878001e-01 7.49236080e-01 -4.34230815e-02 -1.13924057e+02] [-6.55518231e-02 1.05812728e-05 9.97849166e-01 -1.16015703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10863999999998 meters 0.028003573393899212 Centerline is valid? [True, True] Translation: X:209.66, Y:-113.96, Z:-11.61 [[ 7.51629961e-01 6.57707486e-01 4.97319247e-02 2.09655898e+02] [-6.56232758e-01 7.53273296e-01 -4.40216853e-02 -1.13964549e+02] [-6.64151228e-02 4.52299448e-04 9.97791976e-01 -1.16056212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16863999999998 meters 0.02799569706155646 Centerline is valid? [True, True] Translation: X:209.70, Y:-114.01, Z:-11.61 [[ 7.54040732e-01 6.54973963e-01 4.93120959e-02 2.09702144e+02] [-6.53515600e-01 7.55651106e-01 -4.36894321e-02 -1.14005436e+02] [-6.58781802e-02 7.17387438e-04 9.97827415e-01 -1.16069479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22863999999998 meters 0.02818012359550246 Centerline is valid? [True, True] Translation: X:209.75, Y:-114.05, Z:-11.61 [[ 7.53449168e-01 6.55571852e-01 5.03974008e-02 2.09747903e+02] [-6.54047182e-01 7.55132468e-01 -4.46904879e-02 -1.14046840e+02] [-6.73545395e-02 7.09732946e-04 9.97728852e-01 -1.16104416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28864 meters 0.028112488659184146 Centerline is valid? [True, True] Translation: X:209.79, Y:-114.09, Z:-11.61 [[ 7.52847949e-01 6.56174281e-01 5.15293915e-02 2.09793565e+02] [-6.54578734e-01 7.54609050e-01 -4.57368884e-02 -1.14089442e+02] [-6.88959150e-02 7.02878744e-04 9.97623606e-01 -1.16145912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34864 meters 0.028162374253196513 Centerline is valid? [True, True] Translation: X:209.84, Y:-114.13, Z:-11.62 [[ 7.53275114e-01 6.55727147e-01 5.09755933e-02 2.09838046e+02] [-6.54161791e-01 7.54997562e-01 -4.52883209e-02 -1.14133700e+02] [-6.81832301e-02 7.68279654e-04 9.97672520e-01 -1.16169622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40864 meters 0.028132421518841218 Centerline is valid? [True, True] Translation: X:209.88, Y:-114.18, Z:-11.62 [[ 7.53115426e-01 6.55939678e-01 5.05993447e-02 2.09883769e+02] [-6.54394668e-01 7.54812912e-01 -4.50009585e-02 -1.14177310e+02] [-6.77109529e-02 7.78974640e-04 9.97704676e-01 -1.16193223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46863999999997 meters 0.028023770134388167 Centerline is valid? [True, True] Translation: X:209.93, Y:-114.22, Z:-11.62 [[ 7.52512681e-01 6.56534392e-01 5.18387702e-02 2.09927697e+02] [-6.54910784e-01 7.54295688e-01 -4.61506191e-02 -1.14221781e+02] [-6.94012295e-02 7.79156469e-04 9.97588524e-01 -1.16232319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52863999999997 meters 0.028133526601306 Centerline is valid? [True, True] Translation: X:209.97, Y:-114.27, Z:-11.63 [[ 7.51794211e-01 6.57394687e-01 5.13584386e-02 2.09971997e+02] [-6.55800191e-01 7.53546084e-01 -4.57647197e-02 -1.14265668e+02] [-6.87864339e-02 7.24777547e-04 9.97631145e-01 -1.16252079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58863999999997 meters 0.027904863027118802 Centerline is valid? [True, True] Translation: X:210.02, Y:-114.31, Z:-11.63 [[ 7.49205081e-01 6.60467605e-01 4.97422312e-02 2.10015252e+02] [-6.58976069e-01 7.50854401e-01 -4.43644966e-02 -1.14310430e+02] [-6.66504860e-02 4.59166280e-04 9.97776278e-01 -1.16286119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64863999999997 meters 0.027909524220649483 Centerline is valid? [True, True] Translation: X:210.06, Y:-114.35, Z:-11.63 [[ 7.44634515e-01 6.65594170e-01 5.00383892e-02 2.10061109e+02] [-6.64093384e-01 7.46313875e-01 -4.46718868e-02 -1.14352976e+02] [-6.70776915e-02 3.40654820e-05 9.97747755e-01 -1.16308971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70863999999997 meters 0.028028365206213823 Centerline is valid? [True, True] Translation: X:210.11, Y:-114.39, Z:-11.63 [[ 7.42212754e-01 6.68294002e-01 5.00335316e-02 2.10107774e+02] [-6.66796408e-01 7.43897235e-01 -4.47152537e-02 -1.14394931e+02] [-6.71027417e-02 -1.73947603e-04 9.97746056e-01 -1.16344045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76863999999998 meters 0.028061623568473363 Centerline is valid? [True, True] Translation: X:210.16, Y:-114.44, Z:-11.64 [[ 7.40211135e-01 6.70601456e-01 4.87971636e-02 2.10155439e+02] [-6.69179120e-01 7.41817748e-01 -4.36547131e-02 -1.14435418e+02] [-6.54735162e-02 -3.40338282e-04 9.97854249e-01 -1.16367078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82863999999998 meters 0.02794647030305487 Centerline is valid? [True, True] Translation: X:210.21, Y:-114.47, Z:-11.64 [[ 7.40479056e-01 6.70245483e-01 4.96161314e-02 2.10205355e+02] [-6.68771215e-01 7.42139416e-01 -4.44313885e-02 -1.14474533e+02] [-6.66020243e-02 -2.81327875e-04 9.97779580e-01 -1.16386734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88863999999998 meters 0.027924146529655632 Centerline is valid? [True, True] Translation: X:210.26, Y:-114.51, Z:-11.64 [[ 7.41694092e-01 6.68960979e-01 4.87963453e-02 2.10255616e+02] [-6.67529338e-01 7.43297513e-01 -4.37423257e-02 -1.14511179e+02] [-6.55321111e-02 -1.29567513e-04 9.97850453e-01 -1.16424644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94863999999998 meters 0.0278610764859376 Centerline is valid? [True, True] Translation: X:210.30, Y:-114.55, Z:-11.65 [[ 7.42101613e-01 6.68540898e-01 4.83556012e-02 2.10304570e+02] [-6.67131380e-01 7.43675375e-01 -4.33896118e-02 -1.14550233e+02] [-6.49685999e-02 -6.00380304e-05 9.97887307e-01 -1.16453539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00863999999999 meters 0.02802886720835485 Centerline is valid? [True, True] Translation: X:210.35, Y:-114.59, Z:-11.65 [[ 7.44083020e-01 6.66117220e-01 5.12670423e-02 2.10354513e+02] [-6.64523452e-01 7.45847042e-01 -4.60518328e-02 -1.14588236e+02] [-6.89132907e-02 1.98234904e-04 9.97622634e-01 -1.16490367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06864 meters 0.028353398794288998 Centerline is valid? [True, True] Translation: X:210.40, Y:-114.63, Z:-11.65 [[ 7.49155915e-01 6.60401227e-01 5.13384328e-02 2.10400547e+02] [-6.58786530e-01 7.50912540e-01 -4.61591219e-02 -1.14630561e+02] [-6.90342137e-02 7.59311191e-04 9.97614004e-01 -1.16513060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12864 meters 0.028622314658935683 Centerline is valid? [True, True] Translation: X:210.45, Y:-114.67, Z:-11.66 [[ 7.53131585e-01 6.55663493e-01 5.38349304e-02 2.10445877e+02] [-6.53873041e-01 7.55052149e-01 -4.84386072e-02 -1.14672954e+02] [-7.24076063e-02 1.27943536e-03 9.97374304e-01 -1.16553339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18863999999996 meters 0.02869050554418532 Centerline is valid? [True, True] Translation: X:210.49, Y:-114.72, Z:-11.66 [[ 7.52282628e-01 6.56534861e-01 5.50710793e-02 2.10488908e+02] [-6.54661632e-01 7.54294660e-01 -4.95753303e-02 -1.14718291e+02] [-7.40877537e-02 1.24173711e-03 9.97250953e-01 -1.16584206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24863999999997 meters 0.02823493057453843 Centerline is valid? [True, True] Translation: X:210.53, Y:-114.76, Z:-11.66 [[ 7.50781115e-01 6.58420043e-01 5.30166396e-02 2.10532810e+02] [-6.56685868e-01 7.52649952e-01 -4.77673620e-02 -1.14762406e+02] [-7.13539598e-02 1.04755528e-03 9.97450508e-01 -1.16593226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30863999999997 meters 0.027886201871911917 Centerline is valid? [True, True] Translation: X:210.58, Y:-114.81, Z:-11.66 [[ 7.47968559e-01 6.61697051e-01 5.19619788e-02 2.10577251e+02] [-6.60036858e-01 7.49770936e-01 -4.68496373e-02 -1.14806710e+02] [-6.99598483e-02 7.45234475e-04 9.97549530e-01 -1.16620996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36863999999997 meters 0.027780294153977623 Centerline is valid? [True, True] Translation: X:210.62, Y:-114.85, Z:-11.66 [[ 7.46021899e-01 6.63970010e-01 5.09426290e-02 2.10622462e+02] [-6.62378067e-01 7.47759008e-01 -4.59539035e-02 -1.14849793e+02] [-6.86048236e-02 5.39338195e-04 9.97643768e-01 -1.16642179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42863999999997 meters 0.027646675151735592 Centerline is valid? [True, True] Translation: X:210.67, Y:-114.89, Z:-11.67 [[ 7.44127467e-01 6.66204527e-01 4.94554442e-02 2.10667875e+02] [-6.64706522e-01 7.45769001e-01 -4.46523932e-02 -1.14892279e+02] [-6.66299637e-02 3.53715962e-04 9.97777692e-01 -1.16676374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48863999999998 meters 0.02769296952433546 Centerline is valid? [True, True] Translation: X:210.72, Y:-114.93, Z:-11.67 [[ 7.43928897e-01 6.66418865e-01 4.95549449e-02 2.10715690e+02] [-6.64912413e-01 7.45577468e-01 -4.47852947e-02 -1.14934043e+02] [-6.67928157e-02 3.67376876e-04 9.97766799e-01 -1.16705797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54863999999998 meters 0.027723353996543833 Centerline is valid? [True, True] Translation: X:210.76, Y:-114.98, Z:-11.67 [[ 7.44659986e-01 6.65682605e-01 4.84579769e-02 2.10761384e+02] [-6.64237643e-01 7.46234856e-01 -4.38394145e-02 -1.14977210e+02] [-6.53441670e-02 4.57845434e-04 9.97862681e-01 -1.16729866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60863999999998 meters 0.028101687127368023 Centerline is valid? [True, True] Translation: X:210.81, Y:-115.02, Z:-11.68 [[ 7.47060954e-01 6.62832663e-01 5.05251551e-02 2.10805775e+02] [-6.61251863e-01 7.48767162e-01 -4.57570893e-02 -1.15021055e+02] [-6.81608703e-02 7.73481849e-04 9.97674044e-01 -1.16768061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66863999999998 meters 0.028087094040729125 Centerline is valid? [True, True] Translation: X:210.85, Y:-115.07, Z:-11.68 [[ 7.48461341e-01 6.61295266e-01 4.99418860e-02 2.10849721e+02] [-6.59744483e-01 7.50125121e-01 -4.52716285e-02 -1.15067021e+02] [-6.74005769e-02 9.35180040e-04 9.97725557e-01 -1.16783940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72863999999998 meters 0.027774407792735743 Centerline is valid? [True, True] Translation: X:210.89, Y:-115.11, Z:-11.68 [[ 7.45258349e-01 6.64981968e-01 4.88771507e-02 2.10893251e+02] [-6.63501654e-01 7.46859153e-01 -4.43504251e-02 -1.15112081e+02] [-6.59965803e-02 6.22454273e-04 9.97819655e-01 -1.16799147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78864 meters 0.027828345795248722 Centerline is valid? [True, True] Translation: X:210.94, Y:-115.16, Z:-11.68 [[ 7.40780975e-01 6.69986233e-01 4.86003625e-02 2.10936496e+02] [-6.68530678e-01 7.42373494e-01 -4.41398568e-02 -1.15156275e+02] [-6.56527173e-02 2.07132823e-04 9.97842512e-01 -1.16821749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84864 meters 0.027883018416996856 Centerline is valid? [True, True] Translation: X:210.98, Y:-115.20, Z:-11.68 [[ 7.38685430e-01 6.72192618e-01 5.00091966e-02 2.10981661e+02] [-6.70653458e-01 7.40376311e-01 -4.54626994e-02 -1.15199668e+02] [-6.75853155e-02 4.37930349e-05 9.97713498e-01 -1.16848126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90864 meters 0.027975520280244703 Centerline is valid? [True, True] Translation: X:211.03, Y:-115.24, Z:-11.69 [[ 7.37579760e-01 6.73413087e-01 4.99090365e-02 2.11028624e+02] [-6.71879881e-01 7.39266402e-01 -4.54159889e-02 -1.15241254e+02] [-6.74797952e-02 -3.49633121e-05 9.97720640e-01 -1.16882862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96863999999997 meters 0.02794913675120554 Centerline is valid? [True, True] Translation: X:211.08, Y:-115.28, Z:-11.69 [[ 7.36168348e-01 6.74992811e-01 4.94051471e-02 2.11075964e+02] [-6.73490773e-01 7.37824292e-01 -4.50054773e-02 -1.15282284e+02] [-6.68306913e-02 -1.42302803e-04 9.97764320e-01 -1.16920186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02863999999997 meters 0.02798327466228006 Centerline is valid? [True, True] Translation: X:211.12, Y:-115.32, Z:-11.69 [[ 7.34697673e-01 6.76716365e-01 4.76895242e-02 2.11122505e+02] [-6.75317718e-01 7.36243774e-01 -4.34866048e-02 -1.15323871e+02] [-6.45392124e-02 -2.56073350e-04 9.97915139e-01 -1.16947147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08863999999997 meters 0.028081766566378525 Centerline is valid? [True, True] Translation: X:211.17, Y:-115.37, Z:-11.70 [[ 7.33620497e-01 6.77904431e-01 4.73977766e-02 2.11168736e+02] [-6.76522628e-01 7.35149968e-01 -4.32626692e-02 -1.15366722e+02] [-6.41724291e-02 -3.27287492e-04 9.97938772e-01 -1.16976061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14863999999997 meters 0.027982787864933585 Centerline is valid? [True, True] Translation: X:211.22, Y:-115.41, Z:-11.70 [[ 7.33229263e-01 6.78342628e-01 4.71818616e-02 2.11215258e+02] [-6.76971349e-01 7.34745650e-01 -4.31117466e-02 -1.15409043e+02] [-6.39112031e-02 -3.29974302e-04 9.97955535e-01 -1.17001216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20863999999997 meters 0.028101307517184516 Centerline is valid? [True, True] Translation: X:211.26, Y:-115.45, Z:-11.70 [[ 7.32777151e-01 6.78915029e-01 4.59568386e-02 2.11263540e+02] [-6.77612540e-01 7.34216773e-01 -4.20354191e-02 -1.15448711e+02] [-6.22807595e-02 -3.38335509e-04 9.98058612e-01 -1.17030608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26863999999998 meters 0.028330949759004916 Centerline is valid? [True, True] Translation: X:211.31, Y:-115.49, Z:-11.70 [[ 7.33764735e-01 6.77850422e-01 4.59142586e-02 2.11310588e+02] [-6.76545701e-01 7.35199808e-01 -4.20375695e-02 -1.15490730e+02] [-6.22513384e-02 -2.17408257e-04 9.98060481e-01 -1.17048988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32863999999998 meters 0.028234225694545534 Centerline is valid? [True, True] Translation: X:211.36, Y:-115.53, Z:-11.71 [[ 7.34156972e-01 6.77252400e-01 4.84017310e-02 2.11358985e+02] [-6.75797860e-01 7.35750751e-01 -4.43631070e-02 -1.15529931e+02] [-6.56566306e-02 -1.40301896e-04 9.97842266e-01 -1.17071604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38863999999998 meters 0.028297803065762024 Centerline is valid? [True, True] Translation: X:211.41, Y:-115.57, Z:-11.71 [[ 7.34726884e-01 6.76650698e-01 4.81688528e-02 2.11405906e+02] [-6.75206016e-01 7.36304169e-01 -4.41928268e-02 -1.15571260e+02] [-6.53700342e-02 -5.42412973e-05 9.97861090e-01 -1.17117872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44863999999998 meters 0.02822080530234096 Centerline is valid? [True, True] Translation: X:211.45, Y:-115.61, Z:-11.71 [[ 7.34828004e-01 6.76531409e-01 4.83017402e-02 2.11454821e+02] [-6.75075327e-01 7.36413778e-01 -4.43627062e-02 -1.15611678e+02] [-6.55828311e-02 -8.35427748e-06 9.97847129e-01 -1.17117941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50863999999999 meters 0.02855636528012069 Centerline is valid? [True, True] Translation: X:211.50, Y:-115.65, Z:-11.72 [[ 7.34116754e-01 6.77180922e-01 4.99859027e-02 2.11502098e+02] [-6.75619676e-01 7.35816552e-01 -4.59571047e-02 -1.15651303e+02] [-6.79017290e-02 -3.35788854e-05 9.97692014e-01 -1.17161939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56864 meters 0.028587176227517375 Centerline is valid? [True, True] Translation: X:211.55, Y:-115.69, Z:-11.72 [[ 7.35727082e-01 6.75505563e-01 4.89683090e-02 2.11549479e+02] [-6.74000965e-01 7.37354875e-01 -4.50609284e-02 -1.15691941e+02] [-6.65459292e-02 1.47857879e-04 9.97783352e-01 -1.17184981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62864 meters 0.028592766023327332 Centerline is valid? [True, True] Translation: X:211.60, Y:-115.73, Z:-11.72 [[ 7.38692463e-01 6.72192458e-01 4.99073567e-02 2.11595825e+02] [-6.70619002e-01 7.40376297e-01 -4.59683927e-02 -1.15732782e+02] [-6.78498308e-02 4.87683454e-04 9.97695426e-01 -1.17214251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68863999999996 meters 0.02904144450879126 Centerline is valid? [True, True] Translation: X:211.64, Y:-115.78, Z:-11.73 [[ 7.44876394e-01 6.65360112e-01 4.95487458e-02 2.11639776e+02] [-6.63791151e-01 7.46521688e-01 -4.56801725e-02 -1.15776892e+02] [-6.73829781e-02 1.13606319e-03 9.97726537e-01 -1.17254753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74863999999997 meters 0.029265148450815945 Centerline is valid? [True, True] Translation: X:211.68, Y:-115.83, Z:-11.73 [[ 7.49062236e-01 6.60611466e-01 4.99825710e-02 2.11679750e+02] [-6.59002009e-01 7.50726262e-01 -4.61132414e-02 -1.15825055e+02] [-6.79861647e-02 1.60307299e-03 9.97684976e-01 -1.17281436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80863999999997 meters 0.029211025948236324 Centerline is valid? [True, True] Translation: X:211.72, Y:-115.88, Z:-11.73 [[ 7.47825529e-01 6.62099027e-01 4.88042721e-02 2.11718125e+02] [-6.60566482e-01 7.49414959e-01 -4.50459878e-02 -1.15875134e+02] [-6.63995562e-02 1.44807330e-03 9.97792064e-01 -1.17290656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86863999999997 meters 0.028797792060385345 Centerline is valid? [True, True] Translation: X:211.76, Y:-115.93, Z:-11.73 [[ 7.44484732e-01 6.65936004e-01 4.76625826e-02 2.11755488e+02] [-6.64479681e-01 7.46008047e-01 -4.40312029e-02 -1.15926825e+02] [-6.48786335e-02 1.10974060e-03 9.97892545e-01 -1.17308443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92863999999997 meters 0.02875486643992451 Centerline is valid? [True, True] Translation: X:211.79, Y:-115.98, Z:-11.73 [[ 7.42498427e-01 6.68195020e-01 4.70266024e-02 2.11793788e+02] [-6.66779361e-01 7.43985586e-01 -4.34825551e-02 -1.15976459e+02] [-6.40419411e-02 9.29360935e-04 9.97946775e-01 -1.17328254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98863999999998 meters 0.028731718367807316 Centerline is valid? [True, True] Translation: X:211.83, Y:-116.02, Z:-11.74 [[ 7.41482739e-01 6.69335831e-01 4.68283350e-02 2.11834051e+02] [-6.67931833e-01 7.42959495e-01 -4.33388298e-02 -1.16024178e+02] [-6.37997878e-02 8.56858583e-04 9.97962350e-01 -1.17353342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04863999999998 meters 0.028603634837342434 Centerline is valid? [True, True] Translation: X:211.87, Y:-116.07, Z:-11.74 [[ 7.39102109e-01 6.72007619e-01 4.61934323e-02 2.11874085e+02] [-6.70644591e-01 7.40543954e-01 -4.27841720e-02 -1.16073114e+02] [-6.29595566e-02 6.42496277e-04 9.98015872e-01 -1.17379872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10863999999998 meters 0.028773886545246114 Centerline is valid? [True, True] Translation: X:211.92, Y:-116.12, Z:-11.74 [[ 7.31037726e-01 6.80767512e-01 4.62540592e-02 2.11917731e+02] [-6.79416905e-01 7.32499547e-01 -4.28612019e-02 -1.16118094e+02] [-6.30595911e-02 -9.26341726e-05 9.98009759e-01 -1.17381711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16863999999998 meters 0.02920339352431023 Centerline is valid? [True, True] Translation: X:211.96, Y:-116.16, Z:-11.74 [[ 7.25916996e-01 6.86372466e-01 4.40153747e-02 2.11963575e+02] [-6.85157469e-01 7.27250002e-01 -4.08249538e-02 -1.16161181e+02] [-6.00313055e-02 -5.21934947e-04 9.98196358e-01 -1.17410349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22863999999998 meters 0.029662786007013192 Centerline is valid? [True, True] Translation: X:212.01, Y:-116.20, Z:-11.74 [[ 7.19982820e-01 6.92715039e-01 4.20786597e-02 2.12011800e+02] [-6.91613129e-01 7.21210737e-01 -3.90685585e-02 -1.16200889e+02] [-5.74109592e-02 -9.73462624e-04 9.98350156e-01 -1.17414875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28864 meters 0.029944886454381234 Centerline is valid? [True, True] Translation: X:212.06, Y:-116.24, Z:-11.74 [[ 7.17924829e-01 6.94794778e-01 4.29436488e-02 2.12062641e+02] [-6.93648493e-01 7.19207152e-01 -3.99103967e-02 -1.16237600e+02] [-5.86149146e-02 -1.13513261e-03 9.98280022e-01 -1.17431230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34864 meters 0.029618793327363033 Centerline is valid? [True, True] Translation: X:212.12, Y:-116.27, Z:-11.75 [[ 7.19246569e-01 6.93344007e-01 4.42545081e-02 2.12115506e+02] [-6.92121444e-01 7.20606029e-01 -4.11686421e-02 -1.16272416e+02] [-6.04340966e-02 -1.01908946e-03 9.98171669e-01 -1.17468869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40863999999996 meters 0.029473031691132467 Centerline is valid? [True, True] Translation: X:212.17, Y:-116.31, Z:-11.75 [[ 7.21381174e-01 6.91114142e-01 4.43896863e-02 2.12165106e+02] [-6.89877459e-01 7.22745178e-01 -4.13339835e-02 -1.16309973e+02] [-6.06489323e-02 -8.05886482e-04 9.98158834e-01 -1.17502118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46863999999997 meters 0.028822172803402834 Centerline is valid? [True, True] Translation: X:212.22, Y:-116.35, Z:-11.75 [[ 7.26221735e-01 6.86162445e-01 4.22266518e-02 2.12216045e+02] [-6.85032930e-01 7.27448266e-01 -3.93561298e-02 -1.16346530e+02] [-5.77224029e-02 -3.45370132e-04 9.98332612e-01 -1.17539493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52863999999997 meters 0.028599652170020355 Centerline is valid? [True, True] Translation: X:212.27, Y:-116.38, Z:-11.76 [[ 7.30796905e-01 6.81186980e-01 4.38198803e-02 2.12267552e+02] [-6.79959048e-01 7.32109481e-01 -4.08827721e-02 -1.16383925e+02] [-5.99297619e-02 8.12792808e-05 9.98202593e-01 -1.17561421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58863999999997 meters 0.02862007261200151 Centerline is valid? [True, True] Translation: X:212.32, Y:-116.42, Z:-11.76 [[ 7.34291474e-01 6.77377959e-01 4.44424483e-02 2.12317200e+02] [-6.76105118e-01 7.35635041e-01 -4.15085074e-02 -1.16421629e+02] [-6.08103703e-02 4.31576351e-04 9.98149244e-01 -1.17596499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64863999999997 meters 0.028772755597011344 Centerline is valid? [True, True] Translation: X:212.37, Y:-116.46, Z:-11.76 [[ 7.39329765e-01 6.71792466e-01 4.56769110e-02 2.12366606e+02] [-6.70434599e-01 7.40738810e-01 -4.27020450e-02 -1.16459533e+02] [-6.25215729e-02 9.47511386e-04 9.98043163e-01 -1.17621314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70863999999997 meters 0.029078529409438388 Centerline is valid? [True, True] Translation: X:212.41, Y:-116.50, Z:-11.76 [[ 7.42051291e-01 6.68717071e-01 4.66621898e-02 2.12413298e+02] [-6.67291244e-01 7.43515892e-01 -4.36636404e-02 -1.16500506e+02] [-6.38927014e-02 1.26339001e-03 9.97955974e-01 -1.17643334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76863999999998 meters 0.02931493098875912 Centerline is valid? [True, True] Translation: X:212.46, Y:-116.54, Z:-11.77 [[ 7.45181521e-01 6.65320516e-01 4.53112768e-02 2.12459430e+02] [-6.63967511e-01 7.46556257e-01 -4.24369989e-02 -1.16542709e+02] [-6.20616233e-02 1.53805167e-03 9.98071134e-01 -1.17664237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82863999999998 meters 0.029378374665615024 Centerline is valid? [True, True] Translation: X:212.50, Y:-116.59, Z:-11.77 [[ 7.45674481e-01 6.64814033e-01 4.46303741e-02 2.12503151e+02] [-6.63498174e-01 7.47007222e-01 -4.18375898e-02 -1.16587939e+02] [-6.11534286e-02 1.58505133e-03 9.98127119e-01 -1.17691450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88863999999998 meters 0.029244563206966924 Centerline is valid? [True, True] Translation: X:212.55, Y:-116.63, Z:-11.77 [[ 7.44871476e-01 6.65744198e-01 4.41717879e-02 2.12546465e+02] [-6.64454434e-01 7.46178491e-01 -4.14483344e-02 -1.16633082e+02] [-6.05540262e-02 1.52354164e-03 9.98163758e-01 -1.17718853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94863999999998 meters 0.02896152770940876 Centerline is valid? [True, True] Translation: X:212.59, Y:-116.68, Z:-11.77 [[ 7.43482815e-01 6.67390559e-01 4.26983104e-02 2.12587675e+02] [-6.66186145e-01 7.44706632e-01 -4.01005274e-02 -1.16679760e+02] [-5.85604284e-02 1.36903015e-03 9.98282927e-01 -1.17747643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00863999999999 meters 0.02884396696308574 Centerline is valid? [True, True] Translation: X:212.63, Y:-116.73, Z:-11.78 [[ 7.42341980e-01 6.68705828e-01 4.19630806e-02 2.12630557e+02] [-6.67542667e-01 7.43525995e-01 -3.94446921e-02 -1.16725524e+02] [-5.75775367e-02 1.26930416e-03 9.98340231e-01 -1.17763659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06864 meters 0.028530758705511323 Centerline is valid? [True, True] Translation: X:212.67, Y:-116.77, Z:-11.78 [[ 7.41504636e-01 6.69646632e-01 4.17643829e-02 2.12673001e+02] [-6.68493943e-01 7.42678873e-01 -3.92930037e-02 -1.16770764e+02] [-5.73299524e-02 1.21670742e-03 9.98354544e-01 -1.17784856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12864 meters 0.028609394089405143 Centerline is valid? [True, True] Translation: X:212.72, Y:-116.82, Z:-11.78 [[ 7.41304366e-01 6.69836079e-01 4.22784142e-02 2.12715747e+02] [-6.68652952e-01 7.42507965e-01 -3.98139667e-02 -1.16816455e+02] [-5.80608906e-02 1.24468086e-03 9.98312268e-01 -1.17825335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18863999999996 meters 0.028618709774296043 Centerline is valid? [True, True] Translation: X:212.76, Y:-116.87, Z:-11.79 [[ 7.41358158e-01 6.69633265e-01 4.44901345e-02 2.12755207e+02] [-6.68319935e-01 7.42690678e-01 -4.19406915e-02 -1.16865472e+02] [-6.11272903e-02 1.35943000e-03 9.98129053e-01 -1.17852204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24863999999997 meters 0.028571489121460014 Centerline is valid? [True, True] Translation: X:212.80, Y:-116.91, Z:-11.79 [[ 7.41124699e-01 6.69955391e-01 4.35195921e-02 2.12798335e+02] [-6.68697165e-01 7.42400164e-01 -4.10621114e-02 -1.16910623e+02] [-5.98187352e-02 1.33071707e-03 9.98208369e-01 -1.17870303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30863999999997 meters 0.028049072276274487 Centerline is valid? [True, True] Translation: X:212.84, Y:-116.96, Z:-11.79 [[ 7.39238130e-01 6.72058384e-01 4.31800406e-02 2.12838719e+02] [-6.70821128e-01 7.40497224e-01 -4.07783685e-02 -1.16957921e+02] [-5.93801446e-02 1.17884139e-03 9.98234746e-01 -1.17897855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36863999999997 meters 0.027699588211871233 Centerline is valid? [True, True] Translation: X:212.88, Y:-117.00, Z:-11.79 [[ 7.37793184e-01 6.73579473e-01 4.41804297e-02 2.12882046e+02] [-6.72284467e-01 7.39113970e-01 -4.17628496e-02 -1.17004035e+02] [-6.07849710e-02 1.11052915e-03 9.98150266e-01 -1.17932431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42863999999997 meters 0.02724359945868024 Centerline is valid? [True, True] Translation: X:212.92, Y:-117.05, Z:-11.80 [[ 7.34892600e-01 6.76818026e-01 4.30142646e-02 2.12921780e+02] [-6.75593960e-01 7.36149878e-01 -4.06959286e-02 -1.17053054e+02] [-5.92086837e-02 8.46959383e-04 9.98245268e-01 -1.17950509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48863999999998 meters 0.02687112702991725 Centerline is valid? [True, True] Translation: X:212.96, Y:-117.10, Z:-11.80 [[ 7.31691142e-01 6.80174075e-01 4.46239861e-02 2.12961948e+02] [-6.78861549e-01 7.33050375e-01 -4.22391468e-02 -1.17101576e+02] [-6.14416023e-02 6.12501245e-04 9.98110492e-01 -1.17986325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54863999999998 meters 0.02675597345984265 Centerline is valid? [True, True] Translation: X:213.00, Y:-117.15, Z:-11.80 [[ 7.30096200e-01 6.81765595e-01 4.64242617e-02 2.13003514e+02] [-6.80345323e-01 7.31570497e-01 -4.39869151e-02 -1.17149861e+02] [-6.39513856e-02 5.30150251e-04 9.97952874e-01 -1.18017791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60863999999998 meters 0.02674407466563477 Centerline is valid? [True, True] Translation: X:213.04, Y:-117.20, Z:-11.81 [[ 7.27725892e-01 6.84350326e-01 4.56032643e-02 2.13041845e+02] [-6.82982155e-01 7.29153291e-01 -4.32533736e-02 -1.17199967e+02] [-6.28522306e-02 3.30384095e-04 9.98022789e-01 -1.18059712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66863999999998 meters 0.026683518855956552 Centerline is valid? [True, True] Translation: X:213.08, Y:-117.25, Z:-11.81 [[ 7.24463500e-01 6.87823586e-01 4.52918509e-02 2.13080028e+02] [-6.86478283e-01 7.25877890e-01 -4.29983319e-02 -1.17249853e+02] [-6.24516200e-02 5.88500110e-05 9.98047991e-01 -1.18089296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72863999999998 meters 0.026676364061607033 Centerline is valid? [True, True] Translation: X:213.12, Y:-117.30, Z:-11.81 [[ 7.20175391e-01 6.92292031e-01 4.55977010e-02 2.13121022e+02] [-6.90934657e-01 7.21617388e-01 -4.33318027e-02 -1.17297839e+02] [-6.29023557e-02 -2.98533927e-04 9.98019641e-01 -1.18118523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78864 meters 0.026889022429294578 Centerline is valid? [True, True] Translation: X:213.16, Y:-117.34, Z:-11.81 [[ 7.16243675e-01 6.96366525e-01 4.54825317e-02 2.13163628e+02] [-6.95021247e-01 7.17686058e-01 -4.32687878e-02 -1.17342567e+02] [-6.27731143e-02 -6.20330276e-04 9.98027631e-01 -1.18148162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84864 meters 0.0274629572787515 Centerline is valid? [True, True] Translation: X:213.21, Y:-117.39, Z:-11.82 [[ 7.11268874e-01 7.01454103e-01 4.53732449e-02 2.13206281e+02] [-7.00123011e-01 7.12713875e-01 -4.32053417e-02 -1.17387155e+02] [-6.26447054e-02 -1.03623816e-03 9.98035354e-01 -1.18180254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90863999999996 meters 0.028041334839865425 Centerline is valid? [True, True] Translation: X:213.26, Y:-117.43, Z:-11.82 [[ 7.06638794e-01 7.06117156e-01 4.53891632e-02 2.13255847e+02] [-7.04792248e-01 7.08093597e-01 -4.32590528e-02 -1.17425215e+02] [-6.26857352e-02 -1.42140544e-03 9.98032303e-01 -1.18205997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96863999999997 meters 0.02830175543391937 Centerline is valid? [True, True] Translation: X:213.30, Y:-117.46, Z:-11.82 [[ 7.05566055e-01 7.07132199e-01 4.62665667e-02 2.13303257e+02] [-7.05755099e-01 7.07079746e-01 -4.41358455e-02 -1.17464713e+02] [-6.39240297e-02 -1.51211097e-03 9.97953622e-01 -1.18247504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02863999999997 meters 0.02797755855650165 Centerline is valid? [True, True] Translation: X:213.35, Y:-117.50, Z:-11.83 [[ 7.05670028e-01 7.06949794e-01 4.74531363e-02 2.13354895e+02] [-7.05497909e-01 7.07262134e-01 -4.53097617e-02 -1.17501061e+02] [-6.55935331e-02 -1.50434762e-03 9.97845291e-01 -1.18288596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08863999999997 meters 0.027725186462760523 Centerline is valid? [True, True] Translation: X:213.40, Y:-117.54, Z:-11.83 [[ 7.07008645e-01 7.05549857e-01 4.83546769e-02 2.13402863e+02] [-7.04035750e-01 7.08658967e-01 -4.62182973e-02 -1.17540792e+02] [-6.68762884e-02 -1.36668550e-03 9.97760339e-01 -1.18321859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14863999999997 meters 0.02688434572791459 Centerline is valid? [True, True] Translation: X:213.45, Y:-117.58, Z:-11.84 [[ 7.11195743e-01 7.01424283e-01 4.69530624e-02 2.13453377e+02] [-6.99985078e-01 7.12743382e-01 -4.49195116e-02 -1.17577579e+02] [-6.49731208e-02 -9.19877609e-04 9.97886590e-01 -1.18365883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20863999999997 meters 0.026484260608058977 Centerline is valid? [True, True] Translation: X:213.50, Y:-117.62, Z:-11.84 [[ 7.16123867e-01 6.96210164e-01 4.95783606e-02 2.13500006e+02] [-6.94589431e-01 7.17837877e-01 -4.74795179e-02 -1.17620441e+02] [-6.86449480e-02 -4.35389339e-04 9.97641058e-01 -1.18400414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26863999999998 meters 0.026315494577150086 Centerline is valid? [True, True] Translation: X:213.55, Y:-117.66, Z:-11.84 [[ 7.18559910e-01 6.93640728e-01 5.03408088e-02 2.13547376e+02] [-6.91959650e-01 7.20321121e-01 -4.82630870e-02 -1.17661211e+02] [-6.97387906e-02 -1.53889040e-04 9.97565275e-01 -1.18449612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32863999999998 meters 0.026139803238753593 Centerline is valid? [True, True] Translation: X:213.59, Y:-117.70, Z:-11.85 [[ 7.20617491e-01 6.91566200e-01 4.94633433e-02 2.13592066e+02] [-6.89934980e-01 7.22313079e-01 -4.74714516e-02 -1.17704585e+02] [-6.85576712e-02 8.22675677e-05 9.97647152e-01 -1.18488359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38863999999998 meters 0.02607754463867548 Centerline is valid? [True, True] Translation: X:213.64, Y:-117.75, Z:-11.85 [[ 7.23834892e-01 6.88055038e-01 5.14131760e-02 2.13636981e+02] [-6.86280257e-01 7.25658355e-01 -4.93898905e-02 -1.17746642e+02] [-7.12913636e-02 4.66278413e-04 9.97455425e-01 -1.18527240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44863999999998 meters 0.026354282406989376 Centerline is valid? [True, True] Translation: X:213.68, Y:-117.79, Z:-11.86 [[ 7.25774329e-01 6.85963135e-01 5.20211515e-02 2.13677452e+02] [-6.84137507e-01 7.27635946e-01 -5.00180166e-02 -1.17793514e+02] [-7.21629752e-02 7.12171580e-04 9.97392600e-01 -1.18554196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50863999999999 meters 0.026432010710240633 Centerline is valid? [True, True] Translation: X:213.72, Y:-117.84, Z:-11.86 [[ 7.25926308e-01 6.85617362e-01 5.44042942e-02 2.13719853e+02] [-6.83615894e-01 7.27961653e-01 -5.23559141e-02 -1.17838066e+02] [-7.55003637e-02 8.14895241e-04 9.97145441e-01 -1.18602898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56864 meters 0.026631367067798294 Centerline is valid? [True, True] Translation: X:213.76, Y:-117.89, Z:-11.86 [[ 7.23356075e-01 6.88323668e-01 5.44657403e-02 2.13760087e+02] [-6.86321772e-01 7.25403479e-01 -5.24615859e-02 -1.17886441e+02] [-7.56201887e-02 5.67383501e-04 9.97136533e-01 -1.18629725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62864 meters 0.02642413126291337 Centerline is valid? [True, True] Translation: X:213.80, Y:-117.93, Z:-11.87 [[ 7.20841358e-01 6.91094822e-01 5.26847565e-02 2.13802130e+02] [-6.89225864e-01 7.22764039e-01 -5.07922492e-02 -1.17931904e+02] [-7.31809078e-02 3.01457068e-04 9.97318637e-01 -1.18656050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68863999999996 meters 0.026715472729019824 Centerline is valid? [True, True] Translation: X:213.84, Y:-117.98, Z:-11.87 [[ 7.17486479e-01 6.94600682e-01 5.23740861e-02 2.13841645e+02] [-6.92759580e-01 7.19395504e-01 -5.05398097e-02 -1.17980735e+02] [-7.27826684e-02 -2.10197720e-05 9.97347824e-01 -1.18684056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74863999999997 meters 0.027167719762606287 Centerline is valid? [True, True] Translation: X:213.88, Y:-118.03, Z:-11.87 [[ 7.13934328e-01 6.98208511e-01 5.29400628e-02 2.13883841e+02] [-6.96333600e-01 7.15894369e-01 -5.11348195e-02 -1.18025795e+02] [-7.36022590e-02 -3.57041503e-04 9.97287611e-01 -1.18720431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80863999999997 meters 0.027330426035661878 Centerline is valid? [True, True] Translation: X:213.92, Y:-118.07, Z:-11.87 [[ 7.11643247e-01 7.00661284e-01 5.13581064e-02 2.13924233e+02] [-6.98899916e-01 7.13493836e-01 -4.96533319e-02 -1.18072937e+02] [-7.14338596e-02 -5.58717989e-04 9.97445182e-01 -1.18740759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86863999999997 meters 0.02779217257519605 Centerline is valid? [True, True] Translation: X:213.97, Y:-118.12, Z:-11.88 [[ 7.09120687e-01 7.03211683e-01 5.13924126e-02 2.13966381e+02] [-7.01451219e-01 7.10980111e-01 -4.97339843e-02 -1.18118628e+02] [-7.15125020e-02 -7.81873374e-04 9.97439397e-01 -1.18775578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92863999999997 meters 0.02791648825147559 Centerline is valid? [True, True] Translation: X:214.01, Y:-118.16, Z:-11.88 [[ 7.06806812e-01 7.05511845e-01 5.17413437e-02 2.14009294e+02] [-7.03730049e-01 7.08697440e-01 -5.01194251e-02 -1.18163911e+02] [-7.20288059e-02 -9.87187208e-04 9.97402064e-01 -1.18796563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98863999999998 meters 0.02848757016018886 Centerline is valid? [True, True] Translation: X:214.06, Y:-118.21, Z:-11.88 [[ 7.02550037e-01 7.09753280e-01 5.17081031e-02 2.14055752e+02] [-7.07981805e-01 7.04448975e-01 -5.01338760e-02 -1.18205673e+02] [-7.20084032e-02 -1.38683969e-03 9.97403061e-01 -1.18819612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04863999999998 meters 0.029198644308470852 Centerline is valid? [True, True] Translation: X:214.10, Y:-118.25, Z:-11.89 [[ 6.98391323e-01 7.13811331e-01 5.21818299e-02 2.14102025e+02] [-7.12015028e-01 7.00335768e-01 -5.06400251e-02 -1.18247662e+02] [-7.26922257e-02 -1.78769293e-03 9.97352818e-01 -1.18853802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10863999999998 meters 0.029817526336418845 Centerline is valid? [True, True] Translation: X:214.15, Y:-118.29, Z:-11.89 [[ 6.94083229e-01 7.18160697e-01 4.99367957e-02 2.14150422e+02] [-7.16523987e-01 6.95874083e-01 -4.85039826e-02 -1.18287428e+02] [-6.95833759e-02 -2.11511110e-03 9.97573897e-01 -1.18883147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16863999999998 meters 0.02982845272160574 Centerline is valid? [True, True] Translation: X:214.20, Y:-118.33, Z:-11.89 [[ 6.93442931e-01 7.18696753e-01 5.11065460e-02 2.14198767e+02] [-7.16980597e-01 6.95320205e-01 -4.96853679e-02 -1.18326768e+02] [-7.12441266e-02 -2.18843475e-03 9.97456508e-01 -1.18910346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22863999999998 meters 0.02953286667526779 Centerline is valid? [True, True] Translation: X:214.25, Y:-118.37, Z:-11.89 [[ 6.94315844e-01 7.17884907e-01 5.06632935e-02 2.14247258e+02] [-7.16193163e-01 6.96158770e-01 -4.92982800e-02 -1.18366065e+02] [-7.06601872e-02 -2.05612753e-03 9.97498326e-01 -1.18930455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28864 meters 0.029489994645292898 Centerline is valid? [True, True] Translation: X:214.29, Y:-118.41, Z:-11.90 [[ 6.95171253e-01 7.17057212e-01 5.06545617e-02 2.14293602e+02] [-7.15360701e-01 6.97011614e-01 -4.93343417e-02 -1.18407149e+02] [-7.06823633e-02 -1.94046669e-03 9.97496987e-01 -1.18964875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34864 meters 0.029386702908163507 Centerline is valid? [True, True] Translation: X:214.34, Y:-118.45, Z:-11.90 [[ 6.94663187e-01 7.17443803e-01 5.21291289e-02 2.14340358e+02] [-7.15644613e-01 6.96613501e-01 -5.08175044e-02 -1.18447869e+02] [-7.27725586e-02 -2.00488070e-03 9.97346547e-01 -1.18990166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40863999999996 meters 0.02957180893706874 Centerline is valid? [True, True] Translation: X:214.39, Y:-118.49, Z:-11.90 [[ 6.92989010e-01 7.19070723e-01 5.19954676e-02 2.14388369e+02] [-7.17281969e-01 6.94933612e-01 -5.07331448e-02 -1.18488103e+02] [-7.26141172e-02 -2.13789961e-03 9.97357819e-01 -1.19007972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46863999999997 meters 0.029447871121228836 Centerline is valid? [True, True] Translation: X:214.44, Y:-118.53, Z:-11.90 [[ 6.93643873e-01 7.18443055e-01 5.19399152e-02 2.14435622e+02] [-7.16653036e-01 6.95582794e-01 -5.07247711e-02 -1.18528776e+02] [-7.25713709e-02 -2.03797124e-03 9.97361140e-01 -1.19035973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52863999999997 meters 0.028909366242854357 Centerline is valid? [True, True] Translation: X:214.48, Y:-118.57, Z:-11.91 [[ 6.95894605e-01 7.16175831e-01 5.31307592e-02 2.14484272e+02] [-7.14292524e-01 6.97917549e-01 -5.19353960e-02 -1.18567892e+02] [-7.42757646e-02 -1.80934216e-03 9.97236099e-01 -1.19071197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58863999999997 meters 0.028451480040104022 Centerline is valid? [True, True] Translation: X:214.54, Y:-118.61, Z:-11.91 [[ 6.97092898e-01 7.15129990e-01 5.14838716e-02 2.14535395e+02] [-7.13356420e-01 6.98989607e-01 -5.03601824e-02 -1.18605186e+02] [-7.20007680e-02 -1.62062486e-03 9.97403260e-01 -1.19097270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64863999999997 meters 0.028543715048372807 Centerline is valid? [True, True] Translation: X:214.59, Y:-118.64, Z:-11.91 [[ 6.98188995e-01 7.14075274e-01 5.12701702e-02 2.14585410e+02] [-7.12311639e-01 7.00067349e-01 -5.01780307e-02 -1.18643500e+02] [-7.17234631e-02 -1.48659013e-03 9.97423448e-01 -1.19117311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70863999999997 meters 0.028333498988610463 Centerline is valid? [True, True] Translation: X:214.64, Y:-118.68, Z:-11.92 [[ 6.98250998e-01 7.13964482e-01 5.19640464e-02 2.14636490e+02] [-7.12148754e-01 7.00180396e-01 -5.09074172e-02 -1.18680936e+02] [-7.27302943e-02 -1.45997608e-03 9.97350577e-01 -1.19154653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76863999999998 meters 0.028006335141034885 Centerline is valid? [True, True] Translation: X:214.69, Y:-118.72, Z:-11.92 [[ 6.99079357e-01 7.13100927e-01 5.26794197e-02 2.14688352e+02] [-7.11228236e-01 7.01060087e-01 -5.16638207e-02 -1.18718111e+02] [-7.37729570e-02 -1.34998021e-03 9.97274149e-01 -1.19163297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82863999999998 meters 0.027812786271871413 Centerline is valid? [True, True] Translation: X:214.74, Y:-118.76, Z:-11.92 [[ 7.00640768e-01 7.11521295e-01 5.32912973e-02 2.14736977e+02] [-7.09596177e-01 7.02663578e-01 -5.23178944e-02 -1.18757259e+02] [-7.46711496e-02 -1.15925117e-03 9.97207539e-01 -1.19199966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88863999999998 meters 0.027338434324219053 Centerline is valid? [True, True] Translation: X:214.79, Y:-118.79, Z:-11.92 [[ 7.03141507e-01 7.09107801e-01 5.25180801e-02 2.14788441e+02] [-7.07227899e-01 7.05099564e-01 -5.16072064e-02 -1.18793795e+02] [-7.36255481e-02 -8.55082612e-04 9.97285590e-01 -1.19237870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94863999999998 meters 0.027002268758915222 Centerline is valid? [True, True] Translation: X:214.84, Y:-118.83, Z:-11.93 [[ 7.06579388e-01 7.05656324e-01 5.28651245e-02 2.14839382e+02] [-7.03738102e-01 7.08554118e-01 -5.19975430e-02 -1.18830083e+02] [-7.41501967e-02 -4.62810293e-04 9.97246978e-01 -1.19262610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00863999999999 meters 0.026787814494508906 Centerline is valid? [True, True] Translation: X:214.89, Y:-118.87, Z:-11.93 [[ 7.10008531e-01 7.02205456e-01 5.28713861e-02 2.14889918e+02] [-7.00273345e-01 7.11974363e-01 -5.20552466e-02 -1.18868960e+02] [-7.41965496e-02 -6.47531917e-05 9.97243635e-01 -1.19315198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06864 meters 0.02672092529855065 Centerline is valid? [True, True] Translation: X:214.94, Y:-118.91, Z:-11.93 [[ 7.12911559e-01 6.99220932e-01 5.33591254e-02 2.14937150e+02] [-6.97240512e-01 7.14905592e-01 -5.25895761e-02 -1.18909098e+02] [-7.49184695e-02 2.87572818e-04 9.97189621e-01 -1.19341239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12864 meters 0.027032176969332876 Centerline is valid? [True, True] Translation: X:214.98, Y:-118.95, Z:-11.94 [[ 7.18827920e-01 6.93039177e-01 5.46179445e-02 2.14984716e+02] [-6.90942223e-01 7.20899239e-01 -5.38807257e-02 -1.18949608e+02] [-7.67154884e-02 9.93125996e-04 9.97052530e-01 -1.19380546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18863999999996 meters 0.02751754199525839 Centerline is valid? [True, True] Translation: X:215.03, Y:-118.99, Z:-11.94 [[ 7.24143895e-01 6.87539784e-01 5.38949406e-02 2.15030051e+02] [-6.85479111e-01 7.26144966e-01 -5.32153779e-02 -1.18992536e+02] [-7.57232292e-02 1.59173507e-03 9.97127604e-01 -1.19406829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24863999999997 meters 0.027648794083795312 Centerline is valid? [True, True] Translation: X:215.07, Y:-119.04, Z:-11.94 [[ 7.25720505e-01 6.85813955e-01 5.46714601e-02 2.15073789e+02] [-6.83684750e-01 7.27774594e-01 -5.40305744e-02 -1.19037193e+02] [-7.68434216e-02 1.83305219e-03 9.97041488e-01 -1.19434433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30863999999997 meters 0.027891204364640664 Centerline is valid? [True, True] Translation: X:215.12, Y:-119.09, Z:-11.95 [[ 7.26003716e-01 6.85520434e-01 5.45924807e-02 2.15115043e+02] [-6.83392694e-01 7.28050913e-01 -5.40027244e-02 -1.19085201e+02] [-7.67660765e-02 1.89807617e-03 9.97047324e-01 -1.19466050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36863999999997 meters 0.02819179824400679 Centerline is valid? [True, True] Translation: X:215.16, Y:-119.13, Z:-11.95 [[ 7.26263333e-01 6.85205214e-01 5.50943423e-02 2.15157591e+02] [-6.83033145e-01 7.28347352e-01 -5.45514253e-02 -1.19130131e+02] [-7.75067394e-02 1.98743803e-03 9.96989847e-01 -1.19489073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42863999999997 meters 0.02832931590827297 Centerline is valid? [True, True] Translation: X:215.20, Y:-119.18, Z:-11.95 [[ 7.26329037e-01 6.85149229e-01 5.49241689e-02 2.15199905e+02] [-6.82986522e-01 7.28399916e-01 -5.44332038e-02 -1.19176567e+02] [-7.73016276e-02 2.02394944e-03 9.97005698e-01 -1.19514936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48863999999998 meters 0.028238072624577837 Centerline is valid? [True, True] Translation: X:215.24, Y:-119.22, Z:-11.95 [[ 7.25725207e-01 6.85807327e-01 5.46921764e-02 2.15242578e+02] [-6.83660745e-01 7.27780446e-01 -5.42550354e-02 -1.19221790e+02] [-7.70123973e-02 1.98335275e-03 9.97028163e-01 -1.19546537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54863999999998 meters 0.028786433506475664 Centerline is valid? [True, True] Translation: X:215.28, Y:-119.27, Z:-11.96 [[ 7.26992262e-01 6.84466819e-01 5.46573436e-02 2.15284834e+02] [-6.82315510e-01 7.29040817e-01 -5.42681489e-02 -1.19267123e+02] [-7.69921817e-02 2.15897106e-03 9.97029359e-01 -1.19579420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60863999999998 meters 0.029881397489292583 Centerline is valid? [True, True] Translation: X:215.32, Y:-119.31, Z:-11.96 [[ 7.32086778e-01 6.79001062e-01 5.48316266e-02 2.15324021e+02] [-6.76817584e-01 7.34132050e-01 -5.44801926e-02 -1.19313789e+02] [-7.72457631e-02 2.77321963e-03 9.97008225e-01 -1.19608437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66863999999998 meters 0.030261137934301352 Centerline is valid? [True, True] Translation: X:215.36, Y:-119.36, Z:-11.96 [[ 7.34003092e-01 6.76953248e-01 5.45321910e-02 2.15363054e+02] [-6.74785381e-01 7.36019916e-01 -5.42159930e-02 -1.19362491e+02] [-7.68384712e-02 2.99718124e-03 9.97039050e-01 -1.19624664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72863999999998 meters 0.029780263471855202 Centerline is valid? [True, True] Translation: X:215.40, Y:-119.41, Z:-11.96 [[ 7.33117596e-01 6.78233348e-01 5.03797095e-02 2.15399278e+02] [-6.76384489e-01 7.34841768e-01 -5.01158472e-02 -1.19413049e+02] [-7.10113537e-02 2.66475538e-03 9.97471948e-01 -1.19649064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78864 meters 0.029201498612592604 Centerline is valid? [True, True] Translation: X:215.44, Y:-119.46, Z:-11.97 [[ 7.31208977e-01 6.80279061e-01 5.05354396e-02 2.15437600e+02] [-6.78422241e-01 7.32948981e-01 -5.02897030e-02 -1.19462870e+02] [-7.12509309e-02 2.48791607e-03 9.97455320e-01 -1.19670615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84864 meters 0.028897430175128153 Centerline is valid? [True, True] Translation: X:215.48, Y:-119.51, Z:-11.97 [[ 7.28480981e-01 6.83166426e-01 5.09813079e-02 2.15476604e+02] [-6.81281191e-01 7.30259247e-01 -5.07678200e-02 -1.19512298e+02] [-7.19124417e-02 2.25078517e-03 9.97408409e-01 -1.19699705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90863999999996 meters 0.02766793848773344 Centerline is valid? [True, True] Translation: X:215.51, Y:-119.56, Z:-11.97 [[ 7.21011255e-01 6.91116152e-01 5.00123430e-02 2.15511582e+02] [-6.89319944e-01 7.22742264e-01 -4.98160038e-02 -1.19564512e+02] [-7.05746788e-02 1.44339393e-03 9.97505454e-01 -1.19712674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96863999999997 meters 0.027195228805437295 Centerline is valid? [True, True] Translation: X:215.55, Y:-119.61, Z:-11.97 [[ 7.16603133e-01 6.95712116e-01 4.96447509e-02 2.15552914e+02] [-6.93951746e-01 7.18320021e-01 -4.94704087e-02 -1.19611262e+02] [-7.00779812e-02 9.99588293e-04 9.97541015e-01 -1.19736806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02863999999997 meters 0.02680197009944816 Centerline is valid? [True, True] Translation: X:215.59, Y:-119.66, Z:-11.98 [[ 7.10885902e-01 7.01541042e-01 4.98136634e-02 2.15592644e+02] [-6.99779615e-01 7.12628903e-01 -4.96843704e-02 -1.19659734e+02] [-7.03542813e-02 4.61332297e-04 9.97521961e-01 -1.19768031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08863999999997 meters 0.02667362819776143 Centerline is valid? [True, True] Translation: X:215.64, Y:-119.70, Z:-11.98 [[ 7.06361193e-01 7.06196730e-01 4.83740011e-02 2.15637706e+02] [-7.04544012e-01 7.08015662e-01 -4.82862054e-02 -1.19703215e+02] [-6.83491107e-02 2.58888402e-05 9.97661465e-01 -1.19786164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14863999999997 meters 0.026740505960427825 Centerline is valid? [True, True] Translation: X:215.68, Y:-119.75, Z:-11.98 [[ 7.03551629e-01 7.08856339e-01 5.03765444e-02 2.15682825e+02] [-7.07068124e-01 7.05352850e-01 -5.03192246e-02 -1.19745679e+02] [-7.12023405e-02 -2.17476343e-04 9.97461869e-01 -1.19803748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20863999999997 meters 0.02703175857897794 Centerline is valid? [True, True] Translation: X:215.73, Y:-119.79, Z:-11.98 [[ 7.01245919e-01 7.11072617e-01 5.12824925e-02 2.15730423e+02] [-7.09221711e-01 7.03118454e-01 -5.12738065e-02 -1.19785422e+02] [-7.25170666e-02 -4.15109545e-04 9.97367085e-01 -1.19821096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26863999999998 meters 0.026981144599978534 Centerline is valid? [True, True] Translation: X:215.83, Y:-119.86, Z:-10.34 [[ 7.62793601e-01 -6.46483657e-01 -1.43109478e-02 2.15833472e+02] [-6.46271822e-01 -7.62918945e-01 1.69533515e-02 -1.19856403e+02] [-2.18781578e-02 -3.68314573e-03 -9.99753860e-01 -1.03421815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32863999999998 meters 0.026734853254912986 Centerline is valid? [True, True] Translation: X:215.81, Y:-119.86, Z:-11.99 [[ 7.49576603e-01 6.59677824e-01 5.44066535e-02 2.15810698e+02] [-6.58011535e-01 7.51548212e-01 -4.68626174e-02 -1.19861001e+02] [-7.18034526e-02 -6.73084014e-04 9.97418574e-01 -1.19873731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38863999999998 meters 0.02687769076165216 Centerline is valid? [True, True] Translation: X:215.86, Y:-119.90, Z:-11.99 [[ 7.49300244e-01 6.59952978e-01 5.48745020e-02 2.15860648e+02] [-6.58254813e-01 7.51306611e-01 -4.73178430e-02 -1.19899603e+02] [-7.24551275e-02 -6.66133727e-04 9.97371451e-01 -1.19903646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44863999999998 meters 0.02661116669784252 Centerline is valid? [True, True] Translation: X:215.91, Y:-119.94, Z:-11.99 [[ 7.49124799e-01 6.60252539e-01 5.36527789e-02 2.15910534e+02] [-6.58626594e-01 7.51043388e-01 -4.63124053e-02 -1.19936612e+02] [-7.08734480e-02 -6.43375738e-04 9.97485108e-01 -1.19918024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50863999999999 meters 0.026700934796522392 Centerline is valid? [True, True] Translation: X:215.96, Y:-119.97, Z:-11.99 [[ 7.47260341e-01 6.62395358e-01 5.32388236e-02 2.15960952e+02] [-6.60796596e-01 7.49154018e-01 -4.60012642e-02 -1.19974511e+02] [-7.03551024e-02 -8.05112992e-04 9.97521685e-01 -1.19947161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56864 meters 0.026790895088456473 Centerline is valid? [True, True] Translation: X:216.01, Y:-120.01, Z:-12.00 [[ 7.46192895e-01 6.63634874e-01 5.27723127e-02 2.16011145e+02] [-6.62063657e-01 7.48056138e-01 -4.56478758e-02 -1.20012856e+02] [-6.97701748e-02 -8.76509741e-04 9.97562707e-01 -1.19969083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62864 meters 0.02683086226639983 Centerline is valid? [True, True] Translation: X:216.06, Y:-120.05, Z:-12.00 [[ 7.46093326e-01 6.63660332e-01 5.38489789e-02 2.16060708e+02] [-6.62020802e-01 7.48033571e-01 -4.66286848e-02 -1.20050829e+02] [-7.12264525e-02 -8.59793663e-04 9.97459800e-01 -1.20009785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68863999999996 meters 0.026817426611591744 Centerline is valid? [True, True] Translation: X:216.11, Y:-120.09, Z:-12.00 [[ 7.46349556e-01 6.63268240e-01 5.51142622e-02 2.16110738e+02] [-6.61546177e-01 7.48381314e-01 -4.77709599e-02 -1.20087917e+02] [-7.29314445e-02 -8.06794723e-04 9.97336630e-01 -1.20038976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74863999999997 meters 0.026654714182712636 Centerline is valid? [True, True] Translation: X:216.16, Y:-120.12, Z:-12.01 [[ 7.48655787e-01 6.60669860e-01 5.50440494e-02 2.16161671e+02] [-6.58942584e-01 7.50676401e-01 -4.77452907e-02 -1.20124737e+02] [-7.28641435e-02 -5.26079932e-04 9.97341737e-01 -1.20071984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80863999999997 meters 0.026336715791928405 Centerline is valid? [True, True] Translation: X:216.21, Y:-120.16, Z:-12.01 [[ 7.52041895e-01 6.56842714e-01 5.46867129e-02 2.16211459e+02] [-6.55125737e-01 7.54027606e-01 -4.74619648e-02 -1.20161436e+02] [-7.24103370e-02 -1.33287126e-04 9.97374917e-01 -1.20111528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86863999999997 meters 0.026445660705631386 Centerline is valid? [True, True] Translation: X:216.26, Y:-120.20, Z:-12.02 [[ 7.54389962e-01 6.53989397e-01 5.65124279e-02 2.16258400e+02] [-6.52144166e-01 7.56503692e-01 -4.90932962e-02 -1.20201283e+02] [-7.48583555e-02 1.81239681e-04 9.97194161e-01 -1.20153378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92863999999997 meters 0.026840439289344573 Centerline is valid? [True, True] Translation: X:216.30, Y:-120.24, Z:-12.02 [[ 7.58114845e-01 6.49512619e-01 5.82686873e-02 2.16304688e+02] [-6.47534541e-01 7.60350515e-01 -5.06568164e-02 -1.20241854e+02] [-7.72068679e-02 6.72696807e-04 9.97014868e-01 -1.20183388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98863999999998 meters 0.0267135604609258 Centerline is valid? [True, True] Translation: X:216.35, Y:-120.29, Z:-12.02 [[ 7.61445065e-01 6.45793012e-01 5.61497904e-02 2.16349383e+02] [-6.43943902e-01 7.63511828e-01 -4.88460763e-02 -1.20285518e+02] [-7.44154839e-02 1.03628865e-03 9.97226786e-01 -1.20214138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04863999999998 meters 0.026715579043434287 Centerline is valid? [True, True] Translation: X:216.39, Y:-120.33, Z:-12.03 [[ 7.60469034e-01 6.46944328e-01 5.61238273e-02 2.16394408e+02] [-6.45096507e-01 7.62536632e-01 -4.88710673e-02 -1.20329442e+02] [-7.44133341e-02 9.59648447e-04 9.97227023e-01 -1.20255798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10863999999998 meters 0.026494892564371392 Centerline is valid? [True, True] Translation: X:216.44, Y:-120.37, Z:-12.03 [[ 7.58409262e-01 6.49425715e-01 5.53320199e-02 2.16438339e+02] [-6.47632764e-01 7.60424676e-01 -4.82298037e-02 -1.20373909e+02] [-7.33975081e-02 7.43100752e-04 9.97302489e-01 -1.20278113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16863999999998 meters 0.026595817839573963 Centerline is valid? [True, True] Translation: X:216.48, Y:-120.41, Z:-12.03 [[ 7.57675701e-01 6.50200564e-01 5.62739673e-02 2.16484439e+02] [-6.48344642e-01 7.59762276e-01 -4.90969380e-02 -1.20414879e+02] [-7.46776942e-02 7.14631768e-04 9.97207467e-01 -1.20313988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22863999999998 meters 0.026873383125245835 Centerline is valid? [True, True] Translation: X:216.53, Y:-120.46, Z:-12.04 [[ 7.56371654e-01 6.51648155e-01 5.70666465e-02 2.16528203e+02] [-6.49739850e-01 7.58521127e-01 -4.98380095e-02 -1.20460639e+02] [-7.57631040e-02 6.17583363e-04 9.97125654e-01 -1.20352531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28864 meters 0.026869814319276743 Centerline is valid? [True, True] Translation: X:216.57, Y:-120.50, Z:-12.04 [[ 7.57267905e-01 6.50719196e-01 5.57660101e-02 2.16574904e+02] [-6.48890872e-01 7.59318110e-01 -4.87508286e-02 -1.20501959e+02] [-7.40672415e-02 7.31382861e-04 9.97252981e-01 -1.20382315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34864 meters 0.026865626825999675 Centerline is valid? [True, True] Translation: X:216.62, Y:-120.55, Z:-12.04 [[ 7.58449683e-01 6.49416238e-01 5.48874145e-02 2.16619876e+02] [-6.47638340e-01 7.60432623e-01 -4.80292216e-02 -1.20545799e+02] [-7.29291370e-02 8.80553900e-04 9.97336736e-01 -1.20423908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40863999999996 meters 0.026483642220508065 Centerline is valid? [True, True] Translation: X:216.66, Y:-120.59, Z:-12.05 [[ 7.56553646e-01 6.51750981e-01 5.33595287e-02 2.16663960e+02] [-6.50073940e-01 7.58432736e-01 -4.67296270e-02 -1.20590419e+02] [-7.09256936e-02 6.65830691e-04 9.97481380e-01 -1.20457072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46863999999997 meters 0.026534126581539384 Centerline is valid? [True, True] Translation: X:216.71, Y:-120.63, Z:-12.05 [[ 7.54584246e-01 6.53868937e-01 5.52994499e-02 2.16708355e+02] [-6.52071232e-01 7.56607665e-01 -4.84556547e-02 -1.20633770e+02] [-7.35236350e-02 5.04693261e-04 9.97293347e-01 -1.20499083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52863999999997 meters 0.026452455527225277 Centerline is valid? [True, True] Translation: X:216.75, Y:-120.68, Z:-12.05 [[ 7.52135641e-01 6.56630856e-01 5.59275948e-02 2.16753093e+02] [-6.54795978e-01 7.54212068e-01 -4.90549038e-02 -1.20677713e+02] [-7.43922304e-02 2.74777403e-04 9.97229021e-01 -1.20520393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58863999999997 meters 0.0263501315277066 Centerline is valid? [True, True] Translation: X:216.80, Y:-120.72, Z:-12.06 [[ 7.52410001e-01 6.56405823e-01 5.48688110e-02 2.16798882e+02] [-6.54635660e-01 7.54407905e-01 -4.81753532e-02 -1.20720229e+02] [-7.30160471e-02 3.28537219e-04 9.97330712e-01 -1.20559778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64863999999997 meters 0.026527601373026965 Centerline is valid? [True, True] Translation: X:216.85, Y:-120.76, Z:-12.06 [[ 7.54233819e-01 6.54313390e-01 5.48209300e-02 2.16845567e+02] [-6.52537288e-01 7.56223291e-01 -4.81811283e-02 -1.20762918e+02] [-7.29824214e-02 5.67135405e-04 9.97333066e-01 -1.20583824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70863999999997 meters 0.02684327958812839 Centerline is valid? [True, True] Translation: X:216.89, Y:-120.80, Z:-12.06 [[ 7.57756367e-01 6.50103841e-01 5.63052740e-02 2.16891361e+02] [-6.48214687e-01 7.59844667e-01 -4.95358589e-02 -1.20804175e+02] [-7.49867143e-02 1.03820692e-03 9.97183992e-01 -1.20606057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76863999999998 meters 0.02686829096538859 Centerline is valid? [True, True] Translation: X:216.94, Y:-120.85, Z:-12.06 [[ 7.58188502e-01 6.49637515e-01 5.58685584e-02 2.16937487e+02] [-6.47772903e-01 7.60243294e-01 -4.91975638e-02 -1.20846475e+02] [-7.44342799e-02 1.11088893e-03 9.97225302e-01 -1.20632481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82863999999998 meters 0.026925339459201125 Centerline is valid? [True, True] Translation: X:216.98, Y:-120.89, Z:-12.07 [[ 7.57571270e-01 6.50285595e-01 5.66958141e-02 2.16982226e+02] [-6.48363222e-01 7.59689036e-01 -4.99770050e-02 -1.20888981e+02] [-7.55705148e-02 1.10166245e-03 9.97139852e-01 -1.20666558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88863999999998 meters 0.02648972453809403 Centerline is valid? [True, True] Translation: X:217.03, Y:-120.93, Z:-12.07 [[ 7.53989802e-01 6.54510944e-01 5.58104199e-02 2.17027898e+02] [-6.52656348e-01 7.56052201e-01 -4.92418661e-02 -1.20931014e+02] [-7.44249310e-02 7.02840025e-04 9.97226371e-01 -1.20697881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94863999999998 meters 0.026620411318959234 Centerline is valid? [True, True] Translation: X:217.07, Y:-120.97, Z:-12.07 [[ 7.52207538e-01 6.56455050e-01 5.70139210e-02 2.17074364e+02] [-6.54521431e-01 7.54364936e-01 -5.03511686e-02 -1.20972054e+02] [-7.60625818e-02 5.57695475e-04 9.97102890e-01 -1.20717236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00863999999999 meters 0.02661124709704055 Centerline is valid? [True, True] Translation: X:217.12, Y:-121.01, Z:-12.08 [[ 7.51178776e-01 6.57709516e-01 5.61127362e-02 2.17121663e+02] [-6.55836657e-01 7.53271519e-01 -4.96013936e-02 -1.21012654e+02] [-7.48914346e-02 4.58724818e-04 9.97191588e-01 -1.20770438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06864 meters 0.026500314338815084 Centerline is valid? [True, True] Translation: X:217.17, Y:-121.05, Z:-12.08 [[ 7.51819219e-01 6.57136770e-01 5.42137218e-02 2.17169141e+02] [-6.55383998e-01 7.53771174e-01 -4.79669899e-02 -1.21053312e+02] [-7.23856135e-02 5.31699195e-04 9.97376579e-01 -1.20785710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12864 meters 0.02653651376939743 Centerline is valid? [True, True] Translation: X:217.22, Y:-121.09, Z:-12.08 [[ 7.52471839e-01 6.56273360e-01 5.56004346e-02 2.17216494e+02] [-6.54423797e-01 7.54522917e-01 -4.92408465e-02 -1.21093662e+02] [-7.42672579e-02 6.66102728e-04 9.97238151e-01 -1.20813263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18863999999996 meters 0.026648905844444376 Centerline is valid? [True, True] Translation: X:217.26, Y:-121.14, Z:-12.08 [[ 7.54336671e-01 6.54171401e-01 5.50995886e-02 2.17262496e+02] [-6.52345911e-01 7.56345797e-01 -4.88451377e-02 -1.21136805e+02] [-7.36274344e-02 9.01687235e-04 9.97285409e-01 -1.20844064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24863999999997 meters 0.026668451098881208 Centerline is valid? [True, True] Translation: X:217.31, Y:-121.18, Z:-12.09 [[ 7.51532235e-01 6.57282747e-01 5.63798803e-02 2.17308905e+02] [-6.55375923e-01 7.53643792e-01 -5.00343315e-02 -1.21179318e+02] [-7.53770496e-02 6.52396859e-04 9.97154890e-01 -1.20867596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30863999999997 meters 0.026665701024864943 Centerline is valid? [True, True] Translation: X:217.35, Y:-121.22, Z:-12.09 [[ 7.48580985e-01 6.60407190e-01 5.90665099e-02 2.17354634e+02] [-6.58319320e-01 7.50907575e-01 -5.24736724e-02 -1.21221208e+02] [-7.90074803e-02 3.96168684e-04 9.96873944e-01 -1.20914167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36863999999997 meters 0.026499496187257807 Centerline is valid? [True, True] Translation: X:217.40, Y:-121.26, Z:-12.09 [[ 7.48118881e-01 6.61140186e-01 5.66726921e-02 2.17400436e+02] [-6.59216938e-01 7.50262313e-01 -5.03933646e-02 -1.21262580e+02] [-7.58364635e-02 3.40628981e-04 9.97120211e-01 -1.20946426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42863999999997 meters 0.026558310968135525 Centerline is valid? [True, True] Translation: X:217.45, Y:-121.30, Z:-12.10 [[ 7.47604823e-01 6.61592928e-01 5.81534667e-02 2.17446244e+02] [-6.59565204e-01 7.49863109e-01 -5.17596336e-02 -1.21303962e+02] [-7.78509469e-02 3.39748610e-04 9.96964952e-01 -1.20983803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48863999999998 meters 0.026762850632777363 Centerline is valid? [True, True] Translation: X:217.49, Y:-121.35, Z:-12.10 [[ 7.46884413e-01 6.62389183e-01 5.83458990e-02 2.17493258e+02] [-6.60346329e-01 7.49159851e-01 -5.19831081e-02 -1.21345640e+02] [-7.81434535e-02 2.96873002e-04 9.96942081e-01 -1.21014691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54863999999998 meters 0.026628748182839425 Centerline is valid? [True, True] Translation: X:217.54, Y:-121.39, Z:-12.11 [[ 7.47153052e-01 6.62175217e-01 5.73262394e-02 2.17538667e+02] [-6.60198626e-01 7.49348955e-01 -5.11264885e-02 -1.21388083e+02] [-7.68120513e-02 3.52607531e-04 9.97045528e-01 -1.21062573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60863999999998 meters 0.026632063045019867 Centerline is valid? [True, True] Translation: X:217.59, Y:-121.43, Z:-12.11 [[ 7.43776289e-01 6.65739745e-01 5.98951037e-02 2.17586855e+02] [-6.63589192e-01 7.46184020e-01 -5.34676810e-02 -1.21426634e+02] [-8.02883295e-02 2.22499079e-05 9.96771681e-01 -1.21100262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66863999999998 meters 0.026698994748733385 Centerline is valid? [True, True] Translation: X:217.64, Y:-121.47, Z:-12.11 [[ 7.39696449e-01 6.70283937e-01 5.97378201e-02 2.17636609e+02] [-6.68155270e-01 7.42104615e-01 -5.33786101e-02 -1.21466034e+02] [-8.01105368e-02 -4.30170970e-04 9.96785893e-01 -1.21134102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72863999999998 meters 0.02752985938716096 Centerline is valid? [True, True] Translation: X:217.69, Y:-121.50, Z:-12.12 [[ 7.35361144e-01 6.74872272e-01 6.15743831e-02 2.17689613e+02] [-6.72621827e-01 7.37933993e-01 -5.50754024e-02 -1.21499284e+02] [-8.26066923e-02 -9.15963087e-04 9.96581806e-01 -1.21158670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78864 meters 0.02735471169500243 Centerline is valid? [True, True] Translation: X:217.74, Y:-121.54, Z:-12.12 [[ 7.33938568e-01 6.76569465e-01 5.98993945e-02 2.17740014e+02] [-6.74441769e-01 7.36378078e-01 -5.36248640e-02 -1.21535684e+02] [-8.03895466e-02 -1.04129775e-03 9.96762979e-01 -1.21186805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84864 meters 0.027187924494579612 Centerline is valid? [True, True] Translation: X:217.80, Y:-121.57, Z:-12.12 [[ 7.35866744e-01 6.74539139e-01 5.91361520e-02 2.17795731e+02] [-6.72454881e-01 7.38238684e-01 -5.29913098e-02 -1.21566087e+02] [-7.94013075e-02 -7.71851443e-04 9.96842433e-01 -1.21226067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90863999999996 meters 0.02714310863240882 Centerline is valid? [True, True] Translation: X:217.85, Y:-121.60, Z:-12.13 [[ 7.42036003e-01 6.67545251e-01 6.13669945e-02 2.17850311e+02] [-6.65271992e-01 7.44569229e-01 -5.50439717e-02 -1.21598789e+02] [-8.24363177e-02 1.88660635e-05 9.96596334e-01 -1.21266103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96863999999997 meters 0.027538543472615896 Centerline is valid? [True, True] Translation: X:217.90, Y:-121.64, Z:-12.13 [[ 7.47232681e-01 6.61617144e-01 6.24986112e-02 2.17900040e+02] [-6.59233913e-01 7.49841468e-01 -5.61107879e-02 -1.21635608e+02] [-8.39879096e-02 7.26610446e-04 9.96466509e-01 -1.21300008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02863999999997 meters 0.027495954040636882 Centerline is valid? [True, True] Translation: X:217.95, Y:-121.67, Z:-12.13 [[ 7.47936669e-01 6.60900899e-01 6.16501600e-02 2.17948900e+02] [-6.58575578e-01 7.50472724e-01 -5.53976489e-02 -1.21674756e+02] [-8.28791194e-02 8.32643206e-04 9.96559260e-01 -1.21327884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08863999999997 meters 0.027254994690287897 Centerline is valid? [True, True] Translation: X:218.00, Y:-121.72, Z:-12.14 [[ 7.46460666e-01 6.62755314e-01 5.95975505e-02 2.17995365e+02] [-6.60584537e-01 7.48835751e-01 -5.36011901e-02 -1.21716310e+02] [-8.01532501e-02 6.41959765e-04 9.96782346e-01 -1.21350884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14863999999997 meters 0.02743034778671625 Centerline is valid? [True, True] Translation: X:218.04, Y:-121.76, Z:-12.14 [[ 7.45431815e-01 6.63857856e-01 6.02009614e-02 2.18040342e+02] [-6.61642102e-01 7.47858558e-01 -5.41969173e-02 -1.21759984e+02] [-8.10008536e-02 5.68615790e-04 9.96713870e-01 -1.21392660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20863999999997 meters 0.02807309243827993 Centerline is valid? [True, True] Translation: X:218.09, Y:-121.80, Z:-12.14 [[ 7.48749394e-01 6.59911411e-01 6.23800741e-02 2.18085216e+02] [-6.57514881e-01 7.51342664e-01 -5.61994957e-02 -1.21803474e+02] [-8.39554996e-02 1.06351131e-03 9.96468937e-01 -1.21412181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26863999999998 meters 0.02845628344077513 Centerline is valid? [True, True] Translation: X:218.13, Y:-121.85, Z:-12.15 [[ 7.50686552e-01 6.57646660e-01 6.30124696e-02 2.18128400e+02] [-6.55190550e-01 7.53325320e-01 -5.68005787e-02 -1.21848534e+02] [-8.48235997e-02 1.35425600e-03 9.96395064e-01 -1.21457100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32863999999998 meters 0.027737152345088823 Centerline is valid? [True, True] Translation: X:218.17, Y:-121.89, Z:-12.15 [[ 7.47871791e-01 6.61138908e-01 5.98592480e-02 2.18170509e+02] [-6.58931442e-01 7.50262935e-01 -5.39896570e-02 -1.21893969e+02] [-8.06048380e-02 9.34200840e-04 9.96745698e-01 -1.21480792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38863999999998 meters 0.02773024150659825 Centerline is valid? [True, True] Translation: X:218.21, Y:-121.94, Z:-12.15 [[ 7.40946974e-01 6.68920514e-01 5.95225048e-02 2.18212600e+02] [-6.66760542e-01 7.43333932e-01 -5.37126271e-02 -1.21940511e+02] [-8.01745756e-02 1.10950983e-04 9.96780831e-01 -1.21506649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44863999999998 meters 0.027903821979786598 Centerline is valid? [True, True] Translation: X:218.26, Y:-121.98, Z:-12.15 [[ 7.34195157e-01 6.76306578e-01 5.97233909e-02 2.18256592e+02] [-6.74152245e-01 7.36619969e-01 -5.39423078e-02 -1.21983790e+02] [-8.04749800e-02 -6.58476887e-04 9.96756412e-01 -1.21522036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50863999999999 meters 0.028801392792385954 Centerline is valid? [True, True] Translation: X:218.30, Y:-122.02, Z:-12.16 [[ 7.24964295e-01 6.86038203e-01 6.14683282e-02 2.18302871e+02] [-6.83787600e-01 7.27563395e-01 -5.55519970e-02 -1.22023043e+02] [-8.28328977e-02 -1.75806633e-03 9.96561900e-01 -1.21583672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56864 meters 0.029439630635858763 Centerline is valid? [True, True] Translation: X:218.35, Y:-122.06, Z:-12.16 [[ 7.21124916e-01 6.90101598e-01 6.11444163e-02 2.18352113e+02] [-6.87886852e-01 7.23709184e-01 -5.52874003e-02 -1.22060562e+02] [-8.24046989e-02 -2.19131814e-03 9.96596540e-01 -1.21620952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62863999999996 meters 0.029366302740226915 Centerline is valid? [True, True] Translation: X:218.40, Y:-122.10, Z:-12.16 [[ 7.19748130e-01 6.91764567e-01 5.85184781e-02 2.18404197e+02] [-6.89738114e-01 7.22119616e-01 -5.29584138e-02 -1.22096197e+02] [-7.88920952e-02 -2.24570539e-03 9.96880632e-01 -1.21639249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68863999999996 meters 0.02930571147265073 Centerline is valid? [True, True] Translation: X:218.45, Y:-122.14, Z:-12.17 [[ 7.20103249e-01 6.91491019e-01 5.73714381e-02 2.18452356e+02] [-6.89538840e-01 7.22381893e-01 -5.19671855e-02 -1.22135614e+02] [-7.73789301e-02 -2.13809577e-03 9.96999463e-01 -1.21673412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74863999999997 meters 0.02901965770378842 Centerline is valid? [True, True] Translation: X:218.51, Y:-122.17, Z:-12.17 [[ 7.22359914e-01 6.89028996e-01 5.86105604e-02 2.18505480e+02] [-6.86979420e-01 7.24731339e-01 -5.31390907e-02 -1.22169131e+02] [-7.90912843e-02 -1.87869983e-03 9.96865607e-01 -1.21703989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80863999999997 meters 0.028020834333900048 Centerline is valid? [True, True] Translation: X:218.56, Y:-122.20, Z:-12.17 [[ 7.27817943e-01 6.83249637e-01 5.87450026e-02 2.18557472e+02] [-6.81167775e-01 7.30183852e-01 -5.33104533e-02 -1.22204661e+02] [-7.93190002e-02 -1.21489825e-03 9.96848544e-01 -1.21738547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86863999999997 meters 0.027695265857590773 Centerline is valid? [True, True] Translation: X:218.61, Y:-122.24, Z:-12.18 [[ 7.35192094e-01 6.75197052e-01 6.00127149e-02 2.18607786e+02] [-6.72993765e-01 7.37637336e-01 -5.45027805e-02 -1.22242179e+02] [-8.10677359e-02 -3.18169670e-04 9.96708544e-01 -1.21802795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92863999999997 meters 0.027728243536175184 Centerline is valid? [True, True] Translation: X:218.66, Y:-122.28, Z:-12.18 [[ 7.40463533e-01 6.69454976e-01 5.95297537e-02 2.18655248e+02] [-6.67265150e-01 7.42852556e-01 -5.41045271e-02 -1.22284097e+02] [-8.04423746e-02 3.40299258e-04 9.96759203e-01 -1.21828770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98863999999998 meters 0.0278969528455049 Centerline is valid? [True, True] Translation: X:218.70, Y:-122.33, Z:-12.19 [[ 7.45177328e-01 6.64248740e-01 5.90284756e-02 2.18699240e+02] [-6.62075102e-01 7.47511027e-01 -5.37012419e-02 -1.22327335e+02] [-7.97954187e-02 9.35663922e-04 9.96810822e-01 -1.21864428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04863999999998 meters 0.027649700013630422 Centerline is valid? [True, True] Translation: X:218.74, Y:-122.37, Z:-12.19 [[ 7.46711802e-01 6.62557965e-01 5.86381093e-02 2.18742561e+02] [-6.60403877e-01 7.49009766e-01 -5.33955989e-02 -1.22373506e+02] [-7.92981959e-02 1.14628920e-03 9.96850281e-01 -1.21906349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10863999999998 meters 0.02786533481893835 Centerline is valid? [True, True] Translation: X:218.79, Y:-122.42, Z:-12.19 [[ 7.47823752e-01 6.61377287e-01 5.77903034e-02 2.18785487e+02] [-6.59277352e-01 7.50052271e-01 -5.26779234e-02 -1.22419989e+02] [-7.81857304e-02 1.29396413e-03 9.96937971e-01 -1.21944438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16863999999998 meters 0.027893078254967438 Centerline is valid? [True, True] Translation: X:218.83, Y:-122.47, Z:-12.20 [[ 7.47883057e-01 6.61352122e-01 5.73088389e-02 2.18826068e+02] [-6.59282821e-01 7.50074404e-01 -5.22929253e-02 -1.22468782e+02] [-7.75699303e-02 1.32625983e-03 9.96986031e-01 -1.21982160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22863999999998 meters 0.028180566782263296 Centerline is valid? [True, True] Translation: X:218.87, Y:-122.52, Z:-12.20 [[ 7.46833999e-01 6.62464335e-01 5.81376223e-02 2.18865528e+02] [-6.60333628e-01 7.49092379e-01 -5.31046824e-02 -1.22519223e+02] [-7.87304079e-02 1.27015528e-03 9.96895135e-01 -1.22005889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28864 meters 0.02781520251069913 Centerline is valid? [True, True] Translation: X:218.90, Y:-122.57, Z:-12.20 [[ 7.43046891e-01 6.66756118e-01 5.75985816e-02 2.18903840e+02] [-6.64673535e-01 7.45275493e-01 -5.26643269e-02 -1.22569447e+02] [-7.80410735e-02 8.47811506e-04 9.96949784e-01 -1.22042461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34864 meters 0.027629565546149926 Centerline is valid? [True, True] Translation: X:218.94, Y:-122.62, Z:-12.21 [[ 7.36716136e-01 6.73734537e-01 5.77157679e-02 2.18940683e+02] [-6.71660816e-01 7.38973445e-01 -5.28204087e-02 -1.22620709e+02] [-7.82373534e-02 1.48227569e-04 9.96934749e-01 -1.22069805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40863999999996 meters 0.027955572861914784 Centerline is valid? [True, True] Translation: X:218.98, Y:-122.67, Z:-12.21 [[ 7.30243746e-01 6.80716851e-01 5.80399917e-02 2.18979064e+02] [-6.78637589e-01 7.32546416e-01 -5.31673885e-02 -1.22671000e+02] [-7.87089252e-02 -5.62967082e-04 9.96897481e-01 -1.22098635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46863999999997 meters 0.02853863306654062 Centerline is valid? [True, True] Translation: X:219.02, Y:-122.72, Z:-12.21 [[ 7.25402884e-01 6.85806582e-01 5.88216618e-02 2.19021643e+02] [-6.83683424e-01 7.27783031e-01 -5.39336252e-02 -1.22715672e+02] [-7.97974425e-02 -1.09178785e-03 9.96810502e-01 -1.22122170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52863999999997 meters 0.02938715092061269 Centerline is valid? [True, True] Translation: X:219.06, Y:-122.76, Z:-12.22 [[ 7.18246468e-01 6.93302795e-01 5.87643330e-02 2.19063521e+02] [-6.91204791e-01 7.20643937e-01 -5.39282172e-02 -1.22760925e+02] [-7.97367440e-02 -1.88443701e-03 9.96814176e-01 -1.22159608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58863999999997 meters 0.029929363715398526 Centerline is valid? [True, True] Translation: X:219.11, Y:-122.80, Z:-12.22 [[ 7.12878120e-01 6.98924787e-01 5.75232820e-02 2.19110097e+02] [-6.96929191e-01 7.15191065e-01 -5.28341145e-02 -1.22801480e+02] [-7.80672095e-02 -2.42537012e-03 9.96945148e-01 -1.22176686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64863999999997 meters 0.030679187069922766 Centerline is valid? [True, True] Translation: X:219.16, Y:-122.84, Z:-12.22 [[ 7.10042783e-01 7.01868484e-01 5.67439759e-02 2.19158462e+02] [-6.99932517e-01 7.12301521e-01 -5.21633483e-02 -1.22840174e+02] [-7.70306305e-02 -2.67874493e-03 9.97025128e-01 -1.22213198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70863999999997 meters 0.030682050691407496 Centerline is valid? [True, True] Translation: X:219.21, Y:-122.88, Z:-12.22 [[ 7.08558800e-01 7.03353809e-01 5.69020774e-02 2.19208076e+02] [-7.01408140e-01 7.10834368e-01 -5.23557336e-02 -1.22877996e+02] [-7.72725569e-02 -2.81446450e-03 9.97006033e-01 -1.22232286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76863999999998 meters 0.031086822978458193 Centerline is valid? [True, True] Translation: X:219.26, Y:-122.91, Z:-12.23 [[ 7.07675917e-01 7.04276658e-01 5.64728667e-02 2.19260047e+02] [-7.02359442e-01 7.09919868e-01 -5.20095717e-02 -1.22914771e+02] [-7.67203374e-02 -2.85832978e-03 9.97048554e-01 -1.22257692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82863999999998 meters 0.030215457336503652 Centerline is valid? [True, True] Translation: X:219.31, Y:-122.95, Z:-12.23 [[ 7.09112775e-01 7.02980642e-01 5.45645409e-02 2.19312278e+02] [-7.01184360e-01 7.11204234e-01 -5.02894799e-02 -1.22950359e+02] [-7.41590634e-02 -2.59889004e-03 9.97243039e-01 -1.22293617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88863999999998 meters 0.02948025195308011 Centerline is valid? [True, True] Translation: X:219.36, Y:-122.99, Z:-12.23 [[ 7.12064451e-01 6.99968331e-01 5.48502795e-02 2.19362354e+02] [-6.98142186e-01 7.14170253e-01 -5.05800040e-02 -1.22988022e+02] [-7.45768390e-02 -2.27707125e-03 9.97212670e-01 -1.22337267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94863999999998 meters 0.029175059207280755 Centerline is valid? [True, True] Translation: X:219.41, Y:-123.03, Z:-12.24 [[ 7.15843925e-01 6.96086895e-01 5.50500754e-02 2.19412358e+02] [-6.94232411e-01 7.17955173e-01 -5.08107159e-02 -1.23025248e+02] [-7.48921599e-02 -1.84500430e-03 9.97189932e-01 -1.22351831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00863999999999 meters 0.028476208540737912 Centerline is valid? [True, True] Translation: X:219.46, Y:-123.06, Z:-12.24 [[ 7.19660133e-01 6.92132518e-01 5.51531605e-02 2.19461832e+02] [-6.90255882e-01 7.21769087e-01 -5.09529451e-02 -1.23063590e+02] [-7.50740365e-02 -1.40099018e-03 9.97176978e-01 -1.22384106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06864 meters 0.02797110707637245 Centerline is valid? [True, True] Translation: X:219.51, Y:-123.10, Z:-12.24 [[ 7.24865936e-01 6.86657989e-01 5.54092142e-02 2.19509331e+02] [-6.84744144e-01 7.26980168e-01 -5.12376064e-02 -1.23104076e+02] [-7.54641116e-02 -8.00739431e-04 9.97148197e-01 -1.22411344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12863999999996 meters 0.027827181393132797 Centerline is valid? [True, True] Translation: X:219.55, Y:-123.15, Z:-12.24 [[ 7.26782631e-01 6.84692312e-01 5.46209150e-02 2.19554607e+02] [-6.82823494e-01 7.28832033e-01 -5.05563490e-02 -1.23146310e+02] [-7.44250160e-02 -5.52967594e-04 9.97226459e-01 -1.22439767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18863999999996 meters 0.027883588849042736 Centerline is valid? [True, True] Translation: X:219.60, Y:-123.19, Z:-12.25 [[ 7.27827834e-01 6.83653129e-01 5.37125982e-02 2.19602982e+02] [-6.81840564e-01 7.29806981e-01 -4.97515432e-02 -1.23186191e+02] [-7.32126273e-02 -4.12870287e-04 9.97316269e-01 -1.22468126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24863999999997 meters 0.027840226200064214 Centerline is valid? [True, True] Translation: X:219.65, Y:-123.23, Z:-12.25 [[ 7.28416736e-01 6.82993957e-01 5.41139023e-02 2.19652210e+02] [-6.81150081e-01 7.30423951e-01 -5.01539444e-02 -1.23226052e+02] [-7.37809313e-02 -3.26716484e-04 9.97274419e-01 -1.22491193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30863999999997 meters 0.027809678387986144 Centerline is valid? [True, True] Translation: X:219.70, Y:-123.27, Z:-12.25 [[ 7.29888240e-01 6.81453120e-01 5.37103512e-02 2.19699435e+02] [-6.79628752e-01 7.31861755e-01 -4.98310349e-02 -1.23266093e+02] [-7.32660661e-02 -1.32012577e-04 9.97312422e-01 -1.22540824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36863999999997 meters 0.027669042213300722 Centerline is valid? [True, True] Translation: X:219.75, Y:-123.31, Z:-12.26 [[ 7.32065325e-01 6.79132648e-01 5.34715431e-02 2.19746194e+02] [-6.77314697e-01 7.34015550e-01 -4.96585713e-02 -1.23308857e+02] [-7.29737011e-02 1.36256149e-04 9.97333856e-01 -1.22570880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42863999999997 meters 0.027575187456452037 Centerline is valid? [True, True] Translation: X:219.79, Y:-123.35, Z:-12.26 [[ 7.33320668e-01 6.77892873e-01 5.19812594e-02 2.19793449e+02] [-6.76168385e-01 7.35160642e-01 -4.83233460e-02 -1.23349058e+02] [-7.09726279e-02 2.88424099e-04 9.97478222e-01 -1.22590826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48863999999998 meters 0.027446525959250557 Centerline is valid? [True, True] Translation: X:219.84, Y:-123.39, Z:-12.26 [[ 7.29853062e-01 6.81617547e-01 5.20771320e-02 2.19838112e+02] [-6.79892728e-01 7.31708630e-01 -4.84598794e-02 -1.23393790e+02] [-7.11363910e-02 -3.82718852e-05 9.97466597e-01 -1.22613399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54863999999998 meters 0.02745911706615126 Centerline is valid? [True, True] Translation: X:219.88, Y:-123.44, Z:-12.26 [[ 7.27726468e-01 6.83856594e-01 5.24818688e-02 2.19883845e+02] [-6.82106829e-01 7.29616413e-01 -4.88892955e-02 -1.23436906e+02] [-7.17249000e-02 -2.20206803e-04 9.97424428e-01 -1.22639569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60863999999998 meters 0.02719866080724136 Centerline is valid? [True, True] Translation: X:219.93, Y:-123.48, Z:-12.27 [[ 7.21903860e-01 6.90016085e-01 5.22744635e-02 2.19930387e+02] [-6.88292536e-01 7.23793602e-01 -4.87463404e-02 -1.23478469e+02] [-7.14716812e-02 -7.89951754e-04 9.97442317e-01 -1.22667307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66863999999998 meters 0.027497563266692785 Centerline is valid? [True, True] Translation: X:219.98, Y:-123.52, Z:-12.27 [[ 7.15450062e-01 6.96682638e-01 5.25786107e-02 2.19978989e+02] [-6.94954253e-01 7.17378031e-01 -4.90647337e-02 -1.23517697e+02] [-7.19012883e-02 -1.43636234e-03 9.97410719e-01 -1.22702006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72863999999998 meters 0.027691483435730142 Centerline is valid? [True, True] Translation: X:220.03, Y:-123.56, Z:-12.27 [[ 7.13877265e-01 6.98350929e-01 5.18192115e-02 2.20029105e+02] [-6.96674685e-01 7.15753826e-01 -4.83822597e-02 -1.23556581e+02] [-7.08775949e-02 -1.56213760e-03 9.97483797e-01 -1.22726399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78864 meters 0.02784087867347951 Centerline is valid? [True, True] Translation: X:220.08, Y:-123.60, Z:-12.27 [[ 7.14671169e-01 6.97464438e-01 5.28060315e-02 2.20078709e+02] [-6.95717340e-01 7.16617900e-01 -4.93575560e-02 -1.23595497e+02] [-7.22668875e-02 -1.46364947e-03 9.97384256e-01 -1.22745807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84864 meters 0.027527219434933643 Centerline is valid? [True, True] Translation: X:220.13, Y:-123.63, Z:-12.28 [[ 7.16632768e-01 6.95464439e-01 5.25993243e-02 2.20131352e+02] [-6.93721958e-01 7.18559479e-01 -4.92150453e-02 -1.23630015e+02] [-7.20230569e-02 -1.22019202e-03 9.97402221e-01 -1.22788901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90863999999996 meters 0.027090251439948643 Centerline is valid? [True, True] Translation: X:220.18, Y:-123.67, Z:-12.28 [[ 7.19576333e-01 6.92549711e-01 5.08409165e-02 2.20183469e+02] [-6.90911553e-01 7.21369634e-01 -4.76138231e-02 -1.23665236e+02] [-6.96500328e-02 -8.64796370e-04 9.97571113e-01 -1.22813422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96863999999997 meters 0.027155025220132918 Centerline is valid? [True, True] Translation: X:220.24, Y:-123.70, Z:-12.28 [[ 7.23371788e-01 6.88433429e-01 5.28457248e-02 2.20235015e+02] [-6.86648663e-01 7.25299395e-01 -4.95419169e-02 -1.23702862e+02] [-7.24352840e-02 -4.49221224e-04 9.97373013e-01 -1.22839710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02863999999997 meters 0.027351077707109754 Centerline is valid? [True, True] Translation: X:220.28, Y:-123.74, Z:-12.29 [[ 7.25398476e-01 6.86189872e-01 5.42264828e-02 2.20282816e+02] [-6.84300225e-01 7.27422452e-01 -5.08898748e-02 -1.23743159e+02] [-7.43656777e-02 -1.91756764e-04 9.97231021e-01 -1.22876124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08863999999997 meters 0.02746997657107912 Centerline is valid? [True, True] Translation: X:220.33, Y:-123.78, Z:-12.29 [[ 7.29297095e-01 6.82114170e-01 5.33479804e-02 2.20330768e+02] [-6.80270984e-01 7.31245645e-01 -5.01118177e-02 -1.23782439e+02] [-7.31924593e-02 2.55319884e-04 9.97317802e-01 -1.22918825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14863999999997 meters 0.02723366085414734 Centerline is valid? [True, True] Translation: X:220.38, Y:-123.83, Z:-12.29 [[ 7.31142682e-01 6.80210641e-01 5.23818883e-02 2.20376757e+02] [-6.78425394e-01 7.33016548e-01 -4.92516513e-02 -1.23825062e+02] [-7.18982883e-02 4.72781168e-04 9.97411857e-01 -1.22936704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20863999999997 meters 0.027442451569553765 Centerline is valid? [True, True] Translation: X:220.42, Y:-123.87, Z:-12.30 [[ 7.30696152e-01 6.80599696e-01 5.35461299e-02 2.20420776e+02] [-6.78731377e-01 7.32655323e-01 -5.03973867e-02 -1.23869476e+02] [-7.35313031e-02 4.81738064e-04 9.97292793e-01 -1.22977072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26863999999998 meters 0.027437758936445223 Centerline is valid? [True, True] Translation: X:220.47, Y:-123.91, Z:-12.30 [[ 7.29342558e-01 6.82078360e-01 5.31840594e-02 2.20465700e+02] [-6.80235834e-01 7.31279002e-01 -5.01022098e-02 -1.23912922e+02] [-7.30660190e-02 3.63970876e-04 9.97327040e-01 -1.23006963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32863999999998 meters 0.027212989928108767 Centerline is valid? [True, True] Translation: X:220.51, Y:-123.96, Z:-12.30 [[ 7.28374544e-01 6.83270762e-01 5.11037094e-02 2.20510817e+02] [-6.81569624e-01 7.30165046e-01 -4.81856031e-02 -1.23956118e+02] [-7.02379561e-02 2.66430713e-04 9.97530229e-01 -1.23041516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38863999999998 meters 0.027090759281894 Centerline is valid? [True, True] Translation: X:220.55, Y:-124.00, Z:-12.31 [[ 7.27219284e-01 6.84398744e-01 5.24449422e-02 2.20554516e+02] [-6.82606600e-01 7.29107894e-01 -4.94965443e-02 -1.23999888e+02] [-7.21133941e-02 1.95577818e-04 9.97396421e-01 -1.23070962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44863999999998 meters 0.026950702206835996 Centerline is valid? [True, True] Translation: X:220.60, Y:-124.04, Z:-12.31 [[ 7.28245596e-01 6.83378438e-01 5.15001109e-02 2.20599814e+02] [-6.81645357e-01 7.30064250e-01 -4.86394607e-02 -1.24043072e+02] [-7.08375485e-02 3.16661530e-04 9.97487815e-01 -1.23101673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50863999999999 meters 0.027104429333748625 Centerline is valid? [True, True] Translation: X:220.64, Y:-124.09, Z:-12.31 [[ 7.29319360e-01 6.82151687e-01 5.25580434e-02 2.20644942e+02] [-6.80341432e-01 7.31210545e-01 -4.96656303e-02 -1.24085736e+02] [-7.23104890e-02 4.64691131e-04 9.97382062e-01 -1.23128369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56864 meters 0.027121911547661862 Centerline is valid? [True, True] Translation: X:220.69, Y:-124.13, Z:-12.32 [[ 7.29824560e-01 6.81650443e-01 5.20459904e-02 2.20689167e+02] [-6.79871550e-01 7.31677789e-01 -4.92167522e-02 -1.24130047e+02] [-7.16295161e-02 5.35006386e-04 9.97431164e-01 -1.23164290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62863999999996 meters 0.026879856474545553 Centerline is valid? [True, True] Translation: X:220.73, Y:-124.17, Z:-12.32 [[ 7.29531430e-01 6.81990520e-01 5.16993640e-02 2.20732919e+02] [-6.80234121e-01 7.31360829e-01 -4.89170678e-02 -1.24174850e+02] [-7.11718662e-02 5.18867033e-04 9.97463932e-01 -1.23197175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68863999999996 meters 0.02676286471795048 Centerline is valid? [True, True] Translation: X:220.78, Y:-124.22, Z:-12.32 [[ 7.29051833e-01 6.82500099e-01 5.17401166e-02 2.20778363e+02] [-6.80738527e-01 7.30885325e-01 -4.90071404e-02 -1.24218825e+02] [-7.12634701e-02 5.07254796e-04 9.97457398e-01 -1.23231332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74863999999997 meters 0.026892529106983365 Centerline is valid? [True, True] Translation: X:220.82, Y:-124.26, Z:-12.33 [[ 7.28233834e-01 6.83266767e-01 5.31225692e-02 2.20821429e+02] [-6.81407927e-01 7.30168674e-01 -5.03680877e-02 -1.24263139e+02] [-7.32032764e-02 4.81605871e-04 9.97316925e-01 -1.23261378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80863999999997 meters 0.02690186214903056 Centerline is valid? [True, True] Translation: X:220.86, Y:-124.31, Z:-12.33 [[ 7.27163646e-01 6.84391530e-01 5.33035265e-02 2.20864134e+02] [-6.82519377e-01 7.29114579e-01 -5.05888403e-02 -1.24309322e+02] [-7.34869521e-02 4.05675891e-04 9.97296096e-01 -1.23278357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86863999999997 meters 0.02661453077037569 Centerline is valid? [True, True] Translation: X:220.91, Y:-124.35, Z:-12.33 [[ 7.23980717e-01 6.87846701e-01 5.21424675e-02 2.20907363e+02] [-6.86060694e-01 7.25855983e-01 -4.95360146e-02 -1.24353403e+02] [-7.19211062e-02 9.02219599e-05 9.97410320e-01 -1.23323942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92863999999997 meters 0.026639161746442545 Centerline is valid? [True, True] Translation: X:220.95, Y:-124.40, Z:-12.33 [[ 7.20371236e-01 6.91763590e-01 5.02833809e-02 2.20952061e+02] [-6.90109307e-01 7.22123999e-01 -4.78129213e-02 -1.24396132e+02] [-6.93860741e-02 -2.57975907e-04 9.97589849e-01 -1.23345353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98863999999998 meters 0.02689283500496493 Centerline is valid? [True, True] Translation: X:221.00, Y:-124.44, Z:-12.34 [[ 7.14906163e-01 6.97349199e-01 5.11201817e-02 2.20997099e+02] [-6.95650247e-01 7.16731113e-01 -4.86543453e-02 -1.24439155e+02] [-7.05684934e-02 -7.78475699e-04 9.97506632e-01 -1.23353492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04863999999998 meters 0.027030262918605757 Centerline is valid? [True, True] Translation: X:221.04, Y:-124.48, Z:-12.34 [[ 7.12689653e-01 6.99477373e-01 5.29609584e-02 2.21044149e+02] [-6.97656100e-01 7.14654058e-01 -5.04533819e-02 -1.24479066e+02] [-7.31397629e-02 -9.90932391e-04 9.97321209e-01 -1.23379552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10863999999998 meters 0.027017655595765074 Centerline is valid? [True, True] Translation: X:221.09, Y:-124.52, Z:-12.34 [[ 7.11563720e-01 7.00659308e-01 5.24748259e-02 2.21092599e+02] [-6.98871155e-01 7.13495195e-01 -5.00371451e-02 -1.24518845e+02] [-7.24995276e-02 -1.06852512e-03 9.97367874e-01 -1.23415120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16863999999998 meters 0.027133027417938146 Centerline is valid? [True, True] Translation: X:221.14, Y:-124.56, Z:-12.35 [[ 7.10372026e-01 7.01848604e-01 5.27268627e-02 2.21140665e+02] [-7.00042710e-01 7.12325203e-01 -5.03290076e-02 -1.24557760e+02] [-7.28820169e-02 -1.15873681e-03 9.97339896e-01 -1.23453813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22863999999998 meters 0.027209425558424177 Centerline is valid? [True, True] Translation: X:221.19, Y:-124.60, Z:-12.35 [[ 7.11094666e-01 7.01103405e-01 5.28998211e-02 2.21189583e+02] [-6.99279935e-01 7.13058842e-01 -5.05436488e-02 -1.24597256e+02] [-7.31570094e-02 -1.05046444e-03 9.97319883e-01 -1.23464147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28864 meters 0.027048105647375236 Centerline is valid? [True, True] Translation: X:221.24, Y:-124.64, Z:-12.35 [[ 7.11622276e-01 7.00740409e-01 5.05629865e-02 2.21237174e+02] [-6.99070399e-01 7.13415732e-01 -4.83587716e-02 -1.24636883e+02] [-6.99593754e-02 -9.33908069e-04 9.97549404e-01 -1.23491150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34864 meters 0.02676396188426444 Centerline is valid? [True, True] Translation: X:221.28, Y:-124.68, Z:-12.35 [[ 7.11594424e-01 7.00785242e-01 5.03330888e-02 2.21284184e+02] [-6.99127225e-01 7.13371736e-01 -4.81859854e-02 -1.24678525e+02] [-6.96742304e-02 -9.00354194e-04 9.97569392e-01 -1.23521765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40863999999996 meters 0.02634919364483009 Centerline is valid? [True, True] Translation: X:221.33, Y:-124.72, Z:-12.35 [[ 7.12800401e-01 6.99612319e-01 4.95801446e-02 2.21328831e+02] [-6.97997433e-01 7.14522257e-01 -4.75134433e-02 -1.24721166e+02] [-6.86671071e-02 -7.39212279e-04 9.97639355e-01 -1.23545234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46863999999997 meters 0.026437138057882295 Centerline is valid? [True, True] Translation: X:221.37, Y:-124.77, Z:-12.36 [[ 7.12843724e-01 6.99584589e-01 4.93480180e-02 2.21374114e+02] [-6.97981577e-01 7.14549447e-01 -4.73371539e-02 -1.24765471e+02] [-6.83779423e-02 -7.00014318e-04 9.97659244e-01 -1.23571108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52863999999997 meters 0.026431936553971552 Centerline is valid? [True, True] Translation: X:221.42, Y:-124.81, Z:-12.36 [[ 7.14628373e-01 6.97677123e-01 5.05264397e-02 2.21418644e+02] [-6.95988056e-01 7.16412165e-01 -4.85204585e-02 -1.24810710e+02] [-7.00493700e-02 -4.91702235e-04 9.97543405e-01 -1.23592986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58863999999997 meters 0.02644652088399517 Centerline is valid? [True, True] Translation: X:221.46, Y:-124.85, Z:-12.36 [[ 7.17769195e-01 6.94391715e-01 5.12594147e-02 2.21464193e+02] [-6.92641006e-01 7.19597198e-01 -4.92778738e-02 -1.24854853e+02] [-7.11042785e-02 -1.34232792e-04 9.97468878e-01 -1.23628538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64863999999997 meters 0.026190499597516462 Centerline is valid? [True, True] Translation: X:221.51, Y:-124.90, Z:-12.37 [[ 7.21704154e-01 6.90413946e-01 4.97161667e-02 2.21505953e+02] [-6.88755022e-01 7.23414477e-01 -4.78331942e-02 -1.24901719e+02] [-6.89900991e-02 2.79155458e-04 9.97617306e-01 -1.23667708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70863999999997 meters 0.026520314078845968 Centerline is valid? [True, True] Translation: X:221.55, Y:-124.95, Z:-12.37 [[ 7.26354307e-01 6.85527031e-01 4.96196657e-02 2.21546883e+02] [-6.83861380e-01 7.28046778e-01 -4.77650706e-02 -1.24948906e+02] [-6.88696847e-02 7.61391634e-04 9.97625374e-01 -1.23689744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76863999999998 meters 0.027087351821558674 Centerline is valid? [True, True] Translation: X:221.59, Y:-125.00, Z:-12.37 [[ 7.28941714e-01 6.82784693e-01 4.94877840e-02 2.21587441e+02] [-6.81118639e-01 7.30618890e-01 -4.76805729e-02 -1.24995700e+02] [-6.87122751e-02 1.04930645e-03 9.97635967e-01 -1.23719027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82863999999998 meters 0.027388460393490684 Centerline is valid? [True, True] Translation: X:221.63, Y:-125.05, Z:-12.37 [[ 7.30695225e-01 6.80913926e-01 4.94035793e-02 2.21625578e+02] [-6.79246508e-01 7.32362380e-01 -4.76395379e-02 -1.25045183e+02] [-6.86197477e-02 1.25277418e-03 9.97642101e-01 -1.23710734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88863999999998 meters 0.02719907380605983 Centerline is valid? [True, True] Translation: X:221.66, Y:-125.10, Z:-12.38 [[ 7.30527419e-01 6.81041994e-01 5.01147862e-02 2.21663834e+02] [-6.79323546e-01 7.32243224e-01 -4.83671372e-02 -1.25095370e+02] [-6.96362642e-02 1.28936561e-03 9.97571616e-01 -1.23751828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94863999999998 meters 0.026879941403497233 Centerline is valid? [True, True] Translation: X:221.70, Y:-125.14, Z:-12.38 [[ 7.29230625e-01 6.82539283e-01 4.86088749e-02 2.21703384e+02] [-6.80923191e-01 7.30848016e-01 -4.69551379e-02 -1.25143900e+02] [-6.75744259e-02 1.14221431e-03 9.97713582e-01 -1.23771680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00863999999999 meters 0.026797399603545068 Centerline is valid? [True, True] Translation: X:221.74, Y:-125.19, Z:-12.38 [[ 7.26434880e-01 6.85470762e-01 4.92158572e-02 2.21744834e+02] [-6.83817729e-01 7.28099583e-01 -4.75847826e-02 -1.25190759e+02] [-6.84520223e-02 9.12570130e-04 9.97653992e-01 -1.23793787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06864 meters 0.026677192004151598 Centerline is valid? [True, True] Translation: X:221.79, Y:-125.24, Z:-12.38 [[ 7.21856897e-01 6.90176290e-01 5.07868880e-02 2.21788231e+02] [-6.88424063e-01 7.23641085e-01 -4.91516978e-02 -1.25235927e+02] [-7.06748152e-02 5.17576335e-04 9.97499274e-01 -1.23812208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12863999999996 meters 0.02639986145974868 Centerline is valid? [True, True] Translation: X:221.83, Y:-125.28, Z:-12.38 [[ 7.19653358e-01 6.92450799e-01 5.10973010e-02 2.21833166e+02] [-6.90679026e-01 7.21465022e-01 -4.95045911e-02 -1.25279988e+02] [-7.11444091e-02 3.34311136e-04 9.97465970e-01 -1.23837010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18863999999996 meters 0.026410207903736643 Centerline is valid? [True, True] Translation: X:221.88, Y:-125.32, Z:-12.39 [[ 7.18475023e-01 6.93609691e-01 5.19541888e-02 2.21877196e+02] [-6.91777186e-01 7.20350976e-01 -5.03864693e-02 -1.25324169e+02] [-7.23737940e-02 2.60697125e-04 9.97377544e-01 -1.23882339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24863999999997 meters 0.026334208621645417 Centerline is valid? [True, True] Translation: X:221.92, Y:-125.37, Z:-12.39 [[ 7.16954964e-01 6.95169210e-01 5.21090213e-02 2.21922306e+02] [-6.93326215e-01 7.18846124e-01 -5.05866501e-02 -1.25368145e+02] [-7.26246495e-02 1.39799377e-04 9.97359334e-01 -1.23908388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30863999999997 meters 0.02657100803826355 Centerline is valid? [True, True] Translation: X:221.97, Y:-125.41, Z:-12.39 [[ 7.16468902e-01 6.95640867e-01 5.24985395e-02 2.21968542e+02] [-6.93767390e-01 7.18389704e-01 -5.10200178e-02 -1.25411293e+02] [-7.32060197e-02 1.32481464e-04 9.97316831e-01 -1.23934735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36863999999997 meters 0.026827521355036684 Centerline is valid? [True, True] Translation: X:222.01, Y:-125.46, Z:-12.40 [[ 7.15223355e-01 6.96880436e-01 5.30397105e-02 2.22010904e+02] [-6.94967329e-01 7.17187323e-01 -5.16019011e-02 -1.25458019e+02] [-7.39997633e-02 4.60189486e-05 9.97258258e-01 -1.23974312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42863999999997 meters 0.026494407928258707 Centerline is valid? [True, True] Translation: X:222.06, Y:-125.50, Z:-12.40 [[ 7.15460410e-01 6.96858555e-01 5.00455440e-02 2.22055026e+02] [-6.95152170e-01 7.17208581e-01 -4.87371775e-02 -1.25502501e+02] [-6.98560126e-02 8.02525112e-05 9.97557082e-01 -1.23965990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48863999999998 meters 0.02638935421284235 Centerline is valid? [True, True] Translation: X:222.10, Y:-125.55, Z:-12.40 [[ 7.13871198e-01 6.98523859e-01 4.95210137e-02 2.22099404e+02] [-6.96853799e-01 7.15586764e-01 -4.82738646e-02 -1.25547450e+02] [-6.91570281e-02 -4.75849853e-05 9.97605785e-01 -1.24000999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54863999999998 meters 0.02668715250605757 Centerline is valid? [True, True] Translation: X:222.15, Y:-125.59, Z:-12.40 [[ 7.10016397e-01 7.02358975e-01 5.06812193e-02 2.22145308e+02] [-7.00615622e-01 7.11822813e-01 -4.94573928e-02 -1.25588891e+02] [-7.08128917e-02 -3.92494085e-04 9.97489539e-01 -1.24007474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60863999999998 meters 0.0270743693700079 Centerline is valid? [True, True] Translation: X:222.19, Y:-125.63, Z:-12.40 [[ 7.06134334e-01 7.06226988e-01 5.11638876e-02 2.22189935e+02] [-7.04456903e-01 7.07985080e-01 -4.99759783e-02 -1.25631867e+02] [-7.15176537e-02 -7.52999599e-04 9.97439050e-01 -1.24032439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66863999999998 meters 0.02716567542974462 Centerline is valid? [True, True] Translation: X:222.24, Y:-125.67, Z:-12.41 [[ 7.04275549e-01 7.08124538e-01 5.05528314e-02 2.22236432e+02] [-7.06397947e-01 7.06086984e-01 -4.94278361e-02 -1.25674944e+02] [-7.06957599e-02 -8.99599893e-04 9.97497519e-01 -1.24054358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72863999999998 meters 0.027001101141038996 Centerline is valid? [True, True] Translation: X:222.28, Y:-125.72, Z:-12.41 [[ 7.05756551e-01 7.06767172e-01 4.88656777e-02 2.22283548e+02] [-7.05147441e-01 7.07445877e-01 -4.78269438e-02 -1.25716134e+02] [-6.83723361e-02 -7.03328651e-04 9.97659626e-01 -1.24076356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78864 meters 0.02696187540695908 Centerline is valid? [True, True] Translation: X:222.33, Y:-125.76, Z:-12.41 [[ 7.07535222e-01 7.04977401e-01 4.89976885e-02 2.22328937e+02] [-7.03341457e-01 7.09229593e-01 -4.80018691e-02 -1.25758220e+02] [-6.85908435e-02 -4.99092505e-04 9.97644750e-01 -1.24111999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84864 meters 0.02708783600496977 Centerline is valid? [True, True] Translation: X:222.38, Y:-125.80, Z:-12.41 [[ 7.10082226e-01 7.02331928e-01 5.01307828e-02 2.22375200e+02] [-7.00609235e-01 7.11849575e-01 -4.91618073e-02 -1.25801240e+02] [-7.02134834e-02 -2.13163848e-04 9.97531965e-01 -1.24146791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90863999999996 meters 0.027019428175477436 Centerline is valid? [True, True] Translation: X:222.42, Y:-125.85, Z:-12.42 [[ 7.10808462e-01 7.01640918e-01 4.95111381e-02 2.22417960e+02] [-6.99955444e-01 7.12530709e-01 -4.86041723e-02 -1.25846713e+02] [-6.93808824e-02 -1.07333719e-04 9.97590237e-01 -1.24160403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96863999999997 meters 0.026891725183418144 Centerline is valid? [True, True] Translation: X:222.46, Y:-125.89, Z:-12.42 [[ 7.11592274e-01 7.01000064e-01 4.72794467e-02 2.22460996e+02] [-6.99459048e-01 7.13161209e-01 -4.64556767e-02 -1.25891165e+02] [-6.62832997e-02 -1.25361591e-05 9.97800844e-01 -1.24207108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02864 meters 0.026685708931225592 Centerline is valid? [True, True] Translation: X:222.50, Y:-125.94, Z:-12.42 [[ 7.12876806e-01 6.99707440e-01 4.70760853e-02 2.22502363e+02] [-6.98173845e-01 7.14429478e-01 -4.63012155e-02 -1.25938525e+02] [-6.60298480e-02 1.39771163e-04 9.97817638e-01 -1.24235920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08864 meters 0.026893720703558513 Centerline is valid? [True, True] Translation: X:222.54, Y:-125.98, Z:-12.43 [[ 7.13720240e-01 6.98798370e-01 4.77939025e-02 2.22544137e+02] [-6.97212230e-01 7.15318649e-01 -4.70567442e-02 -1.25984537e+02] [-6.70710459e-02 2.62857436e-04 9.97748167e-01 -1.24263835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14864 meters 0.02693390061848895 Centerline is valid? [True, True] Translation: X:222.59, Y:-126.03, Z:-12.43 [[ 7.13656962e-01 6.98838012e-01 4.81577939e-02 2.22586259e+02] [-6.97224503e-01 7.15279907e-01 -4.74620573e-02 -1.26031535e+02] [-6.76145922e-02 2.94833715e-04 9.97711471e-01 -1.24289985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20864 meters 0.02662154558575286 Centerline is valid? [True, True] Translation: X:222.63, Y:-126.08, Z:-12.43 [[ 7.12786175e-01 6.99853145e-01 4.62757277e-02 2.22628640e+02] [-6.98362545e-01 7.14286724e-01 -4.56533799e-02 -1.26077452e+02] [-6.50047995e-02 2.23863064e-04 9.97884926e-01 -1.24331079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26863999999995 meters 0.02666246847940293 Centerline is valid? [True, True] Translation: X:222.67, Y:-126.12, Z:-12.44 [[ 7.12315142e-01 7.00212266e-01 4.80616352e-02 2.22670933e+02] [-6.98601946e-01 7.13934681e-01 -4.74614889e-02 -1.26123146e+02] [-6.75459848e-02 2.31585318e-04 9.97716135e-01 -1.24368160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32863999999995 meters 0.02666613524484378 Centerline is valid? [True, True] Translation: X:222.71, Y:-126.17, Z:-12.44 [[ 7.11753068e-01 7.00829910e-01 4.73815087e-02 2.22712972e+02] [-6.99263336e-01 7.13328393e-01 -4.68336416e-02 -1.26169040e+02] [-6.66209923e-02 2.01836306e-04 9.97778333e-01 -1.24405165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38863999999995 meters 0.0266319055470413 Centerline is valid? [True, True] Translation: X:222.76, Y:-126.21, Z:-12.44 [[ 7.10036169e-01 7.02514030e-01 4.81941527e-02 2.22756279e+02] [-7.00893814e-01 7.11669889e-01 -4.76846921e-02 -1.26214975e+02] [-6.77974925e-02 7.88725774e-05 9.97699100e-01 -1.24437210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44863999999995 meters 0.026663728497210423 Centerline is valid? [True, True] Translation: X:222.80, Y:-126.26, Z:-12.44 [[ 7.08216932e-01 7.04339177e-01 4.83228833e-02 2.22801182e+02] [-7.02710964e-01 7.09863593e-01 -4.78641956e-02 -1.26258677e+02] [-6.80152837e-02 -5.87861721e-05 9.97684278e-01 -1.24446182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50863999999996 meters 0.026481776772670083 Centerline is valid? [True, True] Translation: X:222.84, Y:-126.30, Z:-12.45 [[ 7.01798260e-01 7.10628332e-01 4.98655820e-02 2.22844144e+02] [-7.08906398e-01 7.03567304e-01 -4.94445860e-02 -1.26303278e+02] [-7.02205167e-02 -6.49905705e-04 9.97531281e-01 -1.24485310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56863999999996 meters 0.02682343593534769 Centerline is valid? [True, True] Translation: X:222.89, Y:-126.34, Z:-12.45 [[ 6.94996100e-01 7.17309279e-01 4.94754493e-02 2.22889783e+02] [-7.15627721e-01 6.96753732e-01 -4.91039830e-02 -1.26344914e+02] [-6.96949466e-02 -1.27892638e-03 9.97567531e-01 -1.24532549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62863999999996 meters 0.027180093574339037 Centerline is valid? [True, True] Translation: X:222.94, Y:-126.39, Z:-12.46 [[ 6.92895599e-01 7.19437319e-01 4.80170158e-02 2.22938511e+02] [-7.17855505e-01 6.94555929e-01 -4.77025729e-02 -1.26385469e+02] [-6.76695141e-02 -1.41637634e-03 9.97706786e-01 -1.24561127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68863999999996 meters 0.02718307008382925 Centerline is valid? [True, True] Translation: X:222.99, Y:-126.43, Z:-12.46 [[ 6.92862812e-01 7.19426653e-01 4.86458118e-02 2.22985777e+02] [-7.17799480e-01 6.94567015e-01 -4.83794285e-02 -1.26426854e+02] [-6.85932266e-02 -1.39763154e-03 9.97643732e-01 -1.24585926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74863999999997 meters 0.026552547364251746 Centerline is valid? [True, True] Translation: X:223.03, Y:-126.47, Z:-12.46 [[ 6.95965887e-01 7.16450038e-01 4.82786361e-02 2.23034517e+02] [-7.14836842e-01 6.97637598e-01 -4.80632007e-02 -1.26466304e+02] [-6.81158737e-02 -1.06099966e-03 9.97676853e-01 -1.24604666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80863999999997 meters 0.026558168536074622 Centerline is valid? [True, True] Translation: X:223.08, Y:-126.51, Z:-12.46 [[ 6.95672918e-01 7.16721593e-01 4.84700850e-02 2.23079766e+02] [-7.15092952e-01 6.97358614e-01 -4.83014842e-02 -1.26509732e+02] [-6.84197480e-02 -1.05858169e-03 9.97656062e-01 -1.24646601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86863999999997 meters 0.026708214522878127 Centerline is valid? [True, True] Translation: X:223.12, Y:-126.55, Z:-12.47 [[ 6.94554024e-01 7.17691972e-01 5.01292332e-02 2.23123962e+02] [-7.15948520e-01 6.96359746e-01 -5.00082111e-02 -1.26552862e+02] [-7.07984717e-02 -1.15654608e-03 9.97489969e-01 -1.24678742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92864 meters 0.02648332340113822 Centerline is valid? [True, True] Translation: X:223.17, Y:-126.59, Z:-12.47 [[ 6.94367196e-01 7.17922955e-01 4.94047352e-02 2.23170553e+02] [-7.16226948e-01 6.96121650e-01 -4.93316068e-02 -1.26594355e+02] [-6.98079987e-02 -1.13075326e-03 9.97559805e-01 -1.24700041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98864 meters 0.026721488947347025 Centerline is valid? [True, True] Translation: X:223.22, Y:-126.64, Z:-12.47 [[ 6.94470769e-01 7.17858753e-01 4.88790556e-02 2.23217323e+02] [-7.16195373e-01 6.96187937e-01 -4.88522702e-02 -1.26635869e+02] [-6.90980386e-02 -1.08047983e-03 9.97609289e-01 -1.24733344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04864 meters 0.02646112307596565 Centerline is valid? [True, True] Translation: X:223.27, Y:-126.74, Z:-10.80 [[ 7.65438679e-01 -6.43291570e-01 -1.67207979e-02 2.23267068e+02] [-6.43022489e-01 -7.65611959e-01 1.89843917e-02 -1.26738858e+02] [-2.50141420e-02 -3.77953868e-03 -9.99679953e-01 -1.08042018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10864 meters 0.0264660406074378 Centerline is valid? [True, True] Translation: X:223.28, Y:-126.70, Z:-12.48 [[ 7.47091262e-01 6.62685712e-01 5.19835952e-02 2.23283679e+02] [-6.61167627e-01 7.48897114e-01 -4.48383938e-02 -1.26696500e+02] [-6.86441274e-02 -8.71498022e-04 9.97640829e-01 -1.24758716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16864 meters 0.026506535917339716 Centerline is valid? [True, True] Translation: X:223.33, Y:-126.73, Z:-12.48 [[ 7.47042486e-01 6.62747682e-01 5.18944471e-02 2.23333995e+02] [-6.61231593e-01 7.48842310e-01 -4.48104362e-02 -1.26734207e+02] [-6.85587704e-02 -8.38948269e-04 9.97646727e-01 -1.24789937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22864 meters 0.026278404059968258 Centerline is valid? [True, True] Translation: X:223.39, Y:-126.77, Z:-12.48 [[ 7.46287102e-01 6.63760231e-01 4.97786694e-02 2.23385567e+02] [-6.62364737e-01 7.47944927e-01 -4.30272158e-02 -1.26770025e+02] [-6.57914580e-02 -8.60979103e-04 9.97833023e-01 -1.24802503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28864 meters 0.026400448213382978 Centerline is valid? [True, True] Translation: X:223.44, Y:-126.81, Z:-12.48 [[ 7.46602712e-01 6.63397005e-01 4.98879297e-02 2.23436532e+02] [-6.61991730e-01 7.48267183e-01 -4.31644816e-02 -1.26806937e+02] [-6.59646884e-02 -7.98677888e-04 9.97821638e-01 -1.24846379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34864 meters 0.02623521680078976 Centerline is valid? [True, True] Translation: X:223.49, Y:-126.84, Z:-12.49 [[ 7.49387857e-01 6.60284219e-01 4.94225664e-02 2.23486124e+02] [-6.58895320e-01 7.51015655e-01 -4.28070366e-02 -1.26844961e+02] [-6.53819318e-02 -4.85224330e-04 9.97860194e-01 -1.24871675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40864 meters 0.02611494863529264 Centerline is valid? [True, True] Translation: X:223.54, Y:-126.88, Z:-12.49 [[ 7.53145046e-01 6.55908954e-01 5.05567506e-02 2.23536523e+02] [-6.54442584e-01 7.54840009e-01 -4.38345202e-02 -1.26882513e+02] [-6.69137124e-02 -7.27388110e-05 9.97758763e-01 -1.24903106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46864 meters 0.026105430741573094 Centerline is valid? [True, True] Translation: X:223.58, Y:-126.92, Z:-12.49 [[ 7.55346529e-01 6.53462548e-01 4.93793357e-02 2.23584431e+02] [-6.52055580e-01 7.56958828e-01 -4.28585182e-02 -1.26921676e+02] [-6.53845606e-02 1.74961561e-04 9.97860125e-01 -1.24930408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52864 meters 0.02607401642703357 Centerline is valid? [True, True] Translation: X:223.63, Y:-126.96, Z:-12.50 [[ 7.55050752e-01 6.53890297e-01 4.82269822e-02 2.23633607e+02] [-6.52546659e-01 7.56589356e-01 -4.18975454e-02 -1.26959473e+02] [-6.38844198e-02 1.64417010e-04 9.97957291e-01 -1.24965493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58864 meters 0.026105946536387856 Centerline is valid? [True, True] Translation: X:223.68, Y:-127.00, Z:-12.50 [[ 7.53812554e-01 6.55242719e-01 4.92302127e-02 2.23681494e+02] [-6.53842626e-01 7.55418409e-01 -4.28117751e-02 -1.27000344e+02] [-6.52415129e-02 8.32419790e-05 9.97869500e-01 -1.24991764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64864 meters 0.026172184955986506 Centerline is valid? [True, True] Translation: X:223.73, Y:-127.04, Z:-12.50 [[ 7.53126647e-01 6.55907891e-01 5.08438001e-02 2.23729610e+02] [-6.54412733e-01 7.54840934e-01 -4.42621675e-02 -1.27040149e+02] [-6.74108865e-02 6.21876608e-05 9.97725297e-01 -1.25019548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70864 meters 0.02633598638638014 Centerline is valid? [True, True] Translation: X:223.78, Y:-127.08, Z:-12.51 [[ 7.53904569e-01 6.54895108e-01 5.23478662e-02 2.23778428e+02] [-6.53304548e-01 7.55719764e-01 -4.56158622e-02 -1.27078303e+02] [-6.94339221e-02 1.90907893e-04 9.97586535e-01 -1.25065359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76863999999995 meters 0.026309205498748704 Centerline is valid? [True, True] Translation: X:223.83, Y:-127.12, Z:-12.51 [[ 7.54921880e-01 6.53914055e-01 4.98935260e-02 2.23827397e+02] [-6.52465037e-01 7.56568783e-01 -4.35092268e-02 -1.27117456e+02] [-6.61991792e-02 2.92285981e-04 9.97806386e-01 -1.25090000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82863999999995 meters 0.02593961077213679 Centerline is valid? [True, True] Translation: X:223.87, Y:-127.16, Z:-12.51 [[ 7.52977361e-01 6.56188885e-01 4.94089119e-02 2.23873841e+02] [-6.54771362e-01 7.54596670e-01 -4.31083387e-02 -1.27158102e+02] [-6.55710131e-02 1.08062602e-04 9.97847900e-01 -1.25120805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88863999999995 meters 0.0260902006737205 Centerline is valid? [True, True] Translation: X:223.92, Y:-127.20, Z:-12.52 [[ 7.50680481e-01 6.58661404e-01 5.14195514e-02 2.23920434e+02] [-6.57128847e-01 7.52439465e-01 -4.49057860e-02 -1.27198800e+02] [-6.82678078e-02 -7.93735749e-05 9.97667029e-01 -1.25154468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94863999999995 meters 0.026114117822692108 Centerline is valid? [True, True] Translation: X:223.97, Y:-127.24, Z:-12.52 [[ 7.48750684e-01 6.60773230e-01 5.24514166e-02 2.23967188e+02] [-6.59180575e-01 7.50585557e-01 -4.58507490e-02 -1.27240503e+02] [-6.96662232e-02 -2.44175265e-04 9.97570327e-01 -1.25172806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00863999999996 meters 0.02601715879176969 Centerline is valid? [True, True] Translation: X:224.01, Y:-127.29, Z:-12.52 [[ 7.49035554e-01 6.60569456e-01 5.09287012e-02 2.24010994e+02] [-6.59064768e-01 7.50764916e-01 -4.45608826e-02 -1.27285446e+02] [-6.76710400e-02 -1.87627220e-04 9.97707670e-01 -1.25193185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06863999999996 meters 0.025910263017023417 Centerline is valid? [True, True] Translation: X:224.05, Y:-127.33, Z:-12.52 [[ 7.47327109e-01 6.62488224e-01 5.11032865e-02 2.24054980e+02] [-6.60974638e-01 7.49072256e-01 -4.47580464e-02 -1.27330643e+02] [-6.79317327e-02 -3.29074881e-04 9.97689917e-01 -1.25219881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12863999999996 meters 0.025996731969893484 Centerline is valid? [True, True] Translation: X:224.10, Y:-127.37, Z:-12.52 [[ 7.44098702e-01 6.66026142e-01 5.22139854e-02 2.24099983e+02] [-6.64451272e-01 7.45928134e-01 -4.57790934e-02 -1.27373280e+02] [-6.94379536e-02 -6.29485075e-04 9.97586074e-01 -1.25240731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18863999999996 meters 0.026598231246851824 Centerline is valid? [True, True] Translation: X:224.14, Y:-127.42, Z:-12.53 [[ 7.37620575e-01 6.73231618e-01 5.17211407e-02 2.24144746e+02] [-6.71700960e-01 7.39430591e-01 -4.53896640e-02 -1.27416499e+02] [-6.88019506e-02 -1.26078974e-03 9.97629541e-01 -1.25268800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24863999999997 meters 0.026785106409363543 Centerline is valid? [True, True] Translation: X:224.19, Y:-127.46, Z:-12.53 [[ 7.34249849e-01 6.76827590e-01 5.27406169e-02 2.24192514e+02] [-6.75242038e-01 7.36139841e-01 -4.63284476e-02 -1.27456482e+02] [-7.01808409e-02 -1.59602594e-03 9.97533008e-01 -1.25295158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30863999999997 meters 0.026844251903600846 Centerline is valid? [True, True] Translation: X:224.24, Y:-127.50, Z:-12.53 [[ 7.34201923e-01 6.76846432e-01 5.31643092e-02 2.24241216e+02] [-6.75232004e-01 7.36122560e-01 -4.67473811e-02 -1.27496570e+02] [-7.07762454e-02 -1.57622596e-03 9.97490972e-01 -1.25324652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36863999999997 meters 0.02661868395520228 Centerline is valid? [True, True] Translation: X:224.29, Y:-127.53, Z:-12.54 [[ 7.37427136e-01 6.73302552e-01 5.35246869e-02 2.24290572e+02] [-6.71653250e-01 7.39366091e-01 -4.71136442e-02 -1.27534743e+02] [-7.12960753e-02 -1.20715017e-03 9.97454466e-01 -1.25362314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42864 meters 0.02671049581730931 Centerline is valid? [True, True] Translation: X:224.34, Y:-127.57, Z:-12.54 [[ 7.37487213e-01 6.73159450e-01 5.44882205e-02 2.24343325e+02] [-6.71446235e-01 7.39496427e-01 -4.80102988e-02 -1.27570062e+02] [-7.26124307e-02 -1.17892904e-03 9.97359536e-01 -1.25393836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48864 meters 0.026816415218764527 Centerline is valid? [True, True] Translation: X:224.40, Y:-127.60, Z:-12.54 [[ 7.35366806e-01 6.75719150e-01 5.13740287e-02 2.24396654e+02] [-6.74199505e-01 7.37157988e-01 -4.53114568e-02 -1.27603934e+02] [-6.84885947e-02 -1.31580346e-03 9.97651032e-01 -1.25424137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54864 meters 0.026942926933869057 Centerline is valid? [True, True] Translation: X:224.45, Y:-127.64, Z:-12.55 [[ 7.35010432e-01 6.75953712e-01 5.33502003e-02 2.24449147e+02] [-6.74312141e-01 7.36942834e-01 -4.70998528e-02 -1.27638565e+02] [-7.11533682e-02 -1.35580461e-03 9.97464466e-01 -1.25468713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60864 meters 0.02652272095032695 Centerline is valid? [True, True] Translation: X:224.50, Y:-127.67, Z:-12.55 [[ 7.38067963e-01 6.72713241e-01 5.20824158e-02 2.24501816e+02] [-6.71137782e-01 7.39902645e-01 -4.60234009e-02 -1.27673058e+02] [-6.94964683e-02 -9.86079260e-04 9.97581710e-01 -1.25491491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66864 meters 0.026448631009404235 Centerline is valid? [True, True] Translation: X:224.55, Y:-127.71, Z:-12.55 [[ 7.40087942e-01 6.70535182e-01 5.15015341e-02 2.24552555e+02] [-6.68986485e-01 7.41877363e-01 -4.55528462e-02 -1.27709735e+02] [-6.87526083e-02 -7.40717988e-04 9.97633465e-01 -1.25532844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72864 meters 0.02657439973319515 Centerline is valid? [True, True] Translation: X:224.60, Y:-127.75, Z:-12.56 [[ 7.42263204e-01 6.68009593e-01 5.29954659e-02 2.24604623e+02] [-6.66359817e-01 7.44152503e-01 -4.69216971e-02 -1.27746618e+02] [-7.07808524e-02 -4.85799767e-04 9.97491772e-01 -1.25554150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78864 meters 0.02661391118638381 Centerline is valid? [True, True] Translation: X:224.65, Y:-127.78, Z:-12.56 [[ 7.43346635e-01 6.66702567e-01 5.42537429e-02 2.24654090e+02] [-6.64966289e-01 7.45323807e-01 -4.80859345e-02 -1.27784831e+02] [-7.24956221e-02 -3.32392508e-04 9.97368675e-01 -1.25585199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84864 meters 0.026345654548472167 Centerline is valid? [True, True] Translation: X:224.70, Y:-127.83, Z:-12.56 [[ 7.42726029e-01 6.67448870e-01 5.35728735e-02 2.24700048e+02] [-6.65754738e-01 7.44655539e-01 -4.75263818e-02 -1.27825948e+02] [-7.16147668e-02 -3.67313588e-04 9.97432299e-01 -1.25627855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90864 meters 0.026544549693788003 Centerline is valid? [True, True] Translation: X:224.75, Y:-127.86, Z:-12.57 [[ 7.40584249e-01 6.69767231e-01 5.42846870e-02 2.24748523e+02] [-6.68030645e-01 7.42570897e-01 -4.82029021e-02 -1.27864323e+02] [-7.25949530e-02 -5.65524475e-04 9.97361345e-01 -1.25655684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96864 meters 0.026747335789800222 Centerline is valid? [True, True] Translation: X:224.80, Y:-127.90, Z:-12.57 [[ 7.38237447e-01 6.72153360e-01 5.67039003e-02 2.24796039e+02] [-6.70261672e-01 7.40411521e-01 -5.03991129e-02 -1.27904230e+02] [-7.58601541e-02 -7.99938586e-04 9.97118146e-01 -1.25686941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02864 meters 0.02657115915354325 Centerline is valid? [True, True] Translation: X:224.84, Y:-127.94, Z:-12.57 [[ 7.38601635e-01 6.71933046e-01 5.45307813e-02 2.24844354e+02] [-6.70179943e-01 7.40611552e-01 -4.85115815e-02 -1.27943209e+02] [-7.29826613e-02 -7.14702520e-04 9.97332954e-01 -1.25709754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08864 meters 0.0265319380560073 Centerline is valid? [True, True] Translation: X:224.89, Y:-127.98, Z:-12.57 [[ 7.43357186e-01 6.66806732e-01 5.28098178e-02 2.24894593e+02] [-6.65147307e-01 7.45230670e-01 -4.70139171e-02 -1.27980961e+02] [-7.07046923e-02 -1.78175019e-04 9.97497276e-01 -1.25739921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14864 meters 0.026450172048174722 Centerline is valid? [True, True] Translation: X:224.94, Y:-128.02, Z:-12.58 [[ 7.45187493e-01 6.64784088e-01 5.25139734e-02 2.24943413e+02] [-6.63136282e-01 7.47035552e-01 -4.67777199e-02 -1.28020931e+02] [-7.03268889e-02 3.42506706e-05 9.97523998e-01 -1.25781508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20864 meters 0.02663871068353357 Centerline is valid? [True, True] Translation: X:224.99, Y:-128.06, Z:-12.58 [[ 7.44092339e-01 6.65894206e-01 5.39582981e-02 2.24993246e+02] [-6.64153696e-01 7.46046181e-01 -4.81140701e-02 -1.28059097e+02] [-7.22942628e-02 -3.52921241e-05 9.97383346e-01 -1.25806584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26863999999995 meters 0.026606646455492808 Centerline is valid? [True, True] Translation: X:225.04, Y:-128.10, Z:-12.58 [[ 7.42809044e-01 6.67515061e-01 5.15593616e-02 2.25044143e+02] [-6.65927089e-01 7.44596279e-01 -4.60162178e-02 -1.28095892e+02] [-6.91074273e-02 -1.53512824e-04 9.97609212e-01 -1.25830167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32863999999995 meters 0.026845762335097886 Centerline is valid? [True, True] Translation: X:225.09, Y:-128.14, Z:-12.59 [[ 7.44494241e-01 6.65636278e-01 5.15428923e-02 2.25093872e+02] [-6.64041711e-01 7.46276317e-01 -4.60463264e-02 -1.28135255e+02] [-6.91153452e-02 5.45944700e-05 9.97608674e-01 -1.25861551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38863999999995 meters 0.02700967760135474 Centerline is valid? [True, True] Translation: X:225.15, Y:-128.17, Z:-12.59 [[ 7.46459454e-01 6.63278422e-01 5.34791364e-02 2.25145233e+02] [-6.61552015e-01 7.48372656e-01 -4.78257234e-02 -1.28171075e+02] [-7.17440937e-02 3.20732991e-04 9.97423021e-01 -1.25886067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44863999999995 meters 0.0272007448572529 Centerline is valid? [True, True] Translation: X:225.19, Y:-128.21, Z:-12.59 [[ 7.48017574e-01 6.61546262e-01 5.31625138e-02 2.25194024e+02] [-6.59832633e-01 7.49904177e-01 -4.75880355e-02 -1.28211752e+02] [-7.13484782e-02 5.18325322e-04 9.97451315e-01 -1.25915792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50863999999996 meters 0.027027908855641842 Centerline is valid? [True, True] Translation: X:225.24, Y:-128.25, Z:-12.59 [[ 7.47228579e-01 6.62621956e-01 5.08093966e-02 2.25240940e+02] [-6.61056317e-01 7.48953909e-01 -4.55256852e-02 -1.28252532e+02] [-6.82202148e-02 4.30220470e-04 9.97670195e-01 -1.25939786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56863999999996 meters 0.02678156181699228 Centerline is valid? [True, True] Translation: X:225.29, Y:-128.30, Z:-12.60 [[ 7.45137155e-01 6.64935499e-01 5.12971965e-02 2.25287068e+02] [-6.63342028e-01 7.46900742e-01 -4.60069087e-02 -1.28296154e+02] [-6.89055409e-02 2.53870754e-04 9.97623156e-01 -1.25968509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62863999999996 meters 0.02655119274616849 Centerline is valid? [True, True] Translation: X:225.33, Y:-128.34, Z:-12.60 [[ 7.43951710e-01 6.66329259e-01 5.04100415e-02 2.25332836e+02] [-6.64790634e-01 7.45657626e-01 -4.52561378e-02 -1.28337809e+02] [-6.77441206e-02 1.56257616e-04 9.97702716e-01 -1.25998808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68863999999996 meters 0.026584292273720108 Centerline is valid? [True, True] Translation: X:225.38, Y:-128.38, Z:-12.60 [[ 7.42316343e-01 6.68120298e-01 5.08105680e-02 2.25378441e+02] [-6.66558263e-01 7.44053269e-01 -4.56597721e-02 -1.28381108e+02] [-6.83119898e-02 2.57910472e-05 9.97664007e-01 -1.26038956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74863999999997 meters 0.026540275230641418 Centerline is valid? [True, True] Translation: X:225.42, Y:-128.43, Z:-12.61 [[ 7.42865864e-01 6.67520972e-01 5.06562864e-02 2.25424160e+02] [-6.65963754e-01 7.44590987e-01 -4.55690645e-02 -1.28425027e+02] [-6.81365205e-02 1.16451831e-04 9.97676000e-01 -1.26065471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80863999999997 meters 0.026450460824022803 Centerline is valid? [True, True] Translation: X:225.47, Y:-128.47, Z:-12.61 [[ 7.44813630e-01 6.65399192e-01 4.99657099e-02 2.25470308e+02] [-6.63876235e-01 7.46487641e-01 -4.49949543e-02 -1.28468471e+02] [-6.72383912e-02 3.41807902e-04 9.97736880e-01 -1.26109092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86863999999997 meters 0.02653514669094674 Centerline is valid? [True, True] Translation: X:225.51, Y:-128.51, Z:-12.61 [[ 7.45569913e-01 6.64480628e-01 5.09018622e-02 2.25514407e+02] [-6.62894617e-01 7.47305343e-01 -4.58851971e-02 -1.28512908e+02] [-6.85290582e-02 4.68052002e-04 9.97649011e-01 -1.26146596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92864 meters 0.02629371427382024 Centerline is valid? [True, True] Translation: X:225.56, Y:-128.56, Z:-12.62 [[ 7.44664051e-01 6.65571909e-01 4.98947297e-02 2.25557550e+02] [-6.64047808e-01 7.46333625e-01 -4.50180944e-02 -1.28557945e+02] [-6.72008935e-02 3.90870694e-04 9.97739388e-01 -1.26172185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98864 meters 0.02639798158643587 Centerline is valid? [True, True] Translation: X:225.60, Y:-128.60, Z:-12.62 [[ 7.42819105e-01 6.67521628e-01 5.13288663e-02 2.25599062e+02] [-6.65910182e-01 7.44590365e-01 -4.63553456e-02 -1.28604787e+02] [-6.91621751e-02 2.53221626e-04 9.97605398e-01 -1.26208090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04864 meters 0.02599636439562627 Centerline is valid? [True, True] Translation: X:225.64, Y:-128.65, Z:-12.62 [[ 7.41774318e-01 6.68758178e-01 5.03324872e-02 2.25641632e+02] [-6.67208788e-01 7.43479974e-01 -4.54968302e-02 -1.28649810e+02] [-6.78475736e-02 1.66102367e-04 9.97695685e-01 -1.26224520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10864 meters 0.026206105453316343 Centerline is valid? [True, True] Translation: X:225.68, Y:-128.70, Z:-12.63 [[ 7.42607087e-01 6.67862843e-01 4.99393233e-02 2.25684257e+02] [-6.66332642e-01 7.44284317e-01 -4.51847903e-02 -1.28696115e+02] [-6.73462977e-02 2.78344282e-04 9.97729622e-01 -1.26255447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16864 meters 0.025990408005861727 Centerline is valid? [True, True] Translation: X:225.73, Y:-128.74, Z:-12.63 [[ 7.43051259e-01 6.67351409e-01 5.01689540e-02 2.25729364e+02] [-6.65802651e-01 7.44742886e-01 -4.54407770e-02 -1.28739621e+02] [-6.76879381e-02 3.62203998e-04 9.97706476e-01 -1.26268706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22864 meters 0.026228769250933 Centerline is valid? [True, True] Translation: X:225.77, Y:-128.79, Z:-12.63 [[ 7.43286285e-01 6.66863905e-01 5.30851231e-02 2.25770243e+02] [-6.65124765e-01 7.45179383e-01 -4.81324591e-02 -1.28786521e+02] [-7.16557390e-02 4.67966729e-04 9.97429314e-01 -1.26307339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28864 meters 0.02592131986470444 Centerline is valid? [True, True] Translation: X:225.81, Y:-128.83, Z:-12.63 [[ 7.40331963e-01 6.70185377e-01 5.25370743e-02 2.25812482e+02] [-6.68487213e-01 7.42193727e-01 -4.76793256e-02 -1.28832210e+02] [-7.09466738e-02 1.78166403e-04 9.97480094e-01 -1.26336921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34864 meters 0.025563743732326706 Centerline is valid? [True, True] Translation: X:225.85, Y:-128.88, Z:-12.64 [[ 7.37425988e-01 6.73464728e-01 5.14603988e-02 2.25854727e+02] [-6.71840506e-01 7.39219351e-01 -4.67448927e-02 -1.28878446e+02] [-6.95215591e-02 -1.02281741e-04 9.97580444e-01 -1.26359497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40864 meters 0.025417640718861045 Centerline is valid? [True, True] Translation: X:225.90, Y:-128.92, Z:-12.64 [[ 7.33273443e-01 6.78000376e-01 5.12401027e-02 2.25900530e+02] [-6.76397885e-01 7.35061389e-01 -4.65903049e-02 -1.28921874e+02] [-6.92528653e-02 -4.95263808e-04 9.97599015e-01 -1.26373261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46864 meters 0.025546929584178805 Centerline is valid? [True, True] Translation: X:225.95, Y:-128.96, Z:-12.64 [[ 7.30911763e-01 6.80509960e-01 5.17125621e-02 2.25945635e+02] [-6.78880596e-01 7.32738493e-01 -4.70684311e-02 -1.28964798e+02] [-6.99223210e-02 -7.03784981e-04 9.97552191e-01 -1.26414886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52864 meters 0.02569967689420284 Centerline is valid? [True, True] Translation: X:225.99, Y:-129.01, Z:-12.64 [[ 7.29102982e-01 6.82420614e-01 5.20667560e-02 2.25992926e+02] [-6.80770550e-01 7.30959209e-01 -4.74351519e-02 -1.29005155e+02] [-7.04294003e-02 -8.60403424e-04 9.97516395e-01 -1.26435101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58864 meters 0.025519509714145697 Centerline is valid? [True, True] Translation: X:226.04, Y:-129.05, Z:-12.65 [[ 7.28376487e-01 6.83183267e-01 5.22332953e-02 2.26040181e+02] [-6.81521254e-01 7.30246403e-01 -4.76337259e-02 -1.29047026e+02] [-7.06857405e-02 -9.02814956e-04 9.97498226e-01 -1.26462441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64864 meters 0.025461390395379393 Centerline is valid? [True, True] Translation: X:226.09, Y:-129.09, Z:-12.65 [[ 7.29410864e-01 6.82139046e-01 5.14403944e-02 2.26087879e+02] [-6.80521241e-01 7.31222096e-01 -4.69583539e-02 -1.29087253e+02] [-6.96464798e-02 -7.54347586e-04 9.97571450e-01 -1.26483270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70863999999995 meters 0.025327223320642852 Centerline is valid? [True, True] Translation: X:226.14, Y:-129.13, Z:-12.65 [[ 7.32845711e-01 6.78468346e-01 5.11650916e-02 2.26135650e+02] [-6.76855831e-01 7.34629544e-01 -4.67505854e-02 -1.29126938e+02] [-6.93061802e-02 -3.70424661e-04 9.97595367e-01 -1.26506177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76863999999995 meters 0.025468729787497812 Centerline is valid? [True, True] Translation: X:226.18, Y:-129.17, Z:-12.65 [[ 7.38055186e-01 6.72817113e-01 5.09084891e-02 2.26184573e+02] [-6.71204078e-01 7.39808823e-01 -4.65617010e-02 -1.29166239e+02] [-6.89900586e-02 1.95119377e-04 9.97617328e-01 -1.26537539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82863999999995 meters 0.025975983448208718 Centerline is valid? [True, True] Translation: X:226.23, Y:-129.21, Z:-12.66 [[ 7.41418372e-01 6.69124054e-01 5.07128877e-02 2.26230950e+02] [-6.67511463e-01 7.43150504e-01 -4.64303292e-02 -1.29208198e+02] [-6.87549581e-02 5.72865254e-04 9.97633413e-01 -1.26564844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88863999999995 meters 0.026217477438022795 Centerline is valid? [True, True] Translation: X:226.28, Y:-129.25, Z:-12.66 [[ 7.44100367e-01 6.66214377e-01 4.97297508e-02 2.26276831e+02] [-6.64654345e-01 7.45759792e-01 -4.55734035e-02 -1.29251642e+02] [-6.74481052e-02 8.58091320e-04 9.97722415e-01 -1.26587211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94863999999995 meters 0.02657888995074642 Centerline is valid? [True, True] Translation: X:226.32, Y:-129.30, Z:-12.66 [[ 7.46180412e-01 6.63871098e-01 4.98994898e-02 2.26320523e+02] [-6.62292024e-01 7.47846199e-01 -4.57748517e-02 -1.29296324e+02] [-6.77057448e-02 1.10826352e-03 9.97704718e-01 -1.26613833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00863999999996 meters 0.026990115343167528 Centerline is valid? [True, True] Translation: X:226.36, Y:-129.34, Z:-12.66 [[ 7.49537299e-01 6.60152500e-01 4.89133251e-02 2.26360588e+02] [-6.58624701e-01 7.51130205e-01 -4.49101132e-02 -1.29344866e+02] [-6.63877995e-02 1.44628084e-03 9.97792848e-01 -1.26632821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06863999999996 meters 0.026677557515660186 Centerline is valid? [True, True] Translation: X:226.40, Y:-129.39, Z:-12.66 [[ 7.47927393e-01 6.61999348e-01 4.85950426e-02 2.26399476e+02] [-6.60492641e-01 7.49503277e-01 -4.46576881e-02 -1.29393891e+02] [-6.59855042e-02 1.30404020e-03 9.97819730e-01 -1.26644417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12863999999996 meters 0.026095367710898307 Centerline is valid? [True, True] Translation: X:226.44, Y:-129.45, Z:-12.67 [[ 7.43061456e-01 6.67438468e-01 4.88422357e-02 2.26436386e+02] [-6.65925331e-01 7.44664459e-01 -4.49254473e-02 -1.29445520e+02] [-6.63560488e-02 8.57086294e-04 9.97795640e-01 -1.26671791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18863999999996 meters 0.025880497780132426 Centerline is valid? [True, True] Translation: X:226.48, Y:-129.49, Z:-12.67 [[ 7.41130578e-01 6.69446242e-01 5.06674957e-02 2.26477724e+02] [-6.67819421e-01 7.42860140e-01 -4.66479646e-02 -1.29492143e+02] [-6.88671676e-02 7.35495288e-04 9.97625567e-01 -1.26697983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24863999999997 meters 0.025885104256399706 Centerline is valid? [True, True] Translation: X:226.52, Y:-129.54, Z:-12.67 [[ 7.38938619e-01 6.72002376e-01 4.88111088e-02 2.26518123e+02] [-6.70495593e-01 7.40548815e-01 -4.49790175e-02 -1.29540298e+02] [-6.63730154e-02 5.09099710e-04 9.97794750e-01 -1.26729152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30863999999997 meters 0.025896090229800477 Centerline is valid? [True, True] Translation: X:226.56, Y:-129.59, Z:-12.67 [[ 7.37525494e-01 6.73623509e-01 4.78279683e-02 2.26559247e+02] [-6.72177647e-01 7.39074570e-01 -4.41133894e-02 -1.29587607e+02] [-6.50642512e-02 3.85858098e-04 9.97881002e-01 -1.26736952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36863999999997 meters 0.025963329781761014 Centerline is valid? [True, True] Translation: X:226.60, Y:-129.63, Z:-12.68 [[ 7.33023967e-01 6.78301545e-01 5.08220158e-02 2.26600636e+02] [-6.76676766e-01 7.34783651e-01 -4.69205788e-02 -1.29634002e+02] [-6.91694874e-02 3.83151422e-06 9.97604923e-01 -1.26779820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42864 meters 0.02606179862501744 Centerline is valid? [True, True] Translation: X:226.64, Y:-129.68, Z:-12.68 [[ 7.28718868e-01 6.82982920e-01 5.00314074e-02 2.26642942e+02] [-6.81416237e-01 7.30434235e-01 -4.62357108e-02 -1.29680727e+02] [-6.81228535e-02 -3.99378522e-04 9.97676860e-01 -1.26798313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48864 meters 0.026064605118453606 Centerline is valid? [True, True] Translation: X:226.69, Y:-129.73, Z:-12.68 [[ 7.26550859e-01 6.85290221e-01 5.00116232e-02 2.26687085e+02] [-6.83726814e-01 7.28269852e-01 -4.62673342e-02 -1.29725331e+02] [-6.81285091e-02 -5.78716361e-04 9.97676386e-01 -1.26828266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54864 meters 0.026147291697352665 Centerline is valid? [True, True] Translation: X:226.73, Y:-129.77, Z:-12.68 [[ 7.24449223e-01 6.87571916e-01 4.91750409e-02 2.26731041e+02] [-6.86062377e-01 7.26115905e-01 -4.55423646e-02 -1.29771171e+02] [-6.70204302e-02 -7.44014813e-04 9.97751326e-01 -1.26841670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60864 meters 0.026097707340877796 Centerline is valid? [True, True] Translation: X:226.78, Y:-129.82, Z:-12.69 [[ 7.24086067e-01 6.87779437e-01 5.15636834e-02 2.26775032e+02] [-6.86116419e-01 7.25919323e-01 -4.78058070e-02 -1.29815438e+02] [-7.03109252e-02 -7.63171073e-04 9.97524832e-01 -1.26856466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66864 meters 0.026081088277810794 Centerline is valid? [True, True] Translation: X:226.82, Y:-129.86, Z:-12.69 [[ 7.21734250e-01 6.90253694e-01 5.14733942e-02 2.26818997e+02] [-6.88599579e-01 7.23566789e-01 -4.77673730e-02 -1.29859090e+02] [-7.02160442e-02 -9.69208487e-04 9.97531337e-01 -1.26880239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72864 meters 0.026349336976193505 Centerline is valid? [True, True] Translation: X:226.86, Y:-129.90, Z:-12.69 [[ 7.20395863e-01 6.91521299e-01 5.31798220e-02 2.26862748e+02] [-6.89755520e-01 7.22355242e-01 -4.93986509e-02 -1.29902750e+02] [-7.25749424e-02 -1.09449200e-03 9.97362361e-01 -1.26923748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78864 meters 0.026335753688354387 Centerline is valid? [True, True] Translation: X:226.91, Y:-129.95, Z:-12.69 [[ 7.20017938e-01 6.91935676e-01 5.29073700e-02 2.26908471e+02] [-6.90185560e-01 7.21958324e-01 -4.91942155e-02 -1.29946676e+02] [-7.22361489e-02 -1.09518519e-03 9.97386956e-01 -1.26942871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84864 meters 0.02656263069425215 Centerline is valid? [True, True] Translation: X:226.95, Y:-129.99, Z:-12.70 [[ 7.18858630e-01 6.93033353e-01 5.42866678e-02 2.26952900e+02] [-6.91189881e-01 7.20904525e-01 -5.05293342e-02 -1.29989915e+02] [-7.41540184e-02 -1.19894748e-03 9.97246080e-01 -1.26975910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90864 meters 0.026544768980841286 Centerline is valid? [True, True] Translation: X:227.00, Y:-130.03, Z:-12.70 [[ 7.17144097e-01 6.94815758e-01 5.41793845e-02 2.26998309e+02] [-6.92981136e-01 7.19186519e-01 -5.04766873e-02 -1.30032990e+02] [-7.40370807e-02 -1.34623302e-03 9.97254581e-01 -1.27001238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96864 meters 0.026752730270848884 Centerline is valid? [True, True] Translation: X:227.04, Y:-130.08, Z:-12.70 [[ 7.15523605e-01 6.96382203e-01 5.54779147e-02 2.27042600e+02] [-6.94459412e-01 7.17669527e-01 -5.17356292e-02 -1.30076473e+02] [-7.58425802e-02 -1.50909616e-03 9.97118662e-01 -1.27044030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02864 meters 0.02693685205174228 Centerline is valid? [True, True] Translation: X:227.09, Y:-130.12, Z:-12.71 [[ 7.13419252e-01 6.98517228e-01 5.57373499e-02 2.27087725e+02] [-6.96579169e-01 7.15591196e-01 -5.20259610e-02 -1.30119173e+02] [-7.62261870e-02 -1.70915467e-03 9.97089087e-01 -1.27076419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08864 meters 0.02711259380847998 Centerline is valid? [True, True] Translation: X:227.13, Y:-130.16, Z:-12.71 [[ 7.12004104e-01 6.99923804e-01 5.61856305e-02 2.27133234e+02] [-6.97955122e-01 7.14215150e-01 -5.24915867e-02 -1.30160745e+02] [-7.68687396e-02 -1.84082345e-03 9.97039522e-01 -1.27107875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14864 meters 0.027690804632938618 Centerline is valid? [True, True] Translation: X:227.18, Y:-130.20, Z:-12.71 [[ 7.08811196e-01 7.03268184e-01 5.47772838e-02 2.27178395e+02] [-7.01403679e-01 7.10921505e-01 -5.12200465e-02 -1.30203872e+02] [-7.49637781e-02 -2.11564599e-03 9.97184013e-01 -1.27144144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20863999999995 meters 0.027701039495398826 Centerline is valid? [True, True] Translation: X:227.23, Y:-130.24, Z:-12.72 [[ 7.07015908e-01 7.05069929e-01 5.48169883e-02 2.27226362e+02] [-7.03204578e-01 7.09134135e-01 -5.13039963e-02 -1.30243894e+02] [-7.50455026e-02 -2.27481564e-03 9.97177516e-01 -1.27171547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26863999999995 meters 0.028163044977665867 Centerline is valid? [True, True] Translation: X:227.27, Y:-130.28, Z:-12.72 [[ 7.05591229e-01 7.06556229e-01 5.40306643e-02 2.27274852e+02] [-7.04744846e-01 7.07652958e-01 -5.06161396e-02 -1.30284268e+02] [-7.39981081e-02 -2.36352800e-03 9.97255581e-01 -1.27214916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32863999999995 meters 0.02809783157580763 Centerline is valid? [True, True] Translation: X:227.32, Y:-130.32, Z:-12.73 [[ 7.05843398e-01 7.06266376e-01 5.45243352e-02 2.27324138e+02] [-7.04416809e-01 7.07942399e-01 -5.11323672e-02 -1.30324143e+02] [-7.47131604e-02 -2.31641441e-03 9.97202376e-01 -1.27256159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38863999999995 meters 0.02779549512160824 Centerline is valid? [True, True] Translation: X:227.37, Y:-130.36, Z:-12.73 [[ 7.07620657e-01 7.04515305e-01 5.41404775e-02 2.27373456e+02] [-7.02683440e-01 7.09685729e-01 -5.08148529e-02 -1.30363090e+02] [-7.42225658e-02 -2.08597743e-03 9.97239520e-01 -1.27277651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44863999999995 meters 0.02778694166248794 Centerline is valid? [True, True] Translation: X:227.42, Y:-130.40, Z:-12.73 [[ 7.08247750e-01 7.03976389e-01 5.29373971e-02 2.27423898e+02] [-7.02221295e-01 7.10220668e-01 -4.97177575e-02 -1.30400477e+02] [-7.25973609e-02 -1.96127766e-03 9.97359402e-01 -1.27319448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50863999999996 meters 0.027578969745810214 Centerline is valid? [True, True] Translation: X:227.47, Y:-130.44, Z:-12.73 [[ 7.10278155e-01 7.01934095e-01 5.28532674e-02 2.27474485e+02] [-7.00175604e-01 7.12239832e-01 -4.96844546e-02 -1.30437235e+02] [-7.25194149e-02 -1.71678566e-03 9.97365523e-01 -1.27338843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56863999999996 meters 0.027309389995260665 Centerline is valid? [True, True] Translation: X:227.52, Y:-130.48, Z:-12.74 [[ 7.13093640e-01 6.99023916e-01 5.35072490e-02 2.27523969e+02] [-6.97209911e-01 7.15096912e-01 -5.03462609e-02 -1.30475666e+02] [-7.34561089e-02 -1.40418587e-03 9.97297462e-01 -1.27364297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62863999999996 meters 0.027027174295642407 Centerline is valid? [True, True] Translation: X:227.57, Y:-130.52, Z:-12.74 [[ 7.15197977e-01 6.96869148e-01 5.35279751e-02 2.27572080e+02] [-6.95044217e-01 7.17197372e-01 -5.04129540e-02 -1.30515267e+02] [-7.35213554e-02 -1.14906686e-03 9.97292981e-01 -1.27401903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68863999999996 meters 0.026953229058388112 Centerline is valid? [True, True] Translation: X:227.62, Y:-130.55, Z:-12.74 [[ 7.18068705e-01 6.94022962e-01 5.20525005e-02 2.27619836e+02] [-6.92286621e-01 7.19952420e-01 -4.90688100e-02 -1.30554753e+02] [-7.15302046e-02 -8.00472869e-04 9.97438113e-01 -1.27433233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74863999999997 meters 0.026973676453522732 Centerline is valid? [True, True] Translation: X:227.67, Y:-130.60, Z:-12.75 [[ 7.18994809e-01 6.93141965e-01 5.09968818e-02 2.27667052e+02] [-6.91470028e-01 7.20800786e-01 -4.81188870e-02 -1.30595040e+02] [-7.01118124e-02 -6.65585296e-04 9.97538917e-01 -1.27464660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80863999999997 meters 0.027153712541861743 Centerline is valid? [True, True] Translation: X:227.72, Y:-130.63, Z:-12.75 [[ 7.18660214e-01 6.93565422e-01 4.99449851e-02 2.27715601e+02] [-6.91959820e-01 7.20393343e-01 -4.71703240e-02 -1.30634518e+02] [-6.86957404e-02 -6.60487743e-04 9.97637439e-01 -1.27489719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86863999999997 meters 0.027314124201016202 Centerline is valid? [True, True] Translation: X:227.76, Y:-130.68, Z:-12.75 [[ 7.18206497e-01 6.93960948e-01 5.09669510e-02 2.27761885e+02] [-6.92286651e-01 7.20012320e-01 -4.81814440e-02 -1.30676083e+02] [-7.01328732e-02 -6.79513623e-04 9.97537427e-01 -1.27536184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92864 meters 0.027322582918635548 Centerline is valid? [True, True] Translation: X:227.81, Y:-130.72, Z:-12.76 [[ 7.17840543e-01 6.94437601e-01 4.96122386e-02 2.27807217e+02] [-6.92849403e-01 7.19552613e-01 -4.69440380e-02 -1.30718393e+02] [-6.82983210e-02 -6.75476114e-04 9.97664715e-01 -1.27557588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98864 meters 0.02752051023679413 Centerline is valid? [True, True] Translation: X:227.85, Y:-130.76, Z:-12.76 [[ 7.18060445e-01 6.94266850e-01 4.88132924e-02 2.27853773e+02] [-6.92726549e-01 7.19717413e-01 -4.62252530e-02 -1.30760202e+02] [-6.72244374e-02 -6.21737828e-04 9.97737685e-01 -1.27597215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04864 meters 0.027509980844301573 Centerline is valid? [True, True] Translation: X:227.90, Y:-130.80, Z:-12.76 [[ 7.16949329e-01 6.95387855e-01 4.91873044e-02 2.27901232e+02] [-6.93824261e-01 7.18634280e-01 -4.66118653e-02 -1.30801773e+02] [-6.77610081e-02 -7.08999544e-04 9.97701330e-01 -1.27620954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10864 meters 0.027792820111928823 Centerline is valid? [True, True] Translation: X:227.95, Y:-130.84, Z:-12.77 [[ 7.17014399e-01 6.95187960e-01 5.10299049e-02 2.27946484e+02] [-6.93500755e-01 7.18827684e-01 -4.84093451e-02 -1.30844921e+02] [-7.03353022e-02 -6.79080071e-04 9.97523175e-01 -1.27655842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16864 meters 0.02762317384647269 Centerline is valid? [True, True] Translation: X:227.99, Y:-130.89, Z:-12.77 [[ 7.20085777e-01 6.92100500e-01 4.97330118e-02 2.27991883e+02] [-6.90487661e-01 7.21801071e-01 -4.72229208e-02 -1.30887172e+02] [-6.85803483e-02 -3.35477431e-04 9.97645540e-01 -1.27686212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22864 meters 0.0276435714682593 Centerline is valid? [True, True] Translation: X:228.04, Y:-130.93, Z:-12.77 [[ 7.21784432e-01 6.90308898e-01 5.00085931e-02 2.28038943e+02] [-6.88670546e-01 7.23514760e-01 -4.75317816e-02 -1.30928565e+02] [-6.89935670e-02 -1.31745114e-04 9.97617096e-01 -1.27706379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28864 meters 0.02765591019385953 Centerline is valid? [True, True] Translation: X:228.08, Y:-130.97, Z:-12.77 [[ 7.22412145e-01 6.89696418e-01 4.93917340e-02 2.28082756e+02] [-6.88093556e-01 7.24098646e-01 -4.69937131e-02 -1.30972180e+02] [-6.81758833e-02 -3.73048118e-05 9.97673317e-01 -1.27741028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34864 meters 0.027625122276539057 Centerline is valid? [True, True] Translation: X:228.13, Y:-131.01, Z:-12.78 [[ 7.22324051e-01 6.89807424e-01 4.91292512e-02 2.28129003e+02] [-6.88218699e-01 7.23992899e-01 -4.67900109e-02 -1.31014349e+02] [-6.78453258e-02 -1.41191165e-05 9.97695851e-01 -1.27762280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40864 meters 0.02767283298839768 Centerline is valid? [True, True] Translation: X:228.17, Y:-131.06, Z:-12.78 [[ 7.23399875e-01 6.88649131e-01 4.95479094e-02 2.28174451e+02] [-6.87026942e-01 7.25094723e-01 -4.72400582e-02 -1.31058311e+02] [-6.84587526e-02 1.32703527e-04 9.97653939e-01 -1.27803721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46864 meters 0.027700180730198202 Centerline is valid? [True, True] Translation: X:228.22, Y:-131.10, Z:-12.78 [[ 7.23928074e-01 6.88204816e-01 4.79820212e-02 2.28217472e+02] [-6.86679603e-01 7.25516430e-01 -4.57933730e-02 -1.31102951e+02] [-6.63269646e-02 2.02833083e-04 9.97797922e-01 -1.27817850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52864 meters 0.027710596056158963 Centerline is valid? [True, True] Translation: X:228.26, Y:-131.15, Z:-12.79 [[ 7.24553020e-01 6.87527881e-01 4.82528094e-02 2.28260462e+02] [-6.85980873e-01 7.26157919e-01 -4.60968395e-02 -1.31149554e+02] [-6.67320220e-02 2.99099951e-04 9.97770889e-01 -1.27851956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58864 meters 0.027553958163145664 Centerline is valid? [True, True] Translation: X:228.30, Y:-131.20, Z:-12.79 [[ 7.22781959e-01 6.89429199e-01 4.76824725e-02 2.28303052e+02] [-6.87919630e-01 7.24353059e-01 -4.55985480e-02 -1.31195363e+02] [-6.59759153e-02 1.56098996e-04 9.97821204e-01 -1.27881740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64864 meters 0.02738236415456289 Centerline is valid? [True, True] Translation: X:228.34, Y:-131.24, Z:-12.79 [[ 7.18370595e-01 6.94007433e-01 4.79309089e-02 2.28344663e+02] [-6.92489186e-01 7.19967798e-01 -4.58813523e-02 -1.31243257e+02] [-6.63507105e-02 -2.31821755e-04 9.97796337e-01 -1.27899808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70863999999995 meters 0.02741121927535516 Centerline is valid? [True, True] Translation: X:228.39, Y:-131.29, Z:-12.79 [[ 7.15406211e-01 6.96985527e-01 4.90421154e-02 2.28387344e+02] [-6.95399582e-01 7.17085031e-01 -4.69944723e-02 -1.31288850e+02] [-6.79218339e-02 -4.83729208e-04 9.97690528e-01 -1.27933040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76863999999995 meters 0.02731412623373304 Centerline is valid? [True, True] Translation: X:228.43, Y:-131.33, Z:-12.79 [[ 7.12223031e-01 7.00345265e-01 4.74854107e-02 2.28432969e+02] [-6.98863058e-01 7.13803861e-01 -4.55463894e-02 -1.31333008e+02] [-6.57934677e-02 -7.46611781e-04 9.97832983e-01 -1.27949037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82863999999995 meters 0.02755375110114267 Centerline is valid? [True, True] Translation: X:228.48, Y:-131.38, Z:-12.80 [[ 7.09993143e-01 7.02454826e-01 4.96684497e-02 2.28478008e+02] [-7.00834671e-01 7.11727699e-01 -4.76911665e-02 -1.31375478e+02] [-6.88513014e-02 -9.48970363e-04 9.97626482e-01 -1.27984952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88863999999995 meters 0.027493552515334627 Centerline is valid? [True, True] Translation: X:228.53, Y:-131.42, Z:-12.80 [[ 7.10254135e-01 7.02154890e-01 5.01754307e-02 2.28525802e+02] [-7.00497341e-01 7.12023672e-01 -4.82261986e-02 -1.31415952e+02] [-6.95883556e-02 -8.94898819e-04 9.97575391e-01 -1.28021893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94863999999995 meters 0.027384955808774633 Centerline is valid? [True, True] Translation: X:228.57, Y:-131.46, Z:-12.81 [[ 7.12012404e-01 7.00276624e-01 5.14877371e-02 2.28571732e+02] [-6.98522309e-01 7.13871258e-01 -4.95420145e-02 -1.31459016e+02] [-7.14487303e-02 -6.90804145e-04 9.97444034e-01 -1.28050811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00863999999996 meters 0.02733661813851343 Centerline is valid? [True, True] Translation: X:228.62, Y:-131.50, Z:-12.81 [[ 7.13022325e-01 6.99392303e-01 4.94931465e-02 2.28617486e+02] [-6.97765982e-01 7.14737792e-01 -4.76709957e-02 -1.31501294e+02] [-6.87153497e-02 -5.44149775e-04 9.97636158e-01 -1.28074881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06863999999996 meters 0.027208659725607383 Centerline is valid? [True, True] Translation: X:228.66, Y:-131.55, Z:-12.81 [[ 7.12391552e-01 7.00074029e-01 4.89349615e-02 2.28663358e+02] [-6.98482693e-01 7.14070045e-01 -4.71794274e-02 -1.31545087e+02] [-6.79720820e-02 -5.69998124e-04 9.97687061e-01 -1.28106309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12863999999996 meters 0.027263417230263102 Centerline is valid? [True, True] Translation: X:228.71, Y:-131.59, Z:-12.81 [[ 7.11652082e-01 7.00729491e-01 5.02940781e-02 2.28707152e+02] [-6.99046470e-01 7.13426803e-01 -4.85410003e-02 -1.31588942e+02] [-6.98952538e-02 -6.13593845e-04 9.97554147e-01 -1.28137913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18863999999996 meters 0.02716361343340677 Centerline is valid? [True, True] Translation: X:228.75, Y:-131.63, Z:-12.82 [[ 7.10067820e-01 7.02327510e-01 5.03960236e-02 2.28753401e+02] [-7.00638282e-01 7.11853583e-01 -4.86875201e-02 -1.31632082e+02] [-7.00691747e-02 -7.37942115e-04 9.97541862e-01 -1.28172484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24863999999997 meters 0.027021316650476364 Centerline is valid? [True, True] Translation: X:228.80, Y:-131.68, Z:-12.82 [[ 7.09572580e-01 7.02831246e-01 5.03487147e-02 2.28798164e+02] [-7.01142775e-01 7.11356224e-01 -4.86942696e-02 -1.31677109e+02] [-7.00397258e-02 -7.49519021e-04 9.97543921e-01 -1.28179165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30863999999997 meters 0.027205750000513326 Centerline is valid? [True, True] Translation: X:228.84, Y:-131.72, Z:-12.82 [[ 7.07430200e-01 7.05016129e-01 4.99476756e-02 2.28843792e+02] [-7.03356290e-01 7.09190672e-01 -4.83582484e-02 -1.31720279e+02] [-6.95157707e-02 -9.20926530e-04 9.97580428e-01 -1.28212208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36863999999997 meters 0.027145349797013506 Centerline is valid? [True, True] Translation: X:228.89, Y:-131.76, Z:-12.82 [[ 7.04178674e-01 7.08290211e-01 4.95718820e-02 2.28888085e+02] [-7.06659998e-01 7.05920348e-01 -4.80427984e-02 -1.31763134e+02] [-6.90220440e-02 -1.19975193e-03 9.97614414e-01 -1.28242467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42864 meters 0.027338990536072128 Centerline is valid? [True, True] Translation: X:228.94, Y:-131.80, Z:-12.83 [[ 7.01443283e-01 7.10985208e-01 4.97730438e-02 2.28935008e+02] [-7.09345457e-01 7.03205490e-01 -4.82810667e-02 -1.31803586e+02] [-6.93278018e-02 -1.43985259e-03 9.97592894e-01 -1.28259837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48864 meters 0.027494326030860296 Centerline is valid? [True, True] Translation: X:228.98, Y:-131.84, Z:-12.83 [[ 7.00466467e-01 7.11905173e-01 5.03761154e-02 2.28982413e+02] [-7.10224511e-01 7.02273966e-01 -4.89123813e-02 -1.31843507e+02] [-7.01988117e-02 -1.51686900e-03 9.97531867e-01 -1.28283695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54864 meters 0.027489753460093712 Centerline is valid? [True, True] Translation: X:229.03, Y:-131.88, Z:-12.83 [[ 7.02308087e-01 7.09962041e-01 5.21272596e-02 2.29032223e+02] [-7.08153261e-01 7.04238684e-01 -5.06639417e-02 -1.31882744e+02] [-7.26795082e-02 -1.33239287e-03 9.97354457e-01 -1.28326568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60864 meters 0.02695978854452327 Centerline is valid? [True, True] Translation: X:229.08, Y:-131.92, Z:-12.84 [[ 7.08015208e-01 7.04398495e-01 5.03708794e-02 2.29077454e+02] [-7.02692961e-01 7.09804381e-01 -4.89932981e-02 -1.31923730e+02] [-7.02642763e-02 -7.07262263e-04 9.97528161e-01 -1.28351147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66864 meters 0.02685938236490232 Centerline is valid? [True, True] Translation: X:229.13, Y:-131.96, Z:-12.84 [[ 7.14081688e-01 6.98290395e-01 4.97781859e-02 2.29125584e+02] [-6.96608503e-01 7.15814582e-01 -4.84363266e-02 -1.31963235e+02] [-6.94545730e-02 -8.84137044e-05 9.97585111e-01 -1.28397722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72864 meters 0.027085079745192565 Centerline is valid? [True, True] Translation: X:229.17, Y:-132.00, Z:-12.84 [[ 7.14259891e-01 6.98012856e-01 5.10965773e-02 2.29172524e+02] [-6.96236444e-01 7.16085227e-01 -4.97670787e-02 -1.32004660e+02] [-7.13275649e-02 -2.86710806e-05 9.97452945e-01 -1.28423530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78864 meters 0.02703556438247963 Centerline is valid? [True, True] Translation: X:229.22, Y:-132.05, Z:-12.85 [[ 7.12870182e-01 6.99363424e-01 5.20279259e-02 2.29220017e+02] [-6.97521672e-01 7.14766244e-01 -5.07221144e-02 -1.32045141e+02] [-7.26609967e-02 -1.32322968e-04 9.97356687e-01 -1.28457192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84864 meters 0.026841903330858945 Centerline is valid? [True, True] Translation: X:229.27, Y:-132.09, Z:-12.85 [[ 7.13135926e-01 6.99333749e-01 4.86770832e-02 2.29267056e+02] [-6.97718891e-01 7.14795285e-01 -4.74978944e-02 -1.32085905e+02] [-6.80110301e-02 -9.04656295e-05 9.97684565e-01 -1.28497615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90864 meters 0.026947669824219173 Centerline is valid? [True, True] Translation: X:229.31, Y:-132.13, Z:-12.85 [[ 7.15750677e-01 6.96748806e-01 4.73504954e-02 2.29314216e+02] [-6.95212373e-01 7.17315180e-01 -4.62459493e-02 -1.32126753e+02] [-6.61870392e-02 1.81919226e-04 9.97807217e-01 -1.28508482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96864 meters 0.026891048846167248 Centerline is valid? [True, True] Translation: X:229.36, Y:-132.17, Z:-12.85 [[ 7.18340349e-01 6.94068072e-01 4.75042566e-02 2.29359247e+02] [-6.92512879e-01 7.19909229e-01 -4.64393696e-02 -1.32169373e+02] [-6.64308364e-02 4.61963475e-04 9.97790925e-01 -1.28532937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02864 meters 0.027246807788067203 Centerline is valid? [True, True] Translation: X:229.40, Y:-132.21, Z:-12.86 [[ 7.21648108e-01 6.90723117e-01 4.61040581e-02 2.29403220e+02] [-6.89248775e-01 7.23118918e-01 -4.51127082e-02 -1.32214996e+02] [-6.44991070e-02 7.78334911e-04 9.97917461e-01 -1.28564036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08864 meters 0.027038939838165348 Centerline is valid? [True, True] Translation: X:229.44, Y:-132.26, Z:-12.86 [[ 7.20751091e-01 6.91730232e-01 4.50238964e-02 2.29443622e+02] [-6.90323423e-01 7.22155655e-01 -4.40996678e-02 -1.32262711e+02] [-6.30193348e-02 7.03833401e-04 9.98012058e-01 -1.28588742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14864 meters 0.02647080678317164 Centerline is valid? [True, True] Translation: X:229.48, Y:-132.31, Z:-12.86 [[ 7.17125545e-01 6.95403688e-01 4.63105059e-02 2.29483681e+02] [-6.93919993e-01 7.18619183e-01 -4.54038924e-02 -1.32311516e+02] [-6.48536521e-02 4.24505126e-04 9.97894696e-01 -1.28609944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20863999999995 meters 0.026541286428328606 Centerline is valid? [True, True] Translation: X:229.52, Y:-132.36, Z:-12.86 [[ 7.14036395e-01 6.98517786e-01 4.71691516e-02 2.29523972e+02] [-6.96981973e-01 7.15592671e-01 -4.62953528e-02 -1.32359943e+02] [-6.60920265e-02 1.80518476e-04 9.97813515e-01 -1.28648179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26863999999995 meters 0.026733862456946006 Centerline is valid? [True, True] Translation: X:229.57, Y:-132.41, Z:-12.87 [[ 7.12921312e-01 6.99597622e-01 4.80246813e-02 2.29565537e+02] [-6.98004493e-01 7.14537020e-01 -4.71865942e-02 -1.32407236e+02] [-6.73270417e-02 1.18885287e-04 9.97730953e-01 -1.28683340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32863999999995 meters 0.026358803947359483 Centerline is valid? [True, True] Translation: X:229.61, Y:-132.45, Z:-12.87 [[ 7.12743024e-01 6.99861566e-01 4.68099434e-02 2.29608309e+02] [-6.98345578e-01 7.14278498e-01 -4.60399886e-02 -1.32452868e+02] [-6.56569546e-02 1.25163688e-04 9.97842246e-01 -1.28717363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38863999999995 meters 0.026330938803747764 Centerline is valid? [True, True] Translation: X:229.65, Y:-132.50, Z:-12.87 [[ 7.09375431e-01 7.03137986e-01 4.88208047e-02 2.29652916e+02] [-7.01493326e-01 7.11053408e-01 -4.80641641e-02 -1.32496609e+02] [-6.85099392e-02 -1.51931570e-04 9.97650422e-01 -1.28742326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44863999999995 meters 0.026545641295024888 Centerline is valid? [True, True] Translation: X:229.70, Y:-132.54, Z:-12.88 [[ 7.08129878e-01 7.04344591e-01 4.95052763e-02 2.29696089e+02] [-7.02653149e-01 7.09858183e-01 -4.87843551e-02 -1.32541600e+02] [-6.95027221e-02 -2.39378813e-04 9.97581733e-01 -1.28781711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50863999999996 meters 0.026411350360567448 Centerline is valid? [True, True] Translation: X:229.74, Y:-132.58, Z:-12.88 [[ 7.08178736e-01 7.04422867e-01 4.76581809e-02 2.29742027e+02] [-7.02853294e-01 7.09780514e-01 -4.69985936e-02 -1.32584214e+02] [-6.69337322e-02 -2.13304843e-04 9.97757400e-01 -1.28803443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56863999999996 meters 0.026485819984832935 Centerline is valid? [True, True] Translation: X:229.79, Y:-132.63, Z:-12.88 [[ 7.08876704e-01 7.03805566e-01 4.63847398e-02 2.29786863e+02] [-7.02316008e-01 7.10392643e-01 -4.57659029e-02 -1.32627694e+02] [-6.51616751e-02 -1.34362859e-04 9.97874711e-01 -1.28844616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62863999999996 meters 0.026533519799699905 Centerline is valid? [True, True] Translation: X:229.83, Y:-132.67, Z:-12.89 [[ 7.10703536e-01 7.01964631e-01 4.63264531e-02 2.29830339e+02] [-7.00471962e-01 7.12211803e-01 -4.57534521e-02 -1.32672608e+02] [-6.51115518e-02 6.67586353e-05 9.97877989e-01 -1.28869360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68863999999996 meters 0.026607823914034958 Centerline is valid? [True, True] Translation: X:229.87, Y:-132.72, Z:-12.89 [[ 7.09248301e-01 7.03423543e-01 4.64990972e-02 2.29873903e+02] [-7.01919596e-01 7.10770932e-01 -4.59735014e-02 -1.32718407e+02] [-6.53890498e-02 -3.19997491e-05 9.97859845e-01 -1.28912977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74863999999997 meters 0.02665827481693162 Centerline is valid? [True, True] Translation: X:229.92, Y:-132.76, Z:-12.89 [[ 7.07425329e-01 7.05186885e-01 4.75485146e-02 2.29916736e+02] [-7.03614858e-01 7.09021460e-01 -4.70606109e-02 -1.32763798e+02] [-6.68994429e-02 -1.63973174e-04 9.97759709e-01 -1.28936662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80863999999997 meters 0.026518522061676042 Centerline is valid? [True, True] Translation: X:229.96, Y:-132.81, Z:-12.90 [[ 7.04962343e-01 7.07611255e-01 4.81082852e-02 2.29959905e+02] [-7.06004511e-01 7.06601853e-01 -4.76597523e-02 -1.32807914e+02] [-6.77179806e-02 -3.66335705e-04 9.97704436e-01 -1.28962629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86863999999997 meters 0.026571597356534995 Centerline is valid? [True, True] Translation: X:230.01, Y:-132.85, Z:-12.90 [[ 7.03789672e-01 7.08629494e-01 5.02427913e-02 2.30005132e+02] [-7.06876000e-01 7.05580638e-01 -4.98225225e-02 -1.32850630e+02] [-7.07560497e-02 -4.50846621e-04 9.97493548e-01 -1.29000758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92864 meters 0.026711894247074607 Centerline is valid? [True, True] Translation: X:230.05, Y:-132.89, Z:-12.90 [[ 7.03751028e-01 7.08686235e-01 4.99831074e-02 2.30049863e+02] [-7.06947522e-01 7.05523667e-01 -4.96140766e-02 -1.32894639e+02] [-7.04250783e-02 -4.19476579e-04 9.97516984e-01 -1.29032152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98864 meters 0.02660123536896019 Centerline is valid? [True, True] Translation: X:230.10, Y:-132.94, Z:-12.90 [[ 7.05583632e-01 7.06956387e-01 4.86251540e-02 2.30095460e+02] [-7.05304132e-01 7.07257112e-01 -4.83058989e-02 -1.32937711e+02] [-6.85406497e-02 -2.11670413e-04 9.97648302e-01 -1.29048024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04864 meters 0.02659924985022646 Centerline is valid? [True, True] Translation: X:230.14, Y:-132.98, Z:-12.91 [[ 7.05422203e-01 7.07122234e-01 4.85557653e-02 2.30141911e+02] [-7.05473196e-01 7.07091297e-01 -4.82645490e-02 -1.32980901e+02] [-6.84622948e-02 -2.07906525e-04 9.97653683e-01 -1.29065167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10864 meters 0.026629494093660517 Centerline is valid? [True, True] Translation: X:230.19, Y:-133.02, Z:-12.91 [[ 7.06121322e-01 7.06399675e-01 4.89099007e-02 2.30187749e+02] [-7.04721078e-01 7.07813174e-01 -4.86694205e-02 -1.33023822e+02] [-6.89991348e-02 -1.01322440e-04 9.97616715e-01 -1.29109715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16864 meters 0.026596817522753398 Centerline is valid? [True, True] Translation: X:230.23, Y:-133.07, Z:-12.91 [[ 7.08015225e-01 7.04587125e-01 4.76594653e-02 2.30232290e+02] [-7.02985970e-01 7.09617482e-01 -4.74737242e-02 -1.33067704e+02] [-6.72693646e-02 1.08184091e-04 9.97734845e-01 -1.29136109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22864 meters 0.02670594424736009 Centerline is valid? [True, True] Translation: X:230.28, Y:-133.11, Z:-12.92 [[ 7.10812328e-01 7.01813345e-01 4.69453272e-02 2.30276792e+02] [-7.00250784e-01 7.12360773e-01 -4.68077866e-02 -1.33112087e+02] [-6.62923388e-02 3.98049627e-04 9.97800164e-01 -1.29159430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28864 meters 0.02672150749530721 Centerline is valid? [True, True] Translation: X:230.32, Y:-133.16, Z:-12.92 [[ 7.12812342e-01 6.99777181e-01 4.70155464e-02 2.30320141e+02] [-6.98202293e-01 7.14360909e-01 -4.69260077e-02 -1.33157075e+02] [-6.64238178e-02 6.23075205e-04 9.97791305e-01 -1.29191742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34864 meters 0.026629932491294785 Centerline is valid? [True, True] Translation: X:230.36, Y:-133.20, Z:-12.92 [[ 7.11656407e-01 7.01002238e-01 4.62711614e-02 2.30362164e+02] [-6.99476676e-01 7.13158875e-01 -4.62255241e-02 -1.33203300e+02] [-6.54028853e-02 5.31092234e-04 9.97858798e-01 -1.29201573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40864 meters 0.026531614836673816 Centerline is valid? [True, True] Translation: X:230.41, Y:-133.25, Z:-12.92 [[ 7.08330888e-01 7.04336548e-01 4.66624092e-02 2.30405037e+02] [-7.02789247e-01 7.09866157e-01 -4.66616923e-02 -1.33249652e+02] [-6.59896004e-02 2.58078551e-04 9.97820277e-01 -1.29242733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46864 meters 0.02625585636962641 Centerline is valid? [True, True] Translation: X:230.44, Y:-133.36, Z:-11.27 [[ 7.54701774e-01 -6.55812723e-01 -1.83003869e-02 2.30439609e+02] [-6.55506116e-01 -7.54916204e-01 2.03286955e-02 -1.33360887e+02] [-2.71470758e-02 -3.34608697e-03 -9.99625850e-01 -1.12672494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52864 meters 0.026334933232815123 Centerline is valid? [True, True] Translation: X:230.46, Y:-133.31, Z:-12.93 [[ 7.57865353e-01 6.50525505e-01 4.95648432e-02 2.30460531e+02] [-6.49113726e-01 7.59484353e-01 -4.28355893e-02 -1.33314404e+02] [-6.55093662e-02 2.90388953e-04 9.97851912e-01 -1.29270604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58864 meters 0.02636215400035789 Centerline is valid? [True, True] Translation: X:230.51, Y:-133.35, Z:-12.93 [[ 7.59426405e-01 6.48581575e-01 5.11221648e-02 2.30507470e+02] [-6.47071978e-01 7.61144981e-01 -4.42286525e-02 -1.33354882e+02] [-6.75972682e-02 5.08686289e-04 9.97712559e-01 -1.29301004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64864 meters 0.02632103565874607 Centerline is valid? [True, True] Translation: X:230.56, Y:-133.39, Z:-12.93 [[ 7.57366223e-01 6.51005057e-01 5.08804442e-02 2.30555174e+02] [-6.49512377e-01 7.59073324e-01 -4.40608672e-02 -1.33394010e+02] [-6.73058353e-02 3.22734327e-04 9.97732339e-01 -1.29343643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70863999999995 meters 0.026297570896972936 Centerline is valid? [True, True] Translation: X:230.60, Y:-133.43, Z:-12.94 [[ 7.57502499e-01 6.50968652e-01 4.92927759e-02 2.30603011e+02] [-6.49565126e-01 7.59104534e-01 -4.27253161e-02 -1.33433120e+02] [-6.52312111e-02 3.45665514e-04 9.97870117e-01 -1.29375938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76863999999995 meters 0.026660624657717912 Centerline is valid? [True, True] Translation: X:230.65, Y:-133.47, Z:-12.94 [[ 7.61763302e-01 6.46056870e-01 4.82409798e-02 2.30650709e+02] [-6.44700301e-01 7.63288878e-01 -4.18522459e-02 -1.33472777e+02] [-6.38607343e-02 7.80530858e-04 9.97958515e-01 -1.29405940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82863999999995 meters 0.027432814287360496 Centerline is valid? [True, True] Translation: X:230.70, Y:-133.51, Z:-12.94 [[ 7.66073166e-01 6.40947952e-01 4.81417506e-02 2.30697006e+02] [-6.39584351e-01 7.67583349e-01 -4.18050221e-02 -1.33513639e+02] [-6.37476495e-02 1.23499532e-03 9.97965286e-01 -1.29439428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88863999999995 meters 0.027573633814694864 Centerline is valid? [True, True] Translation: X:230.74, Y:-133.56, Z:-12.95 [[ 7.66927469e-01 6.39983049e-01 4.73704020e-02 2.30743062e+02] [-6.38658573e-01 7.68387887e-01 -4.11738053e-02 -1.33556182e+02] [-6.27493805e-02 1.32380896e-03 9.98028438e-01 -1.29456409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94863999999995 meters 0.027814467276130968 Centerline is valid? [True, True] Translation: X:230.79, Y:-133.60, Z:-12.95 [[ 7.67390194e-01 6.39387468e-01 4.79161347e-02 2.30786966e+02] [-6.38028419e-01 7.68883377e-01 -4.16903978e-02 -1.33599966e+02] [-6.34982374e-02 1.42094680e-03 9.97980939e-01 -1.29483275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00863999999996 meters 0.027669070383555146 Centerline is valid? [True, True] Translation: X:230.83, Y:-133.65, Z:-12.95 [[ 7.66526808e-01 6.40380847e-01 4.84667210e-02 2.30830152e+02] [-6.38989759e-01 7.68056283e-01 -4.22094195e-02 -1.33645836e+02] [-6.42552734e-02 1.38491322e-03 9.97932534e-01 -1.29527179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06863999999996 meters 0.027407729099923873 Centerline is valid? [True, True] Translation: X:230.87, Y:-133.69, Z:-12.95 [[ 7.65278110e-01 6.41988487e-01 4.69062625e-02 2.30872471e+02] [-6.40686502e-01 7.66713281e-01 -4.08846019e-02 -1.33692528e+02] [-6.22110981e-02 1.23588170e-03 9.98062248e-01 -1.29547440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12863999999996 meters 0.02714139818056988 Centerline is valid? [True, True] Translation: X:230.92, Y:-133.74, Z:-12.96 [[ 7.62815163e-01 6.44785692e-01 4.86254987e-02 2.30917300e+02] [-6.43390698e-01 7.64362666e-01 -4.24043025e-02 -1.33735368e+02] [-6.45092034e-02 1.06145138e-03 9.97916548e-01 -1.29579530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18863999999996 meters 0.02701132050917629 Centerline is valid? [True, True] Translation: X:230.96, Y:-133.78, Z:-12.96 [[ 7.60074802e-01 6.47882958e-01 5.03385252e-02 2.30963715e+02] [-6.46391682e-01 7.61739412e-01 -4.39415706e-02 -1.33777121e+02] [-6.68138334e-02 8.60476601e-04 9.97765088e-01 -1.29622484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24863999999997 meters 0.026658304335753395 Centerline is valid? [True, True] Translation: X:231.01, Y:-133.82, Z:-12.96 [[ 7.56685775e-01 6.51832823e-01 5.04044479e-02 2.31010820e+02] [-6.50343302e-01 7.58362493e-01 -4.40445057e-02 -1.33817957e+02] [-6.69344973e-02 5.47655888e-04 9.97757222e-01 -1.29644963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30863999999997 meters 0.02649434409177632 Centerline is valid? [True, True] Translation: X:231.06, Y:-133.86, Z:-12.97 [[ 7.54515011e-01 6.54527365e-01 4.79690208e-02 2.31057575e+02] [-6.53181447e-01 7.56038243e-01 -4.19544204e-02 -1.33859396e+02] [-6.37267305e-02 3.22765565e-04 9.97967334e-01 -1.29683508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36863999999997 meters 0.026451910486344536 Centerline is valid? [True, True] Translation: X:231.10, Y:-133.90, Z:-12.97 [[ 7.53072336e-01 6.56163912e-01 4.82802064e-02 2.31104932e+02] [-6.54801113e-01 7.54618363e-01 -4.22685218e-02 -1.33900783e+02] [-6.41682090e-02 2.17321513e-04 9.97939073e-01 -1.29708640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42864 meters 0.026613004860116037 Centerline is valid? [True, True] Translation: X:231.15, Y:-133.94, Z:-12.97 [[ 7.53021023e-01 6.56235480e-01 4.81075245e-02 2.31152670e+02] [-6.54879639e-01 7.54556118e-01 -4.21630538e-02 -1.33941475e+02] [-6.39687188e-02 2.45027647e-04 9.97951874e-01 -1.29727258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48864 meters 0.026723026784107273 Centerline is valid? [True, True] Translation: X:231.20, Y:-133.98, Z:-12.98 [[ 7.51817452e-01 6.57632479e-01 4.78543845e-02 2.31200120e+02] [-6.56290795e-01 7.53338899e-01 -4.19868481e-02 -1.33982751e+02] [-6.36624844e-02 1.60053123e-04 9.97971474e-01 -1.29767839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54864 meters 0.027103077475501447 Centerline is valid? [True, True] Translation: X:231.25, Y:-134.02, Z:-12.98 [[ 7.54054736e-01 6.54947641e-01 4.94473796e-02 2.31245701e+02] [-6.53506160e-01 7.55674135e-01 -4.34315543e-02 -1.34024359e+02] [-6.58114998e-02 4.35601995e-04 9.97831978e-01 -1.29797780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60864 meters 0.02736482124100169 Centerline is valid? [True, True] Translation: X:231.29, Y:-134.07, Z:-12.98 [[ 7.57762179e-01 6.50771185e-01 4.78888884e-02 2.31291014e+02] [-6.49408271e-01 7.59273480e-01 -4.21032087e-02 -1.34068111e+02] [-6.37603180e-02 8.04778995e-04 9.97964916e-01 -1.29827886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66864 meters 0.027335364256996907 Centerline is valid? [True, True] Translation: X:231.33, Y:-134.11, Z:-12.98 [[ 7.57973420e-01 6.50475552e-01 4.85577013e-02 2.31333508e+02] [-6.49070768e-01 7.59526688e-01 -4.27357969e-02 -1.34113673e+02] [-6.46794612e-02 8.75213624e-04 9.97905708e-01 -1.29849890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72864 meters 0.02737415574221602 Centerline is valid? [True, True] Translation: X:231.38, Y:-134.16, Z:-12.99 [[ 7.55704037e-01 6.53037893e-01 4.95269518e-02 2.31376904e+02] [-6.51579039e-01 7.57324909e-01 -4.36318471e-02 -1.34159324e+02] [-6.60012438e-02 7.02039301e-04 9.97819294e-01 -1.29883352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78864 meters 0.027115094923413754 Centerline is valid? [True, True] Translation: X:231.42, Y:-134.20, Z:-12.99 [[ 7.53888132e-01 6.55165380e-01 4.91020335e-02 2.31421355e+02] [-6.53733066e-01 7.55485293e-01 -4.33018526e-02 -1.34202334e+02] [-6.54657389e-02 5.45129828e-04 9.97854669e-01 -1.29908505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84864 meters 0.026845521880508292 Centerline is valid? [True, True] Translation: X:231.46, Y:-134.25, Z:-12.99 [[ 7.49326800e-01 6.60403385e-01 4.87515839e-02 2.31464470e+02] [-6.58999845e-01 7.50911017e-01 -4.30331142e-02 -1.34247228e+02] [-6.50273157e-02 1.18579471e-04 9.97883477e-01 -1.29932393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90864 meters 0.0270532155163366 Centerline is valid? [True, True] Translation: X:231.51, Y:-134.29, Z:-13.00 [[ 7.45693606e-01 6.64313054e-01 5.12758434e-02 2.31507621e+02] [-6.62766421e-01 7.47454431e-01 -4.53050274e-02 -1.34291233e+02] [-6.84230775e-02 -2.00237941e-04 9.97656375e-01 -1.29979433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96864 meters 0.027065876151815393 Centerline is valid? [True, True] Translation: X:231.55, Y:-134.33, Z:-13.00 [[ 7.42657579e-01 6.67714358e-01 5.11591246e-02 2.31553424e+02] [-6.66179831e-01 7.44417427e-01 -4.52451891e-02 -1.34334635e+02] [-6.82946063e-02 -4.79494317e-04 9.97665082e-01 -1.29995531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02864 meters 0.027304550886179738 Centerline is valid? [True, True] Translation: X:231.60, Y:-134.38, Z:-13.00 [[ 7.37460466e-01 6.73411872e-01 5.16576447e-02 2.31598929e+02] [-6.71857764e-01 7.39266862e-01 -4.57345911e-02 -1.34376899e+02] [-6.89870015e-02 -9.79136774e-04 9.97617078e-01 -1.30036221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08864 meters 0.02768200598798695 Centerline is valid? [True, True] Translation: X:231.65, Y:-134.42, Z:-13.01 [[ 7.33515572e-01 6.77780672e-01 5.06780723e-02 2.31646839e+02] [-6.76292494e-01 7.35262939e-01 -4.49096218e-02 -1.34416346e+02] [-6.77005820e-02 -1.33129298e-03 9.97704795e-01 -1.30051356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14864 meters 0.02803402534359887 Centerline is valid? [True, True] Translation: X:231.69, Y:-134.46, Z:-13.01 [[ 7.29737542e-01 6.81890658e-01 5.00824397e-02 2.31694647e+02] [-6.80444130e-01 7.31452234e-01 -4.44231398e-02 -1.34455824e+02] [-6.69246365e-02 -1.66106928e-03 9.97756651e-01 -1.30070137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20863999999995 meters 0.02792971413305624 Centerline is valid? [True, True] Translation: X:231.74, Y:-134.50, Z:-13.01 [[ 7.30245787e-01 6.81189151e-01 5.21769138e-02 2.31740717e+02] [-6.79614087e-01 7.32105647e-01 -4.63250907e-02 -1.34497649e+02] [-6.97551625e-02 -1.63146335e-03 9.97562808e-01 -1.30105151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26863999999995 meters 0.028052999012540877 Centerline is valid? [True, True] Translation: X:231.79, Y:-134.54, Z:-13.01 [[ 7.29349795e-01 6.82190058e-01 5.16294522e-02 2.31788059e+02] [-6.80647325e-01 7.31172972e-01 -4.58835954e-02 -1.34538985e+02] [-6.90513926e-02 -1.67625759e-03 9.97611696e-01 -1.30117464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32863999999995 meters 0.028892901898913095 Centerline is valid? [True, True] Translation: X:231.83, Y:-134.58, Z:-13.01 [[ 7.24842486e-01 6.87059268e-01 5.05265507e-02 2.31834551e+02] [-6.85590524e-01 7.26598457e-01 -4.49479311e-02 -1.34579286e+02] [-6.75944064e-02 -2.06035419e-03 9.97710755e-01 -1.30149643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38863999999995 meters 0.02917023886741195 Centerline is valid? [True, True] Translation: X:231.88, Y:-134.62, Z:-13.02 [[ 7.22186051e-01 6.89850014e-01 5.05397460e-02 2.31881596e+02] [-6.88384626e-01 7.23948685e-01 -4.49989793e-02 -1.34620373e+02] [-6.76307292e-02 -2.29314902e-03 9.97707786e-01 -1.30177682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44863999999995 meters 0.029049908021513367 Centerline is valid? [True, True] Translation: X:231.93, Y:-134.66, Z:-13.02 [[ 7.23315898e-01 6.88535168e-01 5.22822555e-02 2.31930845e+02] [-6.86960415e-01 7.25199573e-01 -4.65936476e-02 -1.34658563e+02] [-6.99964344e-02 -2.21391392e-03 9.97544785e-01 -1.30193615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50863999999996 meters 0.028693848720703647 Centerline is valid? [True, True] Translation: X:231.98, Y:-134.70, Z:-13.02 [[ 7.23731019e-01 6.88133495e-01 5.18237995e-02 2.31980304e+02] [-6.86582348e-01 7.25580992e-01 -4.62266653e-02 -1.34696523e+02] [-6.94124805e-02 -2.12563431e-03 9.97585780e-01 -1.30228219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56863999999996 meters 0.028648805233666978 Centerline is valid? [True, True] Translation: X:232.03, Y:-134.73, Z:-13.03 [[ 7.23202197e-01 6.88660834e-01 5.21999860e-02 2.32031579e+02] [-6.87085325e-01 7.25080403e-01 -4.66064905e-02 -1.34734123e+02] [-6.99452515e-02 -2.15992805e-03 9.97548493e-01 -1.30259573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62863999999996 meters 0.028667912401935825 Centerline is valid? [True, True] Translation: X:232.08, Y:-134.77, Z:-13.03 [[ 7.22559993e-01 6.89373291e-01 5.16867744e-02 2.32083408e+02] [-6.87827141e-01 7.24403029e-01 -4.61960609e-02 -1.34770217e+02] [-6.92883864e-02 -2.17214083e-03 9.97594307e-01 -1.30270939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68863999999996 meters 0.028257531206516785 Centerline is valid? [True, True] Translation: X:232.14, Y:-134.81, Z:-13.03 [[ 7.23014432e-01 6.89030475e-01 4.98711814e-02 2.32135269e+02] [-6.87587403e-01 7.24729519e-01 -4.46171227e-02 -1.34805167e+02] [-6.68856745e-02 -2.03197250e-03 9.97758577e-01 -1.30310678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74863999999997 meters 0.027825779365405836 Centerline is valid? [True, True] Translation: X:232.19, Y:-134.84, Z:-13.03 [[ 7.25730398e-01 6.86195418e-01 4.95099677e-02 2.32187048e+02] [-6.84763886e-01 7.27415193e-01 -4.43346077e-02 -1.34840090e+02] [-6.64365074e-02 -1.72766545e-03 9.97789159e-01 -1.30336459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80863999999997 meters 0.027466002396808388 Centerline is valid? [True, True] Translation: X:232.24, Y:-134.88, Z:-13.03 [[ 7.28252161e-01 6.83434742e-01 5.06531637e-02 2.32235912e+02] [-6.81926636e-01 7.30010116e-01 -4.54014836e-02 -1.34878624e+02] [-6.80062731e-02 -1.47801294e-03 9.97683799e-01 -1.30341620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86863999999997 meters 0.026690956467995238 Centerline is valid? [True, True] Translation: X:232.29, Y:-134.91, Z:-13.04 [[ 7.33557164e-01 6.77805988e-01 4.97285613e-02 2.32286977e+02] [-6.76337398e-01 7.35240238e-01 -4.46040017e-02 -1.34914327e+02] [-6.67952987e-02 -9.13700703e-04 9.97766282e-01 -1.30378153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92864 meters 0.026513828315725123 Centerline is valid? [True, True] Translation: X:232.33, Y:-134.96, Z:-13.04 [[ 7.34767855e-01 6.76440669e-01 5.04402641e-02 2.32333717e+02] [-6.74924987e-01 7.36496711e-01 -4.52642962e-02 -1.34956382e+02] [-6.77676994e-02 -7.84644778e-04 9.97700819e-01 -1.30418939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98864 meters 0.026556046532403007 Centerline is valid? [True, True] Translation: X:232.38, Y:-135.00, Z:-13.04 [[ 7.35784588e-01 6.75344046e-01 5.03136092e-02 2.32380089e+02] [-6.73830190e-01 7.37502543e-01 -4.51981586e-02 -1.34997814e+02] [-6.76307220e-02 -6.46720356e-04 9.97710212e-01 -1.30437340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04864 meters 0.026669649085937934 Centerline is valid? [True, True] Translation: X:232.42, Y:-135.04, Z:-13.05 [[ 7.35873233e-01 6.75160148e-01 5.14719299e-02 2.32424888e+02] [-6.73572143e-01 7.37670930e-01 -4.62835576e-02 -1.35040924e+02] [-6.92181600e-02 -6.11227014e-04 9.97601360e-01 -1.30464746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10864 meters 0.026561045202751606 Centerline is valid? [True, True] Translation: X:232.47, Y:-135.08, Z:-13.05 [[ 7.36341347e-01 6.74688245e-01 5.09626602e-02 2.32471171e+02] [-6.73128061e-01 7.38102625e-01 -4.58598933e-02 -1.35082964e+02] [-6.85568042e-02 -5.35861035e-04 9.97647071e-01 -1.30509751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16864 meters 0.026349694291343175 Centerline is valid? [True, True] Translation: X:232.51, Y:-135.13, Z:-13.05 [[ 7.38764151e-01 6.72166887e-01 4.91854118e-02 2.32514462e+02] [-6.70706614e-01 7.40399623e-01 -4.42835880e-02 -1.35127854e+02] [-6.61828218e-02 -2.73853691e-04 9.97807476e-01 -1.30541114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22864 meters 0.0261984773647365 Centerline is valid? [True, True] Translation: X:232.56, Y:-135.17, Z:-13.06 [[ 7.39113911e-01 6.71736133e-01 4.98115847e-02 2.32559024e+02] [-6.70234374e-01 7.40790474e-01 -4.48927299e-02 -1.35172214e+02] [-6.70560161e-02 -2.04595117e-04 9.97749191e-01 -1.30562351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28864 meters 0.026453631678474122 Centerline is valid? [True, True] Translation: X:232.60, Y:-135.22, Z:-13.06 [[ 7.38030953e-01 6.72893206e-01 5.02498280e-02 2.32599400e+02] [-6.71364166e-01 7.39739588e-01 -4.53376120e-02 -1.35220707e+02] [-6.76791581e-02 -2.75372830e-04 9.97707099e-01 -1.30599108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34864 meters 0.026199254745046266 Centerline is valid? [True, True] Translation: X:232.64, Y:-135.27, Z:-13.06 [[ 7.37337140e-01 6.73703858e-01 4.95686855e-02 2.32643132e+02] [-6.72214612e-01 7.39001364e-01 -4.47716271e-02 -1.35266059e+02] [-6.67941441e-02 -3.09011221e-04 9.97766730e-01 -1.30612030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40864 meters 0.02616769860901107 Centerline is valid? [True, True] Translation: X:232.69, Y:-135.31, Z:-13.06 [[ 7.34303611e-01 6.77002151e-01 4.96618052e-02 2.32685735e+02] [-6.75511622e-01 7.35980813e-01 -4.49031239e-02 -1.35311476e+02] [-6.69496473e-02 -5.74600621e-04 9.97756190e-01 -1.30632584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46864 meters 0.026397149328413697 Centerline is valid? [True, True] Translation: X:232.73, Y:-135.36, Z:-13.07 [[ 7.29372945e-01 6.82310432e-01 4.96747557e-02 2.32728792e+02] [-6.80828447e-01 7.31061841e-01 -4.49578683e-02 -1.35356300e+02] [-6.69905409e-02 -1.02893398e-03 9.97753080e-01 -1.30669081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52864 meters 0.026456327784908546 Centerline is valid? [True, True] Translation: X:232.77, Y:-135.40, Z:-13.07 [[ 7.27268976e-01 6.84532822e-01 4.99464906e-02 2.32773460e+02] [-6.83036870e-01 7.28981039e-01 -4.52468653e-02 -1.35399417e+02] [-6.73830090e-02 -1.20865321e-03 9.97726450e-01 -1.30680101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58864 meters 0.026283893091444265 Centerline is valid? [True, True] Translation: X:232.82, Y:-135.44, Z:-13.07 [[ 7.27731998e-01 6.84137261e-01 4.86039945e-02 2.32819818e+02] [-6.82717186e-01 7.29352435e-01 -4.40711750e-02 -1.35441163e+02] [-6.56001746e-02 -1.11077812e-03 9.97845370e-01 -1.30697878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64864 meters 0.026024592652358906 Centerline is valid? [True, True] Translation: X:232.87, Y:-135.48, Z:-13.07 [[ 7.28222929e-01 6.83656468e-01 4.80124906e-02 2.32866047e+02] [-6.82267097e-01 7.29803250e-01 -4.35755012e-02 -1.35482698e+02] [-6.48303449e-02 -1.02466349e-03 9.97895774e-01 -1.30724381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70863999999995 meters 0.02612859655328374 Centerline is valid? [True, True] Translation: X:232.91, Y:-135.52, Z:-13.08 [[ 7.28321563e-01 6.83549204e-01 4.80435949e-02 2.32914090e+02] [-6.82154986e-01 7.29903773e-01 -4.36469609e-02 -1.35523738e+02] [-6.49020466e-02 -9.84155017e-04 9.97891154e-01 -1.30765776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76863999999995 meters 0.026235537026513135 Centerline is valid? [True, True] Translation: X:232.96, Y:-135.57, Z:-13.08 [[ 7.25755526e-01 6.86315239e-01 4.74374265e-02 2.32960309e+02] [-6.84959013e-01 7.27303234e-01 -4.31411191e-02 -1.35565108e+02] [-6.41098012e-02 -1.18278725e-03 9.97942150e-01 -1.30798621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82863999999995 meters 0.02651888799149428 Centerline is valid? [True, True] Translation: X:233.01, Y:-135.61, Z:-13.08 [[ 7.24503417e-01 6.87521438e-01 4.90822890e-02 2.33007075e+02] [-6.86069316e-01 7.26162912e-01 -4.46801889e-02 -1.35605759e+02] [-6.63603256e-02 -1.30290291e-03 9.97794874e-01 -1.30829345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88863999999995 meters 0.02620064448709522 Centerline is valid? [True, True] Translation: X:233.05, Y:-135.65, Z:-13.08 [[ 7.25937923e-01 6.86098374e-01 4.77823572e-02 2.33054875e+02] [-6.84716552e-01 7.27507928e-01 -4.35368679e-02 -1.35645406e+02] [-6.46326180e-02 -1.11230738e-03 9.97908507e-01 -1.30846287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94863999999995 meters 0.02605189168273036 Centerline is valid? [True, True] Translation: X:233.10, Y:-135.69, Z:-13.09 [[ 7.26975496e-01 6.85041651e-01 4.71652852e-02 2.33102592e+02] [-6.83690544e-01 7.28503249e-01 -4.30146058e-02 -1.35685616e+02] [-6.38268601e-02 -9.75895082e-04 9.97960510e-01 -1.30889916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00863999999996 meters 0.02613909208016534 Centerline is valid? [True, True] Translation: X:233.15, Y:-135.72, Z:-13.09 [[ 7.26968465e-01 6.84872154e-01 4.96687390e-02 2.33150785e+02] [-6.83370256e-01 7.28662592e-01 -4.53422563e-02 -1.35724611e+02] [-6.72454009e-02 -9.79748442e-04 9.97735985e-01 -1.30929835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06863999999996 meters 0.026408155829161402 Centerline is valid? [True, True] Translation: X:233.20, Y:-135.76, Z:-13.10 [[ 7.25840465e-01 6.86021369e-01 5.03020941e-02 2.33198884e+02] [-6.84480614e-01 7.27580608e-01 -4.59646314e-02 -1.35764452e+02] [-6.81315476e-02 -1.06781885e-03 9.97675775e-01 -1.30955059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12863999999996 meters 0.02634876868329395 Centerline is valid? [True, True] Translation: X:233.25, Y:-135.80, Z:-13.10 [[ 7.26225214e-01 6.85667203e-01 4.95724262e-02 2.33247384e+02] [-6.84167161e-01 7.27914494e-01 -4.53407729e-02 -1.35803072e+02] [-6.71731685e-02 -9.88213610e-04 9.97740843e-01 -1.30984907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18863999999996 meters 0.026580528471631632 Centerline is valid? [True, True] Translation: X:233.30, Y:-135.84, Z:-13.10 [[ 7.27523793e-01 6.84168400e-01 5.12126057e-02 2.33295017e+02] [-6.82560286e-01 7.29323584e-01 -4.68888670e-02 -1.35844138e+02] [-6.94304422e-02 -8.42924467e-04 9.97586439e-01 -1.31014216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24863999999997 meters 0.026143580727055655 Centerline is valid? [True, True] Translation: X:233.34, Y:-135.88, Z:-13.11 [[ 7.28184303e-01 6.83663196e-01 4.85000535e-02 2.33343015e+02] [-6.82217011e-01 7.29797312e-01 -4.44503421e-02 -1.35883552e+02] [-6.57842717e-02 -7.19520180e-04 9.97833609e-01 -1.31056661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30863999999997 meters 0.02614187119396386 Centerline is valid? [True, True] Translation: X:233.39, Y:-135.93, Z:-13.11 [[ 7.28677196e-01 6.83160485e-01 4.81798312e-02 2.33388820e+02] [-6.81729510e-01 7.30267995e-01 -4.41987740e-02 -1.35925631e+02] [-6.53790446e-02 -6.38973988e-04 9.97860297e-01 -1.31085040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36863999999997 meters 0.02607979651335788 Centerline is valid? [True, True] Translation: X:233.44, Y:-135.97, Z:-13.11 [[ 7.31368822e-01 6.80139466e-01 5.00994265e-02 2.33435779e+02] [-6.78581716e-01 7.33082659e-01 -4.60072804e-02 -1.35967239e+02] [-6.80183879e-02 -3.48264354e-04 9.97684007e-01 -1.31121495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42864 meters 0.02597841663958178 Centerline is valid? [True, True] Translation: X:233.48, Y:-136.01, Z:-13.11 [[ 7.33685856e-01 6.77722558e-01 4.89611998e-02 2.33480999e+02] [-6.76226342e-01 7.35317704e-01 -4.50089705e-02 -1.36009380e+02] [-6.65056316e-02 -8.64080087e-05 9.97786046e-01 -1.31148830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48864 meters 0.026089374053209335 Centerline is valid? [True, True] Translation: X:233.52, Y:-136.06, Z:-13.12 [[ 7.38062206e-01 6.72958145e-01 4.89031299e-02 2.33523006e+02] [-6.71451989e-01 7.39680467e-01 -4.50003708e-02 -1.36056557e+02] [-6.64560560e-02 3.76969108e-04 9.97789282e-01 -1.31164957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54864 meters 0.026041588130507963 Centerline is valid? [True, True] Translation: X:233.56, Y:-136.10, Z:-13.12 [[ 7.39093467e-01 6.71790929e-01 4.93740276e-02 2.33564785e+02] [-6.70249785e-01 7.40740626e-01 -4.54813163e-02 -1.36103382e+02] [-6.71272839e-02 5.22012361e-04 9.97744284e-01 -1.31185995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60864 meters 0.02597325622114217 Centerline is valid? [True, True] Translation: X:233.60, Y:-136.15, Z:-13.12 [[ 7.35029296e-01 6.76161842e-01 5.03696204e-02 2.33603506e+02] [-6.74564856e-01 7.36753105e-01 -4.64447679e-02 -1.36154734e+02] [-6.85141540e-02 1.60689305e-04 9.97650132e-01 -1.31211019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66864 meters 0.025983065328374785 Centerline is valid? [True, True] Translation: X:233.64, Y:-136.20, Z:-13.12 [[ 7.31332252e-01 6.80160103e-01 5.03524819e-02 2.33643208e+02] [-6.78570161e-01 7.33063574e-01 -4.64793779e-02 -1.36204393e+02] [-6.85249888e-02 -1.75823620e-04 9.97649385e-01 -1.31240990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72864 meters 0.026160988871704236 Centerline is valid? [True, True] Translation: X:233.69, Y:-136.25, Z:-13.13 [[ 7.29044923e-01 6.82621831e-01 5.02089234e-02 2.33686406e+02] [-6.81043301e-01 7.30771716e-01 -4.63974368e-02 -1.36250608e+02] [-6.83631643e-02 -3.68635168e-04 9.97660434e-01 -1.31262155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78864 meters 0.026354978295019357 Centerline is valid? [True, True] Translation: X:233.73, Y:-136.30, Z:-13.13 [[ 7.25893496e-01 6.86066756e-01 4.88982382e-02 2.33729999e+02] [-6.84574179e-01 7.27538314e-01 -4.52348947e-02 -1.36295782e+02] [-6.66094992e-02 -6.38755366e-04 9.97778917e-01 -1.31287128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84864 meters 0.026621823083978608 Centerline is valid? [True, True] Translation: X:233.77, Y:-136.34, Z:-13.13 [[ 7.22878270e-01 6.89177698e-01 4.98107132e-02 2.33773011e+02] [-6.87632844e-01 7.24591801e-01 -4.61280061e-02 -1.36340742e+02] [-6.78828275e-02 -9.06549176e-04 9.97692889e-01 -1.31320835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90864 meters 0.027249495874885805 Centerline is valid? [True, True] Translation: X:233.82, Y:-136.38, Z:-13.13 [[ 7.17272196e-01 6.94967819e-01 5.04016655e-02 2.33819037e+02] [-6.93397659e-01 7.19039393e-01 -4.67122986e-02 -1.36382372e+02] [-6.87043272e-02 -1.44296394e-03 9.97636022e-01 -1.31339139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96864 meters 0.027997839239579225 Centerline is valid? [True, True] Translation: X:233.87, Y:-136.42, Z:-13.14 [[ 7.12935625e-01 6.99387925e-01 5.07870470e-02 2.33867894e+02] [-6.97803480e-01 7.14739839e-01 -4.70878460e-02 -1.36420761e+02] [-6.92321967e-02 -1.86877527e-03 9.97598822e-01 -1.31367143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02864 meters 0.027991439487255625 Centerline is valid? [True, True] Translation: X:233.92, Y:-136.45, Z:-13.14 [[ 7.12322540e-01 7.00220908e-01 4.78255075e-02 2.33920997e+02] [-6.98816634e-01 7.13923919e-01 -4.43615900e-02 -1.36454888e+02] [-6.52066866e-02 -1.82149974e-03 9.97870117e-01 -1.31382011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08864 meters 0.027869769367584722 Centerline is valid? [True, True] Translation: X:233.97, Y:-136.49, Z:-13.14 [[ 7.12927079e-01 6.99597381e-01 4.79425092e-02 2.33972431e+02] [-6.98182136e-01 7.14535149e-01 -4.45109617e-02 -1.36490744e+02] [-6.53963602e-02 -1.73953362e-03 9.97857851e-01 -1.31407603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14864 meters 0.02751654972785418 Centerline is valid? [True, True] Translation: X:234.03, Y:-136.52, Z:-13.14 [[ 7.16857043e-01 6.95595372e-01 4.75716148e-02 2.34027848e+02] [-6.94190498e-01 7.18432530e-01 -4.42069338e-02 -1.36521822e+02] [-6.49271341e-02 -1.33371117e-03 9.97889116e-01 -1.31438305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20863999999995 meters 0.026957088968009905 Centerline is valid? [True, True] Translation: X:234.08, Y:-136.55, Z:-13.15 [[ 7.21494027e-01 6.90792458e-01 4.74568097e-02 2.34082011e+02] [-6.89381252e-01 7.23052575e-01 -4.41413970e-02 -1.36554357e+02] [-6.48063126e-02 -8.68080627e-04 9.97897484e-01 -1.31455526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26863999999995 meters 0.026959383020303568 Centerline is valid? [True, True] Translation: X:234.14, Y:-136.59, Z:-13.15 [[ 7.24799707e-01 6.87196366e-01 4.92599233e-02 2.34135473e+02] [-6.85664295e-01 7.26471521e-01 -4.58650529e-02 -1.36589786e+02] [-6.73042291e-02 -5.32793710e-04 9.97732357e-01 -1.31506784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32863999999995 meters 0.026950661625412826 Centerline is valid? [True, True] Translation: X:234.19, Y:-136.63, Z:-13.15 [[ 7.26461549e-01 6.85370823e-01 5.02041149e-02 2.34188409e+02] [-6.83771450e-01 7.28194153e-01 -4.67961488e-02 -1.36625293e+02] [-6.86310579e-02 -3.32537696e-04 9.97642054e-01 -1.31542574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38863999999995 meters 0.026947074739118237 Centerline is valid? [True, True] Translation: X:234.24, Y:-136.66, Z:-13.16 [[ 7.29882909e-01 6.81840993e-01 4.86189160e-02 2.34238041e+02] [-6.80330194e-01 7.31500416e-01 -4.53648227e-02 -1.36663477e+02] [-6.64963530e-02 3.40922433e-05 9.97786668e-01 -1.31560295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44863999999995 meters 0.027024836850336752 Centerline is valid? [True, True] Translation: X:234.29, Y:-136.70, Z:-13.16 [[ 7.31972244e-01 6.79532496e-01 4.95199157e-02 2.34287299e+02] [-6.77956816e-01 7.33645356e-01 -4.62498383e-02 -1.36702094e+02] [-6.77583242e-02 2.81233546e-04 9.97701724e-01 -1.31595270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50863999999996 meters 0.027151409876516906 Centerline is valid? [True, True] Translation: X:234.34, Y:-136.74, Z:-13.16 [[ 7.32428345e-01 6.79003795e-01 5.00256629e-02 2.34335551e+02] [-6.77391332e-01 7.34134669e-01 -4.67682742e-02 -1.36742490e+02] [-6.84814091e-02 3.67459235e-04 9.97652325e-01 -1.31632820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56863999999996 meters 0.02742623046647903 Centerline is valid? [True, True] Translation: X:234.38, Y:-136.78, Z:-13.17 [[ 7.35292704e-01 6.75971839e-01 4.90582554e-02 2.34382929e+02] [-6.74411189e-01 7.36927146e-01 -4.59121826e-02 -1.36784543e+02] [-6.71877026e-02 6.73456512e-04 9.97740126e-01 -1.31659065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62863999999996 meters 0.027697555558919718 Centerline is valid? [True, True] Translation: X:234.43, Y:-136.83, Z:-13.17 [[ 7.37521601e-01 6.73535225e-01 4.91140418e-02 2.34428000e+02] [-6.71962460e-01 7.39154540e-01 -4.60110674e-02 -1.36827460e+02] [-6.72929416e-02 9.31363711e-04 9.97732826e-01 -1.31690818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68863999999996 meters 0.028156682400521285 Centerline is valid? [True, True] Translation: X:234.47, Y:-136.87, Z:-13.17 [[ 7.40780151e-01 6.69996558e-01 4.84704103e-02 2.34473464e+02] [-6.68454473e-01 7.42363123e-01 -4.54490024e-02 -1.36870181e+02] [-6.64333203e-02 1.26745636e-03 9.97790062e-01 -1.31708521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74863999999997 meters 0.028297097274255004 Centerline is valid? [True, True] Translation: X:234.52, Y:-136.92, Z:-13.18 [[ 7.41993093e-01 6.68621320e-01 4.89058380e-02 2.34516425e+02] [-6.67045584e-01 7.43601690e-01 -4.58989690e-02 -1.36915453e+02] [-6.70554931e-02 1.43429469e-03 9.97748217e-01 -1.31750045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80863999999997 meters 0.028338126824580163 Centerline is valid? [True, True] Translation: X:234.56, Y:-136.96, Z:-13.18 [[ 7.41110785e-01 6.69597597e-01 4.89271182e-02 2.34558134e+02] [-6.68019711e-01 7.42722800e-01 -4.59620330e-02 -1.36962269e+02] [-6.71153530e-02 1.37867899e-03 9.97744270e-01 -1.31795570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86863999999997 meters 0.02800933713328418 Centerline is valid? [True, True] Translation: X:234.60, Y:-137.01, Z:-13.18 [[ 7.38738456e-01 6.72296412e-01 4.77810413e-02 2.34597269e+02] [-6.70794403e-01 7.40281187e-01 -4.49292048e-02 -1.37011260e+02] [-6.55771491e-02 1.13967641e-03 9.97846851e-01 -1.31811866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92864 meters 0.027637002344760655 Centerline is valid? [True, True] Translation: X:234.64, Y:-137.06, Z:-13.18 [[ 7.35058287e-01 6.76374789e-01 4.69729752e-02 2.34637766e+02] [-6.74928936e-01 7.36557206e-01 -4.42087645e-02 -1.37058970e+02] [-6.44999771e-02 7.92598563e-04 9.97917394e-01 -1.31832652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98864 meters 0.0275758969704877 Centerline is valid? [True, True] Translation: X:234.68, Y:-137.11, Z:-13.19 [[ 7.32295639e-01 6.79234355e-01 4.88240569e-02 2.34679060e+02] [-6.77675453e-01 7.33921206e-01 -4.59961275e-02 -1.37106757e+02] [-6.70751607e-02 5.95898737e-04 9.97747748e-01 -1.31875909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04864 meters 0.027510942907368413 Centerline is valid? [True, True] Translation: X:234.72, Y:-137.15, Z:-13.19 [[ 7.28764830e-01 6.83054877e-01 4.83514001e-02 2.34721666e+02] [-6.81531328e-01 7.30367003e-01 -4.55970408e-02 -1.37152263e+02] [-6.64595482e-02 2.76525761e-04 9.97789082e-01 -1.31908453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10864 meters 0.027429195154518284 Centerline is valid? [True, True] Translation: X:234.77, Y:-137.19, Z:-13.19 [[ 7.24626029e-01 6.87516236e-01 4.73132513e-02 2.34766738e+02] [-6.86064227e-01 7.26169000e-01 -4.46593745e-02 -1.37194504e+02] [-6.50614614e-02 -9.85840031e-05 9.97881254e-01 -1.31931858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16864 meters 0.02766340024777809 Centerline is valid? [True, True] Translation: X:234.82, Y:-137.23, Z:-13.19 [[ 7.19848678e-01 6.92443040e-01 4.83788849e-02 2.34815303e+02] [-6.90932911e-01 7.21472358e-01 -4.57094104e-02 -1.37233902e+02] [-6.65551912e-02 -5.22705096e-04 9.97782608e-01 -1.31939462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22864 meters 0.027600133572821987 Centerline is valid? [True, True] Translation: X:234.87, Y:-137.27, Z:-13.20 [[ 7.17361741e-01 6.94984973e-01 4.88673710e-02 2.34866971e+02] [-6.93447040e-01 7.19023886e-01 -4.62152914e-02 -1.37269087e+02] [-6.72557400e-02 -7.33851869e-04 9.97735499e-01 -1.31970916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28864 meters 0.02734539455084037 Centerline is valid? [True, True] Translation: X:234.92, Y:-137.31, Z:-13.20 [[ 7.19194197e-01 6.93202298e-01 4.72258539e-02 2.34918630e+02] [-6.91759493e-01 7.20742885e-01 -4.47045667e-02 -1.37305530e+02] [-6.50270065e-02 -5.17667770e-04 9.97883370e-01 -1.31993570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34864 meters 0.0274690217734905 Centerline is valid? [True, True] Translation: X:234.97, Y:-137.34, Z:-13.20 [[ 7.23684711e-01 6.88383789e-01 4.90733857e-02 2.34973025e+02] [-6.86811368e-01 7.25346645e-01 -4.65014989e-02 -1.37338919e+02] [-6.76060937e-02 -5.17353678e-05 9.97712089e-01 -1.32047821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40864 meters 0.02737766379628166 Centerline is valid? [True, True] Translation: X:235.02, Y:-137.38, Z:-13.21 [[ 7.26534725e-01 6.85333998e-01 4.96447811e-02 2.35020948e+02] [-6.83714134e-01 7.28228836e-01 -4.70929442e-02 -1.37378768e+02] [-6.84271569e-02 2.71820736e-04 9.97656078e-01 -1.32076969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46864 meters 0.027262692891735565 Centerline is valid? [True, True] Translation: X:235.07, Y:-137.42, Z:-13.21 [[ 7.30451939e-01 6.81169338e-01 4.94802737e-02 2.35068698e+02] [-6.79547606e-01 7.32125572e-01 -4.69808333e-02 -1.37419203e+02] [-6.82276768e-02 6.93039254e-04 9.97669536e-01 -1.32099744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52864 meters 0.027522672530207237 Centerline is valid? [True, True] Translation: X:235.11, Y:-137.46, Z:-13.21 [[ 7.33677988e-01 6.77700309e-01 4.93852205e-02 2.35112542e+02] [-6.76073967e-01 7.35337471e-01 -4.69339408e-02 -1.37463650e+02] [-6.81219494e-02 1.04633736e-03 9.97676453e-01 -1.32145552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58864 meters 0.027774355090823814 Centerline is valid? [True, True] Translation: X:235.16, Y:-137.51, Z:-13.22 [[ 7.34577346e-01 6.76618072e-01 5.08341213e-02 2.35157709e+02] [-6.74889028e-01 7.36333153e-01 -4.83558531e-02 -1.37506696e+02] [-7.01492929e-02 1.21372348e-03 9.97535766e-01 -1.32184632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64864 meters 0.02763207814288595 Centerline is valid? [True, True] Translation: X:235.20, Y:-137.55, Z:-13.22 [[ 7.34468164e-01 6.76888360e-01 4.87715501e-02 2.35200579e+02] [-6.75295342e-01 7.36084774e-01 -4.64263499e-02 -1.37552624e+02] [-6.73254513e-02 1.16347539e-03 9.97730389e-01 -1.32202697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70863999999995 meters 0.027368759553727973 Centerline is valid? [True, True] Translation: X:235.25, Y:-137.60, Z:-13.22 [[ 7.34072830e-01 6.77322453e-01 4.86967650e-02 2.35246684e+02] [-6.75733582e-01 7.35685391e-01 -4.63802943e-02 -1.37595850e+02] [-6.72399133e-02 1.14047444e-03 9.97736184e-01 -1.32224399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76863999999995 meters 0.027399859605216004 Centerline is valid? [True, True] Translation: X:235.29, Y:-137.64, Z:-13.23 [[ 7.34732644e-01 6.76564019e-01 4.92856093e-02 2.35290437e+02] [-6.74931518e-01 7.36382742e-01 -4.69883337e-02 -1.37640226e+02] [-6.80836880e-02 1.25945148e-03 9.97678819e-01 -1.32263225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82863999999995 meters 0.02746209648503338 Centerline is valid? [True, True] Translation: X:235.33, Y:-137.69, Z:-13.23 [[ 7.36331201e-01 6.74884673e-01 4.84462711e-02 2.35332972e+02] [-6.73300982e-01 7.37921852e-01 -4.62290822e-02 -1.37685094e+02] [-6.69488611e-02 1.42099371e-03 9.97755396e-01 -1.32286819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88863999999995 meters 0.02780171804754013 Centerline is valid? [True, True] Translation: X:235.37, Y:-137.73, Z:-13.23 [[ 7.38007823e-01 6.72957544e-01 4.97252100e-02 2.35373524e+02] [-6.71281692e-01 7.39679224e-01 -4.74924877e-02 -1.37732499e+02] [-6.87411326e-02 1.67020438e-03 9.97633133e-01 -1.32311846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94863999999995 meters 0.027255418341720277 Centerline is valid? [True, True] Translation: X:235.41, Y:-137.78, Z:-13.23 [[ 7.36473694e-01 6.74588909e-01 5.03616995e-02 2.35414666e+02] [-6.72870612e-01 7.38191940e-01 -4.81435260e-02 -1.37778880e+02] [-6.96536893e-02 1.56953286e-03 9.97569998e-01 -1.32336104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00863999999996 meters 0.02641263747049223 Centerline is valid? [True, True] Translation: X:235.45, Y:-137.83, Z:-13.24 [[ 7.32512533e-01 6.79068309e-01 4.78708687e-02 2.35454458e+02] [-6.77523487e-01 7.34074247e-01 -4.57921953e-02 -1.37826785e+02] [-6.62368006e-02 1.10971910e-03 9.97803315e-01 -1.32372309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06863999999996 meters 0.02621713579735208 Centerline is valid? [True, True] Translation: X:235.50, Y:-137.87, Z:-13.24 [[ 7.30046806e-01 6.81725579e-01 4.77691841e-02 2.35497891e+02] [-6.80191749e-01 7.31607448e-01 -4.57135277e-02 -1.37871133e+02] [-6.61123721e-02 8.80810055e-04 9.97811795e-01 -1.32393681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12863999999996 meters 0.025834319092999946 Centerline is valid? [True, True] Translation: X:235.54, Y:-137.92, Z:-13.24 [[ 7.26455265e-01 6.85570478e-01 4.74959665e-02 2.35538547e+02] [-6.84059582e-01 7.28006049e-01 -4.54937518e-02 -1.37918393e+02] [-6.57665241e-02 5.59104481e-04 9.97834882e-01 -1.32421462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18863999999996 meters 0.025828838073336125 Centerline is valid? [True, True] Translation: X:235.58, Y:-137.96, Z:-13.25 [[ 7.25506155e-01 6.86503278e-01 4.85187522e-02 2.35582474e+02] [-6.84925515e-01 7.27126523e-01 -4.65194271e-02 -1.37962976e+02] [-6.72150108e-02 5.18399267e-04 9.97738379e-01 -1.32462795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24863999999997 meters 0.0257047422363424 Centerline is valid? [True, True] Translation: X:235.63, Y:-138.01, Z:-13.25 [[ 7.22438207e-01 6.89805030e-01 4.74558533e-02 2.35625303e+02] [-6.88299742e-01 7.23995140e-01 -4.55467130e-02 -1.38008063e+02] [-6.57761589e-02 2.40834078e-04 9.97834374e-01 -1.32483734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30863999999997 meters 0.02558641985450996 Centerline is valid? [True, True] Translation: X:235.67, Y:-138.05, Z:-13.25 [[ 7.17705917e-01 6.94853745e-01 4.55685121e-02 2.35668296e+02] [-6.93473504e-01 7.19151055e-01 -4.37750976e-02 -1.38053479e+02] [-6.31879340e-02 -1.82909203e-04 9.98001629e-01 -1.32502299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36863999999997 meters 0.025803235015735643 Centerline is valid? [True, True] Translation: X:235.71, Y:-138.10, Z:-13.25 [[ 7.14239191e-01 6.98294878e-01 4.73987540e-02 2.35712135e+02] [-6.96806089e-01 7.15810057e-01 -4.55767107e-02 -1.38096790e+02] [-6.57544884e-02 -4.75067424e-04 9.97835719e-01 -1.32526182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42864 meters 0.02599997809451459 Centerline is valid? [True, True] Translation: X:235.76, Y:-138.14, Z:-13.26 [[ 7.11568822e-01 7.01076131e-01 4.64980693e-02 2.35756350e+02] [-6.99646677e-01 7.13086099e-01 -4.47520019e-02 -1.38141791e+02] [-6.45316872e-02 -6.88090470e-04 9.97915421e-01 -1.32569730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48864 meters 0.02620473218336809 Centerline is valid? [True, True] Translation: X:235.80, Y:-138.18, Z:-13.26 [[ 7.09883209e-01 7.02737234e-01 4.71827357e-02 2.35801000e+02] [-7.01265835e-01 7.11449023e-01 -4.54589524e-02 -1.38184981e+02] [-6.55138097e-02 -8.17093572e-04 9.97851328e-01 -1.32596932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54864 meters 0.02630329723485839 Centerline is valid? [True, True] Translation: X:235.85, Y:-138.23, Z:-13.26 [[ 7.08922269e-01 7.03666926e-01 4.77710485e-02 2.35845395e+02] [-7.02157785e-01 7.10529434e-01 -4.60691721e-02 -1.38227699e+02] [-6.63600888e-02 -8.83351550e-04 9.97795349e-01 -1.32623871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60864 meters 0.026628538820301476 Centerline is valid? [True, True] Translation: X:235.89, Y:-138.27, Z:-13.26 [[ 7.05999361e-01 7.06695008e-01 4.63364604e-02 2.35889975e+02] [-7.05279060e-01 7.07517455e-01 -4.47269273e-02 -1.38272004e+02] [-6.43921508e-02 -1.10295313e-03 9.97924062e-01 -1.32649274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66864 meters 0.027346045830730543 Centerline is valid? [True, True] Translation: X:235.93, Y:-138.31, Z:-13.27 [[ 7.00789076e-01 7.11874970e-01 4.61378245e-02 2.35934575e+02] [-7.10479339e-01 7.02304536e-01 -4.45807973e-02 -1.38314584e+02] [-6.41387572e-02 -1.53823536e-03 9.97939805e-01 -1.32663955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72864 meters 0.028032050721235074 Centerline is valid? [True, True] Translation: X:235.98, Y:-138.36, Z:-13.27 [[ 6.97149598e-01 7.15467646e-01 4.56999535e-02 2.35980174e+02] [-7.14103579e-01 6.98643489e-01 -4.41967519e-02 -1.38356736e+02] [-6.35493211e-02 -1.82275254e-03 9.97977034e-01 -1.32689884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78864 meters 0.028169284747242958 Centerline is valid? [True, True] Translation: X:236.03, Y:-138.40, Z:-13.27 [[ 6.96325867e-01 7.16320053e-01 4.48984255e-02 2.36025933e+02] [-7.15002635e-01 6.97769448e-01 -4.34629604e-02 -1.38400390e+02] [-6.24621397e-02 -1.83810903e-03 9.98045641e-01 -1.32717619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84864 meters 0.02813244442825637 Centerline is valid? [True, True] Translation: X:236.07, Y:-138.44, Z:-13.28 [[ 6.97667093e-01 7.14778760e-01 4.84969244e-02 2.36072947e+02] [-7.13234216e-01 6.99348328e-01 -4.69986144e-02 -1.38441584e+02] [-6.75098543e-02 -1.80027918e-03 9.97716983e-01 -1.32765091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90864 meters 0.027703210283273636 Centerline is valid? [True, True] Translation: X:236.12, Y:-138.48, Z:-13.28 [[ 6.99035493e-01 7.13535973e-01 4.70722299e-02 2.36120280e+02] [-7.12075143e-01 7.00616771e-01 -4.56632309e-02 -1.38482049e+02] [-6.55619516e-02 -1.59874573e-03 9.97847220e-01 -1.32784793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96864 meters 0.027904120951703693 Centerline is valid? [True, True] Translation: X:236.17, Y:-138.52, Z:-13.28 [[ 6.97705547e-01 7.14912193e-01 4.59077950e-02 2.36168911e+02] [-7.13523093e-01 6.99212282e-01 -4.45755631e-02 -1.38521919e+02] [-6.39669077e-02 -1.65565423e-03 9.97950647e-01 -1.32819419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02864 meters 0.028223021434670495 Centerline is valid? [True, True] Translation: X:236.22, Y:-138.56, Z:-13.28 [[ 6.95590333e-01 7.16959369e-01 4.60798451e-02 2.36215392e+02] [-7.15561674e-01 6.97112576e-01 -4.47833425e-02 -1.38562621e+02] [-6.42306765e-02 -1.82211096e-03 9.97933415e-01 -1.32842588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08864 meters 0.02812650983817831 Centerline is valid? [True, True] Translation: X:236.26, Y:-138.60, Z:-13.29 [[ 6.96167310e-01 7.16365837e-01 4.65946676e-02 2.36262558e+02] [-7.14933551e-01 6.97722626e-01 -4.53117515e-02 -1.38602549e+02] [-6.49699446e-02 -1.76753100e-03 9.97885656e-01 -1.32883626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14864 meters 0.027361604604610627 Centerline is valid? [True, True] Translation: X:236.31, Y:-138.64, Z:-13.29 [[ 7.00862725e-01 7.11671575e-01 4.81145462e-02 2.36311260e+02] [-7.10130136e-01 7.02511042e-01 -4.68340313e-02 -1.38641256e+02] [-6.71314488e-02 -1.34336239e-03 9.97743235e-01 -1.32908348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20863999999995 meters 0.027038974534792752 Centerline is valid? [True, True] Translation: X:236.36, Y:-138.68, Z:-13.29 [[ 7.02341819e-01 7.10230175e-01 4.78442038e-02 2.36358228e+02] [-7.08699771e-01 7.03968560e-01 -4.66143832e-02 -1.38681972e+02] [-6.67877568e-02 -1.16794559e-03 9.97766522e-01 -1.32926462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26863999999995 meters 0.027023487332071466 Centerline is valid? [True, True] Translation: X:236.41, Y:-138.72, Z:-13.30 [[ 7.00929490e-01 7.11592923e-01 4.83048928e-02 2.36407204e+02] [-7.10033080e-01 7.02590832e-01 -4.71078319e-02 -1.38720291e+02] [-6.74601746e-02 -1.27880329e-03 9.97721148e-01 -1.32951268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32863999999995 meters 0.027427495832999207 Centerline is valid? [True, True] Translation: X:236.46, Y:-138.76, Z:-13.30 [[ 6.98701592e-01 7.13762964e-01 4.85645622e-02 2.36457077e+02] [-7.12188519e-01 7.00385811e-01 -4.74049431e-02 -1.38757484e+02] [-6.78498230e-02 -1.46521441e-03 9.97694470e-01 -1.32981197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38863999999995 meters 0.02740518835784441 Centerline is valid? [True, True] Translation: X:236.51, Y:-138.80, Z:-13.30 [[ 6.99151476e-01 7.13289599e-01 4.90424504e-02 2.36507367e+02] [-7.11679702e-01 7.00868022e-01 -4.79167873e-02 -1.38795956e+02] [-6.85508312e-02 -1.40142390e-03 9.97646641e-01 -1.33006634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44863999999995 meters 0.02737733962277375 Centerline is valid? [True, True] Translation: X:236.55, Y:-138.84, Z:-13.31 [[ 7.00574167e-01 7.11857723e-01 4.95420915e-02 2.36554406e+02] [-7.10207728e-01 7.02322610e-01 -4.84554889e-02 -1.38836263e+02] [-6.92879450e-02 -1.23851248e-03 9.97595934e-01 -1.33050893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50863999999996 meters 0.02699600743465454 Centerline is valid? [True, True] Translation: X:236.60, Y:-138.88, Z:-13.31 [[ 7.03119213e-01 7.09430325e-01 4.82906496e-02 2.36602696e+02] [-7.07854037e-01 7.04774947e-01 -4.72751217e-02 -1.38875780e+02] [-6.75724449e-02 -9.42684919e-04 9.97713925e-01 -1.33073954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56863999999996 meters 0.026971608407912788 Centerline is valid? [True, True] Translation: X:236.65, Y:-138.92, Z:-13.31 [[ 7.04324221e-01 7.08172885e-01 4.91788292e-02 2.36650017e+02] [-7.06531622e-01 7.06038611e-01 -4.81928106e-02 -1.38917142e+02] [-6.88509939e-02 -8.03034187e-04 9.97626631e-01 -1.33103381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62863999999996 meters 0.026837378867986355 Centerline is valid? [True, True] Translation: X:236.70, Y:-138.96, Z:-13.31 [[ 7.05437760e-01 7.06966374e-01 5.05580154e-02 2.36696004e+02] [-7.05224656e-01 7.07246847e-01 -4.95992035e-02 -1.38959894e+02] [-7.08219660e-02 -6.65607992e-04 9.97488750e-01 -1.33142311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68863999999996 meters 0.026516951361027923 Centerline is valid? [True, True] Translation: X:236.74, Y:-139.00, Z:-13.32 [[ 7.08446497e-01 7.04058708e-01 4.90397453e-02 2.36739803e+02] [-7.02409806e-01 7.10141695e-01 -4.81584574e-02 -1.39004418e+02] [-6.87315492e-02 -3.28307586e-04 9.97635137e-01 -1.33168589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74863999999997 meters 0.02642868412741317 Centerline is valid? [True, True] Translation: X:236.78, Y:-139.05, Z:-13.32 [[ 7.08059722e-01 7.04545426e-01 4.76148427e-02 2.36784438e+02] [-7.02989276e-01 7.09658814e-01 -4.68021957e-02 -1.39048082e+02] [-6.67645656e-02 -3.33974167e-04 9.97768701e-01 -1.33183951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80863999999997 meters 0.02669765692014351 Centerline is valid? [True, True] Translation: X:236.83, Y:-139.09, Z:-13.32 [[ 7.06144874e-01 7.06325928e-01 4.96296248e-02 2.36827529e+02] [-7.04636232e-01 7.07886603e-01 -4.88296745e-02 -1.39092568e+02] [-6.96218117e-02 -4.90007499e-04 9.97573337e-01 -1.33223351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86863999999997 meters 0.02696369118664285 Centerline is valid? [True, True] Translation: X:236.87, Y:-139.14, Z:-13.33 [[ 7.03916256e-01 7.08619021e-01 4.85899958e-02 2.36872903e+02] [-7.07001730e-01 7.05590983e-01 -4.78530940e-02 -1.39136572e+02] [-6.81942756e-02 -6.68640309e-04 9.97671837e-01 -1.33264240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92864 meters 0.02688666574720272 Centerline is valid? [True, True] Translation: X:236.92, Y:-139.18, Z:-13.33 [[ 7.02761834e-01 7.09877519e-01 4.69010871e-02 2.36917074e+02] [-7.08370545e-01 7.04324765e-01 -4.62363102e-02 -1.39180178e+02] [-6.58557143e-02 -7.30234425e-04 9.97828889e-01 -1.33284943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98864 meters 0.026931011818345885 Centerline is valid? [True, True] Translation: X:236.96, Y:-139.22, Z:-13.33 [[ 7.00952702e-01 7.11721096e-01 4.60259812e-02 2.36963110e+02] [-7.10271009e-01 7.02461635e-01 -4.54174458e-02 -1.39222812e+02] [-6.46560403e-02 -8.55438758e-04 9.97907243e-01 -1.33306525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04864 meters 0.027020663537397835 Centerline is valid? [True, True] Translation: X:237.01, Y:-139.27, Z:-13.33 [[ 6.98959533e-01 7.13703158e-01 4.56439881e-02 2.37010117e+02] [-7.12278163e-01 7.00447579e-01 -4.50888875e-02 -1.39265325e+02] [-6.41513023e-02 -9.95908210e-04 9.97939687e-01 -1.33329258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10864 meters 0.02706915248467313 Centerline is valid? [True, True] Translation: X:237.06, Y:-139.31, Z:-13.34 [[ 6.98108268e-01 7.14444104e-01 4.70581465e-02 2.37057502e+02] [-7.12927730e-01 6.99691714e-01 -4.65355558e-02 -1.39305653e+02] [-6.61732487e-02 -1.06220129e-03 9.97807583e-01 -1.33355262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16864 meters 0.026895302250463573 Centerline is valid? [True, True] Translation: X:237.11, Y:-139.35, Z:-13.34 [[ 6.98950531e-01 7.13562444e-01 4.79248674e-02 2.37105487e+02] [-7.11984368e-01 7.00590972e-01 -4.74399672e-02 -1.39346821e+02] [-6.74271084e-02 -9.63566179e-04 9.97723738e-01 -1.33395706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22864 meters 0.02678671898928103 Centerline is valid? [True, True] Translation: X:237.15, Y:-139.39, Z:-13.34 [[ 7.00105827e-01 7.12489533e-01 4.70159263e-02 2.37150974e+02] [-7.10965222e-01 7.01682271e-01 -4.65880265e-02 -1.39389740e+02] [-6.61837232e-02 -8.10139624e-04 9.97807125e-01 -1.33420588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28864 meters 0.02672604911240324 Centerline is valid? [True, True] Translation: X:237.20, Y:-139.43, Z:-13.34 [[ 7.02672563e-01 7.09809048e-01 4.92177153e-02 2.37197299e+02] [-7.08128652e-01 7.04393932e-01 -4.88159954e-02 -1.39430696e+02] [-6.93186952e-02 -5.50813728e-04 9.97594414e-01 -1.33434713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34864 meters 0.026801047687061152 Centerline is valid? [True, True] Translation: X:237.24, Y:-139.48, Z:-13.35 [[ 7.04229141e-01 7.08161250e-01 5.06849185e-02 2.37238831e+02] [-7.06371468e-01 7.06050642e-01 -5.03173940e-02 -1.39476741e+02] [-7.14189479e-02 -3.67405119e-04 9.97446339e-01 -1.33478988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40864 meters 0.02676760993957503 Centerline is valid? [True, True] Translation: X:237.28, Y:-139.52, Z:-13.35 [[ 7.04116389e-01 7.08255408e-01 5.09351433e-02 2.37283056e+02] [-7.06444506e-01 7.05956203e-01 -5.06162027e-02 -1.39521019e+02] [-7.18071796e-02 -3.43154268e-04 9.97418473e-01 -1.33502428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46864 meters 0.026779547268737693 Centerline is valid? [True, True] Translation: X:237.33, Y:-139.57, Z:-13.35 [[ 7.04537261e-01 7.07782888e-01 5.16781501e-02 2.37326286e+02] [-7.05913391e-01 7.06429979e-01 -5.14098064e-02 -1.39567279e+02] [-7.28939757e-02 -2.60174059e-04 9.97339662e-01 -1.33530348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52864 meters 0.026638230498743743 Centerline is valid? [True, True] Translation: X:237.37, Y:-139.61, Z:-13.35 [[ 7.03932721e-01 7.08655275e-01 4.78165842e-02 2.37369109e+02] [-7.07054527e-01 7.05554826e-01 -4.76054900e-02 -1.39613050e+02] [-6.74731033e-02 -2.97870194e-04 9.97721049e-01 -1.33549173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58864 meters 0.02686637238484053 Centerline is valid? [True, True] Translation: X:237.41, Y:-139.66, Z:-13.36 [[ 7.03084693e-01 7.09548101e-01 4.70468565e-02 2.37412798e+02] [-7.07998815e-01 7.04656912e-01 -4.68648549e-02 -1.39658765e+02] [-6.64047614e-02 -3.59156565e-04 9.97792703e-01 -1.33576639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64863999999994 meters 0.02675003434689091 Centerline is valid? [True, True] Translation: X:237.46, Y:-139.70, Z:-13.36 [[ 7.02056348e-01 7.10540953e-01 4.74176971e-02 2.37456488e+02] [-7.08965973e-01 7.03655723e-01 -4.72850116e-02 -1.39703588e+02] [-6.69636712e-02 -4.20791167e-04 9.97755326e-01 -1.33601494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70863999999995 meters 0.02671383468446232 Centerline is valid? [True, True] Translation: X:237.50, Y:-139.75, Z:-13.36 [[ 6.98731682e-01 7.13884162e-01 4.62972897e-02 2.37500509e+02] [-7.12386920e-01 7.00263471e-01 -4.62163229e-02 -1.39748270e+02] [-6.54134017e-02 -6.88774538e-04 9.97858012e-01 -1.33612453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76863999999995 meters 0.027250098079860684 Centerline is valid? [True, True] Translation: X:237.54, Y:-139.79, Z:-13.36 [[ 6.93503013e-01 7.18937106e-01 4.67226842e-02 2.37544968e+02] [-7.17420425e-01 6.95074194e-01 -4.66883056e-02 -1.39790974e+02] [-6.60416873e-02 -1.14132739e-03 9.97816212e-01 -1.33628016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82863999999995 meters 0.02779005322520739 Centerline is valid? [True, True] Translation: X:237.59, Y:-139.83, Z:-13.37 [[ 6.89087664e-01 7.23104457e-01 4.77298268e-02 2.37589315e+02] [-7.21529281e-01 6.90736956e-01 -4.77279166e-02 -1.39834022e+02] [-6.74810245e-02 -1.54974906e-03 9.97719354e-01 -1.33663015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88863999999995 meters 0.02798103218763103 Centerline is valid? [True, True] Translation: X:237.56, Y:-139.99, Z:-11.73 [[ 7.71463408e-01 -6.36021483e-01 -1.79132033e-02 2.37564579e+02] [-6.35721792e-01 -7.71661068e-01 1.99248346e-02 -1.39994038e+02] [-2.64955445e-02 -3.98346714e-03 -9.99640995e-01 -1.17321812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94863999999995 meters 0.027854636634114204 Centerline is valid? [True, True] Translation: X:237.64, Y:-139.89, Z:-13.37 [[ 7.37589150e-01 6.73309114e-01 5.11574330e-02 2.37639456e+02] [-6.71849218e-01 7.39359235e-01 -4.43458063e-02 -1.39886991e+02] [-6.76821560e-02 -1.66109578e-03 9.97705551e-01 -1.33698035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00863999999996 meters 0.027891121918977944 Centerline is valid? [True, True] Translation: X:237.69, Y:-139.93, Z:-13.37 [[ 7.37938192e-01 6.72841637e-01 5.22623807e-02 2.37688992e+02] [-6.71313285e-01 7.39784779e-01 -4.53536599e-02 -1.39926126e+02] [-6.91787445e-02 -1.61623267e-03 9.97602972e-01 -1.33728790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06863999999996 meters 0.02768184451035484 Centerline is valid? [True, True] Translation: X:237.74, Y:-139.97, Z:-13.38 [[ 7.37351578e-01 6.73457029e-01 5.26144559e-02 2.37736986e+02] [-6.71906071e-01 7.39224535e-01 -4.57090744e-02 -1.39967464e+02] [-6.96769942e-02 -1.64831422e-03 9.97568243e-01 -1.33756004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12863999999996 meters 0.028136537540183235 Centerline is valid? [True, True] Translation: X:237.79, Y:-140.00, Z:-13.38 [[ 7.33964122e-01 6.77084160e-01 5.34201018e-02 2.37786444e+02] [-6.75491920e-01 7.35902895e-01 -4.64499184e-02 -1.40004518e+02] [-7.07625115e-02 -1.99227360e-03 9.97491202e-01 -1.33785999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18863999999996 meters 0.028275973545009863 Centerline is valid? [True, True] Translation: X:237.84, Y:-140.04, Z:-13.38 [[ 7.32341321e-01 6.78935418e-01 5.21813056e-02 2.37837325e+02] [-6.77418875e-01 7.34194998e-01 -4.54023512e-02 -1.40042158e+02] [-6.91365178e-02 -2.09858352e-03 9.97605001e-01 -1.33813128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24863999999997 meters 0.02818159887608071 Centerline is valid? [True, True] Translation: X:237.89, Y:-140.08, Z:-13.38 [[ 7.33229864e-01 6.77977168e-01 5.21624921e-02 2.37886693e+02] [-6.76456067e-01 7.35080313e-01 -4.54326120e-02 -1.40080264e+02] [-6.91458946e-02 -1.97308638e-03 9.97604607e-01 -1.33848848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30863999999997 meters 0.027878706197664038 Centerline is valid? [True, True] Translation: X:237.93, Y:-140.12, Z:-13.39 [[ 7.37067021e-01 6.73937281e-01 5.04058278e-02 2.37934555e+02] [-6.72505547e-01 7.38787005e-01 -4.39323283e-02 -1.40118692e+02] [-6.68468045e-02 -1.51712845e-03 9.97762097e-01 -1.33906912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36863999999997 meters 0.02740892668737593 Centerline is valid? [True, True] Translation: X:237.99, Y:-140.15, Z:-13.40 [[ 7.39956536e-01 6.70758540e-01 5.04708505e-02 2.37986754e+02] [-6.69314947e-01 7.41674785e-01 -4.40001688e-02 -1.40153923e+02] [-6.69464462e-02 -1.22268218e-03 9.97755821e-01 -1.33952977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42864 meters 0.02734047572021463 Centerline is valid? [True, True] Translation: X:238.03, Y:-140.19, Z:-13.40 [[ 7.40638491e-01 6.69988346e-01 5.06975569e-02 2.38034934e+02] [-6.68527992e-01 7.42370746e-01 -4.42266793e-02 -1.40193522e+02] [-6.72677428e-02 -1.13675490e-03 9.97734313e-01 -1.33980697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48864 meters 0.027355376876542926 Centerline is valid? [True, True] Translation: X:238.09, Y:-140.23, Z:-13.40 [[ 7.40186284e-01 6.70531301e-01 5.01202559e-02 2.38086130e+02] [-6.69102432e-01 7.41880363e-01 -4.37659854e-02 -1.40230862e+02] [-6.65296968e-02 -1.14060303e-03 9.97783793e-01 -1.33993072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54864 meters 0.02754931744760802 Centerline is valid? [True, True] Translation: X:238.14, Y:-140.27, Z:-13.40 [[ 7.40576772e-01 6.69899944e-01 5.27267548e-02 2.38135303e+02] [-6.68313331e-01 7.42450569e-01 -4.60916897e-02 -1.40268677e+02] [-7.00238295e-02 -1.10355834e-03 9.97544709e-01 -1.34045380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60864 meters 0.027205756632272867 Centerline is valid? [True, True] Translation: X:238.19, Y:-140.30, Z:-13.41 [[ 7.42881030e-01 6.67282808e-01 5.34923373e-02 2.38186456e+02] [-6.65639754e-01 7.44803972e-01 -4.68055694e-02 -1.40304117e+02] [-7.10738571e-02 -8.35656642e-04 9.97470706e-01 -1.34065067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66864 meters 0.02708585853988118 Centerline is valid? [True, True] Translation: X:238.24, Y:-140.34, Z:-13.41 [[ 7.46686306e-01 6.63005084e-01 5.37012104e-02 2.38235569e+02] [-6.61334876e-01 7.48614789e-01 -4.70327442e-02 -1.40342801e+02] [-7.13844688e-02 -3.95777288e-04 9.97448796e-01 -1.34101486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72864 meters 0.02710701611342395 Centerline is valid? [True, True] Translation: X:238.28, Y:-140.38, Z:-13.41 [[ 7.50623757e-01 6.58481034e-01 5.44674575e-02 2.38284479e+02] [-6.56747347e-01 7.52597318e-01 -4.77514254e-02 -1.40383070e+02] [-7.24354703e-02 7.19961003e-05 9.97373098e-01 -1.34143701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78864 meters 0.02733973047980173 Centerline is valid? [True, True] Translation: X:238.33, Y:-140.43, Z:-13.42 [[ 7.52839802e-01 6.55968153e-01 5.42034554e-02 2.38331012e+02] [-6.54241073e-01 7.54788486e-01 -4.75705782e-02 -1.40425948e+02] [-7.21169284e-02 3.50897825e-04 9.97396123e-01 -1.34174026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84864 meters 0.02743208663873248 Centerline is valid? [True, True] Translation: X:238.38, Y:-140.47, Z:-13.42 [[ 7.52991210e-01 6.55724470e-01 5.50423128e-02 2.38377002e+02] [-6.53939190e-01 7.55000162e-01 -4.83558707e-02 -1.40468077e+02] [-7.32650828e-02 4.17220161e-04 9.97312415e-01 -1.34203644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90864 meters 0.0272054749326084 Centerline is valid? [True, True] Translation: X:238.42, Y:-140.51, Z:-13.42 [[ 7.51333316e-01 6.57711988e-01 5.39739689e-02 2.38419971e+02] [-6.55997443e-01 7.53269459e-01 -4.74602784e-02 -1.40513388e+02] [-7.18721364e-02 2.51702736e-04 9.97413822e-01 -1.34231702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96864 meters 0.027352720333875778 Centerline is valid? [True, True] Translation: X:238.46, Y:-140.56, Z:-13.43 [[ 7.51514632e-01 6.57505269e-01 5.39683089e-02 2.38464145e+02] [-6.55787246e-01 7.53449883e-01 -4.75011760e-02 -1.40559157e+02] [-7.18946896e-02 3.06100137e-04 9.97412182e-01 -1.34262254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02864 meters 0.027260425658123765 Centerline is valid? [True, True] Translation: X:238.51, Y:-140.60, Z:-13.43 [[ 7.53593049e-01 6.55100715e-01 5.42270290e-02 2.38507898e+02] [-6.53356420e-01 7.55541344e-01 -4.77772561e-02 -1.40603992e+02] [-7.22696770e-02 5.75030596e-04 9.97384962e-01 -1.34283399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08864 meters 0.027058116104895735 Centerline is valid? [True, True] Translation: X:238.55, Y:-140.65, Z:-13.43 [[ 7.53420603e-01 6.55368648e-01 5.33791156e-02 2.38552104e+02] [-6.53676172e-01 7.55308948e-01 -4.70728725e-02 -1.40648183e+02] [-7.11678085e-02 5.73016044e-04 9.97464192e-01 -1.34309938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14863999999994 meters 0.026848819630511105 Centerline is valid? [True, True] Translation: X:238.59, Y:-140.70, Z:-13.43 [[ 7.51789886e-01 6.57323593e-01 5.23226685e-02 2.38594131e+02] [-6.55699959e-01 7.53608340e-01 -4.61739530e-02 -1.40695257e+02] [-6.97820280e-02 4.05139315e-04 9.97562181e-01 -1.34333324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20863999999995 meters 0.026864774360405748 Centerline is valid? [True, True] Translation: X:238.64, Y:-140.74, Z:-13.44 [[ 7.50855196e-01 6.58379231e-01 5.24715479e-02 2.38639392e+02] [-6.56747031e-01 7.52686310e-01 -4.63320181e-02 -1.40739934e+02] [-6.99986542e-02 3.28103230e-04 9.97547032e-01 -1.34353754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26863999999995 meters 0.027114116437459715 Centerline is valid? [True, True] Translation: X:238.68, Y:-140.79, Z:-13.44 [[ 7.51084258e-01 6.57973377e-01 5.42537801e-02 2.38681322e+02] [-6.56223676e-01 7.53041077e-01 -4.79543903e-02 -1.40785552e+02] [-7.24080371e-02 4.15172622e-04 9.97375007e-01 -1.34388118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32863999999995 meters 0.027043583105768643 Centerline is valid? [True, True] Translation: X:238.73, Y:-140.83, Z:-13.44 [[ 7.50673401e-01 6.58421512e-01 5.45028213e-02 2.38726798e+02] [-6.56653598e-01 7.52649285e-01 -4.82193476e-02 -1.40828717e+02] [-7.27701652e-02 4.07508009e-04 9.97348654e-01 -1.34421202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38863999999995 meters 0.027024814768874132 Centerline is valid? [True, True] Translation: X:238.77, Y:-140.87, Z:-13.44 [[ 7.50744017e-01 6.58415935e-01 5.35899096e-02 2.38769498e+02] [-6.56703425e-01 7.52654148e-01 -4.74588891e-02 -1.40874575e+02] [-7.15823565e-02 4.36799890e-04 9.97434597e-01 -1.34444998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44863999999995 meters 0.026769266761708974 Centerline is valid? [True, True] Translation: X:238.81, Y:-140.92, Z:-13.45 [[ 7.50309426e-01 6.58977481e-01 5.27678402e-02 2.38810898e+02] [-6.57315528e-01 7.52162557e-01 -4.67737678e-02 -1.40921042e+02] [-7.05128533e-02 4.09678160e-04 9.97510787e-01 -1.34473355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50863999999996 meters 0.026675660140924026 Centerline is valid? [True, True] Translation: X:238.85, Y:-140.97, Z:-13.45 [[ 7.47166378e-01 6.62680975e-01 5.09541931e-02 2.38851389e+02] [-6.61137217e-01 7.48901808e-01 -4.52068900e-02 -1.40969003e+02] [-6.81174332e-02 8.93548952e-05 9.97677306e-01 -1.34503750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56863999999996 meters 0.026726656590720384 Centerline is valid? [True, True] Translation: X:238.89, Y:-141.01, Z:-13.45 [[ 7.41861277e-01 6.68581285e-01 5.13897888e-02 2.38893668e+02] [-6.67022088e-01 7.43638949e-01 -4.56360291e-02 -1.41014524e+02] [-6.87268436e-02 -4.22521435e-04 9.97635426e-01 -1.34526835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62863999999996 meters 0.02685492225292025 Centerline is valid? [True, True] Translation: X:238.94, Y:-141.06, Z:-13.45 [[ 7.38489740e-01 6.72357450e-01 5.06790323e-02 2.38939891e+02] [-6.70847009e-01 7.40226267e-01 -4.50484578e-02 -1.41057533e+02] [-6.78026171e-02 -7.30053375e-04 9.97698488e-01 -1.34544568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68863999999996 meters 0.026974923055799897 Centerline is valid? [True, True] Translation: X:238.98, Y:-141.10, Z:-13.46 [[ 7.35167752e-01 6.76067248e-01 4.96130263e-02 2.38984241e+02] [-6.74625141e-01 7.36839226e-01 -4.41460568e-02 -1.41100919e+02] [-6.64025270e-02 -1.01543747e-03 9.97792400e-01 -1.34566980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74863999999997 meters 0.02704978584972522 Centerline is valid? [True, True] Translation: X:239.03, Y:-141.14, Z:-13.46 [[ 7.33749658e-01 6.77520544e-01 5.07676226e-02 2.39030661e+02] [-6.76010942e-01 7.35502964e-01 -4.52172180e-02 -1.41142397e+02] [-6.79753311e-02 -1.14135014e-03 9.97686349e-01 -1.34598186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80863999999997 meters 0.02723357140033927 Centerline is valid? [True, True] Translation: X:239.08, Y:-141.18, Z:-13.46 [[ 7.32031788e-01 6.79374704e-01 5.07885016e-02 2.39078107e+02] [-6.77865370e-01 7.33790411e-01 -4.52788385e-02 -1.41182971e+02] [-6.80294130e-02 -1.28221725e-03 9.97682492e-01 -1.34632827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86863999999997 meters 0.02733505854101668 Centerline is valid? [True, True] Translation: X:239.13, Y:-141.22, Z:-13.46 [[ 7.30949350e-01 6.80548458e-01 5.06640316e-02 2.39126594e+02] [-6.79046279e-01 7.32701822e-01 -4.52127228e-02 -1.41222705e+02] [-6.78910771e-02 -1.35501188e-03 9.97691819e-01 -1.34649713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92864 meters 0.026971257006399803 Centerline is valid? [True, True] Translation: X:239.18, Y:-141.26, Z:-13.47 [[ 7.32271639e-01 6.79152286e-01 5.03032707e-02 2.39176319e+02] [-6.77664996e-01 7.33996440e-01 -4.49375058e-02 -1.41260617e+02] [-6.74418315e-02 -1.18230470e-03 9.97722507e-01 -1.34690579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98864 meters 0.02666129157464588 Centerline is valid? [True, True] Translation: X:239.22, Y:-141.30, Z:-13.47 [[ 7.35961729e-01 6.75164876e-01 5.01270756e-02 2.39223453e+02] [-6.73676250e-01 7.37666437e-01 -4.48167139e-02 -1.41301692e+02] [-6.72357323e-02 -7.86034105e-04 9.97736808e-01 -1.34728545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04864 meters 0.02639836890370701 Centerline is valid? [True, True] Translation: X:239.27, Y:-141.34, Z:-13.48 [[ 7.39700693e-01 6.70973962e-01 5.13500577e-02 2.39270660e+02] [-6.69399311e-01 7.41480810e-01 -4.59431374e-02 -1.41342744e+02] [-6.89017313e-02 -3.89522694e-04 9.97623376e-01 -1.34753518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10864 meters 0.026385914979227418 Centerline is valid? [True, True] Translation: X:239.31, Y:-141.39, Z:-13.48 [[ 7.43898664e-01 6.66358421e-01 5.08058327e-02 2.39314460e+02] [-6.64802967e-01 7.45631578e-01 -4.55034664e-02 -1.41386579e+02] [-6.82040512e-02 7.40996215e-05 9.97671390e-01 -1.34802153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16864 meters 0.026273613283936213 Centerline is valid? [True, True] Translation: X:239.36, Y:-141.43, Z:-13.48 [[ 7.47234725e-01 6.62634619e-01 5.05532179e-02 2.39356693e+02] [-6.61083026e-01 7.48942697e-01 -4.53218495e-02 -1.41433349e+02] [-6.78932898e-02 4.46185425e-04 9.97692489e-01 -1.34823686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22864 meters 0.026492819990173628 Centerline is valid? [True, True] Translation: X:239.40, Y:-141.48, Z:-13.48 [[ 7.46529225e-01 6.63346081e-01 5.16342360e-02 2.39397324e+02] [-6.61725677e-01 7.48312632e-01 -4.63393235e-02 -1.41481110e+02] [-6.93775597e-02 4.25959524e-04 9.97590383e-01 -1.34844912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28864 meters 0.0264885650805421 Centerline is valid? [True, True] Translation: X:239.44, Y:-141.53, Z:-13.49 [[ 7.44683356e-01 6.65488250e-01 5.07157606e-02 2.39440148e+02] [-6.63927125e-01 7.46408283e-01 -4.55570806e-02 -1.41525899e+02] [-6.81723656e-02 2.54030501e-04 9.97673526e-01 -1.34867235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34864 meters 0.026594188651336302 Centerline is valid? [True, True] Translation: X:239.48, Y:-141.57, Z:-13.49 [[ 7.41639587e-01 6.68887820e-01 5.05945462e-02 2.39481992e+02] [-6.67338971e-01 7.43363359e-01 -4.54930103e-02 -1.41573321e+02] [-6.80398523e-02 -2.42950329e-05 9.97682604e-01 -1.34888762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40864 meters 0.02658852873974299 Centerline is valid? [True, True] Translation: X:239.53, Y:-141.62, Z:-13.49 [[ 7.39607226e-01 6.71166291e-01 5.01693275e-02 2.39525049e+02] [-6.69645301e-01 7.41306800e-01 -4.51597008e-02 -1.41619237e+02] [-6.75005325e-02 -1.95213349e-04 9.97719219e-01 -1.34916315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46864 meters 0.027076747855163272 Centerline is valid? [True, True] Translation: X:239.57, Y:-141.66, Z:-13.49 [[ 7.35185595e-01 6.76005430e-01 5.01876516e-02 2.39568150e+02] [-6.74491316e-01 7.36896393e-01 -4.52235479e-02 -1.41663769e+02] [-6.75544634e-02 -6.03434227e-04 9.97715405e-01 -1.34946930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52864 meters 0.027874658068555755 Centerline is valid? [True, True] Translation: X:239.61, Y:-141.71, Z:-13.50 [[ 7.28721391e-01 6.83094586e-01 4.84450382e-02 2.39614657e+02] [-6.81696765e-01 7.30328956e-01 -4.36936660e-02 -1.41705315e+02] [-6.52277208e-02 -1.18431675e-03 9.97869702e-01 -1.34970080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58864 meters 0.02839512700867922 Centerline is valid? [True, True] Translation: X:239.66, Y:-141.74, Z:-13.50 [[ 7.24763969e-01 6.87263111e-01 4.88529014e-02 2.39662357e+02] [-6.85848324e-01 7.26406938e-01 -4.41025805e-02 -1.41744284e+02] [-6.57971632e-02 -1.54171927e-03 9.97831828e-01 -1.35001225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64863999999994 meters 0.028949595335800556 Centerline is valid? [True, True] Translation: X:239.71, Y:-141.78, Z:-13.50 [[ 7.22471292e-01 6.89707719e-01 4.83579894e-02 2.39711951e+02] [-6.88324413e-01 7.24085845e-01 -4.36942998e-02 -1.41781583e+02] [-6.51516314e-02 -1.71810744e-03 9.97873896e-01 -1.35031035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70863999999995 meters 0.028829761373604892 Centerline is valid? [True, True] Translation: X:239.76, Y:-141.82, Z:-13.51 [[ 7.23683905e-01 6.88454334e-01 4.80857079e-02 2.39762613e+02] [-6.87081197e-01 7.25277999e-01 -4.34885384e-02 -1.41818037e+02] [-6.48153787e-02 -1.56683045e-03 9.97896043e-01 -1.35066459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76863999999995 meters 0.029042109527095072 Centerline is valid? [True, True] Translation: X:239.81, Y:-141.86, Z:-13.51 [[ 7.23442779e-01 6.88688724e-01 4.83568677e-02 2.39814081e+02] [-6.87297787e-01 7.25055439e-01 -4.37762877e-02 -1.41855252e+02] [-6.52096457e-02 -1.56592888e-03 9.97870357e-01 -1.35112224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82863999999995 meters 0.028690635856215597 Centerline is valid? [True, True] Translation: X:239.86, Y:-141.89, Z:-13.51 [[ 7.23446093e-01 6.88855686e-01 4.58649475e-02 2.39863110e+02] [-6.87602305e-01 7.24897017e-01 -4.15618192e-02 -1.41894282e+02] [-6.18774591e-02 -1.46910786e-03 9.98082673e-01 -1.35122463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88863999999995 meters 0.028776528990884422 Centerline is valid? [True, True] Translation: X:239.91, Y:-141.93, Z:-13.51 [[ 7.23056488e-01 6.89202377e-01 4.67910218e-02 2.39912221e+02] [-6.87895897e-01 7.24567345e-01 -4.24428659e-02 -1.41934414e+02] [-6.31549705e-02 -1.49876237e-03 9.98002607e-01 -1.35137493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94863999999995 meters 0.028893134533236806 Centerline is valid? [True, True] Translation: X:239.96, Y:-141.97, Z:-13.52 [[ 7.22612087e-01 6.89587901e-01 4.79614331e-02 2.39963243e+02] [-6.88213032e-01 7.24200362e-01 -4.35506432e-02 -1.41970294e+02] [-6.47656839e-02 -1.53746211e-03 9.97899315e-01 -1.35155507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00863999999996 meters 0.028831974881186724 Centerline is valid? [True, True] Translation: X:240.01, Y:-142.01, Z:-13.52 [[ 7.23869423e-01 6.88208003e-01 4.88139603e-02 2.40010721e+02] [-6.86777835e-01 7.25512068e-01 -4.43671505e-02 -1.42010100e+02] [-6.59489454e-02 -1.40832232e-03 9.97822005e-01 -1.35190478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06863999999996 meters 0.028379573421976192 Centerline is valid? [True, True] Translation: X:240.06, Y:-142.05, Z:-13.52 [[ 7.26429248e-01 6.85549586e-01 4.81903791e-02 2.40062909e+02] [-6.84147224e-01 7.28025073e-01 -4.38414077e-02 -1.42045793e+02] [-6.51392632e-02 -1.12163330e-03 9.97875553e-01 -1.35198472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12863999999996 meters 0.028416871265450144 Centerline is valid? [True, True] Translation: X:240.11, Y:-142.08, Z:-13.52 [[ 7.27574914e-01 6.84344954e-01 4.80284088e-02 2.40111292e+02] [-6.82946695e-01 7.29157749e-01 -4.37354424e-02 -1.42084227e+02] [-6.49504158e-02 -9.80032287e-04 9.97888011e-01 -1.35231640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18863999999996 meters 0.028506885255127287 Centerline is valid? [True, True] Translation: X:240.16, Y:-142.12, Z:-13.53 [[ 7.27032288e-01 6.84864249e-01 4.88365953e-02 2.40160731e+02] [-6.83416707e-01 7.28669979e-01 -4.45159075e-02 -1.42123483e+02] [-6.60731144e-02 -1.01124310e-03 9.97814272e-01 -1.35268587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24863999999997 meters 0.028628705495664392 Centerline is valid? [True, True] Translation: X:240.21, Y:-142.16, Z:-13.53 [[ 7.26607959e-01 6.85394992e-01 4.76925544e-02 2.40207760e+02] [-6.84012813e-01 7.28170791e-01 -4.35174803e-02 -1.42164605e+02] [-6.45549881e-02 -1.00217080e-03 9.97913648e-01 -1.35280290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30863999999997 meters 0.02846292457161155 Centerline is valid? [True, True] Translation: X:240.26, Y:-142.20, Z:-13.53 [[ 7.25744282e-01 6.86361286e-01 4.69406189e-02 2.40258955e+02] [-6.85021767e-01 7.27259996e-01 -4.28728096e-02 -1.42202164e+02] [-6.35642710e-02 -1.04064925e-03 9.97977204e-01 -1.35297345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36863999999997 meters 0.028498613998454145 Centerline is valid? [True, True] Translation: X:240.31, Y:-142.24, Z:-13.53 [[ 7.24857146e-01 6.87379172e-01 4.57382925e-02 2.40307875e+02] [-6.86106728e-01 7.26297964e-01 -4.18189595e-02 -1.42242400e+02] [-6.19651104e-02 -1.06857862e-03 9.98077744e-01 -1.35321290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42864 meters 0.02867075448244716 Centerline is valid? [True, True] Translation: X:240.36, Y:-142.28, Z:-13.53 [[ 7.22617490e-01 6.89643473e-01 4.70727427e-02 2.40361220e+02] [-6.88297457e-01 7.24147966e-01 -4.30851840e-02 -1.42275758e+02] [-6.38010468e-02 -1.26594163e-03 9.97961835e-01 -1.35333901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48864 meters 0.028839191619155245 Centerline is valid? [True, True] Translation: X:240.41, Y:-142.31, Z:-13.53 [[ 7.20613786e-01 6.91796626e-01 4.61865835e-02 2.40409478e+02] [-6.90502774e-01 7.22091039e-01 -4.23137187e-02 -1.42314676e+02] [-6.26234058e-02 -1.40011505e-03 9.98036246e-01 -1.35343186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54864 meters 0.02893936794887048 Centerline is valid? [True, True] Translation: X:240.47, Y:-142.35, Z:-13.54 [[ 7.19193100e-01 6.93400748e-01 4.42344609e-02 2.40465016e+02] [-6.92214772e-01 7.20550699e-01 -4.05635314e-02 -1.42346803e+02] [-5.99999547e-02 -1.44673535e-03 9.98197331e-01 -1.35359584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60864 meters 0.028623755406693683 Centerline is valid? [True, True] Translation: X:240.52, Y:-142.38, Z:-13.54 [[ 7.21277675e-01 6.91186551e-01 4.49407094e-02 2.40518060e+02] [-6.89955393e-01 7.22675299e-01 -4.12549253e-02 -1.42381531e+02] [-6.09923901e-02 -1.25082823e-03 9.98137447e-01 -1.35382825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66864 meters 0.0279556077278687 Centerline is valid? [True, True] Translation: X:240.57, Y:-142.41, Z:-13.54 [[ 7.24339916e-01 6.87987201e-01 4.47805446e-02 2.40573319e+02] [-6.86756317e-01 7.25722199e-01 -4.11466961e-02 -1.42413319e+02] [-6.08066356e-02 -9.49127419e-04 9.98149113e-01 -1.35395444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72864 meters 0.027484263355956835 Centerline is valid? [True, True] Translation: X:240.63, Y:-142.45, Z:-13.54 [[ 7.29591266e-01 6.82332981e-01 4.60248595e-02 2.40626225e+02] [-6.81019262e-01 7.31041372e-01 -4.23234837e-02 -1.42447855e+02] [-6.25247852e-02 -4.64971863e-04 9.98043303e-01 -1.35426087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78864 meters 0.027002072114217762 Centerline is valid? [True, True] Translation: X:240.68, Y:-142.49, Z:-13.55 [[ 7.33771109e-01 6.77764972e-01 4.70595635e-02 2.40676162e+02] [-6.76381148e-01 7.35278613e-01 -4.32886156e-02 -1.42487131e+02] [-6.39413979e-02 -6.62661553e-05 9.97953653e-01 -1.35457076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84864 meters 0.02662142994892748 Centerline is valid? [True, True] Translation: X:240.72, Y:-142.53, Z:-13.55 [[ 7.38782386e-01 6.72400135e-01 4.55921587e-02 2.40724239e+02] [-6.71090128e-01 7.40187747e-01 -4.19540230e-02 -1.42526487e+02] [-6.19566479e-02 3.98445608e-04 9.98078762e-01 -1.35475884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90864 meters 0.026588470999150696 Centerline is valid? [True, True] Translation: X:240.77, Y:-142.57, Z:-13.55 [[ 7.41286807e-01 6.69684334e-01 4.49083723e-02 2.40771343e+02] [-6.68407708e-01 7.42645611e-01 -4.13356213e-02 -1.42566805e+02] [-6.10328236e-02 6.24448577e-04 9.98135564e-01 -1.35508083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96864 meters 0.026477224128870467 Centerline is valid? [True, True] Translation: X:240.82, Y:-142.61, Z:-13.55 [[ 7.42939282e-01 6.67855914e-01 4.48296873e-02 2.40817601e+02] [-6.66579769e-01 7.44290177e-01 -4.12740160e-02 -1.42608675e+02] [-6.09313916e-02 7.81525171e-04 9.98141651e-01 -1.35540177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02864 meters 0.02696463143825593 Centerline is valid? [True, True] Translation: X:240.86, Y:-142.66, Z:-13.56 [[ 7.46375438e-01 6.63872307e-01 4.68749936e-02 2.40858885e+02] [-6.62468312e-01 7.47845036e-01 -4.31687184e-02 -1.42655081e+02] [-6.37137480e-02 1.16687329e-03 9.97967533e-01 -1.35574181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08864 meters 0.02724160757765096 Centerline is valid? [True, True] Translation: X:240.90, Y:-142.70, Z:-13.56 [[ 7.48139246e-01 6.61922395e-01 4.63293779e-02 2.40901568e+02] [-6.60546053e-01 7.49571192e-01 -4.26841940e-02 -1.42701132e+02] [-6.29807909e-02 1.33103304e-03 9.98013852e-01 -1.35604682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14863999999994 meters 0.02695919210989499 Centerline is valid? [True, True] Translation: X:240.94, Y:-142.75, Z:-13.56 [[ 7.47873546e-01 6.62371653e-01 4.41469431e-02 2.40939894e+02] [-6.61120735e-01 7.49174352e-01 -4.07082812e-02 -1.42750929e+02] [-6.00377690e-02 1.25818712e-03 9.98195313e-01 -1.35627328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20863999999995 meters 0.0260242325115172 Centerline is valid? [True, True] Translation: X:240.98, Y:-142.80, Z:-13.56 [[ 7.41658333e-01 6.69292852e-01 4.46093653e-02 2.40976600e+02] [-6.68025719e-01 7.42998343e-01 -4.11716013e-02 -1.42803273e+02] [-6.07005430e-02 7.35057849e-04 9.98155751e-01 -1.35640066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26863999999995 meters 0.02580063359054354 Centerline is valid? [True, True] Translation: X:241.01, Y:-142.85, Z:-13.57 [[ 7.34221134e-01 6.77395085e-01 4.53345895e-02 2.41014030e+02] [-6.76099288e-01 7.35619391e-01 -4.18791628e-02 -1.42853882e+02] [-6.17177422e-02 9.78826988e-05 9.98093638e-01 -1.35695567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32863999999995 meters 0.02589219740415052 Centerline is valid? [True, True] Translation: X:241.06, Y:-142.90, Z:-13.57 [[ 7.29879637e-01 6.82008186e-01 4.62660770e-02 2.41056230e+02] [-6.80665215e-01 7.31344490e-01 -4.27796991e-02 -1.42899501e+02] [-6.30125455e-02 -2.67678008e-04 9.98012699e-01 -1.35718776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38863999999995 meters 0.025995245545286916 Centerline is valid? [True, True] Translation: X:241.10, Y:-142.94, Z:-13.57 [[ 7.25043365e-01 6.87171279e-01 4.59102683e-02 2.41102572e+02] [-6.85857008e-01 7.26495124e-01 -4.24852711e-02 -1.42940294e+02] [-6.25482441e-02 -6.84215348e-04 9.98041707e-01 -1.35735465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44863999999995 meters 0.02643207243110985 Centerline is valid? [True, True] Translation: X:241.15, Y:-142.98, Z:-13.58 [[ 7.21045413e-01 6.91342386e-01 4.62516786e-02 2.41149957e+02] [-6.90015315e-01 7.22526565e-01 -4.28278879e-02 -1.42981132e+02] [-6.30268007e-02 -1.03351450e-03 9.98011300e-01 -1.35767887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50863999999996 meters 0.02665295320015782 Centerline is valid? [True, True] Translation: X:241.20, Y:-143.02, Z:-13.58 [[ 7.18363855e-01 6.94024607e-01 4.77830181e-02 2.41200410e+02] [-6.92611259e-01 7.19950142e-01 -4.42881181e-02 -1.43018523e+02] [-6.51384344e-02 -1.28007310e-03 9.97875416e-01 -1.35803087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56863999999996 meters 0.026867942273673548 Centerline is valid? [True, True] Translation: X:241.25, Y:-143.05, Z:-13.58 [[ 7.16962948e-01 6.95548717e-01 4.66488240e-02 2.41253193e+02] [-6.94202307e-01 7.18477659e-01 -4.32782889e-02 -1.43053857e+02] [-6.36182963e-02 -1.35479165e-03 9.97973385e-01 -1.35829674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62863999999996 meters 0.02691762078300062 Centerline is valid? [True, True] Translation: X:241.30, Y:-143.09, Z:-13.59 [[ 7.16432329e-01 6.96034543e-01 4.75461146e-02 2.41303324e+02] [-6.94633841e-01 7.18006948e-01 -4.41570928e-02 -1.43090624e+02] [-6.48733026e-02 -1.39157140e-03 9.97892538e-01 -1.35874750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68863999999996 meters 0.02668767583694244 Centerline is valid? [True, True] Translation: X:241.36, Y:-143.13, Z:-13.59 [[ 7.18954155e-01 6.93294189e-01 4.94781736e-02 2.41355933e+02] [-6.91767712e-01 7.20653748e-01 -4.59957361e-02 -1.43125485e+02] [-6.75452078e-02 -1.15857730e-03 9.97715542e-01 -1.35918121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74863999999997 meters 0.026050265719227302 Centerline is valid? [True, True] Translation: X:241.41, Y:-143.16, Z:-13.60 [[ 7.24321382e-01 6.87649623e-01 4.99653026e-02 2.41409056e+02] [-6.86076391e-01 7.26042444e-01 -4.64925207e-02 -1.43160094e+02] [-6.82474947e-02 -6.04487687e-04 9.97668238e-01 -1.35955068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80863999999997 meters 0.02619077836939516 Centerline is valid? [True, True] Translation: X:241.46, Y:-143.20, Z:-13.60 [[ 7.29675223e-01 6.81895339e-01 5.09197031e-02 2.41457745e+02] [-6.80243977e-01 7.31449756e-01 -4.74276905e-02 -1.43199460e+02] [-6.95859255e-02 -3.10106541e-05 9.97575961e-01 -1.36013867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86863999999997 meters 0.02631838904559817 Centerline is valid? [True, True] Translation: X:241.51, Y:-143.24, Z:-13.60 [[ 7.34233018e-01 6.77031170e-01 5.03057595e-02 2.41506050e+02] [-6.75404548e-01 7.35954197e-01 -4.69054004e-02 -1.43240603e+02] [-6.87791529e-02 4.62754974e-04 9.97631803e-01 -1.36044446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92864 meters 0.02659455692176637 Centerline is valid? [True, True] Translation: X:241.55, Y:-143.28, Z:-13.61 [[ 7.37186931e-01 6.73865046e-01 4.96117701e-02 2.41548940e+02] [-6.72273116e-01 7.38854041e-01 -4.62986293e-02 -1.43284888e+02] [-6.78548848e-02 7.78085174e-04 9.97694898e-01 -1.36085844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98864 meters 0.026576120905087704 Centerline is valid? [True, True] Translation: X:241.59, Y:-143.33, Z:-13.61 [[ 7.36218898e-01 6.74935184e-01 4.94391761e-02 2.41594212e+02] [-6.73354651e-01 7.37876689e-01 -4.61682337e-02 -1.43329086e+02] [-6.76405809e-02 6.99826942e-04 9.97709508e-01 -1.36111295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04864 meters 0.026346006957381478 Centerline is valid? [True, True] Translation: X:241.64, Y:-143.37, Z:-13.61 [[ 7.33019037e-01 6.78402159e-01 4.95338494e-02 2.41637105e+02] [-6.76820319e-01 7.34690641e-01 -4.63024563e-02 -1.43373522e+02] [-6.78037419e-02 4.15066205e-04 9.97698592e-01 -1.36149336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10864 meters 0.026071978733447486 Centerline is valid? [True, True] Translation: X:241.68, Y:-143.42, Z:-13.62 [[ 7.30031105e-01 6.81664629e-01 4.88663420e-02 2.41682290e+02] [-6.80129701e-01 7.31664755e-01 -4.57195405e-02 -1.43416816e+02] [-6.69191738e-02 1.41236066e-04 9.97758390e-01 -1.36175690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16864 meters 0.02634017142564313 Centerline is valid? [True, True] Translation: X:241.73, Y:-143.46, Z:-13.62 [[ 7.28909136e-01 6.82817379e-01 4.95166470e-02 2.41727830e+02] [-6.81240875e-01 7.30589092e-01 -4.63729319e-02 -1.43460368e+02] [-6.78405660e-02 6.88898390e-05 9.97696173e-01 -1.36214593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22864 meters 0.02615513658437556 Centerline is valid? [True, True] Translation: X:241.77, Y:-143.51, Z:-13.62 [[ 7.29265139e-01 6.82393573e-01 5.01135621e-02 2.41772059e+02] [-6.80774330e-01 7.30984946e-01 -4.69821316e-02 -1.43506065e+02] [-6.86925641e-02 1.46404043e-04 9.97637865e-01 -1.36227261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28864 meters 0.026443543136751083 Centerline is valid? [True, True] Translation: X:241.82, Y:-143.55, Z:-13.63 [[ 7.28567121e-01 6.83071981e-01 5.10158782e-02 2.41815683e+02] [-6.81392059e-01 7.30351049e-01 -4.78770041e-02 -1.43550802e+02] [-6.99629402e-02 1.19796739e-04 9.97549584e-01 -1.36266241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34864 meters 0.02658341902926807 Centerline is valid? [True, True] Translation: X:241.86, Y:-143.60, Z:-13.63 [[ 7.28604674e-01 6.83103823e-01 5.00439354e-02 2.41859701e+02] [-6.81484514e-01 7.30321262e-01 -4.70075716e-02 -1.43595298e+02] [-6.86592020e-02 1.45769382e-04 9.97640162e-01 -1.36301957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40864 meters 0.026594552354971688 Centerline is valid? [True, True] Translation: X:241.90, Y:-143.64, Z:-13.63 [[ 7.28914537e-01 6.82824444e-01 4.93394004e-02 2.41903289e+02] [-6.81246956e-01 7.30582465e-01 -4.63879905e-02 -1.43639122e+02] [-6.77213546e-02 2.00564266e-04 9.97704254e-01 -1.36333093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46864 meters 0.026781104119031802 Centerline is valid? [True, True] Translation: X:241.95, Y:-143.68, Z:-13.64 [[ 7.27151120e-01 6.84572167e-01 5.11096637e-02 2.41946148e+02] [-6.82880432e-01 7.28945089e-01 -4.80975336e-02 -1.43684460e+02] [-7.01823712e-02 7.23861549e-05 9.97534175e-01 -1.36359775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52864 meters 0.02676520621337803 Centerline is valid? [True, True] Translation: X:241.99, Y:-143.73, Z:-13.64 [[ 7.27194944e-01 6.84465421e-01 5.19095561e-02 2.41989906e+02] [-6.82716732e-01 7.29045317e-01 -4.88957012e-02 -1.43728718e+02] [-7.13118354e-02 1.17184200e-04 9.97454063e-01 -1.36389494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58864 meters 0.026516599343319937 Centerline is valid? [True, True] Translation: X:242.03, Y:-143.77, Z:-13.64 [[ 7.28766800e-01 6.82875598e-01 5.07924002e-02 2.42034607e+02] [-6.81194553e-01 7.30534618e-01 -4.78868765e-02 -1.43771269e+02] [-6.98063862e-02 2.98859392e-04 9.97560514e-01 -1.36418489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64863999999994 meters 0.026674237256387245 Centerline is valid? [True, True] Translation: X:242.08, Y:-143.82, Z:-13.65 [[ 7.31087061e-01 6.80482830e-01 4.95462119e-02 2.42078105e+02] [-6.78874849e-01 7.32763822e-01 -4.67559742e-02 -1.43817134e+02] [-6.81223092e-02 5.47010666e-04 9.97676827e-01 -1.36451281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70863999999995 meters 0.026904169717928104 Centerline is valid? [True, True] Translation: X:242.12, Y:-143.86, Z:-13.65 [[ 7.33729621e-01 6.77492399e-01 5.14285194e-02 2.42123152e+02] [-6.75749387e-01 7.35529239e-01 -4.85747305e-02 -1.43859281e+02] [-7.07361904e-02 8.87928138e-04 9.97494663e-01 -1.36471980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76863999999995 meters 0.027465422036081783 Centerline is valid? [True, True] Translation: X:242.17, Y:-143.91, Z:-13.65 [[ 7.37646043e-01 6.73265252e-01 5.09138073e-02 2.42165170e+02] [-6.71544823e-01 7.39399893e-01 -4.81180688e-02 -1.43905428e+02] [-7.00418874e-02 1.30319935e-03 9.97543200e-01 -1.36497060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82863999999995 meters 0.02776263450045641 Centerline is valid? [True, True] Translation: X:242.21, Y:-143.95, Z:-13.65 [[ 7.40072737e-01 6.70587155e-01 5.10412711e-02 2.42207825e+02] [-6.68849156e-01 7.41829054e-01 -4.82748439e-02 -1.43950023e+02] [-7.02363881e-02 1.58798477e-03 9.97529111e-01 -1.36534996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88863999999995 meters 0.02825977419408071 Centerline is valid? [True, True] Translation: X:242.25, Y:-144.00, Z:-13.66 [[ 7.43067271e-01 6.67266757e-01 5.10500364e-02 2.42247114e+02] [-6.65518246e-01 7.44816334e-01 -4.83124575e-02 -1.43999011e+02] [-7.02601978e-02 1.92467523e-03 9.97526842e-01 -1.36565699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94863999999995 meters 0.028769880450579936 Centerline is valid? [True, True] Translation: X:242.28, Y:-144.05, Z:-13.66 [[ 7.46149381e-01 6.63964888e-01 4.91093580e-02 2.42283127e+02] [-6.62337156e-01 7.47760574e-01 -4.65146869e-02 -1.44050713e+02] [-6.76061606e-02 2.17995227e-03 9.97709705e-01 -1.36605725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00863999999996 meters 0.0290339486057903 Centerline is valid? [True, True] Translation: X:242.32, Y:-144.11, Z:-13.66 [[ 7.46810572e-01 6.63188885e-01 4.95426312e-02 2.42315114e+02] [-6.61527895e-01 7.48448539e-01 -4.69641125e-02 -1.44107188e+02] [-6.82261873e-02 2.29946316e-03 9.97667229e-01 -1.36628644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06863999999996 meters 0.0281960065152382 Centerline is valid? [True, True] Translation: X:242.35, Y:-144.16, Z:-13.67 [[ 7.44350923e-01 6.66021995e-01 4.85428147e-02 2.42350987e+02] [-6.64430800e-01 7.45929345e-01 -4.60556653e-02 -1.44159512e+02] [-6.68835960e-02 2.02823581e-03 9.97758724e-01 -1.36650525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12863999999996 meters 0.026566547595492845 Centerline is valid? [True, True] Translation: X:242.38, Y:-144.22, Z:-13.67 [[ 7.36161634e-01 6.75169014e-01 4.70409442e-02 2.42377635e+02] [-6.73691422e-01 7.37662116e-01 -4.46594964e-02 -1.44221010e+02] [-6.48530306e-02 1.18552730e-03 9.97894122e-01 -1.36679250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18863999999996 meters 0.026188782238995567 Centerline is valid? [True, True] Translation: X:242.42, Y:-144.27, Z:-13.67 [[ 7.29933838e-01 6.81810399e-01 4.82822028e-02 2.42415723e+02] [-6.80266919e-01 7.31528664e-01 -4.58555531e-02 -1.44270723e+02] [-6.65846083e-02 6.26734539e-04 9.97780586e-01 -1.36708692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24863999999997 meters 0.02607980938383194 Centerline is valid? [True, True] Translation: X:242.46, Y:-144.32, Z:-13.67 [[ 7.21267931e-01 6.90886035e-01 4.94879596e-02 2.42456061e+02] [-6.89282322e-01 7.22963661e-01 -4.70470459e-02 -1.44319139e+02] [-6.82821434e-02 -1.77650269e-04 9.97666035e-01 -1.36710906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30863999999997 meters 0.026513788635692006 Centerline is valid? [True, True] Translation: X:242.50, Y:-144.37, Z:-13.67 [[ 7.13237196e-01 6.99206453e-01 4.90207947e-02 2.42498612e+02] [-6.97649072e-01 7.14919211e-01 -4.66507568e-02 -1.44365012e+02] [-6.76644180e-02 -9.26256948e-04 9.97707707e-01 -1.36747034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36863999999997 meters 0.027056307660933508 Centerline is valid? [True, True] Translation: X:242.54, Y:-144.41, Z:-13.68 [[ 7.08816986e-01 7.03632353e-01 4.97995304e-02 2.42544092e+02] [-7.02032829e-01 7.10562963e-01 -4.74360905e-02 -1.44406831e+02] [-6.87632698e-02 -1.33739849e-03 9.97632109e-01 -1.36768900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42864 meters 0.028088798361142392 Centerline is valid? [True, True] Translation: X:242.59, Y:-144.44, Z:-13.68 [[ 7.01306994e-01 7.11172601e-01 4.90105259e-02 2.42594713e+02] [-7.09639495e-01 7.03014551e-01 -4.67153924e-02 -1.44443181e+02] [-6.76778200e-02 -2.01797339e-03 9.97705187e-01 -1.36783449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48864 meters 0.02921464805497127 Centerline is valid? [True, True] Translation: X:242.64, Y:-144.48, Z:-13.68 [[ 6.95744615e-01 7.16687584e-01 4.79409854e-02 2.42644761e+02] [-7.15233061e-01 6.97389925e-01 -4.57051496e-02 -1.44480019e+02] [-6.61898735e-02 -2.48986601e-03 9.97803939e-01 -1.36802632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54864 meters 0.02939333641840897 Centerline is valid? [True, True] Translation: X:242.70, Y:-144.51, Z:-13.68 [[ 6.94653082e-01 7.17667905e-01 4.90904633e-02 2.42697973e+02] [-7.16143793e-01 6.96380538e-01 -4.68210845e-02 -1.44514428e+02] [-6.77876329e-02 -2.63141993e-03 9.97696303e-01 -1.36824322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60864 meters 0.028142537529918552 Centerline is valid? [True, True] Translation: X:242.75, Y:-144.55, Z:-13.68 [[ 6.99546870e-01 7.12980520e-01 4.78848045e-02 2.42747828e+02] [-7.11517269e-01 7.01180698e-01 -4.57034333e-02 -1.44551753e+02] [-6.61615583e-02 -2.09917165e-03 9.97806716e-01 -1.36843472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66864 meters 0.02730110184730048 Centerline is valid? [True, True] Translation: X:242.80, Y:-144.59, Z:-13.69 [[ 7.04787591e-01 7.07724241e-01 4.89984741e-02 2.42798211e+02] [-7.06178528e-01 7.06486894e-01 -4.67777322e-02 -1.44587758e+02] [-6.77225148e-02 -1.63330516e-03 9.97702858e-01 -1.36879071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72864 meters 0.026623730137117104 Centerline is valid? [True, True] Translation: X:242.85, Y:-144.63, Z:-13.69 [[ 7.09464253e-01 7.03043474e-01 4.88911800e-02 2.42845686e+02] [-7.01492148e-01 7.11145910e-01 -4.66932532e-02 -1.44627993e+02] [-6.75961496e-02 -1.16958488e-03 9.97712079e-01 -1.36904921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78864 meters 0.026133997254377744 Centerline is valid? [True, True] Translation: X:242.89, Y:-144.67, Z:-13.70 [[ 7.13283434e-01 6.99184041e-01 4.86664166e-02 2.42892194e+02] [-6.97635004e-01 7.14941318e-01 -4.65221776e-02 -1.44669094e+02] [-6.73211962e-02 -7.67897137e-04 9.97731059e-01 -1.36952491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84864 meters 0.02571886307554557 Centerline is valid? [True, True] Translation: X:242.94, Y:-144.71, Z:-13.70 [[ 7.19515591e-01 6.92699432e-01 4.96468636e-02 2.42935990e+02] [-6.91068575e-01 7.21226373e-01 -4.75051993e-02 -1.44713356e+02] [-6.87134519e-02 -1.28655717e-04 9.97636429e-01 -1.36997841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90864 meters 0.025711288273891547 Centerline is valid? [True, True] Translation: X:242.98, Y:-144.76, Z:-13.70 [[ 7.22990091e-01 6.89197549e-01 4.78755358e-02 2.42978249e+02] [-6.87670587e-01 7.24573451e-01 -4.58527835e-02 -1.44759015e+02] [-6.62909683e-02 2.28510272e-04 9.97800308e-01 -1.37024052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96864 meters 0.025581705517008772 Centerline is valid? [True, True] Translation: X:243.02, Y:-144.81, Z:-13.70 [[ 7.22683059e-01 6.89554222e-01 4.73726871e-02 2.43018370e+02] [-6.88057050e-01 7.24234026e-01 -4.54155541e-02 -1.44808192e+02] [-6.56253989e-02 2.25940282e-04 9.97844304e-01 -1.37040408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02864 meters 0.025475804625233904 Centerline is valid? [True, True] Translation: X:243.06, Y:-144.85, Z:-13.71 [[ 7.21933993e-01 6.90421480e-01 4.61463826e-02 2.43061503e+02] [-6.88999781e-01 7.23407319e-01 -4.42849077e-02 -1.44853458e+02] [-6.39578824e-02 1.75932745e-04 9.97952583e-01 -1.37057481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08864 meters 0.02554344945253299 Centerline is valid? [True, True] Translation: X:243.10, Y:-144.90, Z:-13.71 [[ 7.18906467e-01 6.93548122e-01 4.65241231e-02 2.43101648e+02] [-6.92106703e-01 7.20410298e-01 -4.46913179e-02 -1.44902677e+02] [-6.45120370e-02 -7.07800018e-05 9.97916926e-01 -1.37094700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14863999999994 meters 0.02579905328704898 Centerline is valid? [True, True] Translation: X:243.14, Y:-144.95, Z:-13.71 [[ 7.14205492e-01 6.98338317e-01 4.72663767e-02 2.43139512e+02] [-6.96857755e-01 7.15767678e-01 -4.54521776e-02 -1.44953079e+02] [-6.55727419e-02 -4.75746259e-04 9.97847678e-01 -1.37119972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20863999999995 meters 0.02637224951255269 Centerline is valid? [True, True] Translation: X:243.18, Y:-145.00, Z:-13.72 [[ 7.06736657e-01 7.05978834e-01 4.60128727e-02 2.43182790e+02] [-7.04589217e-01 7.08232046e-01 -4.42877424e-02 -1.44997702e+02] [-6.38539997e-02 -1.12040298e-03 9.97958622e-01 -1.37156471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26863999999995 meters 0.02801165059348621 Centerline is valid? [True, True] Translation: X:243.23, Y:-145.04, Z:-13.72 [[ 6.95996041e-01 7.16554089e-01 4.62574195e-02 2.43226460e+02] [-7.15170036e-01 6.97528471e-01 -4.45628923e-02 -1.45040517e+02] [-6.41975898e-02 -2.06632373e-03 9.97935068e-01 -1.37175731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32863999999995 meters 0.02916485811750626 Centerline is valid? [True, True] Translation: X:243.27, Y:-145.08, Z:-13.72 [[ 6.89612156e-01 7.22770126e-01 4.51488534e-02 2.43274242e+02] [-7.21463227e-01 6.91083776e-01 -4.35204170e-02 -1.45079757e+02] [-6.26568974e-02 -2.56102886e-03 9.98031840e-01 -1.37189218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38863999999995 meters 0.030605854473379924 Centerline is valid? [True, True] Translation: X:243.33, Y:-145.11, Z:-13.72 [[ 6.84460950e-01 7.27629794e-01 4.54762653e-02 2.43326985e+02] [-7.26313979e-01 6.85963379e-01 -4.38434320e-02 -1.45113539e+02] [-6.30968400e-02 -3.02093009e-03 9.98002837e-01 -1.37223951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44863999999995 meters 0.030307588631196238 Centerline is valid? [True, True] Translation: X:243.38, Y:-145.14, Z:-13.72 [[ 6.84719669e-01 7.27157715e-01 4.89962472e-02 2.43384246e+02] [-7.25627682e-01 6.86462991e-01 -4.72549250e-02 -1.45143471e+02] [-6.79958937e-02 -3.19665666e-03 9.97680480e-01 -1.37248003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50863999999996 meters 0.028967655359140372 Centerline is valid? [True, True] Translation: X:243.44, Y:-145.17, Z:-13.73 [[ 6.90258209e-01 7.21895509e-01 4.90966348e-02 2.43441607e+02] [-7.20343726e-01 6.91996964e-01 -4.73826721e-02 -1.45172237e+02] [-6.81800604e-02 -2.66017449e-03 9.97669486e-01 -1.37286204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56863999999996 meters 0.027400126618579795 Centerline is valid? [True, True] Translation: X:243.50, Y:-145.20, Z:-13.73 [[ 6.98932495e-01 7.13448276e-01 4.98490258e-02 2.43496500e+02] [-7.11826400e-01 7.00705443e-01 -4.81150548e-02 -1.45202825e+02] [-6.92570866e-02 -1.85467727e-03 9.97597121e-01 -1.37306456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62863999999996 meters 0.026572806359225945 Centerline is valid? [True, True] Translation: X:243.55, Y:-145.24, Z:-13.73 [[ 7.05703675e-01 7.06744907e-01 4.99395711e-02 2.43548372e+02] [-7.05099903e-01 7.07467466e-01 -4.82069684e-02 -1.45237416e+02] [-6.94006512e-02 -1.19255198e-03 9.97588155e-01 -1.37341328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68863999999996 meters 0.025848899259397207 Centerline is valid? [True, True] Translation: X:243.60, Y:-145.27, Z:-13.74 [[ 7.14619054e-01 6.97764475e-01 4.94403211e-02 2.43598133e+02] [-6.96129197e-01 7.16327194e-01 -4.77440300e-02 -1.45274853e+02] [-6.87295345e-02 -2.98057463e-04 9.97635285e-01 -1.37388672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74863999999997 meters 0.025962081155233255 Centerline is valid? [True, True] Translation: X:243.65, Y:-145.31, Z:-13.74 [[ 7.23022322e-01 6.88892280e-01 5.16347668e-02 2.43647583e+02] [-6.87082093e-01 7.24863474e-01 -4.99113409e-02 -1.45312695e+02] [-7.18116938e-02 6.09689952e-04 9.97418021e-01 -1.37414467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80863999999997 meters 0.026490521429041153 Centerline is valid? [True, True] Translation: X:243.69, Y:-145.36, Z:-13.74 [[ 7.29602363e-01 6.82065709e-01 4.96664830e-02 2.43689384e+02] [-6.80372169e-01 7.31289794e-01 -4.80515222e-02 -1.45358374e+02] [-6.90948877e-02 1.26681138e-03 9.97609288e-01 -1.37430446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86863999999997 meters 0.027251417463990915 Centerline is valid? [True, True] Translation: X:243.73, Y:-145.41, Z:-13.75 [[ 7.33570076e-01 6.77738994e-01 5.04460077e-02 2.43728316e+02] [-6.75979177e-01 7.35300534e-01 -4.88392935e-02 -1.45407087e+02] [-7.01932701e-02 1.72659350e-03 9.97531916e-01 -1.37476018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92864 meters 0.026926381080766577 Centerline is valid? [True, True] Translation: X:243.77, Y:-145.45, Z:-13.75 [[ 7.32661387e-01 6.78783713e-01 4.95980077e-02 2.43768396e+02] [-6.77083513e-01 7.34336478e-01 -4.80401306e-02 -1.45454866e+02] [-6.90304845e-02 1.61515551e-03 9.97613243e-01 -1.37489487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98864 meters 0.026104734283845604 Centerline is valid? [True, True] Translation: X:243.80, Y:-145.51, Z:-13.75 [[ 7.28669675e-01 6.83253815e-01 4.69545435e-02 2.43804176e+02] [-6.81737558e-01 7.30180048e-01 -4.55082304e-02 -1.45505707e+02] [-6.53789429e-02 1.14979159e-03 9.97859846e-01 -1.37522736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04864 meters 0.02580956167372476 Centerline is valid? [True, True] Translation: X:243.84, Y:-145.56, Z:-13.75 [[ 7.24865160e-01 6.87176760e-01 4.85654194e-02 2.43841986e+02] [-6.85562687e-01 7.26489786e-01 -4.70785736e-02 -1.45556698e+02] [-6.76335829e-02 8.30978338e-04 9.97709882e-01 -1.37547502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10864 meters 0.025753304493323616 Centerline is valid? [True, True] Translation: X:243.88, Y:-145.61, Z:-13.76 [[ 7.22611239e-01 6.89498176e-01 4.92469573e-02 2.43879102e+02] [-6.87841957e-01 7.24287135e-01 -4.77659823e-02 -1.45608265e+02] [-6.86034952e-02 6.42112228e-04 9.97643798e-01 -1.37589555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16864 meters 0.025356478036547225 Centerline is valid? [True, True] Translation: X:243.92, Y:-145.66, Z:-13.76 [[ 7.18986883e-01 6.93406901e-01 4.73785930e-02 2.43919699e+02] [-6.91879557e-01 7.20546171e-01 -4.59988585e-02 -1.45656146e+02] [-6.60343897e-02 2.92295956e-04 9.97817305e-01 -1.37607282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22864 meters 0.025283474911855043 Centerline is valid? [True, True] Translation: X:243.96, Y:-145.70, Z:-13.76 [[ 7.14514982e-01 6.97908756e-01 4.89050999e-02 2.43960391e+02] [-6.96288670e-01 7.16186679e-01 -4.75260967e-02 -1.45703236e+02] [-6.81940601e-02 -9.39588782e-05 9.97672071e-01 -1.37636907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28864 meters 0.02546208097429394 Centerline is valid? [True, True] Translation: X:244.00, Y:-145.75, Z:-13.76 [[ 7.09116670e-01 7.03365705e-01 4.92974077e-02 2.44002973e+02] [-7.01729430e-01 7.10827924e-01 -4.79527808e-02 -1.45748569e+02] [-6.87703154e-02 -5.89325588e-04 9.97632345e-01 -1.37639528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34864 meters 0.025640688545791813 Centerline is valid? [True, True] Translation: X:244.04, Y:-145.80, Z:-13.77 [[ 7.06572440e-01 7.05950290e-01 4.88832775e-02 2.44044345e+02] [-7.04344398e-01 7.08260932e-01 -4.75964423e-02 -1.45795866e+02] [-6.82228379e-02 -8.00328262e-04 9.97669787e-01 -1.37670886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40864 meters 0.025725446235044122 Centerline is valid? [True, True] Translation: X:244.09, Y:-145.84, Z:-13.77 [[ 7.05112948e-01 7.07341775e-01 4.98331682e-02 2.44087140e+02] [-7.05672778e-01 7.06871114e-01 -4.85711761e-02 -1.45840304e+02] [-6.95820490e-02 -9.17745092e-04 9.97575810e-01 -1.37691667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46864 meters 0.02574513812002545 Centerline is valid? [True, True] Translation: X:244.13, Y:-145.89, Z:-13.77 [[ 7.04135769e-01 7.08315446e-01 4.98201574e-02 2.44131748e+02] [-7.06646555e-01 7.05895365e-01 -4.86043231e-02 -1.45885370e+02] [-6.95950110e-02 -9.81200173e-04 9.97574845e-01 -1.37724356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52864 meters 0.02564789498030025 Centerline is valid? [True, True] Translation: X:244.18, Y:-145.93, Z:-13.78 [[ 7.03350477e-01 7.09138003e-01 4.92077134e-02 2.44178355e+02] [-7.07508383e-01 7.05068980e-01 -4.80585189e-02 -1.45927283e+02] [-6.87749544e-02 -1.01288754e-03 9.97631685e-01 -1.37761087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58864 meters 0.025627732808398744 Centerline is valid? [True, True] Translation: X:244.22, Y:-145.97, Z:-13.78 [[ 7.03347831e-01 7.09145298e-01 4.91403663e-02 2.44223629e+02] [-7.07516567e-01 7.05061696e-01 -4.80448949e-02 -1.45970548e+02] [-6.87178013e-02 -9.75350675e-04 9.97635661e-01 -1.37790574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64863999999994 meters 0.02547252068623284 Centerline is valid? [True, True] Translation: X:244.27, Y:-146.01, Z:-13.78 [[ 7.03891127e-01 7.08634365e-01 4.87300481e-02 2.44271826e+02] [-7.07028155e-01 7.05575337e-01 -4.76930884e-02 -1.46010625e+02] [-6.81796816e-02 -8.82774273e-04 9.97672668e-01 -1.37839699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70863999999995 meters 0.025476638385838562 Centerline is valid? [True, True] Translation: X:244.32, Y:-146.05, Z:-13.79 [[ 7.04082755e-01 7.08497598e-01 4.79440045e-02 2.44318357e+02] [-7.06939568e-01 7.05712742e-01 -4.69677806e-02 -1.46052299e+02] [-6.71112547e-02 -8.24309445e-04 9.97745158e-01 -1.37869855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76863999999995 meters 0.02522286260215614 Centerline is valid? [True, True] Translation: X:244.37, Y:-146.09, Z:-13.79 [[ 7.05956399e-01 7.06610371e-01 4.82425803e-02 2.44367137e+02] [-7.05025390e-01 7.07602575e-01 -4.73053401e-02 -1.46090661e+02] [-6.75630179e-02 -6.16736453e-04 9.97714818e-01 -1.37897454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82863999999995 meters 0.025366716501815843 Centerline is valid? [True, True] Translation: X:244.41, Y:-146.13, Z:-13.79 [[ 7.06548464e-01 7.06000184e-01 4.85078126e-02 2.44413965e+02] [-7.04393046e-01 7.08211452e-01 -4.76127681e-02 -1.46132533e+02] [-6.79684115e-02 -5.27837723e-04 9.97687334e-01 -1.37938642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88863999999995 meters 0.025013990604086676 Centerline is valid? [True, True] Translation: X:244.46, Y:-146.17, Z:-13.80 [[ 7.09287358e-01 7.03254929e-01 4.84143505e-02 2.44459877e+02] [-7.01644193e-01 7.10937728e-01 -4.75707236e-02 -1.46174442e+02] [-6.78739341e-02 -2.28335039e-04 9.97693879e-01 -1.37969684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94863999999995 meters 0.025137254409311468 Centerline is valid? [True, True] Translation: X:244.50, Y:-146.22, Z:-13.80 [[ 7.10542096e-01 7.01976821e-01 4.85641096e-02 2.44504994e+02] [-7.00349879e-01 7.12199788e-01 -4.77651497e-02 -1.46218631e+02] [-6.81173765e-02 -7.27187227e-05 9.97677311e-01 -1.37994825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00863999999996 meters 0.02524106989533645 Centerline is valid? [True, True] Translation: X:244.55, Y:-146.26, Z:-13.80 [[ 7.15575115e-01 6.96935275e-01 4.72596889e-02 2.44548959e+02] [-6.95380321e-01 7.17133903e-01 -4.65314236e-02 -1.46263898e+02] [-6.63209157e-02 4.33271162e-04 9.97798250e-01 -1.38019800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06863999999996 meters 0.025304459697024544 Centerline is valid? [True, True] Translation: X:244.59, Y:-146.31, Z:-13.80 [[ 7.16085653e-01 6.96316312e-01 4.86305567e-02 2.44590967e+02] [-6.94664875e-01 7.17734840e-01 -4.79313213e-02 -1.46310185e+02] [-6.82792057e-02 5.40991968e-04 9.97666105e-01 -1.38048412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12863999999996 meters 0.025327023821116897 Centerline is valid? [True, True] Translation: X:244.63, Y:-146.36, Z:-13.81 [[ 7.15443221e-01 6.96946979e-01 4.90500315e-02 2.44631517e+02] [-6.95265117e-01 7.17122471e-01 -4.83919292e-02 -1.46358970e+02] [-6.89014887e-02 5.18901820e-04 9.97623334e-01 -1.38072798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18863999999996 meters 0.025247474342681098 Centerline is valid? [True, True] Translation: X:244.67, Y:-146.41, Z:-13.81 [[ 7.14117538e-01 6.98332968e-01 4.86539716e-02 2.44671367e+02] [-6.96678516e-01 7.15772936e-01 -4.80431953e-02 -1.46407749e+02] [-6.83753433e-02 4.12311584e-04 9.97659582e-01 -1.38100819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24863999999997 meters 0.025354140082383562 Centerline is valid? [True, True] Translation: X:244.71, Y:-146.46, Z:-13.81 [[ 7.13121776e-01 6.99312493e-01 4.91870898e-02 2.44713155e+02] [-6.97621526e-01 7.14816003e-01 -4.86033883e-02 -1.46455393e+02] [-6.91486756e-02 3.46161980e-04 9.97606306e-01 -1.38138609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30863999999997 meters 0.0251411417849233 Centerline is valid? [True, True] Translation: X:244.75, Y:-146.50, Z:-13.82 [[ 7.12479177e-01 7.00035801e-01 4.82006190e-02 2.44753871e+02] [-6.98410436e-01 7.14107684e-01 -4.76768122e-02 -1.46502915e+02] [-6.77959078e-02 3.04920600e-04 9.97699164e-01 -1.38167290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36863999999997 meters 0.025197039427071497 Centerline is valid? [True, True] Translation: X:244.80, Y:-146.55, Z:-13.82 [[ 7.11607183e-01 7.00929873e-01 4.80887753e-02 2.44796704e+02] [-6.99310928e-01 7.13230152e-01 -4.76127787e-02 -1.46548744e+02] [-6.76715834e-02 2.52589254e-04 9.97707619e-01 -1.38200161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42864 meters 0.025181000185114377 Centerline is valid? [True, True] Translation: X:244.84, Y:-146.59, Z:-13.82 [[ 7.10156259e-01 7.02412943e-01 4.78972243e-02 2.44839382e+02] [-7.00806774e-01 7.11769650e-01 -4.74745298e-02 -1.46594700e+02] [-6.74385148e-02 1.47635293e-04 9.97723421e-01 -1.38245532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48864 meters 0.025011013188486773 Centerline is valid? [True, True] Translation: X:244.88, Y:-146.64, Z:-13.83 [[ 7.09982759e-01 7.02665892e-01 4.67453271e-02 2.44880784e+02] [-7.01133547e-01 7.11519936e-01 -4.63802722e-02 -1.46641329e+02] [-6.58500675e-02 1.54476632e-04 9.97829517e-01 -1.38264436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54864 meters 0.025081828988425557 Centerline is valid? [True, True] Translation: X:244.92, Y:-146.69, Z:-13.83 [[ 7.07411479e-01 7.05146707e-01 4.83437752e-02 2.44921805e+02] [-7.03510234e-01 7.09061436e-01 -4.80128239e-02 -1.46687892e+02] [-6.81347913e-02 -4.55177689e-05 9.97676124e-01 -1.38297213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60864 meters 0.025337005293485232 Centerline is valid? [True, True] Translation: X:244.96, Y:-146.74, Z:-13.83 [[ 7.05673279e-01 7.06861028e-01 4.87104819e-02 2.44962891e+02] [-7.05200412e-01 7.07352427e-01 -4.84244126e-02 -1.46735128e+02] [-6.86848076e-02 -1.78837837e-04 9.97638394e-01 -1.38325976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66864 meters 0.025241908906486064 Centerline is valid? [True, True] Translation: X:245.00, Y:-146.78, Z:-13.84 [[ 7.05388925e-01 7.07192541e-01 4.80122262e-02 2.45004230e+02] [-7.05576784e-01 7.07020989e-01 -4.77778445e-02 -1.46781424e+02] [-6.77337869e-02 -1.74349855e-04 9.97703415e-01 -1.38350367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72864 meters 0.025191879311498692 Centerline is valid? [True, True] Translation: X:245.05, Y:-146.83, Z:-13.84 [[ 7.05532428e-01 7.07090083e-01 4.74089430e-02 2.45046035e+02] [-7.05511364e-01 7.07123468e-01 -4.72241098e-02 -1.46829197e+02] [-6.69156758e-02 -1.29407208e-04 9.97758626e-01 -1.38370231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78864 meters 0.02535282279480989 Centerline is valid? [True, True] Translation: X:245.09, Y:-146.88, Z:-13.84 [[ 7.03840973e-01 7.08681256e-01 4.87725462e-02 2.45086925e+02] [-7.07010503e-01 7.05528747e-01 -4.86347130e-02 -1.46876377e+02] [-6.88769429e-02 -2.51598689e-04 9.97625132e-01 -1.38405767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84864 meters 0.025374120810763037 Centerline is valid? [True, True] Translation: X:245.13, Y:-146.92, Z:-13.84 [[ 7.01976342e-01 7.10456863e-01 4.98022208e-02 2.45128846e+02] [-7.08715784e-01 7.03740638e-01 -4.97096869e-02 -1.46922753e+02] [-7.03644348e-02 -4.00595804e-04 9.97521271e-01 -1.38428143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90864 meters 0.025691142624731135 Centerline is valid? [True, True] Translation: X:245.17, Y:-146.97, Z:-13.85 [[ 6.99394988e-01 7.13100966e-01 4.83080156e-02 2.45170167e+02] [-7.11466069e-01 7.01061079e-01 -4.82638175e-02 -1.46969260e+02] [-6.82838444e-02 -6.14041892e-04 9.97665745e-01 -1.38454776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96864 meters 0.025630165045050217 Centerline is valid? [True, True] Translation: X:245.21, Y:-147.02, Z:-13.85 [[ 6.98038406e-01 7.14425138e-01 4.83643134e-02 2.45210121e+02] [-7.12786267e-01 6.99711525e-01 -4.83685719e-02 -1.47018214e+02] [-6.83967911e-02 -7.10297578e-04 9.97657945e-01 -1.38489609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02864 meters 0.02576445564346133 Centerline is valid? [True, True] Translation: X:245.34, Y:-147.06, Z:-12.23 [[ 7.65229344e-01 -6.43566450e-01 -1.56931883e-02 2.45339715e+02] [-6.43322374e-01 -7.65380961e-01 1.81192985e-02 -1.47057609e+02] [-2.36722401e-02 -3.76963977e-03 -9.99712666e-01 -1.22257042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08864 meters 0.0262596057968156 Centerline is valid? [True, True] Translation: X:245.28, Y:-147.11, Z:-13.86 [[ 7.44455366e-01 6.65649261e-01 5.19352529e-02 2.45278425e+02] [-6.64148593e-01 7.46263736e-01 -4.46887299e-02 -1.47108475e+02] [-6.85044159e-02 -1.22396043e-03 9.97650062e-01 -1.38561215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14863999999994 meters 0.0270806708242723 Centerline is valid? [True, True] Translation: X:245.32, Y:-147.15, Z:-13.86 [[ 7.39272686e-01 6.71235695e-01 5.40234944e-02 2.45323766e+02] [-6.69624124e-01 7.41241834e-01 -4.65196328e-02 -1.47151174e+02] [-7.12701122e-02 -1.78474120e-03 9.97455456e-01 -1.38573250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20863999999995 meters 0.027435925308357256 Centerline is valid? [True, True] Translation: X:245.37, Y:-147.19, Z:-13.86 [[ 7.37643915e-01 6.73098871e-01 5.30976957e-02 2.45370332e+02] [-6.71545387e-01 7.39550029e-01 -4.57443737e-02 -1.47191669e+02] [-7.00588887e-02 -1.91445367e-03 9.97541020e-01 -1.38609663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26863999999995 meters 0.027722826047381594 Centerline is valid? [True, True] Translation: X:245.42, Y:-147.23, Z:-13.86 [[ 7.34774377e-01 6.76223076e-01 5.31880299e-02 2.45418737e+02] [-6.74669543e-01 7.36693679e-01 -4.58631752e-02 -1.47229972e+02] [-7.01970228e-02 -2.18525785e-03 9.97530753e-01 -1.38627950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32863999999995 meters 0.02894458273789384 Centerline is valid? [True, True] Translation: X:245.47, Y:-147.27, Z:-13.87 [[ 7.29478241e-01 6.81858590e-01 5.41327920e-02 2.45467809e+02] [-6.80262551e-01 7.31478836e-01 -4.67073253e-02 -1.47268128e+02] [-7.14447827e-02 -2.75253366e-03 9.97440758e-01 -1.38651272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38863999999995 meters 0.02953077071322175 Centerline is valid? [True, True] Translation: X:245.52, Y:-147.31, Z:-13.87 [[ 7.26666041e-01 6.85013624e-01 5.20845527e-02 2.45517673e+02] [-6.83542915e-01 7.28524359e-01 -4.49593321e-02 -1.47305115e+02] [-6.87426203e-02 -2.93160716e-03 9.97630121e-01 -1.38670994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44863999999995 meters 0.030169740539451047 Centerline is valid? [True, True] Translation: X:245.57, Y:-147.34, Z:-13.87 [[ 7.24486111e-01 6.87199780e-01 5.36315044e-02 2.45568460e+02] [-6.85643354e-01 7.26461428e-01 -4.63355652e-02 -1.47340507e+02] [-7.08030095e-02 -3.20261118e-03 9.97485176e-01 -1.38701559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50863999999996 meters 0.03004423117222191 Centerline is valid? [True, True] Translation: X:245.62, Y:-147.37, Z:-13.87 [[ 7.23398787e-01 6.88379383e-01 5.31791231e-02 2.45622412e+02] [-6.86849604e-01 7.25343494e-01 -4.59830118e-02 -1.47373485e+02] [-7.02268883e-02 -3.26200466e-03 9.97525711e-01 -1.38711695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56863999999996 meters 0.029642864080736138 Centerline is valid? [True, True] Translation: X:245.68, Y:-147.41, Z:-13.87 [[ 7.21786693e-01 6.90295822e-01 5.01562348e-02 2.45677904e+02] [-6.88937238e-01 7.23520066e-01 -4.34073240e-02 -1.47405149e+02] [-6.62529367e-02 -3.22366905e-03 9.97797653e-01 -1.38737200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62863999999996 meters 0.030634516934966216 Centerline is valid? [True, True] Translation: X:245.73, Y:-147.44, Z:-13.88 [[ 7.20180548e-01 6.91970566e-01 5.01668574e-02 2.45729679e+02] [-6.90612622e-01 7.21917952e-01 -4.34589094e-02 -1.47440042e+02] [-6.62886411e-02 -3.34760377e-03 9.97794874e-01 -1.38760436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68863999999996 meters 0.030737017676791895 Centerline is valid? [True, True] Translation: X:245.79, Y:-147.47, Z:-13.88 [[ 7.19135410e-01 6.93027819e-01 5.05638635e-02 2.45786370e+02] [-6.91648301e-01 7.20902612e-01 -4.38412018e-02 -1.47468619e+02] [-6.68347938e-02 -3.44464969e-03 9.97758109e-01 -1.38792615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74863999999997 meters 0.029571375535619008 Centerline is valid? [True, True] Translation: X:245.84, Y:-147.50, Z:-13.88 [[ 7.22831372e-01 6.89199861e-01 5.01832499e-02 2.45841648e+02] [-6.87830087e-01 7.24564880e-01 -4.35374107e-02 -1.47498607e+02] [-6.63669978e-02 -3.04734279e-03 9.97790627e-01 -1.38820144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80863999999997 meters 0.027977501582384864 Centerline is valid? [True, True] Translation: X:245.90, Y:-147.53, Z:-13.89 [[ 7.28916738e-01 6.82734274e-01 5.05400904e-02 2.45897442e+02] [-6.81328978e-01 7.30662584e-01 -4.38521728e-02 -1.47527406e+02] [-6.68671344e-02 -2.46984536e-03 9.97758832e-01 -1.38856432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86863999999997 meters 0.02740295373763486 Centerline is valid? [True, True] Translation: X:245.95, Y:-147.57, Z:-13.89 [[ 7.30749904e-01 6.80757803e-01 5.07286087e-02 2.45946989e+02] [-6.79336198e-01 7.32505009e-01 -4.40311584e-02 -1.47565514e+02] [-6.71335146e-02 -2.28601542e-03 9.97741382e-01 -1.38890872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92864 meters 0.026386157585067353 Centerline is valid? [True, True] Translation: X:246.00, Y:-147.60, Z:-13.89 [[ 7.36574779e-01 6.74539711e-01 4.95355762e-02 2.45999322e+02] [-6.73168218e-01 7.38236709e-01 -4.30245442e-02 -1.47598413e+02] [-6.55907444e-02 -1.65498147e-03 9.97845236e-01 -1.38906884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98864 meters 0.026056618394671698 Centerline is valid? [True, True] Translation: X:246.05, Y:-147.63, Z:-13.89 [[ 7.39360343e-01 6.71415406e-01 5.04741119e-02 2.46050527e+02] [-6.69983517e-01 7.41079889e-01 -4.38484402e-02 -1.47634852e+02] [-6.68458675e-02 -1.39702523e-03 9.97762336e-01 -1.38944503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04864 meters 0.025721456484746063 Centerline is valid? [True, True] Translation: X:246.10, Y:-147.67, Z:-13.90 [[ 7.42953403e-01 6.67372612e-01 5.13228790e-02 2.46100685e+02] [-6.65880787e-01 7.44723258e-01 -4.46099348e-02 -1.47672282e+02] [-6.79927904e-02 -1.03181617e-03 9.97685279e-01 -1.38977350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10864 meters 0.0251734346368874 Centerline is valid? [True, True] Translation: X:246.15, Y:-147.71, Z:-13.90 [[ 7.48156406e-01 6.61521879e-01 5.14858842e-02 2.46150462e+02] [-6.60003669e-01 7.49925720e-01 -4.47947701e-02 -1.47710338e+02] [-6.82433092e-02 -4.67378272e-04 9.97668598e-01 -1.39005931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16864 meters 0.025304584595080868 Centerline is valid? [True, True] Translation: X:246.20, Y:-147.75, Z:-13.90 [[ 7.50757757e-01 6.58511592e-01 5.22041505e-02 2.46196562e+02] [-6.56940182e-01 7.52570566e-01 -4.54658115e-02 -1.47752815e+02] [-6.92270710e-02 -1.61193462e-04 9.97600916e-01 -1.39034071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22864 meters 0.025014719594838107 Centerline is valid? [True, True] Translation: X:246.24, Y:-147.80, Z:-13.91 [[ 7.51899114e-01 6.57305743e-01 5.09596163e-02 2.46241685e+02] [-6.55802585e-01 7.53624018e-01 -4.44275669e-02 -1.47795251e+02] [-6.76068856e-02 -1.43999499e-05 9.97712037e-01 -1.39064843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28864 meters 0.025043382028545776 Centerline is valid? [True, True] Translation: X:246.28, Y:-147.84, Z:-13.91 [[ 7.50160778e-01 6.59465067e-01 4.86274831e-02 2.46283095e+02] [-6.58098500e-01 7.51735190e-01 -4.24330976e-02 -1.47842050e+02] [-6.45381358e-02 -1.70028172e-04 9.97915227e-01 -1.39080974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34864 meters 0.02506547144082937 Centerline is valid? [True, True] Translation: X:246.32, Y:-147.89, Z:-13.91 [[ 7.48659770e-01 6.61078411e-01 4.98385738e-02 2.46324424e+02] [-6.59643629e-01 7.50316769e-01 -4.35319291e-02 -1.47888950e+02] [-6.61727362e-02 -2.85093679e-04 9.97808142e-01 -1.39106836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40864 meters 0.02494555444508608 Centerline is valid? [True, True] Translation: X:246.37, Y:-147.94, Z:-13.91 [[ 7.47871488e-01 6.62012177e-01 4.92759021e-02 2.46367459e+02] [-6.60608874e-01 7.49493007e-01 -4.30830460e-02 -1.47935433e+02] [-6.54534451e-02 -3.31516509e-04 9.97855569e-01 -1.39134059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46864 meters 0.024947898999751028 Centerline is valid? [True, True] Translation: X:246.41, Y:-147.98, Z:-13.92 [[ 7.46899160e-01 6.63082392e-01 4.96325130e-02 2.46411286e+02] [-6.61657878e-01 7.48546317e-01 -4.34426538e-02 -1.47980965e+02] [-6.59582935e-02 -3.92461619e-04 9.97822304e-01 -1.39169542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52864 meters 0.024977537688228777 Centerline is valid? [True, True] Translation: X:246.45, Y:-148.03, Z:-13.92 [[ 7.45146779e-01 6.65028412e-01 4.99348589e-02 2.46454424e+02] [-6.63587622e-01 7.46817869e-01 -4.37554493e-02 -1.48027398e+02] [-6.63908618e-02 -5.31922145e-04 9.97793551e-01 -1.39196737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58864 meters 0.025017332366606776 Centerline is valid? [True, True] Translation: X:246.50, Y:-148.07, Z:-13.92 [[ 7.45212031e-01 6.64834446e-01 5.15188063e-02 2.46496554e+02] [-6.63296916e-01 7.46990572e-01 -4.51916623e-02 -1.48074069e+02] [-6.85290364e-02 -4.94894897e-04 9.97649000e-01 -1.39231412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64863999999994 meters 0.025024221720349092 Centerline is valid? [True, True] Translation: X:246.54, Y:-148.12, Z:-13.93 [[ 7.43076236e-01 6.67278906e-01 5.07599228e-02 2.46541573e+02] [-6.65789081e-01 7.44807629e-01 -4.45701099e-02 -1.48118066e+02] [-6.75470719e-02 -6.76412860e-04 9.97715859e-01 -1.39265199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70863999999995 meters 0.02521277145813431 Centerline is valid? [True, True] Translation: X:246.59, Y:-148.16, Z:-13.93 [[ 7.40696435e-01 6.70036318e-01 4.91947592e-02 2.46585195e+02] [-6.68640066e-01 7.42327815e-01 -4.32420619e-02 -1.48163439e+02] [-6.54923901e-02 -8.64345994e-04 9.97852694e-01 -1.39290305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76863999999995 meters 0.025712283676947518 Centerline is valid? [True, True] Translation: X:246.63, Y:-148.21, Z:-13.93 [[ 7.35414171e-01 6.75744303e-01 5.03550794e-02 2.46628162e+02] [-6.74292029e-01 7.37134822e-01 -4.43002694e-02 -1.48208743e+02] [-6.70541372e-02 -1.37498273e-03 9.97748391e-01 -1.39313633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82863999999995 meters 0.02658677341602871 Centerline is valid? [True, True] Translation: X:246.67, Y:-148.25, Z:-13.94 [[ 7.31067323e-01 6.80372506e-01 5.13207794e-02 2.46671124e+02] [-6.78874388e-01 7.32864195e-01 -4.51623497e-02 -1.48253901e+02] [-6.83383827e-02 -1.82364461e-03 9.97660533e-01 -1.39369212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88863999999995 meters 0.027207417904598952 Centerline is valid? [True, True] Translation: X:246.72, Y:-148.30, Z:-13.94 [[ 7.27118960e-01 6.84665495e-01 5.03108148e-02 2.46717536e+02] [-6.83234628e-01 7.28854214e-01 -4.42942219e-02 -1.48295117e+02] [-6.69959747e-02 -2.16692220e-03 9.97750893e-01 -1.39384859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94863999999995 meters 0.028005467223201935 Centerline is valid? [True, True] Translation: X:246.77, Y:-148.33, Z:-13.94 [[ 7.23092720e-01 6.88877182e-01 5.08443394e-02 2.46767037e+02] [-6.87423358e-01 7.24873579e-01 -4.48042546e-02 -1.48332438e+02] [-6.77203469e-02 -2.55395626e-03 9.97701073e-01 -1.39421837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00863999999996 meters 0.028112371927995292 Centerline is valid? [True, True] Translation: X:246.82, Y:-148.37, Z:-13.94 [[ 7.21295730e-01 6.90701940e-01 5.16071777e-02 2.46817783e+02] [-6.89206096e-01 7.23134381e-01 -4.55150962e-02 -1.48368110e+02] [-6.87562897e-02 -2.73813694e-03 9.97629729e-01 -1.39444900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06863999999996 meters 0.028608241480478577 Centerline is valid? [True, True] Translation: X:246.87, Y:-148.40, Z:-13.95 [[ 7.20460534e-01 6.91507017e-01 5.24848980e-02 2.46870226e+02] [-6.89959104e-01 7.22364184e-01 -4.63294793e-02 -1.48402152e+02] [-6.99503706e-02 -2.83387179e-03 9.97546447e-01 -1.39480214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12863999999996 meters 0.02777135951695737 Centerline is valid? [True, True] Translation: X:246.92, Y:-148.44, Z:-13.95 [[ 7.23123732e-01 6.88724519e-01 5.24462237e-02 2.46923457e+02] [-6.87169408e-01 7.25018680e-01 -4.63262098e-02 -1.48435238e+02] [-6.99304884e-02 -2.53985884e-03 9.97548633e-01 -1.39500797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18863999999996 meters 0.02714575658652681 Centerline is valid? [True, True] Translation: X:246.98, Y:-148.47, Z:-13.95 [[ 7.26365574e-01 6.85416306e-01 5.09660815e-02 2.46976069e+02] [-6.83939146e-01 7.28148238e-01 -4.50265296e-02 -1.48467947e+02] [-6.79727801e-02 -2.15197722e-03 9.97684855e-01 -1.39530633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24863999999997 meters 0.026816668118143906 Centerline is valid? [True, True] Translation: X:247.03, Y:-148.50, Z:-13.96 [[ 7.28361030e-01 6.83279870e-01 5.11744999e-02 2.47026060e+02] [-6.81784113e-01 7.30153975e-01 -4.52282714e-02 -1.48504960e+02] [-6.82688319e-02 -1.94745068e-03 9.97665061e-01 -1.39561151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30863999999997 meters 0.026615236398502374 Centerline is valid? [True, True] Translation: X:247.08, Y:-148.54, Z:-13.96 [[ 7.31089868e-01 6.80350650e-01 5.12893674e-02 2.47077433e+02] [-6.78838046e-01 7.32884905e-01 -4.53720600e-02 -1.48541143e+02] [-6.84581137e-02 -1.64612059e-03 9.97652633e-01 -1.39599554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36863999999997 meters 0.025816271829006684 Centerline is valid? [True, True] Translation: X:247.13, Y:-148.58, Z:-13.96 [[ 7.38513915e-01 6.72254233e-01 5.16860084e-02 2.47126270e+02] [-6.70695985e-01 7.40319849e-01 -4.57538666e-02 -1.48578501e+02] [-6.90224085e-02 -8.75731229e-04 9.97614725e-01 -1.39615697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42864 meters 0.025552111250220375 Centerline is valid? [True, True] Translation: X:247.17, Y:-148.62, Z:-13.97 [[ 7.47076355e-01 6.62712578e-01 5.18551693e-02 2.47174949e+02] [-6.61119582e-01 7.48873847e-01 -4.59223263e-02 -1.48616646e+02] [-6.92662833e-02 2.50163573e-05 9.97598206e-01 -1.39661671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48864 meters 0.025836561322569826 Centerline is valid? [True, True] Translation: X:247.22, Y:-148.66, Z:-13.97 [[ 7.51038675e-01 6.58338234e-01 5.03157795e-02 2.47221035e+02] [-6.56825878e-01 7.52722106e-01 -4.46004078e-02 -1.48658170e+02] [-6.72359532e-02 4.47925113e-04 9.97737002e-01 -1.39689381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54864 meters 0.025677252887458958 Centerline is valid? [True, True] Translation: X:247.27, Y:-148.70, Z:-13.97 [[ 7.51555594e-01 6.57790339e-01 4.97600158e-02 2.47265406e+02] [-6.56307215e-01 7.53200901e-01 -4.41502359e-02 -1.48702951e+02] [-6.65208873e-02 5.23499368e-04 9.97784895e-01 -1.39694941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60864 meters 0.025883861868591356 Centerline is valid? [True, True] Translation: X:247.31, Y:-148.75, Z:-13.97 [[ 7.47778655e-01 6.61935102e-01 5.16623992e-02 2.47309701e+02] [-6.60342788e-01 7.49561126e-01 -4.58859595e-02 -1.48746385e+02] [-6.90976534e-02 1.97648338e-04 9.97609881e-01 -1.39746879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66864 meters 0.025944109957220535 Centerline is valid? [True, True] Translation: X:247.36, Y:-148.79, Z:-13.98 [[ 7.41902664e-01 6.68476554e-01 5.21491562e-02 2.47357129e+02] [-6.66866878e-01 7.43733120e-01 -4.63639281e-02 -1.48787626e+02] [-6.97782535e-02 -3.79023243e-04 9.97562455e-01 -1.39765544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72864 meters 0.026106465443953702 Centerline is valid? [True, True] Translation: X:247.41, Y:-148.83, Z:-13.98 [[ 7.40491668e-01 6.70073636e-01 5.17050406e-02 2.47405306e+02] [-6.68491759e-01 7.42294472e-01 -4.60182985e-02 -1.48828637e+02] [-6.92160144e-02 -4.88226978e-04 9.97601576e-01 -1.39803244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78864 meters 0.02608468833146772 Centerline is valid? [True, True] Translation: X:247.45, Y:-148.87, Z:-13.98 [[ 7.40602103e-01 6.69948510e-01 5.17447422e-02 2.47454032e+02] [-6.68360402e-01 7.42407436e-01 -4.61039404e-02 -1.48868567e+02] [-6.93029476e-02 -4.39461510e-04 9.97595564e-01 -1.39836190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84864 meters 0.026116139705415858 Centerline is valid? [True, True] Translation: X:247.50, Y:-148.90, Z:-13.99 [[ 7.43894447e-01 6.66431661e-01 4.98988272e-02 2.47504804e+02] [-6.64943988e-01 7.45566118e-01 -4.45045667e-02 -1.48904996e+02] [-6.68621271e-02 -7.32251358e-05 9.97762221e-01 -1.39862515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90864 meters 0.026213062298151877 Centerline is valid? [True, True] Translation: X:247.55, Y:-148.94, Z:-13.99 [[ 7.46852244e-01 6.63046058e-01 5.08099515e-02 2.47553355e+02] [-6.61492743e-01 7.48578556e-01 -4.53596446e-02 -1.48943166e+02] [-6.81107737e-02 2.66538172e-04 9.97677729e-01 -1.39891532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96864 meters 0.026676714170959657 Centerline is valid? [True, True] Translation: X:247.60, Y:-148.98, Z:-13.99 [[ 7.51457713e-01 6.57846308e-01 5.04929778e-02 2.47601488e+02] [-6.56297824e-01 7.53151810e-01 -4.51166959e-02 -1.48982332e+02] [-6.77087295e-02 7.64857600e-04 9.97704838e-01 -1.39923974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02864 meters 0.026741851725346686 Centerline is valid? [True, True] Translation: X:247.65, Y:-149.02, Z:-13.99 [[ 7.54386433e-01 6.54613578e-01 4.88075086e-02 2.47647359e+02] [-6.53157393e-01 7.55962934e-01 -4.36515950e-02 -1.49024941e+02] [-6.54715942e-02 1.05118592e-03 9.97853880e-01 -1.39947456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08864 meters 0.026803785761923344 Centerline is valid? [True, True] Translation: X:247.69, Y:-149.07, Z:-14.00 [[ 7.54442524e-01 6.54560410e-01 4.86533418e-02 2.47690750e+02] [-6.53110341e-01 7.56008921e-01 -4.35590874e-02 -1.49070524e+02] [-6.52944146e-02 1.08682713e-03 9.97865451e-01 -1.39977765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14863999999994 meters 0.026429379056071255 Centerline is valid? [True, True] Translation: X:247.73, Y:-149.12, Z:-14.00 [[ 7.50550207e-01 6.58878370e-01 5.05339484e-02 2.47732924e+02] [-6.57320443e-01 7.52249090e-01 -4.52895386e-02 -1.49116491e+02] [-6.78544140e-02 7.75075263e-04 9.97694932e-01 -1.40003275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20863999999995 meters 0.02605886661716689 Centerline is valid? [True, True] Translation: X:247.77, Y:-149.16, Z:-14.01 [[ 7.45451377e-01 6.64777100e-01 4.87201373e-02 2.47774570e+02] [-6.63339050e-01 7.47041725e-01 -4.37031546e-02 -1.49162621e+02] [-6.54488318e-02 2.60607212e-04 9.97855893e-01 -1.40050320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26863999999995 meters 0.025849218405720208 Centerline is valid? [True, True] Translation: X:247.82, Y:-149.21, Z:-14.01 [[ 7.44008805e-01 6.66363072e-01 4.91035102e-02 2.47818300e+02] [-6.64902875e-01 7.45627408e-01 -4.40900803e-02 -1.49208469e+02] [-6.59929245e-02 1.54342839e-04 9.97820079e-01 -1.40073992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32863999999995 meters 0.025986395661224848 Centerline is valid? [True, True] Translation: X:247.86, Y:-149.25, Z:-14.01 [[ 7.44657747e-01 6.65579831e-01 4.98831510e-02 2.47862851e+02] [-6.64067944e-01 7.46326617e-01 -4.48368744e-02 -1.49252120e+02] [-6.70716426e-02 2.62324329e-04 9.97748128e-01 -1.40102592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38863999999995 meters 0.02610794184011157 Centerline is valid? [True, True] Translation: X:247.91, Y:-149.29, Z:-14.01 [[ 7.44271861e-01 6.65965756e-01 5.04877149e-02 2.47909526e+02] [-6.64414785e-01 7.45982267e-01 -4.54252269e-02 -1.49294150e+02] [-6.79145856e-02 2.63933859e-04 9.97691104e-01 -1.40133963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44863999999995 meters 0.02621920126471028 Centerline is valid? [True, True] Translation: X:247.96, Y:-149.34, Z:-14.01 [[ 7.45635354e-01 6.64407455e-01 5.08984479e-02 2.47955830e+02] [-6.62824218e-01 7.47370414e-01 -4.58423390e-02 -1.49335423e+02] [-6.84979859e-02 4.44944752e-04 9.97651155e-01 -1.40149226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50863999999996 meters 0.026208477473312 Centerline is valid? [True, True] Translation: X:248.00, Y:-149.38, Z:-14.02 [[ 7.46538947e-01 6.63558277e-01 4.86827744e-02 2.48000684e+02] [-6.62106116e-01 7.48124413e-01 -4.38788458e-02 -1.49379236e+02] [-6.55369433e-02 5.24104673e-04 9.97850006e-01 -1.40178069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56863999999996 meters 0.026376646047972525 Centerline is valid? [True, True] Translation: X:248.04, Y:-149.42, Z:-14.02 [[ 7.48313818e-01 6.61523239e-01 4.91267169e-02 2.48043221e+02] [-6.60038544e-01 7.49924314e-01 -4.43017299e-02 -1.49424439e+02] [-6.61479433e-02 7.26069901e-04 9.97809562e-01 -1.40202367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62863999999996 meters 0.026745010941470068 Centerline is valid? [True, True] Translation: X:248.09, Y:-149.47, Z:-14.02 [[ 7.50235905e-01 6.59232189e-01 5.05866307e-02 2.48085878e+02] [-6.57649676e-01 7.51938790e-01 -4.56613709e-02 -1.49469610e+02] [-6.81394953e-02 9.88518652e-04 9.97675314e-01 -1.40235177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68863999999996 meters 0.026423911989600528 Centerline is valid? [True, True] Translation: X:248.12, Y:-149.52, Z:-14.03 [[ 7.48100223e-01 6.61647237e-01 5.06852011e-02 2.48124864e+02] [-6.60061161e-01 7.49814837e-01 -4.57927267e-02 -1.49519596e+02] [-6.83031469e-02 8.02216361e-04 9.97664291e-01 -1.40250733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74863999999997 meters 0.026124171335479437 Centerline is valid? [True, True] Translation: X:248.17, Y:-149.57, Z:-14.03 [[ 7.42844317e-01 6.67534828e-01 5.07894987e-02 2.48165237e+02] [-6.65952949e-01 7.44578516e-01 -4.59293407e-02 -1.49567317e+02] [-6.84762041e-02 2.94933267e-04 9.97652706e-01 -1.40292490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80863999999997 meters 0.025914637000873725 Centerline is valid? [True, True] Translation: X:248.21, Y:-149.61, Z:-14.03 [[ 7.38186255e-01 6.72653617e-01 5.11680045e-02 2.48208903e+02] [-6.71057079e-01 7.39957492e-01 -4.63174587e-02 -1.49613580e+02] [-6.90177545e-02 -1.45740255e-04 9.97615421e-01 -1.40315465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86863999999997 meters 0.026229180655155292 Centerline is valid? [True, True] Translation: X:248.25, Y:-149.66, Z:-14.03 [[ 7.30395393e-01 6.80898326e-01 5.38520057e-02 2.48250922e+02] [-6.79148858e-01 7.32377353e-01 -4.87877243e-02 -1.49659873e+02] [-7.26594692e-02 -9.39199107e-04 9.97356365e-01 -1.40335564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92864 meters 0.026400733951117722 Centerline is valid? [True, True] Translation: X:248.30, Y:-149.70, Z:-14.04 [[ 7.27966295e-01 6.83557754e-01 5.30459389e-02 2.48298076e+02] [-6.81865516e-01 7.29895496e-01 -4.80830930e-02 -1.49700914e+02] [-7.15855629e-02 -1.16732540e-03 9.97433780e-01 -1.40351127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98864 meters 0.026332417503447617 Centerline is valid? [True, True] Translation: X:248.35, Y:-149.74, Z:-14.04 [[ 7.27599829e-01 6.83953362e-01 5.29744050e-02 2.48346762e+02] [-6.82263142e-01 7.29524800e-01 -4.80683884e-02 -1.49740556e+02] [-7.15226781e-02 -1.16793288e-03 9.97438290e-01 -1.40389308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04864 meters 0.0262706486349175 Centerline is valid? [True, True] Translation: X:248.39, Y:-149.78, Z:-14.04 [[ 7.29210067e-01 6.82276577e-01 5.24533252e-02 2.48394266e+02] [-6.80611635e-01 7.31093535e-01 -4.76449879e-02 -1.49781096e+02] [-7.08553462e-02 -9.57138608e-04 9.97486142e-01 -1.40416481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10864 meters 0.025894755926975873 Centerline is valid? [True, True] Translation: X:248.44, Y:-149.82, Z:-14.04 [[ 7.29488457e-01 6.81941235e-01 5.29409323e-02 2.48442217e+02] [-6.80240801e-01 7.31406416e-01 -4.81363410e-02 -1.49821305e+02] [-7.15474934e-02 -8.97677020e-04 9.97436790e-01 -1.40447017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16864 meters 0.025921723862729062 Centerline is valid? [True, True] Translation: X:248.49, Y:-149.86, Z:-14.05 [[ 7.30322057e-01 6.81010909e-01 5.34213034e-02 2.48490902e+02] [-6.79273065e-01 7.32272861e-01 -4.86267422e-02 -1.49861889e+02] [-7.22343125e-02 -7.74470116e-04 9.97387389e-01 -1.40482641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22864 meters 0.026000464328636022 Centerline is valid? [True, True] Translation: X:248.54, Y:-149.90, Z:-14.05 [[ 7.30961304e-01 6.80433305e-01 5.20200836e-02 2.48536910e+02] [-6.78780631e-01 7.32809715e-01 -4.74001803e-02 -1.49903050e+02] [-7.03734840e-02 -6.62527560e-04 9.97520493e-01 -1.40519537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28864 meters 0.025978673864621115 Centerline is valid? [True, True] Translation: X:248.58, Y:-149.95, Z:-14.05 [[ 7.30843895e-01 6.80658174e-01 5.07114482e-02 2.48582769e+02] [-6.79085241e-01 7.32600878e-01 -4.62513688e-02 -1.49945163e+02] [-6.86326237e-02 -6.34865486e-04 9.97641799e-01 -1.40523428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34864 meters 0.02580868246186139 Centerline is valid? [True, True] Translation: X:248.63, Y:-149.99, Z:-14.06 [[ 7.30399539e-01 6.81190750e-01 4.99567315e-02 2.48629759e+02] [-6.79662635e-01 7.32105695e-01 -4.56065104e-02 -1.49985200e+02] [-6.76403407e-02 -6.42749555e-04 9.97709563e-01 -1.40559535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40864 meters 0.02594604166196653 Centerline is valid? [True, True] Translation: X:248.68, Y:-150.03, Z:-14.06 [[ 7.30574530e-01 6.80977379e-01 5.03057166e-02 2.48676210e+02] [-6.79424130e-01 7.32304211e-01 -4.59716649e-02 -1.50027143e+02] [-6.81447519e-02 -5.93190242e-04 9.97675268e-01 -1.40591952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46864 meters 0.025827858357298943 Centerline is valid? [True, True] Translation: X:248.72, Y:-150.07, Z:-14.06 [[ 7.31598406e-01 6.79948452e-01 4.93343239e-02 2.48722653e+02] [-6.78449171e-01 7.33259775e-01 -4.51311975e-02 -1.50068876e+02] [-6.68617631e-02 -4.52918956e-04 9.97762146e-01 -1.40603411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52864 meters 0.025820673693228872 Centerline is valid? [True, True] Translation: X:248.77, Y:-150.11, Z:-14.06 [[ 7.31789580e-01 6.79784632e-01 4.87531047e-02 2.48769757e+02] [-6.78317340e-01 7.33411680e-01 -4.46418362e-02 -1.50108995e+02] [-6.61029307e-02 -4.01645733e-04 9.97812729e-01 -1.40635619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58863999999994 meters 0.025994414406753107 Centerline is valid? [True, True] Translation: X:248.82, Y:-150.15, Z:-14.07 [[ 7.29951476e-01 6.81616226e-01 5.06967761e-02 2.48816235e+02] [-6.80030731e-01 7.31709649e-01 -4.64671359e-02 -1.50150284e+02] [-6.87680740e-02 -5.56611306e-04 9.97632519e-01 -1.40652043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64863999999994 meters 0.025978331065352214 Centerline is valid? [True, True] Translation: X:248.86, Y:-150.19, Z:-14.07 [[ 7.29060806e-01 6.82565902e-01 5.07358876e-02 2.48863573e+02] [-6.80977038e-01 7.30823792e-01 -4.65495406e-02 -1.50192030e+02] [-6.88521229e-02 -6.12528783e-04 9.97626689e-01 -1.40689612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70863999999995 meters 0.02614338499347334 Centerline is valid? [True, True] Translation: X:248.91, Y:-150.23, Z:-14.07 [[ 7.27183873e-01 6.84568843e-01 5.06864318e-02 2.48910935e+02] [-6.82984420e-01 7.28947814e-01 -4.65549800e-02 -1.50233533e+02] [-6.88178524e-02 -7.64012503e-04 9.97628949e-01 -1.40711825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76863999999995 meters 0.02643091883347207 Centerline is valid? [True, True] Translation: X:248.96, Y:-150.27, Z:-14.07 [[ 7.25607062e-01 6.86111352e-01 5.23985122e-02 2.48958699e+02] [-6.84418386e-01 7.27495976e-01 -4.81775748e-02 -1.50272801e+02] [-7.11748878e-02 -9.04516636e-04 9.97463442e-01 -1.40730473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82863999999995 meters 0.026625648022107228 Centerline is valid? [True, True] Translation: X:249.01, Y:-150.31, Z:-14.08 [[ 7.23721362e-01 6.88152876e-01 5.17011515e-02 2.49007402e+02] [-6.86506747e-01 7.25564953e-01 -4.75813546e-02 -1.50313280e+02] [-7.02557896e-02 -1.05754662e-03 9.97528449e-01 -1.40770833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88863999999995 meters 0.0263747254460321 Centerline is valid? [True, True] Translation: X:249.06, Y:-150.35, Z:-14.08 [[ 7.23797737e-01 6.88081217e-01 5.15856133e-02 2.49056353e+02] [-6.86438615e-01 7.25632978e-01 -4.75269378e-02 -1.50353429e+02] [-7.01346153e-02 -1.01046694e-03 9.97537024e-01 -1.40799253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94863999999995 meters 0.026408100237441834 Centerline is valid? [True, True] Translation: X:249.10, Y:-150.39, Z:-14.08 [[ 7.23945819e-01 6.88043054e-01 4.99920660e-02 2.49104529e+02] [-6.86497163e-01 7.25669256e-01 -4.61061313e-02 -1.50393187e+02] [-6.80007088e-02 -9.41070495e-04 9.97684829e-01 -1.40826206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00863999999996 meters 0.026550959736218047 Centerline is valid? [True, True] Translation: X:249.15, Y:-150.43, Z:-14.09 [[ 7.23624085e-01 6.88251617e-01 5.17483881e-02 2.49152952e+02] [-6.86592308e-01 7.25471425e-01 -4.77725272e-02 -1.50431847e+02] [-7.04214959e-02 -9.60693958e-04 9.97516862e-01 -1.40853163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06863999999996 meters 0.026403726921104806 Centerline is valid? [True, True] Translation: X:249.20, Y:-150.47, Z:-14.09 [[ 7.22914149e-01 6.88957405e-01 5.22764462e-02 2.49203245e+02] [-6.87262408e-01 7.24801134e-01 -4.83083668e-02 -1.50470222e+02] [-7.11724345e-02 -1.00483441e-03 9.97463521e-01 -1.40881448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12863999999996 meters 0.026312046357090637 Centerline is valid? [True, True] Translation: X:249.26, Y:-150.50, Z:-14.09 [[ 7.23629225e-01 6.88401325e-01 4.96423295e-02 2.49256970e+02] [-6.86868598e-01 7.25329485e-01 -4.59202194e-02 -1.50503922e+02] [-6.76185852e-02 -8.68544472e-04 9.97710866e-01 -1.40916015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18863999999996 meters 0.02630886246750255 Centerline is valid? [True, True] Translation: X:249.31, Y:-150.54, Z:-14.09 [[ 7.24060021e-01 6.87857912e-01 5.08780732e-02 2.49309246e+02] [-6.86243187e-01 7.25844919e-01 -4.71109438e-02 -1.50540246e+02] [-6.93352264e-02 -8.03580199e-04 9.97593094e-01 -1.40941680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24863999999997 meters 0.026273746492037058 Centerline is valid? [True, True] Translation: X:249.36, Y:-150.57, Z:-14.10 [[ 7.25490346e-01 6.86393547e-01 5.02758170e-02 2.49362037e+02] [-6.84810041e-01 7.27230028e-01 -4.66014381e-02 -1.50574567e+02] [-6.85490102e-02 -6.20490846e-04 9.97647557e-01 -1.40970069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30863999999997 meters 0.026213127189820346 Centerline is valid? [True, True] Translation: X:249.41, Y:-150.61, Z:-14.10 [[ 7.27706984e-01 6.84054353e-01 5.01217176e-02 2.49411075e+02] [-6.82471974e-01 7.29430948e-01 -4.65026530e-02 -1.50613573e+02] [-6.83706742e-02 -3.66362216e-04 9.97659920e-01 -1.41001352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36863999999997 meters 0.026181224184435626 Centerline is valid? [True, True] Translation: X:249.46, Y:-150.66, Z:-14.10 [[ 7.31208399e-01 6.80272610e-01 5.06305508e-02 2.49458429e+02] [-6.78645556e-01 7.32959191e-01 -4.70216375e-02 -1.50655361e+02] [-6.90976596e-02 2.24180422e-05 9.97609900e-01 -1.41026428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42864 meters 0.02612351070251725 Centerline is valid? [True, True] Translation: X:249.51, Y:-150.70, Z:-14.11 [[ 7.32849783e-01 6.78615267e-01 4.91173624e-02 2.49505537e+02] [-6.77077282e-01 7.34493891e-01 -4.56626495e-02 -1.50696054e+02] [-6.70637737e-02 2.07612550e-04 9.97748669e-01 -1.41063370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48864 meters 0.026173275803456558 Centerline is valid? [True, True] Translation: X:249.55, Y:-150.74, Z:-14.11 [[ 7.31896522e-01 6.79661781e-01 4.88604669e-02 2.49548276e+02] [-6.78139229e-01 7.33525625e-01 -4.54680456e-02 -1.50743157e+02] [-6.67432973e-02 1.43705105e-04 9.97770170e-01 -1.41082139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54864 meters 0.026035647237203637 Centerline is valid? [True, True] Translation: X:249.59, Y:-150.79, Z:-14.11 [[ 7.27157920e-01 6.84683460e-01 4.94966630e-02 2.49592758e+02] [-6.83129117e-01 7.28840504e-01 -4.61099703e-02 -1.50787237e+02] [-6.76459068e-02 -2.83381598e-04 9.97709352e-01 -1.41104389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60864 meters 0.02602298293581079 Centerline is valid? [True, True] Translation: X:249.64, Y:-150.83, Z:-14.12 [[ 7.23602618e-01 6.88442991e-01 4.94519965e-02 2.49637804e+02] [-6.86896958e-01 7.25290211e-01 -4.61159327e-02 -1.50829693e+02] [-6.76152396e-02 -5.98816308e-04 9.97711291e-01 -1.41152893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66864 meters 0.026202767181364137 Centerline is valid? [True, True] Translation: X:249.69, Y:-150.87, Z:-14.12 [[ 7.21200871e-01 6.90951166e-01 4.95559324e-02 2.49685816e+02] [-6.89401553e-01 7.22900989e-01 -4.62564522e-02 -1.50869046e+02] [-6.77849822e-02 -8.03743120e-04 9.97699629e-01 -1.41167472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72864 meters 0.026283066867066676 Centerline is valid? [True, True] Translation: X:249.73, Y:-150.91, Z:-14.12 [[ 7.22741256e-01 6.89384237e-01 4.89331214e-02 2.49733258e+02] [-6.87867475e-01 7.24395599e-01 -4.57094352e-02 -1.50910011e+02] [-6.69583019e-02 -6.23408043e-04 9.97755580e-01 -1.41195783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78864 meters 0.026053459050479445 Centerline is valid? [True, True] Translation: X:249.78, Y:-150.95, Z:-14.12 [[ 7.25371037e-01 6.86622660e-01 4.88485473e-02 2.49783713e+02] [-6.85103254e-01 7.27013892e-01 -4.56544832e-02 -1.50947774e+02] [-6.68609752e-02 -3.49858873e-04 9.97762240e-01 -1.41215287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84864 meters 0.025976139414779418 Centerline is valid? [True, True] Translation: X:249.83, Y:-150.99, Z:-14.12 [[ 7.25710029e-01 6.86396034e-01 4.69621002e-02 2.49830396e+02] [-6.84988730e-01 7.27227889e-01 -4.39321934e-02 -1.50988380e+02] [-6.43070323e-02 -2.86476078e-04 9.97930120e-01 -1.41249142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90864 meters 0.02580281046437067 Centerline is valid? [True, True] Translation: X:249.88, Y:-151.03, Z:-14.13 [[ 7.25130039e-01 6.87049278e-01 4.63650195e-02 2.49879283e+02] [-6.85676196e-01 7.26610758e-01 -4.34161288e-02 -1.51028555e+02] [-6.35183419e-02 -3.09051005e-04 9.97980623e-01 -1.41268057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96864 meters 0.025771699765266966 Centerline is valid? [True, True] Translation: X:249.93, Y:-151.07, Z:-14.13 [[ 7.26889002e-01 6.85089328e-01 4.78015750e-02 2.49926218e+02] [-6.83622384e-01 7.28459059e-01 -4.48088669e-02 -1.51069121e+02] [-6.55195669e-02 -1.07154132e-04 9.97851279e-01 -1.41296070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02864 meters 0.026164985905116348 Centerline is valid? [True, True] Translation: X:249.97, Y:-151.11, Z:-14.13 [[ 7.30169569e-01 6.81457909e-01 4.96741319e-02 2.49971558e+02] [-6.79862132e-01 7.31857261e-01 -4.66093485e-02 -1.51111646e+02] [-6.81166833e-02 2.61166691e-04 9.97677327e-01 -1.41336401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08863999999994 meters 0.026119861912968056 Centerline is valid? [True, True] Translation: X:250.02, Y:-151.15, Z:-14.14 [[ 7.34323889e-01 6.77113914e-01 4.78034896e-02 2.50018040e+02] [-6.75624162e-01 7.35877909e-01 -4.48964950e-02 -1.51154235e+02] [-6.55775734e-02 6.71376207e-04 9.97847248e-01 -1.41353683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14863999999994 meters 0.026346890292452945 Centerline is valid? [True, True] Translation: X:250.06, Y:-151.20, Z:-14.14 [[ 7.35856771e-01 6.75437603e-01 4.79464008e-02 2.50061442e+02] [-6.73932348e-01 7.37416646e-01 -4.50763963e-02 -1.51199334e+02] [-6.58027672e-02 8.57140958e-04 9.97832281e-01 -1.41376885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20863999999995 meters 0.026799388038648713 Centerline is valid? [True, True] Translation: X:250.10, Y:-151.25, Z:-14.14 [[ 7.40371792e-01 6.70592974e-01 4.64184474e-02 2.50102263e+02] [-6.69170190e-01 7.41824395e-01 -4.36786387e-02 -1.51247014e+02] [-6.37249249e-02 1.27659073e-03 9.97966685e-01 -1.41411634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26863999999995 meters 0.0276714437440637 Centerline is valid? [True, True] Translation: X:250.14, Y:-151.30, Z:-14.14 [[ 7.43955887e-01 6.66630115e-01 4.61944538e-02 2.50142479e+02] [-6.65210905e-01 7.45386884e-01 -4.35068390e-02 -1.51295290e+02] [-6.34357090e-02 1.63811455e-03 9.97984583e-01 -1.41425726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32863999999995 meters 0.027559701125107552 Centerline is valid? [True, True] Translation: X:250.18, Y:-151.35, Z:-14.15 [[ 7.44187927e-01 6.66422116e-01 4.54520998e-02 2.50180026e+02] [-6.65045370e-01 7.45572809e-01 -4.28467363e-02 -1.51347831e+02] [-6.24418623e-02 1.65831536e-03 9.98047225e-01 -1.41463825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38863999999995 meters 0.027308116531304036 Centerline is valid? [True, True] Translation: X:250.22, Y:-151.40, Z:-14.15 [[ 7.42077224e-01 6.68759028e-01 4.56372203e-02 2.50219381e+02] [-6.67372753e-01 7.43477715e-01 -4.30638526e-02 -1.51396622e+02] [-6.27295965e-02 1.49966688e-03 9.98029433e-01 -1.41506875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44863999999995 meters 0.02614934609669725 Centerline is valid? [True, True] Translation: X:250.26, Y:-151.45, Z:-14.15 [[ 7.35776724e-01 6.75659494e-01 4.60093582e-02 2.50256942e+02] [-6.74261932e-01 7.37213238e-01 -4.34452422e-02 -1.51446565e+02] [-6.32728982e-02 9.43639198e-04 9.97995817e-01 -1.41526773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50863999999996 meters 0.026059734581048394 Centerline is valid? [True, True] Translation: X:250.30, Y:-151.49, Z:-14.16 [[ 7.28364078e-01 6.83476710e-01 4.84288796e-02 2.50296316e+02] [-6.81944051e-01 7.29972260e-01 -4.57472549e-02 -1.51494946e+02] [-6.66189219e-02 2.94870812e-04 9.97778449e-01 -1.41555640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56863999999996 meters 0.025898295281730543 Centerline is valid? [True, True] Translation: X:250.34, Y:-151.54, Z:-14.16 [[ 7.25883320e-01 6.86055854e-01 4.92013342e-02 2.50341293e+02] [-6.84476637e-01 7.27548869e-01 -4.65228521e-02 -1.51538716e+02] [-6.77136501e-02 9.29985692e-05 9.97704792e-01 -1.41586411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62863999999996 meters 0.026046122564231503 Centerline is valid? [True, True] Translation: X:250.39, Y:-151.58, Z:-14.16 [[ 7.18837001e-01 6.93516475e-01 4.80444088e-02 2.50387360e+02] [-6.92024018e-01 7.20440552e-01 -4.54771366e-02 -1.51581839e+02] [-6.61522839e-02 -5.57236342e-04 9.97809383e-01 -1.41610912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68863999999996 meters 0.026332015954809936 Centerline is valid? [True, True] Translation: X:250.44, Y:-151.62, Z:-14.16 [[ 7.13254973e-01 6.99261246e-01 4.79692943e-02 2.50435536e+02] [-6.97783208e-01 7.14865443e-01 -4.54531887e-02 -1.51621884e+02] [-6.60752442e-02 -1.05245519e-03 9.97814088e-01 -1.41627247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74863999999997 meters 0.02662762013029629 Centerline is valid? [True, True] Translation: X:250.49, Y:-151.66, Z:-14.16 [[ 7.09431202e-01 7.03037425e-01 4.94544980e-02 2.50485817e+02] [-7.01472371e-01 7.11151445e-01 -4.69056026e-02 -1.51658866e+02] [-6.81460318e-02 -1.41466589e-03 9.97674354e-01 -1.41648786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80863999999997 meters 0.02744576591811248 Centerline is valid? [True, True] Translation: X:250.54, Y:-151.70, Z:-14.17 [[ 7.08369212e-01 7.04088230e-01 4.97275005e-02 2.50535274e+02] [-7.02505402e-01 7.10110932e-01 -4.72083081e-02 -1.51696219e+02] [-6.85508558e-02 -1.49292571e-03 9.97646506e-01 -1.41692012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86863999999997 meters 0.02751629930264874 Centerline is valid? [True, True] Translation: X:250.59, Y:-151.73, Z:-14.17 [[ 7.08845264e-01 7.03582336e-01 5.01027825e-02 2.50586778e+02] [-7.01971096e-01 7.10612322e-01 -4.76099470e-02 -1.51734052e+02] [-6.91011724e-02 -1.42261974e-03 9.97608643e-01 -1.41720947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92864 meters 0.02787613455589104 Centerline is valid? [True, True] Translation: X:250.64, Y:-151.77, Z:-14.18 [[ 7.11464362e-01 7.00849440e-01 5.12691381e-02 2.50638006e+02] [-6.99151995e-01 7.13308303e-01 -4.87622055e-02 -1.51771033e+02] [-7.07456663e-02 -1.15234877e-03 9.97493721e-01 -1.41754407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98864 meters 0.027779468731147266 Centerline is valid? [True, True] Translation: X:250.69, Y:-151.81, Z:-14.18 [[ 7.15826646e-01 6.96546435e-01 4.91454702e-02 2.50688602e+02] [-6.94974636e-01 7.17511400e-01 -4.67722714e-02 -1.51807881e+02] [-6.78414940e-02 -6.74017111e-04 9.97695884e-01 -1.41790384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04864 meters 0.027850679727374775 Centerline is valid? [True, True] Translation: X:250.74, Y:-151.85, Z:-14.18 [[ 7.19444799e-01 6.92857538e-01 4.84521731e-02 2.50736557e+02] [-6.91318515e-01 7.21074440e-01 -4.61558538e-02 -1.51847842e+02] [-6.69170548e-02 -2.89295369e-04 9.97758500e-01 -1.41813471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10864 meters 0.02805317001242184 Centerline is valid? [True, True] Translation: X:250.78, Y:-151.89, Z:-14.18 [[ 7.20698414e-01 6.91544333e-01 4.85822113e-02 2.50784755e+02] [-6.89990955e-01 7.22334007e-01 -4.63256414e-02 -1.51888361e+02] [-6.71288181e-02 -1.34470059e-04 9.97744308e-01 -1.41843946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16864 meters 0.02824724139029711 Centerline is valid? [True, True] Translation: X:250.83, Y:-151.93, Z:-14.19 [[ 7.22338680e-01 6.89829863e-01 4.85962029e-02 2.50828692e+02] [-6.88268335e-01 7.23971516e-01 -4.63890336e-02 -1.51932790e+02] [-6.71828074e-02 6.13656958e-05 9.97740681e-01 -1.41886139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22864 meters 0.028320172481301004 Centerline is valid? [True, True] Translation: X:250.87, Y:-151.98, Z:-14.19 [[ 7.24019125e-01 6.88086638e-01 4.83020226e-02 2.50873324e+02] [-6.86536791e-01 7.25628494e-01 -4.61575860e-02 -1.51976712e+02] [-6.68097421e-02 2.57859382e-04 9.97765700e-01 -1.41905521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28864 meters 0.028629571076423325 Centerline is valid? [True, True] Translation: X:250.92, Y:-152.02, Z:-14.19 [[ 7.25018522e-01 6.87032672e-01 4.83140803e-02 2.50917915e+02] [-6.85476392e-01 7.26626420e-01 -4.62186170e-02 -1.52021853e+02] [-6.68599872e-02 3.91191948e-04 9.97762291e-01 -1.41924151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34864 meters 0.028395998942409066 Centerline is valid? [True, True] Translation: X:250.96, Y:-152.07, Z:-14.20 [[ 7.22573756e-01 6.89581711e-01 4.86233569e-02 2.50961471e+02] [-6.88007791e-01 7.24207862e-01 -4.65644930e-02 -1.52067945e+02] [-6.73234401e-02 1.93032286e-04 9.97731185e-01 -1.41950730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40864 meters 0.028618890251687092 Centerline is valid? [True, True] Translation: X:251.00, Y:-152.11, Z:-14.20 [[ 7.20342962e-01 6.91999921e-01 4.73510978e-02 2.51004408e+02] [-6.90509592e-01 7.21897576e-01 -4.53915620e-02 -1.52112959e+02] [-6.55936000e-02 1.10507228e-06 9.97846421e-01 -1.41966094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46864 meters 0.028574558922810998 Centerline is valid? [True, True] Translation: X:251.05, Y:-152.16, Z:-14.20 [[ 7.16376729e-01 6.95994286e-01 4.89523844e-02 2.51046412e+02] [-6.94407561e-01 7.18047238e-01 -4.69713125e-02 -1.52158970e+02] [-6.78418895e-02 -3.43750629e-04 9.97696026e-01 -1.41994796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52864 meters 0.028636410361212367 Centerline is valid? [True, True] Translation: X:251.09, Y:-152.20, Z:-14.20 [[ 7.14979334e-01 6.97487341e-01 4.81244348e-02 2.51092195e+02] [-6.95954280e-01 7.16596966e-01 -4.62215244e-02 -1.52202219e+02] [-6.67247521e-02 -4.44971609e-04 9.97771321e-01 -1.42015373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58863999999994 meters 0.028800288391801418 Centerline is valid? [True, True] Translation: X:251.14, Y:-152.24, Z:-14.21 [[ 7.10697306e-01 7.01923148e-01 4.70450116e-02 2.51138293e+02] [-7.00464684e-01 7.12252233e-01 -4.52325341e-02 -1.52244931e+02] [-6.52576773e-02 -8.06729084e-04 9.97868120e-01 -1.42052555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64863999999994 meters 0.028951462488902287 Centerline is valid? [True, True] Translation: X:251.18, Y:-152.29, Z:-14.21 [[ 7.04739362e-01 7.08036136e-01 4.50251308e-02 2.51184552e+02] [-7.06709950e-01 7.06175043e-01 -4.33342250e-02 -1.52286775e+02] [-6.24778209e-02 -1.28037387e-03 9.98045531e-01 -1.42064915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70863999999995 meters 0.02950969471196468 Centerline is valid? [True, True] Translation: X:251.23, Y:-152.33, Z:-14.21 [[ 7.00830572e-01 7.11932629e-01 4.45919420e-02 2.51232145e+02] [-7.10637212e-01 7.02245987e-01 -4.29572584e-02 -1.52327185e+02] [-6.18971862e-02 -1.58293337e-03 9.98081276e-01 -1.42099629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76863999999995 meters 0.02964547260937021 Centerline is valid? [True, True] Translation: X:251.28, Y:-152.37, Z:-14.21 [[ 7.00004161e-01 7.12729901e-01 4.48359665e-02 2.51279936e+02] [-7.11419247e-01 7.01436685e-01 -4.32346145e-02 -1.52368778e+02] [-6.22641942e-02 -1.63275950e-03 9.98058367e-01 -1.42129537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82863999999995 meters 0.029672413420685738 Centerline is valid? [True, True] Translation: X:251.33, Y:-152.41, Z:-14.21 [[ 7.00904281e-01 7.11731103e-01 4.66049890e-02 2.51328592e+02] [-7.10309443e-01 7.02450263e-01 -4.49902661e-02 -1.52409099e+02] [-6.47586585e-02 -1.57009360e-03 9.97899720e-01 -1.42147853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88863999999995 meters 0.030051540765296994 Centerline is valid? [True, True] Translation: X:251.38, Y:-152.45, Z:-14.22 [[ 6.98688379e-01 7.13893731e-01 4.68005381e-02 2.51379784e+02] [-7.12461869e-01 7.00251881e-01 -4.52259690e-02 -1.52445067e+02] [-6.50587006e-02 -1.74473991e-03 9.97879913e-01 -1.42175432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94863999999995 meters 0.03001608545904889 Centerline is valid? [True, True] Translation: X:251.43, Y:-152.48, Z:-14.22 [[ 6.98686722e-01 7.14053696e-01 4.43191190e-02 2.51429126e+02] [-7.12767726e-01 7.00089018e-01 -4.28664778e-02 -1.52483057e+02] [-6.16362954e-02 -1.63899880e-03 9.98097330e-01 -1.42219342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00863999999996 meters 0.029339553766325042 Centerline is valid? [True, True] Translation: X:251.48, Y:-152.52, Z:-14.22 [[ 7.01693493e-01 7.10919045e-01 4.71206161e-02 2.51480903e+02] [-7.09455164e-01 7.03272422e-01 -4.56209481e-02 -1.52518718e+02] [-6.55714307e-02 -1.41804195e-03 9.97846870e-01 -1.42239023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06863999999996 meters 0.028881347194295425 Centerline is valid? [True, True] Translation: X:251.53, Y:-152.56, Z:-14.23 [[ 7.04853814e-01 7.07673189e-01 4.87827777e-02 2.51530468e+02] [-7.06093188e-01 7.06539028e-01 -4.72759138e-02 -1.52557503e+02] [-6.79228330e-02 -1.12257890e-03 9.97689946e-01 -1.42266769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12863999999996 meters 0.028280163603989193 Centerline is valid? [True, True] Translation: X:251.58, Y:-152.59, Z:-14.23 [[ 7.11337326e-01 7.01199355e-01 4.81526117e-02 2.51582761e+02] [-6.99642071e-01 7.12965111e-01 -4.67089148e-02 -1.52593080e+02] [-6.70833930e-02 -4.63798379e-04 9.97747264e-01 -1.42321659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18863999999996 meters 0.0278677358905731 Centerline is valid? [True, True] Translation: X:251.63, Y:-152.63, Z:-14.23 [[ 7.16007959e-01 6.96488137e-01 4.72956526e-02 2.51632491e+02] [-6.94972702e-01 7.17568307e-01 -4.59202284e-02 -1.52631034e+02] [-6.59207557e-02 1.00614716e-05 9.97824861e-01 -1.42340199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24863999999997 meters 0.02782055227022311 Centerline is valid? [True, True] Translation: X:251.68, Y:-152.67, Z:-14.24 [[ 7.20692192e-01 6.91706349e-01 4.63151299e-02 2.51680642e+02] [-6.90240461e-01 7.22178721e-01 -4.50111075e-02 -1.52672164e+02] [-6.45822701e-02 4.70577077e-04 9.97912275e-01 -1.42358483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30863999999997 meters 0.02840748788883107 Centerline is valid? [True, True] Translation: X:251.73, Y:-152.71, Z:-14.24 [[ 7.25135647e-01 6.87016193e-01 4.67658526e-02 2.51727596e+02] [-6.85508763e-01 7.26641509e-01 -4.54956471e-02 -1.52712917e+02] [-6.52382559e-02 9.32113692e-04 9.97869281e-01 -1.42415517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36863999999997 meters 0.02859174444845256 Centerline is valid? [True, True] Translation: X:251.77, Y:-152.76, Z:-14.24 [[ 7.27688625e-01 6.84360973e-01 4.60361067e-02 2.51772262e+02] [-6.82892366e-01 7.29142416e-01 -4.48258244e-02 -1.52756490e+02] [-6.42439229e-02 1.18153669e-03 9.97933526e-01 -1.42425499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42864 meters 0.02858186944574647 Centerline is valid? [True, True] Translation: X:251.82, Y:-152.80, Z:-14.25 [[ 7.27672695e-01 6.84368619e-01 4.61740442e-02 2.51815294e+02] [-6.82888512e-01 7.29135184e-01 -4.50018065e-02 -1.52802439e+02] [-6.44649444e-02 1.21486144e-03 9.97919233e-01 -1.42462943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48864 meters 0.028511409697737758 Centerline is valid? [True, True] Translation: X:251.86, Y:-152.85, Z:-14.25 [[ 7.26727854e-01 6.85362293e-01 4.63158114e-02 2.51857408e+02] [-6.83872092e-01 7.28201327e-01 -4.51861630e-02 -1.52849276e+02] [-6.46961276e-02 1.16395244e-03 9.97904332e-01 -1.42498353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54864 meters 0.0286711415686333 Centerline is valid? [True, True] Translation: X:251.90, Y:-152.90, Z:-14.25 [[ 7.26390100e-01 6.85687074e-01 4.68044739e-02 2.51899893e+02] [-6.84162819e-01 7.27895488e-01 -4.57099126e-02 -1.52896319e+02] [-6.54114615e-02 1.18134717e-03 9.97857678e-01 -1.42535421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60864 meters 0.02841231376826693 Centerline is valid? [True, True] Translation: X:251.94, Y:-152.95, Z:-14.26 [[ 7.24465286e-01 6.87697097e-01 4.71460747e-02 2.51938754e+02] [-6.86151723e-01 7.25996984e-01 -4.60889620e-02 -1.52945509e+02] [-6.59231534e-02 1.04049267e-03 9.97824160e-01 -1.42566403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66864 meters 0.028190587692454232 Centerline is valid? [True, True] Translation: X:251.98, Y:-152.99, Z:-14.26 [[ 7.21935559e-01 6.90292627e-01 4.80118520e-02 2.51978589e+02] [-6.88692756e-01 7.23529797e-01 -4.69778636e-02 -1.52993511e+02] [-6.71664784e-02 8.49575548e-04 9.97741421e-01 -1.42612361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72864 meters 0.027855775097861683 Centerline is valid? [True, True] Translation: X:252.02, Y:-153.04, Z:-14.26 [[ 7.19409931e-01 6.92927328e-01 4.79694560e-02 2.52020032e+02] [-6.91333267e-01 7.21007154e-01 -4.69787029e-02 -1.53039638e+02] [-6.71391480e-02 6.34064729e-04 9.97743420e-01 -1.42631714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78864 meters 0.02773176048480136 Centerline is valid? [True, True] Translation: X:252.06, Y:-153.08, Z:-14.27 [[ 7.13439905e-01 6.99014960e-01 4.88015052e-02 2.52063181e+02] [-6.97376138e-01 7.15107038e-01 -4.78377081e-02 -1.53084659e+02] [-6.83375735e-02 9.63247344e-05 9.97662251e-01 -1.42651316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84864 meters 0.02790021612895009 Centerline is valid? [True, True] Translation: X:252.11, Y:-153.13, Z:-14.27 [[ 7.06601354e-01 7.05905228e-01 4.91155387e-02 2.52108606e+02] [-7.04258594e-01 7.08306091e-01 -4.81903922e-02 -1.53127067e+02] [-6.88066850e-02 -5.38643830e-04 9.97629866e-01 -1.42696420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90864 meters 0.02811464550087773 Centerline is valid? [True, True] Translation: X:252.16, Y:-153.16, Z:-14.27 [[ 7.02390082e-01 7.10102885e-01 4.90108754e-02 2.52158517e+02] [-7.08470359e-01 7.04097333e-01 -4.81320686e-02 -1.53164673e+02] [-6.86871474e-02 -9.15264825e-04 9.97637829e-01 -1.42724793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96864 meters 0.02823897591995711 Centerline is valid? [True, True] Translation: X:252.21, Y:-153.20, Z:-14.28 [[ 7.00554103e-01 7.11882842e-01 4.94648170e-02 2.52210646e+02] [-7.10221167e-01 7.02297430e-01 -4.86231920e-02 -1.53200682e+02] [-6.93530300e-02 -1.06778336e-03 9.97591608e-01 -1.42762734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02864 meters 0.02817641821774128 Centerline is valid? [True, True] Translation: X:252.26, Y:-153.24, Z:-14.28 [[ 7.02251890e-01 7.10240282e-01 4.90002572e-02 2.52258826e+02] [-7.08602633e-01 7.03958800e-01 -4.82111514e-02 -1.53240384e+02] [-6.87356641e-02 -8.65339091e-04 9.97634532e-01 -1.42795168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08863999999994 meters 0.02810429066933661 Centerline is valid? [True, True] Translation: X:252.31, Y:-153.28, Z:-14.28 [[ 7.08322551e-01 7.04252802e-01 4.80328467e-02 2.52309847e+02] [-7.02663045e-01 7.09949243e-01 -4.72939577e-02 -1.53277880e+02] [-6.74077854e-02 -2.51529487e-04 9.97725477e-01 -1.42811506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14863999999994 meters 0.027979474894411178 Centerline is valid? [True, True] Translation: X:252.36, Y:-153.32, Z:-14.28 [[ 7.13570077e-01 6.98977157e-01 4.74202459e-02 2.52356278e+02] [-6.97414287e-01 7.15143947e-01 -4.67166696e-02 -1.53320153e+02] [-6.65661867e-02 2.64060516e-04 9.97781977e-01 -1.42838109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20863999999995 meters 0.02814914380037521 Centerline is valid? [True, True] Translation: X:252.40, Y:-153.37, Z:-14.29 [[ 7.17103136e-01 6.95425667e-01 4.63274647e-02 2.52399830e+02] [-6.93923532e-01 7.18597776e-01 -4.56877292e-02 -1.53365283e+02] [-6.50632326e-02 6.15095958e-04 9.97880954e-01 -1.42870358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26863999999995 meters 0.02832213698733812 Centerline is valid? [True, True] Translation: X:252.44, Y:-153.41, Z:-14.29 [[ 7.18774920e-01 6.93711493e-01 4.61191811e-02 2.52439823e+02] [-6.92216358e-01 7.20252542e-01 -4.55279068e-02 -1.53414033e+02] [-6.48006897e-02 7.99866009e-04 9.97897906e-01 -1.42884201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32863999999995 meters 0.02847183013722491 Centerline is valid? [True, True] Translation: X:252.48, Y:-153.46, Z:-14.29 [[ 7.20147673e-01 6.92341736e-01 4.52796860e-02 2.52481097e+02] [-6.90895230e-01 7.21569154e-01 -4.47407887e-02 -1.53462310e+02] [-6.36483400e-02 9.36455793e-04 9.97971949e-01 -1.42915686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38863999999995 meters 0.028481540504558235 Centerline is valid? [True, True] Translation: X:252.52, Y:-153.51, Z:-14.29 [[ 7.20422164e-01 6.92131898e-01 4.41060337e-02 2.52519344e+02] [-6.90756341e-01 7.21770400e-01 -4.36252968e-02 -1.53513891e+02] [-6.20288891e-02 9.62108286e-04 9.98073891e-01 -1.42930245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44863999999995 meters 0.02840673025967853 Centerline is valid? [True, True] Translation: X:252.55, Y:-153.57, Z:-14.30 [[ 7.20932853e-01 6.91587715e-01 4.42973257e-02 2.52554256e+02] [-6.90196420e-01 7.22291728e-01 -4.38584257e-02 -1.53567414e+02] [-6.23275403e-02 1.04512439e-03 9.98055202e-01 -1.42968149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50863999999996 meters 0.0285132747778842 Centerline is valid? [True, True] Translation: X:252.59, Y:-153.62, Z:-14.30 [[ 7.21047261e-01 6.91356189e-01 4.60159560e-02 2.52589993e+02] [-6.89851519e-01 7.22513202e-01 -4.56021224e-02 -1.53619459e+02] [-6.47744452e-02 1.13710826e-03 9.97899283e-01 -1.43006956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56863999999996 meters 0.028020876389081222 Centerline is valid? [True, True] Translation: X:252.63, Y:-153.67, Z:-14.30 [[ 7.18042861e-01 6.94473764e-01 4.60504203e-02 2.52626213e+02] [-6.92970542e-01 7.19517481e-01 -4.56773733e-02 -1.53670800e+02] [-6.48558198e-02 8.86727058e-04 9.97894251e-01 -1.43025550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62863999999996 meters 0.027655683280549168 Centerline is valid? [True, True] Translation: X:252.67, Y:-153.72, Z:-14.31 [[ 7.13586937e-01 6.99072805e-01 4.57263173e-02 2.52667458e+02] [-6.97597424e-01 7.15050325e-01 -4.53967804e-02 -1.53717911e+02] [-6.44322727e-02 4.95988348e-04 9.97921959e-01 -1.43059941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68863999999996 meters 0.027603702463803056 Centerline is valid? [True, True] Translation: X:252.71, Y:-153.76, Z:-14.31 [[ 7.07105823e-01 7.05546037e-01 4.69696163e-02 2.52709952e+02] [-7.04000345e-01 7.08664086e-01 -4.66768430e-02 -1.53764392e+02] [-6.62183418e-02 -6.11585693e-05 9.97805155e-01 -1.43099997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74863999999997 meters 0.02764789784343589 Centerline is valid? [True, True] Translation: X:252.76, Y:-153.81, Z:-14.31 [[ 7.01473355e-01 7.11152031e-01 4.68819941e-02 2.52755926e+02] [-7.09621352e-01 7.03038038e-01 -4.66374745e-02 -1.53806694e+02] [-6.61261598e-02 -5.53518324e-04 9.97811117e-01 -1.43120957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80863999999997 meters 0.027820629537542798 Centerline is valid? [True, True] Translation: X:252.80, Y:-153.85, Z:-14.32 [[ 7.00324752e-01 7.12307245e-01 4.65148509e-02 2.52803638e+02] [-7.10800063e-01 7.01867507e-01 -4.63170842e-02 -1.53847785e+02] [-6.56392571e-02 -6.25758474e-04 9.97843222e-01 -1.43154196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86863999999997 meters 0.027705875983436812 Centerline is valid? [True, True] Translation: X:252.85, Y:-153.89, Z:-14.32 [[ 7.04607845e-01 7.08197506e-01 4.45429804e-02 2.52850378e+02] [-7.06804453e-01 7.06014343e-01 -4.43983367e-02 -1.53889180e+02] [-6.28907743e-02 -1.99760532e-04 9.98020396e-01 -1.43186382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92864 meters 0.027845396554244107 Centerline is valid? [True, True] Translation: X:252.90, Y:-153.93, Z:-14.32 [[ 7.08725163e-01 7.04100737e-01 4.41678094e-02 2.52896819e+02] [-7.02720392e-01 7.10100074e-01 -4.40674014e-02 -1.53931614e+02] [-6.23914546e-02 1.94055927e-04 9.98051737e-01 -1.43222523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98864 meters 0.02800938852683625 Centerline is valid? [True, True] Translation: X:252.94, Y:-153.97, Z:-14.33 [[ 7.11180572e-01 7.01546793e-01 4.53242985e-02 2.52941725e+02] [-7.00084867e-01 7.12623240e-01 -4.52691589e-02 -1.53974708e+02] [-6.40575817e-02 4.63690859e-04 9.97946096e-01 -1.43253210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04864 meters 0.02814092657334147 Centerline is valid? [True, True] Translation: X:252.99, Y:-154.02, Z:-14.33 [[ 7.13251172e-01 6.99474534e-01 4.48122902e-02 2.52985626e+02] [-6.98038668e-01 7.14657206e-01 -4.48006159e-02 -1.54020090e+02] [-6.33623161e-02 6.73380471e-04 9.97990362e-01 -1.43271793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10864 meters 0.028071897886167364 Centerline is valid? [True, True] Translation: X:252.95, Y:-154.19, Z:-12.72 [[ 7.48709516e-01 -6.62588803e-01 -2.02518803e-02 2.52948139e+02] [-6.62232483e-01 -7.48977310e-01 2.19346168e-02 -1.54185295e+02] [-2.97018304e-02 -3.01120335e-03 -9.99554268e-01 -1.27181648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16864 meters 0.027872563224687247 Centerline is valid? [True, True] Translation: X:253.02, Y:-154.08, Z:-14.33 [[ 7.58544750e-01 6.49914816e-01 4.71231809e-02 2.53022730e+02] [-6.48629189e-01 7.60006939e-01 -4.08610692e-02 -1.54080735e+02] [-6.23701587e-02 4.29478895e-04 9.98052994e-01 -1.43297542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22864 meters 0.02780885466159759 Centerline is valid? [True, True] Translation: X:253.07, Y:-154.12, Z:-14.33 [[ 7.53343924e-01 6.55805958e-01 4.89027401e-02 2.53069231e+02] [-6.54430853e-01 7.54929497e-01 -4.24466030e-02 -1.54122705e+02] [-6.47548561e-02 -2.65713925e-05 9.97901201e-01 -1.43323142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28864 meters 0.027768944667793543 Centerline is valid? [True, True] Translation: X:253.12, Y:-154.17, Z:-14.34 [[ 7.50387099e-01 6.59130388e-01 4.96621920e-02 2.53115098e+02] [-6.57716442e-01 7.52028624e-01 -4.31512582e-02 -1.54165133e+02] [-6.57896955e-02 -2.83492732e-04 9.97833471e-01 -1.43360184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34864 meters 0.02770675738240278 Centerline is valid? [True, True] Translation: X:253.16, Y:-154.20, Z:-14.34 [[ 7.49712401e-01 6.60000408e-01 4.82781192e-02 2.53164098e+02] [-6.58663562e-01 7.51265172e-01 -4.19875378e-02 -1.54204016e+02] [-6.39814616e-02 -3.20460164e-04 9.97951036e-01 -1.43370080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40864 meters 0.02787019926755667 Centerline is valid? [True, True] Translation: X:253.21, Y:-154.24, Z:-14.34 [[ 7.49968415e-01 6.59681490e-01 4.86591147e-02 2.53214027e+02] [-6.58320040e-01 7.51545250e-01 -4.23610959e-02 -1.54242749e+02] [-6.45143573e-02 -2.63786351e-04 9.97916744e-01 -1.43398692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46864 meters 0.027925794613843206 Centerline is valid? [True, True] Translation: X:253.26, Y:-154.28, Z:-14.34 [[ 7.50755184e-01 6.58688566e-01 4.99602513e-02 2.53263392e+02] [-6.57247939e-01 7.52415677e-01 -4.35407331e-02 -1.54280567e+02] [-6.62706593e-02 -1.47841102e-04 9.97801673e-01 -1.43430879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52864 meters 0.02808083991128911 Centerline is valid? [True, True] Translation: X:253.31, Y:-154.32, Z:-14.35 [[ 7.51833049e-01 6.57351451e-01 5.13433255e-02 2.53312374e+02] [-6.55823780e-01 7.53584149e-01 -4.47895099e-02 -1.54318700e+02] [-6.81339656e-02 2.06003524e-06 9.97676181e-01 -1.43462977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58863999999994 meters 0.02779397280216964 Centerline is valid? [True, True] Translation: X:253.36, Y:-154.36, Z:-14.35 [[ 7.51309129e-01 6.58125515e-01 4.90448726e-02 2.53362363e+02] [-6.56731275e-01 7.52908231e-01 -4.28162176e-02 -1.54356631e+02] [-6.51047335e-02 -4.10866216e-05 9.97878435e-01 -1.43487387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64863999999994 meters 0.027832476869317092 Centerline is valid? [True, True] Translation: X:253.41, Y:-154.40, Z:-14.35 [[ 7.51282917e-01 6.58188767e-01 4.85955309e-02 2.53409383e+02] [-6.56818610e-01 7.52852938e-01 -4.24472302e-02 -1.54397943e+02] [-6.45235784e-02 -2.85701287e-05 9.97916182e-01 -1.43504982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70863999999995 meters 0.02774363815647966 Centerline is valid? [True, True] Translation: X:253.46, Y:-154.44, Z:-14.35 [[ 7.52989275e-01 6.56118625e-01 5.01547770e-02 2.53456778e+02] [-6.54651289e-01 7.54657746e-01 -4.38563204e-02 -1.54438494e+02] [-6.66246396e-02 1.89449495e-04 9.97778092e-01 -1.43534171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76863999999995 meters 0.02796835302033695 Centerline is valid? [True, True] Translation: X:253.50, Y:-154.48, Z:-14.36 [[ 7.53862450e-01 6.55112086e-01 5.01952335e-02 2.53502954e+02] [-6.53637251e-01 7.55531639e-01 -4.39350245e-02 -1.54481034e+02] [-6.67064526e-02 3.11490779e-04 9.97772595e-01 -1.43557931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82863999999995 meters 0.02767097951328365 Centerline is valid? [True, True] Translation: X:253.55, Y:-154.52, Z:-14.36 [[ 7.53261689e-01 6.55802183e-01 5.02028477e-02 2.53551070e+02] [-6.54325290e-01 7.54932723e-01 -4.39886186e-02 -1.54522246e+02] [-6.67476046e-02 2.85948220e-04 9.97769851e-01 -1.43595418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88863999999995 meters 0.027570053870147406 Centerline is valid? [True, True] Translation: X:253.60, Y:-154.56, Z:-14.36 [[ 7.52129493e-01 6.57168451e-01 4.93036765e-02 2.53598238e+02] [-6.55744092e-01 7.53743716e-01 -4.32446212e-02 -1.54563424e+02] [-6.55813370e-02 1.94960424e-04 9.97847208e-01 -1.43607423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94863999999995 meters 0.027601729193171987 Centerline is valid? [True, True] Translation: X:253.65, Y:-154.60, Z:-14.36 [[ 7.47781165e-01 6.61931365e-01 5.16739484e-02 2.53646525e+02] [-6.60374876e-01 7.49564426e-01 -4.53673327e-02 -1.54602668e+02] [-6.87630139e-02 -1.99340360e-04 9.97633003e-01 -1.43637774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00863999999996 meters 0.027558182901965694 Centerline is valid? [True, True] Translation: X:253.70, Y:-154.64, Z:-14.37 [[ 7.45901254e-01 6.64115193e-01 5.08166358e-02 2.53697985e+02] [-6.62612091e-01 7.47630176e-01 -4.46580011e-02 -1.54639865e+02] [-6.76501074e-02 -3.61258294e-04 9.97709042e-01 -1.43668345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06863999999996 meters 0.027540206520061165 Centerline is valid? [True, True] Translation: X:253.75, Y:-154.68, Z:-14.37 [[ 7.47552091e-01 6.62347935e-01 4.96093050e-02 2.53746910e+02] [-6.60908637e-01 7.49196360e-01 -4.36415770e-02 -1.54678955e+02] [-6.60730192e-02 -1.62865990e-04 9.97814777e-01 -1.43703814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12863999999996 meters 0.02721148254010002 Centerline is valid? [True, True] Translation: X:253.80, Y:-154.72, Z:-14.37 [[ 7.51400673e-01 6.58018786e-01 4.90744927e-02 2.53797381e+02] [-6.56598352e-01 7.53001471e-01 -4.32132923e-02 -1.54716856e+02] [-6.53883233e-02 2.48265927e-04 9.97859863e-01 -1.43708101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18863999999996 meters 0.02735618531659289 Centerline is valid? [True, True] Translation: X:253.84, Y:-154.76, Z:-14.37 [[ 7.51611943e-01 6.57684508e-01 5.03048277e-02 2.53844515e+02] [-6.56187991e-01 7.53293426e-01 -4.43433698e-02 -1.54757569e+02] [-6.70582434e-02 3.19582413e-04 9.97749011e-01 -1.43748231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24863999999997 meters 0.0270291662851746 Centerline is valid? [True, True] Translation: X:253.89, Y:-154.80, Z:-14.38 [[ 7.50885950e-01 6.58548790e-01 4.98375417e-02 2.53891865e+02] [-6.57079028e-01 7.52537983e-01 -4.39742452e-02 -1.54799088e+02] [-6.64638291e-02 2.72439466e-04 9.97788798e-01 -1.43774842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30863999999997 meters 0.02716909895174794 Centerline is valid? [True, True] Translation: X:253.94, Y:-154.84, Z:-14.38 [[ 7.53501796e-01 6.55820740e-01 4.61974103e-02 2.53935733e+02] [-6.54550433e-01 7.54916486e-01 -4.08023194e-02 -1.54843070e+02] [-6.16341939e-02 5.06086031e-04 9.98098677e-01 -1.43784895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36863999999997 meters 0.027331261580384215 Centerline is valid? [True, True] Translation: X:253.98, Y:-154.89, Z:-14.38 [[ 7.55410925e-01 6.53568511e-01 4.69311924e-02 2.53981349e+02] [-6.52250677e-01 7.56867008e-01 -4.14896007e-02 -1.54885559e+02] [-6.26369678e-02 7.30795615e-04 9.98036110e-01 -1.43809289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42864 meters 0.027536578163250204 Centerline is valid? [True, True] Translation: X:254.02, Y:-154.93, Z:-14.38 [[ 7.57034405e-01 6.51564153e-01 4.86113658e-02 2.54024096e+02] [-6.50143382e-01 7.58592930e-01 -4.30156945e-02 -1.54931391e+02] [-6.49037229e-02 9.60002905e-04 9.97891069e-01 -1.43849564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48864 meters 0.027260781549664197 Centerline is valid? [True, True] Translation: X:254.07, Y:-154.98, Z:-14.39 [[ 7.55867240e-01 6.52902878e-01 4.88113465e-02 2.54069251e+02] [-6.51470455e-01 7.57441125e-01 -4.32341170e-02 -1.54975053e+02] [-6.51994006e-02 8.80102570e-04 9.97871867e-01 -1.43873130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54864 meters 0.027033521585243775 Centerline is valid? [True, True] Translation: X:254.11, Y:-155.02, Z:-14.39 [[ 7.54148571e-01 6.54876749e-01 4.89527939e-02 2.54110957e+02] [-6.53437273e-01 7.55735330e-01 -4.34032401e-02 -1.55021297e+02] [-6.54191286e-02 7.44911376e-04 9.97857596e-01 -1.43905600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60864 meters 0.0267406889029814 Centerline is valid? [True, True] Translation: X:254.16, Y:-155.07, Z:-14.39 [[ 7.51367005e-01 6.58208922e-01 4.69961541e-02 2.54155235e+02] [-6.56886480e-01 7.52835173e-01 -4.17055572e-02 -1.55065296e+02] [-6.28313277e-02 4.65041401e-04 9.98024052e-01 -1.43943437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66864 meters 0.026595917142463746 Centerline is valid? [True, True] Translation: X:254.20, Y:-155.11, Z:-14.40 [[ 7.46936927e-01 6.63159877e-01 4.80021318e-02 2.54201203e+02] [-6.61787620e-01 7.48477769e-01 -4.26400654e-02 -1.55107838e+02] [-6.42057091e-02 8.22228266e-05 9.97936681e-01 -1.43956951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72864 meters 0.02646868280027317 Centerline is valid? [True, True] Translation: X:254.25, Y:-155.15, Z:-14.40 [[ 7.43633498e-01 6.66876558e-01 4.78003940e-02 2.54249018e+02] [-6.65520540e-01 7.45168179e-01 -4.25064250e-02 -1.55148517e+02] [-6.39658710e-02 -2.02942538e-04 9.97952066e-01 -1.43981463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78864 meters 0.026427498215563186 Centerline is valid? [True, True] Translation: X:254.30, Y:-155.19, Z:-14.40 [[ 7.41627442e-01 6.69134802e-01 4.74062618e-02 2.54296943e+02] [-6.67802789e-01 7.43140960e-01 -4.22012909e-02 -1.55189187e+02] [-6.34678873e-02 -3.60398429e-04 9.97983816e-01 -1.44006976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84864 meters 0.02635097852024251 Centerline is valid? [True, True] Translation: X:254.35, Y:-155.23, Z:-14.40 [[ 7.42165818e-01 6.68482994e-01 4.81703825e-02 2.54346491e+02] [-6.67103222e-01 7.43727378e-01 -4.29287688e-02 -1.55228752e+02] [-6.45227841e-02 -2.74352582e-04 9.97916196e-01 -1.44044025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90864 meters 0.026399739933220735 Centerline is valid? [True, True] Translation: X:254.40, Y:-155.27, Z:-14.41 [[ 7.42798394e-01 6.67798091e-01 4.79192712e-02 2.54395621e+02] [-6.66428283e-01 7.44342447e-01 -4.27512050e-02 -1.55268034e+02] [-6.42175207e-02 -1.79231266e-04 9.97935909e-01 -1.44074672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96864 meters 0.02655494401750492 Centerline is valid? [True, True] Translation: X:254.45, Y:-155.31, Z:-14.41 [[ 7.42162994e-01 6.68458372e-01 4.85540457e-02 2.54445901e+02] [-6.67050300e-01 7.43749530e-01 -4.33651289e-02 -1.55306522e+02] [-6.50998321e-02 -2.03996864e-04 9.97878735e-01 -1.44117658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02864 meters 0.02656932263038809 Centerline is valid? [True, True] Translation: X:254.50, Y:-155.35, Z:-14.41 [[ 7.41466866e-01 6.69172763e-01 4.93426830e-02 2.54495078e+02] [-6.67716900e-01 7.43106828e-01 -4.41178310e-02 -1.55346205e+02] [-6.61893355e-02 -2.35033469e-04 9.97807054e-01 -1.44147533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08863999999994 meters 0.026671802207348584 Centerline is valid? [True, True] Translation: X:254.54, Y:-155.38, Z:-14.42 [[ 7.41280098e-01 6.69292496e-01 5.05110981e-02 2.54544125e+02] [-6.67763826e-01 7.42998996e-01 -4.52102289e-02 -1.55384029e+02] [-6.77885621e-02 -2.16041300e-04 9.97699686e-01 -1.44192730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14863999999994 meters 0.026592751905094025 Centerline is valid? [True, True] Translation: X:254.59, Y:-155.42, Z:-14.42 [[ 7.41144317e-01 6.69598416e-01 4.84051976e-02 2.54594491e+02] [-6.68192748e-01 7.42723313e-01 -4.33651064e-02 -1.55420928e+02] [-6.49888753e-02 -2.04199852e-04 9.97885968e-01 -1.44210336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20863999999995 meters 0.026764624480920953 Centerline is valid? [True, True] Translation: X:254.65, Y:-155.46, Z:-14.42 [[ 7.40907471e-01 6.69810776e-01 4.90881213e-02 2.54645025e+02] [-6.68362710e-01 7.42531808e-01 -4.40204625e-02 -1.55459049e+02] [-6.59348716e-02 -1.93580288e-04 9.97823910e-01 -1.44244798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26863999999995 meters 0.026795908026527194 Centerline is valid? [True, True] Translation: X:254.70, Y:-155.50, Z:-14.43 [[ 7.41577273e-01 6.69007500e-01 4.99210716e-02 2.54695049e+02] [-6.67504699e-01 7.43255647e-01 -4.48165043e-02 -1.55498164e+02] [-6.70866959e-02 -8.76488599e-05 9.97747146e-01 -1.44264483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32863999999995 meters 0.026933483171318242 Centerline is valid? [True, True] Translation: X:254.74, Y:-155.54, Z:-14.43 [[ 7.44352454e-01 6.65925392e-01 4.98276685e-02 2.54744556e+02] [-6.64418072e-01 7.46018311e-01 -4.47806310e-02 -1.55537476e+02] [-6.69929124e-02 2.26169150e-04 9.97753426e-01 -1.44285344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38863999999995 meters 0.0271847148582492 Centerline is valid? [True, True] Translation: X:254.79, Y:-155.58, Z:-14.43 [[ 7.46944882e-01 6.62926516e-01 5.10076293e-02 2.54792600e+02] [-6.61336594e-01 7.48684273e-01 -4.58886697e-02 -1.55577205e+02] [-6.86094258e-02 5.43095211e-04 9.97643449e-01 -1.44319849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44863999999995 meters 0.027580692327919314 Centerline is valid? [True, True] Translation: X:254.84, Y:-155.62, Z:-14.43 [[ 7.49603478e-01 6.60025939e-01 4.96022721e-02 2.54839952e+02] [-6.58513341e-01 7.51242365e-01 -4.46664201e-02 -1.55618462e+02] [-6.67443240e-02 8.18345993e-04 9.97769776e-01 -1.44341704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50863999999996 meters 0.027868725632545242 Centerline is valid? [True, True] Translation: X:254.89, Y:-155.66, Z:-14.44 [[ 7.51609475e-01 6.57652042e-01 5.07640466e-02 2.54885301e+02] [-6.56059082e-01 7.53321051e-01 -4.57588703e-02 -1.55660574e+02] [-6.83350395e-02 1.08858668e-03 9.97661835e-01 -1.44372717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56863999999996 meters 0.02783284663645583 Centerline is valid? [True, True] Translation: X:254.93, Y:-155.70, Z:-14.44 [[ 7.51698045e-01 6.57530881e-01 5.10214633e-02 2.54933447e+02] [-6.55918429e-01 7.53426736e-01 -4.60344229e-02 -1.55701855e+02] [-6.87099892e-02 1.13806763e-03 9.97636027e-01 -1.44398339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62863999999996 meters 0.02781393759618656 Centerline is valid? [True, True] Translation: X:254.98, Y:-155.74, Z:-14.44 [[ 7.51269783e-01 6.58038089e-01 5.07896351e-02 2.54980609e+02] [-6.56438221e-01 7.52983808e-01 -4.58720848e-02 -1.55743241e+02] [-6.84293518e-02 1.12205352e-03 9.97655334e-01 -1.44421929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68863999999996 meters 0.027667545732585435 Centerline is valid? [True, True] Translation: X:255.03, Y:-155.78, Z:-14.45 [[ 7.50574832e-01 6.58801826e-01 5.11622560e-02 2.55027727e+02] [-6.57176841e-01 7.52315727e-01 -4.62563221e-02 -1.55784393e+02] [-6.89639193e-02 1.09618142e-03 9.97618552e-01 -1.44452933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74863999999997 meters 0.02744593815352275 Centerline is valid? [True, True] Translation: X:255.07, Y:-155.83, Z:-14.45 [[ 7.49007180e-01 6.60522047e-01 5.19506469e-02 2.55074547e+02] [-6.58847216e-01 7.50805998e-01 -4.70180683e-02 -1.55827279e+02] [-7.00613280e-02 9.89331677e-04 9.97542195e-01 -1.44475683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80863999999997 meters 0.027420967970070813 Centerline is valid? [True, True] Translation: X:255.12, Y:-155.87, Z:-14.45 [[ 7.47795719e-01 6.61864375e-01 5.23174199e-02 2.55122966e+02] [-6.60165576e-01 7.49623057e-01 -4.73992020e-02 -1.55868306e+02] [-7.05901875e-02 9.06760676e-04 9.97504989e-01 -1.44510412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86863999999997 meters 0.027284669303522663 Centerline is valid? [True, True] Translation: X:255.17, Y:-155.91, Z:-14.45 [[ 7.46301344e-01 6.63355557e-01 5.47147930e-02 2.55167280e+02] [-6.61497544e-01 7.48303883e-01 -4.96215513e-02 -1.55911749e+02] [-7.38600239e-02 8.38929274e-04 9.97268265e-01 -1.44545852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92864 meters 0.02698192808947819 Centerline is valid? [True, True] Translation: X:255.21, Y:-155.96, Z:-14.46 [[ 7.43925632e-01 6.65951958e-01 5.55215611e-02 2.55211429e+02] [-6.64042213e-01 7.45994368e-01 -5.04018121e-02 -1.55956292e+02] [-7.49839573e-02 6.26539625e-04 9.97184543e-01 -1.44592820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98864 meters 0.02659249508748878 Centerline is valid? [True, True] Translation: X:255.26, Y:-156.00, Z:-14.46 [[ 7.39627563e-01 6.70719029e-01 5.55612526e-02 2.55258207e+02] [-6.68816147e-01 7.41711502e-01 -5.04877130e-02 -1.55997555e+02] [-7.50734899e-02 1.81841243e-04 9.97177987e-01 -1.44602428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04864 meters 0.02655708297875672 Centerline is valid? [True, True] Translation: X:255.31, Y:-156.04, Z:-14.47 [[ 7.35251035e-01 6.75455247e-01 5.62683241e-02 2.55305055e+02] [-6.73513705e-01 7.37400933e-01 -5.11776596e-02 -1.56038369e+02] [-7.60605334e-02 -2.69060287e-04 9.97103166e-01 -1.44650000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10864 meters 0.026672135363301534 Centerline is valid? [True, True] Translation: X:255.36, Y:-156.08, Z:-14.47 [[ 7.30487480e-01 6.80436712e-01 5.82573802e-02 2.55355584e+02] [-6.78367022e-01 7.32806439e-01 -5.30368418e-02 -1.56075284e+02] [-7.87795976e-02 -7.77136586e-04 9.96891755e-01 -1.44688121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16864 meters 0.02683819996399701 Centerline is valid? [True, True] Translation: X:255.41, Y:-156.11, Z:-14.47 [[ 7.29876948e-01 6.80993142e-01 5.93968134e-02 2.55406774e+02] [-6.78839354e-01 7.32289338e-01 -5.41244632e-02 -1.56110864e+02] [-8.03540414e-02 -8.16696414e-04 9.96766051e-01 -1.44718844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22864 meters 0.026789944501436274 Centerline is valid? [True, True] Translation: X:255.46, Y:-156.15, Z:-14.48 [[ 7.32716638e-01 6.77844184e-01 6.04449455e-02 2.55459451e+02] [-6.75598389e-01 7.35205461e-01 -5.51339031e-02 -1.56146089e+02] [-8.18116496e-02 -4.38979634e-04 9.96647712e-01 -1.44753894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28864 meters 0.026627894242489694 Centerline is valid? [True, True] Translation: X:255.51, Y:-156.18, Z:-14.48 [[ 7.36461134e-01 6.73896263e-01 5.90662730e-02 2.55511628e+02] [-6.71734908e-01 7.38825977e-01 -5.39294775e-02 -1.56181414e+02] [-7.99825702e-02 4.00866911e-05 9.96796261e-01 -1.44788640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34864 meters 0.026913609519936366 Centerline is valid? [True, True] Translation: X:255.56, Y:-156.22, Z:-14.48 [[ 7.37544004e-01 6.72726615e-01 5.88875553e-02 2.55561238e+02] [-6.70570427e-01 7.39891113e-01 -5.38186156e-02 -1.56220131e+02] [-7.97755940e-02 2.05344130e-04 9.96812827e-01 -1.44824210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40864 meters 0.027504931805190688 Centerline is valid? [True, True] Translation: X:255.61, Y:-156.26, Z:-14.49 [[ 7.40780390e-01 6.69009924e-01 6.05816459e-02 2.55612060e+02] [-6.66710636e-01 7.43253173e-01 -5.54224615e-02 -1.56256996e+02] [-8.21056773e-02 6.65445022e-04 9.96623407e-01 -1.44877667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46864 meters 0.027698617096737207 Centerline is valid? [True, True] Translation: X:255.66, Y:-156.30, Z:-14.49 [[ 7.43914175e-01 6.65744795e-01 5.80996394e-02 2.55660838e+02] [-6.63616678e-01 7.46178819e-01 -5.31984499e-02 -1.56295775e+02] [-7.87693114e-02 1.01919127e-03 9.96892350e-01 -1.44933082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52864 meters 0.0277246162069002 Centerline is valid? [True, True] Translation: X:255.71, Y:-156.34, Z:-14.50 [[ 7.44097112e-01 6.65517161e-01 5.83643385e-02 2.55707457e+02] [-6.63365102e-01 7.46381762e-01 -5.34883812e-02 -1.56337320e+02] [-7.91595134e-02 1.08368459e-03 9.96861373e-01 -1.44970883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58863999999994 meters 0.027566991839599767 Centerline is valid? [True, True] Translation: X:255.75, Y:-156.38, Z:-14.50 [[ 7.41415531e-01 6.68387375e-01 5.96768604e-02 2.55752024e+02] [-6.66142281e-01 7.43812894e-01 -5.47434003e-02 -1.56382101e+02] [-8.09782159e-02 8.34327317e-04 9.96715522e-01 -1.45013051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64863999999994 meters 0.027671933799686365 Centerline is valid? [True, True] Translation: X:255.80, Y:-156.43, Z:-14.51 [[ 7.39926080e-01 6.69992432e-01 6.01625916e-02 2.55797976e+02] [-6.67711219e-01 7.42367592e-01 -5.52456853e-02 -1.56425444e+02] [-8.16769493e-02 7.06486026e-04 9.96658606e-01 -1.45052416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70863999999995 meters 0.028012941461977987 Centerline is valid? [True, True] Translation: X:255.84, Y:-156.47, Z:-14.51 [[ 7.39874875e-01 6.69897985e-01 6.18211957e-02 2.55842203e+02] [-6.67484001e-01 7.42452749e-01 -5.68244975e-02 -1.56468585e+02] [-8.39659330e-02 7.78358848e-04 9.96468322e-01 -1.45104004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76863999999995 meters 0.02784046180638258 Centerline is valid? [True, True] Translation: X:255.89, Y:-156.51, Z:-14.51 [[ 7.39299501e-01 6.70665893e-01 6.03614795e-02 2.55886487e+02] [-6.68363293e-01 7.41759229e-01 -5.55315576e-02 -1.56511952e+02] [-8.20168063e-02 7.11055600e-04 9.96630693e-01 -1.45131106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82863999999995 meters 0.028004240324800575 Centerline is valid? [True, True] Translation: X:255.93, Y:-156.55, Z:-14.52 [[ 7.37082651e-01 6.72999250e-01 6.14912599e-02 2.55931938e+02] [-6.70613295e-01 7.39642996e-01 -5.66219659e-02 -1.56554844e+02] [-8.35881203e-02 4.98212317e-04 9.96500265e-01 -1.45188876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88863999999995 meters 0.028034906539286454 Centerline is valid? [True, True] Translation: X:255.98, Y:-156.60, Z:-14.52 [[ 7.36242810e-01 6.73984115e-01 6.07613086e-02 2.55977258e+02] [-6.71653775e-01 7.38745719e-01 -5.59997292e-02 -1.56597465e+02] [-8.26300846e-02 4.18835681e-04 9.96580199e-01 -1.45231656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94863999999995 meters 0.028144995581892564 Centerline is valid? [True, True] Translation: X:256.02, Y:-156.64, Z:-14.53 [[ 7.35725088e-01 6.74525605e-01 6.10229721e-02 2.56024241e+02] [-6.72172442e-01 7.38251345e-01 -5.62953023e-02 -1.56639818e+02] [-8.30229141e-02 3.99906121e-04 9.96547558e-01 -1.45263252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00863999999996 meters 0.028012364498380425 Centerline is valid? [True, True] Translation: X:256.07, Y:-156.68, Z:-14.53 [[ 7.32685052e-01 6.77891395e-01 6.02981853e-02 2.56071493e+02] [-6.75600743e-01 7.35162059e-01 -5.56810874e-02 -1.56680602e+02] [-8.20746681e-02 5.92016353e-05 9.96626181e-01 -1.45304761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06863999999996 meters 0.027930237714065206 Centerline is valid? [True, True] Translation: X:256.12, Y:-156.72, Z:-14.53 [[ 7.29269161e-01 6.81546238e-01 6.05079888e-02 2.56117549e+02] [-6.79247622e-01 7.31774984e-01 -5.59288817e-02 -1.56723021e+02] [-8.23963514e-02 -3.12698903e-04 9.96599590e-01 -1.45333579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12863999999996 meters 0.027897508310815302 Centerline is valid? [True, True] Translation: X:256.16, Y:-156.76, Z:-14.54 [[ 7.29145621e-01 6.81679185e-01 6.04991937e-02 2.56164639e+02] [-6.79376886e-01 7.31651152e-01 -5.59789140e-02 -1.56764961e+02] [-8.24239652e-02 -2.84973810e-04 9.96597315e-01 -1.45367933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18863999999996 meters 0.02822503490377446 Centerline is valid? [True, True] Translation: X:256.21, Y:-156.81, Z:-14.54 [[ 7.28404114e-01 6.82284457e-01 6.25728942e-02 2.56210908e+02] [-6.79818618e-01 7.31086736e-01 -5.79554169e-02 -1.56806070e+02] [-8.52882931e-02 -3.23254418e-04 9.96356263e-01 -1.45418699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24863999999997 meters 0.02811642744969999 Centerline is valid? [True, True] Translation: X:256.26, Y:-156.85, Z:-14.54 [[ 7.28151085e-01 6.82700801e-01 6.09558384e-02 2.56255459e+02] [-6.80358221e-01 7.30697961e-01 -5.65082365e-02 -1.56849546e+02] [-8.31185252e-02 -3.25272004e-04 9.96539615e-01 -1.45441340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30863999999997 meters 0.028274969277328987 Centerline is valid? [True, True] Translation: X:256.30, Y:-156.89, Z:-14.55 [[ 7.29084201e-01 6.81673246e-01 6.13010069e-02 2.56301864e+02] [-6.79295726e-01 7.31656721e-01 -5.68837398e-02 -1.56891707e+02] [-8.36274173e-02 -1.68475948e-04 9.96497078e-01 -1.45474282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36863999999997 meters 0.028326373305066977 Centerline is valid? [True, True] Translation: X:256.35, Y:-156.93, Z:-14.55 [[ 7.30999479e-01 6.79698134e-01 6.04169503e-02 2.56347989e+02] [-6.77377516e-01 7.33491948e-01 -5.61183043e-02 -1.56933944e+02] [-8.24588533e-02 9.73675432e-05 9.96594465e-01 -1.45521493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42864 meters 0.0283287870693136 Centerline is valid? [True, True] Translation: X:256.39, Y:-156.98, Z:-14.55 [[ 7.32612612e-01 6.77936984e-01 6.06646971e-02 2.56394134e+02] [-6.75586692e-01 7.35119944e-01 -5.64029257e-02 -1.56976728e+02] [-8.28334581e-02 3.37232688e-04 9.96563347e-01 -1.45545430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48864 meters 0.02895314642797457 Centerline is valid? [True, True] Translation: X:256.44, Y:-157.02, Z:-14.56 [[ 7.35937884e-01 6.74296015e-01 6.09943806e-02 2.56441249e+02] [-6.71902895e-01 7.38460734e-01 -5.67648222e-02 -1.57016615e+02] [-8.33182485e-02 7.93082318e-04 9.96522674e-01 -1.45601395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54864 meters 0.02895813283964402 Centerline is valid? [True, True] Translation: X:256.49, Y:-157.06, Z:-14.56 [[ 7.37490487e-01 6.72670732e-01 6.01819480e-02 2.56485768e+02] [-6.70331266e-01 7.39941268e-01 -5.60617051e-02 -1.57061541e+02] [-8.22421751e-02 1.00313283e-03 9.96611869e-01 -1.45634741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60864 meters 0.028820412849553414 Centerline is valid? [True, True] Translation: X:256.53, Y:-157.11, Z:-14.57 [[ 7.34118899e-01 6.76291969e-01 6.08162320e-02 2.56530559e+02] [-6.73910316e-01 7.36633391e-01 -5.67109620e-02 -1.57106436e+02] [-8.31524354e-02 6.47902958e-04 9.96536629e-01 -1.45689665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66864 meters 0.028533596449859408 Centerline is valid? [True, True] Translation: X:256.57, Y:-157.15, Z:-14.57 [[ 7.31587611e-01 6.79103627e-01 5.99819320e-02 2.56573897e+02] [-6.76791952e-01 7.34042323e-01 -5.59867993e-02 -1.57151405e+02] [-8.20501152e-02 3.63959850e-04 9.96628138e-01 -1.45711531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72864 meters 0.028378718691222233 Centerline is valid? [True, True] Translation: X:256.62, Y:-157.20, Z:-14.58 [[ 7.29604166e-01 6.81218481e-01 6.01593044e-02 2.56617745e+02] [-6.78895802e-01 7.32080155e-01 -5.62061968e-02 -1.57195985e+02] [-8.23301330e-02 1.66376089e-04 9.96605098e-01 -1.45758482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78864 meters 0.028323235465426873 Centerline is valid? [True, True] Translation: X:256.66, Y:-157.24, Z:-14.58 [[ 7.27863316e-01 6.83218669e-01 5.85426566e-02 2.56660256e+02] [-6.81022622e-01 7.30213838e-01 -5.47351704e-02 -1.57242120e+02] [-8.01447483e-02 -2.91509007e-05 9.96783235e-01 -1.45801603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84864 meters 0.02856314128178999 Centerline is valid? [True, True] Translation: X:256.70, Y:-157.29, Z:-14.58 [[ 7.26443002e-01 6.84633748e-01 5.96422341e-02 2.56702796e+02] [-6.82357192e-01 7.28887236e-01 -5.57858402e-02 -1.57286938e+02] [-8.16653320e-02 -1.72074136e-04 9.96659793e-01 -1.45833868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90864 meters 0.02837105601135435 Centerline is valid? [True, True] Translation: X:256.75, Y:-157.33, Z:-14.59 [[ 7.24339846e-01 6.86928476e-01 5.88307451e-02 2.56745991e+02] [-6.84718084e-01 7.26724921e-01 -5.50639142e-02 -1.57331198e+02] [-8.05787392e-02 -3.97487946e-04 9.96748167e-01 -1.45873432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96864 meters 0.028326140035314102 Centerline is valid? [True, True] Translation: X:256.79, Y:-157.37, Z:-14.59 [[ 7.21206832e-01 6.90169628e-01 5.93851078e-02 2.56790818e+02] [-6.87924050e-01 7.23647258e-01 -5.56340487e-02 -1.57373708e+02] [-8.13708011e-02 -7.28787843e-04 9.96683632e-01 -1.45910180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02864 meters 0.028632801946142244 Centerline is valid? [True, True] Translation: X:256.84, Y:-157.42, Z:-14.59 [[ 7.14880698e-01 6.96655401e-01 6.01401639e-02 2.56837249e+02] [-6.94371996e-01 7.17404440e-01 -5.63773062e-02 -1.57415245e+02] [-8.24203755e-02 -1.45659762e-03 9.96596588e-01 -1.45928265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08863999999994 meters 0.02900149682481997 Centerline is valid? [True, True] Translation: X:256.89, Y:-157.45, Z:-14.60 [[ 7.10922992e-01 7.00833522e-01 5.84882339e-02 2.56888386e+02] [-6.98685699e-01 7.13322434e-01 -5.48579824e-02 -1.57451740e+02] [-8.01672824e-02 -1.86509169e-03 9.96779679e-01 -1.45973706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14863999999994 meters 0.029021180515276683 Centerline is valid? [True, True] Translation: X:256.94, Y:-157.49, Z:-14.60 [[ 7.11957626e-01 6.99621986e-01 6.03772797e-02 2.56941130e+02] [-6.97324208e-01 7.14511039e-01 -5.66826559e-02 -1.57486935e+02] [-8.27966651e-02 -1.74688959e-03 9.96564930e-01 -1.46012034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20863999999995 meters 0.02874217239030841 Centerline is valid? [True, True] Translation: X:257.00, Y:-157.52, Z:-14.61 [[ 7.19234254e-01 6.92038212e-01 6.15239849e-02 2.56995731e+02] [-6.89620948e-01 7.21860358e-01 -5.77976712e-02 -1.57520091e+02] [-8.44099228e-02 -8.58163879e-04 9.96430744e-01 -1.46071274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26863999999995 meters 0.0288232159912178 Centerline is valid? [True, True] Translation: X:257.04, Y:-157.56, Z:-14.61 [[ 7.24804755e-01 6.86202040e-01 6.15209509e-02 2.57044789e+02] [-6.83760948e-01 7.27410983e-01 -5.78293068e-02 -1.57558276e+02] [-8.44336037e-02 -1.50667198e-04 9.96429096e-01 -1.46114685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32863999999995 meters 0.02924494467377583 Centerline is valid? [True, True] Translation: X:257.09, Y:-157.60, Z:-14.62 [[ 7.31534759e-01 6.79142134e-01 6.01901839e-02 2.57094424e+02] [-6.76778599e-01 7.34006470e-01 -5.66147493e-02 -1.57596849e+02] [-8.26294461e-02 6.80228683e-04 9.96580108e-01 -1.46155410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38863999999995 meters 0.029756388169582846 Centerline is valid? [True, True] Translation: X:257.14, Y:-157.64, Z:-14.62 [[ 7.34401409e-01 6.76065117e-01 5.99210158e-02 2.57140912e+02] [-6.73711084e-01 7.36841155e-01 -5.63780799e-02 -1.57638246e+02] [-8.22675237e-02 1.03468883e-03 9.96609745e-01 -1.46200328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44863999999995 meters 0.029701437351086296 Centerline is valid? [True, True] Translation: X:257.18, Y:-157.68, Z:-14.62 [[ 7.33496986e-01 6.77122990e-01 5.90476795e-02 2.57183819e+02] [-6.74838254e-01 7.35869284e-01 -5.55853218e-02 -1.57682862e+02] [-8.10894729e-02 9.24033047e-04 9.96706398e-01 -1.46245865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50863999999996 meters 0.029629766168848617 Centerline is valid? [True, True] Translation: X:257.23, Y:-157.73, Z:-14.63 [[ 7.31685005e-01 6.79050652e-01 5.93907913e-02 2.57228661e+02] [-6.76741265e-01 7.34091033e-01 -5.59608390e-02 -1.57727379e+02] [-8.15984916e-02 7.53507513e-04 9.96664998e-01 -1.46278967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56863999999996 meters 0.029599474155306515 Centerline is valid? [True, True] Translation: X:257.27, Y:-157.77, Z:-14.63 [[ 7.30145583e-01 6.80731913e-01 5.90888337e-02 2.57272569e+02] [-6.78447141e-01 7.32532388e-01 -5.57294963e-02 -1.57771557e+02] [-8.12213311e-02 6.01995288e-04 9.96695908e-01 -1.46318700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62863999999996 meters 0.02967666159647339 Centerline is valid? [True, True] Translation: X:257.32, Y:-157.82, Z:-14.64 [[ 7.30459022e-01 6.80374618e-01 5.93295510e-02 2.57317279e+02] [-6.78065638e-01 7.32864184e-01 -5.60096271e-02 -1.57815261e+02] [-8.15880316e-02 6.83407539e-04 9.96665905e-01 -1.46362888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68863999999996 meters 0.029866921391181633 Centerline is valid? [True, True] Translation: X:257.36, Y:-157.86, Z:-14.64 [[ 7.32284417e-01 6.78490491e-01 5.83968103e-02 2.57362628e+02] [-6.76243174e-01 7.34608608e-01 -5.51848121e-02 -1.57859412e+02] [-8.03411698e-02 9.20533619e-04 9.96766998e-01 -1.46407569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74863999999997 meters 0.030006131218936635 Centerline is valid? [True, True] Translation: X:257.40, Y:-157.91, Z:-14.64 [[ 7.31972525e-01 6.78841469e-01 5.82278531e-02 2.57403366e+02] [-6.76603804e-01 7.34284286e-01 -5.50806699e-02 -1.57908496e+02] [-8.01468405e-02 9.20350126e-04 9.96782643e-01 -1.46444737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80863999999997 meters 0.02936473903270296 Centerline is valid? [True, True] Translation: X:257.44, Y:-157.96, Z:-14.65 [[ 7.27628953e-01 6.83562556e-01 5.74311641e-02 2.57443676e+02] [-6.81396305e-01 7.29891803e-01 -5.43785968e-02 -1.57956544e+02] [-7.90897085e-02 4.34058405e-04 9.96867408e-01 -1.46488270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86863999999997 meters 0.02916954039961944 Centerline is valid? [True, True] Translation: X:257.49, Y:-158.00, Z:-14.65 [[ 7.19101912e-01 6.92550724e-01 5.71483587e-02 2.57485620e+02] [-6.90429745e-01 7.21369001e-01 -5.41620822e-02 -1.58003823e+02] [-7.87350437e-02 -5.08869894e-04 9.96895448e-01 -1.46532915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92864 meters 0.029647751536348032 Centerline is valid? [True, True] Translation: X:257.53, Y:-158.05, Z:-14.66 [[ 7.09475307e-01 7.02387171e-01 5.74199515e-02 2.57531472e+02] [-7.00274575e-01 7.11793361e-01 -5.44585190e-02 -1.58045742e+02] [-7.91221054e-02 -1.57275760e-03 9.96863691e-01 -1.46564112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98864 meters 0.029810847013383976 Centerline is valid? [True, True] Translation: X:257.58, Y:-158.09, Z:-14.66 [[ 7.05323920e-01 7.06495847e-01 5.81531240e-02 2.57575703e+02] [-7.04341561e-01 7.07714224e-01 -5.51683012e-02 -1.58088867e+02] [-8.01319687e-02 -2.04813965e-03 9.96782159e-01 -1.46606822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04864 meters 0.02991574100634051 Centerline is valid? [True, True] Translation: X:257.63, Y:-158.13, Z:-14.66 [[ 7.05559567e-01 7.06306524e-01 5.75915868e-02 2.57625417e+02] [-7.04190728e-01 7.07903348e-01 -5.46650611e-02 -1.58126326e+02] [-7.93795664e-02 -1.98600454e-03 9.96842485e-01 -1.46643984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10864 meters 0.029936233088515344 Centerline is valid? [True, True] Translation: X:257.67, Y:-158.17, Z:-14.67 [[ 7.07183122e-01 7.04673951e-01 5.76771555e-02 2.57673329e+02] [-7.02542379e-01 7.09529064e-01 -5.47970105e-02 -1.58166040e+02] [-7.95376440e-02 -1.76912506e-03 9.96830293e-01 -1.46682825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16864 meters 0.029737022098596407 Centerline is valid? [True, True] Translation: X:257.72, Y:-158.21, Z:-14.67 [[ 7.08925160e-01 7.02938153e-01 5.74723504e-02 2.57720585e+02] [-7.00812028e-01 7.11249326e-01 -5.46525135e-02 -1.58206212e+02] [-7.92945074e-02 -1.53277264e-03 9.96850055e-01 -1.46716159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22864 meters 0.029336483884921213 Centerline is valid? [True, True] Translation: X:257.77, Y:-158.25, Z:-14.68 [[ 7.17719309e-01 6.94120850e-01 5.54548298e-02 2.57768347e+02] [-6.92112360e-01 7.19858310e-01 -5.27683025e-02 -1.58245382e+02] [-7.65471991e-02 -5.08143551e-04 9.97065829e-01 -1.46772512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28864 meters 0.02946686101549084 Centerline is valid? [True, True] Translation: X:257.81, Y:-158.29, Z:-14.68 [[ 7.23263266e-01 6.88352692e-01 5.53246733e-02 2.57813285e+02] [-6.86334490e-01 7.25376148e-01 -5.26726898e-02 -1.58287756e+02] [-7.63885862e-02 1.24990227e-04 9.97078115e-01 -1.46807081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34864 meters 0.029865200183155208 Centerline is valid? [True, True] Translation: X:257.86, Y:-158.33, Z:-14.68 [[ 7.29156011e-01 6.82226557e-01 5.38371351e-02 2.57858102e+02] [-6.80295147e-01 7.31140417e-01 -5.13050004e-02 -1.58332686e+02] [-7.43641392e-02 7.84207709e-04 9.97230846e-01 -1.46839526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40864 meters 0.029901592466516757 Centerline is valid? [True, True] Translation: X:257.90, Y:-158.38, Z:-14.69 [[ 7.30497642e-01 6.80939160e-01 5.19139308e-02 2.57899271e+02] [-6.79136785e-01 7.32339415e-01 -4.95197727e-02 -1.58379294e+02] [-7.17385701e-02 9.17417172e-04 9.97423048e-01 -1.46869962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46864 meters 0.030094406358627028 Centerline is valid? [True, True] Translation: X:257.94, Y:-158.42, Z:-14.69 [[ 7.31162950e-01 6.80115080e-01 5.33312100e-02 2.57943990e+02] [-6.78207223e-01 7.33104601e-01 -5.09176552e-02 -1.58422702e+02] [-7.37272206e-02 1.05949122e-03 9.97277882e-01 -1.46901014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52864 meters 0.030331306531401415 Centerline is valid? [True, True] Translation: X:257.99, Y:-158.47, Z:-14.69 [[ 7.34378566e-01 6.76767618e-01 5.17079534e-02 2.57986103e+02] [-6.74962901e-01 7.36195404e-01 -4.94106275e-02 -1.58468356e+02] [-7.15066704e-02 1.38515557e-03 9.97439160e-01 -1.46928923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58863999999994 meters 0.031034515726691414 Centerline is valid? [True, True] Translation: X:258.03, Y:-158.51, Z:-14.70 [[ 7.37161543e-01 6.73780582e-01 5.11134784e-02 2.58030316e+02] [-6.72006965e-01 7.38929550e-01 -4.88851723e-02 -1.58511920e+02] [-7.07071394e-02 1.68765560e-03 9.97495690e-01 -1.46973112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64863999999994 meters 0.03074576203009854 Centerline is valid? [True, True] Translation: X:258.07, Y:-158.56, Z:-14.70 [[ 7.37822522e-01 6.73274431e-01 4.81608477e-02 2.58073183e+02] [-6.71696920e-01 7.39390825e-01 -4.60918194e-02 -1.58557654e+02] [-6.66421324e-02 1.65808938e-03 9.97775564e-01 -1.46993055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70863999999995 meters 0.030211940005558855 Centerline is valid? [True, True] Translation: X:258.12, Y:-158.60, Z:-14.70 [[ 7.36266457e-01 6.75091964e-01 4.65031672e-02 2.58118214e+02] [-6.73623587e-01 7.37732145e-01 -4.45257953e-02 -1.58600523e+02] [-6.43658879e-02 1.45721925e-03 9.97925302e-01 -1.47012928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76863999999995 meters 0.029737867598185874 Centerline is valid? [True, True] Translation: X:258.16, Y:-158.65, Z:-14.71 [[ 7.34429368e-01 6.76978856e-01 4.80950288e-02 2.58161313e+02] [-6.75409269e-01 7.36001194e-01 -4.60929807e-02 -1.58646570e+02] [-6.66019719e-02 1.36821054e-03 9.97778686e-01 -1.47066012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82863999999995 meters 0.02961596847834918 Centerline is valid? [True, True] Translation: X:258.20, Y:-158.69, Z:-14.71 [[ 7.32870012e-01 6.78659205e-01 4.81998812e-02 2.58203078e+02] [-6.77083381e-01 7.34452257e-01 -4.62382796e-02 -1.58692648e+02] [-6.67805457e-02 1.25131001e-03 9.97766903e-01 -1.47102418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88863999999995 meters 0.029368147594275723 Centerline is valid? [True, True] Translation: X:258.24, Y:-158.74, Z:-14.71 [[ 7.32640146e-01 6.79001749e-01 4.68512611e-02 2.58244361e+02] [-6.77511136e-01 7.34135648e-01 -4.49834588e-02 -1.58739561e+02] [-6.49390281e-02 1.21443677e-03 9.97888495e-01 -1.47129285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94863999999995 meters 0.028531059963741116 Centerline is valid? [True, True] Translation: X:258.28, Y:-158.79, Z:-14.71 [[ 7.27246435e-01 6.84704092e-01 4.78845386e-02 2.58283726e+02] [-6.83156439e-01 7.28820787e-01 -4.60167336e-02 -1.58788479e+02] [-6.64070929e-02 7.52874599e-04 9.97792329e-01 -1.47148898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00863999999996 meters 0.0282613432289871 Centerline is valid? [True, True] Translation: X:258.32, Y:-158.84, Z:-14.72 [[ 7.23339546e-01 6.88798969e-01 4.83309601e-02 2.58323803e+02] [-6.87228555e-01 7.24952281e-01 -4.64876647e-02 -1.58835950e+02] [-6.70582954e-02 4.11950378e-04 9.97748974e-01 -1.47179396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06863999999996 meters 0.027957741012603687 Centerline is valid? [True, True] Translation: X:258.37, Y:-158.88, Z:-14.72 [[ 7.18515792e-01 6.93829644e-01 4.83268226e-02 2.58366079e+02] [-6.92267952e-01 7.20139171e-01 -4.65258832e-02 -1.58881601e+02] [-6.70830749e-02 -2.55286470e-05 9.97747393e-01 -1.47206822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12863999999996 meters 0.027921505252603455 Centerline is valid? [True, True] Translation: X:258.41, Y:-158.93, Z:-14.72 [[ 7.16188770e-01 6.96153569e-01 4.94353448e-02 2.58409915e+02] [-6.94521778e-01 7.17892862e-01 -4.76375838e-02 -1.58925631e+02] [-6.86523551e-02 -2.16420960e-04 9.97640620e-01 -1.47238215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18863999999996 meters 0.02826786161826888 Centerline is valid? [True, True] Translation: X:258.46, Y:-158.97, Z:-14.73 [[ 7.18487653e-01 6.93746893e-01 4.99073161e-02 2.58457310e+02] [-6.92074650e-01 7.20218888e-01 -4.81397281e-02 -1.58966571e+02] [-6.93409785e-02 4.82119950e-05 9.97593016e-01 -1.47278831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24863999999997 meters 0.028446494082371633 Centerline is valid? [True, True] Translation: X:258.50, Y:-159.01, Z:-14.73 [[ 7.22023172e-01 6.90169474e-01 4.84627384e-02 2.58501751e+02] [-6.88581473e-01 7.23647653e-01 -4.67934800e-02 -1.59009995e+02] [-6.73653783e-02 4.15433039e-04 9.97728286e-01 -1.47315429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30863999999997 meters 0.028339602455316096 Centerline is valid? [True, True] Translation: X:258.55, Y:-159.05, Z:-14.73 [[ 7.24639660e-01 6.87524013e-01 4.69903787e-02 2.58548439e+02] [-6.86022775e-01 7.26161332e-01 -4.54144541e-02 -1.59053080e+02] [-6.53461237e-02 6.72644526e-04 9.97862431e-01 -1.47336028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36863999999997 meters 0.029644568740022824 Centerline is valid? [True, True] Translation: X:258.59, Y:-159.10, Z:-14.74 [[ 7.33868999e-01 6.77736435e-01 4.59305668e-02 2.58593465e+02] [-6.76280073e-01 7.35303293e-01 -4.44334383e-02 -1.59095020e+02] [-6.38870571e-02 1.54639580e-03 9.97955937e-01 -1.47382900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42864 meters 0.03077184205871421 Centerline is valid? [True, True] Translation: X:258.64, Y:-159.14, Z:-14.74 [[ 7.38011046e-01 6.73300390e-01 4.47915293e-02 2.58635851e+02] [-6.71905420e-01 7.39366591e-01 -4.33607037e-02 -1.59140071e+02] [-6.23121390e-02 1.90500704e-03 9.98054892e-01 -1.47418825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48864 meters 0.03167729726643341 Centerline is valid? [True, True] Translation: X:258.67, Y:-159.19, Z:-14.74 [[ 7.42030973e-01 6.68814296e-01 4.55792972e-02 2.58673247e+02] [-6.67360631e-01 7.43425857e-01 -4.41337097e-02 -1.59188623e+02] [-6.34020841e-02 2.33075103e-03 9.97985342e-01 -1.47444154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54864 meters 0.03159867138534586 Centerline is valid? [True, True] Translation: X:258.71, Y:-159.24, Z:-14.75 [[ 7.43383681e-01 6.67448295e-01 4.35140981e-02 2.58707802e+02] [-6.66120315e-01 7.44652448e-01 -4.21480523e-02 -1.59242845e+02] [-6.05345253e-02 2.34654956e-03 9.98163346e-01 -1.47463327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60864 meters 0.03147505849349598 Centerline is valid? [True, True] Translation: X:258.74, Y:-159.30, Z:-14.75 [[ 7.42671139e-01 6.68243099e-01 4.34826504e-02 2.58742335e+02] [-6.66916214e-01 7.43939405e-01 -4.21535916e-02 -1.59295729e+02] [-6.05173038e-02 2.30697131e-03 9.98164482e-01 -1.47518227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66864 meters 0.030026431353747454 Centerline is valid? [True, True] Translation: X:258.77, Y:-159.35, Z:-14.76 [[ 7.38205744e-01 6.73187979e-01 4.32460878e-02 2.58773853e+02] [-6.71882178e-01 7.39468919e-01 -4.19530317e-02 -1.59350818e+02] [-6.02214145e-02 1.91369331e-03 9.98183209e-01 -1.47550059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72864 meters 0.028980154920144816 Centerline is valid? [True, True] Translation: X:258.81, Y:-159.40, Z:-14.76 [[ 7.33151802e-01 6.78662987e-01 4.36461307e-02 2.58811298e+02] [-6.77342177e-01 7.34448331e-01 -4.23464765e-02 -1.59400430e+02] [-6.07948141e-02 1.48303040e-03 9.98149183e-01 -1.47573309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78864 meters 0.02758808783904017 Centerline is valid? [True, True] Translation: X:258.85, Y:-159.45, Z:-14.76 [[ 7.24915567e-01 6.87526098e-01 4.24886458e-02 2.58849200e+02] [-6.86289165e-01 7.26159304e-01 -4.12292144e-02 -1.59449940e+02] [-5.91996864e-02 7.28202128e-04 9.98245895e-01 -1.47579026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84864 meters 0.027034948950670892 Centerline is valid? [True, True] Translation: X:258.89, Y:-159.50, Z:-14.76 [[ 7.15293855e-01 6.97583421e-01 4.16181562e-02 2.58889883e+02] [-6.96412674e-01 7.16503568e-01 -4.03983168e-02 -1.59497011e+02] [-5.80007534e-02 -8.67437126e-05 9.98316536e-01 -1.47613788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90864 meters 0.027431351972264133 Centerline is valid? [True, True] Translation: X:258.94, Y:-159.54, Z:-14.76 [[ 7.05906443e-01 7.07050167e-01 4.21444525e-02 2.58936289e+02] [-7.05863960e-01 7.07162888e-01 -4.09477643e-02 -1.59538455e+02] [-5.87551164e-02 -8.42959511e-04 9.98272070e-01 -1.47645398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96864 meters 0.028197985098527893 Centerline is valid? [True, True] Translation: X:258.99, Y:-159.58, Z:-14.77 [[ 7.00389031e-01 7.12504066e-01 4.23457255e-02 2.58985607e+02] [-7.11314095e-01 7.01666817e-01 -4.11817379e-02 -1.59576202e+02] [-5.90547461e-02 -1.27787394e-03 9.98253928e-01 -1.47681476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02864 meters 0.02807302955175975 Centerline is valid? [True, True] Translation: X:259.03, Y:-159.62, Z:-14.77 [[ 6.99577203e-01 7.13403689e-01 4.05821878e-02 2.59033456e+02] [-7.12310370e-01 7.00752137e-01 -3.95016401e-02 -1.59616803e+02] [-5.66186706e-02 -1.27266630e-03 9.98395065e-01 -1.47702867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08863999999994 meters 0.027725935928832404 Centerline is valid? [True, True] Translation: X:259.09, Y:-159.65, Z:-14.77 [[ 7.02884669e-01 7.10168625e-01 4.01704653e-02 2.59085956e+02] [-7.09089803e-01 7.04030950e-01 -3.91416884e-02 -1.59651882e+02] [-5.60784499e-02 -9.72374595e-04 9.98425892e-01 -1.47745635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14863999999994 meters 0.027221856581610856 Centerline is valid? [True, True] Translation: X:259.14, Y:-159.69, Z:-14.78 [[ 7.09325164e-01 7.03737659e-01 4.01387562e-02 2.59138051e+02] [-7.02648078e-01 7.10459794e-01 -3.91479199e-02 -1.59687418e+02] [-5.60668379e-02 -4.34815207e-04 9.98426923e-01 -1.47768373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20863999999995 meters 0.027394348257591662 Centerline is valid? [True, True] Translation: X:259.19, Y:-159.73, Z:-14.78 [[ 7.14051889e-01 6.98969768e-01 3.96379047e-02 2.59187783e+02] [-6.97897791e-01 7.15151217e-01 -3.86963850e-02 -1.59725188e+02] [-5.53946990e-02 -3.19793329e-05 9.98464534e-01 -1.47800629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26863999999995 meters 0.02772059167178902 Centerline is valid? [True, True] Translation: X:259.24, Y:-159.76, Z:-14.78 [[ 7.19124628e-01 6.93759192e-01 3.94709087e-02 2.59237196e+02] [-6.92686299e-01 7.20206933e-01 -3.85702466e-02 -1.59764079e+02] [-5.51856852e-02 3.95856510e-04 9.98476030e-01 -1.47842100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32863999999995 meters 0.027783104358720615 Centerline is valid? [True, True] Translation: X:259.29, Y:-159.80, Z:-14.78 [[ 7.19853480e-01 6.92946467e-01 4.04495002e-02 2.59285466e+02] [-6.91816237e-01 7.20988868e-01 -3.95644698e-02 -1.59803727e+02] [-5.65796989e-02 4.97000286e-04 9.98397962e-01 -1.47843253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38863999999995 meters 0.02763629384280146 Centerline is valid? [True, True] Translation: X:259.33, Y:-159.85, Z:-14.79 [[ 7.19305040e-01 6.93515048e-01 4.04615520e-02 2.59332029e+02] [-6.92382913e-01 7.20441981e-01 -3.96137975e-02 -1.59845514e+02] [-5.66229654e-02 4.79516941e-04 9.98395518e-01 -1.47873355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44863999999995 meters 0.02740598702255011 Centerline is valid? [True, True] Translation: X:259.38, Y:-159.89, Z:-14.79 [[ 7.19535448e-01 6.93321750e-01 3.96697656e-02 2.59378568e+02] [-6.92230986e-01 7.20627981e-01 -3.88789856e-02 -1.59887563e+02] [-5.55427894e-02 5.14167338e-04 9.98456175e-01 -1.47902228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50863999999996 meters 0.027634806491079536 Centerline is valid? [True, True] Translation: X:259.43, Y:-159.93, Z:-14.79 [[ 7.21266906e-01 6.91473983e-01 4.04695059e-02 2.59425098e+02] [-6.90333492e-01 7.22401025e-01 -3.97042607e-02 -1.59928734e+02] [-5.66896759e-02 6.99913920e-04 9.98391602e-01 -1.47925077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56863999999996 meters 0.027778156425407232 Centerline is valid? [True, True] Translation: X:259.47, Y:-159.97, Z:-14.80 [[ 7.21297006e-01 6.91281258e-01 4.31375838e-02 2.59468780e+02] [-6.89982471e-01 7.22585355e-01 -4.23626574e-02 -1.59972472e+02] [-6.04550974e-02 7.91881244e-04 9.98170604e-01 -1.47971705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62863999999996 meters 0.02772319169467804 Centerline is valid? [True, True] Translation: X:259.51, Y:-160.02, Z:-14.80 [[ 7.21998692e-01 6.90657961e-01 4.13457493e-02 2.59511516e+02] [-6.89461767e-01 7.23181086e-01 -4.06397422e-02 -1.60019185e+02] [-5.79686253e-02 8.35527365e-04 9.98318056e-01 -1.47990858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68863999999996 meters 0.027296211500194723 Centerline is valid? [True, True] Translation: X:259.55, Y:-160.07, Z:-14.80 [[ 7.21429895e-01 6.91481541e-01 3.73119936e-02 2.59553432e+02] [-6.90506961e-01 7.22393774e-01 -3.67065844e-02 -1.60065980e+02] [-5.23358774e-02 7.17035989e-04 9.98629281e-01 -1.48003706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74863999999997 meters 0.026971708575233726 Centerline is valid? [True, True] Translation: X:259.59, Y:-160.11, Z:-14.80 [[ 7.19539823e-01 6.93517083e-01 3.60069223e-02 2.59594529e+02] [-6.92611416e-01 7.20439965e-01 -3.54356099e-02 -1.60112501e+02] [-5.05160267e-02 5.58527021e-04 9.98723094e-01 -1.48029905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80863999999997 meters 0.02681197390075876 Centerline is valid? [True, True] Translation: X:259.64, Y:-160.16, Z:-14.80 [[ 7.16063518e-01 6.97025973e-01 3.75210661e-02 2.59636184e+02] [-6.96045422e-01 7.17045794e-01 -3.69607953e-02 -1.60159348e+02] [-5.26669570e-02 3.49910829e-04 9.98612071e-01 -1.48041472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86863999999997 meters 0.026926284890602194 Centerline is valid? [True, True] Translation: X:259.68, Y:-160.20, Z:-14.81 [[ 7.11711293e-01 7.01321155e-01 4.01954278e-02 2.59680391e+02] [-7.00200272e-01 7.12845448e-01 -3.96351523e-02 -1.60204624e+02] [-5.64500985e-02 6.39359701e-05 9.98405420e-01 -1.48072711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92864 meters 0.027055054777384485 Centerline is valid? [True, True] Translation: X:259.72, Y:-160.25, Z:-14.81 [[ 7.10515282e-01 7.02519903e-01 4.04205459e-02 2.59724763e+02] [-7.01385890e-01 7.11664096e-01 -3.99004710e-02 -1.60249510e+02] [-5.67967263e-02 -5.06134886e-07 9.98385763e-01 -1.48088280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98864 meters 0.027308626385371418 Centerline is valid? [True, True] Translation: X:259.77, Y:-160.29, Z:-14.81 [[ 7.12196761e-01 7.00895483e-01 3.90037854e-02 2.59769771e+02] [-6.99834972e-01 7.13263975e-01 -3.85423555e-02 -1.60293729e+02] [-5.48341579e-02 1.53527689e-04 9.98495464e-01 -1.48126389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04864 meters 0.027796261578263717 Centerline is valid? [True, True] Translation: X:259.81, Y:-160.34, Z:-14.81 [[ 7.16207485e-01 6.96734120e-01 4.01049245e-02 2.59811719e+02] [-6.95603878e-01 7.17329282e-01 -3.96729805e-02 -1.60338949e+02] [-5.64099559e-02 5.16944546e-04 9.98407557e-01 -1.48149994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10864 meters 0.028041199900065157 Centerline is valid? [True, True] Translation: X:259.86, Y:-160.38, Z:-14.82 [[ 7.16284664e-01 6.96637263e-01 4.04079629e-02 2.59855271e+02] [-6.95487646e-01 7.17423317e-01 -4.00089722e-02 -1.60384727e+02] [-5.68613556e-02 5.54574159e-04 9.98381930e-01 -1.48172846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16864 meters 0.028037709073242333 Centerline is valid? [True, True] Translation: X:259.90, Y:-160.43, Z:-14.82 [[ 7.15240044e-01 6.97622211e-01 4.18918734e-02 2.59898539e+02] [-6.96385546e-01 7.16465612e-01 -4.15234613e-02 -1.60430614e+02] [-5.89817756e-02 5.26347213e-04 9.98258921e-01 -1.48187987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22864 meters 0.028015331169904914 Centerline is valid? [True, True] Translation: X:259.94, Y:-160.48, Z:-14.82 [[ 7.14666829e-01 6.98298200e-01 4.03849862e-02 2.59941068e+02] [-6.97147773e-01 7.15806812e-01 -4.00698305e-02 -1.60475635e+02] [-5.68885387e-02 4.82275505e-04 9.98380419e-01 -1.48203240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28864 meters 0.028159610353678168 Centerline is valid? [True, True] Translation: X:259.98, Y:-160.52, Z:-14.82 [[ 7.15136967e-01 6.97740043e-01 4.16887363e-02 2.59981951e+02] [-6.96510816e-01 7.16350826e-01 -4.14026347e-02 -1.60522256e+02] [-5.87520368e-02 5.71898868e-04 9.98272443e-01 -1.48208010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34864 meters 0.02833835691857599 Centerline is valid? [True, True] Translation: X:260.02, Y:-160.57, Z:-14.82 [[ 7.15073005e-01 6.97817534e-01 4.14883779e-02 2.60024207e+02] [-6.96597943e-01 7.16275324e-01 -4.12427753e-02 -1.60569740e+02] [-5.84970331e-02 5.90876613e-04 9.98287408e-01 -1.48237348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40864 meters 0.028211011893352796 Centerline is valid? [True, True] Translation: X:260.07, Y:-160.62, Z:-14.82 [[ 7.12484278e-01 7.00427691e-01 4.20381204e-02 2.60065904e+02] [-6.99177480e-01 7.13723251e-01 -4.18326648e-02 -1.60616106e+02] [-5.93043408e-02 4.13008893e-04 9.98239863e-01 -1.48240823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46864 meters 0.027820535156826955 Centerline is valid? [True, True] Translation: X:260.11, Y:-160.66, Z:-14.82 [[ 7.06970982e-01 7.05977607e-01 4.22805994e-02 2.60107518e+02] [-7.04720420e-01 7.08234155e-01 -4.21130829e-02 -1.60662073e+02] [-5.96754580e-02 -2.32741887e-05 9.98217832e-01 -1.48244841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52863999999994 meters 0.027897237555778148 Centerline is valid? [True, True] Translation: X:260.15, Y:-160.71, Z:-14.83 [[ 7.04070479e-01 7.08895264e-01 4.18600656e-02 2.60153397e+02] [-7.07665746e-01 7.05313723e-01 -4.17342158e-02 -1.60705264e+02] [-5.91096666e-02 -2.39105190e-04 9.98251466e-01 -1.48251721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58863999999994 meters 0.028232773442322667 Centerline is valid? [True, True] Translation: X:260.20, Y:-160.75, Z:-14.83 [[ 7.03961897e-01 7.08920246e-01 4.32403979e-02 2.60200622e+02] [-7.07605433e-01 7.05288620e-01 -4.31568401e-02 -1.60746567e+02] [-6.10917183e-02 -2.16369403e-04 9.98132133e-01 -1.48275678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64863999999994 meters 0.02836540762118138 Centerline is valid? [True, True] Translation: X:260.25, Y:-160.79, Z:-14.83 [[ 7.10670324e-01 7.02294940e-01 4.15873615e-02 2.60245800e+02] [-7.01065052e-01 7.11886002e-01 -4.15465120e-02 -1.60789895e+02] [-5.87833656e-02 3.70427380e-04 9.98270694e-01 -1.48294341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70863999999995 meters 0.02860980591520775 Centerline is valid? [True, True] Translation: X:260.29, Y:-160.83, Z:-14.83 [[ 7.17982241e-01 6.95041837e-01 3.76609541e-02 2.60288389e+02] [-6.94021389e-01 7.18968728e-01 -3.76600489e-02 -1.60834411e+02] [-5.32523578e-02 9.01738595e-04 9.98580679e-01 -1.48325402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76863999999995 meters 0.028783235058279098 Centerline is valid? [True, True] Translation: X:260.31, Y:-160.96, Z:-13.14 [[ 7.42759363e-01 -6.68932282e-01 -2.89504763e-02 2.60306723e+02] [-6.68287554e-01 -7.43318998e-01 2.94722304e-02 -1.60957598e+02] [-4.12343654e-02 -2.54353208e-03 -9.99146264e-01 -1.31397741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82863999999995 meters 0.028482058030491565 Centerline is valid? [True, True] Translation: X:260.33, Y:-160.90, Z:-14.83 [[ 7.62069943e-01 6.46199181e-01 4.09392323e-02 2.60334994e+02] [-6.45224546e-01 7.63168544e-01 -3.54832168e-02 -1.60900033e+02] [-5.41727600e-02 6.25695401e-04 9.98531382e-01 -1.48340571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88863999999995 meters 0.028293695693040823 Centerline is valid? [True, True] Translation: X:260.38, Y:-160.94, Z:-14.84 [[ 7.60234246e-01 6.48187839e-01 4.35478627e-02 2.60382334e+02] [-6.47085993e-01 7.61480288e-01 -3.77821085e-02 -1.60942090e+02] [-5.76507424e-02 5.44040807e-04 9.98336665e-01 -1.48369374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94863999999995 meters 0.028327597864200076 Centerline is valid? [True, True] Translation: X:260.43, Y:-160.98, Z:-14.84 [[ 7.57564256e-01 6.51280969e-01 4.39260504e-02 2.60429391e+02] [-6.50162719e-01 7.58836598e-01 -3.81504417e-02 -1.60982293e+02] [-5.81793512e-02 3.42330608e-04 9.98306088e-01 -1.48372689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00863999999996 meters 0.028059219081293676 Centerline is valid? [True, True] Translation: X:260.48, Y:-161.02, Z:-14.84 [[ 7.54208026e-01 6.55219449e-01 4.31013567e-02 2.60480339e+02] [-6.54147240e-01 7.55438594e-01 -3.74689030e-02 -1.61017747e+02] [-5.71107823e-02 6.47138374e-05 9.98367845e-01 -1.48397424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06863999999996 meters 0.02791841917615432 Centerline is valid? [True, True] Translation: X:260.53, Y:-161.05, Z:-14.84 [[ 7.52309427e-01 6.57505567e-01 4.14361719e-02 2.60530321e+02] [-6.56516295e-01 7.53449682e-01 -3.60545627e-02 -1.61054445e+02] [-5.49261462e-02 -7.93346857e-05 9.98490417e-01 -1.48418897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12863999999996 meters 0.027623783741073927 Centerline is valid? [True, True] Translation: X:260.58, Y:-161.09, Z:-14.84 [[ 7.47451866e-01 6.63001155e-01 4.17753107e-02 2.60581975e+02] [-6.62002196e-01 7.48618232e-01 -3.63845457e-02 -1.61089844e+02] [-5.53967550e-02 -4.59650865e-04 9.98464315e-01 -1.48430167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18863999999996 meters 0.02774608254423967 Centerline is valid? [True, True] Translation: X:260.63, Y:-161.13, Z:-14.84 [[ 7.43165607e-01 6.67696280e-01 4.34345331e-02 2.60631463e+02] [-6.66622149e-01 7.44433353e-01 -3.78667908e-02 -1.61127323e+02] [-5.76176305e-02 -8.13125261e-04 9.98338393e-01 -1.48446581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24863999999997 meters 0.02776346556317727 Centerline is valid? [True, True] Translation: X:260.68, Y:-161.17, Z:-14.85 [[ 7.38594779e-01 6.72786589e-01 4.28480866e-02 2.60681009e+02] [-6.71747780e-01 7.39835688e-01 -3.73908304e-02 -1.61165197e+02] [-5.68565928e-02 -1.16643495e-03 9.98381674e-01 -1.48468085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30863999999997 meters 0.02805019298833427 Centerline is valid? [True, True] Translation: X:260.73, Y:-161.20, Z:-14.85 [[ 7.34984602e-01 6.76655112e-01 4.39942531e-02 2.60731613e+02] [-6.75564634e-01 7.36298635e-01 -3.84284615e-02 -1.61201681e+02] [-5.83957234e-02 -1.47663402e-03 9.98292422e-01 -1.48497386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36863999999997 meters 0.0283741554096964 Centerline is valid? [True, True] Translation: X:260.78, Y:-161.24, Z:-14.85 [[ 7.32520605e-01 6.79285813e-01 4.45460105e-02 2.60779808e+02] [-6.78170413e-01 7.33871898e-01 -3.89477573e-02 -1.61240672e+02] [-5.91477242e-02 -1.67975156e-03 9.98247828e-01 -1.48520784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42864 meters 0.02823365142181679 Centerline is valid? [True, True] Translation: X:260.83, Y:-161.28, Z:-14.85 [[ 7.32180159e-01 6.79679548e-01 4.41353191e-02 2.60830324e+02] [-6.78583166e-01 7.33507279e-01 -3.86258811e-02 -1.61279298e+02] [-5.86267993e-02 -1.66838081e-03 9.98278576e-01 -1.48543168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48864 meters 0.02798695870686719 Centerline is valid? [True, True] Translation: X:260.88, Y:-161.32, Z:-14.86 [[ 7.32389530e-01 6.79430145e-01 4.45000590e-02 2.60878314e+02] [-6.78312580e-01 7.33738386e-01 -3.89875086e-02 -1.61320176e+02] [-5.91406901e-02 -1.63090673e-03 9.98248325e-01 -1.48560755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54864 meters 0.02767191122161291 Centerline is valid? [True, True] Translation: X:260.93, Y:-161.36, Z:-14.86 [[ 7.33947224e-01 6.77678680e-01 4.55310844e-02 2.60925979e+02] [-6.76502722e-01 7.35356634e-01 -3.99335531e-02 -1.61359677e+02] [-6.05437025e-02 -1.49278204e-03 9.98164431e-01 -1.48588785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60864 meters 0.027499396984242336 Centerline is valid? [True, True] Translation: X:260.97, Y:-161.40, Z:-14.86 [[ 7.35852699e-01 6.75592144e-01 4.57827485e-02 2.60972162e+02] [-6.74396760e-01 7.37274417e-01 -4.01925989e-02 -1.61401828e+02] [-6.09082532e-02 -1.29990485e-03 9.98142522e-01 -1.48610938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66864 meters 0.027241795681873484 Centerline is valid? [True, True] Translation: X:261.02, Y:-161.44, Z:-14.86 [[ 7.37741435e-01 6.73585226e-01 4.49501789e-02 2.61019474e+02] [-6.72427010e-01 7.39108763e-01 -3.94987581e-02 -1.61441927e+02] [-5.98288510e-02 -1.08584389e-03 9.98208059e-01 -1.48636964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72864 meters 0.02676495539555163 Centerline is valid? [True, True] Translation: X:261.07, Y:-161.48, Z:-14.87 [[ 7.42721434e-01 6.68072253e-01 4.52143406e-02 2.61065847e+02] [-6.66887805e-01 7.44096153e-01 -3.97689659e-02 -1.61483418e+02] [-6.02123595e-02 -6.15628929e-04 9.98185400e-01 -1.48663360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78864 meters 0.02638929465473226 Centerline is valid? [True, True] Translation: X:261.11, Y:-161.53, Z:-14.87 [[ 7.46421488e-01 6.63981819e-01 4.45320877e-02 2.61111822e+02] [-6.62823371e-01 7.47748674e-01 -3.92058485e-02 -1.61525861e+02] [-5.93307802e-02 -2.52820782e-04 9.98238346e-01 -1.48688930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84864 meters 0.026384334919875956 Centerline is valid? [True, True] Translation: X:261.16, Y:-161.57, Z:-14.87 [[ 7.49270391e-01 6.60820930e-01 4.36987317e-02 2.61156248e+02] [-6.59697970e-01 7.50543601e-01 -3.85083162e-02 -1.61570042e+02] [-5.82449048e-02 2.51765646e-05 9.98302324e-01 -1.48726799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90864 meters 0.02664745496243435 Centerline is valid? [True, True] Translation: X:261.20, Y:-161.61, Z:-14.87 [[ 7.49994144e-01 6.59836291e-01 4.60961273e-02 2.61202030e+02] [-6.58582325e-01 7.51409376e-01 -4.06604325e-02 -1.61611432e+02] [-6.14662912e-02 1.36991572e-04 9.98109150e-01 -1.48748200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96864 meters 0.026668244858979357 Centerline is valid? [True, True] Translation: X:261.25, Y:-161.65, Z:-14.88 [[ 7.48725565e-01 6.61190736e-01 4.72952268e-02 2.61248358e+02] [-6.59870804e-01 7.50217840e-01 -4.17578092e-02 -1.61654073e+02] [-6.30915995e-02 5.63999467e-05 9.98007739e-01 -1.48760271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02863999999994 meters 0.026352464065478146 Centerline is valid? [True, True] Translation: X:261.30, Y:-161.70, Z:-14.88 [[ 7.46865168e-01 6.63318663e-01 4.69123792e-02 2.61295505e+02] [-6.62021433e-01 7.48337052e-01 -4.14641981e-02 -1.61696386e+02] [-6.26102480e-02 -8.88352311e-05 9.98038050e-01 -1.48782778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08863999999994 meters 0.026514396800679206 Centerline is valid? [True, True] Translation: X:261.34, Y:-161.74, Z:-14.88 [[ 7.46302998e-01 6.64023893e-01 4.58705267e-02 2.61340763e+02] [-6.62782448e-01 7.47711346e-01 -4.05853502e-02 -1.61739497e+02] [-6.12475556e-02 -1.13211434e-04 9.98122600e-01 -1.48807372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14863999999994 meters 0.026355571931756437 Centerline is valid? [True, True] Translation: X:261.39, Y:-161.78, Z:-14.88 [[ 7.45126496e-01 6.65434726e-01 4.45323479e-02 2.61388326e+02] [-6.64265039e-01 7.46456018e-01 -3.94381887e-02 -1.61780177e+02] [-5.94849794e-02 -1.94842407e-04 9.98229182e-01 -1.48821813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20863999999995 meters 0.026636392559778635 Centerline is valid? [True, True] Translation: X:261.44, Y:-161.82, Z:-14.88 [[ 7.41185413e-01 6.69905015e-01 4.32602991e-02 2.61435007e+02] [-6.68806703e-01 7.42446638e-01 -3.83481954e-02 -1.61822278e+02] [-5.78081121e-02 -5.09654936e-04 9.98327583e-01 -1.48830424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26863999999995 meters 0.026763112413046606 Centerline is valid? [True, True] Translation: X:261.48, Y:-161.86, Z:-14.89 [[ 7.39031424e-01 6.72246807e-01 4.37810978e-02 2.61481432e+02] [-6.71123545e-01 7.40326807e-01 -3.88510791e-02 -1.61863684e+02] [-5.85298342e-02 -6.70357221e-04 9.98285435e-01 -1.48867452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32863999999995 meters 0.026963892827941077 Centerline is valid? [True, True] Translation: X:261.53, Y:-161.90, Z:-14.89 [[ 7.35387028e-01 6.76160911e-01 4.48591240e-02 2.61530758e+02] [-6.74986511e-01 7.36753329e-01 -3.98464715e-02 -1.61901884e+02] [-5.99927354e-02 -9.76725327e-04 9.98198336e-01 -1.48888075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38863999999995 meters 0.02754123334055049 Centerline is valid? [True, True] Translation: X:261.58, Y:-161.94, Z:-14.89 [[ 7.30667660e-01 6.81287284e-01 4.44118013e-02 2.61581626e+02] [-6.80143395e-01 7.32014891e-01 -3.94862213e-02 -1.61938914e+02] [-5.94115604e-02 -1.35508846e-03 9.98232653e-01 -1.48896597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44863999999995 meters 0.027791927291856516 Centerline is valid? [True, True] Translation: X:261.64, Y:-161.97, Z:-14.89 [[ 7.30661313e-01 6.81273284e-01 4.47298370e-02 2.61635087e+02] [-6.80110559e-01 7.32027958e-01 -3.98082485e-02 -1.61973947e+02] [-5.98637874e-02 -1.33488728e-03 9.98205663e-01 -1.48925191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50863999999996 meters 0.027036841699048218 Centerline is valid? [True, True] Translation: X:261.69, Y:-162.01, Z:-14.90 [[ 7.37319111e-01 6.73919888e-01 4.68242783e-02 2.61688154e+02] [-6.72627823e-01 7.38804062e-01 -4.17177332e-02 -1.62008050e+02] [-6.27083771e-02 -7.36030452e-04 9.98031622e-01 -1.48957938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56863999999996 meters 0.02676923759827696 Centerline is valid? [True, True] Translation: X:261.74, Y:-162.04, Z:-14.90 [[ 7.45492902e-01 6.64814217e-01 4.75645856e-02 2.61739473e+02] [-6.63459591e-01 7.47008736e-01 -4.24183792e-02 -1.62043786e+02] [-6.37315025e-02 6.54200539e-05 9.97967079e-01 -1.48992817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62863999999996 meters 0.027158975068591634 Centerline is valid? [True, True] Translation: X:261.79, Y:-162.08, Z:-14.90 [[ 7.50791824e-01 6.58800552e-01 4.78901923e-02 2.61786566e+02] [-6.57412378e-01 7.52317392e-01 -4.27493605e-02 -1.62084501e+02] [-6.41919269e-02 6.12265207e-04 9.97937384e-01 -1.49029903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68863999999996 meters 0.02732526283083513 Centerline is valid? [True, True] Translation: X:261.83, Y:-162.13, Z:-14.90 [[ 7.53656762e-01 6.55594613e-01 4.68741795e-02 2.61832491e+02] [-6.54256153e-01 7.55112509e-01 -4.18805978e-02 -1.62126301e+02] [-6.28519736e-02 8.95875312e-04 9.98022458e-01 -1.49029652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74863999999997 meters 0.027004157753098616 Centerline is valid? [True, True] Translation: X:261.88, Y:-162.17, Z:-14.91 [[ 7.52257583e-01 6.57167424e-01 4.73234106e-02 2.61876332e+02] [-6.55803695e-01 7.53744209e-01 -4.23223380e-02 -1.62171466e+02] [-6.34826085e-02 8.02432194e-04 9.97982622e-01 -1.49050468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80863999999997 meters 0.026908102805053603 Centerline is valid? [True, True] Translation: X:261.92, Y:-162.21, Z:-14.91 [[ 7.51285692e-01 6.58239669e-01 4.78575705e-02 2.61922520e+02] [-6.56844203e-01 7.52808056e-01 -4.28453476e-02 -1.62214407e+02] [-6.42300720e-02 7.54128909e-04 9.97934832e-01 -1.49081595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86863999999997 meters 0.026805664519251482 Centerline is valid? [True, True] Translation: X:261.97, Y:-162.26, Z:-14.91 [[ 7.49237433e-01 6.60496218e-01 4.88673107e-02 2.61966734e+02] [-6.59042895e-01 7.50829126e-01 -4.37959719e-02 -1.62259497e+02] [-6.56180740e-02 6.07927688e-04 9.97844627e-01 -1.49107653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92864 meters 0.027030845046000555 Centerline is valid? [True, True] Translation: X:262.01, Y:-162.31, Z:-14.92 [[ 7.50831537e-01 6.58599103e-01 4.99922410e-02 2.62008827e+02] [-6.57070721e-01 7.52493547e-01 -4.48500685e-02 -1.62305450e+02] [-6.71570537e-02 8.26408023e-04 9.97742074e-01 -1.49153369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98864 meters 0.026981516362056368 Centerline is valid? [True, True] Translation: X:262.05, Y:-162.35, Z:-14.92 [[ 7.52060055e-01 6.57282925e-01 4.88347211e-02 2.62052743e+02] [-6.55819103e-01 7.53643316e-01 -4.38526691e-02 -1.62351533e+02] [-6.56275718e-02 9.53097757e-04 9.97843732e-01 -1.49177168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04864 meters 0.02694620480829983 Centerline is valid? [True, True] Translation: X:262.09, Y:-162.40, Z:-14.92 [[ 7.52206984e-01 6.57031694e-01 4.99400309e-02 2.62093378e+02] [-6.55497158e-01 7.53862248e-01 -4.48908295e-02 -1.62398662e+02] [-6.71426017e-02 1.03164717e-03 9.97742856e-01 -1.49199503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10864 meters 0.026913551449376523 Centerline is valid? [True, True] Translation: X:262.14, Y:-162.44, Z:-14.92 [[ 7.52081796e-01 6.57158929e-01 5.01509127e-02 2.62136508e+02] [-6.55608757e-01 7.53751301e-01 -4.51235466e-02 -1.62444754e+02] [-6.74546572e-02 1.05722043e-03 9.97721781e-01 -1.49238754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16864 meters 0.026517988846609847 Centerline is valid? [True, True] Translation: X:262.17, Y:-162.50, Z:-14.93 [[ 7.50475598e-01 6.59101345e-01 4.87010730e-02 2.62173553e+02] [-6.57640856e-01 7.52053606e-01 -4.38620402e-02 -1.62496320e+02] [-6.55353472e-02 8.89575496e-04 9.97849852e-01 -1.49269205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22864 meters 0.026256213896645206 Centerline is valid? [True, True] Translation: X:262.21, Y:-162.54, Z:-14.93 [[ 7.46690880e-01 6.63297412e-01 4.98926189e-02 2.62214411e+02] [-6.61770997e-01 7.48355679e-01 -4.49769462e-02 -1.62544499e+02] [-6.71705167e-02 5.66387443e-04 9.97741350e-01 -1.49272737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28864 meters 0.026275087507491475 Centerline is valid? [True, True] Translation: X:262.25, Y:-162.59, Z:-14.93 [[ 7.43124694e-01 6.67271473e-01 5.01444951e-02 2.62253929e+02] [-6.65735729e-01 7.44814556e-01 -4.52461716e-02 -1.62593244e+02] [-6.75398294e-02 2.40565363e-04 9.97716550e-01 -1.49308902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34864 meters 0.02634507395311983 Centerline is valid? [True, True] Translation: X:262.30, Y:-162.64, Z:-14.93 [[ 7.39828714e-01 6.70885113e-01 5.06619966e-02 2.62296460e+02] [-6.69322800e-01 7.41561300e-01 -4.57583708e-02 -1.62640756e+02] [-6.82675858e-02 -5.58726892e-05 9.97667045e-01 -1.49336825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40864 meters 0.02633498365955304 Centerline is valid? [True, True] Translation: X:262.34, Y:-162.69, Z:-14.94 [[ 7.37288767e-01 6.73700746e-01 5.03247271e-02 2.62340883e+02] [-6.72162377e-01 7.39004213e-01 -4.55028760e-02 -1.62686155e+02] [-6.78455068e-02 -2.77628846e-04 9.97695800e-01 -1.49365538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46864 meters 0.026939578644185894 Centerline is valid? [True, True] Translation: X:262.39, Y:-162.73, Z:-14.94 [[ 7.33497963e-01 6.77671189e-01 5.23688698e-02 2.62388509e+02] [-6.76012165e-01 7.35364775e-01 -4.73940965e-02 -1.62725405e+02] [-7.06278359e-02 -6.38519865e-04 9.97502532e-01 -1.49402423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52863999999994 meters 0.02711448285901445 Centerline is valid? [True, True] Translation: X:262.44, Y:-162.77, Z:-14.94 [[ 7.31333227e-01 6.80004100e-01 5.24035829e-02 2.62435706e+02] [-6.78346648e-01 7.33207826e-01 -4.74563995e-02 -1.62765736e+02] [-7.06932634e-02 -8.41352993e-04 9.97497747e-01 -1.49441131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58863999999994 meters 0.027231534762544026 Centerline is valid? [True, True] Translation: X:262.48, Y:-162.80, Z:-14.95 [[ 7.31625940e-01 6.79760731e-01 5.14668134e-02 2.62484812e+02] [-6.78158444e-01 7.33433537e-01 -4.66515916e-02 -1.62804245e+02] [-6.94594070e-02 -7.71139576e-04 9.97584481e-01 -1.49473747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64863999999994 meters 0.027147202715496126 Centerline is valid? [True, True] Translation: X:262.54, Y:-162.84, Z:-14.95 [[ 7.33708479e-01 6.77571176e-01 5.06869625e-02 2.62535747e+02] [-6.76008932e-01 7.35457019e-01 -4.59879996e-02 -1.62840646e+02] [-6.84382253e-02 -5.23054132e-04 9.97655219e-01 -1.49503912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70863999999995 meters 0.027041417430507402 Centerline is valid? [True, True] Translation: X:262.59, Y:-162.88, Z:-14.95 [[ 7.34352464e-01 6.76850993e-01 5.09822654e-02 2.62587537e+02] [-6.75265552e-01 7.36119931e-01 -4.63020612e-02 -1.62877657e+02] [-6.88686578e-02 -4.24534831e-04 9.97625645e-01 -1.49529774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76863999999995 meters 0.027055790935458415 Centerline is valid? [True, True] Translation: X:262.64, Y:-162.92, Z:-14.96 [[ 7.34900829e-01 6.76276125e-01 5.07087153e-02 2.62635918e+02] [-6.74702875e-01 7.36648147e-01 -4.61035605e-02 -1.62918091e+02] [-6.85332184e-02 -3.31771185e-04 9.97648780e-01 -1.49550431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82863999999995 meters 0.02700151484265872 Centerline is valid? [True, True] Translation: X:262.69, Y:-162.96, Z:-14.96 [[ 7.34673784e-01 6.76567152e-01 5.01130665e-02 2.62687584e+02] [-6.75028029e-01 7.36380871e-01 -4.56111007e-02 -1.62955319e+02] [-6.77612760e-02 -3.18444518e-04 9.97701513e-01 -1.49570525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88863999999995 meters 0.02711462273927375 Centerline is valid? [True, True] Translation: X:262.74, Y:-163.00, Z:-14.96 [[ 7.36343268e-01 6.74698437e-01 5.07997101e-02 2.62736402e+02] [-6.73108861e-01 7.38093494e-01 -4.62866502e-02 -1.62995209e+02] [-6.87244661e-02 -1.10871798e-04 9.97635673e-01 -1.49601152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94863999999995 meters 0.027066628158776605 Centerline is valid? [True, True] Translation: X:262.78, Y:-163.03, Z:-14.96 [[ 7.39516069e-01 6.71153317e-01 5.16643845e-02 2.62783680e+02] [-6.69496964e-01 7.41318526e-01 -4.71238537e-02 -1.63034944e+02] [-6.99270961e-02 2.59698516e-04 9.97552071e-01 -1.49645808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00863999999996 meters 0.027129273592608097 Centerline is valid? [True, True] Translation: X:262.83, Y:-163.08, Z:-14.97 [[ 7.40162410e-01 6.70475478e-01 5.12078166e-02 2.62828373e+02] [-6.68843519e-01 7.41931606e-01 -4.67529672e-02 -1.63078921e+02] [-6.93394157e-02 3.54772607e-04 9.97593063e-01 -1.49666177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06863999999996 meters 0.02692574283530766 Centerline is valid? [True, True] Translation: X:262.87, Y:-163.12, Z:-14.97 [[ 7.36536961e-01 6.74562227e-01 4.97906194e-02 2.62873933e+02] [-6.73025661e-01 7.38217990e-01 -4.55044877e-02 -1.63121187e+02] [-6.74519396e-02 5.37255057e-06 9.97722524e-01 -1.49688508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12863999999996 meters 0.027228250700037787 Centerline is valid? [True, True] Translation: X:262.92, Y:-163.16, Z:-14.97 [[ 7.29606011e-01 6.82001600e-01 5.04864937e-02 2.62918950e+02] [-6.80436381e-01 7.31350385e-01 -4.61838258e-02 -1.63163605e+02] [-6.84207598e-02 -6.56850142e-04 9.97656338e-01 -1.49708109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18863999999996 meters 0.027556701722217566 Centerline is valid? [True, True] Translation: X:262.97, Y:-163.20, Z:-14.97 [[ 7.26172142e-01 6.85736884e-01 4.93856927e-02 2.62966407e+02] [-6.84244904e-01 7.27848897e-01 -4.52205198e-02 -1.63204724e+02] [-6.69547002e-02 -9.54026828e-04 9.97755560e-01 -1.49719955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24863999999997 meters 0.027533103547602043 Centerline is valid? [True, True] Translation: X:263.01, Y:-163.25, Z:-14.98 [[ 7.27047983e-01 6.84804425e-01 4.94381440e-02 2.63014194e+02] [-6.83304532e-01 7.28726418e-01 -4.53069979e-02 -1.63245159e+02] [-6.70533142e-02 -8.40946452e-04 9.97749040e-01 -1.49763280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30863999999997 meters 0.027314051076091583 Centerline is valid? [True, True] Translation: X:263.06, Y:-163.28, Z:-14.98 [[ 7.32047461e-01 6.79443036e-01 4.96354351e-02 2.63063038e+02] [-6.77917698e-01 7.33728183e-01 -4.55032747e-02 -1.63284411e+02] [-6.73358007e-02 -3.38183181e-04 9.97730312e-01 -1.49818020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36863999999997 meters 0.02728996871423528 Centerline is valid? [True, True] Translation: X:263.11, Y:-163.33, Z:-14.98 [[ 7.34668535e-01 6.76612874e-01 4.95697811e-02 2.63109954e+02] [-6.75083364e-01 7.36338927e-01 -4.54690684e-02 -1.63326806e+02] [-6.72651164e-02 -5.90407491e-05 9.97735136e-01 -1.49840251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42864 meters 0.027181351377464212 Centerline is valid? [True, True] Translation: X:263.16, Y:-163.37, Z:-14.99 [[ 7.35303997e-01 6.75887582e-01 5.00400722e-02 2.63156273e+02] [-6.74323813e-01 7.37004732e-01 -4.59501850e-02 -1.63369772e+02] [-6.79369294e-02 4.41423799e-05 9.97689617e-01 -1.49872816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48864 meters 0.02697783760701506 Centerline is valid? [True, True] Translation: X:263.20, Y:-163.41, Z:-14.99 [[ 7.32621891e-01 6.78970012e-01 4.75908484e-02 2.63199816e+02] [-6.77559385e-01 7.34165979e-01 -4.37446546e-02 -1.63414104e+02] [-6.46408904e-02 -1.97334440e-04 9.97908571e-01 -1.49892996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54864 meters 0.027048562734228055 Centerline is valid? [True, True] Translation: X:263.25, Y:-163.46, Z:-14.99 [[ 7.29061148e-01 6.82876515e-01 4.63627798e-02 2.63245984e+02] [-6.81543100e-01 7.30533652e-01 -4.26566108e-02 -1.63456591e+02] [-6.29987685e-02 -4.98955033e-04 9.98013480e-01 -1.49901658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60864 meters 0.027129517279157293 Centerline is valid? [True, True] Translation: X:263.29, Y:-163.50, Z:-14.99 [[ 7.26352478e-01 6.85757749e-01 4.63506985e-02 2.63291391e+02] [-6.84428054e-01 7.27829511e-01 -4.26900593e-02 -1.63499709e+02] [-6.30104452e-02 -7.15688054e-04 9.98012611e-01 -1.49924960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66864 meters 0.02766577087817716 Centerline is valid? [True, True] Translation: X:263.34, Y:-163.54, Z:-14.99 [[ 7.23680091e-01 6.88515621e-01 4.72584898e-02 2.63340378e+02] [-6.87136454e-01 7.25220896e-01 -4.35677165e-02 -1.63538528e+02] [-6.42698977e-02 -9.43942038e-04 9.97932107e-01 -1.49932628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72864 meters 0.02790391806619879 Centerline is valid? [True, True] Translation: X:263.39, Y:-163.58, Z:-14.99 [[ 7.20320106e-01 6.91980793e-01 4.79742350e-02 2.63390492e+02] [-6.90564382e-01 7.21914844e-01 -4.42695428e-02 -1.63575574e+02] [-6.52669857e-02 -1.24105612e-03 9.97867065e-01 -1.49948870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78864 meters 0.028125162849173536 Centerline is valid? [True, True] Translation: X:263.44, Y:-163.61, Z:-15.00 [[ 7.17928572e-01 6.94431630e-01 4.84073964e-02 2.63441104e+02] [-6.92992244e-01 7.19557239e-01 -4.47116332e-02 -1.63612496e+02] [-6.58810648e-02 -1.44619129e-03 9.97826435e-01 -1.49979667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84864 meters 0.027817540069832555 Centerline is valid? [True, True] Translation: X:263.49, Y:-163.65, Z:-15.00 [[ 7.20971513e-01 6.91131544e-01 5.03712971e-02 2.63493050e+02] [-6.89561682e-01 7.22728060e-01 -4.65707872e-02 -1.63647523e+02] [-6.85912898e-02 -1.15790544e-03 9.97644172e-01 -1.50024418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90864 meters 0.026980639906224135 Centerline is valid? [True, True] Translation: X:263.55, Y:-163.68, Z:-15.00 [[ 7.27362026e-01 6.84289764e-01 5.18845011e-02 2.63548067e+02] [-6.82603215e-01 7.29210036e-01 -4.80163931e-02 -1.63679397e+02] [-7.06918253e-02 -4.91226328e-04 9.97498082e-01 -1.50042194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96864 meters 0.02702425714517717 Centerline is valid? [True, True] Translation: X:263.60, Y:-163.72, Z:-15.01 [[ 7.31685359e-01 6.79647517e-01 5.21132118e-02 2.63599103e+02] [-6.77930784e-01 7.33538855e-01 -4.82762835e-02 -1.63717552e+02] [-7.10379219e-02 -6.10070741e-06 9.97473615e-01 -1.50093235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02863999999994 meters 0.027105425122694912 Centerline is valid? [True, True] Translation: X:263.65, Y:-163.76, Z:-15.01 [[ 7.36829282e-01 6.74200435e-01 5.03625172e-02 2.63648245e+02] [-6.72581216e-01 7.38548227e-01 -4.67014371e-02 -1.63755615e+02] [-6.86812770e-02 5.38103259e-04 9.97638508e-01 -1.50135042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08863999999994 meters 0.02741598636316824 Centerline is valid? [True, True] Translation: X:263.69, Y:-163.80, Z:-15.02 [[ 7.39596808e-01 6.71156207e-01 5.04569884e-02 2.63692412e+02] [-6.69520835e-01 7.41315463e-01 -4.68320019e-02 -1.63799486e+02] [-6.88361345e-02 8.54794152e-04 9.97627614e-01 -1.50166827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14863999999994 meters 0.02752416787311397 Centerline is valid? [True, True] Translation: X:263.74, Y:-163.84, Z:-15.02 [[ 7.40718270e-01 6.69907473e-01 5.06006166e-02 2.63735417e+02] [-6.68256927e-01 7.42443915e-01 -4.70075715e-02 -1.63843969e+02] [-6.90588433e-02 1.00515447e-03 9.97612082e-01 -1.50189378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20863999999995 meters 0.027200424211273957 Centerline is valid? [True, True] Translation: X:263.78, Y:-163.89, Z:-15.02 [[ 7.39290672e-01 6.71516047e-01 5.01547666e-02 2.63777121e+02] [-6.69895341e-01 7.40989492e-01 -4.66348101e-02 -1.63890210e+02] [-6.84801783e-02 8.78235614e-04 9.97652091e-01 -1.50216342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26863999999995 meters 0.027158056624387687 Centerline is valid? [True, True] Translation: X:263.82, Y:-163.94, Z:-15.02 [[ 7.37561202e-01 6.73406457e-01 5.02714332e-02 2.63816165e+02] [-6.71779665e-01 7.39272076e-01 -4.67854584e-02 -1.63939097e+02] [-6.86698965e-02 7.35812419e-04 9.97639165e-01 -1.50242746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32863999999995 meters 0.02704724215343511 Centerline is valid? [True, True] Translation: X:263.86, Y:-163.99, Z:-15.03 [[ 7.35563830e-01 6.75772342e-01 4.77241409e-02 2.63857348e+02] [-6.74308823e-01 7.37110218e-01 -4.44537703e-02 -1.63985838e+02] [-6.52185803e-02 5.17776274e-04 9.97870868e-01 -1.50271228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38863999999995 meters 0.027017639220144354 Centerline is valid? [True, True] Translation: X:263.90, Y:-164.03, Z:-15.03 [[ 7.33005796e-01 6.78532078e-01 4.79241234e-02 2.63899746e+02] [-6.77059323e-01 7.34570708e-01 -4.46827446e-02 -1.64032942e+02] [-6.55223328e-02 3.05236209e-04 9.97851056e-01 -1.50288154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44863999999995 meters 0.02671697869878034 Centerline is valid? [True, True] Translation: X:263.94, Y:-164.08, Z:-15.03 [[ 7.28688017e-01 6.83194482e-01 4.75297043e-02 2.63941090e+02] [-6.81752816e-01 7.30236464e-01 -4.43599474e-02 -1.64079338e+02] [-6.50143945e-02 -7.89476563e-05 9.97884323e-01 -1.50290508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50863999999996 meters 0.02653514748173133 Centerline is valid? [True, True] Translation: X:263.98, Y:-164.12, Z:-15.03 [[ 7.26899368e-01 6.85064197e-01 4.80036984e-02 2.63984214e+02] [-6.83594783e-01 7.28482669e-01 -4.48461114e-02 -1.64124843e+02] [-6.56923276e-02 -2.16467808e-04 9.97839903e-01 -1.50315466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56863999999996 meters 0.02683323275994986 Centerline is valid? [True, True] Translation: X:264.03, Y:-164.17, Z:-15.04 [[ 7.27686363e-01 6.84155001e-01 4.90356157e-02 2.64028118e+02] [-6.82616363e-01 7.29336633e-01 -4.58582254e-02 -1.64168075e+02] [-6.71376050e-02 -1.02108346e-04 9.97743720e-01 -1.50362036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62863999999996 meters 0.02686117167281235 Centerline is valid? [True, True] Translation: X:264.07, Y:-164.21, Z:-15.04 [[ 7.27562080e-01 6.84248329e-01 4.95746356e-02 2.64072330e+02] [-6.82672709e-01 7.29249078e-01 -4.64085561e-02 -1.64213282e+02] [-6.79072343e-02 -7.81452178e-05 9.97691636e-01 -1.50395315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68863999999996 meters 0.02690608726879625 Centerline is valid? [True, True] Translation: X:264.12, Y:-164.26, Z:-15.04 [[ 7.24655961e-01 6.87401574e-01 4.85058306e-02 2.64116711e+02] [-6.85897185e-01 7.26277472e-01 -4.54542029e-02 -1.64256823e+02] [-6.64739827e-02 -3.31353611e-04 9.97788104e-01 -1.50419018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74863999999997 meters 0.027525781433082902 Centerline is valid? [True, True] Translation: X:264.16, Y:-164.30, Z:-15.04 [[ 7.19604271e-01 6.92667661e-01 4.87975868e-02 2.64162311e+02] [-6.91154230e-01 7.21256464e-01 -4.57705567e-02 -1.64299373e+02] [-6.68993594e-02 -7.89970434e-04 9.97759416e-01 -1.50438096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80863999999997 meters 0.027888309334737127 Centerline is valid? [True, True] Translation: X:264.21, Y:-164.34, Z:-15.05 [[ 7.16781369e-01 6.95618420e-01 4.83681908e-02 2.64210040e+02] [-6.94135384e-01 7.18410720e-01 -4.54104140e-02 -1.64339655e+02] [-6.63365472e-02 -1.02473397e-03 9.97796779e-01 -1.50472962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86863999999997 meters 0.027920585734964688 Centerline is valid? [True, True] Translation: X:264.26, Y:-164.38, Z:-15.05 [[ 7.16099287e-01 6.96278556e-01 4.89692182e-02 2.64258184e+02] [-6.94756847e-01 7.17770880e-01 -4.60205158e-02 -1.64380948e+02] [-6.71917772e-02 -1.06644109e-03 9.97739509e-01 -1.50499866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92864 meters 0.027998551989979064 Centerline is valid? [True, True] Translation: X:264.31, Y:-164.42, Z:-15.05 [[ 7.16228226e-01 6.95977195e-01 5.13115165e-02 2.64306765e+02] [-6.94301859e-01 7.18063116e-01 -4.82730732e-02 -1.64419571e+02] [-7.04418655e-02 -1.05114373e-03 9.97515333e-01 -1.50539632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98864 meters 0.028152474447569478 Centerline is valid? [True, True] Translation: X:264.36, Y:-164.46, Z:-15.06 [[ 7.15112377e-01 6.97107372e-01 5.15325221e-02 2.64356554e+02] [-6.95417062e-01 7.16965849e-01 -4.85291751e-02 -1.64458179e+02] [-7.07771042e-02 -1.13278131e-03 9.97491513e-01 -1.50573988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04864 meters 0.02828343709818798 Centerline is valid? [True, True] Translation: X:264.40, Y:-164.50, Z:-15.06 [[ 7.13196986e-01 6.99218274e-01 4.94354537e-02 2.64404414e+02] [-6.97664733e-01 7.14907151e-01 -4.66013512e-02 -1.64497944e+02] [-6.79262757e-02 -1.25342939e-03 9.97689556e-01 -1.50591114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10864 meters 0.028498058498514153 Centerline is valid? [True, True] Translation: X:264.45, Y:-164.54, Z:-15.06 [[ 7.12244448e-01 7.00076477e-01 5.09977766e-02 2.64452412e+02] [-6.98422025e-01 7.14066606e-01 -4.81202250e-02 -1.64538053e+02] [-7.01036469e-02 -1.34460739e-03 9.97538807e-01 -1.50614937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16864 meters 0.02880071465481882 Centerline is valid? [True, True] Translation: X:264.50, Y:-164.58, Z:-15.07 [[ 7.11669455e-01 7.00545617e-01 5.25587732e-02 2.64501352e+02] [-6.98786118e-01 7.13606248e-01 -4.96395371e-02 -1.64575983e+02] [-7.22810291e-02 -1.40039876e-03 9.97383322e-01 -1.50654866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22864 meters 0.02905265844798281 Centerline is valid? [True, True] Translation: X:264.55, Y:-164.62, Z:-15.07 [[ 7.09288675e-01 7.03101074e-01 5.05811774e-02 2.64550917e+02] [-7.01475054e-01 7.11088198e-01 -4.78155110e-02 -1.64615480e+02] [-6.95868155e-02 -1.56643367e-03 9.97574670e-01 -1.50693035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28864 meters 0.028840043619129403 Centerline is valid? [True, True] Translation: X:264.60, Y:-164.66, Z:-15.07 [[ 7.09830647e-01 7.02530978e-01 5.08987058e-02 2.64600114e+02] [-7.00879375e-01 7.11651618e-01 -4.81671680e-02 -1.64655324e+02] [-7.00610739e-02 -1.48332109e-03 9.97541601e-01 -1.50695659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34864 meters 0.028451275341811823 Centerline is valid? [True, True] Translation: X:264.65, Y:-164.70, Z:-15.07 [[ 7.13554695e-01 6.98750465e-01 5.08673230e-02 2.64647462e+02] [-6.97087782e-01 7.15364685e-01 -4.81870483e-02 -1.64695587e+02] [-7.00594089e-02 -1.07489483e-03 9.97542242e-01 -1.50742602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40864 meters 0.02813291173669712 Centerline is valid? [True, True] Translation: X:264.69, Y:-164.74, Z:-15.08 [[ 7.18686351e-01 6.93411243e-01 5.16795557e-02 2.64694473e+02] [-6.91677755e-01 7.20541858e-01 -4.90032012e-02 -1.64736498e+02] [-7.12166538e-02 -5.27667215e-04 9.97460731e-01 -1.50775134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46864 meters 0.027757892793712307 Centerline is valid? [True, True] Translation: X:264.74, Y:-164.78, Z:-15.08 [[ 7.25975520e-01 6.85826285e-01 5.10083380e-02 2.64742026e+02] [-6.84115525e-01 7.27765239e-01 -4.84118290e-02 -1.64777033e+02] [-7.03242002e-02 2.50206856e-04 9.97524157e-01 -1.50806566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52863999999994 meters 0.028381029195074008 Centerline is valid? [True, True] Translation: X:264.79, Y:-164.82, Z:-15.09 [[ 7.32661227e-01 6.78611109e-01 5.19084590e-02 2.64786758e+02] [-6.76817774e-01 7.34497085e-01 -4.93125953e-02 -1.64820086e+02] [-7.15906868e-02 9.96858852e-04 9.97433597e-01 -1.50850442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58863999999994 meters 0.028463064435327787 Centerline is valid? [True, True] Translation: X:264.83, Y:-164.86, Z:-15.09 [[ 7.35131020e-01 6.76002091e-01 5.10250511e-02 2.64829988e+02] [-6.74259983e-01 7.36898623e-01 -4.85169587e-02 -1.64864528e+02] [-7.03978554e-02 1.26217130e-03 9.97518195e-01 -1.50865356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64863999999994 meters 0.028325138564646864 Centerline is valid? [True, True] Translation: X:264.87, Y:-164.91, Z:-15.09 [[ 7.34575217e-01 6.76694974e-01 4.98313433e-02 2.64871565e+02] [-6.75032258e-01 7.36262505e-01 -4.74233506e-02 -1.64910482e+02] [-6.87800927e-02 1.19825389e-03 9.97631126e-01 -1.50889560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70863999999995 meters 0.027777289618084598 Centerline is valid? [True, True] Translation: X:264.91, Y:-164.96, Z:-15.09 [[ 7.32076192e-01 6.79443656e-01 4.92012898e-02 2.64911348e+02] [-6.77826122e-01 7.33727060e-01 -4.68652335e-02 -1.64958379e+02] [-6.79426033e-02 9.59002263e-04 9.97688771e-01 -1.50908470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76863999999995 meters 0.02745126267801465 Centerline is valid? [True, True] Translation: X:264.95, Y:-165.01, Z:-15.09 [[ 7.27199781e-01 6.84668515e-01 4.90866880e-02 2.64949476e+02] [-6.83067462e-01 7.28854425e-01 -4.67981920e-02 -1.65009038e+02] [-6.78182983e-02 5.02115589e-04 9.97697563e-01 -1.50928094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82863999999995 meters 0.027164108553143485 Centerline is valid? [True, True] Translation: X:264.99, Y:-165.06, Z:-15.09 [[ 7.19818344e-01 6.92443926e-01 4.88155908e-02 2.64990039e+02] [-6.90875323e-01 7.21471671e-01 -4.65823615e-02 -1.65056404e+02] [-6.74747391e-02 -1.94648761e-04 9.97720964e-01 -1.50942518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88863999999995 meters 0.027751354728327845 Centerline is valid? [True, True] Translation: X:265.03, Y:-165.10, Z:-15.09 [[ 7.09700765e-01 7.02900520e-01 4.74940282e-02 2.65034145e+02] [-7.01436532e-01 7.11287280e-01 -4.53563316e-02 -1.65099777e+02] [-6.56628872e-02 -1.12462321e-03 9.97841230e-01 -1.50944474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94863999999995 meters 0.028426365527980526 Centerline is valid? [True, True] Translation: X:265.08, Y:-165.14, Z:-15.09 [[ 7.03622595e-01 7.08879340e-01 4.90441065e-02 2.65080806e+02] [-7.07330523e-01 7.05327684e-01 -4.68656576e-02 -1.65140292e+02] [-6.78142624e-02 -1.71465787e-03 9.97696490e-01 -1.50947855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00863999999996 meters 0.028278934409394427 Centerline is valid? [True, True] Translation: X:265.13, Y:-165.18, Z:-15.10 [[ 7.04185473e-01 7.08257281e-01 4.99444162e-02 2.65130848e+02] [-7.06646311e-01 7.05952471e-01 -4.77713205e-02 -1.65179056e+02] [-6.90927695e-02 -1.65316761e-03 9.97608869e-01 -1.50985554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06863999999996 meters 0.02742911896340724 Centerline is valid? [True, True] Translation: X:265.18, Y:-165.22, Z:-15.10 [[ 7.08851058e-01 7.03631403e-01 4.93257245e-02 2.65179854e+02] [-7.02046215e-01 7.10564218e-01 -4.72186774e-02 -1.65218404e+02] [-6.82736391e-02 -1.15792877e-03 9.97665961e-01 -1.51014584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12863999999996 meters 0.027540948645323058 Centerline is valid? [True, True] Translation: X:265.23, Y:-165.26, Z:-15.11 [[ 7.11277699e-01 7.00899143e-01 5.31453399e-02 2.65228376e+02] [-6.99048798e-01 7.13259771e-01 -5.09045940e-02 -1.65256860e+02] [-7.35854193e-02 -9.43883487e-04 9.97288471e-01 -1.51062612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18863999999996 meters 0.02735379916777607 Centerline is valid? [True, True] Translation: X:265.28, Y:-165.30, Z:-15.11 [[ 7.14127966e-01 6.98092754e-01 5.18435551e-02 2.65276388e+02] [-6.96321344e-01 7.16007081e-01 -4.97035715e-02 -1.65296665e+02] [-7.18180557e-02 -6.05063509e-04 9.97417566e-01 -1.51103837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24863999999997 meters 0.027393707458727035 Centerline is valid? [True, True] Translation: X:265.32, Y:-165.34, Z:-15.11 [[ 7.14205333e-01 6.98083475e-01 5.08940587e-02 2.65324493e+02] [-6.96373243e-01 7.16016165e-01 -4.88380889e-02 -1.65336414e+02] [-7.05340315e-02 -5.60837218e-04 9.97509216e-01 -1.51137451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30863999999997 meters 0.027215019277217423 Centerline is valid? [True, True] Translation: X:265.37, Y:-165.38, Z:-15.12 [[ 7.15178720e-01 6.97024959e-01 5.17262524e-02 2.65371125e+02] [-6.95252688e-01 7.17046733e-01 -4.96757826e-02 -1.65378134e+02] [-7.17154006e-02 -4.35753366e-04 9.97425041e-01 -1.51150246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36863999999997 meters 0.02745902910151401 Centerline is valid? [True, True] Translation: X:265.42, Y:-165.42, Z:-15.12 [[ 7.17674232e-01 6.94380345e-01 5.27222230e-02 2.65419215e+02] [-6.92529191e-01 7.19608167e-01 -5.06695644e-02 -1.65419512e+02] [-7.31232918e-02 -1.47437741e-04 9.97322898e-01 -1.51206310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42864 meters 0.0277335242297986 Centerline is valid? [True, True] Translation: X:265.46, Y:-165.46, Z:-15.12 [[ 7.20373814e-01 6.91493423e-01 5.38369205e-02 2.65463161e+02] [-6.89550894e-01 7.22382731e-01 -5.17953096e-02 -1.65463788e+02] [-7.47069776e-02 1.88688081e-04 9.97205511e-01 -1.51241174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48864 meters 0.027721249655692635 Centerline is valid? [True, True] Translation: X:265.51, Y:-165.51, Z:-15.13 [[ 7.22372163e-01 6.89470744e-01 5.29957563e-02 2.65508011e+02] [-6.87579450e-01 7.24313406e-01 -5.10351866e-02 -1.65507719e+02] [-7.35728048e-02 4.27605148e-04 9.97289757e-01 -1.51274945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54864 meters 0.02795031128144072 Centerline is valid? [True, True] Translation: X:265.55, Y:-165.55, Z:-15.13 [[ 7.24316537e-01 6.87469853e-01 5.24476452e-02 2.65550987e+02] [-6.85608448e-01 7.26212615e-01 -5.05598054e-02 -1.65553379e+02] [-7.28464836e-02 6.62754528e-04 9.97342945e-01 -1.51315169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60864 meters 0.028139321371975515 Centerline is valid? [True, True] Translation: X:265.60, Y:-165.60, Z:-15.14 [[ 7.25015334e-01 6.86685251e-01 5.30672346e-02 2.65595247e+02] [-6.84773665e-01 7.26954432e-01 -5.12082130e-02 -1.65597205e+02] [-7.37413860e-02 7.87694928e-04 9.97277087e-01 -1.51351734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66864 meters 0.02838179363457297 Centerline is valid? [True, True] Translation: X:265.64, Y:-165.65, Z:-15.14 [[ 7.24671358e-01 6.87015225e-01 5.34930238e-02 2.65635386e+02] [-6.85069993e-01 7.26642585e-01 -5.16687295e-02 -1.65645698e+02] [-7.43675129e-02 7.96382970e-04 9.97230585e-01 -1.51382467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72864 meters 0.028318885211190237 Centerline is valid? [True, True] Translation: X:265.68, Y:-165.69, Z:-15.14 [[ 7.21733272e-01 6.90181266e-01 5.24490732e-02 2.65677581e+02] [-6.88315995e-01 7.23636354e-01 -5.07101423e-02 -1.65691033e+02] [-7.29532463e-02 4.97660914e-04 9.97335238e-01 -1.51431038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78864 meters 0.028653912581913705 Centerline is valid? [True, True] Translation: X:265.72, Y:-165.74, Z:-15.15 [[ 7.22029237e-01 6.89773810e-01 5.37203091e-02 2.65717659e+02] [-6.87812142e-01 7.24024686e-01 -5.19876109e-02 -1.65738488e+02] [-7.47545224e-02 5.87094151e-04 9.97201793e-01 -1.51468430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84864 meters 0.029003733084996677 Centerline is valid? [True, True] Translation: X:265.76, Y:-165.78, Z:-15.15 [[ 7.23394354e-01 6.88299093e-01 5.42675522e-02 2.65761445e+02] [-6.86289364e-01 7.25426596e-01 -5.25657984e-02 -1.65783067e+02] [-7.55481170e-02 7.82557857e-04 9.97141850e-01 -1.51491276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90864 meters 0.029227171308304354 Centerline is valid? [True, True] Translation: X:265.80, Y:-165.83, Z:-15.15 [[ 7.25782758e-01 6.85924919e-01 5.24060396e-02 2.65803120e+02] [-6.84041391e-01 7.27671595e-01 -5.08077299e-02 -1.65828964e+02] [-7.29846744e-02 1.02747410e-03 9.97332533e-01 -1.51528012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96864 meters 0.028987413416240542 Centerline is valid? [True, True] Translation: X:265.85, Y:-165.87, Z:-15.15 [[ 7.25251922e-01 6.86689424e-01 4.96717701e-02 2.65846296e+02] [-6.84996435e-01 7.26950320e-01 -4.81987116e-02 -1.65874083e+02] [-6.92064547e-02 9.31222763e-04 9.97601924e-01 -1.51538168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02863999999994 meters 0.028955273024413 Centerline is valid? [True, True] Translation: X:265.89, Y:-165.92, Z:-15.16 [[ 7.22723436e-01 6.89170755e-01 5.21009041e-02 2.65889529e+02] [-6.87310882e-01 7.24598571e-01 -5.06029941e-02 -1.65918372e+02] [-7.26263444e-02 7.62451437e-04 9.97358929e-01 -1.51556801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08863999999994 meters 0.029009001826206013 Centerline is valid? [True, True] Translation: X:265.93, Y:-165.96, Z:-15.16 [[ 7.23231011e-01 6.88730586e-01 5.08633906e-02 2.65934053e+02] [-6.86953899e-01 7.25016902e-01 -4.94452506e-02 -1.65962125e+02] [-7.09312743e-02 8.19534147e-04 9.97480868e-01 -1.51573014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14863999999994 meters 0.02931847667841163 Centerline is valid? [True, True] Translation: X:265.98, Y:-166.01, Z:-15.16 [[ 7.24893983e-01 6.87030377e-01 5.01794129e-02 2.65978564e+02] [-6.85293900e-01 7.26627998e-01 -4.88264553e-02 -1.66006549e+02] [-7.00070244e-02 1.00635814e-03 9.97545991e-01 -1.51610329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20863999999995 meters 0.029296793869107978 Centerline is valid? [True, True] Translation: X:266.02, Y:-166.05, Z:-15.16 [[ 7.27120854e-01 6.84764093e-01 4.89223961e-02 2.66024061e+02] [-6.83105181e-01 7.28763765e-01 -4.76517164e-02 -1.66050046e+02] [-6.82830539e-02 1.22941448e-03 9.97665231e-01 -1.51613755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26863999999995 meters 0.02963408166878656 Centerline is valid? [True, True] Translation: X:266.07, Y:-166.09, Z:-15.16 [[ 7.28993543e-01 6.82757225e-01 4.91017860e-02 2.66067726e+02] [-6.81078310e-01 7.30643858e-01 -4.78736744e-02 -1.66094540e+02] [-6.85620154e-02 1.45743817e-03 9.97645792e-01 -1.51643496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32863999999995 meters 0.029911645731620917 Centerline is valid? [True, True] Translation: X:266.11, Y:-166.14, Z:-15.17 [[ 7.29366958e-01 6.82263198e-01 5.04060467e-02 2.66110478e+02] [-6.80489454e-01 7.31104946e-01 -4.91900543e-02 -1.66139044e+02] [-7.04126738e-02 1.57681707e-03 9.97516701e-01 -1.51686172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38863999999995 meters 0.029967960168993668 Centerline is valid? [True, True] Translation: X:266.15, Y:-166.18, Z:-15.17 [[ 7.29597001e-01 6.82045801e-01 5.00174154e-02 2.66154732e+02] [-6.80295652e-01 7.31307668e-01 -4.88561140e-02 -1.66183760e+02] [-6.99002269e-02 1.61864399e-03 9.97552674e-01 -1.51708039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44863999999995 meters 0.030404506804297682 Centerline is valid? [True, True] Translation: X:266.20, Y:-166.23, Z:-15.17 [[ 7.31858588e-01 6.79791626e-01 4.76062232e-02 2.66198282e+02] [-6.78198527e-01 7.33403150e-01 -4.65465157e-02 -1.66229812e+02] [-6.65564857e-02 1.77899682e-03 9.97781073e-01 -1.51724869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50863999999996 meters 0.030624537112641348 Centerline is valid? [True, True] Translation: X:266.24, Y:-166.27, Z:-15.18 [[ 7.33162463e-01 6.78400983e-01 4.73804742e-02 2.66242005e+02] [-6.76817090e-01 7.34689311e-01 -4.63707047e-02 -1.66273521e+02] [-6.62678596e-02 1.92934538e-03 9.97800004e-01 -1.51751718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56863999999996 meters 0.03138110518601261 Centerline is valid? [True, True] Translation: X:266.28, Y:-166.32, Z:-15.18 [[ 7.37532922e-01 6.73718069e-01 4.63589489e-02 2.66281981e+02] [-6.72190519e-01 7.38984821e-01 -4.54019850e-02 -1.66321530e+02] [-6.48466972e-02 2.32341278e-03 9.97892533e-01 -1.51776269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62863999999996 meters 0.031422938816431684 Centerline is valid? [True, True] Translation: X:266.32, Y:-166.37, Z:-15.18 [[ 7.37687240e-01 6.73441989e-01 4.78897098e-02 2.66323674e+02] [-6.71809782e-01 7.39236044e-01 -4.69221516e-02 -1.66367513e+02] [-6.70011467e-02 2.44109704e-03 9.97749912e-01 -1.51818017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68863999999996 meters 0.030859188859205952 Centerline is valid? [True, True] Translation: X:266.36, Y:-166.42, Z:-15.18 [[ 7.36759654e-01 6.74618089e-01 4.55592654e-02 2.66362999e+02] [-6.73140906e-01 7.38163520e-01 -4.46759187e-02 -1.66416578e+02] [-6.37693706e-02 2.24760919e-03 9.97962131e-01 -1.51843059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74863999999997 meters 0.03040109514973722 Centerline is valid? [True, True] Translation: X:266.40, Y:-166.47, Z:-15.19 [[ 7.34716877e-01 6.76784703e-01 4.64066422e-02 2.66401795e+02] [-6.75253693e-01 7.36177926e-01 -4.55467982e-02 -1.66466292e+02] [-6.49889219e-02 2.12774479e-03 9.97883717e-01 -1.51855729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80863999999997 meters 0.03041983520181214 Centerline is valid? [True, True] Translation: X:266.44, Y:-166.51, Z:-15.19 [[ 7.33963995e-01 6.77681678e-01 4.52150170e-02 2.66442787e+02] [-6.76227644e-01 7.35352602e-01 -4.44153713e-02 -1.66513192e+02] [-6.33484637e-02 2.02363898e-03 9.97989417e-01 -1.51887805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86863999999997 meters 0.029883636624326308 Centerline is valid? [True, True] Translation: X:266.48, Y:-166.56, Z:-15.19 [[ 7.31088824e-01 6.80757371e-01 4.55909371e-02 2.66483154e+02] [-6.79282889e-01 7.32506775e-01 -4.48171992e-02 -1.66561382e+02] [-6.39053090e-02 1.79620999e-03 9.97954350e-01 -1.51929058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92864 meters 0.029222679778494187 Centerline is valid? [True, True] Translation: X:266.53, Y:-166.61, Z:-15.19 [[ 7.26914692e-01 6.84991811e-01 4.87980366e-02 2.66525349e+02] [-6.83310088e-01 7.28549130e-01 -4.79946738e-02 -1.66607655e+02] [-6.84277257e-02 1.54384281e-03 9.97654882e-01 -1.51941904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98864 meters 0.02857584941094848 Centerline is valid? [True, True] Translation: X:266.56, Y:-166.66, Z:-15.20 [[ 7.23900523e-01 6.88405261e-01 4.54558045e-02 2.66564424e+02] [-6.86951077e-01 7.25325344e-01 -4.47366018e-02 -1.66655802e+02] [-6.37671590e-02 1.15893557e-03 9.97964131e-01 -1.51969839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04864 meters 0.028257066332778136 Centerline is valid? [True, True] Translation: X:266.61, Y:-166.70, Z:-15.20 [[ 7.20474548e-01 6.92071410e-01 4.41994294e-02 2.66608935e+02] [-6.90702707e-01 7.21828574e-01 -4.35118471e-02 -1.66699819e+02] [-6.20177165e-02 8.20512859e-04 9.98074711e-01 -1.51990612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10864 meters 0.0281077251674949 Centerline is valid? [True, True] Translation: X:266.65, Y:-166.75, Z:-15.20 [[ 7.18482250e-01 6.94045114e-01 4.56578133e-02 2.66652204e+02] [-6.92586532e-01 7.19931176e-01 -4.49777457e-02 -1.66745314e+02] [-6.40870679e-02 6.93725389e-04 9.97944070e-01 -1.52027149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16864 meters 0.028347593716199864 Centerline is valid? [True, True] Translation: X:266.70, Y:-166.79, Z:-15.21 [[ 7.17499181e-01 6.94996874e-01 4.66290640e-02 2.66696483e+02] [-6.93474258e-01 7.19012456e-01 -4.59841334e-02 -1.66790059e+02] [-6.54857068e-02 6.57522512e-04 9.97853291e-01 -1.52057313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22864 meters 0.028640178243451234 Centerline is valid? [True, True] Translation: X:266.74, Y:-166.83, Z:-15.21 [[ 7.18255487e-01 6.94121501e-01 4.80041380e-02 2.66739272e+02] [-6.92502342e-01 7.19857423e-01 -4.73898479e-02 -1.66834799e+02] [-6.74504474e-02 7.95040287e-04 9.97722309e-01 -1.52076273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28864 meters 0.028631410700885828 Centerline is valid? [True, True] Translation: X:266.78, Y:-166.88, Z:-15.21 [[ 7.18596770e-01 6.93819485e-01 4.72567884e-02 2.66784468e+02] [-6.92246790e-01 7.20148465e-01 -4.66965735e-02 -1.66878602e+02] [-6.64308962e-02 8.42646753e-04 9.97790672e-01 -1.52106628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34864 meters 0.028683773353444502 Centerline is valid? [True, True] Translation: X:266.83, Y:-166.92, Z:-15.21 [[ 7.17852343e-01 6.94704181e-01 4.55424528e-02 2.66826876e+02] [-6.93242544e-01 7.19295152e-01 -4.50472954e-02 -1.66923899e+02] [-6.40530100e-02 7.65340683e-04 9.97946204e-01 -1.52128191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40864 meters 0.028697535511582942 Centerline is valid? [True, True] Translation: X:266.87, Y:-166.97, Z:-15.22 [[ 7.16769741e-01 6.95661874e-01 4.79134140e-02 2.66870168e+02] [-6.94042950e-01 7.18368984e-01 -4.74382408e-02 -1.66968511e+02] [-6.74204860e-02 7.48328364e-04 9.97724370e-01 -1.52155297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46864 meters 0.028908476022514402 Centerline is valid? [True, True] Translation: X:266.91, Y:-167.01, Z:-15.22 [[ 7.16583673e-01 6.95855097e-01 4.78907534e-02 2.66912770e+02] [-6.94235012e-01 7.18181803e-01 -4.74620486e-02 -1.67014378e+02] [-6.74209760e-02 7.63091341e-04 9.97724325e-01 -1.52177744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52863999999994 meters 0.028808840985392988 Centerline is valid? [True, True] Translation: X:266.95, Y:-167.06, Z:-15.22 [[ 7.16111644e-01 6.96466613e-01 4.60257514e-02 2.66953318e+02] [-6.94968704e-01 7.17588846e-01 -4.56590442e-02 -1.67061967e+02] [-6.48275658e-02 7.10516391e-04 9.97896228e-01 -1.52197133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58863999999994 meters 0.028850670764003793 Centerline is valid? [True, True] Translation: X:266.99, Y:-167.11, Z:-15.22 [[ 7.14102787e-01 6.98515061e-01 4.61943617e-02 2.66994797e+02] [-6.97007627e-01 7.15595136e-01 -4.58690434e-02 -1.67108826e+02] [-6.50966782e-02 5.57389268e-04 9.97878806e-01 -1.52218747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64863999999994 meters 0.028845557332183216 Centerline is valid? [True, True] Translation: X:267.03, Y:-167.16, Z:-15.22 [[ 7.08942949e-01 7.03811029e-01 4.52761662e-02 2.67034869e+02] [-7.02371051e-01 7.10387236e-01 -4.49986815e-02 -1.67156963e+02] [-6.38341789e-02 1.00829573e-04 9.97960514e-01 -1.52240868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70863999999995 meters 0.02890731478065005 Centerline is valid? [True, True] Translation: X:267.08, Y:-167.20, Z:-15.23 [[ 7.04788657e-01 7.07906343e-01 4.62769685e-02 2.67076372e+02] [-7.06407813e-01 7.06306272e-01 -4.60375069e-02 -1.67203093e+02] [-6.52759563e-02 -2.43699479e-04 9.97867221e-01 -1.52268844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76863999999995 meters 0.02937739882281403 Centerline is valid? [True, True] Translation: X:267.12, Y:-167.25, Z:-15.23 [[ 6.99992573e-01 7.12631676e-01 4.65456054e-02 2.67117090e+02] [-7.11123114e-01 7.01538071e-01 -4.63492285e-02 -1.67250172e+02] [-6.56834426e-02 -6.55540196e-04 9.97840296e-01 -1.52310200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82863999999995 meters 0.02970800013130049 Centerline is valid? [True, True] Translation: X:267.16, Y:-167.30, Z:-15.23 [[ 6.94465778e-01 7.18090548e-01 4.54229924e-02 2.67159638e+02] [-7.16662797e-01 6.95948797e-01 -4.52736978e-02 -1.67295383e+02] [-6.41226914e-02 -1.11193502e-03 9.97941403e-01 -1.52336185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88863999999995 meters 0.030443467725737958 Centerline is valid? [True, True] Translation: X:267.21, Y:-167.34, Z:-15.24 [[ 6.89498440e-01 7.22860932e-01 4.54309818e-02 2.67205249e+02] [-7.21440197e-01 6.90991858e-01 -4.53243196e-02 -1.67337787e+02] [-6.41556185e-02 -1.52468884e-03 9.97938742e-01 -1.52352351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94863999999995 meters 0.03144918503616414 Centerline is valid? [True, True] Translation: X:267.25, Y:-167.38, Z:-15.24 [[ 6.83269926e-01 7.28755960e-01 4.53537106e-02 2.67253174e+02] [-7.27350750e-01 6.84770437e-01 -4.52806178e-02 -1.67378002e+02] [-6.40554003e-02 -2.04917106e-03 9.97944240e-01 -1.52380185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00863999999996 meters 0.03151565802853814 Centerline is valid? [True, True] Translation: X:267.30, Y:-167.42, Z:-15.24 [[ 6.81603606e-01 7.30419379e-01 4.36354740e-02 2.67300946e+02] [-7.29121008e-01 6.82995668e-01 -4.35829457e-02 -1.67417715e+02] [-6.16366679e-02 -2.10924783e-03 9.98096424e-01 -1.52413214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06863999999996 meters 0.030948507963118873 Centerline is valid? [True, True] Translation: X:267.35, Y:-167.46, Z:-15.24 [[ 6.85940327e-01 7.26281006e-01 4.47411131e-02 2.67349781e+02] [-7.24904681e-01 6.87395682e-01 -4.47256089e-02 -1.67455923e+02] [-6.32382082e-02 -1.75394347e-03 9.97996920e-01 -1.52440727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12863999999996 meters 0.030227958212819987 Centerline is valid? [True, True] Translation: X:267.44, Y:-167.50, Z:-13.62 [[ 7.69700078e-01 -6.38147485e-01 -1.81542878e-02 2.67442620e+02] [-6.37840849e-01 -7.69904034e-01 2.01700006e-02 -1.67497401e+02] [-2.68484945e-02 -3.94530465e-03 -9.99631729e-01 -1.36213352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18863999999996 meters 0.029926690706470905 Centerline is valid? [True, True] Translation: X:267.41, Y:-167.52, Z:-15.25 [[ 7.45473379e-01 6.64553215e-01 5.13659859e-02 2.67410803e+02] [-6.63080361e-01 7.47240153e-01 -4.42333301e-02 -1.67515631e+02] [-6.77781290e-02 -1.08500642e-03 9.97699829e-01 -1.52478626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24863999999997 meters 0.030017592527325235 Centerline is valid? [True, True] Translation: X:267.46, Y:-167.56, Z:-15.25 [[ 7.45058541e-01 6.64979486e-01 5.18657347e-02 2.67458181e+02] [-6.63475476e-01 7.46860815e-01 -4.47125871e-02 -1.67557113e+02] [-6.84694381e-02 -1.09814809e-03 9.97652610e-01 -1.52499248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30863999999997 meters 0.029732286510383264 Centerline is valid? [True, True] Translation: X:267.50, Y:-167.60, Z:-15.25 [[ 7.44342316e-01 6.65971152e-01 4.93653919e-02 2.67504051e+02] [-6.64608168e-01 7.45976686e-01 -4.26000881e-02 -1.67599052e+02] [-6.51958612e-02 -1.09959441e-03 9.97871881e-01 -1.52535212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36863999999997 meters 0.029774235051550458 Centerline is valid? [True, True] Translation: X:267.55, Y:-167.64, Z:-15.25 [[ 7.42543764e-01 6.68021732e-01 4.87414062e-02 2.67552102e+02] [-6.66694766e-01 7.44140744e-01 -4.21027636e-02 -1.67639326e+02] [-6.43960273e-02 -1.23249585e-03 9.97923661e-01 -1.52538062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42864 meters 0.030076866337222865 Centerline is valid? [True, True] Translation: X:267.60, Y:-167.68, Z:-15.26 [[ 7.41207176e-01 6.69346649e-01 5.08624201e-02 2.67600936e+02] [-6.67901485e-01 7.42948977e-01 -4.39820859e-02 -1.67678287e+02] [-6.72274448e-02 -1.37124824e-03 9.97736734e-01 -1.52572403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48864 meters 0.029925767264753902 Centerline is valid? [True, True] Translation: X:267.65, Y:-167.72, Z:-15.26 [[ 7.41253736e-01 6.69227602e-01 5.17427933e-02 2.67649023e+02] [-6.67728564e-01 7.43056251e-01 -4.47880889e-02 -1.67718218e+02] [-6.84212314e-02 -1.35080280e-03 9.97655607e-01 -1.52610255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54864 meters 0.029709826145130735 Centerline is valid? [True, True] Translation: X:267.70, Y:-167.75, Z:-15.26 [[ 7.41852428e-01 6.68815653e-01 4.83797305e-02 2.67699860e+02] [-6.67501781e-01 7.43427328e-01 -4.19187312e-02 -1.67754246e+02] [-6.40027174e-02 -1.19604377e-03 9.97949008e-01 -1.52639144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60864 meters 0.029462928708490647 Centerline is valid? [True, True] Translation: X:267.75, Y:-167.79, Z:-15.27 [[ 7.42072223e-01 6.68739701e-01 4.60003161e-02 2.67750402e+02] [-6.67549623e-01 7.43495794e-01 -3.98936778e-02 -1.67791431e+02] [-6.08795276e-02 -1.10350354e-03 9.98144511e-01 -1.52662717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66864 meters 0.02936981983537471 Centerline is valid? [True, True] Translation: X:267.80, Y:-167.83, Z:-15.27 [[ 7.41702298e-01 6.69077287e-01 4.70455653e-02 2.67802772e+02] [-6.67830578e-01 7.43191978e-01 -4.08411957e-02 -1.67827945e+02] [-6.22898031e-02 -1.12645838e-03 9.98057469e-01 -1.52670094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72864 meters 0.029886995093124282 Centerline is valid? [True, True] Translation: X:267.85, Y:-167.86, Z:-15.27 [[ 7.40084894e-01 6.70862367e-01 4.70960102e-02 2.67853392e+02] [-6.69613865e-01 7.41580834e-01 -4.09284503e-02 -1.67864103e+02] [-6.23828556e-02 -1.24561358e-03 9.98051516e-01 -1.52697239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78864 meters 0.02980218213713815 Centerline is valid? [True, True] Translation: X:267.91, Y:-167.90, Z:-15.27 [[ 7.39008685e-01 6.72040970e-01 4.71921352e-02 2.67905737e+02] [-6.70787199e-01 7.40512794e-01 -4.10528281e-02 -1.67899712e+02] [-6.25355623e-02 -1.31748373e-03 9.98041867e-01 -1.52726568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84864 meters 0.02900713083320183 Centerline is valid? [True, True] Translation: X:267.96, Y:-167.94, Z:-15.28 [[ 7.43312206e-01 6.67338049e-01 4.63345863e-02 2.67955082e+02] [-6.66117719e-01 7.44754434e-01 -4.03486940e-02 -1.67937017e+02] [-6.14341073e-02 -8.72612185e-04 9.98110760e-01 -1.52766306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90864 meters 0.028768184423148203 Centerline is valid? [True, True] Translation: X:268.00, Y:-167.98, Z:-15.28 [[ 7.46702561e-01 6.63459286e-01 4.75085403e-02 2.68004113e+02] [-6.62165841e-01 7.48212194e-01 -4.14114864e-02 -1.67975813e+02] [-6.30213045e-02 -5.36469606e-04 9.98012038e-01 -1.52787918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96864 meters 0.028521553848822805 Centerline is valid? [True, True] Translation: X:268.05, Y:-168.01, Z:-15.28 [[ 7.50268238e-01 6.59368709e-01 4.82750032e-02 2.68054757e+02] [-6.58021894e-01 7.51819712e-01 -4.21225421e-02 -1.68013286e+02] [-6.40683852e-02 -1.62803562e-04 9.97945497e-01 -1.52826707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02863999999994 meters 0.028317867879533755 Centerline is valid? [True, True] Translation: X:268.10, Y:-168.05, Z:-15.29 [[ 7.52270989e-01 6.57153950e-01 4.72974094e-02 2.68102083e+02] [-6.55854081e-01 7.53756381e-01 -4.13127337e-02 -1.68053247e+02] [-6.27995503e-02 5.81720839e-05 9.98026159e-01 -1.52854235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08863999999994 meters 0.028266163010818586 Centerline is valid? [True, True] Translation: X:268.15, Y:-168.10, Z:-15.29 [[ 7.52833206e-01 6.56494762e-01 4.75057005e-02 2.68148877e+02] [-6.55179478e-01 7.54330568e-01 -4.15360786e-02 -1.68095707e+02] [-6.31032201e-02 1.44979208e-04 9.98006995e-01 -1.52879711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14863999999994 meters 0.028116307257252025 Centerline is valid? [True, True] Translation: X:268.19, Y:-168.14, Z:-15.29 [[ 7.51792820e-01 6.57697782e-01 4.73411401e-02 2.68194702e+02] [-6.56391135e-01 7.53281900e-01 -4.14373925e-02 -1.68139387e+02] [-6.29145051e-02 7.80295143e-05 9.98018917e-01 -1.52916941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20863999999995 meters 0.028131016727266738 Centerline is valid? [True, True] Translation: X:268.24, Y:-168.18, Z:-15.29 [[ 7.50920226e-01 6.58589027e-01 4.87781492e-02 2.68239892e+02] [-6.57200709e-01 7.52502819e-01 -4.27403296e-02 -1.68181390e+02] [-6.48540069e-02 3.75437295e-05 9.97894762e-01 -1.52932630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26863999999995 meters 0.028178272655755655 Centerline is valid? [True, True] Translation: X:268.29, Y:-168.22, Z:-15.30 [[ 7.51987600e-01 6.57323965e-01 4.93948829e-02 2.68285826e+02] [-6.55894804e-01 7.53608103e-01 -4.33224263e-02 -1.68224049e+02] [-6.57012530e-02 1.80080278e-04 9.97839322e-01 -1.52963561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32863999999995 meters 0.02813231116186978 Centerline is valid? [True, True] Translation: X:268.33, Y:-168.27, Z:-15.30 [[ 7.52634761e-01 6.56643294e-01 4.85849911e-02 2.68331175e+02] [-6.55256255e-01 7.54201240e-01 -4.26582839e-02 -1.68267433e+02] [-6.46541366e-02 2.70487976e-04 9.97907696e-01 -1.52991619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38863999999995 meters 0.027855168866224946 Centerline is valid? [True, True] Translation: X:268.38, Y:-168.31, Z:-15.30 [[ 7.54632654e-01 6.54562160e-01 4.55843932e-02 2.68378475e+02] [-6.53335056e-01 7.56008052e-01 -4.00640767e-02 -1.68307882e+02] [-6.06865969e-02 4.51778401e-04 9.98156768e-01 -1.52999333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44863999999995 meters 0.028193076862312226 Centerline is valid? [True, True] Translation: X:268.42, Y:-168.35, Z:-15.30 [[ 7.58021157e-01 6.50622695e-01 4.57606169e-02 2.68424565e+02] [-6.49376547e-01 7.59400730e-01 -4.02570785e-02 -1.68349666e+02] [-6.09428148e-02 7.99845871e-04 9.98140939e-01 -1.53013957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50863999999996 meters 0.028197894104071176 Centerline is valid? [True, True] Translation: X:268.47, Y:-168.39, Z:-15.30 [[ 7.59163035e-01 6.49381619e-01 4.44409619e-02 2.68472411e+02] [-6.48202056e-01 7.60462162e-01 -3.91330434e-02 -1.68390506e+02] [-5.92079490e-02 9.01637095e-04 9.98245263e-01 -1.53034026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56863999999996 meters 0.02791486656591725 Centerline is valid? [True, True] Translation: X:268.52, Y:-168.43, Z:-15.31 [[ 7.58334503e-01 6.50567243e-01 4.11222944e-02 2.68518537e+02] [-6.49557209e-01 7.59448261e-01 -3.62459885e-02 -1.68432707e+02] [-5.48107078e-02 7.75300931e-04 9.98496462e-01 -1.53059444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62863999999996 meters 0.027631435286824345 Centerline is valid? [True, True] Translation: X:268.56, Y:-168.47, Z:-15.31 [[ 7.56787750e-01 6.52473394e-01 3.93798326e-02 2.68563904e+02] [-6.51548134e-01 7.57811367e-01 -3.47413531e-02 -1.68474995e+02] [-5.25102933e-02 6.33974070e-04 9.98620182e-01 -1.53055254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68863999999996 meters 0.027637482262006803 Centerline is valid? [True, True] Translation: X:268.61, Y:-168.52, Z:-15.31 [[ 7.54464972e-01 6.55160590e-01 3.93345589e-02 2.68609372e+02] [-6.54239376e-01 7.55489497e-01 -3.47341181e-02 -1.68516944e+02] [-5.24732714e-02 4.71458154e-04 9.98622218e-01 -1.53077362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74863999999997 meters 0.02727207540513984 Centerline is valid? [True, True] Translation: X:268.66, Y:-168.56, Z:-15.31 [[ 7.52681314e-01 6.57229768e-01 3.89855416e-02 2.68656743e+02] [-6.56325918e-01 7.53690196e-01 -3.44583601e-02 -1.68557809e+02] [-5.20300805e-02 3.48942325e-04 9.98645457e-01 -1.53092708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80863999999997 meters 0.027162176281269244 Centerline is valid? [True, True] Translation: X:268.70, Y:-168.60, Z:-15.31 [[ 7.51979024e-01 6.58163854e-01 3.67136054e-02 2.68702819e+02] [-6.57362011e-01 7.52874662e-01 -3.24796718e-02 -1.68600546e+02] [-4.90176893e-02 2.89902445e-04 9.98797868e-01 -1.53103116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86863999999997 meters 0.027120173580056587 Centerline is valid? [True, True] Translation: X:268.75, Y:-168.64, Z:-15.31 [[ 7.51763973e-01 6.58396832e-01 3.69396858e-02 2.68749655e+02] [-6.57583588e-01 7.52670924e-01 -3.27155160e-02 -1.68641945e+02] [-4.93432196e-02 3.03415167e-04 9.98781835e-01 -1.53136325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92864 meters 0.027035541172000237 Centerline is valid? [True, True] Translation: X:268.79, Y:-168.68, Z:-15.32 [[ 7.49230203e-01 6.61329335e-01 3.60223953e-02 2.68794197e+02] [-6.60557734e-01 7.50095656e-01 -3.19372412e-02 -1.68684785e+02] [-4.81412767e-02 1.33473891e-04 9.98840528e-01 -1.53156344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98864 meters 0.026997708597970304 Centerline is valid? [True, True] Translation: X:268.84, Y:-168.73, Z:-15.32 [[ 7.44419179e-01 6.66606588e-01 3.84154050e-02 2.68840765e+02] [-6.65734164e-01 7.45409699e-01 -3.40940491e-02 -1.68726554e+02] [-5.13625332e-02 -1.94183468e-04 9.98680055e-01 -1.53169313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04864 meters 0.027214759739100567 Centerline is valid? [True, True] Translation: X:268.89, Y:-168.77, Z:-15.32 [[ 7.39793057e-01 6.71743615e-01 3.82981584e-02 2.68886453e+02] [-6.70881428e-01 7.40783535e-01 -3.40274090e-02 -1.68769198e+02] [-5.12283399e-02 -5.20282294e-04 9.98686831e-01 -1.53188143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10864 meters 0.027193621179815938 Centerline is valid? [True, True] Translation: X:268.94, Y:-168.81, Z:-15.32 [[ 7.37685759e-01 6.74144673e-01 3.67243882e-02 2.68938111e+02] [-6.73353377e-01 7.38599049e-01 -3.26599763e-02 -1.68806312e+02] [-4.91421473e-02 -6.35691427e-04 9.98791593e-01 -1.53206119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16864 meters 0.02710609700962995 Centerline is valid? [True, True] Translation: X:268.99, Y:-168.84, Z:-15.32 [[ 7.37911960e-01 6.73896476e-01 3.67352582e-02 2.68991126e+02] [-6.73102610e-01 7.38825547e-01 -3.27060891e-02 -1.68842068e+02] [-4.91814654e-02 -5.92383875e-04 9.98789684e-01 -1.53236985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22864 meters 0.026756526055507983 Centerline is valid? [True, True] Translation: X:269.04, Y:-168.88, Z:-15.33 [[ 7.40435887e-01 6.71097748e-01 3.71821094e-02 2.69040910e+02] [-6.70279051e-01 7.41368778e-01 -3.31410511e-02 -1.68879308e+02] [-4.98065398e-02 -3.83565422e-04 9.98758810e-01 -1.53257862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28864 meters 0.026237780128395814 Centerline is valid? [True, True] Translation: X:269.09, Y:-168.91, Z:-15.33 [[ 7.44664987e-01 6.66378826e-01 3.75941207e-02 2.69091768e+02] [-6.65534155e-01 7.45613344e-01 -3.35414766e-02 -1.68914878e+02] [-5.03820079e-02 -4.30080957e-05 9.98730019e-01 -1.53297957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34864 meters 0.025938111985702755 Centerline is valid? [True, True] Translation: X:269.14, Y:-168.95, Z:-15.33 [[ 7.46017314e-01 6.64926933e-01 3.64738335e-02 2.69141868e+02] [-6.64128614e-01 7.46908407e-01 -3.25732359e-02 -1.68953144e+02] [-4.89014347e-02 7.68814609e-05 9.98803606e-01 -1.53318720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40864 meters 0.025914229181793678 Centerline is valid? [True, True] Translation: X:269.19, Y:-168.99, Z:-15.33 [[ 7.47130176e-01 6.63703753e-01 3.59698315e-02 2.69190423e+02] [-6.62924246e-01 7.47995519e-01 -3.21581813e-02 -1.68993986e+02] [-4.82487784e-02 1.81074214e-04 9.98835333e-01 -1.53346465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46864 meters 0.025760226678573042 Centerline is valid? [True, True] Translation: X:269.24, Y:-169.04, Z:-15.34 [[ 7.46508756e-01 6.64360667e-01 3.67366604e-02 2.69235693e+02] [-6.63546517e-01 7.47412119e-01 -3.28807481e-02 -1.69038019e+02] [-4.93021010e-02 1.69283306e-04 9.98783898e-01 -1.53388114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52863999999994 meters 0.025453936476579588 Centerline is valid? [True, True] Translation: X:269.28, Y:-169.08, Z:-15.34 [[ 7.42413749e-01 6.69050764e-01 3.45383937e-02 2.69282513e+02] [-6.68334735e-01 7.43216700e-01 -3.09454168e-02 -1.69080486e+02] [-4.63735657e-02 -1.08905310e-04 9.98924162e-01 -1.53411758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58863999999994 meters 0.02591319727412141 Centerline is valid? [True, True] Translation: X:269.33, Y:-169.12, Z:-15.34 [[ 7.35617218e-01 6.76440389e-01 3.59959454e-02 2.69330360e+02] [-6.75669595e-01 7.36497166e-01 -3.22881299e-02 -1.69120470e+02] [-4.83519069e-02 -5.69661562e-04 9.98830200e-01 -1.53431502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64863999999994 meters 0.026356668451076492 Centerline is valid? [True, True] Translation: X:269.38, Y:-169.16, Z:-15.35 [[ 7.29832521e-01 6.82604170e-01 3.73636004e-02 2.69378191e+02] [-6.81779983e-01 7.30787636e-01 -3.35482708e-02 -1.69159633e+02] [-5.02050468e-02 -9.89135770e-04 9.98738442e-01 -1.53455007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70863999999995 meters 0.026251451094933414 Centerline is valid? [True, True] Translation: X:269.43, Y:-169.20, Z:-15.35 [[ 7.29524029e-01 6.82866586e-01 3.85735257e-02 2.69427468e+02] [-6.81986788e-01 7.30542397e-01 -3.46673779e-02 -1.69199691e+02] [-5.18527899e-02 -1.01594965e-03 9.98654222e-01 -1.53479396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76863999999995 meters 0.026121944728373554 Centerline is valid? [True, True] Translation: X:269.48, Y:-169.24, Z:-15.35 [[ 7.31102196e-01 6.81129575e-01 3.93964506e-02 2.69477627e+02] [-6.80207197e-01 7.32162361e-01 -3.54463861e-02 -1.69236579e+02] [-5.29881802e-02 -8.82818517e-04 9.98594749e-01 -1.53517737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82863999999995 meters 0.025872409075042888 Centerline is valid? [True, True] Translation: X:269.53, Y:-169.28, Z:-15.36 [[ 7.34112021e-01 6.77806693e-01 4.07139712e-02 2.69525914e+02] [-6.76814423e-01 7.35239879e-01 -3.66682015e-02 -1.69276273e+02] [-5.47884877e-02 -6.37235423e-04 9.98497779e-01 -1.53559530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88863999999995 meters 0.025680021901832103 Centerline is valid? [True, True] Translation: X:269.57, Y:-169.32, Z:-15.36 [[ 7.36724494e-01 6.75089584e-01 3.86144168e-02 2.69573494e+02] [-6.74191671e-01 7.37735659e-01 -3.48093159e-02 -1.69316726e+02] [-5.19866388e-02 -3.88642537e-04 9.98647705e-01 -1.53592637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94863999999995 meters 0.025412271854583363 Centerline is valid? [True, True] Translation: X:269.62, Y:-169.36, Z:-15.36 [[ 7.38340535e-01 6.73181861e-01 4.09809285e-02 2.69620211e+02] [-6.72165358e-01 7.39476926e-01 -3.69811660e-02 -1.69358565e+02] [-5.51995011e-02 -2.41266567e-04 9.98475316e-01 -1.53609630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00863999999996 meters 0.025281835133902128 Centerline is valid? [True, True] Translation: X:269.67, Y:-169.40, Z:-15.36 [[ 7.41151859e-01 6.70139700e-01 4.00837306e-02 2.69665954e+02] [-6.69160660e-01 7.42234992e-01 -3.62108825e-02 -1.69402154e+02] [-5.40178974e-02 1.53072003e-05 9.98539967e-01 -1.53646825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06863999999996 meters 0.025324072659992154 Centerline is valid? [True, True] Translation: X:269.71, Y:-169.44, Z:-15.37 [[ 7.42865466e-01 6.68214443e-01 4.05013363e-02 2.69711761e+02] [-6.67209794e-01 7.43968698e-01 -3.66287875e-02 -1.69444797e+02] [-5.46076113e-02 1.87372997e-04 9.98507874e-01 -1.53677802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12863999999996 meters 0.025181007395616854 Centerline is valid? [True, True] Translation: X:269.75, Y:-169.49, Z:-15.37 [[ 7.42677528e-01 6.68297812e-01 4.25220467e-02 2.69754296e+02] [-6.67188018e-01 7.43893800e-01 -3.84988764e-02 -1.69489800e+02] [-5.73606017e-02 2.22050255e-04 9.98353501e-01 -1.53701297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18863999999996 meters 0.025303545513391687 Centerline is valid? [True, True] Translation: X:269.80, Y:-169.53, Z:-15.37 [[ 7.40583339e-01 6.70778378e-01 3.99084768e-02 2.69797994e+02] [-6.69802747e-01 7.41657849e-01 -3.61651128e-02 -1.69533619e+02] [-5.38572108e-02 5.24725846e-05 9.98548646e-01 -1.53707004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24863999999997 meters 0.025399186605592584 Centerline is valid? [True, True] Translation: X:269.84, Y:-169.58, Z:-15.38 [[ 7.39375286e-01 6.72094825e-01 4.01588532e-02 2.69843206e+02] [-6.71106905e-01 7.40465088e-01 -3.64276724e-02 -1.69576831e+02] [-5.42190789e-02 -1.71629689e-05 9.98529064e-01 -1.53751058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30863999999997 meters 0.0253052910929163 Centerline is valid? [True, True] Translation: X:269.89, Y:-169.62, Z:-15.38 [[ 7.40137800e-01 6.71262935e-01 4.00263597e-02 2.69889300e+02] [-6.70278164e-01 7.41219311e-01 -3.63471513e-02 -1.69619204e+02] [-5.40668062e-02 7.31056752e-05 9.98537318e-01 -1.53756118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36863999999997 meters 0.025334337704100363 Centerline is valid? [True, True] Translation: X:269.94, Y:-169.66, Z:-15.38 [[ 7.40794718e-01 6.70637513e-01 3.83211644e-02 2.69935199e+02] [-6.69732178e-01 7.41785215e-01 -3.48353822e-02 -1.69662337e+02] [-5.17879873e-02 1.40950184e-04 9.98658092e-01 -1.53778699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42864 meters 0.025321561509371593 Centerline is valid? [True, True] Translation: X:269.98, Y:-169.71, Z:-15.38 [[ 7.39351083e-01 6.72090315e-01 4.06765824e-02 2.69981123e+02] [-6.71070035e-01 7.40469178e-01 -3.70189746e-02 -1.69705462e+02] [-5.49998499e-02 7.31833571e-05 9.98486360e-01 -1.53803347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48864 meters 0.025403741014977815 Centerline is valid? [True, True] Translation: X:270.03, Y:-169.75, Z:-15.38 [[ 7.39457299e-01 6.71975851e-01 4.06369191e-02 2.70026385e+02] [-6.70955137e-01 7.40573051e-01 -3.70237788e-02 -1.69749247e+02] [-5.49736924e-02 1.11953870e-04 9.98487797e-01 -1.53821597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54864 meters 0.025422368224592474 Centerline is valid? [True, True] Translation: X:270.07, Y:-169.79, Z:-15.39 [[ 7.39258270e-01 6.72273324e-01 3.93165154e-02 2.70073598e+02] [-6.71316490e-01 7.40303023e-01 -3.58553392e-02 -1.69790292e+02] [-5.32107233e-02 1.12530913e-04 9.98583300e-01 -1.53862235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60864 meters 0.025380680447982713 Centerline is valid? [True, True] Translation: X:270.12, Y:-169.83, Z:-15.39 [[ 7.38023581e-01 6.73581219e-01 4.01190063e-02 2.70120335e+02] [-6.72585897e-01 7.39113212e-01 -3.66042476e-02 -1.69833010e+02] [-5.43084213e-02 3.13200178e-05 9.98524208e-01 -1.53888265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66864 meters 0.02531979320010689 Centerline is valid? [True, True] Translation: X:270.17, Y:-169.87, Z:-15.39 [[ 7.37799834e-01 6.73852585e-01 3.96749143e-02 2.70169073e+02] [-6.72877449e-01 7.38865815e-01 -3.62387435e-02 -1.69873687e+02] [-5.37340089e-02 4.05838833e-05 9.98555284e-01 -1.53910496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72864 meters 0.02542514714462113 Centerline is valid? [True, True] Translation: X:270.21, Y:-169.92, Z:-15.39 [[ 7.35519326e-01 6.76403757e-01 3.85911653e-02 2.70214393e+02] [-6.75482723e-01 7.36531021e-01 -3.52866446e-02 -1.69917404e+02] [-5.22916093e-02 -1.13656359e-04 9.98631851e-01 -1.53933056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78864 meters 0.02536615252592835 Centerline is valid? [True, True] Translation: X:270.26, Y:-169.96, Z:-15.39 [[ 7.33684654e-01 6.78380634e-01 3.88142186e-02 2.70262978e+02] [-6.77449593e-01 7.34710599e-01 -3.55300546e-02 -1.69956973e+02] [-5.26201188e-02 -2.26820804e-04 9.98614576e-01 -1.53948350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84864 meters 0.02524270093207809 Centerline is valid? [True, True] Translation: X:270.31, Y:-170.00, Z:-15.40 [[ 7.33535685e-01 6.78418794e-01 4.09064691e-02 2.70310130e+02] [-6.77382244e-01 7.34675368e-01 -3.74886575e-02 -1.69998988e+02] [-5.54859851e-02 -2.10047819e-04 9.98459444e-01 -1.53983368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90864 meters 0.02505674496055057 Centerline is valid? [True, True] Translation: X:270.36, Y:-170.04, Z:-15.40 [[ 7.35079928e-01 6.76832978e-01 3.94286552e-02 2.70357931e+02] [-6.75865685e-01 7.36136615e-01 -3.61726349e-02 -1.70038475e+02] [-5.35077090e-02 -5.86971549e-05 9.98567435e-01 -1.54019036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96864 meters 0.024985999193597647 Centerline is valid? [True, True] Translation: X:270.40, Y:-170.08, Z:-15.40 [[ 7.35050925e-01 6.76780807e-01 4.08396602e-02 2.70404788e+02] [-6.75740796e-01 7.36184582e-01 -3.75051640e-02 -1.70080018e+02] [-5.54483033e-02 -2.88190822e-05 9.98461559e-01 -1.54034511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02863999999994 meters 0.025231391192672 Centerline is valid? [True, True] Translation: X:270.45, Y:-170.12, Z:-15.41 [[ 7.34321951e-01 6.77449172e-01 4.28239731e-02 2.70453368e+02] [-6.76304136e-01 7.35569587e-01 -3.93712833e-02 -1.70119438e+02] [-5.81720555e-02 -5.08325992e-05 9.98306571e-01 -1.54055662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08863999999994 meters 0.025205202188873517 Centerline is valid? [True, True] Translation: X:270.50, Y:-170.16, Z:-15.41 [[ 7.33219072e-01 6.78629400e-01 4.30340538e-02 2.70503325e+02] [-6.77472816e-01 7.34480853e-01 -3.96037816e-02 -1.70158794e+02] [-5.84839791e-02 -1.16153635e-04 9.98288340e-01 -1.54093582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14863999999994 meters 0.02527164086339014 Centerline is valid? [True, True] Translation: X:270.55, Y:-170.20, Z:-15.41 [[ 7.34190500e-01 6.77631507e-01 4.21882765e-02 2.70550871e+02] [-6.76515908e-01 7.35401618e-01 -3.88675501e-02 -1.70200601e+02] [-5.73632034e-02 -4.85410892e-06 9.98353376e-01 -1.54129361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20863999999995 meters 0.025229639445897466 Centerline is valid? [True, True] Translation: X:270.60, Y:-170.24, Z:-15.42 [[ 7.34880196e-01 6.76871308e-01 4.23831390e-02 2.70599546e+02] [-6.75741608e-01 7.36101369e-01 -3.90903228e-02 -1.70240844e+02] [-5.76574046e-02 8.66535843e-05 9.98336424e-01 -1.54153202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26863999999995 meters 0.025445813507586984 Centerline is valid? [True, True] Translation: X:270.64, Y:-170.28, Z:-15.42 [[ 7.36074457e-01 6.75504730e-01 4.34482794e-02 2.70642602e+02] [-6.74312566e-01 7.37355617e-01 -4.01155522e-02 -1.70284946e+02] [-5.91350781e-02 2.30312573e-04 9.98249963e-01 -1.54198707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32863999999995 meters 0.02539591163594813 Centerline is valid? [True, True] Translation: X:270.69, Y:-170.33, Z:-15.42 [[ 7.35726618e-01 6.75833547e-01 4.42194615e-02 2.70687282e+02] [-6.74596922e-01 7.37054246e-01 -4.08660252e-02 -1.70328806e+02] [-6.02107726e-02 2.35909928e-04 9.98185658e-01 -1.54222951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38863999999995 meters 0.02532635071846412 Centerline is valid? [True, True] Translation: X:270.73, Y:-170.37, Z:-15.43 [[ 7.34637817e-01 6.77043494e-01 4.38107830e-02 2.70730573e+02] [-6.75829194e-01 7.35942987e-01 -4.05317251e-02 -1.70374846e+02] [-5.96839793e-02 1.67531895e-04 9.98217308e-01 -1.54251628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44863999999995 meters 0.02535195584541188 Centerline is valid? [True, True] Translation: X:270.77, Y:-170.42, Z:-15.43 [[ 7.33116919e-01 6.78726746e-01 4.32387285e-02 2.70772053e+02] [-6.77544372e-01 7.34390904e-01 -4.00452791e-02 -1.70423391e+02] [-5.89339309e-02 6.17144733e-05 9.98261883e-01 -1.54268223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50863999999996 meters 0.025432419278177118 Centerline is valid? [True, True] Translation: X:270.81, Y:-170.47, Z:-15.43 [[ 7.32327942e-01 6.79585295e-01 4.31232202e-02 2.70813530e+02] [-6.78408153e-01 7.33596501e-01 -3.99818892e-02 -1.70470459e+02] [-5.88061474e-02 2.47104319e-05 9.98269421e-01 -1.54322504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56863999999996 meters 0.025531926701278115 Centerline is valid? [True, True] Translation: X:270.86, Y:-170.52, Z:-15.43 [[ 7.31013754e-01 6.80919952e-01 4.43498647e-02 2.70856890e+02] [-6.79674491e-01 7.32357847e-01 -4.11651499e-02 -1.70515864e+02] [-6.05101433e-02 -5.11810083e-05 9.98167581e-01 -1.54330602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62863999999996 meters 0.025957903591959437 Centerline is valid? [True, True] Translation: X:270.90, Y:-170.56, Z:-15.44 [[ 7.27742413e-01 6.84201981e-01 4.75250315e-02 2.70900985e+02] [-6.82775380e-01 7.29292501e-01 -4.41613861e-02 -1.70559486e+02] [-6.48749570e-02 -3.10807790e-04 9.97893353e-01 -1.54394782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68863999999996 meters 0.02560533899310009 Centerline is valid? [True, True] Translation: X:270.95, Y:-170.60, Z:-15.44 [[ 7.26722507e-01 6.85416733e-01 4.55883888e-02 2.70946716e+02] [-6.84104071e-01 7.28150921e-01 -4.24011334e-02 -1.70601947e+02] [-6.22576736e-02 -3.73344416e-04 9.98060040e-01 -1.54413128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74863999999997 meters 0.025763605492808293 Centerline is valid? [True, True] Translation: X:271.00, Y:-170.64, Z:-15.44 [[ 7.26267357e-01 6.85891812e-01 4.56962612e-02 2.70995803e+02] [-6.84571209e-01 7.27703425e-01 -4.25439280e-02 -1.70641150e+02] [-6.24338576e-02 -3.84078627e-04 9.98049030e-01 -1.54443849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80863999999997 meters 0.025899132536495183 Centerline is valid? [True, True] Translation: X:271.04, Y:-170.68, Z:-15.45 [[ 7.28602449e-01 6.83184914e-01 4.89575862e-02 2.71043084e+02] [-6.81659765e-01 7.30245409e-01 -4.56246418e-02 -1.70680630e+02] [-6.69211195e-02 -1.30190969e-04 9.97758261e-01 -1.54484439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86863999999997 meters 0.025854442246404114 Centerline is valid? [True, True] Translation: X:271.09, Y:-170.72, Z:-15.45 [[ 7.33993906e-01 6.77454373e-01 4.80470478e-02 2.71091641e+02] [-6.75971130e-01 7.35564684e-01 -4.48065456e-02 -1.70721224e+02] [-6.56961018e-02 4.09314233e-04 9.97839594e-01 -1.54531525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92864 meters 0.026014760760364537 Centerline is valid? [True, True] Translation: X:271.14, Y:-170.76, Z:-15.46 [[ 7.35183808e-01 6.76068464e-01 4.93578839e-02 2.71138805e+02] [-6.74496683e-01 7.36838579e-01 -4.60774689e-02 -1.70761837e+02] [-6.75203166e-02 5.83680034e-04 9.97717729e-01 -1.54569919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98864 meters 0.02615238335567442 Centerline is valid? [True, True] Translation: X:271.19, Y:-170.80, Z:-15.46 [[ 7.35572039e-01 6.75710913e-01 4.84616991e-02 2.71185208e+02] [-6.74192086e-01 7.37166436e-01 -4.52843854e-02 -1.70804064e+02] [-6.63234915e-02 6.37433693e-04 9.97797970e-01 -1.54603688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04864 meters 0.026394959518289716 Centerline is valid? [True, True] Translation: X:271.23, Y:-170.84, Z:-15.46 [[ 7.34675987e-01 6.76564318e-01 5.01190421e-02 2.71232877e+02] [-6.74938395e-01 7.36383287e-01 -4.68808853e-02 -1.70843287e+02] [-6.86247591e-02 6.14994905e-04 9.97642353e-01 -1.54634382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10864 meters 0.026406444570941 Centerline is valid? [True, True] Translation: X:271.28, Y:-170.88, Z:-15.47 [[ 7.32725690e-01 6.78687153e-01 4.99681038e-02 2.71282325e+02] [-6.77073137e-01 7.34427362e-01 -4.67805117e-02 -1.70880748e+02] [-6.84472749e-02 4.45221942e-04 9.97654636e-01 -1.54671375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16864 meters 0.02664873755666911 Centerline is valid? [True, True] Translation: X:271.33, Y:-170.92, Z:-15.47 [[ 7.34060055e-01 6.77340098e-01 4.86438821e-02 2.71332913e+02] [-6.75804870e-01 7.35669795e-01 -4.55821271e-02 -1.70917688e+02] [-6.66604372e-02 5.86246321e-04 9.97775547e-01 -1.54719750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22864 meters 0.026953444237806254 Centerline is valid? [True, True] Translation: X:271.38, Y:-170.96, Z:-15.48 [[ 7.36553509e-01 6.74540280e-01 4.98431456e-02 2.71380527e+02] [-6.72918963e-01 7.38237505e-01 -4.67488503e-02 -1.70956895e+02] [-6.83300621e-02 8.92631903e-04 9.97662371e-01 -1.54755052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28864 meters 0.027648794389611587 Centerline is valid? [True, True] Translation: X:271.43, Y:-170.99, Z:-15.48 [[ 7.39320654e-01 6.71409355e-01 5.11316739e-02 2.71431815e+02] [-6.69692522e-01 7.41085641e-01 -4.79999742e-02 -1.70993476e+02] [-7.01205811e-02 1.24487266e-03 9.97537746e-01 -1.54803078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34864 meters 0.027946099913719585 Centerline is valid? [True, True] Translation: X:271.48, Y:-171.03, Z:-15.48 [[ 7.39751987e-01 6.70858938e-01 5.21083757e-02 2.71479685e+02] [-6.69071212e-01 7.41583743e-01 -4.89618760e-02 -1.71032836e+02] [-7.14892364e-02 1.35543093e-03 9.97440450e-01 -1.54828806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40864 meters 0.027988373287156552 Centerline is valid? [True, True] Translation: X:271.53, Y:-171.07, Z:-15.49 [[ 7.39480523e-01 6.71034932e-01 5.36719205e-02 2.71526546e+02] [-6.69135202e-01 7.41424388e-01 -5.04773133e-02 -1.71073266e+02] [-7.36657112e-02 1.41321871e-03 9.97281989e-01 -1.54870563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46863999999994 meters 0.028005032297712777 Centerline is valid? [True, True] Translation: X:271.57, Y:-171.12, Z:-15.49 [[ 7.38581537e-01 6.72128037e-01 5.23566242e-02 2.71571667e+02] [-6.70319998e-01 7.40433792e-01 -4.92838710e-02 -1.71115953e+02] [-7.18916853e-02 1.30446498e-03 9.97411592e-01 -1.54903694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52863999999994 meters 0.027992149857028716 Centerline is valid? [True, True] Translation: X:271.62, Y:-171.16, Z:-15.49 [[ 7.37379302e-01 6.73418231e-01 5.27223964e-02 2.71618419e+02] [-6.71584685e-01 7.39260708e-01 -4.96751212e-02 -1.71158865e+02] [-7.24277283e-02 1.22185227e-03 9.97372915e-01 -1.54934160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58863999999994 meters 0.027911561123159834 Centerline is valid? [True, True] Translation: X:271.66, Y:-171.20, Z:-15.50 [[ 7.36980056e-01 6.73907200e-01 5.20526966e-02 2.71661550e+02] [-6.72117808e-01 7.38815038e-01 -4.90916708e-02 -1.71203406e+02] [-7.15405455e-02 1.19403797e-03 9.97436978e-01 -1.54965738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64863999999994 meters 0.027585989302644335 Centerline is valid? [True, True] Translation: X:271.70, Y:-171.25, Z:-15.50 [[ 7.36401612e-01 6.74889778e-01 4.72911527e-02 2.71704551e+02] [-6.73413351e-01 7.37917849e-01 -4.46285489e-02 -1.71247105e+02] [-6.50163372e-02 1.01804172e-03 9.97883680e-01 -1.54997604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70863999999995 meters 0.027297657289536408 Centerline is valid? [True, True] Translation: X:271.75, Y:-171.29, Z:-15.50 [[ 7.32863876e-01 6.78778251e-01 4.65899671e-02 2.71746457e+02] [-6.77352147e-01 7.34342992e-01 -4.39822609e-02 -1.71292926e+02] [-6.40672179e-02 6.75195993e-04 9.97945357e-01 -1.55006006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76863999999995 meters 0.027167193959677528 Centerline is valid? [True, True] Translation: X:271.79, Y:-171.33, Z:-15.50 [[ 7.25125619e-01 6.86756181e-01 5.05844212e-02 2.71792719e+02] [-6.85090762e-01 7.26887851e-01 -4.77985444e-02 -1.71333840e+02] [-6.95951470e-02 5.02949429e-06 9.97575318e-01 -1.55027827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82863999999995 meters 0.02730910903432634 Centerline is valid? [True, True] Translation: X:271.84, Y:-171.38, Z:-15.51 [[ 7.21041524e-01 6.90966589e-01 5.16167971e-02 2.71835898e+02] [-6.89239991e-01 7.22886597e-01 -4.88180690e-02 -1.71379003e+02] [-7.10447454e-02 -3.76505822e-04 9.97473058e-01 -1.55074470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88863999999995 meters 0.027148648206251694 Centerline is valid? [True, True] Translation: X:271.89, Y:-171.42, Z:-15.51 [[ 7.20057594e-01 6.92155966e-01 4.93678097e-02 2.71885295e+02] [-6.90576621e-01 7.21747826e-01 -4.67333509e-02 -1.71417583e+02] [-6.79778769e-02 -4.41551041e-04 9.97686731e-01 -1.55095909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94863999999995 meters 0.027365592984764812 Centerline is valid? [True, True] Translation: X:271.93, Y:-171.46, Z:-15.51 [[ 7.19970174e-01 6.92099743e-01 5.13896243e-02 2.71931881e+02] [-6.90384759e-01 7.21801752e-01 -4.86941019e-02 -1.71458438e+02] [-7.07942963e-02 -4.20312365e-04 9.97490848e-01 -1.55122495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00863999999996 meters 0.027070210275222772 Centerline is valid? [True, True] Translation: X:271.98, Y:-171.50, Z:-15.52 [[ 7.21427121e-01 6.90553770e-01 5.17532679e-02 2.71979511e+02] [-6.88806934e-01 7.23281021e-01 -4.90873935e-02 -1.71499409e+02] [-7.13296411e-02 -2.35032754e-04 9.97452769e-01 -1.55151452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06863999999996 meters 0.027247544174213566 Centerline is valid? [True, True] Translation: X:272.03, Y:-171.54, Z:-15.52 [[ 7.22066477e-01 6.89941676e-01 5.09949646e-02 2.72026012e+02] [-6.88240701e-01 7.23864949e-01 -4.84176904e-02 -1.71540830e+02] [-7.03188499e-02 -1.36019034e-04 9.97524557e-01 -1.55194788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12863999999996 meters 0.027313500285116643 Centerline is valid? [True, True] Translation: X:272.07, Y:-171.58, Z:-15.52 [[ 7.21394790e-01 6.90707790e-01 5.01229200e-02 2.72071755e+02] [-6.89064018e-01 7.23133955e-01 -4.76241837e-02 -1.71583717e+02] [-6.91399800e-02 -1.82062598e-04 9.97606952e-01 -1.55209327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18863999999996 meters 0.027064472257384065 Centerline is valid? [True, True] Translation: X:272.12, Y:-171.62, Z:-15.52 [[ 7.21203393e-01 6.90970804e-01 4.92444325e-02 2.72119639e+02] [-6.89383163e-01 7.22882642e-01 -4.68138964e-02 -1.71624140e+02] [-6.79449811e-02 -1.85941739e-04 9.97689052e-01 -1.55233940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24863999999997 meters 0.02703645386933561 Centerline is valid? [True, True] Translation: X:272.17, Y:-171.67, Z:-15.53 [[ 7.23079110e-01 6.89068596e-01 4.83846042e-02 2.72165211e+02] [-6.87528878e-01 7.24696122e-01 -4.60388202e-02 -1.71666323e+02] [-6.67880402e-02 2.38966049e-05 9.97767186e-01 -1.55273993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30863999999997 meters 0.02720945787042048 Centerline is valid? [True, True] Translation: X:272.21, Y:-171.71, Z:-15.53 [[ 7.27300834e-01 6.84481196e-01 5.01895281e-02 2.72212516e+02] [-6.82810161e-01 7.29030346e-01 -4.78020795e-02 -1.71706722e+02] [-6.93093136e-02 4.96572538e-04 9.97595094e-01 -1.55286299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36863999999997 meters 0.026950646621129226 Centerline is valid? [True, True] Translation: X:272.26, Y:-171.75, Z:-15.53 [[ 7.28159349e-01 6.83684551e-01 4.85736305e-02 2.72258383e+02] [-6.82114910e-01 7.29777427e-01 -4.63050443e-02 -1.71748639e+02] [-6.71059825e-02 5.84653303e-04 9.97745682e-01 -1.55315567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42864 meters 0.026912441257262675 Centerline is valid? [True, True] Translation: X:272.30, Y:-171.79, Z:-15.53 [[ 7.27565577e-01 6.84336623e-01 4.82878566e-02 2.72304739e+02] [-6.82783895e-01 7.29166017e-01 -4.60768146e-02 -1.71791931e+02] [-6.67419158e-02 5.53733462e-04 9.97770119e-01 -1.55346572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48864 meters 0.02697542429425773 Centerline is valid? [True, True] Translation: X:272.35, Y:-171.84, Z:-15.54 [[ 7.27042980e-01 6.84869010e-01 4.86101331e-02 2.72351094e+02] [-6.83293364e-01 7.28666003e-01 -4.64331181e-02 -1.71835129e+02] [-6.72211550e-02 5.43891155e-04 9.97737952e-01 -1.55376806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54864 meters 0.026950580165847213 Centerline is valid? [True, True] Translation: X:272.40, Y:-171.88, Z:-15.54 [[ 7.27566318e-01 6.84361186e-01 4.79272471e-02 2.72398701e+02] [-6.82825292e-01 7.29142912e-01 -4.58283114e-02 -1.71876074e+02] [-6.63089301e-02 6.17199290e-04 9.97798950e-01 -1.55408491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60864 meters 0.02713312378831509 Centerline is valid? [True, True] Translation: X:272.44, Y:-171.92, Z:-15.54 [[ 7.29960229e-01 6.81705177e-01 4.93570346e-02 2.72444311e+02] [-6.80066773e-01 7.31626411e-01 -4.72438255e-02 -1.71918434e+02] [-6.83172705e-02 9.20034391e-04 9.97663222e-01 -1.55435709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66864 meters 0.02736901475835979 Centerline is valid? [True, True] Translation: X:272.49, Y:-171.96, Z:-15.55 [[ 7.31361998e-01 6.80148212e-01 5.00803109e-02 2.72487728e+02] [-6.78454681e-01 7.33073782e-01 -4.79799486e-02 -1.71962688e+02] [-6.93460391e-02 1.11348970e-03 9.97592044e-01 -1.55461918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72864 meters 0.027160803101768726 Centerline is valid? [True, True] Translation: X:272.53, Y:-172.01, Z:-15.55 [[ 7.29343828e-01 6.82259188e-01 5.07935143e-02 2.72534190e+02] [-6.80518844e-01 7.31109758e-01 -4.87095846e-02 -1.72005717e+02] [-7.03681956e-02 9.60091244e-04 9.97520624e-01 -1.55489942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78864 meters 0.02709592103714904 Centerline is valid? [True, True] Translation: X:272.58, Y:-172.05, Z:-15.55 [[ 7.26967275e-01 6.84871836e-01 4.96905424e-02 2.72576999e+02] [-6.83209221e-01 7.28663188e-01 -4.76982044e-02 -1.72051304e+02] [-6.88748259e-02 7.25996906e-04 9.97625045e-01 -1.55528659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84864 meters 0.0270433597634194 Centerline is valid? [True, True] Translation: X:272.62, Y:-172.10, Z:-15.55 [[ 7.27604578e-01 6.84220887e-01 4.93290607e-02 2.72621610e+02] [-6.82577831e-01 7.29274375e-01 -4.73961003e-02 -1.72096246e+02] [-6.84038217e-02 8.14696284e-04 9.97657383e-01 -1.55541989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90864 meters 0.027344776567623956 Centerline is valid? [True, True] Translation: X:272.67, Y:-172.14, Z:-15.56 [[ 7.28206876e-01 6.83506994e-01 5.03282717e-02 2.72666110e+02] [-6.81791483e-01 7.29943363e-01 -4.84051674e-02 -1.72139206e+02] [-6.98220584e-02 9.35588719e-04 9.97559023e-01 -1.55581251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96863999999994 meters 0.027403369703170727 Centerline is valid? [True, True] Translation: X:272.71, Y:-172.18, Z:-15.56 [[ 7.29001208e-01 6.82808586e-01 4.82666946e-02 2.72712394e+02] [-6.81226608e-01 7.30596642e-01 -4.64634927e-02 -1.72181058e+02] [-6.69891567e-02 9.91385727e-04 9.97753211e-01 -1.55600703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02863999999994 meters 0.027291524592567937 Centerline is valid? [True, True] Translation: X:272.76, Y:-172.23, Z:-15.56 [[ 7.27893287e-01 6.84022641e-01 4.77952881e-02 2.72756624e+02] [-6.82471838e-01 7.29460229e-01 -4.60430816e-02 -1.72225357e+02] [-6.63592720e-02 8.95511959e-04 9.97795392e-01 -1.55637706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08863999999994 meters 0.02724014528767701 Centerline is valid? [True, True] Translation: X:272.80, Y:-172.27, Z:-15.57 [[ 7.24557069e-01 6.87494320e-01 4.86683999e-02 2.72802911e+02] [-6.85893010e-01 7.26189506e-01 -4.68996805e-02 -1.72267607e+02] [-6.75857453e-02 6.00179718e-04 9.97713289e-01 -1.55654959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14863999999994 meters 0.027196759125507643 Centerline is valid? [True, True] Translation: X:272.85, Y:-172.31, Z:-15.57 [[ 7.24791716e-01 6.87357177e-01 4.70858837e-02 2.72849187e+02] [-6.85856654e-01 7.26319310e-01 -4.53972490e-02 -1.72309391e+02] [-6.54035115e-02 6.09383356e-04 9.97858712e-01 -1.55688907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20863999999995 meters 0.027477573201691544 Centerline is valid? [True, True] Translation: X:272.89, Y:-172.35, Z:-15.57 [[ 7.25921213e-01 6.86140404e-01 4.74314113e-02 2.72894518e+02] [-6.84612350e-01 7.27468745e-01 -4.57728550e-02 -1.72351359e+02] [-6.59114745e-02 7.55356476e-04 9.97825189e-01 -1.55728846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26863999999995 meters 0.02803634241616268 Centerline is valid? [True, True] Translation: X:272.94, Y:-172.40, Z:-15.58 [[ 7.28353598e-01 6.83547275e-01 4.75831903e-02 2.72938079e+02] [-6.82001068e-01 7.29905524e-01 -4.59616143e-02 -1.72395048e+02] [-6.61481696e-02 1.02452055e-03 9.97809285e-01 -1.55772045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32863999999995 meters 0.028017147666459297 Centerline is valid? [True, True] Translation: X:272.98, Y:-172.44, Z:-15.58 [[ 7.28379060e-01 6.83583754e-01 4.66604380e-02 2.72982539e+02] [-6.82094349e-01 7.29871350e-01 -4.51122192e-02 -1.72439380e+02] [-6.48940970e-02 1.03197475e-03 9.97891623e-01 -1.55786465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38863999999995 meters 0.027878343031051613 Centerline is valid? [True, True] Translation: X:273.03, Y:-172.48, Z:-15.58 [[ 7.27035446e-01 6.85050677e-01 4.60980439e-02 2.73025265e+02] [-6.83597097e-01 7.28494831e-01 -4.46126674e-02 -1.72484750e+02] [-6.41441247e-02 9.22501578e-04 9.97940219e-01 -1.55812229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44863999999995 meters 0.02768465348513075 Centerline is valid? [True, True] Translation: X:273.07, Y:-172.53, Z:-15.58 [[ 7.24342386e-01 6.87956805e-01 4.52055660e-02 2.73067264e+02] [-6.86562178e-01 7.25751315e-01 -4.37881851e-02 -1.72530999e+02] [-6.29323788e-02 6.81206598e-04 9.98017561e-01 -1.55837734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50863999999996 meters 0.02760501073324172 Centerline is valid? [True, True] Translation: X:273.11, Y:-172.58, Z:-15.59 [[ 7.21691420e-01 6.90712310e-01 4.55850763e-02 2.73111425e+02] [-6.89297024e-01 7.23129504e-01 -4.41965293e-02 -1.72575465e+02] [-6.34910005e-02 4.74598543e-04 9.97982298e-01 -1.55855641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56863999999996 meters 0.027451940328279342 Centerline is valid? [True, True] Translation: X:273.16, Y:-172.62, Z:-15.59 [[ 7.17414560e-01 6.95133270e-01 4.58921073e-02 2.73155726e+02] [-6.93705169e-01 7.18880883e-01 -4.45355553e-02 -1.72619401e+02] [-6.39491049e-02 1.14863787e-04 9.97953155e-01 -1.55888357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62863999999996 meters 0.027345831026140646 Centerline is valid? [True, True] Translation: X:273.20, Y:-172.66, Z:-15.59 [[ 7.13614884e-01 6.99020738e-01 4.60847689e-02 2.73203954e+02] [-6.97585853e-01 7.15101368e-01 -4.47661749e-02 -1.72660806e+02] [-6.42477659e-02 -2.02274190e-04 9.97933958e-01 -1.55907277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68863999999996 meters 0.027393386896947428 Centerline is valid? [True, True] Translation: X:273.25, Y:-172.70, Z:-15.59 [[ 7.11549507e-01 7.01117790e-01 4.61642978e-02 2.73253659e+02] [-6.99679205e-01 7.13045382e-01 -4.48920184e-02 -1.72700552e+02] [-6.43918321e-02 -3.57305613e-04 9.97924629e-01 -1.55939650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74863999999997 meters 0.027479494905962784 Centerline is valid? [True, True] Translation: X:273.30, Y:-172.74, Z:-15.60 [[ 7.12585841e-01 7.00099356e-01 4.56323512e-02 2.73299915e+02] [-6.98688752e-01 7.14045404e-01 -4.44205870e-02 -1.72741735e+02] [-6.36823950e-02 -2.29329131e-04 9.97970190e-01 -1.55982256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80863999999997 meters 0.027450247941846945 Centerline is valid? [True, True] Translation: X:273.35, Y:-172.78, Z:-15.60 [[ 7.15834624e-01 6.96761444e-01 4.58724462e-02 2.73349959e+02] [-6.95326248e-01 7.17302921e-01 -4.46982029e-02 -1.72781354e+02] [-6.40484240e-02 1.00205379e-04 9.97946787e-01 -1.56002794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86863999999997 meters 0.02719716484037852 Centerline is valid? [True, True] Translation: X:273.39, Y:-172.83, Z:-15.60 [[ 7.16687594e-01 6.95934030e-01 4.51078639e-02 2.73393984e+02] [-6.94541723e-01 7.18105692e-01 -4.40001223e-02 -1.72826612e+02] [-6.30133962e-02 2.05048244e-04 9.98012660e-01 -1.56027677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92864 meters 0.027310894980960444 Centerline is valid? [True, True] Translation: X:273.44, Y:-172.87, Z:-15.61 [[ 7.16619362e-01 6.95966114e-01 4.56930812e-02 2.73439602e+02] [-6.94534396e-01 7.18074586e-01 -4.46190807e-02 -1.72870280e+02] [-6.38644086e-02 2.39480624e-04 9.97958556e-01 -1.56074774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98864 meters 0.027216816230961678 Centerline is valid? [True, True] Translation: X:273.48, Y:-172.92, Z:-15.61 [[ 7.14748357e-01 6.97888765e-01 4.56733914e-02 2.73482342e+02] [-6.96459133e-01 7.16206159e-01 -4.46476701e-02 -1.72916486e+02] [-6.38706716e-02 1.02198273e-04 9.97958179e-01 -1.56090704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04864 meters 0.027177948980376718 Centerline is valid? [True, True] Translation: X:273.53, Y:-172.96, Z:-15.61 [[ 7.13397114e-01 6.99258140e-01 4.58542431e-02 2.73527097e+02] [-6.97816855e-01 7.14869256e-01 -4.48729639e-02 -1.72961270e+02] [-6.41575739e-02 1.43792281e-05 9.97939781e-01 -1.56119500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10864 meters 0.02735986732251392 Centerline is valid? [True, True] Translation: X:273.57, Y:-173.01, Z:-15.61 [[ 7.11641022e-01 7.01043721e-01 4.58776329e-02 2.73570708e+02] [-6.99601543e-01 7.13118285e-01 -4.49443219e-02 -1.73006693e+02] [-6.42241136e-02 -1.11839618e-04 9.97935494e-01 -1.56147825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16864 meters 0.027276017504126438 Centerline is valid? [True, True] Translation: X:273.62, Y:-173.05, Z:-15.62 [[ 7.12269678e-01 7.00367480e-01 4.64467311e-02 2.73615048e+02] [-6.98884609e-01 7.13782455e-01 -4.55511854e-02 -1.73051171e+02] [-6.50554307e-02 -1.61773329e-05 9.97881652e-01 -1.56180594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22864 meters 0.02713643251063964 Centerline is valid? [True, True] Translation: X:273.66, Y:-173.10, Z:-15.62 [[ 7.14889519e-01 6.97725321e-01 4.59603270e-02 2.73659017e+02] [-6.96264813e-01 7.16365347e-01 -4.51220576e-02 -1.73096219e+02] [-6.44071877e-02 2.56727602e-04 9.97923669e-01 -1.56202595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28864 meters 0.027122341745546858 Centerline is valid? [True, True] Translation: X:273.70, Y:-173.14, Z:-15.63 [[ 7.17205561e-01 6.95322047e-01 4.62972374e-02 2.73702884e+02] [-6.93831969e-01 7.18698122e-01 -4.54995481e-02 -1.73140370e+02] [-6.49105766e-02 5.10025536e-04 9.97890954e-01 -1.56251983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34864 meters 0.02734369287402826 Centerline is valid? [True, True] Translation: X:273.74, Y:-173.19, Z:-15.63 [[ 7.20580553e-01 6.91839565e-01 4.60617299e-02 2.73744361e+02] [-6.90354789e-01 7.22050756e-01 -4.53097233e-02 -1.73186553e+02] [-6.46059661e-02 8.50369628e-04 9.97910490e-01 -1.56256574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40864 meters 0.027888205752276914 Centerline is valid? [True, True] Translation: X:273.79, Y:-173.23, Z:-15.63 [[ 7.23911964e-01 6.88254033e-01 4.75168946e-02 2.73785757e+02] [-6.86663234e-01 7.25468711e-01 -4.67841133e-02 -1.73232199e+02] [-6.66713749e-02 1.23947482e-03 9.97774219e-01 -1.56308472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46863999999994 meters 0.027904611236234455 Centerline is valid? [True, True] Translation: X:273.82, Y:-173.28, Z:-15.63 [[ 7.23858825e-01 6.88368291e-01 4.66636669e-02 2.73824896e+02] [-6.86832361e-01 7.25360314e-01 -4.59752458e-02 -1.73281611e+02] [-6.54958734e-02 1.22947085e-03 9.97852083e-01 -1.56347856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52863999999994 meters 0.027455955868826556 Centerline is valid? [True, True] Translation: X:273.87, Y:-173.33, Z:-15.64 [[ 7.19795812e-01 6.92749958e-01 4.46260571e-02 2.73865949e+02] [-6.91352428e-01 7.21177398e-01 -4.39884309e-02 -1.73328656e+02] [-6.26562874e-02 8.10355422e-04 9.98034836e-01 -1.56376330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58863999999994 meters 0.027340573761147346 Centerline is valid? [True, True] Translation: X:273.90, Y:-173.38, Z:-15.64 [[ 7.16332018e-01 6.96177786e-01 4.69566818e-02 2.73904471e+02] [-6.94634588e-01 7.17869183e-01 -4.63316891e-02 -1.73379901e+02] [-6.59638475e-02 5.71137052e-04 9.97821850e-01 -1.56382857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64863999999994 meters 0.027184407531522802 Centerline is valid? [True, True] Translation: X:273.94, Y:-173.43, Z:-15.64 [[ 7.11852270e-01 7.00802513e-01 4.62837358e-02 2.73944299e+02] [-6.99309968e-01 7.13355316e-01 -4.57139043e-02 -1.73428345e+02] [-6.50531680e-02 1.74868739e-04 9.97881784e-01 -1.56420585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70863999999995 meters 0.0271688178155226 Centerline is valid? [True, True] Translation: X:273.99, Y:-173.48, Z:-15.64 [[ 7.07990680e-01 7.04712478e-01 4.61467197e-02 2.73985833e+02] [-7.03234109e-01 7.09492988e-01 -4.56233202e-02 -1.73475211e+02] [-6.48920971e-02 -1.51061844e-04 9.97892275e-01 -1.56449448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76863999999995 meters 0.026925674188368096 Centerline is valid? [True, True] Translation: X:274.03, Y:-173.52, Z:-15.65 [[ 7.06475790e-01 7.06249746e-01 4.58612604e-02 2.74030606e+02] [-7.04789680e-01 7.07962733e-01 -4.53902571e-02 -1.73519685e+02] [-6.45249208e-02 -2.55425308e-04 9.97916063e-01 -1.56470325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82863999999995 meters 0.02702841256344697 Centerline is valid? [True, True] Translation: X:274.07, Y:-173.57, Z:-15.65 [[ 7.04740678e-01 7.07945957e-01 4.64015021e-02 2.74074577e+02] [-7.06451616e-01 7.06266507e-01 -4.59753853e-02 -1.73565240e+02] [-6.53199149e-02 -3.79691991e-04 9.97864302e-01 -1.56496659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88863999999995 meters 0.02722993515145841 Centerline is valid? [True, True] Translation: X:274.12, Y:-173.61, Z:-15.65 [[ 7.03240246e-01 7.09275463e-01 4.88003481e-02 2.74119987e+02] [-7.07622025e-01 7.04931256e-01 -4.84044878e-02 -1.73607365e+02] [-6.87330062e-02 -4.92217205e-04 9.97634969e-01 -1.56526944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94863999999995 meters 0.027159886234987343 Centerline is valid? [True, True] Translation: X:274.16, Y:-173.65, Z:-15.65 [[ 7.04860059e-01 7.07837688e-01 4.62396394e-02 2.74164468e+02] [-7.06347548e-01 7.06375052e-01 -4.59067116e-02 -1.73650374e+02] [-6.51570283e-02 -3.03448495e-04 9.97874977e-01 -1.56543859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00863999999996 meters 0.02701125657894107 Centerline is valid? [True, True] Translation: X:274.21, Y:-173.69, Z:-15.66 [[ 7.06306367e-01 7.06522095e-01 4.42475384e-02 2.74211378e+02] [-7.05152579e-01 7.07690970e-01 -4.39696675e-02 -1.73691157e+02] [-6.23791249e-02 -1.45209703e-04 9.98052515e-01 -1.56581895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06863999999996 meters 0.02718353493395824 Centerline is valid? [True, True] Translation: X:274.26, Y:-173.73, Z:-15.66 [[ 7.08458856e-01 7.04256634e-01 4.59199525e-02 2.74258867e+02] [-7.02773863e-01 7.09945480e-01 -4.56761744e-02 -1.73731847e+02] [-6.47684116e-02 8.83478747e-05 9.97900318e-01 -1.56611174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12863999999996 meters 0.02719640421956493 Centerline is valid? [True, True] Translation: X:274.30, Y:-173.77, Z:-15.67 [[ 7.08501558e-01 7.04255284e-01 4.52773279e-02 2.74304847e+02] [-7.02810939e-01 7.09946815e-01 -4.50810818e-02 -1.73774314e+02] [-6.38930848e-02 1.18615396e-04 9.97956742e-01 -1.56659684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18863999999996 meters 0.027191197398585075 Centerline is valid? [True, True] Translation: X:274.35, Y:-173.82, Z:-15.67 [[ 7.09435300e-01 7.03268664e-01 4.59863168e-02 2.74348539e+02] [-7.01773465e-01 7.10924135e-01 -4.58353418e-02 -1.73818037e+02] [-6.49273421e-02 2.45232629e-04 9.97889964e-01 -1.56683015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24863999999997 meters 0.027091049089752996 Centerline is valid? [True, True] Translation: X:274.39, Y:-173.86, Z:-15.67 [[ 7.08257044e-01 7.04481442e-01 4.55835264e-02 2.74393686e+02] [-7.03011989e-01 7.09722390e-01 -4.54782626e-02 -1.73861959e+02] [-6.43902413e-02 1.64534274e-04 9.97924782e-01 -1.56723120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30863999999997 meters 0.02710369068634579 Centerline is valid? [True, True] Translation: X:274.44, Y:-173.91, Z:-15.67 [[ 7.07929201e-01 7.04848196e-01 4.50029670e-02 2.74437714e+02] [-7.03413636e-01 7.09358156e-01 -4.49473403e-02 -1.73906427e+02] [-6.36042734e-02 1.63834041e-04 9.97975185e-01 -1.56748931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36863999999997 meters 0.027093930485322642 Centerline is valid? [True, True] Translation: X:274.48, Y:-173.95, Z:-15.68 [[ 7.05108317e-01 7.07701802e-01 4.45019254e-02 2.74482980e+02] [-7.06301705e-01 7.06511257e-01 -4.44943343e-02 -1.73949874e+02] [-6.29298318e-02 -5.84606432e-05 9.98017952e-01 -1.56772473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42864 meters 0.027054053903218148 Centerline is valid? [True, True] Translation: X:274.49, Y:-174.08, Z:-14.08 [[ 7.59024305e-01 -6.50731193e-01 -2.07609879e-02 2.74491656e+02] [-6.50356672e-01 -7.59300310e-01 2.23436215e-02 -1.74079812e+02] [-3.03035161e-02 -3.45730481e-03 -9.99534764e-01 -1.40796876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48864 meters 0.027277854293700107 Centerline is valid? [True, True] Translation: X:274.54, Y:-174.01, Z:-15.68 [[ 7.44979491e-01 6.65606384e-01 4.44263305e-02 2.74537685e+02] [-6.64491047e-01 7.46302531e-01 -3.85250574e-02 -1.74009975e+02] [-5.87980070e-02 -8.20521244e-04 9.98269563e-01 -1.56786339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54864 meters 0.027307264404771794 Centerline is valid? [True, True] Translation: X:274.59, Y:-174.05, Z:-15.68 [[ 7.43445015e-01 6.67418390e-01 4.29208801e-02 2.74587172e+02] [-6.66378399e-01 7.44682399e-01 -3.72552590e-02 -1.74048806e+02] [-5.68272689e-02 -9.04310816e-04 9.98383616e-01 -1.56811047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60864 meters 0.027434274417335005 Centerline is valid? [True, True] Translation: X:274.63, Y:-174.09, Z:-15.68 [[ 7.41472035e-01 6.69474573e-01 4.49779670e-02 2.74632993e+02] [-6.68333589e-01 7.42834187e-01 -3.90843290e-02 -1.74090371e+02] [-5.95771360e-02 -1.08034913e-03 9.98223120e-01 -1.56827640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66864 meters 0.02758684246511208 Centerline is valid? [True, True] Translation: X:274.68, Y:-174.13, Z:-15.69 [[ 7.39855089e-01 6.71117777e-01 4.70677877e-02 2.74682784e+02] [-6.69868969e-01 7.41349712e-01 -4.09410411e-02 -1.74127806e+02] [-6.23699513e-02 -1.23881278e-03 9.98052331e-01 -1.56854630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72864 meters 0.027795575950198614 Centerline is valid? [True, True] Translation: X:274.73, Y:-174.17, Z:-15.69 [[ 7.37727922e-01 6.73475859e-01 4.67737036e-02 2.74731419e+02] [-6.72244929e-01 7.39207891e-01 -4.07240604e-02 -1.74166518e+02] [-6.20021624e-02 -1.40010857e-03 9.98075033e-01 -1.56893959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78864 meters 0.02796848240633567 Centerline is valid? [True, True] Translation: X:274.78, Y:-174.21, Z:-15.69 [[ 7.35507415e-01 6.76058360e-01 4.44290006e-02 2.74778894e+02] [-6.74950432e-01 7.36846533e-01 -3.87182190e-02 -1.74206810e+02] [-5.89131307e-02 -1.50983595e-03 9.98261971e-01 -1.56907991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84864 meters 0.028348780273891292 Centerline is valid? [True, True] Translation: X:274.83, Y:-174.25, Z:-15.69 [[ 7.33224876e-01 6.78360548e-01 4.69919970e-02 2.74826191e+02] [-6.77123135e-01 7.34727065e-01 -4.09926797e-02 -1.74246996e+02] [-6.23341087e-02 -1.76251586e-03 9.98053782e-01 -1.56930527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90864 meters 0.028999083770911607 Centerline is valid? [True, True] Translation: X:274.88, Y:-174.28, Z:-15.70 [[ 7.28822177e-01 6.83089559e-01 4.69775371e-02 2.74876261e+02] [-6.81860677e-01 7.30331477e-01 -4.10115908e-02 -1.74284073e+02] [-6.23237636e-02 -2.14197837e-03 9.98053686e-01 -1.56963692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96863999999994 meters 0.029432050110210183 Centerline is valid? [True, True] Translation: X:274.92, Y:-174.32, Z:-15.70 [[ 7.26725169e-01 6.85436647e-01 4.52452359e-02 2.74923180e+02] [-6.84300325e-01 7.28128812e-01 -3.95158130e-02 -1.74324693e+02] [-6.00299462e-02 -2.24419373e-03 9.98194054e-01 -1.56988545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02863999999994 meters 0.029906834576030845 Centerline is valid? [True, True] Translation: X:274.97, Y:-174.36, Z:-15.70 [[ 7.23795723e-01 6.88488792e-01 4.58577672e-02 2.74971793e+02] [-6.87325541e-01 7.25242648e-01 -4.00836812e-02 -1.74362931e+02] [-6.08551738e-02 -2.50681764e-03 9.98143458e-01 -1.57020589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08863999999994 meters 0.030324309823305386 Centerline is valid? [True, True] Translation: X:275.02, Y:-174.40, Z:-15.71 [[ 7.23034641e-01 6.89157297e-01 4.77820846e-02 2.75023535e+02] [-6.87894155e-01 7.24606915e-01 -4.17905534e-02 -1.74398338e+02] [-6.34234937e-02 -2.65299895e-03 9.97983177e-01 -1.57056863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14863999999994 meters 0.02985631041474233 Centerline is valid? [True, True] Translation: X:275.07, Y:-174.44, Z:-15.71 [[ 7.23756914e-01 6.88462215e-01 4.68583870e-02 2.75072679e+02] [-6.87243708e-01 7.25267851e-01 -4.10198864e-02 -1.74436000e+02] [-6.22255234e-02 -2.51470522e-03 9.98058946e-01 -1.57073492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20863999999995 meters 0.02947645255902489 Centerline is valid? [True, True] Translation: X:275.12, Y:-174.47, Z:-15.71 [[ 7.25469885e-01 6.86594275e-01 4.77676389e-02 2.75124147e+02] [-6.85321462e-01 7.27036915e-01 -4.18547195e-02 -1.74471601e+02] [-6.34660476e-02 -2.37184954e-03 9.97981180e-01 -1.57110178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26863999999995 meters 0.02975804552502488 Centerline is valid? [True, True] Translation: X:275.18, Y:-174.51, Z:-15.71 [[ 7.23865625e-01 6.88401667e-01 4.60619340e-02 2.75176195e+02] [-6.87219613e-01 7.25325667e-01 -4.03965501e-02 -1.74506212e+02] [-6.12189554e-02 -2.41299046e-03 9.98121444e-01 -1.57148638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32863999999995 meters 0.030364645002950916 Centerline is valid? [True, True] Translation: X:275.23, Y:-174.54, Z:-15.72 [[ 7.20267742e-01 6.92271171e-01 4.44410417e-02 2.75228838e+02] [-6.91176475e-01 7.21632694e-01 -3.90042988e-02 -1.74540838e+02] [-5.90716603e-02 -2.62306437e-03 9.98250299e-01 -1.57162872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38863999999995 meters 0.030107723426537045 Centerline is valid? [True, True] Translation: X:275.28, Y:-174.57, Z:-15.72 [[ 7.21029861e-01 6.91314369e-01 4.69082380e-02 2.75281389e+02] [-6.90091472e-01 7.22549167e-01 -4.11881259e-02 -1.74574920e+02] [-6.23674516e-02 -2.67310629e-03 9.98049676e-01 -1.57194868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44863999999995 meters 0.02988048609219806 Centerline is valid? [True, True] Translation: X:275.33, Y:-174.61, Z:-15.72 [[ 7.22905161e-01 6.89312639e-01 4.74996301e-02 2.75332503e+02] [-6.88051915e-01 7.24459673e-01 -4.17461871e-02 -1.74611041e+02] [-6.31877409e-02 -2.50367738e-03 9.97998518e-01 -1.57222139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50863999999996 meters 0.029049371286735896 Centerline is valid? [True, True] Translation: X:275.38, Y:-174.65, Z:-15.72 [[ 7.25322047e-01 6.86650994e-01 4.91766243e-02 2.75383985e+02] [-6.85290784e-01 7.26983508e-01 -4.32610794e-02 -1.74646176e+02] [-6.54558580e-02 -2.32207267e-03 9.97852764e-01 -1.57244845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56863999999996 meters 0.028817681400258536 Centerline is valid? [True, True] Translation: X:275.43, Y:-174.68, Z:-15.73 [[ 7.27597709e-01 6.84200049e-01 4.97178610e-02 2.75433619e+02] [-6.82801264e-01 7.29291372e-01 -4.37781785e-02 -1.74683981e+02] [-6.62118390e-02 -2.09451597e-03 9.97803390e-01 -1.57294252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62863999999996 meters 0.028371206784704464 Centerline is valid? [True, True] Translation: X:275.48, Y:-174.72, Z:-15.73 [[ 7.31292284e-01 6.80342043e-01 4.84386132e-02 2.75482292e+02] [-6.79004000e-01 7.32892823e-01 -4.26811346e-02 -1.74721370e+02] [-6.45380823e-02 -1.67762769e-03 9.97913835e-01 -1.57340749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68863999999996 meters 0.02771492024984083 Centerline is valid? [True, True] Translation: X:275.53, Y:-174.76, Z:-15.74 [[ 7.34352293e-01 6.76975103e-01 4.93094236e-02 2.75529001e+02] [-6.75579770e-01 7.36004597e-01 -4.34650129e-02 -1.74762131e+02] [-6.57166940e-02 -1.39381718e-03 9.97837348e-01 -1.57358646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74863999999997 meters 0.027576811761019934 Centerline is valid? [True, True] Translation: X:275.58, Y:-174.80, Z:-15.74 [[ 7.36278207e-01 6.74702674e-01 5.16788583e-02 2.75578059e+02] [-6.73161767e-01 7.38088619e-01 -4.55897459e-02 -1.74801702e+02] [-6.89031006e-02 -1.22149521e-03 9.97622609e-01 -1.57394047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80863999999997 meters 0.027753273938881 Centerline is valid? [True, True] Translation: X:275.62, Y:-174.84, Z:-15.74 [[ 7.36025921e-01 6.75073636e-01 5.04125833e-02 2.75622929e+02] [-6.73606562e-01 7.37749368e-01 -4.44979801e-02 -1.74844375e+02] [-6.72312647e-02 -1.20658007e-03 9.97736689e-01 -1.57446718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86863999999997 meters 0.027960003044559773 Centerline is valid? [True, True] Translation: X:275.67, Y:-174.88, Z:-15.75 [[ 7.32517127e-01 6.78936858e-01 4.96326689e-02 2.75671226e+02] [-6.77521000e-01 7.34195120e-01 -4.38499821e-02 -1.74883975e+02] [-6.62114324e-02 -1.50631254e-03 9.97804478e-01 -1.57455521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92864 meters 0.028266884410811155 Centerline is valid? [True, True] Translation: X:275.72, Y:-174.93, Z:-15.75 [[ 7.30343230e-01 6.81331837e-01 4.88435661e-02 2.75716338e+02] [-6.79963433e-01 7.31972779e-01 -4.31923535e-02 -1.74926959e+02] [-6.51804864e-02 -1.66659599e-03 9.97872099e-01 -1.57466744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98864 meters 0.028429026029521794 Centerline is valid? [True, True] Translation: X:275.76, Y:-174.97, Z:-15.75 [[ 7.28840131e-01 6.82670519e-01 5.24692924e-02 2.75762860e+02] [-6.81092197e-01 7.30723871e-01 -4.64332240e-02 -1.74967809e+02] [-7.00391576e-02 -1.89402860e-03 9.97542445e-01 -1.57519278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04864 meters 0.028744527399278394 Centerline is valid? [True, True] Translation: X:275.81, Y:-175.01, Z:-15.75 [[ 7.27152586e-01 6.84630176e-01 5.03054530e-02 2.75810461e+02] [-6.83182607e-01 7.28887922e-01 -4.45412382e-02 -1.75009328e+02] [-6.71613128e-02 -1.97953404e-03 9.97740166e-01 -1.57540591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10864 meters 0.02857475977532484 Centerline is valid? [True, True] Translation: X:275.86, Y:-175.05, Z:-15.76 [[ 7.26314080e-01 6.85585509e-01 4.94000733e-02 2.75862237e+02] [-6.84189369e-01 7.27989352e-01 -4.37768255e-02 -1.75046409e+02] [-6.59754846e-02 -2.00328027e-03 9.97819233e-01 -1.57579330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16864 meters 0.028539515944337936 Centerline is valid? [True, True] Translation: X:275.91, Y:-175.08, Z:-15.76 [[ 7.27131163e-01 6.84643510e-01 5.04334854e-02 2.75913108e+02] [-6.83184916e-01 7.28875488e-01 -4.47089925e-02 -1.75083249e+02] [-6.73694528e-02 -1.94609471e-03 9.97726200e-01 -1.57613733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22864 meters 0.028185778876446098 Centerline is valid? [True, True] Translation: X:275.96, Y:-175.12, Z:-15.77 [[ 7.30445999e-01 6.80938398e-01 5.26454210e-02 2.75961717e+02] [-6.79338344e-01 7.32338806e-01 -4.66828370e-02 -1.75121599e+02] [-7.03424210e-02 -1.66476164e-03 9.97521515e-01 -1.57658498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28864 meters 0.027651909297482843 Centerline is valid? [True, True] Translation: X:276.01, Y:-175.16, Z:-15.77 [[ 7.34070398e-01 6.76986812e-01 5.31931090e-02 2.76009889e+02] [-6.75341935e-01 7.35994018e-01 -4.71813195e-02 -1.75160765e+02] [-7.10909411e-02 -1.28912720e-03 9.97469005e-01 -1.57701768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34864 meters 0.027495571479413325 Centerline is valid? [True, True] Translation: X:276.06, Y:-175.20, Z:-15.77 [[ 7.35622637e-01 6.75397344e-01 5.19400019e-02 2.76056499e+02] [-6.73824331e-01 7.37453198e-01 -4.60820059e-02 -1.75201857e+02] [-6.94269849e-02 -1.09947035e-03 9.97586430e-01 -1.57741646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40864 meters 0.027509620329789063 Centerline is valid? [True, True] Translation: X:276.10, Y:-175.24, Z:-15.78 [[ 7.36690217e-01 6.74220117e-01 5.21033301e-02 2.76102771e+02] [-6.72633376e-01 7.38529802e-01 -4.62393008e-02 -1.75243557e+02] [-6.96553289e-02 -9.82398281e-04 9.97570634e-01 -1.57767752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46863999999994 meters 0.02745539204344503 Centerline is valid? [True, True] Translation: X:276.15, Y:-175.28, Z:-15.78 [[ 7.37439789e-01 6.73398741e-01 5.21219087e-02 2.76150123e+02] [-6.71807947e-01 7.39278928e-01 -4.62682368e-02 -1.75284526e+02] [-6.96896012e-02 -8.95873697e-04 9.97568322e-01 -1.57795079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52863999999994 meters 0.02725705720463868 Centerline is valid? [True, True] Translation: X:276.19, Y:-175.33, Z:-15.78 [[ 7.40410507e-01 6.70243888e-01 5.06498945e-02 2.76194760e+02] [-6.68733571e-01 7.42140690e-01 -4.49734148e-02 -1.75327763e+02] [-6.77325040e-02 -5.72495941e-04 9.97703353e-01 -1.57812296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58863999999994 meters 0.027075741365143274 Centerline is valid? [True, True] Translation: X:276.24, Y:-175.37, Z:-15.78 [[ 7.43548167e-01 6.66676348e-01 5.17568469e-02 2.76241294e+02] [-6.65089525e-01 7.45347294e-01 -4.59710166e-02 -1.75369790e+02] [-6.92246152e-02 -2.41271610e-04 9.97601070e-01 -1.57849742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64863999999994 meters 0.027214091597988963 Centerline is valid? [True, True] Translation: X:276.28, Y:-175.41, Z:-15.79 [[ 7.44718985e-01 6.65259491e-01 5.31360746e-02 2.76284936e+02] [-6.63582020e-01 7.46612215e-01 -4.72133816e-02 -1.75413705e+02] [-7.10811926e-02 -9.94421154e-05 9.97470528e-01 -1.57885722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70863999999995 meters 0.02715553932526959 Centerline is valid? [True, True] Translation: X:276.33, Y:-175.46, Z:-15.79 [[ 7.43681617e-01 6.66527168e-01 5.17608616e-02 2.76329503e+02] [-6.64937018e-01 7.45480715e-01 -4.60137631e-02 -1.75456673e+02] [-6.92561473e-02 -1.98123246e-04 9.97598891e-01 -1.57903853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76863999999995 meters 0.02718757631203478 Centerline is valid? [True, True] Translation: X:276.38, Y:-175.50, Z:-15.79 [[ 7.41479848e-01 6.68866927e-01 5.31476180e-02 2.76375045e+02] [-6.67193128e-01 7.43382054e-01 -4.72911286e-02 -1.75498665e+02] [-7.11404573e-02 -3.94306673e-04 9.97466230e-01 -1.57913293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82863999999995 meters 0.02733978740910802 Centerline is valid? [True, True] Translation: X:276.42, Y:-175.54, Z:-15.80 [[ 7.38436682e-01 6.72130385e-01 5.43324268e-02 2.76422041e+02] [-6.70386481e-01 7.40432489e-01 -4.83910716e-02 -1.75539529e+02] [-7.27546036e-02 -6.89982054e-04 9.97349634e-01 -1.57957170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88863999999995 meters 0.027486602162521464 Centerline is valid? [True, True] Translation: X:276.47, Y:-175.58, Z:-15.80 [[ 7.36504081e-01 6.74270030e-01 5.40524376e-02 2.76469994e+02] [-6.72546433e-01 7.38484383e-01 -4.81882892e-02 -1.75580225e+02] [-7.24088002e-02 -8.61902394e-04 9.97374665e-01 -1.57985259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94863999999995 meters 0.02753565770196067 Centerline is valid? [True, True] Translation: X:276.52, Y:-175.62, Z:-15.80 [[ 7.35366953e-01 6.75741783e-01 5.10733597e-02 2.76522851e+02] [-6.74204262e-01 7.37137835e-01 -4.55678074e-02 -1.75615069e+02] [-6.84401772e-02 -9.24817160e-04 9.97654793e-01 -1.58013293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00863999999996 meters 0.027463916921496953 Centerline is valid? [True, True] Translation: X:276.57, Y:-175.65, Z:-15.80 [[ 7.37507090e-01 6.73358255e-01 5.16909440e-02 2.76571075e+02] [-6.71776408e-01 7.39316015e-01 -4.61333672e-02 -1.75654955e+02] [-6.92802263e-02 -7.01071275e-04 9.97596992e-01 -1.58040093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06863999999996 meters 0.027329858700806103 Centerline is valid? [True, True] Translation: X:276.62, Y:-175.69, Z:-15.81 [[ 7.43739804e-01 6.66440569e-01 5.20391382e-02 2.76624055e+02] [-6.64819383e-01 7.45558158e-01 -4.64566672e-02 -1.75688958e+02] [-6.97588117e-02 -4.49552291e-05 9.97563886e-01 -1.58068898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12863999999996 meters 0.027453452124004518 Centerline is valid? [True, True] Translation: X:276.67, Y:-175.73, Z:-15.81 [[ 7.50293275e-01 6.59047049e-01 5.21247464e-02 2.76673146e+02] [-6.57401670e-01 7.52101428e-01 -4.65455273e-02 -1.75726650e+02] [-6.98787885e-02 6.55900748e-04 9.97555274e-01 -1.58109344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18863999999996 meters 0.027398727823124545 Centerline is valid? [True, True] Translation: X:276.72, Y:-175.77, Z:-15.82 [[ 7.52938843e-01 6.56242215e-01 4.92874512e-02 2.76721615e+02] [-6.54764526e-01 7.54549792e-01 -4.40230275e-02 -1.75765744e+02] [-6.60796051e-02 8.74972838e-04 9.97813971e-01 -1.58150343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24863999999997 meters 0.027815069945280126 Centerline is valid? [True, True] Translation: X:276.77, Y:-175.81, Z:-15.82 [[ 7.53897077e-01 6.55138795e-01 4.93189257e-02 2.76768075e+02] [-6.53656101e-01 7.55507907e-01 -4.40625156e-02 -1.75806602e+02] [-6.61279017e-02 9.80985092e-04 9.97810673e-01 -1.58174245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30863999999997 meters 0.027486636713135525 Centerline is valid? [True, True] Translation: X:276.82, Y:-175.85, Z:-15.82 [[ 7.53317218e-01 6.55660330e-01 5.12123093e-02 2.76815637e+02] [-6.54061840e-01 7.55055343e-01 -4.57661428e-02 -1.75846618e+02] [-6.86751720e-02 9.80406163e-04 9.97638592e-01 -1.58203356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36863999999997 meters 0.0281741020666716 Centerline is valid? [True, True] Translation: X:276.86, Y:-175.89, Z:-15.82 [[ 7.57154457e-01 6.51179445e-01 5.17924595e-02 2.76858796e+02] [-6.49533207e-01 7.58922484e-01 -4.62955213e-02 -1.75890980e+02] [-6.94531539e-02 1.41193796e-03 9.97584215e-01 -1.58237120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42864 meters 0.029039977171822585 Centerline is valid? [True, True] Translation: X:276.90, Y:-175.94, Z:-15.83 [[ 7.61651814e-01 6.46102368e-01 4.93785766e-02 2.76902032e+02] [-6.44594874e-01 7.63248653e-01 -4.41468247e-02 -1.75935759e+02] [-6.62115000e-02 1.79533178e-03 9.97803996e-01 -1.58258242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48864 meters 0.028660574795446096 Centerline is valid? [True, True] Translation: X:276.94, Y:-175.99, Z:-15.82 [[ 7.60253081e-01 6.47704363e-01 4.99430890e-02 2.76940960e+02] [-6.46164851e-01 7.61889903e-01 -4.46627521e-02 -1.75985947e+02] [-6.69793946e-02 1.68352621e-03 9.97752939e-01 -1.58245341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54864 meters 0.02830066251043259 Centerline is valid? [True, True] Translation: X:276.98, Y:-176.03, Z:-15.83 [[ 7.57116702e-01 6.51397015e-01 4.95603565e-02 2.76983292e+02] [-6.49887594e-01 7.58735839e-01 -4.43400603e-02 -1.76031367e+02] [-6.64862016e-02 1.36193936e-03 9.97786415e-01 -1.58272771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60864 meters 0.028219906326179742 Centerline is valid? [True, True] Translation: X:277.02, Y:-176.08, Z:-15.83 [[ 7.54295250e-01 6.54822787e-01 4.73898010e-02 2.77022201e+02] [-6.53447674e-01 7.55781744e-01 -4.24275137e-02 -1.76081840e+02] [-6.35988492e-02 1.03611687e-03 9.97975006e-01 -1.58296959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66864 meters 0.02833876219774074 Centerline is valid? [True, True] Translation: X:277.07, Y:-176.12, Z:-15.83 [[ 7.53366900e-01 6.55818895e-01 4.83724233e-02 2.77069839e+02] [-6.54386643e-01 7.54917610e-01 -4.33303975e-02 -1.76123308e+02] [-6.49340876e-02 9.89419490e-04 9.97889065e-01 -1.58328126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72864 meters 0.02840668094829269 Centerline is valid? [True, True] Translation: X:277.11, Y:-176.17, Z:-15.83 [[ 7.52341556e-01 6.57099878e-01 4.69247707e-02 2.77114239e+02] [-6.55752050e-01 7.53803005e-01 -4.20746827e-02 -1.76167116e+02] [-6.30193020e-02 8.83517638e-04 9.98011917e-01 -1.58348022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78864 meters 0.028317145495323076 Centerline is valid? [True, True] Translation: X:277.16, Y:-176.21, Z:-15.84 [[ 7.50430052e-01 6.59286045e-01 4.68684128e-02 2.77161418e+02] [-6.57943322e-01 7.51891868e-01 -4.20618962e-02 -1.76207976e+02] [-6.29707996e-02 7.27751740e-04 9.98015104e-01 -1.58371407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84864 meters 0.028280120870503585 Centerline is valid? [True, True] Translation: X:277.20, Y:-176.25, Z:-15.84 [[ 7.50113938e-01 6.59662672e-01 4.66287352e-02 2.77204244e+02] [-6.58331896e-01 7.51561466e-01 -4.18864859e-02 -1.76254384e+02] [-6.26753118e-02 7.22453228e-04 9.98033709e-01 -1.58415124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90864 meters 0.0284311231316314 Centerline is valid? [True, True] Translation: X:277.25, Y:-176.30, Z:-15.84 [[ 7.50494542e-01 6.59274185e-01 4.59944741e-02 2.77249220e+02] [-6.57976002e-01 7.51902218e-01 -4.13598344e-02 -1.76298174e+02] [-6.18508182e-02 7.77069846e-04 9.98085103e-01 -1.58446065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96863999999994 meters 0.028398276018794254 Centerline is valid? [True, True] Translation: X:277.29, Y:-176.34, Z:-15.85 [[ 7.47313866e-01 6.62866691e-01 4.61490538e-02 2.77291182e+02] [-6.61563941e-01 7.48737261e-01 -4.15411313e-02 -1.76344158e+02] [-6.20897484e-02 5.13713551e-04 9.98070438e-01 -1.58476182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02863999999994 meters 0.02820294322504447 Centerline is valid? [True, True] Translation: X:277.33, Y:-176.39, Z:-15.85 [[ 7.44479367e-01 6.65812939e-01 4.94328031e-02 2.77334463e+02] [-6.64321592e-01 7.46118642e-01 -4.45398046e-02 -1.76388565e+02] [-6.65379141e-02 3.19687165e-04 9.97783846e-01 -1.58520937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08863999999994 meters 0.02810082080192458 Centerline is valid? [True, True] Translation: X:277.38, Y:-176.43, Z:-15.86 [[ 7.42547060e-01 6.67990350e-01 4.91198191e-02 2.77378539e+02] [-6.66519777e-01 7.44169919e-01 -4.43003248e-02 -1.76433180e+02] [-6.61456812e-02 1.55745125e-04 9.97809964e-01 -1.58554035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14863999999994 meters 0.028217740752375126 Centerline is valid? [True, True] Translation: X:277.43, Y:-176.47, Z:-15.86 [[ 7.40803083e-01 6.70088028e-01 4.68276280e-02 2.77425549e+02] [-6.68753169e-01 7.42281641e-01 -4.22748677e-02 -1.76474174e+02] [-6.30871713e-02 1.22777253e-06 9.98008020e-01 -1.58579401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20863999999995 meters 0.028407889068506435 Centerline is valid? [True, True] Translation: X:277.47, Y:-176.51, Z:-15.86 [[ 7.38259350e-01 6.72812395e-01 4.79229816e-02 2.77472452e+02] [-6.71417363e-01 7.39813110e-01 -4.33045755e-02 -1.76514927e+02] [-6.45899053e-02 -2.06314211e-04 9.97911871e-01 -1.58602590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26863999999995 meters 0.028360123897401345 Centerline is valid? [True, True] Translation: X:277.52, Y:-176.55, Z:-15.86 [[ 7.36102112e-01 6.75041618e-01 4.97241838e-02 2.77519764e+02] [-6.73541809e-01 7.37779550e-01 -4.49751751e-02 -1.76554780e+02] [-6.70456010e-02 -3.84995324e-04 9.97749838e-01 -1.58635439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32863999999995 meters 0.028087946920091818 Centerline is valid? [True, True] Translation: X:277.57, Y:-176.59, Z:-15.87 [[ 7.38175102e-01 6.72961966e-01 4.71138199e-02 2.77569442e+02] [-6.71608966e-01 7.39677070e-01 -4.26524148e-02 -1.76592359e+02] [-6.35524652e-02 -1.57113244e-04 9.97978486e-01 -1.58665371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38863999999995 meters 0.028236854424746455 Centerline is valid? [True, True] Translation: X:277.62, Y:-176.63, Z:-15.87 [[ 7.41253026e-01 6.69343603e-01 5.02303999e-02 2.77616092e+02] [-6.67794106e-01 7.42952961e-01 -4.55184470e-02 -1.76633461e+02] [-6.77863056e-02 1.97121593e-04 9.97699844e-01 -1.58707166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44863999999995 meters 0.028285119269524032 Centerline is valid? [True, True] Translation: X:277.66, Y:-176.68, Z:-15.87 [[ 7.43786272e-01 6.66698421e-01 4.79082125e-02 2.77661883e+02] [-6.65280997e-01 7.45327455e-01 -4.34531863e-02 -1.76675339e+02] [-6.46774768e-02 4.47460096e-04 9.97906120e-01 -1.58744109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50863999999996 meters 0.02830752787250021 Centerline is valid? [True, True] Translation: X:277.71, Y:-176.72, Z:-15.88 [[ 7.43636955e-01 6.66952750e-01 4.66702163e-02 2.77707247e+02] [-6.65605794e-01 7.45099882e-01 -4.23685440e-02 -1.76717464e+02] [-6.30317896e-02 4.42848675e-04 9.98011421e-01 -1.58756546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56863999999996 meters 0.02818820909727738 Centerline is valid? [True, True] Translation: X:277.75, Y:-176.76, Z:-15.88 [[ 7.41494974e-01 6.69133695e-01 4.94499831e-02 2.77750587e+02] [-6.67623273e-01 7.43141981e-01 -4.49350798e-02 -1.76762613e+02] [-6.68159344e-02 3.05176306e-04 9.97765272e-01 -1.58786924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62863999999996 meters 0.028075101282595785 Centerline is valid? [True, True] Translation: X:277.79, Y:-176.81, Z:-15.88 [[ 7.38249530e-01 6.72756646e-01 4.88480060e-02 2.77793140e+02] [-6.71288015e-01 7.39863836e-01 -4.44286514e-02 -1.76808130e+02] [-6.60305436e-02 8.34999851e-06 9.97817602e-01 -1.58830117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68863999999996 meters 0.028308763702137075 Centerline is valid? [True, True] Translation: X:277.84, Y:-176.85, Z:-15.88 [[ 7.31934323e-01 6.79771752e-01 4.67173673e-02 2.77839135e+02] [-6.78440205e-01 7.33423510e-01 -4.25304951e-02 -1.76851854e+02] [-6.31746447e-02 -5.65411148e-04 9.98002327e-01 -1.58825906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74863999999997 meters 0.028472620525421172 Centerline is valid? [True, True] Translation: X:277.89, Y:-176.89, Z:-15.88 [[ 7.29563920e-01 6.82341564e-01 4.63300821e-02 2.77885787e+02] [-6.81034375e-01 7.31033125e-01 -4.22226167e-02 -1.76894027e+02] [-6.26790710e-02 -7.48280793e-04 9.98033453e-01 -1.58849428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80863999999997 meters 0.028503154567072402 Centerline is valid? [True, True] Translation: X:277.93, Y:-176.93, Z:-15.89 [[ 7.27468426e-01 6.84477824e-01 4.77472244e-02 2.77932715e+02] [-6.83090968e-01 7.29033092e-01 -4.35600822e-02 -1.76934747e+02] [-6.46252170e-02 -9.27113287e-04 9.97909175e-01 -1.58879841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86863999999997 meters 0.028480633460742092 Centerline is valid? [True, True] Translation: X:277.98, Y:-176.98, Z:-15.89 [[ 7.30066927e-01 6.81596219e-01 4.92836330e-02 2.77978843e+02] [-6.80108976e-01 7.31728200e-01 -4.50069166e-02 -1.76977204e+02] [-6.67387682e-02 -6.60179856e-04 9.97770265e-01 -1.58915741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92864 meters 0.027955568160339103 Centerline is valid? [True, True] Translation: X:278.02, Y:-177.02, Z:-15.90 [[ 7.32365015e-01 6.79110712e-01 4.94987571e-02 2.78022634e+02] [-6.77601598e-01 7.34035749e-01 -4.52503373e-02 -1.77020972e+02] [-6.70638460e-02 -4.00673059e-04 9.97748606e-01 -1.58951057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98864 meters 0.027965199779172882 Centerline is valid? [True, True] Translation: X:278.06, Y:-177.07, Z:-15.90 [[ 7.36134433e-01 6.75005480e-01 4.97362997e-02 2.78064041e+02] [-6.73469399e-01 7.37812715e-01 -4.55122632e-02 -1.77068466e+02] [-6.74171014e-02 7.26816047e-06 9.97724879e-01 -1.58982566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04864 meters 0.027876249865115155 Centerline is valid? [True, True] Translation: X:278.11, Y:-177.11, Z:-15.90 [[ 7.33476339e-01 6.77971150e-01 4.86577776e-02 2.78106119e+02] [-6.76504547e-01 7.35088477e-01 -4.45705072e-02 -1.77114745e+02] [-6.59852896e-02 -2.25795329e-04 9.97820570e-01 -1.59017886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10864 meters 0.027986963143526482 Centerline is valid? [True, True] Translation: X:278.15, Y:-177.16, Z:-15.90 [[ 7.29446816e-01 6.82348689e-01 4.80375900e-02 2.78148097e+02] [-6.80925930e-01 7.31026627e-01 -4.40448490e-02 -1.77162832e+02] [-6.51707023e-02 -5.81665761e-04 9.97873961e-01 -1.59039826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16864 meters 0.02771504959157398 Centerline is valid? [True, True] Translation: X:278.19, Y:-177.21, Z:-15.91 [[ 7.27639272e-01 6.84307597e-01 4.75836349e-02 2.78193164e+02] [-6.82912804e-01 7.29193116e-01 -4.36749581e-02 -1.77206784e+02] [-6.45847646e-02 -7.15858812e-04 9.97911968e-01 -1.59070236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22864 meters 0.027328136206156987 Centerline is valid? [True, True] Translation: X:278.24, Y:-177.25, Z:-15.91 [[ 7.27549286e-01 6.84392387e-01 4.77398902e-02 2.78239118e+02] [-6.82985492e-01 7.29113560e-01 -4.38660998e-02 -1.77250231e+02] [-6.48294260e-02 -6.90902781e-04 9.97896121e-01 -1.59112568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28864 meters 0.02692939838205785 Centerline is valid? [True, True] Translation: X:278.29, Y:-177.29, Z:-15.91 [[ 7.28218343e-01 6.83776530e-01 4.63433084e-02 2.78285679e+02] [-6.82446825e-01 7.29691246e-01 -4.26264779e-02 -1.77291910e+02] [-6.29632916e-02 -5.85460561e-04 9.98015672e-01 -1.59134619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34864 meters 0.026975124981433167 Centerline is valid? [True, True] Translation: X:278.33, Y:-177.33, Z:-15.92 [[ 7.28349868e-01 6.83420352e-01 4.94276427e-02 2.78330677e+02] [-6.81903713e-01 7.30024869e-01 -4.55084284e-02 -1.77334796e+02] [-6.71847946e-02 -5.58835250e-04 9.97740393e-01 -1.59161344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40864 meters 0.026815289241541244 Centerline is valid? [True, True] Translation: X:278.38, Y:-177.38, Z:-15.92 [[ 7.27808803e-01 6.83942003e-01 5.01765131e-02 2.78377708e+02] [-6.82377082e-01 7.29536152e-01 -4.62441447e-02 -1.77377281e+02] [-6.82338932e-02 -5.82406969e-04 9.97669182e-01 -1.59195750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46863999999994 meters 0.026633665092910576 Centerline is valid? [True, True] Translation: X:278.42, Y:-177.42, Z:-15.92 [[ 7.26015429e-01 6.85937521e-01 4.89010697e-02 2.78420356e+02] [-6.84452567e-01 7.27660090e-01 -4.51162720e-02 -1.77424553e+02] [-6.65303005e-02 -7.15353143e-04 9.97784149e-01 -1.59208892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52863999999994 meters 0.026746996348634665 Centerline is valid? [True, True] Translation: X:278.47, Y:-177.47, Z:-15.92 [[ 7.25419046e-01 6.86396648e-01 5.12528103e-02 2.78466208e+02] [-6.84762863e-01 7.27226972e-01 -4.73365836e-02 -1.77466994e+02] [-6.97640983e-02 -7.57161799e-04 9.97563230e-01 -1.59247638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58863999999994 meters 0.026899944897306488 Centerline is valid? [True, True] Translation: X:278.51, Y:-177.51, Z:-15.93 [[ 7.22331673e-01 6.89991647e-01 4.63517113e-02 2.78510584e+02] [-6.88660652e-01 7.23816679e-01 -4.28476550e-02 -1.77510992e+02] [-6.31146658e-02 -9.70381373e-04 9.98005810e-01 -1.59274881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64863999999994 meters 0.02691022028971058 Centerline is valid? [True, True] Translation: X:278.56, Y:-177.55, Z:-15.93 [[ 7.22850529e-01 6.89397005e-01 4.71050087e-02 2.78558270e+02] [-6.88018317e-01 7.24383155e-01 -4.35871573e-02 -1.77551619e+02] [-6.41709305e-02 -9.02109057e-04 9.97938514e-01 -1.59289545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70863999999995 meters 0.026724973195631857 Centerline is valid? [True, True] Translation: X:278.60, Y:-177.59, Z:-15.93 [[ 7.25390763e-01 6.86635162e-01 4.83776263e-02 2.78604458e+02] [-6.85171449e-01 7.27001889e-01 -4.48144990e-02 -1.77593736e+02] [-6.59418365e-02 -6.38944665e-04 9.97823264e-01 -1.59332101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76863999999995 meters 0.026547677448933694 Centerline is valid? [True, True] Translation: X:278.65, Y:-177.64, Z:-15.94 [[ 7.30099873e-01 6.81766662e-01 4.63507696e-02 2.78648262e+02] [-6.80410494e-01 7.31569678e-01 -4.29810052e-02 -1.77637500e+02] [-6.32118340e-02 -1.57123593e-04 9.98000120e-01 -1.59380560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82863999999995 meters 0.026364890414018346 Centerline is valid? [True, True] Translation: X:278.70, Y:-177.68, Z:-15.94 [[ 7.30710118e-01 6.81137663e-01 4.59805033e-02 2.78695490e+02] [-6.79799227e-01 7.32155365e-01 -4.26794095e-02 -1.77679261e+02] [-6.27354254e-02 -7.12341757e-05 9.98030191e-01 -1.59406072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88863999999995 meters 0.026429857914160727 Centerline is valid? [True, True] Translation: X:278.74, Y:-177.72, Z:-15.94 [[ 7.23809788e-01 6.88599369e-01 4.39351767e-02 2.78740338e+02] [-6.87388511e-01 7.25141699e-01 -4.08234097e-02 -1.77724206e+02] [-5.99702028e-02 -6.52152212e-04 9.98199955e-01 -1.59403123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94863999999995 meters 0.02712615235034616 Centerline is valid? [True, True] Translation: X:278.79, Y:-177.77, Z:-15.94 [[ 7.19200839e-01 6.93392330e-01 4.42406005e-02 2.78785798e+02] [-6.92170970e-01 7.20559521e-01 -4.11500447e-02 -1.77766607e+02] [-6.04111112e-02 -1.02691269e-03 9.98173053e-01 -1.59443197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00863999999996 meters 0.027452806685341523 Centerline is valid? [True, True] Translation: X:278.83, Y:-177.81, Z:-15.95 [[ 7.15779367e-01 6.96980081e-01 4.33435604e-02 2.78834422e+02] [-6.95812097e-01 7.17089354e-01 -4.03532490e-02 -1.77805703e+02] [-5.92066165e-02 -1.27495059e-03 9.98244935e-01 -1.59464421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06863999999996 meters 0.02770893340728269 Centerline is valid? [True, True] Translation: X:278.88, Y:-177.84, Z:-15.95 [[ 7.14475075e-01 6.98244592e-01 4.44955839e-02 2.78884763e+02] [-6.97013638e-01 7.15857921e-01 -4.14659541e-02 -1.77843359e+02] [-6.08058944e-02 -1.38763812e-03 9.98148645e-01 -1.59503855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12863999999996 meters 0.02768433611133101 Centerline is valid? [True, True] Translation: X:278.93, Y:-177.88, Z:-15.95 [[ 7.13402547e-01 6.99185582e-01 4.68649981e-02 2.78934254e+02] [-6.97819168e-01 7.14938617e-01 -4.37170788e-02 -1.77881626e+02] [-6.40719481e-02 -1.51541866e-03 9.97944131e-01 -1.59535628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18863999999996 meters 0.02785247858748699 Centerline is valid? [True, True] Translation: X:278.98, Y:-177.92, Z:-15.96 [[ 7.14432699e-01 6.98101808e-01 4.73263598e-02 2.78984165e+02] [-6.96703233e-01 7.15997137e-01 -4.41894365e-02 -1.77918453e+02] [-6.47342636e-02 -1.40204951e-03 9.97901553e-01 -1.59588924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24863999999997 meters 0.02725908311837421 Centerline is valid? [True, True] Translation: X:279.03, Y:-177.96, Z:-15.96 [[ 7.19613262e-01 6.92723401e-01 4.78648371e-02 2.79031081e+02] [-6.91278020e-01 7.21202806e-01 -4.47349115e-02 -1.77959052e+02] [-6.55091749e-02 -8.96074203e-04 9.97851565e-01 -1.59598079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30863999999997 meters 0.026870818378297204 Centerline is valid? [True, True] Translation: X:279.08, Y:-178.00, Z:-15.97 [[ 7.24247453e-01 6.87813334e-01 4.87693043e-02 2.79075607e+02] [-6.86298625e-01 7.25887481e-01 -4.56241323e-02 -1.78001968e+02] [-6.67819140e-02 -4.27144875e-04 9.97767505e-01 -1.59656566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36863999999997 meters 0.02680920330799191 Centerline is valid? [True, True] Translation: X:279.12, Y:-178.05, Z:-15.97 [[ 7.24543234e-01 6.87545659e-01 4.81463276e-02 2.79118386e+02] [-6.86066063e-01 7.26141055e-01 -4.50835400e-02 -1.78047786e+02] [-6.59580174e-02 -3.66587592e-04 9.97822332e-01 -1.59661647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42864 meters 0.026645809559240813 Centerline is valid? [True, True] Translation: X:279.16, Y:-178.09, Z:-15.97 [[ 7.23805940e-01 6.88315781e-01 4.82322082e-02 2.79162367e+02] [-6.86829660e-01 7.25411070e-01 -4.52083769e-02 -1.78093174e+02] [-6.61058170e-02 -4.05219350e-04 9.97812536e-01 -1.59691660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48864 meters 0.026857386670445727 Centerline is valid? [True, True] Translation: X:279.20, Y:-178.14, Z:-15.97 [[ 7.22175909e-01 6.90047564e-01 4.79198943e-02 2.79203253e+02] [-6.88581276e-01 7.23763832e-01 -4.49637881e-02 -1.78140946e+02] [-6.57098387e-02 -5.24977423e-04 9.97838635e-01 -1.59721943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54864 meters 0.026501876091854327 Centerline is valid? [True, True] Translation: X:279.25, Y:-178.19, Z:-15.97 [[ 7.23321771e-01 6.88841113e-01 4.79951756e-02 2.79248607e+02] [-6.87364354e-01 7.24912254e-01 -4.50829110e-02 -1.78185146e+02] [-6.58472535e-02 -3.80721783e-04 9.97829642e-01 -1.59739496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60864 meters 0.026534752642008805 Centerline is valid? [True, True] Translation: X:279.29, Y:-178.23, Z:-15.98 [[ 7.24286264e-01 6.87688988e-01 4.99325826e-02 2.79291899e+02] [-6.86084270e-01 7.26005367e-01 -4.69529735e-02 -1.78229173e+02] [-6.85403658e-02 -2.50565668e-04 9.97648313e-01 -1.59778139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66864 meters 0.02640254679496295 Centerline is valid? [True, True] Translation: X:279.34, Y:-178.27, Z:-15.98 [[ 7.23915268e-01 6.88240325e-01 4.76648772e-02 2.79336889e+02] [-6.86776706e-01 7.25482728e-01 -4.48616562e-02 -1.78271984e+02] [-6.54556459e-02 -2.59089462e-04 9.97855446e-01 -1.59816401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72864 meters 0.026539570099105847 Centerline is valid? [True, True] Translation: X:279.38, Y:-178.32, Z:-15.99 [[ 7.22584574e-01 6.89569216e-01 4.86397935e-02 2.79379763e+02] [-6.88045137e-01 7.24219697e-01 -4.58226930e-02 -1.78316446e+02] [-6.68238150e-02 -3.55602267e-04 9.97764727e-01 -1.59850155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78864 meters 0.02657862391395083 Centerline is valid? [True, True] Translation: X:279.43, Y:-178.36, Z:-15.99 [[ 7.21558468e-01 6.90549392e-01 4.99491257e-02 2.79425609e+02] [-6.88941313e-01 7.23285114e-01 -4.71010691e-02 -1.78358898e+02] [-6.86530738e-02 -4.25840990e-04 9.97640503e-01 -1.59868773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84864 meters 0.026555774173445578 Centerline is valid? [True, True] Translation: X:279.47, Y:-178.40, Z:-15.99 [[ 7.21523195e-01 6.90609084e-01 4.96323592e-02 2.79471388e+02] [-6.89018363e-01 7.23228136e-01 -4.68482583e-02 -1.78402105e+02] [-6.82493514e-02 -3.95501809e-04 9.97668216e-01 -1.59907443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90864 meters 0.026579498538648695 Centerline is valid? [True, True] Translation: X:279.52, Y:-178.44, Z:-16.00 [[ 7.22737120e-01 6.89081480e-01 5.30826661e-02 2.79516998e+02] [-6.87253540e-01 7.24683835e-01 -5.01588617e-02 -1.78444737e+02] [-7.30316927e-02 -2.29578962e-04 9.97329594e-01 -1.59950938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96863999999994 meters 0.02661677164598821 Centerline is valid? [True, True] Translation: X:279.56, Y:-178.49, Z:-16.00 [[ 7.23269131e-01 6.88626840e-01 5.17188520e-02 2.79562359e+02] [-6.86887362e-01 7.25115890e-01 -4.89152117e-02 -1.78487369e+02] [-7.11864890e-02 -1.46163145e-04 9.97463013e-01 -1.59980131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02863999999994 meters 0.02657720175865022 Centerline is valid? [True, True] Translation: X:279.61, Y:-178.53, Z:-16.00 [[ 7.21386259e-01 6.90731794e-01 4.99144611e-02 2.79607262e+02] [-6.89113766e-01 7.23110982e-01 -4.72517170e-02 -1.78530915e+02] [-6.87319582e-02 -3.10002890e-04 9.97635115e-01 -1.60003773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08863999999994 meters 0.02678198863958289 Centerline is valid? [True, True] Translation: X:279.65, Y:-178.57, Z:-16.00 [[ 7.17712082e-01 6.94697128e-01 4.78044734e-02 2.79654221e+02] [-6.93219175e-01 7.19302095e-01 -4.52953831e-02 -1.78571385e+02] [-6.58524304e-02 -6.29933903e-04 9.97829174e-01 -1.60023142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14863999999994 meters 0.02722283353721465 Centerline is valid? [True, True] Translation: X:279.70, Y:-178.61, Z:-16.01 [[ 7.14887388e-01 6.97547617e-01 4.86142439e-02 2.79701857e+02] [-6.96023164e-01 7.16537889e-01 -4.60999803e-02 -1.78610626e+02] [-6.69908791e-02 -8.80345387e-04 9.97753200e-01 -1.60069053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20863999999995 meters 0.027446073000697322 Centerline is valid? [True, True] Translation: X:279.75, Y:-178.65, Z:-16.01 [[ 7.13707644e-01 6.98760699e-01 4.85271487e-02 2.79751506e+02] [-6.97242395e-01 7.15354839e-01 -4.60488594e-02 -1.78649153e+02] [-6.68912638e-02 -9.69762395e-04 9.97759800e-01 -1.60098177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26863999999995 meters 0.02789568656197793 Centerline is valid? [True, True] Translation: X:279.80, Y:-178.69, Z:-16.01 [[ 7.10706058e-01 7.01755320e-01 4.93596098e-02 2.79801766e+02] [-7.00188344e-01 7.12416969e-01 -4.68865158e-02 -1.78685711e+02] [-6.80674854e-02 -1.23849267e-03 9.97679950e-01 -1.60122971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32863999999995 meters 0.028200949794650494 Centerline is valid? [True, True] Translation: X:279.85, Y:-178.72, Z:-16.02 [[ 7.08794279e-01 7.03730705e-01 4.87212990e-02 2.79854471e+02] [-7.02205940e-01 7.10465474e-01 -4.63209290e-02 -1.78720768e+02] [-6.72122608e-02 -1.38037615e-03 9.97737744e-01 -1.60154750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38863999999995 meters 0.028215503293896167 Centerline is valid? [True, True] Translation: X:279.90, Y:-178.76, Z:-16.02 [[ 7.09340972e-01 7.03009104e-01 5.11232423e-02 2.79904265e+02] [-7.01324929e-01 7.11179580e-01 -4.86513104e-02 -1.78758500e+02] [-7.05601201e-02 -1.34363642e-03 9.97506624e-01 -1.60198903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44863999999995 meters 0.027942345053767078 Centerline is valid? [True, True] Translation: X:279.96, Y:-178.79, Z:-16.02 [[ 7.13371565e-01 6.98904404e-01 5.13190518e-02 2.79959240e+02] [-6.97193357e-01 7.15214521e-01 -4.88836547e-02 -1.78791366e+02] [-7.08691326e-02 -9.07092730e-04 9.97485210e-01 -1.60228353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50863999999996 meters 0.027920282131640942 Centerline is valid? [True, True] Translation: X:280.01, Y:-178.83, Z:-16.03 [[ 7.15872115e-01 6.96354927e-01 5.11559447e-02 2.80008442e+02] [-6.94644982e-01 7.17697313e-01 -4.87741384e-02 -1.78830202e+02] [-7.06785956e-02 -6.19174631e-04 9.97498949e-01 -1.60251574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56863999999996 meters 0.027872343552284597 Centerline is valid? [True, True] Translation: X:280.06, Y:-178.87, Z:-16.03 [[ 7.19760894e-01 6.92289579e-01 5.17628650e-02 2.80059781e+02] [-6.90524703e-01 7.21619778e-01 -4.94017204e-02 -1.78867650e+02] [-7.15534034e-02 -1.86110544e-04 9.97436753e-01 -1.60283536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62863999999996 meters 0.02777865096693891 Centerline is valid? [True, True] Translation: X:280.11, Y:-178.91, Z:-16.03 [[ 7.20469941e-01 6.91593197e-01 5.12046302e-02 2.80108418e+02] [-6.89860966e-01 7.22287230e-01 -4.89183388e-02 -1.78906972e+02] [-7.08160409e-02 -7.98830471e-05 9.97489389e-01 -1.60299542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68863999999996 meters 0.027758419678249262 Centerline is valid? [True, True] Translation: X:280.16, Y:-178.95, Z:-16.03 [[ 7.21473641e-01 6.90420950e-01 5.28648962e-02 2.80156850e+02] [-6.88567784e-01 7.23407843e-01 -5.05519429e-02 -1.78946253e+02] [-7.31450010e-02 7.08298883e-05 9.97321314e-01 -1.60333747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74863999999997 meters 0.027776214443481086 Centerline is valid? [True, True] Translation: X:280.20, Y:-178.99, Z:-16.04 [[ 7.24914337e-01 6.86897127e-01 5.16869517e-02 2.80201932e+02] [-6.85113524e-01 7.26754521e-01 -4.94704467e-02 -1.78989770e+02] [-7.15448336e-02 4.50406398e-04 9.97437283e-01 -1.60357961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80863999999997 meters 0.027989892139565993 Centerline is valid? [True, True] Translation: X:280.25, Y:-179.03, Z:-16.04 [[ 7.28419371e-01 6.83212144e-01 5.12482889e-02 2.80246868e+02] [-6.81446402e-01 7.30219462e-01 -4.90951897e-02 -1.79032171e+02] [-7.09649278e-02 8.38925111e-04 9.97478459e-01 -1.60387378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86863999999997 meters 0.0284842409975115 Centerline is valid? [True, True] Translation: X:280.29, Y:-179.08, Z:-16.04 [[ 7.33403248e-01 6.77926607e-01 5.03506947e-02 2.80291299e+02] [-6.76206725e-01 7.35128333e-01 -4.82783511e-02 -1.79075863e+02] [-6.97434010e-02 1.36002119e-03 9.97564037e-01 -1.60409791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92864 meters 0.028806643369788224 Centerline is valid? [True, True] Translation: X:280.33, Y:-179.12, Z:-16.04 [[ 7.36472047e-01 6.74684482e-01 4.90894403e-02 2.80330845e+02] [-6.73039763e-01 7.38104401e-01 -4.71101974e-02 -1.79124873e+02] [-6.80176511e-02 1.65619821e-03 9.97682743e-01 -1.60446991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98864 meters 0.028820729973078257 Centerline is valid? [True, True] Translation: X:280.37, Y:-179.17, Z:-16.05 [[ 7.36793660e-01 6.74284037e-01 4.97608230e-02 2.80369456e+02] [-6.72590138e-01 7.38470029e-01 -4.77966821e-02 -1.79174384e+02] [-6.89754161e-02 1.74765348e-03 9.97616829e-01 -1.60451773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04864 meters 0.02919050297254728 Centerline is valid? [True, True] Translation: X:280.41, Y:-179.22, Z:-16.05 [[ 7.38616403e-01 6.72390024e-01 4.83473321e-02 2.80407443e+02] [-6.70784372e-01 7.40194601e-01 -4.64787997e-02 -1.79224240e+02] [-6.70383155e-02 1.89936904e-03 9.97748594e-01 -1.60483872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10864 meters 0.028467450965630844 Centerline is valid? [True, True] Translation: X:280.45, Y:-179.28, Z:-16.05 [[ 7.36078441e-01 6.75195688e-01 4.79511397e-02 2.80445339e+02] [-6.73619523e-01 7.37636785e-01 -4.61379615e-02 -1.79275029e+02] [-6.65226771e-02 1.66033495e-03 9.97783532e-01 -1.60510412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16864 meters 0.027449626850565536 Centerline is valid? [True, True] Translation: X:280.48, Y:-179.33, Z:-16.05 [[ 7.31894755e-01 6.79843539e-01 4.62907062e-02 2.80482611e+02] [-6.78382102e-01 7.33356175e-01 -4.45695318e-02 -1.79325207e+02] [-6.42478835e-02 1.21742000e-03 9.97933228e-01 -1.60520480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22864 meters 0.027006997004380594 Centerline is valid? [True, True] Translation: X:280.52, Y:-179.37, Z:-16.05 [[ 7.28749369e-01 6.83285388e-01 4.52265022e-02 2.80521685e+02] [-6.81895995e-01 7.30150847e-01 -4.35613777e-02 -1.79374218e+02] [-6.27870217e-02 9.05555785e-04 9.98026538e-01 -1.60543654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28864 meters 0.02668830378987827 Centerline is valid? [True, True] Translation: X:280.56, Y:-179.42, Z:-16.06 [[ 7.22834208e-01 6.89342763e-01 4.81379570e-02 2.80562359e+02] [-6.87778763e-01 7.24435203e-01 -4.64113191e-02 -1.79423428e+02] [-6.68661376e-02 4.39424525e-04 9.97761859e-01 -1.60573580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34864 meters 0.026268149443027182 Centerline is valid? [True, True] Translation: X:280.60, Y:-179.47, Z:-16.06 [[ 7.17148020e-01 6.95492682e-01 4.45942458e-02 2.80601748e+02] [-6.94159919e-01 7.18533173e-01 -4.30358750e-02 -1.79472346e+02] [-6.19735811e-02 -9.24454788e-05 9.98077786e-01 -1.60589085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40864 meters 0.02624735366638412 Centerline is valid? [True, True] Translation: X:280.64, Y:-179.52, Z:-16.06 [[ 7.15457832e-01 6.97197397e-01 4.51207348e-02 2.80643842e+02] [-6.95833657e-01 7.16879170e-01 -4.35864303e-02 -1.79518927e+02] [-6.27344607e-02 -2.12272957e-04 9.98030231e-01 -1.60620012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46863999999994 meters 0.026699381635215572 Centerline is valid? [True, True] Translation: X:280.69, Y:-179.56, Z:-16.07 [[ 7.16780934e-01 6.95523199e-01 4.97249622e-02 2.80687807e+02] [-6.93858868e-01 7.18503638e-01 -4.80873525e-02 -1.79562982e+02] [-6.91734355e-02 -3.40085967e-05 9.97604648e-01 -1.60656166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52863999999994 meters 0.026510190504422937 Centerline is valid? [True, True] Translation: X:280.73, Y:-179.61, Z:-16.07 [[ 7.17688210e-01 6.94643413e-01 4.89301754e-02 2.80732384e+02] [-6.93026861e-01 7.19354240e-01 -4.73629354e-02 -1.79606267e+02] [-6.80984802e-02 8.18945037e-05 9.97678601e-01 -1.60673224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58863999999994 meters 0.026497146946559226 Centerline is valid? [True, True] Translation: X:280.77, Y:-179.65, Z:-16.07 [[ 7.17901049e-01 6.94488147e-01 4.80031061e-02 2.80774795e+02] [-6.92929112e-01 7.19504133e-01 -4.65085751e-02 -1.79651080e+02] [-6.68380874e-02 1.25805150e-04 9.97763827e-01 -1.60708229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64863999999994 meters 0.026356351118065335 Centerline is valid? [True, True] Translation: X:280.82, Y:-179.69, Z:-16.07 [[ 7.18686867e-01 6.93754658e-01 4.68365403e-02 2.80819084e+02] [-6.92266273e-01 7.20211376e-01 -4.54200555e-02 -1.79694993e+02] [-6.52425842e-02 2.19440207e-04 9.97869409e-01 -1.60735014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70863999999995 meters 0.026398567146772335 Centerline is valid? [True, True] Translation: X:280.86, Y:-179.74, Z:-16.08 [[ 7.19462399e-01 6.93007965e-01 4.59762623e-02 2.80863976e+02] [-6.91569537e-01 7.20929860e-01 -4.46286183e-02 -1.79739144e+02] [-6.40736482e-02 3.12830391e-04 9.97945124e-01 -1.60771275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76863999999995 meters 0.0264636112216973 Centerline is valid? [True, True] Translation: X:280.91, Y:-179.78, Z:-16.08 [[ 7.19438191e-01 6.92968901e-01 4.69339087e-02 2.80909446e+02] [-6.91466651e-01 7.20967388e-01 -4.56058665e-02 -1.79782028e+02] [-6.54412648e-02 3.57369383e-04 9.97856359e-01 -1.60791416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82863999999995 meters 0.026425767584410453 Centerline is valid? [True, True] Translation: X:280.96, Y:-179.82, Z:-16.08 [[ 7.18593697e-01 6.93831919e-01 4.71207605e-02 2.80956381e+02] [-6.92316599e-01 7.20136911e-01 -4.58318300e-02 -1.79824102e+02] [-6.57329855e-02 3.11979496e-04 9.97837200e-01 -1.60825850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88863999999995 meters 0.026344215703265086 Centerline is valid? [True, True] Translation: X:281.00, Y:-179.87, Z:-16.09 [[ 7.18802715e-01 6.93696674e-01 4.59084094e-02 2.81001705e+02] [-6.92255259e-01 7.20267175e-01 -4.46973496e-02 -1.79866603e+02] [-6.40727231e-02 3.48238405e-04 9.97945171e-01 -1.60860666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94863999999995 meters 0.026711552299150385 Centerline is valid? [True, True] Translation: X:281.05, Y:-179.91, Z:-16.09 [[ 7.19161620e-01 6.93124318e-01 4.88389695e-02 2.81045009e+02] [-6.91488303e-01 7.20817918e-01 -4.75968089e-02 -1.79910848e+02] [-6.81945100e-02 4.58222055e-04 9.97671939e-01 -1.60889053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00863999999996 meters 0.026785009475032224 Centerline is valid? [True, True] Translation: X:281.09, Y:-179.95, Z:-16.09 [[ 7.14821231e-01 6.97583800e-01 4.90657595e-02 2.81091173e+02] [-6.95939746e-01 7.16503201e-01 -4.78647283e-02 -1.79954101e+02] [-6.85454328e-02 6.79118121e-05 9.97647994e-01 -1.60901143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06863999999996 meters 0.02701040211446439 Centerline is valid? [True, True] Translation: X:281.13, Y:-180.00, Z:-16.09 [[ 7.08902719e-01 7.03578418e-01 4.93390891e-02 2.81133168e+02] [-7.01926944e-01 7.10617466e-01 -4.81807299e-02 -1.79999527e+02] [-6.89601402e-02 -4.76985657e-04 9.97619302e-01 -1.60931531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12863999999996 meters 0.026994045022412382 Centerline is valid? [True, True] Translation: X:281.18, Y:-180.04, Z:-16.10 [[ 7.08308568e-01 7.04165403e-01 4.94980501e-02 2.81178756e+02] [-7.02501403e-01 7.10035797e-01 -4.83833270e-02 -1.80042954e+02] [-6.92152525e-02 -5.02124565e-04 9.97601622e-01 -1.60952218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18863999999996 meters 0.02706888576764299 Centerline is valid? [True, True] Translation: X:281.22, Y:-180.09, Z:-16.10 [[ 7.08287883e-01 7.04238491e-01 4.87485763e-02 2.81220803e+02] [-7.02621399e-01 7.09963330e-01 -4.76994638e-02 -1.80089157e+02] [-6.82015000e-02 -4.66840713e-04 9.97671458e-01 -1.60989804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24863999999997 meters 0.027224799711595058 Centerline is valid? [True, True] Translation: X:281.27, Y:-180.13, Z:-16.10 [[ 7.08580531e-01 7.03990944e-01 4.80664248e-02 2.81267579e+02] [-7.02415311e-01 7.10208833e-01 -4.70759449e-02 -1.80129957e+02] [-6.72782383e-02 -4.05494673e-04 9.97734170e-01 -1.61019297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30863999999997 meters 0.027481389842454622 Centerline is valid? [True, True] Translation: X:281.31, Y:-180.17, Z:-16.10 [[ 7.08925634e-01 7.03488409e-01 5.02842266e-02 2.81313615e+02] [-7.01759205e-01 7.10706650e-01 -4.92958021e-02 -1.80171226e+02] [-7.04163596e-02 -3.40361139e-04 9.97517629e-01 -1.61038009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36863999999997 meters 0.02781033220729067 Centerline is valid? [True, True] Translation: X:281.36, Y:-180.21, Z:-16.11 [[ 7.08379025e-01 7.04013127e-01 5.06426028e-02 2.81362716e+02] [-7.02257006e-01 7.10186867e-01 -4.96961845e-02 -1.80210433e+02] [-7.09524777e-02 -3.60387905e-04 9.97479632e-01 -1.61089036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42864 meters 0.028300448106019713 Centerline is valid? [True, True] Translation: X:281.41, Y:-180.25, Z:-16.11 [[ 7.10931211e-01 7.01409497e-01 5.10051978e-02 2.81412655e+02] [-6.99617524e-01 7.12758524e-01 -5.01059557e-02 -1.80249476e+02] [-7.14991827e-02 -6.22424143e-05 9.97440656e-01 -1.61132812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48864 meters 0.028357008365710708 Centerline is valid? [True, True] Translation: X:281.46, Y:-180.29, Z:-16.11 [[ 7.14792738e-01 6.97524185e-01 5.03125525e-02 2.81463447e+02] [-6.95767244e-01 7.16561149e-01 -4.94778819e-02 -1.80288184e+02] [-7.05640397e-02 3.60604686e-04 9.97507186e-01 -1.61144628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54864 meters 0.028717694910187604 Centerline is valid? [True, True] Translation: X:281.51, Y:-180.33, Z:-16.12 [[ 7.16535984e-01 6.95692401e-01 5.08750159e-02 2.81510921e+02] [-6.93887645e-01 7.18339573e-01 -5.00818756e-02 -1.80328310e+02] [-7.13871175e-02 5.83921094e-04 9.97448514e-01 -1.61191705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60864 meters 0.02902603070851843 Centerline is valid? [True, True] Translation: X:281.56, Y:-180.37, Z:-16.12 [[ 7.19319825e-01 6.92924233e-01 4.93456792e-02 2.81557440e+02] [-6.91216776e-01 7.21009887e-01 -4.86221404e-02 -1.80371252e+02] [-6.92701819e-02 8.66308302e-04 9.97597560e-01 -1.61230907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66864 meters 0.02886484144038182 Centerline is valid? [True, True] Translation: X:281.60, Y:-180.42, Z:-16.12 [[ 7.19659393e-01 6.92582452e-01 4.91925282e-02 2.81602498e+02] [-6.90881297e-01 7.21338115e-01 -4.85217117e-02 -1.80416046e+02] [-6.90897317e-02 9.32907860e-04 9.97610013e-01 -1.61237770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72864 meters 0.029229233835531887 Centerline is valid? [True, True] Translation: X:281.65, Y:-180.46, Z:-16.13 [[ 7.20764666e-01 6.91482080e-01 4.84853554e-02 2.81645229e+02] [-6.89823701e-01 7.22392838e-01 -4.78732688e-02 -1.80462249e+02] [-6.81289810e-02 1.05901332e-03 9.97675960e-01 -1.61281823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78864 meters 0.029470528611290535 Centerline is valid? [True, True] Translation: X:281.69, Y:-180.51, Z:-16.13 [[ 7.23820258e-01 6.88381222e-01 4.70693895e-02 2.81686678e+02] [-6.86808844e-01 7.25347837e-01 -4.65201810e-02 -1.80508818e+02] [-6.61652990e-02 1.34457644e-03 9.97807770e-01 -1.61293090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84864 meters 0.029605880324104578 Centerline is valid? [True, True] Translation: X:281.73, Y:-180.56, Z:-16.13 [[ 7.24650880e-01 6.87560372e-01 4.62799859e-02 2.81727790e+02] [-6.86035935e-01 7.26125816e-01 -4.57820485e-02 -1.80557514e+02] [-6.50830148e-02 1.42626830e-03 9.97878834e-01 -1.61314079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90864 meters 0.029519044529027583 Centerline is valid? [True, True] Translation: X:281.77, Y:-180.61, Z:-16.13 [[ 7.24557900e-01 6.87603207e-01 4.70922483e-02 2.81766096e+02] [-6.86021754e-01 7.26085144e-01 -4.66317141e-02 -1.80607848e+02] [-6.62570981e-02 1.48107004e-03 9.97801485e-01 -1.61336575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96863999999994 meters 0.0292018538195377 Centerline is valid? [True, True] Translation: X:281.80, Y:-180.66, Z:-16.14 [[ 7.23314078e-01 6.88957293e-01 4.64175902e-02 2.81804881e+02] [-6.87421518e-01 7.24800659e-01 -4.59963191e-02 -1.80657540e+02] [-6.53329994e-02 1.36133481e-03 9.97862589e-01 -1.61371045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02863999999994 meters 0.028574601817032683 Centerline is valid? [True, True] Translation: X:281.84, Y:-180.71, Z:-16.14 [[ 7.18065515e-01 6.94417713e-01 4.65398236e-02 2.81841449e+02] [-6.92884066e-01 7.19571583e-01 -4.61346743e-02 -1.80709848e+02] [-6.55254695e-02 8.81016458e-04 9.97850508e-01 -1.61377173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08863999999994 meters 0.028182432518115173 Centerline is valid? [True, True] Translation: X:281.88, Y:-180.76, Z:-16.14 [[ 7.09136650e-01 7.03571047e-01 4.59673087e-02 2.81880466e+02] [-7.02092075e-01 7.10624921e-01 -4.55954032e-02 -1.80758942e+02] [-6.47451207e-02 6.00883227e-05 9.97901832e-01 -1.61406148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14863999999994 meters 0.028415089829746897 Centerline is valid? [True, True] Translation: X:281.92, Y:-180.81, Z:-16.14 [[ 7.00138813e-01 7.12654071e-01 4.39296899e-02 2.81920128e+02] [-7.11318526e-01 7.01515266e-01 -4.36151956e-02 -1.80807857e+02] [-6.18998948e-02 -7.11310992e-04 9.98082109e-01 -1.61420190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20863999999995 meters 0.029005417721116897 Centerline is valid? [True, True] Translation: X:281.96, Y:-180.85, Z:-16.14 [[ 6.92965093e-01 7.19587101e-01 4.46518138e-02 2.81962096e+02] [-7.18219038e-01 6.94400933e-01 -4.43706899e-02 -1.80853615e+02] [-6.29348372e-02 -1.32244351e-03 9.98016762e-01 -1.61440827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26863999999995 meters 0.029755816512779986 Centerline is valid? [True, True] Translation: X:282.01, Y:-180.90, Z:-16.15 [[ 6.88320440e-01 7.24054750e-01 4.42684073e-02 2.82006739e+02] [-7.22718085e-01 6.89740403e-01 -4.40084821e-02 -1.80896298e+02] [-6.23982596e-02 -1.70164081e-03 9.98049879e-01 -1.61468699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32863999999995 meters 0.030913839880812647 Centerline is valid? [True, True] Translation: X:282.05, Y:-180.94, Z:-16.15 [[ 6.81091350e-01 7.30869288e-01 4.40982593e-02 2.82054362e+02] [-7.29554842e-01 6.82513618e-01 -4.38736081e-02 -1.80935329e+02] [-6.21635352e-02 -2.29016362e-03 9.98063350e-01 -1.61480514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38863999999995 meters 0.030685008851748963 Centerline is valid? [True, True] Translation: X:282.11, Y:-180.97, Z:-16.15 [[ 6.80965260e-01 7.31078708e-01 4.25468827e-02 2.82105187e+02] [-7.29854032e-01 6.82289557e-01 -4.23562525e-02 -1.80972835e+02] [-5.99950481e-02 -2.20987740e-03 9.98196229e-01 -1.61511685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44863999999995 meters 0.029583133667992225 Centerline is valid? [True, True] Translation: X:282.16, Y:-181.01, Z:-16.16 [[ 6.87862839e-01 7.24502861e-01 4.40490503e-02 2.82155456e+02] [-7.23174426e-01 6.89269775e-01 -4.38853897e-02 -1.81009591e+02] [-6.21567693e-02 -1.66801786e-03 9.98065005e-01 -1.61555194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50863999999996 meters 0.029221491313403958 Centerline is valid? [True, True] Translation: X:282.20, Y:-181.05, Z:-16.16 [[ 6.90139361e-01 7.22280700e-01 4.49249761e-02 2.82201896e+02] [-7.20892804e-01 6.91598434e-01 -4.47791387e-02 -1.81051123e+02] [-6.34131508e-02 -1.48224586e-03 9.97986260e-01 -1.61583672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56863999999996 meters 0.02849741070320367 Centerline is valid? [True, True] Translation: X:282.25, Y:-181.09, Z:-16.16 [[ 6.96075291e-01 7.16541625e-01 4.52469800e-02 2.82248643e+02] [-7.15119317e-01 6.97543702e-01 -4.51347521e-02 -1.81092698e+02] [-6.39026746e-02 -9.39803759e-04 9.97955693e-01 -1.61615503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62863999999996 meters 0.027794257461293697 Centerline is valid? [True, True] Translation: X:282.29, Y:-181.14, Z:-16.16 [[ 7.00295843e-01 7.12395773e-01 4.55850245e-02 2.82294037e+02] [-7.10941764e-01 7.01777716e-01 -4.54955490e-02 -1.81135403e+02] [-6.44013912e-02 -5.47953893e-04 9.97923925e-01 -1.61649034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68863999999996 meters 0.027324655174357972 Centerline is valid? [True, True] Translation: X:282.33, Y:-181.18, Z:-16.17 [[ 7.03381194e-01 7.09274582e-01 4.67382427e-02 2.82334734e+02] [-7.07735963e-01 7.04932275e-01 -4.66936211e-02 -1.81183322e+02] [-6.60658943e-02 -2.34920240e-04 9.97815235e-01 -1.61691960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74863999999997 meters 0.026852349787874426 Centerline is valid? [True, True] Translation: X:282.38, Y:-181.23, Z:-16.17 [[ 7.07474503e-01 7.05304463e-01 4.50049063e-02 2.82375748e+02] [-7.03866970e-01 7.08904498e-01 -4.50077943e-02 -1.81229852e+02] [-6.36483787e-02 1.64399910e-04 9.97972373e-01 -1.61729122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80863999999997 meters 0.027278982868627386 Centerline is valid? [True, True] Translation: X:282.40, Y:-181.36, Z:-14.57 [[ 7.49727148e-01 -6.61520041e-01 -1.73331500e-02 2.82400792e+02] [-6.61243261e-01 -7.49921214e-01 1.93783950e-02 -1.81357173e+02] [-2.58176936e-02 -3.06708025e-03 -9.99661963e-01 -1.45679278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86863999999997 meters 0.026946998294613143 Centerline is valid? [True, True] Translation: X:282.42, Y:-181.31, Z:-16.18 [[ 7.59691010e-01 6.48468038e-01 4.85672034e-02 2.82424596e+02] [-6.47101969e-01 7.61241695e-01 -4.20728385e-02 -1.81312491e+02] [-6.42542712e-02 5.34424203e-04 9.97933416e-01 -1.61764729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92864 meters 0.02680888963241032 Centerline is valid? [True, True] Translation: X:282.47, Y:-181.36, Z:-16.18 [[ 7.57186351e-01 6.51481243e-01 4.73394191e-02 2.82466051e+02] [-6.50186914e-01 7.58664682e-01 -4.10472484e-02 -1.81358900e+02] [-6.26562577e-02 3.00945471e-04 9.98035121e-01 -1.61782475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98864 meters 0.026907015502030944 Centerline is valid? [True, True] Translation: X:282.51, Y:-181.41, Z:-16.18 [[ 7.51285777e-01 6.58208348e-01 4.82851148e-02 2.82508956e+02] [-6.56872827e-01 7.52835784e-01 -4.19090798e-02 -1.81405400e+02] [-6.39356684e-02 -2.31484247e-04 9.97953995e-01 -1.61802169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04864 meters 0.026903239602342865 Centerline is valid? [True, True] Translation: X:282.55, Y:-181.45, Z:-16.18 [[ 7.49975765e-01 6.59704089e-01 4.82376081e-02 2.82552629e+02] [-6.58371355e-01 7.51525389e-01 -4.19135838e-02 -1.81451572e+02] [-6.39023498e-02 -3.24087256e-04 9.97956104e-01 -1.61830775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10864 meters 0.02679052328092187 Centerline is valid? [True, True] Translation: X:282.60, Y:-181.50, Z:-16.19 [[ 7.51901706e-01 6.57469783e-01 4.87576469e-02 2.82598148e+02] [-6.56100368e-01 7.53480905e-01 -4.24126566e-02 -1.81495642e+02] [-6.46229960e-02 -9.97612037e-05 9.97909745e-01 -1.61857373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16864 meters 0.026678507777963986 Centerline is valid? [True, True] Translation: X:282.64, Y:-181.54, Z:-16.19 [[ 7.52472510e-01 6.56969417e-01 4.66509066e-02 2.82641795e+02] [-6.55712324e-01 7.53917227e-01 -4.06222101e-02 -1.81540111e+02] [-6.18584719e-02 -2.24779688e-05 9.98084931e-01 -1.61861942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22864 meters 0.026448952980816245 Centerline is valid? [True, True] Translation: X:282.69, Y:-181.58, Z:-16.19 [[ 7.48707178e-01 6.61331947e-01 4.55809014e-02 2.82687109e+02] [-6.60137574e-01 7.50093286e-01 -3.97296614e-02 -1.81583594e+02] [-6.04644224e-02 -3.43783028e-04 9.98170294e-01 -1.61870402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28864 meters 0.026535659843974543 Centerline is valid? [True, True] Translation: X:282.73, Y:-181.63, Z:-16.19 [[ 7.45274183e-01 6.65182660e-01 4.58085237e-02 2.82732813e+02] [-6.63980930e-01 7.46680411e-01 -3.99710896e-02 -1.81625582e+02] [-6.07924030e-02 -6.26564969e-04 9.98150235e-01 -1.61893489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34864 meters 0.026660934292029762 Centerline is valid? [True, True] Translation: X:282.78, Y:-181.67, Z:-16.19 [[ 7.41257823e-01 6.69594144e-01 4.66960714e-02 2.82779777e+02] [-6.68351564e-01 7.42726551e-01 -4.07855068e-02 -1.81666550e+02] [-6.19921485e-02 -9.76816430e-04 9.98076159e-01 -1.61903592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40863999999993 meters 0.026745032267269018 Centerline is valid? [True, True] Translation: X:282.83, Y:-181.71, Z:-16.19 [[ 7.40553932e-01 6.70324085e-01 4.73866607e-02 2.82827951e+02] [-6.69043298e-01 7.42067771e-01 -4.14305340e-02 -1.81706675e+02] [-6.29359985e-02 -1.02218289e-03 9.98017042e-01 -1.61926605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46863999999994 meters 0.02663648369907996 Centerline is valid? [True, True] Translation: X:282.88, Y:-181.74, Z:-16.20 [[ 7.40637498e-01 6.70163267e-01 4.83455527e-02 2.82878271e+02] [-6.68826709e-01 7.42213048e-01 -4.23157853e-02 -1.81744902e+02] [-6.42411849e-02 -9.94139549e-04 9.97933907e-01 -1.61958214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52863999999994 meters 0.026157881277733337 Centerline is valid? [True, True] Translation: X:282.93, Y:-181.79, Z:-16.20 [[ 7.43659979e-01 6.66771193e-01 4.88468229e-02 2.82925254e+02] [-6.65396469e-01 7.45262183e-01 -4.27997301e-02 -1.81786104e+02] [-6.49413170e-02 -6.74057070e-04 9.97888857e-01 -1.61980005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58863999999994 meters 0.02591519368295541 Centerline is valid? [True, True] Translation: X:282.97, Y:-181.83, Z:-16.20 [[ 7.47432930e-01 6.62467561e-01 4.98070825e-02 2.82971989e+02] [-6.61025671e-01 7.49090553e-01 -4.36853015e-02 -1.81828423e+02] [-6.62501101e-02 -2.71927220e-04 9.97803011e-01 -1.62016517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64863999999994 meters 0.02578405027353186 Centerline is valid? [True, True] Translation: X:283.02, Y:-181.87, Z:-16.20 [[ 7.45242674e-01 6.65012538e-01 4.86999098e-02 2.83018598e+02] [-6.63636493e-01 7.46832056e-01 -4.27607943e-02 -1.81870409e+02] [-6.48071182e-02 -4.51868688e-04 9.97897707e-01 -1.62021535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70863999999995 meters 0.025767583440167947 Centerline is valid? [True, True] Translation: X:283.06, Y:-181.91, Z:-16.20 [[ 7.41227501e-01 6.69368966e-01 5.02690665e-02 2.83064864e+02] [-6.67909456e-01 7.42929680e-01 -4.41865209e-02 -1.81911679e+02] [-6.69234673e-02 -8.22920379e-04 9.97757772e-01 -1.62041410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76863999999995 meters 0.02627379930212607 Centerline is valid? [True, True] Translation: X:283.11, Y:-181.95, Z:-16.21 [[ 7.37023166e-01 6.73975434e-01 5.05367831e-02 2.83111405e+02] [-6.72508178e-01 7.38752759e-01 -4.44647250e-02 -1.81952662e+02] [-6.73023203e-02 -1.21486755e-03 9.97731889e-01 -1.62080200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82863999999995 meters 0.026494997369645973 Centerline is valid? [True, True] Translation: X:283.16, Y:-181.99, Z:-16.21 [[ 7.34207337e-01 6.77065345e-01 5.02205641e-02 2.83164052e+02] [-6.75620808e-01 7.35921459e-01 -4.42281569e-02 -1.81986729e+02] [-6.69037431e-02 -1.45742086e-03 9.97758370e-01 -1.62097271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88863999999995 meters 0.026835447208876883 Centerline is valid? [True, True] Translation: X:283.22, Y:-182.02, Z:-16.21 [[ 7.31798646e-01 6.79762358e-01 4.89272797e-02 2.83216760e+02] [-6.78395097e-01 7.33430614e-01 -4.31233910e-02 -1.82020204e+02] [-6.51984228e-02 -1.63438754e-03 9.97870981e-01 -1.62116102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94863999999995 meters 0.026991814538317636 Centerline is valid? [True, True] Translation: X:283.27, Y:-182.05, Z:-16.22 [[ 7.30375664e-01 6.81348507e-01 4.81206912e-02 2.83273653e+02] [-6.80027610e-01 7.31957125e-01 -4.24407332e-02 -1.82050395e+02] [-6.41392130e-02 -1.72572000e-03 9.97939469e-01 -1.62163297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00863999999996 meters 0.026276697547418522 Centerline is valid? [True, True] Translation: X:283.33, Y:-182.08, Z:-16.22 [[ 7.32984183e-01 6.78469783e-01 4.91217002e-02 2.83329034e+02] [-6.77083865e-01 7.34626837e-01 -4.33687656e-02 -1.82081108e+02] [-6.55105162e-02 -1.47089144e-03 9.97850795e-01 -1.62168168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06863999999996 meters 0.025867016211301525 Centerline is valid? [True, True] Translation: X:283.38, Y:-182.11, Z:-16.22 [[ 7.36658285e-01 6.74511278e-01 4.86734778e-02 2.83383655e+02] [-6.73139276e-01 7.38263756e-01 -4.30132728e-02 -1.82112903e+02] [-6.49468021e-02 -1.07794581e-03 9.97888145e-01 -1.62189181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12863999999996 meters 0.025527145005607193 Centerline is valid? [True, True] Translation: X:283.44, Y:-182.15, Z:-16.22 [[ 7.39653132e-01 6.71221373e-01 4.87351184e-02 2.83436090e+02] [-6.69836040e-01 7.41256563e-01 -4.31090147e-02 -1.82147325e+02] [-6.50609184e-02 -7.58820931e-04 9.97881005e-01 -1.62225801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18863999999996 meters 0.02543879806233042 Centerline is valid? [True, True] Translation: X:283.49, Y:-182.18, Z:-16.22 [[ 7.44640090e-01 6.65717816e-01 4.82796679e-02 2.83491904e+02] [-6.64344012e-01 7.46203545e-01 -4.27469571e-02 -1.82177717e+02] [-6.44838703e-02 -2.43210309e-04 9.97918720e-01 -1.62244989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24863999999997 meters 0.025437598812275475 Centerline is valid? [True, True] Translation: X:283.54, Y:-182.22, Z:-16.23 [[ 7.45260444e-01 6.64946189e-01 4.93298729e-02 2.83542770e+02] [-6.63507297e-01 7.46891253e-01 -4.37209772e-02 -1.82215572e+02] [-6.59161478e-02 -1.47215782e-04 9.97825155e-01 -1.62284339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30863999999997 meters 0.025494507788811658 Centerline is valid? [True, True] Translation: X:283.59, Y:-182.25, Z:-16.23 [[ 7.45397037e-01 6.64824942e-01 4.88984054e-02 2.83594778e+02] [-6.63407814e-01 7.46999188e-01 -4.33853238e-02 -1.82251890e+02] [-6.53707145e-02 -1.00292422e-04 9.97861042e-01 -1.62318542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36863999999997 meters 0.02580546550188194 Centerline is valid? [True, True] Translation: X:283.64, Y:-182.29, Z:-16.24 [[ 7.46352531e-01 6.63706259e-01 4.95166820e-02 2.83643290e+02] [-6.62247377e-01 7.47993316e-01 -4.39819303e-02 -1.82292047e+02] [-6.62292296e-02 3.37322486e-05 9.97804434e-01 -1.62358298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42864 meters 0.025904264779326624 Centerline is valid? [True, True] Translation: X:283.69, Y:-182.33, Z:-16.24 [[ 7.47246319e-01 6.62631986e-01 5.04161731e-02 2.83690369e+02] [-6.61113920e-01 7.48945141e-01 -4.48281251e-02 -1.82332747e+02] [-6.74634974e-02 1.66817634e-04 9.97721729e-01 -1.62399339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48864 meters 0.026261843282635082 Centerline is valid? [True, True] Translation: X:283.74, Y:-182.37, Z:-16.25 [[ 7.51337184e-01 6.57957163e-01 5.08409937e-02 2.83736433e+02] [-6.56399722e-01 7.53055098e-01 -4.52484676e-02 -1.82374225e+02] [-6.80576229e-02 6.24842097e-04 9.97681196e-01 -1.62450228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54864 meters 0.026910030174807028 Centerline is valid? [True, True] Translation: X:283.78, Y:-182.42, Z:-16.25 [[ 7.56198894e-01 6.52416079e-01 5.01646523e-02 2.83779442e+02] [-6.50884831e-01 7.57860117e-01 -4.46875672e-02 -1.82419114e+02] [-6.71726766e-02 1.14127763e-03 9.97740712e-01 -1.62488242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60864 meters 0.02731703238035318 Centerline is valid? [True, True] Translation: X:283.82, Y:-182.47, Z:-16.25 [[ 7.58485406e-01 6.49851361e-01 4.89193003e-02 2.83821123e+02] [-6.48387390e-01 7.60060095e-01 -4.36170241e-02 -1.82465091e+02] [-6.55261905e-02 1.36421877e-03 9.97849917e-01 -1.62519446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66864 meters 0.02706249941528846 Centerline is valid? [True, True] Translation: X:283.86, Y:-182.51, Z:-16.25 [[ 7.56816448e-01 6.51803097e-01 4.88014910e-02 2.83860746e+02] [-6.50347670e-01 7.58387255e-01 -4.35508827e-02 -1.82513551e+02] [-6.53970290e-02 1.22208839e-03 9.97858575e-01 -1.62530404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72864 meters 0.026652291153951874 Centerline is valid? [True, True] Translation: X:283.90, Y:-182.56, Z:-16.26 [[ 7.52587869e-01 6.56608013e-01 4.97736540e-02 2.83904843e+02] [-6.55101690e-01 7.54231523e-01 -4.44588114e-02 -1.82557725e+02] [-6.67328707e-02 8.52357319e-04 9.97770513e-01 -1.62563295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78864 meters 0.02661386318526253 Centerline is valid? [True, True] Translation: X:283.95, Y:-182.60, Z:-16.26 [[ 7.49437747e-01 6.60246320e-01 4.91717506e-02 2.83949646e+02] [-6.58781409e-01 7.51048928e-01 -4.39609318e-02 -1.82600897e+02] [-6.59554340e-02 5.52546504e-04 9.97822417e-01 -1.62610775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84864 meters 0.02657307312814138 Centerline is valid? [True, True] Translation: X:284.00, Y:-182.64, Z:-16.26 [[ 7.46809870e-01 6.63215285e-01 4.91986090e-02 2.83999129e+02] [-6.61752497e-01 7.48428609e-01 -4.40255727e-02 -1.82639411e+02] [-6.60200792e-02 3.21429944e-04 9.97818243e-01 -1.62640937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90863999999993 meters 0.026628104422695545 Centerline is valid? [True, True] Translation: X:284.05, Y:-182.68, Z:-16.27 [[ 7.47663641e-01 6.62320858e-01 4.82717296e-02 2.84047758e+02] [-6.60908180e-01 7.49220195e-01 -4.32374446e-02 -1.82679947e+02] [-6.48032161e-02 4.23884352e-04 9.97897972e-01 -1.62685659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96863999999994 meters 0.027212707984136907 Centerline is valid? [True, True] Translation: X:284.10, Y:-182.72, Z:-16.27 [[ 7.51270081e-01 6.58199618e-01 4.86469751e-02 2.84096582e+02] [-6.56753254e-01 7.52843005e-01 -4.36185014e-02 -1.82718608e+02] [-6.53332159e-02 8.20215840e-04 9.97863166e-01 -1.62725502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02863999999994 meters 0.02782296528073054 Centerline is valid? [True, True] Translation: X:284.14, Y:-182.76, Z:-16.27 [[ 7.56062211e-01 6.52811721e-01 4.69764794e-02 2.84142892e+02] [-6.51450250e-01 7.57519135e-01 -4.21584183e-02 -1.82759579e+02] [-6.31070917e-02 1.27154775e-03 9.98005951e-01 -1.62739013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08863999999994 meters 0.027851419372906527 Centerline is valid? [True, True] Translation: X:284.19, Y:-182.80, Z:-16.28 [[ 7.55800075e-01 6.53119339e-01 4.69188243e-02 2.84186899e+02] [-6.51759315e-01 7.57253924e-01 -4.21460499e-02 -1.82804898e+02] [-6.30558641e-02 1.27420684e-03 9.98009186e-01 -1.62763708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14863999999994 meters 0.027846427049262462 Centerline is valid? [True, True] Translation: X:284.23, Y:-182.85, Z:-16.28 [[ 7.54599703e-01 6.54445652e-01 4.77511973e-02 2.84230500e+02] [-6.53036650e-01 7.56108064e-01 -4.29386600e-02 -1.82851268e+02] [-6.42060847e-02 1.21821819e-03 9.97935917e-01 -1.62785463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20863999999995 meters 0.027649858303394708 Centerline is valid? [True, True] Translation: X:284.27, Y:-182.90, Z:-16.28 [[ 7.53308476e-01 6.55910701e-01 4.80363697e-02 2.84272695e+02] [-6.54484968e-01 7.54837645e-01 -4.32383821e-02 -1.82897642e+02] [-6.46201777e-02 1.13275786e-03 9.97909289e-01 -1.62825163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26863999999995 meters 0.027896222237307994 Centerline is valid? [True, True] Translation: X:284.31, Y:-182.94, Z:-16.29 [[ 7.54678375e-01 6.54351267e-01 4.78013528e-02 2.84314708e+02] [-6.52933846e-01 7.56189630e-01 -4.30654898e-02 -1.82943729e+02] [-6.43268451e-02 1.28947282e-03 9.97928051e-01 -1.62852128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32863999999995 meters 0.02830397512885571 Centerline is valid? [True, True] Translation: X:284.36, Y:-182.99, Z:-16.29 [[ 7.55339588e-01 6.53588999e-01 4.77862789e-02 2.84358697e+02] [-6.52168429e-01 7.56848404e-01 -4.30910001e-02 -1.82988197e+02] [-6.43307725e-02 1.38363582e-03 9.97927671e-01 -1.62881292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38863999999995 meters 0.02760577037821848 Centerline is valid? [True, True] Translation: X:284.40, Y:-183.03, Z:-16.29 [[ 7.51651920e-01 6.57870575e-01 4.71772885e-02 2.84403930e+02] [-6.56491934e-01 7.53130292e-01 -4.25805630e-02 -1.83030978e+02] [-6.35431445e-02 1.03425261e-03 9.97978556e-01 -1.62894927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44863999999995 meters 0.027440883659314963 Centerline is valid? [True, True] Translation: X:284.45, Y:-183.07, Z:-16.29 [[ 7.48652381e-01 6.61327387e-01 4.65370767e-02 2.84449517e+02] [-6.59990625e-01 7.50097005e-01 -4.20340116e-02 -1.83073799e+02] [-6.27055649e-02 7.54828497e-04 9.98031784e-01 -1.62923238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50863999999996 meters 0.02762479754578511 Centerline is valid? [True, True] Translation: X:284.50, Y:-183.12, Z:-16.29 [[ 7.49762920e-01 6.60003792e-01 4.74400463e-02 2.84495824e+02] [-6.58610558e-01 7.51261730e-01 -4.28712826e-02 -1.83115386e+02] [-6.39351004e-02 8.98782723e-04 9.97953654e-01 -1.62935660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56863999999996 meters 0.028068860292217473 Centerline is valid? [True, True] Translation: X:284.55, Y:-183.15, Z:-16.30 [[ 7.52621936e-01 6.56704653e-01 4.79501842e-02 2.84546059e+02] [-6.55271937e-01 7.54146871e-01 -4.33726399e-02 -1.83151901e+02] [-6.46444958e-02 1.22279013e-03 9.97907608e-01 -1.62982777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62863999999996 meters 0.029210109185254053 Centerline is valid? [True, True] Translation: X:284.59, Y:-183.19, Z:-16.30 [[ 7.58868238e-01 6.49589076e-01 4.64007502e-02 2.84591657e+02] [-6.48232164e-01 7.60283372e-01 -4.20030429e-02 -1.83193642e+02] [-6.25624367e-02 1.79631643e-03 9.98039435e-01 -1.62994352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68863999999996 meters 0.029836427268710067 Centerline is valid? [True, True] Translation: X:284.64, Y:-183.24, Z:-16.30 [[ 7.60829985e-01 6.47231369e-01 4.72153393e-02 2.84636246e+02] [-6.45820284e-01 7.62290875e-01 -4.27642618e-02 -1.83236564e+02] [-6.36701941e-02 2.04370885e-03 9.97968902e-01 -1.63037747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74863999999997 meters 0.029563135160365295 Centerline is valid? [True, True] Translation: X:284.68, Y:-183.28, Z:-16.31 [[ 7.59518017e-01 6.48762727e-01 4.73212985e-02 2.84681058e+02] [-6.47345835e-01 7.60988257e-01 -4.28980601e-02 -1.83279945e+02] [-6.38416149e-02 1.94860405e-03 9.97958141e-01 -1.63063459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80863999999997 meters 0.029590445374585155 Centerline is valid? [True, True] Translation: X:284.73, Y:-183.32, Z:-16.31 [[ 7.58846312e-01 6.49547428e-01 4.73329956e-02 2.84725421e+02] [-6.48128829e-01 7.60318669e-01 -4.29481479e-02 -1.83324998e+02] [-6.38850192e-02 1.91316464e-03 9.97955432e-01 -1.63106643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86863999999997 meters 0.03006353045824984 Centerline is valid? [True, True] Translation: X:284.77, Y:-183.37, Z:-16.31 [[ 7.60529815e-01 6.47691822e-01 4.57132827e-02 2.84769013e+02] [-6.46362942e-01 7.61899724e-01 -4.15181559e-02 -1.83369948e+02] [-6.17199075e-02 2.02842348e-03 9.98091448e-01 -1.63122089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92864 meters 0.030643009980392186 Centerline is valid? [True, True] Translation: X:284.81, Y:-183.41, Z:-16.32 [[ 7.62670196e-01 6.45255281e-01 4.44948920e-02 2.84813293e+02] [-6.43990117e-01 7.63963882e-01 -4.04464572e-02 -1.83413400e+02] [-6.00907806e-02 2.19303670e-03 9.98190507e-01 -1.63158012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98864 meters 0.030708022026691224 Centerline is valid? [True, True] Translation: X:284.86, Y:-183.46, Z:-16.32 [[ 7.62898058e-01 6.44985491e-01 4.45002197e-02 2.84855342e+02] [-6.43717439e-01 7.64191528e-01 -4.04866352e-02 -1.83459699e+02] [-6.01199832e-02 2.24160794e-03 9.98188641e-01 -1.63192164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04864 meters 0.03042977270652294 Centerline is valid? [True, True] Translation: X:284.90, Y:-183.51, Z:-16.32 [[ 7.61954699e-01 6.46063623e-01 4.50203533e-02 2.84895579e+02] [-6.44765396e-01 7.63280364e-01 -4.09959882e-02 -1.83507400e+02] [-6.08491683e-02 2.20951999e-03 9.98144527e-01 -1.63187929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10864 meters 0.02927374211950381 Centerline is valid? [True, True] Translation: X:284.93, Y:-183.56, Z:-16.32 [[ 7.56581159e-01 6.52309327e-01 4.55795157e-02 2.84932900e+02] [-6.50988074e-01 7.57950838e-01 -4.15337858e-02 -1.83557509e+02] [-6.16399080e-02 1.75195863e-03 9.98096915e-01 -1.63214739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16864 meters 0.02826750586240844 Centerline is valid? [True, True] Translation: X:284.97, Y:-183.60, Z:-16.32 [[ 7.50591065e-01 6.59132636e-01 4.64459075e-02 2.84974115e+02] [-6.57773206e-01 7.52025716e-01 -4.23288477e-02 -1.83603457e+02] [-6.28288418e-02 1.22078135e-03 9.98023570e-01 -1.63232734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22864 meters 0.027620636503136595 Centerline is valid? [True, True] Translation: X:285.01, Y:-183.65, Z:-16.33 [[ 7.44060468e-01 6.66571248e-01 4.53518618e-02 2.85013819e+02] [-6.65288010e-01 7.45441092e-01 -4.13453907e-02 -1.83652085e+02] [-6.13667900e-02 5.91420885e-04 9.98115107e-01 -1.63265293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28864 meters 0.027448166307877195 Centerline is valid? [True, True] Translation: X:285.06, Y:-183.70, Z:-16.33 [[ 7.39692547e-01 6.71461902e-01 4.46525486e-02 2.85058079e+02] [-6.70224565e-01 7.41039047e-01 -4.07451041e-02 -1.83696227e+02] [-6.04480671e-02 2.11614890e-04 9.98171321e-01 -1.63280027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34864 meters 0.02733452060187653 Centerline is valid? [True, True] Translation: X:285.10, Y:-183.74, Z:-16.33 [[ 7.35269388e-01 6.76284347e-01 4.49267066e-02 2.85103475e+02] [-6.75038213e-01 7.36640657e-01 -4.10359871e-02 -1.83739305e+02] [-6.08468345e-02 -1.54738658e-04 9.98147103e-01 -1.63313570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40863999999993 meters 0.027640772118702167 Centerline is valid? [True, True] Translation: X:285.15, Y:-183.79, Z:-16.33 [[ 7.31955225e-01 6.79909937e-01 4.43173367e-02 2.85146334e+02] [-6.78701342e-01 7.33295509e-01 -4.05238791e-02 -1.83785047e+02] [-6.00502921e-02 -4.16570901e-04 9.98195266e-01 -1.63343354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46863999999994 meters 0.02777185674643014 Centerline is valid? [True, True] Translation: X:285.19, Y:-183.83, Z:-16.34 [[ 7.29442264e-01 6.82498929e-01 4.59259749e-02 2.85192761e+02] [-6.81203121e-01 7.30886332e-01 -4.20413897e-02 -1.83826428e+02] [-6.22598708e-02 -6.18150976e-04 9.98059781e-01 -1.63371545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52863999999994 meters 0.02789779986163876 Centerline is valid? [True, True] Translation: X:285.24, Y:-183.87, Z:-16.34 [[ 7.25203822e-01 6.86980498e-01 4.62299856e-02 2.85237315e+02] [-6.85673904e-01 7.26675194e-01 -4.23610564e-02 -1.83870174e+02] [-6.26954034e-02 -9.78294714e-04 9.98032229e-01 -1.63398816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58863999999994 meters 0.028555246578033832 Centerline is valid? [True, True] Translation: X:285.29, Y:-183.91, Z:-16.34 [[ 7.19197713e-01 6.93304116e-01 4.56514180e-02 2.85286173e+02] [-6.92040249e-01 7.20643610e-01 -4.18698139e-02 -1.83908137e+02] [-6.19269170e-02 -1.47994427e-03 9.98079589e-01 -1.63420906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64863999999994 meters 0.02915249921588837 Centerline is valid? [True, True] Translation: X:285.34, Y:-183.94, Z:-16.35 [[ 7.14477621e-01 6.98171698e-01 4.55851809e-02 2.85339076e+02] [-6.96919458e-01 7.15927902e-01 -4.18390915e-02 -1.83942569e+02] [-6.18465725e-02 -1.87610500e-03 9.98083905e-01 -1.63450374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70863999999995 meters 0.02895407056030547 Centerline is valid? [True, True] Translation: X:285.39, Y:-183.98, Z:-16.35 [[ 7.14412128e-01 6.98360617e-01 4.36779129e-02 2.85392253e+02] [-6.97210432e-01 7.15743812e-01 -4.01049903e-02 -1.83976631e+02] [-5.92699417e-02 -1.80120506e-03 9.98240367e-01 -1.63474124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76863999999995 meters 0.027887223758036754 Centerline is valid? [True, True] Translation: X:285.45, Y:-184.01, Z:-16.35 [[ 7.20720929e-01 6.91761956e-01 4.50193114e-02 2.85445816e+02] [-6.90525116e-01 7.22124489e-01 -4.13677109e-02 -1.84009231e+02] [-6.11261558e-02 -1.27239014e-03 9.98129237e-01 -1.63496106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82863999999995 meters 0.027218614216517834 Centerline is valid? [True, True] Translation: X:285.50, Y:-184.05, Z:-16.36 [[ 7.28824105e-01 6.83245670e-01 4.46181373e-02 2.85495901e+02] [-6.82014340e-01 7.30188371e-01 -4.10046584e-02 -1.84045138e+02] [-6.05959004e-02 -5.45025996e-04 9.98162231e-01 -1.63559289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88863999999995 meters 0.02697084844933466 Centerline is valid? [True, True] Translation: X:285.54, Y:-184.08, Z:-16.36 [[ 7.30513341e-01 6.81550297e-01 4.28888336e-02 2.85544816e+02] [-6.80409305e-01 7.31771171e-01 -3.94224725e-02 -1.84084549e+02] [-5.82532098e-02 -3.83319411e-04 9.98301766e-01 -1.63574897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94863999999995 meters 0.027002896154546152 Centerline is valid? [True, True] Translation: X:285.59, Y:-184.13, Z:-16.36 [[ 7.29366244e-01 6.82572654e-01 4.60375238e-02 2.85589688e+02] [-6.81258444e-01 7.30817582e-01 -4.23390374e-02 -1.84128151e+02] [-6.25445010e-02 -4.82787086e-04 9.98042059e-01 -1.63607795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00863999999996 meters 0.026977912174304685 Centerline is valid? [True, True] Translation: X:285.63, Y:-184.17, Z:-16.37 [[ 7.28673785e-01 6.83191593e-01 4.77887287e-02 2.85634177e+02] [-6.81773899e-01 7.30238983e-01 -4.39929316e-02 -1.84171345e+02] [-6.49527937e-02 -5.24611940e-04 9.97888200e-01 -1.63658558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06863999999996 meters 0.027125581959938593 Centerline is valid? [True, True] Translation: X:285.68, Y:-184.21, Z:-16.37 [[ 7.24782658e-01 6.87459539e-01 4.57108416e-02 2.85682069e+02] [-6.86168478e-01 7.26222198e-01 -4.21205289e-02 -1.84211947e+02] [-6.21523873e-02 -8.37109702e-04 9.98066320e-01 -1.63677854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12863999999996 meters 0.027131554436502486 Centerline is valid? [True, True] Translation: X:285.73, Y:-184.25, Z:-16.37 [[ 7.22838062e-01 6.89599362e-01 4.42476660e-02 2.85730657e+02] [-6.88391083e-01 7.24190448e-01 -4.08155762e-02 -1.84251572e+02] [-6.01901324e-02 -9.56646735e-04 9.98186472e-01 -1.63700388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18863999999996 meters 0.027233431542649567 Centerline is valid? [True, True] Translation: X:285.78, Y:-184.29, Z:-16.37 [[ 7.20859421e-01 6.91674731e-01 4.41334582e-02 2.85778371e+02] [-6.90473968e-01 7.22208326e-01 -4.07533136e-02 -1.84291700e+02] [-6.00615882e-02 -1.09559403e-03 9.98194072e-01 -1.63740095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24863999999997 meters 0.027349689079224363 Centerline is valid? [True, True] Translation: X:285.83, Y:-184.33, Z:-16.38 [[ 7.19483844e-01 6.93018100e-01 4.54852886e-02 2.85828653e+02] [-6.91742703e-01 7.20919161e-01 -4.20427974e-02 -1.84328975e+02] [-6.19276356e-02 -1.21500302e-03 9.98079902e-01 -1.63768377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30863999999997 meters 0.02720223855483355 Centerline is valid? [True, True] Translation: X:285.88, Y:-184.37, Z:-16.38 [[ 7.21792452e-01 6.90669887e-01 4.46179822e-02 2.85878602e+02] [-6.89435842e-01 7.23169534e-01 -4.12800819e-02 -1.84366099e+02] [-6.07772749e-02 -9.65584548e-04 9.98150886e-01 -1.63796162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36863999999997 meters 0.026982472315027532 Centerline is valid? [True, True] Translation: X:285.93, Y:-184.41, Z:-16.38 [[ 7.20954694e-01 6.91532983e-01 4.47935588e-02 2.85926765e+02] [-6.90288341e-01 7.22344176e-01 -4.14837103e-02 -1.84406503e+02] [-6.10437203e-02 -1.01259572e-03 9.98134580e-01 -1.63816148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42864 meters 0.027445515917864143 Centerline is valid? [True, True] Translation: X:285.97, Y:-184.45, Z:-16.39 [[ 7.17920098e-01 6.94603894e-01 4.60017754e-02 2.85974276e+02] [-6.93294513e-01 7.19391275e-01 -4.26486892e-02 -1.84446578e+02] [-6.27172214e-02 -1.27442735e-03 9.98030524e-01 -1.63853734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48864 meters 0.027768886761967034 Centerline is valid? [True, True] Translation: X:286.02, Y:-184.48, Z:-16.39 [[ 7.15157299e-01 6.97521897e-01 4.48691481e-02 2.86023469e+02] [-6.96279565e-01 7.16561972e-01 -4.16378015e-02 -1.84484550e+02] [-6.11948036e-02 -1.46389325e-03 9.98124768e-01 -1.63885765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54864 meters 0.028329205535799453 Centerline is valid? [True, True] Translation: X:286.07, Y:-184.52, Z:-16.39 [[ 7.11513671e-01 7.01204675e-01 4.53905137e-02 2.86072409e+02] [-6.99938217e-01 7.12957828e-01 -4.21619248e-02 -1.84522657e+02] [-6.19256609e-02 -1.77176934e-03 9.98079192e-01 -1.63922799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60864 meters 0.028594950695718994 Centerline is valid? [True, True] Translation: X:286.12, Y:-184.56, Z:-16.39 [[ 7.08978943e-01 7.03793558e-01 4.49831875e-02 2.86122987e+02] [-7.02552517e-01 7.10401872e-01 -4.18227437e-02 -1.84559870e+02] [-6.13907182e-02 -1.95160694e-03 9.98111903e-01 -1.63948275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66864 meters 0.028777895828736706 Centerline is valid? [True, True] Translation: X:286.17, Y:-184.60, Z:-16.40 [[ 7.08164802e-01 7.04638913e-01 4.45714583e-02 2.86173271e+02] [-7.03419730e-01 7.09563310e-01 -4.14800251e-02 -1.84598293e+02] [-6.08547113e-02 -1.97774941e-03 9.98144675e-01 -1.63972945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72864 meters 0.028335574031903978 Centerline is valid? [True, True] Translation: X:286.23, Y:-184.63, Z:-16.40 [[ 7.08806702e-01 7.03955236e-01 4.51673003e-02 2.86227060e+02] [-7.02699113e-01 7.10241765e-01 -4.20784103e-02 -1.84631969e+02] [-6.17010203e-02 -1.91356263e-03 9.98092843e-01 -1.63989669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78864 meters 0.028071802633452558 Centerline is valid? [True, True] Translation: X:286.27, Y:-184.67, Z:-16.40 [[ 7.10928454e-01 7.01884542e-01 4.40320701e-02 2.86274272e+02] [-7.00684932e-01 7.12288783e-01 -4.10526042e-02 -1.84673130e+02] [-6.01777379e-02 -1.66714361e-03 9.98186285e-01 -1.64032119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84864 meters 0.027242478992734104 Centerline is valid? [True, True] Translation: X:286.32, Y:-184.71, Z:-16.41 [[ 7.15356465e-01 6.97442961e-01 4.28770756e-02 2.86322172e+02] [-6.96296819e-01 7.16639207e-01 -3.99873306e-02 -1.84711929e+02] [-5.86162757e-02 -1.24997585e-03 9.98279805e-01 -1.64058314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90863999999993 meters 0.026956987865870446 Centerline is valid? [True, True] Translation: X:286.37, Y:-184.75, Z:-16.41 [[ 7.17997992e-01 6.94615452e-01 4.45898791e-02 2.86368856e+02] [-6.93369874e-01 7.19380472e-01 -4.15927153e-02 -1.84753809e+02] [-6.09680310e-02 -1.05379273e-03 9.98139163e-01 -1.64068556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96863999999994 meters 0.027166963202748345 Centerline is valid? [True, True] Translation: X:286.41, Y:-184.80, Z:-16.41 [[ 7.15581975e-01 6.97080392e-01 4.49595840e-02 2.86413867e+02] [-6.95817608e-01 7.16991870e-01 -4.19584827e-02 -1.84796204e+02] [-6.14840918e-02 -1.25893629e-03 9.98107270e-01 -1.64109807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02863999999994 meters 0.027254149187622728 Centerline is valid? [True, True] Translation: X:286.46, Y:-184.84, Z:-16.41 [[ 7.14665262e-01 6.97941038e-01 4.61721853e-02 2.86460894e+02] [-6.96608318e-01 7.16153974e-01 -4.31316318e-02 -1.84837288e+02] [-6.31697299e-02 -1.33924938e-03 9.98001900e-01 -1.64134838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08863999999994 meters 0.027292610203985018 Centerline is valid? [True, True] Translation: X:286.51, Y:-184.88, Z:-16.42 [[ 7.14127267e-01 6.98439620e-01 4.69504506e-02 2.86509702e+02] [-6.97059818e-01 7.15667664e-01 -4.39022154e-02 -1.84877498e+02] [-6.42639659e-02 -1.37550343e-03 9.97931987e-01 -1.64161853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14863999999994 meters 0.02758195111726101 Centerline is valid? [True, True] Translation: X:286.56, Y:-184.92, Z:-16.42 [[ 7.12713602e-01 6.99747895e-01 4.89101655e-02 2.86557078e+02] [-6.98250151e-01 7.14388249e-01 -4.57838039e-02 -1.84917285e+02] [-6.69779679e-02 -1.52079067e-03 9.97753296e-01 -1.64198125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20863999999995 meters 0.027564784259422482 Centerline is valid? [True, True] Translation: X:286.61, Y:-184.96, Z:-16.42 [[ 7.12033150e-01 7.00506901e-01 4.79465976e-02 2.86606412e+02] [-6.99066494e-01 7.13643989e-01 -4.49254266e-02 -1.84956402e+02] [-6.56873725e-02 -1.52946687e-03 9.97839080e-01 -1.64224420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26863999999995 meters 0.027588867319073614 Centerline is valid? [True, True] Translation: X:286.66, Y:-184.99, Z:-16.42 [[ 7.12153870e-01 7.00407479e-01 4.76049309e-02 2.86660893e+02] [-6.98984329e-01 7.13741678e-01 -4.46511394e-02 -1.84989076e+02] [-6.52516152e-02 -1.47661902e-03 9.97867750e-01 -1.64245511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32863999999995 meters 0.027195759771178975 Centerline is valid? [True, True] Translation: X:286.71, Y:-185.02, Z:-16.43 [[ 7.13844765e-01 6.98819333e-01 4.55762161e-02 2.86714313e+02] [-6.97509335e-01 7.15297131e-01 -4.27871677e-02 -1.85023313e+02] [-6.25010366e-02 -1.24644057e-03 9.98044121e-01 -1.64275759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38863999999995 meters 0.026602664592000048 Centerline is valid? [True, True] Translation: X:286.77, Y:-185.06, Z:-16.43 [[ 7.19087856e-01 6.93491130e-01 4.45276158e-02 2.86767698e+02] [-6.92228571e-01 7.20464784e-01 -4.18342063e-02 -1.85056789e+02] [-6.10922301e-02 -7.40818113e-04 9.98131850e-01 -1.64312497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44863999999995 meters 0.026108639832479352 Centerline is valid? [True, True] Translation: X:286.82, Y:-185.09, Z:-16.43 [[ 7.25424623e-01 6.86927040e-01 4.34782551e-02 2.86821161e+02] [-6.85710808e-01 7.26726367e-01 -4.08592261e-02 -1.85090377e+02] [-5.96641015e-02 -1.73220758e-04 9.98218496e-01 -1.64338117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50863999999996 meters 0.02616231410974528 Centerline is valid? [True, True] Translation: X:286.87, Y:-185.13, Z:-16.44 [[ 7.31041309e-01 6.80806344e-01 4.56215594e-02 2.86871283e+02] [-6.79454367e-01 7.32463376e-01 -4.28854935e-02 -1.85128024e+02] [-6.26128374e-02 3.53299551e-04 9.98037829e-01 -1.64365232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56863999999996 meters 0.026461244693059972 Centerline is valid? [True, True] Translation: X:286.92, Y:-185.17, Z:-16.44 [[ 7.35839796e-01 6.75539273e-01 4.67598624e-02 2.86919926e+02] [-6.74107461e-01 7.37323537e-01 -4.39674080e-02 -1.85167558e+02] [-6.41788580e-02 8.31796404e-04 9.97938065e-01 -1.64398991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62863999999996 meters 0.027465394199780908 Centerline is valid? [True, True] Translation: X:286.96, Y:-185.21, Z:-16.44 [[ 7.42678754e-01 6.68110867e-01 4.53446560e-02 2.86964915e+02] [-6.66749915e-01 7.44060346e-01 -4.26468354e-02 -1.85209660e+02] [-6.22319746e-02 1.43935303e-03 9.98060674e-01 -1.64448455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68863999999996 meters 0.028971035544580814 Centerline is valid? [True, True] Translation: X:287.01, Y:-185.25, Z:-16.45 [[ 7.48289445e-01 6.61707682e-01 4.69664776e-02 2.87009439e+02] [-6.60234343e-01 7.49759121e-01 -4.41800019e-02 -1.85252228e+02] [-6.44477916e-02 2.05054763e-03 9.97918973e-01 -1.64460927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74863999999997 meters 0.029644652222712196 Centerline is valid? [True, True] Translation: X:287.05, Y:-185.30, Z:-16.45 [[ 7.51652797e-01 6.57920878e-01 4.64563276e-02 2.87046809e+02] [-6.56471730e-01 7.53083376e-01 -4.37069436e-02 -1.85303663e+02] [-6.37411987e-02 2.35518075e-03 9.97963683e-01 -1.64492135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80863999999997 meters 0.02987339339572994 Centerline is valid? [True, True] Translation: X:287.09, Y:-185.35, Z:-16.45 [[ 7.52780441e-01 6.56759635e-01 4.45913724e-02 2.87085726e+02] [-6.55421975e-01 7.54096282e-01 -4.19622670e-02 -1.85352629e+02] [-6.11853113e-02 2.36220843e-03 9.98123628e-01 -1.64524416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86863999999997 meters 0.029268539663817223 Centerline is valid? [True, True] Translation: X:287.12, Y:-185.41, Z:-16.45 [[ 7.51169900e-01 6.58566864e-01 4.50939898e-02 2.87121696e+02] [-6.57201018e-01 7.52518843e-01 -4.24524704e-02 -1.85405703e+02] [-6.18918673e-02 2.25320186e-03 9.98080317e-01 -1.64548392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92864 meters 0.02829748559054627 Centerline is valid? [True, True] Translation: X:287.16, Y:-185.45, Z:-16.46 [[ 7.47643244e-01 6.62676165e-01 4.34727460e-02 2.87159469e+02] [-6.61412138e-01 7.48903747e-01 -4.09531594e-02 -1.85454537e+02] [-5.96955850e-02 1.86495109e-03 9.98214886e-01 -1.64582110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98864 meters 0.0275454673410963 Centerline is valid? [True, True] Translation: X:287.20, Y:-185.50, Z:-16.46 [[ 7.43708699e-01 6.67032658e-01 4.43261212e-02 2.87202468e+02] [-6.65725345e-01 7.45026854e-01 -4.17702412e-02 -1.85499338e+02] [-6.08862656e-02 1.55586937e-03 9.98143498e-01 -1.64605838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04864 meters 0.026444259773639008 Centerline is valid? [True, True] Translation: X:287.25, Y:-185.54, Z:-16.46 [[ 7.35439943e-01 6.76109195e-01 4.47710542e-02 2.87245677e+02] [-6.74790280e-01 7.36800960e-01 -4.22187621e-02 -1.85542565e+02] [-6.15318490e-02 8.38291805e-04 9.98104768e-01 -1.64617978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10864 meters 0.026243269008034045 Centerline is valid? [True, True] Translation: X:287.29, Y:-185.58, Z:-16.47 [[ 7.31324401e-01 6.80617737e-01 4.38647576e-02 2.87291564e+02] [-6.79358991e-01 7.32638577e-01 -4.13772439e-02 -1.85584189e+02] [-6.02990997e-02 4.60270621e-04 9.98180248e-01 -1.64662897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16864 meters 0.026109555125558473 Centerline is valid? [True, True] Translation: X:287.34, Y:-185.62, Z:-16.47 [[ 7.29463577e-01 6.82583999e-01 4.42941799e-02 2.87340396e+02] [-6.81301641e-01 7.30807071e-01 -4.18222226e-02 -1.85623975e+02] [-6.09176799e-02 3.30090670e-04 9.98142739e-01 -1.64693853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22864 meters 0.02629939050494802 Centerline is valid? [True, True] Translation: X:287.39, Y:-185.66, Z:-16.47 [[ 7.31835013e-01 6.79907994e-01 4.62885777e-02 2.87388883e+02] [-6.78499144e-01 7.33297174e-01 -4.37511898e-02 -1.85663334e+02] [-6.36900669e-02 6.11892201e-04 9.97969539e-01 -1.64730072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28864 meters 0.026550976068484992 Centerline is valid? [True, True] Translation: X:287.43, Y:-185.70, Z:-16.48 [[ 7.33408452e-01 6.78083661e-01 4.81102061e-02 2.87434661e+02] [-6.76554858e-01 7.34984256e-01 -4.55155855e-02 -1.85704827e+02] [-6.62236188e-02 8.32321464e-04 9.97804460e-01 -1.64769767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34864 meters 0.026848335282970207 Centerline is valid? [True, True] Translation: X:287.48, Y:-185.75, Z:-16.48 [[ 7.37207970e-01 6.74115225e-01 4.57501028e-02 2.87480029e+02] [-6.72722833e-01 7.38625290e-01 -4.33205489e-02 -1.85747696e+02] [-6.29952245e-02 1.15911516e-03 9.98013155e-01 -1.64787649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40863999999993 meters 0.02704165794441549 Centerline is valid? [True, True] Translation: X:287.53, Y:-185.79, Z:-16.48 [[ 7.37884176e-01 6.73414420e-01 4.51659479e-02 2.87525054e+02] [-6.72053614e-01 7.39264161e-01 -4.28070056e-02 -1.85791454e+02] [-6.22164214e-02 1.23267348e-03 9.98061921e-01 -1.64808420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46863999999994 meters 0.026519091306321838 Centerline is valid? [True, True] Translation: X:287.57, Y:-185.83, Z:-16.49 [[ 7.34894741e-01 6.76639459e-01 4.57029864e-02 2.87570579e+02] [-6.75249957e-01 7.36313823e-01 -4.33526291e-02 -1.85834413e+02] [-6.29858401e-02 9.98679584e-04 9.98013921e-01 -1.64851660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52863999999994 meters 0.026121554703355785 Centerline is valid? [True, True] Translation: X:287.62, Y:-185.88, Z:-16.49 [[ 7.32528213e-01 6.79337361e-01 4.36253011e-02 2.87616998e+02] [-6.78075084e-01 7.33825724e-01 -4.14003231e-02 -1.85875742e+02] [-6.01381544e-02 7.45675015e-04 9.98189785e-01 -1.64869734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58863999999994 meters 0.026282144543493716 Centerline is valid? [True, True] Translation: X:287.66, Y:-185.92, Z:-16.49 [[ 7.32498238e-01 6.79265701e-01 4.52154626e-02 2.87662883e+02] [-6.77907021e-01 7.33891991e-01 -4.29490113e-02 -1.85917453e+02] [-6.23570562e-02 8.08195568e-04 9.98053578e-01 -1.64893745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64863999999994 meters 0.026453258643518558 Centerline is valid? [True, True] Translation: X:287.71, Y:-185.96, Z:-16.49 [[ 7.33757867e-01 6.77829956e-01 4.63243244e-02 2.87709308e+02] [-6.76398303e-01 7.35218052e-01 -4.40426132e-02 -1.85958411e+02] [-6.39118821e-02 9.82919487e-04 9.97955062e-01 -1.64925020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70863999999995 meters 0.02677250645738748 Centerline is valid? [True, True] Translation: X:287.76, Y:-186.00, Z:-16.50 [[ 7.35094447e-01 6.76371225e-01 4.64555609e-02 2.87755216e+02] [-6.74925975e-01 7.36560019e-01 -4.42070934e-02 -1.86000256e+02] [-6.41177148e-02 1.14232416e-03 9.97941689e-01 -1.64968866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76863999999995 meters 0.026819719576902216 Centerline is valid? [True, True] Translation: X:287.80, Y:-186.04, Z:-16.50 [[ 7.35453296e-01 6.75923705e-01 4.72820712e-02 2.87798245e+02] [-6.74422923e-01 7.36970574e-01 -4.50343660e-02 -1.86044554e+02] [-6.52852907e-02 1.23256023e-03 9.97865879e-01 -1.64999721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82863999999995 meters 0.0266423430189374 Centerline is valid? [True, True] Translation: X:287.84, Y:-186.09, Z:-16.50 [[ 7.33526908e-01 6.78065565e-01 4.65334780e-02 2.87841142e+02] [-6.76613748e-01 7.35000665e-01 -4.43605630e-02 -1.86090195e+02] [-6.42815075e-02 1.05447570e-03 9.97931248e-01 -1.65026755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88863999999995 meters 0.0265226990736437 Centerline is valid? [True, True] Translation: X:287.89, Y:-186.13, Z:-16.51 [[ 7.31334332e-01 6.80268357e-01 4.88370546e-02 2.87885943e+02] [-6.78671035e-01 7.32962542e-01 -4.65997802e-02 -1.86132619e+02] [-6.74960875e-02 9.35724748e-04 9.97719100e-01 -1.65064469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94863999999995 meters 0.026290819651034282 Centerline is valid? [True, True] Translation: X:287.93, Y:-186.18, Z:-16.51 [[ 7.29177637e-01 6.82749306e-01 4.64043018e-02 2.87929152e+02] [-6.81309852e-01 7.30652378e-01 -4.43169161e-02 -1.86177390e+02] [-6.41627571e-02 6.99196189e-04 9.97939202e-01 -1.65076907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00863999999996 meters 0.026420043953756175 Centerline is valid? [True, True] Translation: X:287.97, Y:-186.22, Z:-16.51 [[ 7.29686269e-01 6.82218692e-01 4.62126136e-02 2.87972012e+02] [-6.80787388e-01 7.31147768e-01 -4.41754948e-02 -1.86223257e+02] [-6.39255976e-02 7.73287449e-04 9.97954368e-01 -1.65123836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06863999999996 meters 0.026543623593624124 Centerline is valid? [True, True] Translation: X:288.01, Y:-186.27, Z:-16.51 [[ 7.30292330e-01 6.81551969e-01 4.64760882e-02 2.88014325e+02] [-6.80100051e-01 7.31769197e-01 -4.44720476e-02 -1.86268963e+02] [-6.43197813e-02 8.69205314e-04 9.97928961e-01 -1.65139408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12863999999996 meters 0.026333998601591878 Centerline is valid? [True, True] Translation: X:288.06, Y:-186.31, Z:-16.52 [[ 7.29031359e-01 6.82901752e-01 4.64593910e-02 2.88059046e+02] [-6.81451020e-01 7.30509815e-01 -4.44962571e-02 -1.86312103e+02] [-6.43256130e-02 7.79367396e-04 9.97928659e-01 -1.65153483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18863999999996 meters 0.02590819614950199 Centerline is valid? [True, True] Translation: X:288.10, Y:-186.36, Z:-16.52 [[ 7.22457702e-01 6.89819463e-01 4.69465316e-02 2.88101456e+02] [-6.88349902e-01 7.23981401e-01 -4.50038206e-02 -1.86357940e+02] [-6.50329271e-02 1.97716385e-04 9.97883099e-01 -1.65206297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24863999999997 meters 0.02598277174209808 Centerline is valid? [True, True] Translation: X:288.15, Y:-186.40, Z:-16.52 [[ 7.16741638e-01 6.95860342e-01 4.53851255e-02 2.88145271e+02] [-6.94496548e-01 7.18177060e-01 -4.35460128e-02 -1.86402373e+02] [-6.28964993e-02 -3.08572454e-04 9.98020007e-01 -1.65226935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30863999999997 meters 0.02613054530608798 Centerline is valid? [True, True] Translation: X:288.19, Y:-186.44, Z:-16.52 [[ 7.12651992e-01 6.99971348e-01 4.65537285e-02 2.88191704e+02] [-6.98542338e-01 7.14170623e-01 -4.47093188e-02 -1.86443307e+02] [-6.45425475e-02 -6.57565234e-04 9.97914739e-01 -1.65241096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36863999999997 meters 0.02587075019891273 Centerline is valid? [True, True] Translation: X:288.24, Y:-186.49, Z:-16.53 [[ 7.14885173e-01 6.97606441e-01 4.77958422e-02 2.88238900e+02] [-6.96091729e-01 7.16481036e-01 -4.59481192e-02 -1.86485227e+02] [-6.62985184e-02 -4.22661307e-04 9.97799743e-01 -1.65277126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42864 meters 0.02575404933418516 Centerline is valid? [True, True] Translation: X:288.28, Y:-186.53, Z:-16.53 [[ 7.16539176e-01 6.95861848e-01 4.84551110e-02 2.88283392e+02] [-6.94297571e-01 7.18175630e-01 -4.66331089e-02 -1.86530022e+02] [-6.72494813e-02 -2.27816481e-04 9.97736165e-01 -1.65317446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48864 meters 0.025887602095294792 Centerline is valid? [True, True] Translation: X:288.33, Y:-186.58, Z:-16.53 [[ 7.15202326e-01 6.97284973e-01 4.77420073e-02 2.88325753e+02] [-6.95766379e-01 7.16793947e-01 -4.59954729e-02 -1.86576956e+02] [-6.62931340e-02 -3.21214414e-04 9.97800139e-01 -1.65333923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54864 meters 0.02614012990472392 Centerline is valid? [True, True] Translation: X:288.37, Y:-186.62, Z:-16.54 [[ 7.10136580e-01 7.02434223e-01 4.78769344e-02 2.88366748e+02] [-7.00915485e-01 7.11748250e-01 -4.61726280e-02 -1.86624325e+02] [-6.65095584e-02 -7.68812567e-04 9.97785492e-01 -1.65355366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60864 meters 0.02639853808089344 Centerline is valid? [True, True] Translation: X:288.41, Y:-186.67, Z:-16.54 [[ 7.06181014e-01 7.06337465e-01 4.89465205e-02 2.88409649e+02] [-7.04756310e-01 7.07874361e-01 -4.72486278e-02 -1.86669368e+02] [-6.80214629e-02 -1.12928528e-03 9.97683219e-01 -1.65378834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66864 meters 0.026188704866097694 Centerline is valid? [True, True] Translation: X:288.45, Y:-186.71, Z:-16.54 [[ 7.08562412e-01 7.04041138e-01 4.75960468e-02 2.88452569e+02] [-7.02538137e-01 7.10158678e-01 -4.59871599e-02 -1.86714191e+02] [-6.61775981e-02 -8.53265051e-04 9.97807495e-01 -1.65404635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72864 meters 0.025864864168130705 Centerline is valid? [True, True] Translation: X:288.49, Y:-186.76, Z:-16.55 [[ 7.14255075e-01 6.98242464e-01 4.79285867e-02 2.88494504e+02] [-6.96702287e-01 7.15861286e-01 -4.63523767e-02 -1.86759932e+02] [-6.66754174e-02 -2.84535678e-04 9.97774678e-01 -1.65450294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78864 meters 0.02611321563092295 Centerline is valid? [True, True] Translation: X:288.54, Y:-186.81, Z:-16.55 [[ 7.15913304e-01 6.96668019e-01 4.60631471e-02 2.88535107e+02] [-6.95240114e-01 7.17393658e-01 -4.45816471e-02 -1.86808057e+02] [-6.41040174e-02 -1.08353432e-04 9.97943216e-01 -1.65477241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84864 meters 0.025994418419442743 Centerline is valid? [True, True] Translation: X:288.57, Y:-186.86, Z:-16.55 [[ 7.16304779e-01 6.96231279e-01 4.65775718e-02 2.88574949e+02] [-6.94768708e-01 7.17817528e-01 -4.51047548e-02 -1.86857051e+02] [-6.48375386e-02 -5.18879229e-05 9.97895832e-01 -1.65500244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90863999999993 meters 0.026075903245687343 Centerline is valid? [True, True] Translation: X:288.61, Y:-186.91, Z:-16.55 [[ 7.14016939e-01 6.98623289e-01 4.58836632e-02 2.88613216e+02] [-6.97205902e-01 7.15489655e-01 -4.44801482e-02 -1.86908452e+02] [-6.39041538e-02 -2.30781481e-04 9.97956014e-01 -1.65517068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96863999999994 meters 0.02648760704556683 Centerline is valid? [True, True] Translation: X:288.65, Y:-186.96, Z:-16.55 [[ 7.06683347e-01 7.05885746e-01 4.82074822e-02 2.88653741e+02] [-7.04335005e-01 7.08325139e-01 -4.67728340e-02 -1.86955940e+02] [-6.71628483e-02 -9.00634357e-04 9.97741620e-01 -1.65542726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02863999999994 meters 0.026700311709027678 Centerline is valid? [True, True] Translation: X:288.70, Y:-187.00, Z:-16.56 [[ 7.01808158e-01 7.10786854e-01 4.74063022e-02 2.88697331e+02] [-7.09296993e-01 7.03406197e-01 -4.60162745e-02 -1.86999570e+02] [-6.60536497e-02 -1.33055079e-03 9.97815186e-01 -1.65573525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08863999999994 meters 0.027323288033679945 Centerline is valid? [True, True] Translation: X:288.74, Y:-187.04, Z:-16.56 [[ 6.97989221e-01 7.14563764e-01 4.70071742e-02 2.88742573e+02] [-7.13104750e-01 6.99568384e-01 -4.56693771e-02 -1.87042510e+02] [-6.55184148e-02 -1.64430624e-03 9.97850006e-01 -1.65593107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14863999999994 meters 0.027004822881167276 Centerline is valid? [True, True] Translation: X:288.79, Y:-187.08, Z:-16.56 [[ 6.99510720e-01 7.12956222e-01 4.87665751e-02 2.88790328e+02] [-7.11378651e-01 7.01206908e-01 -4.74266464e-02 -1.87083980e+02] [-6.80085820e-02 -1.51605283e-03 9.97683584e-01 -1.65610411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20863999999995 meters 0.026959346489060454 Centerline is valid? [True, True] Translation: X:288.84, Y:-187.12, Z:-16.56 [[ 6.99537228e-01 7.13036744e-01 4.71833440e-02 2.88837470e+02] [-7.11557162e-01 7.01125184e-01 -4.59334535e-02 -1.87124661e+02] [-6.58336709e-02 -1.44148557e-03 9.97829570e-01 -1.65634215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26863999999995 meters 0.027163418277705857 Centerline is valid? [True, True] Translation: X:288.89, Y:-187.16, Z:-16.57 [[ 6.96890356e-01 7.15720976e-01 4.56871631e-02 2.88888081e+02] [-7.14336935e-01 6.98384483e-01 -4.45180569e-02 -1.87161913e+02] [-6.37697130e-02 -1.61182353e-03 9.97963339e-01 -1.65672037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32863999999995 meters 0.027098750592317995 Centerline is valid? [True, True] Translation: X:288.94, Y:-187.20, Z:-16.57 [[ 6.98171775e-01 7.14451466e-01 4.59921102e-02 2.88936398e+02] [-7.13043881e-01 6.99683434e-01 -4.48499243e-02 -1.87202123e+02] [-6.42230118e-02 -1.48144154e-03 9.97934472e-01 -1.65687111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38863999999995 meters 0.026979261652415126 Centerline is valid? [True, True] Translation: X:288.99, Y:-187.24, Z:-16.57 [[ 7.01562853e-01 7.11113189e-01 4.61258729e-02 2.88985008e+02] [-7.09688656e-01 7.03076583e-01 -4.50036573e-02 -1.87241007e+02] [-6.44327154e-02 -1.16211455e-03 9.97921377e-01 -1.65734700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44863999999995 meters 0.026606885222225846 Centerline is valid? [True, True] Translation: X:289.04, Y:-187.28, Z:-16.58 [[ 7.07035289e-01 7.05649428e-01 4.64756464e-02 2.89035299e+02] [-7.04188475e-01 7.08560852e-01 -4.53884429e-02 -1.87278881e+02] [-6.49591524e-02 -6.36383769e-04 9.97887721e-01 -1.65764263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50863999999996 meters 0.026657198087654353 Centerline is valid? [True, True] Translation: X:289.08, Y:-187.32, Z:-16.58 [[ 7.10308625e-01 7.02385930e-01 4.59963227e-02 2.89081267e+02] [-7.00945384e-01 7.11796258e-01 -4.49628348e-02 -1.87320050e+02] [-6.43212730e-02 -3.03420673e-04 9.97929197e-01 -1.65805890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56863999999996 meters 0.0267940415586065 Centerline is valid? [True, True] Translation: X:289.13, Y:-187.36, Z:-16.58 [[ 7.16346490e-01 6.96170738e-01 4.68402575e-02 2.89125330e+02] [-6.94660533e-01 7.17876186e-01 -4.58314957e-02 -1.87363372e+02] [-6.55320515e-02 2.93152895e-04 9.97850422e-01 -1.65848275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62863999999996 meters 0.027131947460720077 Centerline is valid? [True, True] Translation: X:289.17, Y:-187.41, Z:-16.59 [[ 7.20756419e-01 6.91654985e-01 4.60821676e-02 2.89167695e+02] [-6.90181354e-01 7.22227705e-01 -4.51313609e-02 -1.87409392e+02] [-6.44971489e-02 7.23665265e-04 9.97917629e-01 -1.65878100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68863999999996 meters 0.027487436129346617 Centerline is valid? [True, True] Translation: X:289.21, Y:-187.46, Z:-16.59 [[ 7.22994398e-01 6.89287475e-01 4.64959863e-02 2.89208176e+02] [-6.87779579e-01 7.24487286e-01 -4.55787570e-02 -1.87456621e+02] [-6.51026173e-02 9.74196076e-04 9.97878099e-01 -1.65902740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74863999999997 meters 0.027502841174783847 Centerline is valid? [True, True] Translation: X:289.25, Y:-187.50, Z:-16.59 [[ 7.21435732e-01 6.90998420e-01 4.52953432e-02 2.89249615e+02] [-6.89568324e-01 7.22855794e-01 -4.44412729e-02 -1.87503747e+02] [-6.34508506e-02 8.27288307e-04 9.97984622e-01 -1.65927698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80863999999997 meters 0.027570532415187154 Centerline is valid? [True, True] Translation: X:289.29, Y:-187.55, Z:-16.60 [[ 7.17492364e-01 6.94888110e-01 4.83241406e-02 2.89292216e+02] [-6.93265835e-01 7.19117662e-01 -4.74580843e-02 -1.87549253e+02] [-6.77288015e-02 5.49337419e-04 9.97703617e-01 -1.65957996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86863999999997 meters 0.027619388257686794 Centerline is valid? [True, True] Translation: X:289.34, Y:-187.59, Z:-16.60 [[ 7.12835171e-01 6.99705785e-01 4.77266588e-02 2.89336138e+02] [-6.98131861e-01 7.14431103e-01 -4.69052625e-02 -1.87593877e+02] [-6.69172930e-02 1.16219654e-04 9.97758519e-01 -1.65991853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92864 meters 0.027727411148518333 Centerline is valid? [True, True] Translation: X:289.38, Y:-187.64, Z:-16.60 [[ 7.06977155e-01 7.05645736e-01 4.74067298e-02 2.89382931e+02] [-7.04104357e-01 7.08564688e-01 -4.66169245e-02 -1.87636542e+02] [-6.64857687e-02 -4.22184385e-04 9.97787284e-01 -1.66014803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98864 meters 0.027820018032453438 Centerline is valid? [True, True] Translation: X:289.43, Y:-187.68, Z:-16.60 [[ 7.04597504e-01 7.08072750e-01 4.66405169e-02 2.89428812e+02] [-7.06582946e-01 7.06139231e-01 -4.59121635e-02 -1.87679990e+02] [-6.54438506e-02 -6.05798017e-04 9.97856069e-01 -1.66028441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04864 meters 0.02836829740490105 Centerline is valid? [True, True] Translation: X:289.48, Y:-187.72, Z:-16.61 [[ 6.97963319e-01 7.14697286e-01 4.53320497e-02 2.89476630e+02] [-7.13300908e-01 6.99432948e-01 -4.46695165e-02 -1.87719727e+02] [-6.36319114e-02 -1.15770821e-03 9.97972765e-01 -1.66051861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10864 meters 0.029151056102106474 Centerline is valid? [True, True] Translation: X:289.52, Y:-187.76, Z:-16.61 [[ 6.91742810e-01 7.20723720e-01 4.52681404e-02 2.89524509e+02] [-7.19341455e-01 6.93220384e-01 -4.46471808e-02 -1.87759119e+02] [-6.35590799e-02 -1.67888364e-03 9.97976665e-01 -1.66077111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16864 meters 0.029541288374945244 Centerline is valid? [True, True] Translation: X:289.58, Y:-187.80, Z:-16.61 [[ 6.88942588e-01 7.23407520e-01 4.51627058e-02 2.89575454e+02] [-7.22034910e-01 6.90418694e-01 -4.45826907e-02 -1.87796394e+02] [-6.34326301e-02 -1.89413587e-03 9.97984325e-01 -1.66099140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22864 meters 0.029255468915999963 Centerline is valid? [True, True] Translation: X:289.63, Y:-187.83, Z:-16.61 [[ 6.90417156e-01 7.21886154e-01 4.69524426e-02 2.89626460e+02] [-7.20396027e-01 6.92009513e-01 -4.63939509e-02 -1.87833443e+02] [-6.59826877e-02 -1.79317346e-03 9.97819157e-01 -1.66122015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28864 meters 0.02886243794718368 Centerline is valid? [True, True] Translation: X:289.68, Y:-187.87, Z:-16.61 [[ 6.94739467e-01 7.17746332e-01 4.66612903e-02 2.89678981e+02] [-7.16262441e-01 6.96303348e-01 -4.61493436e-02 -1.87868637e+02] [-6.56139348e-02 -1.35995939e-03 9.97844157e-01 -1.66141142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34864 meters 0.02839077599738581 Centerline is valid? [True, True] Translation: X:289.73, Y:-187.91, Z:-16.62 [[ 6.99097520e-01 7.13517614e-01 4.64249132e-02 2.89730693e+02] [-7.12037085e-01 7.00636672e-01 -4.59504461e-02 -1.87905443e+02] [-6.53134493e-02 -9.32416960e-04 9.97864361e-01 -1.66164806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40863999999993 meters 0.028175005374784047 Centerline is valid? [True, True] Translation: X:289.78, Y:-187.94, Z:-16.62 [[ 7.01355297e-01 7.11278687e-01 4.67266102e-02 2.89780928e+02] [-7.09772270e-01 7.02909754e-01 -4.62731288e-02 -1.87942686e+02] [-6.57576804e-02 -7.11348168e-04 9.97835368e-01 -1.66194850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46863999999994 meters 0.02801810762354399 Centerline is valid? [True, True] Translation: X:289.83, Y:-187.98, Z:-16.62 [[ 7.04504475e-01 7.08108601e-01 4.74937209e-02 2.89831597e+02] [-7.06541929e-01 7.06103433e-01 -4.70791380e-02 -1.87981434e+02] [-6.68726219e-02 -3.88841800e-04 9.97761445e-01 -1.66220616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52863999999994 meters 0.02781436438269804 Centerline is valid? [True, True] Translation: X:289.88, Y:-188.02, Z:-16.62 [[ 7.07706133e-01 7.04884182e-01 4.78572809e-02 2.89881506e+02] [-7.03283252e-01 7.09322414e-01 -4.74803152e-02 -1.88020326e+02] [-6.74143651e-02 -5.51138361e-05 9.97725063e-01 -1.66243854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58863999999994 meters 0.027926935317781284 Centerline is valid? [True, True] Translation: X:289.93, Y:-188.06, Z:-16.63 [[ 7.09259574e-01 7.03381606e-01 4.69592730e-02 2.89927138e+02] [-7.01835868e-01 7.10812427e-01 -4.66058844e-02 -1.88063007e+02] [-6.61609567e-02 9.79676505e-05 9.97808959e-01 -1.66278073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64863999999994 meters 0.02788405586861854 Centerline is valid? [True, True] Translation: X:289.97, Y:-188.11, Z:-16.63 [[ 7.09208002e-01 7.03437752e-01 4.68970986e-02 2.89972594e+02] [-7.01895292e-01 7.10756863e-01 -4.65583582e-02 -1.88106511e+02] [-6.60833415e-02 1.02707467e-04 9.97814102e-01 -1.66300996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70863999999995 meters 0.02777026359015811 Centerline is valid? [True, True] Translation: X:290.02, Y:-188.15, Z:-16.63 [[ 7.07537636e-01 7.04987518e-01 4.88169375e-02 2.90016410e+02] [-7.03318492e-01 7.09219711e-01 -4.84819485e-02 -1.88150080e+02] [-6.88011029e-02 -3.10516822e-05 9.97630396e-01 -1.66327415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76863999999995 meters 0.02778447216607954 Centerline is valid? [True, True] Translation: X:290.06, Y:-188.19, Z:-16.63 [[ 7.05715220e-01 7.06879829e-01 4.78219267e-02 2.90062930e+02] [-7.05281724e-01 7.07333632e-01 -4.75060329e-02 -1.88191963e+02] [-6.74071135e-02 -2.02200476e-04 9.97725533e-01 -1.66339615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82863999999995 meters 0.027962268810000846 Centerline is valid? [True, True] Translation: X:290.11, Y:-188.23, Z:-16.64 [[ 7.03047358e-01 7.09537752e-01 4.77555421e-02 2.90108917e+02] [-7.07949345e-01 7.04667282e-01 -4.74525737e-02 -1.88233479e+02] [-6.73211606e-02 -4.47098178e-04 9.97731257e-01 -1.66369976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88863999999995 meters 0.027728448576278257 Centerline is valid? [True, True] Translation: X:290.16, Y:-188.27, Z:-16.64 [[ 6.99535681e-01 7.13062649e-01 4.68133574e-02 2.90157741e+02] [-7.11543405e-01 7.01099907e-01 -4.65285276e-02 -1.88273115e+02] [-6.59985956e-02 -7.61370544e-04 9.97819425e-01 -1.66402372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94863999999995 meters 0.027726211976480238 Centerline is valid? [True, True] Translation: X:290.21, Y:-188.31, Z:-16.64 [[ 6.98611162e-01 7.13829521e-01 4.88861911e-02 2.90207268e+02] [-7.12173550e-01 7.00318979e-01 -4.86020775e-02 -1.88311672e+02] [-6.89295251e-02 -8.61498449e-04 9.97621160e-01 -1.66419573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00863999999996 meters 0.027939856269242596 Centerline is valid? [True, True] Translation: X:290.26, Y:-188.35, Z:-16.65 [[ 6.99830726e-01 7.12465312e-01 5.12848216e-02 2.90256273e+02] [-7.10638138e-01 7.01706925e-01 -5.09983109e-02 -1.88349411e+02] [-7.23214420e-02 -7.54765158e-04 9.97381090e-01 -1.66470550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06863999999996 meters 0.02772614112857214 Centerline is valid? [True, True] Translation: X:290.31, Y:-188.38, Z:-16.65 [[ 7.01395393e-01 7.10965406e-01 5.07217341e-02 2.90306035e+02] [-7.09174129e-01 7.03226735e-01 -5.04401908e-02 -1.88383911e+02] [-7.15301102e-02 -5.92024174e-04 9.97438265e-01 -1.66500201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12863999999996 meters 0.027390105421345564 Centerline is valid? [True, True] Translation: X:290.35, Y:-188.42, Z:-16.65 [[ 7.05704845e-01 7.06712514e-01 5.03794961e-02 2.90352190e+02] [-7.04935934e-01 7.07500807e-01 -5.00793019e-02 -1.88420723e+02] [-7.10352035e-02 -1.73111199e-04 9.97473794e-01 -1.66530500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18863999999996 meters 0.027525669557278098 Centerline is valid? [True, True] Translation: X:290.40, Y:-188.46, Z:-16.66 [[ 7.09536489e-01 7.02838117e-01 5.07597460e-02 2.90397707e+02] [-7.01028124e-01 7.11349807e-01 -5.04085472e-02 -1.88457235e+02] [-7.15369839e-02 1.82694076e-04 9.97437931e-01 -1.66557360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24863999999997 meters 0.027771607626968182 Centerline is valid? [True, True] Translation: X:290.44, Y:-188.49, Z:-16.66 [[ 7.13611908e-01 6.98645886e-01 5.14972824e-02 2.90443595e+02] [-6.96775601e-01 7.15467395e-01 -5.10898118e-02 -1.88493557e+02] [-7.25383133e-02 5.76248201e-04 9.97365460e-01 -1.66607723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30863999999997 meters 0.028521888068819837 Centerline is valid? [True, True] Translation: X:290.49, Y:-188.53, Z:-16.66 [[ 7.17644322e-01 6.94492613e-01 5.16394968e-02 2.90488205e+02] [-6.92604529e-01 7.19499184e-01 -5.11848744e-02 -1.88532578e+02] [-7.27020930e-02 9.66785125e-04 9.97353233e-01 -1.66624632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36863999999997 meters 0.029052398916422674 Centerline is valid? [True, True] Translation: X:290.53, Y:-188.57, Z:-16.66 [[ 7.21992267e-01 6.89982264e-01 5.14941050e-02 2.90529222e+02] [-6.88096558e-01 7.23824948e-01 -5.09957962e-02 -1.88574498e+02] [-7.24589127e-02 1.38565410e-03 9.97370436e-01 -1.66644567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42864 meters 0.03120663043240253 Centerline is valid? [True, True] Translation: X:290.57, Y:-188.62, Z:-16.67 [[ 7.32084102e-01 6.79285328e-01 5.12280227e-02 2.90568738e+02] [-6.77394620e-01 7.33870285e-01 -5.07043729e-02 -1.88620777e+02] [-7.20374602e-02 2.41827833e-03 9.97398996e-01 -1.66656465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48864 meters 0.033048795514648274 Centerline is valid? [True, True] Translation: X:290.61, Y:-188.67, Z:-16.67 [[ 7.37725764e-01 6.73165531e-01 5.10770425e-02 2.90606872e+02] [-6.71271246e-01 7.39485708e-01 -5.05549360e-02 -1.88668058e+02] [-7.18025833e-02 3.00912886e-03 9.97414324e-01 -1.66697914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54864 meters 0.034691292377474946 Centerline is valid? [True, True] Translation: X:290.64, Y:-188.72, Z:-16.67 [[ 7.42498737e-01 6.67885527e-01 5.12303435e-02 2.90643092e+02] [-6.65967099e-01 7.44255626e-01 -5.07088393e-02 -1.88718864e+02] [-7.19961712e-02 3.53352597e-03 9.97398649e-01 -1.66705138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60864 meters 0.03301870301610978 Centerline is valid? [True, True] Translation: X:290.67, Y:-188.77, Z:-16.67 [[ 7.38121194e-01 6.72835533e-01 4.96935388e-02 2.90674381e+02] [-6.71041394e-01 7.39786160e-01 -4.91923261e-02 -1.88773993e+02] [-6.98609372e-02 2.96347693e-03 9.97552338e-01 -1.66723453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66864 meters 0.030724010748425915 Centerline is valid? [True, True] Translation: X:290.71, Y:-188.83, Z:-16.68 [[ 7.30137967e-01 6.81495098e-01 4.96284322e-02 2.90706482e+02] [-6.79725135e-01 7.31819552e-01 -4.91312988e-02 -1.88828105e+02] [-6.98017963e-02 2.13893388e-03 9.97558587e-01 -1.66762863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72864 meters 0.02965506072020122 Centerline is valid? [True, True] Translation: X:290.74, Y:-188.88, Z:-16.68 [[ 7.24851807e-01 6.87125628e-01 4.94795860e-02 2.90740820e+02] [-6.85378844e-01 7.26536866e-01 -4.89900199e-02 -1.88881091e+02] [-6.96110415e-02 1.59824303e-03 9.97572929e-01 -1.66786308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78864 meters 0.02934534976160858 Centerline is valid? [True, True] Translation: X:290.78, Y:-188.93, Z:-16.68 [[ 7.20060214e-01 6.91996770e-01 5.15146443e-02 2.90780221e+02] [-6.90113833e-01 7.21899611e-01 -5.10279315e-02 -1.88929949e+02] [-7.24995655e-02 1.19221467e-03 9.97367731e-01 -1.66845143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84864 meters 0.029188045723476403 Centerline is valid? [True, True] Translation: X:290.82, Y:-188.98, Z:-16.68 [[ 7.17127012e-01 6.94988906e-01 5.21466149e-02 2.90823004e+02] [-6.93063885e-01 7.19019852e-01 -5.17001422e-02 -1.88975342e+02] [-7.34254766e-02 9.34633029e-04 9.97300269e-01 -1.66846572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90863999999993 meters 0.029161514451073463 Centerline is valid? [True, True] Translation: X:290.87, Y:-189.02, Z:-16.69 [[ 7.16367711e-01 6.95808437e-01 5.16519280e-02 2.90867510e+02] [-6.93918638e-01 7.18226882e-01 -5.12549500e-02 -1.89018918e+02] [-7.27614298e-02 8.75155705e-04 9.97348990e-01 -1.66873608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96863999999994 meters 0.029406303816800747 Centerline is valid? [True, True] Translation: X:290.91, Y:-189.06, Z:-16.69 [[ 7.18995560e-01 6.93179659e-01 5.04712255e-02 2.90910208e+02] [-6.91365578e-01 7.20763928e-01 -5.01298145e-02 -1.89064692e+02] [-7.11268065e-02 1.14904612e-03 9.97466620e-01 -1.66934640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02863999999994 meters 0.030040063836158856 Centerline is valid? [True, True] Translation: X:290.95, Y:-189.11, Z:-16.70 [[ 7.22633469e-01 6.89406501e-01 5.01950741e-02 2.90954528e+02] [-6.87599665e-01 7.24373025e-01 -4.99041261e-02 -1.89108357e+02] [-7.07641866e-02 1.54827560e-03 9.97491871e-01 -1.66964561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08863999999994 meters 0.030972492659741033 Centerline is valid? [True, True] Translation: X:290.99, Y:-189.16, Z:-16.70 [[ 7.27059549e-01 6.84695862e-01 5.07541966e-02 2.90993291e+02] [-6.82833863e-01 7.28825990e-01 -5.05033846e-02 -1.89156696e+02] [-7.15704361e-02 2.06228392e-03 9.97433416e-01 -1.67007147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14863999999994 meters 0.03124830493870811 Centerline is valid? [True, True] Translation: X:291.03, Y:-189.21, Z:-16.70 [[ 7.26535550e-01 6.85189957e-01 5.15831152e-02 2.91031270e+02] [-6.83264669e-01 7.28361452e-01 -5.13710729e-02 -1.89206783e+02] [-7.27700960e-02 2.07799060e-03 9.97346577e-01 -1.67040044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20863999999995 meters 0.03119164759923406 Centerline is valid? [True, True] Translation: X:291.07, Y:-189.26, Z:-16.71 [[ 7.26089582e-01 6.85731011e-01 5.06645796e-02 2.91066017e+02] [-6.83871999e-01 7.27852255e-01 -5.04993591e-02 -1.89260251e+02] [-7.15053050e-02 2.01897124e-03 9.97438176e-01 -1.67062382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26863999999995 meters 0.03101441042024265 Centerline is valid? [True, True] Translation: X:291.10, Y:-189.32, Z:-16.71 [[ 7.25911902e-01 6.85959636e-01 5.01127633e-02 2.91099799e+02] [-6.84138286e-01 7.27636824e-01 -4.99945749e-02 -1.89315207e+02] [-7.07581523e-02 2.00759691e-03 9.97491480e-01 -1.67099106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32863999999995 meters 0.03079847788726922 Centerline is valid? [True, True] Translation: X:291.13, Y:-189.37, Z:-16.71 [[ 7.24997252e-01 6.86963784e-01 4.95957978e-02 2.91132862e+02] [-6.85178932e-01 7.26689107e-01 -4.95254872e-02 -1.89369578e+02] [-7.00629421e-02 1.92384639e-03 9.97540717e-01 -1.67126302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38863999999995 meters 0.03007045642261414 Centerline is valid? [True, True] Translation: X:291.17, Y:-189.42, Z:-16.71 [[ 7.20033740e-01 6.92144705e-01 4.98710337e-02 2.91166692e+02] [-6.90350042e-01 7.21757299e-01 -4.98319335e-02 -1.89423316e+02] [-7.04856915e-02 1.45220332e-03 9.97511733e-01 -1.67113914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44863999999995 meters 0.02936218851328382 Centerline is valid? [True, True] Translation: X:291.20, Y:-189.47, Z:-16.72 [[ 7.11428876e-01 7.00880673e-01 5.13345541e-02 2.91203222e+02] [-6.98999700e-01 7.13278270e-01 -5.13179310e-02 -1.89474854e+02] [-7.25835680e-02 6.26220075e-04 9.97362138e-01 -1.67159450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50863999999996 meters 0.028873477255781477 Centerline is valid? [True, True] Translation: X:291.21, Y:-189.59, Z:-15.13 [[ 7.58488660e-01 -6.51525753e-01 -1.44618556e-02 2.91209855e+02] [-6.51315619e-01 -7.58618936e-01 1.68900902e-02 -1.89591733e+02] [-2.19753662e-02 -3.39170944e-03 -9.99752759e-01 -1.51348206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56863999999996 meters 0.02943005282064962 Centerline is valid? [True, True] Translation: X:291.25, Y:-189.53, Z:-16.72 [[ 7.49886743e-01 6.59255077e-01 5.52504760e-02 2.91246875e+02] [-6.57520885e-01 7.51919212e-01 -4.77889642e-02 -1.89533329e+02] [-7.30490117e-02 -4.92031177e-04 9.97328231e-01 -1.67159112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62863999999996 meters 0.02950447878157591 Centerline is valid? [True, True] Translation: X:291.30, Y:-189.57, Z:-16.72 [[ 7.51563131e-01 6.57251955e-01 5.63269763e-02 2.91296236e+02] [-6.55440288e-01 7.53670881e-01 -4.87671288e-02 -1.89571034e+02] [-7.45042925e-02 -2.67393582e-04 9.97220657e-01 -1.67191542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68863999999996 meters 0.029271278862892762 Centerline is valid? [True, True] Translation: X:291.35, Y:-189.61, Z:-16.72 [[ 7.51136522e-01 6.57789022e-01 5.57452134e-02 2.91345038e+02] [-6.56012734e-01 7.53202179e-01 -4.83091014e-02 -1.89609317e+02] [-7.37646127e-02 -2.82839481e-04 9.97275640e-01 -1.67233705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74863999999997 meters 0.028874079195649535 Centerline is valid? [True, True] Translation: X:291.39, Y:-189.65, Z:-16.73 [[ 7.51808730e-01 6.57153429e-01 5.41572223e-02 2.91392492e+02] [-6.55472244e-01 7.53756816e-01 -4.69765883e-02 -1.89648766e+02] [-7.16922016e-02 -1.81146875e-04 9.97426787e-01 -1.67278490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80863999999997 meters 0.028843884908710586 Centerline is valid? [True, True] Translation: X:291.44, Y:-189.69, Z:-16.73 [[ 7.54056407e-01 6.54707621e-01 5.25058615e-02 2.91438839e+02] [-6.53118650e-01 7.55882216e-01 -4.55862337e-02 -1.89689936e+02] [-6.95339015e-02 8.20341700e-05 9.97579586e-01 -1.67311468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86863999999997 meters 0.02940295076811975 Centerline is valid? [True, True] Translation: X:291.48, Y:-189.73, Z:-16.73 [[ 7.60011102e-01 6.47650319e-01 5.41496973e-02 2.91484067e+02] [-6.45938978e-01 7.61937298e-01 -4.70573227e-02 -1.89731987e+02] [-7.17353641e-02 7.86687592e-04 9.97423390e-01 -1.67341147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92864 meters 0.029471137518410736 Centerline is valid? [True, True] Translation: X:291.53, Y:-189.78, Z:-16.74 [[ 7.60894811e-01 6.46570101e-01 5.46460552e-02 2.91528087e+02] [-6.44821331e-01 7.62854010e-01 -4.75311568e-02 -1.89776436e+02] [-7.24191872e-02 9.29268565e-04 9.97373851e-01 -1.67369525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98864 meters 0.02902772310684905 Centerline is valid? [True, True] Translation: X:291.57, Y:-189.82, Z:-16.74 [[ 7.60649783e-01 6.47063327e-01 5.21628138e-02 2.91571372e+02] [-6.45468405e-01 7.62435760e-01 -4.54119987e-02 -1.89820805e+02] [-6.91552335e-02 8.73178704e-04 9.97605529e-01 -1.67399530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04864 meters 0.02892328958071402 Centerline is valid? [True, True] Translation: X:291.62, Y:-189.86, Z:-16.74 [[ 7.60863405e-01 6.46826103e-01 5.19891478e-02 2.91617520e+02] [-6.45238206e-01 7.62636962e-01 -4.53047717e-02 -1.89863028e+02] [-6.89531547e-02 9.25358434e-04 9.97619470e-01 -1.67416287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10864 meters 0.029021379739256857 Centerline is valid? [True, True] Translation: X:291.66, Y:-189.90, Z:-16.74 [[ 7.60556188e-01 6.47076460e-01 5.33510952e-02 2.91663660e+02] [-6.45401361e-01 7.62424506e-01 -4.65398333e-02 -1.89904278e+02] [-7.07910130e-02 9.63288694e-04 9.97490704e-01 -1.67436007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16864 meters 0.028939777619872983 Centerline is valid? [True, True] Translation: X:291.71, Y:-189.95, Z:-16.75 [[ 7.60312023e-01 6.47292870e-01 5.41993327e-02 2.91705066e+02] [-6.45561352e-01 7.62240747e-01 -4.73242594e-02 -1.89950509e+02] [-7.19455955e-02 9.92208935e-04 9.97408064e-01 -1.67482136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22864 meters 0.028718066990490888 Centerline is valid? [True, True] Translation: X:291.75, Y:-189.99, Z:-16.75 [[ 7.58226674e-01 6.49881437e-01 5.24063693e-02 2.91750542e+02] [-6.48265983e-01 7.60035229e-01 -4.58002914e-02 -1.89993296e+02] [-6.95954461e-02 7.53736157e-04 9.97575013e-01 -1.67512305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28864 meters 0.028333968385193684 Centerline is valid? [True, True] Translation: X:291.80, Y:-190.04, Z:-16.75 [[ 7.52323629e-01 6.56776104e-01 5.15199532e-02 2.91796117e+02] [-6.55228705e-01 7.54085624e-01 -4.50579152e-02 -1.90036528e+02] [-6.84434181e-02 1.40782048e-04 9.97654990e-01 -1.67520573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34864 meters 0.02871337974241245 Centerline is valid? [True, True] Translation: X:291.84, Y:-190.08, Z:-16.75 [[ 7.44886515e-01 6.65073875e-01 5.31114048e-02 2.91843680e+02] [-6.63448311e-01 7.46777316e-01 -4.64755724e-02 -1.90076609e+02] [-7.05720813e-02 -6.17644647e-04 9.97506491e-01 -1.67538734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40863999999993 meters 0.029211096352638365 Centerline is valid? [True, True] Translation: X:291.90, Y:-190.11, Z:-16.76 [[ 7.38959667e-01 6.71677050e-01 5.28067377e-02 2.91896477e+02] [-6.70083750e-01 7.40843091e-01 -4.62523805e-02 -1.90110714e+02] [-7.01881692e-02 -1.20629313e-03 9.97533040e-01 -1.67550451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46863999999994 meters 0.029080277722258317 Centerline is valid? [True, True] Translation: X:291.95, Y:-190.14, Z:-16.76 [[ 7.36518492e-01 6.74477585e-01 5.11908030e-02 2.91950601e+02] [-6.72984153e-01 7.38294007e-01 -4.48808311e-02 -1.90143865e+02] [-6.80649776e-02 -1.39503718e-03 9.97679915e-01 -1.67592400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52863999999994 meters 0.028209129053564805 Centerline is valid? [True, True] Translation: X:292.01, Y:-190.18, Z:-16.76 [[ 7.40713848e-01 6.69811270e-01 5.19216575e-02 2.92005853e+02] [-6.68260671e-01 7.42530780e-01 -4.55600297e-02 -1.90175853e+02] [-6.90700502e-02 -9.50256830e-04 9.97611360e-01 -1.67607255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58863999999994 meters 0.028305964067347453 Centerline is valid? [True, True] Translation: X:292.06, Y:-190.21, Z:-16.77 [[ 7.48955334e-01 6.60248501e-01 5.60162967e-02 2.92056510e+02] [-6.58414226e-01 7.51047212e-01 -4.91812076e-02 -1.90211340e+02] [-7.45427021e-02 -4.73989608e-05 9.97217821e-01 -1.67663137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64863999999994 meters 0.028308638320367122 Centerline is valid? [True, True] Translation: X:292.11, Y:-190.25, Z:-16.77 [[ 7.55357919e-01 6.52993826e-01 5.50770183e-02 2.92110368e+02] [-6.51197817e-01 7.57362912e-01 -4.84027150e-02 -1.90245349e+02] [-7.33199650e-02 6.95339989e-04 9.97308227e-01 -1.67700612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70863999999995 meters 0.02875191152219434 Centerline is valid? [True, True] Translation: X:292.16, Y:-190.29, Z:-16.77 [[ 7.62344600e-01 6.44840504e-01 5.48765408e-02 2.92155973e+02] [-6.43033582e-01 7.64315679e-01 -4.82634013e-02 -1.90287253e+02] [-7.30651965e-02 1.50588474e-03 9.97326030e-01 -1.67726899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76863999999995 meters 0.030022625139856454 Centerline is valid? [True, True] Translation: X:292.20, Y:-190.33, Z:-16.78 [[ 7.68698846e-01 6.37122119e-01 5.63692273e-02 2.92201531e+02] [-6.35193836e-01 7.70759408e-01 -4.95855395e-02 -1.90327272e+02] [-7.50391563e-02 2.31096124e-03 9.97177910e-01 -1.67767677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82863999999995 meters 0.030863617364172855 Centerline is valid? [True, True] Translation: X:292.24, Y:-190.37, Z:-16.78 [[ 7.71651925e-01 6.33442322e-01 5.74815732e-02 2.92244929e+02] [-6.31426475e-01 7.73785108e-01 -5.05689078e-02 -1.90370621e+02] [-7.65108717e-02 2.72620790e-03 9.97065020e-01 -1.67784825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88863999999995 meters 0.03121373803452431 Centerline is valid? [True, True] Translation: X:292.29, Y:-190.41, Z:-16.78 [[ 7.72800939e-01 6.31942791e-01 5.85407285e-02 2.92290464e+02] [-6.29845799e-01 7.75009440e-01 -5.15231641e-02 -1.90412461e+02] [-7.79293094e-02 2.94551768e-03 9.96954536e-01 -1.67814202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94863999999995 meters 0.03146906047989398 Centerline is valid? [True, True] Translation: X:292.33, Y:-190.46, Z:-16.79 [[ 7.74422447e-01 6.30014300e-01 5.78952115e-02 2.92328386e+02] [-6.27954657e-01 7.76577190e-01 -5.09982080e-02 -1.90462910e+02] [-7.70897009e-02 3.13858938e-03 9.97019221e-01 -1.67862062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00863999999996 meters 0.031161383422814815 Centerline is valid? [True, True] Translation: X:292.37, Y:-190.51, Z:-16.79 [[ 7.73203905e-01 6.31598672e-01 5.69108039e-02 2.92371329e+02] [-6.29609593e-01 7.75289841e-01 -5.01739139e-02 -1.90508595e+02] [-7.58121455e-02 2.96307801e-03 9.97117716e-01 -1.67899694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06863999999996 meters 0.029305961253005296 Centerline is valid? [True, True] Translation: X:292.41, Y:-190.56, Z:-16.79 [[ 7.66446253e-01 6.39806792e-01 5.66340107e-02 2.92407326e+02] [-6.37857031e-01 7.68532744e-01 -4.99582901e-02 -1.90560372e+02] [-7.54887450e-02 2.16594234e-03 9.97144302e-01 -1.67902023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12863999999996 meters 0.02839618696629956 Centerline is valid? [True, True] Translation: X:292.45, Y:-190.61, Z:-16.79 [[ 7.60915387e-01 6.46514178e-01 5.50199232e-02 2.92447699e+02] [-6.44691043e-01 7.62900566e-01 -4.85405553e-02 -1.90606962e+02] [-7.33568877e-02 1.46440369e-03 9.97304679e-01 -1.67939227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18863999999996 meters 0.02766726924305672 Centerline is valid? [True, True] Translation: X:292.49, Y:-190.65, Z:-16.80 [[ 7.56606010e-01 6.51597632e-01 5.44781759e-02 2.92490538e+02] [-6.49821878e-01 7.58564149e-01 -4.80828297e-02 -1.90651996e+02] [-7.26558491e-02 9.78647445e-04 9.97356591e-01 -1.67970598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24863999999997 meters 0.027277491029083143 Centerline is valid? [True, True] Translation: X:292.53, Y:-190.70, Z:-16.80 [[ 7.54579224e-01 6.54090799e-01 5.26822788e-02 2.92534505e+02] [-6.52433446e-01 7.56415673e-01 -4.65395247e-02 -1.90695599e+02] [-7.02907762e-02 7.46077708e-04 9.97526265e-01 -1.67999792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30863999999997 meters 0.02741151331299314 Centerline is valid? [True, True] Translation: X:292.58, Y:-190.74, Z:-16.80 [[ 7.54530489e-01 6.54047195e-01 5.39073995e-02 2.92578171e+02] [-6.52308425e-01 7.56453319e-01 -4.76664970e-02 -1.90740513e+02] [-7.19545700e-02 8.01574415e-04 9.97407588e-01 -1.68037880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36863999999997 meters 0.0273543007450674 Centerline is valid? [True, True] Translation: X:292.62, Y:-190.79, Z:-16.81 [[ 7.53427425e-01 6.55247403e-01 5.47535965e-02 2.92622310e+02] [-6.53453191e-01 7.55413994e-01 -4.84626153e-02 -1.90785164e+02] [-7.31166359e-02 7.34151120e-04 9.97323126e-01 -1.68052374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42864 meters 0.027192893923970046 Centerline is valid? [True, True] Translation: X:292.67, Y:-190.83, Z:-16.81 [[ 7.50911024e-01 6.58198827e-01 5.39160351e-02 2.92669359e+02] [-6.56463252e-01 7.52843992e-01 -4.77694694e-02 -1.90825495e+02] [-7.20321718e-02 4.76725379e-04 9.97402195e-01 -1.68075628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48864 meters 0.02677198648068657 Centerline is valid? [True, True] Translation: X:292.72, Y:-190.87, Z:-16.81 [[ 7.45247116e-01 6.64653694e-01 5.33123156e-02 2.92715381e+02] [-6.62970032e-01 7.47151561e-01 -4.72787675e-02 -1.90866957e+02] [-7.12563873e-02 -1.10102472e-04 9.97458027e-01 -1.68103496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54864 meters 0.02682236366872758 Centerline is valid? [True, True] Translation: X:292.76, Y:-190.91, Z:-16.81 [[ 7.42873129e-01 6.67284719e-01 5.35781430e-02 2.92762412e+02] [-6.65587589e-01 7.44802655e-01 -4.75622380e-02 -1.90909280e+02] [-7.16426978e-02 -3.28238420e-04 9.97430306e-01 -1.68134887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60864 meters 0.026795274210222132 Centerline is valid? [True, True] Translation: X:292.81, Y:-190.95, Z:-16.82 [[ 7.44047100e-01 6.66040453e-01 5.27638836e-02 2.92811466e+02] [-6.64387995e-01 7.45915602e-01 -4.68882313e-02 -1.90947509e+02] [-7.05868629e-02 -1.68638353e-04 9.97505622e-01 -1.68159143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66864 meters 0.026664018787007755 Centerline is valid? [True, True] Translation: X:292.86, Y:-190.99, Z:-16.82 [[ 7.45011245e-01 6.65021231e-01 5.20096869e-02 2.92857259e+02] [-6.63410144e-01 7.46824452e-01 -4.62625110e-02 -1.90989706e+02] [-6.96076579e-02 -3.76629661e-05 9.97574445e-01 -1.68203361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72864 meters 0.026394983673863646 Centerline is valid? [True, True] Translation: X:292.90, Y:-191.03, Z:-16.82 [[ 7.45707473e-01 6.64524660e-01 4.82425199e-02 2.92902216e+02] [-6.63135668e-01 7.47266335e-01 -4.29431133e-02 -1.91033450e+02] [-6.45867688e-02 3.16648283e-05 9.97912094e-01 -1.68226211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78864 meters 0.026420278209765256 Centerline is valid? [True, True] Translation: X:292.95, Y:-191.08, Z:-16.83 [[ 7.46061200e-01 6.64103117e-01 4.85771096e-02 2.92946584e+02] [-6.62692257e-01 7.47640985e-01 -4.32658091e-02 -1.91078648e+02] [-6.50511968e-02 8.72670856e-05 9.97881924e-01 -1.68264695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84864 meters 0.026348815983458417 Centerline is valid? [True, True] Translation: X:292.99, Y:-191.12, Z:-16.83 [[ 7.44037456e-01 6.66424265e-01 4.78222039e-02 2.92991562e+02] [-6.65058873e-01 7.45572728e-01 -4.26380454e-02 -1.91121865e+02] [-6.40699591e-02 -8.02781531e-05 9.97945406e-01 -1.68278062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90863999999993 meters 0.026530237170351616 Centerline is valid? [True, True] Translation: X:293.04, Y:-191.17, Z:-16.83 [[ 7.40501201e-01 6.70183499e-01 5.01203394e-02 2.93035934e+02] [-6.68689148e-01 7.42195341e-01 -4.47314177e-02 -1.91166075e+02] [-6.71773405e-02 -3.91258510e-04 9.97740974e-01 -1.68296253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96863999999994 meters 0.026659784832642853 Centerline is valid? [True, True] Translation: X:293.08, Y:-191.21, Z:-16.83 [[ 7.37685553e-01 6.73348284e-01 4.92149600e-02 2.93084538e+02] [-6.71911600e-01 7.39325156e-01 -4.39672142e-02 -1.91205865e+02] [-6.59911063e-02 -6.34123772e-04 9.97820010e-01 -1.68334175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02863999999994 meters 0.026882325962072268 Centerline is valid? [True, True] Translation: X:293.13, Y:-191.24, Z:-16.84 [[ 7.33477839e-01 6.77977770e-01 4.85427962e-02 2.93133365e+02] [-6.76587197e-01 7.35081724e-01 -4.34122586e-02 -1.91244616e+02] [-6.51154686e-02 -1.00150475e-03 9.97877233e-01 -1.68351604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08863999999994 meters 0.02728689912165605 Centerline is valid? [True, True] Translation: X:293.19, Y:-191.28, Z:-16.84 [[ 7.30139399e-01 6.81510699e-01 4.93925613e-02 2.93185271e+02] [-6.80076159e-01 7.31806981e-01 -4.42149411e-02 -1.91279459e+02] [-6.62787766e-02 -1.30763287e-03 9.97800288e-01 -1.68382293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14863999999994 meters 0.02730982674483705 Centerline is valid? [True, True] Translation: X:293.24, Y:-191.32, Z:-16.84 [[ 7.30166339e-01 6.81551597e-01 4.84204389e-02 2.93236256e+02] [-6.80170472e-01 7.31768983e-01 -4.33853030e-02 -1.91315795e+02] [-6.50018979e-02 -1.25566499e-03 9.97884350e-01 -1.68409486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20863999999995 meters 0.026686417943955085 Centerline is valid? [True, True] Translation: X:293.29, Y:-191.35, Z:-16.84 [[ 7.33860795e-01 6.77714956e-01 4.63764162e-02 2.93291700e+02] [-6.76438009e-01 7.35324228e-01 -4.15920736e-02 -1.91347520e+02] [-6.22892727e-02 -8.47978444e-04 9.98057778e-01 -1.68432451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26863999999995 meters 0.026042709014531252 Centerline is valid? [True, True] Translation: X:293.34, Y:-191.38, Z:-16.85 [[ 7.36890806e-01 6.74418899e-01 4.63798261e-02 2.93344189e+02] [-6.73132737e-01 7.38348737e-01 -4.16348497e-02 -1.91381725e+02] [-6.23238155e-02 -5.39441341e-04 9.98055836e-01 -1.68463368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32863999999995 meters 0.02604102666308927 Centerline is valid? [True, True] Translation: X:293.39, Y:-191.42, Z:-16.85 [[ 7.39487814e-01 6.71509012e-01 4.72590609e-02 2.93392836e+02] [-6.70164881e-01 7.40996339e-01 -4.24671245e-02 -1.91421031e+02] [-6.35358480e-02 -2.67441872e-04 9.97979521e-01 -1.68517229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38863999999995 meters 0.025891849496309367 Centerline is valid? [True, True] Translation: X:293.44, Y:-191.46, Z:-16.85 [[ 7.41541538e-01 6.69197412e-01 4.78640916e-02 2.93440542e+02] [-6.67810704e-01 7.43084667e-01 -4.30585832e-02 -1.91462728e+02] [-6.43817650e-02 -3.44247312e-05 9.97925341e-01 -1.68538523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44863999999995 meters 0.026028987752539378 Centerline is valid? [True, True] Translation: X:293.49, Y:-191.50, Z:-16.86 [[ 7.45142019e-01 6.65212701e-01 4.74914111e-02 2.93487234e+02] [-6.63836424e-01 7.46653832e-01 -4.27698107e-02 -1.91504522e+02] [-6.39106654e-02 3.43054616e-04 9.97955565e-01 -1.68576405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50863999999996 meters 0.025892382322134356 Centerline is valid? [True, True] Translation: X:293.53, Y:-191.55, Z:-16.86 [[ 7.46854016e-01 6.63407451e-01 4.58217462e-02 2.93533499e+02] [-6.62120236e-01 7.48258171e-01 -4.13098264e-02 -1.91548007e+02] [-6.16917427e-02 5.12904319e-04 9.98095119e-01 -1.68591100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56863999999996 meters 0.025652756406668253 Centerline is valid? [True, True] Translation: X:293.58, Y:-191.59, Z:-16.86 [[ 7.44753479e-01 6.65707269e-01 4.66485416e-02 2.93576255e+02] [-6.64374736e-01 7.46212905e-01 -4.21011961e-02 -1.91594746e+02] [-6.28368161e-02 3.62899791e-04 9.98023749e-01 -1.68625832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62863999999996 meters 0.02569798404042181 Centerline is valid? [True, True] Translation: X:293.62, Y:-191.64, Z:-16.87 [[ 7.39955307e-01 6.70907981e-01 4.84626195e-02 2.93620780e+02] [-6.69477704e-01 7.41540612e-01 -4.37849883e-02 -1.91637509e+02] [-6.53126986e-02 -4.57088122e-05 9.97864845e-01 -1.68666268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68863999999996 meters 0.025861474246360733 Centerline is valid? [True, True] Translation: X:293.67, Y:-191.68, Z:-16.87 [[ 7.36770106e-01 6.74476330e-01 4.74498833e-02 2.93666148e+02] [-6.73109939e-01 7.38296401e-01 -4.29119310e-02 -1.91681766e+02] [-6.39751598e-02 -3.22760143e-04 9.97951439e-01 -1.68697671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74863999999997 meters 0.025932855749485395 Centerline is valid? [True, True] Translation: X:293.71, Y:-191.73, Z:-16.87 [[ 7.33795720e-01 6.77729890e-01 4.71808927e-02 2.93711477e+02] [-6.76382673e-01 7.35310732e-01 -4.27154055e-02 -1.91725424e+02] [-6.36421239e-02 -5.67956649e-04 9.97972624e-01 -1.68721352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80863999999997 meters 0.026531587367252397 Centerline is valid? [True, True] Translation: X:293.76, Y:-191.77, Z:-16.87 [[ 7.27393738e-01 6.84559070e-01 4.77203182e-02 2.93758979e+02] [-6.83192387e-01 7.28956497e-01 -4.32502984e-02 -1.91765625e+02] [-6.43934201e-02 -1.14216190e-03 9.97923936e-01 -1.68749060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86863999999997 meters 0.027058800641581154 Centerline is valid? [True, True] Translation: X:293.81, Y:-191.80, Z:-16.88 [[ 7.22739834e-01 6.89530830e-01 4.68440665e-02 2.93807491e+02] [-6.88221765e-01 7.24254725e-01 -4.24958292e-02 -1.91804266e+02] [-6.32292209e-02 -1.52567752e-03 9.97997865e-01 -1.68795572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92864 meters 0.027340102163114662 Centerline is valid? [True, True] Translation: X:293.85, Y:-191.84, Z:-16.88 [[ 7.21702482e-01 6.90457045e-01 4.91385357e-02 2.93854305e+02] [-6.89015768e-01 7.23371502e-01 -4.46199727e-02 -1.91844416e+02] [-6.63535909e-02 -1.65488083e-03 9.97794800e-01 -1.68833311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98864 meters 0.0271413084609341 Centerline is valid? [True, True] Translation: X:293.90, Y:-191.88, Z:-16.89 [[ 7.23628040e-01 6.88383306e-01 4.99087575e-02 2.93904877e+02] [-6.86888731e-01 7.25345642e-01 -4.53604604e-02 -1.91880620e+02] [-6.74264834e-02 -1.45766209e-03 9.97723180e-01 -1.68851294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04864 meters 0.027147368910262086 Centerline is valid? [True, True] Translation: X:293.95, Y:-191.92, Z:-16.89 [[ 7.22500872e-01 6.89710080e-01 4.78800094e-02 2.93953093e+02] [-6.88334997e-01 7.24084105e-01 -4.35561778e-02 -1.91920544e+02] [-6.47102886e-02 -1.48810975e-03 9.97902983e-01 -1.68880316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10864 meters 0.027237185885996596 Centerline is valid? [True, True] Translation: X:294.00, Y:-191.96, Z:-16.89 [[ 7.19400427e-01 6.92909872e-01 4.83625451e-02 2.94002333e+02] [-6.91511363e-01 7.21022053e-01 -4.40367286e-02 -1.91959008e+02] [-6.53839455e-02 -1.76320813e-03 9.97858623e-01 -1.68898681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16864 meters 0.027000902318054215 Centerline is valid? [True, True] Translation: X:294.05, Y:-192.00, Z:-16.89 [[ 7.20708141e-01 6.91569086e-01 4.80830055e-02 2.94050275e+02] [-6.90181071e-01 7.22308544e-01 -4.38230283e-02 -1.91998166e+02] [-6.50374173e-02 -1.60236694e-03 9.97881539e-01 -1.68918202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22864 meters 0.026544520450003672 Centerline is valid? [True, True] Translation: X:294.10, Y:-192.04, Z:-16.89 [[ 7.23977506e-01 6.88197809e-01 4.73322951e-02 2.94099804e+02] [-6.86843031e-01 7.25522029e-01 -4.31791226e-02 -1.92035718e+02] [-6.40564004e-02 -1.24914350e-03 9.97945498e-01 -1.68949983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28864 meters 0.026453614463968548 Centerline is valid? [True, True] Translation: X:294.15, Y:-192.08, Z:-16.90 [[ 7.26399030e-01 6.85536303e-01 4.88305842e-02 2.94146619e+02] [-6.84085401e-01 7.28037738e-01 -4.45894216e-02 -1.92076327e+02] [-6.61181753e-02 -1.01457713e-03 9.97811284e-01 -1.68964059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34863999999993 meters 0.02638808245479574 Centerline is valid? [True, True] Translation: X:294.19, Y:-192.12, Z:-16.90 [[ 7.26123952e-01 6.85840123e-01 4.86552306e-02 2.94193254e+02] [-6.84397386e-01 7.27751546e-01 -4.44736502e-02 -1.92118370e+02] [-6.59107330e-02 -1.00612995e-03 9.97825016e-01 -1.69001226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40863999999993 meters 0.026635164984344418 Centerline is valid? [True, True] Translation: X:294.24, Y:-192.16, Z:-16.90 [[ 7.25341127e-01 6.86715349e-01 4.79820752e-02 2.94241200e+02] [-6.85311117e-01 7.26925689e-01 -4.39057617e-02 -1.92159647e+02] [-6.50301635e-02 -1.03599483e-03 9.97882761e-01 -1.69029386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46863999999994 meters 0.02672190444469923 Centerline is valid? [True, True] Translation: X:294.29, Y:-192.20, Z:-16.91 [[ 7.24766232e-01 6.87342071e-01 4.76947103e-02 2.94288453e+02] [-6.85952903e-01 7.26333100e-01 -4.36903070e-02 -1.92201674e+02] [-6.46724329e-02 -1.05106578e-03 9.97905993e-01 -1.69064655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52863999999994 meters 0.026989521269862964 Centerline is valid? [True, True] Translation: X:294.34, Y:-192.24, Z:-16.91 [[ 7.24907537e-01 6.87165905e-01 4.80841191e-02 2.94336996e+02] [-6.85750372e-01 7.26499829e-01 -4.40956379e-02 -1.92242265e+02] [-6.52341233e-02 -1.00844232e-03 9.97869477e-01 -1.69075615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58863999999994 meters 0.027001537832394562 Centerline is valid? [True, True] Translation: X:294.38, Y:-192.28, Z:-16.91 [[ 7.26718905e-01 6.85161355e-01 4.93310454e-02 2.94383757e+02] [-6.83663360e-01 7.28390869e-01 -4.52896544e-02 -1.92284819e+02] [-6.69630039e-02 -8.12980226e-04 9.97755128e-01 -1.69118616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64863999999994 meters 0.026696337764896154 Centerline is valid? [True, True] Translation: X:294.43, Y:-192.32, Z:-16.91 [[ 7.28370176e-01 6.83418696e-01 4.91505172e-02 2.94431177e+02] [-6.81924549e-01 7.30026374e-01 -4.51708083e-02 -1.92324657e+02] [-6.67517488e-02 -6.15874700e-04 9.97769425e-01 -1.69135881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70863999999995 meters 0.026782103649625785 Centerline is valid? [True, True] Translation: X:294.48, Y:-192.37, Z:-16.92 [[ 7.28501039e-01 6.83312329e-01 4.86877580e-02 2.94475977e+02] [-6.81843045e-01 7.30125974e-01 -4.47897643e-02 -1.92368509e+02] [-6.61535949e-02 -5.68019363e-04 9.97809290e-01 -1.69153980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76863999999995 meters 0.02700470988448976 Centerline is valid? [True, True] Translation: X:294.52, Y:-192.41, Z:-16.92 [[ 7.26802293e-01 6.85072688e-01 4.93339583e-02 2.94521807e+02] [-6.83564907e-01 7.28474377e-01 -4.54323642e-02 -1.92410764e+02] [-6.70629964e-02 -7.02616186e-04 9.97748496e-01 -1.69184032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82863999999995 meters 0.026882268068431803 Centerline is valid? [True, True] Translation: X:294.56, Y:-192.46, Z:-16.92 [[ 7.24544757e-01 6.87737079e-01 4.53056901e-02 2.94564660e+02] [-6.86468992e-01 7.25959359e-01 -4.17532370e-02 -1.92456655e+02] [-6.16053390e-02 -8.48862482e-04 9.98100226e-01 -1.69206792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88863999999995 meters 0.02724608142339155 Centerline is valid? [True, True] Translation: X:294.61, Y:-192.50, Z:-16.92 [[ 7.21457572e-01 6.90929146e-01 4.59987710e-02 2.94609654e+02] [-6.89627015e-01 7.22921611e-01 -4.24137176e-02 -1.92499510e+02] [-6.25583793e-02 -1.12229740e-03 9.98040675e-01 -1.69234699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94863999999995 meters 0.02730586115412952 Centerline is valid? [True, True] Translation: X:294.66, Y:-192.54, Z:-16.93 [[ 7.20201552e-01 6.92299363e-01 4.50701320e-02 2.94655407e+02] [-6.91049516e-01 7.21609439e-01 -4.15978823e-02 -1.92543063e+02] [-6.13212201e-02 -1.18683351e-03 9.98117378e-01 -1.69254606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00863999999996 meters 0.02710617043477161 Centerline is valid? [True, True] Translation: X:294.70, Y:-192.59, Z:-16.93 [[ 7.20825405e-01 6.91610469e-01 4.56694105e-02 2.94700720e+02] [-6.90322858e-01 7.22269845e-01 -4.21974328e-02 -1.92586305e+02] [-6.21698243e-02 -1.10965642e-03 9.98064969e-01 -1.69271276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06863999999996 meters 0.026865660500730762 Centerline is valid? [True, True] Translation: X:294.75, Y:-192.63, Z:-16.93 [[ 7.22247963e-01 6.90108088e-01 4.59206599e-02 2.94747370e+02] [-6.88800405e-01 7.23705685e-01 -4.24745019e-02 -1.92627728e+02] [-6.25450400e-02 -9.53046722e-04 9.98041687e-01 -1.69301034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12863999999996 meters 0.026784574721178397 Centerline is valid? [True, True] Translation: X:294.79, Y:-192.67, Z:-16.93 [[ 7.22618443e-01 6.89837820e-01 4.41176624e-02 2.94793136e+02] [-6.88628093e-01 7.23963420e-01 -4.08450233e-02 -1.92669520e+02] [-6.01160156e-02 -8.65294519e-04 9.98191022e-01 -1.69330320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18863999999996 meters 0.02653431351834789 Centerline is valid? [True, True] Translation: X:294.84, Y:-192.71, Z:-16.93 [[ 7.23707772e-01 6.88558322e-01 4.62006312e-02 2.94841941e+02] [-6.87226165e-01 7.25180567e-01 -4.28175561e-02 -1.92709880e+02] [-6.29861846e-02 -7.62884475e-04 9.98014107e-01 -1.69342935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24863999999997 meters 0.026373556602650394 Centerline is valid? [True, True] Translation: X:294.89, Y:-192.75, Z:-16.94 [[ 7.25542862e-01 6.86566227e-01 4.70571163e-02 2.94888465e+02] [-6.85176838e-01 7.27067051e-01 -4.36600867e-02 -1.92751870e+02] [-6.41892198e-02 -5.65181895e-04 9.97937586e-01 -1.69365829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30863999999997 meters 0.02619816422983626 Centerline is valid? [True, True] Translation: X:294.93, Y:-192.79, Z:-16.94 [[ 7.27803065e-01 6.84240902e-01 4.60118016e-02 2.94933682e+02] [-6.82905143e-01 7.29255981e-01 -4.27349892e-02 -1.92794648e+02] [-6.27954091e-02 -3.19039840e-04 9.98026370e-01 -1.69392411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36863999999997 meters 0.026034605306884232 Centerline is valid? [True, True] Translation: X:294.98, Y:-192.84, Z:-16.94 [[ 7.28886899e-01 6.83070436e-01 4.62457368e-02 2.94980538e+02] [-6.81715975e-01 7.30352480e-01 -4.29951719e-02 -1.92837304e+02] [-6.31444194e-02 -1.87840033e-04 9.98004382e-01 -1.69400842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42864 meters 0.025952948982325533 Centerline is valid? [True, True] Translation: X:295.03, Y:-192.88, Z:-16.95 [[ 7.28521538e-01 6.83489291e-01 4.58122107e-02 2.95026111e+02] [-6.82158064e-01 7.29960515e-01 -4.26382677e-02 -1.92880731e+02] [-6.25839043e-02 -1.88272659e-04 9.98039688e-01 -1.69454711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48864 meters 0.026007586248018383 Centerline is valid? [True, True] Translation: X:295.07, Y:-192.92, Z:-16.95 [[ 7.27574822e-01 6.84589119e-01 4.44141499e-02 2.95073487e+02] [-6.83337429e-01 7.28929131e-01 -4.13796981e-02 -1.92921040e+02] [-6.07028588e-02 -2.43024516e-04 9.98155851e-01 -1.69471963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54864 meters 0.025921171608287087 Centerline is valid? [True, True] Translation: X:295.12, Y:-192.96, Z:-16.95 [[ 7.26133915e-01 6.86229760e-01 4.26409853e-02 2.95119644e+02] [-6.85076787e-01 7.27384769e-01 -3.97642206e-02 -1.92962751e+02] [-5.83037948e-02 -3.38200015e-04 9.98298830e-01 -1.69493248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60864 meters 0.025839065352806494 Centerline is valid? [True, True] Translation: X:295.17, Y:-193.00, Z:-16.95 [[ 7.25271590e-01 6.87093211e-01 4.34055333e-02 2.95166513e+02] [-6.85897622e-01 7.26569178e-01 -4.05176758e-02 -1.93004699e+02] [-5.93765426e-02 -3.85432968e-04 9.98235582e-01 -1.69533960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66864 meters 0.025793418613442715 Centerline is valid? [True, True] Translation: X:295.21, Y:-193.05, Z:-16.96 [[ 7.25835822e-01 6.86449450e-01 4.41532668e-02 2.95213866e+02] [-6.85208306e-01 7.27177460e-01 -4.12615915e-02 -1.93046366e+02] [-6.04312572e-02 -3.05043976e-04 9.98172315e-01 -1.69557954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72864 meters 0.02575605254155876 Centerline is valid? [True, True] Translation: X:295.26, Y:-193.09, Z:-16.96 [[ 7.25165412e-01 6.87096228e-01 4.50987579e-02 2.95262761e+02] [-6.85799653e-01 7.26566351e-01 -4.21921038e-02 -1.93086603e+02] [-6.17572753e-02 -3.32458185e-04 9.98091142e-01 -1.69581459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78864 meters 0.025759393420582637 Centerline is valid? [True, True] Translation: X:295.31, Y:-193.13, Z:-16.96 [[ 7.25750962e-01 6.86542491e-01 4.41015699e-02 2.95310464e+02] [-6.85299080e-01 7.27089641e-01 -4.13016418e-02 -1.93126100e+02] [-6.04211266e-02 -2.48058973e-04 9.98172944e-01 -1.69605632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84863999999993 meters 0.025737288176888515 Centerline is valid? [True, True] Translation: X:295.36, Y:-193.17, Z:-16.96 [[ 7.28305876e-01 6.83676260e-01 4.64469787e-02 2.95357703e+02] [-6.82288365e-01 7.29785428e-01 -4.35409795e-02 -1.93166616e+02] [-6.36642623e-02 2.09181074e-05 9.97971373e-01 -1.69649055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90863999999993 meters 0.02584816428478694 Centerline is valid? [True, True] Translation: X:295.40, Y:-193.21, Z:-16.97 [[ 7.32568759e-01 6.79066266e-01 4.70321044e-02 2.95403248e+02] [-6.77630866e-01 7.34076832e-01 -4.41317851e-02 -1.93209204e+02] [-6.44935848e-02 4.59161431e-04 9.97918016e-01 -1.69671682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96863999999994 meters 0.026016811306324543 Centerline is valid? [True, True] Translation: X:295.45, Y:-193.25, Z:-16.97 [[ 7.34554206e-01 6.76866689e-01 4.77661458e-02 2.95449541e+02] [-6.75378649e-01 7.36105294e-01 -4.48628564e-02 -1.93250890e+02] [-6.55270859e-02 6.93964805e-04 9.97850550e-01 -1.69700328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02863999999994 meters 0.02604542624486898 Centerline is valid? [True, True] Translation: X:295.49, Y:-193.30, Z:-16.97 [[ 7.33615967e-01 6.78002301e-01 4.60488133e-02 2.95493123e+02] [-6.76619659e-01 7.35059540e-01 -4.32817631e-02 -1.93295977e+02] [-6.31937544e-02 5.94660165e-04 9.98001100e-01 -1.69715718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08863999999994 meters 0.02603579297101694 Centerline is valid? [True, True] Translation: X:295.54, Y:-193.34, Z:-16.97 [[ 7.33549446e-01 6.78140295e-01 4.50660735e-02 2.95537798e+02] [-6.76815083e-01 7.34932240e-01 -4.23786021e-02 -1.93339832e+02] [-6.18591481e-02 5.85401829e-04 9.98084717e-01 -1.69739586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14863999999994 meters 0.026117115458481898 Centerline is valid? [True, True] Translation: X:295.58, Y:-193.39, Z:-16.98 [[ 7.33980045e-01 6.77525311e-01 4.72519406e-02 2.95579392e+02] [-6.76064232e-01 7.35499125e-01 -4.44768573e-02 -1.93386404e+02] [-6.48879575e-02 6.99778819e-04 9.97892310e-01 -1.69778526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20863999999995 meters 0.026276604548779444 Centerline is valid? [True, True] Translation: X:295.62, Y:-193.43, Z:-16.98 [[ 7.34954468e-01 6.76607065e-01 4.52195700e-02 2.95620002e+02] [-6.75264978e-01 7.36343859e-01 -4.26020076e-02 -1.93433720e+02] [-6.21219720e-02 7.75343933e-04 9.98068264e-01 -1.69808972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26863999999995 meters 0.026069832256203428 Centerline is valid? [True, True] Translation: X:295.66, Y:-193.48, Z:-16.98 [[ 7.33305453e-01 6.78548597e-01 4.28358987e-02 2.95660956e+02] [-6.77345601e-01 7.34555264e-01 -4.03918400e-02 -1.93480481e+02] [-5.88731612e-02 6.04848934e-04 9.98265288e-01 -1.69812424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32863999999995 meters 0.025761078301462282 Centerline is valid? [True, True] Translation: X:295.70, Y:-193.53, Z:-16.98 [[ 7.26698198e-01 6.85590228e-01 4.33101439e-02 2.95701251e+02] [-6.84370521e-01 7.27987662e-01 -4.08773099e-02 -1.93527925e+02] [-5.95543346e-02 6.52817232e-05 9.98225063e-01 -1.69830401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38863999999995 meters 0.026171515627715625 Centerline is valid? [True, True] Translation: X:295.75, Y:-193.57, Z:-16.99 [[ 7.18351272e-01 6.94407266e-01 4.20713622e-02 2.95745044e+02] [-6.93269204e-01 7.19581941e-01 -3.97447023e-02 -1.93571386e+02] [-5.78728025e-02 -6.16122318e-04 9.98323775e-01 -1.69870732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44863999999995 meters 0.026804756020340135 Centerline is valid? [True, True] Translation: X:295.79, Y:-193.61, Z:-16.99 [[ 7.12997269e-01 6.99777757e-01 4.41133177e-02 2.95794026e+02] [-6.98534153e-01 7.14359812e-01 -4.17144680e-02 -1.93610204e+02] [-6.07036382e-02 -1.07235725e-03 9.98155258e-01 -1.69877337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50863999999996 meters 0.026951994692319778 Centerline is valid? [True, True] Translation: X:295.85, Y:-193.65, Z:-16.99 [[ 7.12044430e-01 7.00695378e-01 4.49301366e-02 2.95845560e+02] [-6.99404536e-01 7.13459657e-01 -4.25277876e-02 -1.93646508e+02] [-6.18548641e-02 -1.14266707e-03 9.98084500e-01 -1.69897646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56863999999996 meters 0.026703779919748965 Centerline is valid? [True, True] Translation: X:295.90, Y:-193.68, Z:-16.99 [[ 7.13508738e-01 6.99150723e-01 4.57553064e-02 2.95897535e+02] [-6.97806169e-01 7.14973617e-01 -4.33506501e-02 -1.93682303e+02] [-6.30224752e-02 -9.97267349e-04 9.98011610e-01 -1.69932421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62863999999996 meters 0.02637458031390095 Centerline is valid? [True, True] Translation: X:295.95, Y:-193.72, Z:-16.99 [[ 7.17802686e-01 6.94781494e-01 4.51439887e-02 2.95946667e+02] [-6.93461466e-01 7.19220651e-01 -4.28118052e-02 -1.93721164e+02] [-6.22133389e-02 -5.75187858e-04 9.98062708e-01 -1.69942839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68863999999996 meters 0.02629710290750956 Centerline is valid? [True, True] Translation: X:296.00, Y:-193.76, Z:-17.00 [[ 7.23642439e-01 6.88680642e-01 4.53937534e-02 2.95996132e+02] [-6.87331281e-01 7.25064806e-01 -4.30898747e-02 -1.93759860e+02] [-6.25885756e-02 -1.88846817e-05 9.98039413e-01 -1.69975356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74863999999997 meters 0.026236486938530645 Centerline is valid? [True, True] Translation: X:296.04, Y:-193.80, Z:-17.00 [[ 7.26264305e-01 6.85941717e-01 4.49902196e-02 2.96042074e+02] [-6.84608386e-01 7.27656444e-01 -4.27487774e-02 -1.93802532e+02] [-6.20605930e-02 2.46229469e-04 9.98072353e-01 -1.70012069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80863999999997 meters 0.02639456974055225 Centerline is valid? [True, True] Translation: X:296.09, Y:-193.85, Z:-17.00 [[ 7.28192279e-01 6.83883355e-01 4.51614987e-02 2.96087321e+02] [-6.82532982e-01 7.29591220e-01 -4.29579006e-02 -1.93846401e+02] [-6.23276261e-02 4.57399189e-04 9.98055639e-01 -1.70032753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86863999999997 meters 0.02631516254092065 Centerline is valid? [True, True] Translation: X:296.13, Y:-193.89, Z:-17.01 [[ 7.28853522e-01 6.83283514e-01 4.35451775e-02 2.96133602e+02] [-6.82024568e-01 7.30152976e-01 -4.14622877e-02 -1.93888047e+02] [-6.01251385e-02 5.21053563e-04 9.98190711e-01 -1.70065499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92864 meters 0.026366355869919138 Centerline is valid? [True, True] Translation: X:296.18, Y:-193.93, Z:-17.01 [[ 7.28136959e-01 6.84022678e-01 4.39265918e-02 2.96176607e+02] [-6.82740446e-01 7.29460576e-01 -4.18658652e-02 -1.93934454e+02] [-6.06799182e-02 4.93622830e-04 9.98157154e-01 -1.70108955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98864 meters 0.026408464544318527 Centerline is valid? [True, True] Translation: X:296.22, Y:-193.98, Z:-17.01 [[ 7.27612251e-01 6.84702046e-01 4.19942955e-02 2.96221800e+02] [-6.83529041e-01 7.28822961e-01 -4.00642100e-02 -1.93977497e+02] [-5.80384533e-02 4.46889494e-04 9.98314248e-01 -1.70120673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04864 meters 0.026405524086150003 Centerline is valid? [True, True] Translation: X:296.27, Y:-194.02, Z:-17.01 [[ 7.26583943e-01 6.85774550e-01 4.22970435e-02 2.96265533e+02] [-6.84584094e-01 7.27813927e-01 -4.03918939e-02 -1.94023357e+02] [-5.84841102e-02 3.92218328e-04 9.98288262e-01 -1.70139088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10864 meters 0.026237865603467865 Centerline is valid? [True, True] Translation: X:296.31, Y:-194.06, Z:-17.02 [[ 7.25375957e-01 6.87055913e-01 4.22361603e-02 2.96312786e+02] [-6.85868523e-01 7.26604480e-01 -4.03769540e-02 -1.94064980e+02] [-5.84302082e-02 3.20018742e-04 9.98291445e-01 -1.70165607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16864 meters 0.02623219105527411 Centerline is valid? [True, True] Translation: X:296.36, Y:-194.11, Z:-17.02 [[ 7.24095223e-01 6.88356895e-01 4.30220203e-02 2.96361367e+02] [-6.87124494e-01 7.25372127e-01 -4.11728986e-02 -1.94105552e+02] [-5.95486230e-02 2.51615242e-04 9.98225374e-01 -1.70186845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22864 meters 0.02644881836201753 Centerline is valid? [True, True] Translation: X:296.41, Y:-194.14, Z:-17.02 [[ 7.23741469e-01 6.88756124e-01 4.25827188e-02 2.96412489e+02] [-6.87546891e-01 7.24993062e-01 -4.07962242e-02 -1.94143012e+02] [-5.89708249e-02 2.48303308e-04 9.98259676e-01 -1.70191094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28864 meters 0.026216005831665515 Centerline is valid? [True, True] Translation: X:296.46, Y:-194.18, Z:-17.02 [[ 7.25985163e-01 6.86366298e-01 4.29749673e-02 2.96462605e+02] [-6.85127891e-01 7.27255853e-01 -4.12152527e-02 -1.94180214e+02] [-5.95425569e-02 4.78313222e-04 9.98225653e-01 -1.70199195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34863999999993 meters 0.026492150892386955 Centerline is valid? [True, True] Translation: X:296.51, Y:-194.22, Z:-17.02 [[ 7.29171316e-01 6.83084570e-01 4.12875665e-02 2.96512880e+02] [-6.81934265e-01 7.30338906e-01 -3.96325753e-02 -1.94216979e+02] [-5.72263168e-02 7.43530770e-04 9.98360955e-01 -1.70228853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40863999999993 meters 0.02747856976976445 Centerline is valid? [True, True] Translation: X:296.56, Y:-194.26, Z:-17.02 [[ 7.35182336e-01 6.76529548e-01 4.25993384e-02 2.96560456e+02] [-6.75291927e-01 7.36414305e-01 -4.09241219e-02 -1.94256833e+02] [-5.90571398e-02 1.31970219e-03 9.98253732e-01 -1.70242892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46863999999994 meters 0.02847820304669213 Centerline is valid? [True, True] Translation: X:296.61, Y:-194.30, Z:-17.03 [[ 7.40962527e-01 6.70234985e-01 4.19475755e-02 2.96607391e+02] [-6.69024299e-01 7.42146763e-01 -4.03071958e-02 -1.94296832e+02] [-5.81465501e-02 1.80217433e-03 9.98306431e-01 -1.70265862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52863999999994 meters 0.028686901415041193 Centerline is valid? [True, True] Translation: X:296.65, Y:-194.34, Z:-17.03 [[ 7.42000950e-01 6.69156859e-01 4.07883397e-02 2.96651560e+02] [-6.68009996e-01 7.43118903e-01 -3.92038315e-02 -1.94340153e+02] [-5.65440989e-02 1.84226155e-03 9.98398403e-01 -1.70295930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58863999999994 meters 0.028445410634543082 Centerline is valid? [True, True] Translation: X:296.70, Y:-194.38, Z:-17.03 [[ 7.41940377e-01 6.69346825e-01 3.87208572e-02 2.96695404e+02] [-6.68311946e-01 7.42948004e-01 -3.72478871e-02 -1.94384206e+02] [-5.36993386e-02 1.75809994e-03 9.98555602e-01 -1.70306214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64863999999994 meters 0.02766535514948621 Centerline is valid? [True, True] Translation: X:296.74, Y:-194.43, Z:-17.03 [[ 7.39147255e-01 6.72365744e-01 3.98201123e-02 2.96737755e+02] [-6.71273891e-01 7.40217352e-01 -3.83358308e-02 -1.94430553e+02] [-5.52512375e-02 1.60562241e-03 9.98471193e-01 -1.70334998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70863999999995 meters 0.027360224456232096 Centerline is valid? [True, True] Translation: X:296.78, Y:-194.48, Z:-17.04 [[ 7.37422677e-01 6.74236564e-01 4.01603073e-02 2.96780880e+02] [-6.73127808e-01 7.38513937e-01 -3.86797130e-02 -1.94475986e+02] [-5.57382235e-02 1.49027795e-03 9.98444305e-01 -1.70365177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76863999999995 meters 0.027521129686560116 Centerline is valid? [True, True] Translation: X:296.82, Y:-194.52, Z:-17.04 [[ 7.38819090e-01 6.72737266e-01 3.96348866e-02 2.96823131e+02] [-6.71653345e-01 7.39879712e-01 -3.82072767e-02 -1.94521607e+02] [-5.50285073e-02 1.60736124e-03 9.98483490e-01 -1.70392757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82863999999995 meters 0.027712443939237174 Centerline is valid? [True, True] Translation: X:296.86, Y:-194.57, Z:-17.04 [[ 7.40714327e-01 6.70680096e-01 3.91215392e-02 2.96863306e+02] [-6.69619431e-01 7.41744635e-01 -3.77453824e-02 -1.94569296e+02] [-5.43332685e-02 1.76200270e-03 9.98521302e-01 -1.70404418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88863999999995 meters 0.02794933030294099 Centerline is valid? [True, True] Translation: X:296.90, Y:-194.62, Z:-17.04 [[ 7.43050283e-01 6.68139691e-01 3.82835410e-02 2.96901416e+02] [-6.67118954e-01 7.44033352e-01 -3.69685315e-02 -1.94618522e+02] [-5.31843746e-02 1.92980194e-03 9.98582845e-01 -1.70419519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94863999999995 meters 0.028159950278170677 Centerline is valid? [True, True] Translation: X:296.94, Y:-194.67, Z:-17.05 [[ 7.43215457e-01 6.67895634e-01 3.93218318e-02 2.96935442e+02] [-6.66816643e-01 7.44252192e-01 -3.80031592e-02 -1.94672505e+02] [-5.46475036e-02 2.02408344e-03 9.98503657e-01 -1.70458849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00863999999996 meters 0.02683032003554375 Centerline is valid? [True, True] Translation: X:296.97, Y:-194.73, Z:-17.05 [[ 7.39250260e-01 6.72263881e-01 3.96273520e-02 2.96968626e+02] [-6.71172649e-01 7.40309568e-01 -3.83277808e-02 -1.94727028e+02] [-5.51028906e-02 1.73702711e-03 9.98479171e-01 -1.70477159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06863999999996 meters 0.025474023685747145 Centerline is valid? [True, True] Translation: X:297.00, Y:-194.78, Z:-17.05 [[ 7.32865762e-01 6.79183597e-01 4.02171244e-02 2.97001229e+02] [-6.78069529e-01 7.33967369e-01 -3.89052171e-02 -1.94781237e+02] [-5.59418423e-02 1.24229495e-03 9.98433256e-01 -1.70512506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12863999999996 meters 0.024819382595651623 Centerline is valid? [True, True] Translation: X:297.04, Y:-194.83, Z:-17.06 [[ 7.29309488e-01 6.82935705e-01 4.13097395e-02 2.97038278e+02] [-6.81765726e-01 7.30477822e-01 -3.99705752e-02 -1.94832862e+02] [-5.74731815e-02 9.87355170e-04 9.98346562e-01 -1.70554287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18863999999996 meters 0.024623882009910822 Centerline is valid? [True, True] Translation: X:297.08, Y:-194.88, Z:-17.06 [[ 7.28697077e-01 6.83560686e-01 4.17774870e-02 2.97076684e+02] [-6.82363591e-01 7.29893042e-01 -4.04484453e-02 -1.94883491e+02] [-5.81420641e-02 9.67227850e-04 9.98307851e-01 -1.70582860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24863999999997 meters 0.02436484146725245 Centerline is valid? [True, True] Translation: X:297.12, Y:-194.93, Z:-17.06 [[ 7.25901610e-01 6.86460740e-01 4.28777917e-02 2.97118423e+02] [-6.85202130e-01 7.27166441e-01 -4.15572837e-02 -1.94929120e+02] [-5.97067349e-02 7.86544895e-04 9.98215652e-01 -1.70620981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30863999999997 meters 0.024370478582049035 Centerline is valid? [True, True] Translation: X:297.16, Y:-194.97, Z:-17.07 [[ 7.23129408e-01 6.89338298e-01 4.35496334e-02 2.97160535e+02] [-6.88042670e-01 7.24439346e-01 -4.22482871e-02 -1.94974959e+02] [-6.06724302e-02 5.86972843e-04 9.98157559e-01 -1.70662478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36863999999997 meters 0.024083099758793195 Centerline is valid? [True, True] Translation: X:297.20, Y:-195.02, Z:-17.07 [[ 7.19782763e-01 6.92792888e-01 4.41677175e-02 2.97198446e+02] [-6.91464117e-01 7.21136537e-01 -4.28890527e-02 -1.95024852e+02] [-6.15641856e-02 3.30409122e-04 9.98103072e-01 -1.70683589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42864 meters 0.024244721317335904 Centerline is valid? [True, True] Translation: X:297.24, Y:-195.07, Z:-17.07 [[ 7.19120854e-01 6.93424878e-01 4.50237320e-02 2.97240309e+02] [-6.92042521e-01 7.20528862e-01 -4.37642415e-02 -1.95071606e+02] [-6.27881122e-02 3.13441746e-04 9.98026831e-01 -1.70735579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48864 meters 0.024396003694578013 Centerline is valid? [True, True] Translation: X:297.28, Y:-195.12, Z:-17.08 [[ 7.16137926e-01 6.96514965e-01 4.48706409e-02 2.97281583e+02] [-6.95145039e-01 7.17542262e-01 -4.36632146e-02 -1.95118989e+02] [-6.26086636e-02 7.72804793e-05 9.98038150e-01 -1.70763343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54864 meters 0.024348942983259597 Centerline is valid? [True, True] Translation: X:297.32, Y:-195.17, Z:-17.08 [[ 7.09055875e-01 7.03763752e-01 4.42306150e-02 2.97324455e+02] [-7.02443714e-01 7.10433891e-01 -4.30872955e-02 -1.95165597e+02] [-6.17462046e-02 -5.18217446e-04 9.98091748e-01 -1.70803116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60864 meters 0.024938548425432597 Centerline is valid? [True, True] Translation: X:297.37, Y:-195.21, Z:-17.08 [[ 7.03619474e-01 7.09055602e-01 4.64735382e-02 2.97369271e+02] [-7.07606413e-01 7.05151871e-01 -4.53211123e-02 -1.95207779e+02] [-6.49060909e-02 -9.96156451e-04 9.97890879e-01 -1.70848464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66864 meters 0.02536962718224848 Centerline is valid? [True, True] Translation: X:297.41, Y:-195.25, Z:-17.09 [[ 7.01174388e-01 7.11495245e-01 4.61410166e-02 2.97413155e+02] [-7.10069377e-01 7.02689913e-01 -4.50373854e-02 -1.95251812e+02] [-6.44667125e-02 -1.18426174e-03 9.97919155e-01 -1.70892682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72864 meters 0.02573034142754147 Centerline is valid? [True, True] Translation: X:297.46, Y:-195.29, Z:-17.09 [[ 6.98008103e-01 7.14645737e-01 4.54550239e-02 2.97459567e+02] [-7.13265977e-01 6.99485129e-01 -4.44094616e-02 -1.95293022e+02] [-6.35321456e-02 -1.42335800e-03 9.97978778e-01 -1.70926840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78864 meters 0.026319526557492475 Centerline is valid? [True, True] Translation: X:297.50, Y:-195.34, Z:-17.10 [[ 6.94882068e-01 7.17699383e-01 4.52383232e-02 2.97502453e+02] [-7.16336911e-01 6.96351068e-01 -4.42336984e-02 -1.95337262e+02] [-6.32482527e-02 -1.66867687e-03 9.97996430e-01 -1.70959105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84863999999993 meters 0.027031880358463108 Centerline is valid? [True, True] Translation: X:297.55, Y:-195.38, Z:-17.10 [[ 6.90843167e-01 7.21516116e-01 4.63703924e-02 2.97551336e+02] [-7.20091789e-01 6.92394595e-01 -4.53601303e-02 -1.95376004e+02] [-6.48346740e-02 -2.05420276e-03 9.97893905e-01 -1.70996452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90863999999993 meters 0.02818219623023268 Centerline is valid? [True, True] Translation: X:297.60, Y:-195.41, Z:-17.11 [[ 6.87350533e-01 7.24719897e-01 4.82733518e-02 2.97599712e+02] [-7.23182938e-01 6.89039264e-01 -4.72369703e-02 -1.95414583e+02] [-6.74958070e-02 -2.44210765e-03 9.97716569e-01 -1.71051588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96863999999994 meters 0.027675506627777614 Centerline is valid? [True, True] Translation: X:297.65, Y:-195.45, Z:-17.11 [[ 6.89100341e-01 7.22932646e-01 5.00910129e-02 2.97650625e+02] [-7.21270844e-01 6.90914576e-01 -4.90450765e-02 -1.95451762e+02] [-7.00648978e-02 -2.33220817e-03 9.97539709e-01 -1.71071887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02863999999994 meters 0.02736331254609927 Centerline is valid? [True, True] Translation: X:297.70, Y:-195.49, Z:-17.11 [[ 6.90174892e-01 7.21934310e-01 4.96937675e-02 2.97701056e+02] [-7.20293178e-01 6.91958154e-01 -4.86995875e-02 -1.95489554e+02] [-6.95439107e-02 -2.18284920e-03 9.97576503e-01 -1.71109220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08863999999994 meters 0.0271065496974335 Centerline is valid? [True, True] Translation: X:297.75, Y:-195.53, Z:-17.11 [[ 6.91645401e-01 7.20651974e-01 4.78264777e-02 2.97749147e+02] [-7.19126140e-01 6.93294267e-01 -4.69111241e-02 -1.95529568e+02] [-6.69644170e-02 -1.94740701e-03 9.97753464e-01 -1.71138660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14863999999994 meters 0.02670000073113378 Centerline is valid? [True, True] Translation: X:297.80, Y:-195.57, Z:-17.11 [[ 6.93598336e-01 7.18845426e-01 4.67183244e-02 2.97796478e+02] [-7.17382747e-01 6.95167861e-01 -4.58654588e-02 -1.95570484e+02] [-6.54472529e-02 -1.70271400e-03 9.97854578e-01 -1.71142607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20863999999995 meters 0.026631706142163182 Centerline is valid? [True, True] Translation: X:297.84, Y:-195.61, Z:-17.12 [[ 6.94871668e-01 7.17668601e-01 4.58818469e-02 2.97840479e+02] [-7.16253177e-01 6.96383089e-01 -4.50774727e-02 -1.95614960e+02] [-6.43020290e-02 -1.53995998e-03 9.97929295e-01 -1.71176033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26863999999995 meters 0.026740453748094008 Centerline is valid? [True, True] Translation: X:297.89, Y:-195.66, Z:-17.12 [[ 6.93988765e-01 7.18491168e-01 4.63684883e-02 2.97888616e+02] [-7.17045828e-01 6.95534203e-01 -4.55790844e-02 -1.95655098e+02] [-6.49990392e-02 -1.61695861e-03 9.97884016e-01 -1.71205082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32863999999995 meters 0.02731808359670745 Centerline is valid? [True, True] Translation: X:297.93, Y:-195.70, Z:-17.12 [[ 6.89824664e-01 7.22555413e-01 4.53388148e-02 2.97933007e+02] [-7.21179702e-01 6.91310326e-01 -4.46079617e-02 -1.95698567e+02] [-6.35749150e-02 -1.92576074e-03 9.97975211e-01 -1.71230827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38863999999995 meters 0.027923206038220096 Centerline is valid? [True, True] Translation: X:297.98, Y:-195.74, Z:-17.13 [[ 6.86112135e-01 7.26106503e-01 4.49386707e-02 2.97983838e+02] [-7.24760038e-01 6.87578706e-01 -4.42539388e-02 -1.95735005e+02] [-6.30319458e-02 -2.20658828e-03 9.98009070e-01 -1.71253953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44863999999995 meters 0.028048051427869657 Centerline is valid? [True, True] Translation: X:298.03, Y:-195.78, Z:-17.13 [[ 6.85598357e-01 7.26556268e-01 4.55069412e-02 2.98030453e+02] [-7.25173871e-01 6.87103293e-01 -4.48544547e-02 -1.95776964e+02] [-6.38572544e-02 -2.24830427e-03 9.97956510e-01 -1.71283658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50863999999996 meters 0.027534353989217032 Centerline is valid? [True, True] Translation: X:298.08, Y:-195.81, Z:-17.13 [[ 6.87300651e-01 7.24951763e-01 4.54175696e-02 2.98080294e+02] [-7.23568422e-01 6.88796546e-01 -4.48113502e-02 -1.95814884e+02] [-6.37695324e-02 -2.06384902e-03 9.97962518e-01 -1.71316852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56863999999996 meters 0.027132573016911875 Centerline is valid? [True, True] Translation: X:298.13, Y:-195.85, Z:-17.13 [[ 6.90119990e-01 7.22283219e-01 4.51813148e-02 2.98128875e+02] [-7.20905935e-01 6.91595103e-01 -4.46189119e-02 -1.95853628e+02] [-6.34746674e-02 -1.77907499e-03 9.97981864e-01 -1.71344087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62863999999996 meters 0.026742240966696893 Centerline is valid? [True, True] Translation: X:298.18, Y:-195.89, Z:-17.14 [[ 6.92231569e-01 7.20125155e-01 4.72780731e-02 2.98177447e+02] [-7.18608936e-01 6.93842292e-01 -4.67340591e-02 -1.95892943e+02] [-6.64578982e-02 -1.62365469e-03 9.97787909e-01 -1.71376083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68863999999996 meters 0.026597072266988424 Centerline is valid? [True, True] Translation: X:298.23, Y:-195.93, Z:-17.14 [[ 6.92783690e-01 7.19630775e-01 4.67151549e-02 2.98225023e+02] [-7.18147114e-01 6.94355237e-01 -4.62117682e-02 -1.95933893e+02] [-6.56923230e-02 -1.53359440e-03 9.97838748e-01 -1.71393379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74863999999997 meters 0.026070960325636574 Centerline is valid? [True, True] Translation: X:298.27, Y:-195.97, Z:-17.14 [[ 6.95706916e-01 7.16878236e-01 4.55794052e-02 2.98273772e+02] [-7.15459036e-01 6.97197302e-01 -4.51031037e-02 -1.95973771e+02] [-6.41112717e-02 -1.23165617e-03 9.97941996e-01 -1.71419150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80863999999997 meters 0.025654045957924802 Centerline is valid? [True, True] Translation: X:298.32, Y:-196.01, Z:-17.15 [[ 7.01391683e-01 7.11247288e-01 4.66583629e-02 2.98320583e+02] [-7.09745868e-01 7.02941523e-01 -4.61954309e-02 -1.96014446e+02] [-6.56544756e-02 -7.14489282e-04 9.97842162e-01 -1.71457204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86863999999997 meters 0.02537270228427452 Centerline is valid? [True, True] Translation: X:298.37, Y:-196.05, Z:-17.15 [[ 7.07925047e-01 7.04739230e-01 4.67412642e-02 2.98369902e+02] [-7.03215226e-01 7.09466428e-01 -4.63220619e-02 -1.96053247e+02] [-6.58063319e-02 -7.66208318e-05 9.97832411e-01 -1.71500382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92864 meters 0.02557799289570374 Centerline is valid? [True, True] Translation: X:298.41, Y:-196.10, Z:-17.15 [[ 7.12994577e-01 6.99568216e-01 4.73607996e-02 2.98412692e+02] [-6.97988988e-01 7.14565685e-01 -4.69814265e-02 -1.96098481e+02] [-6.67091149e-02 4.40185673e-04 9.97772369e-01 -1.71526261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98864 meters 0.02580086835717477 Centerline is valid? [True, True] Translation: X:298.46, Y:-196.14, Z:-17.16 [[ 7.15398241e-01 6.97205784e-01 4.59287606e-02 2.98455205e+02] [-6.95713012e-01 7.16870730e-01 -4.56044123e-02 -1.96144816e+02] [-6.47206442e-02 6.72080038e-04 9.97903195e-01 -1.71567648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04864 meters 0.025540919513400106 Centerline is valid? [True, True] Translation: X:298.49, Y:-196.19, Z:-17.16 [[ 7.15225453e-01 6.97399076e-01 4.56845773e-02 2.98494856e+02] [-6.95919479e-01 7.16682677e-01 -4.54094717e-02 -1.96194072e+02] [-6.44098687e-02 6.85222697e-04 9.97923293e-01 -1.71593354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10864 meters 0.025259601302815512 Centerline is valid? [True, True] Translation: X:298.54, Y:-196.24, Z:-17.16 [[ 7.13473426e-01 6.99226808e-01 4.51391424e-02 2.98535902e+02] [-6.97783138e-01 7.14899694e-01 -4.49123554e-02 -1.96241522e+02] [-6.36738820e-02 5.46439638e-04 9.97970610e-01 -1.71614576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16864 meters 0.02528186753408322 Centerline is valid? [True, True] Translation: X:298.58, Y:-196.29, Z:-17.17 [[ 7.10628633e-01 7.01998836e-01 4.69529623e-02 2.98575909e+02] [-7.00439756e-01 7.12178009e-01 -4.67614280e-02 -1.96289193e+02] [-6.62653352e-02 3.42288205e-04 9.97801978e-01 -1.71658825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22864 meters 0.025337233149356198 Centerline is valid? [True, True] Translation: X:298.62, Y:-196.33, Z:-17.17 [[ 7.09182704e-01 7.03350439e-01 4.85597768e-02 2.98620290e+02] [-7.01682692e-01 7.10843227e-01 -4.84077114e-02 -1.96333206e+02] [-6.85659735e-02 2.56356723e-04 9.97646551e-01 -1.71683065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28864 meters 0.02530058655934187 Centerline is valid? [True, True] Translation: X:298.67, Y:-196.38, Z:-17.17 [[ 7.08203363e-01 7.04282365e-01 4.93391016e-02 2.98665574e+02] [-7.02559433e-01 7.09919931e-01 -4.92334658e-02 -1.96376989e+02] [-6.97010734e-02 2.03654794e-04 9.97567902e-01 -1.71709074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34863999999993 meters 0.02518439270778706 Centerline is valid? [True, True] Translation: X:298.71, Y:-196.42, Z:-17.18 [[ 7.06758103e-01 7.05821239e-01 4.80558243e-02 2.98713269e+02] [-7.04187757e-01 7.08389986e-01 -4.79919868e-02 -1.96417715e+02] [-6.79160283e-02 7.84023919e-05 9.97691038e-01 -1.71754519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40863999999993 meters 0.02506648380827303 Centerline is valid? [True, True] Translation: X:298.76, Y:-196.46, Z:-17.18 [[ 7.06366165e-01 7.06112581e-01 4.95162964e-02 2.98760691e+02] [-7.04376979e-01 7.08099581e-01 -4.94778204e-02 -1.96458086e+02] [-6.99993803e-02 7.13190007e-05 9.97547032e-01 -1.71769678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46863999999994 meters 0.025024705073042854 Centerline is valid? [True, True] Translation: X:298.81, Y:-196.50, Z:-17.18 [[ 7.08010108e-01 7.04489895e-01 4.91495106e-02 2.98807672e+02] [-7.02772681e-01 7.09713969e-01 -4.91593462e-02 -1.96500755e+02] [-6.95143569e-02 2.64380706e-04 9.97580916e-01 -1.71802471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52863999999994 meters 0.024874500427530172 Centerline is valid? [True, True] Translation: X:298.81, Y:-196.63, Z:-15.61 [[ 7.50939832e-01 -6.60188699e-01 -1.55000035e-02 2.98809951e+02] [-6.59957283e-01 -7.51093380e-01 1.77515972e-02 -1.96630991e+02] [-2.33613539e-02 -3.10104117e-03 -9.99722277e-01 -1.56125761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58863999999994 meters 0.025311538142720028 Centerline is valid? [True, True] Translation: X:298.87, Y:-196.75, Z:-15.62 [[ 7.95411637e-01 -6.05871137e-01 -1.55078002e-02 2.98867029e+02] [-6.05675508e-01 -7.95556764e-01 1.57039617e-02 -1.96745180e+02] [-2.18519125e-02 -3.09841917e-03 -9.99756417e-01 -1.56169472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64863999999994 meters 0.02529953596888764 Centerline is valid? [True, True] Translation: X:298.91, Y:-196.67, Z:-17.19 [[ 8.05781031e-01 5.89540570e-01 5.62036208e-02 2.98910980e+02] [-5.88039762e-01 8.07738340e-01 -4.20477459e-02 -1.96673089e+02] [-7.01866715e-02 8.31312215e-04 9.97533528e-01 -1.71889909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70863999999995 meters 0.026627407007200746 Centerline is valid? [True, True] Translation: X:298.96, Y:-196.71, Z:-17.19 [[ 8.13062301e-01 5.79537709e-01 5.53691122e-02 2.98957989e+02] [-5.78055396e-01 8.14943647e-01 -4.14585642e-02 -1.96714001e+02] [-6.91495075e-02 1.70198155e-03 9.97604856e-01 -1.71938435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76863999999995 meters 0.02729186140243589 Centerline is valid? [True, True] Translation: X:299.01, Y:-196.75, Z:-17.20 [[ 8.16225491e-01 5.75096706e-01 5.51337048e-02 2.99006989e+02] [-5.73615499e-01 8.18082775e-01 -4.13017214e-02 -1.96751769e+02] [-6.88564182e-02 2.08597028e-03 9.97624399e-01 -1.71950008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82863999999995 meters 0.027807320430715494 Centerline is valid? [True, True] Translation: X:299.05, Y:-196.79, Z:-17.20 [[ 8.18579162e-01 5.72056089e-01 5.17685845e-02 2.99052873e+02] [-5.70742189e-01 8.20211484e-01 -3.88133276e-02 -1.96794694e+02] [-6.46645880e-02 2.22526594e-03 9.97904574e-01 -1.71973542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88863999999995 meters 0.027461166147737623 Centerline is valid? [True, True] Translation: X:299.10, Y:-196.84, Z:-17.20 [[ 8.17000078e-01 5.74307249e-01 5.17885752e-02 2.99099087e+02] [-5.72994541e-01 8.18637203e-01 -3.88636860e-02 -1.96837188e+02] [-6.47157509e-02 2.07706356e-03 9.97901577e-01 -1.72006467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94863999999995 meters 0.02697939910184743 Centerline is valid? [True, True] Translation: X:299.14, Y:-196.88, Z:-17.20 [[ 8.15951706e-01 5.75885046e-01 5.07861040e-02 2.99141791e+02] [-5.74623584e-01 8.17528374e-01 -3.81457054e-02 -1.96883456e+02] [-6.34866223e-02 1.94216032e-03 9.97980800e-01 -1.72015821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00863999999996 meters 0.02689467898792134 Centerline is valid? [True, True] Translation: X:299.18, Y:-196.93, Z:-17.21 [[ 8.14552877e-01 5.77757646e-01 5.19587605e-02 2.99184043e+02] [-5.76438611e-01 8.16206233e-01 -3.90629438e-02 -1.96929781e+02] [-6.49779786e-02 1.86779752e-03 9.97884950e-01 -1.72057101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06863999999996 meters 0.026496133408590975 Centerline is valid? [True, True] Translation: X:299.23, Y:-196.98, Z:-17.21 [[ 8.13121500e-01 5.79857990e-01 5.09719231e-02 2.99226857e+02] [-5.78590510e-01 8.14715800e-01 -3.83560679e-02 -1.96975623e+02] [-6.37687035e-02 1.69627251e-03 9.97963263e-01 -1.72075281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12863999999996 meters 0.0255869867457884 Centerline is valid? [True, True] Translation: X:299.27, Y:-197.02, Z:-17.21 [[ 8.08763082e-01 5.86072035e-01 4.92122681e-02 2.99266668e+02] [-5.84900478e-01 8.10258084e-01 -3.70576432e-02 -1.97024373e+02] [-6.15930864e-02 1.18657463e-03 9.98100638e-01 -1.72092511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18863999999996 meters 0.024933561143626076 Centerline is valid? [True, True] Translation: X:299.31, Y:-197.07, Z:-17.21 [[ 8.00493579e-01 5.97327166e-01 4.90946707e-02 2.99310685e+02] [-5.96181820e-01 8.01997599e-01 -3.69741610e-02 -1.97068063e+02] [-6.14594788e-02 3.28228395e-04 9.98109525e-01 -1.72127996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24863999999997 meters 0.02498155838364608 Centerline is valid? [True, True] Translation: X:299.36, Y:-197.11, Z:-17.22 [[ 7.91865823e-01 6.08780678e-01 4.83177413e-02 2.99356484e+02] [-6.07691548e-01 7.93338389e-01 -3.64030733e-02 -1.97112630e+02] [-6.04938067e-02 -5.35933436e-04 9.98168429e-01 -1.72158161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30863999999997 meters 0.02525297497518256 Centerline is valid? [True, True] Translation: X:299.40, Y:-197.15, Z:-17.22 [[ 7.88745988e-01 6.12815129e-01 4.83464886e-02 2.99404766e+02] [-6.11729863e-01 7.90225888e-01 -3.64639666e-02 -1.97151031e+02] [-6.05503173e-02 -8.14183479e-04 9.98164814e-01 -1.72180441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36863999999997 meters 0.02547919929053359 Centerline is valid? [True, True] Translation: X:299.45, Y:-197.19, Z:-17.22 [[ 7.87265772e-01 6.14671163e-01 4.89077326e-02 2.99454842e+02] [-6.13561950e-01 7.88782909e-01 -3.69222927e-02 -1.97187055e+02] [-6.12726522e-02 -9.40266570e-04 9.98120623e-01 -1.72219322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42864 meters 0.02592402276697342 Centerline is valid? [True, True] Translation: X:299.51, Y:-197.22, Z:-17.22 [[ 7.84862228e-01 6.17562049e-01 5.10724812e-02 2.99508610e+02] [-6.16355958e-01 7.86521270e-01 -3.85956694e-02 -1.97218718e+02] [-6.40048135e-02 -1.18654496e-03 9.97948884e-01 -1.72247545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48864 meters 0.0260162253058455 Centerline is valid? [True, True] Translation: X:299.56, Y:-197.25, Z:-17.23 [[ 7.85427813e-01 6.16727241e-01 5.24467332e-02 2.99563008e+02] [-6.15450712e-01 7.87176133e-01 -3.96756390e-02 -1.97250875e+02] [-6.57538640e-02 -1.11602894e-03 9.97835249e-01 -1.72263722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54864 meters 0.026062968768036487 Centerline is valid? [True, True] Translation: X:299.62, Y:-197.28, Z:-17.23 [[ 7.87892721e-01 6.13653186e-01 5.15250203e-02 2.99617429e+02] [-6.12411897e-01 7.89575271e-01 -3.90199794e-02 -1.97281029e+02] [-6.46276165e-02 -8.10977714e-04 9.97909121e-01 -1.72314326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60864 meters 0.026002244901736825 Centerline is valid? [True, True] Translation: X:299.67, Y:-197.31, Z:-17.23 [[ 7.88008202e-01 6.13389447e-01 5.28815622e-02 2.99671311e+02] [-6.12078656e-01 7.89780210e-01 -4.00866490e-02 -1.97311890e+02] [-6.63535388e-02 -7.79067327e-04 9.97795871e-01 -1.72345063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66864 meters 0.026194427913762818 Centerline is valid? [True, True] Translation: X:299.73, Y:-197.34, Z:-17.24 [[ 7.86986360e-01 6.14793707e-01 5.17799841e-02 2.99726240e+02] [-6.13537554e-01 7.88687503e-01 -3.92898526e-02 -1.97343341e+02] [-6.49933805e-02 -8.48386700e-04 9.97885334e-01 -1.72362212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72864 meters 0.0261560095079108 Centerline is valid? [True, True] Translation: X:299.78, Y:-197.38, Z:-17.24 [[ 7.85443510e-01 6.16788866e-01 5.14780320e-02 2.99780784e+02] [-6.15548741e-01 7.87128039e-01 -3.91049561e-02 -1.97375638e+02] [-6.46393039e-02 -9.72503814e-04 9.97908220e-01 -1.72390884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78864 meters 0.02603773641446081 Centerline is valid? [True, True] Translation: X:299.83, Y:-197.41, Z:-17.24 [[ 7.86783614e-01 6.15066255e-01 5.16240870e-02 2.99833047e+02] [-6.13812582e-01 7.88475024e-01 -3.92587782e-02 -1.97409335e+02] [-6.48510529e-02 -7.99350689e-04 9.97894635e-01 -1.72410459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84863999999993 meters 0.025609980671479144 Centerline is valid? [True, True] Translation: X:299.89, Y:-197.44, Z:-17.24 [[ 7.91058816e-01 6.09659973e-01 5.04050383e-02 2.99890268e+02] [-6.08451464e-01 7.92662991e-01 -3.83692377e-02 -1.97436728e+02] [-6.33463968e-02 -3.16695664e-04 9.97991550e-01 -1.72433774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90863999999993 meters 0.02545263321005068 Centerline is valid? [True, True] Translation: X:299.94, Y:-197.47, Z:-17.25 [[ 7.93415176e-01 6.06541379e-01 5.09893576e-02 2.99944183e+02] [-6.05295581e-01 7.95051919e-01 -3.88549324e-02 -1.97470460e+02] [-6.41063110e-02 -3.55397844e-05 9.97943074e-01 -1.72455374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96863999999994 meters 0.025746407451353818 Centerline is valid? [True, True] Translation: X:300.00, Y:-197.50, Z:-17.25 [[ 7.95907594e-01 6.03019625e-01 5.38371137e-02 2.99997501e+02] [-6.01619392e-01 7.97726295e-01 -4.10714630e-02 -1.97502352e+02] [-6.77141794e-02 2.99637669e-04 9.97704716e-01 -1.72493362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02863999999994 meters 0.02562827369320106 Centerline is valid? [True, True] Translation: X:300.05, Y:-197.54, Z:-17.25 [[ 7.97699733e-01 6.00827901e-01 5.17780793e-02 3.00049507e+02] [-5.99525772e-01 7.99378250e-01 -3.95381218e-02 -1.97536263e+02] [-6.51458771e-02 4.97256288e-04 9.97875627e-01 -1.72506919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08863999999994 meters 0.025691370487458454 Centerline is valid? [True, True] Translation: X:300.10, Y:-197.57, Z:-17.25 [[ 7.98615734e-01 5.99575834e-01 5.21701925e-02 3.00099318e+02] [-5.98248677e-01 8.00317697e-01 -3.98761109e-02 -1.97574139e+02] [-6.56614808e-02 6.34940964e-04 9.97841754e-01 -1.72532568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14863999999994 meters 0.02587350794889689 Centerline is valid? [True, True] Translation: X:300.15, Y:-197.61, Z:-17.26 [[ 7.98594792e-01 5.99605418e-01 5.21507483e-02 3.00148518e+02] [-5.98276683e-01 8.00295508e-01 -3.99012543e-02 -1.97612677e+02] [-6.56610179e-02 6.64357140e-04 9.97841766e-01 -1.72573140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20863999999995 meters 0.02561725230523555 Centerline is valid? [True, True] Translation: X:300.20, Y:-197.65, Z:-17.26 [[ 7.96916306e-01 6.01838522e-01 5.21036952e-02 3.00197802e+02] [-6.00514181e-01 7.98617637e-01 -3.99072482e-02 -1.97650378e+02] [-6.56286492e-02 5.13728974e-04 9.97843984e-01 -1.72602151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26863999999995 meters 0.025568389335249197 Centerline is valid? [True, True] Translation: X:300.25, Y:-197.69, Z:-17.26 [[ 7.95159728e-01 6.04252579e-01 5.09885004e-02 3.00246393e+02] [-6.02986946e-01 7.96792763e-01 -3.90901063e-02 -1.97689598e+02] [-6.42475656e-02 3.37478207e-04 9.97933934e-01 -1.72620273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32863999999995 meters 0.0255198619418592 Centerline is valid? [True, True] Translation: X:300.30, Y:-197.73, Z:-17.27 [[ 7.91630330e-01 6.08873067e-01 5.09412384e-02 3.00297152e+02] [-6.07616761e-01 7.93267665e-01 -3.90932611e-02 -1.97726250e+02] [-6.42128710e-02 -5.33915070e-06 9.97936224e-01 -1.72653998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38863999999995 meters 0.025572616004685616 Centerline is valid? [True, True] Translation: X:300.35, Y:-197.76, Z:-17.27 [[ 7.90775884e-01 6.09891037e-01 5.20232977e-02 3.00347134e+02] [-6.08580076e-01 7.92485280e-01 -3.99671376e-02 -1.97763729e+02] [-6.56032967e-02 -5.52939059e-05 9.97845782e-01 -1.72676481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44863999999995 meters 0.025436164817783186 Centerline is valid? [True, True] Translation: X:300.40, Y:-197.80, Z:-17.27 [[ 7.89742825e-01 6.11345738e-01 5.06227136e-02 3.00401628e+02] [-6.10105078e-01 7.91363613e-01 -3.89284636e-02 -1.97795433e+02] [-6.38597239e-02 -1.41699843e-04 9.97958875e-01 -1.72692322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50863999999996 meters 0.025468015356117337 Centerline is valid? [True, True] Translation: X:300.45, Y:-197.83, Z:-17.27 [[ 7.89505893e-01 6.11635585e-01 5.08168826e-02 3.00453968e+02] [-6.10383389e-01 7.91139617e-01 -3.91180917e-02 -1.97830834e+02] [-6.41292659e-02 -1.33817018e-04 9.97941591e-01 -1.72731290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56863999999996 meters 0.025406694143118063 Centerline is valid? [True, True] Translation: X:300.51, Y:-197.87, Z:-17.28 [[ 7.91122501e-01 6.09632731e-01 4.97304819e-02 3.00505106e+02] [-6.08427030e-01 7.92684003e-01 -3.83225790e-02 -1.97866684e+02] [-6.27832560e-02 6.04851174e-05 9.98027184e-01 -1.72754811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62863999999996 meters 0.025258829041293365 Centerline is valid? [True, True] Translation: X:300.55, Y:-197.90, Z:-17.28 [[ 7.94255726e-01 6.05320561e-01 5.23914140e-02 3.00554341e+02] [-6.03970181e-01 7.95981665e-01 -4.04129908e-02 -1.97903819e+02] [-6.61654192e-02 4.55397593e-04 9.97808564e-01 -1.72779904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68863999999996 meters 0.025172385550767767 Centerline is valid? [True, True] Translation: X:300.60, Y:-197.94, Z:-17.28 [[ 7.93525436e-01 6.06070259e-01 5.47377717e-02 3.00603132e+02] [-6.04595075e-01 7.95410991e-01 -4.22628632e-02 -1.97942438e+02] [-6.91532897e-02 4.42469709e-04 9.97605948e-01 -1.72811084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74863999999997 meters 0.025177797138787723 Centerline is valid? [True, True] Translation: X:300.65, Y:-197.98, Z:-17.29 [[ 7.93496036e-01 6.06267733e-01 5.29478763e-02 3.00651013e+02] [-6.04885425e-01 7.95260486e-01 -4.09192021e-02 -1.97982449e+02] [-6.69153457e-02 4.41825997e-04 9.97758559e-01 -1.72851863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80863999999997 meters 0.025102551829130886 Centerline is valid? [True, True] Translation: X:300.70, Y:-198.02, Z:-17.29 [[ 7.93872750e-01 6.05820337e-01 5.24192349e-02 3.00700397e+02] [-6.04461870e-01 7.95601322e-01 -4.05510160e-02 -1.98021556e+02] [-6.62714427e-02 5.06917892e-04 9.97801503e-01 -1.72860744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86863999999997 meters 0.025118493544312937 Centerline is valid? [True, True] Translation: X:300.75, Y:-198.06, Z:-17.29 [[ 7.93402162e-01 6.06397745e-01 5.28657155e-02 3.00749667e+02] [-6.05014265e-01 7.95161321e-01 -4.09415813e-02 -1.98060937e+02] [-6.68636547e-02 4.98627140e-04 9.97761997e-01 -1.72894328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92864 meters 0.02513569665816814 Centerline is valid? [True, True] Translation: X:300.80, Y:-198.10, Z:-17.29 [[ 7.91687007e-01 6.08679523e-01 5.23538096e-02 3.00800866e+02] [-6.07324892e-01 7.93416111e-01 -4.05875596e-02 -1.98096861e+02] [-6.62431724e-02 3.36871850e-04 9.97803452e-01 -1.72911333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98864 meters 0.025142614442340557 Centerline is valid? [True, True] Translation: X:300.85, Y:-198.14, Z:-17.29 [[ 7.90570457e-01 6.10012945e-01 5.36894656e-02 3.00849307e+02] [-6.08588526e-01 7.92391404e-01 -4.16637548e-02 -1.98135913e+02] [-6.79585008e-02 2.63340946e-04 9.97688114e-01 -1.72949073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04864 meters 0.025264414016900005 Centerline is valid? [True, True] Translation: X:300.90, Y:-198.17, Z:-17.29 [[ 7.91465209e-01 6.09070772e-01 5.11431098e-02 3.00901442e+02] [-6.07774032e-01 7.93115797e-01 -3.97247853e-02 -1.98170557e+02] [-6.47576140e-02 3.57331433e-04 9.97900959e-01 -1.72945979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10864 meters 0.025273262120684384 Centerline is valid? [True, True] Translation: X:300.95, Y:-198.21, Z:-17.30 [[ 7.90771812e-01 6.09982266e-01 5.10056548e-02 3.00950576e+02] [-6.08691814e-01 7.92415003e-01 -3.96577753e-02 -1.98210351e+02] [-6.46081857e-02 3.13526330e-04 9.97910659e-01 -1.72981851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16864 meters 0.025287099145068125 Centerline is valid? [True, True] Translation: X:301.00, Y:-198.25, Z:-17.30 [[ 7.89490040e-01 6.11733030e-01 4.98816285e-02 3.01001747e+02] [-6.10499805e-01 7.91064259e-01 -3.88243017e-02 -1.98245599e+02] [-6.32096812e-02 1.98674988e-04 9.98000249e-01 -1.73016810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22864 meters 0.025380900257460808 Centerline is valid? [True, True] Translation: X:301.05, Y:-198.28, Z:-17.30 [[ 7.89085143e-01 6.12281071e-01 4.95633644e-02 3.01051085e+02] [-6.11062197e-01 7.90640156e-01 -3.86152237e-02 -1.98284831e+02] [-6.28301566e-02 1.84401005e-04 9.98024217e-01 -1.73046667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28864 meters 0.02553478061409103 Centerline is valid? [True, True] Translation: X:301.10, Y:-198.32, Z:-17.31 [[ 7.89362414e-01 6.11737848e-01 5.18052551e-02 3.01098934e+02] [-6.10401988e-01 7.91060510e-01 -4.04064750e-02 -1.98324338e+02] [-6.56992616e-02 2.73321982e-04 9.97839432e-01 -1.73062787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34863999999993 meters 0.025545725538226073 Centerline is valid? [True, True] Translation: X:301.15, Y:-198.36, Z:-17.31 [[ 7.89057371e-01 6.12043612e-01 5.28306948e-02 3.01148776e+02] [-6.10652266e-01 7.90823960e-01 -4.12465045e-02 -1.98362213e+02] [-6.70244389e-02 2.84674952e-04 9.97751293e-01 -1.73092123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40863999999993 meters 0.02558206878430957 Centerline is valid? [True, True] Translation: X:301.19, Y:-198.41, Z:-17.31 [[ 7.88746508e-01 6.12503017e-01 5.21440340e-02 3.01194202e+02] [-6.11146075e-01 7.90468203e-01 -4.07491726e-02 -1.98405321e+02] [-6.61771921e-02 2.73145873e-04 9.97807850e-01 -1.73138387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46863999999994 meters 0.025556843137161472 Centerline is valid? [True, True] Translation: X:301.24, Y:-198.44, Z:-17.32 [[ 7.88447665e-01 6.12951736e-01 5.13853024e-02 3.01242712e+02] [-6.11632493e-01 7.90120308e-01 -4.01944361e-02 -1.98444912e+02] [-6.52378203e-02 2.62288721e-04 9.97869710e-01 -1.73151936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52863999999994 meters 0.025704970474925728 Centerline is valid? [True, True] Translation: X:301.29, Y:-198.49, Z:-17.32 [[ 7.84744509e-01 6.17784276e-01 5.01860987e-02 3.01289483e+02] [-6.16533389e-01 7.86347619e-01 -3.92938007e-02 -1.98485985e+02] [-6.37388114e-02 -1.05811141e-04 9.97966609e-01 -1.73175504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58863999999994 meters 0.026109686873945954 Centerline is valid? [True, True] Translation: X:301.34, Y:-198.53, Z:-17.32 [[ 7.78727455e-01 6.25416861e-01 4.93690293e-02 3.01336874e+02] [-6.24219294e-01 7.80290508e-01 -3.86910289e-02 -1.98525777e+02] [-6.27202068e-02 -6.87334167e-04 9.98030913e-01 -1.73196878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64863999999994 meters 0.026292164572147177 Centerline is valid? [True, True] Translation: X:301.39, Y:-198.56, Z:-17.32 [[ 7.75526299e-01 6.29300250e-01 5.03999414e-02 3.01385749e+02] [-6.28057755e-01 7.77161638e-01 -3.95378740e-02 -1.98564127e+02] [-6.40500950e-02 -9.91412996e-04 9.97946192e-01 -1.73234056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70863999999995 meters 0.026357594993756978 Centerline is valid? [True, True] Translation: X:301.44, Y:-198.60, Z:-17.33 [[ 7.74932797e-01 6.30066671e-01 4.99514871e-02 3.01435947e+02] [-6.28845287e-01 7.76540379e-01 -3.92255490e-02 -1.98601779e+02] [-6.35040578e-02 -1.01459284e-03 9.97981065e-01 -1.73257420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76863999999995 meters 0.026119563629574113 Centerline is valid? [True, True] Translation: X:301.49, Y:-198.64, Z:-17.33 [[ 7.76495880e-01 6.28092211e-01 5.05403146e-02 3.01486323e+02] [-6.26834846e-01 7.78138476e-01 -3.97314501e-02 -1.98638430e+02] [-6.42823777e-02 -8.29123059e-04 9.97931405e-01 -1.73277178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82863999999995 meters 0.026014316857032427 Centerline is valid? [True, True] Translation: X:301.53, Y:-198.68, Z:-17.33 [[ 7.78751683e-01 6.25241780e-01 5.11716056e-02 3.01533341e+02] [-6.23944000e-01 7.80430902e-01 -4.02677657e-02 -1.98679823e+02] [-6.51129918e-02 -5.69625935e-04 9.97877735e-01 -1.73296822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88863999999995 meters 0.025601919902312382 Centerline is valid? [True, True] Translation: X:301.58, Y:-198.72, Z:-17.33 [[ 7.81046277e-01 6.22442885e-01 5.03146841e-02 3.01582649e+02] [-6.21179972e-01 7.82665167e-01 -3.96317753e-02 -1.98717958e+02] [-6.40480672e-02 -3.00223576e-04 9.97946770e-01 -1.73313569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94863999999995 meters 0.025533395664648267 Centerline is valid? [True, True] Translation: X:301.63, Y:-198.76, Z:-17.34 [[ 7.79964022e-01 6.23951558e-01 4.83795208e-02 3.01629869e+02] [-6.22784670e-01 7.81462929e-01 -3.81437483e-02 -1.98757612e+02] [-6.16066532e-02 -3.79272561e-04 9.98100434e-01 -1.73351796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00863999999996 meters 0.025623256153146028 Centerline is valid? [True, True] Translation: X:301.68, Y:-198.80, Z:-17.34 [[ 7.77520905e-01 6.26885355e-01 4.97593661e-02 3.01677981e+02] [-6.25654367e-01 7.79111285e-01 -3.92710971e-02 -1.98796853e+02] [-6.33865593e-02 -5.98065725e-04 9.97988871e-01 -1.73370893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06863999999996 meters 0.025863042802781684 Centerline is valid? [True, True] Translation: X:301.73, Y:-198.84, Z:-17.34 [[ 7.76144554e-01 6.28644455e-01 4.90487623e-02 3.01726462e+02] [-6.27449475e-01 7.77692522e-01 -3.87491664e-02 -1.98836991e+02] [-6.25043043e-02 -7.00665692e-04 9.98044448e-01 -1.73394371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12863999999996 meters 0.025706122035791368 Centerline is valid? [True, True] Translation: X:301.78, Y:-198.87, Z:-17.34 [[ 7.76289161e-01 6.28443519e-01 4.93343863e-02 3.01778159e+02] [-6.27231384e-01 7.77854945e-01 -3.90189026e-02 -1.98873689e+02] [-6.28961728e-02 -6.54124271e-04 9.98019861e-01 -1.73408135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18863999999996 meters 0.025604516724897667 Centerline is valid? [True, True] Translation: X:301.83, Y:-198.91, Z:-17.34 [[ 7.76222311e-01 6.28596310e-01 4.84314283e-02 3.01828819e+02] [-6.27425917e-01 7.77731504e-01 -3.83461506e-02 -1.98910185e+02] [-6.17708963e-02 -6.21995688e-04 9.98090161e-01 -1.73438239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24863999999997 meters 0.02568854466540189 Centerline is valid? [True, True] Translation: X:301.88, Y:-198.95, Z:-17.35 [[ 7.73456426e-01 6.32122120e-01 4.67630455e-02 3.01879529e+02] [-6.31035261e-01 7.74868320e-01 -3.70619115e-02 -1.98947560e+02] [-5.96628566e-02 -8.43357053e-04 9.98218229e-01 -1.73454754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30863999999997 meters 0.02586523743707624 Centerline is valid? [True, True] Translation: X:301.93, Y:-198.98, Z:-17.35 [[ 7.71845209e-01 6.34073411e-01 4.69668313e-02 3.01930311e+02] [-6.32978203e-01 7.73272252e-01 -3.72641761e-02 -1.98983123e+02] [-5.99463707e-02 -9.66804718e-04 9.98201131e-01 -1.73488835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36863999999997 meters 0.025932119594630595 Centerline is valid? [True, True] Translation: X:301.98, Y:-199.02, Z:-17.35 [[ 7.70996412e-01 6.35020675e-01 4.80965191e-02 3.01981787e+02] [-6.33871600e-01 7.72494446e-01 -3.81984993e-02 -1.99018145e+02] [-6.14111306e-02 -1.03611163e-03 9.98112018e-01 -1.73529926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42864 meters 0.025631313391372482 Centerline is valid? [True, True] Translation: X:302.03, Y:-199.05, Z:-17.35 [[ 7.71994059e-01 6.33883197e-01 4.70878595e-02 3.02034029e+02] [-6.32777572e-01 7.73428269e-01 -3.74333790e-02 -1.99052670e+02] [-6.01474716e-02 -8.97795227e-04 9.98189098e-01 -1.73549496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48864 meters 0.025405143156619788 Centerline is valid? [True, True] Translation: X:302.09, Y:-199.09, Z:-17.36 [[ 7.73843924e-01 6.31562620e-01 4.78982020e-02 3.02085021e+02] [-6.30411807e-01 7.75324556e-01 -3.81154374e-02 -1.99088570e+02] [-6.12089377e-02 -7.00192451e-04 9.98124730e-01 -1.73582403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54864 meters 0.025200674786262825 Centerline is valid? [True, True] Translation: X:302.14, Y:-199.12, Z:-17.36 [[ 7.73768402e-01 6.31520271e-01 4.96448119e-02 3.02137447e+02] [-6.30281288e-01 7.75359059e-01 -3.95452665e-02 -1.99122578e+02] [-6.34661921e-02 -6.91318294e-04 9.97983750e-01 -1.73592458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60864 meters 0.025515183739980404 Centerline is valid? [True, True] Translation: X:302.19, Y:-199.16, Z:-17.36 [[ 7.72441846e-01 6.33204875e-01 4.88383126e-02 3.02189141e+02] [-6.32006778e-01 7.73983830e-01 -3.89417890e-02 -1.99159150e+02] [-6.24581948e-02 -7.85877189e-04 9.98047272e-01 -1.73646673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66864 meters 0.02539460040275796 Centerline is valid? [True, True] Translation: X:302.24, Y:-199.19, Z:-17.37 [[ 7.71304985e-01 6.34628852e-01 4.83201921e-02 3.02242425e+02] [-6.33456200e-01 7.72816591e-01 -3.85714871e-02 -1.99193329e+02] [-6.18212247e-02 -8.58344991e-04 9.98086870e-01 -1.73666605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72864 meters 0.025230061474874638 Centerline is valid? [True, True] Translation: X:302.29, Y:-199.23, Z:-17.37 [[ 7.72592164e-01 6.33002945e-01 4.90776960e-02 3.02293160e+02] [-6.31787151e-01 7.74149064e-01 -3.92201702e-02 -1.99230344e+02] [-6.28199357e-02 -7.05461598e-04 9.98024628e-01 -1.73683398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78864 meters 0.025008861689205127 Centerline is valid? [True, True] Translation: X:302.34, Y:-199.27, Z:-17.37 [[ 7.71783902e-01 6.34125317e-01 4.72725086e-02 3.02344362e+02] [-6.32997092e-01 7.73229939e-01 -3.78172210e-02 -1.99265739e+02] [-6.05333762e-02 -7.36638118e-04 9.98165902e-01 -1.73735304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84863999999993 meters 0.025367986440538563 Centerline is valid? [True, True] Translation: X:302.39, Y:-199.30, Z:-17.37 [[ 7.68094510e-01 6.38542135e-01 4.79037054e-02 3.02394731e+02] [-6.37389794e-01 7.69586121e-01 -3.83595250e-02 -1.99302569e+02] [-6.13601998e-02 -1.06959237e-03 9.98115115e-01 -1.73745816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90863999999993 meters 0.025520573766092854 Centerline is valid? [True, True] Translation: X:302.44, Y:-199.34, Z:-17.38 [[ 7.66971859e-01 6.39780783e-01 4.93428464e-02 3.02444888e+02] [-6.38558195e-01 7.68556550e-01 -3.95507318e-02 -1.99339769e+02] [-6.32265660e-02 -1.17398065e-03 9.97998509e-01 -1.73777460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96863999999994 meters 0.02541198937917144 Centerline is valid? [True, True] Translation: X:302.50, Y:-199.38, Z:-17.38 [[ 7.68318348e-01 6.38130403e-01 4.97644829e-02 3.02495073e+02] [-6.36880870e-01 7.69927629e-01 -3.99274836e-02 -1.99376563e+02] [-6.37939915e-02 -1.01702890e-03 9.97962571e-01 -1.73800915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02863999999994 meters 0.025393519359944997 Centerline is valid? [True, True] Translation: X:302.55, Y:-199.41, Z:-17.38 [[ 7.67587579e-01 6.38998716e-01 4.98993942e-02 3.02550177e+02] [-6.37741621e-01 7.69207070e-01 -4.00762949e-02 -1.99408485e+02] [-6.39916677e-02 -1.06085432e-03 9.97949869e-01 -1.73848145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08863999999994 meters 0.025263890917679322 Centerline is valid? [True, True] Translation: X:302.60, Y:-199.45, Z:-17.39 [[ 7.67315635e-01 6.39434699e-01 4.84766161e-02 3.02600663e+02] [-6.38246669e-01 7.68844715e-01 -3.89742678e-02 -1.99445636e+02] [-6.21924893e-02 -1.03447368e-03 9.98063637e-01 -1.73865954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14863999999994 meters 0.02531783628179299 Centerline is valid? [True, True] Translation: X:302.65, Y:-199.48, Z:-17.39 [[ 7.67340399e-01 6.39405669e-01 4.84675513e-02 3.02651340e+02] [-6.38215593e-01 7.68868901e-01 -3.90060176e-02 -1.99483132e+02] [-6.22058617e-02 -1.00185394e-03 9.98062837e-01 -1.73901443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20863999999995 meters 0.02527550073280229 Centerline is valid? [True, True] Translation: X:302.70, Y:-199.52, Z:-17.39 [[ 7.68424142e-01 6.38080061e-01 4.87665308e-02 3.02701352e+02] [-6.36869925e-01 7.69969534e-01 -3.92888746e-02 -1.99520429e+02] [-6.26181905e-02 -8.67417064e-04 9.98037179e-01 -1.73928551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26863999999995 meters 0.025177477805671797 Centerline is valid? [True, True] Translation: X:302.75, Y:-199.56, Z:-17.40 [[ 7.68638813e-01 6.37771820e-01 4.94113533e-02 3.02752552e+02] [-6.36526227e-01 7.70224922e-01 -3.98488667e-02 -1.99556644e+02] [-6.34723399e-02 -8.22236697e-04 9.97983259e-01 -1.73961312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32863999999995 meters 0.02500740911755802 Centerline is valid? [True, True] Translation: X:302.80, Y:-199.60, Z:-17.40 [[ 7.69558110e-01 6.36852906e-01 4.68902191e-02 3.02801138e+02] [-6.35727227e-01 7.70985030e-01 -3.78546682e-02 -1.99595256e+02] [-6.02595124e-02 -6.78022085e-04 9.98182514e-01 -1.73997099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38863999999995 meters 0.02483386712081881 Centerline is valid? [True, True] Translation: X:302.85, Y:-199.63, Z:-17.40 [[ 7.71779228e-01 6.34036583e-01 4.85225229e-02 3.02850701e+02] [-6.32823006e-01 7.73302926e-01 -3.92125958e-02 -1.99633588e+02] [-6.23848292e-02 -4.42701904e-04 9.98052071e-01 -1.74015660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44863999999995 meters 0.02472987626733941 Centerline is valid? [True, True] Translation: X:302.90, Y:-199.68, Z:-17.40 [[ 7.74216697e-01 6.30932114e-01 5.01315691e-02 3.02897782e+02] [-6.29627156e-01 7.75838025e-01 -4.05586448e-02 -1.99675581e+02] [-6.44837291e-02 -1.63017244e-04 9.97918745e-01 -1.74047218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50863999999996 meters 0.024744909167402025 Centerline is valid? [True, True] Translation: X:302.94, Y:-199.72, Z:-17.41 [[ 7.71858097e-01 6.34108816e-01 4.62718969e-02 3.02941478e+02] [-6.33000663e-01 7.73243736e-01 -3.74737864e-02 -1.99720021e+02] [-5.95419127e-02 -3.65695971e-04 9.98225739e-01 -1.74058470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56863999999996 meters 0.02495770748258634 Centerline is valid? [True, True] Translation: X:302.99, Y:-199.76, Z:-17.41 [[ 7.69052641e-01 6.37423512e-01 4.74268062e-02 3.02987824e+02] [-6.36263285e-01 7.70513398e-01 -3.84465423e-02 -1.99760860e+02] [-6.10497196e-02 -6.08520653e-04 9.98134541e-01 -1.74093572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62863999999996 meters 0.0252180993150063 Centerline is valid? [True, True] Translation: X:303.03, Y:-199.80, Z:-17.41 [[ 7.67037993e-01 6.39687278e-01 4.95268044e-02 3.03033763e+02] [-6.38424124e-01 7.68634866e-01 -4.01880728e-02 -1.99801951e+02] [-6.37758276e-02 -7.93328048e-04 9.97963934e-01 -1.74135537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68863999999996 meters 0.025625616787114953 Centerline is valid? [True, True] Translation: X:303.08, Y:-199.84, Z:-17.42 [[ 7.64755964e-01 6.42523461e-01 4.80824010e-02 3.03082844e+02] [-6.41336291e-01 7.66265397e-01 -3.90525777e-02 -1.99841325e+02] [-6.19360775e-02 -9.71297019e-04 9.98079646e-01 -1.74150699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74863999999997 meters 0.02582372461797351 Centerline is valid? [True, True] Translation: X:303.13, Y:-199.88, Z:-17.42 [[ 7.63129556e-01 6.44463945e-01 4.79531469e-02 3.03131336e+02] [-6.43284394e-01 7.64633917e-01 -3.89892418e-02 -1.99879952e+02] [-6.17937632e-02 -1.09366830e-03 9.98088340e-01 -1.74173804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80863999999997 meters 0.02596969127293442 Centerline is valid? [True, True] Translation: X:303.18, Y:-199.92, Z:-17.42 [[ 7.62405870e-01 6.45383187e-01 4.70938661e-02 3.03182739e+02] [-6.44245023e-01 7.63858162e-01 -3.83282915e-02 -1.99916337e+02] [-6.07094689e-02 -1.11827446e-03 9.98154853e-01 -1.74194731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86863999999997 meters 0.025899489128835988 Centerline is valid? [True, True] Translation: X:303.23, Y:-199.95, Z:-17.42 [[ 7.65888935e-01 6.41062633e-01 4.95261586e-02 3.03232631e+02] [-6.39791830e-01 7.67488170e-01 -4.03524809e-02 -1.99953544e+02] [-6.38792085e-02 -7.80913061e-04 9.97957332e-01 -1.74235013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92864 meters 0.02555121957181406 Centerline is valid? [True, True] Translation: X:303.28, Y:-199.99, Z:-17.43 [[ 7.71066778e-01 6.34932801e-01 4.81285972e-02 3.03282344e+02] [-6.33718450e-01 7.72567332e-01 -3.92510352e-02 -1.99990820e+02] [-6.21043517e-02 -2.34810780e-04 9.98069634e-01 -1.74262259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98864 meters 0.02561020066621755 Centerline is valid? [True, True] Translation: X:303.33, Y:-200.04, Z:-17.43 [[ 7.75154235e-01 6.29983221e-01 4.75084533e-02 3.03326509e+02] [-6.28788293e-01 7.76608721e-01 -3.87837279e-02 -2.00035661e+02] [-6.13285769e-02 1.90611753e-04 9.98117613e-01 -1.74293925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04864 meters 0.02551984277702225 Centerline is valid? [True, True] Translation: X:303.37, Y:-200.08, Z:-17.43 [[ 7.76520606e-01 6.28207628e-01 4.86921457e-02 3.03370384e+02] [-6.26946155e-01 7.78045652e-01 -3.97929898e-02 -2.00080687e+02] [-6.28829720e-02 3.72723026e-04 9.98020838e-01 -1.74329066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10864 meters 0.02544554460757171 Centerline is valid? [True, True] Translation: X:303.41, Y:-200.13, Z:-17.43 [[ 7.76098359e-01 6.28667342e-01 4.94844467e-02 3.03412768e+02] [-6.27362779e-01 7.77674247e-01 -4.04809714e-02 -2.00128985e+02] [-6.39318445e-02 3.72515454e-04 9.97954198e-01 -1.74344698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16864 meters 0.025498623056535653 Centerline is valid? [True, True] Translation: X:303.45, Y:-200.18, Z:-17.44 [[ 7.74955001e-01 6.30304828e-01 4.64819299e-02 3.03454377e+02] [-6.29154561e-01 7.76347705e-01 -3.80628307e-02 -2.00175693e+02] [-6.00773256e-02 2.52662843e-04 9.98193694e-01 -1.74370014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22864 meters 0.0255952669154144 Centerline is valid? [True, True] Translation: X:303.50, Y:-200.22, Z:-17.44 [[ 7.71962954e-01 6.33937737e-01 4.68630268e-02 3.03496492e+02] [-6.32772865e-01 7.73384087e-01 -3.84129681e-02 -2.00223863e+02] [-6.05945492e-02 -2.63433767e-07 9.98162462e-01 -1.74362034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28864 meters 0.025597791491709168 Centerline is valid? [True, True] Translation: X:303.54, Y:-200.27, Z:-17.44 [[ 7.69811058e-01 6.36632044e-01 4.57227990e-02 3.03539522e+02] [-6.35525567e-01 7.71167692e-01 -3.75185866e-02 -2.00270794e+02] [-5.91454799e-02 -1.75784906e-04 9.98249358e-01 -1.74408950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34863999999993 meters 0.025447196264027975 Centerline is valid? [True, True] Translation: X:303.59, Y:-200.31, Z:-17.44 [[ 7.68722380e-01 6.37935577e-01 4.58704990e-02 3.03585973e+02] [-6.36821773e-01 7.70089696e-01 -3.76814185e-02 -2.00313029e+02] [-5.93627160e-02 -2.44782797e-04 9.98236449e-01 -1.74422896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40863999999993 meters 0.025594580773371355 Centerline is valid? [True, True] Translation: X:303.63, Y:-200.36, Z:-17.45 [[ 7.67708295e-01 6.39203070e-01 4.52040817e-02 3.03629957e+02] [-6.38121222e-01 7.69037933e-01 -3.71747721e-02 -2.00358360e+02] [-5.85258820e-02 -3.06302936e-04 9.98285844e-01 -1.74450656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46863999999994 meters 0.025531339365560395 Centerline is valid? [True, True] Translation: X:303.68, Y:-200.40, Z:-17.45 [[ 7.64914972e-01 6.42493213e-01 4.59081289e-02 3.03678522e+02] [-6.41380812e-01 7.66291189e-01 -3.77950875e-02 -2.00397778e+02] [-5.94620819e-02 -5.34564635e-04 9.98230422e-01 -1.74469841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52863999999994 meters 0.026028534788659 Centerline is valid? [True, True] Translation: X:303.72, Y:-200.44, Z:-17.45 [[ 7.60619271e-01 6.47513907e-01 4.67339848e-02 3.03722868e+02] [-6.46368233e-01 7.62053085e-01 -3.85123662e-02 -2.00440730e+02] [-6.05510700e-02 -9.14115264e-04 9.98164682e-01 -1.74504006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58863999999994 meters 0.026366345137546574 Centerline is valid? [True, True] Translation: X:303.77, Y:-200.48, Z:-17.45 [[ 7.57079116e-01 6.51734120e-01 4.55395306e-02 3.03770810e+02] [-6.50651932e-01 7.58446578e-01 -3.75612983e-02 -2.00479631e+02] [-5.90192809e-02 -1.19350905e-03 9.98256129e-01 -1.74521952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64863999999994 meters 0.02679636695111248 Centerline is valid? [True, True] Translation: X:303.82, Y:-200.52, Z:-17.45 [[ 7.53323966e-01 6.56128447e-01 4.47041786e-02 3.03820265e+02] [-6.55091403e-01 7.54647772e-01 -3.69052040e-02 -2.00516778e+02] [-5.79504630e-02 -1.48374847e-03 9.98318357e-01 -1.74544401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70863999999995 meters 0.027091671086153346 Centerline is valid? [True, True] Translation: X:303.87, Y:-200.55, Z:-17.46 [[ 7.50520925e-01 6.59348983e-01 4.44663888e-02 3.03872218e+02] [-6.58326546e-01 7.51835116e-01 -3.67439407e-02 -2.00551714e+02] [-5.76584725e-02 -1.69630776e-03 9.98334925e-01 -1.74567022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76863999999995 meters 0.02697752543277814 Centerline is valid? [True, True] Translation: X:303.92, Y:-200.59, Z:-17.46 [[ 7.51731000e-01 6.57866258e-01 4.59618370e-02 3.03922702e+02] [-6.56768859e-01 7.53133056e-01 -3.80166530e-02 -2.00588444e+02] [-5.96252520e-02 -1.60800667e-03 9.98219537e-01 -1.74592129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82863999999995 meters 0.026932021171139135 Centerline is valid? [True, True] Translation: X:303.98, Y:-200.62, Z:-17.46 [[ 7.52674031e-01 6.56979375e-01 4.31265958e-02 3.03977582e+02] [-6.56010020e-01 7.53907215e-01 -3.57038330e-02 -2.00619984e+02] [-5.59701336e-02 -1.41813112e-03 9.98431436e-01 -1.74623208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88863999999995 meters 0.026815538536211138 Centerline is valid? [True, True] Translation: X:304.03, Y:-200.66, Z:-17.46 [[ 7.52572001e-01 6.57067792e-01 4.35580108e-02 3.04030817e+02] [-6.56077046e-01 7.53830169e-01 -3.60969015e-02 -2.00655118e+02] [-5.65534540e-02 -1.41189363e-03 9.98398574e-01 -1.74645627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94863999999995 meters 0.026870378980047183 Centerline is valid? [True, True] Translation: X:304.08, Y:-200.69, Z:-17.47 [[ 7.52583345e-01 6.57017591e-01 4.41156874e-02 3.04082165e+02] [-6.55998874e-01 7.53873953e-01 -3.65997308e-02 -2.00692330e+02] [-5.73043346e-02 -1.39549342e-03 9.98355781e-01 -1.74670139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00863999999996 meters 0.02683956109122907 Centerline is valid? [True, True] Translation: X:304.13, Y:-200.73, Z:-17.47 [[ 7.52941838e-01 6.56546477e-01 4.50034737e-02 3.04134128e+02] [-6.55482997e-01 7.54284354e-01 -3.73785168e-02 -2.00727731e+02] [-5.84861496e-02 -1.35516266e-03 9.98287300e-01 -1.74703145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06863999999996 meters 0.026809353367581973 Centerline is valid? [True, True] Translation: X:304.18, Y:-200.77, Z:-17.47 [[ 7.52078201e-01 6.57485272e-01 4.57328820e-02 3.04183605e+02] [-6.56386265e-01 7.53466058e-01 -3.80259243e-02 -2.00765325e+02] [-5.94596595e-02 -1.41996689e-03 9.98229699e-01 -1.74731666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12863999999996 meters 0.027302442688988 Centerline is valid? [True, True] Translation: X:304.23, Y:-200.80, Z:-17.48 [[ 7.47910449e-01 6.62413614e-01 4.28738173e-02 3.04234911e+02] [-6.61454060e-01 7.49136439e-01 -3.56808350e-02 -2.00799914e+02] [-5.57538097e-02 -1.67299118e-03 9.98443145e-01 -1.74759355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18863999999996 meters 0.0271334411499656 Centerline is valid? [True, True] Translation: X:304.29, Y:-200.83, Z:-17.48 [[ 7.48820346e-01 6.61294128e-01 4.42511672e-02 3.04288596e+02] [-6.60267962e-01 7.50124968e-01 -3.68612349e-02 -2.00833088e+02] [-5.75700236e-02 -1.61518532e-03 9.98340164e-01 -1.74779749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24863999999997 meters 0.026525904717099726 Centerline is valid? [True, True] Translation: X:304.34, Y:-200.87, Z:-17.48 [[ 7.51983280e-01 6.57690819e-01 4.43162798e-02 3.04340509e+02] [-6.56653591e-01 7.53286832e-01 -3.69460493e-02 -2.00868284e+02] [-5.76819474e-02 -1.31763296e-03 9.98334141e-01 -1.74831993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30863999999997 meters 0.026029726128900674 Centerline is valid? [True, True] Translation: X:304.39, Y:-200.90, Z:-17.49 [[ 7.56372270e-01 6.52759011e-01 4.25048655e-02 3.04393789e+02] [-6.51796423e-01 7.57565098e-01 -3.54477885e-02 -2.00902323e+02] [-5.53390659e-02 -8.92795032e-04 9.98467221e-01 -1.74860675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36863999999997 meters 0.025748311306291904 Centerline is valid? [True, True] Translation: X:304.44, Y:-200.94, Z:-17.49 [[ 7.59730358e-01 6.48776512e-01 4.35754600e-02 3.04443461e+02] [-6.47757477e-01 7.60978757e-01 -3.63535794e-02 -2.00940489e+02] [-5.67453478e-02 -6.07412113e-04 9.98388500e-01 -1.74893405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42864 meters 0.025514081472365602 Centerline is valid? [True, True] Translation: X:304.49, Y:-200.98, Z:-17.49 [[ 7.62146180e-01 6.45871745e-01 4.45296502e-02 3.04493227e+02] [-6.44801529e-01 7.63445833e-01 -3.71678251e-02 -2.00978224e+02] [-5.80016240e-02 -3.85470635e-04 9.98316414e-01 -1.74924705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48864 meters 0.025422869310947574 Centerline is valid? [True, True] Translation: X:304.54, Y:-201.02, Z:-17.50 [[ 7.63090588e-01 6.44733403e-01 4.48508009e-02 3.04541662e+02] [-6.43643510e-01 7.64407460e-01 -3.74735484e-02 -2.01018376e+02] [-5.84447352e-02 -2.72214864e-04 9.98290608e-01 -1.74969316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54864 meters 0.02540550546547728 Centerline is valid? [True, True] Translation: X:304.59, Y:-201.05, Z:-17.50 [[ 7.63218908e-01 6.44707679e-01 4.29989300e-02 3.04593407e+02] [-6.43703861e-01 7.64429170e-01 -3.59636435e-02 -2.01053690e+02] [-5.60556735e-02 -2.30444513e-04 9.98427618e-01 -1.74972379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60864 meters 0.025524241354673193 Centerline is valid? [True, True] Translation: X:304.65, Y:-201.09, Z:-17.50 [[ 7.64868066e-01 6.42647480e-01 4.45090766e-02 3.04646262e+02] [-6.41566180e-01 7.66162002e-01 -3.72642351e-02 -2.01089260e+02] [-5.80489300e-02 -5.32948149e-05 9.98313738e-01 -1.75015430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66864 meters 0.025856730382236296 Centerline is valid? [True, True] Translation: X:304.70, Y:-201.13, Z:-17.50 [[ 7.71599552e-01 6.34524916e-01 4.48582430e-02 3.04695652e+02] [-6.33410384e-01 7.72902177e-01 -3.75966662e-02 -2.01127251e+02] [-5.85270551e-02 5.95893879e-04 9.98285645e-01 -1.75045755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72864 meters 0.026944613276602324 Centerline is valid? [True, True] Translation: X:304.74, Y:-201.16, Z:-17.51 [[ 7.79876558e-01 6.24302698e-01 4.51519138e-02 3.04744045e+02] [-6.23154527e-01 7.81181276e-01 -3.78714942e-02 -2.01164624e+02] [-5.89151056e-02 1.39847104e-03 9.98262017e-01 -1.75087507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78864 meters 0.027624594504323217 Centerline is valid? [True, True] Translation: X:304.79, Y:-201.21, Z:-17.51 [[ 7.82734723e-01 6.20724160e-01 4.50318948e-02 3.04790046e+02] [-6.19575506e-01 7.84027245e-01 -3.77819011e-02 -2.01205821e+02] [-5.87583712e-02 1.67254686e-03 9.98270833e-01 -1.75117463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84863999999993 meters 0.027518005608203434 Centerline is valid? [True, True] Translation: X:304.83, Y:-201.25, Z:-17.51 [[ 7.83378033e-01 6.20023802e-01 4.34665688e-02 3.04833965e+02] [-6.18950841e-01 7.84581182e-01 -3.64996664e-02 -2.01251121e+02] [-5.67337139e-02 1.68936752e-03 9.98387916e-01 -1.75138116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90863999999993 meters 0.027227154395415162 Centerline is valid? [True, True] Translation: X:304.88, Y:-201.30, Z:-17.52 [[ 7.82430628e-01 6.21165788e-01 4.42196303e-02 3.04875792e+02] [-6.20054963e-01 7.83677418e-01 -3.71691734e-02 -2.01298257e+02] [-5.77421446e-02 1.66369846e-03 9.98330144e-01 -1.75186992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96863999999994 meters 0.026966232768365392 Centerline is valid? [True, True] Translation: X:304.92, Y:-201.34, Z:-17.52 [[ 7.81723945e-01 6.22079052e-01 4.38785404e-02 3.04920243e+02] [-6.20984868e-01 7.82952784e-01 -3.69151856e-02 -2.01342152e+02] [-5.73189891e-02 1.60957490e-03 9.98354618e-01 -1.75208540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02863999999994 meters 0.026989224981808866 Centerline is valid? [True, True] Translation: X:304.97, Y:-201.39, Z:-17.52 [[ 7.81263835e-01 6.22711439e-01 4.30962282e-02 3.04965250e+02] [-6.21655112e-01 7.82450017e-01 -3.62890025e-02 -2.01385211e+02] [-5.63182214e-02 1.56029472e-03 9.98411650e-01 -1.75249892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08863999999994 meters 0.0266686536744205 Centerline is valid? [True, True] Translation: X:305.01, Y:-201.43, Z:-17.53 [[ 7.80459910e-01 6.23717722e-01 4.31106876e-02 3.05007802e+02] [-6.22660380e-01 7.81648202e-01 -3.63337255e-02 -2.01430956e+02] [-5.63593800e-02 1.51369900e-03 9.98409399e-01 -1.75267260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14863999999994 meters 0.025779598516916833 Centerline is valid? [True, True] Translation: X:305.05, Y:-201.48, Z:-17.53 [[ 7.75884134e-01 6.29366688e-01 4.36048445e-02 3.05050456e+02] [-6.28292205e-01 7.77107634e-01 -3.67781289e-02 -2.01476208e+02] [-5.70325867e-02 1.13898279e-03 9.98371668e-01 -1.75284679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20863999999995 meters 0.025358526324342396 Centerline is valid? [True, True] Translation: X:305.10, Y:-201.52, Z:-17.53 [[ 7.71624698e-01 6.34432727e-01 4.57213293e-02 3.05098600e+02] [-6.33259268e-01 7.72977653e-01 -3.85778195e-02 -2.01516014e+02] [-5.98165970e-02 8.14142839e-04 9.98209052e-01 -1.75333924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26863999999995 meters 0.025268837907985245 Centerline is valid? [True, True] Translation: X:305.15, Y:-201.56, Z:-17.54 [[ 7.69123172e-01 6.37476526e-01 4.55326831e-02 3.05146549e+02] [-6.36315938e-01 7.70469543e-01 -3.84540083e-02 -2.01555134e+02] [-5.95950731e-02 6.02696931e-04 9.98222452e-01 -1.75359741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32863999999995 meters 0.025434435229604653 Centerline is valid? [True, True] Translation: X:305.20, Y:-201.59, Z:-17.54 [[ 7.71037964e-01 6.35176464e-01 4.52914777e-02 3.05195954e+02] [-6.34022069e-01 7.72366632e-01 -3.82858048e-02 -2.01593095e+02] [-5.92998682e-02 8.04012614e-04 9.98239891e-01 -1.75378830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38863999999995 meters 0.02573620387885282 Centerline is valid? [True, True] Translation: X:305.25, Y:-201.63, Z:-17.54 [[ 7.73789211e-01 6.31877392e-01 4.45108784e-02 3.05246239e+02] [-6.30754996e-01 7.75067626e-01 -3.76604506e-02 -2.01629332e+02] [-5.82957282e-02 1.06579142e-03 9.98298789e-01 -1.75407267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44863999999995 meters 0.025858420967899358 Centerline is valid? [True, True] Translation: X:305.30, Y:-201.67, Z:-17.54 [[ 7.74191966e-01 6.31429266e-01 4.38620770e-02 3.05295729e+02] [-6.30336649e-01 7.75432685e-01 -3.71464687e-02 -2.01668954e+02] [-5.74674556e-02 1.11062299e-03 9.98346762e-01 -1.75421541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50863999999996 meters 0.026014354163661234 Centerline is valid? [True, True] Translation: X:305.35, Y:-201.71, Z:-17.54 [[ 7.73283077e-01 6.32433822e-01 4.53954221e-02 3.05346667e+02] [-6.31262643e-01 7.74613607e-01 -3.84868180e-02 -2.01706489e+02] [-5.95042771e-02 1.10477093e-03 9.98227439e-01 -1.75443600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56863999999996 meters 0.0262246506171437 Centerline is valid? [True, True] Translation: X:305.40, Y:-201.75, Z:-17.55 [[ 7.73459720e-01 6.32250972e-01 4.49307293e-02 3.05396607e+02] [-6.31101014e-01 7.74762811e-01 -3.81326262e-02 -2.01745003e+02] [-5.89200481e-02 1.13822160e-03 9.98262056e-01 -1.75496890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62863999999996 meters 0.026797149090725773 Centerline is valid? [True, True] Translation: X:305.45, Y:-201.78, Z:-17.55 [[ 7.75379730e-01 6.29907003e-01 4.47598190e-02 3.05445844e+02] [-6.28759599e-01 7.76669407e-01 -3.80262905e-02 -2.01783256e+02] [-5.87166088e-02 1.34164901e-03 9.98273790e-01 -1.75523314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68863999999996 meters 0.027018396446235382 Centerline is valid? [True, True] Translation: X:305.49, Y:-201.82, Z:-17.55 [[ 7.77280318e-01 6.27459442e-01 4.61514381e-02 3.05493918e+02] [-6.26232989e-01 7.78647596e-01 -3.92449339e-02 -2.01822599e+02] [-6.05603107e-02 1.60276170e-03 9.98163253e-01 -1.75540412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74863999999997 meters 0.027209360320777844 Centerline is valid? [True, True] Translation: X:305.54, Y:-201.87, Z:-17.56 [[ 7.77997699e-01 6.26678246e-01 4.46537372e-02 3.05539358e+02] [-6.25526867e-01 7.79276394e-01 -3.80057920e-02 -2.01866514e+02] [-5.86150064e-02 1.63630645e-03 9.98279321e-01 -1.75573512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80863999999997 meters 0.027333828449019534 Centerline is valid? [True, True] Translation: X:305.58, Y:-201.91, Z:-17.56 [[ 7.78497062e-01 6.26100481e-01 4.40512425e-02 3.05582135e+02] [-6.24976924e-01 7.79740562e-01 -3.75299797e-02 -2.01912263e+02] [-5.78460790e-02 1.68596888e-03 9.98324090e-01 -1.75590514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86863999999997 meters 0.02704730800185518 Centerline is valid? [True, True] Translation: X:305.62, Y:-201.96, Z:-17.56 [[ 7.77453536e-01 6.27444528e-01 4.33516385e-02 3.05623430e+02] [-6.26356626e-01 7.78659649e-01 -3.69665929e-02 -2.01959355e+02] [-5.69506580e-02 1.58622237e-03 9.98375734e-01 -1.75624297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92864 meters 0.02626888125922738 Centerline is valid? [True, True] Translation: X:305.66, Y:-202.01, Z:-17.56 [[ 7.74150225e-01 6.31485363e-01 4.37911564e-02 3.05663174e+02] [-6.30379753e-01 7.75386658e-01 -3.73750879e-02 -2.02008147e+02] [-5.75568994e-02 1.32887433e-03 9.98341343e-01 -1.75645117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98864 meters 0.025836380139694606 Centerline is valid? [True, True] Translation: X:305.71, Y:-202.05, Z:-17.57 [[ 7.70821955e-01 6.35629532e-01 4.25277706e-02 3.05705654e+02] [-6.34591322e-01 7.71993566e-01 -3.63288858e-02 -2.02053707e+02] [-5.59228780e-02 1.01534860e-03 9.98434575e-01 -1.75656160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04864 meters 0.025427010763889264 Centerline is valid? [True, True] Translation: X:305.75, Y:-202.10, Z:-17.57 [[ 7.67322508e-01 6.39908970e-01 4.16254496e-02 3.05746209e+02] [-6.38918893e-01 7.68450389e-01 -3.55900012e-02 -2.02101342e+02] [-5.47614539e-02 7.13722852e-04 9.98499211e-01 -1.75708864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10864 meters 0.024965859369852562 Centerline is valid? [True, True] Translation: X:305.79, Y:-202.15, Z:-17.57 [[ 7.64630944e-01 6.43059773e-01 4.25869332e-02 3.05787775e+02] [-6.42026326e-01 7.65815808e-01 -3.64464848e-02 -2.02149179e+02] [-5.60510149e-02 5.26177879e-04 9.98427767e-01 -1.75710736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16864 meters 0.024879703367391637 Centerline is valid? [True, True] Translation: X:305.83, Y:-202.19, Z:-17.57 [[ 7.62257846e-01 6.45897188e-01 4.21876651e-02 3.05831293e+02] [-6.44885497e-01 7.63424329e-01 -3.61384827e-02 -2.02194505e+02] [-5.55488343e-02 3.40628591e-04 9.98455913e-01 -1.75741370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22864 meters 0.024844902378643795 Centerline is valid? [True, True] Translation: X:305.87, Y:-202.24, Z:-17.58 [[ 7.56901284e-01 6.52073044e-01 4.36026603e-02 3.05874767e+02] [-6.51000307e-01 7.58156144e-01 -3.73880009e-02 -2.02240666e+02] [-5.74373324e-02 -8.63193489e-05 9.98349110e-01 -1.75778139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28863999999993 meters 0.025140405011044246 Centerline is valid? [True, True] Translation: X:305.92, Y:-202.28, Z:-17.58 [[ 7.51211398e-01 6.58637369e-01 4.33388009e-02 3.05917998e+02] [-6.57586175e-01 7.52460305e-01 -3.72009785e-02 -2.02284972e+02] [-5.71126819e-02 -5.53197188e-04 9.98367585e-01 -1.75808401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34863999999993 meters 0.025049931056381036 Centerline is valid? [True, True] Translation: X:305.97, Y:-202.33, Z:-17.58 [[ 7.50156044e-01 6.59859415e-01 4.30286232e-02 3.05965217e+02] [-6.58823157e-01 7.51388831e-01 -3.69712363e-02 -2.02326263e+02] [-5.67270452e-02 -6.14057071e-04 9.98389536e-01 -1.75820199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40863999999993 meters 0.02521411564033975 Centerline is valid? [True, True] Translation: X:306.01, Y:-202.37, Z:-17.59 [[ 7.50777806e-01 6.59036302e-01 4.47642603e-02 3.06010959e+02] [-6.57910598e-01 7.52110936e-01 -3.85069478e-02 -2.02369475e+02] [-5.90451662e-02 -5.40719530e-04 9.98255166e-01 -1.75859292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46863999999994 meters 0.02500480685122886 Centerline is valid? [True, True] Translation: X:306.06, Y:-202.41, Z:-17.59 [[ 7.51377853e-01 6.58406117e-01 4.39625690e-02 3.06058082e+02] [-6.57316942e-01 7.52662727e-01 -3.78583684e-02 -2.02409524e+02] [-5.80151684e-02 -4.51401865e-04 9.98315600e-01 -1.75895438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52863999999994 meters 0.025098203881509813 Centerline is valid? [True, True] Translation: X:306.10, Y:-202.45, Z:-17.59 [[ 7.53235415e-01 6.56295073e-01 4.37399781e-02 3.06104002e+02] [-6.55211517e-01 7.54504279e-01 -3.76982842e-02 -2.02452231e+02] [-5.77431988e-02 -2.63254598e-04 9.98331435e-01 -1.75907554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58863999999994 meters 0.025074196618548802 Centerline is valid? [True, True] Translation: X:306.15, Y:-202.49, Z:-17.59 [[ 7.54937755e-01 6.54221198e-01 4.54269853e-02 3.06150938e+02] [-6.53047326e-01 7.56303256e-01 -3.91736397e-02 -2.02493747e+02] [-5.99848024e-02 -9.23116601e-05 9.98199286e-01 -1.75949404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64863999999994 meters 0.024966173102484505 Centerline is valid? [True, True] Translation: X:306.20, Y:-202.53, Z:-17.60 [[ 7.55035370e-01 6.54182739e-01 4.43456088e-02 3.06198107e+02] [-6.53061687e-01 7.56336526e-01 -3.82817459e-02 -2.02533612e+02] [-5.85834611e-02 -5.63459007e-05 9.98282513e-01 -1.75965280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70863999999995 meters 0.024837534006941966 Centerline is valid? [True, True] Translation: X:306.25, Y:-202.57, Z:-17.60 [[ 7.54268487e-01 6.54985632e-01 4.55288055e-02 3.06246148e+02] [-6.53802934e-01 7.55641326e-01 -3.93434782e-02 -2.02574951e+02] [-6.01728599e-02 -9.13208336e-05 9.98187968e-01 -1.76000238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76863999999995 meters 0.024870771792959233 Centerline is valid? [True, True] Translation: X:306.29, Y:-202.62, Z:-17.60 [[ 7.54045270e-01 6.55154640e-01 4.67774398e-02 3.06293090e+02] [-6.53903661e-01 7.55494799e-01 -4.04673937e-02 -2.02615240e+02] [-6.18525133e-02 -7.36923187e-05 9.98085298e-01 -1.76025931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82863999999995 meters 0.024897269258680386 Centerline is valid? [True, True] Translation: X:306.34, Y:-202.65, Z:-17.61 [[ 7.52291496e-01 6.57241897e-01 4.57230104e-02 3.06342241e+02] [-6.56048177e-01 7.53679670e-01 -3.95947505e-02 -2.02653893e+02] [-6.04838323e-02 -2.09703562e-04 9.98169155e-01 -1.76060646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88863999999995 meters 0.025298238716469575 Centerline is valid? [True, True] Translation: X:306.39, Y:-202.69, Z:-17.61 [[ 7.50795746e-01 6.58840766e-01 4.72714743e-02 3.06390397e+02] [-6.57565074e-01 7.52282357e-01 -4.09808358e-02 -2.02693669e+02] [-6.25613414e-02 -3.15833254e-04 9.98041071e-01 -1.76090732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94863999999995 meters 0.02505538295475213 Centerline is valid? [True, True] Translation: X:306.44, Y:-202.74, Z:-17.61 [[ 7.51878485e-01 6.57587713e-01 4.75094011e-02 3.06436689e+02] [-6.56294013e-01 7.53377971e-01 -4.12286515e-02 -2.02735893e+02] [-6.29039909e-02 -1.81199480e-04 9.98019566e-01 -1.76113252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00863999999996 meters 0.025195664167011904 Centerline is valid? [True, True] Translation: X:306.48, Y:-202.78, Z:-17.61 [[ 7.51113157e-01 6.58395394e-01 4.84203623e-02 3.06483053e+02] [-6.57050194e-01 7.52672212e-01 -4.20664248e-02 -2.02778199e+02] [-6.41410015e-02 -2.17963296e-04 9.97940822e-01 -1.76143378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06863999999996 meters 0.025440486179585727 Centerline is valid? [True, True] Translation: X:306.53, Y:-202.82, Z:-17.62 [[ 7.47366500e-01 6.62712043e-01 4.74980301e-02 3.06531031e+02] [-6.61423468e-01 7.48874124e-01 -4.13103185e-02 -2.02818797e+02] [-6.29468912e-02 -5.42363664e-04 9.98016731e-01 -1.76179996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12863999999996 meters 0.026025075513582095 Centerline is valid? [True, True] Translation: X:306.58, Y:-202.86, Z:-17.62 [[ 7.42938627e-01 6.67513528e-01 4.96778171e-02 3.06577498e+02] [-6.66111365e-01 7.44597056e-01 -4.32536106e-02 -2.02860522e+02] [-6.58623266e-02 -9.56180450e-04 9.97828262e-01 -1.76204808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18863999999996 meters 0.026020989358118016 Centerline is valid? [True, True] Translation: X:306.63, Y:-202.90, Z:-17.62 [[ 7.42552340e-01 6.67894661e-01 5.03263715e-02 3.06626160e+02] [-6.66453501e-01 7.44255186e-01 -4.38628557e-02 -2.02899959e+02] [-6.67514301e-02 -9.69720368e-04 9.97769165e-01 -1.76237861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24863999999997 meters 0.02605636298099354 Centerline is valid? [True, True] Translation: X:306.67, Y:-202.94, Z:-17.63 [[ 7.42531837e-01 6.68033716e-01 4.87588617e-02 3.06674430e+02] [-6.66678471e-01 7.44130439e-01 -4.25406411e-02 -2.02938663e+02] [-6.47015357e-02 -9.18702977e-04 9.97904238e-01 -1.76271666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30863999999997 meters 0.02625692040688528 Centerline is valid? [True, True] Translation: X:306.72, Y:-202.98, Z:-17.63 [[ 7.41000691e-01 6.69562503e-01 5.10296946e-02 3.06723281e+02] [-6.68078548e-01 7.42754948e-01 -4.45661410e-02 -2.02977530e+02] [-6.77423751e-02 -1.06830298e-03 9.97702275e-01 -1.76308102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36863999999997 meters 0.026479787982411608 Centerline is valid? [True, True] Translation: X:306.77, Y:-203.01, Z:-17.63 [[ 7.38646292e-01 6.72152083e-01 5.11197895e-02 3.06773792e+02] [-6.70666123e-01 7.40412014e-01 -4.46878284e-02 -2.03014275e+02] [-6.78867232e-02 -1.27581228e-03 9.97692220e-01 -1.76334515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42864 meters 0.02655179341590897 Centerline is valid? [True, True] Translation: X:306.82, Y:-203.05, Z:-17.64 [[ 7.37680953e-01 6.73220672e-01 5.09974330e-02 3.06823775e+02] [-6.71741343e-01 7.39440422e-01 -4.46254524e-02 -2.03052692e+02] [-6.77523404e-02 -1.33773784e-03 9.97701273e-01 -1.76364411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48864 meters 0.02634917231794618 Centerline is valid? [True, True] Translation: X:306.88, Y:-203.09, Z:-17.64 [[ 7.39832118e-01 6.70899232e-01 5.04247769e-02 3.06875427e+02] [-6.69444487e-01 7.41547745e-01 -4.41703484e-02 -2.03088079e+02] [-6.70262324e-02 -1.07794656e-03 9.97750631e-01 -1.76393940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54864 meters 0.026112311068145953 Centerline is valid? [True, True] Translation: X:306.93, Y:-203.13, Z:-17.64 [[ 7.42207363e-01 6.68274391e-01 5.03742863e-02 3.06925169e+02] [-6.66813666e-01 7.43914434e-01 -4.41684266e-02 -2.03125282e+02] [-6.69907871e-02 -8.08131056e-04 9.97753267e-01 -1.76431265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60864 meters 0.025855602515942842 Centerline is valid? [True, True] Translation: X:306.97, Y:-203.16, Z:-17.65 [[ 7.47216999e-01 6.62624398e-01 5.09476578e-02 3.06974968e+02] [-6.61114034e-01 7.48951824e-01 -4.47146501e-02 -2.03162657e+02] [-6.77863593e-02 -2.70664959e-04 9.97699823e-01 -1.76453962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66864 meters 0.026187244572865014 Centerline is valid? [True, True] Translation: X:307.02, Y:-203.20, Z:-17.65 [[ 7.51886729e-01 6.57218862e-01 5.22466657e-02 3.07021921e+02] [-6.55614223e-01 7.53699743e-01 -4.58986805e-02 -2.03202563e+02] [-6.95437770e-02 2.56951627e-04 9.97578868e-01 -1.76494852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72864 meters 0.026080218555641757 Centerline is valid? [True, True] Translation: X:307.07, Y:-203.24, Z:-17.65 [[ 7.53500780e-01 6.55384149e-01 5.20402866e-02 3.07069249e+02] [-6.53784778e-01 7.55295576e-01 -4.57608618e-02 -2.03243513e+02] [-6.92967417e-02 4.57697840e-04 9.97595986e-01 -1.76528850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78863999999993 meters 0.026185565116150795 Centerline is valid? [True, True] Translation: X:307.11, Y:-203.29, Z:-17.66 [[ 7.55136888e-01 6.53482275e-01 5.22417184e-02 3.07111777e+02] [-6.51862634e-01 7.56941522e-01 -4.59852036e-02 -2.03289536e+02] [-6.95944413e-02 6.70699361e-04 9.97575142e-01 -1.76563476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84863999999993 meters 0.02647180276447898 Centerline is valid? [True, True] Translation: X:307.16, Y:-203.33, Z:-17.66 [[ 7.55436181e-01 6.53172869e-01 5.17820417e-02 3.07158344e+02] [-6.51577850e-01 7.57208476e-01 -4.56248845e-02 -2.03331674e+02] [-6.90107376e-02 7.26657136e-04 9.97615652e-01 -1.76589797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90863999999993 meters 0.026599955366001984 Centerline is valid? [True, True] Translation: X:307.20, Y:-203.38, Z:-17.66 [[ 7.56169059e-01 6.52235708e-01 5.28860545e-02 3.07197048e+02] [-6.50566256e-01 7.58015720e-01 -4.66445515e-02 -2.03380959e+02] [-7.05117028e-02 8.65284147e-04 9.97510577e-01 -1.76616444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96863999999994 meters 0.026391329832319482 Centerline is valid? [True, True] Translation: X:307.24, Y:-203.43, Z:-17.66 [[ 7.53151050e-01 6.55808588e-01 5.17551216e-02 3.07238301e+02] [-6.54215496e-01 7.54927012e-01 -4.56868725e-02 -2.03427899e+02] [-6.90331826e-02 5.50113403e-04 9.97614213e-01 -1.76649407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02863999999994 meters 0.02620634524867615 Centerline is valid? [True, True] Translation: X:307.28, Y:-203.47, Z:-17.67 [[ 7.51383552e-01 6.57864427e-01 5.13532104e-02 3.07282170e+02] [-6.56297899e-01 7.53136271e-01 -4.53742759e-02 -2.03471768e+02] [-6.85260874e-02 3.90480548e-04 9.97649248e-01 -1.76662444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08863999999994 meters 0.026245403529724442 Centerline is valid? [True, True] Translation: X:307.33, Y:-203.52, Z:-17.67 [[ 7.47490027e-01 6.62233952e-01 5.20082023e-02 3.07325892e+02] [-6.60634458e-01 7.49297132e-01 -4.59991330e-02 -2.03517510e+02] [-6.94317845e-02 2.54825458e-05 9.97586701e-01 -1.76704004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14863999999994 meters 0.02606649547660205 Centerline is valid? [True, True] Translation: X:307.37, Y:-203.57, Z:-17.67 [[ 7.46696396e-01 6.63174099e-01 5.14257442e-02 3.07367421e+02] [-6.61609071e-01 7.48465172e-01 -4.55337627e-02 -2.03566102e+02] [-6.86871906e-02 -2.38422835e-05 9.97638246e-01 -1.76720238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20863999999995 meters 0.02602945262107926 Centerline is valid? [True, True] Translation: X:307.41, Y:-203.61, Z:-17.68 [[ 7.45735888e-01 6.64260964e-01 5.13357245e-02 3.07410771e+02] [-6.62700538e-01 7.47500745e-01 -4.55042147e-02 -2.03611620e+02] [-6.86001659e-02 -8.60862516e-05 9.97644230e-01 -1.76757833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26863999999995 meters 0.026063371124654892 Centerline is valid? [True, True] Translation: X:307.45, Y:-203.66, Z:-17.68 [[ 7.40255513e-01 6.70356690e-01 5.14167660e-02 3.07450497e+02] [-6.68802593e-01 7.42038767e-01 -4.56241231e-02 -2.03660457e+02] [-6.87376698e-02 -6.14157779e-04 9.97634580e-01 -1.76790717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32863999999995 meters 0.026689947109551214 Centerline is valid? [True, True] Translation: X:307.49, Y:-203.71, Z:-17.68 [[ 7.33198763e-01 6.78150665e-01 5.03115255e-02 3.07492847e+02] [-6.76678040e-01 7.34921788e-01 -4.46855307e-02 -2.03706601e+02] [-6.72785586e-02 -1.28132857e-03 9.97733408e-01 -1.76807444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38863999999995 meters 0.02676821770850566 Centerline is valid? [True, True] Translation: X:307.54, Y:-203.75, Z:-17.68 [[ 7.31849964e-01 6.79524360e-01 5.14030619e-02 3.07537520e+02] [-6.77987396e-01 7.33651599e-01 -4.56992573e-02 -2.03749231e+02] [-6.87656971e-02 -1.40562831e-03 9.97631847e-01 -1.76828520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44863999999995 meters 0.026653333362554467 Centerline is valid? [True, True] Translation: X:307.58, Y:-203.79, Z:-17.69 [[ 7.31418291e-01 6.79882993e-01 5.27863574e-02 3.07583820e+02] [-6.78259835e-01 7.33319185e-01 -4.69741272e-02 -2.03789943e+02] [-7.06461588e-02 -1.44513032e-03 9.97500392e-01 -1.76871260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50863999999996 meters 0.026673211101373304 Centerline is valid? [True, True] Translation: X:307.63, Y:-203.83, Z:-17.69 [[ 7.29687737e-01 6.81863203e-01 5.11701038e-02 3.07631989e+02] [-6.80339862e-01 7.31478064e-01 -4.55797686e-02 -2.03829899e+02] [-6.85089755e-02 -1.55406320e-03 9.97649290e-01 -1.76900604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56863999999996 meters 0.026952441193351852 Centerline is valid? [True, True] Translation: X:307.68, Y:-203.87, Z:-17.69 [[ 7.27833427e-01 6.83879973e-01 5.06624689e-02 3.07680409e+02] [-6.82388477e-01 7.29592570e-01 -4.51735379e-02 -2.03868539e+02] [-6.78562388e-02 -1.69267410e-03 9.97693673e-01 -1.76926397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62863999999996 meters 0.02690422486667697 Centerline is valid? [True, True] Translation: X:307.73, Y:-203.91, Z:-17.69 [[ 7.27647173e-01 6.84184669e-01 4.92029444e-02 3.07729412e+02] [-6.82776007e-01 7.29306960e-01 -4.39122009e-02 -2.03906801e+02] [-6.59281045e-02 -1.64200103e-03 9.97823025e-01 -1.76937670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68863999999996 meters 0.026247155814274784 Centerline is valid? [True, True] Translation: X:307.78, Y:-203.95, Z:-17.70 [[ 7.31429997e-01 6.80070386e-01 5.01440848e-02 3.07777367e+02] [-6.78594717e-01 7.33145738e-01 -4.47943821e-02 -2.03946227e+02] [-6.72262548e-02 -1.26355630e-03 9.97736956e-01 -1.76978439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74863999999997 meters 0.025608874253069104 Centerline is valid? [True, True] Translation: X:307.82, Y:-203.99, Z:-17.70 [[ 7.35963504e-01 6.75228163e-01 4.92407215e-02 3.07823707e+02] [-6.73792029e-01 7.37608514e-01 -4.40225002e-02 -2.03988488e+02] [-6.60456074e-02 -7.79052138e-04 9.97816301e-01 -1.77004432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80863999999997 meters 0.02554302326875712 Centerline is valid? [True, True] Translation: X:307.87, Y:-204.03, Z:-17.70 [[ 7.36870433e-01 6.74295808e-01 4.84471624e-02 3.07867866e+02] [-6.72901773e-01 7.38461051e-01 -4.33414435e-02 -2.04031997e+02] [-6.50012961e-02 -6.63153185e-04 9.97884959e-01 -1.77041219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86863999999997 meters 0.02563583935598831 Centerline is valid? [True, True] Translation: X:307.91, Y:-204.08, Z:-17.71 [[ 7.34589248e-01 6.76742484e-01 4.89719004e-02 3.07909793e+02] [-6.75320643e-01 7.36219312e-01 -4.38537860e-02 -2.04077729e+02] [-6.57317789e-02 -8.57215587e-04 9.97836960e-01 -1.77059102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92864 meters 0.026017940541412165 Centerline is valid? [True, True] Translation: X:307.95, Y:-204.12, Z:-17.71 [[ 7.31257836e-01 6.80430548e-01 4.77100243e-02 3.07952850e+02] [-6.79086321e-01 7.32811707e-01 -4.27641230e-02 -2.04122378e+02] [-6.40604800e-02 -1.12762489e-03 9.97945381e-01 -1.77095748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98864 meters 0.02593468059305812 Centerline is valid? [True, True] Translation: X:308.00, Y:-204.17, Z:-17.71 [[ 7.29754361e-01 6.81885164e-01 4.99118809e-02 3.07996601e+02] [-6.80414368e-01 7.31458119e-01 -4.47806617e-02 -2.04166015e+02] [-6.70437193e-02 -1.28187770e-03 9.97749215e-01 -1.77110530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04864 meters 0.026182752787860815 Centerline is valid? [True, True] Translation: X:308.04, Y:-204.21, Z:-17.72 [[ 7.28690822e-01 6.83055718e-01 4.94426228e-02 3.08043578e+02] [-6.81612393e-01 7.30365028e-01 -4.44012458e-02 -2.04207824e+02] [-6.64396874e-02 -1.34592416e-03 9.97789535e-01 -1.77153021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10864 meters 0.0262766940800212 Centerline is valid? [True, True] Translation: X:308.09, Y:-204.25, Z:-17.72 [[ 7.27177540e-01 6.84639998e-01 4.98086177e-02 3.08092111e+02] [-6.83175786e-01 7.28879907e-01 -4.47764108e-02 -2.04246056e+02] [-6.69602225e-02 -1.46764122e-03 9.97754566e-01 -1.77181567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16864 meters 0.02650703166024511 Centerline is valid? [True, True] Translation: X:308.14, Y:-204.29, Z:-17.72 [[ 7.25271110e-01 6.86656148e-01 4.98512838e-02 3.08139325e+02] [-6.85191360e-01 7.26980533e-01 -4.48564901e-02 -2.04285899e+02] [-6.70418976e-02 -1.62455260e-03 9.97748839e-01 -1.77205147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22864 meters 0.02699924198460805 Centerline is valid? [True, True] Translation: X:308.19, Y:-204.32, Z:-17.72 [[ 7.22535355e-01 6.89629871e-01 4.85108410e-02 3.08189056e+02] [-6.88246929e-01 7.24159740e-01 -4.36902148e-02 -2.04323493e+02] [-6.52596753e-02 -1.81971246e-03 9.97866656e-01 -1.77233950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28863999999993 meters 0.02742504564096337 Centerline is valid? [True, True] Translation: X:308.24, Y:-204.36, Z:-17.73 [[ 7.19651007e-01 6.92647514e-01 4.83926542e-02 3.08239186e+02] [-6.91275465e-01 7.21273307e-01 -4.36239460e-02 -2.04360620e+02] [-6.51203475e-02 -2.05863782e-03 9.97875294e-01 -1.77271238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34863999999993 meters 0.02760661057737067 Centerline is valid? [True, True] Translation: X:308.29, Y:-204.40, Z:-17.73 [[ 7.19424739e-01 6.92824938e-01 4.92102642e-02 3.08288474e+02] [-6.91403633e-01 7.21102825e-01 -4.44041804e-02 -2.04399233e+02] [-6.62499841e-02 -2.07868955e-03 9.97800891e-01 -1.77323308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40863999999993 meters 0.027982317968826408 Centerline is valid? [True, True] Translation: X:308.34, Y:-204.44, Z:-17.74 [[ 7.18475783e-01 6.93716780e-01 5.04933509e-02 3.08339553e+02] [-6.92219315e-01 7.20244584e-01 -4.56087532e-02 -2.04435498e+02] [-6.80071199e-02 -2.18368811e-03 9.97682446e-01 -1.77353545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46863999999994 meters 0.02820993265177207 Centerline is valid? [True, True] Translation: X:308.39, Y:-204.47, Z:-17.74 [[ 7.16517170e-01 6.95781582e-01 4.99112738e-02 3.08390886e+02] [-6.94320691e-01 7.18249677e-01 -4.51240542e-02 -2.04471944e+02] [-6.72452420e-02 -2.32227045e-03 9.97733774e-01 -1.77366785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52863999999994 meters 0.028342670704382456 Centerline is valid? [True, True] Translation: X:308.44, Y:-204.51, Z:-17.74 [[ 7.15515069e-01 6.96702207e-01 5.14219828e-02 3.08444353e+02] [-6.95150800e-01 7.17356277e-01 -4.65331856e-02 -2.04505644e+02] [-6.93076553e-02 -2.45083700e-03 9.97592323e-01 -1.77400920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58863999999994 meters 0.02703072188847449 Centerline is valid? [True, True] Translation: X:308.49, Y:-204.54, Z:-17.74 [[ 7.22316191e-01 6.89748159e-01 5.00679164e-02 3.08494307e+02] [-6.88258731e-01 7.24047335e-01 -4.53362447e-02 -2.04541544e+02] [-6.75221328e-02 -1.71257696e-03 9.97716307e-01 -1.77414773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64863999999994 meters 0.026395143046590488 Centerline is valid? [True, True] Translation: X:308.54, Y:-204.58, Z:-17.74 [[ 7.28670043e-01 6.83085248e-01 4.93407816e-02 3.08544174e+02] [-6.81623113e-01 7.30337862e-01 -4.46826489e-02 -2.04577994e+02] [-6.65574993e-02 -1.07290948e-03 9.97782014e-01 -1.77433815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70863999999995 meters 0.026416387309906284 Centerline is valid? [True, True] Translation: X:308.59, Y:-204.62, Z:-17.75 [[ 7.29341943e-01 6.82127310e-01 5.25610410e-02 3.08591032e+02] [-6.80463883e-01 7.31232701e-01 -4.76197665e-02 -2.04618652e+02] [-7.09170952e-02 -1.03479698e-03 9.97481676e-01 -1.77476102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76863999999995 meters 0.026374553420383754 Centerline is valid? [True, True] Translation: X:308.64, Y:-204.66, Z:-17.75 [[ 7.29152629e-01 6.82296368e-01 5.29915999e-02 3.08639092e+02] [-6.80602494e-01 7.31074973e-01 -4.80585963e-02 -2.04659528e+02] [-7.15310382e-02 -1.02416320e-03 9.97437849e-01 -1.77506182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82863999999995 meters 0.026275738858080645 Centerline is valid? [True, True] Translation: X:308.68, Y:-204.70, Z:-17.75 [[ 7.28589592e-01 6.83216763e-01 4.87038193e-02 3.08683988e+02] [-6.81785361e-01 7.30214949e-01 -4.42136921e-02 -2.04701930e+02] [-6.57717925e-02 -9.91915153e-04 9.97834198e-01 -1.77543673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88863999999995 meters 0.026284958818877643 Centerline is valid? [True, True] Translation: X:308.73, Y:-204.75, Z:-17.76 [[ 7.28054155e-01 6.83778255e-01 4.88307822e-02 3.08729452e+02] [-6.82337698e-01 7.29689161e-01 -4.43733401e-02 -2.04745476e+02] [-6.59728176e-02 -1.01288884e-03 9.97820906e-01 -1.77570357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94863999999995 meters 0.02649499537982294 Centerline is valid? [True, True] Translation: X:308.77, Y:-204.79, Z:-17.76 [[ 7.27021822e-01 6.84774602e-01 5.02296251e-02 3.08774065e+02] [-6.83249260e-01 7.28754099e-01 -4.56936759e-02 -2.04788655e+02] [-6.78949139e-02 -1.09905472e-03 9.97691873e-01 -1.77578616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00863999999996 meters 0.02699636083265399 Centerline is valid? [True, True] Translation: X:308.82, Y:-204.83, Z:-17.76 [[ 7.23752292e-01 6.88272539e-01 4.96339774e-02 3.08820323e+02] [-6.86788510e-01 7.25450902e-01 -4.51943658e-02 -2.04829678e+02] [-6.71130546e-02 -1.37851957e-03 9.97744425e-01 -1.77623627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06863999999996 meters 0.02769939235830686 Centerline is valid? [True, True] Translation: X:308.87, Y:-204.87, Z:-17.76 [[ 7.18237151e-01 6.94023512e-01 4.96664861e-02 3.08867106e+02] [-6.92548362e-01 7.19949867e-01 -4.52653805e-02 -2.04870176e+02] [-6.71726184e-02 -1.88516569e-03 9.97739588e-01 -1.77645724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12863999999996 meters 0.028536372868749854 Centerline is valid? [True, True] Translation: X:308.92, Y:-204.91, Z:-17.77 [[ 7.14131197e-01 6.98295913e-01 4.89841970e-02 3.08916553e+02] [-6.96869041e-01 7.15805722e-01 -4.46733414e-02 -2.04907693e+02] [-6.62583802e-02 -2.23294357e-03 9.97800001e-01 -1.77690344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18863999999996 meters 0.028117127739175345 Centerline is valid? [True, True] Translation: X:308.97, Y:-204.95, Z:-17.77 [[ 7.16277577e-01 6.96093842e-01 4.89877057e-02 3.08966025e+02] [-6.94660775e-01 7.17947966e-01 -4.46892139e-02 -2.04946226e+02] [-6.62785103e-02 -2.01995579e-03 9.97799117e-01 -1.77715089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24863999999997 meters 0.026671600173916957 Centerline is valid? [True, True] Translation: X:309.02, Y:-204.98, Z:-17.78 [[ 7.25771543e-01 6.86027538e-01 5.12043491e-02 3.09016038e+02] [-6.84435307e-01 7.27574693e-01 -4.67266263e-02 -2.04982720e+02] [-6.93107410e-02 -1.13320872e-03 9.97594475e-01 -1.77764989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30863999999997 meters 0.026257198167479942 Centerline is valid? [True, True] Translation: X:309.06, Y:-205.02, Z:-17.78 [[ 7.31132030e-01 6.80368688e-01 5.04420749e-02 3.09063758e+02] [-6.78808849e-01 7.32869784e-01 -4.60480871e-02 -2.05023212e+02] [-6.82971491e-02 -5.73295380e-04 9.97664859e-01 -1.77785150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36863999999997 meters 0.026114811681573973 Centerline is valid? [True, True] Translation: X:309.11, Y:-205.07, Z:-17.78 [[ 7.37987072e-01 6.72978461e-01 4.97500939e-02 3.09107874e+02] [-6.71442203e-01 7.39662067e-01 -4.54466224e-02 -2.05066641e+02] [-6.73828552e-02 1.34707141e-04 9.97727183e-01 -1.77825382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42864 meters 0.026332877618899353 Centerline is valid? [True, True] Translation: X:309.15, Y:-205.11, Z:-17.78 [[ 7.41922292e-01 6.68551763e-01 5.08905876e-02 3.09148648e+02] [-6.66930603e-01 7.43665381e-01 -4.65335573e-02 -2.05114613e+02] [-6.89556600e-02 5.83793176e-04 9.97619555e-01 -1.77838502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48864 meters 0.026392144222076544 Centerline is valid? [True, True] Translation: X:309.19, Y:-205.16, Z:-17.78 [[ 7.40155716e-01 6.70614064e-01 4.94600104e-02 3.09188104e+02] [-6.69084656e-01 7.41806314e-01 -4.52671672e-02 -2.05164177e+02] [-6.70465469e-02 4.11818528e-04 9.97749764e-01 -1.77844627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54864 meters 0.026189616783373316 Centerline is valid? [True, True] Translation: X:309.23, Y:-205.21, Z:-17.79 [[ 7.34496116e-01 6.76831194e-01 4.91425586e-02 3.09227506e+02] [-6.75332367e-01 7.36138248e-01 -4.50185930e-02 -2.05213721e+02] [-6.66457050e-02 -1.21578669e-04 9.97776696e-01 -1.77881957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60864 meters 0.026342758536757743 Centerline is valid? [True, True] Translation: X:309.27, Y:-205.26, Z:-17.79 [[ 7.30202568e-01 6.81306073e-01 5.12468940e-02 3.09268486e+02] [-6.79683804e-01 7.31998474e-01 -4.69910648e-02 -2.05260284e+02] [-6.95279461e-02 -5.18687667e-04 9.97579869e-01 -1.77916806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66864 meters 0.02673137779137768 Centerline is valid? [True, True] Translation: X:309.31, Y:-205.31, Z:-17.79 [[ 7.28990490e-01 6.82626783e-01 5.09268137e-02 3.09312516e+02] [-6.81024855e-01 7.30766930e-01 -4.67422817e-02 -2.05305599e+02] [-6.91231647e-02 -6.07747125e-04 9.97607948e-01 -1.77946375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72864 meters 0.026752246101632127 Centerline is valid? [True, True] Translation: X:309.36, Y:-205.35, Z:-17.80 [[ 7.27050702e-01 6.84754986e-01 5.00788090e-02 3.09358036e+02] [-6.83207631e-01 7.28772964e-01 -4.60141237e-02 -2.05348490e+02] [-6.80044826e-02 -7.59623523e-04 9.97684726e-01 -1.77965398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78863999999993 meters 0.02692285209249459 Centerline is valid? [True, True] Translation: X:309.41, Y:-205.39, Z:-17.80 [[ 7.24441132e-01 6.87597785e-01 4.89319188e-02 3.09407400e+02] [-6.86123794e-01 7.26091145e-01 -4.50087575e-02 -2.05388248e+02] [-6.64769549e-02 -9.67158494e-04 9.97787492e-01 -1.77999875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84863999999993 meters 0.027186860750105565 Centerline is valid? [True, True] Translation: X:309.45, Y:-205.43, Z:-17.80 [[ 7.22057678e-01 6.89902272e-01 5.16484779e-02 3.09454653e+02] [-6.88262134e-01 7.23901511e-01 -4.75587804e-02 -2.05429061e+02] [-7.01993218e-02 -1.20750908e-03 9.97532254e-01 -1.78031392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90863999999993 meters 0.02739159696095111 Centerline is valid? [True, True] Translation: X:309.50, Y:-205.47, Z:-17.81 [[ 7.21302911e-01 6.90582156e-01 5.30885705e-02 3.09502163e+02] [-6.88847572e-01 7.23252833e-01 -4.89322223e-02 -2.05468484e+02] [-7.21881785e-02 -1.27497846e-03 9.97390215e-01 -1.78068366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96863999999994 meters 0.027235376123800278 Centerline is valid? [True, True] Translation: X:309.55, Y:-205.51, Z:-17.81 [[ 7.23580606e-01 6.88266501e-01 5.21567837e-02 3.09549735e+02] [-6.86583866e-01 7.25457252e-01 -4.81079138e-02 -2.05509309e+02] [-7.09485824e-02 -1.00005270e-03 9.97479473e-01 -1.78100475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02863999999994 meters 0.027103262572521533 Centerline is valid? [True, True] Translation: X:309.60, Y:-205.55, Z:-17.81 [[ 7.24806822e-01 6.86961181e-01 5.23393459e-02 3.09597953e+02] [-6.85261378e-01 7.26693611e-01 -4.83036204e-02 -2.05548460e+02] [-7.12173804e-02 -8.55338730e-04 9.97460452e-01 -1.78149718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08863999999994 meters 0.02692122599031524 Centerline is valid? [True, True] Translation: X:309.64, Y:-205.59, Z:-17.82 [[ 7.25405844e-01 6.86530563e-01 4.96200338e-02 3.09643371e+02] [-6.84999125e-01 7.27100570e-01 -4.58362194e-02 -2.05590486e+02] [-6.75467204e-02 -7.39818311e-04 9.97715838e-01 -1.78170623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14863999999994 meters 0.027044101348569657 Centerline is valid? [True, True] Translation: X:309.69, Y:-205.63, Z:-17.82 [[ 7.22893871e-01 6.89137740e-01 5.01360862e-02 3.09691591e+02] [-6.87577452e-01 7.24629735e-01 -4.63572622e-02 -2.05629911e+02] [-6.82766377e-02 -9.61061664e-04 9.97665965e-01 -1.78180426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20863999999995 meters 0.027601016688337084 Centerline is valid? [True, True] Translation: X:309.74, Y:-205.67, Z:-17.82 [[ 7.19107493e-01 6.93016552e-01 5.11123523e-02 3.09739318e+02] [-6.91401384e-01 7.20920462e-01 -4.73055281e-02 -2.05669429e+02] [-6.96314546e-02 -1.32139147e-03 9.97571909e-01 -1.78213649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26863999999995 meters 0.027770880794101723 Centerline is valid? [True, True] Translation: X:309.79, Y:-205.71, Z:-17.82 [[ 7.15527359e-01 6.96927676e-01 4.80875515e-02 3.09788606e+02] [-6.95504565e-01 7.17139693e-01 -4.45428033e-02 -2.05708150e+02] [-6.55286043e-02 -1.57351720e-03 9.97849451e-01 -1.78240038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32863999999995 meters 0.02780009441302001 Centerline is valid? [True, True] Translation: X:309.84, Y:-205.75, Z:-17.83 [[ 7.14517106e-01 6.98020043e-01 4.72580733e-02 3.09838129e+02] [-6.96645806e-01 7.16076390e-01 -4.38089539e-02 -2.05746882e+02] [-6.44199184e-02 -1.61989158e-03 9.97921565e-01 -1.78251531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38863999999995 meters 0.02765881438107559 Centerline is valid? [True, True] Translation: X:309.89, Y:-205.78, Z:-17.83 [[ 7.15418204e-01 6.96909330e-01 4.99417657e-02 3.09890260e+02] [-6.95368307e-01 7.17157527e-01 -4.63465062e-02 -2.05781552e+02] [-6.81154257e-02 -1.57078688e-03 9.97676211e-01 -1.78290828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44863999999995 meters 0.02743119309720128 Centerline is valid? [True, True] Translation: X:309.94, Y:-205.82, Z:-17.83 [[ 7.17644143e-01 6.94693655e-01 4.88631717e-02 3.09940214e+02] [-6.93211188e-01 7.19304538e-01 -4.53787440e-02 -2.05819735e+02] [-6.66718267e-02 -1.30670751e-03 9.97774103e-01 -1.78319917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50863999999996 meters 0.02677841416245788 Centerline is valid? [True, True] Translation: X:309.99, Y:-205.86, Z:-17.83 [[ 7.23270723e-01 6.88976338e-01 4.68088363e-02 3.09988247e+02] [-6.87603228e-01 7.24783460e-01 -4.34826142e-02 -2.05858438e+02] [-6.38847626e-02 -7.36205138e-04 9.97957011e-01 -1.78330238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56863999999996 meters 0.02646354517411163 Centerline is valid? [True, True] Translation: X:310.04, Y:-205.90, Z:-17.84 [[ 7.26476610e-01 6.85622487e-01 4.64062581e-02 3.10035598e+02] [-6.84265036e-01 7.27957159e-01 -4.31246493e-02 -2.05898672e+02] [-6.33489971e-02 -4.25130842e-04 9.97991345e-01 -1.78370450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62863999999996 meters 0.026323798782649326 Centerline is valid? [True, True] Translation: X:310.08, Y:-205.94, Z:-17.84 [[ 7.24983621e-01 6.87300520e-01 4.49081871e-02 3.10081750e+02] [-6.86030181e-01 7.26372990e-01 -4.17716456e-02 -2.05941013e+02] [-6.13297679e-02 -5.24612822e-04 9.98117420e-01 -1.78371137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68863999999996 meters 0.02618049675944842 Centerline is valid? [True, True] Translation: X:310.13, Y:-205.98, Z:-17.84 [[ 7.24059875e-01 6.88226264e-01 4.56279186e-02 3.10129439e+02] [-6.86914018e-01 7.25495880e-01 -4.24836513e-02 -2.05981984e+02] [-6.23412316e-02 -5.81749634e-04 9.98054724e-01 -1.78407364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74863999999997 meters 0.026123937962122624 Centerline is valid? [True, True] Translation: X:310.18, Y:-206.02, Z:-17.84 [[ 7.25175946e-01 6.86994157e-01 4.64636987e-02 3.10176594e+02] [-6.85627758e-01 7.26662801e-01 -4.33099436e-02 -2.06023762e+02] [-6.35171197e-02 -4.49472258e-04 9.97980648e-01 -1.78432601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80863999999997 meters 0.025754370437255418 Centerline is valid? [True, True] Translation: X:310.23, Y:-206.06, Z:-17.84 [[ 7.25553847e-01 6.86622155e-01 4.60611671e-02 3.10227085e+02] [-6.85275651e-01 7.27014355e-01 -4.29814964e-02 -2.06062523e+02] [-6.29991773e-02 -3.79206225e-04 9.98013507e-01 -1.78433970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86863999999997 meters 0.025724857871475583 Centerline is valid? [True, True] Translation: X:310.27, Y:-206.11, Z:-17.85 [[ 7.24740969e-01 6.87519389e-01 4.54710690e-02 3.10273543e+02] [-6.86206097e-01 7.26165901e-01 -4.24767755e-02 -2.06105572e+02] [-6.22231465e-02 -4.17865384e-04 9.98062175e-01 -1.78456336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92864 meters 0.025527943485521138 Centerline is valid? [True, True] Translation: X:310.32, Y:-206.15, Z:-17.85 [[ 7.25755004e-01 6.86471788e-01 4.51238081e-02 3.10322330e+02] [-6.85173610e-01 7.27156379e-01 -4.21986444e-02 -2.06146311e+02] [-6.17802438e-02 -2.91765142e-04 9.98089734e-01 -1.78476857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98864 meters 0.025490625749319557 Centerline is valid? [True, True] Translation: X:310.37, Y:-206.19, Z:-17.85 [[ 7.28033133e-01 6.84070993e-01 4.48846696e-02 3.10367383e+02] [-6.82779137e-01 7.29415433e-01 -4.20211387e-02 -2.06190275e+02] [-6.14850128e-02 -5.35346530e-05 9.98108005e-01 -1.78505392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04864 meters 0.0253199158259653 Centerline is valid? [True, True] Translation: X:310.41, Y:-206.23, Z:-17.85 [[ 7.31672451e-01 6.80171697e-01 4.49653967e-02 3.10414128e+02] [-6.78864940e-01 7.33052772e-01 -4.21429354e-02 -2.06233138e+02] [-6.16264406e-02 3.09393549e-04 9.98099237e-01 -1.78523084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10864 meters 0.025248702134353096 Centerline is valid? [True, True] Translation: X:310.46, Y:-206.28, Z:-17.86 [[ 7.31550554e-01 6.80323710e-01 4.46479172e-02 3.10457197e+02] [-6.79032865e-01 7.32911688e-01 -4.18906445e-02 -2.06278599e+02] [-6.12221790e-02 3.27721093e-04 9.98124109e-01 -1.78551368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16864 meters 0.025124682742626865 Centerline is valid? [True, True] Translation: X:310.50, Y:-206.32, Z:-17.86 [[ 7.27192616e-01 6.84959107e-01 4.49657614e-02 3.10500609e+02] [-6.83655779e-01 7.28581513e-01 -4.22345255e-02 -2.06324229e+02] [-6.16901454e-02 -2.84675878e-05 9.98095349e-01 -1.78585635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22864 meters 0.024988052458849566 Centerline is valid? [True, True] Translation: X:310.54, Y:-206.37, Z:-17.86 [[ 7.24556575e-01 6.87780465e-01 4.44499940e-02 3.10543892e+02] [-6.86509452e-01 7.25918713e-01 -4.17946635e-02 -2.06370423e+02] [-6.10126355e-02 -2.32742774e-04 9.98136967e-01 -1.78600737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28863999999993 meters 0.024952870085190704 Centerline is valid? [True, True] Translation: X:310.59, Y:-206.41, Z:-17.86 [[ 7.22428306e-01 6.89949782e-01 4.54603157e-02 3.10588742e+02] [-6.88621697e-01 7.23857130e-01 -4.27903545e-02 -2.06412718e+02] [-6.24299694e-02 -3.91996440e-04 9.98049270e-01 -1.78639937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34863999999993 meters 0.024896114326797242 Centerline is valid? [True, True] Translation: X:310.63, Y:-206.46, Z:-17.87 [[ 7.21779314e-01 6.90598371e-01 4.59185395e-02 3.10633620e+02] [-6.89241934e-01 7.23238351e-01 -4.32648155e-02 -2.06457257e+02] [-6.30886599e-02 -4.21334094e-04 9.98007837e-01 -1.78677523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40863999999993 meters 0.024886912424518733 Centerline is valid? [True, True] Translation: X:310.68, Y:-206.50, Z:-17.87 [[ 7.22587153e-01 6.89856205e-01 4.43421195e-02 3.10679491e+02] [-6.88587365e-01 7.23946351e-01 -4.18225026e-02 -2.06498590e+02] [-6.09528286e-02 -3.13020164e-04 9.98140599e-01 -1.78698324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46863999999994 meters 0.024922936709719068 Centerline is valid? [True, True] Translation: X:310.73, Y:-206.54, Z:-17.87 [[ 7.21915987e-01 6.90538980e-01 4.46455499e-02 3.10727711e+02] [-6.89251437e-01 7.23295099e-01 -4.21504063e-02 -2.06539905e+02] [-6.13984060e-02 -3.42957265e-04 9.98113279e-01 -1.78722934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52863999999994 meters 0.024887129167189815 Centerline is valid? [True, True] Translation: X:310.77, Y:-206.58, Z:-17.87 [[ 7.21147243e-01 6.91235895e-01 4.62557129e-02 3.10774946e+02] [-6.89852149e-01 7.22629083e-01 -4.37175237e-02 -2.06580836e+02] [-6.36448450e-02 -3.82831235e-04 9.97972538e-01 -1.78748546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58863999999994 meters 0.02488812254570899 Centerline is valid? [True, True] Translation: X:310.82, Y:-206.62, Z:-17.88 [[ 7.23352688e-01 6.88914131e-01 4.64565301e-02 3.10821514e+02] [-6.87510745e-01 7.24842947e-01 -4.39508543e-02 -2.06622697e+02] [-6.39520527e-02 -1.47395030e-04 9.97952961e-01 -1.78779264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64863999999994 meters 0.024955078771503467 Centerline is valid? [True, True] Translation: X:310.87, Y:-206.67, Z:-17.88 [[ 7.24691337e-01 6.87517061e-01 4.62899279e-02 3.10865390e+02] [-6.86117840e-01 7.26168225e-01 -4.38408349e-02 -2.06668463e+02] [-6.37555967e-02 1.07278498e-05 9.97965542e-01 -1.78805241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70863999999995 meters 0.024999213624819466 Centerline is valid? [True, True] Translation: X:310.91, Y:-206.71, Z:-17.88 [[ 7.23108874e-01 6.89189671e-01 4.61644273e-02 3.10911420e+02] [-6.87798417e-01 7.24580974e-01 -4.37692800e-02 -2.06711739e+02] [-6.36152014e-02 -1.01865234e-04 9.97974497e-01 -1.78831711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76863999999995 meters 0.025230232610017497 Centerline is valid? [True, True] Translation: X:310.95, Y:-206.76, Z:-17.89 [[ 7.18016686e-01 6.94479010e-01 4.63782536e-02 3.10954800e+02] [-6.93082835e-01 7.19512762e-01 -4.40178332e-02 -2.06755613e+02] [-6.39392066e-02 -5.38432786e-04 9.97953650e-01 -1.78870474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82863999999995 meters 0.025384759265008584 Centerline is valid? [True, True] Translation: X:311.00, Y:-206.80, Z:-17.89 [[ 7.16358412e-01 6.96181994e-01 4.64893249e-02 3.11001813e+02] [-6.94779893e-01 7.17865025e-01 -4.41667841e-02 -2.06798235e+02] [-6.41211803e-02 -6.60600885e-04 9.97941901e-01 -1.78883442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88863999999995 meters 0.025335976608476574 Centerline is valid? [True, True] Translation: X:311.04, Y:-206.84, Z:-17.89 [[ 7.18140572e-01 6.94469375e-01 4.45691108e-02 3.11044444e+02] [-6.93174846e-01 7.19522119e-01 -4.23857579e-02 -2.06843590e+02] [-6.15040718e-02 -4.55254137e-04 9.98106729e-01 -1.78916182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94863999999995 meters 0.025527216373766266 Centerline is valid? [True, True] Translation: X:311.09, Y:-206.89, Z:-17.89 [[ 7.19568178e-01 6.92964726e-01 4.49613741e-02 3.11089490e+02] [-6.91641684e-01 7.20971427e-01 -4.28016542e-02 -2.06887210e+02] [-6.20759027e-02 -2.98452191e-04 9.98071387e-01 -1.78929800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00863999999996 meters 0.02564327991161735 Centerline is valid? [True, True] Translation: X:311.13, Y:-206.94, Z:-17.90 [[ 7.22017042e-01 6.90404092e-01 4.50952321e-02 3.11130225e+02] [-6.89065188e-01 7.23423933e-01 -4.29764927e-02 -2.06935452e+02] [-6.22941166e-02 -4.37944430e-05 9.98057835e-01 -1.78951132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06863999999996 meters 0.025409765669416 Centerline is valid? [True, True] Translation: X:311.17, Y:-206.98, Z:-17.90 [[ 7.24603714e-01 6.87754233e-01 4.40859708e-02 3.11171559e+02] [-6.86466974e-01 7.25943572e-01 -4.20597522e-02 -2.06983723e+02] [-6.09306997e-02 2.13089688e-04 9.98141976e-01 -1.78972411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12863999999996 meters 0.02552779938480188 Centerline is valid? [True, True] Translation: X:311.21, Y:-207.03, Z:-17.90 [[ 7.24734363e-01 6.87634398e-01 4.38068178e-02 3.11213019e+02] [-6.86360433e-01 7.26057070e-01 -4.18388220e-02 -2.07030893e+02] [-6.05760630e-02 2.54765601e-04 9.98163552e-01 -1.78987441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18863999999996 meters 0.025335381766987537 Centerline is valid? [True, True] Translation: X:311.25, Y:-207.08, Z:-17.90 [[ 7.23455728e-01 6.88964175e-01 4.40474267e-02 3.11254925e+02] [-6.87675836e-01 7.24795374e-01 -4.21142560e-02 -2.07078471e+02] [-6.09405847e-02 1.77448717e-04 9.98141380e-01 -1.79004238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24863999999997 meters 0.025397001462994246 Centerline is valid? [True, True] Translation: X:311.30, Y:-207.13, Z:-17.90 [[ 7.23015500e-01 6.89502917e-01 4.28288949e-02 3.11295577e+02] [-6.88283383e-01 7.24282888e-01 -4.09912501e-02 -2.07126191e+02] [-5.92838223e-02 1.58892514e-04 9.98241155e-01 -1.79024991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30863999999997 meters 0.02524585117308749 Centerline is valid? [True, True] Translation: X:311.34, Y:-207.17, Z:-17.91 [[ 7.21598578e-01 6.90780267e-01 4.60229771e-02 3.11338006e+02] [-6.89371634e-01 7.23064738e-01 -4.40923496e-02 -2.07172188e+02] [-6.37357169e-02 9.00418949e-05 9.97966808e-01 -1.79052180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36863999999997 meters 0.02526510621224697 Centerline is valid? [True, True] Translation: X:311.38, Y:-207.22, Z:-17.91 [[ 7.19638636e-01 6.92808598e-01 4.62220786e-02 3.11384204e+02] [-6.91389070e-01 7.21121517e-01 -4.43273111e-02 -2.07215065e+02] [-6.40420777e-02 -5.77942868e-05 9.97947197e-01 -1.79083497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42864 meters 0.025377409269820704 Centerline is valid? [True, True] Translation: X:311.43, Y:-207.26, Z:-17.91 [[ 7.16917887e-01 6.95651473e-01 4.58014355e-02 3.11429637e+02] [-6.94260445e-01 7.18379394e-01 -4.39713628e-02 -2.07258679e+02] [-6.34915508e-02 -2.74268501e-04 9.97982338e-01 -1.79110677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48864 meters 0.02576239336893353 Centerline is valid? [True, True] Translation: X:311.48, Y:-207.30, Z:-17.91 [[ 7.16632115e-01 6.95851887e-01 4.72076682e-02 3.11475155e+02] [-6.94371256e-01 7.18185269e-01 -4.53704432e-02 -2.07300929e+02] [-6.54749604e-02 -2.65731241e-04 9.97854177e-01 -1.79135978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54864 meters 0.025661385649282525 Centerline is valid? [True, True] Translation: X:311.52, Y:-207.35, Z:-17.92 [[ 7.15263492e-01 6.97278593e-01 4.69116264e-02 3.11519337e+02] [-6.95816607e-01 7.16800135e-01 -4.51310899e-02 -2.07346292e+02] [-6.50952030e-02 -3.61267769e-04 9.97878993e-01 -1.79159288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60864 meters 0.025471080488749066 Centerline is valid? [True, True] Translation: X:311.57, Y:-207.39, Z:-17.92 [[ 7.14150805e-01 6.98381588e-01 4.74529797e-02 3.11565793e+02] [-6.96884721e-01 7.15725486e-01 -4.57024494e-02 -2.07388812e+02] [-6.58810562e-02 -4.30815526e-04 9.97827390e-01 -1.79199223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66864 meters 0.025835036927504586 Centerline is valid? [True, True] Translation: X:311.61, Y:-207.43, Z:-17.92 [[ 7.10778638e-01 7.01816596e-01 4.74045728e-02 3.11612112e+02] [-7.00327206e-01 7.12357324e-01 -4.57039228e-02 -2.07430010e+02] [-6.58447662e-02 -7.13340015e-04 9.97829624e-01 -1.79219685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72864 meters 0.025869212922203497 Centerline is valid? [True, True] Translation: X:311.66, Y:-207.47, Z:-17.93 [[ 7.08697662e-01 7.03956546e-01 4.68273972e-02 3.11659453e+02] [-7.02504982e-01 7.10242512e-01 -4.51920907e-02 -2.07472003e+02] [-6.50720763e-02 -8.68950833e-04 9.97880188e-01 -1.79263737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78863999999993 meters 0.02576627546469599 Centerline is valid? [True, True] Translation: X:311.71, Y:-207.51, Z:-17.93 [[ 7.10768069e-01 7.01763916e-01 4.83338202e-02 3.11707166e+02] [-7.00208757e-01 7.12409279e-01 -4.66981413e-02 -2.07512808e+02] [-6.72045326e-02 -6.52216467e-04 9.97739007e-01 -1.79297890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84863999999993 meters 0.02546370469108471 Centerline is valid? [True, True] Translation: X:311.75, Y:-207.56, Z:-17.93 [[ 7.15221215e-01 6.97301305e-01 4.72176175e-02 3.11753050e+02] [-6.95804886e-01 7.16778104e-01 -4.56586313e-02 -2.07555304e+02] [-6.56823775e-02 -1.98227199e-04 9.97840561e-01 -1.79329179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90863999999993 meters 0.025589897197408694 Centerline is valid? [True, True] Translation: X:311.80, Y:-207.60, Z:-17.94 [[ 7.21230112e-01 6.91148587e-01 4.62683149e-02 3.11797241e+02] [-6.89697416e-01 7.22712592e-01 -4.47658863e-02 -2.07600024e+02] [-6.43785728e-02 3.75368000e-04 9.97925477e-01 -1.79355429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96863999999994 meters 0.025817580454896558 Centerline is valid? [True, True] Translation: X:311.84, Y:-207.65, Z:-17.94 [[ 7.23019949e-01 6.89265165e-01 4.64293609e-02 3.11838316e+02] [-6.87796907e-01 7.24508935e-01 -4.49690754e-02 -2.07646303e+02] [-6.46341040e-02 5.79567784e-04 9.97908862e-01 -1.79382309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02863999999994 meters 0.02560759378172144 Centerline is valid? [True, True] Translation: X:311.88, Y:-207.70, Z:-17.94 [[ 7.20001035e-01 6.92512485e-01 4.49996288e-02 3.11877143e+02] [-6.91137140e-01 7.21405824e-01 -4.36244379e-02 -2.07695451e+02] [-6.26734622e-02 3.08725700e-04 9.98034038e-01 -1.79406117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08863999999994 meters 0.02548560272814284 Centerline is valid? [True, True] Translation: X:311.92, Y:-207.74, Z:-17.94 [[ 7.13968665e-01 6.98731146e-01 4.49836766e-02 3.11917303e+02] [-6.97366314e-01 7.15384333e-01 -4.36518098e-02 -2.07744823e+02] [-6.26814966e-02 -2.04076383e-04 9.98033561e-01 -1.79441071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14863999999994 meters 0.02587439253695691 Centerline is valid? [True, True] Translation: X:311.96, Y:-207.79, Z:-17.95 [[ 7.07365398e-01 7.05368339e-01 4.57132383e-02 3.11959628e+02] [-7.03969519e-01 7.08840543e-01 -4.44072149e-02 -2.07790687e+02] [-6.37268401e-02 -7.68599121e-04 9.97967083e-01 -1.79456817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20863999999995 meters 0.02648223490463588 Centerline is valid? [True, True] Translation: X:312.00, Y:-207.83, Z:-17.95 [[ 7.01828944e-01 7.10846895e-01 4.61825228e-02 3.12003741e+02] [-7.09428176e-01 7.03345674e-01 -4.49057508e-02 -2.07833543e+02] [-6.44033911e-02 -1.24702725e-03 9.97923167e-01 -1.79488562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26863999999995 meters 0.026972098138468417 Centerline is valid? [True, True] Translation: X:312.05, Y:-207.88, Z:-17.95 [[ 6.97470530e-01 7.15090258e-01 4.66988613e-02 3.12049782e+02] [-7.13646956e-01 6.99030224e-01 -4.54397157e-02 -2.07875735e+02] [-6.51374135e-02 -1.63363761e-03 9.97874966e-01 -1.79520530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32863999999995 meters 0.028234080466923887 Centerline is valid? [True, True] Translation: X:312.10, Y:-207.92, Z:-17.96 [[ 6.91343171e-01 7.20998421e-01 4.69669763e-02 3.12095454e+02] [-7.19550639e-01 6.92933256e-01 -4.57206933e-02 -2.07916679e+02] [-6.55095275e-02 -2.18642867e-03 9.97849548e-01 -1.79557935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38863999999995 meters 0.028864511946935234 Centerline is valid? [True, True] Translation: X:312.15, Y:-207.95, Z:-17.96 [[ 6.87183273e-01 7.25017994e-01 4.61308746e-02 3.12146665e+02] [-7.23627954e-01 6.88725397e-01 -4.49434173e-02 -2.07952616e+02] [-6.43562912e-02 -2.49722582e-03 9.97923861e-01 -1.79584802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44863999999995 meters 0.028487546800248342 Centerline is valid? [True, True] Translation: X:312.20, Y:-207.99, Z:-17.96 [[ 6.89831975e-01 7.22424970e-01 4.72652988e-02 3.12196526e+02] [-7.20956912e-01 6.91445553e-01 -4.60888223e-02 -2.07990898e+02] [-6.59770967e-02 -2.28270050e-03 9.97818527e-01 -1.79608377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50863999999996 meters 0.027536670488365972 Centerline is valid? [True, True] Translation: X:312.25, Y:-208.02, Z:-17.97 [[ 6.96098391e-01 7.16444622e-01 4.64126371e-02 3.12249800e+02] [-7.15013634e-01 6.97641992e-01 -4.52896650e-02 -2.08024955e+02] [-6.48269415e-02 -1.65960539e-03 9.97895141e-01 -1.79652405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56863999999996 meters 0.02678307984181436 Centerline is valid? [True, True] Translation: X:312.30, Y:-208.06, Z:-17.97 [[ 7.03030539e-01 7.09621906e-01 4.67419728e-02 3.12297628e+02] [-7.08154589e-01 7.04581930e-01 -4.56221636e-02 -2.08064089e+02] [-6.53080361e-02 -1.02676829e-03 9.97864623e-01 -1.79665632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62863999999996 meters 0.026369738002712702 Centerline is valid? [True, True] Translation: X:312.34, Y:-208.11, Z:-17.97 [[ 7.06740767e-01 7.05986269e-01 4.58353062e-02 3.12344422e+02] [-7.04566637e-01 7.08225208e-01 -4.47538616e-02 -2.08105492e+02] [-6.40573311e-02 -6.64649074e-04 9.97945999e-01 -1.79693337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68863999999996 meters 0.02614653390046964 Centerline is valid? [True, True] Translation: X:312.39, Y:-208.15, Z:-17.97 [[ 7.12179693e-01 7.00638231e-01 4.36595281e-02 3.12387174e+02] [-6.99337778e-01 7.13516677e-01 -4.26687672e-02 -2.08151005e+02] [-6.10471709e-02 -1.44927825e-04 9.98134872e-01 -1.79726546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74863999999997 meters 0.026261187267404434 Centerline is valid? [True, True] Translation: X:312.43, Y:-208.20, Z:-17.97 [[ 7.14890784e-01 6.97773142e-01 4.52085104e-02 3.12428342e+02] [-6.96370166e-01 7.16318801e-01 -4.42263286e-02 -2.08198120e+02] [-6.32436502e-02 1.35136821e-04 9.97998107e-01 -1.79746870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80863999999997 meters 0.02605398240328356 Centerline is valid? [True, True] Translation: X:312.47, Y:-208.25, Z:-17.98 [[ 7.14290979e-01 6.98522798e-01 4.30615614e-02 3.12469248e+02] [-6.97249046e-01 7.15587795e-01 -4.21648696e-02 -2.08245831e+02] [-6.02674504e-02 9.33534480e-05 9.98182261e-01 -1.79763698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86863999999997 meters 0.026004054348025437 Centerline is valid? [True, True] Translation: X:312.51, Y:-208.29, Z:-17.98 [[ 7.12725092e-01 7.00078102e-01 4.37446381e-02 3.12508651e+02] [-6.98763868e-01 7.14066279e-01 -4.28766444e-02 -2.08294943e+02] [-6.12535708e-02 -7.91219119e-06 9.98122237e-01 -1.79802419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92864 meters 0.026154881057570235 Centerline is valid? [True, True] Translation: X:312.55, Y:-208.35, Z:-17.98 [[ 7.13536302e-01 6.99189192e-01 4.47260635e-02 3.12546510e+02] [-6.97810550e-01 7.14936685e-01 -4.38859060e-02 -2.08345660e+02] [-6.26608547e-02 1.03868056e-04 9.98034872e-01 -1.79819494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98864 meters 0.026439429420886278 Centerline is valid? [True, True] Translation: X:312.59, Y:-208.39, Z:-17.99 [[ 7.13201543e-01 6.99473792e-01 4.56067250e-02 3.12586011e+02] [-6.98037956e-01 7.14658241e-01 -4.47952177e-02 -2.08394932e+02] [-6.39263026e-02 1.12793321e-04 9.97954616e-01 -1.79866662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04864 meters 0.02643534850724682 Centerline is valid? [True, True] Translation: X:312.63, Y:-208.44, Z:-17.99 [[ 7.11106610e-01 7.01649431e-01 4.48939320e-02 3.12626790e+02] [-7.00259589e-01 7.12522332e-01 -4.41410807e-02 -2.08441571e+02] [-6.29594933e-02 -4.83921090e-05 9.98016082e-01 -1.79895515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10864 meters 0.02683221254158954 Centerline is valid? [True, True] Translation: X:312.67, Y:-208.49, Z:-17.99 [[ 7.05683003e-01 7.07199819e-01 4.33579926e-02 3.12666281e+02] [-7.05911408e-01 7.07013559e-01 -4.26721367e-02 -2.08491678e+02] [-6.08324160e-02 -4.93900023e-04 9.98147871e-01 -1.79942707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16864 meters 0.027223416793466078 Centerline is valid? [True, True] Translation: X:312.71, Y:-208.54, Z:-18.00 [[ 7.00242068e-01 7.12422697e-01 4.59885414e-02 3.12706775e+02] [-7.10980978e-01 7.01749929e-01 -4.53109903e-02 -2.08539066e+02] [-6.45530336e-02 -9.68316638e-04 9.97913808e-01 -1.79967249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22864 meters 0.027606464740015456 Centerline is valid? [True, True] Translation: X:312.75, Y:-208.59, Z:-18.00 [[ 6.96572793e-01 7.16029108e-01 4.57018666e-02 3.12747902e+02] [-7.14610299e-01 6.98069280e-01 -4.50710601e-02 -2.08586203e+02] [-6.41752601e-02 -1.26375031e-03 9.97937843e-01 -1.80018275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28863999999993 meters 0.02799246723006691 Centerline is valid? [True, True] Translation: X:312.79, Y:-208.63, Z:-18.00 [[ 6.94383390e-01 7.18212733e-01 4.47457017e-02 3.12791609e+02] [-7.16854661e-01 6.95822171e-01 -4.41690081e-02 -2.08630763e+02] [-6.28577953e-02 -1.40593918e-03 9.98021503e-01 -1.80043135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34863999999993 meters 0.029147477022584956 Centerline is valid? [True, True] Translation: X:312.84, Y:-208.67, Z:-18.01 [[ 6.87819984e-01 7.24436161e-01 4.57812087e-02 3.12835363e+02] [-7.23025859e-01 6.89339011e-01 -4.52253811e-02 -2.08674899e+02] [-6.43216747e-02 -1.99407683e-03 9.97927225e-01 -1.80075212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40863999999993 meters 0.02991871063049509 Centerline is valid? [True, True] Translation: X:312.88, Y:-208.72, Z:-18.01 [[ 6.83638445e-01 7.28348418e-01 4.63363731e-02 3.12879037e+02] [-7.26911309e-01 6.85202842e-01 -4.57931621e-02 -2.08718405e+02] [-6.51031916e-02 -2.37646751e-03 9.97875707e-01 -1.80107562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46863999999994 meters 0.030445134017544527 Centerline is valid? [True, True] Translation: X:312.93, Y:-208.76, Z:-18.01 [[ 6.81572225e-01 7.30302892e-01 4.60107477e-02 3.12925357e+02] [-7.28888224e-01 6.83118821e-01 -4.55042117e-02 -2.08759283e+02] [-6.46626651e-02 -2.52228532e-03 9.97903992e-01 -1.80137429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52863999999994 meters 0.030102412543023725 Centerline is valid? [True, True] Translation: X:312.97, Y:-208.80, Z:-18.02 [[ 6.80846197e-01 7.31010473e-01 4.55208064e-02 3.12973334e+02] [-7.29625570e-01 6.82361505e-01 -4.50477992e-02 -2.08800081e+02] [-6.39920590e-02 -2.54252147e-03 9.97947169e-01 -1.80164375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58863999999994 meters 0.030239407980770124 Centerline is valid? [True, True] Translation: X:313.02, Y:-208.84, Z:-18.02 [[ 6.81382252e-01 7.30514426e-01 4.54631706e-02 3.13019199e+02] [-7.29129094e-01 6.82892824e-01 -4.50350357e-02 -2.08841933e+02] [-6.39452162e-02 -2.46244634e-03 9.97950372e-01 -1.80183385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64863999999994 meters 0.029779519126515698 Centerline is valid? [True, True] Translation: X:313.07, Y:-208.88, Z:-18.02 [[ 6.81853417e-01 7.30019693e-01 4.63375265e-02 3.13067260e+02] [-7.28576638e-01 6.83421776e-01 -4.59429882e-02 -2.08881097e+02] [-6.52073607e-02 -2.43405583e-03 9.97868767e-01 -1.80210640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70863999999995 meters 0.029793460929615122 Centerline is valid? [True, True] Translation: X:313.11, Y:-208.92, Z:-18.02 [[ 6.81477790e-01 7.30316275e-01 4.71821952e-02 3.13114036e+02] [-7.28817980e-01 6.83104673e-01 -4.68226160e-02 -2.08921872e+02] [-6.64256966e-02 -2.47865934e-03 9.97788296e-01 -1.80238064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76863999999995 meters 0.02954343229497889 Centerline is valid? [True, True] Translation: X:313.16, Y:-208.96, Z:-18.03 [[ 6.82105740e-01 7.29809127e-01 4.59390715e-02 3.13162591e+02] [-7.28385057e-01 6.83646967e-01 -4.56293009e-02 -2.08960557e+02] [-6.47067872e-02 -2.33732515e-03 9.97901583e-01 -1.80258713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82863999999995 meters 0.02917735451447378 Centerline is valid? [True, True] Translation: X:313.21, Y:-209.00, Z:-18.03 [[ 6.84455562e-01 7.27659194e-01 4.50852610e-02 3.13210340e+02] [-7.26280414e-01 6.85935731e-01 -4.48211278e-02 -2.09000183e+02] [-6.35400972e-02 -2.06647180e-03 9.97977147e-01 -1.80283298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88863999999995 meters 0.02827120162361321 Centerline is valid? [True, True] Translation: X:313.26, Y:-209.04, Z:-18.03 [[ 6.89826544e-01 7.22592049e-01 4.47221386e-02 3.13259449e+02] [-7.21222732e-01 6.91272946e-01 -4.44914000e-02 -2.09038662e+02] [-6.30643364e-02 -1.56327435e-03 9.98008239e-01 -1.80306379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94863999999995 meters 0.027434745284483992 Centerline is valid? [True, True] Translation: X:313.31, Y:-209.08, Z:-18.04 [[ 6.95505233e-01 7.17086101e-01 4.53871726e-02 3.13305782e+02] [-7.15663073e-01 6.96983775e-01 -4.51661794e-02 -2.09080475e+02] [-6.40221623e-02 -1.06860929e-03 9.97947905e-01 -1.80358599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00863999999996 meters 0.02730555726364203 Centerline is valid? [True, True] Translation: X:313.35, Y:-209.12, Z:-18.04 [[ 6.99146069e-01 7.13531365e-01 4.54726907e-02 3.13352278e+02] [-7.12093540e-01 7.00622914e-01 -4.52804905e-02 -2.09121914e+02] [-6.41682593e-02 -7.23132380e-04 9.97938832e-01 -1.80365071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06863999999996 meters 0.027222856520382695 Centerline is valid? [True, True] Translation: X:313.40, Y:-209.16, Z:-18.04 [[ 6.99410904e-01 7.13366188e-01 4.39666819e-02 3.13397554e+02] [-7.12019235e-01 7.00791161e-01 -4.38218794e-02 -2.09164732e+02] [-6.20725091e-02 -6.55622917e-04 9.98071427e-01 -1.80400419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12863999999996 meters 0.02704889020999473 Centerline is valid? [True, True] Translation: X:313.44, Y:-209.21, Z:-18.04 [[ 7.02393052e-01 7.10452358e-01 4.36055986e-02 3.13442498e+02] [-7.09119252e-01 7.03745205e-01 -4.35037060e-02 -2.09207959e+02] [-6.15945414e-02 -3.64868620e-04 9.98101187e-01 -1.80437525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18863999999996 meters 0.026915220013798872 Centerline is valid? [True, True] Translation: X:313.49, Y:-209.25, Z:-18.05 [[ 7.07103362e-01 7.05728562e-01 4.41818025e-02 3.13485096e+02] [-7.04347884e-01 7.08482315e-01 -4.41233335e-02 -2.09254937e+02] [-6.24411224e-02 8.03983857e-05 9.98048646e-01 -1.80461291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24863999999997 meters 0.02728752925240687 Centerline is valid? [True, True] Translation: X:313.53, Y:-209.30, Z:-18.05 [[ 7.14329613e-01 6.98481468e-01 4.30911068e-02 3.13525988e+02] [-6.97152140e-01 7.15627769e-01 -4.30788687e-02 -2.09301269e+02] [-6.09269841e-02 7.31454274e-04 9.98141958e-01 -1.80497366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30863999999997 meters 0.027368437160552414 Centerline is valid? [True, True] Translation: X:313.61, Y:-209.37, Z:-16.52 [[ 7.46451517e-01 -6.65101029e-01 -2.12309807e-02 3.13614987e+02] [-6.64718284e-01 -7.46747900e-01 2.27415126e-02 -2.09370555e+02] [-3.09795937e-02 -2.86281553e-03 -9.99515917e-01 -1.65182211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36863999999997 meters 0.026947069708965776 Centerline is valid? [True, True] Translation: X:313.59, Y:-209.39, Z:-18.05 [[ 7.64217432e-01 6.43288107e-01 4.63910415e-02 3.13586105e+02] [-6.42043294e-01 7.65623790e-01 -4.00077572e-02 -2.09394410e+02] [-6.12545994e-02 7.89568412e-04 9.98121862e-01 -1.80543349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42864 meters 0.026676863116760728 Centerline is valid? [True, True] Translation: X:313.63, Y:-209.44, Z:-18.06 [[ 7.62078009e-01 6.45788768e-01 4.68398931e-02 3.13628131e+02] [-6.44521794e-01 7.63515864e-01 -4.04373923e-02 -2.09440871e+02] [-6.18770152e-02 6.27115456e-04 9.98083585e-01 -1.80578376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48864 meters 0.026531239718047005 Centerline is valid? [True, True] Translation: X:313.67, Y:-209.49, Z:-18.06 [[ 7.58851610e-01 6.49542531e-01 4.73152750e-02 3.13671589e+02] [-6.48254478e-01 7.60325177e-01 -4.08871275e-02 -2.09486212e+02] [-6.25329232e-02 3.54923648e-04 9.98042839e-01 -1.80603941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54864 meters 0.026317370093766033 Centerline is valid? [True, True] Translation: X:313.72, Y:-209.53, Z:-18.06 [[ 7.55409659e-01 6.53522621e-01 4.75860452e-02 3.13718292e+02] [-6.52224995e-01 7.56906983e-01 -4.11627879e-02 -2.09528847e+02] [-6.29190229e-02 5.79594882e-05 9.98018634e-01 -1.80632449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60864 meters 0.02613989981590586 Centerline is valid? [True, True] Translation: X:313.76, Y:-209.57, Z:-18.07 [[ 7.49172127e-01 6.60569791e-01 4.88740784e-02 3.13762342e+02] [-6.59212748e-01 7.50764470e-01 -4.23233166e-02 -2.09572972e+02] [-6.46504260e-02 -5.10966433e-04 9.97907842e-01 -1.80655257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66864 meters 0.02631246177697845 Centerline is valid? [True, True] Translation: X:313.81, Y:-209.61, Z:-18.07 [[ 7.45863588e-01 6.64254978e-01 4.95260705e-02 3.13810420e+02] [-6.62866767e-01 7.47505631e-01 -4.29299535e-02 -2.09611952e+02] [-6.55374519e-02 -8.09297033e-04 9.97849782e-01 -1.80694638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72864 meters 0.026529572751110606 Centerline is valid? [True, True] Translation: X:313.86, Y:-209.65, Z:-18.07 [[ 7.42878669e-01 6.67612422e-01 4.92436595e-02 3.13859442e+02] [-6.66244667e-01 7.44508236e-01 -4.27262199e-02 -2.09649556e+02] [-6.51868652e-02 -1.06792812e-03 9.97872503e-01 -1.80720894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78863999999993 meters 0.026540634352311396 Centerline is valid? [True, True] Translation: X:313.91, Y:-209.69, Z:-18.07 [[ 7.41080327e-01 6.69493623e-01 5.07763432e-02 3.13910754e+02] [-6.68040802e-01 7.42816768e-01 -4.40991595e-02 -2.09685367e+02] [-6.72416253e-02 -1.23964943e-03 9.97735951e-01 -1.80745535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84863999999993 meters 0.02621842162901184 Centerline is valid? [True, True] Translation: X:313.96, Y:-209.72, Z:-18.08 [[ 7.44331727e-01 6.65943019e-01 4.99016597e-02 3.13961060e+02] [-6.64529180e-01 7.46002102e-01 -4.33800986e-02 -2.09722457e+02] [-6.61154169e-02 -8.71925288e-04 9.97811601e-01 -1.80800273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90863999999993 meters 0.02618468504075296 Centerline is valid? [True, True] Translation: X:314.01, Y:-209.76, Z:-18.08 [[ 7.46287096e-01 6.63745817e-01 4.99705989e-02 3.14011925e+02] [-6.62320366e-01 7.47957935e-01 -4.34817278e-02 -2.09759225e+02] [-6.62367208e-02 -6.46693009e-04 9.97803727e-01 -1.80817814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96863999999994 meters 0.026282675737414798 Centerline is valid? [True, True] Translation: X:314.06, Y:-209.80, Z:-18.09 [[ 7.47063256e-01 6.62889454e-01 4.97399570e-02 3.14061774e+02] [-6.61472500e-01 7.48717092e-01 -4.33226052e-02 -2.09796195e+02] [-6.59592540e-02 -5.36887167e-04 9.97822173e-01 -1.80858619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02863999999994 meters 0.026469985899940766 Centerline is valid? [True, True] Translation: X:314.11, Y:-209.84, Z:-18.09 [[ 7.47754087e-01 6.62098635e-01 4.98921148e-02 3.14110272e+02] [-6.60668300e-01 7.49416579e-01 -4.34992942e-02 -2.09835954e+02] [-6.61908012e-02 -4.35363644e-04 9.97806889e-01 -1.80885007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08863999999994 meters 0.02648495592544894 Centerline is valid? [True, True] Translation: X:314.16, Y:-209.87, Z:-18.09 [[ 7.49395616e-01 6.60292080e-01 4.91993832e-02 3.14159179e+02] [-6.58894358e-01 7.51008863e-01 -4.29407919e-02 -2.09874571e+02] [-6.53026377e-02 -2.37554803e-04 9.97865476e-01 -1.80913954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14863999999994 meters 0.026451562525652013 Centerline is valid? [True, True] Translation: X:314.21, Y:-209.91, Z:-18.09 [[ 7.50901568e-01 6.58676896e-01 4.78704617e-02 3.14206662e+02] [-6.57347900e-01 7.52425905e-01 -4.18209931e-02 -2.09914825e+02] [-6.35654974e-02 -6.40981353e-05 9.97977667e-01 -1.80936573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20863999999995 meters 0.026640100607206826 Centerline is valid? [True, True] Translation: X:314.26, Y:-209.95, Z:-18.10 [[ 7.51486319e-01 6.57921849e-01 4.90627392e-02 3.14256216e+02] [-6.56521370e-01 7.53086210e-01 -4.29051406e-02 -2.09953024e+02] [-6.51767018e-02 3.18894165e-05 9.97873738e-01 -1.80973005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26863999999995 meters 0.026760377691917126 Centerline is valid? [True, True] Translation: X:314.30, Y:-209.99, Z:-18.10 [[ 7.49815952e-01 6.59630081e-01 5.16158356e-02 3.14303664e+02] [-6.58080805e-01 7.51590413e-01 -4.51830181e-02 -2.09993543e+02] [-6.85980450e-02 -8.84428593e-05 9.97644376e-01 -1.81007661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32863999999995 meters 0.026699283528316 Centerline is valid? [True, True] Translation: X:314.35, Y:-210.03, Z:-18.10 [[ 7.49887219e-01 6.59749960e-01 4.89811023e-02 3.14352377e+02] [-6.58352633e-01 7.51485187e-01 -4.29164826e-02 -2.10032505e+02] [-6.51227205e-02 -6.43159472e-05 9.97877261e-01 -1.81042468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38863999999995 meters 0.026476317815128315 Centerline is valid? [True, True] Translation: X:314.40, Y:-210.07, Z:-18.11 [[ 7.50032406e-01 6.59665262e-01 4.78866485e-02 3.14399139e+02] [-6.58327041e-01 7.51559539e-01 -4.19972151e-02 -2.10073161e+02] [-6.36937714e-02 -2.58032515e-05 9.97969490e-01 -1.81060573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44863999999995 meters 0.026531582250951525 Centerline is valid? [True, True] Translation: X:314.45, Y:-210.11, Z:-18.11 [[ 7.50879680e-01 6.58719630e-01 4.76251516e-02 3.14447666e+02] [-6.57391428e-01 7.52388491e-01 -4.18099160e-02 -2.10113629e+02] [-6.33736283e-02 8.58498994e-05 9.97989868e-01 -1.81084315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50863999999996 meters 0.026578842547845413 Centerline is valid? [True, True] Translation: X:314.50, Y:-210.15, Z:-18.11 [[ 7.50524751e-01 6.58986553e-01 4.94906170e-02 3.14495205e+02] [-6.57549567e-01 7.52154714e-01 -4.34954525e-02 -2.10153595e+02] [-6.58875191e-02 1.01879896e-04 9.97827051e-01 -1.81111036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56863999999996 meters 0.026484773398668983 Centerline is valid? [True, True] Translation: X:314.54, Y:-210.19, Z:-18.11 [[ 7.50789441e-01 6.58848761e-01 4.72601978e-02 3.14543051e+02] [-6.57535788e-01 7.52275409e-01 -4.15739843e-02 -2.10193140e+02] [-6.29436526e-02 1.38037021e-04 9.98017073e-01 -1.81138081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62863999999996 meters 0.026507760104860896 Centerline is valid? [True, True] Translation: X:314.59, Y:-210.23, Z:-18.12 [[ 7.48819149e-01 6.61141807e-01 4.64907877e-02 3.14589194e+02] [-6.59873275e-01 7.50260962e-01 -4.09359301e-02 -2.10234463e+02] [-6.19446779e-02 -2.44199561e-05 9.98079584e-01 -1.81154946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68863999999996 meters 0.02646195949881357 Centerline is valid? [True, True] Translation: X:314.64, Y:-210.28, Z:-18.12 [[ 7.46015611e-01 6.64250100e-01 4.72494780e-02 3.14636400e+02] [-6.62943421e-01 7.47510361e-01 -4.16447100e-02 -2.10275452e+02] [-6.29819772e-02 -2.56126806e-04 9.98014632e-01 -1.81186739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74863999999997 meters 0.026458180233452325 Centerline is valid? [True, True] Translation: X:314.68, Y:-210.32, Z:-18.12 [[ 7.42990284e-01 6.67647691e-01 4.70318895e-02 3.14684151e+02] [-6.66357184e-01 7.44477200e-01 -4.14946142e-02 -2.10315737e+02] [-6.27179528e-02 -5.09942251e-04 9.98031161e-01 -1.81235927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80863999999997 meters 0.026440481948404256 Centerline is valid? [True, True] Translation: X:314.73, Y:-210.36, Z:-18.12 [[ 7.41508033e-01 6.69301158e-01 4.69233043e-02 3.14732654e+02] [-6.68017006e-01 7.42990971e-01 -4.14450993e-02 -2.10355943e+02] [-6.26028444e-02 -6.13691171e-04 9.98038330e-01 -1.81246000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86863999999997 meters 0.026376350446128502 Centerline is valid? [True, True] Translation: X:314.78, Y:-210.39, Z:-18.13 [[ 7.39658375e-01 6.71257282e-01 4.81575467e-02 3.14782103e+02] [-6.69905762e-01 7.41224039e-01 -4.25816202e-02 -2.10393224e+02] [-6.42787539e-02 -7.65166023e-04 9.97931689e-01 -1.81266570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92864 meters 0.02657147518910282 Centerline is valid? [True, True] Translation: X:314.83, Y:-210.43, Z:-18.13 [[ 7.39622165e-01 6.71309339e-01 4.79877516e-02 3.14829737e+02] [-6.69964708e-01 7.41176923e-01 -4.24742271e-02 -2.10433563e+02] [-6.40807594e-02 -7.35220145e-04 9.97944445e-01 -1.81308796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98864 meters 0.02647288048908391 Centerline is valid? [True, True] Translation: X:314.88, Y:-210.47, Z:-18.13 [[ 7.40677599e-01 6.70156187e-01 4.78265633e-02 3.14878638e+02] [-6.68815289e-01 7.42219863e-01 -4.23766827e-02 -2.10472484e+02] [-6.38968213e-02 -5.99677190e-04 9.97956330e-01 -1.81318972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04864 meters 0.026265900656357068 Centerline is valid? [True, True] Translation: X:314.93, Y:-210.51, Z:-18.13 [[ 7.42180529e-01 6.68629859e-01 4.58494812e-02 3.14926684e+02] [-6.67392371e-01 7.43595277e-01 -4.06631066e-02 -2.10512347e+02] [-6.12820249e-02 -4.20228041e-04 9.98120402e-01 -1.81348498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10864 meters 0.026104730458669574 Centerline is valid? [True, True] Translation: X:314.97, Y:-210.55, Z:-18.14 [[ 7.45386254e-01 6.65100195e-01 4.51781294e-02 3.14972719e+02] [-6.63889884e-01 7.46754123e-01 -4.01061179e-02 -2.10553375e+02] [-6.04115412e-02 -9.87541598e-05 9.98173550e-01 -1.81380405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16864 meters 0.025851463046860163 Centerline is valid? [True, True] Translation: X:315.02, Y:-210.59, Z:-18.14 [[ 7.47531153e-01 6.62690981e-01 4.51424218e-02 3.15019827e+02] [-6.61475747e-01 7.48892948e-01 -4.01146882e-02 -2.10594923e+02] [-6.03904834e-02 1.26361950e-04 9.98174821e-01 -1.81417425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22864 meters 0.025889181302928804 Centerline is valid? [True, True] Translation: X:315.06, Y:-210.64, Z:-18.15 [[ 7.48700630e-01 6.61434132e-01 4.41843346e-02 3.15064800e+02] [-6.60265262e-01 7.50003216e-01 -3.93059787e-02 -2.10638766e+02] [-5.91367090e-02 2.55029722e-04 9.98249861e-01 -1.81462665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28863999999993 meters 0.025818632096979318 Centerline is valid? [True, True] Translation: X:315.11, Y:-210.68, Z:-18.15 [[ 7.48463979e-01 6.61616414e-01 4.54466023e-02 3.15109160e+02] [-6.60377414e-01 7.49842412e-01 -4.04725639e-02 -2.10682248e+02] [-6.08551025e-02 2.80346500e-04 9.98146571e-01 -1.81487177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34863999999993 meters 0.025841644095334893 Centerline is valid? [True, True] Translation: X:315.15, Y:-210.73, Z:-18.15 [[ 7.46470104e-01 6.63803688e-01 4.63362562e-02 3.15153799e+02] [-6.62517274e-01 7.47906843e-01 -4.13063634e-02 -2.10726381e+02] [-6.20745194e-02 1.35395259e-04 9.98071508e-01 -1.81514515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40863999999993 meters 0.02580659727046331 Centerline is valid? [True, True] Translation: X:315.20, Y:-210.77, Z:-18.15 [[ 7.45315780e-01 6.65030312e-01 4.73188315e-02 3.15198958e+02] [-6.63688183e-01 7.46816362e-01 -4.22293295e-02 -2.10770197e+02] [-6.34222618e-02 6.92363719e-05 9.97986779e-01 -1.81545649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46863999999994 meters 0.02571830537871659 Centerline is valid? [True, True] Translation: X:315.24, Y:-210.82, Z:-18.15 [[ 7.44421361e-01 6.66085646e-01 4.65483532e-02 3.15242538e+02] [-6.64786153e-01 7.45875266e-01 -4.15867684e-02 -2.10816547e+02] [-6.24196148e-02 1.33780482e-05 9.98049994e-01 -1.81549781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52863999999994 meters 0.02595800833554913 Centerline is valid? [True, True] Translation: X:315.29, Y:-210.86, Z:-18.16 [[ 7.44167937e-01 6.66247125e-01 4.82581552e-02 3.15286834e+02] [-6.64847598e-01 7.45731028e-01 -4.31613819e-02 -2.10860430e+02] [-6.47437503e-02 3.49979823e-05 9.97901922e-01 -1.81585462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58863999999994 meters 0.02590460578674901 Centerline is valid? [True, True] Translation: X:315.33, Y:-210.91, Z:-18.16 [[ 7.43941236e-01 6.66532081e-01 4.78165416e-02 3.15331385e+02] [-6.65155923e-01 7.45476346e-01 -4.28090504e-02 -2.10905033e+02] [-6.41797062e-02 4.19620067e-05 9.97938357e-01 -1.81597171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64863999999994 meters 0.025945727615317885 Centerline is valid? [True, True] Translation: X:315.38, Y:-210.95, Z:-18.16 [[ 7.42403828e-01 6.68273088e-01 4.74092282e-02 3.15375077e+02] [-6.66920882e-01 7.43916040e-01 -4.24907442e-02 -2.10950313e+02] [-6.36639062e-02 -7.29131129e-05 9.97971393e-01 -1.81627592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70863999999995 meters 0.02573290143859442 Centerline is valid? [True, True] Translation: X:315.42, Y:-210.99, Z:-18.17 [[ 7.40428207e-01 6.70350403e-01 4.89531268e-02 3.15420091e+02] [-6.68909985e-01 7.42044667e-01 -4.39220296e-02 -2.10992684e+02] [-6.57685569e-02 -2.24125681e-04 9.97834879e-01 -1.81658077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76863999999995 meters 0.025827855200978637 Centerline is valid? [True, True] Translation: X:315.46, Y:-211.04, Z:-18.17 [[ 7.39656821e-01 6.71278287e-01 4.78878774e-02 3.15464674e+02] [-6.69899254e-01 7.41205362e-01 -4.30069863e-02 -2.11035557e+02] [-6.43644076e-02 -2.69642612e-04 9.97926425e-01 -1.81707507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82863999999995 meters 0.025685159703472887 Centerline is valid? [True, True] Translation: X:315.51, Y:-211.08, Z:-18.17 [[ 7.42751617e-01 6.67999279e-01 4.57929953e-02 3.15509222e+02] [-6.66729740e-01 7.44161919e-01 -4.11642251e-02 -2.11079306e+02] [-6.15750759e-02 4.32428989e-05 9.98102454e-01 -1.81711990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88863999999995 meters 0.025640461708104138 Centerline is valid? [True, True] Translation: X:315.55, Y:-211.12, Z:-18.17 [[ 7.43678535e-01 6.66890351e-01 4.68987966e-02 3.15552229e+02] [-6.65553849e-01 7.45155844e-01 -4.22000316e-02 -2.11124960e+02] [-6.30897062e-02 1.69583049e-04 9.98007846e-01 -1.81746755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94863999999995 meters 0.02571225207691958 Centerline is valid? [True, True] Translation: X:315.60, Y:-211.17, Z:-18.18 [[ 7.42500599e-01 6.68149691e-01 4.76324588e-02 3.15597044e+02] [-6.66770781e-01 7.44026869e-01 -4.29038874e-02 -2.11168638e+02] [-6.41060483e-02 9.62303731e-05 9.97943087e-01 -1.81768713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00863999999996 meters 0.02573360511684685 Centerline is valid? [True, True] Translation: X:315.64, Y:-211.21, Z:-18.18 [[ 7.36847056e-01 6.74524794e-01 4.55271138e-02 3.15641725e+02] [-6.73274650e-01 7.38252083e-01 -4.10500592e-02 -2.11211757e+02] [-6.12997693e-02 -4.04636295e-04 9.98119319e-01 -1.81793141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06863999999996 meters 0.025700535564605966 Centerline is valid? [True, True] Translation: X:315.69, Y:-211.25, Z:-18.18 [[ 7.35061378e-01 6.76472581e-01 4.54930440e-02 3.15688734e+02] [-6.75225501e-01 7.36467623e-01 -4.10604936e-02 -2.11254209e+02] [-6.12804520e-02 -5.36080407e-04 9.98120443e-01 -1.81805568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12863999999996 meters 0.026034354051878286 Centerline is valid? [True, True] Translation: X:315.74, Y:-211.29, Z:-18.18 [[ 7.31015309e-01 6.80721473e-01 4.72746712e-02 3.15738978e+02] [-6.79380907e-01 7.32541789e-01 -4.27095923e-02 -2.11290490e+02] [-6.37040088e-02 -8.96143236e-04 9.97968434e-01 -1.81835359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18863999999996 meters 0.026856832959826115 Centerline is valid? [True, True] Translation: X:315.79, Y:-211.33, Z:-18.19 [[ 7.24879598e-01 6.87282587e-01 4.68210864e-02 3.15789816e+02] [-6.85979549e-01 7.26388725e-01 -4.23258666e-02 -2.11326950e+02] [-6.31001404e-02 -1.43715058e-03 9.98006166e-01 -1.81872075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24863999999997 meters 0.02774957382217958 Centerline is valid? [True, True] Translation: X:315.85, Y:-211.36, Z:-18.19 [[ 7.18708145e-01 6.93768700e-01 4.62989605e-02 3.15846502e+02] [-6.92505563e-01 7.20195230e-01 -4.18912373e-02 -2.11356376e+02] [-6.24071198e-02 -1.95471423e-03 9.98048862e-01 -1.81894687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30863999999997 meters 0.027939343448861276 Centerline is valid? [True, True] Translation: X:315.90, Y:-211.39, Z:-18.19 [[ 7.17509528e-01 6.95026240e-01 4.60282874e-02 3.15895353e+02] [-6.93778153e-01 7.18981517e-01 -4.16827595e-02 -2.11394831e+02] [-6.20640995e-02 -2.02564316e-03 9.98070110e-01 -1.81922411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36863999999997 meters 0.027614735064739347 Centerline is valid? [True, True] Translation: X:315.96, Y:-211.42, Z:-18.19 [[ 7.18757204e-01 6.93675736e-01 4.69260653e-02 3.15956465e+02] [-6.92373060e-01 7.20284871e-01 -4.25352889e-02 -2.11420528e+02] [-6.33058327e-02 -1.91779816e-03 9.97992331e-01 -1.81939725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42864 meters 0.02680855948381064 Centerline is valid? [True, True] Translation: X:316.01, Y:-211.46, Z:-18.20 [[ 7.22244116e-01 6.90052014e-01 4.68151201e-02 3.16008930e+02] [-6.88745385e-01 7.23758083e-01 -4.24739102e-02 -2.11455305e+02] [-6.31920288e-02 -1.56716616e-03 9.98000156e-01 -1.81962189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48864 meters 0.02616537595368595 Centerline is valid? [True, True] Translation: X:316.06, Y:-211.49, Z:-18.20 [[ 7.25813274e-01 6.86383204e-01 4.55322725e-02 3.16062620e+02] [-6.85137686e-01 7.27239089e-01 -4.13480177e-02 -2.11488372e+02] [-6.14934333e-02 -1.18493568e-03 9.98106785e-01 -1.81997342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54864 meters 0.025892390006833108 Centerline is valid? [True, True] Translation: X:316.11, Y:-211.53, Z:-18.20 [[ 7.28412186e-01 6.83575689e-01 4.62597586e-02 3.16112520e+02] [-6.82281799e-01 7.29879036e-01 -4.20492448e-02 -2.11525961e+02] [-6.25078695e-02 -9.33009037e-04 9.98044035e-01 -1.82032268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60864 meters 0.025650128724886655 Centerline is valid? [True, True] Translation: X:316.16, Y:-211.56, Z:-18.21 [[ 7.32892693e-01 6.78696795e-01 4.73176634e-02 3.16161639e+02] [-6.77330062e-01 7.34418419e-01 -4.30531404e-02 -2.11563883e+02] [-6.39709919e-02 -4.96343928e-04 9.97951635e-01 -1.82056007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66864 meters 0.025623757474135395 Centerline is valid? [True, True] Translation: X:316.21, Y:-211.61, Z:-18.21 [[ 7.35564172e-01 6.75886294e-01 4.60767506e-02 3.16206114e+02] [-6.74582373e-01 7.37005883e-01 -4.19636883e-02 -2.11606555e+02] [-6.23215180e-02 -2.15578137e-04 9.98056102e-01 -1.82107418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72864 meters 0.025442767065130524 Centerline is valid? [True, True] Translation: X:316.25, Y:-211.65, Z:-18.21 [[ 7.35413625e-01 6.76095756e-01 4.54018677e-02 3.16254305e+02] [-6.74827678e-01 7.36813741e-01 -4.13898099e-02 -2.11647018e+02] [-6.14361948e-02 -1.99806797e-04 9.98110993e-01 -1.82121743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78863999999993 meters 0.025465072817116775 Centerline is valid? [True, True] Translation: X:316.30, Y:-211.69, Z:-18.21 [[ 7.34460242e-01 6.77134105e-01 4.53602921e-02 3.16301248e+02] [-6.75867530e-01 7.35859593e-01 -4.13973670e-02 -2.11688402e+02] [-6.14103751e-02 -2.52828327e-04 9.98112570e-01 -1.82149609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84863999999993 meters 0.025699057318142173 Centerline is valid? [True, True] Translation: X:316.35, Y:-211.72, Z:-18.22 [[ 7.31517796e-01 6.80266186e-01 4.60394406e-02 3.16352265e+02] [-6.78964730e-01 7.32964990e-01 -4.20620902e-02 -2.11724988e+02] [-6.23587158e-02 -4.89988779e-04 9.98053681e-01 -1.82182246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90863999999993 meters 0.02582191059920015 Centerline is valid? [True, True] Translation: X:316.40, Y:-211.76, Z:-18.22 [[ 7.29315548e-01 6.82742462e-01 4.42895177e-02 3.16402055e+02] [-6.81540387e-01 7.30658821e-01 -4.05017166e-02 -2.11763221e+02] [-6.00127685e-02 -6.46563353e-04 9.98197400e-01 -1.82209360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96863999999994 meters 0.02606977437088185 Centerline is valid? [True, True] Translation: X:316.45, Y:-211.80, Z:-18.22 [[ 7.28612206e-01 6.83290304e-01 4.73139888e-02 3.16453846e+02] [-6.81916373e-01 7.30146468e-01 -4.33150855e-02 -2.11798359e+02] [-6.41429197e-02 -7.04283612e-04 9.97940474e-01 -1.82234525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02863999999994 meters 0.026183936126030236 Centerline is valid? [True, True] Translation: X:316.50, Y:-211.83, Z:-18.23 [[ 7.30201568e-01 6.81430232e-01 4.95833545e-02 3.16504111e+02] [-6.79913900e-01 7.31882882e-01 -4.54371580e-02 -2.11834852e+02] [-6.72514615e-02 -5.34127933e-04 9.97735915e-01 -1.82278499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08863999999994 meters 0.026338591735753723 Centerline is valid? [True, True] Translation: X:316.55, Y:-211.88, Z:-18.23 [[ 7.32088976e-01 6.79436245e-01 4.91133437e-02 3.16552064e+02] [-6.77941818e-01 7.33734479e-01 -4.50400560e-02 -2.11875195e+02] [-6.66380002e-02 -3.22660975e-04 9.97777166e-01 -1.82311938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14863999999994 meters 0.026482950625596666 Centerline is valid? [True, True] Translation: X:316.60, Y:-211.92, Z:-18.23 [[ 7.35673349e-01 6.75716355e-01 4.68201944e-02 3.16600434e+02] [-6.74349901e-01 7.37161724e-01 -4.29511803e-02 -2.11915074e+02] [-6.35368702e-02 2.48451968e-05 9.97979492e-01 -1.82340997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20863999999995 meters 0.02656337741839239 Centerline is valid? [True, True] Translation: X:316.65, Y:-211.96, Z:-18.24 [[ 7.36812710e-01 6.74462507e-01 4.69825319e-02 3.16646644e+02] [-6.73082474e-01 7.38309085e-01 -4.31239918e-02 -2.11957226e+02] [-6.37731457e-02 1.51186414e-04 9.97964410e-01 -1.82371886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26863999999995 meters 0.026893379733771584 Centerline is valid? [True, True] Translation: X:316.69, Y:-212.00, Z:-18.24 [[ 7.40143618e-01 6.70770769e-01 4.74763034e-02 3.16692107e+02] [-6.69350998e-01 7.41664558e-01 -4.36225292e-02 -2.11999450e+02] [-6.44722090e-02 5.08625564e-04 9.97919373e-01 -1.82407142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32863999999995 meters 0.027603269314910216 Centerline is valid? [True, True] Translation: X:316.74, Y:-212.04, Z:-18.24 [[ 7.44507711e-01 6.65856149e-01 4.84133878e-02 3.16736580e+02] [-6.64366523e-01 7.46079498e-01 -4.45253332e-02 -2.12043029e+02] [-6.57677030e-02 9.85219810e-04 9.97834475e-01 -1.82440381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38863999999995 meters 0.028416887751585292 Centerline is valid? [True, True] Translation: X:316.78, Y:-212.09, Z:-18.25 [[ 7.49444252e-01 6.60261693e-01 4.88652333e-02 3.16781184e+02] [-6.58730030e-01 7.51034087e-01 -4.49727378e-02 -2.12086716e+02] [-6.63932319e-02 1.51556319e-03 9.97792384e-01 -1.82471088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44863999999995 meters 0.02846682795272949 Centerline is valid? [True, True] Translation: X:316.82, Y:-212.13, Z:-18.25 [[ 7.50258079e-01 6.59456657e-01 4.72200335e-02 3.16823964e+02] [-6.58023579e-01 7.51740992e-01 -4.34793206e-02 -2.12133924e+02] [-6.41699622e-02 1.54881613e-03 9.97937782e-01 -1.82483559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50863999999996 meters 0.02840702401860701 Centerline is valid? [True, True] Translation: X:316.87, Y:-212.18, Z:-18.25 [[ 7.49258546e-01 6.60631085e-01 4.66712056e-02 3.16865471e+02] [-6.59230760e-01 7.50709284e-01 -4.30159947e-02 -2.12180373e+02] [-6.34542106e-02 1.46300734e-03 9.97983679e-01 -1.82522116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56863999999996 meters 0.028358762511143613 Centerline is valid? [True, True] Translation: X:316.91, Y:-212.23, Z:-18.26 [[ 7.48625504e-01 6.61265692e-01 4.78282273e-02 3.16907983e+02] [-6.59793557e-01 7.50150322e-01 -4.41243249e-02 -2.12227057e+02] [-6.50562624e-02 1.47583871e-03 9.97880506e-01 -1.82554741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62863999999996 meters 0.02882932214968766 Centerline is valid? [True, True] Translation: X:316.95, Y:-212.27, Z:-18.26 [[ 7.51049787e-01 6.58468795e-01 4.84051953e-02 3.16948483e+02] [-6.56952198e-01 7.52605943e-01 -4.47001651e-02 -2.12273966e+02] [-6.58637015e-02 1.77215007e-03 9.97827055e-01 -1.82575062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68863999999996 meters 0.028914917097246865 Centerline is valid? [True, True] Translation: X:316.99, Y:-212.32, Z:-18.26 [[ 7.51287858e-01 6.58269769e-01 4.74074537e-02 3.16992717e+02] [-6.56812242e-01 7.52780006e-01 -4.38171246e-02 -2.12319194e+02] [-6.45308718e-02 1.78147772e-03 9.97914121e-01 -1.82603485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74863999999997 meters 0.028259496401152814 Centerline is valid? [True, True] Translation: X:317.03, Y:-212.37, Z:-18.26 [[ 7.49332746e-01 6.60607591e-01 4.58044377e-02 3.17030851e+02] [-6.59248865e-01 7.50729768e-01 -4.23762739e-02 -2.12369119e+02] [-6.23808431e-02 1.55740609e-03 9.98051204e-01 -1.82628913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80863999999997 meters 0.028073951884938643 Centerline is valid? [True, True] Translation: X:317.07, Y:-212.42, Z:-18.26 [[ 7.47010514e-01 6.63063421e-01 4.81891259e-02 3.17071186e+02] [-6.61561611e-01 7.48561808e-01 -4.46257136e-02 -2.12418679e+02] [-6.56622175e-02 1.45580150e-03 9.97840846e-01 -1.82635840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86863999999997 meters 0.02795979783890916 Centerline is valid? [True, True] Translation: X:317.11, Y:-212.47, Z:-18.27 [[ 7.46127192e-01 6.63959011e-01 4.95241953e-02 3.17108972e+02] [-6.62371552e-01 7.47767563e-01 -4.59085801e-02 -2.12469904e+02] [-6.75140023e-02 1.45022180e-03 9.97717273e-01 -1.82668786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92864 meters 0.027926567703353753 Centerline is valid? [True, True] Translation: X:317.15, Y:-212.52, Z:-18.27 [[ 7.44739796e-01 6.65654604e-01 4.76086689e-02 3.17147600e+02] [-6.64188627e-01 7.46258884e-01 -4.41717726e-02 -2.12519087e+02] [-6.49315359e-02 1.27534046e-03 9.97888906e-01 -1.82685294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98864 meters 0.02774459087507788 Centerline is valid? [True, True] Translation: X:317.19, Y:-212.57, Z:-18.27 [[ 7.42109053e-01 6.68650067e-01 4.67037607e-02 3.17186572e+02] [-6.67242760e-01 7.43576520e-01 -4.33711602e-02 -2.12567840e+02] [-6.37279491e-02 1.02338443e-03 9.97966784e-01 -1.82718541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04864 meters 0.027585606166903445 Centerline is valid? [True, True] Translation: X:317.23, Y:-212.62, Z:-18.27 [[ 7.39622662e-01 6.71322127e-01 4.78008388e-02 3.17228051e+02] [-6.69850579e-01 7.41165224e-01 -4.44332344e-02 -2.12615758e+02] [-6.52573327e-02 8.44407549e-04 9.97868111e-01 -1.82747680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10864 meters 0.02760775594181381 Centerline is valid? [True, True] Translation: X:317.27, Y:-212.66, Z:-18.28 [[ 7.37881614e-01 6.73132239e-01 4.92312176e-02 3.17271043e+02] [-6.71571875e-01 7.39521764e-01 -4.58124173e-02 -2.12662231e+02] [-6.72453718e-02 7.41839307e-04 9.97736192e-01 -1.82796776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16864 meters 0.027965546863988746 Centerline is valid? [True, True] Translation: X:317.31, Y:-212.71, Z:-18.28 [[ 7.38243760e-01 6.72835845e-01 4.78338412e-02 3.17313730e+02] [-6.71359342e-01 7.39791401e-01 -4.45569017e-02 -2.12707341e+02] [-6.53665450e-02 7.80158470e-04 9.97861015e-01 -1.82822551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2286399999999 meters 0.0278740616158509 Centerline is valid? [True, True] Translation: X:317.36, Y:-212.75, Z:-18.28 [[ 7.38118415e-01 6.73036009e-01 4.69439653e-02 3.17358418e+02] [-6.71611791e-01 7.39609306e-01 -4.37684552e-02 -2.12750926e+02] [-6.41779400e-02 7.78182196e-04 9.97938168e-01 -1.82847168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28863999999993 meters 0.027794749029339347 Centerline is valid? [True, True] Translation: X:317.40, Y:-212.80, Z:-18.29 [[ 7.37137741e-01 6.74101047e-01 4.70715365e-02 3.17401845e+02] [-6.72668432e-01 7.38638789e-01 -4.39308518e-02 -2.12797215e+02] [-6.43826959e-02 7.19552215e-04 9.97925023e-01 -1.82874859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34863999999993 meters 0.027496029634571057 Centerline is valid? [True, True] Translation: X:317.44, Y:-212.84, Z:-18.29 [[ 7.34442542e-01 6.76971262e-01 4.80006568e-02 3.17444981e+02] [-6.75484309e-01 7.36009271e-01 -4.48475479e-02 -2.12843381e+02] [-6.56894295e-02 5.14256639e-04 9.97839984e-01 -1.82890652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40863999999993 meters 0.027406815601545665 Centerline is valid? [True, True] Translation: X:317.49, Y:-212.89, Z:-18.29 [[ 7.29582085e-01 6.82232839e-01 4.76270395e-02 3.17487511e+02] [-6.80777027e-01 7.31134972e-01 -4.45453927e-02 -2.12888415e+02] [-6.52121239e-02 7.61260560e-05 9.97871421e-01 -1.82911880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46863999999994 meters 0.027424378209536703 Centerline is valid? [True, True] Translation: X:317.53, Y:-212.93, Z:-18.29 [[ 7.25308989e-01 6.86768004e-01 4.77135115e-02 3.17530150e+02] [-6.85313685e-01 7.26876620e-01 -4.46713896e-02 -2.12934655e+02] [-6.53607170e-02 -2.98161894e-04 9.97861658e-01 -1.82920631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52863999999994 meters 0.027694093577930238 Centerline is valid? [True, True] Translation: X:317.57, Y:-212.98, Z:-18.30 [[ 7.22195204e-01 6.89957671e-01 4.89131739e-02 3.17572982e+02] [-6.88433167e-01 7.23849496e-01 -4.58441122e-02 -2.12979968e+02] [-6.70362731e-02 -5.65053211e-04 9.97750379e-01 -1.82952972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58863999999994 meters 0.027901537706619486 Centerline is valid? [True, True] Translation: X:317.62, Y:-213.02, Z:-18.30 [[ 7.19928938e-01 6.92375731e-01 4.81473986e-02 3.17617073e+02] [-6.90901043e-01 7.21536757e-01 -4.51714172e-02 -2.13024826e+02] [-6.60157109e-02 -7.44877509e-04 9.97818306e-01 -1.82987997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64863999999994 meters 0.027994435203792113 Centerline is valid? [True, True] Translation: X:317.66, Y:-213.07, Z:-18.30 [[ 7.17834635e-01 6.94539883e-01 4.82471449e-02 3.17661454e+02] [-6.93060774e-01 7.19453626e-01 -4.53127251e-02 -2.13068188e+02] [-6.61830781e-02 -9.11160058e-04 9.97807081e-01 -1.83002271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70863999999995 meters 0.027900892875144506 Centerline is valid? [True, True] Translation: X:317.71, Y:-213.11, Z:-18.30 [[ 7.18761782e-01 6.93605850e-01 4.78792899e-02 3.17706335e+02] [-6.92144367e-01 7.20354291e-01 -4.50096837e-02 -2.13110605e+02] [-6.57090319e-02 -7.88140348e-04 9.97838515e-01 -1.83022668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76863999999995 meters 0.027520921048900148 Centerline is valid? [True, True] Translation: X:317.75, Y:-213.15, Z:-18.30 [[ 7.19995145e-01 6.92396342e-01 4.68433128e-02 3.17751188e+02] [-6.90992277e-01 7.21517085e-01 -4.40768520e-02 -2.13154005e+02] [-6.43169017e-02 -6.33247946e-04 9.97929324e-01 -1.83040525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82863999999995 meters 0.027660783980699894 Centerline is valid? [True, True] Translation: X:317.80, Y:-213.20, Z:-18.31 [[ 7.20218374e-01 6.92146633e-01 4.71013057e-02 3.17796096e+02] [-6.90723640e-01 7.21756676e-01 -4.43638734e-02 -2.13197822e+02] [-6.47019874e-02 -5.82308578e-04 9.97904461e-01 -1.83063868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88863999999995 meters 0.02760377877918238 Centerline is valid? [True, True] Translation: X:317.84, Y:-213.24, Z:-18.31 [[ 7.18420050e-01 6.93970959e-01 4.77172959e-02 3.17844148e+02] [-6.92511341e-01 7.20002630e-01 -4.49917199e-02 -2.13237743e+02] [-6.55795256e-02 -7.21814902e-04 9.97847085e-01 -1.83079916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94863999999995 meters 0.027589346224699097 Centerline is valid? [True, True] Translation: X:317.89, Y:-213.28, Z:-18.31 [[ 7.15808969e-01 6.96692463e-01 4.72983354e-02 3.17891935e+02] [-6.95261547e-01 7.17369322e-01 -4.46389671e-02 -2.13278182e+02] [-6.50300067e-02 -9.31740842e-04 9.97882874e-01 -1.83115848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00863999999996 meters 0.027647652408233716 Centerline is valid? [True, True] Translation: X:317.94, Y:-213.32, Z:-18.31 [[ 7.14464607e-01 6.98090581e-01 4.70092133e-02 3.17942027e+02] [-6.96677268e-01 7.16008728e-01 -4.44104194e-02 -2.13316843e+02] [-6.46615026e-02 -1.02057748e-03 9.97906733e-01 -1.83143261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06863999999996 meters 0.027269870808119136 Centerline is valid? [True, True] Translation: X:317.99, Y:-213.36, Z:-18.32 [[ 7.18133059e-01 6.94237995e-01 4.81509689e-02 3.17990597e+02] [-6.92743202e-01 7.19745218e-01 -4.55376547e-02 -2.13356056e+02] [-6.62703996e-02 -6.54161126e-04 9.97801486e-01 -1.83176443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12863999999996 meters 0.02721412586093709 Centerline is valid? [True, True] Translation: X:318.04, Y:-213.40, Z:-18.32 [[ 7.21280341e-01 6.90991285e-01 4.78091416e-02 3.18037065e+02] [-6.89507671e-01 7.22863016e-01 -4.52573854e-02 -2.13397368e+02] [-6.58319192e-02 -3.21507507e-04 9.97830675e-01 -1.83209459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18863999999996 meters 0.027006159041895683 Centerline is valid? [True, True] Translation: X:318.08, Y:-213.44, Z:-18.32 [[ 7.28088882e-01 6.83878945e-01 4.68632927e-02 3.18081867e+02] [-6.82435827e-01 7.29595413e-01 -4.44058011e-02 -2.13441290e+02] [-6.45594357e-02 3.50180152e-04 9.97913802e-01 -1.83214944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24863999999997 meters 0.026889397732417747 Centerline is valid? [True, True] Translation: X:318.12, Y:-213.49, Z:-18.32 [[ 7.28567154e-01 6.83351280e-01 4.71267497e-02 3.18124678e+02] [-6.81887558e-01 7.30089610e-01 -4.47047948e-02 -2.13487105e+02] [-6.49558290e-02 4.35300827e-04 9.97888045e-01 -1.83239399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30863999999997 meters 0.026619342480795418 Centerline is valid? [True, True] Translation: X:318.17, Y:-213.54, Z:-18.33 [[ 7.24375728e-01 6.87715297e-01 4.82439192e-02 3.18165160e+02] [-6.86187509e-01 7.25980484e-01 -4.58152671e-02 -2.13535866e+02] [-6.65320038e-02 8.30927672e-05 9.97784288e-01 -1.83256826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36863999999997 meters 0.026740418936528697 Centerline is valid? [True, True] Translation: X:318.21, Y:-213.58, Z:-18.33 [[ 7.16832940e-01 6.95574309e-01 4.82381295e-02 3.18207922e+02] [-6.94061274e-01 7.18453903e-01 -4.58577787e-02 -2.13581184e+02] [-6.65543652e-02 -6.07851276e-04 9.97782615e-01 -1.83285438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42864 meters 0.026665223746979903 Centerline is valid? [True, True] Translation: X:318.25, Y:-213.62, Z:-18.33 [[ 7.13298671e-01 6.99213603e-01 4.80139999e-02 3.18253346e+02] [-6.97719928e-01 7.14912238e-01 -4.56880099e-02 -2.13622997e+02] [-6.62714741e-02 -9.11127869e-04 9.97801213e-01 -1.83304562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48864 meters 0.026750535357786268 Centerline is valid? [True, True] Translation: X:318.30, Y:-213.67, Z:-18.34 [[ 7.10266564e-01 7.02268473e-01 4.83776796e-02 3.18296732e+02] [-7.00756241e-01 7.11911239e-01 -4.60768726e-02 -2.13666603e+02] [-6.67989488e-02 -1.17409900e-03 9.97765765e-01 -1.83370297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54864 meters 0.0265674571680143 Centerline is valid? [True, True] Translation: X:318.34, Y:-213.71, Z:-18.34 [[ 7.11038027e-01 7.01473538e-01 4.85777622e-02 3.18342851e+02] [-6.99944106e-01 7.12694690e-01 -4.63090429e-02 -2.13708153e+02] [-6.71056814e-02 -1.07422778e-03 9.97745295e-01 -1.83385536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60864 meters 0.026401792349105335 Centerline is valid? [True, True] Translation: X:318.39, Y:-213.75, Z:-18.34 [[ 7.11634904e-01 7.00929839e-01 4.76773039e-02 3.18388854e+02] [-6.99452644e-01 7.13229565e-01 -4.54926968e-02 -2.13750365e+02] [-6.58920514e-02 -9.73825363e-04 9.97826282e-01 -1.83414015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66864 meters 0.026379260740916666 Centerline is valid? [True, True] Translation: X:318.43, Y:-213.79, Z:-18.34 [[ 7.11321389e-01 7.01169264e-01 4.88215669e-02 3.18433712e+02] [-6.99617781e-01 7.12994171e-01 -4.66291017e-02 -2.13793872e+02] [-6.75043855e-02 -9.88158931e-04 9.97718488e-01 -1.83447452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7286399999999 meters 0.02620249216756309 Centerline is valid? [True, True] Translation: X:318.48, Y:-213.84, Z:-18.35 [[ 7.11596342e-01 7.00948542e-01 4.79769502e-02 3.18479228e+02] [-6.99446998e-01 7.13211256e-01 -4.58650462e-02 -2.13835668e+02] [-6.63667381e-02 -9.19934708e-04 9.97794874e-01 -1.83480201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78863999999993 meters 0.026280152550065886 Centerline is valid? [True, True] Translation: X:318.52, Y:-213.88, Z:-18.35 [[ 7.10771481e-01 7.01622884e-01 5.02914544e-02 3.18524477e+02] [-6.99971221e-01 7.12547777e-01 -4.81243740e-02 -2.13877748e+02] [-6.96002261e-02 -9.97138167e-04 9.97574466e-01 -1.83532868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84863999999993 meters 0.026360905279512546 Centerline is valid? [True, True] Translation: X:318.57, Y:-213.92, Z:-18.36 [[ 7.09177977e-01 7.03198032e-01 5.07850840e-02 3.18570139e+02] [-7.01514596e-01 7.10993143e-01 -4.86417729e-02 -2.13919119e+02] [-7.03126455e-02 -1.13080354e-03 9.97524362e-01 -1.83555272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90863999999993 meters 0.026837164985302885 Centerline is valid? [True, True] Translation: X:318.62, Y:-213.96, Z:-18.36 [[ 7.06410511e-01 7.05917972e-01 5.16140167e-02 3.18617845e+02] [-7.04183052e-01 7.08292228e-01 -4.94807956e-02 -2.13959597e+02] [-7.14871897e-02 -1.39196170e-03 9.97440547e-01 -1.83586652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96863999999994 meters 0.027235143409809315 Centerline is valid? [True, True] Translation: X:318.67, Y:-214.00, Z:-18.36 [[ 7.03155640e-01 7.09144558e-01 5.18279990e-02 3.18665634e+02] [-7.07400544e-01 7.05061081e-01 -4.97327034e-02 -2.13999348e+02] [-7.18095810e-02 -1.69332383e-03 9.97416922e-01 -1.83626594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02863999999994 meters 0.027904979770243924 Centerline is valid? [True, True] Translation: X:318.72, Y:-214.04, Z:-18.36 [[ 6.98069261e-01 7.14124456e-01 5.22069857e-02 3.18716849e+02] [-7.12365337e-01 7.00015338e-01 -5.01413421e-02 -2.14035252e+02] [-7.23528494e-02 -2.18831733e-03 9.97376697e-01 -1.83644292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08863999999994 meters 0.0280710062537759 Centerline is valid? [True, True] Translation: X:318.76, Y:-214.07, Z:-18.37 [[ 6.96009311e-01 7.16098663e-01 5.26663405e-02 3.18764257e+02] [-7.14310889e-01 6.97994999e-01 -5.06254361e-02 -2.14074968e+02] [-7.30136494e-02 -2.38436560e-03 9.97328091e-01 -1.83674127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14863999999994 meters 0.028596993129418987 Centerline is valid? [True, True] Translation: X:318.82, Y:-214.11, Z:-18.37 [[ 6.93671761e-01 7.18244914e-01 5.42561678e-02 3.18817291e+02] [-7.16351194e-01 6.95785275e-01 -5.21902079e-02 -2.14108531e+02] [-7.52359940e-02 -2.66359717e-03 9.97162199e-01 -1.83712768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20863999999995 meters 0.028325862944368056 Centerline is valid? [True, True] Translation: X:318.87, Y:-214.14, Z:-18.37 [[ 6.95540755e-01 7.16514129e-01 5.32030177e-02 3.18872688e+02] [-7.14686757e-01 6.97568403e-01 -5.11972946e-02 -2.14141185e+02] [-7.37963291e-02 -2.41368722e-03 9.97270413e-01 -1.83745166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26863999999995 meters 0.02801138081340159 Centerline is valid? [True, True] Translation: X:318.93, Y:-214.17, Z:-18.38 [[ 6.98715960e-01 7.13481973e-01 5.23400547e-02 3.18927479e+02] [-7.11704041e-01 7.00670588e-01 -5.03794113e-02 -2.14172455e+02] [-7.26179386e-02 -2.04972976e-03 9.97357726e-01 -1.83765527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32863999999995 meters 0.027520596070671432 Centerline is valid? [True, True] Translation: X:318.98, Y:-214.20, Z:-18.38 [[ 6.99957902e-01 7.12245327e-01 5.25883034e-02 3.18982017e+02] [-7.10445378e-01 7.01928007e-01 -5.06402833e-02 -2.14204731e+02] [-7.29815081e-02 -1.91505062e-03 9.97331455e-01 -1.83805136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38863999999995 meters 0.027386418008683574 Centerline is valid? [True, True] Translation: X:319.03, Y:-214.24, Z:-18.38 [[ 7.01732070e-01 7.10557752e-01 5.17666134e-02 3.19034343e+02] [-7.08805793e-01 7.03636880e-01 -4.98947751e-02 -2.14239955e+02] [-7.18780176e-02 -1.67971161e-03 9.97412016e-01 -1.83846253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44863999999995 meters 0.02720710181945041 Centerline is valid? [True, True] Translation: X:319.09, Y:-214.27, Z:-18.39 [[ 7.06261813e-01 7.05979657e-01 5.27918224e-02 3.19087735e+02] [-7.04142005e-01 7.08231078e-01 -5.09193219e-02 -2.14274796e+02] [-7.33368147e-02 -1.21056707e-03 9.97306496e-01 -1.83870366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50863999999996 meters 0.026879589412129326 Centerline is valid? [True, True] Translation: X:319.14, Y:-214.31, Z:-18.39 [[ 7.12620840e-01 6.99690109e-01 5.10420352e-02 3.19136518e+02] [-6.97955165e-01 7.14446267e-01 -4.92455077e-02 -2.14313048e+02] [-7.09233862e-02 -5.31677023e-04 9.97481624e-01 -1.83896302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56863999999996 meters 0.027060778268720866 Centerline is valid? [True, True] Translation: X:319.18, Y:-214.35, Z:-18.39 [[ 7.15216419e-01 6.97046059e-01 5.09142987e-02 3.19183505e+02] [-6.95311443e-01 7.17026309e-01 -4.91453842e-02 -2.14353804e+02] [-7.07634880e-02 -2.51708879e-04 9.97493090e-01 -1.83924116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62863999999996 meters 0.02713057013840801 Centerline is valid? [True, True] Translation: X:319.23, Y:-214.39, Z:-18.39 [[ 7.19936817e-01 6.92296866e-01 4.91531131e-02 3.19232269e+02] [-6.90666668e-01 7.21612773e-01 -4.74822129e-02 -2.14393564e+02] [-6.83413014e-02 2.35776448e-04 9.97661972e-01 -1.83945773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68863999999996 meters 0.02730055784064029 Centerline is valid? [True, True] Translation: X:319.28, Y:-214.44, Z:-18.40 [[ 7.21004286e-01 6.91135854e-01 4.98402584e-02 3.19278344e+02] [-6.89454729e-01 7.22724769e-01 -4.81776374e-02 -2.14436035e+02] [-6.93180818e-02 3.73681189e-04 9.97594539e-01 -1.83965462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74863999999997 meters 0.02726344395137267 Centerline is valid? [True, True] Translation: X:319.32, Y:-214.48, Z:-18.40 [[ 7.20120480e-01 6.92129764e-01 4.88147966e-02 3.19322258e+02] [-6.90516545e-01 7.21773024e-01 -4.72292570e-02 -2.14479495e+02] [-6.79219779e-02 3.03330543e-04 9.97690590e-01 -1.84015098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80863999999997 meters 0.027383837429447597 Centerline is valid? [True, True] Translation: X:319.37, Y:-214.52, Z:-18.40 [[ 7.19675506e-01 6.92645342e-01 4.80582619e-02 3.19366260e+02] [-6.91080083e-01 7.21278276e-01 -4.65399676e-02 -2.14523331e+02] [-6.68990721e-02 2.81567150e-04 9.97759708e-01 -1.84043630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86863999999997 meters 0.02730901993957511 Centerline is valid? [True, True] Translation: X:319.41, Y:-214.57, Z:-18.41 [[ 7.19387986e-01 6.92992566e-01 4.73521825e-02 3.19410508e+02] [-6.91470979e-01 7.20944677e-01 -4.58983554e-02 -2.14567399e+02] [-6.59455230e-02 2.76065458e-04 9.97823187e-01 -1.84071104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92864 meters 0.02741517874012202 Centerline is valid? [True, True] Translation: X:319.45, Y:-214.61, Z:-18.41 [[ 7.19416682e-01 6.92911529e-01 4.80962694e-02 3.19453461e+02] [-6.91338576e-01 7.21022546e-01 -4.66632783e-02 -2.14612290e+02] [-6.70120181e-02 3.19534444e-04 9.97752117e-01 -1.84087880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98864 meters 0.027305357342726252 Centerline is valid? [True, True] Translation: X:319.50, Y:-214.66, Z:-18.41 [[ 7.16317876e-01 6.96099826e-01 4.83087226e-02 3.19496648e+02] [-6.94517037e-01 7.17945005e-01 -4.69154023e-02 -2.14657898e+02] [-6.73408094e-02 5.51104351e-05 9.97730030e-01 -1.84131043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04864 meters 0.027349305191068488 Centerline is valid? [True, True] Translation: X:319.54, Y:-214.70, Z:-18.42 [[ 7.11553341e-01 7.01040570e-01 4.72647974e-02 3.19541467e+02] [-6.99533139e-01 7.13121297e-01 -4.59500130e-02 -2.14702775e+02] [-6.59183570e-02 -3.67406790e-04 9.97824952e-01 -1.84157844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10864 meters 0.027436337872155277 Centerline is valid? [True, True] Translation: X:319.58, Y:-214.75, Z:-18.42 [[ 7.07590793e-01 7.05028799e-01 4.74306188e-02 3.19584217e+02] [-7.03516574e-01 7.09178322e-01 -4.61577440e-02 -2.14747300e+02] [-6.61793054e-02 -7.07431835e-04 9.97807496e-01 -1.84181831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16864 meters 0.027465101298613757 Centerline is valid? [True, True] Translation: X:319.63, Y:-214.79, Z:-18.42 [[ 7.06206134e-01 7.06345179e-01 4.84704460e-02 3.19628726e+02] [-7.04766031e-01 7.07867090e-01 -4.72125475e-02 -2.14790534e+02] [-6.76589889e-02 -8.18533123e-04 9.97708169e-01 -1.84209581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2286399999999 meters 0.027618587939468205 Centerline is valid? [True, True] Translation: X:319.67, Y:-214.84, Z:-18.42 [[ 7.04324824e-01 7.08294019e-01 4.73933024e-02 3.19673040e+02] [-7.06785767e-01 7.05916906e-01 -4.62082376e-02 -2.14835527e+02] [-6.61847517e-02 -9.51302838e-04 9.97806932e-01 -1.84243117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28863999999993 meters 0.02756877338460049 Centerline is valid? [True, True] Translation: X:319.72, Y:-214.88, Z:-18.43 [[ 7.01560742e-01 7.10963593e-01 4.84075790e-02 3.19720155e+02] [-7.09392997e-01 7.03227804e-01 -4.72465014e-02 -2.14875754e+02] [-6.76320979e-02 -1.19370697e-03 9.97709614e-01 -1.84263447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34863999999993 meters 0.027582138311136904 Centerline is valid? [True, True] Translation: X:319.77, Y:-214.92, Z:-18.43 [[ 7.00826076e-01 7.11713524e-01 4.80278168e-02 3.19767694e+02] [-7.10166155e-01 7.02468763e-01 -4.69219459e-02 -2.14917316e+02] [-6.71330245e-02 -1.22360675e-03 9.97743284e-01 -1.84276565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40863999999993 meters 0.027326795842316516 Centerline is valid? [True, True] Translation: X:319.82, Y:-214.96, Z:-18.43 [[ 7.01153003e-01 7.11270071e-01 4.97930917e-02 3.19815453e+02] [-7.09602014e-01 7.02917828e-01 -4.86981329e-02 -2.14957692e+02] [-6.96379764e-02 -1.18843603e-03 9.97571621e-01 -1.84315800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46863999999994 meters 0.027676842110738183 Centerline is valid? [True, True] Translation: X:319.86, Y:-215.00, Z:-18.43 [[ 7.00330210e-01 7.12053883e-01 5.01683711e-02 3.19862311e+02] [-7.10359283e-01 7.02123723e-01 -4.91117743e-02 -2.14998146e+02] [-7.01946331e-02 -1.24310889e-03 9.97532540e-01 -1.84329942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52863999999994 meters 0.02785718100774774 Centerline is valid? [True, True] Translation: X:319.91, Y:-215.04, Z:-18.44 [[ 6.98324194e-01 7.14087592e-01 4.92161608e-02 3.19910017e+02] [-7.12458558e-01 7.00054989e-01 -4.82267020e-02 -2.15039301e+02] [-6.88921084e-02 -1.38660216e-03 9.97623153e-01 -1.84365328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58863999999994 meters 0.027607603316742283 Centerline is valid? [True, True] Translation: X:319.96, Y:-215.08, Z:-18.44 [[ 6.96652217e-01 7.15735300e-01 4.89761942e-02 3.19961169e+02] [-7.14122797e-01 6.98370037e-01 -4.80408462e-02 -2.15075989e+02] [-6.85880360e-02 -1.50725471e-03 9.97643929e-01 -1.84393529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64863999999994 meters 0.02718591822166141 Centerline is valid? [True, True] Translation: X:320.01, Y:-215.12, Z:-18.44 [[ 7.00011415e-01 7.12428605e-01 4.92899782e-02 3.20008224e+02] [-7.10783963e-01 7.01743644e-01 -4.83943741e-02 -2.15117243e+02] [-6.90664654e-02 -1.15791177e-03 9.97611389e-01 -1.84433413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70863999999995 meters 0.026697166706058838 Centerline is valid? [True, True] Translation: X:320.06, Y:-215.16, Z:-18.45 [[ 7.10004145e-01 7.02474201e-01 4.92352592e-02 3.20055749e+02] [-7.00806489e-01 7.11709190e-01 -4.83765753e-02 -2.15158280e+02] [-6.90244826e-02 -1.56820120e-04 9.97614954e-01 -1.84470840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76863999999995 meters 0.026654614683890902 Centerline is valid? [True, True] Translation: X:320.10, Y:-215.20, Z:-18.45 [[ 7.12228783e-01 7.00331819e-01 4.75973108e-02 3.20100681e+02] [-6.98766902e-01 7.13817441e-01 -4.67918565e-02 -2.15200825e+02] [-6.67456166e-02 6.70816631e-05 9.97770023e-01 -1.84498074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82863999999995 meters 0.026233387311019523 Centerline is valid? [True, True] Translation: X:320.15, Y:-215.24, Z:-18.45 [[ 7.11028973e-01 7.01622988e-01 4.65078821e-02 3.20145477e+02] [-7.00128956e-01 7.12548372e-01 -4.57631057e-02 -2.15243899e+02] [-6.52475626e-02 -2.26209699e-05 9.97869107e-01 -1.84523931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88863999999995 meters 0.02623750913113957 Centerline is valid? [True, True] Translation: X:320.19, Y:-215.29, Z:-18.45 [[ 7.11429524e-01 7.01149657e-01 4.75099059e-02 3.20187587e+02] [-6.99586467e-01 7.13014135e-01 -4.67933638e-02 -2.15289732e+02] [-6.66843854e-02 5.28932961e-05 9.97774118e-01 -1.84544883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94863999999995 meters 0.02606630723934753 Centerline is valid? [True, True] Translation: X:320.23, Y:-215.33, Z:-18.46 [[ 7.12810527e-01 6.99839616e-01 4.61049257e-02 3.20231923e+02] [-6.98362173e-01 7.14299987e-01 -4.54511007e-02 -2.15333193e+02] [-6.47412287e-02 2.00086976e-04 9.97902066e-01 -1.84560988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00863999999996 meters 0.026206839405977133 Centerline is valid? [True, True] Translation: X:320.28, Y:-215.38, Z:-18.46 [[ 7.12575269e-01 7.00068167e-01 4.62714623e-02 3.20275964e+02] [-6.98577611e-01 7.14075988e-01 -4.56596519e-02 -2.15378232e+02] [-6.50062089e-02 2.11731131e-04 9.97884837e-01 -1.84589879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06863999999996 meters 0.025886719939293312 Centerline is valid? [True, True] Translation: X:320.32, Y:-215.43, Z:-18.46 [[ 7.11575253e-01 7.01047738e-01 4.68265716e-02 3.20318506e+02] [-6.99520006e-01 7.13114327e-01 -4.62570766e-02 -2.15425059e+02] [-6.58211180e-02 1.59267339e-04 9.97831426e-01 -1.84618778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12863999999996 meters 0.025648683867325595 Centerline is valid? [True, True] Translation: X:320.36, Y:-215.47, Z:-18.46 [[ 7.10088192e-01 7.02561179e-01 4.67177604e-02 3.20361667e+02] [-7.01040571e-01 7.11623346e-01 -4.61988235e-02 -2.15470873e+02] [-6.57029489e-02 5.41937070e-05 9.97839225e-01 -1.84645089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18863999999996 meters 0.025628117296650148 Centerline is valid? [True, True] Translation: X:320.40, Y:-215.52, Z:-18.47 [[ 7.08247413e-01 7.04458483e-01 4.60852227e-02 3.20404045e+02] [-7.02979679e-01 7.09745193e-01 -4.56216274e-02 -2.15517344e+02] [-6.48473077e-02 -8.55754509e-05 9.97895195e-01 -1.84674742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24863999999997 meters 0.02576560370689057 Centerline is valid? [True, True] Translation: X:320.44, Y:-215.56, Z:-18.47 [[ 7.07167533e-01 7.05422373e-01 4.78889885e-02 3.20444474e+02] [-7.03824210e-01 7.08787171e-01 -4.74576387e-02 -2.15564532e+02] [-6.74207808e-02 -1.44928187e-04 9.97724620e-01 -1.84700056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30863999999997 meters 0.02559431056040906 Centerline is valid? [True, True] Translation: X:320.49, Y:-215.61, Z:-18.47 [[ 7.05694907e-01 7.06961319e-01 4.69083294e-02 3.20485767e+02] [-7.05429134e-01 7.07252165e-01 -4.65200137e-02 -2.15611856e+02] [-6.60638677e-02 -2.61565424e-04 9.97815362e-01 -1.84723203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36863999999997 meters 0.025363915266007123 Centerline is valid? [True, True] Translation: X:320.53, Y:-215.66, Z:-18.48 [[ 7.02047651e-01 7.10647794e-01 4.59217559e-02 3.20527485e+02] [-7.09185653e-01 7.03547709e-01 -4.55667671e-02 -2.15658949e+02] [-6.46900687e-02 -5.77008636e-04 9.97905237e-01 -1.84751274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42864 meters 0.025742016555465527 Centerline is valid? [True, True] Translation: X:320.57, Y:-215.70, Z:-18.48 [[ 6.97117643e-01 7.15328410e-01 4.82934599e-02 3.20572637e+02] [-7.13719541e-01 6.98787663e-01 -4.79606061e-02 -2.15702053e+02] [-6.80544580e-02 -1.03380133e-03 9.97681072e-01 -1.84758596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48864 meters 0.0259810267455677 Centerline is valid? [True, True] Translation: X:320.62, Y:-215.74, Z:-18.48 [[ 6.95471471e-01 7.16902894e-01 4.86792911e-02 3.20620084e+02] [-7.15270366e-01 6.97172036e-01 -4.83679280e-02 -2.15742015e+02] [-6.86129480e-02 -1.18034033e-03 9.97642657e-01 -1.84791740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54864 meters 0.025613897017861792 Centerline is valid? [True, True] Translation: X:320.67, Y:-215.78, Z:-18.48 [[ 6.99415256e-01 7.13051447e-01 4.87435489e-02 3.20669830e+02] [-7.11402060e-01 7.01111290e-01 -4.84774932e-02 -2.15779915e+02] [-6.87415991e-02 -7.70362770e-04 9.97634201e-01 -1.84810482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60864 meters 0.025318737680941207 Centerline is valid? [True, True] Translation: X:320.72, Y:-215.82, Z:-18.49 [[ 7.04672766e-01 7.07889658e-01 4.82547829e-02 3.20719434e+02] [-7.06257962e-01 7.06322999e-01 -4.80365766e-02 -2.15818447e+02] [-6.80880588e-02 -2.30257332e-04 9.97679289e-01 -1.84852051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66864 meters 0.02549985545645286 Centerline is valid? [True, True] Translation: X:320.77, Y:-215.86, Z:-18.49 [[ 7.07708474e-01 7.04819920e-01 4.87605978e-02 3.20770556e+02] [-7.03143157e-01 7.09386263e-01 -4.85883713e-02 -2.15856791e+02] [-6.88361502e-02 1.00721462e-04 9.97627974e-01 -1.84879780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7286399999999 meters 0.0257884101294627 Centerline is valid? [True, True] Translation: X:320.82, Y:-215.90, Z:-18.49 [[ 7.11215822e-01 7.01324572e-01 4.81237951e-02 3.20819859e+02] [-6.99679879e-01 7.12841935e-01 -4.80046195e-02 -2.15896989e+02] [-6.79714784e-02 4.70393800e-04 9.97687154e-01 -1.84904967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78863999999993 meters 0.025972003833996553 Centerline is valid? [True, True] Translation: X:320.87, Y:-215.94, Z:-18.49 [[ 7.15499194e-01 6.96931833e-01 4.84450546e-02 3.20868000e+02] [-6.95251599e-01 7.17136776e-01 -4.83741515e-02 -2.15936851e+02] [-6.84552163e-02 9.30164728e-04 9.97653757e-01 -1.84923837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84863999999993 meters 0.02646872073120968 Centerline is valid? [True, True] Translation: X:320.91, Y:-215.98, Z:-18.50 [[ 7.18681578e-01 6.93663826e-01 4.82419532e-02 3.20913419e+02] [-6.91987318e-01 7.20297777e-01 -4.82147695e-02 -2.15979772e+02] [-6.81934131e-02 1.26824686e-03 9.97671314e-01 -1.84959938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90863999999993 meters 0.027149137991546928 Centerline is valid? [True, True] Translation: X:320.84, Y:-216.20, Z:-16.97 [[ 7.38981530e-01 -6.73554464e-01 -1.51881970e-02 3.20836411e+02] [-6.73334091e-01 -7.39132826e-01 1.74317773e-02 -2.16200091e+02] [-2.29673464e-02 -2.65503065e-03 -9.99732690e-01 -1.69747135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96863999999994 meters 0.02789555424748382 Centerline is valid? [True, True] Translation: X:320.86, Y:-216.29, Z:-16.98 [[ 7.86415339e-01 -6.17505680e-01 -1.54159303e-02 3.20862267e+02] [-6.17311459e-01 -7.86561187e-01 1.57499596e-02 -2.16294003e+02] [-2.18512620e-02 -2.86957935e-03 -9.99757114e-01 -1.69790054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02863999999994 meters 0.02758696476050128 Centerline is valid? [True, True] Translation: X:320.89, Y:-216.38, Z:-16.98 [[ 8.32834874e-01 -5.53273459e-01 -1.65696203e-02 3.20893850e+02] [-5.53091377e-01 -8.32994638e-01 1.44865632e-02 -2.16379691e+02] [-2.18174358e-02 -2.90040094e-03 -9.99757764e-01 -1.69815045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08863999999994 meters 0.026835591209672476 Centerline is valid? [True, True] Translation: X:320.93, Y:-216.46, Z:-16.99 [[ 8.75658503e-01 -4.82620673e-01 -1.73052877e-02 3.20929295e+02] [-4.82455908e-01 -8.75824342e-01 1.29622237e-02 -2.16460383e+02] [-2.14122293e-02 -3.00144309e-03 -9.99766227e-01 -1.69854169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14863999999994 meters 0.026216988801060333 Centerline is valid? [True, True] Translation: X:320.99, Y:-216.33, Z:-18.51 [[ 8.93253702e-01 4.45442084e-01 6.06561890e-02 3.20992023e+02] [-4.44321590e-01 8.95309846e-01 -3.16007028e-02 -2.16326765e+02] [-6.83823661e-02 1.27659038e-03 9.97658370e-01 -1.85098454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20863999999995 meters 0.02577701186395928 Centerline is valid? [True, True] Translation: X:321.04, Y:-216.36, Z:-18.51 [[ 8.91337098e-01 4.49076162e-01 6.20385314e-02 3.21043340e+02] [-4.47910217e-01 8.93492861e-01 -3.23565351e-02 -2.16363726e+02] [-6.99615335e-02 1.05288800e-03 9.97549134e-01 -1.85122057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26863999999995 meters 0.025590323522235187 Centerline is valid? [True, True] Translation: X:321.10, Y:-216.40, Z:-18.52 [[ 8.89742513e-01 4.52393951e-01 6.08109724e-02 3.21095117e+02] [-4.51279486e-01 8.91817846e-01 -3.17451741e-02 -2.16399775e+02] [-6.85936351e-02 8.02286657e-04 9.97644360e-01 -1.85158770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32863999999995 meters 0.025123461123100085 Centerline is valid? [True, True] Translation: X:321.15, Y:-216.44, Z:-18.52 [[ 8.86701798e-01 4.58452710e-01 5.98417389e-02 3.21146090e+02] [-4.57385623e-01 8.88718735e-01 -3.12634291e-02 -2.16435736e+02] [-6.75152783e-02 3.50587832e-04 9.97718179e-01 -1.85199327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38863999999995 meters 0.025126526373685867 Centerline is valid? [True, True] Translation: X:321.20, Y:-216.47, Z:-18.52 [[ 8.82936712e-01 4.65501284e-01 6.10845099e-02 3.21199509e+02] [-4.64403487e-01 8.85047191e-01 -3.19510762e-02 -2.16468699e+02] [-6.89359409e-02 -1.57081194e-04 9.97621076e-01 -1.85213485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44863999999995 meters 0.025282281700580406 Centerline is valid? [True, True] Translation: X:321.25, Y:-216.50, Z:-18.53 [[ 8.79830464e-01 4.71297176e-01 6.14599595e-02 3.21251729e+02] [-4.70197108e-01 8.81974284e-01 -3.21876174e-02 -2.16503029e+02] [-6.93760369e-02 -5.78648832e-04 9.97590412e-01 -1.85252383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50863999999996 meters 0.025470815443137854 Centerline is valid? [True, True] Translation: X:321.30, Y:-216.53, Z:-18.53 [[ 8.78746507e-01 4.73515075e-01 5.99003423e-02 3.21304987e+02] [-4.72472943e-01 8.80785433e-01 -3.14060297e-02 -2.16534857e+02] [-6.76305774e-02 -7.03352072e-04 9.97710184e-01 -1.85274796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56863999999996 meters 0.025352688047981114 Centerline is valid? [True, True] Translation: X:321.36, Y:-216.57, Z:-18.53 [[ 8.79401503e-01 4.72066807e-01 6.16921935e-02 3.21358428e+02] [-4.70955120e-01 8.81562589e-01 -3.23832829e-02 -2.16566049e+02] [-6.96726027e-02 -5.76346790e-04 9.97569745e-01 -1.85317594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62863999999996 meters 0.025378536629391123 Centerline is valid? [True, True] Translation: X:321.41, Y:-216.60, Z:-18.54 [[ 8.80608140e-01 4.69982050e-01 6.03835790e-02 3.21409559e+02] [-4.68909709e-01 8.82675895e-01 -3.17324664e-02 -2.16602813e+02] [-6.82128192e-02 -3.70578300e-04 9.97670724e-01 -1.85371201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68863999999996 meters 0.02543826068336396 Centerline is valid? [True, True] Translation: X:321.46, Y:-216.64, Z:-18.54 [[ 8.80929219e-01 4.69487260e-01 5.95434672e-02 3.21462928e+02] [-4.68441049e-01 8.82939197e-01 -3.13266433e-02 -2.16635735e+02] [-6.72807210e-02 -2.96048814e-04 9.97734041e-01 -1.85387377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74863999999997 meters 0.025588933257561054 Centerline is valid? [True, True] Translation: X:321.51, Y:-216.68, Z:-18.54 [[ 8.79942413e-01 4.71078119e-01 6.15366203e-02 3.21512431e+02] [-4.69961826e-01 8.82091405e-01 -3.24135034e-02 -2.16676052e+02] [-6.95502161e-02 -3.97846038e-04 9.97578372e-01 -1.85408365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80863999999997 meters 0.02556675790508095 Centerline is valid? [True, True] Translation: X:321.57, Y:-216.71, Z:-18.54 [[ 8.78052996e-01 4.74606791e-01 6.14111602e-02 3.21565850e+02] [-4.73500910e-01 8.80197695e-01 -3.23868036e-02 -2.16709774e+02] [-6.94249586e-02 -6.40910281e-04 9.97586971e-01 -1.85440455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86863999999997 meters 0.025783230704121543 Centerline is valid? [True, True] Translation: X:321.62, Y:-216.75, Z:-18.55 [[ 8.75775636e-01 4.78840620e-01 6.10630518e-02 3.21617116e+02] [-4.77754699e-01 8.77901353e-01 -3.22437786e-02 -2.16745670e+02] [-6.90469668e-02 -9.34844271e-04 9.97612972e-01 -1.85469934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92864 meters 0.02582911743479912 Centerline is valid? [True, True] Translation: X:321.67, Y:-216.78, Z:-18.55 [[ 8.75196607e-01 4.79857169e-01 6.13840125e-02 3.21672679e+02] [-4.78759553e-01 8.77346069e-01 -3.24524985e-02 -2.16775016e+02] [-6.94275861e-02 -9.85865856e-04 9.97586507e-01 -1.85480237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98864 meters 0.02594456956417934 Centerline is valid? [True, True] Translation: X:321.73, Y:-216.81, Z:-18.55 [[ 8.75133589e-01 4.80150543e-01 5.99721465e-02 3.21725169e+02] [-4.79100928e-01 8.77185585e-01 -3.17450718e-02 -2.16807941e+02] [-6.78491159e-02 -9.51532524e-04 9.97695140e-01 -1.85507209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04864 meters 0.02605305516720146 Centerline is valid? [True, True] Translation: X:321.78, Y:-216.84, Z:-18.55 [[ 8.73261611e-01 4.83460456e-01 6.06642068e-02 3.21779540e+02] [-4.82391870e-01 8.75365393e-01 -3.21482943e-02 -2.16837433e+02] [-6.86457763e-02 -1.19004888e-03 9.97640387e-01 -1.85525998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10864 meters 0.02624105124987563 Centerline is valid? [True, True] Translation: X:321.83, Y:-216.87, Z:-18.56 [[ 8.71814586e-01 4.86279057e-01 5.89237309e-02 3.21834154e+02] [-4.85274947e-01 8.73802544e-01 -3.12624360e-02 -2.16868772e+02] [-6.66899739e-02 -1.33916267e-03 9.97772847e-01 -1.85557593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16864 meters 0.026287734252252108 Centerline is valid? [True, True] Translation: X:321.89, Y:-216.90, Z:-18.56 [[ 8.70981623e-01 4.87487016e-01 6.12161891e-02 3.21887649e+02] [-4.86403273e-01 8.73129030e-01 -3.25200339e-02 -2.16899695e+02] [-6.93027261e-02 -1.45140282e-03 9.97594620e-01 -1.85580946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2286399999999 meters 0.026683041409429134 Centerline is valid? [True, True] Translation: X:321.94, Y:-216.93, Z:-18.56 [[ 8.69918314e-01 4.89257746e-01 6.22011668e-02 3.21941701e+02] [-4.88140666e-01 8.72137802e-01 -3.30808827e-02 -2.16930836e+02] [-7.04330670e-02 -1.58525327e-03 9.97515248e-01 -1.85617831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28863999999993 meters 0.02710354178228714 Centerline is valid? [True, True] Translation: X:322.00, Y:-216.96, Z:-18.56 [[ 8.67394068e-01 4.94027494e-01 5.97023169e-02 3.21997152e+02] [-4.93007354e-01 8.69444286e-01 -3.17865003e-02 -2.16958917e+02] [-6.76112434e-02 -1.86225953e-03 9.97710004e-01 -1.85634021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34863999999993 meters 0.028456932610002712 Centerline is valid? [True, True] Translation: X:322.05, Y:-216.99, Z:-18.57 [[ 8.62865706e-01 5.01795719e-01 6.05295797e-02 3.22051731e+02] [-5.00764310e-01 8.64982599e-01 -3.22522599e-02 -2.16986674e+02] [-6.85410791e-02 -2.48168425e-03 9.97645208e-01 -1.85663809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40863999999993 meters 0.029191701990248516 Centerline is valid? [True, True] Translation: X:322.11, Y:-217.01, Z:-18.57 [[ 8.60540080e-01 5.05733245e-01 6.08658793e-02 3.22107437e+02] [-5.04699111e-01 8.62685376e-01 -3.24461149e-02 -2.17013271e+02] [-6.89171829e-02 -2.79777286e-03 9.97618461e-01 -1.85694953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46863999999994 meters 0.02938450076816918 Centerline is valid? [True, True] Translation: X:322.17, Y:-217.04, Z:-18.57 [[ 8.59388238e-01 5.07971208e-01 5.84560409e-02 3.22165358e+02] [-5.07020512e-01 8.61369393e-01 -3.11924466e-02 -2.17035762e+02] [-6.61971093e-02 -2.83199011e-03 9.97802547e-01 -1.85721676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52863999999994 meters 0.028702399112357727 Centerline is valid? [True, True] Translation: X:322.22, Y:-217.06, Z:-18.57 [[ 8.61785851e-01 5.03708071e-01 6.00277157e-02 3.22223274e+02] [-5.02693489e-01 8.63870173e-01 -3.20558918e-02 -2.17058056e+02] [-6.80029645e-02 -2.55022792e-03 9.97681860e-01 -1.85742685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58863999999994 meters 0.027490659573230766 Centerline is valid? [True, True] Translation: X:322.28, Y:-217.08, Z:-18.58 [[ 8.65338188e-01 4.97882521e-01 5.74701360e-02 3.22280240e+02] [-4.96939410e-01 8.67242185e-01 -3.06955375e-02 -2.17081230e+02] [-6.51232979e-02 -1.99715469e-03 9.97875226e-01 -1.85766232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64863999999994 meters 0.027460420385443187 Centerline is valid? [True, True] Translation: X:322.34, Y:-217.10, Z:-18.58 [[ 8.65945072e-01 4.96877024e-01 5.70294234e-02 3.22337857e+02] [-4.95945156e-01 8.67818897e-01 -3.04756317e-02 -2.17104930e+02] [-6.46338525e-02 -1.89324325e-03 9.97907251e-01 -1.85799694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70863999999995 meters 0.027799651181788627 Centerline is valid? [True, True] Translation: X:322.40, Y:-217.13, Z:-18.58 [[ 8.64045037e-01 4.99998612e-01 5.85453796e-02 3.22395583e+02] [-4.99021328e-01 8.66023528e-01 -3.13203290e-02 -2.17127483e+02] [-6.63617973e-02 -2.15321819e-03 9.97793303e-01 -1.85826493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76863999999995 meters 0.02787105264322404 Centerline is valid? [True, True] Translation: X:322.45, Y:-217.15, Z:-18.59 [[ 8.63958040e-01 5.00181931e-01 5.82626896e-02 3.22454059e+02] [-4.99212213e-01 8.65917728e-01 -3.12034234e-02 -2.17150730e+02] [-6.60580844e-02 -2.12699770e-03 9.97813512e-01 -1.85852497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82863999999995 meters 0.027266054958769163 Centerline is valid? [True, True] Translation: X:322.51, Y:-217.17, Z:-18.59 [[ 8.66779305e-01 4.95184451e-01 5.90423191e-02 3.22513815e+02] [-4.94174873e-01 8.68786122e-01 -3.16523101e-02 -2.17172068e+02] [-6.69688792e-02 -1.74166327e-03 9.97753545e-01 -1.85871876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88863999999995 meters 0.026291495105805262 Centerline is valid? [True, True] Translation: X:322.57, Y:-217.19, Z:-18.59 [[ 8.70299981e-01 4.89348404e-01 5.58218906e-02 3.22571697e+02] [-4.88433382e-01 8.72087536e-01 -2.99359413e-02 -2.17194925e+02] [-6.33306801e-02 -1.21202564e-03 9.97991862e-01 -1.85897707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94863999999995 meters 0.026051442792173442 Centerline is valid? [True, True] Translation: X:322.63, Y:-217.22, Z:-18.59 [[ 8.72601204e-01 4.85395009e-01 5.43950665e-02 3.22627700e+02] [-4.84517638e-01 8.74294513e-01 -2.91849739e-02 -2.17221418e+02] [-6.17235488e-02 -8.88525729e-04 9.98092888e-01 -1.85921608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00863999999996 meters 0.025819221486942455 Centerline is valid? [True, True] Translation: X:322.68, Y:-217.25, Z:-18.60 [[ 8.74717609e-01 4.81437669e-01 5.55596524e-02 3.22682379e+02] [-4.80512101e-01 8.76480131e-01 -2.98446041e-02 -2.17250058e+02] [-6.30652481e-02 -5.91484508e-04 9.98009231e-01 -1.85950840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06863999999996 meters 0.02570271320598197 Centerline is valid? [True, True] Translation: X:322.74, Y:-217.28, Z:-18.60 [[ 8.76253327e-01 4.78647143e-01 5.54708870e-02 3.22737277e+02] [-4.77716767e-01 8.78007280e-01 -2.98313218e-02 -2.17279826e+02] [-6.29825195e-02 -3.59577796e-04 9.98014565e-01 -1.85977140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12863999999996 meters 0.02553040897868329 Centerline is valid? [True, True] Translation: X:322.79, Y:-217.31, Z:-18.60 [[ 8.75851888e-01 4.79390894e-01 5.53880860e-02 3.22792215e+02] [-4.78462547e-01 8.77601405e-01 -2.98222321e-02 -2.17310996e+02] [-6.29051686e-02 -3.81266432e-04 9.98019436e-01 -1.86009936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18863999999996 meters 0.02566691890183176 Centerline is valid? [True, True] Translation: X:322.85, Y:-217.34, Z:-18.60 [[ 8.75914197e-01 4.79329568e-01 5.49316372e-02 3.22845522e+02] [-4.78413961e-01 8.77634918e-01 -2.96147334e-02 -2.17344327e+02] [-6.24051403e-02 -3.40096729e-04 9.98050842e-01 -1.86034902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24863999999997 meters 0.025770264001133993 Centerline is valid? [True, True] Translation: X:322.90, Y:-217.38, Z:-18.61 [[ 8.74538814e-01 4.81649330e-01 5.65312737e-02 3.22899730e+02] [-4.80681885e-01 8.76363901e-01 -3.05162087e-02 -2.17375355e+02] [-6.42400790e-02 -4.85950235e-04 9.97934355e-01 -1.86052380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30863999999997 meters 0.02594854431263183 Centerline is valid? [True, True] Translation: X:322.95, Y:-217.41, Z:-18.61 [[ 8.71400309e-01 4.87325412e-01 5.63510769e-02 3.22953496e+02] [-4.86373726e-01 8.73220009e-01 -3.04534673e-02 -2.17406607e+02] [-6.40476364e-02 -8.70522430e-04 9.97946463e-01 -1.86082963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36863999999997 meters 0.026240497578951257 Centerline is valid? [True, True] Translation: X:323.01, Y:-217.44, Z:-18.61 [[ 8.69194127e-01 4.91198381e-01 5.67954219e-02 3.23008687e+02] [-4.90237583e-01 8.71046993e-01 -3.07286246e-02 -2.17435548e+02] [-6.45653322e-02 -1.13411034e-03 9.97912838e-01 -1.86115464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42864 meters 0.02615660664673505 Centerline is valid? [True, True] Translation: X:323.06, Y:-217.47, Z:-18.61 [[ 8.69913639e-01 4.89790968e-01 5.79229522e-02 3.23062152e+02] [-4.88786005e-01 8.71839304e-01 -3.13762471e-02 -2.17468384e+02] [-6.58673087e-02 -1.01730314e-03 9.97827872e-01 -1.86139196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48864 meters 0.026135856377552592 Centerline is valid? [True, True] Translation: X:323.12, Y:-217.50, Z:-18.62 [[ 8.70962907e-01 4.87814516e-01 5.88269767e-02 3.23117079e+02] [-4.86770591e-01 8.72946897e-01 -3.19077974e-02 -2.17498765e+02] [-6.69179135e-02 -8.44734282e-04 9.97758127e-01 -1.86170817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54864 meters 0.026241163799508787 Centerline is valid? [True, True] Translation: X:323.17, Y:-217.53, Z:-18.62 [[ 8.70022662e-01 4.89429772e-01 5.93217169e-02 3.23171790e+02] [-4.88369205e-01 8.72042207e-01 -3.22165921e-02 -2.17527814e+02] [-6.74988003e-02 -9.41734541e-04 9.97718911e-01 -1.86194521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60864 meters 0.026383972379374315 Centerline is valid? [True, True] Translation: X:323.23, Y:-217.55, Z:-18.62 [[ 8.69037782e-01 4.91145427e-01 5.95776973e-02 3.23227850e+02] [-4.90077197e-01 8.71076961e-01 -3.23924239e-02 -2.17554715e+02] [-6.78061504e-02 -1.04743063e-03 9.97697965e-01 -1.86219135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66864 meters 0.02655071857006242 Centerline is valid? [True, True] Translation: X:323.28, Y:-217.58, Z:-18.62 [[ 8.67173256e-01 4.94332224e-01 6.03837369e-02 3.23284896e+02] [-4.93240053e-01 8.69272114e-01 -3.28670387e-02 -2.17579002e+02] [-6.87371349e-02 -1.28226064e-03 9.97633982e-01 -1.86237875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7286399999999 meters 0.027001860937543178 Centerline is valid? [True, True] Translation: X:323.34, Y:-217.60, Z:-18.63 [[ 8.64820102e-01 4.98696024e-01 5.82105364e-02 3.23342607e+02] [-4.97688777e-01 8.66775577e-01 -3.17171928e-02 -2.17603785e+02] [-6.62727092e-02 -1.54106477e-03 9.97800357e-01 -1.86280142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78863999999993 meters 0.02716492718006819 Centerline is valid? [True, True] Translation: X:323.40, Y:-217.63, Z:-18.63 [[ 8.64388489e-01 4.99278761e-01 5.96092158e-02 3.23401575e+02] [-4.98221340e-01 8.66439949e-01 -3.25163287e-02 -2.17625337e+02] [-6.78825182e-02 -1.59184312e-03 9.97692052e-01 -1.86285572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84863999999993 meters 0.02723431832978124 Centerline is valid? [True, True] Translation: X:323.46, Y:-217.65, Z:-18.63 [[ 8.63492836e-01 5.00792202e-01 5.98940154e-02 3.23457547e+02] [-4.99725769e-01 8.65565898e-01 -3.27082850e-02 -2.17652517e+02] [-6.82222713e-02 -1.68721316e-03 9.97668720e-01 -1.86322166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90863999999993 meters 0.027815160246781975 Centerline is valid? [True, True] Translation: X:323.52, Y:-217.67, Z:-18.64 [[ 8.61974320e-01 5.03443999e-01 5.95349692e-02 3.23517023e+02] [-5.02394175e-01 8.64025869e-01 -3.25482866e-02 -2.17673959e+02] [-6.78259931e-02 -1.85423450e-03 9.97695443e-01 -1.86359163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96863999999994 meters 0.028053720358990886 Centerline is valid? [True, True] Translation: X:323.58, Y:-217.69, Z:-18.64 [[ 8.60807501e-01 5.05354525e-01 6.02266504e-02 3.23577104e+02] [-5.04282276e-01 8.62909508e-01 -3.29631245e-02 -2.17693783e+02] [-6.86282134e-02 -1.99632751e-03 9.97640307e-01 -1.86387103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02863999999994 meters 0.027802057878622357 Centerline is valid? [True, True] Translation: X:323.64, Y:-217.71, Z:-18.64 [[ 8.62577548e-01 5.02751709e-01 5.65746699e-02 3.23635447e+02] [-5.01798539e-01 8.64429271e-01 -3.09880917e-02 -2.17714890e+02] [-6.44841167e-02 -1.65945459e-03 9.97917354e-01 -1.86421151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08863999999994 meters 0.027325650143563626 Centerline is valid? [True, True] Translation: X:323.69, Y:-217.74, Z:-18.64 [[ 8.65377315e-01 4.97551239e-01 5.97065088e-02 3.23694232e+02] [-4.96475993e-01 8.67433572e-01 -3.27198286e-02 -2.17737157e+02] [-6.80712214e-02 -1.32785082e-03 9.97679581e-01 -1.86435835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14863999999994 meters 0.02693290398769009 Centerline is valid? [True, True] Translation: X:323.75, Y:-217.76, Z:-18.65 [[ 8.69257544e-01 4.90733585e-01 5.97651364e-02 3.23750977e+02] [-4.89637531e-01 8.71309342e-01 -3.27890014e-02 -2.17763418e+02] [-6.81645858e-02 -7.61166995e-04 9.97673799e-01 -1.86470603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20863999999995 meters 0.026647711539595848 Centerline is valid? [True, True] Translation: X:323.81, Y:-217.79, Z:-18.65 [[ 8.72308080e-01 4.85354483e-01 5.92422167e-02 3.23807999e+02] [-4.84262645e-01 8.74317410e-01 -3.25385622e-02 -2.17788307e+02] [-6.75892385e-02 -3.05141808e-04 9.97713186e-01 -1.86508987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26863999999995 meters 0.02648793974361679 Centerline is valid? [True, True] Translation: X:323.86, Y:-217.82, Z:-18.65 [[ 8.75131036e-01 4.80565437e-01 5.65909077e-02 3.23863234e+02] [-4.79557017e-01 8.76958866e-01 -3.11161648e-02 -2.17817077e+02] [-6.45812515e-02 9.21546392e-05 9.97912448e-01 -1.86508121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32863999999995 meters 0.0266003128345126 Centerline is valid? [True, True] Translation: X:323.92, Y:-217.85, Z:-18.65 [[ 8.75040255e-01 4.80807480e-01 5.59349475e-02 3.23919616e+02] [-4.79820550e-01 8.76826184e-01 -3.07909615e-02 -2.17845348e+02] [-6.38497511e-02 1.04593563e-04 9.97959517e-01 -1.86523135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38863999999995 meters 0.026326046519593506 Centerline is valid? [True, True] Translation: X:323.97, Y:-217.88, Z:-18.65 [[ 8.75923137e-01 4.79289774e-01 5.51359312e-02 3.23974060e+02] [-4.78325452e-01 8.77656683e-01 -3.03892928e-02 -2.17877489e+02] [-6.29556957e-02 2.45765389e-04 9.98016292e-01 -1.86544625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44863999999995 meters 0.026544239433422157 Centerline is valid? [True, True] Translation: X:324.03, Y:-217.91, Z:-18.66 [[ 8.76502458e-01 4.78239926e-01 5.50455647e-02 3.24028493e+02] [-4.77274294e-01 8.78229154e-01 -3.03776349e-02 -2.17908303e+02] [-6.28704176e-02 3.54238588e-04 9.98021636e-01 -1.86571302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50863999999996 meters 0.026494644411223456 Centerline is valid? [True, True] Translation: X:324.08, Y:-217.94, Z:-18.66 [[ 8.76717070e-01 4.77857172e-01 5.49518270e-02 3.24081666e+02] [-4.76891672e-01 8.78437449e-01 -3.03641455e-02 -2.17943198e+02] [-6.27814674e-02 4.14695962e-04 9.98027212e-01 -1.86590843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56863999999996 meters 0.026402038361962428 Centerline is valid? [True, True] Translation: X:324.14, Y:-217.98, Z:-18.66 [[ 8.76305494e-01 4.78648907e-01 5.46251298e-02 3.24135349e+02] [-4.77694056e-01 8.78006306e-01 -3.02211243e-02 -2.17976680e+02] [-6.24265165e-02 3.88837440e-04 9.98049487e-01 -1.86618506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62863999999996 meters 0.025829643477002697 Centerline is valid? [True, True] Translation: X:324.19, Y:-218.01, Z:-18.66 [[ 8.72779126e-01 4.85074575e-01 5.43990256e-02 3.24187303e+02] [-4.84137788e-01 8.74472787e-01 -3.01321568e-02 -2.18010604e+02] [-6.21868106e-02 -3.79064198e-05 9.98064527e-01 -1.86629041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68863999999996 meters 0.025851984562270745 Centerline is valid? [True, True] Translation: X:324.24, Y:-218.04, Z:-18.66 [[ 8.70651010e-01 4.88875157e-01 5.44784446e-02 3.24242153e+02] [-4.87940902e-01 8.72353715e-01 -3.02104704e-02 -2.18042175e+02] [-6.22936219e-02 -2.79484869e-04 9.98057827e-01 -1.86645697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74863999999997 meters 0.025844172636482525 Centerline is valid? [True, True] Translation: X:324.30, Y:-218.07, Z:-18.67 [[ 8.67954779e-01 4.93467986e-01 5.60700225e-02 3.24298420e+02] [-4.92485401e-01 8.69763758e-01 -3.11309472e-02 -2.18067882e+02] [-6.41297993e-02 -5.93413106e-04 9.97941389e-01 -1.86668862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80863999999997 meters 0.025517985162960617 Centerline is valid? [True, True] Translation: X:324.35, Y:-218.10, Z:-18.67 [[ 8.67829682e-01 4.93659042e-01 5.63239996e-02 3.24353116e+02] [-4.92665689e-01 8.69655342e-01 -3.13066337e-02 -2.18098735e+02] [-6.44372699e-02 -5.80076068e-04 9.97921591e-01 -1.86692775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86863999999997 meters 0.025231587670531186 Centerline is valid? [True, True] Translation: X:324.41, Y:-218.13, Z:-18.67 [[ 8.68914800e-01 4.91972907e-01 5.43114164e-02 3.24408604e+02] [-4.91043803e-01 8.70610414e-01 -3.02240037e-02 -2.18126684e+02] [-6.21534757e-02 -4.07200378e-04 9.98066521e-01 -1.86721766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92864 meters 0.02509993753405469 Centerline is valid? [True, True] Translation: X:324.46, Y:-218.16, Z:-18.68 [[ 8.70871559e-01 4.88593793e-01 5.34680499e-02 3.24461952e+02] [-4.87685324e-01 8.72511367e-01 -2.97815304e-02 -2.18159583e+02] [-6.12025523e-02 -1.39695393e-04 9.98125357e-01 -1.86750402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98864 meters 0.025048330776684505 Centerline is valid? [True, True] Translation: X:324.52, Y:-218.19, Z:-18.68 [[ 8.70862538e-01 4.88580308e-01 5.37375334e-02 3.24517262e+02] [-4.87661447e-01 8.72518921e-01 -2.99507230e-02 -2.18189609e+02] [-6.15203482e-02 -1.22760636e-04 9.98105822e-01 -1.86779320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04864 meters 0.02495924927632874 Centerline is valid? [True, True] Translation: X:324.57, Y:-218.22, Z:-18.68 [[ 8.70542016e-01 4.89171094e-01 5.35559477e-02 3.24572061e+02] [-4.88257231e-01 8.72187837e-01 -2.98873328e-02 -2.18221592e+02] [-6.13308655e-02 -1.30899768e-04 9.98117482e-01 -1.86807870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10864 meters 0.025058821128042176 Centerline is valid? [True, True] Translation: X:324.63, Y:-218.25, Z:-18.68 [[ 8.70301429e-01 4.89656801e-01 5.30248964e-02 3.24627248e+02] [-4.88759620e-01 8.71915248e-01 -2.96282574e-02 -2.18252553e+02] [-6.07408935e-02 -1.30913419e-04 9.98153559e-01 -1.86831948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16864 meters 0.024877265817624283 Centerline is valid? [True, True] Translation: X:324.68, Y:-218.28, Z:-18.69 [[ 8.69784361e-01 4.90638894e-01 5.24274741e-02 3.24682187e+02] [-4.89761385e-01 8.71362983e-01 -2.93315154e-02 -2.18283240e+02] [-6.00745425e-02 -1.64858947e-04 9.98193880e-01 -1.86855221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2286399999999 meters 0.02491171168013577 Centerline is valid? [True, True] Translation: X:324.74, Y:-218.31, Z:-18.69 [[ 8.68814398e-01 4.92249421e-01 5.34045865e-02 3.24738372e+02] [-4.91339539e-01 8.70454161e-01 -2.99167278e-02 -2.18312016e+02] [-6.12127364e-02 -2.47701069e-04 9.98124711e-01 -1.86869677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28863999999993 meters 0.024990840336868436 Centerline is valid? [True, True] Translation: X:324.79, Y:-218.34, Z:-18.69 [[ 8.69491757e-01 4.90983853e-01 5.40272213e-02 3.24794903e+02] [-4.90047765e-01 8.71168663e-01 -3.03042588e-02 -2.18340063e+02] [-6.19457239e-02 -1.26615869e-04 9.98079511e-01 -1.86901522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34863999999993 meters 0.02493427349412732 Centerline is valid? [True, True] Translation: X:324.85, Y:-218.37, Z:-18.69 [[ 8.70701832e-01 4.88708663e-01 5.51557996e-02 3.24850492e+02] [-4.87725931e-01 8.72447040e-01 -3.09770727e-02 -2.18369122e+02] [-6.32592779e-02 7.08802768e-05 9.97997124e-01 -1.86925253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40863999999993 meters 0.025040991241388963 Centerline is valid? [True, True] Translation: X:324.91, Y:-218.40, Z:-18.70 [[ 8.72473994e-01 4.85545787e-01 5.50855612e-02 3.24906101e+02] [-4.84556789e-01 8.74211174e-01 -3.09764517e-02 -2.18398648e+02] [-6.31968987e-02 3.34065849e-04 9.98001022e-01 -1.86959828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46863999999994 meters 0.025167218180620097 Centerline is valid? [True, True] Translation: X:324.96, Y:-218.43, Z:-18.70 [[ 8.73265754e-01 4.84232991e-01 5.40863561e-02 3.24961147e+02] [-4.83274728e-01 8.74938972e-01 -3.04521442e-02 -2.18429784e+02] [-6.20681937e-02 4.54245602e-04 9.98071808e-01 -1.86976711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52863999999994 meters 0.02522749683269255 Centerline is valid? [True, True] Translation: X:325.01, Y:-218.46, Z:-18.70 [[ 8.73659086e-01 4.83635052e-01 5.30748355e-02 3.25013562e+02] [-4.82709006e-01 8.75269597e-01 -2.99190328e-02 -2.18464973e+02] [-6.09246828e-02 5.19333757e-04 9.98142231e-01 -1.87005898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58863999999994 meters 0.025453546438314524 Centerline is valid? [True, True] Translation: X:325.07, Y:-218.50, Z:-18.70 [[ 8.74925001e-01 4.81430798e-01 5.22554209e-02 3.25066579e+02] [-4.80527054e-01 8.76483830e-01 -2.94931350e-02 -2.18499489e+02] [-5.99999350e-02 6.94137706e-04 9.98198140e-01 -1.87046339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64863999999994 meters 0.025490279335450627 Centerline is valid? [True, True] Translation: X:325.12, Y:-218.53, Z:-18.71 [[ 8.74790227e-01 4.81783989e-01 5.12469305e-02 3.25119636e+02] [-4.80913363e-01 8.76289744e-01 -2.89589682e-02 -2.18533886e+02] [-5.88591268e-02 6.87688711e-04 9.98266062e-01 -1.87074670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70863999999995 meters 0.025117637340916196 Centerline is valid? [True, True] Translation: X:325.17, Y:-218.57, Z:-18.71 [[ 8.73870867e-01 4.83675723e-01 4.90663080e-02 3.25170695e+02] [-4.82878856e-01 8.75247095e-01 -2.77584839e-02 -2.18568982e+02] [-5.63712483e-02 5.64247664e-04 9.98409717e-01 -1.87103010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76863999999995 meters 0.02507857366148837 Centerline is valid? [True, True] Translation: X:325.22, Y:-218.60, Z:-18.71 [[ 8.72921357e-01 4.85322937e-01 4.96986167e-02 3.25222345e+02] [-4.84506248e-01 8.74334836e-01 -2.81476503e-02 -2.18604964e+02] [-5.71139322e-02 4.91394783e-04 9.98367546e-01 -1.87124654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82863999999995 meters 0.024955628738775226 Centerline is valid? [True, True] Translation: X:325.27, Y:-218.64, Z:-18.71 [[ 8.72754018e-01 4.85424647e-01 5.16075187e-02 3.25273227e+02] [-4.84541975e-01 8.74278346e-01 -2.92651419e-02 -2.18641203e+02] [-5.93253572e-02 5.35261081e-04 9.98238556e-01 -1.87146888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88863999999995 meters 0.02511891014040165 Centerline is valid? [True, True] Translation: X:325.32, Y:-218.68, Z:-18.72 [[ 8.73957101e-01 4.83369582e-01 5.05255697e-02 3.25323865e+02] [-4.82518318e-01 8.75416115e-01 -2.86827253e-02 -2.18678559e+02] [-5.80952549e-02 6.87958517e-04 9.98310807e-01 -1.87173781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94863999999995 meters 0.025234815967916126 Centerline is valid? [True, True] Translation: X:325.38, Y:-218.71, Z:-18.72 [[ 8.75506614e-01 4.80546121e-01 5.06319548e-02 3.25375194e+02] [-4.79684641e-01 8.76968988e-01 -2.87756884e-02 -2.18713473e+02] [-5.82306995e-02 9.05934452e-04 9.98302742e-01 -1.87174741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00863999999996 meters 0.025346316809813984 Centerline is valid? [True, True] Translation: X:325.43, Y:-218.75, Z:-18.72 [[ 8.75401652e-01 4.80645428e-01 5.14967986e-02 3.25425678e+02] [-4.79752473e-01 8.76914524e-01 -2.92998642e-02 -2.18752611e+02] [-5.92411364e-02 9.43433011e-04 9.98243256e-01 -1.87217384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06863999999996 meters 0.024847454648584736 Centerline is valid? [True, True] Translation: X:325.47, Y:-218.79, Z:-18.72 [[ 8.73591454e-01 4.84149113e-01 4.93721353e-02 3.25474641e+02] [-4.83332133e-01 8.74985222e-01 -2.81231206e-02 -2.18792146e+02] [-5.68156727e-02 7.04978390e-04 9.98384436e-01 -1.87223426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12863999999996 meters 0.02442645534457851 Centerline is valid? [True, True] Translation: X:325.52, Y:-218.83, Z:-18.72 [[ 8.70687505e-01 4.89408559e-01 4.88111727e-02 3.25523721e+02] [-4.88616618e-01 8.72054537e-01 -2.78331893e-02 -2.18831253e+02] [-5.61878056e-02 3.84060045e-04 9.98420144e-01 -1.87233777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18863999999996 meters 0.024135358345458352 Centerline is valid? [True, True] Translation: X:325.58, Y:-218.87, Z:-18.73 [[ 8.67178767e-01 4.95652767e-01 4.82630428e-02 3.25575240e+02] [-4.94886486e-01 8.68520774e-01 -2.75505116e-02 -2.18866819e+02] [-5.55729426e-02 6.49096584e-06 9.98454630e-01 -1.87263629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24863999999997 meters 0.023880745310975008 Centerline is valid? [True, True] Translation: X:325.63, Y:-218.90, Z:-18.73 [[ 8.65314133e-01 4.99083262e-01 4.63394955e-02 3.25628670e+02] [-4.98380238e-01 8.66554017e-01 -2.64815658e-02 -2.18900272e+02] [-5.33721822e-02 -1.79815687e-04 9.98574673e-01 -1.87279202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30863999999997 meters 0.023714260016108338 Centerline is valid? [True, True] Translation: X:325.68, Y:-218.93, Z:-18.73 [[ 8.64130139e-01 5.01209224e-01 4.54798549e-02 3.25683947e+02] [-5.00533273e-01 8.65326087e-01 -2.60231764e-02 -2.18931131e+02] [-5.23979609e-02 -2.76769628e-04 9.98626245e-01 -1.87299220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36863999999997 meters 0.023327973250806225 Centerline is valid? [True, True] Translation: X:325.74, Y:-218.96, Z:-18.73 [[ 8.62456158e-01 5.04206804e-01 4.41007324e-02 3.25739265e+02] [-5.03573551e-01 8.63582842e-01 -2.52656658e-02 -2.18960464e+02] [-5.08237564e-02 -4.17433364e-04 9.98707551e-01 -1.87307308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42864 meters 0.02342345049285073 Centerline is valid? [True, True] Translation: X:325.79, Y:-218.99, Z:-18.73 [[ 8.60209682e-01 5.07872355e-01 4.58799910e-02 3.25794927e+02] [-5.07190308e-01 8.61432107e-01 -2.63195206e-02 -2.18988720e+02] [-5.28894542e-02 -6.29580333e-04 9.98600175e-01 -1.87327599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48864 meters 0.02320774047321337 Centerline is valid? [True, True] Translation: X:325.85, Y:-219.02, Z:-18.73 [[ 8.59968210e-01 5.08249994e-01 4.62235963e-02 3.25851772e+02] [-5.07556601e-01 8.61209350e-01 -2.65471714e-02 -2.19017028e+02] [-5.33007930e-02 -6.31367935e-04 9.98578303e-01 -1.87337966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54864 meters 0.022992608945594392 Centerline is valid? [True, True] Translation: X:325.91, Y:-219.04, Z:-18.74 [[ 8.60739727e-01 5.07039222e-01 4.51480925e-02 3.25907882e+02] [-5.06374397e-01 8.61922828e-01 -2.59616719e-02 -2.19044920e+02] [-5.20777575e-02 -5.15595763e-04 9.98642900e-01 -1.87365241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60864 meters 0.022561234695919866 Centerline is valid? [True, True] Translation: X:325.96, Y:-219.07, Z:-18.74 [[ 8.61083276e-01 5.06586858e-01 4.36502755e-02 3.25964287e+02] [-5.05963479e-01 8.62188816e-01 -2.51277517e-02 -2.19070592e+02] [-5.03641681e-02 -4.48358444e-04 9.98730819e-01 -1.87394962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66864 meters 0.02245127195730299 Centerline is valid? [True, True] Translation: X:326.02, Y:-219.10, Z:-18.74 [[ 8.60863048e-01 5.06941338e-01 4.38781457e-02 3.26019239e+02] [-5.06310433e-01 8.61980441e-01 -2.52876493e-02 -2.19100674e+02] [-5.06414582e-02 -4.46760159e-04 9.98716798e-01 -1.87414311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7286399999999 meters 0.022484303676893493 Centerline is valid? [True, True] Translation: X:326.07, Y:-219.13, Z:-18.75 [[ 8.59708513e-01 5.08691146e-01 4.62016330e-02 3.26072923e+02] [-5.07992265e-01 8.60948905e-01 -2.66616232e-02 -2.19131444e+02] [-5.33397770e-02 -5.48847809e-04 9.98576270e-01 -1.87455754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78863999999993 meters 0.022573545324582805 Centerline is valid? [True, True] Translation: X:326.13, Y:-219.16, Z:-18.75 [[ 8.58521958e-01 5.10732315e-01 4.57443965e-02 3.26128153e+02] [-5.10048518e-01 8.59739547e-01 -2.64276447e-02 -2.19162244e+02] [-5.28257189e-02 -6.43148395e-04 9.98603540e-01 -1.87488388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84863999999993 meters 0.022451127665344597 Centerline is valid? [True, True] Translation: X:326.18, Y:-219.19, Z:-18.75 [[ 8.57819626e-01 5.12062385e-01 4.40182196e-02 3.26183940e+02] [-5.11429403e-01 8.58947999e-01 -2.54617727e-02 -2.19191104e+02] [-5.08473777e-02 -6.70603447e-04 9.98706210e-01 -1.87513107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90863999999993 meters 0.023009693682473388 Centerline is valid? [True, True] Translation: X:326.24, Y:-219.22, Z:-18.75 [[ 8.55420900e-01 5.16095048e-01 4.36002927e-02 3.26237414e+02] [-5.15477667e-01 8.56530873e-01 -2.52514877e-02 -2.19222904e+02] [-5.03771646e-02 -8.74326856e-04 9.98729882e-01 -1.87536734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96863999999994 meters 0.02333228770948407 Centerline is valid? [True, True] Translation: X:326.29, Y:-219.25, Z:-18.76 [[ 8.53841604e-01 5.18670263e-01 4.39962794e-02 3.26292068e+02] [-5.18043575e-01 8.54973763e-01 -2.55091876e-02 -2.19252519e+02] [-5.08465216e-02 -1.01118420e-03 9.98705967e-01 -1.87577865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02863999999994 meters 0.02414926714590865 Centerline is valid? [True, True] Translation: X:326.35, Y:-219.28, Z:-18.76 [[ 8.50590837e-01 5.23798098e-01 4.61603735e-02 3.26347126e+02] [-5.23114247e-01 8.51841362e-01 -2.67913850e-02 -2.19281400e+02] [-5.33545920e-02 -1.35864241e-03 9.98574705e-01 -1.87592514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08863999999994 meters 0.025661725064283766 Centerline is valid? [True, True] Translation: X:326.40, Y:-219.31, Z:-18.76 [[ 8.47831588e-01 5.28139172e-01 4.74406325e-02 3.26404036e+02] [-5.27422902e-01 8.49156193e-01 -2.75471095e-02 -2.19307307e+02] [-5.48332145e-02 -1.66596644e-03 9.98494138e-01 -1.87618598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14863999999994 meters 0.026340516288829507 Centerline is valid? [True, True] Translation: X:326.46, Y:-219.33, Z:-18.76 [[ 8.45941519e-01 5.30982990e-01 4.93964739e-02 3.26461673e+02] [-5.30209431e-01 8.47380348e-01 -2.87141864e-02 -2.19331631e+02] [-5.71043458e-02 -1.89995388e-03 9.98366408e-01 -1.87642526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20863999999995 meters 0.026772109468673574 Centerline is valid? [True, True] Translation: X:326.52, Y:-219.35, Z:-18.77 [[ 8.45725753e-01 5.31193711e-01 5.08054291e-02 3.26520964e+02] [-5.30373783e-01 8.47248178e-01 -2.95664505e-02 -2.19354750e+02] [-5.87503197e-02 -1.94075901e-03 9.98270822e-01 -1.87660016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26863999999995 meters 0.026784921900529092 Centerline is valid? [True, True] Translation: X:326.58, Y:-219.38, Z:-18.77 [[ 8.46739689e-01 5.29656142e-01 4.99626897e-02 3.26577406e+02] [-5.28858564e-01 8.48210600e-01 -2.91100798e-02 -2.19381675e+02] [-5.77972155e-02 -1.77453642e-03 9.98326767e-01 -1.87688021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32863999999995 meters 0.026382735515401864 Centerline is valid? [True, True] Translation: X:326.63, Y:-219.41, Z:-18.77 [[ 8.49624965e-01 5.24819408e-01 5.19808453e-02 3.26634797e+02] [-5.23945287e-01 8.51212312e-01 -3.03139600e-02 -2.19407366e+02] [-6.01560901e-02 -1.47962167e-03 9.98187886e-01 -1.87726549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38863999999995 meters 0.02589504708860833 Centerline is valid? [True, True] Translation: X:326.69, Y:-219.43, Z:-18.78 [[ 8.53183981e-01 5.19038590e-01 5.17304261e-02 3.26690698e+02] [-5.18161203e-01 8.54750160e-01 -3.01849515e-02 -2.19434793e+02] [-5.98837447e-02 -1.05138278e-03 9.98204804e-01 -1.87765150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44863999999995 meters 0.025640607592785518 Centerline is valid? [True, True] Translation: X:326.75, Y:-219.46, Z:-18.78 [[ 8.55386519e-01 5.15644384e-01 4.92419669e-02 3.26745391e+02] [-5.14842084e-01 8.56802375e-01 -2.87631587e-02 -2.19463656e+02] [-5.70221954e-02 -7.48218695e-04 9.98372631e-01 -1.87786803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50863999999996 meters 0.025757775902834425 Centerline is valid? [True, True] Translation: X:326.80, Y:-219.49, Z:-18.78 [[ 8.56094181e-01 5.14241781e-01 5.15571912e-02 3.26800976e+02] [-5.13357537e-01 8.57645009e-01 -3.01509239e-02 -2.19493349e+02] [-5.97226325e-02 -6.55242244e-04 9.98214795e-01 -1.87825786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56863999999996 meters 0.025771249053759503 Centerline is valid? [True, True] Translation: X:326.86, Y:-219.52, Z:-18.79 [[ 8.57174787e-01 5.12528058e-01 5.06593913e-02 3.26856516e+02] [-5.11669570e-01 8.58670332e-01 -2.96565717e-02 -2.19522486e+02] [-5.86995414e-02 -5.00003413e-04 9.98275570e-01 -1.87852386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62863999999996 meters 0.025924397367688857 Centerline is valid? [True, True] Translation: X:326.91, Y:-219.55, Z:-18.79 [[ 8.56920927e-01 5.13030528e-01 4.98618317e-02 3.26911392e+02] [-5.12198753e-01 8.58370209e-01 -2.92065294e-02 -2.19552772e+02] [-5.77837522e-02 -5.11481754e-04 9.98328992e-01 -1.87876890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68863999999996 meters 0.025923235086577335 Centerline is valid? [True, True] Translation: X:326.97, Y:-219.58, Z:-18.79 [[ 8.56035792e-01 5.14299025e-01 5.19541749e-02 3.26966978e+02] [-5.13395971e-01 8.57610730e-01 -3.04698613e-02 -2.19581602e+02] [-6.02270779e-02 -5.89772214e-04 9.98184528e-01 -1.87911579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74863999999997 meters 0.0261539693966581 Centerline is valid? [True, True] Translation: X:327.02, Y:-219.61, Z:-18.79 [[ 8.54759606e-01 5.16291196e-01 5.31922572e-02 3.27022859e+02] [-5.15346275e-01 8.56412801e-01 -3.12303026e-02 -2.19609284e+02] [-6.16784602e-02 -7.18030472e-04 9.98095813e-01 -1.87941182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80863999999997 meters 0.02624323619599112 Centerline is valid? [True, True] Translation: X:327.08, Y:-219.64, Z:-18.80 [[ 8.54061673e-01 5.17180163e-01 5.57076118e-02 3.27077362e+02] [-5.16143206e-01 8.55876193e-01 -3.27434449e-02 -2.19639563e+02] [-6.46130789e-02 -7.88184000e-04 9.97910081e-01 -1.87992606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86863999999997 meters 0.026301385462741876 Centerline is valid? [True, True] Translation: X:327.13, Y:-219.67, Z:-18.80 [[ 8.53741762e-01 5.17858123e-01 5.42951847e-02 3.27131331e+02] [-5.16872374e-01 8.55466154e-01 -3.19469478e-02 -2.19670106e+02] [-6.29916793e-02 -7.89237504e-04 9.98013740e-01 -1.88025853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92864 meters 0.026478577795048665 Centerline is valid? [True, True] Translation: X:327.19, Y:-219.70, Z:-18.80 [[ 8.52780987e-01 5.19471004e-01 5.39857864e-02 3.27186185e+02] [-5.18497469e-01 8.54487633e-01 -3.18003233e-02 -2.19701272e+02] [-6.26495327e-02 -8.72782537e-04 9.98035207e-01 -1.88042643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98864 meters 0.026512195471462666 Centerline is valid? [True, True] Translation: X:327.24, Y:-219.73, Z:-18.81 [[ 8.52101229e-01 5.20682285e-01 5.30420032e-02 3.27239844e+02] [-5.19742525e-01 8.53750037e-01 -3.12822939e-02 -2.19733744e+02] [-6.15727484e-02 -9.12503599e-04 9.98102181e-01 -1.88072299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04864 meters 0.02638285358349038 Centerline is valid? [True, True] Translation: X:327.29, Y:-219.77, Z:-18.81 [[ 8.51880276e-01 5.21015450e-01 5.33188196e-02 3.27293411e+02] [-5.20064072e-01 8.53546763e-01 -3.14846716e-02 -2.19766796e+02] [-6.19141062e-02 -9.08031714e-04 9.98081068e-01 -1.88106194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10864 meters 0.026284523324178032 Centerline is valid? [True, True] Translation: X:327.35, Y:-219.80, Z:-18.81 [[ 8.51263510e-01 5.21961869e-01 5.39095892e-02 3.27346657e+02] [-5.20988655e-01 8.52968286e-01 -3.18735491e-02 -2.19800400e+02] [-6.26199472e-02 -9.53495138e-04 9.98036990e-01 -1.88131550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16864 meters 0.026235516657031693 Centerline is valid? [True, True] Translation: X:327.40, Y:-219.83, Z:-18.82 [[ 8.50741102e-01 5.22965758e-01 5.24060376e-02 3.27398955e+02] [-5.22045796e-01 8.52353143e-01 -3.10210774e-02 -2.19833917e+02] [-6.08914122e-02 -9.67446037e-04 9.98143927e-01 -1.88152307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2286399999999 meters 0.0261505065293931 Centerline is valid? [True, True] Translation: X:327.45, Y:-219.87, Z:-18.82 [[ 8.47674211e-01 5.27987636e-01 5.17444584e-02 3.27449516e+02] [-5.27098143e-01 8.49251087e-01 -3.06616744e-02 -2.19869555e+02] [-6.01330226e-02 -1.28329726e-03 9.98189548e-01 -1.88186297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28863999999993 meters 0.025805553762362602 Centerline is valid? [True, True] Translation: X:327.50, Y:-219.90, Z:-18.82 [[ 8.45395233e-01 5.31491805e-01 5.31353121e-02 3.27501628e+02] [-5.30558713e-01 8.47062023e-01 -3.15179502e-02 -2.19902600e+02] [-6.17604372e-02 -1.54627797e-03 9.98089804e-01 -1.88223535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34863999999993 meters 0.025565059512389493 Centerline is valid? [True, True] Translation: X:327.56, Y:-219.93, Z:-18.83 [[ 8.42623597e-01 5.35917399e-01 5.27068782e-02 3.27555325e+02] [-5.35005983e-01 8.44268440e-01 -3.12953480e-02 -2.19934515e+02] [-6.12704754e-02 -1.82829648e-03 9.98119525e-01 -1.88253497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40863999999993 meters 0.02514920558126994 Centerline is valid? [True, True] Translation: X:327.61, Y:-219.97, Z:-18.83 [[ 8.42174506e-01 5.36537261e-01 5.35711590e-02 3.27608796e+02] [-5.35594792e-01 8.43874547e-01 -3.18428685e-02 -2.19965645e+02] [-6.22922230e-02 -1.87518169e-03 9.98056192e-01 -1.88285518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46863999999994 meters 0.02513239729437429 Centerline is valid? [True, True] Translation: X:327.66, Y:-220.00, Z:-18.83 [[ 8.41863518e-01 5.37026744e-01 5.35545816e-02 3.27661502e+02] [-5.36083642e-01 8.43563120e-01 -3.18683390e-02 -2.19999985e+02] [-6.22908203e-02 -1.88094317e-03 9.98056269e-01 -1.88309615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52863999999994 meters 0.025205248513529822 Centerline is valid? [True, True] Translation: X:327.72, Y:-220.03, Z:-18.83 [[ 8.41421020e-01 5.37700112e-01 5.37518090e-02 3.27716259e+02] [-5.36748946e-01 8.43134012e-01 -3.20251085e-02 -2.20031696e+02] [-6.25398828e-02 -1.90462737e-03 9.98040648e-01 -1.88348285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58863999999994 meters 0.025080992990865646 Centerline is valid? [True, True] Translation: X:327.77, Y:-220.06, Z:-18.84 [[ 8.42163694e-01 5.36393366e-01 5.51585822e-02 3.27769672e+02] [-5.35386388e-01 8.43966136e-01 -3.29025360e-02 -2.20062637e+02] [-6.42006775e-02 -1.82183282e-03 9.97935346e-01 -1.88386726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64863999999994 meters 0.02495971076264616 Centerline is valid? [True, True] Translation: X:327.82, Y:-220.09, Z:-18.84 [[ 8.43290966e-01 5.34566978e-01 5.56641092e-02 3.27823279e+02] [-5.33535160e-01 8.45124466e-01 -3.32395869e-02 -2.20094438e+02] [-6.48118861e-02 -1.66811611e-03 9.97896105e-01 -1.88429832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70863999999995 meters 0.02481875601518663 Centerline is valid? [True, True] Translation: X:327.88, Y:-220.12, Z:-18.85 [[ 8.44981800e-01 5.32140354e-01 5.32203160e-02 3.27878139e+02] [-5.31190365e-01 8.46655016e-01 -3.18132058e-02 -2.20124183e+02] [-6.19883381e-02 -1.38853918e-03 9.98075908e-01 -1.88452019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76863999999995 meters 0.025058268184558165 Centerline is valid? [True, True] Translation: X:327.93, Y:-220.15, Z:-18.85 [[ 8.45728960e-01 5.30727367e-01 5.54165032e-02 3.27933659e+02] [-5.29691774e-01 8.47541596e-01 -3.31642576e-02 -2.20154800e+02] [-6.45689707e-02 -1.30569279e-03 9.97912393e-01 -1.88489350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82863999999995 meters 0.02500916339781446 Centerline is valid? [True, True] Translation: X:327.99, Y:-220.18, Z:-18.85 [[ 8.47121218e-01 5.28560319e-01 5.48601001e-02 3.27988146e+02] [-5.27538418e-01 8.48895039e-01 -3.28698952e-02 -2.20183936e+02] [-6.39441891e-02 -1.09602475e-03 9.97952874e-01 -1.88519809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88863999999995 meters 0.02528346321490977 Centerline is valid? [True, True] Translation: X:328.04, Y:-220.21, Z:-18.85 [[ 8.47530687e-01 5.27878126e-01 5.51037031e-02 3.28044778e+02] [-5.26843286e-01 8.49319521e-01 -3.30530465e-02 -2.20212186e+02] [-6.42486309e-02 -1.01754477e-03 9.97933404e-01 -1.88547068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94863999999995 meters 0.025501351915759054 Centerline is valid? [True, True] Translation: X:328.10, Y:-220.24, Z:-18.86 [[ 8.47586167e-01 5.27598431e-01 5.68997829e-02 3.28099541e+02] [-5.26491602e-01 8.49493324e-01 -3.41714194e-02 -2.20241560e+02] [-6.63647730e-02 -9.94035427e-04 9.97794933e-01 -1.88570694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00863999999996 meters 0.025438145441889486 Centerline is valid? [True, True] Translation: X:328.15, Y:-220.27, Z:-18.86 [[ 8.48491790e-01 5.26199287e-01 5.63559473e-02 3.28154339e+02] [-5.25108076e-01 8.50360862e-01 -3.38808551e-02 -2.20270337e+02] [-6.57509737e-02 -8.45335662e-04 9.97835705e-01 -1.88588548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06863999999996 meters 0.025510500537999924 Centerline is valid? [True, True] Translation: X:328.21, Y:-220.30, Z:-18.86 [[ 8.50931576e-01 5.22191359e-01 5.68474849e-02 3.28208655e+02] [-5.21069613e-01 8.52828192e-01 -3.42130525e-02 -2.20301103e+02] [-6.63468982e-02 -5.08530281e-04 9.97796488e-01 -1.88635275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12863999999996 meters 0.025541185689736054 Centerline is valid? [True, True] Translation: X:328.26, Y:-220.33, Z:-18.87 [[ 8.53626829e-01 5.18029784e-01 5.44644822e-02 3.28262423e+02] [-5.16989541e-01 8.55362567e-01 -3.28130095e-02 -2.20332856e+02] [-6.35849955e-02 -1.47502356e-04 9.97976416e-01 -1.88669344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18863999999996 meters 0.025678172591753305 Centerline is valid? [True, True] Translation: X:328.32, Y:-220.36, Z:-18.87 [[ 8.55202984e-01 5.15287776e-01 5.57347673e-02 3.28315445e+02] [-5.14190185e-01 8.57017211e-01 -3.36147782e-02 -2.20364927e+02] [-6.50869391e-02 8.91882862e-05 9.97879593e-01 -1.88694518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24863999999997 meters 0.025702508047343323 Centerline is valid? [True, True] Translation: X:328.37, Y:-220.40, Z:-18.87 [[ 8.55247519e-01 5.15281508e-01 5.51057964e-02 3.28369294e+02] [-5.14206204e-01 8.57020976e-01 -3.32720122e-02 -2.20396727e+02] [-6.43712761e-02 1.20063513e-04 9.97926011e-01 -1.88726049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30863999999997 meters 0.025982430605168343 Centerline is valid? [True, True] Translation: X:328.42, Y:-220.43, Z:-18.88 [[ 8.56206503e-01 5.13641973e-01 5.55188937e-02 3.28423095e+02] [-5.12544374e-01 8.58004572e-01 -3.35621664e-02 -2.20429534e+02] [-6.48744019e-02 2.80248480e-04 9.97893398e-01 -1.88762856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36863999999997 meters 0.026189524664230218 Centerline is valid? [True, True] Translation: X:328.48, Y:-220.46, Z:-18.88 [[ 8.57645978e-01 5.11335579e-01 5.45829822e-02 3.28476642e+02] [-5.10267520e-01 8.59380995e-01 -3.30357966e-02 -2.20462276e+02] [-6.37999557e-02 4.81095160e-04 9.97962592e-01 -1.88781399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42864 meters 0.02646457753419241 Centerline is valid? [True, True] Translation: X:328.53, Y:-220.49, Z:-18.88 [[ 8.60304552e-01 5.06834927e-01 5.47214197e-02 3.28529748e+02] [-5.05749861e-01 8.62042710e-01 -3.31578854e-02 -2.20493905e+02] [-6.39777754e-02 8.50529377e-04 9.97950961e-01 -1.88815319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48864 meters 0.02658968900799121 Centerline is valid? [True, True] Translation: X:328.58, Y:-220.53, Z:-18.88 [[ 8.59880957e-01 5.07632410e-01 5.39821875e-02 3.28580576e+02] [-5.06575952e-01 8.61573376e-01 -3.27433010e-02 -2.20529712e+02] [-6.31311763e-02 8.09262981e-04 9.98004910e-01 -1.88838759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54864 meters 0.026041891349923352 Centerline is valid? [True, True] Translation: X:328.63, Y:-220.57, Z:-18.89 [[ 8.57383418e-01 5.11842264e-01 5.39552757e-02 3.28632031e+02] [-5.10793039e-01 8.59079285e-01 -3.27605510e-02 -2.20565489e+02] [-6.31200943e-02 5.28373894e-04 9.98005799e-01 -1.88875132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60864 meters 0.025942677622266694 Centerline is valid? [True, True] Translation: X:328.68, Y:-220.60, Z:-18.89 [[ 8.52782806e-01 5.19448998e-01 5.41684870e-02 3.28681564e+02] [-5.18404522e-01 8.54501456e-01 -3.29243489e-02 -2.20602905e+02] [-6.33895711e-02 -3.87003260e-06 9.97988859e-01 -1.88899321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66864 meters 0.02592821513101962 Centerline is valid? [True, True] Translation: X:328.73, Y:-220.64, Z:-18.89 [[ 8.50119798e-01 5.23795048e-01 5.41763519e-02 3.28734038e+02] [-5.22756754e-01 8.51844270e-01 -3.29653752e-02 -2.20638282e+02] [-6.34169152e-02 -2.96535708e-04 9.97987078e-01 -1.88926173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7286399999999 meters 0.026057196321655023 Centerline is valid? [True, True] Translation: X:328.79, Y:-220.67, Z:-18.90 [[ 8.46680426e-01 5.29314147e-01 5.43947609e-02 3.28787964e+02] [-5.28276307e-01 8.48425644e-01 -3.31371426e-02 -2.20668701e+02] [-6.36898684e-02 -6.78893378e-04 9.97969508e-01 -1.88961230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78863999999993 meters 0.02621828973795835 Centerline is valid? [True, True] Translation: X:328.84, Y:-220.70, Z:-18.90 [[ 8.44783963e-01 5.32449161e-01 5.32723806e-02 3.28842724e+02] [-5.31457761e-01 8.46461541e-01 -3.24885776e-02 -2.20699264e+02] [-6.23915373e-02 -8.66190797e-04 9.98051374e-01 -1.88968451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84863999999993 meters 0.026464539664002012 Centerline is valid? [True, True] Translation: X:328.90, Y:-220.73, Z:-18.90 [[ 8.42013389e-01 5.36689306e-01 5.45714441e-02 3.28899098e+02] [-5.35655258e-01 8.43779122e-01 -3.33202272e-02 -2.20725621e+02] [-6.39288549e-02 -1.17540353e-03 9.97953766e-01 -1.89007684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90863999999993 meters 0.02672441384674322 Centerline is valid? [True, True] Translation: X:328.96, Y:-220.75, Z:-18.90 [[ 8.40029680e-01 5.39823224e-01 5.42312100e-02 3.28955468e+02] [-5.38806328e-01 8.41777284e-01 -3.31473340e-02 -2.20752447e+02] [-6.35443013e-02 -1.37537480e-03 9.97978071e-01 -1.89037685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96863999999994 meters 0.0263559262571244 Centerline is valid? [True, True] Translation: X:329.01, Y:-220.78, Z:-18.91 [[ 8.40686006e-01 5.38958695e-01 5.26361491e-02 3.29011996e+02] [-5.37997038e-01 8.42331277e-01 -3.22057078e-02 -2.20778822e+02] [-6.16946210e-02 -1.24320443e-03 9.98094298e-01 -1.89059137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02863999999994 meters 0.025538510375295444 Centerline is valid? [True, True] Translation: X:329.07, Y:-220.80, Z:-18.91 [[ 8.47129971e-01 5.28806529e-01 5.22921247e-02 3.29070986e+02] [-5.27836359e-01 8.48742263e-01 -3.20210787e-02 -2.20799956e+02] [-6.13154917e-02 -4.75669272e-04 9.98118322e-01 -1.89084357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08863999999994 meters 0.025268316929748968 Centerline is valid? [True, True] Translation: X:329.13, Y:-220.83, Z:-18.91 [[ 8.51105723e-01 5.22341876e-01 5.27068595e-02 3.29128194e+02] [-5.21343404e-01 8.52736164e-01 -3.22814264e-02 -2.20825963e+02] [-6.18069860e-02 -3.46674810e-06 9.98088121e-01 -1.89124750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14863999999994 meters 0.025609080767738518 Centerline is valid? [True, True] Translation: X:329.18, Y:-220.86, Z:-18.92 [[ 8.57252821e-01 5.12116316e-01 5.34273345e-02 3.29182876e+02] [-5.11069721e-01 8.58915775e-01 -3.27327191e-02 -2.20855589e+02] [-6.26525399e-02 7.55122810e-04 9.98035114e-01 -1.89156006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20863999999995 meters 0.026562825505433686 Centerline is valid? [True, True] Translation: X:329.24, Y:-220.88, Z:-18.92 [[ 8.62453409e-01 5.03368174e-01 5.28639625e-02 3.29237655e+02] [-5.02326458e-01 8.64070923e-01 -3.23970537e-02 -2.20884734e+02] [-6.19858586e-02 1.38598240e-03 9.98076065e-01 -1.89184718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26863999999995 meters 0.027070875568688875 Centerline is valid? [True, True] Translation: X:329.29, Y:-220.92, Z:-18.92 [[ 8.64683124e-01 4.99492079e-01 5.32048683e-02 3.29289724e+02] [-4.98428938e-01 8.66316818e-01 -3.26153929e-02 -2.20918495e+02] [-6.23834026e-02 1.68313377e-03 9.98050839e-01 -1.89227002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32863999999995 meters 0.027093419799810732 Centerline is valid? [True, True] Translation: X:329.34, Y:-220.95, Z:-18.93 [[ 8.64887743e-01 4.99112029e-01 5.34450587e-02 3.29341559e+02] [-4.98037946e-01 8.66535748e-01 -3.27719749e-02 -2.20953664e+02] [-6.26689408e-02 1.72641219e-03 9.98032877e-01 -1.89252997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38863999999995 meters 0.027454387536297753 Centerline is valid? [True, True] Translation: X:329.39, Y:-220.99, Z:-18.93 [[ 8.65534280e-01 4.97849772e-01 5.47358620e-02 3.29391922e+02] [-4.96719525e-01 8.67261254e-01 -3.35802025e-02 -2.20990188e+02] [-6.41881885e-02 1.87644498e-03 9.97936048e-01 -1.89296959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44863999999995 meters 0.027932332038622117 Centerline is valid? [True, True] Translation: X:329.44, Y:-221.03, Z:-18.93 [[ 8.66619077e-01 4.95807060e-01 5.60957560e-02 3.29443118e+02] [-4.94613352e-01 8.68430143e-01 -3.44487729e-02 -2.21025428e+02] [-6.57951903e-02 2.10825387e-03 9.97830922e-01 -1.89321119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50863999999996 meters 0.027964693657469758 Centerline is valid? [True, True] Translation: X:329.49, Y:-221.06, Z:-18.94 [[ 8.67092206e-01 4.94972142e-01 5.61576836e-02 3.29491902e+02] [-4.93771827e-01 8.68906050e-01 -3.45204145e-02 -2.21064833e+02] [-6.58823945e-02 2.20330033e-03 9.97824962e-01 -1.89362653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56863999999996 meters 0.027330240616309738 Centerline is valid? [True, True] Translation: X:329.54, Y:-221.11, Z:-18.94 [[ 8.64780348e-01 4.98918811e-01 5.68767848e-02 3.29538837e+02] [-4.97693722e-01 8.66646519e-01 -3.49967128e-02 -2.21107287e+02] [-6.67525859e-02 1.95725078e-03 9.97767639e-01 -1.89388076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62863999999996 meters 0.026725392578361457 Centerline is valid? [True, True] Translation: X:329.59, Y:-221.15, Z:-18.94 [[ 8.63055229e-01 5.01977616e-01 5.61617647e-02 3.29585667e+02] [-5.00787401e-01 8.64878885e-01 -3.45903573e-02 -2.21148894e+02] [-6.59367095e-02 1.72828454e-03 9.97822311e-01 -1.89431774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68863999999996 meters 0.02593018375518525 Centerline is valid? [True, True] Translation: X:329.63, Y:-221.19, Z:-18.95 [[ 8.59635921e-01 5.07618738e-01 5.78731388e-02 3.29631294e+02] [-5.06365050e-01 8.61580726e-01 -3.56803608e-02 -2.21193151e+02] [-6.79744006e-02 1.36718495e-03 9.97686129e-01 -1.89467078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74863999999997 meters 0.02512868556918386 Centerline is valid? [True, True] Translation: X:329.68, Y:-221.23, Z:-18.95 [[ 8.54330777e-01 5.16390355e-01 5.88211232e-02 3.29679318e+02] [-5.15113695e-01 8.56353022e-01 -3.62957674e-02 -2.21234477e+02] [-6.91144308e-02 7.09025061e-04 9.97608487e-01 -1.89486046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80863999999997 meters 0.02510080533957619 Centerline is valid? [True, True] Translation: X:329.73, Y:-221.28, Z:-18.95 [[ 8.48810081e-01 5.25240294e-01 6.03662181e-02 3.29727984e+02] [-5.23915679e-01 8.50953955e-01 -3.72790468e-02 -2.21275141e+02] [-7.09493296e-02 1.60225902e-05 9.97479921e-01 -1.89534326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86863999999997 meters 0.02524114327892946 Centerline is valid? [True, True] Translation: X:329.78, Y:-221.31, Z:-18.96 [[ 8.46143908e-01 5.29513328e-01 6.04658830e-02 3.29779796e+02] [-5.28192009e-01 8.48301564e-01 -3.73852748e-02 -2.21310547e+02] [-7.10893044e-02 -3.04273737e-04 9.97469908e-01 -1.89566213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92864 meters 0.025268350663089204 Centerline is valid? [True, True] Translation: X:329.83, Y:-221.35, Z:-18.96 [[ 8.45027406e-01 5.31479032e-01 5.88109003e-02 3.29831629e+02] [-5.30231044e-01 8.47071343e-01 -3.64030131e-02 -2.21345536e+02] [-6.91644665e-02 -4.21821304e-04 9.97605182e-01 -1.89600973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98864 meters 0.025322907517483444 Centerline is valid? [True, True] Translation: X:329.89, Y:-221.38, Z:-18.96 [[ 8.44752422e-01 5.31974369e-01 5.82804936e-02 3.29885138e+02] [-5.30747263e-01 8.46760350e-01 -3.61144385e-02 -2.21377885e+02] [-6.85615668e-02 -4.24453090e-04 9.97646797e-01 -1.89628644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04864 meters 0.025469742663834914 Centerline is valid? [True, True] Translation: X:329.94, Y:-221.41, Z:-18.97 [[ 8.44182465e-01 5.32854899e-01 5.84946394e-02 3.29936999e+02] [-5.31617808e-01 8.46206502e-01 -3.62913350e-02 -2.21413633e+02] [-6.88365599e-02 -4.60283375e-04 9.97627845e-01 -1.89664166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10864 meters 0.02547729784170272 Centerline is valid? [True, True] Translation: X:329.99, Y:-221.45, Z:-18.97 [[ 8.44451023e-01 5.32532576e-01 5.75458588e-02 3.29989104e+02] [-5.31331798e-01 8.46409417e-01 -3.57437934e-02 -2.21447539e+02] [-6.77420912e-02 -3.92061734e-04 9.97702789e-01 -1.89690923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1686399999999 meters 0.025716833272374895 Centerline is valid? [True, True] Translation: X:330.04, Y:-221.48, Z:-18.97 [[ 8.45665708e-01 5.30641056e-01 5.71802434e-02 3.30040170e+02] [-5.29448644e-01 8.47596618e-01 -3.55542718e-02 -2.21483358e+02] [-6.73323373e-02 -2.06973948e-04 9.97730582e-01 -1.89725564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2286399999999 meters 0.025623487786892954 Centerline is valid? [True, True] Translation: X:330.09, Y:-221.52, Z:-18.98 [[ 8.46135320e-01 5.29924016e-01 5.68819692e-02 3.30092547e+02] [-5.28739765e-01 8.48045119e-01 -3.54081507e-02 -2.21517939e+02] [-6.70021057e-02 -1.15672102e-04 9.97752827e-01 -1.89755180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28863999999993 meters 0.026033447773895862 Centerline is valid? [True, True] Translation: X:330.14, Y:-221.56, Z:-18.98 [[ 8.46043485e-01 5.30008091e-01 5.74616817e-02 3.30142759e+02] [-5.28796762e-01 8.47992580e-01 -3.58129596e-02 -2.21555934e+02] [-6.77082381e-02 -8.62300494e-05 9.97705160e-01 -1.89786126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34863999999993 meters 0.025865976061981637 Centerline is valid? [True, True] Translation: X:330.19, Y:-221.59, Z:-18.98 [[ 8.46121803e-01 5.30110781e-01 5.53213674e-02 3.30194441e+02] [-5.28985766e-01 8.47928391e-01 -3.45181624e-02 -2.21590639e+02] [-6.52070081e-02 -5.76460148e-05 9.97871757e-01 -1.89805613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40863999999993 meters 0.026170891157947164 Centerline is valid? [True, True] Translation: X:330.25, Y:-221.63, Z:-18.98 [[ 8.44978237e-01 5.31694180e-01 5.75593330e-02 3.30246391e+02] [-5.30477209e-01 8.46936405e-01 -3.59535208e-02 -2.21625337e+02] [-6.78653724e-02 -1.53971656e-04 9.97694476e-01 -1.89829700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46863999999994 meters 0.026115263636051007 Centerline is valid? [True, True] Translation: X:330.30, Y:-221.66, Z:-18.99 [[ 8.44225544e-01 5.32937368e-01 5.71051121e-02 3.30299827e+02] [-5.31739727e-01 8.46154663e-01 -3.57092190e-02 -2.21659159e+02] [-6.73505341e-02 -2.18421917e-04 9.97729351e-01 -1.89856706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52863999999994 meters 0.02628711474275915 Centerline is valid? [True, True] Translation: X:330.35, Y:-221.69, Z:-18.99 [[ 8.42134141e-01 5.36172571e-01 5.76980303e-02 3.30351683e+02] [-5.34954590e-01 8.44108272e-01 -3.61221678e-02 -2.21692933e+02] [-6.80711002e-02 -4.46115425e-04 9.97680373e-01 -1.89862586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58863999999994 meters 0.026217545232153524 Centerline is valid? [True, True] Translation: X:330.41, Y:-221.72, Z:-18.99 [[ 8.40653136e-01 5.38506765e-01 5.75566609e-02 3.30407078e+02] [-5.37297495e-01 8.42620973e-01 -3.60734914e-02 -2.21723586e+02] [-6.79242687e-02 -5.99756011e-04 9.97690300e-01 -1.89887655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64863999999994 meters 0.026403792158644586 Centerline is valid? [True, True] Translation: X:330.46, Y:-221.76, Z:-18.99 [[ 8.40195412e-01 5.39180212e-01 5.79341727e-02 3.30461867e+02] [-5.37953576e-01 8.42190188e-01 -3.63543303e-02 -2.21755522e+02] [-6.83931273e-02 -6.21153835e-04 9.97658255e-01 -1.89923527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70863999999995 meters 0.02633423467599875 Centerline is valid? [True, True] Translation: X:330.52, Y:-221.79, Z:-18.99 [[ 8.38736646e-01 5.41403191e-01 5.83388693e-02 3.30515860e+02] [-5.40161752e-01 8.40762742e-01 -3.66509620e-02 -2.21786173e+02] [-6.88920955e-02 -7.71920952e-04 9.97623819e-01 -1.89948404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76863999999995 meters 0.026218715939429534 Centerline is valid? [True, True] Translation: X:330.57, Y:-221.82, Z:-19.00 [[ 8.37817166e-01 5.42843147e-01 5.81697026e-02 3.30569736e+02] [-5.41609564e-01 8.39833668e-01 -3.65853836e-02 -2.21818151e+02] [-6.87129995e-02 -8.53404853e-04 9.97636104e-01 -1.89982273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82863999999995 meters 0.02620994390431848 Centerline is valid? [True, True] Translation: X:330.62, Y:-221.85, Z:-19.00 [[ 8.37754840e-01 5.42889927e-01 5.86289666e-02 3.30624707e+02] [-5.41633765e-01 8.39803456e-01 -3.69191018e-02 -2.21849942e+02] [-6.92798172e-02 -8.26271677e-04 9.97596925e-01 -1.90005646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88863999999995 meters 0.026049611146498355 Centerline is valid? [True, True] Translation: X:330.68, Y:-221.88, Z:-19.00 [[ 8.39049447e-01 5.40922653e-01 5.82984487e-02 3.30678308e+02] [-5.39672965e-01 8.41072110e-01 -3.67531920e-02 -2.21881187e+02] [-6.89138334e-02 -6.24351183e-04 9.97622420e-01 -1.90037282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94863999999995 meters 0.02601344036079711 Centerline is valid? [True, True] Translation: X:330.73, Y:-221.91, Z:-19.01 [[ 8.39274647e-01 5.40872885e-01 5.54489792e-02 3.30732055e+02] [-5.39740042e-01 8.41104161e-01 -3.49925501e-02 -2.21911949e+02] [-6.55648886e-02 -5.59674194e-04 9.97848151e-01 -1.90072427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00863999999996 meters 0.02611675024106042 Centerline is valid? [True, True] Translation: X:330.79, Y:-221.94, Z:-19.01 [[ 8.38259241e-01 5.42376851e-01 5.61141419e-02 3.30785493e+02] [-5.41217489e-01 8.40135063e-01 -3.54500409e-02 -2.21943393e+02] [-6.63707397e-02 -6.53630581e-04 9.97794817e-01 -1.90091972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06863999999996 meters 0.026259485707570362 Centerline is valid? [True, True] Translation: X:330.84, Y:-221.97, Z:-19.01 [[ 8.36339538e-01 5.45116393e-01 5.81746955e-02 3.30840878e+02] [-5.43874091e-01 8.38359924e-01 -3.67914566e-02 -2.21972603e+02] [-6.88269594e-02 -8.69559838e-04 9.97628234e-01 -1.90111923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12863999999996 meters 0.026182128806401708 Centerline is valid? [True, True] Translation: X:330.90, Y:-222.00, Z:-19.02 [[ 8.35795035e-01 5.45953751e-01 5.81477501e-02 3.30897293e+02] [-5.44711814e-01 8.37814827e-01 -3.68151565e-02 -2.22001094e+02] [-6.88164200e-02 -9.03841392e-04 9.97628931e-01 -1.90150989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18863999999996 meters 0.026081334692913804 Centerline is valid? [True, True] Translation: X:330.95, Y:-222.03, Z:-19.02 [[ 8.36288031e-01 5.45271838e-01 5.74539014e-02 3.30952617e+02] [-5.44054948e-01 8.38258897e-01 -3.64175083e-02 -2.22030196e+02] [-6.80186857e-02 -8.02553025e-04 9.97683725e-01 -1.90176463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24863999999997 meters 0.0259958046015684 Centerline is valid? [True, True] Translation: X:331.01, Y:-222.06, Z:-19.02 [[ 8.37793298e-01 5.42907113e-01 5.79159491e-02 3.31007419e+02] [-5.41662233e-01 8.39792550e-01 -3.67491282e-02 -2.22060300e+02] [-6.85887457e-02 -5.82708993e-04 9.97644849e-01 -1.90216198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30863999999997 meters 0.02605799133858645 Centerline is valid? [True, True] Translation: X:331.06, Y:-222.09, Z:-19.02 [[ 8.40309282e-01 5.39028229e-01 5.76964404e-02 3.31060905e+02] [-5.37780990e-01 8.42287668e-01 -3.66482186e-02 -2.22092511e+02] [-6.83514246e-02 -2.32210598e-04 9.97661280e-01 -1.90242564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36863999999997 meters 0.025898031968579673 Centerline is valid? [True, True] Translation: X:331.11, Y:-222.13, Z:-19.03 [[ 8.40294086e-01 5.38808754e-01 5.99247560e-02 3.31113776e+02] [-5.37459727e-01 8.42428093e-01 -3.81044688e-02 -2.22125562e+02] [-7.10133193e-02 -1.88183268e-04 9.97475350e-01 -1.90266640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42864 meters 0.025795279359754186 Centerline is valid? [True, True] Translation: X:331.17, Y:-222.16, Z:-19.03 [[ 8.39513325e-01 5.40121568e-01 5.90429457e-02 3.31166364e+02] [-5.38812512e-01 8.41586967e-01 -3.75826234e-02 -2.22158927e+02] [-6.99889591e-02 -2.61964789e-04 9.97547732e-01 -1.90301359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48864 meters 0.025593254594334546 Centerline is valid? [True, True] Translation: X:331.22, Y:-222.19, Z:-19.03 [[ 8.38466333e-01 5.41922884e-01 5.73916120e-02 3.31219674e+02] [-5.40687772e-01 8.40428136e-01 -3.65688613e-02 -2.22190838e+02] [-6.80510282e-02 -3.69183798e-04 9.97681774e-01 -1.90314877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54864 meters 0.025637089507689743 Centerline is valid? [True, True] Translation: X:331.27, Y:-222.23, Z:-19.03 [[ 8.38300350e-01 5.42245331e-01 5.67672808e-02 3.31271403e+02] [-5.41035080e-01 8.40220134e-01 -3.62100724e-02 -2.22227339e+02] [-6.73317549e-02 -3.58173880e-04 9.97730578e-01 -1.90342323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60864 meters 0.025330327107115524 Centerline is valid? [True, True] Translation: X:331.33, Y:-222.26, Z:-19.04 [[ 8.38788648e-01 5.41329370e-01 5.82762063e-02 3.31325164e+02] [-5.40048649e-01 8.40810590e-01 -3.72157113e-02 -2.22259288e+02] [-6.91452089e-02 -2.55870318e-04 9.97606573e-01 -1.90365086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6686399999999 meters 0.025325699381827573 Centerline is valid? [True, True] Translation: X:331.38, Y:-222.29, Z:-19.04 [[ 8.38381927e-01 5.42012678e-01 5.77754392e-02 3.31377680e+02] [-5.40752747e-01 8.40370264e-01 -3.69362320e-02 -2.22294093e+02] [-6.85726671e-02 -2.75558061e-04 9.97646086e-01 -1.90389765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7286399999999 meters 0.025205058319670695 Centerline is valid? [True, True] Translation: X:331.43, Y:-222.33, Z:-19.04 [[ 8.37226605e-01 5.43977881e-01 5.60328205e-02 3.31429959e+02] [-5.42794616e-01 8.39099465e-01 -3.58621322e-02 -2.22327431e+02] [-6.65253165e-02 -3.89582055e-04 9.97784661e-01 -1.90423418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78863999999993 meters 0.025565410186086573 Centerline is valid? [True, True] Translation: X:331.48, Y:-222.36, Z:-19.04 [[ 8.34266795e-01 5.48418401e-01 5.68873562e-02 3.31483077e+02] [-5.47206403e-01 8.36203764e-01 -3.64474547e-02 -2.22360287e+02] [-6.75578762e-02 -7.22224370e-04 9.97715095e-01 -1.90438445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84863999999993 meters 0.02583791728141858 Centerline is valid? [True, True] Translation: X:331.54, Y:-222.39, Z:-19.05 [[ 8.31431605e-01 5.52530112e-01 5.85829453e-02 3.31536812e+02] [-5.51252145e-01 8.33492269e-01 -3.75727291e-02 -2.22390649e+02] [-6.95884962e-02 -1.05481982e-03 9.97575225e-01 -1.90468026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90863999999993 meters 0.025966316012816335 Centerline is valid? [True, True] Translation: X:331.59, Y:-222.42, Z:-19.05 [[ 8.29532174e-01 5.55638539e-01 5.60552002e-02 3.31591281e+02] [-5.54473244e-01 8.31423060e-01 -3.59877225e-02 -2.22421963e+02] [-6.66017517e-02 -1.22813503e-03 9.97778882e-01 -1.90500130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96863999999994 meters 0.026210595455254303 Centerline is valid? [True, True] Translation: X:331.65, Y:-222.45, Z:-19.05 [[ 8.26934225e-01 5.59418643e-01 5.68380949e-02 3.31646556e+02] [-5.58226580e-01 8.28883873e-01 -3.65323125e-02 -2.22450264e+02] [-6.75490369e-02 -1.51871581e-03 9.97714799e-01 -1.90523618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02863999999994 meters 0.0264631604299335 Centerline is valid? [True, True] Translation: X:331.70, Y:-222.48, Z:-19.06 [[ 8.25542935e-01 5.61571302e-01 5.58259287e-02 3.31703861e+02] [-5.60423689e-01 8.27426739e-01 -3.59204854e-02 -2.22478345e+02] [-6.63637799e-02 -1.63226994e-03 9.97794159e-01 -1.90550338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08863999999994 meters 0.02644589292647272 Centerline is valid? [True, True] Translation: X:331.76, Y:-222.51, Z:-19.06 [[ 8.25075177e-01 5.62246646e-01 5.59433834e-02 3.31761309e+02] [-5.61092885e-01 8.26967939e-01 -3.60389115e-02 -2.22506144e+02] [-6.65261416e-02 -1.65462314e-03 9.97783311e-01 -1.90564190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14863999999994 meters 0.026207206631209536 Centerline is valid? [True, True] Translation: X:331.82, Y:-222.53, Z:-19.06 [[ 8.25725319e-01 5.61252916e-01 5.63281653e-02 3.31817081e+02] [-5.60078117e-01 8.27642893e-01 -3.63282818e-02 -2.22534137e+02] [-6.70089598e-02 -1.55099072e-03 9.97751168e-01 -1.90603428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20863999999995 meters 0.026076337843955768 Centerline is valid? [True, True] Translation: X:331.87, Y:-222.56, Z:-19.06 [[ 8.27524380e-01 5.58754723e-01 5.47408487e-02 3.31872425e+02] [-5.57637457e-01 8.29331972e-01 -3.53404396e-02 -2.22562858e+02] [-6.51449735e-02 -1.28047230e-03 9.97874989e-01 -1.90633151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26863999999995 meters 0.026009914254961415 Centerline is valid? [True, True] Translation: X:331.93, Y:-222.59, Z:-19.07 [[ 8.27749048e-01 5.58466530e-01 5.42830469e-02 3.31927575e+02] [-5.57364932e-01 8.29526162e-01 -3.50810288e-02 -2.22591360e+02] [-6.46207880e-02 -1.21717851e-03 9.97909150e-01 -1.90657027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32863999999995 meters 0.025938925135608387 Centerline is valid? [True, True] Translation: X:331.98, Y:-222.62, Z:-19.07 [[ 8.27695427e-01 5.58642201e-01 5.32838780e-02 3.31982160e+02] [-5.57578967e-01 8.29407922e-01 -3.44701933e-02 -2.22621246e+02] [-6.34505751e-02 -1.17914828e-03 9.97984286e-01 -1.90686673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38863999999995 meters 0.025996016150149483 Centerline is valid? [True, True] Translation: X:332.04, Y:-222.65, Z:-19.07 [[ 8.27746347e-01 5.58556194e-01 5.33944151e-02 3.32038153e+02] [-5.57486003e-01 8.29465894e-01 -3.45787203e-02 -2.22650669e+02] [-6.36030047e-02 -1.14422962e-03 9.97974623e-01 -1.90710451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44863999999995 meters 0.025923363670184524 Centerline is valid? [True, True] Translation: X:332.09, Y:-222.68, Z:-19.07 [[ 8.28369437e-01 5.57609283e-01 5.36280013e-02 3.32092978e+02] [-5.56525189e-01 8.30102884e-01 -3.47694633e-02 -2.22680679e+02] [-6.39045341e-02 -1.04337280e-03 9.97955471e-01 -1.90741191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50863999999996 meters 0.02564867028386132 Centerline is valid? [True, True] Translation: X:332.15, Y:-222.71, Z:-19.08 [[ 8.30449009e-01 5.54387252e-01 5.48563349e-02 3.32148115e+02] [-5.53243943e-01 8.32258464e-01 -3.55947716e-02 -2.22709608e+02] [-6.53879367e-02 -7.89292212e-04 9.97859607e-01 -1.90773647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56863999999996 meters 0.02534265509136094 Centerline is valid? [True, True] Translation: X:332.20, Y:-222.74, Z:-19.08 [[ 8.33541646e-01 5.49849983e-01 5.36033683e-02 3.32204019e+02] [-5.48748299e-01 8.35263327e-01 -3.47919426e-02 -2.22737383e+02] [-6.39032768e-02 -4.14224087e-04 9.97956011e-01 -1.90802582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62863999999996 meters 0.025221794773813002 Centerline is valid? [True, True] Translation: X:332.26, Y:-222.77, Z:-19.08 [[ 8.34899924e-01 5.47877119e-01 5.26571890e-02 3.32258637e+02] [-5.46809469e-01 8.36558785e-01 -3.41877853e-02 -2.22767411e+02] [-6.27815393e-02 -2.50070133e-04 9.98027262e-01 -1.90831002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68863999999996 meters 0.025121697495381314 Centerline is valid? [True, True] Translation: X:332.31, Y:-222.80, Z:-19.08 [[ 8.35866766e-01 5.46320838e-01 5.34816983e-02 3.32313962e+02] [-5.45215607e-01 8.37575982e-01 -3.47334985e-02 -2.22796136e+02] [-6.37706200e-02 -1.26479535e-04 9.97964575e-01 -1.90849379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74863999999997 meters 0.025230255903939874 Centerline is valid? [True, True] Translation: X:332.37, Y:-222.83, Z:-19.09 [[ 8.38845145e-01 5.41646791e-01 5.43836013e-02 3.32366786e+02] [-5.40493401e-01 8.40606147e-01 -3.53297124e-02 -2.22828470e+02] [-6.48514149e-02 2.42180050e-04 9.97894902e-01 -1.90887800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80863999999997 meters 0.025429383133426183 Centerline is valid? [True, True] Translation: X:332.42, Y:-222.86, Z:-19.09 [[ 8.41166272e-01 5.38085763e-01 5.38796272e-02 3.32419610e+02] [-5.36945700e-01 8.42889934e-01 -3.50124966e-02 -2.22861799e+02] [-6.42543213e-02 5.20897130e-04 9.97933420e-01 -1.90926705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86863999999997 meters 0.02563559670606831 Centerline is valid? [True, True] Translation: X:332.47, Y:-222.90, Z:-19.09 [[ 8.42670273e-01 5.35746033e-01 5.36935675e-02 3.32470699e+02] [-5.34608441e-01 8.44378879e-01 -3.49016417e-02 -2.22897896e+02] [-6.40361304e-02 7.05541499e-04 9.97947331e-01 -1.90946508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92864 meters 0.025528730084357357 Centerline is valid? [True, True] Translation: X:332.52, Y:-222.94, Z:-19.10 [[ 8.41527013e-01 5.37674807e-01 5.23267479e-02 3.32519948e+02] [-5.36597574e-01 8.43152120e-01 -3.40227345e-02 -2.22936678e+02] [-6.24125756e-02 5.52644166e-04 9.98050282e-01 -1.90981838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98864 meters 0.025310084653395584 Centerline is valid? [True, True] Translation: X:332.57, Y:-222.98, Z:-19.10 [[ 8.39452687e-01 5.40982111e-01 5.15513531e-02 3.32568125e+02] [-5.39942227e-01 8.41034042e-01 -3.35280832e-02 -2.22975909e+02] [-6.14945360e-02 3.10487131e-04 9.98107372e-01 -1.90998788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04864 meters 0.025205265130258288 Centerline is valid? [True, True] Translation: X:332.62, Y:-223.01, Z:-19.10 [[ 8.37254555e-01 5.44304815e-01 5.23170964e-02 3.32619340e+02] [-5.43239532e-01 8.38887515e-01 -3.40374559e-02 -2.23012846e+02] [-6.24149101e-02 7.73000588e-05 9.98050286e-01 -1.91031414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10864 meters 0.025549943398564014 Centerline is valid? [True, True] Translation: X:332.67, Y:-223.05, Z:-19.11 [[ 8.34892353e-01 5.47731777e-01 5.42647136e-02 3.32670197e+02] [-5.46591425e-01 8.36653974e-01 -3.53262109e-02 -2.23047725e+02] [-6.47500766e-02 -1.67043772e-04 9.97901498e-01 -1.91063812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1686399999999 meters 0.025399404677070164 Centerline is valid? [True, True] Translation: X:332.72, Y:-223.08, Z:-19.11 [[ 8.33889377e-01 5.49246568e-01 5.43756764e-02 3.32722845e+02] [-5.48102920e-01 8.35660301e-01 -3.54266834e-02 -2.23081452e+02] [-6.48975784e-02 -2.61532059e-04 9.97891896e-01 -1.91099094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2286399999999 meters 0.025522730257813757 Centerline is valid? [True, True] Translation: X:332.78, Y:-223.11, Z:-19.11 [[ 8.36190513e-01 5.45937742e-01 5.23202332e-02 3.32776472e+02] [-5.44871644e-01 8.37825746e-01 -3.41014633e-02 -2.23113897e+02] [-6.24525143e-02 7.50864083e-06 9.98047936e-01 -1.91120589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28863999999993 meters 0.025611295253042773 Centerline is valid? [True, True] Translation: X:332.83, Y:-223.15, Z:-19.11 [[ 8.37693883e-01 5.43617897e-01 5.24265201e-02 3.32829758e+02] [-5.42542073e-01 8.39332797e-01 -3.41841241e-02 -2.23147893e+02] [-6.25863994e-02 1.92238743e-04 9.98039531e-01 -1.91147956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34863999999993 meters 0.025678512912738705 Centerline is valid? [True, True] Translation: X:332.88, Y:-223.18, Z:-19.12 [[ 8.38874676e-01 5.41655081e-01 5.38428348e-02 3.32881054e+02] [-5.40515319e-01 8.40600764e-01 -3.51218794e-02 -2.23183464e+02] [-6.42842725e-02 3.59978239e-04 9.97931562e-01 -1.91174866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40863999999993 meters 0.02581957932572864 Centerline is valid? [True, True] Translation: X:332.93, Y:-223.22, Z:-19.12 [[ 8.40394235e-01 5.39579494e-01 5.09067608e-02 3.32931862e+02] [-5.38556387e-01 8.41934511e-01 -3.32159201e-02 -2.23219496e+02] [-6.07827881e-02 4.98306657e-04 9.98150893e-01 -1.91198288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46863999999994 meters 0.025808973944171 Centerline is valid? [True, True] Translation: X:332.98, Y:-223.26, Z:-19.12 [[ 8.41123680e-01 5.38383279e-01 5.15208649e-02 3.32982194e+02] [-5.37332468e-01 8.42699878e-01 -3.36263947e-02 -2.23256195e+02] [-6.15205152e-02 6.00123415e-04 9.98105639e-01 -1.91226687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52863999999994 meters 0.02613605768676759 Centerline is valid? [True, True] Translation: X:333.03, Y:-223.29, Z:-19.12 [[ 8.42927253e-01 5.35459567e-01 5.25042686e-02 3.33030793e+02] [-5.34361515e-01 8.44560442e-01 -3.42845481e-02 -2.23294630e+02] [-6.27010176e-02 8.43119437e-04 9.98031999e-01 -1.91241852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58863999999994 meters 0.026832258372320325 Centerline is valid? [True, True] Translation: X:333.08, Y:-223.33, Z:-19.13 [[ 8.45388457e-01 5.31391907e-01 5.42309699e-02 3.33079153e+02] [-5.30209760e-01 8.47125240e-01 -3.54462804e-02 -2.23333806e+02] [-6.47762900e-02 1.21208672e-03 9.97899075e-01 -1.91299913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64863999999994 meters 0.02723195008972611 Centerline is valid? [True, True] Translation: X:333.12, Y:-223.38, Z:-19.13 [[ 8.46500112e-01 5.29409228e-01 5.62443702e-02 3.33124770e+02] [-5.28130769e-01 8.48365358e-01 -3.67982337e-02 -2.23376880e+02] [-6.71970998e-02 1.44532648e-03 9.97738674e-01 -1.91331868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70863999999995 meters 0.02702616747363 Centerline is valid? [True, True] Translation: X:333.17, Y:-223.42, Z:-19.13 [[ 8.46676547e-01 5.29413118e-01 5.34843538e-02 3.33173231e+02] [-5.28255204e-01 8.48363006e-01 -3.50235579e-02 -2.23416722e+02] [-6.39160781e-02 1.40023685e-03 9.97954295e-01 -1.91347876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76863999999995 meters 0.027035276331250784 Centerline is valid? [True, True] Translation: X:333.22, Y:-223.46, Z:-19.14 [[ 8.45574676e-01 5.31164331e-01 5.35529732e-02 3.33218595e+02] [-5.30004760e-01 8.47267825e-01 -3.51025231e-02 -2.23460836e+02] [-6.40189193e-02 1.29847388e-03 9.97947840e-01 -1.91379070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82863999999995 meters 0.02652926036657314 Centerline is valid? [True, True] Translation: X:333.26, Y:-223.50, Z:-19.14 [[ 8.42939169e-01 5.35301615e-01 5.39048967e-02 3.33264131e+02] [-5.34132913e-01 8.44660369e-01 -3.53679575e-02 -2.23504792e+02] [-6.44638547e-02 1.02065723e-03 9.97919521e-01 -1.91395534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88863999999995 meters 0.026245656079709412 Centerline is valid? [True, True] Translation: X:333.31, Y:-223.55, Z:-19.14 [[ 8.39555146e-01 5.40526204e-01 5.45763610e-02 3.33310432e+02] [-5.39336835e-01 8.41326922e-01 -3.58439475e-02 -2.23547641e+02] [-6.52911547e-02 6.57928771e-04 9.97866039e-01 -1.91437053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94863999999995 meters 0.02617678812172173 Centerline is valid? [True, True] Translation: X:333.36, Y:-223.59, Z:-19.15 [[ 8.37467003e-01 5.43792329e-01 5.42118163e-02 3.33359282e+02] [-5.42623342e-01 8.39219707e-01 -3.56397417e-02 -2.23586569e+02] [-6.48762428e-02 4.30510725e-04 9.97893225e-01 -1.91461373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00863999999996 meters 0.025912028406815425 Centerline is valid? [True, True] Translation: X:333.41, Y:-223.63, Z:-19.15 [[ 8.35615864e-01 5.46645262e-01 5.40840549e-02 3.33407401e+02] [-5.45485413e-01 8.37364258e-01 -3.55916307e-02 -2.23626740e+02] [-6.47440508e-02 2.38868287e-04 9.97901874e-01 -1.91470138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06863999999996 meters 0.02599633513394181 Centerline is valid? [True, True] Translation: X:333.46, Y:-223.67, Z:-19.15 [[ 8.33143592e-01 5.50274613e-01 5.54040166e-02 3.33456482e+02] [-5.49062861e-01 8.34983742e-01 -3.64982921e-02 -2.23665400e+02] [-6.63455367e-02 -1.19696760e-05 9.97796708e-01 -1.91518235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12863999999996 meters 0.026038258571330068 Centerline is valid? [True, True] Translation: X:333.51, Y:-223.70, Z:-19.15 [[ 8.31120097e-01 5.53231790e-01 5.63380066e-02 3.33507463e+02] [-5.51982918e-01 8.33027334e-01 -3.71526506e-02 -2.23701665e+02] [-6.74851268e-02 -2.19302696e-04 9.97720256e-01 -1.91542231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18863999999996 meters 0.02605381937815245 Centerline is valid? [True, True] Translation: X:333.56, Y:-223.74, Z:-19.16 [[ 8.29599130e-01 5.55616947e-01 5.52728795e-02 3.33558016e+02] [-5.54417586e-01 8.31438313e-01 -3.64893258e-02 -2.23738933e+02] [-6.62300775e-02 -3.72743517e-04 9.97804308e-01 -1.91557408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24863999999997 meters 0.026029762689543275 Centerline is valid? [True, True] Translation: X:333.61, Y:-223.78, Z:-19.16 [[ 8.30170368e-01 5.54760121e-01 5.53025084e-02 3.33609497e+02] [-5.53554709e-01 8.32010298e-01 -3.65520023e-02 -2.23775085e+02] [-6.62898497e-02 -2.68574696e-04 9.97800373e-01 -1.91573480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30863999999997 meters 0.026178271104818338 Centerline is valid? [True, True] Translation: X:333.66, Y:-223.81, Z:-19.16 [[ 8.31412849e-01 5.52595837e-01 5.82281367e-02 3.33659745e+02] [-5.51250890e-01 8.33449361e-01 -3.85307626e-02 -2.23810908e+02] [-6.98221424e-02 -6.33411106e-05 9.97559454e-01 -1.91616477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36863999999997 meters 0.026187247747648645 Centerline is valid? [True, True] Translation: X:333.71, Y:-223.85, Z:-19.17 [[ 8.33115047e-01 5.50006448e-01 5.84142571e-02 3.33709989e+02] [-5.48643543e-01 8.35160386e-01 -3.86961450e-02 -2.23849813e+02] [-7.00684028e-02 1.89735675e-04 9.97542171e-01 -1.91652932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42864 meters 0.02617732486006522 Centerline is valid? [True, True] Translation: X:333.76, Y:-223.89, Z:-19.17 [[ 8.32501490e-01 5.51051948e-01 5.72976482e-02 3.33758915e+02] [-5.49740268e-01 8.34470930e-01 -3.79987585e-02 -2.23888626e+02] [-6.87525116e-02 1.35198658e-04 9.97633737e-01 -1.91681162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48864 meters 0.026395407074100825 Centerline is valid? [True, True] Translation: X:333.81, Y:-223.93, Z:-19.17 [[ 8.31047679e-01 5.53116203e-01 5.84997595e-02 3.33809610e+02] [-5.51751085e-01 8.33104115e-01 -3.88365016e-02 -2.23925118e+02] [-7.02174887e-02 -2.32125402e-06 9.97531706e-01 -1.91704992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54864 meters 0.026514185007182417 Centerline is valid? [True, True] Translation: X:333.86, Y:-223.97, Z:-19.18 [[ 8.30281122e-01 5.54220288e-01 5.89332748e-02 3.33858541e+02] [-5.52834557e-01 8.32370031e-01 -3.91673853e-02 -2.23965653e+02] [-7.07616513e-02 -6.04102083e-05 9.97493251e-01 -1.91754209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60864 meters 0.026227221314713552 Centerline is valid? [True, True] Translation: X:333.91, Y:-224.01, Z:-19.18 [[ 8.30567172e-01 5.53899488e-01 5.79096685e-02 3.33907523e+02] [-5.52558370e-01 8.32583543e-01 -3.85213041e-02 -2.24005055e+02] [-6.95515676e-02 -3.94139065e-06 9.97578358e-01 -1.91777099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6686399999999 meters 0.026100227730567138 Centerline is valid? [True, True] Translation: X:333.95, Y:-224.05, Z:-19.18 [[ 8.29894176e-01 5.54956452e-01 5.74368571e-02 3.33954797e+02] [-5.53637953e-01 8.31879397e-01 -3.82320042e-02 -2.24047802e+02] [-6.89976355e-02 -7.07063609e-05 9.97616821e-01 -1.91807426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7286399999999 meters 0.026286627608522684 Centerline is valid? [True, True] Translation: X:334.00, Y:-224.09, Z:-19.18 [[ 8.28164421e-01 5.57674884e-01 5.60572519e-02 3.34001132e+02] [-5.56422395e-01 8.30059431e-01 -3.73558439e-02 -2.24090717e+02] [-6.73632665e-02 -2.54729568e-04 9.97728483e-01 -1.91840712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78863999999993 meters 0.026303970416617087 Centerline is valid? [True, True] Translation: X:334.05, Y:-224.13, Z:-19.19 [[ 8.27059039e-01 5.59319500e-01 5.59914550e-02 3.34049194e+02] [-5.58070953e-01 8.28952092e-01 -3.73529057e-02 -2.24131980e+02] [-6.73064423e-02 -3.54146351e-04 9.97732287e-01 -1.91861650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84863999999993 meters 0.026454897830298654 Centerline is valid? [True, True] Translation: X:334.10, Y:-224.17, Z:-19.19 [[ 8.24409918e-01 5.63201901e-01 5.61418386e-02 3.34095488e+02] [-5.61952681e-01 8.26319075e-01 -3.74962746e-02 -2.24174399e+02] [-6.75090452e-02 -6.36756065e-04 9.97718459e-01 -1.91870179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90863999999993 meters 0.026645895702275352 Centerline is valid? [True, True] Translation: X:334.14, Y:-224.22, Z:-19.19 [[ 8.22195582e-01 5.66484110e-01 5.55893717e-02 3.34143764e+02] [-5.65264145e-01 8.24072210e-01 -3.71677136e-02 -2.24215016e+02] [-6.68645756e-02 -8.63548752e-04 9.97761686e-01 -1.91905737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96863999999994 meters 0.02707463244040102 Centerline is valid? [True, True] Translation: X:334.19, Y:-224.25, Z:-19.19 [[ 8.19549150e-01 5.70134860e-01 5.73186961e-02 3.34192691e+02] [-5.68843990e-01 8.21550292e-01 -3.83618708e-02 -2.24252466e+02] [-6.89616314e-02 -1.16595719e-03 9.97618632e-01 -1.91949358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02863999999994 meters 0.02726427889388376 Centerline is valid? [True, True] Translation: X:334.24, Y:-224.29, Z:-19.20 [[ 8.18009291e-01 5.72387251e-01 5.68650597e-02 3.34244589e+02] [-5.71120377e-01 8.19982368e-01 -3.80845324e-02 -2.24286251e+02] [-6.84274471e-02 -1.32329294e-03 9.97655218e-01 -1.91967445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08863999999994 meters 0.027730558398643104 Centerline is valid? [True, True] Translation: X:334.30, Y:-224.31, Z:-19.20 [[ 8.14247695e-01 5.77675837e-01 5.73700115e-02 3.34300564e+02] [-5.76397379e-01 8.16264377e-01 -3.84516229e-02 -2.24314211e+02] [-6.90416702e-02 -1.75877896e-03 9.97612227e-01 -1.91991154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14863999999994 meters 0.027582986954713805 Centerline is valid? [True, True] Translation: X:334.36, Y:-224.35, Z:-19.20 [[ 8.13994951e-01 5.78000689e-01 5.76838278e-02 3.34355879e+02] [-5.76707415e-01 8.16034340e-01 -3.86847918e-02 -2.24345044e+02] [-6.94318206e-02 -1.77746599e-03 9.97585116e-01 -1.92016576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20863999999995 meters 0.02714804040481637 Centerline is valid? [True, True] Translation: X:334.41, Y:-224.37, Z:-19.20 [[ 8.16643625e-01 5.74384653e-01 5.63512238e-02 3.34412160e+02] [-5.73139135e-01 8.18584329e-01 -3.78315700e-02 -2.24372453e+02] [-6.78581019e-02 -1.40218125e-03 9.97693997e-01 -1.92044607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26863999999995 meters 0.026552820722956106 Centerline is valid? [True, True] Translation: X:334.47, Y:-224.40, Z:-19.21 [[ 8.20421221e-01 5.68924603e-01 5.68666584e-02 3.34467645e+02] [-5.67640379e-01 8.22389164e-01 -3.82160009e-02 -2.24401623e+02] [-6.85085469e-02 -9.26593385e-04 9.97650099e-01 -1.92069549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32863999999995 meters 0.02631461425484289 Centerline is valid? [True, True] Translation: X:334.52, Y:-224.43, Z:-19.21 [[ 8.22180383e-01 5.66320575e-01 5.74493171e-02 3.34521085e+02] [-5.65000749e-01 8.24184772e-01 -3.86473147e-02 -2.24434020e+02] [-6.92356219e-02 -6.83843214e-04 9.97600101e-01 -1.92097661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38863999999995 meters 0.02589266662123747 Centerline is valid? [True, True] Translation: X:334.57, Y:-224.47, Z:-19.21 [[ 8.23855957e-01 5.64142957e-01 5.48095449e-02 3.34573249e+02] [-5.62934504e-01 8.25677010e-01 -3.69082611e-02 -2.24467213e+02] [-6.60765167e-02 -4.47093259e-04 9.97814459e-01 -1.92125416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44863999999995 meters 0.02602912874479077 Centerline is valid? [True, True] Translation: X:334.63, Y:-224.50, Z:-19.21 [[ 8.24842621e-01 5.62717893e-01 5.46188896e-02 3.34626574e+02] [-5.61512086e-01 8.26648948e-01 -3.68197500e-02 -2.24501176e+02] [-6.58697798e-02 -2.98667524e-04 9.97828183e-01 -1.92149429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50863999999996 meters 0.025786396499577955 Centerline is valid? [True, True] Translation: X:334.68, Y:-224.54, Z:-19.22 [[ 8.24837372e-01 5.62584352e-01 5.60549463e-02 3.34678757e+02] [-5.61310917e-01 8.26739850e-01 -3.78321859e-02 -2.24535055e+02] [-6.76266537e-02 -2.58852541e-04 9.97710664e-01 -1.92169693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56863999999996 meters 0.02584876750556737 Centerline is valid? [True, True] Translation: X:334.73, Y:-224.57, Z:-19.22 [[ 8.24964059e-01 5.62411175e-01 5.59282808e-02 3.34730764e+02] [-5.61140294e-01 8.26857682e-01 -3.77881460e-02 -2.24570190e+02] [-6.74972042e-02 -2.09749614e-04 9.97719441e-01 -1.92212875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62863999999996 meters 0.025467960429983106 Centerline is valid? [True, True] Translation: X:334.78, Y:-224.60, Z:-19.22 [[ 8.25190981e-01 5.62232703e-01 5.43528504e-02 3.34784689e+02] [-5.61029376e-01 8.26979059e-01 -3.67651504e-02 -2.24602066e+02] [-6.56192389e-02 -1.55275226e-04 9.97844723e-01 -1.92244136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68863999999996 meters 0.025297808458952437 Centerline is valid? [True, True] Translation: X:334.84, Y:-224.64, Z:-19.23 [[ 8.25448936e-01 5.61942908e-01 5.34249246e-02 3.34837514e+02] [-5.60777330e-01 8.27176014e-01 -3.61749613e-02 -2.24635548e+02] [-6.45200792e-02 -9.89032008e-05 9.97916404e-01 -1.92264758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74863999999997 meters 0.025399631578103404 Centerline is valid? [True, True] Translation: X:334.89, Y:-224.67, Z:-19.23 [[ 8.25150786e-01 5.62306986e-01 5.41944115e-02 3.34890618e+02] [-5.61105678e-01 8.26928561e-01 -3.67365489e-02 -2.24669642e+02] [-6.54721248e-02 -9.55997733e-05 9.97854394e-01 -1.92305726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80863999999997 meters 0.02534536244362566 Centerline is valid? [True, True] Translation: X:334.94, Y:-224.71, Z:-19.23 [[ 8.23902491e-01 5.64112670e-01 5.44204023e-02 3.34941297e+02] [-5.62902387e-01 8.25697798e-01 -3.69330400e-02 -2.24706194e+02] [-6.57692021e-02 -2.04150670e-04 9.97834841e-01 -1.92331077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86863999999997 meters 0.02518501629128306 Centerline is valid? [True, True] Translation: X:334.99, Y:-224.74, Z:-19.24 [[ 8.21619316e-01 5.67640652e-01 5.22090916e-02 3.34991419e+02] [-5.66531526e-01 8.23276321e-01 -3.54701286e-02 -2.24743066e+02] [-6.31167958e-02 -4.35153518e-04 9.98006052e-01 -1.92351534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92864 meters 0.025308337422716105 Centerline is valid? [True, True] Translation: X:335.04, Y:-224.78, Z:-19.24 [[ 8.20203108e-01 5.69778693e-01 5.11771574e-02 3.35041729e+02] [-5.68714870e-01 8.21797986e-01 -3.48061212e-02 -2.24780521e+02] [-6.18890712e-02 -5.57121676e-04 9.98082879e-01 -1.92394810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98864 meters 0.02556959465325283 Centerline is valid? [True, True] Translation: X:335.09, Y:-224.82, Z:-19.24 [[ 8.18757395e-01 5.71679757e-01 5.30903330e-02 3.35091671e+02] [-5.70536073e-01 8.20476554e-01 -3.61498664e-02 -2.24817705e+02] [-6.42255203e-02 -6.91979682e-04 9.97935170e-01 -1.92418055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04864 meters 0.025626681511920286 Centerline is valid? [True, True] Translation: X:335.14, Y:-224.85, Z:-19.25 [[ 8.17785334e-01 5.72952869e-01 5.43337579e-02 3.35143079e+02] [-5.71755148e-01 8.19587948e-01 -3.70357561e-02 -2.24852162e+02] [-6.57510358e-02 -7.78307605e-04 9.97835756e-01 -1.92452186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10864 meters 0.025683105193016788 Centerline is valid? [True, True] Translation: X:335.20, Y:-224.89, Z:-19.25 [[ 8.15962036e-01 5.75647402e-01 5.32543355e-02 3.35196531e+02] [-5.74500080e-01 8.17697486e-01 -3.63384000e-02 -2.24885227e+02] [-6.44640418e-02 -9.43865208e-04 9.97919584e-01 -1.92475823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1686399999999 meters 0.02584796293067011 Centerline is valid? [True, True] Translation: X:335.25, Y:-224.92, Z:-19.25 [[ 8.13843168e-01 5.78591020e-01 5.37748039e-02 3.35249863e+02] [-5.77424825e-01 8.15617006e-01 -3.67351614e-02 -2.24916780e+02] [-6.51142791e-02 -1.15424653e-03 9.97877146e-01 -1.92505924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2286399999999 meters 0.02639888787009104 Centerline is valid? [True, True] Translation: X:335.30, Y:-224.95, Z:-19.25 [[ 8.11260133e-01 5.82185262e-01 5.40121979e-02 3.35302645e+02] [-5.81014191e-01 8.13054925e-01 -3.69350724e-02 -2.24949960e+02] [-6.54179383e-02 -1.41790169e-03 9.97856945e-01 -1.92546988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28863999999993 meters 0.02631727993689428 Centerline is valid? [True, True] Translation: X:335.36, Y:-224.98, Z:-19.25 [[ 8.09871474e-01 5.84192713e-01 5.31701835e-02 3.35358189e+02] [-5.83059871e-01 8.11613545e-01 -3.63956158e-02 -2.24979506e+02] [-6.44156946e-02 -1.52562927e-03 9.97921986e-01 -1.92545403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34863999999993 meters 0.0260681781825702 Centerline is valid? [True, True] Translation: X:335.41, Y:-225.01, Z:-19.26 [[ 8.10064459e-01 5.83918181e-01 5.32459360e-02 3.35413009e+02] [-5.82779049e-01 8.11811174e-01 -3.64855855e-02 -2.25011499e+02] [-6.45302425e-02 -1.47493985e-03 9.97914662e-01 -1.92572895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40863999999993 meters 0.025874602570303596 Centerline is valid? [True, True] Translation: X:335.47, Y:-225.04, Z:-19.26 [[ 8.12136630e-01 5.81071836e-01 5.28168131e-02 3.35468169e+02] [-5.79942416e-01 8.13851379e-01 -3.62315709e-02 -2.25040895e+02] [-6.40381816e-02 -1.20572429e-03 9.97946721e-01 -1.92599660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46863999999994 meters 0.02571654002928081 Centerline is valid? [True, True] Translation: X:335.52, Y:-225.07, Z:-19.26 [[ 8.13832651e-01 5.78771919e-01 5.19565382e-02 3.35522799e+02] [-5.77672063e-01 8.15488877e-01 -3.56774289e-02 -2.25071577e+02] [-6.30190730e-02 -9.78384089e-04 9.98011843e-01 -1.92634861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52863999999994 meters 0.025708365620876663 Centerline is valid? [True, True] Translation: X:335.58, Y:-225.10, Z:-19.27 [[ 8.16149173e-01 5.75438603e-01 5.26397376e-02 3.35575497e+02] [-5.74300283e-01 8.17844682e-01 -3.61837136e-02 -2.25104596e+02] [-6.38726351e-02 -6.99708238e-04 9.97957813e-01 -1.92669784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58863999999994 meters 0.025677005782427043 Centerline is valid? [True, True] Translation: X:335.63, Y:-225.14, Z:-19.27 [[ 8.17628499e-01 5.73392117e-01 5.20107537e-02 3.35626775e+02] [-5.72274410e-01 8.19280921e-01 -3.57878910e-02 -2.25139022e+02] [-6.31319127e-02 -5.03223828e-04 9.98005064e-01 -1.92689710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64863999999994 meters 0.02562662608144326 Centerline is valid? [True, True] Translation: X:335.68, Y:-225.17, Z:-19.27 [[ 8.19131776e-01 5.71291750e-01 5.14671752e-02 3.35677312e+02] [-5.70190863e-01 8.20747002e-01 -3.54505054e-02 -2.25174476e+02] [-6.24941110e-02 -3.07477564e-04 9.98045285e-01 -1.92728816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70863999999995 meters 0.02568742002184358 Centerline is valid? [True, True] Translation: X:335.73, Y:-225.21, Z:-19.28 [[ 8.18486033e-01 5.72151380e-01 5.21863134e-02 3.35728492e+02] [-5.71018732e-01 8.20147961e-01 -3.59851354e-02 -2.25210729e+02] [-6.33894434e-02 -3.46031770e-04 9.97988807e-01 -1.92756700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76863999999995 meters 0.025640710649034962 Centerline is valid? [True, True] Translation: X:335.78, Y:-225.25, Z:-19.28 [[ 8.16883932e-01 5.74577216e-01 5.06128872e-02 3.35780256e+02] [-5.73514059e-01 8.18450235e-01 -3.49404807e-02 -2.25245790e+02] [-6.15001335e-02 -4.84885045e-04 9.98106957e-01 -1.92777960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82863999999995 meters 0.025734551569765483 Centerline is valid? [True, True] Translation: X:335.83, Y:-225.28, Z:-19.28 [[ 8.13766536e-01 5.78966035e-01 5.08168832e-02 3.35831916e+02] [-5.77900316e-01 8.15351281e-01 -3.51213958e-02 -2.25280063e+02] [-6.17677061e-02 -7.86476272e-04 9.98090242e-01 -1.92802324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88863999999995 meters 0.026273332132557423 Centerline is valid? [True, True] Translation: X:335.89, Y:-225.31, Z:-19.28 [[ 8.09665754e-01 5.84648653e-01 5.12573883e-02 3.35885713e+02] [-5.83573392e-01 8.11285716e-01 -3.54624110e-02 -2.25311303e+02] [-6.23174378e-02 -1.19974825e-03 9.98055659e-01 -1.92827833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94863999999995 meters 0.026478428125237895 Centerline is valid? [True, True] Translation: X:335.94, Y:-225.34, Z:-19.29 [[ 8.07643343e-01 5.87450068e-01 5.11336323e-02 3.35940484e+02] [-5.86383352e-01 8.09259232e-01 -3.54127117e-02 -2.25341945e+02] [-6.21835639e-02 -1.38306981e-03 9.98063771e-01 -1.92854748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00863999999996 meters 0.026121399195539574 Centerline is valid? [True, True] Translation: X:335.99, Y:-225.37, Z:-19.29 [[ 8.08434591e-01 5.86285591e-01 5.19876647e-02 3.35994195e+02] [-5.85178176e-01 8.10103421e-01 -3.60409344e-02 -2.25372821e+02] [-6.32456656e-02 -1.28530875e-03 9.97997161e-01 -1.92888373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06863999999996 meters 0.026133613005725115 Centerline is valid? [True, True] Translation: X:336.05, Y:-225.40, Z:-19.29 [[ 8.08344291e-01 5.86402147e-01 5.20771565e-02 3.36050174e+02] [-5.85288747e-01 8.10019086e-01 -3.61408685e-02 -2.25402364e+02] [-6.33765736e-02 -1.26590903e-03 9.97988881e-01 -1.92909041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12863999999996 meters 0.02599947437250681 Centerline is valid? [True, True] Translation: X:336.10, Y:-225.43, Z:-19.29 [[ 8.10004966e-01 5.84030460e-01 5.29185823e-02 3.36104594e+02] [-5.82873009e-01 8.11731045e-01 -3.67663659e-02 -2.25432432e+02] [-6.44283337e-02 -1.06387436e-03 9.97921769e-01 -1.92939736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18863999999996 meters 0.02552584258315615 Centerline is valid? [True, True] Translation: X:336.16, Y:-225.46, Z:-19.30 [[ 8.13211190e-01 5.79551061e-01 5.29917723e-02 3.36159357e+02] [-5.78378429e-01 8.14935646e-01 -3.68549388e-02 -2.25462951e+02] [-6.45442031e-02 -6.78449339e-04 9.97914618e-01 -1.92985448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24863999999997 meters 0.025380512204685058 Centerline is valid? [True, True] Translation: X:336.21, Y:-225.50, Z:-19.30 [[ 8.16841999e-01 5.74471292e-01 5.24584015e-02 3.36211815e+02] [-5.73309280e-01 8.18524695e-01 -3.65211327e-02 -2.25496989e+02] [-6.39188394e-02 -2.42893405e-04 9.97955071e-01 -1.93013419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30863999999997 meters 0.0252958398655243 Centerline is valid? [True, True] Translation: X:336.26, Y:-225.53, Z:-19.30 [[ 8.18788336e-01 5.71753166e-01 5.18071252e-02 3.36264039e+02] [-5.70612096e-01 8.20425693e-01 -3.61042739e-02 -2.25530115e+02] [-6.31466295e-02 -1.40088329e-08 9.98004260e-01 -1.93032352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36863999999997 meters 0.0255207138936678 Centerline is valid? [True, True] Translation: X:336.32, Y:-225.56, Z:-19.31 [[ 8.19991457e-01 5.69880269e-01 5.33899763e-02 3.36315877e+02] [-5.68661840e-01 8.21727720e-01 -3.72460052e-02 -2.25564327e+02] [-6.50977869e-02 1.80563933e-04 9.97878873e-01 -1.93056054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42864 meters 0.025471467059291427 Centerline is valid? [True, True] Translation: X:336.37, Y:-225.60, Z:-19.31 [[ 8.20566147e-01 5.69122019e-01 5.26433853e-02 3.36367426e+02] [-5.67933433e-01 8.22253036e-01 -3.67635850e-02 -2.25601258e+02] [-6.42091491e-02 2.69014745e-04 9.97936427e-01 -1.93094423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48864 meters 0.025458571938367817 Centerline is valid? [True, True] Translation: X:336.42, Y:-225.64, Z:-19.31 [[ 8.19970114e-01 5.70193428e-01 5.02838623e-02 3.36417257e+02] [-5.69108786e-01 8.21510445e-01 -3.51536490e-02 -2.25637879e+02] [-6.13530978e-02 2.07953741e-04 9.98116103e-01 -1.93109290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54864 meters 0.0256934355445155 Centerline is valid? [True, True] Translation: X:336.47, Y:-225.67, Z:-19.32 [[ 8.19235906e-01 5.70937461e-01 5.36930776e-02 3.36467426e+02] [-5.69699605e-01 8.20993531e-01 -3.75763601e-02 -2.25674250e+02] [-6.55354209e-02 1.94978289e-04 9.97850225e-01 -1.93150621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60864 meters 0.02572295802958737 Centerline is valid? [True, True] Translation: X:336.52, Y:-225.71, Z:-19.32 [[ 8.19476665e-01 5.70729099e-01 5.22138901e-02 3.36517449e+02] [-5.69555848e-01 8.21138380e-01 -3.65772569e-02 -2.25711195e+02] [-6.37505340e-02 2.35482033e-04 9.97965838e-01 -1.93183988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6686399999999 meters 0.025566871414493784 Centerline is valid? [True, True] Translation: X:336.57, Y:-225.75, Z:-19.32 [[ 8.18664314e-01 5.72085909e-01 5.00644861e-02 3.36566259e+02] [-5.71007801e-01 8.20193690e-01 -3.51055806e-02 -2.25749041e+02] [-6.11459835e-02 1.52473958e-04 9.98128822e-01 -1.93209828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7286399999999 meters 0.025408756107724386 Centerline is valid? [True, True] Translation: X:336.61, Y:-225.79, Z:-19.32 [[ 8.16390263e-01 5.75405353e-01 4.91489410e-02 3.36613854e+02] [-5.74370296e-01 8.17868373e-01 -3.44976427e-02 -2.25788907e+02] [-6.00474926e-02 -6.61522416e-05 9.98195519e-01 -1.93227690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78863999999993 meters 0.025471883918751867 Centerline is valid? [True, True] Translation: X:336.66, Y:-225.83, Z:-19.32 [[ 8.14248216e-01 5.78255347e-01 5.11917601e-02 3.36663809e+02] [-5.77135644e-01 8.15855801e-01 -3.59688880e-02 -2.25825563e+02] [-6.25642962e-02 -2.56986554e-04 9.98040902e-01 -1.93243598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84863999999993 meters 0.025556870980295833 Centerline is valid? [True, True] Translation: X:336.71, Y:-225.86, Z:-19.33 [[ 8.12447770e-01 5.80727383e-01 5.18104932e-02 3.36712343e+02] [-5.79583132e-01 8.14097984e-01 -3.64398904e-02 -2.25863695e+02] [-6.33404602e-02 -4.22980257e-04 9.97991887e-01 -1.93266996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90863999999993 meters 0.025484749511910598 Centerline is valid? [True, True] Translation: X:336.76, Y:-225.90, Z:-19.33 [[ 8.13067326e-01 5.79883151e-01 5.15466314e-02 3.36762847e+02] [-5.78746547e-01 8.14699592e-01 -3.62906239e-02 -2.25901638e+02] [-6.30393409e-02 -3.25714398e-04 9.98010990e-01 -1.93292959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96863999999994 meters 0.025295993701911264 Centerline is valid? [True, True] Translation: X:336.81, Y:-225.94, Z:-19.33 [[ 8.14019067e-01 5.78722797e-01 4.95265861e-02 3.36811960e+02] [-5.77669136e-01 8.15524302e-01 -3.49067694e-02 -2.25940365e+02] [-6.05914778e-02 -1.95204382e-04 9.98162629e-01 -1.93322189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02863999999994 meters 0.025085490081981025 Centerline is valid? [True, True] Translation: X:336.86, Y:-225.98, Z:-19.33 [[ 8.13864052e-01 5.79003878e-01 4.87833322e-02 3.36862224e+02] [-5.77979993e-01 8.15324767e-01 -3.44187774e-02 -2.25978900e+02] [-5.97028645e-02 -1.83584377e-04 9.98216176e-01 -1.93349825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08863999999994 meters 0.025299928205952355 Centerline is valid? [True, True] Translation: X:336.91, Y:-226.02, Z:-19.34 [[ 8.12175131e-01 5.81216623e-01 5.05845298e-02 3.36911380e+02] [-5.80117345e-01 8.13748814e-01 -3.57314116e-02 -2.26017277e+02] [-6.19307915e-02 -3.24799289e-04 9.98080393e-01 -1.93383782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14863999999994 meters 0.025291605132175297 Centerline is valid? [True, True] Translation: X:336.96, Y:-226.06, Z:-19.34 [[ 8.10076277e-01 5.84140023e-01 5.05653904e-02 3.36959722e+02] [-5.83044939e-01 8.11652737e-01 -3.57551943e-02 -2.26057133e+02] [-6.19275775e-02 -5.17460228e-04 9.98080511e-01 -1.93409165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20863999999995 meters 0.025490721573030718 Centerline is valid? [True, True] Translation: X:337.01, Y:-226.10, Z:-19.34 [[ 8.07466826e-01 5.87986757e-01 4.76329515e-02 3.37007427e+02] [-5.87019688e-01 8.08870219e-01 -3.37172615e-02 -2.26098288e+02] [-5.83541792e-02 -7.35910182e-04 9.98295672e-01 -1.93434039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26863999999995 meters 0.025739346981600294 Centerline is valid? [True, True] Translation: X:337.06, Y:-226.14, Z:-19.35 [[ 8.04875339e-01 5.91431727e-01 4.88282854e-02 3.37056747e+02] [-5.90419412e-01 8.06354485e-01 -3.46029167e-02 -2.26136889e+02] [-5.98381697e-02 -9.78133241e-04 9.98207612e-01 -1.93461101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32863999999995 meters 0.025942174193042452 Centerline is valid? [True, True] Translation: X:337.11, Y:-226.18, Z:-19.35 [[ 8.02846873e-01 5.94101315e-01 4.98048914e-02 3.37105776e+02] [-5.93050978e-01 8.04389368e-01 -3.53310303e-02 -2.26175600e+02] [-6.10527367e-02 -1.17143234e-03 9.98133854e-01 -1.93481898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38863999999995 meters 0.026263496122907442 Centerline is valid? [True, True] Translation: X:337.16, Y:-226.21, Z:-19.35 [[ 8.02361292e-01 5.94590410e-01 5.17552021e-02 3.37155212e+02] [-5.93454732e-01 8.04027824e-01 -3.67524070e-02 -2.26213776e+02] [-6.34652513e-02 -1.22566078e-03 9.97983296e-01 -1.93521423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44863999999995 meters 0.026150624308192646 Centerline is valid? [True, True] Translation: X:337.21, Y:-226.25, Z:-19.35 [[ 8.01992713e-01 5.95114502e-01 5.14433424e-02 3.37205757e+02] [-5.93991155e-01 8.03639981e-01 -3.65689478e-02 -2.26251587e+02] [-6.31046379e-02 -1.22886070e-03 9.98006160e-01 -1.93544162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50863999999996 meters 0.0260474561997431 Centerline is valid? [True, True] Translation: X:337.26, Y:-226.29, Z:-19.36 [[ 8.01715271e-01 5.95536426e-01 5.08821218e-02 3.37255758e+02] [-5.94435752e-01 8.03327386e-01 -3.62111516e-02 -2.26290567e+02] [-6.24400617e-02 -1.21511911e-03 9.98047976e-01 -1.93559788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56863999999996 meters 0.025958115109433372 Centerline is valid? [True, True] Translation: X:337.31, Y:-226.33, Z:-19.36 [[ 8.01117665e-01 5.96260290e-01 5.18088248e-02 3.37305396e+02] [-5.95118002e-01 8.02790181e-01 -3.69119012e-02 -2.26327883e+02] [-6.36007168e-02 -1.26158818e-03 9.97974628e-01 -1.93590176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62863999999996 meters 0.025806986096858796 Centerline is valid? [True, True] Translation: X:337.35, Y:-226.37, Z:-19.36 [[ 8.02771323e-01 5.94141418e-01 5.05388808e-02 3.37353638e+02] [-5.93048076e-01 8.04359930e-01 -3.60427736e-02 -2.26366832e+02] [-6.20659553e-02 -1.03788102e-03 9.98071510e-01 -1.93616562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68863999999996 meters 0.025528582780944203 Centerline is valid? [True, True] Translation: X:337.40, Y:-226.40, Z:-19.36 [[ 8.05868054e-01 5.89947914e-01 5.03799374e-02 3.37402848e+02] [-5.88850976e-01 8.07441015e-01 -3.59657479e-02 -2.26404295e+02] [-6.18967457e-02 -6.82628062e-04 9.98082325e-01 -1.93632809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74863999999997 meters 0.02518515601011926 Centerline is valid? [True, True] Translation: X:337.45, Y:-226.44, Z:-19.36 [[ 8.07213035e-01 5.88276208e-01 4.83551323e-02 3.37451663e+02] [-5.87260733e-01 8.08659909e-01 -3.45540654e-02 -2.26442509e+02] [-5.94301914e-02 -5.04578458e-04 9.98232337e-01 -1.93647299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80863999999997 meters 0.024965033161223085 Centerline is valid? [True, True] Translation: X:337.50, Y:-226.48, Z:-19.37 [[ 8.07519070e-01 5.87753754e-01 4.95830327e-02 3.37501660e+02] [-5.86682681e-01 8.09039755e-01 -3.54697893e-02 -2.26481061e+02] [-6.09621465e-02 -4.46975289e-04 9.98139979e-01 -1.93682880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86863999999997 meters 0.025057338546899503 Centerline is valid? [True, True] Translation: X:337.55, Y:-226.52, Z:-19.37 [[ 8.05295152e-01 5.90848913e-01 4.89620278e-02 3.37551472e+02] [-5.89807773e-01 8.06781974e-01 -3.50661904e-02 -2.26520297e+02] [-6.02205019e-02 -6.39551448e-04 9.98184894e-01 -1.93698455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92864 meters 0.025192791863429518 Centerline is valid? [True, True] Translation: X:337.60, Y:-226.55, Z:-19.37 [[ 8.02429339e-01 5.94802621e-01 4.81352060e-02 3.37603836e+02] [-5.93801183e-01 8.03871290e-01 -3.45123657e-02 -2.26554386e+02] [-5.92225558e-02 -8.89007521e-04 9.98244408e-01 -1.93732192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98864 meters 0.025248192669956794 Centerline is valid? [True, True] Translation: X:337.65, Y:-226.59, Z:-19.38 [[ 8.01740848e-01 5.95668574e-01 4.88933903e-02 3.37654439e+02] [-5.94634690e-01 8.03229774e-01 -3.50929564e-02 -2.26591689e+02] [-6.01763981e-02 -9.38249406e-04 9.98187317e-01 -1.93759065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04864 meters 0.025288331573035876 Centerline is valid? [True, True] Translation: X:337.71, Y:-226.62, Z:-19.38 [[ 8.01163594e-01 5.96546239e-01 4.76390633e-02 3.37708694e+02] [-5.95564039e-01 8.02578151e-01 -3.42313846e-02 -2.26624551e+02] [-5.86546751e-02 -9.47173800e-04 9.98277883e-01 -1.93783693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10864 meters 0.025421862608480252 Centerline is valid? [True, True] Translation: X:337.76, Y:-226.66, Z:-19.38 [[ 7.99641949e-01 5.98526822e-01 4.83569740e-02 3.37761268e+02] [-5.97516085e-01 8.01102041e-01 -3.47857344e-02 -2.26656972e+02] [-5.95590657e-02 -1.07793732e-03 9.98224201e-01 -1.93812921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1686399999999 meters 0.02589850559168546 Centerline is valid? [True, True] Translation: X:337.81, Y:-226.69, Z:-19.38 [[ 7.97387919e-01 6.01272757e-01 5.14157421e-02 3.37814201e+02] [-6.00133342e-01 7.99042734e-01 -3.70227176e-02 -2.26689892e+02] [-6.33441266e-02 -1.33483342e-03 9.97990852e-01 -1.93849982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2286399999999 meters 0.026148803217604853 Centerline is valid? [True, True] Translation: X:337.87, Y:-226.72, Z:-19.39 [[ 7.96049915e-01 6.03028682e-01 5.15843074e-02 3.37867014e+02] [-6.01883111e-01 7.97718187e-01 -3.71808398e-02 -2.26722994e+02] [-6.35708531e-02 -1.44991902e-03 9.97976274e-01 -1.93887610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28863999999993 meters 0.026342839713358428 Centerline is valid? [True, True] Translation: X:337.92, Y:-226.75, Z:-19.39 [[ 7.94460347e-01 6.05093391e-01 5.19109465e-02 3.37921308e+02] [-6.03935285e-01 7.96152901e-01 -3.74530407e-02 -2.26754560e+02] [-6.39916381e-02 -1.59589656e-03 9.97949159e-01 -1.93894414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34863999999993 meters 0.026413657035354785 Centerline is valid? [True, True] Translation: X:337.98, Y:-226.78, Z:-19.39 [[ 7.93994504e-01 6.05556362e-01 5.36117559e-02 3.37977256e+02] [-6.04319543e-01 7.95800697e-01 -3.87187289e-02 -2.26783313e+02] [-6.61106453e-02 -1.65617389e-03 9.97810924e-01 -1.93924472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40863999999993 meters 0.02631136291603134 Centerline is valid? [True, True] Translation: X:338.03, Y:-226.82, Z:-19.40 [[ 7.95000369e-01 6.04014911e-01 5.60392788e-02 3.38031120e+02] [-6.02656625e-01 7.96971483e-01 -4.05147964e-02 -2.26816901e+02] [-6.91332482e-02 -1.56316448e-03 9.97606210e-01 -1.93974274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46863999999994 meters 0.025963458752856005 Centerline is valid? [True, True] Translation: X:338.08, Y:-226.85, Z:-19.40 [[ 7.96895994e-01 6.01651315e-01 5.45203623e-02 3.38084529e+02] [-6.00357377e-01 7.98757809e-01 -3.94586138e-02 -2.26848779e+02] [-6.72888920e-02 -1.28729044e-03 9.97732704e-01 -1.94000631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52863999999994 meters 0.025677898073083415 Centerline is valid? [True, True] Translation: X:338.14, Y:-226.88, Z:-19.40 [[ 7.98410306e-01 5.99714258e-01 5.37009445e-02 3.38136589e+02] [-5.98452044e-01 8.00213503e-01 -3.89037451e-02 -2.26883004e+02] [-6.63033515e-02 -1.07628897e-03 9.97798931e-01 -1.94023372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58863999999994 meters 0.025604819357086212 Centerline is valid? [True, True] Translation: X:338.19, Y:-226.92, Z:-19.41 [[ 7.98746473e-01 5.99226116e-01 5.41491899e-02 3.38188525e+02] [-5.97938823e-01 8.00579190e-01 -3.92698962e-02 -2.26918632e+02] [-6.68822620e-02 -1.01121178e-03 9.97760362e-01 -1.94058461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64863999999994 meters 0.025537643120648445 Centerline is valid? [True, True] Translation: X:338.24, Y:-226.95, Z:-19.41 [[ 7.98504134e-01 5.99538763e-01 5.42625064e-02 3.38239949e+02] [-5.98243744e-01 8.00345091e-01 -3.93974248e-02 -2.26954777e+02] [-6.70490140e-02 -1.00319845e-03 9.97749179e-01 -1.94076400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70863999999995 meters 0.025529653331742914 Centerline is valid? [True, True] Translation: X:338.29, Y:-226.99, Z:-19.41 [[ 7.99247963e-01 5.98435739e-01 5.54739526e-02 3.38290082e+02] [-5.97076289e-01 8.01170312e-01 -4.03241472e-02 -2.26992720e+02] [-6.85754947e-02 -8.93189244e-04 9.97645530e-01 -1.94106515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76863999999995 meters 0.025236824875250807 Centerline is valid? [True, True] Translation: X:338.34, Y:-227.03, Z:-19.41 [[ 8.01227285e-01 5.95769595e-01 5.56185876e-02 3.38339154e+02] [-5.94393523e-01 8.03155148e-01 -4.04740351e-02 -2.27031449e+02] [-6.87835544e-02 -6.30427009e-04 9.97631407e-01 -1.94137606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82863999999995 meters 0.025340425731055796 Centerline is valid? [True, True] Translation: X:338.39, Y:-227.07, Z:-19.42 [[ 8.02623977e-01 5.93961959e-01 5.48082450e-02 3.38387908e+02] [-5.92618808e-01 8.04493009e-01 -3.99242731e-02 -2.27069600e+02] [-6.78063494e-02 -4.36217950e-04 9.97698406e-01 -1.94157181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88863999999995 meters 0.025440678523855943 Centerline is valid? [True, True] Translation: X:338.44, Y:-227.11, Z:-19.42 [[ 8.04184566e-01 5.91748963e-01 5.58600859e-02 3.38436705e+02] [-5.90345331e-01 8.06122272e-01 -4.07341665e-02 -2.27109943e+02] [-6.91344601e-02 -2.18952897e-04 9.97607327e-01 -1.94184514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94863999999995 meters 0.02540492296804815 Centerline is valid? [True, True] Translation: X:338.49, Y:-227.15, Z:-19.42 [[ 8.03838454e-01 5.92260025e-01 5.54238444e-02 3.38487315e+02] [-5.90876271e-01 8.05746866e-01 -4.04625705e-02 -2.27146775e+02] [-6.86219520e-02 -2.23264404e-04 9.97642711e-01 -1.94212874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00863999999996 meters 0.025483310356356165 Centerline is valid? [True, True] Translation: X:338.54, Y:-227.19, Z:-19.42 [[ 8.02734332e-01 5.93964821e-01 5.31355166e-02 3.38535800e+02] [-5.92694081e-01 8.04490950e-01 -3.88334557e-02 -2.27186081e+02] [-6.58127488e-02 -3.20158114e-04 9.97831940e-01 -1.94237781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06863999999996 meters 0.025642796564901992 Centerline is valid? [True, True] Translation: X:338.58, Y:-227.23, Z:-19.43 [[ 8.01375760e-01 5.95722472e-01 5.39595030e-02 3.38583231e+02] [-5.94413269e-01 8.03190229e-01 -3.94755876e-02 -2.27226208e+02] [-6.68562402e-02 -4.39465575e-04 9.97762522e-01 -1.94261329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12863999999996 meters 0.025756501477624674 Centerline is valid? [True, True] Translation: X:338.63, Y:-227.27, Z:-19.43 [[ 8.00229569e-01 5.97312582e-01 5.33883519e-02 3.38633135e+02] [-5.96031772e-01 8.02008351e-01 -3.90989895e-02 -2.27265168e+02] [-6.61722224e-02 -5.32986496e-04 9.97808074e-01 -1.94284838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18863999999996 meters 0.0259208386743942 Centerline is valid? [True, True] Translation: X:338.68, Y:-227.30, Z:-19.43 [[ 7.99729510e-01 5.98033572e-01 5.28067937e-02 3.38683214e+02] [-5.96779208e-01 8.01470862e-01 -3.87173523e-02 -2.27302949e+02] [-6.54773830e-02 -5.50587402e-04 9.97853902e-01 -1.94300604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24863999999997 meters 0.025954102761412745 Centerline is valid? [True, True] Translation: X:338.73, Y:-227.34, Z:-19.43 [[ 7.98922864e-01 5.99038931e-01 5.36154580e-02 3.38733151e+02] [-5.97745145e-01 8.00719671e-01 -3.93541715e-02 -2.27339579e+02] [-6.65056327e-02 -6.07432274e-04 9.97785865e-01 -1.94343339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30863999999997 meters 0.026054067603825563 Centerline is valid? [True, True] Translation: X:338.78, Y:-227.38, Z:-19.44 [[ 7.97677920e-01 6.00711410e-01 5.34391096e-02 3.38784869e+02] [-5.99427117e-01 7.99465632e-01 -3.92661961e-02 -2.27376144e+02] [-6.63103835e-02 -7.11073789e-04 9.97798791e-01 -1.94364203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36863999999997 meters 0.026465058226164715 Centerline is valid? [True, True] Translation: X:338.84, Y:-227.41, Z:-19.44 [[ 7.94830536e-01 6.04429816e-01 5.39353045e-02 3.38838361e+02] [-6.03127090e-01 7.96657774e-01 -3.96749956e-02 -2.27408644e+02] [-6.69487299e-02 -9.94945225e-04 9.97755921e-01 -1.94382196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42864 meters 0.026821362636973437 Centerline is valid? [True, True] Translation: X:338.89, Y:-227.44, Z:-19.44 [[ 7.91717099e-01 6.08478466e-01 5.42032389e-02 3.38890757e+02] [-6.07169480e-01 7.93569302e-01 -3.99122235e-02 -2.27441572e+02] [-6.72997550e-02 -1.31136261e-03 9.97731940e-01 -1.94419420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48864 meters 0.026686095352051378 Centerline is valid? [True, True] Translation: X:338.95, Y:-227.47, Z:-19.44 [[ 7.91185626e-01 6.09247545e-01 5.33173047e-02 3.38946621e+02] [-6.07980106e-01 7.92978992e-01 -3.93002473e-02 -2.27471885e+02] [-6.62230817e-02 -1.32206981e-03 9.97803967e-01 -1.94447885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54864 meters 0.026657701284567896 Centerline is valid? [True, True] Translation: X:339.00, Y:-227.50, Z:-19.45 [[ 7.91733163e-01 6.08584553e-01 5.27583211e-02 3.39000110e+02] [-6.07339358e-01 7.93488093e-01 -3.89300733e-02 -2.27504786e+02] [-6.55553409e-02 -1.21997481e-03 9.97848189e-01 -1.94473328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60864 meters 0.026412466904098 Centerline is valid? [True, True] Translation: X:339.06, Y:-227.53, Z:-19.45 [[ 7.94017032e-01 6.05663375e-01 5.20464089e-02 3.39058487e+02] [-6.04442857e-01 7.95720429e-01 -3.84425713e-02 -2.27529628e+02] [-6.46976483e-02 -9.35023734e-04 9.97904474e-01 -1.94506156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6686399999999 meters 0.02620323627347725 Centerline is valid? [True, True] Translation: X:339.11, Y:-227.56, Z:-19.45 [[ 7.95450128e-01 6.03870022e-01 5.09910784e-02 3.39112343e+02] [-6.02692495e-01 7.97082458e-01 -3.77003007e-02 -2.27562025e+02] [-6.34101755e-02 -7.43231277e-04 9.97987273e-01 -1.94526444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7286399999999 meters 0.025729672288884183 Centerline is valid? [True, True] Translation: X:339.17, Y:-227.59, Z:-19.45 [[ 7.98375261e-01 6.00220531e-01 4.82934391e-02 3.39167945e+02] [-5.99155992e-01 7.99834451e-01 -3.57344119e-02 -2.27592270e+02] [-6.00752841e-02 -4.05832978e-04 9.98193767e-01 -1.94537198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78863999999993 meters 0.025635765856710582 Centerline is valid? [True, True] Translation: X:339.22, Y:-227.63, Z:-19.46 [[ 8.00565973e-01 5.97220590e-01 4.92106706e-02 3.39220903e+02] [-5.96108229e-01 8.02077016e-01 -3.64340622e-02 -2.27625809e+02] [-6.12299199e-02 -1.67015221e-04 9.98123674e-01 -1.94571946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84863999999993 meters 0.025452370773147492 Centerline is valid? [True, True] Translation: X:339.27, Y:-227.66, Z:-19.46 [[ 8.02004191e-01 5.95304637e-01 4.90067961e-02 3.39273018e+02] [-5.94195374e-01 8.03500086e-01 -3.63244921e-02 -2.27660615e+02] [-6.10011035e-02 1.27834077e-05 9.98137699e-01 -1.94591803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90863999999993 meters 0.025666917892866858 Centerline is valid? [True, True] Translation: X:339.32, Y:-227.70, Z:-19.46 [[ 8.04063908e-01 5.92487666e-01 4.93922764e-02 3.39322447e+02] [-5.91352963e-01 8.05579479e-01 -3.66521034e-02 -2.27699381e+02] [-6.15053235e-02 2.62364472e-04 9.98106721e-01 -1.94630337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96863999999994 meters 0.025854684764597693 Centerline is valid? [True, True] Translation: X:339.37, Y:-227.74, Z:-19.46 [[ 8.07115774e-01 5.88335183e-01 4.92528139e-02 3.39370466e+02] [-5.87196719e-01 8.08616931e-01 -3.65878599e-02 -2.27738144e+02] [-6.13525844e-02 6.09548206e-04 9.98115970e-01 -1.94649792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02863999999994 meters 0.02627143327581688 Centerline is valid? [True, True] Translation: X:339.42, Y:-227.78, Z:-19.47 [[ 8.10801579e-01 5.83393461e-01 4.74644008e-02 3.39416976e+02] [-5.82325893e-01 8.12189092e-01 -3.52907066e-02 -2.27780297e+02] [-5.91384361e-02 9.74011031e-04 9.98249316e-01 -1.94680934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08863999999994 meters 0.026347474135459802 Centerline is valid? [True, True] Translation: X:339.46, Y:-227.82, Z:-19.47 [[ 8.11406915e-01 5.82609263e-01 4.67468075e-02 3.39463438e+02] [-5.81570468e-01 8.12751720e-01 -3.47912756e-02 -2.27822951e+02] [-5.82632676e-02 1.04331889e-03 9.98300708e-01 -1.94704122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14863999999994 meters 0.026002558892918685 Centerline is valid? [True, True] Translation: X:339.51, Y:-227.87, Z:-19.47 [[ 8.09044783e-01 5.85827284e-01 4.74650762e-02 3.39509195e+02] [-5.84759556e-01 8.10435477e-01 -3.53638222e-02 -2.27865971e+02] [-5.91844735e-02 8.55258944e-04 9.98246696e-01 -1.94741808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20863999999995 meters 0.02576395558529241 Centerline is valid? [True, True] Translation: X:339.56, Y:-227.91, Z:-19.48 [[ 8.05076094e-01 5.91271358e-01 4.74411715e-02 3.39555519e+02] [-5.90212310e-01 8.06472536e-01 -3.53762419e-02 -2.27908662e+02] [-5.91769605e-02 4.80203178e-04 9.98247393e-01 -1.94769434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26863999999995 meters 0.025525587712826366 Centerline is valid? [True, True] Translation: X:339.60, Y:-227.95, Z:-19.48 [[ 8.02745721e-01 5.94464912e-01 4.70188894e-02 3.39601544e+02] [-5.93428802e-01 8.04121509e-01 -3.50835626e-02 -2.27950878e+02] [-5.86648473e-02 2.60816550e-04 9.98277701e-01 -1.94794003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32863999999995 meters 0.02539575575248973 Centerline is valid? [True, True] Translation: X:339.65, Y:-227.99, Z:-19.48 [[ 8.01858990e-01 5.95716276e-01 4.63063535e-02 3.39651375e+02] [-5.94711431e-01 8.03194921e-01 -3.45866041e-02 -2.27989145e+02] [-5.77968309e-02 1.94661706e-04 9.98328347e-01 -1.94824556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38863999999995 meters 0.025528965430664314 Centerline is valid? [True, True] Translation: X:339.70, Y:-228.03, Z:-19.49 [[ 8.01555769e-01 5.95984403e-01 4.80722538e-02 3.39700340e+02] [-5.94899421e-01 8.02995981e-01 -3.59462544e-02 -2.28027401e+02] [-6.00252336e-02 2.14771619e-04 9.98196837e-01 -1.94854269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44863999999995 meters 0.025530874128293548 Centerline is valid? [True, True] Translation: X:339.75, Y:-228.07, Z:-19.49 [[ 8.00321738e-01 5.97547521e-01 4.92145849e-02 3.39750437e+02] [-5.96410858e-01 8.01833488e-01 -3.68394612e-02 -2.28065840e+02] [-6.14752310e-02 1.31308837e-04 9.98108601e-01 -1.94868930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50863999999996 meters 0.025525320326985724 Centerline is valid? [True, True] Translation: X:339.80, Y:-228.10, Z:-19.49 [[ 8.00497103e-01 5.97239358e-01 5.00952860e-02 3.39802103e+02] [-5.96058282e-01 8.02063035e-01 -3.75421452e-02 -2.28102297e+02] [-6.26012238e-02 1.92668403e-04 9.98038601e-01 -1.94894651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56863999999996 meters 0.02546691841241431 Centerline is valid? [True, True] Translation: X:339.85, Y:-228.14, Z:-19.49 [[ 7.99411239e-01 5.98640665e-01 5.07052791e-02 3.39852122e+02] [-5.97430658e-01 8.01017690e-01 -3.80429859e-02 -2.28140055e+02] [-6.33899039e-02 1.19102201e-04 9.97988831e-01 -1.94935840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62863999999996 meters 0.02541383068118001 Centerline is valid? [True, True] Translation: X:339.90, Y:-228.18, Z:-19.49 [[ 7.99773421e-01 5.98149913e-01 5.07853961e-02 3.39903187e+02] [-5.96932316e-01 8.01384205e-01 -3.81466271e-02 -2.28177502e+02] [-6.35160160e-02 1.93214331e-04 9.97980801e-01 -1.94948298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68863999999996 meters 0.02548784122354421 Centerline is valid? [True, True] Translation: X:339.95, Y:-228.22, Z:-19.50 [[ 8.02744965e-01 5.94136234e-01 5.10162416e-02 3.39952962e+02] [-5.92896718e-01 8.04364243e-01 -3.83620347e-02 -2.28215038e+02] [-6.38279154e-02 5.47568029e-04 9.97960769e-01 -1.94976868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74863999999997 meters 0.025421372871302025 Centerline is valid? [True, True] Translation: X:340.00, Y:-228.25, Z:-19.50 [[ 8.02013782e-01 5.94962939e-01 5.28487876e-02 3.40002644e+02] [-5.93631812e-01 8.03752959e-01 -3.97800594e-02 -2.28252557e+02] [-6.61450305e-02 5.31434410e-04 9.97809878e-01 -1.95001340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80863999999997 meters 0.024981978795690057 Centerline is valid? [True, True] Translation: X:340.05, Y:-228.29, Z:-19.50 [[ 7.99582162e-01 5.98313538e-01 5.18582302e-02 3.40052230e+02] [-5.97036460e-01 8.01262024e-01 -3.90721575e-02 -2.28290234e+02] [-6.49294313e-02 2.80146005e-04 9.97889819e-01 -1.95035509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86863999999997 meters 0.025179791964393395 Centerline is valid? [True, True] Translation: X:340.10, Y:-228.33, Z:-19.51 [[ 7.98547563e-01 5.99734139e-01 5.13882536e-02 3.40103240e+02] [-5.98480527e-01 8.00199303e-01 -3.87573688e-02 -2.28327880e+02] [-6.43649619e-02 1.94733318e-04 9.97926407e-01 -1.95056519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92864 meters 0.02514473008060954 Centerline is valid? [True, True] Translation: X:340.15, Y:-228.36, Z:-19.51 [[ 8.00299406e-01 5.97281646e-01 5.26829759e-02 3.40153417e+02] [-5.95955787e-01 8.02031448e-01 -3.97775859e-02 -2.28364442e+02] [-6.60118254e-02 4.37254085e-04 9.97818745e-01 -1.95086566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98864 meters 0.025499297681058113 Centerline is valid? [True, True] Translation: X:340.20, Y:-228.40, Z:-19.51 [[ 8.02653502e-01 5.93906770e-01 5.49736741e-02 3.40201912e+02] [-5.92452147e-01 8.04533492e-01 -4.15489329e-02 -2.28403687e+02] [-6.89043545e-02 7.80125290e-04 9.97622966e-01 -1.95120445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04864 meters 0.025312251287554263 Centerline is valid? [True, True] Translation: X:340.25, Y:-228.44, Z:-19.51 [[ 8.01596906e-01 5.95578612e-01 5.22352062e-02 3.40248751e+02] [-5.94266562e-01 8.03296778e-01 -3.95163208e-02 -2.28444572e+02] [-6.54954484e-02 6.34524101e-04 9.97852666e-01 -1.95136215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10864 meters 0.025240873779271398 Centerline is valid? [True, True] Translation: X:340.29, Y:-228.49, Z:-19.52 [[ 7.98616963e-01 5.99401904e-01 5.41138026e-02 3.40294684e+02] [-5.97999489e-01 8.00448139e-01 -4.09803417e-02 -2.28488061e+02] [-6.78789874e-02 3.67569709e-04 9.97693494e-01 -1.95157197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1686399999999 meters 0.02501360905004553 Centerline is valid? [True, True] Translation: X:340.34, Y:-228.53, Z:-19.52 [[ 7.95556753e-01 6.03292737e-01 5.59224954e-02 3.40341687e+02] [-6.01801256e-01 7.97519823e-01 -4.23955301e-02 -2.28528084e+02] [-7.01762140e-02 7.38223591e-05 9.97534608e-01 -1.95190606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2286399999999 meters 0.0248930274518385 Centerline is valid? [True, True] Translation: X:340.39, Y:-228.57, Z:-19.52 [[ 7.91208832e-01 6.09055628e-01 5.51346131e-02 3.40389550e+02] [-6.07616974e-01 7.93127407e-01 -4.18393203e-02 -2.28568529e+02] [-6.92112463e-02 -3.97087055e-04 9.97601948e-01 -1.95217449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28863999999993 meters 0.025002942276806755 Centerline is valid? [True, True] Translation: X:340.44, Y:-228.61, Z:-19.52 [[ 7.88293967e-01 6.12766356e-01 5.57675025e-02 3.40438797e+02] [-6.11300443e-01 7.90263824e-01 -4.23657565e-02 -2.28606245e+02] [-7.00313500e-02 -6.94028753e-04 9.97544550e-01 -1.95243501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34863999999993 meters 0.024821860373712944 Centerline is valid? [True, True] Translation: X:340.49, Y:-228.64, Z:-19.53 [[ 7.87479289e-01 6.13936039e-01 5.43958611e-02 3.40488328e+02] [-6.12541430e-01 7.89355423e-01 -4.13643852e-02 -2.28643009e+02] [-6.83327547e-02 -7.46121946e-04 9.97662307e-01 -1.95277538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40863999999993 meters 0.024588874400103402 Centerline is valid? [True, True] Translation: X:340.54, Y:-228.68, Z:-19.53 [[ 7.87164276e-01 6.14282866e-01 5.50360107e-02 3.40539544e+02] [-6.12852987e-01 7.89085545e-01 -4.18953475e-02 -2.28680212e+02] [-6.91637147e-02 -7.50462649e-04 9.97605041e-01 -1.95311748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46863999999994 meters 0.02459816510787129 Centerline is valid? [True, True] Translation: X:340.59, Y:-228.72, Z:-19.53 [[ 7.86635137e-01 6.15041472e-01 5.41216065e-02 3.40589306e+02] [-6.13657535e-01 7.88494386e-01 -4.12435833e-02 -2.28717688e+02] [-6.80410971e-02 -7.68479819e-04 9.97682223e-01 -1.95334857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52863999999994 meters 0.02460627604982067 Centerline is valid? [True, True] Translation: X:340.64, Y:-228.75, Z:-19.54 [[ 7.87298953e-01 6.14214510e-01 5.38599392e-02 3.40640434e+02] [-6.12839230e-01 7.89138833e-01 -4.10850308e-02 -2.28753828e+02] [-6.77379917e-02 -6.61281989e-04 9.97702925e-01 -1.95361469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58863999999994 meters 0.024669600945092508 Centerline is valid? [True, True] Translation: X:340.69, Y:-228.79, Z:-19.54 [[ 7.88193037e-01 6.12940575e-01 5.52773683e-02 3.40689243e+02] [-6.11485759e-01 7.90128830e-01 -4.22089809e-02 -2.28791661e+02] [-6.95478394e-02 -5.32498668e-04 9.97578475e-01 -1.95382579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64863999999994 meters 0.024684185180914746 Centerline is valid? [True, True] Translation: X:340.74, Y:-228.83, Z:-19.54 [[ 7.90549071e-01 6.09982819e-01 5.43426786e-02 3.40738921e+02] [-6.08567663e-01 7.92414602e-01 -4.15270735e-02 -2.28829806e+02] [-6.83927334e-02 -2.42007575e-04 9.97658446e-01 -1.95405301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70863999999995 meters 0.024765990529080423 Centerline is valid? [True, True] Translation: X:340.79, Y:-228.87, Z:-19.54 [[ 7.91938977e-01 6.08105503e-01 5.51393995e-02 3.40787827e+02] [-6.06642054e-01 7.93856217e-01 -4.21630839e-02 -2.28869300e+02] [-6.94123584e-02 -5.92890373e-05 9.97588052e-01 -1.95432367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76863999999995 meters 0.024750352420553418 Centerline is valid? [True, True] Translation: X:340.84, Y:-228.91, Z:-19.55 [[ 7.92019991e-01 6.08038587e-01 5.47120716e-02 3.40835897e+02] [-6.06595091e-01 7.93907473e-01 -4.18726515e-02 -2.28909446e+02] [-6.88965104e-02 -2.40970490e-05 9.97623812e-01 -1.95468679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82863999999995 meters 0.02477737769397148 Centerline is valid? [True, True] Translation: X:340.88, Y:-228.95, Z:-19.55 [[ 7.90861690e-01 6.09656214e-01 5.34517326e-02 3.40884280e+02] [-6.08280650e-01 7.92665932e-01 -4.09312977e-02 -2.28948821e+02] [-6.73233874e-02 -1.42659374e-04 9.97731197e-01 -1.95494594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88863999999995 meters 0.02467834036933138 Centerline is valid? [True, True] Translation: X:340.93, Y:-228.99, Z:-19.55 [[ 7.88477959e-01 6.12971824e-01 5.06759321e-02 3.40931371e+02] [-6.11739995e-01 7.90104678e-01 -3.88429636e-02 -2.28989415e+02] [-6.38489332e-02 -3.73673779e-04 9.97959505e-01 -1.95503629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94863999999995 meters 0.025100306895391743 Centerline is valid? [True, True] Translation: X:340.98, Y:-229.03, Z:-19.55 [[ 7.84601764e-01 6.17755759e-01 5.27057323e-02 3.40980371e+02] [-6.16431139e-01 7.86369661e-01 -4.04401659e-02 -2.29027151e+02] [-6.64283343e-02 -7.60029086e-04 9.97790909e-01 -1.95539232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00863999999996 meters 0.025547323557615617 Centerline is valid? [True, True] Translation: X:341.03, Y:-229.06, Z:-19.56 [[ 7.82089285e-01 6.20947458e-01 5.25414516e-02 3.41030661e+02] [-6.19635603e-01 7.83851556e-01 -4.03541496e-02 -2.29063777e+02] [-6.62425053e-02 -9.96006020e-04 9.97803056e-01 -1.95564475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06863999999996 meters 0.025473061847665672 Centerline is valid? [True, True] Translation: X:341.08, Y:-229.10, Z:-19.56 [[ 7.80783575e-01 6.22681934e-01 5.14219660e-02 3.41082373e+02] [-6.21426586e-01 7.82474298e-01 -3.95344271e-02 -2.29100468e+02] [-6.48537403e-02 -1.08714547e-03 9.97894188e-01 -1.95592231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12863999999996 meters 0.02567159762895978 Centerline is valid? [True, True] Translation: X:341.13, Y:-229.14, Z:-19.56 [[ 7.78990477e-01 6.24920234e-01 5.14639398e-02 3.41132665e+02] [-6.23664979e-01 7.80687620e-01 -3.96085175e-02 -2.29136089e+02] [-6.49294246e-02 -1.24159896e-03 9.97889086e-01 -1.95620050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18863999999996 meters 0.025892781215034785 Centerline is valid? [True, True] Translation: X:341.19, Y:-229.17, Z:-19.56 [[ 7.77182804e-01 6.27027050e-01 5.31410102e-02 3.41185108e+02] [-6.25690851e-01 7.78996164e-01 -4.09381904e-02 -2.29170126e+02] [-6.70659959e-02 -1.43338624e-03 9.97747512e-01 -1.95648628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24863999999997 meters 0.025793424506506853 Centerline is valid? [True, True] Translation: X:341.24, Y:-229.20, Z:-19.57 [[ 7.79063991e-01 6.24720007e-01 5.27656210e-02 3.41238446e+02] [-6.23395268e-01 7.80847917e-01 -4.06800959e-02 -2.29203587e+02] [-6.66155951e-02 -1.20144058e-03 9.97777991e-01 -1.95673027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30863999999997 meters 0.025560836320762274 Centerline is valid? [True, True] Translation: X:341.29, Y:-229.24, Z:-19.57 [[ 7.82768815e-01 6.19996335e-01 5.36425857e-02 3.41290791e+02] [-6.18614432e-01 7.84604305e-01 -4.13795696e-02 -2.29237304e+02] [-6.77433851e-02 -7.93440981e-04 9.97702463e-01 -1.95703279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36863999999997 meters 0.025412332771644685 Centerline is valid? [True, True] Translation: X:341.34, Y:-229.27, Z:-19.57 [[ 7.84465411e-01 6.17838549e-01 5.37544930e-02 3.41343591e+02] [-6.16443016e-01 7.86304773e-01 -4.15067851e-02 -2.29270229e+02] [-6.79119063e-02 -5.75944520e-04 9.97691155e-01 -1.95724813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42864 meters 0.025785692781393813 Centerline is valid? [True, True] Translation: X:341.40, Y:-229.30, Z:-19.58 [[ 7.84096081e-01 6.18343153e-01 5.33392968e-02 3.41397534e+02] [-6.16967398e-01 7.85908015e-01 -4.12288961e-02 -2.29303242e+02] [-6.74133865e-02 -5.81191251e-04 9.97724961e-01 -1.95764338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48864 meters 0.02578629892677088 Centerline is valid? [True, True] Translation: X:341.45, Y:-229.34, Z:-19.58 [[ 7.85347631e-01 6.16789714e-01 5.29107527e-02 3.41448927e+02] [-6.15429496e-01 7.87127869e-01 -4.09420811e-02 -2.29339027e+02] [-6.69001825e-02 -4.09071435e-04 9.97759589e-01 -1.95792123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54864 meters 0.02592056066182208 Centerline is valid? [True, True] Translation: X:341.50, Y:-229.38, Z:-19.58 [[ 7.88376364e-01 6.12887984e-01 5.32073992e-02 3.41498949e+02] [-6.11500625e-01 7.90169803e-01 -4.12148978e-02 -2.29376796e+02] [-6.73029958e-02 -4.35065728e-05 9.97732582e-01 -1.95814465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60864 meters 0.02644886776829447 Centerline is valid? [True, True] Translation: X:341.55, Y:-229.42, Z:-19.59 [[ 7.92183131e-01 6.08013382e-01 5.25891136e-02 3.41548151e+02] [-6.06644261e-01 7.93926674e-01 -4.07820616e-02 -2.29415592e+02] [-6.65479392e-02 4.03977348e-04 9.97783147e-01 -1.95853853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6686399999999 meters 0.026379169685301226 Centerline is valid? [True, True] Translation: X:341.60, Y:-229.46, Z:-19.59 [[ 7.91841614e-01 6.08546817e-01 5.15522109e-02 3.41595492e+02] [-6.07229543e-01 7.93517878e-01 -4.00207402e-02 -2.29455487e+02] [-6.52620950e-02 3.86062089e-04 9.97868082e-01 -1.95868784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7286399999999 meters 0.026315187829131247 Centerline is valid? [True, True] Translation: X:341.64, Y:-229.50, Z:-19.59 [[ 7.87330045e-01 6.14291915e-01 5.25056510e-02 3.41642858e+02] [-6.12935264e-01 7.89078855e-01 -4.08034633e-02 -2.29496832e+02] [-6.64963366e-02 -5.67724678e-05 9.97786668e-01 -1.95883984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78863999999993 meters 0.026447760097703145 Centerline is valid? [True, True] Translation: X:341.69, Y:-229.54, Z:-19.59 [[ 7.85896221e-01 6.16096873e-01 5.28372288e-02 3.41691529e+02] [-6.14723885e-01 7.87670371e-01 -4.11087813e-02 -2.29536219e+02] [-6.69453112e-02 -1.73070776e-04 9.97756631e-01 -1.95921044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84863999999993 meters 0.026387627224600405 Centerline is valid? [True, True] Translation: X:341.74, Y:-229.58, Z:-19.59 [[ 7.81658578e-01 6.21540018e-01 5.19410600e-02 3.41740976e+02] [-6.20222151e-01 7.83382191e-01 -4.04577011e-02 -2.29575726e+02] [-6.58357816e-02 -5.90886876e-04 9.97830297e-01 -1.95928723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90863999999993 meters 0.026400131566487392 Centerline is valid? [True, True] Translation: X:341.79, Y:-229.61, Z:-19.59 [[ 7.78037863e-01 6.25965639e-01 5.31422843e-02 3.41789545e+02] [-6.24593210e-01 7.79850059e-01 -4.14392061e-02 -2.29614001e+02] [-6.73825327e-02 -9.51038590e-04 9.97726761e-01 -1.95938894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96863999999994 meters 0.02652416715990429 Centerline is valid? [True, True] Translation: X:341.84, Y:-229.65, Z:-19.60 [[ 7.74671476e-01 6.30052011e-01 5.40237662e-02 3.41838872e+02] [-6.28640707e-01 7.76551855e-01 -4.21672597e-02 -2.29650928e+02] [-6.85198227e-02 -1.29576525e-03 9.97648914e-01 -1.95962478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02863999999994 meters 0.027024292366423074 Centerline is valid? [True, True] Translation: X:341.89, Y:-229.69, Z:-19.60 [[ 7.71670792e-01 6.33757732e-01 5.36220701e-02 3.41890168e+02] [-6.32373624e-01 7.73529983e-01 -4.18923114e-02 -2.29686630e+02] [-6.80278552e-02 -1.58210970e-03 9.97682168e-01 -1.95990086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08863999999994 meters 0.02684038993244509 Centerline is valid? [True, True] Translation: X:341.94, Y:-229.72, Z:-19.60 [[ 7.70661984e-01 6.34937445e-01 5.41714704e-02 3.41941071e+02] [-6.33524876e-01 7.72561743e-01 -4.23625445e-02 -2.29722566e+02] [-6.87483714e-02 -1.67177142e-03 9.97632631e-01 -1.96012134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14863999999994 meters 0.026714232070051882 Centerline is valid? [True, True] Translation: X:341.99, Y:-229.76, Z:-19.60 [[ 7.71058525e-01 6.34442005e-01 5.43331768e-02 3.41992065e+02] [-6.33016927e-01 7.72968809e-01 -4.25298704e-02 -2.29758028e+02] [-6.89805872e-02 -1.60080155e-03 9.97616718e-01 -1.96038107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20863999999995 meters 0.02626905965852061 Centerline is valid? [True, True] Translation: X:342.04, Y:-229.79, Z:-19.61 [[ 7.72518169e-01 6.32623476e-01 5.48016121e-02 3.42044303e+02] [-6.31166893e-01 7.74458201e-01 -4.29284119e-02 -2.29792941e+02] [-6.95990791e-02 -1.42598508e-03 9.97574025e-01 -1.96063491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26863999999995 meters 0.026058841386129503 Centerline is valid? [True, True] Translation: X:342.10, Y:-229.83, Z:-19.61 [[ 7.74161825e-01 6.30644602e-01 5.44137418e-02 3.42095115e+02] [-6.29202036e-01 7.76070807e-01 -4.26485826e-02 -2.29829446e+02] [-6.91250149e-02 -1.22033258e-03 9.97607259e-01 -1.96090611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32863999999995 meters 0.025722968925342038 Centerline is valid? [True, True] Translation: X:342.15, Y:-229.86, Z:-19.61 [[ 7.73064175e-01 6.32126558e-01 5.27995856e-02 3.42145964e+02] [-6.30769203e-01 7.74864099e-01 -4.14227202e-02 -2.29864741e+02] [-6.70969049e-02 -1.28193144e-03 9.97745640e-01 -1.96111073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38863999999995 meters 0.02574313861379606 Centerline is valid? [True, True] Translation: X:342.20, Y:-229.90, Z:-19.61 [[ 7.70785689e-01 6.34884440e-01 5.30204714e-02 3.42195278e+02] [-6.33519453e-01 7.72605661e-01 -4.16364571e-02 -2.29902337e+02] [-6.73982551e-02 -1.49671482e-03 9.97725030e-01 -1.96137689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44863999999995 meters 0.025769727779438006 Centerline is valid? [True, True] Translation: X:342.25, Y:-229.94, Z:-19.62 [[ 7.69558754e-01 6.36216320e-01 5.48463090e-02 3.42245978e+02] [-6.34756066e-01 7.71508985e-01 -4.31117418e-02 -2.29937444e+02] [-6.97428139e-02 -1.63700905e-03 9.97563662e-01 -1.96176599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50863999999996 meters 0.02535560730819903 Centerline is valid? [True, True] Translation: X:342.30, Y:-229.97, Z:-19.62 [[ 7.70698738e-01 6.34829423e-01 5.49095518e-02 3.42296168e+02] [-6.33359505e-01 7.72650895e-01 -4.32010591e-02 -2.29974506e+02] [-6.98512178e-02 -1.48248479e-03 9.97556319e-01 -1.96202750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56863999999996 meters 0.025127729135596008 Centerline is valid? [True, True] Translation: X:342.35, Y:-230.01, Z:-19.62 [[ 7.71753065e-01 6.33690260e-01 5.32340151e-02 3.42346345e+02] [-6.32303390e-01 7.73585773e-01 -4.19222477e-02 -2.30011439e+02] [-6.77467967e-02 -1.30642503e-03 9.97701691e-01 -1.96244292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62863999999996 meters 0.024920034399663584 Centerline is valid? [True, True] Translation: X:342.40, Y:-230.05, Z:-19.63 [[ 7.72317344e-01 6.33030686e-01 5.28967852e-02 3.42396350e+02] [-6.31657094e-01 7.74125757e-01 -4.16968628e-02 -2.30048333e+02] [-6.73441576e-02 -1.20941926e-03 9.97729072e-01 -1.96265524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68863999999996 meters 0.0251508151845327 Centerline is valid? [True, True] Translation: X:342.45, Y:-230.08, Z:-19.63 [[ 7.70737848e-01 6.34892433e-01 5.36168688e-02 3.42447285e+02] [-6.33482801e-01 7.72599348e-01 -4.23058875e-02 -2.30083974e+02] [-6.82840457e-02 -1.35861551e-03 9.97664996e-01 -1.96293994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74863999999997 meters 0.024910185255847993 Centerline is valid? [True, True] Translation: X:342.50, Y:-230.12, Z:-19.63 [[ 7.73005005e-01 6.32179411e-01 5.30325757e-02 3.42497989e+02] [-6.30791236e-01 7.74821294e-01 -4.18853198e-02 -2.30119629e+02] [-6.75698057e-02 -1.07492208e-03 9.97713970e-01 -1.96320315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80863999999997 meters 0.02464850487897037 Centerline is valid? [True, True] Translation: X:342.55, Y:-230.15, Z:-19.63 [[ 7.75327253e-01 6.29398902e-01 5.21983952e-02 3.42549511e+02] [-6.28045143e-01 7.77081978e-01 -4.12661861e-02 -2.30154045e+02] [-6.65353244e-02 -7.88149874e-04 9.97783759e-01 -1.96338900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86863999999997 meters 0.024647487355347313 Centerline is valid? [True, True] Translation: X:342.60, Y:-230.19, Z:-19.64 [[ 7.74526286e-01 6.30462202e-01 5.12488557e-02 3.42601738e+02] [-6.29156937e-01 7.76219506e-01 -4.05564713e-02 -2.30189458e+02] [-6.53496836e-02 -8.31520038e-04 9.97862078e-01 -1.96369608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92864 meters 0.02461417105173924 Centerline is valid? [True, True] Translation: X:342.65, Y:-230.22, Z:-19.64 [[ 7.75257719e-01 6.29662729e-01 5.00031764e-02 3.42654610e+02] [-6.28415873e-01 7.76868290e-01 -3.96125058e-02 -2.30223071e+02] [-6.37884006e-02 -7.12888905e-04 9.97963192e-01 -1.96403751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98864 meters 0.02444789389481892 Centerline is valid? [True, True] Translation: X:342.70, Y:-230.26, Z:-19.64 [[ 7.78098485e-01 6.26080654e-01 5.08503890e-02 3.42704909e+02] [-6.24780903e-01 7.79758205e-01 -4.03232467e-02 -2.30259243e+02] [-6.48966127e-02 -3.94894848e-04 9.97891915e-01 -1.96429029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04864 meters 0.024584547633826552 Centerline is valid? [True, True] Translation: X:342.76, Y:-230.29, Z:-19.65 [[ 7.80131391e-01 6.23562294e-01 5.06466041e-02 3.42756508e+02] [-6.22265105e-01 7.81773651e-01 -4.02007149e-02 -2.30294835e+02] [-6.46618306e-02 -1.53774787e-04 9.97907222e-01 -1.96465238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1086399999999 meters 0.024661025865054566 Centerline is valid? [True, True] Translation: X:342.81, Y:-230.33, Z:-19.65 [[ 7.83218753e-01 6.19688367e-01 5.05441696e-02 3.42807398e+02] [-6.18385688e-01 7.84847940e-01 -4.01603303e-02 -2.30332272e+02] [-6.45563769e-02 1.98532739e-04 9.97914042e-01 -1.96494083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1686399999999 meters 0.02507916709653134 Centerline is valid? [True, True] Translation: X:342.86, Y:-230.37, Z:-19.65 [[ 7.85320778e-01 6.17075390e-01 4.98922732e-02 3.42857665e+02] [-6.15798069e-01 7.86903913e-01 -3.96859010e-02 -2.30369735e+02] [-6.37496178e-02 4.42597172e-04 9.97965826e-01 -1.96520714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2286399999999 meters 0.02541850693462386 Centerline is valid? [True, True] Translation: X:342.91, Y:-230.41, Z:-19.66 [[ 7.87052605e-01 6.14834115e-01 5.02713418e-02 3.42906879e+02] [-6.13529986e-01 7.88656181e-01 -4.00297825e-02 -2.30407547e+02] [-6.42584803e-02 6.62568929e-04 9.97933068e-01 -1.96566475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28863999999993 meters 0.025699355481768844 Centerline is valid? [True, True] Translation: X:342.96, Y:-230.44, Z:-19.66 [[ 7.88026839e-01 6.13729668e-01 4.84726268e-02 3.42957677e+02] [-6.12512992e-01 7.89515881e-01 -3.86329960e-02 -2.30443593e+02] [-6.19801245e-02 7.53724020e-04 9.98077099e-01 -1.96574544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34863999999993 meters 0.02581727109737646 Centerline is valid? [True, True] Translation: X:343.01, Y:-230.48, Z:-19.66 [[ 7.88999949e-01 6.12583473e-01 4.71229177e-02 3.43007357e+02] [-6.11429467e-01 7.90405446e-01 -3.75930598e-02 -2.30482688e+02] [-6.02750979e-02 8.48581804e-04 9.98181443e-01 -1.96607264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40863999999993 meters 0.02594785764528832 Centerline is valid? [True, True] Translation: X:343.06, Y:-230.52, Z:-19.66 [[ 7.89311320e-01 6.12135737e-01 4.77229556e-02 3.43055034e+02] [-6.10948876e-01 7.90752163e-01 -3.81115182e-02 -2.30522628e+02] [-6.10664527e-02 9.25566653e-04 9.98133274e-01 -1.96633668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46863999999994 meters 0.026006794474375334 Centerline is valid? [True, True] Translation: X:343.10, Y:-230.56, Z:-19.67 [[ 7.88950902e-01 6.12549863e-01 4.83646479e-02 3.43102658e+02] [-6.11329237e-01 7.90431395e-01 -3.86623143e-02 -2.30563130e+02] [-6.19115314e-02 9.35944448e-04 9.98081202e-01 -1.96665626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52863999999994 meters 0.0257839963002266 Centerline is valid? [True, True] Translation: X:343.15, Y:-230.61, Z:-19.67 [[ 7.84489556e-01 6.18050388e-01 5.08906254e-02 3.43148020e+02] [-6.16707424e-01 7.86138283e-01 -4.07253371e-02 -2.30606206e+02] [-6.51773793e-02 5.63975110e-04 9.97873535e-01 -1.96697540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58863999999994 meters 0.025782045303987127 Centerline is valid? [True, True] Translation: X:343.19, Y:-230.65, Z:-19.67 [[ 7.82138337e-01 6.20987203e-01 5.13275305e-02 3.43194379e+02] [-6.19624643e-01 7.83820623e-01 -4.11160983e-02 -2.30649606e+02] [-6.57641478e-02 3.54674033e-04 9.97835132e-01 -1.96735052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64863999999994 meters 0.025515726782994963 Centerline is valid? [True, True] Translation: X:343.24, Y:-230.69, Z:-19.68 [[ 7.78554767e-01 6.25582810e-01 4.99862181e-02 3.43237661e+02] [-6.24297355e-01 7.80157771e-01 -4.00832262e-02 -2.30694396e+02] [-6.40725138e-02 7.23124706e-07 9.97945245e-01 -1.96769008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70863999999995 meters 0.02559647448302268 Centerline is valid? [True, True] Translation: X:343.29, Y:-230.73, Z:-19.68 [[ 7.77541980e-01 6.26812697e-01 5.03419460e-02 3.43285609e+02] [-6.25508792e-01 7.79169967e-01 -4.04093269e-02 -2.30734848e+02] [-6.45540116e-02 -6.93817627e-05 9.97914212e-01 -1.96793648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76863999999995 meters 0.025568738780941243 Centerline is valid? [True, True] Translation: X:343.33, Y:-230.78, Z:-19.68 [[ 7.76342367e-01 6.28299347e-01 5.03235408e-02 3.43333341e+02] [-6.26996598e-01 7.77971661e-01 -4.04395996e-02 -2.30776688e+02] [-6.45584626e-02 -1.57714384e-04 9.97913914e-01 -1.96817746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82863999999995 meters 0.025379052164741605 Centerline is valid? [True, True] Translation: X:343.38, Y:-230.82, Z:-19.69 [[ 7.75241094e-01 6.29723053e-01 4.94987217e-02 3.43380433e+02] [-6.28462803e-01 7.76819683e-01 -3.98206584e-02 -2.30818062e+02] [-6.35275679e-02 -2.37494622e-04 9.97980056e-01 -1.96853708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88863999999995 meters 0.025525414755578523 Centerline is valid? [True, True] Translation: X:343.43, Y:-230.86, Z:-19.69 [[ 7.73999228e-01 6.31208693e-01 5.00078148e-02 3.43428543e+02] [-6.29922543e-01 7.75612970e-01 -4.02754363e-02 -2.30858392e+02] [-6.42089152e-02 -3.27893275e-04 9.97936425e-01 -1.96877966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94863999999995 meters 0.02551231990297047 Centerline is valid? [True, True] Translation: X:343.48, Y:-230.90, Z:-19.69 [[ 7.73534231e-01 6.31760799e-01 5.02303283e-02 3.43477480e+02] [-6.30461382e-01 7.75163323e-01 -4.05002355e-02 -2.30898680e+02] [-6.45231693e-02 -3.39963653e-04 9.97916151e-01 -1.96918118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00863999999996 meters 0.02555244953952581 Centerline is valid? [True, True] Translation: X:343.53, Y:-230.94, Z:-19.69 [[ 7.72098785e-01 6.33480094e-01 5.06600176e-02 3.43526422e+02] [-6.32159024e-01 7.73758856e-01 -4.08925679e-02 -2.30937670e+02] [-6.51032650e-02 -4.52085276e-04 9.97878430e-01 -1.96941573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06863999999996 meters 0.025395637794444145 Centerline is valid? [True, True] Translation: X:343.58, Y:-230.98, Z:-19.70 [[ 7.70160035e-01 6.35843811e-01 5.05585705e-02 3.43575085e+02] [-6.34530158e-01 7.71817511e-01 -4.08559464e-02 -2.30977359e+02] [-6.49999907e-02 -6.15320618e-04 9.97885075e-01 -1.96957163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12863999999996 meters 0.025337867527664135 Centerline is valid? [True, True] Translation: X:343.62, Y:-231.01, Z:-19.70 [[ 7.71226972e-01 6.34645974e-01 4.93299611e-02 3.43624332e+02] [-6.33390335e-01 7.72802865e-01 -3.99050916e-02 -2.31014771e+02] [-6.34479410e-02 -4.69237608e-04 9.97985039e-01 -1.96995265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18863999999996 meters 0.02510954915703712 Centerline is valid? [True, True] Translation: X:343.67, Y:-231.05, Z:-19.70 [[ 7.72731432e-01 6.32815000e-01 4.93083158e-02 3.43674352e+02] [-6.31554142e-01 7.74302972e-01 -3.99283386e-02 -2.31052470e+02] [-6.34468271e-02 -2.86988893e-04 9.97985179e-01 -1.97020521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24863999999997 meters 0.02509459485098922 Centerline is valid? [True, True] Translation: X:343.73, Y:-231.09, Z:-19.70 [[ 7.74004741e-01 6.31322165e-01 4.84663302e-02 3.43725154e+02] [-6.30098496e-01 7.75520669e-01 -3.92883942e-02 -2.31088535e+02] [-6.23902749e-02 -1.29158423e-04 9.98051821e-01 -1.97043536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30863999999997 meters 0.025158651305150524 Centerline is valid? [True, True] Translation: X:343.77, Y:-231.13, Z:-19.71 [[ 7.74200283e-01 6.31037366e-01 4.90485845e-02 3.43773939e+02] [-6.29780937e-01 7.75752433e-01 -3.98011831e-02 -2.31127777e+02] [-6.31655925e-02 -7.57763223e-05 9.98003057e-01 -1.97083777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36863999999997 meters 0.02524843434351843 Centerline is valid? [True, True] Translation: X:343.82, Y:-231.16, Z:-19.71 [[ 7.73058690e-01 6.32488108e-01 4.83637764e-02 3.43824922e+02] [-6.31266662e-01 7.74570054e-01 -3.92890943e-02 -2.31164421e+02] [-6.23110178e-02 -1.57663905e-04 9.98056768e-01 -1.97111793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42864 meters 0.025305157460248234 Centerline is valid? [True, True] Translation: X:343.88, Y:-231.20, Z:-19.71 [[ 7.73816839e-01 6.31519526e-01 4.88936361e-02 3.43876303e+02] [-6.30266392e-01 7.75359972e-01 -3.97641561e-02 -2.31201445e+02] [-6.30220093e-02 -4.58420233e-05 9.98012136e-01 -1.97148494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48864 meters 0.025451729008704387 Centerline is valid? [True, True] Translation: X:343.93, Y:-231.24, Z:-19.72 [[ 7.78191812e-01 6.26232668e-01 4.74357392e-02 3.43928797e+02] [-6.25040774e-01 7.79636121e-01 -3.86205717e-02 -2.31236104e+02] [-6.11680794e-02 4.04941484e-04 9.98127398e-01 -1.97167507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54864 meters 0.0265596756054164 Centerline is valid? [True, True] Translation: X:343.98, Y:-231.27, Z:-19.72 [[ 7.85996861e-01 6.16442113e-01 4.69899588e-02 3.43977554e+02] [-6.15252839e-01 7.87399336e-01 -3.82913812e-02 -2.31274581e+02] [-6.06042823e-02 1.18619986e-03 9.98161166e-01 -1.97193367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6086399999999 meters 0.028363295689804946 Centerline is valid? [True, True] Translation: X:344.02, Y:-231.31, Z:-19.72 [[ 7.93506307e-01 6.06970719e-01 4.39805253e-02 3.44023309e+02] [-6.05913932e-01 7.94722165e-01 -3.58467148e-02 -2.31314688e+02] [-5.67102045e-02 1.79618120e-03 9.98389066e-01 -1.97218685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6686399999999 meters 0.028757435757959336 Centerline is valid? [True, True] Translation: X:344.07, Y:-231.36, Z:-19.72 [[ 7.95417735e-01 6.04558243e-01 4.26609558e-02 3.44066922e+02] [-6.03560080e-01 7.96558637e-01 -3.47788490e-02 -2.31360195e+02] [-5.50077927e-02 1.91526345e-03 9.98484088e-01 -1.97240998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7286399999999 meters 0.028373549436100577 Centerline is valid? [True, True] Translation: X:344.11, Y:-231.41, Z:-19.73 [[ 7.93955833e-01 6.06448952e-01 4.30558255e-02 3.44108314e+02] [-6.05433200e-01 7.95120326e-01 -3.51327108e-02 -2.31408261e+02] [-5.55407576e-02 1.82639445e-03 9.98454750e-01 -1.97273724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78863999999993 meters 0.02760585733411995 Centerline is valid? [True, True] Translation: X:344.15, Y:-231.46, Z:-19.73 [[ 7.90014727e-01 6.11412577e-01 4.52922895e-02 3.44149067e+02] [-6.10294891e-01 7.91310414e-01 -3.69861452e-02 -2.31456048e+02] [-5.84540547e-02 1.57794648e-03 9.98288853e-01 -1.97306825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84863999999993 meters 0.026732478068094024 Centerline is valid? [True, True] Translation: X:344.19, Y:-231.50, Z:-19.73 [[ 7.85283067e-01 6.17432186e-01 4.59129657e-02 3.44192061e+02] [-6.16293352e-01 7.86623268e-01 -3.75011725e-02 -2.31501158e+02] [-5.92706380e-02 1.15318026e-03 9.98241284e-01 -1.97349395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90863999999993 meters 0.02546991890333477 Centerline is valid? [True, True] Translation: X:344.24, Y:-231.54, Z:-19.74 [[ 7.77554226e-01 6.27319987e-01 4.33481284e-02 3.44238894e+02] [-6.26319668e-01 7.78761507e-01 -3.54145231e-02 -2.31541071e+02] [-5.59740920e-02 3.86926739e-04 9.98432147e-01 -1.97359506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96863999999994 meters 0.025122325775865387 Centerline is valid? [True, True] Translation: X:344.29, Y:-231.58, Z:-19.74 [[ 7.69407352e-01 6.37292815e-01 4.32457512e-02 3.44290335e+02] [-6.36312137e-01 7.70621673e-01 -3.53426325e-02 -2.31578270e+02] [-5.58497189e-02 -3.24915109e-04 9.98439134e-01 -1.97384897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02863999999994 meters 0.02583810106539967 Centerline is valid? [True, True] Translation: X:344.34, Y:-231.61, Z:-19.74 [[ 7.60935701e-01 6.47090960e-01 4.74357299e-02 3.44342111e+02] [-6.45927246e-01 7.62411998e-01 -3.88064224e-02 -2.31612525e+02] [-6.12768548e-02 -1.11083818e-03 9.98120190e-01 -1.97413386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08863999999994 meters 0.026419330457708144 Centerline is valid? [True, True] Translation: X:344.40, Y:-231.64, Z:-19.74 [[ 7.56544829e-01 6.52036930e-01 4.98774869e-02 3.44396211e+02] [-6.50759789e-01 7.58185571e-01 -4.08207901e-02 -2.31644087e+02] [-6.44330535e-02 -1.57550517e-03 9.97920788e-01 -1.97447689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14863999999994 meters 0.026621552874182823 Centerline is valid? [True, True] Translation: X:344.45, Y:-231.68, Z:-19.75 [[ 7.54184814e-01 6.54848868e-01 4.87670586e-02 3.44451386e+02] [-6.53632683e-01 7.55757805e-01 -3.99306273e-02 -2.31675172e+02] [-6.30046113e-02 -1.76067065e-03 9.98011683e-01 -1.97452058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20863999999995 meters 0.026405349452859595 Centerline is valid? [True, True] Translation: X:344.51, Y:-231.71, Z:-19.75 [[ 7.56136956e-01 6.52620621e-01 4.84069010e-02 3.44505991e+02] [-6.51415430e-01 7.57683291e-01 -3.96732574e-02 -2.31707001e+02] [-6.25686859e-02 -1.53458614e-03 9.98039480e-01 -1.97490152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26863999999995 meters 0.02602521858604405 Centerline is valid? [True, True] Translation: X:344.56, Y:-231.74, Z:-19.75 [[ 7.59782203e-01 6.48312483e-01 4.92130946e-02 3.44560025e+02] [-6.47055200e-01 7.61373469e-01 -4.03733798e-02 -2.31738870e+02] [-6.36441106e-02 -1.16861330e-03 9.97971974e-01 -1.97498672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32863999999995 meters 0.025791711402874538 Centerline is valid? [True, True] Translation: X:344.61, Y:-231.77, Z:-19.75 [[ 7.63437535e-01 6.44040005e-01 4.87401455e-02 3.44612752e+02] [-6.42796068e-01 7.64991414e-01 -4.00168764e-02 -2.31773184e+02] [-6.30582622e-02 -7.79588425e-04 9.98009543e-01 -1.97530332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38863999999995 meters 0.02567579611396249 Centerline is valid? [True, True] Translation: X:344.66, Y:-231.81, Z:-19.76 [[ 7.65167811e-01 6.42042075e-01 4.79603551e-02 3.44663302e+02] [-6.40832453e-01 7.66669177e-01 -3.93972118e-02 -2.31809393e+02] [-6.20643936e-02 -5.89073651e-04 9.98071973e-01 -1.97566641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44863999999995 meters 0.025321128189151314 Centerline is valid? [True, True] Translation: X:344.71, Y:-231.84, Z:-19.76 [[ 7.68813886e-01 6.37854315e-01 4.54651658e-02 3.44714870e+02] [-6.36757981e-01 7.70157016e-01 -3.73824151e-02 -2.31844800e+02] [-5.88598512e-02 -2.10187333e-04 9.98266234e-01 -1.97595408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50863999999996 meters 0.025359751417530507 Centerline is valid? [True, True] Translation: X:344.77, Y:-231.88, Z:-19.76 [[ 7.72716470e-01 6.33144028e-01 4.51430696e-02 3.44765715e+02] [-6.32052943e-01 7.74033984e-01 -3.71546572e-02 -2.31881818e+02] [-5.84665194e-02 1.77205559e-04 9.98289354e-01 -1.97619374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56863999999996 meters 0.025338921759353535 Centerline is valid? [True, True] Translation: X:344.81, Y:-231.92, Z:-19.76 [[ 7.73764306e-01 6.31878184e-01 4.49305992e-02 3.44814606e+02] [-6.30792838e-01 7.75067654e-01 -3.70206435e-02 -2.31920962e+02] [-5.82167912e-02 3.03352367e-04 9.98303918e-01 -1.97639341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62863999999996 meters 0.0256006622170392 Centerline is valid? [True, True] Translation: X:344.86, Y:-231.96, Z:-19.77 [[ 7.75883203e-01 6.29141789e-01 4.67532293e-02 3.44860778e+02] [-6.27959010e-01 7.77290353e-01 -3.85640817e-02 -2.31962301e+02] [-6.06031094e-02 5.62111625e-04 9.98161784e-01 -1.97679118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68863999999996 meters 0.02561222330753676 Centerline is valid? [True, True] Translation: X:344.91, Y:-232.01, Z:-19.77 [[ 7.76362564e-01 6.28604187e-01 4.60211323e-02 3.44906718e+02] [-6.27455059e-01 7.77725136e-01 -3.79968630e-02 -2.32005410e+02] [-5.96767785e-02 6.23149692e-04 9.98217558e-01 -1.97705284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74863999999997 meters 0.025340093695553203 Centerline is valid? [True, True] Translation: X:344.95, Y:-232.05, Z:-19.77 [[ 7.75864807e-01 6.29251221e-01 4.55708501e-02 3.44950775e+02] [-6.28123230e-01 7.77201738e-01 -3.76651926e-02 -2.32050278e+02] [-5.91186123e-02 5.98987828e-04 9.98250786e-01 -1.97730302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80863999999997 meters 0.024983897830440294 Centerline is valid? [True, True] Translation: X:344.99, Y:-232.10, Z:-19.78 [[ 7.72824729e-01 6.32857914e-01 4.72524977e-02 3.44993785e+02] [-6.31649097e-01 7.74267863e-01 -3.90985276e-02 -2.32097873e+02] [-6.13299031e-02 3.69311490e-04 9.98117481e-01 -1.97758615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86863999999997 meters 0.02489478422565171 Centerline is valid? [True, True] Translation: X:345.04, Y:-232.14, Z:-19.78 [[ 7.68769305e-01 6.37597872e-01 4.96256836e-02 3.45036498e+02] [-6.36271373e-01 7.70369361e-01 -4.11070231e-02 -2.32143114e+02] [-6.44398567e-02 2.64157278e-05 9.97921592e-01 -1.97799904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92864 meters 0.02473512474428298 Centerline is valid? [True, True] Translation: X:345.08, Y:-232.19, Z:-19.78 [[ 7.65709070e-01 6.41356948e-01 4.84859186e-02 3.45082575e+02] [-6.40096307e-01 7.67242594e-01 -4.01935378e-02 -2.32185704e+02] [-6.29788668e-02 -2.59100957e-04 9.98014827e-01 -1.97821600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98864 meters 0.02470572088512884 Centerline is valid? [True, True] Translation: X:345.13, Y:-232.22, Z:-19.79 [[ 7.60775324e-01 6.47058181e-01 5.03648275e-02 3.45130603e+02] [-6.45708736e-01 7.62440268e-01 -4.17739958e-02 -2.32224797e+02] [-6.54303784e-02 -7.40383918e-04 9.97856862e-01 -1.97856171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04864 meters 0.025037600218920434 Centerline is valid? [True, True] Translation: X:345.18, Y:-232.26, Z:-19.79 [[ 7.58632608e-01 6.49458166e-01 5.17750618e-02 3.45180483e+02] [-6.48034789e-01 7.60396741e-01 -4.29849791e-02 -2.32261157e+02] [-6.72865339e-02 -9.42234495e-04 9.97733248e-01 -1.97897488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1086399999999 meters 0.024845905377800258 Centerline is valid? [True, True] Translation: X:345.23, Y:-232.30, Z:-19.79 [[ 7.61450021e-01 6.46240795e-01 5.06626133e-02 3.45232778e+02] [-6.44868327e-01 7.63133316e-01 -4.20996694e-02 -2.32295828e+02] [-6.58688519e-02 -6.13920584e-04 9.97828100e-01 -1.97928404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1686399999999 meters 0.0247405021313121 Centerline is valid? [True, True] Translation: X:345.28, Y:-232.33, Z:-19.80 [[ 7.65940178e-01 6.41005250e-01 4.94763916e-02 3.45283593e+02] [-6.39683360e-01 7.67536482e-01 -4.11454519e-02 -2.32332503e+02] [-6.43493862e-02 -1.34269616e-04 9.97927421e-01 -1.97961269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2286399999999 meters 0.024880931873877812 Centerline is valid? [True, True] Translation: X:345.33, Y:-232.37, Z:-19.80 [[ 7.68738237e-01 6.37596139e-01 5.01267084e-02 3.45332592e+02] [-6.36230366e-01 7.70370777e-01 -4.17107600e-02 -2.32371640e+02] [-6.52107708e-02 1.72522047e-04 9.97871498e-01 -1.97999974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28863999999993 meters 0.02525976218279191 Centerline is valid? [True, True] Translation: X:345.38, Y:-232.41, Z:-19.80 [[ 7.73347667e-01 6.32189538e-01 4.76421331e-02 3.45379338e+02] [-6.30943017e-01 7.74813519e-01 -3.96852700e-02 -2.32413854e+02] [-6.20023813e-02 6.31039794e-04 9.98075802e-01 -1.98020236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34863999999993 meters 0.025356853035051995 Centerline is valid? [True, True] Translation: X:345.42, Y:-232.46, Z:-19.80 [[ 7.73239132e-01 6.32205662e-01 4.91654901e-02 3.45422761e+02] [-6.30875304e-01 7.74800318e-01 -4.09977716e-02 -2.32458694e+02] [-6.40124607e-02 6.83787811e-04 9.97948865e-01 -1.98036118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40863999999993 meters 0.02520597374529336 Centerline is valid? [True, True] Translation: X:345.47, Y:-232.50, Z:-19.81 [[ 7.71150982e-01 6.34623620e-01 5.07840987e-02 3.45467785e+02] [-6.33206524e-01 7.72821181e-01 -4.23900920e-02 -2.32503090e+02] [-6.61487808e-02 5.32338473e-04 9.97809629e-01 -1.98074339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46863999999994 meters 0.024918310946407833 Centerline is valid? [True, True] Translation: X:345.51, Y:-232.55, Z:-19.81 [[ 7.68005986e-01 6.38476401e-01 5.01466970e-02 3.45511317e+02] [-6.37100048e-01 7.69641366e-01 -4.19010440e-02 -2.32547592e+02] [-6.53478001e-02 2.31789572e-04 9.97862521e-01 -1.98096150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52863999999994 meters 0.024970108664577217 Centerline is valid? [True, True] Translation: X:345.56, Y:-232.59, Z:-19.81 [[ 7.66677373e-01 6.40076538e-01 5.00782543e-02 3.45559426e+02] [-6.38704646e-01 7.68311141e-01 -4.18851496e-02 -2.32587990e+02] [-6.52853822e-02 1.27182780e-04 9.97866626e-01 -1.98130759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58863999999994 meters 0.025065874049754633 Centerline is valid? [True, True] Translation: X:345.61, Y:-232.63, Z:-19.82 [[ 7.66705892e-01 6.40088537e-01 4.94847496e-02 3.45608795e+02] [-6.38746122e-01 7.68301139e-01 -4.14337066e-02 -2.32626486e+02] [-6.45404301e-02 1.59275128e-04 9.97915080e-01 -1.98161410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64863999999994 meters 0.025196889389489028 Centerline is valid? [True, True] Translation: X:345.66, Y:-232.66, Z:-19.82 [[ 7.68371064e-01 6.38052742e-01 4.99460357e-02 3.45659120e+02] [-6.36677964e-01 7.69992574e-01 -4.18641488e-02 -2.32662834e+02] [-6.51696115e-02 3.67660301e-04 9.97874134e-01 -1.98181197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70863999999995 meters 0.025362714438551225 Centerline is valid? [True, True] Translation: X:345.71, Y:-232.70, Z:-19.82 [[ 7.69980440e-01 6.36197431e-01 4.88154814e-02 3.45708960e+02] [-6.34877975e-01 7.71526106e-01 -4.09563725e-02 -2.32700932e+02] [-6.37187573e-02 5.43731761e-04 9.97967747e-01 -1.98209273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76863999999995 meters 0.025315906160314844 Centerline is valid? [True, True] Translation: X:345.76, Y:-232.74, Z:-19.82 [[ 7.69983398e-01 6.36322306e-01 4.71114614e-02 3.45757620e+02] [-6.35091198e-01 7.71423117e-01 -3.95669691e-02 -2.32739642e+02] [-6.15202154e-02 5.45834829e-04 9.98105688e-01 -1.98237929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82863999999995 meters 0.025401707077112787 Centerline is valid? [True, True] Translation: X:345.80, Y:-232.78, Z:-19.83 [[ 7.70188222e-01 6.36023606e-01 4.77919942e-02 3.45804343e+02] [-6.34753670e-01 7.71669361e-01 -4.01768099e-02 -2.32780218e+02] [-6.24330171e-02 6.07562064e-04 9.98048971e-01 -1.98270078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88863999999995 meters 0.025665139362015362 Centerline is valid? [True, True] Translation: X:345.85, Y:-232.82, Z:-19.83 [[ 7.70408147e-01 6.35780473e-01 4.74813288e-02 3.45851412e+02] [-6.34524111e-01 7.71869654e-01 -3.99548452e-02 -2.32822394e+02] [-6.20519072e-02 6.53490348e-04 9.98072710e-01 -1.98292921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94863999999995 meters 0.025594222851370092 Centerline is valid? [True, True] Translation: X:345.90, Y:-232.87, Z:-19.83 [[ 7.69753896e-01 6.36585253e-01 4.73091431e-02 3.45898257e+02] [-6.35336853e-01 7.71206089e-01 -3.98528718e-02 -2.32865234e+02] [-6.18548497e-02 6.19661251e-04 9.98084963e-01 -1.98326559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00863999999996 meters 0.025917569045349826 Centerline is valid? [True, True] Translation: X:345.95, Y:-232.91, Z:-19.84 [[ 7.70064375e-01 6.36070987e-01 4.91381550e-02 3.45945800e+02] [-6.34720210e-01 7.71630209e-01 -4.14375984e-02 -2.32905645e+02] [-6.42737390e-02 7.20638223e-04 9.97932045e-01 -1.98369660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06863999999996 meters 0.02643532075757631 Centerline is valid? [True, True] Translation: X:345.99, Y:-232.95, Z:-19.84 [[ 7.75043631e-01 6.30050254e-01 4.84153766e-02 3.45992271e+02] [-6.28724754e-01 7.76553384e-01 -4.08659493e-02 -2.32947128e+02] [-6.33447262e-02 1.23294795e-03 9.97990945e-01 -1.98374419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12863999999996 meters 0.027224425515281363 Centerline is valid? [True, True] Translation: X:346.04, Y:-232.99, Z:-19.84 [[ 7.78584220e-01 6.25737704e-01 4.75282878e-02 3.46036760e+02] [-6.24450023e-01 7.80031933e-01 -4.01541169e-02 -2.32990228e+02] [-6.21995271e-02 1.58432143e-03 9.98062477e-01 -1.98410903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18863999999996 meters 0.02815342848283011 Centerline is valid? [True, True] Translation: X:346.08, Y:-233.03, Z:-19.84 [[ 7.82002557e-01 6.21439152e-01 4.78056596e-02 3.46080576e+02] [-6.20126469e-01 7.83459975e-01 -4.04181767e-02 -2.33034324e+02] [-6.25712583e-02 1.96156263e-03 9.98038571e-01 -1.98433471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24863999999997 meters 0.028728357867775146 Centerline is valid? [True, True] Translation: X:346.12, Y:-233.08, Z:-19.85 [[ 7.83473902e-01 6.19601051e-01 4.75729147e-02 3.46120847e+02] [-6.18296644e-01 7.84914057e-01 -4.02390779e-02 -2.33082438e+02] [-6.22728244e-02 2.11209391e-03 9.98056929e-01 -1.98475899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30863999999997 meters 0.028602059979401937 Centerline is valid? [True, True] Translation: X:346.16, Y:-233.13, Z:-19.85 [[ 7.82930094e-01 6.20332851e-01 4.69853382e-02 3.46158901e+02] [-6.19059630e-01 7.84335978e-01 -3.97774847e-02 -2.33132904e+02] [-6.15275716e-02 2.05626371e-03 9.98103266e-01 -1.98516060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36863999999997 meters 0.02805635308802568 Centerline is valid? [True, True] Translation: X:346.20, Y:-233.18, Z:-19.85 [[ 7.80396885e-01 6.23550445e-01 4.65354170e-02 3.46196456e+02] [-6.22305062e-01 7.81781015e-01 -3.94316430e-02 -2.33184215e+02] [-6.09681241e-02 1.81310575e-03 9.98138067e-01 -1.98534565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42864 meters 0.0275761694220015 Centerline is valid? [True, True] Translation: X:346.24, Y:-233.23, Z:-19.86 [[ 7.78064259e-01 6.26400267e-01 4.73150537e-02 3.46237482e+02] [-6.25115724e-01 7.79499838e-01 -4.01289698e-02 -2.33232305e+02] [-6.20188741e-02 1.64553310e-03 9.98073620e-01 -1.98559687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48864 meters 0.027345323226113404 Centerline is valid? [True, True] Translation: X:346.28, Y:-233.28, Z:-19.86 [[ 7.76790304e-01 6.27943779e-01 4.77852831e-02 3.46282168e+02] [-6.26634108e-01 7.78257127e-01 -4.05652540e-02 -2.33275557e+02] [-6.26619360e-02 1.56680775e-03 9.98033580e-01 -1.98582206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54864 meters 0.02687000184950294 Centerline is valid? [True, True] Translation: X:346.32, Y:-233.33, Z:-19.86 [[ 7.73367792e-01 6.32183945e-01 4.73890058e-02 3.46320626e+02] [-6.30901544e-01 7.74817343e-01 -4.02656970e-02 -2.33325750e+02] [-6.21731508e-02 1.24239621e-03 9.98064605e-01 -1.98608701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6086399999999 meters 0.026734215245033062 Centerline is valid? [True, True] Translation: X:346.36, Y:-233.37, Z:-19.86 [[ 7.71540935e-01 6.34385652e-01 4.77433761e-02 3.46360079e+02] [-6.33085806e-01 7.73015930e-01 -4.06046080e-02 -2.33374579e+02] [-6.26653710e-02 1.10246353e-03 9.98033985e-01 -1.98628103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6686399999999 meters 0.026304422526008276 Centerline is valid? [True, True] Translation: X:346.40, Y:-233.42, Z:-19.87 [[ 7.68739699e-01 6.37643573e-01 4.94969525e-02 3.46401379e+02] [-6.36250350e-01 7.70331008e-01 -4.21382245e-02 -2.33422935e+02] [-6.49982053e-02 9.00872645e-04 9.97884974e-01 -1.98664056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7286399999999 meters 0.026395434553799987 Centerline is valid? [True, True] Translation: X:346.44, Y:-233.47, Z:-19.87 [[ 7.67679840e-01 6.38937594e-01 4.92586433e-02 3.46444979e+02] [-6.37557610e-01 7.69258134e-01 -4.19787677e-02 -2.33468142e+02] [-6.47144249e-02 8.21030777e-04 9.97903487e-01 -1.98685660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78863999999993 meters 0.026258203309345845 Centerline is valid? [True, True] Translation: X:346.49, Y:-233.52, Z:-19.87 [[ 7.63832679e-01 6.43578397e-01 4.86465388e-02 3.46485897e+02] [-6.42239355e-01 7.65380063e-01 -4.14966232e-02 -2.33516297e+02] [-6.39394212e-02 4.53755222e-04 9.97953679e-01 -1.98704541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84863999999993 meters 0.026086642186728425 Centerline is valid? [True, True] Translation: X:346.53, Y:-233.56, Z:-19.88 [[ 7.59577134e-01 6.48596746e-01 4.86296180e-02 3.46531731e+02] [-6.47266267e-01 7.61132221e-01 -4.15225530e-02 -2.33557809e+02] [-6.39449619e-02 6.32705223e-05 9.97953425e-01 -1.98755502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90863999999993 meters 0.025974206801971832 Centerline is valid? [True, True] Translation: X:346.58, Y:-233.60, Z:-19.88 [[ 7.54648132e-01 6.54300763e-01 4.89561857e-02 3.46577512e+02] [-6.52961457e-01 7.56234329e-01 -4.18446670e-02 -2.33600833e+02] [-6.44013458e-02 -3.88502565e-04 9.97924003e-01 -1.98775487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96863999999994 meters 0.026197467379588384 Centerline is valid? [True, True] Translation: X:346.62, Y:-233.64, Z:-19.88 [[ 7.53344395e-01 6.55741416e-01 4.97535642e-02 3.46624843e+02] [-6.54358171e-01 7.54985404e-01 -4.25725787e-02 -2.33640689e+02] [-6.54798178e-02 -4.84837687e-04 9.97853776e-01 -1.98806726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02863999999994 meters 0.02648725473109012 Centerline is valid? [True, True] Translation: X:346.67, Y:-233.68, Z:-19.88 [[ 7.52143444e-01 6.57126281e-01 4.96516943e-02 3.46672861e+02] [-6.55748883e-01 7.53780289e-01 -4.25285561e-02 -2.33681107e+02] [-6.53731004e-02 -5.71468412e-04 9.97860727e-01 -1.98834621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08863999999994 meters 0.026327980637385 Centerline is valid? [True, True] Translation: X:346.72, Y:-233.72, Z:-19.88 [[ 7.50482014e-01 6.59109825e-01 4.84869579e-02 3.46722707e+02] [-6.57797613e-01 7.52046381e-01 -4.15757360e-02 -2.33720091e+02] [-6.38674173e-02 -6.92763040e-04 9.97958152e-01 -1.98848444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14863999999994 meters 0.026483271606435575 Centerline is valid? [True, True] Translation: X:346.77, Y:-233.76, Z:-19.89 [[ 7.50277958e-01 6.59247349e-01 4.97586039e-02 3.46771423e+02] [-6.57862633e-01 7.51925833e-01 -4.27118066e-02 -2.33757963e+02] [-6.55724249e-02 -6.88599121e-04 9.97847575e-01 -1.98884713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20863999999995 meters 0.0263760142673849 Centerline is valid? [True, True] Translation: X:346.82, Y:-233.80, Z:-19.89 [[ 7.51935258e-01 6.57274264e-01 5.08321672e-02 3.46821479e+02] [-6.55821562e-01 7.53651311e-01 -4.36781458e-02 -2.33795931e+02] [-6.70182506e-02 -4.93693461e-04 9.97751628e-01 -1.98923107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26863999999995 meters 0.02643845873421503 Centerline is valid? [True, True] Translation: X:346.87, Y:-233.84, Z:-19.89 [[ 7.54732704e-01 6.54192718e-01 4.90961677e-02 3.46868284e+02] [-6.52828264e-01 7.56327876e-01 -4.22303347e-02 -2.33836133e+02] [-6.47595777e-02 -1.78751270e-04 9.97900879e-01 -1.98940975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32863999999995 meters 0.026300324465358734 Centerline is valid? [True, True] Translation: X:346.92, Y:-233.88, Z:-19.90 [[ 7.54958754e-01 6.53949207e-01 4.88642465e-02 3.46916745e+02] [-6.52594351e-01 7.56538445e-01 -4.20736748e-02 -2.33875972e+02] [-6.44817274e-02 -1.24642155e-04 9.97918880e-01 -1.98977917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38863999999995 meters 0.02609743143964951 Centerline is valid? [True, True] Translation: X:346.96, Y:-233.92, Z:-19.90 [[ 7.53798576e-01 6.55061156e-01 5.17937028e-02 3.46963855e+02] [-6.53538447e-01 7.55575834e-01 -4.46391861e-02 -2.33915774e+02] [-6.83754670e-02 -2.00221143e-04 9.97659639e-01 -1.99000509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44863999999995 meters 0.025879914593696204 Centerline is valid? [True, True] Translation: X:347.01, Y:-233.95, Z:-19.90 [[ 7.52607781e-01 6.56469526e-01 5.12765941e-02 3.47012751e+02] [-6.54978201e-01 7.54352484e-01 -4.42253980e-02 -2.33954727e+02] [-6.77132522e-02 -3.00672734e-04 9.97704779e-01 -1.99025528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50863999999996 meters 0.025933733330579804 Centerline is valid? [True, True] Translation: X:347.06, Y:-233.99, Z:-19.91 [[ 7.52164336e-01 6.57014638e-01 5.07993906e-02 3.47063032e+02] [-6.55548958e-01 7.53877755e-01 -4.38622135e-02 -2.33991974e+02] [-6.71146468e-02 -3.09894904e-04 9.97745222e-01 -1.99065749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56863999999996 meters 0.025702929071637057 Centerline is valid? [True, True] Translation: X:347.12, Y:-234.03, Z:-19.91 [[ 7.54141350e-01 6.54692022e-01 5.14701883e-02 3.47116960e+02] [-6.53178510e-01 7.55895728e-01 -4.44913755e-02 -2.34025371e+02] [-6.80342441e-02 -6.64349535e-05 9.97682984e-01 -1.99092929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62863999999996 meters 0.025670348108938812 Centerline is valid? [True, True] Translation: X:347.17, Y:-234.06, Z:-19.91 [[ 7.58193339e-01 6.50062532e-01 5.06119105e-02 3.47166652e+02] [-6.48585524e-01 7.59880622e-01 -4.37979260e-02 -2.34063985e+02] [-6.69304007e-02 3.81143266e-04 9.97757574e-01 -1.99124627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68863999999996 meters 0.02576760753914883 Centerline is valid? [True, True] Translation: X:347.21, Y:-234.10, Z:-19.91 [[ 7.61443251e-01 6.46304454e-01 4.99472663e-02 3.47214746e+02] [-6.44854879e-01 7.63079294e-01 -4.32686597e-02 -2.34103877e+02] [-6.60784522e-02 7.37890573e-04 9.97814158e-01 -1.99140547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74863999999997 meters 0.02605843485813874 Centerline is valid? [True, True] Translation: X:347.26, Y:-234.14, Z:-19.92 [[ 7.63234709e-01 6.44207842e-01 4.96893784e-02 3.47262529e+02] [-6.42766043e-01 7.64849894e-01 -4.30865835e-02 -2.34143404e+02] [-6.57616308e-02 9.46530882e-04 9.97834912e-01 -1.99174539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80863999999997 meters 0.02611626544310332 Centerline is valid? [True, True] Translation: X:347.31, Y:-234.19, Z:-19.92 [[ 7.62498159e-01 6.45047631e-01 5.01010240e-02 3.47308420e+02] [-6.43580731e-01 7.64141818e-01 -4.34870755e-02 -2.34186281e+02] [-6.63355226e-02 9.14761429e-04 9.97796954e-01 -1.99192239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86863999999997 meters 0.02612658262453791 Centerline is valid? [True, True] Translation: X:347.35, Y:-234.23, Z:-19.92 [[ 7.60093750e-01 6.47873571e-01 5.01729813e-02 3.47352094e+02] [-6.46405572e-01 7.61747557e-01 -4.35946711e-02 -2.34230049e+02] [-6.64629812e-02 7.03942338e-04 9.97788643e-01 -1.99226648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92864 meters 0.026020963585318663 Centerline is valid? [True, True] Translation: X:347.40, Y:-234.27, Z:-19.93 [[ 7.56948792e-01 6.51389851e-01 5.21515998e-02 3.47397901e+02] [-6.49808872e-01 7.58743082e-01 -4.53581894e-02 -2.34271670e+02] [-6.91155298e-02 4.45254364e-04 9.97608563e-01 -1.99252646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98864 meters 0.02621316571756806 Centerline is valid? [True, True] Translation: X:347.44, Y:-234.31, Z:-19.93 [[ 7.51486930e-01 6.57638098e-01 5.27212156e-02 3.47443671e+02] [-6.56034307e-01 7.53334006e-01 -4.59005912e-02 -2.34314007e+02] [-6.99026620e-02 -9.32317042e-05 9.97553813e-01 -1.99310857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04864 meters 0.026518792608196857 Centerline is valid? [True, True] Translation: X:347.49, Y:-234.36, Z:-19.93 [[ 7.49515218e-01 6.59828722e-01 5.34134371e-02 3.47488239e+02] [-6.58184492e-01 7.51415989e-01 -4.65530552e-02 -2.34356818e+02] [-7.08527536e-02 -2.63672634e-04 9.97486751e-01 -1.99345919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1086399999999 meters 0.02671134707534088 Centerline is valid? [True, True] Translation: X:347.53, Y:-234.40, Z:-19.94 [[ 7.47897441e-01 6.61672704e-01 5.32789889e-02 3.47534447e+02] [-6.60038056e-01 7.49792686e-01 -4.64832584e-02 -2.34399778e+02] [-7.07048995e-02 -4.01450245e-04 9.97497196e-01 -1.99388773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1686399999999 meters 0.026926623820378387 Centerline is valid? [True, True] Translation: X:347.58, Y:-234.44, Z:-19.94 [[ 7.45001109e-01 6.64867828e-01 5.40751221e-02 3.47580135e+02] [-6.63188661e-01 7.46960717e-01 -4.72280393e-02 -2.34441939e+02] [-7.17923959e-02 -6.77066144e-04 9.97419367e-01 -1.99417941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2286399999999 meters 0.027446456292709413 Centerline is valid? [True, True] Translation: X:347.63, Y:-234.48, Z:-19.94 [[ 7.39775230e-01 6.70635258e-01 5.45981615e-02 3.47626248e+02] [-6.68935727e-01 7.41786275e-01 -4.77296034e-02 -2.34482700e+02] [-7.25093217e-02 -1.21348249e-03 9.97366997e-01 -1.99448055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28863999999993 meters 0.028034824526739388 Centerline is valid? [True, True] Translation: X:347.67, Y:-234.52, Z:-19.95 [[ 7.34853498e-01 6.75723332e-01 5.82092350e-02 3.47672641e+02] [-6.73803492e-01 7.37153146e-01 -5.09322397e-02 -2.34523304e+02] [-7.73252234e-02 -1.79385138e-03 9.97004309e-01 -1.99479406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34863999999993 meters 0.028298564202314393 Centerline is valid? [True, True] Translation: X:347.72, Y:-234.56, Z:-19.95 [[ 7.33252857e-01 6.77603079e-01 5.65182663e-02 3.47721627e+02] [-6.75795675e-01 7.35425351e-01 -4.94950370e-02 -2.34562226e+02] [-7.51029554e-02 -1.90242257e-03 9.97173970e-01 -1.99497654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40863999999993 meters 0.028230944116174966 Centerline is valid? [True, True] Translation: X:347.77, Y:-234.60, Z:-19.95 [[ 7.33361573e-01 6.77546771e-01 5.57779200e-02 3.47769432e+02] [-6.75783015e-01 7.35477390e-01 -4.88909532e-02 -2.34601445e+02] [-7.41493065e-02 -1.83902460e-03 9.97245455e-01 -1.99525718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46863999999994 meters 0.02812790679373468 Centerline is valid? [True, True] Translation: X:347.82, Y:-234.64, Z:-19.95 [[ 7.32610879e-01 6.78310731e-01 5.63547001e-02 3.47820447e+02] [-6.76509200e-01 7.34772705e-01 -4.94406134e-02 -2.34636831e+02] [-7.49439940e-02 -1.90374181e-03 9.97185927e-01 -1.99537059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52863999999994 meters 0.02845183267758418 Centerline is valid? [True, True] Translation: X:347.87, Y:-234.67, Z:-19.96 [[ 7.32000412e-01 6.78937393e-01 5.67398703e-02 3.47872082e+02] [-6.77109664e-01 7.34193583e-01 -4.98225339e-02 -2.34672316e+02] [-7.54844300e-02 -1.94899916e-03 9.97145076e-01 -1.99573595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58863999999994 meters 0.02852625578191901 Centerline is valid? [True, True] Translation: X:347.93, Y:-234.70, Z:-19.96 [[ 7.30357713e-01 6.80713133e-01 5.66325111e-02 3.47929400e+02] [-6.78894183e-01 7.32547093e-01 -4.97739465e-02 -2.34701556e+02] [-7.53677604e-02 -2.09469653e-03 9.97153605e-01 -1.99620874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64863999999994 meters 0.02853270644218099 Centerline is valid? [True, True] Translation: X:347.98, Y:-234.74, Z:-19.96 [[ 7.30398681e-01 6.80839076e-01 5.45519842e-02 3.47981643e+02] [-6.79148703e-01 7.32430310e-01 -4.79883259e-02 -2.34736259e+02] [-7.26278542e-02 -1.99829940e-03 9.97357108e-01 -1.99641731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70863999999995 meters 0.02802955848348641 Centerline is valid? [True, True] Translation: X:348.04, Y:-234.77, Z:-19.97 [[ 7.35119644e-01 6.75895620e-01 5.25758466e-02 3.48036006e+02] [-6.74310820e-01 7.36995972e-01 -4.62801888e-02 -2.34767106e+02] [-7.00287641e-02 -1.43098630e-03 9.97543946e-01 -1.99663339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76863999999995 meters 0.02753583880755133 Centerline is valid? [True, True] Translation: X:348.09, Y:-234.80, Z:-19.97 [[ 7.40478085e-01 6.70031540e-01 5.24398697e-02 3.48088696e+02] [-6.68439268e-01 7.42332130e-01 -4.61730910e-02 -2.34802052e+02] [-6.98652274e-02 -8.62706067e-04 9.97556066e-01 -1.99687347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82863999999995 meters 0.0273919018166418 Centerline is valid? [True, True] Translation: X:348.14, Y:-234.84, Z:-19.97 [[ 7.43457593e-01 6.66805436e-01 5.13937523e-02 3.48141451e+02] [-6.65266681e-01 7.45231662e-01 -4.52770642e-02 -2.34836703e+02] [-6.84912440e-02 -5.28973907e-04 9.97651577e-01 -1.99714964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88863999999995 meters 0.027672495394047526 Centerline is valid? [True, True] Translation: X:348.19, Y:-234.88, Z:-19.97 [[ 7.45371305e-01 6.64581180e-01 5.24735522e-02 3.48190474e+02] [-6.62968144e-01 7.47216012e-01 -4.62760326e-02 -2.34876560e+02] [-6.99632588e-02 -2.95466751e-04 9.97549525e-01 -1.99743229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94863999999995 meters 0.027639944359267393 Centerline is valid? [True, True] Translation: X:348.24, Y:-234.92, Z:-19.98 [[ 7.46711402e-01 6.63055438e-01 5.27216051e-02 3.48238328e+02] [-6.61419655e-01 7.48570286e-01 -4.65463999e-02 -2.34917433e+02] [-7.03286706e-02 -1.14378373e-04 9.97523867e-01 -1.99762804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00863999999996 meters 0.027634849457960547 Centerline is valid? [True, True] Translation: X:348.28, Y:-234.96, Z:-19.98 [[ 7.48231852e-01 6.61489542e-01 5.08004041e-02 3.48283719e+02] [-6.59964175e-01 7.49954386e-01 -4.48966219e-02 -2.34960008e+02] [-6.77966317e-02 6.66357676e-05 9.97699159e-01 -1.99790777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06863999999996 meters 0.027540361267730476 Centerline is valid? [True, True] Translation: X:348.33, Y:-235.00, Z:-19.98 [[ 7.48582887e-01 6.61089002e-01 5.08428286e-02 3.48328613e+02] [-6.59557056e-01 7.50307479e-01 -4.49797382e-02 -2.35003845e+02] [-6.78833647e-02 1.37315932e-04 9.97693254e-01 -1.99833215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12863999999996 meters 0.02730635217496877 Centerline is valid? [True, True] Translation: X:348.37, Y:-235.05, Z:-19.99 [[ 7.49335748e-01 6.60299004e-01 5.00116170e-02 3.48372175e+02] [-6.58811952e-01 7.51002775e-01 -4.42904493e-02 -2.35048155e+02] [-6.68038027e-02 2.40165959e-04 9.97766102e-01 -1.99862038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18863999999996 meters 0.02734834633029238 Centerline is valid? [True, True] Translation: X:348.41, Y:-235.10, Z:-19.99 [[ 7.51229834e-01 6.58219253e-01 4.90015357e-02 3.48414682e+02] [-6.56784502e-01 7.52826151e-01 -4.34385237e-02 -2.35095643e+02] [-6.54817101e-02 4.48865749e-04 9.97853669e-01 -1.99869993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24863999999997 meters 0.027124251943739793 Centerline is valid? [True, True] Translation: X:348.46, Y:-235.14, Z:-19.99 [[ 7.51252687e-01 6.58266640e-01 4.80044887e-02 3.48456570e+02] [-6.56886999e-01 7.52784704e-01 -4.25988223e-02 -2.35142839e+02] [-6.41784285e-02 4.68955246e-04 9.97938329e-01 -1.99876121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30863999999997 meters 0.027000662957993513 Centerline is valid? [True, True] Translation: X:348.50, Y:-235.19, Z:-19.99 [[ 7.49422256e-01 6.60378224e-01 4.76118051e-02 3.48499927e+02] [-6.59022758e-01 7.50933087e-01 -4.22906878e-02 -2.35187958e+02] [-6.36811291e-02 3.16319544e-04 9.97970247e-01 -1.99909591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36863999999997 meters 0.02688557311925388 Centerline is valid? [True, True] Translation: X:348.54, Y:-235.23, Z:-19.99 [[ 7.47819617e-01 6.62065803e-01 4.93426068e-02 3.48542626e+02] [-6.60610676e-01 7.49445680e-01 -4.38714740e-02 -2.35232869e+02] [-6.60254062e-02 2.11696017e-04 9.97817920e-01 -1.99948347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42864 meters 0.02677280201327936 Centerline is valid? [True, True] Translation: X:348.59, Y:-235.28, Z:-20.00 [[ 7.48283484e-01 6.61630814e-01 4.81299750e-02 3.48585622e+02] [-6.60242860e-01 7.49829708e-01 -4.28342806e-02 -2.35277704e+02] [-6.44297651e-02 2.74712365e-04 9.97922206e-01 -1.99957678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48864 meters 0.02684180112154689 Centerline is valid? [True, True] Translation: X:348.63, Y:-235.32, Z:-20.00 [[ 7.47421349e-01 6.62555618e-01 4.87993891e-02 3.48631141e+02] [-6.61127777e-01 7.49012683e-01 -4.34748505e-02 -2.35320535e+02] [-6.53558678e-02 2.31399745e-04 9.97861993e-01 -1.99987135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54864 meters 0.026853992487669818 Centerline is valid? [True, True] Translation: X:348.68, Y:-235.36, Z:-20.00 [[ 7.43477595e-01 6.66766830e-01 5.16048457e-02 3.48675133e+02] [-6.65176433e-01 7.45266384e-01 -4.60253188e-02 -2.35364663e+02] [-6.91475127e-02 -1.07533906e-04 9.97606440e-01 -2.00023595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6086399999999 meters 0.02692153968853183 Centerline is valid? [True, True] Translation: X:348.72, Y:-235.41, Z:-20.01 [[ 7.38883457e-01 6.71930489e-01 5.06029098e-02 3.48720570e+02] [-6.70410255e-01 7.40614017e-01 -4.51770766e-02 -2.35408373e+02] [-6.78330794e-02 -5.44115176e-04 9.97696536e-01 -2.00053608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6686399999999 meters 0.026975961698336853 Centerline is valid? [True, True] Translation: X:348.77, Y:-235.45, Z:-20.01 [[ 7.38142833e-01 6.72843978e-01 4.92558567e-02 3.48765727e+02] [-6.71402702e-01 7.39784190e-01 -4.40200425e-02 -2.35451715e+02] [-6.60573245e-02 -5.77436431e-04 9.97815663e-01 -2.00077550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7286399999999 meters 0.026918915702366635 Centerline is valid? [True, True] Translation: X:348.81, Y:-235.49, Z:-20.01 [[ 7.38322777e-01 6.72544710e-01 5.06269608e-02 3.48811971e+02] [-6.71018264e-01 7.40056301e-01 -4.52897525e-02 -2.35493872e+02] [-6.79261848e-02 -5.33159467e-04 9.97690207e-01 -2.00102083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78863999999993 meters 0.026995382245567044 Centerline is valid? [True, True] Translation: X:348.86, Y:-235.54, Z:-20.01 [[ 7.37973479e-01 6.73031019e-01 4.92381093e-02 3.48857556e+02] [-6.71585567e-01 7.39614065e-01 -4.40892360e-02 -2.35536509e+02] [-6.60906216e-02 -5.30916727e-04 9.97813484e-01 -2.00137472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84863999999993 meters 0.02723344214027921 Centerline is valid? [True, True] Translation: X:348.90, Y:-235.58, Z:-20.02 [[ 7.35838483e-01 6.75296070e-01 5.01691624e-02 3.48904138e+02] [-6.73797656e-01 7.37546410e-01 -4.49667991e-02 -2.35577740e+02] [-6.73679883e-02 -7.15562796e-04 9.97727940e-01 -2.00159538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90863999999993 meters 0.027132482078501604 Centerline is valid? [True, True] Translation: X:348.95, Y:-235.62, Z:-20.02 [[ 7.36714483e-01 6.74320592e-01 5.04332257e-02 3.48950844e+02] [-6.72800967e-01 7.38438477e-01 -4.52490299e-02 -2.35620309e+02] [-6.77541870e-02 -5.95907405e-04 9.97701867e-01 -2.00189878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96863999999994 meters 0.027067730240048493 Centerline is valid? [True, True] Translation: X:349.00, Y:-235.66, Z:-20.02 [[ 7.39276279e-01 6.71618175e-01 4.89858122e-02 3.48996605e+02] [-6.70175678e-01 7.40897385e-01 -4.39957554e-02 -2.35661704e+02] [-6.58418091e-02 -3.04081513e-04 9.97830027e-01 -2.00220358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02863999999994 meters 0.027131448984190187 Centerline is valid? [True, True] Translation: X:349.04, Y:-235.70, Z:-20.02 [[ 7.40859044e-01 6.69939186e-01 4.80558523e-02 3.49042025e+02] [-6.68544792e-01 7.42415970e-01 -4.32017204e-02 -2.35703795e+02] [-6.46199575e-02 -1.21104501e-04 9.97909939e-01 -2.00240505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08863999999994 meters 0.027206485541168116 Centerline is valid? [True, True] Translation: X:349.09, Y:-235.75, Z:-20.03 [[ 7.40392012e-01 6.70435359e-01 4.83331987e-02 3.49088034e+02] [-6.69022963e-01 7.41967932e-01 -4.34955510e-02 -2.35746800e+02] [-6.50226388e-02 -1.32261272e-04 9.97883780e-01 -2.00278478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14863999999994 meters 0.027141884241694246 Centerline is valid? [True, True] Translation: X:349.13, Y:-235.79, Z:-20.03 [[ 7.40460235e-01 6.70377169e-01 4.80946111e-02 3.49131438e+02] [-6.68975434e-01 7.42020514e-01 -4.33292643e-02 -2.35792724e+02] [-6.47341376e-02 -9.05161466e-05 9.97902542e-01 -2.00286677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20863999999995 meters 0.026922600181159245 Centerline is valid? [True, True] Translation: X:349.18, Y:-235.84, Z:-20.03 [[ 7.41059708e-01 6.69698545e-01 4.83153021e-02 3.49176528e+02] [-6.68279264e-01 7.42633058e-01 -4.35771351e-02 -2.35837105e+02] [-6.50640845e-02 5.14450658e-06 9.97881088e-01 -2.00320212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26863999999995 meters 0.027226490072563385 Centerline is valid? [True, True] Translation: X:349.22, Y:-235.88, Z:-20.04 [[ 7.41618845e-01 6.68917639e-01 5.05042709e-02 3.49218829e+02] [-6.67361523e-01 7.43336518e-01 -4.56006390e-02 -2.35882178e+02] [-6.80447406e-02 1.13686079e-04 9.97682264e-01 -2.00358089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32863999999995 meters 0.02718343642244147 Centerline is valid? [True, True] Translation: X:349.26, Y:-235.93, Z:-20.04 [[ 7.41584037e-01 6.69041264e-01 4.93650042e-02 3.49262216e+02] [-6.67552187e-01 7.43225249e-01 -4.46128616e-02 -2.35926167e+02] [-6.65371628e-02 1.30469490e-04 9.97783939e-01 -2.00380194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38863999999995 meters 0.027473678493143392 Centerline is valid? [True, True] Translation: X:349.31, Y:-235.97, Z:-20.04 [[ 7.41693369e-01 6.68953890e-01 4.89043909e-02 3.49305824e+02] [-6.67489662e-01 7.43303885e-01 -4.42366967e-02 -2.35972373e+02] [-6.59431341e-02 1.66889279e-04 9.97823369e-01 -2.00427595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44863999999995 meters 0.027615868390807475 Centerline is valid? [True, True] Translation: X:349.35, Y:-236.02, Z:-20.05 [[ 7.41043436e-01 6.69582138e-01 5.01436578e-02 3.49346454e+02] [-6.68041465e-01 7.42738002e-01 -4.53967048e-02 -2.36020123e+02] [-6.76404228e-02 1.42887511e-04 9.97709754e-01 -2.00466857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50863999999996 meters 0.02745143529113048 Centerline is valid? [True, True] Translation: X:349.39, Y:-236.07, Z:-20.05 [[ 7.39247580e-01 6.71561601e-01 5.01799829e-02 3.49388464e+02] [-6.70020067e-01 7.40948727e-01 -4.54762988e-02 -2.36067952e+02] [-6.77209305e-02 -3.35163915e-06 9.97704303e-01 -2.00486946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56863999999996 meters 0.02751861735009421 Centerline is valid? [True, True] Translation: X:349.43, Y:-236.11, Z:-20.05 [[ 7.36060381e-01 6.74895180e-01 5.22648186e-02 3.49431957e+02] [-6.73227420e-01 7.37913556e-01 -4.74175681e-02 -2.36111845e+02] [-7.05688063e-02 -2.83915651e-04 9.97506874e-01 -2.00528958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62863999999996 meters 0.027598275454406525 Centerline is valid? [True, True] Translation: X:349.48, Y:-236.15, Z:-20.05 [[ 7.31893761e-01 6.79294564e-01 5.37626068e-02 3.49477740e+02] [-6.77538013e-01 7.33865394e-01 -4.88244197e-02 -2.36153887e+02] [-7.26206796e-02 -6.91921601e-04 9.97359393e-01 -2.00546797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68863999999996 meters 0.027699852385428783 Centerline is valid? [True, True] Translation: X:349.52, Y:-236.20, Z:-20.06 [[ 7.31724276e-01 6.79479084e-01 5.37378751e-02 3.49524876e+02] [-6.77721091e-01 7.33694569e-01 -4.88508207e-02 -2.36195850e+02] [-7.26202980e-02 -6.73959964e-04 9.97359433e-01 -2.00576797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74863999999997 meters 0.027362248788055064 Centerline is valid? [True, True] Translation: X:349.57, Y:-236.24, Z:-20.06 [[ 7.32485746e-01 6.78693145e-01 5.32939647e-02 3.49572575e+02] [-6.76958463e-01 7.34421751e-01 -4.84967218e-02 -2.36235115e+02] [-7.20546395e-02 -5.54642977e-04 9.97400532e-01 -2.00587929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80863999999997 meters 0.027303052468460338 Centerline is valid? [True, True] Translation: X:349.62, Y:-236.27, Z:-20.06 [[ 7.34190436e-01 6.76876945e-01 5.29339643e-02 3.49620384e+02] [-6.75157680e-01 7.36096111e-01 -4.82143282e-02 -2.36274139e+02] [-7.15996525e-02 -3.40273906e-04 9.97433393e-01 -2.00618472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86863999999997 meters 0.02720534218957847 Centerline is valid? [True, True] Translation: X:349.67, Y:-236.31, Z:-20.07 [[ 7.34613048e-01 6.76445916e-01 5.25793871e-02 3.49669978e+02] [-6.74745116e-01 7.36492263e-01 -4.79392755e-02 -2.36313434e+02] [-7.11526390e-02 -2.60867393e-04 9.97465405e-01 -2.00652471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92864 meters 0.02714161916851547 Centerline is valid? [True, True] Translation: X:349.72, Y:-236.35, Z:-20.07 [[ 7.32926386e-01 6.78306255e-01 5.21491884e-02 3.49718310e+02] [-6.76634231e-01 7.34779195e-01 -4.75988669e-02 -2.36354388e+02] [-7.06047478e-02 -3.99460503e-04 9.97504291e-01 -2.00672778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98864 meters 0.027252193017305484 Centerline is valid? [True, True] Translation: X:349.76, Y:-236.40, Z:-20.07 [[ 7.31780234e-01 6.79608274e-01 5.12862798e-02 3.49764654e+02] [-6.77991009e-01 7.33575056e-01 -4.68596767e-02 -2.36396282e+02] [-6.94685596e-02 -4.80651429e-04 9.97584026e-01 -2.00708591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04864 meters 0.02722213651264364 Centerline is valid? [True, True] Translation: X:349.81, Y:-236.44, Z:-20.07 [[ 7.29691598e-01 6.81888983e-01 5.07699354e-02 3.49812916e+02] [-6.80306443e-01 7.31455388e-01 -4.64344590e-02 -2.36437425e+02] [-6.87990888e-02 -6.56279566e-04 9.97630320e-01 -2.00738869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1086399999999 meters 0.027325622764324552 Centerline is valid? [True, True] Translation: X:349.86, Y:-236.48, Z:-20.08 [[ 7.28875546e-01 6.82796107e-01 5.02982529e-02 3.49860597e+02] [-6.81241613e-01 7.30608642e-01 -4.60529741e-02 -2.36478664e+02] [-6.81931297e-02 -6.98376247e-04 9.97671895e-01 -2.00762118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1686399999999 meters 0.02748096851241362 Centerline is valid? [True, True] Translation: X:349.91, Y:-236.52, Z:-20.08 [[ 7.26899980e-01 6.84784875e-01 5.18275456e-02 3.49909167e+02] [-6.83135806e-01 7.28744749e-01 -4.75032810e-02 -2.36517015e+02] [-7.02985801e-02 -8.75118126e-04 9.97525611e-01 -2.00793609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2286399999999 meters 0.02777840544121532 Centerline is valid? [True, True] Translation: X:349.96, Y:-236.56, Z:-20.08 [[ 7.24615018e-01 6.87121387e-01 5.28892742e-02 3.49957411e+02] [-6.85406848e-01 7.26541816e-01 -4.85225953e-02 -2.36556294e+02] [-7.17671823e-02 -1.09046943e-03 9.97420815e-01 -2.00808255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28863999999993 meters 0.028037950115039602 Centerline is valid? [True, True] Translation: X:350.01, Y:-236.60, Z:-20.08 [[ 7.22273083e-01 6.89620187e-01 5.23983832e-02 3.50005946e+02] [-6.87940704e-01 7.24170094e-01 -4.81171713e-02 -2.36595585e+02] [-7.11279148e-02 -1.29324300e-03 9.97466364e-01 -2.00836013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34863999999993 meters 0.028116460838978667 Centerline is valid? [True, True] Translation: X:350.05, Y:-236.63, Z:-20.09 [[ 7.21221539e-01 6.90702854e-01 5.26218447e-02 3.50054340e+02] [-6.89008620e-01 7.23137388e-01 -4.83677522e-02 -2.36634378e+02] [-7.14605678e-02 -1.37303990e-03 9.97442481e-01 -2.00863834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40863999999993 meters 0.028085339066544507 Centerline is valid? [True, True] Translation: X:350.10, Y:-236.67, Z:-20.09 [[ 7.20851548e-01 6.91206351e-01 5.10570792e-02 3.50104446e+02] [-6.89609764e-01 7.22656183e-01 -4.69724878e-02 -2.36671781e+02] [-6.93643959e-02 -1.34926975e-03 9.97590477e-01 -2.00902802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46863999999994 meters 0.028088059854822264 Centerline is valid? [True, True] Translation: X:350.15, Y:-236.71, Z:-20.09 [[ 7.20953335e-01 6.91091549e-01 5.11738084e-02 3.50154974e+02] [-6.89484123e-01 7.22766048e-01 -4.71262547e-02 -2.36710048e+02] [-6.95552477e-02 -1.30769792e-03 9.97577244e-01 -2.00922284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52863999999994 meters 0.027737960426475156 Centerline is valid? [True, True] Translation: X:350.21, Y:-236.75, Z:-20.09 [[ 7.23300375e-01 6.88645792e-01 5.10249040e-02 3.50205917e+02] [-6.87038288e-01 7.25097168e-01 -4.70370864e-02 -2.36745958e+02] [-6.93899050e-02 -1.03412048e-03 9.97589080e-01 -2.00944450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58863999999994 meters 0.027453602080660226 Centerline is valid? [True, True] Translation: X:350.26, Y:-236.78, Z:-20.10 [[ 7.26942245e-01 6.84935991e-01 4.91697045e-02 3.50257054e+02] [-6.83432071e-01 7.28602977e-01 -4.53685633e-02 -2.36782286e+02] [-6.68997550e-02 -6.23827735e-04 9.97759507e-01 -2.00979320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64863999999994 meters 0.027239808693480756 Centerline is valid? [True, True] Translation: X:350.31, Y:-236.82, Z:-20.10 [[ 7.30155902e-01 6.81688143e-01 4.66222512e-02 3.50306688e+02] [-6.80327009e-01 7.31642808e-01 -4.30576761e-02 -2.36819844e+02] [-6.34627420e-02 -2.79560319e-04 9.97984169e-01 -2.00983218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70863999999995 meters 0.02724632548947966 Centerline is valid? [True, True] Translation: X:350.35, Y:-236.86, Z:-20.10 [[ 7.31246292e-01 6.80428972e-01 4.79090280e-02 3.50354176e+02] [-6.78986089e-01 7.32814024e-01 -4.42887937e-02 -2.36859220e+02] [-6.52437860e-02 -1.43547351e-04 9.97869344e-01 -2.01009345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76863999999995 meters 0.02712274970215047 Centerline is valid? [True, True] Translation: X:350.40, Y:-236.90, Z:-20.10 [[ 7.31349650e-01 6.80339261e-01 4.76044039e-02 3.50401208e+02] [-6.78911725e-01 7.32897318e-01 -4.40498710e-02 -2.36901222e+02] [-6.48579966e-02 -1.03330242e-04 9.97894498e-01 -2.01029119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82863999999995 meters 0.026995166563178116 Centerline is valid? [True, True] Translation: X:350.45, Y:-236.94, Z:-20.11 [[ 7.30897065e-01 6.80802779e-01 4.79276106e-02 3.50447032e+02] [-6.79353513e-01 7.32466767e-01 -4.43986443e-02 -2.36944606e+02] [-6.53321024e-02 -1.08951817e-04 9.97863570e-01 -2.01053290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88863999999995 meters 0.026873569229942596 Centerline is valid? [True, True] Translation: X:350.49, Y:-236.99, Z:-20.11 [[ 7.32565288e-01 6.79135327e-01 4.60793535e-02 3.50489827e+02] [-6.77789687e-01 7.34013081e-01 -4.27309851e-02 -2.36989369e+02] [-6.28429698e-02 7.11258006e-05 9.98023425e-01 -2.01076105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94863999999995 meters 0.026634245307386572 Centerline is valid? [True, True] Translation: X:350.53, Y:-237.03, Z:-20.11 [[ 7.31466962e-01 6.80415844e-01 4.46134924e-02 3.50532294e+02] [-6.79154519e-01 7.32826227e-01 -4.14108598e-02 -2.37034417e+02] [-6.08705424e-02 -8.77924176e-06 9.98145669e-01 -2.01105637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00863999999996 meters 0.02670487304668981 Centerline is valid? [True, True] Translation: X:350.57, Y:-237.08, Z:-20.11 [[ 7.24461388e-01 6.87793631e-01 4.57779221e-02 3.50573180e+02] [-6.86477540e-01 7.25906018e-01 -4.25328150e-02 -2.37081131e+02] [-6.24842684e-02 -6.12133168e-04 9.98045761e-01 -2.01114687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06863999999996 meters 0.026882306740384856 Centerline is valid? [True, True] Translation: X:350.62, Y:-237.13, Z:-20.11 [[ 7.19771433e-01 6.92588082e-01 4.74429454e-02 3.50616191e+02] [-6.91182071e-01 7.21332571e-01 -4.41210420e-02 -2.37126352e+02] [-6.47798496e-02 -1.03464763e-03 9.97899043e-01 -2.01148117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12863999999996 meters 0.02715254930753985 Centerline is valid? [True, True] Translation: X:350.66, Y:-237.17, Z:-20.12 [[ 7.15740535e-01 6.96573272e-01 5.00116272e-02 3.50661139e+02] [-6.95017974e-01 7.17484208e-01 -4.65448846e-02 -2.37168883e+02] [-6.83044753e-02 -1.44491919e-03 9.97663476e-01 -2.01180208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18863999999996 meters 0.02736890714871825 Centerline is valid? [True, True] Translation: X:350.71, Y:-237.21, Z:-20.12 [[ 7.14613897e-01 6.97756076e-01 4.96330260e-02 3.50707838e+02] [-6.96225419e-01 7.16333807e-01 -4.62173362e-02 -2.37211443e+02] [-6.78022417e-02 -1.52822361e-03 9.97697610e-01 -2.01225353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24863999999997 meters 0.02718482545125227 Centerline is valid? [True, True] Translation: X:350.75, Y:-237.25, Z:-20.12 [[ 7.15359446e-01 6.97055195e-01 4.87331331e-02 3.50754559e+02] [-6.95574933e-01 7.17016101e-01 -4.54249250e-02 -2.37252763e+02] [-6.66061210e-02 -1.40239663e-03 9.97778361e-01 -2.01240768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30863999999997 meters 0.02732952587080246 Centerline is valid? [True, True] Translation: X:350.80, Y:-237.29, Z:-20.13 [[ 7.14139802e-01 6.98172730e-01 5.05883674e-02 3.50802481e+02] [-6.96577180e-01 7.15927714e-01 -4.71989407e-02 -2.37292287e+02] [-6.91706275e-02 -1.53206011e-03 9.97603667e-01 -2.01261554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36863999999997 meters 0.02748681500618551 Centerline is valid? [True, True] Translation: X:350.85, Y:-237.33, Z:-20.13 [[ 7.11442443e-01 7.00898656e-01 5.08991609e-02 3.50851236e+02] [-6.99287800e-01 7.13258649e-01 -4.75254932e-02 -2.37330103e+02] [-6.96148211e-02 -1.78150927e-03 9.97572355e-01 -2.01307244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42864 meters 0.027436491773139237 Centerline is valid? [True, True] Translation: X:350.90, Y:-237.37, Z:-20.13 [[ 7.10784245e-01 7.01462186e-01 5.23121296e-02 3.50899765e+02] [-6.99759856e-01 7.12704231e-01 -4.88755856e-02 -2.37368347e+02] [-7.15674512e-02 -1.86593211e-03 9.97434017e-01 -2.01341197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48864 meters 0.026914551431052983 Centerline is valid? [True, True] Translation: X:350.95, Y:-237.41, Z:-20.14 [[ 7.14294395e-01 6.97785737e-01 5.36524183e-02 3.50948358e+02] [-6.95981256e-01 7.16304967e-01 -5.01725557e-02 -2.37407872e+02] [-7.34411875e-02 -1.50310223e-03 9.97298417e-01 -2.01370515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54864 meters 0.026799327899465285 Centerline is valid? [True, True] Translation: X:350.99, Y:-237.45, Z:-20.14 [[ 7.17155500e-01 6.94758162e-01 5.47639063e-02 3.50994774e+02] [-6.92865570e-01 7.19242448e-01 -5.12601616e-02 -2.37448736e+02] [-7.50019417e-02 -1.18251827e-03 9.97182687e-01 -2.01413443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6086399999999 meters 0.026491039951033617 Centerline is valid? [True, True] Translation: X:351.04, Y:-237.49, Z:-20.14 [[ 7.19052241e-01 6.92960274e-01 5.26301486e-02 3.51039831e+02] [-6.91204374e-01 7.20975177e-01 -4.93082829e-02 -2.37491656e+02] [-7.21137119e-02 -9.22957589e-04 9.97395990e-01 -2.01445731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6686399999999 meters 0.026440876137210665 Centerline is valid? [True, True] Translation: X:351.09, Y:-237.53, Z:-20.15 [[ 7.15359141e-01 6.96899733e-01 5.09122952e-02 3.51085176e+02] [-6.95263475e-01 7.17167495e-01 -4.77439413e-02 -2.37534651e+02] [-6.97853832e-02 -1.24339447e-03 9.97561253e-01 -2.01464871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7286399999999 meters 0.026988489319318326 Centerline is valid? [True, True] Translation: X:351.13, Y:-237.58, Z:-20.15 [[ 7.10816116e-01 7.01434358e-01 5.22521816e-02 3.51131603e+02] [-6.99719460e-01 7.12732039e-01 -4.90481157e-02 -2.37575272e+02] [-7.16458375e-02 -1.69767716e-03 9.97428690e-01 -2.01509735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78863999999993 meters 0.027085482120468244 Centerline is valid? [True, True] Translation: X:351.18, Y:-237.61, Z:-20.15 [[ 7.09300888e-01 7.03008389e-01 5.16861309e-02 3.51180119e+02] [-7.01332138e-01 7.11179250e-01 -4.85521040e-02 -2.37613719e+02] [-7.08906402e-02 -1.81109426e-03 9.97482450e-01 -2.01527323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84863999999993 meters 0.026777786181811234 Centerline is valid? [True, True] Translation: X:351.23, Y:-237.65, Z:-20.16 [[ 7.10099470e-01 7.02239332e-01 5.11728696e-02 3.51230984e+02] [-7.00592039e-01 7.11938936e-01 -4.81014096e-02 -2.37650786e+02] [-7.02106601e-02 -1.69451953e-03 9.97530747e-01 -2.01553275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90863999999993 meters 0.026656534508907426 Centerline is valid? [True, True] Translation: X:351.28, Y:-237.69, Z:-20.16 [[ 7.10101905e-01 7.02300043e-01 5.02984451e-02 3.51280433e+02] [-7.00705801e-01 7.11879174e-01 -4.73225417e-02 -2.37689111e+02] [-6.90410386e-02 -1.64058525e-03 9.97612472e-01 -2.01578434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96863999999994 meters 0.026775258951842396 Centerline is valid? [True, True] Translation: X:351.34, Y:-237.72, Z:-20.16 [[ 7.08979272e-01 7.03331748e-01 5.16995667e-02 3.51336238e+02] [-7.01646811e-01 7.10859596e-01 -4.86866174e-02 -2.37720879e+02] [-7.09939768e-02 -1.75703360e-03 9.97475197e-01 -2.01597768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02863999999994 meters 0.02682921070553837 Centerline is valid? [True, True] Translation: X:351.39, Y:-237.76, Z:-20.16 [[ 7.08856403e-01 7.03434292e-01 5.19884259e-02 3.51386525e+02] [-7.01727278e-01 7.10758158e-01 -4.90068260e-02 -2.37759017e+02] [-7.14242798e-02 -1.74289419e-03 9.97444502e-01 -2.01629752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08863999999994 meters 0.02668593542171784 Centerline is valid? [True, True] Translation: X:351.44, Y:-237.79, Z:-20.17 [[ 7.10566298e-01 7.01564304e-01 5.38800843e-02 3.51441932e+02] [-6.99721155e-01 7.12604418e-01 -5.08453455e-02 -2.37791640e+02] [-7.40664655e-02 -1.57204587e-03 9.97252068e-01 -2.01659475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14863999999994 meters 0.02668518758009733 Centerline is valid? [True, True] Translation: X:351.49, Y:-237.83, Z:-20.17 [[ 7.10766120e-01 7.01414653e-01 5.31884232e-02 3.51492456e+02] [-6.99614458e-01 7.12751874e-01 -5.02431595e-02 -2.37828399e+02] [-7.31514366e-02 -1.50025440e-03 9.97319716e-01 -2.01699636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20863999999995 meters 0.026647111609090685 Centerline is valid? [True, True] Translation: X:351.55, Y:-237.86, Z:-20.17 [[ 7.12292452e-01 7.00005260e-01 5.13039786e-02 3.51545021e+02] [-6.98323712e-01 7.14136548e-01 -4.85075690e-02 -2.37862818e+02] [-7.05935996e-02 -1.27520950e-03 9.97504345e-01 -2.01730348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26863999999995 meters 0.026166071486028484 Centerline is valid? [True, True] Translation: X:351.60, Y:-237.90, Z:-20.17 [[ 7.20103003e-01 6.92107528e-01 4.93845617e-02 3.51595114e+02] [-6.90528787e-01 7.21794266e-01 -4.67229281e-02 -2.37898699e+02] [-6.79827837e-02 -4.56140645e-04 9.97686390e-01 -2.01747696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32863999999995 meters 0.026359473986054958 Centerline is valid? [True, True] Translation: X:351.65, Y:-237.93, Z:-20.18 [[ 7.28650850e-01 6.83149424e-01 4.87319653e-02 3.51646075e+02] [-6.81590669e-01 7.30278516e-01 -4.61242842e-02 -2.37934885e+02] [-6.70976854e-02 3.93246074e-04 9.97746333e-01 -2.01781093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38863999999995 meters 0.026459240194481592 Centerline is valid? [True, True] Translation: X:351.69, Y:-237.98, Z:-20.18 [[ 7.33478758e-01 6.78103289e-01 4.67422846e-02 3.51694463e+02] [-6.76656333e-01 7.34966123e-01 -4.42832237e-02 -2.37975778e+02] [-6.43825954e-02 8.52340997e-04 9.97924924e-01 -2.01802650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44863999999995 meters 0.0266847718724814 Centerline is valid? [True, True] Translation: X:351.74, Y:-238.02, Z:-20.18 [[ 7.34766728e-01 6.76755964e-01 4.60349880e-02 3.51740380e+02] [-6.75346979e-01 7.36206755e-01 -4.36585777e-02 -2.38019124e+02] [-6.34374720e-02 9.89280213e-04 9.97985325e-01 -2.01827394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50863999999996 meters 0.02697378970512836 Centerline is valid? [True, True] Translation: X:351.78, Y:-238.06, Z:-20.19 [[ 7.36342730e-01 6.75071583e-01 4.55822448e-02 3.51784375e+02] [-6.73684249e-01 7.37751328e-01 -4.32725072e-02 -2.38063292e+02] [-6.28404016e-02 1.15535578e-03 9.98022920e-01 -2.01875943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56863999999996 meters 0.02727678483506361 Centerline is valid? [True, True] Translation: X:351.83, Y:-238.11, Z:-20.19 [[ 7.38220492e-01 6.72993224e-01 4.59415492e-02 3.51826143e+02] [-6.71577341e-01 7.39647373e-01 -4.36536231e-02 -2.38109262e+02] [-6.33591387e-02 1.37269571e-03 9.97989847e-01 -2.01894610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62863999999996 meters 0.028102915379984186 Centerline is valid? [True, True] Translation: X:351.87, Y:-238.16, Z:-20.19 [[ 7.42237086e-01 6.68529602e-01 4.63926619e-02 3.51865274e+02] [-6.67074975e-01 7.43683365e-01 -4.41138391e-02 -2.38158018e+02] [-6.39928582e-02 1.79554364e-03 9.97948741e-01 -2.01915448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68863999999996 meters 0.02841669722673596 Centerline is valid? [True, True] Translation: X:351.90, Y:-238.21, Z:-20.20 [[ 7.43837273e-01 6.66858974e-01 4.47796747e-02 3.51903737e+02] [-6.65499693e-01 7.45181558e-01 -4.25981711e-02 -2.38207054e+02] [-6.17759605e-02 1.88524769e-03 9.98088261e-01 -2.01953407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74863999999997 meters 0.0277123599895169 Centerline is valid? [True, True] Translation: X:351.94, Y:-238.26, Z:-20.20 [[ 7.41234417e-01 6.69695180e-01 4.56059724e-02 3.51942320e+02] [-6.68288098e-01 7.42634126e-01 -4.34231748e-02 -2.38256370e+02] [-6.29488424e-02 1.70882311e-03 9.98015292e-01 -2.01989358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80863999999997 meters 0.02654348701702699 Centerline is valid? [True, True] Translation: X:351.97, Y:-238.31, Z:-20.20 [[ 7.33806932e-01 6.77687460e-01 4.76139982e-02 3.51974974e+02] [-6.76168208e-01 7.35349243e-01 -4.53656951e-02 -2.38310874e+02] [-6.57566802e-02 1.09458970e-03 9.97835087e-01 -2.02000882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86863999999997 meters 0.026116459893484035 Centerline is valid? [True, True] Translation: X:352.02, Y:-238.36, Z:-20.20 [[ 7.29645683e-01 6.82106672e-01 4.84527028e-02 3.52015108e+02] [-6.80541797e-01 7.31252326e-01 -4.61833167e-02 -2.38358880e+02] [-6.69331001e-02 7.23368217e-04 9.97757203e-01 -2.02045417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92864 meters 0.0259731142200207 Centerline is valid? [True, True] Translation: X:352.06, Y:-238.41, Z:-20.21 [[ 7.27446295e-01 6.84569118e-01 4.67654804e-02 3.52056678e+02] [-6.83114402e-01 7.28947782e-01 -4.46076780e-02 -2.38405924e+02] [-6.46266320e-02 5.03516901e-04 9.97909387e-01 -2.02070350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98864 meters 0.025929132602948275 Centerline is valid? [True, True] Translation: X:352.10, Y:-238.45, Z:-20.21 [[ 7.24589706e-01 6.87605058e-01 4.65729798e-02 3.52099021e+02] [-6.86167055e-01 7.26084859e-01 -4.44471607e-02 -2.38451632e+02] [-6.43780280e-02 2.49110673e-04 9.97925552e-01 -2.02103792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04864 meters 0.025852223764800286 Centerline is valid? [True, True] Translation: X:352.14, Y:-238.50, Z:-20.21 [[ 7.19862211e-01 6.92406623e-01 4.86977069e-02 3.52143071e+02] [-6.90842096e-01 7.21507481e-01 -4.65204663e-02 -2.38496033e+02] [-6.73468388e-02 -1.54100195e-04 9.97729612e-01 -2.02135654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1086399999999 meters 0.026144214897878583 Centerline is valid? [True, True] Translation: X:352.19, Y:-238.54, Z:-20.22 [[ 7.18117427e-01 6.94130264e-01 4.99052783e-02 3.52187847e+02] [-6.92488019e-01 7.19849354e-01 -4.77205591e-02 -2.38538571e+02] [-6.90485666e-02 -2.89842211e-04 9.97613257e-01 -2.02165942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1686399999999 meters 0.026084927978686695 Centerline is valid? [True, True] Translation: X:352.23, Y:-238.58, Z:-20.22 [[ 7.16740531e-01 6.95672715e-01 4.81921539e-02 3.52234621e+02] [-6.94141977e-01 7.18358768e-01 -4.61258814e-02 -2.38579928e+02] [-6.67077734e-02 -3.91908224e-04 9.97772479e-01 -2.02199953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2286399999999 meters 0.0259816882970572 Centerline is valid? [True, True] Translation: X:352.28, Y:-238.62, Z:-20.22 [[ 7.15911385e-01 6.96491986e-01 4.86806203e-02 3.52282098e+02] [-6.94928706e-01 7.17564437e-01 -4.66408933e-02 -2.38621729e+02] [-6.74164903e-02 -4.38814021e-04 9.97724824e-01 -2.02223258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28863999999993 meters 0.026080149011310148 Centerline is valid? [True, True] Translation: X:352.33, Y:-238.66, Z:-20.22 [[ 7.13455412e-01 6.98872949e-01 5.05764401e-02 3.52330773e+02] [-6.97187745e-01 7.15245535e-01 -4.85084865e-02 -2.38659993e+02] [-7.00758419e-02 -6.52631980e-04 9.97541453e-01 -2.02248673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34863999999993 meters 0.02621886765672656 Centerline is valid? [True, True] Translation: X:352.38, Y:-238.70, Z:-20.23 [[ 7.11059113e-01 7.01322715e-01 5.04121752e-02 3.52379450e+02] [-6.99651488e-01 7.12843399e-01 -4.83950917e-02 -2.38698804e+02] [-6.98765634e-02 -8.59182366e-04 9.97555276e-01 -2.02262204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40863999999993 meters 0.025977855523019816 Centerline is valid? [True, True] Translation: X:352.43, Y:-238.74, Z:-20.23 [[ 7.12658936e-01 6.99830779e-01 4.85192939e-02 3.52430186e+02] [-6.98276441e-01 7.14308373e-01 -4.66214508e-02 -2.38735435e+02] [-6.72848641e-02 -6.54686400e-04 9.97733591e-01 -2.02298979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46863999999994 meters 0.02589595904470713 Centerline is valid? [True, True] Translation: X:352.48, Y:-238.77, Z:-20.23 [[ 7.15833329e-01 6.96766423e-01 4.58169910e-02 3.52481729e+02] [-6.95372056e-01 7.17298020e-01 -4.40596763e-02 -2.38772344e+02] [-6.35637400e-02 -3.20470495e-04 9.97977729e-01 -2.02314679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52863999999994 meters 0.026123923471782894 Centerline is valid? [True, True] Translation: X:352.53, Y:-238.81, Z:-20.23 [[ 7.17882091e-01 6.94636277e-01 4.61058079e-02 3.52533588e+02] [-6.93217852e-01 7.19361126e-01 -4.43686781e-02 -2.38808903e+02] [-6.39868193e-02 -1.09889697e-04 9.97950738e-01 -2.02342909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58863999999994 meters 0.026160645661778385 Centerline is valid? [True, True] Translation: X:352.58, Y:-238.85, Z:-20.24 [[ 7.17976904e-01 6.94516602e-01 4.64311914e-02 3.52583509e+02] [-6.93074625e-01 7.19476675e-01 -4.47311804e-02 -2.38847318e+02] [-6.44727066e-02 -6.43261685e-05 9.97919469e-01 -2.02373011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64863999999994 meters 0.026219380381223262 Centerline is valid? [True, True] Translation: X:352.64, Y:-238.88, Z:-20.24 [[ 7.16950304e-01 6.95551722e-01 4.67981209e-02 3.52636955e+02] [-6.94085799e-01 7.18476017e-01 -4.51344263e-02 -2.38883184e+02] [-6.50166554e-02 -1.22770498e-04 9.97884171e-01 -2.02384471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70863999999995 meters 0.02608946164733369 Centerline is valid? [True, True] Translation: X:352.69, Y:-238.92, Z:-20.24 [[ 7.17582286e-01 6.94959092e-01 4.59077664e-02 3.52688103e+02] [-6.93544327e-01 7.19049275e-01 -4.43216366e-02 -2.38919267e+02] [-6.38116705e-02 -3.46495987e-05 9.97961958e-01 -2.02408235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76863999999995 meters 0.026457910151868255 Centerline is valid? [True, True] Translation: X:352.74, Y:-238.96, Z:-20.24 [[ 7.21049961e-01 6.91458728e-01 4.44047512e-02 3.52737289e+02] [-6.90126049e-01 7.22415905e-01 -4.29103209e-02 -2.38957769e+02] [-6.17494145e-02 2.95609686e-04 9.98091640e-01 -2.02438164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82863999999995 meters 0.02669043903034563 Centerline is valid? [True, True] Translation: X:352.78, Y:-239.00, Z:-20.25 [[ 7.24433822e-01 6.87870230e-01 4.50575645e-02 3.52782217e+02] [-6.86488526e-01 7.25833408e-01 -4.35817245e-02 -2.39000065e+02] [-6.26828565e-02 6.40574201e-04 9.98033291e-01 -2.02453597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88863999999995 meters 0.026724996265172614 Centerline is valid? [True, True] Translation: X:352.83, Y:-239.04, Z:-20.25 [[ 7.23782070e-01 6.88523775e-01 4.55469675e-02 3.52827484e+02] [-6.87110550e-01 7.25213504e-01 -4.40960964e-02 -2.39043724e+02] [-6.33924867e-02 6.20162028e-04 9.97988481e-01 -2.02486497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94863999999995 meters 0.02647780038550008 Centerline is valid? [True, True] Translation: X:352.87, Y:-239.09, Z:-20.25 [[ 7.20841316e-01 6.91533783e-01 4.65706339e-02 3.52870213e+02] [-6.90059351e-01 7.22344009e-01 -4.51356294e-02 -2.39089659e+02] [-6.48528310e-02 3.99125152e-04 9.97894759e-01 -2.02520506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00863999999996 meters 0.026407158348505322 Centerline is valid? [True, True] Translation: X:352.91, Y:-239.13, Z:-20.25 [[ 7.17953360e-01 6.94599059e-01 4.55534964e-02 3.52912751e+02] [-6.93191701e-01 7.19397056e-01 -4.41943623e-02 -2.39134461e+02] [-6.34684136e-02 1.52185216e-04 9.97983836e-01 -2.02549143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06863999999996 meters 0.026226870848855107 Centerline is valid? [True, True] Translation: X:352.95, Y:-239.18, Z:-20.26 [[ 7.16723588e-01 6.95911292e-01 4.48862044e-02 3.52954691e+02] [-6.94544947e-01 7.18127753e-01 -4.35872425e-02 -2.39179821e+02] [-6.25668834e-02 6.45183774e-05 9.98040771e-01 -2.02574848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12863999999996 meters 0.026414226940120047 Centerline is valid? [True, True] Translation: X:353.00, Y:-239.22, Z:-20.26 [[ 7.15618143e-01 6.97007134e-01 4.55162512e-02 3.52999308e+02] [-6.95601558e-01 7.17064192e-01 -4.42427093e-02 -2.39224264e+02] [-6.34755579e-02 -2.89789751e-07 9.97983393e-01 -2.02605175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18863999999996 meters 0.026061224846928834 Centerline is valid? [True, True] Translation: X:353.04, Y:-239.27, Z:-20.26 [[ 7.12223122e-01 7.00521165e-01 4.48143052e-02 3.53043937e+02] [-6.99162649e-01 7.13631573e-01 -4.36069771e-02 -2.39268872e+02] [-6.25285135e-02 -2.74590944e-04 9.98043140e-01 -2.02624299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24863999999997 meters 0.026101386966448543 Centerline is valid? [True, True] Translation: X:353.09, Y:-239.31, Z:-20.27 [[ 7.08205516e-01 7.04457032e-01 4.67465306e-02 3.53089460e+02] [-7.02984061e-01 7.09746373e-01 -4.55356473e-02 -2.39310777e+02] [-6.52560875e-02 -6.13469349e-04 9.97868361e-01 -2.02659341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30863999999997 meters 0.026234987085997745 Centerline is valid? [True, True] Translation: X:353.14, Y:-239.35, Z:-20.27 [[ 7.06285849e-01 7.06432323e-01 4.59746917e-02 3.53136178e+02] [-7.05008992e-01 7.07780197e-01 -4.48275988e-02 -2.39353286e+02] [-6.42076411e-02 -7.51472423e-04 9.97936278e-01 -2.02670452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36863999999997 meters 0.0264171291100886 Centerline is valid? [True, True] Translation: X:353.18, Y:-239.39, Z:-20.27 [[ 7.03806831e-01 7.08888442e-01 4.61857389e-02 3.53184736e+02] [-7.07454206e-01 7.05319985e-01 -4.50806426e-02 -2.39392615e+02] [-6.45328711e-02 -9.46231018e-04 9.97915133e-01 -2.02699098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42864 meters 0.026448198362157203 Centerline is valid? [True, True] Translation: X:353.23, Y:-239.43, Z:-20.27 [[ 7.01860683e-01 7.10843638e-01 4.57482695e-02 3.53233461e+02] [-7.09437848e-01 7.03349234e-01 -4.46966902e-02 -2.39432207e+02] [-6.39493682e-02 -1.08470433e-03 9.97952555e-01 -2.02723392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48864 meters 0.026390842635901083 Centerline is valid? [True, True] Translation: X:353.28, Y:-239.47, Z:-20.28 [[ 7.01020792e-01 7.11666533e-01 4.58322489e-02 3.53283022e+02] [-7.10254333e-01 7.02516527e-01 -4.48253486e-02 -2.39471362e+02] [-6.40986127e-02 -1.12905202e-03 9.97942931e-01 -2.02751899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54864 meters 0.026323427391840116 Centerline is valid? [True, True] Translation: X:353.33, Y:-239.51, Z:-20.28 [[ 7.01779766e-01 7.10956924e-01 4.52262314e-02 3.53333929e+02] [-7.09577476e-01 7.03234823e-01 -4.42785486e-02 -2.39507952e+02] [-6.32848015e-02 -1.01772565e-03 9.97994989e-01 -2.02780722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6086399999999 meters 0.026279666237981295 Centerline is valid? [True, True] Translation: X:353.38, Y:-239.55, Z:-20.28 [[ 7.02637058e-01 7.10026236e-01 4.65178341e-02 3.53383939e+02] [-7.08561735e-01 7.04174611e-01 -4.55893033e-02 -2.39546684e+02] [-6.51262791e-02 -9.28023264e-04 9.97876599e-01 -2.02823230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6686399999999 meters 0.0263084070198502 Centerline is valid? [True, True] Translation: X:353.43, Y:-239.58, Z:-20.29 [[ 7.01519995e-01 7.11234384e-01 4.48926251e-02 3.53434489e+02] [-7.09870135e-01 7.02954271e-01 -4.40418497e-02 -2.39584301e+02] [-6.28815404e-02 -9.71695607e-04 9.98020525e-01 -2.02850465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7286399999999 meters 0.026472850971386568 Centerline is valid? [True, True] Translation: X:353.49, Y:-239.62, Z:-20.29 [[ 6.98573874e-01 7.14088652e-01 4.55185747e-02 3.53485201e+02] [-7.12689361e-01 7.00054227e-01 -4.46984843e-02 -2.39620933e+02] [-6.37841510e-02 -1.21541064e-03 9.97962978e-01 -2.02871000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78863999999993 meters 0.02660228385903664 Centerline is valid? [True, True] Translation: X:353.54, Y:-239.66, Z:-20.29 [[ 6.99016349e-01 7.13558795e-01 4.70105242e-02 3.53536382e+02] [-7.12061925e-01 7.00594369e-01 -4.62097970e-02 -2.39658632e+02] [-6.59087156e-02 -1.17300077e-03 9.97824967e-01 -2.02919778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84863999999993 meters 0.02616215131356765 Centerline is valid? [True, True] Translation: X:353.59, Y:-239.70, Z:-20.29 [[ 7.03342882e-01 7.09368929e-01 4.58749811e-02 3.53587039e+02] [-7.07931662e-01 7.04836998e-01 -4.51394289e-02 -2.39696161e+02] [-6.43548922e-02 -7.27855680e-04 9.97926810e-01 -2.02914661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90863999999993 meters 0.026018438709809005 Centerline is valid? [True, True] Translation: X:353.63, Y:-239.74, Z:-20.29 [[ 7.04898836e-01 7.07897248e-01 4.47114981e-02 3.53634258e+02] [-7.06526999e-01 7.06315212e-01 -4.40275041e-02 -2.39737378e+02] [-6.27473603e-02 -5.54944191e-04 9.98029289e-01 -2.02945541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96863999999994 meters 0.026176709952887147 Centerline is valid? [True, True] Translation: X:353.68, Y:-239.78, Z:-20.30 [[ 7.07444743e-01 7.05247293e-01 4.63485915e-02 3.53681584e+02] [-7.03768091e-01 7.08961320e-01 -4.56543580e-02 -2.39778493e+02] [-6.50569710e-02 -3.20724199e-04 9.97881500e-01 -2.02980563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02863999999994 meters 0.026135270292086978 Centerline is valid? [True, True] Translation: X:353.73, Y:-239.82, Z:-20.30 [[ 7.09340432e-01 7.03427911e-01 4.50036139e-02 3.53726641e+02] [-7.02028989e-01 7.10766596e-01 -4.43412256e-02 -2.39821630e+02] [-6.31779212e-02 -1.40817453e-04 9.98002270e-01 -2.03011727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08863999999994 meters 0.02621352940992169 Centerline is valid? [True, True] Translation: X:353.77, Y:-239.87, Z:-20.30 [[ 7.10886435e-01 7.01890126e-01 4.46175772e-02 3.53770103e+02] [-7.00511357e-01 7.12285231e-01 -4.39725760e-02 -2.39865695e+02] [-6.26443582e-02 4.38820866e-06 9.98035913e-01 -2.03040693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14863999999994 meters 0.02629781067141627 Centerline is valid? [True, True] Translation: X:353.81, Y:-239.91, Z:-20.31 [[ 7.13620308e-01 6.99186762e-01 4.34042246e-02 3.53812586e+02] [-6.97876333e-01 7.14939027e-01 -4.27879858e-02 -2.39910493e+02] [-6.09481674e-02 2.43594502e-04 9.98140903e-01 -2.03058217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20863999999995 meters 0.026391850491015115 Centerline is valid? [True, True] Translation: X:353.86, Y:-239.96, Z:-20.31 [[ 7.15058077e-01 6.97782338e-01 4.23291335e-02 3.53856541e+02] [-6.96532965e-01 7.16309764e-01 -4.17390917e-02 -2.39955001e+02] [-5.94455727e-02 3.62237799e-04 9.98231483e-01 -2.03089295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26863999999995 meters 0.026291231838787482 Centerline is valid? [True, True] Translation: X:353.90, Y:-240.00, Z:-20.31 [[ 7.16040553e-01 6.96792200e-01 4.20304219e-02 3.53897240e+02] [-6.95557981e-01 7.17272910e-01 -4.14568157e-02 -2.40002748e+02] [-5.90340689e-02 4.50165893e-04 9.98255867e-01 -2.03114721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32863999999995 meters 0.02655013112623452 Centerline is valid? [True, True] Translation: X:353.94, Y:-240.05, Z:-20.31 [[ 7.18138274e-01 6.94635834e-01 4.19342120e-02 3.53939961e+02] [-6.93402306e-01 7.19361277e-01 -4.13835205e-02 -2.40047961e+02] [-5.89123245e-02 6.41810617e-04 9.98262954e-01 -2.03135858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38863999999995 meters 0.026663353254745344 Centerline is valid? [True, True] Translation: X:353.98, Y:-240.10, Z:-20.32 [[ 7.19366841e-01 6.93258588e-01 4.36334649e-02 3.53980744e+02] [-6.91917938e-01 7.20688467e-01 -4.31010471e-02 -2.40095298e+02] [-6.13263060e-02 8.14686989e-04 9.98117438e-01 -2.03157995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44863999999995 meters 0.02656319528563826 Centerline is valid? [True, True] Translation: X:354.02, Y:-240.14, Z:-20.32 [[ 7.18173643e-01 6.94564645e-01 4.25038025e-02 3.54022394e+02] [-6.93292622e-01 7.19429946e-01 -4.20225345e-02 -2.40141245e+02] [-5.97658750e-02 7.11904012e-04 9.98212169e-01 -2.03181679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50863999999996 meters 0.026099113905240365 Centerline is valid? [True, True] Translation: X:354.06, Y:-240.19, Z:-20.32 [[ 7.14737030e-01 6.97926827e-01 4.52672300e-02 3.54060851e+02] [-6.96487831e-01 7.16168908e-01 -4.47972841e-02 -2.40190665e+02] [-6.36842090e-02 4.90202972e-04 9.97969980e-01 -2.03204800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56863999999996 meters 0.025784550826360487 Centerline is valid? [True, True] Translation: X:354.10, Y:-240.24, Z:-20.33 [[ 7.08373903e-01 7.04308393e-01 4.64338409e-02 3.54104702e+02] [-7.02804822e-01 7.09894137e-01 -4.59967061e-02 -2.40235674e+02] [-6.53589775e-02 -5.10610401e-05 9.97861815e-01 -2.03250501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62863999999996 meters 0.025782675522871442 Centerline is valid? [True, True] Translation: X:354.15, Y:-240.28, Z:-20.33 [[ 7.05005943e-01 7.07769182e-01 4.50489260e-02 3.54149255e+02] [-7.06358239e-01 7.06443683e-01 -4.46694624e-02 -2.40279108e+02] [-6.34401980e-02 -3.28443582e-04 9.97985588e-01 -2.03268988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68863999999996 meters 0.02599495654022439 Centerline is valid? [True, True] Translation: X:354.20, Y:-240.32, Z:-20.33 [[ 7.03039970e-01 7.09697940e-01 4.54272372e-02 3.54196878e+02] [-7.08264438e-01 7.04505931e-01 -4.50874625e-02 -2.40319894e+02] [-6.40022373e-02 -4.76208296e-04 9.97949641e-01 -2.03294838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74863999999997 meters 0.025850107577772924 Centerline is valid? [True, True] Translation: X:354.24, Y:-240.36, Z:-20.33 [[ 7.07301246e-01 7.05499789e-01 4.46653697e-02 3.54244306e+02] [-7.04102889e-01 7.08710127e-01 -4.43742977e-02 -2.40359850e+02] [-6.29608575e-02 -6.30198078e-05 9.98015995e-01 -2.03310279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80863999999997 meters 0.026035652083458163 Centerline is valid? [True, True] Translation: X:354.29, Y:-240.40, Z:-20.33 [[ 7.11590875e-01 7.01235692e-01 4.36684296e-02 3.54293627e+02] [-6.99889877e-01 7.12929443e-01 -4.34254540e-02 -2.40399020e+02] [-6.15839875e-02 3.38064924e-04 9.98101848e-01 -2.03336975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86863999999997 meters 0.02664093523387217 Centerline is valid? [True, True] Translation: X:354.34, Y:-240.44, Z:-20.34 [[ 7.14352596e-01 6.98479231e-01 4.27449635e-02 3.54341295e+02] [-6.97182159e-01 7.15630078e-01 -4.25514871e-02 -2.40441009e+02] [-6.03109115e-02 5.95739368e-04 9.98179462e-01 -2.03364237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92864 meters 0.02695462326897538 Centerline is valid? [True, True] Translation: X:354.39, Y:-240.48, Z:-20.34 [[ 7.18139295e-01 6.94617329e-01 4.22222667e-02 3.54386352e+02] [-6.93342995e-01 7.19378823e-01 -4.20666165e-02 -2.40483912e+02] [-5.95940054e-02 9.35177485e-04 9.98222260e-01 -2.03388028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98864 meters 0.027218442000675493 Centerline is valid? [True, True] Translation: X:354.43, Y:-240.53, Z:-20.34 [[ 7.20737098e-01 6.91935951e-01 4.19842143e-02 3.54429369e+02] [-6.90670367e-01 7.21957953e-01 -4.18468433e-02 -2.40528593e+02] [-5.92661728e-02 1.16331971e-03 9.98241538e-01 -2.03414460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0486399999999 meters 0.027807290330809913 Centerline is valid? [True, True] Translation: X:354.47, Y:-240.57, Z:-20.34 [[ 7.24013657e-01 6.88470714e-01 4.25711133e-02 3.54474467e+02] [-6.87161154e-01 7.25262599e-01 -4.24701188e-02 -2.40572000e+02] [-6.01146693e-02 1.49573074e-03 9.98190357e-01 -2.03427735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1086399999999 meters 0.028379686098564158 Centerline is valid? [True, True] Translation: X:354.51, Y:-240.62, Z:-20.35 [[ 7.26015338e-01 6.86378624e-01 4.22624237e-02 3.54514567e+02] [-6.85082246e-01 7.27242427e-01 -4.21991482e-02 -2.40619633e+02] [-5.96996209e-02 1.68399273e-03 9.98214967e-01 -2.03452808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1686399999999 meters 0.0280837811904392 Centerline is valid? [True, True] Translation: X:354.56, Y:-240.66, Z:-20.35 [[ 7.25383544e-01 6.87100000e-01 4.13799998e-02 3.54557897e+02] [-6.85856299e-01 7.26561061e-01 -4.13540967e-02 -2.40664364e+02] [-5.84794964e-02 1.61684773e-03 9.98287300e-01 -2.03454806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2286399999999 meters 0.02758410592476774 Centerline is valid? [True, True] Translation: X:354.45, Y:-240.89, Z:-18.88 [[ 7.38562434e-01 -6.73920390e-01 -1.88901841e-02 3.54447845e+02] [-6.73610448e-01 -7.38799810e-01 2.05865535e-02 -2.40886793e+02] [-2.78297626e-02 -2.47982971e-03 -9.99609601e-01 -1.88755729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28863999999993 meters 0.027010871738624587 Centerline is valid? [True, True] Translation: X:354.47, Y:-240.98, Z:-18.88 [[ 7.91331152e-01 -6.11023838e-01 -2.10921044e-02 3.54468336e+02] [-6.10706181e-01 -7.91606983e-01 1.99084286e-02 -2.40979960e+02] [-2.88611816e-02 -2.87308118e-03 -9.99579300e-01 -1.88790376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34863999999993 meters 0.02685058294193126 Centerline is valid? [True, True] Translation: X:354.59, Y:-240.81, Z:-20.35 [[ 8.14274018e-01 5.78432344e-01 4.87221431e-02 3.54594471e+02] [-5.77312426e-01 8.15729504e-01 -3.59963795e-02 -2.40805226e+02] [-6.05655598e-02 1.18301791e-03 9.98163520e-01 -2.03523720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40863999999993 meters 0.026115354528721074 Centerline is valid? [True, True] Translation: X:354.64, Y:-240.84, Z:-20.36 [[ 8.10542127e-01 5.83561947e-01 4.97686061e-02 3.54642890e+02] [-5.82400570e-01 8.12068183e-01 -3.68081941e-02 -2.40844598e+02] [-6.18953629e-02 8.49327461e-04 9.98082283e-01 -2.03564119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46863999999994 meters 0.02567368194614351 Centerline is valid? [True, True] Translation: X:354.69, Y:-240.88, Z:-20.36 [[ 8.07774412e-01 5.87335436e-01 5.03744395e-02 3.54692324e+02] [-5.86150653e-01 8.09343394e-01 -3.72918543e-02 -2.40881954e+02] [-6.26730474e-02 5.96395147e-04 9.98033934e-01 -2.03593144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52863999999994 meters 0.025320472832271887 Centerline is valid? [True, True] Translation: X:354.74, Y:-240.92, Z:-20.36 [[ 8.01721536e-01 5.95643691e-01 4.95093158e-02 3.54743687e+02] [-5.94512859e-01 8.03248774e-01 -3.66860793e-02 -2.40917528e+02] [-6.16201289e-02 -2.19050249e-05 9.98099674e-01 -2.03621615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58863999999994 meters 0.025609344008672156 Centerline is valid? [True, True] Translation: X:354.80, Y:-240.95, Z:-20.37 [[ 7.99733609e-01 5.98189871e-01 5.09414693e-02 3.54795528e+02] [-5.96995372e-01 8.01354379e-01 -3.77847232e-02 -2.40951619e+02] [-6.34246082e-02 -1.94108375e-04 9.97986614e-01 -2.03666821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64863999999994 meters 0.025678710108932558 Centerline is valid? [True, True] Translation: X:354.85, Y:-240.98, Z:-20.37 [[ 8.00097267e-01 5.97562881e-01 5.25639227e-02 3.54849559e+02] [-5.96287652e-01 8.01822043e-01 -3.90185592e-02 -2.40983370e+02] [-6.54629545e-02 -1.24575412e-04 9.97854993e-01 -2.03686402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70863999999995 meters 0.02536964041973983 Centerline is valid? [True, True] Translation: X:354.90, Y:-241.01, Z:-20.37 [[ 8.03510580e-01 5.93212650e-01 4.96940588e-02 3.54904271e+02] [-5.92064040e-01 8.05045775e-01 -3.68981315e-02 -2.41014586e+02] [-6.18944304e-02 2.25973868e-04 9.98082676e-01 -2.03705433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76863999999995 meters 0.025808083540280274 Centerline is valid? [True, True] Translation: X:354.96, Y:-241.05, Z:-20.37 [[ 8.05226234e-01 5.90841331e-01 5.01720466e-02 3.54957554e+02] [-5.89665233e-01 8.06787670e-01 -3.72634957e-02 -2.41047594e+02] [-6.24950020e-02 4.20832778e-04 9.98045188e-01 -2.03714174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82863999999995 meters 0.025863656156824816 Centerline is valid? [True, True] Translation: X:355.01, Y:-241.08, Z:-20.37 [[ 8.07489290e-01 5.87686781e-01 5.08457907e-02 3.55008870e+02] [-5.86471918e-01 8.09088241e-01 -3.77744358e-02 -2.41083318e+02] [-6.33382679e-02 6.82823922e-04 9.97991883e-01 -2.03731937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88863999999995 meters 0.025914517156605855 Centerline is valid? [True, True] Translation: X:355.06, Y:-241.12, Z:-20.38 [[ 8.10062159e-01 5.84198641e-01 5.01123424e-02 3.55058935e+02] [-5.83011296e-01 8.11610156e-01 -3.72395590e-02 -2.41120033e+02] [-6.24269858e-02 9.50295924e-04 9.98049081e-01 -2.03763806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94863999999995 meters 0.0261669498585079 Centerline is valid? [True, True] Translation: X:355.11, Y:-241.16, Z:-20.38 [[ 8.12601216e-01 5.80765448e-01 4.88953884e-02 3.55107348e+02] [-5.79628310e-01 8.14070066e-01 -3.63448700e-02 -2.41158389e+02] [-6.09121167e-02 1.19273420e-03 9.98142420e-01 -2.03796673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00863999999996 meters 0.026301673236716686 Centerline is valid? [True, True] Translation: X:355.15, Y:-241.20, Z:-20.38 [[ 8.12832149e-01 5.80406532e-01 4.93168769e-02 3.55153941e+02] [-5.79248414e-01 8.14325932e-01 -3.66681140e-02 -2.41199838e+02] [-6.14424246e-02 1.23829919e-03 9.98109861e-01 -2.03816830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06863999999996 meters 0.025732558006253355 Centerline is valid? [True, True] Translation: X:355.20, Y:-241.24, Z:-20.38 [[ 8.11027176e-01 5.82906035e-01 4.95527466e-02 3.55202233e+02] [-5.81740795e-01 8.12538876e-01 -3.68540640e-02 -2.41239904e+02] [-6.17459893e-02 1.06279327e-03 9.98091330e-01 -2.03833309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12863999999996 meters 0.02548132494875886 Centerline is valid? [True, True] Translation: X:355.25, Y:-241.28, Z:-20.39 [[ 8.08509343e-01 5.86540661e-01 4.77775593e-02 3.55250858e+02] [-5.85462794e-01 8.09919415e-01 -3.55507916e-02 -2.41278105e+02] [-5.95479577e-02 7.71163839e-04 9.98225148e-01 -2.03860676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18863999999996 meters 0.025162969437181604 Centerline is valid? [True, True] Translation: X:355.30, Y:-241.32, Z:-20.39 [[ 8.07436437e-01 5.87945597e-01 4.86453911e-02 3.55299197e+02] [-5.86828939e-01 8.08900167e-01 -3.62259162e-02 -2.41317909e+02] [-6.06481329e-02 7.03601492e-04 9.98158960e-01 -2.03887082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24863999999997 meters 0.02493553715176414 Centerline is valid? [True, True] Translation: X:355.35, Y:-241.35, Z:-20.39 [[ 8.07879762e-01 5.87351937e-01 4.84560878e-02 3.55350897e+02] [-5.86241995e-01 8.09331285e-01 -3.60997912e-02 -2.41354711e+02] [-6.04203101e-02 7.57297141e-04 9.98172737e-01 -2.03909741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30863999999997 meters 0.024953263859086406 Centerline is valid? [True, True] Translation: X:355.40, Y:-241.39, Z:-20.39 [[ 8.08319073e-01 5.86824826e-01 4.75068452e-02 3.55400433e+02] [-5.85756216e-01 8.09713527e-01 -3.54070618e-02 -2.41393045e+02] [-5.92446780e-02 7.92773426e-04 9.98243177e-01 -2.03938726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36863999999997 meters 0.024922799415843702 Centerline is valid? [True, True] Translation: X:355.45, Y:-241.43, Z:-20.40 [[ 8.08916760e-01 5.86025283e-01 4.72021555e-02 3.55450444e+02] [-5.84968206e-01 8.10292314e-01 -3.51932481e-02 -2.41430242e+02] [-5.88716770e-02 8.56648046e-04 9.98265191e-01 -2.03955952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42864 meters 0.024787340689912334 Centerline is valid? [True, True] Translation: X:355.50, Y:-241.47, Z:-20.40 [[ 8.08792943e-01 5.86267699e-01 4.63050854e-02 3.55499163e+02] [-5.85250313e-01 8.10116964e-01 -3.45336840e-02 -2.41468540e+02] [-5.77585186e-02 8.30534213e-04 9.98330238e-01 -2.03972590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48864 meters 0.02447984788392527 Centerline is valid? [True, True] Translation: X:355.55, Y:-241.50, Z:-20.40 [[ 8.08250951e-01 5.87047309e-01 4.58896181e-02 3.55548967e+02] [-5.86048840e-01 8.09552257e-01 -3.42330444e-02 -2.41504823e+02] [-5.72464604e-02 7.75333248e-04 9.98359776e-01 -2.04009189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5486399999999 meters 0.02431918328722685 Centerline is valid? [True, True] Translation: X:355.60, Y:-241.54, Z:-20.40 [[ 8.06821205e-01 5.88963010e-01 4.64985679e-02 3.55597194e+02] [-5.87940460e-01 8.08159726e-01 -3.46968757e-02 -2.41543340e+02] [-5.80134462e-02 6.55785626e-04 9.98315586e-01 -2.04034699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6086399999999 meters 0.02417017025909445 Centerline is valid? [True, True] Translation: X:355.65, Y:-241.58, Z:-20.41 [[ 8.06226555e-01 5.89848802e-01 4.55755716e-02 3.55647348e+02] [-5.88867371e-01 8.07513496e-01 -3.40172594e-02 -2.41580155e+02] [-5.68679289e-02 5.87650798e-04 9.98381537e-01 -2.04058179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6686399999999 meters 0.023926749658265255 Centerline is valid? [True, True] Translation: X:355.70, Y:-241.62, Z:-20.41 [[ 8.06034381e-01 5.90115658e-01 4.55201737e-02 3.55698209e+02] [-5.89136449e-01 8.07318511e-01 -3.39862698e-02 -2.41616780e+02] [-5.68051088e-02 5.76508401e-04 9.98385120e-01 -2.04077384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7286399999999 meters 0.02423842770062065 Centerline is valid? [True, True] Translation: X:355.75, Y:-241.66, Z:-20.41 [[ 8.09370367e-01 5.85654060e-01 4.39196003e-02 3.55746481e+02] [-5.84735288e-01 8.10560650e-01 -3.28036030e-02 -2.41655432e+02] [-5.48110631e-02 8.68924057e-04 9.98496366e-01 -2.04099693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78863999999993 meters 0.024025004783503057 Centerline is valid? [True, True] Translation: X:355.80, Y:-241.69, Z:-20.41 [[ 8.09568232e-01 5.85425080e-01 4.33215076e-02 3.55796274e+02] [-5.84530338e-01 8.10726033e-01 -3.23663908e-02 -2.41694826e+02] [-5.40699710e-02 8.80066314e-04 9.98536761e-01 -2.04119055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84863999999993 meters 0.023229475056175605 Centerline is valid? [True, True] Translation: X:355.84, Y:-241.74, Z:-20.41 [[ 8.06472871e-01 5.89567403e-01 4.48529267e-02 3.55842162e+02] [-5.88613870e-01 8.07718933e-01 -3.35236957e-02 -2.41737110e+02] [-5.59930363e-02 6.34896332e-04 9.98430957e-01 -2.04115279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90863999999993 meters 0.023102232031428832 Centerline is valid? [True, True] Translation: X:355.89, Y:-241.78, Z:-20.41 [[ 8.04261969e-01 5.92596163e-01 4.46371321e-02 3.55890968e+02] [-5.91655672e-01 8.05499597e-01 -3.33761199e-02 -2.41775792e+02] [-5.57337524e-02 4.33331494e-04 9.98445572e-01 -2.04130832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96863999999994 meters 0.022680422929346453 Centerline is valid? [True, True] Translation: X:355.94, Y:-241.81, Z:-20.42 [[ 8.03646165e-01 5.93487711e-01 4.38768574e-02 3.55941719e+02] [-5.92578574e-01 8.04842956e-01 -3.28397585e-02 -2.41813728e+02] [-5.48039727e-02 3.91060415e-04 9.98497056e-01 -2.04154116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02863999999994 meters 0.02275850626850147 Centerline is valid? [True, True] Translation: X:355.99, Y:-241.85, Z:-20.42 [[ 8.05013001e-01 5.91697326e-01 4.29923631e-02 3.55994113e+02] [-5.90820246e-01 8.06160031e-01 -3.22093418e-02 -2.41848434e+02] [-5.37169062e-02 5.28180338e-04 9.98556065e-01 -2.04162982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08863999999994 meters 0.022913508160032833 Centerline is valid? [True, True] Translation: X:356.05, Y:-241.88, Z:-20.42 [[ 8.05319770e-01 5.91092052e-01 4.55000473e-02 3.56046536e+02] [-5.90107830e-01 8.06603875e-01 -3.41018778e-02 -2.41881290e+02] [-5.68578634e-02 6.12982237e-04 9.98382095e-01 -2.04213800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14863999999994 meters 0.022829044901055397 Centerline is valid? [True, True] Translation: X:356.10, Y:-241.92, Z:-20.42 [[ 8.04768217e-01 5.91826294e-01 4.57138369e-02 3.56098962e+02] [-5.90833376e-01 8.06065326e-01 -3.42726054e-02 -2.41916202e+02] [-5.71317679e-02 5.72242974e-04 9.98366483e-01 -2.04230767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20863999999995 meters 0.02280050147411188 Centerline is valid? [True, True] Translation: X:356.15, Y:-241.95, Z:-20.43 [[ 8.05233308e-01 5.91198690e-01 4.56445879e-02 3.56149891e+02] [-5.90206971e-01 8.06525707e-01 -3.42347219e-02 -2.41952610e+02] [-5.70530562e-02 6.27184445e-04 9.98370951e-01 -2.04257180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26863999999995 meters 0.022881414399974313 Centerline is valid? [True, True] Translation: X:356.20, Y:-241.99, Z:-20.43 [[ 8.07572679e-01 5.88046727e-01 4.50268217e-02 3.56200233e+02] [-5.87076066e-01 8.08826512e-01 -3.37841215e-02 -2.41988469e+02] [-5.62855292e-02 8.48964207e-04 9.98414352e-01 -2.04280663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32863999999995 meters 0.023118184043521704 Centerline is valid? [True, True] Translation: X:356.25, Y:-242.02, Z:-20.43 [[ 8.09502968e-01 5.85395523e-01 4.49113285e-02 3.56250432e+02] [-5.84425242e-01 8.10747189e-01 -3.37065726e-02 -2.42024871e+02] [-5.61434100e-02 1.03825651e-03 9.98422175e-01 -2.04308894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38863999999995 meters 0.023733154378197917 Centerline is valid? [True, True] Translation: X:356.30, Y:-242.07, Z:-20.43 [[ 8.11402497e-01 5.82934745e-01 4.25801680e-02 3.56297760e+02] [-5.82058817e-01 8.12518157e-01 -3.19652791e-02 -2.42065514e+02] [-5.32308314e-02 1.15254512e-03 9.98581569e-01 -2.04312068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44863999999995 meters 0.023458024081766983 Centerline is valid? [True, True] Translation: X:356.34, Y:-242.11, Z:-20.44 [[ 8.11117544e-01 5.83209932e-01 4.42097780e-02 3.56344833e+02] [-5.82265518e-01 8.12320608e-01 -3.31978421e-02 -2.42106311e+02] [-5.52738250e-02 1.18552293e-03 9.98470530e-01 -2.04353644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50863999999996 meters 0.023130814515778742 Centerline is valid? [True, True] Translation: X:356.39, Y:-242.15, Z:-20.44 [[ 8.09414458e-01 5.85499495e-01 4.51505914e-02 3.56393564e+02] [-5.84517349e-01 8.10672077e-01 -3.39153585e-02 -2.42145756e+02] [-5.64597489e-02 1.06027750e-03 9.98404313e-01 -2.04379018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56863999999996 meters 0.022438240348690634 Centerline is valid? [True, True] Translation: X:356.44, Y:-242.19, Z:-20.44 [[ 8.05752664e-01 5.90550644e-01 4.48618151e-02 3.56440575e+02] [-5.89587670e-01 8.07000260e-01 -3.37188197e-02 -2.42186080e+02] [-5.61161671e-02 7.19055717e-04 9.98423987e-01 -2.04415231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62863999999996 meters 0.022193083170927278 Centerline is valid? [True, True] Translation: X:356.49, Y:-242.23, Z:-20.45 [[ 8.02582554e-01 5.94603812e-01 4.80369697e-02 3.56489186e+02] [-5.93504546e-01 8.04018694e-01 -3.61426906e-02 -2.42226684e+02] [-6.01132033e-02 4.97333067e-04 9.98191442e-01 -2.04461381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68863999999996 meters 0.02224332801300358 Centerline is valid? [True, True] Translation: X:356.54, Y:-242.27, Z:-20.45 [[ 8.01993621e-01 5.95366428e-01 4.84256978e-02 3.56539173e+02] [-5.94248226e-01 8.03454161e-01 -3.64754199e-02 -2.42265625e+02] [-6.06240689e-02 4.76169044e-04 9.98160556e-01 -2.04487142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74863999999997 meters 0.021977944225542115 Centerline is valid? [True, True] Translation: X:356.59, Y:-242.31, Z:-20.45 [[ 8.00356136e-01 5.97459731e-01 4.97184656e-02 3.56588261e+02] [-5.96282382e-01 8.01898834e-01 -3.74910818e-02 -2.42305169e+02] [-6.22685913e-02 3.59972211e-04 9.98059363e-01 -2.04518511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80863999999997 meters 0.021891511005097133 Centerline is valid? [True, True] Translation: X:356.64, Y:-242.34, Z:-20.46 [[ 7.98528341e-01 5.99765373e-01 5.13223784e-02 3.56636859e+02] [-5.98512788e-01 8.00175886e-01 -3.87426627e-02 -2.42343138e+02] [-6.43034371e-02 2.20014374e-04 9.97930368e-01 -2.04560008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86863999999997 meters 0.021769894185525128 Centerline is valid? [True, True] Translation: X:356.69, Y:-242.38, Z:-20.46 [[ 7.97243792e-01 6.01531294e-01 5.06205349e-02 3.56686613e+02] [-6.00313987e-01 7.98849229e-01 -3.82495265e-02 -2.42381086e+02] [-6.34464624e-02 1.05982411e-04 9.97985238e-01 -2.04579811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92864 meters 0.02169849445403903 Centerline is valid? [True, True] Translation: X:356.74, Y:-242.42, Z:-20.46 [[ 7.96008140e-01 6.03064804e-01 5.18062003e-02 3.56735767e+02] [-6.01790477e-01 7.97692197e-01 -3.91839366e-02 -2.42419665e+02] [-6.49558548e-02 1.42545386e-05 9.97888138e-01 -2.04620503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98864 meters 0.021725878342956268 Centerline is valid? [True, True] Translation: X:356.79, Y:-242.46, Z:-20.46 [[ 7.95055937e-01 6.04379156e-01 5.11066740e-02 3.56785913e+02] [-6.03139259e-01 7.96696825e-01 -3.86937040e-02 -2.42457704e+02] [-6.41021931e-02 -6.07823658e-05 9.97943338e-01 -2.04643595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0486399999999 meters 0.021744176079714076 Centerline is valid? [True, True] Translation: X:356.83, Y:-242.50, Z:-20.47 [[ 7.95065555e-01 6.04452176e-01 5.00832419e-02 3.56834293e+02] [-6.03259113e-01 7.96641429e-01 -3.79588746e-02 -2.42497129e+02] [-6.28427097e-02 -3.33783876e-05 9.98023443e-01 -2.04677359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1086399999999 meters 0.02177975502921681 Centerline is valid? [True, True] Translation: X:356.88, Y:-242.54, Z:-20.47 [[ 7.92782483e-01 6.07417906e-01 5.03926745e-02 3.56883432e+02] [-6.06213534e-01 7.94382421e-01 -3.82324558e-02 -2.42536521e+02] [-6.32541330e-02 -2.38700025e-04 9.97997424e-01 -2.04727860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1686399999999 meters 0.021997403595335308 Centerline is valid? [True, True] Translation: X:356.93, Y:-242.57, Z:-20.48 [[ 7.89041863e-01 6.12437302e-01 4.83062055e-02 3.56933522e+02] [-6.11337610e-01 7.90518951e-01 -3.66894307e-02 -2.42574464e+02] [-6.06569468e-02 -5.81903491e-04 9.98158503e-01 -2.04752574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2286399999999 meters 0.02229382996329019 Centerline is valid? [True, True] Translation: X:356.98, Y:-242.61, Z:-20.48 [[ 7.87389720e-01 6.14447062e-01 4.97215859e-02 3.56983805e+02] [-6.13283315e-01 7.88957718e-01 -3.78060062e-02 -2.42610356e+02] [-6.24580184e-02 -7.25358340e-04 9.98047328e-01 -2.04788673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28863999999993 meters 0.02241309384694196 Centerline is valid? [True, True] Translation: X:357.04, Y:-242.65, Z:-20.48 [[ 7.87691664e-01 6.13904352e-01 5.16070709e-02 3.57035147e+02] [-6.12646862e-01 7.89380129e-01 -3.92789253e-02 -2.42645057e+02] [-6.48510995e-02 -6.77228103e-04 9.97894722e-01 -2.04817661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34863999999993 meters 0.0223721326986533 Centerline is valid? [True, True] Translation: X:357.09, Y:-242.68, Z:-20.48 [[ 7.90522875e-01 6.10403649e-01 4.98093327e-02 3.57089140e+02] [-6.09223085e-01 7.92090440e-01 -3.79469066e-02 -2.42676471e+02] [-6.26164265e-02 -3.47097575e-04 9.98037606e-01 -2.04848052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40863999999993 meters 0.022490420765687098 Centerline is valid? [True, True] Translation: X:357.14, Y:-242.71, Z:-20.49 [[ 7.91393034e-01 6.09222201e-01 5.04517222e-02 3.57142323e+02] [-6.08006046e-01 7.92999533e-01 -3.84758232e-02 -2.42710430e+02] [-6.34485178e-02 -2.25453665e-04 9.97985087e-01 -2.04878688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46863999999994 meters 0.022729365616877453 Centerline is valid? [True, True] Translation: X:357.19, Y:-242.75, Z:-20.49 [[ 7.93530722e-01 6.06213993e-01 5.30432736e-02 3.57193448e+02] [-6.04859803e-01 7.95301573e-01 -4.04972405e-02 -2.42745564e+02] [-6.67353928e-02 5.20604977e-05 9.97770707e-01 -2.04909586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52863999999994 meters 0.02335270528273717 Centerline is valid? [True, True] Translation: X:357.24, Y:-242.78, Z:-20.49 [[ 7.98838206e-01 5.99374316e-01 5.10680870e-02 3.57243393e+02] [-5.98102659e-01 8.00468631e-01 -3.90279390e-02 -2.42783870e+02] [-6.42707458e-02 6.33050137e-04 9.97932298e-01 -2.04934042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58863999999994 meters 0.023544261129321422 Centerline is valid? [True, True] Translation: X:357.29, Y:-242.82, Z:-20.50 [[ 8.00942082e-01 5.96658201e-01 4.99076455e-02 3.57292387e+02] [-5.95435880e-01 8.02495011e-01 -3.81820654e-02 -2.42823248e+02] [-6.28322790e-02 8.64820195e-04 9.98023726e-01 -2.04956440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64863999999994 meters 0.023713804013192608 Centerline is valid? [True, True] Translation: X:357.34, Y:-242.87, Z:-20.50 [[ 8.01614344e-01 5.95799537e-01 4.93695758e-02 3.57338988e+02] [-5.94599313e-01 8.03132617e-01 -3.78108121e-02 -2.42865477e+02] [-6.21779809e-02 9.54573540e-04 9.98064621e-01 -2.04989187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70863999999995 meters 0.024101194740562812 Centerline is valid? [True, True] Translation: X:357.39, Y:-242.91, Z:-20.50 [[ 8.01745099e-01 5.95705934e-01 4.83656553e-02 3.57385242e+02] [-5.94551509e-01 8.03202024e-01 -3.70811356e-02 -2.42909071e+02] [-6.09368448e-02 9.73745417e-04 9.98141149e-01 -2.05024194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76863999999995 meters 0.024096873366870795 Centerline is valid? [True, True] Translation: X:357.43, Y:-242.95, Z:-20.50 [[ 8.01241805e-01 5.96303908e-01 4.93276745e-02 3.57432785e+02] [-5.95101609e-01 8.02758176e-01 -3.78600878e-02 -2.42951095e+02] [-6.21743123e-02 9.80106596e-04 9.98064825e-01 -2.05046175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82863999999995 meters 0.024146059085429068 Centerline is valid? [True, True] Translation: X:357.48, Y:-242.99, Z:-20.51 [[ 8.00375224e-01 5.97599628e-01 4.76884216e-02 3.57480192e+02] [-5.96476040e-01 8.01794182e-01 -3.66391103e-02 -2.42991282e+02] [-6.01318176e-02 8.80035260e-04 9.98190057e-01 -2.05091908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88863999999995 meters 0.024013920499506552 Centerline is valid? [True, True] Translation: X:357.53, Y:-243.03, Z:-20.51 [[ 7.98949098e-01 5.99611701e-01 4.63265383e-02 3.57527332e+02] [-5.98552882e-01 8.00290741e-01 -3.56255177e-02 -2.43031876e+02] [-5.84361769e-02 7.34092223e-04 9.98290877e-01 -2.05109943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94863999999995 meters 0.02408271829138047 Centerline is valid? [True, True] Translation: X:357.58, Y:-243.07, Z:-20.51 [[ 7.97277456e-01 6.01679759e-01 4.82713779e-02 3.57575442e+02] [-6.00531575e-01 7.98737167e-01 -3.71586523e-02 -2.43072205e+02] [-6.09137525e-02 6.37269133e-04 9.98142830e-01 -2.05144069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00863999999996 meters 0.02405085395205566 Centerline is valid? [True, True] Translation: X:357.63, Y:-243.11, Z:-20.52 [[ 7.95691546e-01 6.03694714e-01 4.92712470e-02 3.57625462e+02] [-6.02499669e-01 7.97215413e-01 -3.79701788e-02 -2.43110854e+02] [-6.22021937e-02 5.26640296e-04 9.98063430e-01 -2.05187453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06863999999996 meters 0.02415188126618851 Centerline is valid? [True, True] Translation: X:357.67, Y:-243.15, Z:-20.52 [[ 7.95163746e-01 6.04349857e-01 4.97580907e-02 3.57674017e+02] [-6.03129677e-01 7.96718888e-01 -3.83875790e-02 -2.43150682e+02] [-6.28427386e-02 5.13829934e-04 9.98023309e-01 -2.05226462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12863999999996 meters 0.024163922688703345 Centerline is valid? [True, True] Translation: X:357.72, Y:-243.19, Z:-20.52 [[ 7.96453327e-01 6.02792734e-01 4.79897695e-02 3.57721767e+02] [-6.01652585e-01 7.97897552e-01 -3.70629740e-02 -2.43192046e+02] [-6.06322110e-02 6.45760110e-04 9.98159966e-01 -2.05240965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18863999999996 meters 0.02429625067683802 Centerline is valid? [True, True] Translation: X:357.77, Y:-243.23, Z:-20.53 [[ 7.95713108e-01 6.03696497e-01 4.88997914e-02 3.57770223e+02] [-6.02511774e-01 7.97213995e-01 -3.78075268e-02 -2.43231605e+02] [-6.18078695e-02 6.21244644e-04 9.98087873e-01 -2.05275708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24863999999997 meters 0.024005848432181846 Centerline is valid? [True, True] Translation: X:357.82, Y:-243.27, Z:-20.53 [[ 7.93702898e-01 6.06315585e-01 4.91642257e-02 3.57817892e+02] [-6.05120497e-01 7.95223998e-01 -3.80522960e-02 -2.43271115e+02] [-6.21682723e-02 4.51936925e-04 9.98065580e-01 -2.05297605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30863999999997 meters 0.023966868366031284 Centerline is valid? [True, True] Translation: X:357.87, Y:-243.31, Z:-20.53 [[ 7.88708011e-01 6.12791948e-01 4.92514111e-02 3.57867661e+02] [-6.11602853e-01 7.90244284e-01 -3.81565460e-02 -2.43307636e+02] [-6.23026703e-02 -2.79300631e-05 9.98057301e-01 -2.05317594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36863999999997 meters 0.024195698245498727 Centerline is valid? [True, True] Translation: X:357.92, Y:-243.34, Z:-20.54 [[ 7.83960298e-01 6.18820143e-01 4.96777727e-02 3.57919316e+02] [-6.17620005e-01 7.85532558e-01 -3.85243974e-02 -2.43341632e+02] [-6.28631810e-02 -4.80388159e-04 9.98022039e-01 -2.05356456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42864 meters 0.024328705789076692 Centerline is valid? [True, True] Translation: X:357.97, Y:-243.37, Z:-20.54 [[ 7.82724475e-01 6.20192470e-01 5.19970832e-02 3.57973426e+02] [-6.18877901e-01 7.84449461e-01 -4.03631998e-02 -2.43373154e+02] [-6.58220364e-02 -5.86581356e-04 9.97831206e-01 -2.05390972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48864 meters 0.024409685655738204 Centerline is valid? [True, True] Translation: X:358.03, Y:-243.41, Z:-20.54 [[ 7.82764608e-01 6.20184725e-01 5.14827702e-02 3.58026691e+02] [-6.18893391e-01 7.84455611e-01 -4.00045507e-02 -2.43407522e+02] [-6.51961592e-02 -5.48199839e-04 9.97872317e-01 -2.05413670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5486399999999 meters 0.02438066167230628 Centerline is valid? [True, True] Translation: X:358.08, Y:-243.44, Z:-20.54 [[ 7.84063845e-01 6.18501916e-01 5.19544725e-02 3.58082903e+02] [-6.17180082e-01 7.85783201e-01 -4.04166776e-02 -2.43438200e+02] [-6.58227443e-02 -3.76009927e-04 9.97831261e-01 -2.05445998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6086399999999 meters 0.02449991857977667 Centerline is valid? [True, True] Translation: X:358.14, Y:-243.47, Z:-20.55 [[ 7.83740966e-01 6.18625829e-01 5.52465578e-02 3.58136555e+02] [-6.17127891e-01 7.85685652e-01 -4.30258314e-02 -2.43470913e+02] [-7.00233184e-02 -3.73084996e-04 9.97545285e-01 -2.05476608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6686399999999 meters 0.02453515072167301 Centerline is valid? [True, True] Translation: X:358.19, Y:-243.50, Z:-20.55 [[ 7.83258095e-01 6.19239723e-01 5.52170489e-02 3.58190905e+02] [-6.17741799e-01 7.85201892e-01 -4.30471753e-02 -2.43502775e+02] [-7.00130522e-02 -3.92830609e-04 9.97545998e-01 -2.05520767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7286399999999 meters 0.024672658721440227 Centerline is valid? [True, True] Translation: X:358.24, Y:-243.54, Z:-20.55 [[ 7.82374758e-01 6.20413487e-01 5.45604566e-02 3.58242289e+02] [-6.18950625e-01 7.84274759e-01 -4.25819932e-02 -2.43539358e+02] [-6.92088318e-02 -4.55152116e-04 9.97602090e-01 -2.05542362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78863999999993 meters 0.024914812317531534 Centerline is valid? [True, True] Translation: X:358.30, Y:-243.57, Z:-20.56 [[ 7.78922849e-01 6.24667272e-01 5.54075415e-02 3.58295940e+02] [-6.23166122e-01 7.80890609e-01 -4.32878887e-02 -2.43570805e+02] [-7.03077562e-02 -8.10177157e-04 9.97525019e-01 -2.05582594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84863999999993 meters 0.024987806241993163 Centerline is valid? [True, True] Translation: X:358.35, Y:-243.60, Z:-20.56 [[ 7.78489134e-01 6.25284840e-01 5.45301508e-02 3.58351877e+02] [-6.23830400e-01 7.80396169e-01 -4.26315751e-02 -2.43601006e+02] [-6.92119984e-02 -8.29347828e-04 9.97601630e-01 -2.05601379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90863999999993 meters 0.02478341020859655 Centerline is valid? [True, True] Translation: X:358.41, Y:-243.63, Z:-20.56 [[ 7.80314177e-01 6.23108815e-01 5.33403194e-02 3.58407301e+02] [-6.21711236e-01 7.82134918e-01 -4.17146011e-02 -2.43631393e+02] [-6.77120620e-02 -6.11781253e-04 9.97704717e-01 -2.05633902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96863999999994 meters 0.024604271850257365 Centerline is valid? [True, True] Translation: X:358.46, Y:-243.67, Z:-20.57 [[ 7.83264704e-01 6.19402414e-01 5.32639826e-02 3.58459659e+02] [-6.17999467e-01 7.85073608e-01 -4.16663950e-02 -2.43665210e+02] [-6.76244127e-02 -2.81296279e-04 9.97710810e-01 -2.05679251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02863999999994 meters 0.02460523980860588 Centerline is valid? [True, True] Translation: X:358.51, Y:-243.70, Z:-20.57 [[ 7.87568994e-01 6.14025420e-01 5.20371330e-02 3.58511124e+02] [-6.12673909e-01 7.89286227e-01 -4.07177120e-02 -2.43699980e+02] [-6.60739026e-02 1.86213741e-04 9.97814715e-01 -2.05710165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08863999999994 meters 0.024658997251096347 Centerline is valid? [True, True] Translation: X:358.56, Y:-243.74, Z:-20.57 [[ 7.91116185e-01 6.09562716e-01 5.06801377e-02 3.58559483e+02] [-6.08270973e-01 7.92737654e-01 -3.96665382e-02 -2.43738365e+02] [-6.43552962e-02 5.53583705e-04 9.97926896e-01 -2.05726586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14863999999994 meters 0.025361680351427742 Centerline is valid? [True, True] Translation: X:358.61, Y:-243.78, Z:-20.58 [[ 7.94895196e-01 6.04657459e-01 5.03089034e-02 3.58607666e+02] [-6.03374056e-01 7.96485059e-01 -3.93865405e-02 -2.43777959e+02] [-6.38856553e-02 9.53084712e-04 9.97956770e-01 -2.05763094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20863999999995 meters 0.0255281048766055 Centerline is valid? [True, True] Translation: X:358.65, Y:-243.82, Z:-20.58 [[ 7.95845005e-01 6.03397622e-01 5.04186280e-02 3.58653810e+02] [-6.02105405e-01 7.97439763e-01 -3.94829737e-02 -2.43820083e+02] [-6.40297512e-02 1.06499890e-03 9.97947422e-01 -2.05799473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26863999999995 meters 0.025540978323742677 Centerline is valid? [True, True] Translation: X:358.70, Y:-243.86, Z:-20.58 [[ 7.95233395e-01 6.04297056e-01 4.92840236e-02 3.58702109e+02] [-6.03063497e-01 7.96758502e-01 -3.86045043e-02 -2.43859648e+02] [-6.25960532e-02 9.78195394e-04 9.98038465e-01 -2.05820203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32863999999995 meters 0.025083397324608 Centerline is valid? [True, True] Translation: X:358.75, Y:-243.90, Z:-20.58 [[ 7.92130096e-01 6.08281943e-01 5.02293684e-02 3.58750187e+02] [-6.07007853e-01 7.93720737e-01 -3.93555302e-02 -2.43899254e+02] [-6.38073496e-02 6.85078848e-04 9.97962000e-01 -2.05844110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38863999999995 meters 0.024864201513548442 Centerline is valid? [True, True] Translation: X:358.80, Y:-243.93, Z:-20.59 [[ 7.88955756e-01 6.12350863e-01 5.07467839e-02 3.58801749e+02] [-6.11058048e-01 7.90586039e-01 -3.97715649e-02 -2.43934817e+02] [-6.44738509e-02 3.68774315e-04 9.97919329e-01 -2.05879241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44863999999995 meters 0.025051337883745035 Centerline is valid? [True, True] Translation: X:358.85, Y:-243.97, Z:-20.59 [[ 7.88383308e-01 6.13078033e-01 5.08633917e-02 3.58852601e+02] [-6.11780079e-01 7.90022293e-01 -3.98736966e-02 -2.43970534e+02] [-6.46289008e-02 3.18547007e-04 9.97909316e-01 -2.05910798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50863999999996 meters 0.025245223223552913 Centerline is valid? [True, True] Translation: X:358.90, Y:-244.01, Z:-20.59 [[ 7.90257639e-01 6.10721452e-01 5.01215645e-02 3.58902048e+02] [-6.09455700e-01 7.91845342e-01 -3.93027318e-02 -2.44008404e+02] [-6.36915488e-02 5.12410910e-04 9.97969501e-01 -2.05945401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56863999999996 meters 0.02593413852462696 Centerline is valid? [True, True] Translation: X:358.95, Y:-244.05, Z:-20.60 [[ 7.93845550e-01 6.06045884e-01 5.01759802e-02 3.58950940e+02] [-6.04767332e-01 7.95429180e-01 -3.93559833e-02 -2.44046260e+02] [-6.37629705e-02 8.97778557e-04 9.97964668e-01 -2.05967466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62863999999996 meters 0.026872495260282906 Centerline is valid? [True, True] Translation: X:359.00, Y:-244.08, Z:-20.60 [[ 7.97344720e-01 6.01350564e-01 5.11751547e-02 3.58998845e+02] [-6.00010179e-01 7.98984223e-01 -4.01496694e-02 -2.44084994e+02] [-6.50321676e-02 1.30751320e-03 9.97882311e-01 -2.06021322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68863999999996 meters 0.027357333128352142 Centerline is valid? [True, True] Translation: X:359.04, Y:-244.13, Z:-20.61 [[ 7.99242610e-01 5.98783142e-01 5.16720267e-02 3.59044236e+02] [-5.97410619e-01 8.00909721e-01 -4.05483721e-02 -2.44127679e+02] [-6.56643102e-02 1.53856930e-03 9.97840584e-01 -2.06063303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74863999999997 meters 0.027409811631289516 Centerline is valid? [True, True] Translation: X:359.09, Y:-244.17, Z:-20.61 [[ 7.99371832e-01 5.98482520e-01 5.31351740e-02 3.59088602e+02] [-5.97029436e-01 8.01134228e-01 -4.17109340e-02 -2.44171164e+02] [-6.75316715e-02 1.61928285e-03 9.97715817e-01 -2.06076175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80863999999997 meters 0.02848252074652561 Centerline is valid? [True, True] Translation: X:359.13, Y:-244.21, Z:-20.61 [[ 7.99001225e-01 5.98988508e-01 5.30076428e-02 3.59134748e+02] [-5.97542333e-01 8.00756049e-01 -4.16282480e-02 -2.44213381e+02] [-6.73810328e-02 1.58671060e-03 9.97726054e-01 -2.06137707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86863999999997 meters 0.028458114053893733 Centerline is valid? [True, True] Translation: X:359.18, Y:-244.26, Z:-20.62 [[ 7.96161893e-01 6.02581520e-01 5.49704592e-02 3.59179636e+02] [-6.01033151e-01 7.98056198e-01 -4.31909275e-02 -2.44257458e+02] [-6.98955704e-02 1.34790223e-03 9.97553403e-01 -2.06177005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92864 meters 0.027903490797906088 Centerline is valid? [True, True] Translation: X:359.22, Y:-244.30, Z:-20.62 [[ 7.89341404e-01 6.11217514e-01 5.79076685e-02 3.59223755e+02] [-6.09519010e-01 7.91462398e-01 -4.55395280e-02 -2.44301358e+02] [-7.36662992e-02 6.50410179e-04 9.97282735e-01 -2.06203550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98864 meters 0.029134967714796883 Centerline is valid? [True, True] Translation: X:359.27, Y:-244.34, Z:-20.63 [[ 7.83427000e-01 6.18238856e-01 6.34259575e-02 3.59269427e+02] [-6.16220851e-01 7.85990277e-01 -4.99113866e-02 -2.44343334e+02] [-8.07093445e-02 1.75304015e-05 9.96737679e-01 -2.06254188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0486399999999 meters 0.031037623628331457 Centerline is valid? [True, True] Translation: X:359.32, Y:-244.38, Z:-20.63 [[ 7.80573741e-01 6.21403566e-01 6.75443796e-02 3.59316329e+02] [-6.19123772e-01 7.83490596e-01 -5.31812079e-02 -2.44383587e+02] [-8.59673785e-02 -3.06476627e-04 9.96297905e-01 -2.06278527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1086399999999 meters 0.03409588359512718 Centerline is valid? [True, True] Translation: X:359.37, Y:-244.42, Z:-20.63 [[ 7.78033749e-01 6.24309534e-01 7.00077919e-02 3.59366004e+02] [-6.21869019e-01 7.81176814e-01 -5.51516944e-02 -2.44420535e+02] [-8.91201924e-02 -6.25797226e-04 9.96020682e-01 -2.06312591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1686399999999 meters 0.03610939067687194 Centerline is valid? [True, True] Translation: X:359.42, Y:-244.46, Z:-20.64 [[ 7.76244596e-01 6.26127713e-01 7.35419208e-02 3.59415789e+02] [-6.23441088e-01 7.79720036e-01 -5.79471832e-02 -2.44456461e+02] [-9.36244464e-02 -8.67867285e-04 9.95607207e-01 -2.06356457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2286399999999 meters 0.03858412331438949 Centerline is valid? [True, True] Translation: X:359.47, Y:-244.49, Z:-20.64 [[ 7.75541357e-01 6.26593664e-01 7.69154277e-02 3.59467139e+02] [-6.23656027e-01 7.79345529e-01 -6.06111033e-02 -2.44489723e+02] [-9.79222280e-02 -9.62352766e-04 9.95193605e-01 -2.06373254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28863999999993 meters 0.04454000754251282 Centerline is valid? [True, True] Translation: X:359.52, Y:-244.52, Z:-20.65 [[ 7.77659173e-01 6.22629592e-01 8.70551663e-02 3.59517742e+02] [-6.18838589e-01 7.82516529e-01 -6.86052629e-02 -2.44523340e+02] [-1.10837773e-01 -5.21584312e-04 9.93838375e-01 -2.06463223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34863999999993 meters 0.049206913904206985 Centerline is valid? [True, True] Translation: X:359.57, Y:-244.56, Z:-20.65 [[ 7.80527447e-01 6.17968221e-01 9.42983635e-02 3.59569374e+02] [-6.13483331e-01 7.86203061e-01 -7.43165451e-02 -2.44555522e+02] [-1.20062925e-01 1.55629094e-04 9.92766271e-01 -2.06520494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40863999999993 meters 0.05363327694546504 Centerline is valid? [True, True] Translation: X:359.62, Y:-244.59, Z:-20.66 [[ 7.82590450e-01 6.14326604e-01 1.00772080e-01 3.59621243e+02] [-6.09170896e-01 7.89051474e-01 -7.94266303e-02 -2.44587328e+02] [-1.28308251e-01 7.71103739e-04 9.91734036e-01 -2.06589711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46863999999994 meters 0.06193629555851071 Centerline is valid? [True, True] Translation: X:359.67, Y:-244.62, Z:-20.67 [[ 7.85902284e-01 6.07396725e-01 1.15874153e-01 3.59673494e+02] [-6.00493593e-01 7.94395598e-01 -9.13404585e-02 -2.44618517e+02] [-1.47529813e-01 2.20298832e-03 9.89055156e-01 -2.06706392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52863999999994 meters 0.07489503195458937 Centerline is valid? [True, True] Translation: X:359.73, Y:-244.65, Z:-20.69 [[ 7.89403541e-01 5.97609165e-01 1.40375693e-01 3.59725118e+02] [-5.87293520e-01 8.01772465e-01 -1.10667232e-01 -2.44650876e+02] [-1.78685117e-01 4.91936971e-03 9.83894013e-01 -2.06891717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58863999999994 meters 0.08561250231071703 Centerline is valid? [True, True] Translation: X:359.78, Y:-244.68, Z:-20.70 [[ 7.87303054e-01 5.94281712e-01 1.64265480e-01 3.59775634e+02] [-5.80034525e-01 8.04229111e-01 -1.29520214e-01 -2.44684948e+02] [-2.09078576e-01 6.69201020e-03 9.77875946e-01 -2.07043503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64863999999994 meters 0.07842781237972483 Centerline is valid? [True, True] Translation: X:359.83, Y:-244.72, Z:-20.70 [[ 7.85751013e-01 5.96818417e-01 1.62490375e-01 3.59826087e+02] [-5.82919739e-01 8.02353844e-01 -1.28190824e-01 -2.44720597e+02] [-2.06881421e-01 6.00722274e-03 9.78347582e-01 -2.07045152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70863999999995 meters 0.09309766253319193 Centerline is valid? [True, True] Translation: X:359.88, Y:-244.75, Z:-20.72 [[ 7.81593930e-01 5.91181235e-01 1.99036870e-01 3.59876531e+02] [-5.70009520e-01 8.06484983e-01 -1.57070431e-01 -2.44753898e+02] [-2.53377338e-01 9.31238422e-03 9.67322699e-01 -2.07210391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76863999999995 meters 0.11194825695434524 Centerline is valid? [True, False] Translation: X:359.95, Y:-244.92, Z:-20.72 [[ 8.47217206e-01 4.93401269e-01 1.96921794e-01 3.59946278e+02] [-4.92996102e-01 8.68316086e-01 -5.46078614e-02 -2.44918342e+02] [-1.97933950e-01 -5.08169573e-02 9.78897231e-01 -2.07193734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82863999999995 meters 0.10938139244039125 Centerline is valid? [False, False] Translation: X:360.04, Y:-245.02, Z:-20.73 [[ 8.77576886e-01 4.46107627e-01 1.75632552e-01 3.60038916e+02] [-4.52083215e-01 8.91950960e-01 -6.65221911e-03 -2.45020020e+02] [-1.59623229e-01 -7.35626951e-02 9.84433316e-01 -2.07303814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88863999999995 meters 0.12004338060401674 Centerline is valid? [False, False] Translation: X:360.15, Y:-245.09, Z:-20.74 [[ 9.02954648e-01 4.06141591e-01 1.40434723e-01 3.60146828e+02] [-4.12333278e-01 9.10876293e-01 1.69011128e-02 -2.45093758e+02] [-1.21054415e-01 -7.31668480e-02 9.89945676e-01 -2.07362704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94863999999995 meters 0.1295734838540103 Centerline is valid? [False, False] Translation: X:360.27, Y:-245.15, Z:-20.74 [[ 9.23009816e-01 3.71998817e-01 9.83349367e-02 3.60269761e+02] [-3.75792702e-01 9.26425993e-01 2.26875571e-02 -2.45153476e+02] [-8.26602970e-02 -5.78943894e-02 9.94894726e-01 -2.07378413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00863999999996 meters 0.13297418133162076 Centerline is valid? [False, False] Translation: X:360.40, Y:-245.21, Z:-20.73 [[ 9.41307202e-01 3.32901914e-01 5.58307061e-02 3.60399310e+02] [-3.34585841e-01 9.42062469e-01 2.38876317e-02 -2.45206542e+02] [-4.46437746e-02 -4.11657635e-02 9.98154454e-01 -2.07332249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06863999999996 meters 0.22268815299253317 Centerline is valid? [False, False] Translation: X:360.52, Y:-245.25, Z:-20.73 [[ 9.56601860e-01 2.90653942e-01 2.08126618e-02 3.60516935e+02] [-2.91094152e-01 9.56424988e-01 2.27032208e-02 -2.45249218e+02] [-1.33069692e-02 -2.77763874e-02 9.99525586e-01 -2.07250160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12863999999996 meters SLAMing on 432.18863999999996 meters 0.5813088385963152 Centerline is valid? [False, False] Translation: X:360.59, Y:-245.28, Z:-20.72 [[ 9.69792840e-01 2.43289338e-01 1.76676480e-02 3.60589317e+02] [-2.43456432e-01 9.69878955e-01 7.98610747e-03 -2.45278010e+02] [-1.51925451e-02 -1.20461724e-02 9.99812020e-01 -2.07199764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24863999999997 meters 0.6208761060651414 Centerline is valid? [False, False] Translation: X:360.64, Y:-245.30, Z:-20.71 [[ 9.81748849e-01 1.88380471e-01 2.61150404e-02 3.60643294e+02] [-1.88314161e-01 9.82096125e-01 -4.99790287e-03 -2.45298344e+02] [-2.65889873e-02 -1.11465247e-05 9.99646450e-01 -2.07132939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30863999999997 meters 0.5885619459331044 Centerline is valid? [False, False] Translation: X:360.73, Y:-245.32, Z:-20.70 [[ 9.90225351e-01 1.38434610e-01 1.70179961e-02 3.60727628e+02] [-1.38169661e-01 9.90281381e-01 -1.58723706e-02 -2.45315732e+02] [-1.90498901e-02 1.33658530e-02 9.99729191e-01 -2.07042969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36863999999997 meters SLAMing on 432.42864 meters SLAMing on 432.48864 meters SLAMing on 432.5486399999999 meters SLAMing on 432.6086399999999 meters SLAMing on 432.6686399999999 meters SLAMing on 432.7286399999999 meters 0.7484405058481601 Centerline is valid? [False, False] Translation: X:360.76, Y:-245.32, Z:-20.72 [[ 9.93640817e-01 9.92249750e-02 5.32196550e-02 3.60760725e+02] [-9.83970859e-02 9.94985089e-01 -1.79634711e-02 -2.45323909e+02] [-5.47351882e-02 1.26125791e-02 9.98421245e-01 -2.07182150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78863999999993 meters 0.31407724121276653 Centerline is valid? [False, False] Translation: X:360.91, Y:-245.35, Z:-20.72 [[ 9.98380442e-01 5.52964686e-02 -1.33713786e-02 3.60905389e+02] [-5.54528167e-02 9.98393702e-01 -1.16189659e-02 -2.45350656e+02] [ 1.27074124e-02 1.23416290e-02 9.99843091e-01 -2.07204030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84863999999993 meters 0.8487068046156491 Centerline is valid? [False, False] Translation: X:360.91, Y:-245.37, Z:-20.73 [[ 9.99612991e-01 2.24229817e-02 1.64644476e-02 3.60912597e+02] [-2.22940106e-02 9.99719645e-01 -7.97553086e-03 -2.45369427e+02] [-1.66386669e-02 7.60538569e-03 9.99832642e-01 -2.07260276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90863999999993 meters 0.3127509602045816 Centerline is valid? [False, False] Translation: X:360.93, Y:-245.38, Z:-20.72 [[ 9.99764350e-01 1.05806417e-02 1.89550654e-02 3.60927060e+02] [-1.04233263e-02 9.99910569e-01 -8.37904958e-03 -2.45378192e+02] [-1.90420259e-02 8.17950023e-03 9.99785225e-01 -2.07190574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96863999999994 meters 0.8340752486126594 Centerline is valid? [False, False] Translation: X:360.95, Y:-245.39, Z:-20.70 [[ 9.99654120e-01 8.11500953e-03 2.50157176e-02 3.60954731e+02] [-7.94691275e-03 9.99945222e-01 -6.81175458e-03 -2.45394472e+02] [-2.50696247e-02 6.61060080e-03 9.99663850e-01 -2.07021868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02863999999994 meters 0.8454667290241585 Centerline is valid? [False, False] Translation: X:360.98, Y:-245.41, Z:-20.73 [[ 9.99781827e-01 3.37874797e-03 2.06126564e-02 3.60978522e+02] [-3.19407491e-03 9.99954528e-01 -8.98556087e-03 -2.45407383e+02] [-2.06420791e-02 8.91776209e-03 9.99747157e-01 -2.07276807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08863999999994 meters 0.8563177963924491 Centerline is valid? [False, False] Translation: X:361.00, Y:-245.42, Z:-20.75 [[ 9.99858991e-01 2.33977543e-03 1.66290087e-02 3.61000424e+02] [-2.21654725e-03 9.99969978e-01 -7.42500597e-03 -2.45419853e+02] [-1.66458823e-02 7.38709999e-03 9.99834159e-01 -2.07508187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14863999999994 meters 0.8515181477878081 Centerline is valid? [False, False] Translation: X:361.05, Y:-245.43, Z:-20.74 [[ 9.99968519e-01 6.66395783e-03 -4.30717183e-03 3.61046337e+02] [-6.69245900e-03 9.99955580e-01 -6.63695393e-03 -2.45425566e+02] [ 4.26275213e-03 6.66557056e-03 9.99968699e-01 -2.07414469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20863999999995 meters 0.8430677282779145 Centerline is valid? [False, False] Translation: X:361.10, Y:-245.43, Z:-20.74 [[ 9.99881052e-01 1.05569211e-02 -1.12442441e-02 3.61097230e+02] [-1.05743202e-02 9.99942982e-01 -1.48905349e-03 -2.45432486e+02] [ 1.12278832e-02 1.60777661e-03 9.99935673e-01 -2.07394450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26863999999995 meters 0.8392182040873436 Centerline is valid? [False, False] Translation: X:361.12, Y:-245.43, Z:-20.74 [[ 9.99940384e-01 1.41013206e-03 -1.08277257e-02 3.61117859e+02] [-1.42067455e-03 9.99998524e-01 -9.66027952e-04 -2.45433330e+02] [ 1.08263475e-02 9.81353036e-04 9.99940912e-01 -2.07372520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32863999999995 meters 0.3097646539902416 Centerline is valid? [False, False] Translation: X:361.13, Y:-245.43, Z:-20.76 [[ 9.99966012e-01 1.29907924e-03 8.14165038e-03 3.61130753e+02] [-1.28827801e-03 9.99998283e-01 -1.33176704e-03 -2.45426665e+02] [-8.14336648e-03 1.32123307e-03 9.99965969e-01 -2.07580476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38863999999995 meters 0.24596552964834226 Centerline is valid? [False, False] Translation: X:361.18, Y:-245.42, Z:-20.61 [[ 9.99987743e-01 2.29471181e-04 -4.94576226e-03 3.61180101e+02] [-2.38138594e-04 9.99998437e-01 -1.75197512e-03 -2.45423734e+02] [ 4.94535251e-03 1.75313143e-03 9.99986235e-01 -2.06099128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44863999999995 meters 0.24944158977818748 Centerline is valid? [False, False] Translation: X:361.20, Y:-245.42, Z:-20.63 [[ 9.99956615e-01 -5.83963095e-04 -9.29666711e-03 3.61203284e+02] [ 5.63043270e-04 9.99997304e-01 -2.25270821e-03 -2.45424727e+02] [ 9.29795755e-03 2.24737605e-03 9.99954248e-01 -2.06329289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50863999999996 meters 0.8345380792933851 Centerline is valid? [False, False] Translation: X:361.20, Y:-245.43, Z:-20.68 [[ 9.99994621e-01 -2.79054787e-03 1.72332998e-03 3.61198638e+02] [ 2.79675251e-03 9.99989578e-01 -3.60852323e-03 -2.45426606e+02] [-1.71324227e-03 3.61332355e-03 9.99992004e-01 -2.06752596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56863999999996 meters 0.30085481552996357 Centerline is valid? [False, False] Translation: X:361.26, Y:-245.43, Z:-20.65 [[ 9.99953169e-01 -3.40564362e-03 -9.05881475e-03 3.61260925e+02] [ 3.38264380e-03 9.99991020e-01 -2.55305482e-03 -2.45432175e+02] [ 9.06742819e-03 2.52229251e-03 9.99955709e-01 -2.06506765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62863999999996 meters 0.3276948137840077 Centerline is valid? [False, False] Translation: X:361.30, Y:-245.44, Z:-20.63 [[ 9.99999080e-01 1.29457338e-03 -4.06108205e-04 3.61304528e+02] [-1.29658231e-03 9.99986728e-01 -4.98615364e-03 -2.45439586e+02] [ 3.99647873e-04 4.98667560e-03 9.99987487e-01 -2.06307358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68863999999996 meters 0.29766613788481017 Centerline is valid? [False, False] Translation: X:361.33, Y:-245.46, Z:-20.63 [[ 9.99989445e-01 -4.56584837e-03 -5.11887066e-04 3.61326371e+02] [ 4.56671063e-03 9.99988134e-01 1.69615906e-03 -2.45456786e+02] [ 5.04136587e-04 -1.69847880e-03 9.99998431e-01 -2.06300948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74863999999997 meters 0.30233095454529246 Centerline is valid? [False, False] Translation: X:361.33, Y:-245.46, Z:-20.66 [[ 9.99971709e-01 2.19865505e-03 -7.19350689e-03 3.61332064e+02] [-2.20387124e-03 9.99997314e-01 -7.17279310e-04 -2.45458248e+02] [ 7.19191052e-03 7.33112580e-04 9.99973869e-01 -2.06575986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80863999999997 meters 0.2981838698132036 Centerline is valid? [False, False] Translation: X:361.37, Y:-245.47, Z:-20.61 [[ 9.99951630e-01 2.24431753e-03 -9.57603837e-03 3.61371147e+02] [-2.24610520e-03 9.99997462e-01 -1.75930582e-04 -2.45468272e+02] [ 9.57561922e-03 1.97430862e-04 9.99954133e-01 -2.06072266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86863999999997 meters 0.3021700131370868 Centerline is valid? [False, False] Translation: X:361.38, Y:-245.47, Z:-20.66 [[ 9.99999031e-01 1.22655438e-03 -6.58945813e-04 3.61376655e+02] [-1.22711933e-03 9.99998879e-01 -8.57631924e-04 -2.45470909e+02] [ 6.57893142e-04 8.58439698e-04 9.99999415e-01 -2.06613063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92864 meters 0.29640653765358727 Centerline is valid? [False, False] Translation: X:361.41, Y:-245.47, Z:-20.61 [[ 9.99990019e-01 3.28683090e-03 -3.02625841e-03 3.61413977e+02] [-3.28451651e-03 9.99994310e-01 7.69419620e-04 -2.45470219e+02] [ 3.02877015e-03 -7.59472145e-04 9.99995125e-01 -2.06082905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98864 meters 0.29728690878809144 Centerline is valid? [False, False] Translation: X:361.45, Y:-245.47, Z:-20.62 [[ 9.99981860e-01 -4.05802114e-03 -4.45107102e-03 3.61451404e+02] [ 4.07193262e-03 9.99986840e-01 3.12082668e-03 -2.45470521e+02] [ 4.43834806e-03 -3.13889453e-03 9.99985224e-01 -2.06239370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3802.99 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%| | 0/14450 [00:00